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-{"parameters": [{"category": "Standard", "default": 75, "group": "UAVCAN Motor Parameters", "longDesc": "Speed controller bandwidth, in Hz. Higher values result in faster speed and current rise times, but may result in overshoot and higher current consumption. For fixed-wing aircraft, this value should be less than 50 Hz; for multirotors, values up to 100 Hz may provide improvements in responsiveness.", "max": 250, "min": 10, "name": "ctl_bw", "shortDesc": "Speed controller bandwidth", "type": "Int32", "units": "Hz"}, {"category": "Standard", "default": 1, "group": "UAVCAN Motor Parameters", "longDesc": "Motor spin direction as detected during initial enumeration. Use 0 or 1 to reverse direction.", "max": 1, "min": 0, "name": "ctl_dir", "shortDesc": "Reverse direction", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "UAVCAN Motor Parameters", "longDesc": "Speed (RPM) controller gain. Determines controller\n            aggressiveness; units are amp-seconds per radian. Systems with\n            higher rotational inertia (large props) will need gain increased;\n            systems with low rotational inertia (small props) may need gain\n            decreased. Higher values result in faster response, but may result\n            in oscillation and excessive overshoot. Lower values result in a\n            slower, smoother response.", "max": 1.0, "min": 0.0, "name": "ctl_gain", "shortDesc": "Speed (RPM) controller gain", "type": "Float", "units": "C/rad"}, {"category": "Standard", "decimalPlaces": 3, "default": 3.5, "group": "UAVCAN Motor Parameters", "longDesc": "Idle speed (e Hz)", "max": 100.0, "min": 0.0, "name": "ctl_hz_idle", "shortDesc": "Idle speed (e Hz)", "type": "Float", "units": "Hz"}, {"category": "Standard", "default": 25, "group": "UAVCAN Motor Parameters", "longDesc": "Spin-up rate (e Hz/s)", "max": 1000, "min": 5, "name": "ctl_start_rate", "shortDesc": "Spin-up rate (e Hz/s)", "type": "Int32", "units": "1/s^2"}, {"category": "Standard", "default": 0, "group": "UAVCAN Motor Parameters", "longDesc": "Index of this ESC in throttle command messages.", "max": 15, "min": 0, "name": "esc_index", "shortDesc": "Index of this ESC in throttle command messages.", "type": "Int32"}, {"category": "Standard", "default": 20034, "group": "UAVCAN Motor Parameters", "longDesc": "Extended status ID", "max": 1000000, "min": 1, "name": "id_ext_status", "shortDesc": "Extended status ID", "type": "Int32"}, {"category": "Standard", "default": 50000, "group": "UAVCAN Motor Parameters", "longDesc": "Extended status interval (\u00b5s)", "max": 1000000, "min": 0, "name": "int_ext_status", "shortDesc": "Extended status interval (\u00b5s)", "type": "Int32", "units": "us"}, {"category": "Standard", "default": 50000, "group": "UAVCAN Motor Parameters", "longDesc": "ESC status interval (\u00b5s)", "max": 1000000, "name": "int_status", "shortDesc": "ESC status interval (\u00b5s)", "type": "Int32", "units": "us"}, {"category": "Standard", "decimalPlaces": 3, "default": 12.0, "group": "UAVCAN Motor Parameters", "longDesc": "Motor current limit in amps. This determines the maximum\n            current controller setpoint, as well as the maximum allowable\n            current setpoint slew rate. This value should generally be set to\n            the continuous current rating listed in the motor\u2019s specification\n            sheet, or set equal to the motor\u2019s specified continuous power\n            divided by the motor voltage limit.", "max": 80.0, "min": 1.0, "name": "mot_i_max", "shortDesc": "Motor current limit in amps", "type": "Float", "units": "A"}, {"category": "Standard", "default": 2300, "group": "UAVCAN Motor Parameters", "longDesc": "Motor Kv in RPM per volt. This can be taken from the motor\u2019s\n            specification sheet; accuracy will help control performance but\n            some deviation from the specified value is acceptable.", "max": 4000, "min": 0, "name": "mot_kv", "shortDesc": "Motor Kv in RPM per volt", "type": "Int32", "units": "rpm/V"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "UAVCAN Motor Parameters", "longDesc": "READ ONLY: Motor inductance in henries. This is measured on start-up.", "name": "mot_ls", "shortDesc": "READ ONLY: Motor inductance in henries.", "type": "Float", "units": "H"}, {"category": "Standard", "default": 14, "group": "UAVCAN Motor Parameters", "longDesc": "Number of motor poles. Used to convert mechanical speeds to\n            electrical speeds. This number should be taken from the motor\u2019s\n            specification sheet.", "max": 40, "min": 2, "name": "mot_num_poles", "shortDesc": "Number of motor poles.", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "UAVCAN Motor Parameters", "longDesc": "READ ONLY: Motor resistance in ohms. This is measured on start-up. When\n            tuning a new motor, check that this value is approximately equal\n            to the value shown in the motor\u2019s specification sheet.", "name": "mot_rs", "shortDesc": "READ ONLY: Motor resistance in ohms", "type": "Float", "units": "Ohm"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.5, "group": "UAVCAN Motor Parameters", "longDesc": "Acceleration limit (V)", "max": 1.0, "min": 0.01, "name": "mot_v_accel", "shortDesc": "Acceleration limit (V)", "type": "Float", "units": "V"}, {"category": "Standard", "decimalPlaces": 3, "default": 14.8, "group": "UAVCAN Motor Parameters", "longDesc": "Motor voltage limit in volts. The current controller\u2019s\n            commanded voltage will never exceed this value. Note that this may\n            safely be above the nominal voltage of the motor; to determine the\n            actual motor voltage limit, divide the motor\u2019s rated power by the\n            motor current limit.", "min": 0.0, "name": "mot_v_max", "shortDesc": "Motor voltage limit in volts", "type": "Float", "units": "V"}, {"category": "Standard", "default": 2, "group": "UAVCAN GNSS", "longDesc": "Dynamic model used in the GNSS positioning engine. 0 \u2013\n        Automotive, 1 \u2013 Sea, 2 \u2013 Airborne.\n      ", "max": 2, "min": 0, "name": "gnss.dyn_model", "shortDesc": "GNSS dynamic model", "type": "Int32", "values": [{"description": "Automotive", "value": 0}, {"description": "Sea", "value": 1}, {"description": "Airborne", "value": 2}]}, {"category": "Standard", "default": 1, "group": "UAVCAN GNSS", "longDesc": "Broadcast the old (deprecated) GNSS fix message\n        uavcan.equipment.gnss.Fix alongside the new alternative\n        uavcan.equipment.gnss.Fix2. It is recommended to\n        disable this feature to reduce the CAN bus traffic.\n      ", "max": 1, "min": 0, "name": "gnss.old_fix_msg", "shortDesc": "Broadcast old GNSS fix message", "type": "Int32", "values": [{"description": "Fix2", "value": 0}, {"description": "Fix and Fix2", "value": 1}]}, {"category": "Standard", "default": 0, "group": "UAVCAN GNSS", "longDesc": "Set the device health to Warning if the dimensionality of\n              the GNSS solution is less than this value. 3 for the full (3D)\n              solution, 2 for planar (2D) solution, 1 for time-only solution,\n              0 disables the feature.\n      ", "max": 3, "min": 0, "name": "gnss.warn_dimens", "shortDesc": "device health warning", "type": "Int32", "values": [{"description": "disables the feature", "value": 0}, {"description": "time-only solution", "value": 1}, {"description": "planar (2D) solution", "value": 2}, {"description": "full (3D) solution", "value": 3}]}, {"category": "Standard", "default": 0, "group": "UAVCAN GNSS", "longDesc": "Set the device health to Warning if the number of satellites\n        used in the GNSS solution is below this threshold. Zero\n        disables the feature\n      ", "name": "gnss.warn_sats", "shortDesc": "", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "UAVCAN GNSS", "longDesc": "Set the device health to Warning if the number of satellites\n        used in the GNSS solution is below this threshold. Zero\n        disables the feature\n      ", "max": 1000000, "min": 0, "name": "uavcan.pubp-pres", "shortDesc": "", "type": "Int32", "units": "us"}, {"category": "Standard", "default": 0, "group": "ADSB", "longDesc": "Sets first 4 characters of a total of 8. Valid characters are A-Z, 0-9, \" \". Example \"PX4 \" -> 1347957792 For CALLSIGN shorter than 8 characters use the null terminator at the end '\\0'.", "name": "ADSB_CALLSIGN_1", "rebootRequired": true, "shortDesc": "First 4 characters of CALLSIGN", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "ADSB", "longDesc": "Sets second 4 characters of a total of 8. Valid characters are A-Z, 0-9, \" \" only. Example \"TEST\" -> 1413829460 For CALLSIGN shorter than 8 characters use the null terminator at the end '\\0'.", "name": "ADSB_CALLSIGN_2", "rebootRequired": true, "shortDesc": "Second 4 characters of CALLSIGN", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "ADSB", "longDesc": "Sets the vehicle emergency state", "max": 6, "min": 0, "name": "ADSB_EMERGC", "rebootRequired": true, "shortDesc": "ADSB-Out Emergency State", "type": "Int32", "values": [{"description": "NoEmergency", "value": 0}, {"description": "General", "value": 1}, {"description": "Medical", "value": 2}, {"description": "LowFuel", "value": 3}, {"description": "NoCommunications", "value": 4}, {"description": "Interference", "value": 5}, {"description": "Downed", "value": 6}]}, {"category": "Standard", "default": 14, "group": "ADSB", "longDesc": "Configure the emitter type of the vehicle.", "max": 15, "min": 0, "name": "ADSB_EMIT_TYPE", "rebootRequired": true, "shortDesc": "ADSB-Out Vehicle Emitter Type", "type": "Int32", "values": [{"description": "Unknown", "value": 0}, {"description": "Light", "value": 1}, {"description": "Small", "value": 2}, {"description": "Large", "value": 3}, {"description": "HighVortex", "value": 4}, {"description": "Heavy", "value": 5}, {"description": "Performance", "value": 6}, {"description": "Rotorcraft", "value": 7}, {"description": "RESERVED", "value": 8}, {"description": "Glider", "value": 9}, {"description": "LightAir", "value": 10}, {"description": "Parachute", "value": 11}, {"description": "UltraLight", "value": 12}, {"description": "RESERVED", "value": 13}, {"description": "UAV", "value": 14}, {"description": "Space", "value": 15}, {"description": "RESERVED", "value": 16}, {"description": "EmergencySurf", "value": 17}, {"description": "ServiceSurf", "value": 18}, {"description": "PointObstacle", "value": 19}]}, {"category": "Standard", "default": 0, "group": "ADSB", "longDesc": "Sets GPS lataral offset encoding", "max": 7, "min": 0, "name": "ADSB_GPS_OFF_LAT", "rebootRequired": true, "shortDesc": "ADSB-Out GPS Offset lat", "type": "Int32", "values": [{"description": "NoData", "value": 0}, {"description": "LatLeft2M", "value": 1}, {"description": "LatLeft4M", "value": 2}, {"description": "LatLeft6M", "value": 3}, {"description": "LatRight0M", "value": 4}, {"description": "LatRight2M", "value": 5}, {"description": "LatRight4M", "value": 6}, {"description": "LatRight6M", "value": 7}]}, {"category": "Standard", "default": 0, "group": "ADSB", "longDesc": "Sets GPS longitudinal offset encoding", "max": 1, "min": 0, "name": "ADSB_GPS_OFF_LON", "rebootRequired": true, "shortDesc": "ADSB-Out GPS Offset lon", "type": "Int32", "values": [{"description": "NoData", "value": 0}, {"description": "AppliedBySensor", "value": 1}]}, {"category": "Standard", "default": 1194684, "group": "ADSB", "longDesc": "Defines the ICAO ID of the vehicle", "max": 16777215, "min": -1, "name": "ADSB_ICAO_ID", "rebootRequired": true, "shortDesc": "ADSB-Out ICAO configuration", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "ADSB", "longDesc": "This vehicle is always tracked. Use 0 to disable.", "max": 16777215, "min": 0, "name": "ADSB_ICAO_SPECL", "rebootRequired": true, "shortDesc": "ADSB-In Special ICAO configuration", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "ADSB", "longDesc": "Enable Identification of Position feature", "name": "ADSB_IDENT", "rebootRequired": true, "shortDesc": "ADSB-Out Ident Configuration", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1, "group": "ADSB", "longDesc": "Report the length and width of the vehicle in meters. In most cases, use '1' for the smallest vehicle size.", "max": 15, "min": 0, "name": "ADSB_LEN_WIDTH", "rebootRequired": true, "shortDesc": "ADSB-Out Vehicle Size Configuration", "type": "Int32", "values": [{"description": "SizeUnknown", "value": 0}, {"description": "Len15_Wid23", "value": 1}, {"description": "Len25_Wid28", "value": 2}, {"description": "Len25_Wid34", "value": 3}, {"description": "Len35_Wid33", "value": 4}, {"description": "Len35_Wid38", "value": 5}, {"description": "Len45_Wid39", "value": 6}, {"description": "Len45_Wid45", "value": 7}, {"description": "Len55_Wid45", "value": 8}, {"description": "Len55_Wid52", "value": 9}, {"description": "Len65_Wid59", "value": 10}, {"description": "Len65_Wid67", "value": 11}, {"description": "Len75_Wid72", "value": 12}, {"description": "Len75_Wid80", "value": 13}, {"description": "Len85_Wid80", "value": 14}, {"description": "Len85_Wid90", "value": 15}]}, {"category": "Standard", "default": 25, "group": "ADSB", "longDesc": "Change number of targets to track", "max": 50, "min": 0, "name": "ADSB_LIST_MAX", "rebootRequired": true, "shortDesc": "ADSB-In Vehicle List Size", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "ADSB", "longDesc": "Informs ADSB vehicles of this vehicle's max speed capability", "max": 6, "min": 0, "name": "ADSB_MAX_SPEED", "rebootRequired": true, "shortDesc": "ADSB-Out Vehicle Max Speed", "type": "Int32", "values": [{"description": "UnknownMaxSpeed", "value": 0}, {"description": "75Kts", "value": 1}, {"description": "150Kts", "value": 2}, {"description": "300Kts", "value": 3}, {"description": "600Kts", "value": 4}, {"description": "1200Kts", "value": 5}, {"description": "Over1200Kts", "value": 6}]}, {"category": "Standard", "default": 1200, "group": "ADSB", "longDesc": "This parameter defines the squawk code. Value should be between 0000 and 7777.", "max": 7777, "min": 0, "name": "ADSB_SQUAWK", "rebootRequired": true, "shortDesc": "ADSB-Out squawk code configuration", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM Channel 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PWM_MAIN_FUNC1", "shortDesc": "SIM Channel 1 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM Channel 10. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PWM_MAIN_FUNC10", "shortDesc": "SIM Channel 10 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM Channel 11. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PWM_MAIN_FUNC11", "shortDesc": "SIM Channel 11 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM Channel 12. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PWM_MAIN_FUNC12", "shortDesc": "SIM Channel 12 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM Channel 13. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PWM_MAIN_FUNC13", "shortDesc": "SIM Channel 13 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM Channel 14. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PWM_MAIN_FUNC14", "shortDesc": "SIM Channel 14 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM Channel 15. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PWM_MAIN_FUNC15", "shortDesc": "SIM Channel 15 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM Channel 16. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PWM_MAIN_FUNC16", "shortDesc": "SIM Channel 16 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM Channel 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PWM_MAIN_FUNC2", "shortDesc": "SIM Channel 2 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM Channel 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PWM_MAIN_FUNC3", "shortDesc": "SIM Channel 3 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM Channel 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PWM_MAIN_FUNC4", "shortDesc": "SIM Channel 4 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM Channel 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PWM_MAIN_FUNC5", "shortDesc": "SIM Channel 5 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM Channel 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PWM_MAIN_FUNC6", "shortDesc": "SIM Channel 6 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM Channel 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PWM_MAIN_FUNC7", "shortDesc": "SIM Channel 7 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM Channel 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PWM_MAIN_FUNC8", "shortDesc": "SIM Channel 8 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM Channel 9. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PWM_MAIN_FUNC9", "shortDesc": "SIM Channel 9 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"bitmask": [{"description": "SIM Channel 1", "index": 0}, {"description": "SIM Channel 2", "index": 1}, {"description": "SIM Channel 3", "index": 2}, {"description": "SIM Channel 4", "index": 3}, {"description": "SIM Channel 5", "index": 4}, {"description": "SIM Channel 6", "index": 5}, {"description": "SIM Channel 7", "index": 6}, {"description": "SIM Channel 8", "index": 7}, {"description": "SIM Channel 9", "index": 8}, {"description": "SIM Channel 10", "index": 9}, {"description": "SIM Channel 11", "index": 10}, {"description": "SIM Channel 12", "index": 11}, {"description": "SIM Channel 13", "index": 12}, {"description": "SIM Channel 14", "index": 13}, {"description": "SIM Channel 15", "index": 14}, {"description": "SIM Channel 16", "index": 15}], "category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Allows to reverse the output range for each channel. Note: this is only useful for servos.", "max": 65535, "min": 0, "name": "PWM_MAIN_REV", "shortDesc": "Reverse Output Range for SIM", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "Airspeed Validator", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.", "max": 5, "min": 1, "name": "ASPD_BETA_GATE", "shortDesc": "Gate size for sideslip angle fusion", "type": "Int32", "units": "SD"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.15, "group": "Airspeed Validator", "longDesc": "Sideslip measurement noise of the internal wind estimator(s) of the airspeed selector.", "max": 1.0, "min": 0.0, "name": "ASPD_BETA_NOISE", "shortDesc": "Wind estimator sideslip measurement noise", "type": "Float", "units": "rad"}, {"bitmask": [{"description": "Only data missing check (triggers if more than 1s no data)", "index": 0}, {"description": "Data stuck (triggers if data is exactly constant for 2s in FW mode)", "index": 1}, {"description": "Innovation check (see ASPD_FS_INNOV)", "index": 2}, {"description": "Load factor check (triggers if measurement is below stall speed)", "index": 3}, {"description": "First principle check (airspeed change vs. throttle and pitch)", "index": 4}], "category": "Standard", "default": 7, "group": "Airspeed Validator", "longDesc": "Controls which checks are run to check airspeed data for validity. Only applied if ASPD_PRIMARY > 0.", "max": 31, "min": 0, "name": "ASPD_DO_CHECKS", "shortDesc": "Enable checks on airspeed sensors", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Airspeed Validator", "longDesc": "If set to true and airspeed checks are enabled, it will use a sensor-less airspeed estimation based on groundspeed minus windspeed if no other airspeed sensor available to fall back to.", "name": "ASPD_FALLBACK_GW", "shortDesc": "Enable fallback to sensor-less airspeed estimation", "type": "Int32", "values": [{"description": "Disable fallback to sensor-less estimation", "value": 0}, {"description": "Enable fallback to sensor-less estimation", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 2.0, "group": "Airspeed Validator", "longDesc": "Window for comparing airspeed change to throttle and pitch change. Triggers when the airspeed change within this window is negative while throttle increases and the vehicle pitches down. Is meant to catch degrading airspeed blockages as can happen when flying through icing conditions. Relies on  FW_THR_TRIM being set accurately.", "min": 0.0, "name": "ASPD_FP_T_WINDOW", "shortDesc": "First principle airspeed check time window", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "Airspeed Validator", "longDesc": "This specifies the minimum airspeed innovation required to trigger a failsafe. Larger values make the check less sensitive, smaller values make it more sensitive. Large innovations indicate an inconsistency between predicted (groundspeed - windspeeed) and measured airspeed. The time required to detect a fault when the threshold is exceeded depends on the size of the exceedance and is controlled by the ASPD_FS_INTEG parameter.", "max": 10.0, "min": 0.5, "name": "ASPD_FS_INNOV", "shortDesc": "Airspeed failure innovation threshold", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "Airspeed Validator", "longDesc": "This sets the time integral of airspeed innovation exceedance above ASPD_FS_INNOV required to trigger a failsafe. Larger values make the check less sensitive, smaller positive values make it more sensitive.", "max": 50.0, "min": 0.0, "name": "ASPD_FS_INTEG", "shortDesc": "Airspeed failure innovation integral threshold", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": -1.0, "group": "Airspeed Validator", "longDesc": "Delay before switching back to using airspeed sensor if checks indicate sensor is good. Set to a negative value to disable the re-enabling in flight.", "min": -1.0, "name": "ASPD_FS_T_START", "shortDesc": "Airspeed failsafe start delay", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "Airspeed Validator", "longDesc": "Delay before stopping use of airspeed sensor if checks indicate sensor is bad.", "min": 0.0, "name": "ASPD_FS_T_STOP", "shortDesc": "Airspeed failsafe stop delay", "type": "Float", "units": "s"}, {"category": "Standard", "default": 1, "group": "Airspeed Validator", "name": "ASPD_PRIMARY", "rebootRequired": true, "shortDesc": "Index or primary airspeed measurement source", "type": "Int32", "values": [{"description": "Groundspeed minus windspeed", "value": 0}, {"description": "First airspeed sensor", "value": 1}, {"description": "Second airspeed sensor", "value": 2}, {"description": "Third airspeed sensor", "value": 3}]}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Airspeed Validator", "longDesc": "This is the scale IAS --> CAS of the first airspeed sensor instance", "max": 2.0, "min": 0.5, "name": "ASPD_SCALE_1", "rebootRequired": true, "shortDesc": "Scale of airspeed sensor 1", "type": "Float", "volatile": true}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Airspeed Validator", "longDesc": "This is the scale IAS --> CAS of the second airspeed sensor instance", "max": 2.0, "min": 0.5, "name": "ASPD_SCALE_2", "rebootRequired": true, "shortDesc": "Scale of airspeed sensor 2", "type": "Float", "volatile": true}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Airspeed Validator", "longDesc": "This is the scale IAS --> CAS of the third airspeed sensor instance", "max": 2.0, "min": 0.5, "name": "ASPD_SCALE_3", "rebootRequired": true, "shortDesc": "Scale of airspeed sensor 3", "type": "Float", "volatile": true}, {"category": "Standard", "default": 2, "group": "Airspeed Validator", "name": "ASPD_SCALE_APPLY", "shortDesc": "Controls when to apply the new estimated airspeed scale(s)", "type": "Int32", "values": [{"description": "Do not automatically apply the estimated scale", "value": 0}, {"description": "Apply the estimated scale after disarm", "value": 1}, {"description": "Apply the estimated scale in air", "value": 2}]}, {"category": "Standard", "decimalPlaces": 5, "default": 0.0001, "group": "Airspeed Validator", "longDesc": "Airspeed scale process noise of the internal wind estimator(s) of the airspeed selector. When unaided, the scale uncertainty (1-sigma, unitless) increases by this amount every second.", "max": 0.1, "min": 0.0, "name": "ASPD_SCALE_NSD", "shortDesc": "Wind estimator true airspeed scale process noise spectral density", "type": "Float", "units": "1/s/sqrt(Hz)"}, {"category": "Standard", "default": 4, "group": "Airspeed Validator", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.", "max": 5, "min": 1, "name": "ASPD_TAS_GATE", "shortDesc": "Gate size for true airspeed fusion", "type": "Int32", "units": "SD"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.4, "group": "Airspeed Validator", "longDesc": "True airspeed measurement noise of the internal wind estimator(s) of the airspeed selector.", "max": 4.0, "min": 0.0, "name": "ASPD_TAS_NOISE", "shortDesc": "Wind estimator true airspeed measurement noise", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.55, "group": "Airspeed Validator", "longDesc": "The synthetic airspeed estimate (from groundspeed and heading) will be declared valid as soon and as long the horizontal wind uncertainty is below this value.", "max": 5.0, "min": 0.001, "name": "ASPD_WERR_THR", "shortDesc": "Horizontal wind uncertainty threshold for synthetic airspeed", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "Airspeed Validator", "longDesc": "Wind process noise of the internal wind estimator(s) of the airspeed selector. When unaided, the wind estimate uncertainty (1-sigma, in m/s) increases by this amount every second.", "max": 1.0, "min": 0.0, "name": "ASPD_WIND_NSD", "shortDesc": "Wind estimator wind process noise spectral density", "type": "Float", "units": "m/s^2/sqrt(Hz)"}, {"category": "Standard", "default": 0, "group": "Attitude Q estimator", "name": "ATT_ACC_COMP", "shortDesc": "Acceleration compensation based on GPS velocity", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "Attitude Q estimator", "max": 2.0, "min": 0.0, "name": "ATT_BIAS_MAX", "shortDesc": "Gyro bias limit", "type": "Float", "units": "rad/s"}, {"category": "Standard", "default": 0, "group": "Attitude Q estimator", "longDesc": "Enable standalone quaternion based attitude estimator.", "name": "ATT_EN", "shortDesc": "standalone attitude estimator enable (unsupported)", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Attitude Q estimator", "longDesc": "Set to 1 to use heading estimate from vision. Set to 2 to use heading from motion capture.", "max": 2, "min": 0, "name": "ATT_EXT_HDG_M", "shortDesc": "External heading usage mode (from Motion capture/Vision)", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Vision", "value": 1}, {"description": "Motion Capture", "value": 2}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Attitude Q estimator", "longDesc": "This parameter is not used in normal operation, as the declination is looked up based on the GPS coordinates of the vehicle.", "name": "ATT_MAG_DECL", "shortDesc": "Magnetic declination, in degrees", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 1, "group": "Attitude Q estimator", "name": "ATT_MAG_DECL_A", "shortDesc": "Automatic GPS based declination compensation", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "Attitude Q estimator", "max": 1.0, "min": 0.0, "name": "ATT_W_ACC", "shortDesc": "Complimentary filter accelerometer weight", "type": "Float"}, {"category": "Standard", "default": 0.1, "group": "Attitude Q estimator", "max": 1.0, "min": 0.0, "name": "ATT_W_EXT_HDG", "shortDesc": "Complimentary filter external heading weight", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "Attitude Q estimator", "max": 1.0, "min": 0.0, "name": "ATT_W_GYRO_BIAS", "shortDesc": "Complimentary filter gyroscope bias weight", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "Attitude Q estimator", "longDesc": "Set to 0 to avoid using the magnetometer.", "max": 1.0, "min": 0.0, "name": "ATT_W_MAG", "shortDesc": "Complimentary filter magnetometer weight", "type": "Float"}, {"category": "Standard", "default": 2, "group": "Autotune", "longDesc": "After the auto-tuning sequence is completed, a new set of gains is available and can be applied immediately or after landing.", "name": "FW_AT_APPLY", "shortDesc": "Controls when to apply the new gains", "type": "Int32", "values": [{"description": "Do not apply the new gains (logging only)", "value": 0}, {"description": "Apply the new gains after disarm", "value": 1}, {"description": "Apply the new gains in air", "value": 2}]}, {"bitmask": [{"description": "roll", "index": 0}, {"description": "pitch", "index": 1}, {"description": "yaw", "index": 2}], "category": "Standard", "default": 3, "group": "Autotune", "longDesc": "Defines which axes will be tuned during the auto-tuning sequence Set bits in the following positions to enable: 0 : Roll 1 : Pitch 2 : Yaw", "max": 7, "min": 1, "name": "FW_AT_AXES", "shortDesc": "Tuning axes selection", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Autotune", "longDesc": "Defines which RC_MAP_AUXn parameter maps the RC channel used to enable/disable auto tuning.", "max": 6, "min": 0, "name": "FW_AT_MAN_AUX", "shortDesc": "Enable/disable auto tuning using an RC AUX input", "type": "Int32", "values": [{"description": "Disable", "value": 0}, {"description": "Aux1", "value": 1}, {"description": "Aux2", "value": 2}, {"description": "Aux3", "value": 3}, {"description": "Aux4", "value": 4}, {"description": "Aux5", "value": 5}, {"description": "Aux6", "value": 6}]}, {"category": "Standard", "default": 0, "group": "Autotune", "longDesc": "WARNING: this will inject steps to the rate controller and can be dangerous. Only activate if you know what you are doing, and in a safe environment. Any motion of the remote stick will abort the signal injection and reset this parameter Best is to perform the identification in position or hold mode. Increase the amplitude of the injected signal using FW_AT_SYSID_AMP for more signal/noise ratio", "name": "FW_AT_START", "shortDesc": "Start the autotuning sequence", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "Autotune", "longDesc": "This parameter scales the signal sent to the rate controller during system identification.", "max": 6.0, "min": 0.1, "name": "FW_AT_SYSID_AMP", "shortDesc": "Amplitude of the injected signal", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "Autotune", "longDesc": "Can be set lower or higher than the end frequency", "max": 30.0, "min": 0.1, "name": "FW_AT_SYSID_F0", "shortDesc": "Start frequency of the injected signal", "type": "Float", "units": "Hz"}, {"category": "Standard", "decimalPlaces": 1, "default": 20.0, "group": "Autotune", "longDesc": "Can be set lower or higher than the start frequency", "max": 30.0, "min": 0.1, "name": "FW_AT_SYSID_F1", "shortDesc": "End frequency of the injected signal", "type": "Float", "units": "Hz"}, {"category": "Standard", "decimalPlaces": 0, "default": 10.0, "group": "Autotune", "longDesc": "Duration of the input signal sent on each axis during system identification", "max": 120.0, "min": 5.0, "name": "FW_AT_SYSID_TIME", "shortDesc": "Maneuver time for each axis", "type": "Float", "units": "s"}, {"category": "Standard", "default": 0, "group": "Autotune", "longDesc": "Type of signal used during system identification to excite the system.", "name": "FW_AT_SYSID_TYPE", "shortDesc": "Input signal type", "type": "Int32", "values": [{"description": "Step", "value": 0}, {"description": "Linear sine sweep", "value": 1}, {"description": "Logarithmic sine sweep", "value": 2}]}, {"category": "Standard", "default": 1, "group": "Autotune", "longDesc": "After the auto-tuning sequence is completed, a new set of gains is available and can be applied immediately or after landing. WARNING Applying the gains in air is dangerous as there is no guarantee that those new gains will be able to stabilize the drone properly.", "name": "MC_AT_APPLY", "shortDesc": "Controls when to apply the new gains", "type": "Int32", "values": [{"description": "Do not apply the new gains (logging only)", "value": 0}, {"description": "Apply the new gains after disarm", "value": 1}, {"description": "WARNING Apply the new gains in air", "value": 2}]}, {"category": "Standard", "default": 0, "group": "Autotune", "name": "MC_AT_EN", "shortDesc": "Multicopter autotune module enable", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.14, "group": "Autotune", "max": 0.5, "min": 0.01, "name": "MC_AT_RISE_TIME", "shortDesc": "Desired angular rate closed-loop rise time", "type": "Float", "units": "s"}, {"category": "Standard", "default": 0, "group": "Autotune", "longDesc": "WARNING: this will inject steps to the rate controller and can be dangerous. Only activate if you know what you are doing, and in a safe environment. Any motion of the remote stick will abort the signal injection and reset this parameter Best is to perform the identification in position or hold mode. Increase the amplitude of the injected signal using MC_AT_SYSID_AMP for more signal/noise ratio", "name": "MC_AT_START", "shortDesc": "Start the autotuning sequence", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 0.7, "group": "Autotune", "max": 6.0, "min": 0.1, "name": "MC_AT_SYSID_AMP", "shortDesc": "Amplitude of the injected signal", "type": "Float"}, {"category": "Standard", "decimalPlaces": 0, "default": -1.0, "group": "Battery Calibration", "increment": 50.0, "longDesc": "Defines the capacity of battery 1 in mAh.", "max": 100000.0, "min": -1.0, "name": "BAT1_CAPACITY", "rebootRequired": true, "shortDesc": "Battery 1 capacity", "type": "Float", "units": "mAh"}, {"category": "Standard", "default": 0, "group": "Battery Calibration", "longDesc": "Defines the number of cells the attached battery consists of.", "name": "BAT1_N_CELLS", "shortDesc": "Number of cells for battery 1", "type": "Int32", "values": [{"description": "Unknown", "value": 0}, {"description": "1S Battery", "value": 1}, {"description": "2S Battery", "value": 2}, {"description": "3S Battery", "value": 3}, {"description": "4S Battery", "value": 4}, {"description": "5S Battery", "value": 5}, {"description": "6S Battery", "value": 6}, {"description": "7S Battery", "value": 7}, {"description": "8S Battery", "value": 8}, {"description": "9S Battery", "value": 9}, {"description": "10S Battery", "value": 10}, {"description": "11S Battery", "value": 11}, {"description": "12S Battery", "value": 12}, {"description": "13S Battery", "value": 13}, {"description": "14S Battery", "value": 14}, {"description": "15S Battery", "value": 15}, {"description": "16S Battery", "value": 16}]}, {"category": "Standard", "decimalPlaces": 4, "default": -1.0, "group": "Battery Calibration", "increment": 0.0005, "longDesc": "If non-negative, then this will be used instead of the online estimated internal resistance.", "max": 0.2, "min": -1.0, "name": "BAT1_R_INTERNAL", "rebootRequired": true, "shortDesc": "Explicitly defines the per cell internal resistance for battery 1", "type": "Float", "units": "Ohm"}, {"category": "Standard", "default": 0, "group": "Battery Calibration", "longDesc": "This parameter controls the source of battery data. The value 'Power Module' means that measurements are expected to come from a power module. If the value is set to 'External' then the system expects to receive mavlink battery status messages. If the value is set to 'ESCs', the battery information are taken from the esc_status message. This requires the ESC to provide both voltage as well as current.", "name": "BAT1_SOURCE", "rebootRequired": true, "shortDesc": "Battery 1 monitoring source", "type": "Int32", "values": [{"description": "Disabled", "value": -1}, {"description": "Power Module", "value": 0}, {"description": "External", "value": 1}, {"description": "ESCs", "value": 2}]}, {"category": "Standard", "decimalPlaces": 2, "default": 4.05, "group": "Battery Calibration", "increment": 0.01, "longDesc": "Defines the voltage where a single cell of the battery is considered full. For a more accurate estimate set this below the nominal voltage of e.g. 4.2V", "name": "BAT1_V_CHARGED", "rebootRequired": true, "shortDesc": "Full cell voltage", "type": "Float", "units": "V"}, {"category": "Standard", "decimalPlaces": 2, "default": 3.6, "group": "Battery Calibration", "increment": 0.01, "longDesc": "Defines the voltage where a single cell of the battery is considered empty. The voltage should be chosen above the steep dropoff at 3.5V. A typical lithium battery can only be discharged under high load down to 10% before it drops off to a voltage level damaging the cells.", "name": "BAT1_V_EMPTY", "rebootRequired": true, "shortDesc": "Empty cell voltage", "type": "Float", "units": "V"}, {"category": "Standard", "decimalPlaces": 0, "default": -1.0, "group": "Battery Calibration", "increment": 50.0, "longDesc": "Defines the capacity of battery 2 in mAh.", "max": 100000.0, "min": -1.0, "name": "BAT2_CAPACITY", "rebootRequired": true, "shortDesc": "Battery 2 capacity", "type": "Float", "units": "mAh"}, {"category": "Standard", "default": 0, "group": "Battery Calibration", "longDesc": "Defines the number of cells the attached battery consists of.", "name": "BAT2_N_CELLS", "shortDesc": "Number of cells for battery 2", "type": "Int32", "values": [{"description": "Unknown", "value": 0}, {"description": "1S Battery", "value": 1}, {"description": "2S Battery", "value": 2}, {"description": "3S Battery", "value": 3}, {"description": "4S Battery", "value": 4}, {"description": "5S Battery", "value": 5}, {"description": "6S Battery", "value": 6}, {"description": "7S Battery", "value": 7}, {"description": "8S Battery", "value": 8}, {"description": "9S Battery", "value": 9}, {"description": "10S Battery", "value": 10}, {"description": "11S Battery", "value": 11}, {"description": "12S Battery", "value": 12}, {"description": "13S Battery", "value": 13}, {"description": "14S Battery", "value": 14}, {"description": "15S Battery", "value": 15}, {"description": "16S Battery", "value": 16}]}, {"category": "Standard", "decimalPlaces": 4, "default": -1.0, "group": "Battery Calibration", "increment": 0.0005, "longDesc": "If non-negative, then this will be used instead of the online estimated internal resistance.", "max": 0.2, "min": -1.0, "name": "BAT2_R_INTERNAL", "rebootRequired": true, "shortDesc": "Explicitly defines the per cell internal resistance for battery 2", "type": "Float", "units": "Ohm"}, {"category": "Standard", "default": -1, "group": "Battery Calibration", "longDesc": "This parameter controls the source of battery data. The value 'Power Module' means that measurements are expected to come from a power module. If the value is set to 'External' then the system expects to receive mavlink battery status messages. If the value is set to 'ESCs', the battery information are taken from the esc_status message. This requires the ESC to provide both voltage as well as current.", "name": "BAT2_SOURCE", "rebootRequired": true, "shortDesc": "Battery 2 monitoring source", "type": "Int32", "values": [{"description": "Disabled", "value": -1}, {"description": "Power Module", "value": 0}, {"description": "External", "value": 1}, {"description": "ESCs", "value": 2}]}, {"category": "Standard", "decimalPlaces": 2, "default": 4.05, "group": "Battery Calibration", "increment": 0.01, "longDesc": "Defines the voltage where a single cell of the battery is considered full. For a more accurate estimate set this below the nominal voltage of e.g. 4.2V", "name": "BAT2_V_CHARGED", "rebootRequired": true, "shortDesc": "Full cell voltage", "type": "Float", "units": "V"}, {"category": "Standard", "decimalPlaces": 2, "default": 3.6, "group": "Battery Calibration", "increment": 0.01, "longDesc": "Defines the voltage where a single cell of the battery is considered empty. The voltage should be chosen above the steep dropoff at 3.5V. A typical lithium battery can only be discharged under high load down to 10% before it drops off to a voltage level damaging the cells.", "name": "BAT2_V_EMPTY", "rebootRequired": true, "shortDesc": "Empty cell voltage", "type": "Float", "units": "V"}, {"category": "Standard", "decimalPlaces": 0, "default": -1.0, "group": "Battery Calibration", "increment": 50.0, "longDesc": "Defines the capacity of battery 3 in mAh.", "max": 100000.0, "min": -1.0, "name": "BAT3_CAPACITY", "rebootRequired": true, "shortDesc": "Battery 3 capacity", "type": "Float", "units": "mAh"}, {"category": "Standard", "default": 0, "group": "Battery Calibration", "longDesc": "Defines the number of cells the attached battery consists of.", "name": "BAT3_N_CELLS", "shortDesc": "Number of cells for battery 3", "type": "Int32", "values": [{"description": "Unknown", "value": 0}, {"description": "1S Battery", "value": 1}, {"description": "2S Battery", "value": 2}, {"description": "3S Battery", "value": 3}, {"description": "4S Battery", "value": 4}, {"description": "5S Battery", "value": 5}, {"description": "6S Battery", "value": 6}, {"description": "7S Battery", "value": 7}, {"description": "8S Battery", "value": 8}, {"description": "9S Battery", "value": 9}, {"description": "10S Battery", "value": 10}, {"description": "11S Battery", "value": 11}, {"description": "12S Battery", "value": 12}, {"description": "13S Battery", "value": 13}, {"description": "14S Battery", "value": 14}, {"description": "15S Battery", "value": 15}, {"description": "16S Battery", "value": 16}]}, {"category": "Standard", "decimalPlaces": 4, "default": -1.0, "group": "Battery Calibration", "increment": 0.0005, "longDesc": "If non-negative, then this will be used instead of the online estimated internal resistance.", "max": 0.2, "min": -1.0, "name": "BAT3_R_INTERNAL", "rebootRequired": true, "shortDesc": "Explicitly defines the per cell internal resistance for battery 3", "type": "Float", "units": "Ohm"}, {"category": "Standard", "default": -1, "group": "Battery Calibration", "longDesc": "This parameter controls the source of battery data. The value 'Power Module' means that measurements are expected to come from a power module. If the value is set to 'External' then the system expects to receive mavlink battery status messages. If the value is set to 'ESCs', the battery information are taken from the esc_status message. This requires the ESC to provide both voltage as well as current.", "name": "BAT3_SOURCE", "rebootRequired": true, "shortDesc": "Battery 3 monitoring source", "type": "Int32", "values": [{"description": "Disabled", "value": -1}, {"description": "Power Module", "value": 0}, {"description": "External", "value": 1}, {"description": "ESCs", "value": 2}]}, {"category": "Standard", "decimalPlaces": 2, "default": 4.05, "group": "Battery Calibration", "increment": 0.01, "longDesc": "Defines the voltage where a single cell of the battery is considered full. For a more accurate estimate set this below the nominal voltage of e.g. 4.2V", "name": "BAT3_V_CHARGED", "rebootRequired": true, "shortDesc": "Full cell voltage", "type": "Float", "units": "V"}, {"category": "Standard", "decimalPlaces": 2, "default": 3.6, "group": "Battery Calibration", "increment": 0.01, "longDesc": "Defines the voltage where a single cell of the battery is considered empty. The voltage should be chosen above the steep dropoff at 3.5V. A typical lithium battery can only be discharged under high load down to 10% before it drops off to a voltage level damaging the cells.", "name": "BAT3_V_EMPTY", "rebootRequired": true, "shortDesc": "Empty cell voltage", "type": "Float", "units": "V"}, {"category": "Standard", "decimalPlaces": 2, "default": 15.0, "group": "Battery Calibration", "increment": 0.1, "longDesc": "This value is used to initialize the in-flight average current estimation, which in turn is used for estimating remaining flight time and RTL triggering.", "max": 500.0, "min": 0.0, "name": "BAT_AVRG_CURRENT", "shortDesc": "Expected battery current in flight", "type": "Float", "units": "A"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.07, "group": "Battery Calibration", "increment": 0.01, "longDesc": "Sets the threshold when the battery will be reported as critically low. This has to be lower than the low threshold. This threshold commonly will trigger RTL.", "max": 0.5, "min": 0.05, "name": "BAT_CRIT_THR", "shortDesc": "Critical threshold", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.05, "group": "Battery Calibration", "increment": 0.01, "longDesc": "Sets the threshold when the battery will be reported as dangerously low. This has to be lower than the critical threshold. This threshold commonly will trigger landing.", "max": 0.5, "min": 0.03, "name": "BAT_EMERGEN_THR", "shortDesc": "Emergency threshold", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.15, "group": "Battery Calibration", "increment": 0.01, "longDesc": "Sets the threshold when the battery will be reported as low. This has to be higher than the critical threshold.", "max": 0.5, "min": 0.12, "name": "BAT_LOW_THR", "shortDesc": "Low threshold", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 1, "default": 40.0, "group": "Camera trigger", "longDesc": "This parameter sets the time the trigger needs to pulled high or low.", "max": 3000.0, "min": 0.1, "name": "TRIG_ACT_TIME", "rebootRequired": true, "shortDesc": "Camera trigger activation time", "type": "Float", "units": "ms"}, {"category": "Standard", "decimalPlaces": 1, "default": 25.0, "group": "Camera trigger", "increment": 1.0, "longDesc": "Sets the distance at which to trigger the camera.", "min": 0.0, "name": "TRIG_DISTANCE", "rebootRequired": true, "shortDesc": "Camera trigger distance", "type": "Float", "units": "m"}, {"category": "Standard", "default": 4, "group": "Camera trigger", "longDesc": "Selects the trigger interface", "name": "TRIG_INTERFACE", "rebootRequired": true, "shortDesc": "Camera trigger Interface", "type": "Int32", "values": [{"description": "GPIO", "value": 1}, {"description": "Seagull MAP2 (over PWM)", "value": 2}, {"description": "MAVLink (Camera Protocol v1)", "value": 3}, {"description": "Generic PWM (IR trigger, servo)", "value": 4}]}, {"category": "Standard", "decimalPlaces": 1, "default": 40.0, "group": "Camera trigger", "longDesc": "This parameter sets the time between two consecutive trigger events", "max": 10000.0, "min": 4.0, "name": "TRIG_INTERVAL", "rebootRequired": true, "shortDesc": "Camera trigger interval", "type": "Float", "units": "ms"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "Camera trigger", "longDesc": "This parameter sets the minimum time between two consecutive trigger events the specific camera setup is supporting.", "max": 10000.0, "min": 1.0, "name": "TRIG_MIN_INTERVA", "rebootRequired": true, "shortDesc": "Minimum camera trigger interval", "type": "Float", "units": "ms"}, {"category": "Standard", "default": 0, "group": "Camera trigger", "max": 4, "min": 0, "name": "TRIG_MODE", "rebootRequired": true, "shortDesc": "Camera trigger mode", "type": "Int32", "values": [{"description": "Disable", "value": 0}, {"description": "Time based, on command", "value": 1}, {"description": "Time based, always on", "value": 2}, {"description": "Distance based, always on", "value": 3}, {"description": "Distance based, on command (Survey mode)", "value": 4}]}, {"category": "Standard", "default": 0, "group": "Camera trigger", "longDesc": "This parameter sets the polarity of the trigger (0 = active low, 1 = active high )", "max": 1, "min": 0, "name": "TRIG_POLARITY", "rebootRequired": true, "shortDesc": "Camera trigger polarity", "type": "Int32", "values": [{"description": "Active low", "value": 0}, {"description": "Active high", "value": 1}]}, {"category": "Standard", "default": 1500, "group": "Camera trigger", "max": 2000, "min": 1000, "name": "TRIG_PWM_NEUTRAL", "rebootRequired": true, "shortDesc": "PWM neutral output on trigger pin", "type": "Int32", "units": "us"}, {"category": "Standard", "default": 1900, "group": "Camera trigger", "max": 2000, "min": 1000, "name": "TRIG_PWM_SHOOT", "rebootRequired": true, "shortDesc": "PWM output to trigger shot", "type": "Int32", "units": "us"}, {"category": "Developer", "default": 0, "group": "Circuit Breaker", "longDesc": "Setting this parameter to 782097 will disable the buzzer audio notification. Setting this parameter to 782090 will disable the startup tune, while keeping all others enabled.", "max": 782097, "min": 0, "name": "CBRK_BUZZER", "rebootRequired": true, "shortDesc": "Circuit breaker for disabling buzzer", "type": "Int32"}, {"category": "Developer", "default": 121212, "group": "Circuit Breaker", "longDesc": "Setting this parameter to 121212 will disable the flight termination action if triggered by the FailureDetector logic or if FMU is lost. This circuit breaker does not affect the RC loss, data link loss, geofence, and takeoff failure detection safety logic.", "max": 121212, "min": 0, "name": "CBRK_FLIGHTTERM", "rebootRequired": true, "shortDesc": "Circuit breaker for flight termination", "type": "Int32"}, {"category": "Developer", "default": 22027, "group": "Circuit Breaker", "longDesc": "Setting this parameter to 22027 will disable IO safety. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK", "max": 22027, "min": 0, "name": "CBRK_IO_SAFETY", "shortDesc": "Circuit breaker for IO safety", "type": "Int32"}, {"category": "Developer", "default": 0, "group": "Circuit Breaker", "longDesc": "Setting this parameter to 894281 will disable the power valid checks in the commander. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK", "max": 894281, "min": 0, "name": "CBRK_SUPPLY_CHK", "shortDesc": "Circuit breaker for power supply check", "type": "Int32"}, {"category": "Developer", "default": 197848, "group": "Circuit Breaker", "longDesc": "Setting this parameter to 197848 will disable the USB connected checks in the commander, setting it to 0 keeps them enabled (recommended). We are generally recommending to not fly with the USB link connected and production vehicles should set this parameter to zero to prevent users from flying USB powered. However, for R&D purposes it has proven over the years to work just fine.", "max": 197848, "min": 0, "name": "CBRK_USB_CHK", "shortDesc": "Circuit breaker for USB link check", "type": "Int32"}, {"category": "Developer", "default": 0, "group": "Circuit Breaker", "longDesc": "Setting this parameter to 159753 will enable arming in fixed-wing mode for VTOLs. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK", "max": 159753, "min": 0, "name": "CBRK_VTOLARMING", "shortDesc": "Circuit breaker for arming in fixed-wing mode check", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "Note: actuator failure needs to be enabled and configured via FD_ACT_* parameters.", "max": 3, "min": 0, "name": "COM_ACT_FAIL_ACT", "shortDesc": "Set the actuator failure failsafe mode", "type": "Int32", "values": [{"description": "Warning only", "value": 0}, {"description": "Hold mode", "value": 1}, {"description": "Land mode", "value": 2}, {"description": "Return mode", "value": 3}, {"description": "Terminate", "value": 4}]}, {"category": "Standard", "default": 1, "group": "Commander", "longDesc": "Set 0 to prevent accidental use of the vehicle e.g. for safety or maintenance reasons.", "name": "COM_ARMABLE", "shortDesc": "Flag to allow arming", "type": "Int32", "values": [{"description": "Disallow arming", "value": 0}, {"description": "Allow arming", "value": 1}]}, {"category": "Standard", "default": 10, "group": "Commander", "longDesc": "Used if arm authorization is requested by COM_ARM_AUTH_REQ.", "name": "COM_ARM_AUTH_ID", "shortDesc": "Arm authorizer system id", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "Methods: - one arm: request authorization and arm when authorization is received - two step arm: 1st arm command request an authorization and 2nd arm command arm the drone if authorized Used if arm authorization is requested by COM_ARM_AUTH_REQ.", "name": "COM_ARM_AUTH_MET", "shortDesc": "Arm authorization method", "type": "Int32", "values": [{"description": "one arm", "value": 0}, {"description": "two step arm", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "By default off. The default allows to arm the vehicle without a arm authorization.", "name": "COM_ARM_AUTH_REQ", "shortDesc": "Require arm authorization to arm", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "Commander", "increment": 0.1, "longDesc": "Timeout for authorizer answer. Used if arm authorization is requested by COM_ARM_AUTH_REQ.", "name": "COM_ARM_AUTH_TO", "shortDesc": "Arm authorization timeout", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Commander", "increment": 0.01, "longDesc": "Threshold for battery percentage below arming is prohibited. A negative value means BAT_CRIT_THR is the threshold.", "max": 0.9, "min": -1.0, "name": "COM_ARM_BAT_MIN", "shortDesc": "Minimum battery level for arming", "type": "Float", "units": "norm"}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "If this parameter is set, the system will check ESC's online status and failures. This param is specific for ESCs reporting status. It shall be used only if ESCs support telemetry.", "name": "COM_ARM_CHK_ESCS", "shortDesc": "Enable checks on ESCs that report telemetry", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1, "group": "Commander", "longDesc": "This check detects if there are hardfault files present on the SD card. If so, and the parameter is enabled, arming is prevented.", "name": "COM_ARM_HFLT_CHK", "shortDesc": "Enable FMU SD card hardfault detection check", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.7, "group": "Commander", "increment": 0.05, "max": 1.0, "min": 0.1, "name": "COM_ARM_IMU_ACC", "shortDesc": "Maximum accelerometer inconsistency between IMU units that will allow arming", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.25, "group": "Commander", "increment": 0.01, "max": 0.3, "min": 0.02, "name": "COM_ARM_IMU_GYR", "shortDesc": "Maximum rate gyro inconsistency between IMU units that will allow arming", "type": "Float", "units": "rad/s"}, {"category": "Standard", "default": 60, "group": "Commander", "longDesc": "Set -1 to disable the check.", "max": 180, "min": 3, "name": "COM_ARM_MAG_ANG", "shortDesc": "Maximum magnetic field inconsistency between units that will allow arming", "type": "Int32", "units": "deg"}, {"category": "Standard", "default": 2, "group": "Commander", "longDesc": "Check if the estimator detects a strong magnetic disturbance (check enabled by EKF2_MAG_CHECK)", "name": "COM_ARM_MAG_STR", "shortDesc": "Enable mag strength preflight check", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Deny arming", "value": 1}, {"description": "Warning only", "value": 2}]}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "The default allows to arm the vehicle without a valid mission.", "name": "COM_ARM_MIS_REQ", "shortDesc": "Require valid mission to arm", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "This check detects if the Open Drone ID system is missing. Depending on the value of the parameter, the check can be disabled, warn only or deny arming.", "name": "COM_ARM_ODID", "shortDesc": "Enable Drone ID system detection and health check", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Warning only", "value": 1}, {"description": "Enforce Open Drone ID system presence", "value": 2}]}, {"category": "Standard", "default": 1, "group": "Commander", "longDesc": "This check detects if the FMU SD card is missing. Depending on the value of the parameter, the check can be disabled, warn only or deny arming.", "name": "COM_ARM_SDCARD", "shortDesc": "Enable FMU SD card detection check", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Warning only", "value": 1}, {"description": "Enforce SD card presence", "value": 2}]}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "0: Arming/disarming triggers on switch transition. 1: Arming/disarming triggers when holding the momentary button down for COM_RC_ARM_HYST like the stick gesture.", "name": "COM_ARM_SWISBTN", "shortDesc": "Arm switch is a momentary button", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1, "group": "Commander", "longDesc": "Measures taken when a check defined by EKF2_GPS_CHECK is failing.", "name": "COM_ARM_WO_GPS", "shortDesc": "GPS preflight check", "type": "Int32", "values": [{"description": "Deny arming", "value": 0}, {"description": "Warning only", "value": 1}, {"description": "Disabled", "value": 2}]}, {"category": "Standard", "default": 95.0, "group": "Commander", "increment": 1.0, "longDesc": "The check fails if the CPU load is above this threshold for 2s. A negative value disables the check.", "max": 100.0, "min": -1.0, "name": "COM_CPU_MAX", "shortDesc": "Maximum allowed CPU load to still arm", "type": "Float", "units": "%"}, {"category": "Standard", "decimalPlaces": 1, "default": 2.0, "group": "Commander", "increment": 0.1, "longDesc": "A non-zero, positive value specifies the time-out period in seconds after which the vehicle will be automatically disarmed in case a landing situation has been detected during this period. A zero or negative value means that automatic disarming triggered by landing detection is disabled.", "name": "COM_DISARM_LAND", "shortDesc": "Time-out for auto disarm after landing", "type": "Float", "units": "s"}, {"category": "Standard", "default": 1, "group": "Commander", "longDesc": "0: Disallow disarming when not landed 1: Allow disarming in multicopter flight in modes where the thrust is directly controlled by thr throttle stick e.g. Stabilized, Acro", "name": "COM_DISARM_MAN", "shortDesc": "Allow disarming via switch/stick/button on multicopters in manual thrust modes", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "Commander", "increment": 0.1, "longDesc": "A non-zero, positive value specifies the time in seconds, within which the vehicle is expected to take off after arming. In case the vehicle didn't takeoff within the timeout it disarms again. A negative value disables autmoatic disarming triggered by a pre-takeoff timeout.", "name": "COM_DISARM_PRFLT", "shortDesc": "Time-out for auto disarm if not taking off", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": 10, "group": "Commander", "increment": 1, "longDesc": "After this amount of seconds without datalink, the GCS connection lost mode triggers", "max": 300, "min": 5, "name": "COM_DL_LOSS_T", "shortDesc": "GCS connection loss time threshold", "type": "Int32", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "Commander", "longDesc": "Before entering failsafe (RTL, Land, Hold), wait COM_FAIL_ACT_T seconds in Hold mode for the user to realize. During that time the user cannot take over control via the stick override feature (see COM_RC_OVERRIDE). Afterwards the configured failsafe action is triggered and the user may use stick override. A zero value disables the delay and the user cannot take over via stick movements (switching modes is still allowed).", "max": 25.0, "min": 0.0, "name": "COM_FAIL_ACT_T", "shortDesc": "Delay between failsafe condition triggered and failsafe reaction", "type": "Float", "units": "s"}, {"category": "System", "default": 0, "group": "Commander", "longDesc": "This number is incremented automatically after every flight on disarming in order to remember the next flight UUID. The first flight is 0.", "min": 0, "name": "COM_FLIGHT_UUID", "shortDesc": "Next flight UUID", "type": "Int32", "volatile": true}, {"category": "Standard", "default": -1, "group": "Commander", "longDesc": "If the main switch channel is in this range the selected flight mode will be applied.", "name": "COM_FLTMODE1", "shortDesc": "Mode slot 1", "type": "Int32", "values": [{"description": "Unassigned", "value": -1}, {"description": "Manual", "value": 0}, {"description": "Altitude", "value": 1}, {"description": "Position", "value": 2}, {"description": "Mission", "value": 3}, {"description": "Hold", "value": 4}, {"description": "Return", "value": 5}, {"description": "Acro", "value": 6}, {"description": "Offboard", "value": 7}, {"description": "Stabilized", "value": 8}, {"description": "Position Slow", "value": 9}, {"description": "Takeoff", "value": 10}, {"description": "Land", "value": 11}, {"description": "Follow Me", "value": 12}, {"description": "Precision Land", "value": 13}, {"description": "External Mode 1", "value": 100}, {"description": "External Mode 2", "value": 101}, {"description": "External Mode 3", "value": 102}, {"description": "External Mode 4", "value": 103}, {"description": "External Mode 5", "value": 104}, {"description": "External Mode 6", "value": 105}, {"description": "External Mode 7", "value": 106}, {"description": "External Mode 8", "value": 107}]}, {"category": "Standard", "default": -1, "group": "Commander", "longDesc": "If the main switch channel is in this range the selected flight mode will be applied.", "name": "COM_FLTMODE2", "shortDesc": "Mode slot 2", "type": "Int32", "values": [{"description": "Unassigned", "value": -1}, {"description": "Manual", "value": 0}, {"description": "Altitude", "value": 1}, {"description": "Position", "value": 2}, {"description": "Mission", "value": 3}, {"description": "Hold", "value": 4}, {"description": "Return", "value": 5}, {"description": "Acro", "value": 6}, {"description": "Offboard", "value": 7}, {"description": "Stabilized", "value": 8}, {"description": "Position Slow", "value": 9}, {"description": "Takeoff", "value": 10}, {"description": "Land", "value": 11}, {"description": "Follow Me", "value": 12}, {"description": "Precision Land", "value": 13}, {"description": "External Mode 1", "value": 100}, {"description": "External Mode 2", "value": 101}, {"description": "External Mode 3", "value": 102}, {"description": "External Mode 4", "value": 103}, {"description": "External Mode 5", "value": 104}, {"description": "External Mode 6", "value": 105}, {"description": "External Mode 7", "value": 106}, {"description": "External Mode 8", "value": 107}]}, {"category": "Standard", "default": -1, "group": "Commander", "longDesc": "If the main switch channel is in this range the selected flight mode will be applied.", "name": "COM_FLTMODE3", "shortDesc": "Mode slot 3", "type": "Int32", "values": [{"description": "Unassigned", "value": -1}, {"description": "Manual", "value": 0}, {"description": "Altitude", "value": 1}, {"description": "Position", "value": 2}, {"description": "Mission", "value": 3}, {"description": "Hold", "value": 4}, {"description": "Return", "value": 5}, {"description": "Acro", "value": 6}, {"description": "Offboard", "value": 7}, {"description": "Stabilized", "value": 8}, {"description": "Position Slow", "value": 9}, {"description": "Takeoff", "value": 10}, {"description": "Land", "value": 11}, {"description": "Follow Me", "value": 12}, {"description": "Precision Land", "value": 13}, {"description": "External Mode 1", "value": 100}, {"description": "External Mode 2", "value": 101}, {"description": "External Mode 3", "value": 102}, {"description": "External Mode 4", "value": 103}, {"description": "External Mode 5", "value": 104}, {"description": "External Mode 6", "value": 105}, {"description": "External Mode 7", "value": 106}, {"description": "External Mode 8", "value": 107}]}, {"category": "Standard", "default": -1, "group": "Commander", "longDesc": "If the main switch channel is in this range the selected flight mode will be applied.", "name": "COM_FLTMODE4", "shortDesc": "Mode slot 4", "type": "Int32", "values": [{"description": "Unassigned", "value": -1}, {"description": "Manual", "value": 0}, {"description": "Altitude", "value": 1}, {"description": "Position", "value": 2}, {"description": "Mission", "value": 3}, {"description": "Hold", "value": 4}, {"description": "Return", "value": 5}, {"description": "Acro", "value": 6}, {"description": "Offboard", "value": 7}, {"description": "Stabilized", "value": 8}, {"description": "Position Slow", "value": 9}, {"description": "Takeoff", "value": 10}, {"description": "Land", "value": 11}, {"description": "Follow Me", "value": 12}, {"description": "Precision Land", "value": 13}, {"description": "External Mode 1", "value": 100}, {"description": "External Mode 2", "value": 101}, {"description": "External Mode 3", "value": 102}, {"description": "External Mode 4", "value": 103}, {"description": "External Mode 5", "value": 104}, {"description": "External Mode 6", "value": 105}, {"description": "External Mode 7", "value": 106}, {"description": "External Mode 8", "value": 107}]}, {"category": "Standard", "default": -1, "group": "Commander", "longDesc": "If the main switch channel is in this range the selected flight mode will be applied.", "name": "COM_FLTMODE5", "shortDesc": "Mode slot 5", "type": "Int32", "values": [{"description": "Unassigned", "value": -1}, {"description": "Manual", "value": 0}, {"description": "Altitude", "value": 1}, {"description": "Position", "value": 2}, {"description": "Mission", "value": 3}, {"description": "Hold", "value": 4}, {"description": "Return", "value": 5}, {"description": "Acro", "value": 6}, {"description": "Offboard", "value": 7}, {"description": "Stabilized", "value": 8}, {"description": "Position Slow", "value": 9}, {"description": "Takeoff", "value": 10}, {"description": "Land", "value": 11}, {"description": "Follow Me", "value": 12}, {"description": "Precision Land", "value": 13}, {"description": "External Mode 1", "value": 100}, {"description": "External Mode 2", "value": 101}, {"description": "External Mode 3", "value": 102}, {"description": "External Mode 4", "value": 103}, {"description": "External Mode 5", "value": 104}, {"description": "External Mode 6", "value": 105}, {"description": "External Mode 7", "value": 106}, {"description": "External Mode 8", "value": 107}]}, {"category": "Standard", "default": -1, "group": "Commander", "longDesc": "If the main switch channel is in this range the selected flight mode will be applied.", "name": "COM_FLTMODE6", "shortDesc": "Mode slot 6", "type": "Int32", "values": [{"description": "Unassigned", "value": -1}, {"description": "Manual", "value": 0}, {"description": "Altitude", "value": 1}, {"description": "Position", "value": 2}, {"description": "Mission", "value": 3}, {"description": "Hold", "value": 4}, {"description": "Return", "value": 5}, {"description": "Acro", "value": 6}, {"description": "Offboard", "value": 7}, {"description": "Stabilized", "value": 8}, {"description": "Position Slow", "value": 9}, {"description": "Takeoff", "value": 10}, {"description": "Land", "value": 11}, {"description": "Follow Me", "value": 12}, {"description": "Precision Land", "value": 13}, {"description": "External Mode 1", "value": 100}, {"description": "External Mode 2", "value": 101}, {"description": "External Mode 3", "value": 102}, {"description": "External Mode 4", "value": 103}, {"description": "External Mode 5", "value": 104}, {"description": "External Mode 6", "value": 105}, {"description": "External Mode 7", "value": 106}, {"description": "External Mode 8", "value": 107}]}, {"category": "Standard", "default": 3, "group": "Commander", "increment": 1, "longDesc": "Action the system takes when the remaining flight time is below the estimated time it takes to reach the RTL destination.", "name": "COM_FLTT_LOW_ACT", "shortDesc": "Remaining flight time low failsafe", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Warning", "value": 1}, {"description": "Return", "value": 3}]}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "Describes the intended use of the vehicle. Can be used by ground control software or log post processing. This param does not influence the behavior within the firmware. This means for example the control logic is independent of the setting of this param (but depends on other params).", "name": "COM_FLT_PROFILE", "shortDesc": "User Flight Profile", "type": "Int32", "values": [{"description": "Default", "value": 0}, {"description": "Pro User", "value": 100}, {"description": "Flight Tester", "value": 200}, {"description": "Developer", "value": 300}]}, {"category": "Standard", "default": -1, "group": "Commander", "longDesc": "The vehicle aborts the current operation and returns to launch when the time since takeoff is above this value. It is not possible to resume the mission or switch to any auto mode other than RTL or Land. Taking over in any manual mode is still possible. Starting from 90% of the maximum flight time, a warning message will be sent every 1 minute with the remaining time until automatic RTL. Set to -1 to disable.", "min": -1, "name": "COM_FLT_TIME_MAX", "shortDesc": "Maximum allowed flight time", "type": "Int32", "units": "s"}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "Force safety when the vehicle disarms", "name": "COM_FORCE_SAFETY", "shortDesc": "Enable force safety", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 120, "group": "Commander", "longDesc": "After this amount of seconds without datalink the data link lost mode triggers", "max": 3600, "min": 60, "name": "COM_HLDL_LOSS_T", "shortDesc": "High Latency Datalink loss time threshold", "type": "Int32", "units": "s"}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "After a data link loss: after this number of seconds with a healthy datalink the 'datalink loss' flag is set back to false", "max": 60, "min": 0, "name": "COM_HLDL_REG_T", "shortDesc": "High Latency Datalink regain time threshold", "type": "Int32", "units": "s"}, {"category": "Standard", "default": 1, "group": "Commander", "longDesc": "Set home position automatically if possible.", "name": "COM_HOME_EN", "rebootRequired": true, "shortDesc": "Home position enabled", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "If set to true, the autopilot is allowed to set its home position after takeoff The true home position is back-computed if a local position is estimate if available. If no local position is available, home is set to the current position.", "name": "COM_HOME_IN_AIR", "shortDesc": "Allows setting the home position after takeoff", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Commander", "increment": 1, "longDesc": "Action the system takes when an imbalanced propeller is detected by the failure detector. See also FD_IMB_PROP_THR to set the failure threshold.", "name": "COM_IMB_PROP_ACT", "shortDesc": "Imbalanced propeller failsafe mode", "type": "Int32", "values": [{"description": "Disabled", "value": -1}, {"description": "Warning", "value": 0}, {"description": "Return", "value": 1}, {"description": "Land", "value": 2}]}, {"category": "Standard", "default": 5.0, "group": "Commander", "increment": 0.1, "max": 30.0, "min": 0.0, "name": "COM_KILL_DISARM", "shortDesc": "Timeout value for disarming when kill switch is engaged", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 3, "default": 3.0, "group": "Commander", "longDesc": "A non-zero, positive value specifies the timeframe in seconds within failure detector is allowed to disarm the vehicle if attitude exceeds the limits defined in FD_FAIL_P and FD_FAIL_R. The check is not executed for flight modes that do support acrobatic maneuvers, e.g: Acro (MC/FW) and Manual (FW). A zero or negative value means that the check is disabled.", "max": 5.0, "min": -1.0, "name": "COM_LKDOWN_TKO", "shortDesc": "Timeout for detecting a failure after takeoff", "type": "Float", "units": "s"}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "Action the system takes at critical battery. See also BAT_CRIT_THR and BAT_EMERGEN_THR for definition of battery states.", "name": "COM_LOW_BAT_ACT", "shortDesc": "Battery failsafe mode", "type": "Int32", "values": [{"description": "Warning", "value": 0}, {"description": "Land mode", "value": 2}, {"description": "Return at critical level, land at emergency level", "value": 3}]}, {"category": "System", "default": 0, "group": "Commander", "longDesc": "This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.", "name": "COM_MODE0_HASH", "shortDesc": "External mode identifier 0", "type": "Int32", "volatile": true}, {"category": "System", "default": 0, "group": "Commander", "longDesc": "This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.", "name": "COM_MODE1_HASH", "shortDesc": "External mode identifier 1", "type": "Int32", "volatile": true}, {"category": "System", "default": 0, "group": "Commander", "longDesc": "This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.", "name": "COM_MODE2_HASH", "shortDesc": "External mode identifier 2", "type": "Int32", "volatile": true}, {"category": "System", "default": 0, "group": "Commander", "longDesc": "This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.", "name": "COM_MODE3_HASH", "shortDesc": "External mode identifier 3", "type": "Int32", "volatile": true}, {"category": "System", "default": 0, "group": "Commander", "longDesc": "This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.", "name": "COM_MODE4_HASH", "shortDesc": "External mode identifier 4", "type": "Int32", "volatile": true}, {"category": "System", "default": 0, "group": "Commander", "longDesc": "This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.", "name": "COM_MODE5_HASH", "shortDesc": "External mode identifier 5", "type": "Int32", "volatile": true}, {"category": "System", "default": 0, "group": "Commander", "longDesc": "This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.", "name": "COM_MODE6_HASH", "shortDesc": "External mode identifier 6", "type": "Int32", "volatile": true}, {"category": "System", "default": 0, "group": "Commander", "longDesc": "This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.", "name": "COM_MODE7_HASH", "shortDesc": "External mode identifier 7", "type": "Int32", "volatile": true}, {"category": "Standard", "default": 1, "group": "Commander", "longDesc": "If set, enables the actuator test interface via MAVLink (ACTUATOR_TEST), that allows spinning the motors and moving the servos for testing purposes.", "name": "COM_MOT_TEST_EN", "shortDesc": "Enable Actuator Testing", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 5.0, "group": "Commander", "increment": 0.01, "max": 60.0, "min": 0.0, "name": "COM_OBC_LOSS_T", "shortDesc": "Time-out to wait when onboard computer connection is lost before warning about loss connection", "type": "Float", "units": "s"}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "The offboard loss failsafe will only be entered after a timeout, set by COM_OF_LOSS_T in seconds.", "name": "COM_OBL_RC_ACT", "shortDesc": "Set offboard loss failsafe mode", "type": "Int32", "values": [{"description": "Position mode", "value": 0}, {"description": "Altitude mode", "value": 1}, {"description": "Stabilized", "value": 2}, {"description": "Return mode", "value": 3}, {"description": "Land mode", "value": 4}, {"description": "Hold mode", "value": 5}, {"description": "Terminate", "value": 6}, {"description": "Disarm", "value": 7}]}, {"category": "Standard", "default": 0, "group": "Commander", "name": "COM_OBS_AVOID", "shortDesc": "Flag to enable obstacle avoidance", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1.0, "group": "Commander", "increment": 0.01, "longDesc": "See COM_OBL_RC_ACT to configure action.", "max": 60.0, "min": 0.0, "name": "COM_OF_LOSS_T", "shortDesc": "Time-out to wait when offboard connection is lost before triggering offboard lost action", "type": "Float", "units": "s"}, {"category": "Standard", "default": 0, "group": "Commander", "name": "COM_PARACHUTE", "shortDesc": "Expect and require a healthy MAVLink parachute system", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "This sets the flight mode that will be used if navigation accuracy is no longer adequate for position control in manual Position mode.", "name": "COM_POSCTL_NAVL", "shortDesc": "Position mode navigation loss response", "type": "Int32", "values": [{"description": "Altitude mode", "value": 0}, {"description": "Land mode (descend)", "value": 1}]}, {"category": "Standard", "default": 1, "group": "Commander", "longDesc": "This sets number of seconds that the position checks need to be failed before the failsafe will activate. The default value has been optimised for rotary wing applications. For fixed wing applications, a larger value between 5 and 10 should be used.", "max": 100, "min": 1, "name": "COM_POS_FS_DELAY", "shortDesc": "Loss of position failsafe activation delay", "type": "Int32", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "Commander", "longDesc": "This is the horizontal position error (EPH) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing. If the previous position error was below this threshold, there is an additional factor of 2.5 applied (threshold for invalidation 2.5 times the one for validation). Set to -1 to disable.", "max": 400.0, "min": -1.0, "name": "COM_POS_FS_EPH", "shortDesc": "Horizontal position error threshold", "type": "Float", "units": "m"}, {"category": "Standard", "default": 3, "group": "Commander", "increment": 1, "longDesc": "Action the system takes when the estimated position has an accuracy below the specified threshold. See COM_POS_LOW_EPH to set the failsafe threshold. The failsafe action is only executed if the vehicle is in auto mission or auto loiter mode, otherwise it is only a warning.", "name": "COM_POS_LOW_ACT", "shortDesc": "Low position accuracy action", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Warning", "value": 1}, {"description": "Hold", "value": 2}, {"description": "Return", "value": 3}, {"description": "Terminate", "value": 4}, {"description": "Land", "value": 5}]}, {"category": "Standard", "default": -1.0, "group": "Commander", "longDesc": "This triggers the action specified in COM_POS_LOW_ACT if the estimated position accuracy is below this threshold. Local position has to be still declared valid, which requires some kind of velocity aiding or large dead-reckoning time (EKF2_NOAID_TOUT), and a high failsafe threshold (COM_POS_FS_EPH). Set to -1 to disable.", "max": 1000.0, "min": -1.0, "name": "COM_POS_LOW_EPH", "shortDesc": "Low position accuracy failsafe threshold", "type": "Float", "units": "m"}, {"category": "Standard", "default": 1, "group": "Commander", "longDesc": "This configures a check to verify the expected number of 5V rail power supplies are present. By default only one is expected. Note: CBRK_SUPPLY_CHK disables all power checks including this one.", "max": 4, "min": 0, "name": "COM_POWER_COUNT", "shortDesc": "Required number of redundant power modules", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "Condition to enter the prearmed state, an intermediate state between disarmed and armed in which non-throttling actuators are active.", "name": "COM_PREARM_MODE", "shortDesc": "Condition to enter prearmed mode", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Safety button", "value": 1}, {"description": "Always", "value": 2}]}, {"category": "Standard", "default": 0, "group": "Commander", "name": "COM_QC_ACT", "shortDesc": "Set command after a quadchute", "type": "Int32", "values": [{"description": "Warning only", "value": -1}, {"description": "Return mode", "value": 0}, {"description": "Land mode", "value": 1}, {"description": "Hold mode", "value": 2}]}, {"category": "Standard", "default": 95.0, "group": "Commander", "increment": 1.0, "longDesc": "The check fails if the RAM usage is above this threshold. A negative value disables the check.", "max": 100.0, "min": -1.0, "name": "COM_RAM_MAX", "shortDesc": "Maximum allowed RAM usage to pass checks", "type": "Float", "units": "%"}, {"bitmask": [{"description": "Mission", "index": 0}, {"description": "Hold", "index": 1}, {"description": "Offboard", "index": 2}], "category": "Standard", "default": 0, "group": "Commander", "longDesc": "Specify modes in which RC loss is ignored and the failsafe action not triggered.", "max": 31, "min": 0, "name": "COM_RCL_EXCEPT", "shortDesc": "RC loss exceptions", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Commander", "longDesc": "The default value of 1000 requires the stick to be held in the arm or disarm position for 1 second.", "max": 1500, "min": 100, "name": "COM_RC_ARM_HYST", "shortDesc": "RC input arm/disarm command duration", "type": "Int32", "units": "ms"}, {"category": "Standard", "default": 3, "group": "Commander", "longDesc": "A value of 0 enables RC transmitter control (only). A valid RC transmitter calibration is required. A value of 1 allows joystick control only. RC input handling and the associated checks are disabled. A value of 2 allows either RC Transmitter or Joystick input. The first valid input is used, will fallback to other sources if the input stream becomes invalid. A value of 3 allows either input from RC or joystick. The first available source is selected and used until reboot. A value of 4 ignores any stick input.", "max": 4, "min": 0, "name": "COM_RC_IN_MODE", "shortDesc": "RC control input mode", "type": "Int32", "values": [{"description": "RC Transmitter only", "value": 0}, {"description": "Joystick only", "value": 1}, {"description": "RC and Joystick with fallback", "value": 2}, {"description": "RC or Joystick keep first", "value": 3}, {"description": "Stick input disabled", "value": 4}]}, {"category": "Standard", "decimalPlaces": 1, "default": 0.5, "group": "Commander", "increment": 0.1, "longDesc": "The time in seconds without a new setpoint from RC or Joystick, after which the connection is considered lost. This must be kept short as the vehicle will use the last supplied setpoint until the timeout triggers.", "max": 35.0, "min": 0.0, "name": "COM_RC_LOSS_T", "shortDesc": "Manual control loss timeout", "type": "Float", "units": "s"}, {"bitmask": [{"description": "Enable override during auto modes (except for in critical battery reaction)", "index": 0}, {"description": "Enable override during offboard mode", "index": 1}], "category": "Standard", "default": 1, "group": "Commander", "longDesc": "When RC stick override is enabled, moving the RC sticks more than COM_RC_STICK_OV immediately gives control back to the pilot by switching to Position mode and if position is unavailable Altitude mode. Note: Only has an effect on multicopters, and VTOLs in multicopter mode.", "max": 3, "min": 0, "name": "COM_RC_OVERRIDE", "shortDesc": "Enable RC stick override of auto and/or offboard modes", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 0, "default": 30.0, "group": "Commander", "increment": 0.05, "longDesc": "If COM_RC_OVERRIDE is enabled and the joystick input is moved more than this threshold the autopilot the pilot takes over control.", "max": 80.0, "min": 5.0, "name": "COM_RC_STICK_OV", "shortDesc": "RC stick override threshold", "type": "Float", "units": "%"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "Commander", "increment": 0.1, "longDesc": "The minimal time from arming the motors until moving the vehicle is possible is COM_SPOOLUP_TIME seconds. Goal: - Motors and propellers spool up to idle speed before getting commanded to spin faster - Timeout for ESCs and smart batteries to successfulyy do failure checks e.g. for stuck rotors before the vehicle is off the ground", "max": 30.0, "min": 0.0, "name": "COM_SPOOLUP_TIME", "shortDesc": "Enforced delay between arming and further navigation", "type": "Float", "units": "s"}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "The mode transition after TAKEOFF has completed successfully.", "name": "COM_TAKEOFF_ACT", "shortDesc": "Action after TAKEOFF has been accepted", "type": "Int32", "values": [{"description": "Hold", "value": 0}, {"description": "Mission (if valid)", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "Allows to start the vehicle by throwing it into the air.", "name": "COM_THROW_EN", "shortDesc": "Enable throw-start", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "Commander", "increment": 0.1, "longDesc": "When the throw launch is enabled, the drone will only allow motors to spin after this speed is exceeded before detecting the freefall. This is a safety feature to ensure the drone does not turn on after accidental drop or a rapid movement before the throw. Set to 0 to disable.", "min": 0.0, "name": "COM_THROW_SPEED", "shortDesc": "Minimum speed for the throw start", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "Commander", "longDesc": "This is the horizontal velocity error (EVH) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing. If the previous velocity error was below this threshold, there is an additional factor of 2.5 applied (threshold for invalidation 2.5 times the one for validation).", "min": 0.0, "name": "COM_VEL_FS_EVH", "shortDesc": "Horizontal velocity error threshold", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": -1.0, "group": "Commander", "increment": 0.1, "longDesc": "Wind speed threshold above which an automatic failsafe action is triggered. Failsafe action can be specified with COM_WIND_MAX_ACT.", "min": -1.0, "name": "COM_WIND_MAX", "shortDesc": "High wind speed failsafe threshold", "type": "Float", "units": "m/s"}, {"category": "Standard", "default": 0, "group": "Commander", "increment": 1, "longDesc": "Action the system takes when a wind speed above the specified threshold is detected. See COM_WIND_MAX to set the failsafe threshold. If enabled, it is not possible to resume the mission or switch to any auto mode other than RTL or Land if this threshold is exceeded. Taking over in any manual mode is still possible.", "name": "COM_WIND_MAX_ACT", "shortDesc": "High wind failsafe mode", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Warning", "value": 1}, {"description": "Hold", "value": 2}, {"description": "Return", "value": 3}, {"description": "Terminate", "value": 4}, {"description": "Land", "value": 5}]}, {"category": "Standard", "decimalPlaces": 1, "default": -1.0, "group": "Commander", "increment": 0.1, "longDesc": "A warning is triggered if the currently estimated wind speed is above this value. Warning is sent periodically (every 1 minute). Set to -1 to disable.", "min": -1.0, "name": "COM_WIND_WARN", "shortDesc": "Wind speed warning threshold", "type": "Float", "units": "m/s"}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "The GCS connection loss failsafe will only be entered after a timeout, set by COM_DL_LOSS_T in seconds. Once the timeout occurs the selected action will be executed.", "max": 6, "min": 0, "name": "NAV_DLL_ACT", "shortDesc": "Set GCS connection loss failsafe mode", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Hold mode", "value": 1}, {"description": "Return mode", "value": 2}, {"description": "Land mode", "value": 3}, {"description": "Terminate", "value": 5}, {"description": "Disarm", "value": 6}]}, {"category": "Standard", "default": 2, "group": "Commander", "longDesc": "The RC loss failsafe will only be entered after a timeout, set by COM_RC_LOSS_T in seconds. If RC input checks have been disabled by setting the COM_RC_IN_MODE param it will not be triggered.", "max": 6, "min": 1, "name": "NAV_RCL_ACT", "shortDesc": "Set RC loss failsafe mode", "type": "Int32", "values": [{"description": "Hold mode", "value": 1}, {"description": "Return mode", "value": 2}, {"description": "Land mode", "value": 3}, {"description": "Terminate", "value": 5}, {"description": "Disarm", "value": 6}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "EKF2", "max": 0.5, "min": 0.0, "name": "EKF2_ABIAS_INIT", "rebootRequired": true, "shortDesc": "1-sigma IMU accelerometer switch-on bias", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 1, "default": 25.0, "group": "EKF2", "longDesc": "If the magnitude of the IMU accelerometer vector exceeds this value, the EKF accel bias state estimation will be inhibited. This reduces the adverse effect of high manoeuvre accelerations and IMU nonlinerity and scale factor errors on the accel bias estimates.", "max": 200.0, "min": 20.0, "name": "EKF2_ABL_ACCLIM", "shortDesc": "Maximum IMU accel magnitude that allows IMU bias learning", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "EKF2", "longDesc": "If the magnitude of the IMU angular rate vector exceeds this value, the EKF accel bias state estimation will be inhibited. This reduces the adverse effect of rapid rotation rates and associated errors on the accel bias estimates.", "max": 20.0, "min": 2.0, "name": "EKF2_ABL_GYRLIM", "shortDesc": "Maximum IMU gyro angular rate magnitude that allows IMU bias learning", "type": "Float", "units": "rad/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.4, "group": "EKF2", "longDesc": "The ekf accel bias states will be limited to within a range equivalent to +- of this value.", "max": 0.8, "min": 0.0, "name": "EKF2_ABL_LIM", "shortDesc": "Accelerometer bias learning limit", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.5, "group": "EKF2", "longDesc": "The vector magnitude of angular rate and acceleration used to check if learning should be inhibited has a peak hold filter applied to it with an exponential decay. This parameter controls the time constant of the decay.", "max": 1.0, "min": 0.1, "name": "EKF2_ABL_TAU", "shortDesc": "Accel bias learning inhibit time constant", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 6, "default": 0.003, "group": "EKF2", "max": 0.01, "min": 0.0, "name": "EKF2_ACC_B_NOISE", "shortDesc": "Process noise for IMU accelerometer bias prediction", "type": "Float", "units": "m/s^3"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.35, "group": "EKF2", "max": 1.0, "min": 0.01, "name": "EKF2_ACC_NOISE", "shortDesc": "Accelerometer noise for covariance prediction", "type": "Float", "units": "m/s^2"}, {"bitmask": [{"description": "Horizontal position", "index": 0}, {"description": "Vertical position", "index": 1}], "category": "Standard", "default": 0, "group": "EKF2", "longDesc": "Set bits in the following positions to enable: 0 : Horizontal position fusion 1 : Vertical position fusion", "max": 3, "min": 0, "name": "EKF2_AGP_CTRL", "shortDesc": "Aux global position (AGP) sensor aiding", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "EKF2", "max": 300.0, "min": 0.0, "name": "EKF2_AGP_DELAY", "rebootRequired": true, "shortDesc": "Aux global position estimator delay relative to IMU measurements", "type": "Float", "units": "ms"}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "EKF2", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.", "min": 1.0, "name": "EKF2_AGP_GATE", "shortDesc": "Gate size for aux global position fusion", "type": "Float", "units": "SD"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.9, "group": "EKF2", "longDesc": "Used to lower bound or replace the uncertainty included in the message", "min": 0.01, "name": "EKF2_AGP_NOISE", "shortDesc": "Measurement noise for aux global position measurements", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.1, "group": "EKF2", "max": 0.5, "min": 0.0, "name": "EKF2_ANGERR_INIT", "rebootRequired": true, "shortDesc": "1-sigma tilt angle uncertainty after gravity vector alignment", "type": "Float", "units": "rad"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "EKF2", "longDesc": "Airspeed data is fused for wind estimation if above this threshold. Set to 0 to disable airspeed fusion. For reliable wind estimation both sideslip (see EKF2_FUSE_BETA) and airspeed fusion should be enabled. Only applies to fixed-wing vehicles (or VTOLs in fixed-wing mode).", "min": 0.0, "name": "EKF2_ARSP_THR", "shortDesc": "Airspeed fusion threshold", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 20.0, "group": "EKF2", "max": 50.0, "min": 5.0, "name": "EKF2_ASPD_MAX", "shortDesc": "Maximum airspeed used for baro static pressure compensation", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 100.0, "group": "EKF2", "max": 300.0, "min": 0.0, "name": "EKF2_ASP_DELAY", "rebootRequired": true, "shortDesc": "Airspeed measurement delay relative to IMU measurements", "type": "Float", "units": "ms"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "EKF2", "max": 300.0, "min": 0.0, "name": "EKF2_AVEL_DELAY", "rebootRequired": true, "shortDesc": "Auxiliary Velocity Estimate delay relative to IMU measurements", "type": "Float", "units": "ms"}, {"category": "Standard", "default": 1, "group": "EKF2", "longDesc": "If this parameter is enabled then the estimator will make use of the barometric height measurements to estimate its height in addition to other height sources (if activated).", "name": "EKF2_BARO_CTRL", "shortDesc": "Barometric sensor height aiding", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "EKF2", "max": 300.0, "min": 0.0, "name": "EKF2_BARO_DELAY", "rebootRequired": true, "shortDesc": "Barometer measurement delay relative to IMU measurements", "type": "Float", "units": "ms"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "EKF2", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.", "min": 1.0, "name": "EKF2_BARO_GATE", "shortDesc": "Gate size for barometric and GPS height fusion", "type": "Float", "units": "SD"}, {"category": "Standard", "decimalPlaces": 2, "default": 3.5, "group": "EKF2", "max": 15.0, "min": 0.01, "name": "EKF2_BARO_NOISE", "shortDesc": "Measurement noise for barometric altitude", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 100.0, "group": "EKF2", "longDesc": "This parameter controls the prediction of drag produced by bluff body drag along the forward/reverse axis when flying a multi-copter which enables estimation of wind drift when enabled by the EKF2_DRAG_CTRL parameter. The drag produced by this effect scales with speed squared. The predicted drag from the rotors is specified separately by the EKF2_MCOEF parameter. Set this parameter to zero to turn off the bluff body drag model for this axis.", "max": 200.0, "min": 0.0, "name": "EKF2_BCOEF_X", "shortDesc": "X-axis ballistic coefficient used for multi-rotor wind estimation", "type": "Float", "units": "kg/m^2"}, {"category": "Standard", "decimalPlaces": 1, "default": 100.0, "group": "EKF2", "longDesc": "This parameter controls the prediction of drag produced by bluff body drag along the right/left axis when flying a multi-copter, which enables estimation of wind drift when enabled by the EKF2_DRAG_CTRL parameter. The drag produced by this effect scales with speed squared. The predicted drag from the rotors is specified separately by the EKF2_MCOEF parameter. Set this parameter to zero to turn off the bluff body drag model for this axis.", "max": 200.0, "min": 0.0, "name": "EKF2_BCOEF_Y", "shortDesc": "Y-axis ballistic coefficient used for multi-rotor wind estimation", "type": "Float", "units": "kg/m^2"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "EKF2", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.", "min": 1.0, "name": "EKF2_BETA_GATE", "shortDesc": "Gate size for synthetic sideslip fusion", "type": "Float", "units": "SD"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.3, "group": "EKF2", "max": 1.0, "min": 0.1, "name": "EKF2_BETA_NOISE", "shortDesc": "Noise for synthetic sideslip fusion", "type": "Float", "units": "m/s"}, {"bitmask": [{"description": "use geo_lookup declination", "index": 0}, {"description": "save EKF2_MAG_DECL on disarm", "index": 1}], "category": "Standard", "default": 3, "group": "EKF2", "longDesc": "Set bits in the following positions to enable functions. 0 : Set to true to use the declination from the geo_lookup library when the GPS position becomes available, set to false to always use the EKF2_MAG_DECL value. 1 : Set to true to save the EKF2_MAG_DECL parameter to the value returned by the EKF when the vehicle disarms.", "max": 3, "min": 0, "name": "EKF2_DECL_TYPE", "rebootRequired": true, "shortDesc": "Integer bitmask controlling handling of magnetic declination", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 1, "default": 200.0, "group": "EKF2", "longDesc": "Defines the delay between the current time and the delayed-time horizon. This value should be at least as large as the largest EKF2_XXX_DELAY parameter.", "max": 1000.0, "min": 0.0, "name": "EKF2_DELAY_MAX", "rebootRequired": true, "shortDesc": "Maximum delay of all the aiding sensors", "type": "Float", "units": "ms"}, {"category": "Standard", "default": 0, "group": "EKF2", "longDesc": "Activate wind speed estimation using specific-force measurements and a drag model defined by EKF2_BCOEF_[XY] and EKF2_MCOEF. Only use on vehicles that have their thrust aligned with the Z axis and no thrust in the XY plane.", "name": "EKF2_DRAG_CTRL", "shortDesc": "Multirotor wind estimation selection", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 2.5, "group": "EKF2", "longDesc": "Used by the multi-rotor specific drag force model. Increasing this makes the multi-rotor wind estimates adjust more slowly.", "max": 10.0, "min": 0.5, "name": "EKF2_DRAG_NOISE", "shortDesc": "Specific drag force observation noise variance", "type": "Float", "units": "(m/s^2)^2"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.4, "group": "EKF2", "max": 5.0, "min": 0.5, "name": "EKF2_EAS_NOISE", "shortDesc": "Measurement noise for airspeed fusion", "type": "Float", "units": "m/s"}, {"category": "Standard", "default": 1, "group": "EKF2", "name": "EKF2_EN", "shortDesc": "EKF2 enable", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "EKF2", "longDesc": "Used to lower bound or replace the uncertainty included in the message", "min": 0.05, "name": "EKF2_EVA_NOISE", "shortDesc": "Measurement noise for vision angle measurements", "type": "Float", "units": "rad"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "EKF2", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.", "min": 1.0, "name": "EKF2_EVP_GATE", "shortDesc": "Gate size for vision position fusion", "type": "Float", "units": "SD"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "EKF2", "longDesc": "Used to lower bound or replace the uncertainty included in the message", "min": 0.01, "name": "EKF2_EVP_NOISE", "shortDesc": "Measurement noise for vision position measurements", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "EKF2", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.", "min": 1.0, "name": "EKF2_EVV_GATE", "shortDesc": "Gate size for vision velocity estimate fusion", "type": "Float", "units": "SD"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "EKF2", "longDesc": "Used to lower bound or replace the uncertainty included in the message", "min": 0.01, "name": "EKF2_EVV_NOISE", "shortDesc": "Measurement noise for vision velocity measurements", "type": "Float", "units": "m/s"}, {"bitmask": [{"description": "Horizontal position", "index": 0}, {"description": "Vertical position", "index": 1}, {"description": "3D velocity", "index": 2}, {"description": "Yaw", "index": 3}], "category": "Standard", "default": 0, "group": "EKF2", "longDesc": "Set bits in the following positions to enable: 0 : Horizontal position fusion 1 : Vertical position fusion 2 : 3D velocity fusion 3 : Yaw", "max": 15, "min": 0, "name": "EKF2_EV_CTRL", "shortDesc": "External vision (EV) sensor aiding", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "EKF2", "max": 300.0, "min": 0.0, "name": "EKF2_EV_DELAY", "rebootRequired": true, "shortDesc": "Vision Position Estimator delay relative to IMU measurements", "type": "Float", "units": "ms"}, {"category": "Standard", "default": 0, "group": "EKF2", "longDesc": "If set to 0 (default) the measurement noise is taken from the vision message and the EV noise parameters are used as a lower bound. If set to 1 the observation noise is set from the parameters directly,", "name": "EKF2_EV_NOISE_MD", "shortDesc": "External vision (EV) noise mode", "type": "Int32", "values": [{"description": "EV reported variance (parameter lower bound)", "value": 0}, {"description": "EV noise parameters", "value": 1}]}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "longDesc": "Forward axis with origin relative to vehicle centre of gravity", "name": "EKF2_EV_POS_X", "shortDesc": "X position of VI sensor focal point in body frame", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "longDesc": "Forward axis with origin relative to vehicle centre of gravity", "name": "EKF2_EV_POS_Y", "shortDesc": "Y position of VI sensor focal point in body frame", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "longDesc": "Forward axis with origin relative to vehicle centre of gravity", "name": "EKF2_EV_POS_Z", "shortDesc": "Z position of VI sensor focal point in body frame", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 0, "group": "EKF2", "longDesc": "External vision will only be started and fused if the quality metric is above this threshold. The quality metric is a completely optional field provided by some VIO systems.", "max": 100, "min": 0, "name": "EKF2_EV_QMIN", "shortDesc": "External vision (EV) minimum quality (optional)", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "EKF2", "longDesc": "For reliable wind estimation both sideslip and airspeed fusion (see EKF2_ARSP_THR) should be enabled. Only applies to fixed-wing vehicles (or VTOLs in fixed-wing mode). Note: side slip fusion is currently not supported for tailsitters.", "name": "EKF2_FUSE_BETA", "shortDesc": "Enable synthetic sideslip fusion", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "EKF2", "max": 0.2, "min": 0.0, "name": "EKF2_GBIAS_INIT", "rebootRequired": true, "shortDesc": "1-sigma IMU gyro switch-on bias", "type": "Float", "units": "rad/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 4.0, "group": "EKF2", "longDesc": "Sets the value of deadzone applied to negative baro innovations. Deadzone is enabled when EKF2_GND_EFF_DZ > 0.", "max": 10.0, "min": 0.0, "name": "EKF2_GND_EFF_DZ", "shortDesc": "Baro deadzone range for height fusion", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.5, "group": "EKF2", "longDesc": "Sets the maximum distance to the ground level where negative baro innovations are expected.", "max": 5.0, "min": 0.0, "name": "EKF2_GND_MAX_HGT", "shortDesc": "Height above ground level for ground effect zone", "type": "Float", "units": "m"}, {"bitmask": [{"description": "Sat count (EKF2_REQ_NSATS)", "index": 0}, {"description": "PDOP (EKF2_REQ_PDOP)", "index": 1}, {"description": "EPH (EKF2_REQ_EPH)", "index": 2}, {"description": "EPV (EKF2_REQ_EPV)", "index": 3}, {"description": "Speed accuracy (EKF2_REQ_SACC)", "index": 4}, {"description": "Horizontal position drift (EKF2_REQ_HDRIFT)", "index": 5}, {"description": "Vertical position drift (EKF2_REQ_VDRIFT)", "index": 6}, {"description": "Horizontal speed offset (EKF2_REQ_HDRIFT)", "index": 7}, {"description": "Vertical speed offset (EKF2_REQ_VDRIFT)", "index": 8}, {"description": "Spoofing", "index": 9}], "category": "Standard", "default": 1023, "group": "EKF2", "longDesc": "Each threshold value is defined by the parameter indicated next to the check. Drift and offset checks only run when the vehicle is on ground and stationary.", "max": 1023, "min": 0, "name": "EKF2_GPS_CHECK", "shortDesc": "Integer bitmask controlling GPS checks", "type": "Int32"}, {"bitmask": [{"description": "Lon/lat", "index": 0}, {"description": "Altitude", "index": 1}, {"description": "3D velocity", "index": 2}, {"description": "Dual antenna heading", "index": 3}], "category": "Standard", "default": 7, "group": "EKF2", "longDesc": "Set bits in the following positions to enable: 0 : Longitude and latitude fusion 1 : Altitude fusion 2 : 3D velocity fusion 3 : Dual antenna heading fusion", "max": 15, "min": 0, "name": "EKF2_GPS_CTRL", "shortDesc": "GNSS sensor aiding", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 1, "default": 110.0, "group": "EKF2", "max": 300.0, "min": 0.0, "name": "EKF2_GPS_DELAY", "rebootRequired": true, "shortDesc": "GPS measurement delay relative to IMU measurements", "type": "Float", "units": "ms"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "longDesc": "Forward axis with origin relative to vehicle centre of gravity", "name": "EKF2_GPS_POS_X", "shortDesc": "X position of GPS antenna in body frame", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "longDesc": "Forward axis with origin relative to vehicle centre of gravity", "name": "EKF2_GPS_POS_Y", "shortDesc": "Y position of GPS antenna in body frame", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "longDesc": "Forward axis with origin relative to vehicle centre of gravity", "name": "EKF2_GPS_POS_Z", "shortDesc": "Z position of GPS antenna in body frame", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "EKF2", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.", "min": 1.0, "name": "EKF2_GPS_P_GATE", "shortDesc": "Gate size for GNSS position fusion", "type": "Float", "units": "SD"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.5, "group": "EKF2", "max": 10.0, "min": 0.01, "name": "EKF2_GPS_P_NOISE", "shortDesc": "Measurement noise for GNSS position", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "EKF2", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.", "min": 1.0, "name": "EKF2_GPS_V_GATE", "shortDesc": "Gate size for GNSS velocity fusion", "type": "Float", "units": "SD"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.3, "group": "EKF2", "max": 5.0, "min": 0.01, "name": "EKF2_GPS_V_NOISE", "shortDesc": "Measurement noise for GNSS velocity", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "EKF2", "max": 360.0, "min": 0.0, "name": "EKF2_GPS_YAW_OFF", "shortDesc": "Heading/Yaw offset for dual antenna GPS", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "EKF2", "max": 10.0, "min": 0.1, "name": "EKF2_GRAV_NOISE", "shortDesc": "Accelerometer measurement noise for gravity based observations", "type": "Float", "units": "g0"}, {"category": "Standard", "decimalPlaces": 1, "default": 15.0, "group": "EKF2", "longDesc": "If no airspeed measurements are available, the EKF-GSF AHRS calculation will assume this value of true airspeed when compensating for centripetal acceleration during turns. Set to zero to disable centripetal acceleration compensation during fixed wing flight modes.", "max": 100.0, "min": 0.0, "name": "EKF2_GSF_TAS", "shortDesc": "Default value of true airspeed used in EKF-GSF AHRS calculation", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.15, "group": "EKF2", "longDesc": "The ekf gyro bias states will be limited to within a range equivalent to +- of this value.", "max": 0.4, "min": 0.0, "name": "EKF2_GYR_B_LIM", "shortDesc": "Gyro bias learning limit", "type": "Float", "units": "rad/s"}, {"category": "Standard", "decimalPlaces": 6, "default": 0.001, "group": "EKF2", "max": 0.01, "min": 0.0, "name": "EKF2_GYR_B_NOISE", "shortDesc": "Process noise for IMU rate gyro bias prediction", "type": "Float", "units": "rad/s^2"}, {"category": "Standard", "decimalPlaces": 4, "default": 0.015, "group": "EKF2", "max": 0.1, "min": 0.0001, "name": "EKF2_GYR_NOISE", "shortDesc": "Rate gyro noise for covariance prediction", "type": "Float", "units": "rad/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 2.6, "group": "EKF2", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.", "min": 1.0, "name": "EKF2_HDG_GATE", "shortDesc": "Gate size for heading fusion", "type": "Float", "units": "SD"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.3, "group": "EKF2", "max": 1.0, "min": 0.01, "name": "EKF2_HEAD_NOISE", "shortDesc": "Measurement noise for magnetic heading fusion", "type": "Float", "units": "rad"}, {"category": "Standard", "default": 1, "group": "EKF2", "longDesc": "When multiple height sources are enabled at the same time, the height estimate will always converge towards the reference height source selected by this parameter. The range sensor and vision options should only be used when for operation over a flat surface as the local NED origin will move up and down with ground level.", "name": "EKF2_HGT_REF", "rebootRequired": true, "shortDesc": "Determines the reference source of height data used by the EKF", "type": "Int32", "values": [{"description": "Barometric pressure", "value": 0}, {"description": "GPS", "value": 1}, {"description": "Range sensor", "value": 2}, {"description": "Vision", "value": 3}]}, {"bitmask": [{"description": "Gyro Bias", "index": 0}, {"description": "Accel Bias", "index": 1}, {"description": "Gravity vector fusion", "index": 2}], "category": "Standard", "default": 7, "group": "EKF2", "max": 7, "min": 0, "name": "EKF2_IMU_CTRL", "shortDesc": "IMU control", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "longDesc": "Forward axis with origin relative to vehicle centre of gravity", "name": "EKF2_IMU_POS_X", "shortDesc": "X position of IMU in body frame", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "longDesc": "Forward axis with origin relative to vehicle centre of gravity", "name": "EKF2_IMU_POS_Y", "shortDesc": "Y position of IMU in body frame", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "longDesc": "Forward axis with origin relative to vehicle centre of gravity", "name": "EKF2_IMU_POS_Z", "shortDesc": "Z position of IMU in body frame", "type": "Float", "units": "m"}, {"category": "Standard", "default": 1, "group": "EKF2", "name": "EKF2_LOG_VERBOSE", "shortDesc": "Verbose logging", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.5, "group": "EKF2", "longDesc": "The heading is assumed to be observable when the body acceleration is greater than this parameter when a global position/velocity aiding source is active.", "max": 5.0, "min": 0.0, "name": "EKF2_MAG_ACCLIM", "shortDesc": "Horizontal acceleration threshold used for heading observability check", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 6, "default": 0.0001, "group": "EKF2", "max": 0.1, "min": 0.0, "name": "EKF2_MAG_B_NOISE", "shortDesc": "Process noise for body magnetic field prediction", "type": "Float", "units": "gauss/s"}, {"bitmask": [{"description": "Strength (EKF2_MAG_CHK_STR)", "index": 0}, {"description": "Inclination (EKF2_MAG_CHK_INC)", "index": 1}, {"description": "Wait for WMM", "index": 2}], "category": "Standard", "default": 1, "group": "EKF2", "longDesc": "Bitmask to set which check is used to decide whether the magnetometer data is valid. If GNSS data is received, the magnetic field is compared to a World Magnetic Model (WMM), otherwise an average value is used. This check is useful to reject occasional hard iron disturbance. Set bits to 1 to enable checks. Checks enabled by the following bit positions 0 : Magnetic field strength. Set tolerance using EKF2_MAG_CHK_STR 1 : Magnetic field inclination. Set tolerance using EKF2_MAG_CHK_INC 2 : Wait for GNSS to find the theoretical strength and inclination using the WMM", "max": 7, "min": 0, "name": "EKF2_MAG_CHECK", "shortDesc": "Magnetic field strength test selection", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 1, "default": 20.0, "group": "EKF2", "longDesc": "Maximum allowed deviation from the expected magnetic field inclination to pass the check.", "max": 90.0, "min": 0.0, "name": "EKF2_MAG_CHK_INC", "shortDesc": "Magnetic field inclination check tolerance", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "EKF2", "longDesc": "Maximum allowed deviation from the expected magnetic field strength to pass the check.", "max": 1.0, "min": 0.0, "name": "EKF2_MAG_CHK_STR", "shortDesc": "Magnetic field strength check tolerance", "type": "Float", "units": "gauss"}, {"category": "System", "decimalPlaces": 1, "default": 0.0, "group": "EKF2", "name": "EKF2_MAG_DECL", "shortDesc": "Magnetic declination", "type": "Float", "units": "deg", "volatile": true}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "EKF2", "max": 300.0, "min": 0.0, "name": "EKF2_MAG_DELAY", "rebootRequired": true, "shortDesc": "Magnetometer measurement delay relative to IMU measurements", "type": "Float", "units": "ms"}, {"category": "Standard", "decimalPlaces": 6, "default": 0.001, "group": "EKF2", "max": 0.1, "min": 0.0, "name": "EKF2_MAG_E_NOISE", "shortDesc": "Process noise for earth magnetic field prediction", "type": "Float", "units": "gauss/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "EKF2", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.", "min": 1.0, "name": "EKF2_MAG_GATE", "shortDesc": "Gate size for magnetometer XYZ component fusion", "type": "Float", "units": "SD"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "EKF2", "max": 1.0, "min": 0.001, "name": "EKF2_MAG_NOISE", "shortDesc": "Measurement noise for magnetometer 3-axis fusion", "type": "Float", "units": "gauss"}, {"category": "Standard", "default": 0, "group": "EKF2", "longDesc": "Integer controlling the type of magnetometer fusion used - magnetic heading or 3-component vector. The fusion of magnetometer data as a three component vector enables vehicle body fixed hard iron errors to be learned, but requires a stable earth field. If set to 'Automatic' magnetic heading fusion is used when on-ground and 3-axis magnetic field fusion in-flight. If set to 'Magnetic heading' magnetic heading fusion is used at all times. If set to 'None' the magnetometer will not be used under any circumstance. If no external source of yaw is available, it is possible to use post-takeoff horizontal movement combined with GNSS velocity measurements to align the yaw angle. If set to 'Init' the magnetometer is only used to initalize the heading.", "name": "EKF2_MAG_TYPE", "rebootRequired": true, "shortDesc": "Type of magnetometer fusion", "type": "Int32", "values": [{"description": "Automatic", "value": 0}, {"description": "Magnetic heading", "value": 1}, {"description": "None", "value": 5}, {"description": "Init", "value": 6}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.15, "group": "EKF2", "longDesc": "This parameter controls the prediction of drag produced by the propellers when flying a multi-copter, which enables estimation of wind drift when enabled by the EKF2_DRAG_CTRL parameter. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the propeller axis of rotation is lost when passing through the rotor disc. This  changes the momentum of the flow which creates a drag reaction force. When comparing un-ducted propellers of the same diameter, the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with propeller selection. Momentum drag is significantly higher for ducted rotors. To account for the drag produced by the body which scales with speed squared, see documentation for the EKF2_BCOEF_X and EKF2_BCOEF_Y parameters. Set this parameter to zero to turn off the momentum drag model for both axis.", "max": 1.0, "min": 0.0, "name": "EKF2_MCOEF", "shortDesc": "Propeller momentum drag coefficient for multi-rotor wind estimation", "type": "Float", "units": "1/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "EKF2", "longDesc": "If the vehicle is on ground, is not moving as determined by the motion test and the range finder is returning invalid or no data, then an assumed range value of EKF2_MIN_RNG will be used by the terrain estimator so that a terrain height estimate is available at the start of flight in situations where the range finder may be inside its minimum measurements distance when on ground.", "min": 0.01, "name": "EKF2_MIN_RNG", "shortDesc": "Expected range finder reading when on ground", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "EKF2", "longDesc": "Maximum number of IMUs to use for Multi-EKF. Set 0 to disable. Requires SENS_IMU_MODE 0.", "max": 4, "min": 0, "name": "EKF2_MULTI_IMU", "rebootRequired": true, "shortDesc": "Multi-EKF IMUs", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "EKF2", "longDesc": "Maximum number of magnetometers to use for Multi-EKF. Set 0 to disable. Requires SENS_MAG_MODE 0.", "max": 4, "min": 0, "name": "EKF2_MULTI_MAG", "rebootRequired": true, "shortDesc": "Multi-EKF Magnetometers", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "EKF2", "max": 50.0, "min": 0.5, "name": "EKF2_NOAID_NOISE", "shortDesc": "Measurement noise for non-aiding position hold", "type": "Float", "units": "m"}, {"category": "Standard", "default": 5000000, "group": "EKF2", "longDesc": "Maximum lapsed time from last fusion of measurements that constrain velocity drift before the EKF will report the horizontal nav solution as invalid", "max": 10000000, "min": 500000, "name": "EKF2_NOAID_TOUT", "shortDesc": "Maximum inertial dead-reckoning time", "type": "Int32", "units": "us"}, {"category": "Standard", "default": 1, "group": "EKF2", "longDesc": "Enable optical flow fusion.", "name": "EKF2_OF_CTRL", "shortDesc": "Optical flow aiding", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 20.0, "group": "EKF2", "longDesc": "Assumes measurement is timestamped at trailing edge of integration period", "max": 300.0, "min": 0.0, "name": "EKF2_OF_DELAY", "rebootRequired": true, "shortDesc": "Optical flow measurement delay relative to IMU measurements", "type": "Float", "units": "ms"}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "EKF2", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.", "min": 1.0, "name": "EKF2_OF_GATE", "shortDesc": "Gate size for optical flow fusion", "type": "Float", "units": "SD"}, {"category": "Standard", "default": 0, "group": "EKF2", "longDesc": "Auto: use gyro from optical flow message if available, internal gyro otherwise. Internal: always use internal gyro", "name": "EKF2_OF_GYR_SRC", "shortDesc": "Optical flow angular rate compensation source", "type": "Int32", "values": [{"description": "Auto", "value": 0}, {"description": "Internal", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.5, "group": "EKF2", "longDesc": "Measurement noise for the optical flow sensor when it's reported quality metric is at the minimum", "min": 0.05, "name": "EKF2_OF_N_MAX", "shortDesc": "Optical flow maximum noise", "type": "Float", "units": "rad/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.15, "group": "EKF2", "longDesc": "Measurement noise for the optical flow sensor when it's reported quality metric is at the maximum", "min": 0.05, "name": "EKF2_OF_N_MIN", "shortDesc": "Optical flow minimum noise", "type": "Float", "units": "rad/s"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "longDesc": "Forward axis with origin relative to vehicle centre of gravity", "name": "EKF2_OF_POS_X", "shortDesc": "X position of optical flow focal point in body frame", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "longDesc": "Forward axis with origin relative to vehicle centre of gravity", "name": "EKF2_OF_POS_Y", "shortDesc": "Y position of optical flow focal point in body frame", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "longDesc": "Forward axis with origin relative to vehicle centre of gravity", "name": "EKF2_OF_POS_Z", "shortDesc": "Z position of optical flow focal point in body frame", "type": "Float", "units": "m"}, {"category": "Standard", "default": 1, "group": "EKF2", "longDesc": "Optical Flow data will only be used in air if the sensor reports a quality metric >= EKF2_OF_QMIN", "max": 255, "min": 0, "name": "EKF2_OF_QMIN", "shortDesc": "In air optical flow minimum quality", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "EKF2", "longDesc": "Optical Flow data will only be used on the ground if the sensor reports a quality metric >= EKF2_OF_QMIN_GND", "max": 255, "min": 0, "name": "EKF2_OF_QMIN_GND", "shortDesc": "On ground optical flow minimum quality", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "EKF2", "longDesc": "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.", "max": 0.5, "min": -0.5, "name": "EKF2_PCOEF_XN", "shortDesc": "Static pressure position error coefficient for the negative X axis", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "EKF2", "longDesc": "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 forward flight, then this will be a negative number.", "max": 0.5, "min": -0.5, "name": "EKF2_PCOEF_XP", "shortDesc": "Static pressure position error coefficient for the positive X axis", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "EKF2", "longDesc": "This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the negative Y (LH) body axis. If the baro height estimate rises during sideways flight to the left, then this will be a negative number.", "max": 0.5, "min": -0.5, "name": "EKF2_PCOEF_YN", "shortDesc": "Pressure position error coefficient for the negative Y axis", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "EKF2", "longDesc": "This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the positive Y (RH) body axis. If the baro height estimate rises during sideways flight to the right, then this will be a negative number.", "max": 0.5, "min": -0.5, "name": "EKF2_PCOEF_YP", "shortDesc": "Pressure position error coefficient for the positive Y axis", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "EKF2", "longDesc": "This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the Z body axis.", "max": 0.5, "min": -0.5, "name": "EKF2_PCOEF_Z", "shortDesc": "Static pressure position error coefficient for the Z axis", "type": "Float"}, {"category": "Standard", "default": 10000, "group": "EKF2", "longDesc": "EKF prediction period in microseconds. This should ideally be an integer multiple of the IMU time delta. Actual filter update will be an integer multiple of IMU update.", "max": 20000, "min": 1000, "name": "EKF2_PREDICT_US", "shortDesc": "EKF prediction period", "type": "Int32", "units": "us"}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "EKF2", "max": 100.0, "min": 2.0, "name": "EKF2_REQ_EPH", "shortDesc": "Required EPH to use GPS", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "EKF2", "max": 100.0, "min": 2.0, "name": "EKF2_REQ_EPV", "shortDesc": "Required EPV to use GPS", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "EKF2", "longDesc": "Minimum continuous period without GPS failure required to mark a healthy GPS status. It can be reduced to speed up initialization, but it's recommended to keep this unchanged for a vehicle.", "min": 0.1, "name": "EKF2_REQ_GPS_H", "rebootRequired": true, "shortDesc": "Required GPS health time on startup", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "EKF2", "max": 1.0, "min": 0.1, "name": "EKF2_REQ_HDRIFT", "shortDesc": "Maximum horizontal drift speed to use GPS", "type": "Float", "units": "m/s"}, {"category": "Standard", "default": 6, "group": "EKF2", "max": 12, "min": 4, "name": "EKF2_REQ_NSATS", "shortDesc": "Required satellite count to use GPS", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 1, "default": 2.5, "group": "EKF2", "max": 5.0, "min": 1.5, "name": "EKF2_REQ_PDOP", "shortDesc": "Maximum PDOP to use GPS", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.5, "group": "EKF2", "max": 5.0, "min": 0.5, "name": "EKF2_REQ_SACC", "shortDesc": "Required speed accuracy to use GPS", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "EKF2", "max": 1.5, "min": 0.1, "name": "EKF2_REQ_VDRIFT", "shortDesc": "Maximum vertical drift speed to use GPS", "type": "Float", "units": "m/s"}, {"category": "Standard", "default": 5.0, "group": "EKF2", "longDesc": "If the vehicle absolute altitude exceeds this value then the estimator will not fuse range measurements to estimate its height. This only applies when conditional range aid mode is activated (EKF2_RNG_CTRL = 1).", "max": 10.0, "min": 1.0, "name": "EKF2_RNG_A_HMAX", "shortDesc": "Maximum height above ground allowed for conditional range aid mode", "type": "Float", "units": "m"}, {"category": "Standard", "default": 1.0, "group": "EKF2", "longDesc": "A lower value means HAGL needs to be more stable in order to use range finder for height estimation in range aid mode", "max": 5.0, "min": 0.1, "name": "EKF2_RNG_A_IGATE", "shortDesc": "Gate size used for innovation consistency checks for range aid fusion", "type": "Float", "units": "SD"}, {"category": "Standard", "default": 1.0, "group": "EKF2", "longDesc": "If the vehicle horizontal speed exceeds this value then the estimator will not fuse range measurements to estimate its height. This only applies when conditional range aid mode is activated (EKF2_RNG_CTRL = 1).", "max": 2.0, "min": 0.1, "name": "EKF2_RNG_A_VMAX", "shortDesc": "Maximum horizontal velocity allowed for conditional range aid mode", "type": "Float", "units": "m/s"}, {"category": "Standard", "default": 1, "group": "EKF2", "longDesc": "WARNING: Range finder measurements are less reliable and can experience unexpected errors. For these reasons, if accurate control of height relative to ground is required, it is recommended to use the MPC_ALT_MODE parameter instead, unless baro errors are severe enough to cause problems with landing and takeoff. If this parameter is enabled then the estimator will make use of the range finder measurements to estimate its height in addition to other height sources (if activated). Range sensor aiding can be enabled (i.e.: always use) or set in \"conditional\" mode. Conditional mode: This enables the range finder to be used during low speed (< EKF2_RNG_A_VMAX) and low altitude (< EKF2_RNG_A_HMAX) operation, eg takeoff and landing, where baro interference from rotor wash is excessive and can corrupt EKF state estimates. It is intended to be used where a vertical takeoff and landing is performed, and horizontal flight does not occur until above EKF2_RNG_A_HMAX.", "name": "EKF2_RNG_CTRL", "shortDesc": "Range sensor height aiding", "type": "Int32", "values": [{"description": "Disable range fusion", "value": 0}, {"description": "Enabled (conditional mode)", "value": 1}, {"description": "Enabled", "value": 2}]}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "EKF2", "max": 300.0, "min": 0.0, "name": "EKF2_RNG_DELAY", "rebootRequired": true, "shortDesc": "Range finder measurement delay relative to IMU measurements", "type": "Float", "units": "ms"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "EKF2", "longDesc": "Limit for fog detection. If the range finder measures a distance greater than this value, the measurement is considered to not be blocked by fog or rain. If there's a jump from larger than RNG_FOG to smaller than EKF2_RNG_FOG, the measurement may gets rejected. 0 - disabled", "max": 20.0, "min": 0.0, "name": "EKF2_RNG_FOG", "shortDesc": "Maximum distance at which the range finder could detect fog (m)", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "EKF2", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.", "min": 1.0, "name": "EKF2_RNG_GATE", "shortDesc": "Gate size for range finder fusion", "type": "Float", "units": "SD"}, {"category": "Standard", "default": 1.0, "group": "EKF2", "longDesc": "To be used, the time derivative of the distance sensor measurements projected on the vertical axis needs to be statistically consistent with the estimated vertical velocity of the drone. Decrease this value to make the filter more robust against range finder faulty data (stuck, reflections, ...). Note: tune the range finder noise parameters (EKF2_RNG_NOISE and EKF2_RNG_SFE) before tuning this gate.", "max": 5.0, "min": 0.1, "name": "EKF2_RNG_K_GATE", "shortDesc": "Gate size used for range finder kinematic consistency check", "type": "Float", "units": "SD"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "EKF2", "min": 0.01, "name": "EKF2_RNG_NOISE", "shortDesc": "Measurement noise for range finder fusion", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "max": 0.75, "min": -0.75, "name": "EKF2_RNG_PITCH", "shortDesc": "Range sensor pitch offset", "type": "Float", "units": "rad"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "longDesc": "Forward axis with origin relative to vehicle centre of gravity", "name": "EKF2_RNG_POS_X", "shortDesc": "X position of range finder origin in body frame", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "longDesc": "Forward axis with origin relative to vehicle centre of gravity", "name": "EKF2_RNG_POS_Y", "shortDesc": "Y position of range finder origin in body frame", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "longDesc": "Forward axis with origin relative to vehicle centre of gravity", "name": "EKF2_RNG_POS_Z", "shortDesc": "Z position of range finder origin in body frame", "type": "Float", "units": "m"}, {"category": "Standard", "default": 1.0, "group": "EKF2", "longDesc": "Minimum duration during which the reported range finder signal quality needs to be non-zero in order to be declared valid (s)", "max": 5.0, "min": 0.1, "name": "EKF2_RNG_QLTY_T", "shortDesc": "Minumum range validity period", "type": "Float", "units": "s"}, {"category": "Standard", "default": 0.05, "group": "EKF2", "longDesc": "Specifies the increase in range finder noise with range.", "max": 0.2, "min": 0.0, "name": "EKF2_RNG_SFE", "shortDesc": "Range finder range dependent noise scaler", "type": "Float", "units": "m/m"}, {"category": "Standard", "default": 0.2, "group": "EKF2", "longDesc": "EKF2 instances have to be better than the selected by at least this amount before their relative score can be reduced.", "name": "EKF2_SEL_ERR_RED", "shortDesc": "Selector error reduce threshold", "type": "Float"}, {"category": "Standard", "default": 1.0, "group": "EKF2", "longDesc": "EKF2 selector acceleration error threshold for comparing accelerometers. Acceleration vector differences larger than this will result in accumulated velocity error.", "name": "EKF2_SEL_IMU_ACC", "shortDesc": "Selector acceleration threshold", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "default": 15.0, "group": "EKF2", "longDesc": "EKF2 selector maximum accumulated angular error threshold for comparing gyros. Accumulated angular error larger than this will result in the sensor being declared faulty.", "name": "EKF2_SEL_IMU_ANG", "shortDesc": "Selector angular threshold", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 7.0, "group": "EKF2", "longDesc": "EKF2 selector angular rate error threshold for comparing gyros. Angular rate vector differences larger than this will result in accumulated angular error.", "name": "EKF2_SEL_IMU_RAT", "shortDesc": "Selector angular rate threshold", "type": "Float", "units": "deg/s"}, {"category": "Standard", "default": 2.0, "group": "EKF2", "longDesc": "EKF2 selector maximum accumulated velocity threshold for comparing accelerometers. Accumulated velocity error larger than this will result in the sensor being declared faulty.", "name": "EKF2_SEL_IMU_VEL", "shortDesc": "Selector angular threshold", "type": "Float", "units": "m/s"}, {"category": "Standard", "default": 0, "group": "EKF2", "longDesc": "Use for vehicles where the measured body Z magnetic field is subject to strong magnetic interference. For magnetic heading fusion the magnetometer Z measurement will be replaced by a synthetic value calculated using the knowledge of the 3D magnetic field vector at the location of the drone. Therefore, this parameter will only have an effect if the global position of the drone is known. For 3D mag fusion the magnetometer Z measurement will simply be ignored instead of fusing the synthetic value.", "name": "EKF2_SYNT_MAG_Z", "shortDesc": "Enable synthetic magnetometer Z component measurement", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "EKF2", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.", "min": 1.0, "name": "EKF2_TAS_GATE", "shortDesc": "Gate size for TAS fusion", "type": "Float", "units": "SD"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.25, "group": "EKF2", "longDesc": "Controls how tightly the output track the EKF states", "max": 1.0, "min": 0.1, "name": "EKF2_TAU_POS", "shortDesc": "Output predictor position time constant", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.25, "group": "EKF2", "max": 1.0, "name": "EKF2_TAU_VEL", "shortDesc": "Time constant of the velocity output prediction and smoothing filter", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.5, "group": "EKF2", "min": 0.0, "name": "EKF2_TERR_GRAD", "shortDesc": "Magnitude of terrain gradient", "type": "Float", "units": "m/m"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "EKF2", "min": 0.5, "name": "EKF2_TERR_NOISE", "shortDesc": "Terrain altitude process noise", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 100.0, "group": "EKF2", "max": 299792458.0, "name": "EKF2_VEL_LIM", "shortDesc": "Velocity limit", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "EKF2", "longDesc": "When unaided, the wind estimate uncertainty (1-sigma, in m/s) increases by this amount every second.", "max": 1.0, "min": 0.0, "name": "EKF2_WIND_NSD", "shortDesc": "Process noise spectral density for wind velocity prediction", "type": "Float", "units": "m/s^2/sqrt(Hz)"}, {"category": "Standard", "default": 0, "group": "Events", "longDesc": "Enable/disable event task for RC Loss. When enabled, an alarm tune will be played via buzzer or ESCs, if supported. The alarm will sound after a disarm, if the vehicle was previously armed and only if the vehicle had RC signal at some point. Particularly useful for locating crashed drones without a GPS sensor.", "name": "EV_TSK_RC_LOSS", "rebootRequired": true, "shortDesc": "RC Loss Alarm", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Events", "longDesc": "Enable/disable event task for displaying the vehicle status using arm-mounted LEDs. When enabled and if the vehicle supports it, LEDs will flash indicating various vehicle status changes. Currently PX4 has not implemented any specific status events. -", "name": "EV_TSK_STAT_DIS", "rebootRequired": true, "shortDesc": "Status Display", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 30.0, "group": "FW Attitude Control", "increment": 0.5, "longDesc": "Applies to both directions in all manual modes with attitude stabilization but without altitude control", "max": 90.0, "min": 0.0, "name": "FW_MAN_P_MAX", "shortDesc": "Maximum manual pitch angle", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 1, "default": 45.0, "group": "FW Attitude Control", "increment": 0.5, "longDesc": "Applies to both directions in all manual modes with attitude stabilization", "max": 90.0, "min": 0.0, "name": "FW_MAN_R_MAX", "shortDesc": "Maximum manual roll angle", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 1, "default": 30.0, "group": "FW Attitude Control", "increment": 0.5, "longDesc": "This is the maximally added yaw rate setpoint from the yaw stick in any attitude controlled flight mode. It is added to the yaw rate setpoint generated by the controller for turn coordination.", "min": 0.0, "name": "FW_MAN_YR_MAX", "shortDesc": "Maximum manually added yaw rate", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "FW Attitude Control", "increment": 0.5, "longDesc": "An airframe specific offset of the pitch setpoint in degrees, the value is added to the pitch setpoint and should correspond to the pitch at typical cruise speed of the airframe.", "max": 90.0, "min": -90.0, "name": "FW_PSP_OFF", "shortDesc": "Pitch setpoint offset (pitch at level flight)", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 1, "default": 60.0, "group": "FW Attitude Control", "increment": 0.5, "max": 180.0, "min": 0.0, "name": "FW_P_RMAX_NEG", "shortDesc": "Maximum negative / down pitch rate setpoint", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 60.0, "group": "FW Attitude Control", "increment": 0.5, "max": 180.0, "min": 0.0, "name": "FW_P_RMAX_POS", "shortDesc": "Maximum positive / up pitch rate setpoint", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.4, "group": "FW Attitude Control", "increment": 0.05, "longDesc": "This defines the latency between a pitch step input and the achieved setpoint (inverse to a P gain). Smaller systems may require smaller values.", "max": 1.0, "min": 0.2, "name": "FW_P_TC", "shortDesc": "Attitude pitch time constant", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": 70.0, "group": "FW Attitude Control", "increment": 0.5, "max": 180.0, "min": 0.0, "name": "FW_R_RMAX", "shortDesc": "Maximum roll rate setpoint", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.4, "group": "FW Attitude Control", "increment": 0.05, "longDesc": "This defines the latency between a roll step input and the achieved setpoint (inverse to a P gain). Smaller systems may require smaller values.", "max": 1.0, "min": 0.2, "name": "FW_R_TC", "shortDesc": "Attitude Roll Time Constant", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "FW Attitude Control", "increment": 0.01, "max": 1.0, "min": 0.0, "name": "FW_SPOILERS_LND", "shortDesc": "Spoiler landing setting", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "FW Attitude Control", "increment": 0.05, "max": 10.0, "min": 0.0, "name": "FW_WR_FF", "shortDesc": "Wheel steering rate feed forward", "type": "Float", "units": "%/rad/s"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.1, "group": "FW Attitude Control", "increment": 0.005, "longDesc": "This gain defines how much control response will result out of a steady state error. It trims any constant error.", "max": 10.0, "min": 0.0, "name": "FW_WR_I", "shortDesc": "Wheel steering rate integrator gain", "type": "Float", "units": "%/rad"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.4, "group": "FW Attitude Control", "increment": 0.05, "max": 1.0, "min": 0.0, "name": "FW_WR_IMAX", "shortDesc": "Wheel steering rate integrator limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.5, "group": "FW Attitude Control", "increment": 0.005, "longDesc": "This defines how much the wheel steering input will be commanded depending on the current body angular rate error.", "max": 10.0, "min": 0.0, "name": "FW_WR_P", "shortDesc": "Wheel steering rate proportional gain", "type": "Float", "units": "%/rad/s"}, {"category": "Standard", "default": 0, "group": "FW Attitude Control", "longDesc": "Only enabled during automatic runway takeoff and landing. In all manual modes the wheel is directly controlled with yaw stick.", "name": "FW_W_EN", "shortDesc": "Enable wheel steering controller", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 30.0, "group": "FW Attitude Control", "increment": 0.5, "longDesc": "This limits the maximum wheel steering rate the controller will output (in degrees per second).", "max": 90.0, "min": 0.0, "name": "FW_W_RMAX", "shortDesc": "Maximum wheel steering rate", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 50.0, "group": "FW Attitude Control", "increment": 0.5, "max": 180.0, "min": 0.0, "name": "FW_Y_RMAX", "shortDesc": "Maximum yaw rate setpoint", "type": "Float", "units": "deg/s"}, {"bitmask": [{"description": "Abort if terrain is not found (only applies to mission landings)", "index": 0}, {"description": "Abort if terrain times out (after a first successful measurement)", "index": 1}], "category": "Standard", "default": 3, "group": "FW Auto Landing", "longDesc": "Terrain estimation: bit 0: Abort if terrain is not found bit 1: Abort if terrain times out (after a first successful measurement) The last estimate is always used as ground, whether the last valid measurement or the land waypoint, depending on the selected abort criteria, until an abort condition is entered. If FW_LND_USETER == 0, these bits are ignored. TODO: Extend automatic abort conditions e.g. glide slope tracking error (horizontal and vertical)", "max": 3, "min": 0, "name": "FW_LND_ABORT", "shortDesc": "Bit mask to set the automatic landing abort conditions", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 1, "default": -1.0, "group": "FW Auto Landing", "increment": 0.1, "longDesc": "The calibrated airspeed setpoint during landing. If set <= 0, landing airspeed = FW_AIRSPD_MIN by default.", "min": -1.0, "name": "FW_LND_AIRSPD", "shortDesc": "Landing airspeed", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "FW Auto Landing", "increment": 0.5, "longDesc": "Typically the desired landing slope angle when landing configuration (flaps, airspeed) is enabled. Set this value within the vehicle's performance limits.", "max": 15.0, "min": 1.0, "name": "FW_LND_ANG", "shortDesc": "Maximum landing slope angle", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 0, "group": "FW Auto Landing", "longDesc": "Allows to deploy the landing configuration (flaps, landing airspeed, etc.) already in the loiter-down waypoint before the final approach. Otherwise is enabled only in the final approach.", "name": "FW_LND_EARLYCFG", "shortDesc": "Early landing configuration deployment", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 0.5, "group": "FW Auto Landing", "increment": 0.5, "longDesc": "NOTE: max(FW_LND_FLALT, FW_LND_FL_TIME * |z-velocity|) is taken as the flare altitude", "min": 0.0, "name": "FW_LND_FLALT", "shortDesc": "Landing flare altitude (relative to landing altitude)", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 15.0, "group": "FW Auto Landing", "increment": 0.5, "longDesc": "Maximum pitch during landing flare.", "max": 45.0, "min": 0.0, "name": "FW_LND_FL_PMAX", "shortDesc": "Flare, maximum pitch", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 1, "default": 2.5, "group": "FW Auto Landing", "increment": 0.5, "longDesc": "Minimum pitch during landing flare.", "max": 15.0, "min": -5.0, "name": "FW_LND_FL_PMIN", "shortDesc": "Flare, minimum pitch", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.25, "group": "FW Auto Landing", "increment": 0.1, "longDesc": "TECS will attempt to control the aircraft to this sink rate via pitch angle (throttle killed during flare)", "max": 2.0, "min": 0.0, "name": "FW_LND_FL_SINK", "shortDesc": "Landing flare sink rate", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "FW Auto Landing", "increment": 0.1, "longDesc": "Multiplied by the descent rate to calculate a dynamic altitude at which to trigger the flare. NOTE: max(FW_LND_FLALT, FW_LND_FL_TIME * descent rate) is taken as the flare altitude", "max": 5.0, "min": 0.1, "name": "FW_LND_FL_TIME", "shortDesc": "Landing flare time", "type": "Float", "units": "s"}, {"category": "Standard", "default": 2, "group": "FW Auto Landing", "longDesc": "Approach angle nudging: shifts the touchdown point laterally while keeping the approach entrance point constant Approach path nudging: shifts the touchdown point laterally along with the entire approach path This is useful for manually adjusting the landing point in real time when map or GNSS errors cause an offset from the desired landing vector. Nudging is done with yaw stick, constrained to FW_LND_TD_OFF (in meters) and the direction is relative to the vehicle heading (stick deflection to the right = land point moves to the right as seen by the vehicle).", "max": 2, "min": 0, "name": "FW_LND_NUDGE", "shortDesc": "Landing touchdown nudging option", "type": "Int32", "values": [{"description": "Disable nudging", "value": 0}, {"description": "Nudge approach angle", "value": 1}, {"description": "Nudge approach path", "value": 2}]}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "FW Auto Landing", "increment": 1.0, "max": 10.0, "min": 0.0, "name": "FW_LND_TD_OFF", "shortDesc": "Maximum lateral position offset for the touchdown point", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": -1.0, "group": "FW Auto Landing", "increment": 0.1, "longDesc": "This is the time after the start of flaring that we expect the vehicle to touch the runway. At this time, a 0.5s clamp down ramp will engage, constraining the pitch setpoint to RWTO_PSP. If enabled, ensure that RWTO_PSP is configured appropriately for full gear contact on ground roll. Set to -1.0 to disable touchdown clamping. E.g. it may not be desirable to clamp on belly landings. The touchdown time will be constrained to be greater than or equal to the flare time (FW_LND_FL_TIME).", "max": 5.0, "min": -1.0, "name": "FW_LND_TD_TIME", "shortDesc": "Landing touchdown time (since flare start)", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "FW Auto Landing", "increment": 0.1, "longDesc": "The TECS altitude time constant (FW_T_ALT_TC) is multiplied by this value.", "max": 1.0, "min": 0.2, "name": "FW_LND_THRTC_SC", "shortDesc": "Altitude time constant factor for landing and low-height flight", "type": "Float", "units": ""}, {"category": "Standard", "default": 1, "group": "FW Auto Landing", "longDesc": "This is critical for detecting when to flare, and should be enabled if possible. NOTE: terrain estimate is currently solely derived from a distance sensor. If enabled and no measurement is found within a given timeout, the landing waypoint altitude will be used OR the landing will be aborted, depending on the criteria set in FW_LND_ABORT. If disabled, FW_LND_ABORT terrain based criteria are ignored.", "max": 2, "min": 0, "name": "FW_LND_USETER", "shortDesc": "Use terrain estimation during landing", "type": "Int32", "values": [{"description": "Disable the terrain estimate", "value": 0}, {"description": "Use the terrain estimate to trigger the flare (only)", "value": 1}, {"description": "Calculate landing glide slope relative to the terrain estimate", "value": 2}]}, {"category": "Standard", "decimalPlaces": 1, "default": 0.5, "group": "FW Geometry", "increment": 1.0, "longDesc": "This is used to constrain a minimum altitude below which we keep wings level to avoid wing tip strike. It's safer to give a slight margin here (> 0m)", "min": 0.0, "name": "FW_WING_HEIGHT", "shortDesc": "Height (AGL) of the wings when the aircraft is on the ground", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "FW Geometry", "increment": 0.1, "longDesc": "This is used for limiting the roll setpoint near the ground. (if multiple wings, take the longest span)", "min": 0.1, "name": "FW_WING_SPAN", "shortDesc": "The aircraft's wing span (length from tip to tip)", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.05, "group": "FW Launch detection", "increment": 0.05, "longDesc": "Launch is detected when acceleration in body forward direction is above FW_LAUN_AC_THLD for FW_LAUN_AC_T seconds.", "max": 5.0, "min": 0.0, "name": "FW_LAUN_AC_T", "shortDesc": "Trigger time", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": 30.0, "group": "FW Launch detection", "increment": 0.5, "longDesc": "Launch is detected when acceleration in body forward direction is above FW_LAUN_AC_THLD for FW_LAUN_AC_T seconds.", "min": 0.0, "name": "FW_LAUN_AC_THLD", "shortDesc": "Trigger acceleration threshold", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "default": 0, "group": "FW Launch detection", "longDesc": "Enables automatic launch detection based on measured acceleration. Use for hand- or catapult-launched vehicles. Not compatible with runway takeoff.", "name": "FW_LAUN_DETCN_ON", "shortDesc": "Fixed-wing launch detection", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "FW Launch detection", "increment": 0.5, "longDesc": "Start the motor(s) this amount of seconds after launch is detected.", "max": 10.0, "min": 0.0, "name": "FW_LAUN_MOT_DEL", "shortDesc": "Motor delay", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.7, "group": "FW NPFG Control", "increment": 0.01, "longDesc": "Damping ratio of the NPFG control law.", "max": 1.0, "min": 0.1, "name": "NPFG_DAMPING", "shortDesc": "NPFG damping ratio", "type": "Float"}, {"category": "Standard", "default": 1, "group": "FW NPFG Control", "name": "NPFG_EN_MIN_GSP", "shortDesc": "Enable minimum forward ground speed maintaining excess wind handling logic", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "FW NPFG Control", "increment": 0.5, "longDesc": "The maximum value of the minimum forward ground speed that may be commanded by the track keeping excess wind handling logic. Commanded in full at the normalized track error fraction of the track error boundary and reduced to zero on track.", "max": 10.0, "min": 0.0, "name": "NPFG_GSP_MAX_TK", "shortDesc": "Maximum, minimum forward ground speed for track keeping in excess wind", "type": "Float", "units": "m/s"}, {"category": "Standard", "default": 1, "group": "FW NPFG Control", "longDesc": "Avoids limit cycling from a too aggressively tuned period/damping combination. If set to false, also disables the upper bound NPFG_PERIOD_UB.", "name": "NPFG_LB_PERIOD", "shortDesc": "Enable automatic lower bound on the NPFG period", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "FW NPFG Control", "increment": 0.1, "longDesc": "Period of the NPFG control law.", "max": 100.0, "min": 1.0, "name": "NPFG_PERIOD", "shortDesc": "NPFG period", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.5, "group": "FW NPFG Control", "increment": 0.1, "longDesc": "Multiplied by period for conservative minimum period bounding (when period lower bounding is enabled). 1.0 bounds at marginal stability.", "max": 10.0, "min": 1.0, "name": "NPFG_PERIOD_SF", "shortDesc": "Period safety factor", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.5, "group": "FW NPFG Control", "increment": 0.05, "longDesc": "Time constant of roll controller command / response, modeled as first order delay. Used to determine lower period bound. Setting zero disables automatic period bounding.", "max": 2.0, "min": 0.0, "name": "NPFG_ROLL_TC", "shortDesc": "Roll time constant", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.32, "group": "FW NPFG Control", "increment": 0.01, "longDesc": "Multiplied by the track error boundary to determine when the aircraft switches to the next waypoint and/or path segment. Should be less than 1.", "max": 1.0, "min": 0.1, "name": "NPFG_SW_DST_MLT", "shortDesc": "NPFG switch distance multiplier", "type": "Float"}, {"category": "Standard", "default": 1, "group": "FW NPFG Control", "name": "NPFG_TRACK_KEEP", "shortDesc": "Enable track keeping excess wind handling logic", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1, "group": "FW NPFG Control", "longDesc": "Adapts period to maintain track keeping in variable winds and path curvature.", "name": "NPFG_UB_PERIOD", "shortDesc": "Enable automatic upper bound on the NPFG period", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1, "group": "FW NPFG Control", "longDesc": "Disabling this parameter further disables all other airspeed incrementation options.", "name": "NPFG_WIND_REG", "shortDesc": "Enable wind excess regulation", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 0, "default": 90.0, "group": "FW Path Control", "increment": 1.0, "longDesc": "The maximum change in roll angle setpoint per second. This limit is applied in all Auto modes, plus manual Position and Altitude modes.", "min": 0.0, "name": "FW_PN_R_SLEW_MAX", "shortDesc": "Path navigation roll slew rate limit", "type": "Float", "units": "deg/s"}, {"bitmask": [{"description": "Alternative stick configuration (height rate on throttle stick, airspeed on pitch stick)", "index": 0}, {"description": "Enable airspeed setpoint via sticks in altitude and position flight mode", "index": 1}], "category": "Standard", "default": 2, "group": "FW Path Control", "longDesc": "Applies in manual Position and Altitude flight modes.", "max": 3, "min": 0, "name": "FW_POS_STK_CONF", "shortDesc": "Custom stick configuration", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 1, "default": 50.0, "group": "FW Path Control", "increment": 0.5, "longDesc": "Applies in any altitude controlled flight mode.", "max": 65.0, "min": 35.0, "name": "FW_R_LIM", "shortDesc": "Maximum roll angle setpoint", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "FW Path Control", "increment": 0.5, "max": 30.0, "min": -5.0, "name": "FW_TKO_PITCH_MIN", "shortDesc": "Minimum pitch during takeoff", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 1, "default": 20.0, "group": "FW Performance", "increment": 0.5, "longDesc": "The maximal airspeed (calibrated airspeed) the user is able to command.", "min": 0.5, "name": "FW_AIRSPD_MAX", "shortDesc": "Maximum Airspeed (CAS)", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "FW Performance", "increment": 0.5, "longDesc": "The minimal airspeed (calibrated airspeed) the user is able to command. Further, if the airspeed falls below this value, the TECS controller will try to increase airspeed more aggressively. Has to be set according to the vehicle's stall speed (which should be set in FW_AIRSPD_STALL), with some margin between the stall speed and minimum airspeed. This value corresponds to the desired minimum speed with the default load factor (level flight, default weight), and is automatically adpated to the current load factor (calculated from roll setpoint and WEIGHT_GROSS/WEIGHT_BASE).", "min": 0.5, "name": "FW_AIRSPD_MIN", "shortDesc": "Minimum Airspeed (CAS)", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 7.0, "group": "FW Performance", "increment": 0.5, "longDesc": "The stall airspeed (calibrated airspeed) of the vehicle. It is used for airspeed sensor failure detection and for the control surface scaling airspeed limits.", "min": 0.5, "name": "FW_AIRSPD_STALL", "shortDesc": "Stall Airspeed (CAS)", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 15.0, "group": "FW Performance", "increment": 0.5, "longDesc": "The trim CAS (calibrated airspeed) of the vehicle. If an airspeed controller is active, this is the default airspeed setpoint that the controller will try to achieve. This value corresponds to the trim airspeed with the default load factor (level flight, default weight).", "min": 0.5, "name": "FW_AIRSPD_TRIM", "shortDesc": "Trim (Cruise) Airspeed", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 0, "default": -1.0, "group": "FW Performance", "increment": 1.0, "longDesc": "Altitude in standard atmosphere at which the vehicle in normal configuration (WEIGHT_BASE) is still able to achieve a maximum climb rate of 0.5m/s at maximum throttle (FW_THR_MAX). Used to compensate for air density in FW_T_CLMB_MAX. Set negative to disable.", "min": -1.0, "name": "FW_SERVICE_CEIL", "shortDesc": "Service ceiling", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "FW Performance", "increment": 0.01, "longDesc": "Required throttle (at sea level, standard atmosphere) for level flight at maximum airspeed FW_AIRSPD_MAX Set to 0 to disable mapping of airspeed to trim throttle.", "max": 1.0, "min": 0.0, "name": "FW_THR_ASPD_MAX", "shortDesc": "Throttle at max airspeed", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "FW Performance", "increment": 0.01, "longDesc": "Required throttle (at sea level, standard atmosphere) for level flight at minimum airspeed FW_AIRSPD_MIN Set to 0 to disable mapping of airspeed to trim throttle below FW_AIRSPD_TRIM.", "max": 1.0, "min": 0.0, "name": "FW_THR_ASPD_MIN", "shortDesc": "Throttle at min airspeed", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.6, "group": "FW Performance", "increment": 0.01, "longDesc": "Required throttle (at sea level, standard atmosphere) for level flight at FW_AIRSPD_TRIM", "max": 1.0, "min": 0.0, "name": "FW_THR_TRIM", "shortDesc": "Trim throttle", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "FW Performance", "increment": 0.5, "longDesc": "This is the maximum calibrated climb rate that the aircraft can achieve with the throttle set to FW_THR_MAX and the airspeed set to the trim value. For electric aircraft make sure this number can be achieved towards the end of flight when the battery voltage has reduced.", "max": 15.0, "min": 1.0, "name": "FW_T_CLMB_MAX", "shortDesc": "Maximum climb rate", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 2.0, "group": "FW Performance", "increment": 0.5, "longDesc": "This is the minimum calibrated sink rate of the aircraft with the throttle set to THR_MIN and flown at the same airspeed as used to measure FW_T_CLMB_MAX.", "max": 5.0, "min": 1.0, "name": "FW_T_SINK_MIN", "shortDesc": "Minimum descent rate", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": -1.0, "group": "FW Performance", "increment": 0.5, "longDesc": "This is the weight of the vehicle at which it's performance limits were derived. A zero or negative value disables trim throttle and minimum airspeed compensation based on weight.", "name": "WEIGHT_BASE", "shortDesc": "Vehicle base weight", "type": "Float", "units": "kg"}, {"category": "Standard", "decimalPlaces": 1, "default": -1.0, "group": "FW Performance", "increment": 0.1, "longDesc": "This is the actual weight of the vehicle at any time. This value will differ from WEIGHT_BASE in case weight was added or removed from the base weight. Examples are the addition of payloads or larger batteries. A zero or negative value disables trim throttle and minimum airspeed compensation based on weight.", "name": "WEIGHT_GROSS", "shortDesc": "Vehicle gross weight", "type": "Float", "units": "kg"}, {"category": "Standard", "default": 90.0, "group": "FW Rate Control", "max": 720.0, "min": 10.0, "name": "FW_ACRO_X_MAX", "shortDesc": "Acro body roll max rate setpoint", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 0, "group": "FW Rate Control", "longDesc": "If this parameter is set to 1, the yaw rate controller is enabled in Fixed-wing Acro mode. Otherwise the pilot commands directly the yaw actuator. It is disabled by default because an active yaw rate controller will fight against the natural turn coordination of the plane.", "name": "FW_ACRO_YAW_EN", "shortDesc": "Enable yaw rate controller in Acro", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 90.0, "group": "FW Rate Control", "max": 720.0, "min": 10.0, "name": "FW_ACRO_Y_MAX", "shortDesc": "Acro body pitch max rate setpoint", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 45.0, "group": "FW Rate Control", "max": 720.0, "min": 10.0, "name": "FW_ACRO_Z_MAX", "shortDesc": "Acro body yaw max rate setpoint", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 1, "group": "FW Rate Control", "longDesc": "This enables a logic that automatically adjusts the output of the rate controller to take into account the real torque produced by an aerodynamic control surface given the current deviation from the trim airspeed (FW_AIRSPD_TRIM). Enable when using aerodynamic control surfaces (e.g.: plane) Disable when using rotor wings (e.g.: autogyro)", "name": "FW_ARSP_SCALE_EN", "shortDesc": "Enable airspeed scaling", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "FW Rate Control", "longDesc": "This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery.", "name": "FW_BAT_SCALE_EN", "shortDesc": "Enable throttle scale by battery level", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "FW Rate Control", "increment": 0.01, "longDesc": "This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MAX.", "max": 0.5, "min": -0.5, "name": "FW_DTRIM_P_VMAX", "shortDesc": "Pitch trim increment at maximum airspeed", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "FW Rate Control", "increment": 0.01, "longDesc": "This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MIN.", "max": 0.5, "min": -0.5, "name": "FW_DTRIM_P_VMIN", "shortDesc": "Pitch trim increment at minimum airspeed", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "FW Rate Control", "increment": 0.01, "longDesc": "This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MAX.", "max": 0.5, "min": -0.5, "name": "FW_DTRIM_R_VMAX", "shortDesc": "Roll trim increment at maximum airspeed", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "FW Rate Control", "increment": 0.01, "longDesc": "This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MIN.", "max": 0.5, "min": -0.5, "name": "FW_DTRIM_R_VMIN", "shortDesc": "Roll trim increment at minimum airspeed", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "FW Rate Control", "increment": 0.01, "longDesc": "This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MAX.", "max": 0.5, "min": -0.5, "name": "FW_DTRIM_Y_VMAX", "shortDesc": "Yaw trim increment at maximum airspeed", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "FW Rate Control", "increment": 0.01, "longDesc": "This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MIN.", "max": 0.5, "min": -0.5, "name": "FW_DTRIM_Y_VMIN", "shortDesc": "Yaw trim increment at minimum airspeed", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "FW Rate Control", "increment": 0.01, "longDesc": "Sets a fraction of full flaps during landing. Also applies to flaperons if enabled in the mixer/allocation.", "max": 1.0, "min": 0.0, "name": "FW_FLAPS_LND_SCL", "shortDesc": "Flaps setting during landing", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "FW Rate Control", "increment": 0.01, "longDesc": "Sets a fraction of full flaps during take-off. Also applies to flaperons if enabled in the mixer/allocation.", "max": 1.0, "min": 0.0, "name": "FW_FLAPS_TO_SCL", "shortDesc": "Flaps setting during take-off", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "FW Rate Control", "increment": 0.01, "longDesc": "Scale factor applied to the desired pitch actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.", "min": 0.0, "name": "FW_MAN_P_SC", "shortDesc": "Manual pitch scale", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "FW Rate Control", "increment": 0.01, "longDesc": "Scale factor applied to the desired roll actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.", "max": 1.0, "min": 0.0, "name": "FW_MAN_R_SC", "shortDesc": "Manual roll scale", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "FW Rate Control", "increment": 0.01, "longDesc": "Scale factor applied to the desired yaw actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.", "min": 0.0, "name": "FW_MAN_Y_SC", "shortDesc": "Manual yaw scale", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "FW Rate Control", "increment": 0.005, "longDesc": "Pitch rate differential gain.", "max": 10.0, "min": 0.0, "name": "FW_PR_D", "shortDesc": "Pitch rate derivative gain", "type": "Float", "units": "%/rad/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.5, "group": "FW Rate Control", "increment": 0.05, "longDesc": "Direct feed forward from rate setpoint to control surface output", "max": 10.0, "min": 0.0, "name": "FW_PR_FF", "shortDesc": "Pitch rate feed forward", "type": "Float", "units": "%/rad/s"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.1, "group": "FW Rate Control", "increment": 0.005, "max": 10.0, "min": 0.0, "name": "FW_PR_I", "shortDesc": "Pitch rate integrator gain", "type": "Float", "units": "%/rad"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.4, "group": "FW Rate Control", "increment": 0.05, "max": 1.0, "min": 0.0, "name": "FW_PR_IMAX", "shortDesc": "Pitch rate integrator limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.08, "group": "FW Rate Control", "increment": 0.005, "max": 10.0, "min": 0.0, "name": "FW_PR_P", "shortDesc": "Pitch rate proportional gain", "type": "Float", "units": "%/rad/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "FW Rate Control", "increment": 0.01, "longDesc": "This gain can be used to counteract the \"adverse yaw\" effect for fixed wings. When the plane enters a roll it will tend to yaw the nose out of the turn. This gain enables the use of a yaw actuator to counteract this effect.", "min": 0.0, "name": "FW_RLL_TO_YAW_FF", "shortDesc": "Roll control to yaw control feedforward gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "FW Rate Control", "increment": 0.005, "max": 10.0, "min": 0.0, "name": "FW_RR_D", "shortDesc": "Roll rate derivative gain", "type": "Float", "units": "%/rad/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.5, "group": "FW Rate Control", "increment": 0.05, "longDesc": "Direct feed forward from rate setpoint to control surface output.", "max": 10.0, "min": 0.0, "name": "FW_RR_FF", "shortDesc": "Roll rate feed forward", "type": "Float", "units": "%/rad/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "FW Rate Control", "increment": 0.01, "max": 10.0, "min": 0.0, "name": "FW_RR_I", "shortDesc": "Roll rate integrator gain", "type": "Float", "units": "%/rad"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "FW Rate Control", "increment": 0.05, "max": 1.0, "min": 0.0, "name": "FW_RR_IMAX", "shortDesc": "Roll integrator limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "FW Rate Control", "increment": 0.005, "max": 10.0, "min": 0.0, "name": "FW_RR_P", "shortDesc": "Roll rate proportional gain", "type": "Float", "units": "%/rad/s"}, {"category": "Standard", "default": 0, "group": "FW Rate Control", "longDesc": "Chose source for manual setting of spoilers in manual flight modes.", "name": "FW_SPOILERS_MAN", "shortDesc": "Spoiler input in manual flight", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Flaps channel", "value": 1}, {"description": "Aux1", "value": 2}]}, {"category": "Standard", "default": 1, "group": "FW Rate Control", "longDesc": "If set to 1, the airspeed measurement data, if valid, is used in the following controllers: - Rate controller: output scaling - Attitude controller: coordinated turn controller - Position controller: airspeed setpoint tracking, takeoff logic - VTOL: transition logic", "name": "FW_USE_AIRSPD", "shortDesc": "Use airspeed for control", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "FW Rate Control", "increment": 0.005, "max": 10.0, "min": 0.0, "name": "FW_YR_D", "shortDesc": "Yaw rate derivative gain", "type": "Float", "units": "%/rad/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.3, "group": "FW Rate Control", "increment": 0.05, "longDesc": "Direct feed forward from rate setpoint to control surface output", "max": 10.0, "min": 0.0, "name": "FW_YR_FF", "shortDesc": "Yaw rate feed forward", "type": "Float", "units": "%/rad/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.1, "group": "FW Rate Control", "increment": 0.5, "max": 10.0, "min": 0.0, "name": "FW_YR_I", "shortDesc": "Yaw rate integrator gain", "type": "Float", "units": "%/rad"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "FW Rate Control", "increment": 0.05, "max": 1.0, "min": 0.0, "name": "FW_YR_IMAX", "shortDesc": "Yaw rate integrator limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "FW Rate Control", "increment": 0.005, "max": 10.0, "min": 0.0, "name": "FW_YR_P", "shortDesc": "Yaw rate proportional gain", "type": "Float", "units": "%/rad/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "FW TECS", "increment": 0.5, "longDesc": "The controller will increase the commanded airspeed to maintain this minimum groundspeed to the next waypoint.", "max": 40.0, "min": 0.0, "name": "FW_GND_SPD_MIN", "shortDesc": "Minimum groundspeed", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 30.0, "group": "FW TECS", "increment": 0.5, "longDesc": "Applies in any altitude controlled flight mode.", "max": 60.0, "min": 0.0, "name": "FW_P_LIM_MAX", "shortDesc": "Maximum pitch angle setpoint", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 1, "default": -30.0, "group": "FW TECS", "increment": 0.5, "longDesc": "Applies in any altitude controlled flight mode.", "max": 0.0, "min": -60.0, "name": "FW_P_LIM_MIN", "shortDesc": "Minimum pitch angle setpoint", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "FW TECS", "increment": 0.01, "longDesc": "This is the minimum throttle while on the ground (\"landed\") in auto modes.", "max": 0.4, "min": 0.0, "name": "FW_THR_IDLE", "shortDesc": "Idle throttle", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "FW TECS", "increment": 0.01, "longDesc": "Applies in any altitude controlled flight mode. Should be set accordingly to achieve FW_T_CLMB_MAX.", "max": 1.0, "min": 0.0, "name": "FW_THR_MAX", "shortDesc": "Throttle limit max", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "FW TECS", "increment": 0.01, "longDesc": "Applies in any altitude controlled flight mode. Usually set to 0 but can be increased to prevent the motor from stopping when descending, which can increase achievable descent rates.", "max": 1.0, "min": 0.0, "name": "FW_THR_MIN", "shortDesc": "Throttle limit min", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "FW TECS", "increment": 0.01, "longDesc": "Maximum slew rate for the commanded throttle", "max": 1.0, "min": 0.0, "name": "FW_THR_SLEW_MAX", "shortDesc": "Throttle max slew rate", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": -1.0, "group": "FW TECS", "increment": 0.1, "longDesc": "The calibrated airspeed setpoint during the takeoff climbout. If set <= 0, FW_AIRSPD_MIN will be set by default.", "min": -1.0, "name": "FW_TKO_AIRSPD", "shortDesc": "Takeoff Airspeed", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 5.0, "group": "FW TECS", "increment": 0.5, "min": 2.0, "name": "FW_T_ALT_TC", "shortDesc": "Altitude error time constant", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 3.0, "group": "FW TECS", "increment": 0.01, "longDesc": "In auto modes: default climb rate output by controller to achieve altitude setpoints. In manual modes: maximum climb rate setpoint.", "max": 15.0, "min": 0.5, "name": "FW_T_CLMB_R_SP", "shortDesc": "Default target climbrate", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 0, "default": -1.0, "group": "FW TECS", "longDesc": "Minimum altitude error needed to descend with max airspeed and minimal throttle. A negative value disables fast descend.", "min": -1.0, "name": "FW_T_F_ALT_ERR", "shortDesc": "Fast descend: minimum altitude error", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.3, "group": "FW TECS", "increment": 0.05, "max": 1.0, "min": 0.0, "name": "FW_T_HRATE_FF", "shortDesc": "Height rate feed forward", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "FW TECS", "increment": 0.05, "longDesc": "Increase it to trim out speed and height offsets faster, with the downside of possible overshoots and oscillations.", "max": 2.0, "min": 0.0, "name": "FW_T_I_GAIN_PIT", "shortDesc": "Integrator gain pitch", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "FW TECS", "increment": 0.1, "max": 2.0, "min": 0.0, "name": "FW_T_PTCH_DAMP", "shortDesc": "Pitch damping gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 15.0, "group": "FW TECS", "increment": 0.5, "longDesc": "Is used to compensate for the additional drag created by turning. Increase this gain if the aircraft initially loses energy in turns and reduce if the aircraft initially gains energy in turns.", "max": 20.0, "min": 0.0, "name": "FW_T_RLL2THR", "shortDesc": "Roll -> Throttle feedforward", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "FW TECS", "increment": 0.01, "max": 3.0, "min": 0.5, "name": "FW_T_SEB_R_FF", "shortDesc": "Specific total energy balance rate feedforward gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "FW TECS", "increment": 0.5, "longDesc": "This sets the maximum descent rate that the controller will use.", "max": 15.0, "min": 1.0, "name": "FW_T_SINK_MAX", "shortDesc": "Maximum descent rate", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 2.0, "group": "FW TECS", "increment": 0.01, "longDesc": "In auto modes: default sink rate output by controller to achieve altitude setpoints. In manual modes: maximum sink rate setpoint.", "max": 15.0, "min": 0.5, "name": "FW_T_SINK_R_SP", "shortDesc": "Default target sinkrate", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "FW TECS", "increment": 1.0, "longDesc": "Adjusts the amount of weighting that the pitch control applies to speed vs height errors. Setting it to 0.0 will cause the pitch control to control height and ignore speed errors. Setting it to 2.0 will cause the pitch control loop to control speed and ignore height errors. The default value of 1.0 allows the pitch control to simultaneously control height and speed. Set to 2 for gliders.", "max": 2.0, "min": 0.0, "name": "FW_T_SPDWEIGHT", "shortDesc": "Speed <--> Altitude priority", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "FW TECS", "increment": 0.1, "longDesc": "For the airspeed filter in TECS.", "max": 10.0, "min": 0.01, "name": "FW_T_SPD_DEV_STD", "shortDesc": "Airspeed rate measurement standard deviation", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "FW TECS", "increment": 0.1, "longDesc": "This is defining the noise in the airspeed rate for the constant airspeed rate model of the TECS airspeed filter.", "max": 10.0, "min": 0.01, "name": "FW_T_SPD_PRC_STD", "shortDesc": "Process noise standard deviation for the airspeed rate", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.07, "group": "FW TECS", "increment": 0.1, "longDesc": "For the airspeed filter in TECS.", "max": 10.0, "min": 0.01, "name": "FW_T_SPD_STD", "shortDesc": "Airspeed measurement standard deviation", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.4, "group": "FW TECS", "increment": 0.01, "longDesc": "This filter is applied to the specific total energy rate used for throttle damping.", "max": 2.0, "min": 0.0, "name": "FW_T_STE_R_TC", "shortDesc": "Specific total energy rate first order filter time constant", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 5.0, "group": "FW TECS", "increment": 0.5, "min": 2.0, "name": "FW_T_TAS_TC", "shortDesc": "True airspeed error time constant", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "FW TECS", "increment": 0.01, "longDesc": "This is the damping gain for the throttle demand loop.", "max": 1.0, "min": 0.0, "name": "FW_T_THR_DAMPING", "shortDesc": "Throttle damping factor", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.02, "group": "FW TECS", "increment": 0.005, "longDesc": "Increase it to trim out speed and height offsets faster, with the downside of possible overshoots and oscillations.", "max": 1.0, "min": 0.0, "name": "FW_T_THR_INTEG", "shortDesc": "Integrator gain throttle", "type": "Float"}, {"category": "Standard", "decimalPlaces": 0, "default": -1.0, "group": "FW TECS", "increment": 1.0, "longDesc": "Defines the height (distance to bottom) threshold below which tighter altitude tracking gets enabled (see FW_LND_THRTC_SC). Below this height, TECS smoothly (1 sec / sec) transitions the altitude tracking time constant from FW_T_ALT_TC to FW_LND_THRTC_SC*FW_T_ALT_TC. If equal to -1, low-height traking is disabled.", "min": -1.0, "name": "FW_T_THR_LOW_HGT", "shortDesc": "Low-height threshold for tighter altitude tracking", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 7.0, "group": "FW TECS", "increment": 0.5, "longDesc": "This is the maximum vertical acceleration either up or down that the controller will use to correct speed or height errors.", "max": 10.0, "min": 1.0, "name": "FW_T_VERT_ACC", "shortDesc": "Maximum vertical acceleration", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "FW TECS", "increment": 0.01, "longDesc": "Multiplying this factor with the current absolute wind estimate gives the airspeed offset added to the minimum airspeed setpoint limit. This helps to make the system more robust against disturbances (turbulence) in high wind.", "min": 0.0, "name": "FW_WIND_ARSP_SC", "shortDesc": "Wind-based airspeed scaling factor", "type": "Float"}, {"category": "Standard", "default": 1, "group": "Failure Detector", "longDesc": "If enabled, failure detector will verify that for motors, a minimum amount of ESC current per throttle level is being consumed. Otherwise this indicates an motor failure.", "name": "FD_ACT_EN", "rebootRequired": true, "shortDesc": "Enable Actuator Failure check", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 2.0, "group": "Failure Detector", "increment": 1.0, "longDesc": "Motor failure triggers only below this current value", "max": 50.0, "min": 0.0, "name": "FD_ACT_MOT_C2T", "shortDesc": "Motor Failure Current/Throttle Threshold", "type": "Float", "units": "A/%"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "Failure Detector", "increment": 0.01, "longDesc": "Motor failure triggers only above this throttle value.", "max": 1.0, "min": 0.0, "name": "FD_ACT_MOT_THR", "shortDesc": "Motor Failure Throttle Threshold", "type": "Float", "units": "norm"}, {"category": "Standard", "default": 100, "group": "Failure Detector", "increment": 100, "longDesc": "Motor failure triggers only if the throttle threshold and the current to throttle threshold are violated for this time.", "max": 10000, "min": 10, "name": "FD_ACT_MOT_TOUT", "shortDesc": "Motor Failure Time Threshold", "type": "Int32", "units": "ms"}, {"category": "Standard", "default": 1, "group": "Failure Detector", "longDesc": "If enabled, failure detector will verify that all the ESCs have successfully armed when the vehicle has transitioned to the armed state. Timeout for receiving an acknowledgement from the ESCs is 0.3s, if no feedback is received the failure detector will auto disarm the vehicle.", "name": "FD_ESCS_EN", "shortDesc": "Enable checks on ESCs that report their arming state", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Failure Detector", "longDesc": "Enabled on either AUX5 or MAIN5 depending on board. External ATS is required by ASTM F3322-18.", "name": "FD_EXT_ATS_EN", "rebootRequired": true, "shortDesc": "Enable PWM input on for engaging failsafe from an external automatic trigger system (ATS)", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 1900, "group": "Failure Detector", "longDesc": "External ATS is required by ASTM F3322-18.", "name": "FD_EXT_ATS_TRIG", "shortDesc": "The PWM threshold from external automatic trigger system for engaging failsafe", "type": "Int32", "units": "us"}, {"category": "Standard", "default": 60, "group": "Failure Detector", "longDesc": "Maximum pitch angle before FailureDetector triggers the attitude_failure flag. The flag triggers flight termination (if @CBRK_FLIGHTTERM = 0), which sets outputs to their failsafe values. On takeoff the flag triggers lockdown (irrespective of @CBRK_FLIGHTTERM), which disarms motors but does not set outputs to failsafe values. Setting this parameter to 0 disables the check", "max": 180, "min": 0, "name": "FD_FAIL_P", "shortDesc": "FailureDetector Max Pitch", "type": "Int32", "units": "deg"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.3, "group": "Failure Detector", "longDesc": "Seconds (decimal) that pitch has to exceed FD_FAIL_P before being considered as a failure.", "max": 5.0, "min": 0.02, "name": "FD_FAIL_P_TTRI", "shortDesc": "Pitch failure trigger time", "type": "Float", "units": "s"}, {"category": "Standard", "default": 60, "group": "Failure Detector", "longDesc": "Maximum roll angle before FailureDetector triggers the attitude_failure flag. The flag triggers flight termination (if @CBRK_FLIGHTTERM = 0), which sets outputs to their failsafe values. On takeoff the flag triggers lockdown (irrespective of @CBRK_FLIGHTTERM), which disarms motors but does not set outputs to failsafe values. Setting this parameter to 0 disables the check", "max": 180, "min": 0, "name": "FD_FAIL_R", "shortDesc": "FailureDetector Max Roll", "type": "Int32", "units": "deg"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.3, "group": "Failure Detector", "longDesc": "Seconds (decimal) that roll has to exceed FD_FAIL_R before being considered as a failure.", "max": 5.0, "min": 0.02, "name": "FD_FAIL_R_TTRI", "shortDesc": "Roll failure trigger time", "type": "Float", "units": "s"}, {"category": "Standard", "default": 30, "group": "Failure Detector", "increment": 1, "longDesc": "Value at which the imbalanced propeller metric (based on horizontal and vertical acceleration variance) triggers a failure Setting this value to 0 disables the feature.", "max": 1000, "min": 0, "name": "FD_IMB_PROP_THR", "shortDesc": "Imbalanced propeller check threshold", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 1, "default": 1000.0, "group": "Flight Task Orbit", "increment": 0.5, "max": 10000.0, "min": 1.0, "name": "MC_ORBIT_RAD_MAX", "shortDesc": "Maximum radius of orbit", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Flight Task Orbit", "name": "MC_ORBIT_YAW_MOD", "shortDesc": "Yaw behaviour during orbit flight", "type": "Int32", "values": [{"description": "Front to Circle Center", "value": 0}, {"description": "Hold Initial Heading", "value": 1}, {"description": "Uncontrolled", "value": 2}, {"description": "Hold Front Tangent to Circle", "value": 3}, {"description": "RC Controlled", "value": 4}]}, {"category": "Standard", "default": 0, "group": "Follow target", "longDesc": "Maintain altitude or track target's altitude. When maintaining the altitude, the drone can crash into terrain when the target moves uphill. When tracking the target's altitude, the follow altitude FLW_TGT_HT should be high enough to prevent terrain collisions due to GPS inaccuracies of the target.", "name": "FLW_TGT_ALT_M", "shortDesc": "Altitude control mode", "type": "Int32", "values": [{"description": "2D Tracking: Maintain constant altitude relative to home and track XY position only", "value": 0}, {"description": "2D + Terrain: Maintain constant altitude relative to terrain below and track XY position", "value": 1}, {"description": "3D Tracking: Track target's altitude (be aware that GPS altitude bias usually makes this useless)", "value": 2}]}, {"category": "Standard", "default": 8.0, "group": "Follow target", "longDesc": "The distance in meters to follow the target at", "min": 1.0, "name": "FLW_TGT_DST", "shortDesc": "Distance to follow target from", "type": "Float", "units": "m"}, {"category": "Standard", "default": 180.0, "group": "Follow target", "longDesc": "Angle to follow the target from. 0.0 Equals straight in front of the target's course (direction of motion) and the angle increases in clockwise direction, meaning Right-side would be 90.0 degrees while Left-side is -90.0 degrees Note: When the user force sets the angle out of the min/max range, it will be wrapped (e.g. 480 -> 120) in the range to gracefully handle the out of range.", "max": 180.0, "min": -180.0, "name": "FLW_TGT_FA", "shortDesc": "Follow Angle setting in degrees", "type": "Float"}, {"category": "Standard", "default": 8.0, "group": "Follow target", "longDesc": "Following height above the target", "min": 8.0, "name": "FLW_TGT_HT", "shortDesc": "Follow target height", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "Follow target", "longDesc": "This is the maximum tangential velocity the drone will circle around the target whenever an orbit angle setpoint changes. Higher value means more aggressive follow behavior.", "max": 20.0, "min": 0.0, "name": "FLW_TGT_MAX_VEL", "shortDesc": "Maximum tangential velocity setting for generating the follow orbit trajectory", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "Follow target", "longDesc": "lower values increase the responsiveness to changing position, but also ignore less noise", "max": 1.0, "min": 0.0, "name": "FLW_TGT_RS", "shortDesc": "Responsiveness to target movement in Target Estimator", "type": "Float"}, {"bitmask": [{"description": "GPS (with QZSS)", "index": 0}, {"description": "SBAS", "index": 1}, {"description": "Galileo", "index": 2}, {"description": "BeiDou", "index": 3}, {"description": "GLONASS", "index": 4}, {"description": "NAVIC", "index": 5}], "category": "Standard", "default": 0, "group": "GPS", "longDesc": "This integer bitmask controls the set of GNSS systems used by the receiver. Check your receiver's documentation on how many systems are supported to be used in parallel. Currently this functionality is just implemented for u-blox receivers. When no bits are set, the receiver's default configuration should be used. Set bits true to enable: 0 : Use GPS (with QZSS) 1 : Use SBAS (multiple GPS augmentation systems) 2 : Use Galileo 3 : Use BeiDou 4 : Use GLONASS 5 : Use NAVIC", "max": 63, "min": 0, "name": "GPS_1_GNSS", "rebootRequired": true, "shortDesc": "GNSS Systems for Primary GPS (integer bitmask)", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "GPS", "longDesc": "Select the GPS protocol over serial. Auto-detection will probe all protocols, and thus is a bit slower.", "max": 7, "min": 0, "name": "GPS_1_PROTOCOL", "rebootRequired": true, "shortDesc": "Protocol for Main GPS", "type": "Int32", "values": [{"description": "Auto detect", "value": 0}, {"description": "u-blox", "value": 1}, {"description": "MTK", "value": 2}, {"description": "Ashtech / Trimble", "value": 3}, {"description": "Emlid Reach", "value": 4}, {"description": "Femtomes", "value": 5}, {"description": "NMEA (generic)", "value": 6}]}, {"bitmask": [{"description": "GPS (with QZSS)", "index": 0}, {"description": "SBAS", "index": 1}, {"description": "Galileo", "index": 2}, {"description": "BeiDou", "index": 3}, {"description": "GLONASS", "index": 4}, {"description": "NAVIC", "index": 5}], "category": "Standard", "default": 0, "group": "GPS", "longDesc": "This integer bitmask controls the set of GNSS systems used by the receiver. Check your receiver's documentation on how many systems are supported to be used in parallel. Currently this functionality is just implemented for u-blox receivers. When no bits are set, the receiver's default configuration should be used. Set bits true to enable: 0 : Use GPS (with QZSS) 1 : Use SBAS (multiple GPS augmentation systems) 2 : Use Galileo 3 : Use BeiDou 4 : Use GLONASS 5 : Use NAVIC", "max": 63, "min": 0, "name": "GPS_2_GNSS", "rebootRequired": true, "shortDesc": "GNSS Systems for Secondary GPS (integer bitmask)", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "GPS", "longDesc": "Select the GPS protocol over serial. Auto-detection will probe all protocols, and thus is a bit slower.", "max": 6, "min": 0, "name": "GPS_2_PROTOCOL", "rebootRequired": true, "shortDesc": "Protocol for Secondary GPS", "type": "Int32", "values": [{"description": "Auto detect", "value": 0}, {"description": "u-blox", "value": 1}, {"description": "MTK", "value": 2}, {"description": "Ashtech / Trimble", "value": 3}, {"description": "Emlid Reach", "value": 4}, {"description": "Femtomes", "value": 5}, {"description": "NMEA (generic)", "value": 6}]}, {"category": "Standard", "default": 0, "group": "GPS", "longDesc": "If this is set to 1, all GPS communication data will be published via uORB, and written to the log file as gps_dump message. If this is set to 2, the main GPS is configured to output RTCM data, which is then logged as gps_dump and can be used for PPK.", "max": 2, "min": 0, "name": "GPS_DUMP_COMM", "shortDesc": "Log GPS communication data", "type": "Int32", "values": [{"description": "Disable", "value": 0}, {"description": "Full communication", "value": 1}, {"description": "RTCM output (PPK)", "value": 2}]}, {"category": "Standard", "default": 0, "group": "GPS", "longDesc": "Enable publication of satellite info (ORB_ID(satellite_info)) if possible. Not available on MTK.", "name": "GPS_SAT_INFO", "rebootRequired": true, "shortDesc": "Enable sat info (if available)", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 230400, "group": "GPS", "longDesc": "Select a baudrate for the F9P's UART2 port. In GPS_UBX_MODE 1, 2, and 3, the F9P's UART2 port is configured to send/receive RTCM corrections. Set this to 57600 if you want to attach a telemetry radio on UART2.", "min": 0, "name": "GPS_UBX_BAUD2", "rebootRequired": true, "shortDesc": "u-blox F9P UART2 Baudrate", "type": "Int32", "units": "B/s"}, {"bitmask": [{"description": "Enable I2C input protocol UBX", "index": 0}, {"description": "Enable I2C input protocol NMEA", "index": 1}, {"description": "Enable I2C input protocol RTCM3X", "index": 2}, {"description": "Enable I2C output protocol UBX", "index": 3}, {"description": "Enable I2C output protocol NMEA", "index": 4}, {"description": "Enable I2C output protocol RTCM3X", "index": 5}], "category": "Standard", "default": 0, "group": "GPS", "max": 32, "min": 0, "name": "GPS_UBX_CFG_INTF", "rebootRequired": true, "shortDesc": "u-blox protocol configuration for interfaces", "type": "Int32"}, {"category": "Standard", "default": 7, "group": "GPS", "longDesc": "u-blox receivers support different dynamic platform models to adjust the navigation engine to the expected application environment.", "max": 9, "min": 0, "name": "GPS_UBX_DYNMODEL", "rebootRequired": true, "shortDesc": "u-blox GPS dynamic platform model", "type": "Int32", "values": [{"description": "stationary", "value": 2}, {"description": "automotive", "value": 4}, {"description": "airborne with <1g acceleration", "value": 6}, {"description": "airborne with <2g acceleration", "value": 7}, {"description": "airborne with <4g acceleration", "value": 8}]}, {"category": "Standard", "default": 0, "group": "GPS", "longDesc": "Select the u-blox configuration setup. Most setups will use the default, including RTK and dual GPS without heading. If rover has RTCM corrections from a static base (or other static correction source) coming in on UART2, then select Mode 5. The Heading mode requires 2 F9P devices to be attached. The main GPS will act as rover and output heading information, whereas the secondary will act as moving base. Modes 1 and 2 require each F9P UART1 to be connected to the Autopilot. In addition, UART2 on the F9P units are connected to each other. Modes 3 and 4 only require UART1 on each F9P connected to the Autopilot or Can Node. UART RX DMA is required. RTK is still possible with this setup.", "max": 1, "min": 0, "name": "GPS_UBX_MODE", "rebootRequired": true, "shortDesc": "u-blox GPS Mode", "type": "Int32", "values": [{"description": "Default", "value": 0}, {"description": "Heading (Rover With Moving Base UART1 Connected To Autopilot, UART2 Connected To Moving Base)", "value": 1}, {"description": "Moving Base (UART1 Connected To Autopilot, UART2 Connected To Rover)", "value": 2}, {"description": "Heading (Rover With Moving Base UART1 Connected to Autopilot Or Can Node At 921600)", "value": 3}, {"description": "Moving Base (Moving Base UART1 Connected to Autopilot Or Can Node At 921600)", "value": 4}, {"description": "Rover with Static Base on UART2 (similar to Default, except coming in on UART2)", "value": 5}]}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "GPS", "longDesc": "Heading offset angle for dual antenna GPS setups that support heading estimation. Set this to 0 if the antennas are parallel to the forward-facing direction of the vehicle and the rover (or Unicore primary) antenna is in front. The offset angle increases clockwise. Set this to 90 if the rover (or Unicore primary, or Septentrio Mosaic Aux) antenna is placed on the right side of the vehicle and the moving base antenna is on the left side. (Note: the Unicore primary antenna is the one connected on the right as seen from the top).", "max": 360.0, "min": 0.0, "name": "GPS_YAW_OFFSET", "rebootRequired": true, "shortDesc": "Heading/Yaw offset for dual antenna GPS", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 2, "group": "Geofence", "longDesc": "Note: Setting this value to 4 enables flight termination, which will kill the vehicle on violation of the fence.", "max": 5, "min": 0, "name": "GF_ACTION", "shortDesc": "Geofence violation action", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Warning", "value": 1}, {"description": "Hold mode", "value": 2}, {"description": "Return mode", "value": 3}, {"description": "Terminate", "value": 4}, {"description": "Land mode", "value": 5}]}, {"category": "Standard", "default": 0.0, "group": "Geofence", "increment": 1.0, "longDesc": "Maximum horizontal distance in meters the vehicle can be from Home before triggering a geofence action. Disabled if 0.", "max": 10000.0, "min": 0.0, "name": "GF_MAX_HOR_DIST", "shortDesc": "Max horizontal distance from Home", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0.0, "group": "Geofence", "increment": 1.0, "longDesc": "Maximum vertical distance in meters the vehicle can be from Home before triggering a geofence action. Disabled if 0.", "max": 10000.0, "min": 0.0, "name": "GF_MAX_VER_DIST", "shortDesc": "Max vertical distance from Home", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Geofence", "longDesc": "WARNING: This experimental feature may cause flyaways. Use at your own risk. Predict the motion of the vehicle and trigger the breach if it is determined that the current trajectory would result in a breach happening before the vehicle can make evasive maneuvers. The vehicle is then re-routed to a safe hold position (stop for multirotor, loiter for fixed wing).", "name": "GF_PREDICT", "shortDesc": "[EXPERIMENTAL] Use Pre-emptive geofence triggering", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Geofence", "longDesc": "Select which position source should be used. Selecting GPS instead of global position makes sure that there is no dependence on the position estimator 0 = global position, 1 = GPS", "max": 1, "min": 0, "name": "GF_SOURCE", "shortDesc": "Geofence source", "type": "Int32", "values": [{"description": "GPOS", "value": 0}, {"description": "GPS", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "Defines which mixer implementation to use. Some are generic, while others are specifically fit to a certain vehicle with a fixed set of actuators. 'Custom' should only be used if noting else can be used.", "name": "CA_AIRFRAME", "shortDesc": "Airframe selection", "type": "Int32", "values": [{"description": "Multirotor", "value": 0}, {"description": "Fixed-wing", "value": 1}, {"description": "Standard VTOL", "value": 2}, {"description": "Tiltrotor VTOL", "value": 3}, {"description": "Tailsitter VTOL", "value": 4}, {"description": "Rover (Ackermann)", "value": 5}, {"description": "Rover (Differential)", "value": 6}, {"description": "Motors (6DOF)", "value": 7}, {"description": "Multirotor with Tilt", "value": 8}, {"description": "Custom", "value": 9}, {"description": "Helicopter (tail ESC)", "value": 10}, {"description": "Helicopter (tail Servo)", "value": 11}, {"description": "Helicopter (Coaxial)", "value": 12}, {"description": "Rover (Mecanum)", "value": 13}]}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "This is used to specify how to handle motor failures reported by failure detector.", "name": "CA_FAILURE_MODE", "shortDesc": "Motor failure handling mode", "type": "Int32", "values": [{"description": "Ignore", "value": 0}, {"description": "Remove first failed motor from effectiveness", "value": 1}]}, {"category": "Standard", "decimalPlaces": 3, "default": -0.05, "group": "Geometry", "increment": 0.1, "longDesc": "Defines the collective pitch at the interval position 0 for a given thrust setpoint. Use negative values if the swash plate needs to move down to provide upwards thrust.", "max": 1.0, "min": -1.0, "name": "CA_HELI_PITCH_C0", "shortDesc": "Collective pitch curve at position 0", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0725, "group": "Geometry", "increment": 0.1, "longDesc": "Defines the collective pitch at the interval position 1 for a given thrust setpoint. Use negative values if the swash plate needs to move down to provide upwards thrust.", "max": 1.0, "min": -1.0, "name": "CA_HELI_PITCH_C1", "shortDesc": "Collective pitch curve at position 1", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.2, "group": "Geometry", "increment": 0.1, "longDesc": "Defines the collective pitch at the interval position 2 for a given thrust setpoint. Use negative values if the swash plate needs to move down to provide upwards thrust.", "max": 1.0, "min": -1.0, "name": "CA_HELI_PITCH_C2", "shortDesc": "Collective pitch curve at position 2", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.325, "group": "Geometry", "increment": 0.1, "longDesc": "Defines the collective pitch at the interval position 3 for a given thrust setpoint. Use negative values if the swash plate needs to move down to provide upwards thrust.", "max": 1.0, "min": -1.0, "name": "CA_HELI_PITCH_C3", "shortDesc": "Collective pitch curve at position 3", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.45, "group": "Geometry", "increment": 0.1, "longDesc": "Defines the collective pitch at the interval position 4 for a given thrust setpoint. Use negative values if the swash plate needs to move down to provide upwards thrust.", "max": 1.0, "min": -1.0, "name": "CA_HELI_PITCH_C4", "shortDesc": "Collective pitch curve at position 4", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Defines the output throttle at the interval position 0.", "max": 1.0, "min": 0.0, "name": "CA_HELI_THR_C0", "shortDesc": "Throttle curve at position 0", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Defines the output throttle at the interval position 1.", "max": 1.0, "min": 0.0, "name": "CA_HELI_THR_C1", "shortDesc": "Throttle curve at position 1", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Defines the output throttle at the interval position 2.", "max": 1.0, "min": 0.0, "name": "CA_HELI_THR_C2", "shortDesc": "Throttle curve at position 2", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Defines the output throttle at the interval position 3.", "max": 1.0, "min": 0.0, "name": "CA_HELI_THR_C3", "shortDesc": "Throttle curve at position 3", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Defines the output throttle at the interval position 4.", "max": 1.0, "min": 0.0, "name": "CA_HELI_THR_C4", "shortDesc": "Throttle curve at position 4", "type": "Float"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "Default configuration is for a clockwise turning main rotor and positive thrust of the tail rotor is expected to rotate the vehicle clockwise. Set this parameter to true if the tail rotor provides thrust in counter-clockwise direction which is mostly the case when the main rotor turns counter-clockwise.", "name": "CA_HELI_YAW_CCW", "shortDesc": "Main rotor turns counter-clockwise", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "This allows to specify which collective pitch command results in the least amount of rotor drag. This is used to increase the accuracy of the yaw drag torque compensation based on collective pitch by aligning the lowest rotor drag with zero compensation. For symmetric profile blades this is the command that results in exactly 0\u00b0 collective blade angle. For lift profile blades this is typically a command resulting in slightly negative collective blade angle. tail_output += CA_HELI_YAW_CP_S * abs(collective_pitch - CA_HELI_YAW_CP_O)", "max": 2.0, "min": -2.0, "name": "CA_HELI_YAW_CP_O", "shortDesc": "Offset for yaw compensation based on collective pitch", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "This allows to add a proportional factor of the collective pitch command to the yaw command. A negative value is needed when positive thrust of the tail rotor rotates the vehicle opposite to the main rotor turn direction. tail_output += CA_HELI_YAW_CP_S * abs(collective_pitch - CA_HELI_YAW_CP_O)", "max": 2.0, "min": -2.0, "name": "CA_HELI_YAW_CP_S", "shortDesc": "Scale for yaw compensation based on collective pitch", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "This allows to add a proportional factor of the throttle command to the yaw command. A negative value is needed when positive thrust of the tail rotor rotates the vehicle opposite to the main rotor turn direction. tail_output += CA_HELI_YAW_TH_S * throttle", "max": 2.0, "min": -2.0, "name": "CA_HELI_YAW_TH_S", "shortDesc": "Scale for yaw compensation based on throttle", "type": "Float"}, {"category": "Standard", "default": 2, "group": "Geometry", "longDesc": "Selects the algorithm and desaturation method. If set to Automtic, the selection is based on the airframe (CA_AIRFRAME).", "name": "CA_METHOD", "shortDesc": "Control allocation method", "type": "Int32", "values": [{"description": "Pseudo-inverse with output clipping", "value": 0}, {"description": "Pseudo-inverse with sequential desaturation technique", "value": 1}, {"description": "Automatic", "value": 2}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.01, "longDesc": "Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.", "max": 10.0, "min": 0.0, "name": "CA_R0_SLEW", "shortDesc": "Motor 0 slew rate limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.01, "longDesc": "Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.", "max": 10.0, "min": 0.0, "name": "CA_R10_SLEW", "shortDesc": "Motor 10 slew rate limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.01, "longDesc": "Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.", "max": 10.0, "min": 0.0, "name": "CA_R11_SLEW", "shortDesc": "Motor 11 slew rate limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.01, "longDesc": "Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.", "max": 10.0, "min": 0.0, "name": "CA_R1_SLEW", "shortDesc": "Motor 1 slew rate limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.01, "longDesc": "Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.", "max": 10.0, "min": 0.0, "name": "CA_R2_SLEW", "shortDesc": "Motor 2 slew rate limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.01, "longDesc": "Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.", "max": 10.0, "min": 0.0, "name": "CA_R3_SLEW", "shortDesc": "Motor 3 slew rate limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.01, "longDesc": "Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.", "max": 10.0, "min": 0.0, "name": "CA_R4_SLEW", "shortDesc": "Motor 4 slew rate limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.01, "longDesc": "Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.", "max": 10.0, "min": 0.0, "name": "CA_R5_SLEW", "shortDesc": "Motor 5 slew rate limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.01, "longDesc": "Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.", "max": 10.0, "min": 0.0, "name": "CA_R6_SLEW", "shortDesc": "Motor 6 slew rate limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.01, "longDesc": "Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.", "max": 10.0, "min": 0.0, "name": "CA_R7_SLEW", "shortDesc": "Motor 7 slew rate limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.01, "longDesc": "Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.", "max": 10.0, "min": 0.0, "name": "CA_R8_SLEW", "shortDesc": "Motor 8 slew rate limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.01, "longDesc": "Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.", "max": 10.0, "min": 0.0, "name": "CA_R9_SLEW", "shortDesc": "Motor 9 slew rate limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR0_AX", "shortDesc": "Axis of rotor 0 thrust vector, X body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR0_AY", "shortDesc": "Axis of rotor 0 thrust vector, Y body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR0_AZ", "shortDesc": "Axis of rotor 0 thrust vector, Z body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 6.5, "group": "Geometry", "increment": 1.0, "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.", "max": 100.0, "min": 0.0, "name": "CA_ROTOR0_CT", "shortDesc": "Thrust coefficient of rotor 0", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "Geometry", "increment": 0.01, "longDesc": "The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.", "max": 1.0, "min": -1.0, "name": "CA_ROTOR0_KM", "shortDesc": "Moment coefficient of rotor 0", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR0_PX", "shortDesc": "Position of rotor 0 along X body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR0_PY", "shortDesc": "Position of rotor 0 along Y body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR0_PZ", "shortDesc": "Position of rotor 0 along Z body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.", "name": "CA_ROTOR0_TILT", "shortDesc": "Rotor 0 tilt assignment", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Tilt 1", "value": 1}, {"description": "Tilt 2", "value": 2}, {"description": "Tilt 3", "value": 3}, {"description": "Tilt 4", "value": 4}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR10_AX", "shortDesc": "Axis of rotor 10 thrust vector, X body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR10_AY", "shortDesc": "Axis of rotor 10 thrust vector, Y body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR10_AZ", "shortDesc": "Axis of rotor 10 thrust vector, Z body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 6.5, "group": "Geometry", "increment": 1.0, "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.", "max": 100.0, "min": 0.0, "name": "CA_ROTOR10_CT", "shortDesc": "Thrust coefficient of rotor 10", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "Geometry", "increment": 0.01, "longDesc": "The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.", "max": 1.0, "min": -1.0, "name": "CA_ROTOR10_KM", "shortDesc": "Moment coefficient of rotor 10", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR10_PX", "shortDesc": "Position of rotor 10 along X body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR10_PY", "shortDesc": "Position of rotor 10 along Y body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR10_PZ", "shortDesc": "Position of rotor 10 along Z body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.", "name": "CA_ROTOR10_TILT", "shortDesc": "Rotor 10 tilt assignment", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Tilt 1", "value": 1}, {"description": "Tilt 2", "value": 2}, {"description": "Tilt 3", "value": 3}, {"description": "Tilt 4", "value": 4}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR11_AX", "shortDesc": "Axis of rotor 11 thrust vector, X body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR11_AY", "shortDesc": "Axis of rotor 11 thrust vector, Y body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR11_AZ", "shortDesc": "Axis of rotor 11 thrust vector, Z body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 6.5, "group": "Geometry", "increment": 1.0, "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.", "max": 100.0, "min": 0.0, "name": "CA_ROTOR11_CT", "shortDesc": "Thrust coefficient of rotor 11", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "Geometry", "increment": 0.01, "longDesc": "The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.", "max": 1.0, "min": -1.0, "name": "CA_ROTOR11_KM", "shortDesc": "Moment coefficient of rotor 11", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR11_PX", "shortDesc": "Position of rotor 11 along X body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR11_PY", "shortDesc": "Position of rotor 11 along Y body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR11_PZ", "shortDesc": "Position of rotor 11 along Z body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.", "name": "CA_ROTOR11_TILT", "shortDesc": "Rotor 11 tilt assignment", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Tilt 1", "value": 1}, {"description": "Tilt 2", "value": 2}, {"description": "Tilt 3", "value": 3}, {"description": "Tilt 4", "value": 4}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR1_AX", "shortDesc": "Axis of rotor 1 thrust vector, X body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR1_AY", "shortDesc": "Axis of rotor 1 thrust vector, Y body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR1_AZ", "shortDesc": "Axis of rotor 1 thrust vector, Z body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 6.5, "group": "Geometry", "increment": 1.0, "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.", "max": 100.0, "min": 0.0, "name": "CA_ROTOR1_CT", "shortDesc": "Thrust coefficient of rotor 1", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "Geometry", "increment": 0.01, "longDesc": "The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.", "max": 1.0, "min": -1.0, "name": "CA_ROTOR1_KM", "shortDesc": "Moment coefficient of rotor 1", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR1_PX", "shortDesc": "Position of rotor 1 along X body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR1_PY", "shortDesc": "Position of rotor 1 along Y body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR1_PZ", "shortDesc": "Position of rotor 1 along Z body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.", "name": "CA_ROTOR1_TILT", "shortDesc": "Rotor 1 tilt assignment", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Tilt 1", "value": 1}, {"description": "Tilt 2", "value": 2}, {"description": "Tilt 3", "value": 3}, {"description": "Tilt 4", "value": 4}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR2_AX", "shortDesc": "Axis of rotor 2 thrust vector, X body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR2_AY", "shortDesc": "Axis of rotor 2 thrust vector, Y body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR2_AZ", "shortDesc": "Axis of rotor 2 thrust vector, Z body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 6.5, "group": "Geometry", "increment": 1.0, "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.", "max": 100.0, "min": 0.0, "name": "CA_ROTOR2_CT", "shortDesc": "Thrust coefficient of rotor 2", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "Geometry", "increment": 0.01, "longDesc": "The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.", "max": 1.0, "min": -1.0, "name": "CA_ROTOR2_KM", "shortDesc": "Moment coefficient of rotor 2", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR2_PX", "shortDesc": "Position of rotor 2 along X body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR2_PY", "shortDesc": "Position of rotor 2 along Y body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR2_PZ", "shortDesc": "Position of rotor 2 along Z body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.", "name": "CA_ROTOR2_TILT", "shortDesc": "Rotor 2 tilt assignment", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Tilt 1", "value": 1}, {"description": "Tilt 2", "value": 2}, {"description": "Tilt 3", "value": 3}, {"description": "Tilt 4", "value": 4}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR3_AX", "shortDesc": "Axis of rotor 3 thrust vector, X body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR3_AY", "shortDesc": "Axis of rotor 3 thrust vector, Y body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR3_AZ", "shortDesc": "Axis of rotor 3 thrust vector, Z body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 6.5, "group": "Geometry", "increment": 1.0, "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.", "max": 100.0, "min": 0.0, "name": "CA_ROTOR3_CT", "shortDesc": "Thrust coefficient of rotor 3", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "Geometry", "increment": 0.01, "longDesc": "The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.", "max": 1.0, "min": -1.0, "name": "CA_ROTOR3_KM", "shortDesc": "Moment coefficient of rotor 3", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR3_PX", "shortDesc": "Position of rotor 3 along X body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR3_PY", "shortDesc": "Position of rotor 3 along Y body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR3_PZ", "shortDesc": "Position of rotor 3 along Z body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.", "name": "CA_ROTOR3_TILT", "shortDesc": "Rotor 3 tilt assignment", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Tilt 1", "value": 1}, {"description": "Tilt 2", "value": 2}, {"description": "Tilt 3", "value": 3}, {"description": "Tilt 4", "value": 4}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR4_AX", "shortDesc": "Axis of rotor 4 thrust vector, X body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR4_AY", "shortDesc": "Axis of rotor 4 thrust vector, Y body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR4_AZ", "shortDesc": "Axis of rotor 4 thrust vector, Z body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 6.5, "group": "Geometry", "increment": 1.0, "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.", "max": 100.0, "min": 0.0, "name": "CA_ROTOR4_CT", "shortDesc": "Thrust coefficient of rotor 4", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "Geometry", "increment": 0.01, "longDesc": "The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.", "max": 1.0, "min": -1.0, "name": "CA_ROTOR4_KM", "shortDesc": "Moment coefficient of rotor 4", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR4_PX", "shortDesc": "Position of rotor 4 along X body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR4_PY", "shortDesc": "Position of rotor 4 along Y body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR4_PZ", "shortDesc": "Position of rotor 4 along Z body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.", "name": "CA_ROTOR4_TILT", "shortDesc": "Rotor 4 tilt assignment", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Tilt 1", "value": 1}, {"description": "Tilt 2", "value": 2}, {"description": "Tilt 3", "value": 3}, {"description": "Tilt 4", "value": 4}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR5_AX", "shortDesc": "Axis of rotor 5 thrust vector, X body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR5_AY", "shortDesc": "Axis of rotor 5 thrust vector, Y body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR5_AZ", "shortDesc": "Axis of rotor 5 thrust vector, Z body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 6.5, "group": "Geometry", "increment": 1.0, "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.", "max": 100.0, "min": 0.0, "name": "CA_ROTOR5_CT", "shortDesc": "Thrust coefficient of rotor 5", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "Geometry", "increment": 0.01, "longDesc": "The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.", "max": 1.0, "min": -1.0, "name": "CA_ROTOR5_KM", "shortDesc": "Moment coefficient of rotor 5", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR5_PX", "shortDesc": "Position of rotor 5 along X body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR5_PY", "shortDesc": "Position of rotor 5 along Y body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR5_PZ", "shortDesc": "Position of rotor 5 along Z body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.", "name": "CA_ROTOR5_TILT", "shortDesc": "Rotor 5 tilt assignment", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Tilt 1", "value": 1}, {"description": "Tilt 2", "value": 2}, {"description": "Tilt 3", "value": 3}, {"description": "Tilt 4", "value": 4}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR6_AX", "shortDesc": "Axis of rotor 6 thrust vector, X body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR6_AY", "shortDesc": "Axis of rotor 6 thrust vector, Y body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR6_AZ", "shortDesc": "Axis of rotor 6 thrust vector, Z body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 6.5, "group": "Geometry", "increment": 1.0, "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.", "max": 100.0, "min": 0.0, "name": "CA_ROTOR6_CT", "shortDesc": "Thrust coefficient of rotor 6", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "Geometry", "increment": 0.01, "longDesc": "The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.", "max": 1.0, "min": -1.0, "name": "CA_ROTOR6_KM", "shortDesc": "Moment coefficient of rotor 6", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR6_PX", "shortDesc": "Position of rotor 6 along X body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR6_PY", "shortDesc": "Position of rotor 6 along Y body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR6_PZ", "shortDesc": "Position of rotor 6 along Z body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.", "name": "CA_ROTOR6_TILT", "shortDesc": "Rotor 6 tilt assignment", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Tilt 1", "value": 1}, {"description": "Tilt 2", "value": 2}, {"description": "Tilt 3", "value": 3}, {"description": "Tilt 4", "value": 4}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR7_AX", "shortDesc": "Axis of rotor 7 thrust vector, X body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR7_AY", "shortDesc": "Axis of rotor 7 thrust vector, Y body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR7_AZ", "shortDesc": "Axis of rotor 7 thrust vector, Z body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 6.5, "group": "Geometry", "increment": 1.0, "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.", "max": 100.0, "min": 0.0, "name": "CA_ROTOR7_CT", "shortDesc": "Thrust coefficient of rotor 7", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "Geometry", "increment": 0.01, "longDesc": "The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.", "max": 1.0, "min": -1.0, "name": "CA_ROTOR7_KM", "shortDesc": "Moment coefficient of rotor 7", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR7_PX", "shortDesc": "Position of rotor 7 along X body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR7_PY", "shortDesc": "Position of rotor 7 along Y body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR7_PZ", "shortDesc": "Position of rotor 7 along Z body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.", "name": "CA_ROTOR7_TILT", "shortDesc": "Rotor 7 tilt assignment", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Tilt 1", "value": 1}, {"description": "Tilt 2", "value": 2}, {"description": "Tilt 3", "value": 3}, {"description": "Tilt 4", "value": 4}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR8_AX", "shortDesc": "Axis of rotor 8 thrust vector, X body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR8_AY", "shortDesc": "Axis of rotor 8 thrust vector, Y body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR8_AZ", "shortDesc": "Axis of rotor 8 thrust vector, Z body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 6.5, "group": "Geometry", "increment": 1.0, "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.", "max": 100.0, "min": 0.0, "name": "CA_ROTOR8_CT", "shortDesc": "Thrust coefficient of rotor 8", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "Geometry", "increment": 0.01, "longDesc": "The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.", "max": 1.0, "min": -1.0, "name": "CA_ROTOR8_KM", "shortDesc": "Moment coefficient of rotor 8", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR8_PX", "shortDesc": "Position of rotor 8 along X body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR8_PY", "shortDesc": "Position of rotor 8 along Y body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR8_PZ", "shortDesc": "Position of rotor 8 along Z body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.", "name": "CA_ROTOR8_TILT", "shortDesc": "Rotor 8 tilt assignment", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Tilt 1", "value": 1}, {"description": "Tilt 2", "value": 2}, {"description": "Tilt 3", "value": 3}, {"description": "Tilt 4", "value": 4}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR9_AX", "shortDesc": "Axis of rotor 9 thrust vector, X body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR9_AY", "shortDesc": "Axis of rotor 9 thrust vector, Y body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR9_AZ", "shortDesc": "Axis of rotor 9 thrust vector, Z body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 6.5, "group": "Geometry", "increment": 1.0, "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.", "max": 100.0, "min": 0.0, "name": "CA_ROTOR9_CT", "shortDesc": "Thrust coefficient of rotor 9", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "Geometry", "increment": 0.01, "longDesc": "The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.", "max": 1.0, "min": -1.0, "name": "CA_ROTOR9_KM", "shortDesc": "Moment coefficient of rotor 9", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR9_PX", "shortDesc": "Position of rotor 9 along X body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR9_PY", "shortDesc": "Position of rotor 9 along Y body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR9_PZ", "shortDesc": "Position of rotor 9 along Z body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.", "name": "CA_ROTOR9_TILT", "shortDesc": "Rotor 9 tilt assignment", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Tilt 1", "value": 1}, {"description": "Tilt 2", "value": 2}, {"description": "Tilt 3", "value": 3}, {"description": "Tilt 4", "value": 4}]}, {"category": "Standard", "default": 0, "group": "Geometry", "name": "CA_ROTOR_COUNT", "shortDesc": "Total number of rotors", "type": "Int32", "values": [{"description": "0", "value": 0}, {"description": "1", "value": 1}, {"description": "2", "value": 2}, {"description": "3", "value": 3}, {"description": "4", "value": 4}, {"description": "5", "value": 5}, {"description": "6", "value": 6}, {"description": "7", "value": 7}, {"description": "8", "value": 8}, {"description": "9", "value": 9}, {"description": "10", "value": 10}, {"description": "11", "value": 11}, {"description": "12", "value": 12}]}, {"bitmask": [{"description": "Motor 1", "index": 0}, {"description": "Motor 2", "index": 1}, {"description": "Motor 3", "index": 2}, {"description": "Motor 4", "index": 3}, {"description": "Motor 5", "index": 4}, {"description": "Motor 6", "index": 5}, {"description": "Motor 7", "index": 6}, {"description": "Motor 8", "index": 7}, {"description": "Motor 9", "index": 8}, {"description": "Motor 10", "index": 9}, {"description": "Motor 11", "index": 10}, {"description": "Motor 12", "index": 11}], "category": "Standard", "default": 0, "group": "Geometry", "longDesc": "Configure motors to be bidirectional/reversible. Note that the output driver needs to support this as well.", "max": 4095, "min": 0, "name": "CA_R_REV", "shortDesc": "Bidirectional/Reversible motors", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 0, "default": 0.0, "group": "Geometry", "increment": 10.0, "longDesc": "The angle is measured clockwise (as seen from top), with 0 pointing forwards (X axis).", "max": 360.0, "min": 0.0, "name": "CA_SP0_ANG0", "shortDesc": "Angle for swash plate servo 0", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 0, "default": 140.0, "group": "Geometry", "increment": 10.0, "longDesc": "The angle is measured clockwise (as seen from top), with 0 pointing forwards (X axis).", "max": 360.0, "min": 0.0, "name": "CA_SP0_ANG1", "shortDesc": "Angle for swash plate servo 1", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 0, "default": 220.0, "group": "Geometry", "increment": 10.0, "longDesc": "The angle is measured clockwise (as seen from top), with 0 pointing forwards (X axis).", "max": 360.0, "min": 0.0, "name": "CA_SP0_ANG2", "shortDesc": "Angle for swash plate servo 2", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 0, "default": 0.0, "group": "Geometry", "increment": 10.0, "longDesc": "The angle is measured clockwise (as seen from top), with 0 pointing forwards (X axis).", "max": 360.0, "min": 0.0, "name": "CA_SP0_ANG3", "shortDesc": "Angle for swash plate servo 3", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Geometry", "increment": 0.1, "longDesc": "This is relative to the other arm lengths.", "max": 10.0, "min": 0.0, "name": "CA_SP0_ARM_L0", "shortDesc": "Arm length for swash plate servo 0", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Geometry", "increment": 0.1, "longDesc": "This is relative to the other arm lengths.", "max": 10.0, "min": 0.0, "name": "CA_SP0_ARM_L1", "shortDesc": "Arm length for swash plate servo 1", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Geometry", "increment": 0.1, "longDesc": "This is relative to the other arm lengths.", "max": 10.0, "min": 0.0, "name": "CA_SP0_ARM_L2", "shortDesc": "Arm length for swash plate servo 2", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Geometry", "increment": 0.1, "longDesc": "This is relative to the other arm lengths.", "max": 10.0, "min": 0.0, "name": "CA_SP0_ARM_L3", "shortDesc": "Arm length for swash plate servo 3", "type": "Float"}, {"category": "Standard", "default": 3, "group": "Geometry", "name": "CA_SP0_COUNT", "shortDesc": "Number of swash plates servos", "type": "Int32", "values": [{"description": "2", "value": 2}, {"description": "3", "value": 3}, {"description": "4", "value": 4}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.05, "longDesc": "Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.", "max": 10.0, "min": 0.0, "name": "CA_SV0_SLEW", "shortDesc": "Servo 0 slew rate limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.05, "longDesc": "Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.", "max": 10.0, "min": 0.0, "name": "CA_SV1_SLEW", "shortDesc": "Servo 1 slew rate limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.05, "longDesc": "Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.", "max": 10.0, "min": 0.0, "name": "CA_SV2_SLEW", "shortDesc": "Servo 2 slew rate limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.05, "longDesc": "Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.", "max": 10.0, "min": 0.0, "name": "CA_SV3_SLEW", "shortDesc": "Servo 3 slew rate limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.05, "longDesc": "Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.", "max": 10.0, "min": 0.0, "name": "CA_SV4_SLEW", "shortDesc": "Servo 4 slew rate limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.05, "longDesc": "Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.", "max": 10.0, "min": 0.0, "name": "CA_SV5_SLEW", "shortDesc": "Servo 5 slew rate limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.05, "longDesc": "Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.", "max": 10.0, "min": 0.0, "name": "CA_SV6_SLEW", "shortDesc": "Servo 6 slew rate limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.05, "longDesc": "Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.", "max": 10.0, "min": 0.0, "name": "CA_SV7_SLEW", "shortDesc": "Servo 7 slew rate limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS0_FLAP", "shortDesc": "Control Surface 0 configuration as flap", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS0_SPOIL", "shortDesc": "Control Surface 0 configuration as spoiler", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "longDesc": "Can be used to add an offset to the servo control.", "max": 1.0, "min": -1.0, "name": "CA_SV_CS0_TRIM", "shortDesc": "Control Surface 0 trim", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS0_TRQ_P", "shortDesc": "Control Surface 0 pitch torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS0_TRQ_R", "shortDesc": "Control Surface 0 roll torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS0_TRQ_Y", "shortDesc": "Control Surface 0 yaw torque scaling", "type": "Float"}, {"category": "Standard", "default": 0, "group": "Geometry", "name": "CA_SV_CS0_TYPE", "shortDesc": "Control Surface 0 type", "type": "Int32", "values": [{"description": "(Not set)", "value": 0}, {"description": "Left Aileron", "value": 1}, {"description": "Right Aileron", "value": 2}, {"description": "Elevator", "value": 3}, {"description": "Rudder", "value": 4}, {"description": "Left Elevon", "value": 5}, {"description": "Right Elevon", "value": 6}, {"description": "Left V-Tail", "value": 7}, {"description": "Right V-Tail", "value": 8}, {"description": "Left Flap", "value": 9}, {"description": "Right Flap", "value": 10}, {"description": "Airbrake", "value": 11}, {"description": "Custom", "value": 12}, {"description": "Left A-tail", "value": 13}, {"description": "Right A-tail", "value": 14}, {"description": "Single Channel Aileron", "value": 15}, {"description": "Steering Wheel", "value": 16}, {"description": "Left Spoiler", "value": 17}, {"description": "Right Spoiler", "value": 18}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS1_FLAP", "shortDesc": "Control Surface 1 configuration as flap", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS1_SPOIL", "shortDesc": "Control Surface 1 configuration as spoiler", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "longDesc": "Can be used to add an offset to the servo control.", "max": 1.0, "min": -1.0, "name": "CA_SV_CS1_TRIM", "shortDesc": "Control Surface 1 trim", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS1_TRQ_P", "shortDesc": "Control Surface 1 pitch torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS1_TRQ_R", "shortDesc": "Control Surface 1 roll torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS1_TRQ_Y", "shortDesc": "Control Surface 1 yaw torque scaling", "type": "Float"}, {"category": "Standard", "default": 0, "group": "Geometry", "name": "CA_SV_CS1_TYPE", "shortDesc": "Control Surface 1 type", "type": "Int32", "values": [{"description": "(Not set)", "value": 0}, {"description": "Left Aileron", "value": 1}, {"description": "Right Aileron", "value": 2}, {"description": "Elevator", "value": 3}, {"description": "Rudder", "value": 4}, {"description": "Left Elevon", "value": 5}, {"description": "Right Elevon", "value": 6}, {"description": "Left V-Tail", "value": 7}, {"description": "Right V-Tail", "value": 8}, {"description": "Left Flap", "value": 9}, {"description": "Right Flap", "value": 10}, {"description": "Airbrake", "value": 11}, {"description": "Custom", "value": 12}, {"description": "Left A-tail", "value": 13}, {"description": "Right A-tail", "value": 14}, {"description": "Single Channel Aileron", "value": 15}, {"description": "Steering Wheel", "value": 16}, {"description": "Left Spoiler", "value": 17}, {"description": "Right Spoiler", "value": 18}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS2_FLAP", "shortDesc": "Control Surface 2 configuration as flap", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS2_SPOIL", "shortDesc": "Control Surface 2 configuration as spoiler", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "longDesc": "Can be used to add an offset to the servo control.", "max": 1.0, "min": -1.0, "name": "CA_SV_CS2_TRIM", "shortDesc": "Control Surface 2 trim", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS2_TRQ_P", "shortDesc": "Control Surface 2 pitch torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS2_TRQ_R", "shortDesc": "Control Surface 2 roll torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS2_TRQ_Y", "shortDesc": "Control Surface 2 yaw torque scaling", "type": "Float"}, {"category": "Standard", "default": 0, "group": "Geometry", "name": "CA_SV_CS2_TYPE", "shortDesc": "Control Surface 2 type", "type": "Int32", "values": [{"description": "(Not set)", "value": 0}, {"description": "Left Aileron", "value": 1}, {"description": "Right Aileron", "value": 2}, {"description": "Elevator", "value": 3}, {"description": "Rudder", "value": 4}, {"description": "Left Elevon", "value": 5}, {"description": "Right Elevon", "value": 6}, {"description": "Left V-Tail", "value": 7}, {"description": "Right V-Tail", "value": 8}, {"description": "Left Flap", "value": 9}, {"description": "Right Flap", "value": 10}, {"description": "Airbrake", "value": 11}, {"description": "Custom", "value": 12}, {"description": "Left A-tail", "value": 13}, {"description": "Right A-tail", "value": 14}, {"description": "Single Channel Aileron", "value": 15}, {"description": "Steering Wheel", "value": 16}, {"description": "Left Spoiler", "value": 17}, {"description": "Right Spoiler", "value": 18}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS3_FLAP", "shortDesc": "Control Surface 3 configuration as flap", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS3_SPOIL", "shortDesc": "Control Surface 3 configuration as spoiler", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "longDesc": "Can be used to add an offset to the servo control.", "max": 1.0, "min": -1.0, "name": "CA_SV_CS3_TRIM", "shortDesc": "Control Surface 3 trim", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS3_TRQ_P", "shortDesc": "Control Surface 3 pitch torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS3_TRQ_R", "shortDesc": "Control Surface 3 roll torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS3_TRQ_Y", "shortDesc": "Control Surface 3 yaw torque scaling", "type": "Float"}, {"category": "Standard", "default": 0, "group": "Geometry", "name": "CA_SV_CS3_TYPE", "shortDesc": "Control Surface 3 type", "type": "Int32", "values": [{"description": "(Not set)", "value": 0}, {"description": "Left Aileron", "value": 1}, {"description": "Right Aileron", "value": 2}, {"description": "Elevator", "value": 3}, {"description": "Rudder", "value": 4}, {"description": "Left Elevon", "value": 5}, {"description": "Right Elevon", "value": 6}, {"description": "Left V-Tail", "value": 7}, {"description": "Right V-Tail", "value": 8}, {"description": "Left Flap", "value": 9}, {"description": "Right Flap", "value": 10}, {"description": "Airbrake", "value": 11}, {"description": "Custom", "value": 12}, {"description": "Left A-tail", "value": 13}, {"description": "Right A-tail", "value": 14}, {"description": "Single Channel Aileron", "value": 15}, {"description": "Steering Wheel", "value": 16}, {"description": "Left Spoiler", "value": 17}, {"description": "Right Spoiler", "value": 18}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS4_FLAP", "shortDesc": "Control Surface 4 configuration as flap", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS4_SPOIL", "shortDesc": "Control Surface 4 configuration as spoiler", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "longDesc": "Can be used to add an offset to the servo control.", "max": 1.0, "min": -1.0, "name": "CA_SV_CS4_TRIM", "shortDesc": "Control Surface 4 trim", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS4_TRQ_P", "shortDesc": "Control Surface 4 pitch torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS4_TRQ_R", "shortDesc": "Control Surface 4 roll torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS4_TRQ_Y", "shortDesc": "Control Surface 4 yaw torque scaling", "type": "Float"}, {"category": "Standard", "default": 0, "group": "Geometry", "name": "CA_SV_CS4_TYPE", "shortDesc": "Control Surface 4 type", "type": "Int32", "values": [{"description": "(Not set)", "value": 0}, {"description": "Left Aileron", "value": 1}, {"description": "Right Aileron", "value": 2}, {"description": "Elevator", "value": 3}, {"description": "Rudder", "value": 4}, {"description": "Left Elevon", "value": 5}, {"description": "Right Elevon", "value": 6}, {"description": "Left V-Tail", "value": 7}, {"description": "Right V-Tail", "value": 8}, {"description": "Left Flap", "value": 9}, {"description": "Right Flap", "value": 10}, {"description": "Airbrake", "value": 11}, {"description": "Custom", "value": 12}, {"description": "Left A-tail", "value": 13}, {"description": "Right A-tail", "value": 14}, {"description": "Single Channel Aileron", "value": 15}, {"description": "Steering Wheel", "value": 16}, {"description": "Left Spoiler", "value": 17}, {"description": "Right Spoiler", "value": 18}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS5_FLAP", "shortDesc": "Control Surface 5 configuration as flap", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS5_SPOIL", "shortDesc": "Control Surface 5 configuration as spoiler", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "longDesc": "Can be used to add an offset to the servo control.", "max": 1.0, "min": -1.0, "name": "CA_SV_CS5_TRIM", "shortDesc": "Control Surface 5 trim", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS5_TRQ_P", "shortDesc": "Control Surface 5 pitch torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS5_TRQ_R", "shortDesc": "Control Surface 5 roll torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS5_TRQ_Y", "shortDesc": "Control Surface 5 yaw torque scaling", "type": "Float"}, {"category": "Standard", "default": 0, "group": "Geometry", "name": "CA_SV_CS5_TYPE", "shortDesc": "Control Surface 5 type", "type": "Int32", "values": [{"description": "(Not set)", "value": 0}, {"description": "Left Aileron", "value": 1}, {"description": "Right Aileron", "value": 2}, {"description": "Elevator", "value": 3}, {"description": "Rudder", "value": 4}, {"description": "Left Elevon", "value": 5}, {"description": "Right Elevon", "value": 6}, {"description": "Left V-Tail", "value": 7}, {"description": "Right V-Tail", "value": 8}, {"description": "Left Flap", "value": 9}, {"description": "Right Flap", "value": 10}, {"description": "Airbrake", "value": 11}, {"description": "Custom", "value": 12}, {"description": "Left A-tail", "value": 13}, {"description": "Right A-tail", "value": 14}, {"description": "Single Channel Aileron", "value": 15}, {"description": "Steering Wheel", "value": 16}, {"description": "Left Spoiler", "value": 17}, {"description": "Right Spoiler", "value": 18}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS6_FLAP", "shortDesc": "Control Surface 6 configuration as flap", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS6_SPOIL", "shortDesc": "Control Surface 6 configuration as spoiler", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "longDesc": "Can be used to add an offset to the servo control.", "max": 1.0, "min": -1.0, "name": "CA_SV_CS6_TRIM", "shortDesc": "Control Surface 6 trim", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS6_TRQ_P", "shortDesc": "Control Surface 6 pitch torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS6_TRQ_R", "shortDesc": "Control Surface 6 roll torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS6_TRQ_Y", "shortDesc": "Control Surface 6 yaw torque scaling", "type": "Float"}, {"category": "Standard", "default": 0, "group": "Geometry", "name": "CA_SV_CS6_TYPE", "shortDesc": "Control Surface 6 type", "type": "Int32", "values": [{"description": "(Not set)", "value": 0}, {"description": "Left Aileron", "value": 1}, {"description": "Right Aileron", "value": 2}, {"description": "Elevator", "value": 3}, {"description": "Rudder", "value": 4}, {"description": "Left Elevon", "value": 5}, {"description": "Right Elevon", "value": 6}, {"description": "Left V-Tail", "value": 7}, {"description": "Right V-Tail", "value": 8}, {"description": "Left Flap", "value": 9}, {"description": "Right Flap", "value": 10}, {"description": "Airbrake", "value": 11}, {"description": "Custom", "value": 12}, {"description": "Left A-tail", "value": 13}, {"description": "Right A-tail", "value": 14}, {"description": "Single Channel Aileron", "value": 15}, {"description": "Steering Wheel", "value": 16}, {"description": "Left Spoiler", "value": 17}, {"description": "Right Spoiler", "value": 18}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS7_FLAP", "shortDesc": "Control Surface 7 configuration as flap", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS7_SPOIL", "shortDesc": "Control Surface 7 configuration as spoiler", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "longDesc": "Can be used to add an offset to the servo control.", "max": 1.0, "min": -1.0, "name": "CA_SV_CS7_TRIM", "shortDesc": "Control Surface 7 trim", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS7_TRQ_P", "shortDesc": "Control Surface 7 pitch torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS7_TRQ_R", "shortDesc": "Control Surface 7 roll torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS7_TRQ_Y", "shortDesc": "Control Surface 7 yaw torque scaling", "type": "Float"}, {"category": "Standard", "default": 0, "group": "Geometry", "name": "CA_SV_CS7_TYPE", "shortDesc": "Control Surface 7 type", "type": "Int32", "values": [{"description": "(Not set)", "value": 0}, {"description": "Left Aileron", "value": 1}, {"description": "Right Aileron", "value": 2}, {"description": "Elevator", "value": 3}, {"description": "Rudder", "value": 4}, {"description": "Left Elevon", "value": 5}, {"description": "Right Elevon", "value": 6}, {"description": "Left V-Tail", "value": 7}, {"description": "Right V-Tail", "value": 8}, {"description": "Left Flap", "value": 9}, {"description": "Right Flap", "value": 10}, {"description": "Airbrake", "value": 11}, {"description": "Custom", "value": 12}, {"description": "Left A-tail", "value": 13}, {"description": "Right A-tail", "value": 14}, {"description": "Single Channel Aileron", "value": 15}, {"description": "Steering Wheel", "value": 16}, {"description": "Left Spoiler", "value": 17}, {"description": "Right Spoiler", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Geometry", "name": "CA_SV_CS_COUNT", "shortDesc": "Total number of Control Surfaces", "type": "Int32", "values": [{"description": "0", "value": 0}, {"description": "1", "value": 1}, {"description": "2", "value": 2}, {"description": "3", "value": 3}, {"description": "4", "value": 4}, {"description": "5", "value": 5}, {"description": "6", "value": 6}, {"description": "7", "value": 7}, {"description": "8", "value": 8}]}, {"category": "Standard", "default": 1, "group": "Geometry", "longDesc": "Define if this servo is used for additional control.", "name": "CA_SV_TL0_CT", "shortDesc": "Tilt 0 is used for control", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Yaw", "value": 1}, {"description": "Pitch", "value": 2}, {"description": "Yaw and Pitch", "value": 3}]}, {"category": "Standard", "decimalPlaces": 0, "default": 90.0, "group": "Geometry", "longDesc": "Defines the tilt angle when the servo is at the maximum. An angle of zero means upwards.", "max": 90.0, "min": -90.0, "name": "CA_SV_TL0_MAXA", "shortDesc": "Tilt Servo 0 Tilt Angle at Maximum", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 0, "default": 0.0, "group": "Geometry", "longDesc": "Defines the tilt angle when the servo is at the minimum. An angle of zero means upwards.", "max": 90.0, "min": -90.0, "name": "CA_SV_TL0_MINA", "shortDesc": "Tilt Servo 0 Tilt Angle at Minimum", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "Defines the direction the servo tilts towards when moving towards the maximum tilt angle. For example if the minimum tilt angle is -90, the maximum 90, and the direction 'Towards Front', the motor axis aligns with the XZ-plane, points towards -X at the minimum and +X at the maximum tilt.", "max": 359, "min": 0, "name": "CA_SV_TL0_TD", "shortDesc": "Tilt Servo 0 Tilt Direction", "type": "Int32", "values": [{"description": "Towards Front", "value": 0}, {"description": "Towards Right", "value": 90}]}, {"category": "Standard", "default": 1, "group": "Geometry", "longDesc": "Define if this servo is used for additional control.", "name": "CA_SV_TL1_CT", "shortDesc": "Tilt 1 is used for control", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Yaw", "value": 1}, {"description": "Pitch", "value": 2}, {"description": "Yaw and Pitch", "value": 3}]}, {"category": "Standard", "decimalPlaces": 0, "default": 90.0, "group": "Geometry", "longDesc": "Defines the tilt angle when the servo is at the maximum. An angle of zero means upwards.", "max": 90.0, "min": -90.0, "name": "CA_SV_TL1_MAXA", "shortDesc": "Tilt Servo 1 Tilt Angle at Maximum", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 0, "default": 0.0, "group": "Geometry", "longDesc": "Defines the tilt angle when the servo is at the minimum. An angle of zero means upwards.", "max": 90.0, "min": -90.0, "name": "CA_SV_TL1_MINA", "shortDesc": "Tilt Servo 1 Tilt Angle at Minimum", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "Defines the direction the servo tilts towards when moving towards the maximum tilt angle. For example if the minimum tilt angle is -90, the maximum 90, and the direction 'Towards Front', the motor axis aligns with the XZ-plane, points towards -X at the minimum and +X at the maximum tilt.", "max": 359, "min": 0, "name": "CA_SV_TL1_TD", "shortDesc": "Tilt Servo 1 Tilt Direction", "type": "Int32", "values": [{"description": "Towards Front", "value": 0}, {"description": "Towards Right", "value": 90}]}, {"category": "Standard", "default": 1, "group": "Geometry", "longDesc": "Define if this servo is used for additional control.", "name": "CA_SV_TL2_CT", "shortDesc": "Tilt 2 is used for control", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Yaw", "value": 1}, {"description": "Pitch", "value": 2}, {"description": "Yaw and Pitch", "value": 3}]}, {"category": "Standard", "decimalPlaces": 0, "default": 90.0, "group": "Geometry", "longDesc": "Defines the tilt angle when the servo is at the maximum. An angle of zero means upwards.", "max": 90.0, "min": -90.0, "name": "CA_SV_TL2_MAXA", "shortDesc": "Tilt Servo 2 Tilt Angle at Maximum", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 0, "default": 0.0, "group": "Geometry", "longDesc": "Defines the tilt angle when the servo is at the minimum. An angle of zero means upwards.", "max": 90.0, "min": -90.0, "name": "CA_SV_TL2_MINA", "shortDesc": "Tilt Servo 2 Tilt Angle at Minimum", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "Defines the direction the servo tilts towards when moving towards the maximum tilt angle. For example if the minimum tilt angle is -90, the maximum 90, and the direction 'Towards Front', the motor axis aligns with the XZ-plane, points towards -X at the minimum and +X at the maximum tilt.", "max": 359, "min": 0, "name": "CA_SV_TL2_TD", "shortDesc": "Tilt Servo 2 Tilt Direction", "type": "Int32", "values": [{"description": "Towards Front", "value": 0}, {"description": "Towards Right", "value": 90}]}, {"category": "Standard", "default": 1, "group": "Geometry", "longDesc": "Define if this servo is used for additional control.", "name": "CA_SV_TL3_CT", "shortDesc": "Tilt 3 is used for control", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Yaw", "value": 1}, {"description": "Pitch", "value": 2}, {"description": "Yaw and Pitch", "value": 3}]}, {"category": "Standard", "decimalPlaces": 0, "default": 90.0, "group": "Geometry", "longDesc": "Defines the tilt angle when the servo is at the maximum. An angle of zero means upwards.", "max": 90.0, "min": -90.0, "name": "CA_SV_TL3_MAXA", "shortDesc": "Tilt Servo 3 Tilt Angle at Maximum", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 0, "default": 0.0, "group": "Geometry", "longDesc": "Defines the tilt angle when the servo is at the minimum. An angle of zero means upwards.", "max": 90.0, "min": -90.0, "name": "CA_SV_TL3_MINA", "shortDesc": "Tilt Servo 3 Tilt Angle at Minimum", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "Defines the direction the servo tilts towards when moving towards the maximum tilt angle. For example if the minimum tilt angle is -90, the maximum 90, and the direction 'Towards Front', the motor axis aligns with the XZ-plane, points towards -X at the minimum and +X at the maximum tilt.", "max": 359, "min": 0, "name": "CA_SV_TL3_TD", "shortDesc": "Tilt Servo 3 Tilt Direction", "type": "Int32", "values": [{"description": "Towards Front", "value": 0}, {"description": "Towards Right", "value": 90}]}, {"category": "Standard", "default": 0, "group": "Geometry", "name": "CA_SV_TL_COUNT", "shortDesc": "Total number of Tilt Servos", "type": "Int32", "values": [{"description": "0", "value": 0}, {"description": "1", "value": 1}, {"description": "2", "value": 2}, {"description": "3", "value": 3}, {"description": "4", "value": 4}]}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "Hover Thrust Estimator", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.", "max": 10.0, "min": 1.0, "name": "HTE_ACC_GATE", "shortDesc": "Gate size for acceleration fusion", "type": "Float", "units": "SD"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.1, "group": "Hover Thrust Estimator", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.", "max": 1.0, "min": 0.0, "name": "HTE_HT_ERR_INIT", "shortDesc": "1-sigma initial hover thrust uncertainty", "type": "Float", "units": "normalized_thrust"}, {"category": "Standard", "decimalPlaces": 4, "default": 0.0036, "group": "Hover Thrust Estimator", "longDesc": "Reduce to make the hover thrust estimate more stable, increase if the real hover thrust is expected to change quickly over time.", "max": 1.0, "min": 0.0001, "name": "HTE_HT_NOISE", "shortDesc": "Hover thrust process noise", "type": "Float", "units": "normalized_thrust/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "Hover Thrust Estimator", "longDesc": "Defines the range of the hover thrust estimate around MPC_THR_HOVER. A value of 0.2 with MPC_THR_HOVER at 0.5 results in a range of [0.3, 0.7]. Set to a large value if the vehicle operates in varying physical conditions that affect the required hover thrust strongly (e.g. differently sized payloads).", "max": 0.4, "min": 0.01, "name": "HTE_THR_RANGE", "shortDesc": "Max deviation from MPC_THR_HOVER", "type": "Float", "units": "normalized_thrust"}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "Hover Thrust Estimator", "longDesc": "Above this speed, the measurement noise is linearly increased to reduce the sensitivity of the estimator from biased measurement. Set to a low value on vehicles with large lifting surfaces.", "max": 20.0, "min": 1.0, "name": "HTE_VXY_THR", "shortDesc": "Horizontal velocity threshold for sensitivity reduction", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 2.0, "group": "Hover Thrust Estimator", "longDesc": "Above this speed, the measurement noise is linearly increased to reduce the sensitivity of the estimator from biased measurement. Set to a low value on vehicles affected by air drag when climbing or descending.", "max": 10.0, "min": 1.0, "name": "HTE_VZ_THR", "shortDesc": "Vertical velocity threshold for sensitivity reduction", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 6.0, "group": "Land Detector", "longDesc": "Maximum airspeed allowed in the landed state", "max": 20.0, "min": 2.0, "name": "LNDFW_AIRSPD_MAX", "shortDesc": "Fixed-wing land detector: Max airspeed", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 2.0, "group": "Land Detector", "longDesc": "Time the land conditions (speeds and acceleration) have to be satisfied to detect a landing.", "min": 0.1, "name": "LNDFW_TRIG_TIME", "rebootRequired": true, "shortDesc": "Fixed-wing land detection trigger time", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "Land Detector", "longDesc": "Maximum horizontal velocity allowed in the landed state. A factor of 0.7 is applied in case of airspeed-less flying (either because no sensor is present or sensor data got invalid in flight).", "max": 10.0, "min": 0.5, "name": "LNDFW_VEL_XY_MAX", "shortDesc": "Fixed-wing land detector: Max horizontal velocity threshold", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "Land Detector", "longDesc": "Maximum vertical velocity allowed in the landed state.", "max": 20.0, "min": 0.1, "name": "LNDFW_VEL_Z_MAX", "shortDesc": "Fixed-wing land detector: Max vertiacal velocity threshold", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 8.0, "group": "Land Detector", "longDesc": "Maximum horizontal (x,y body axes) acceleration allowed in the landed state", "max": 15.0, "min": 2.0, "name": "LNDFW_XYACC_MAX", "shortDesc": "Fixed-wing land detector: Max horizontal acceleration", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 2, "default": 2.0, "group": "Land Detector", "longDesc": "The height above ground below which ground effect creates barometric altitude errors. A negative value indicates no ground effect.", "min": -1.0, "name": "LNDMC_ALT_GND", "shortDesc": "Ground effect altitude for multicopters", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 20.0, "group": "Land Detector", "longDesc": "Maximum allowed angular velocity around each axis allowed in the landed state.", "name": "LNDMC_ROT_MAX", "shortDesc": "Multicopter max rotation", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "Land Detector", "longDesc": "Total time it takes to go through all three land detection stages: ground contact, maybe landed, landed when all necessary conditions are constantly met.", "max": 10.0, "min": 0.1, "name": "LNDMC_TRIG_TIME", "shortDesc": "Multicopter land detection trigger time", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.5, "group": "Land Detector", "longDesc": "Maximum horizontal velocity allowed in the landed state", "name": "LNDMC_XY_VEL_MAX", "shortDesc": "Multicopter max horizontal velocity", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.25, "group": "Land Detector", "longDesc": "Vertical velocity threshold to detect landing. Has to be set lower than the expected minimal speed for landing, which is either MPC_LAND_SPEED or MPC_LAND_CRWL. This is enforced by an automatic check.", "min": 0.0, "name": "LNDMC_Z_VEL_MAX", "shortDesc": "Multicopter vertical velocity threshold", "type": "Float", "units": "m/s"}, {"category": "System", "default": 0, "group": "Land Detector", "longDesc": "Total flight time of this autopilot. Higher 32 bits of the value. Flight time in microseconds = (LND_FLIGHT_T_HI << 32) | LND_FLIGHT_T_LO.", "min": 0, "name": "LND_FLIGHT_T_HI", "shortDesc": "Total flight time in microseconds", "type": "Int32", "volatile": true}, {"category": "System", "default": 0, "group": "Land Detector", "longDesc": "Total flight time of this autopilot. Lower 32 bits of the value. Flight time in microseconds = (LND_FLIGHT_T_HI << 32) | LND_FLIGHT_T_LO.", "min": 0, "name": "LND_FLIGHT_T_LO", "shortDesc": "Total flight time in microseconds", "type": "Int32", "volatile": true}, {"category": "Standard", "decimalPlaces": 2, "default": 10.0, "group": "Landing Target Estimator", "longDesc": "Variance of acceleration measurement used for landing target position prediction. Higher values results in tighter following of the measurements and more lenient outlier rejection", "min": 0.01, "name": "LTEST_ACC_UNC", "shortDesc": "Acceleration uncertainty", "type": "Float", "units": "(m/s^2)^2"}, {"category": "Standard", "decimalPlaces": 4, "default": 0.005, "group": "Landing Target Estimator", "longDesc": "Variance of the landing target measurement from the driver. Higher values result in less aggressive following of the measurement and a smoother output as well as fewer rejected measurements.", "name": "LTEST_MEAS_UNC", "shortDesc": "Landing target measurement uncertainty", "type": "Float", "units": "tan(rad)^2"}, {"category": "Standard", "default": 0, "group": "Landing Target Estimator", "longDesc": "Configure the mode of the landing target. Depending on the mode, the landing target observations are used differently to aid position estimation. Mode Moving:     The landing target may be moving around while in the field of view of the vehicle. Landing target measurements are not used to aid positioning. Mode Stationary: The landing target is stationary. Measured velocity w.r.t. the landing target is used to aid velocity estimation.", "max": 1, "min": 0, "name": "LTEST_MODE", "shortDesc": "Landing target mode", "type": "Int32", "values": [{"description": "Moving", "value": 0}, {"description": "Stationary", "value": 1}]}, {"category": "Standard", "decimalPlaces": 3, "default": 0.1, "group": "Landing Target Estimator", "longDesc": "Initial variance of the relative landing target position in x and y direction", "min": 0.001, "name": "LTEST_POS_UNC_IN", "shortDesc": "Initial landing target position uncertainty", "type": "Float", "units": "m^2"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Landing Target Estimator", "longDesc": "Landing target x measurements are scaled by this factor before being used", "min": 0.01, "name": "LTEST_SCALE_X", "shortDesc": "Scale factor for sensor measurements in sensor x axis", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Landing Target Estimator", "longDesc": "Landing target y measurements are scaled by this factor before being used", "min": 0.01, "name": "LTEST_SCALE_Y", "shortDesc": "Scale factor for sensor measurements in sensor y axis", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Landing Target Estimator", "name": "LTEST_SENS_POS_X", "rebootRequired": true, "shortDesc": "X Position of IRLOCK in body frame (forward)", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Landing Target Estimator", "name": "LTEST_SENS_POS_Y", "rebootRequired": true, "shortDesc": "Y Position of IRLOCK in body frame (right)", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Landing Target Estimator", "name": "LTEST_SENS_POS_Z", "rebootRequired": true, "shortDesc": "Z Position of IRLOCK in body frame (downward)", "type": "Float", "units": "m"}, {"category": "Standard", "default": 2, "group": "Landing Target Estimator", "longDesc": "Default orientation of Yaw 90\u00b0", "max": 40, "min": -1, "name": "LTEST_SENS_ROT", "rebootRequired": true, "shortDesc": "Rotation of IRLOCK sensor relative to airframe", "type": "Int32", "values": [{"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}]}, {"category": "Standard", "decimalPlaces": 3, "default": 0.1, "group": "Landing Target Estimator", "longDesc": "Initial variance of the relative landing target velocity in x and y directions", "min": 0.001, "name": "LTEST_VEL_UNC_IN", "shortDesc": "Initial landing target velocity uncertainty", "type": "Float", "units": "(m/s)^2"}, {"category": "Standard", "decimalPlaces": 4, "default": 0.012, "group": "Local Position Estimator", "longDesc": "Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz) Larger than data sheet to account for tilt error.", "max": 2.0, "min": 1e-05, "name": "LPE_ACC_XY", "shortDesc": "Accelerometer xy noise density", "type": "Float", "units": "m/s^2/sqrt(Hz)"}, {"category": "Standard", "decimalPlaces": 4, "default": 0.02, "group": "Local Position Estimator", "longDesc": "Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz)", "max": 2.0, "min": 1e-05, "name": "LPE_ACC_Z", "shortDesc": "Accelerometer z noise density", "type": "Float", "units": "m/s^2/sqrt(Hz)"}, {"category": "Standard", "decimalPlaces": 2, "default": 3.0, "group": "Local Position Estimator", "max": 100.0, "min": 0.01, "name": "LPE_BAR_Z", "shortDesc": "Barometric presssure altitude z standard deviation", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Local Position Estimator", "name": "LPE_EN", "shortDesc": "Local position estimator enable (unsupported)", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 3, "default": 3.0, "group": "Local Position Estimator", "max": 5.0, "min": 1.0, "name": "LPE_EPH_MAX", "shortDesc": "Max EPH allowed for GPS initialization", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 5.0, "group": "Local Position Estimator", "max": 5.0, "min": 1.0, "name": "LPE_EPV_MAX", "shortDesc": "Max EPV allowed for GPS initialization", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Local Position Estimator", "longDesc": "By initializing the estimator to the LPE_LAT/LON parameters when global information is unavailable", "max": 1, "min": 0, "name": "LPE_FAKE_ORIGIN", "shortDesc": "Enable publishing of a fake global position (e.g for AUTO missions using Optical Flow)", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.001, "group": "Local Position Estimator", "max": 2.0, "min": 0.0, "name": "LPE_FGYRO_HP", "shortDesc": "Flow gyro high pass filter cut off frequency", "type": "Float", "units": "Hz"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Local Position Estimator", "max": 1.0, "min": -1.0, "name": "LPE_FLW_OFF_Z", "shortDesc": "Optical flow z offset from center", "type": "Float", "units": "m"}, {"category": "Standard", "default": 150, "group": "Local Position Estimator", "max": 255, "min": 0, "name": "LPE_FLW_QMIN", "shortDesc": "Optical flow minimum quality threshold", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 3, "default": 7.0, "group": "Local Position Estimator", "max": 10.0, "min": 0.1, "name": "LPE_FLW_R", "shortDesc": "Optical flow rotation (roll/pitch) noise gain", "type": "Float", "units": "m/s/rad"}, {"category": "Standard", "decimalPlaces": 3, "default": 7.0, "group": "Local Position Estimator", "max": 10.0, "min": 0.0, "name": "LPE_FLW_RR", "shortDesc": "Optical flow angular velocity noise gain", "type": "Float", "units": "m/rad"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.3, "group": "Local Position Estimator", "max": 10.0, "min": 0.1, "name": "LPE_FLW_SCALE", "shortDesc": "Optical flow scale", "type": "Float", "units": "m"}, {"bitmask": [{"description": "fuse GPS, requires GPS for alt. init", "index": 0}, {"description": "fuse optical flow", "index": 1}, {"description": "fuse vision position", "index": 2}, {"description": "fuse landing target", "index": 3}, {"description": "fuse land detector", "index": 4}, {"description": "pub agl as lpos down", "index": 5}, {"description": "flow gyro compensation", "index": 6}, {"description": "fuse baro", "index": 7}], "category": "Standard", "default": 145, "group": "Local Position Estimator", "longDesc": "Set bits in the following positions to enable: 0 : Set to true to fuse GPS data if available, also requires GPS for altitude init 1 : Set to true to fuse optical flow data if available 2 : Set to true to fuse vision position 3 : Set to true to enable landing target 4 : Set to true to fuse land detector 5 : Set to true to publish AGL as local position down component 6 : Set to true to enable flow gyro compensation 7 : Set to true to enable baro fusion default (145 - GPS, baro, land detector)", "max": 255, "min": 0, "name": "LPE_FUSION", "shortDesc": "Integer bitmask controlling data fusion", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.29, "group": "Local Position Estimator", "max": 0.4, "min": 0.0, "name": "LPE_GPS_DELAY", "shortDesc": "GPS delay compensaton", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.25, "group": "Local Position Estimator", "longDesc": "EPV used if greater than this value.", "max": 2.0, "min": 0.01, "name": "LPE_GPS_VXY", "shortDesc": "GPS xy velocity standard deviation", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.25, "group": "Local Position Estimator", "max": 2.0, "min": 0.01, "name": "LPE_GPS_VZ", "shortDesc": "GPS z velocity standard deviation", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Local Position Estimator", "max": 5.0, "min": 0.01, "name": "LPE_GPS_XY", "shortDesc": "Minimum GPS xy standard deviation, uses reported EPH if greater", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 3.0, "group": "Local Position Estimator", "max": 200.0, "min": 0.01, "name": "LPE_GPS_Z", "shortDesc": "Minimum GPS z standard deviation, uses reported EPV if greater", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "Local Position Estimator", "max": 10.0, "min": 0.01, "name": "LPE_LAND_VXY", "shortDesc": "Land detector xy velocity standard deviation", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.03, "group": "Local Position Estimator", "max": 10.0, "min": 0.001, "name": "LPE_LAND_Z", "shortDesc": "Land detector z standard deviation", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 8, "default": 47.397742, "group": "Local Position Estimator", "max": 90.0, "min": -90.0, "name": "LPE_LAT", "shortDesc": "Local origin latitude for nav w/o GPS", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Local Position Estimator", "max": 1.0, "min": -1.0, "name": "LPE_LDR_OFF_Z", "shortDesc": "Lidar z offset from center of vehicle +down", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.03, "group": "Local Position Estimator", "max": 1.0, "min": 0.01, "name": "LPE_LDR_Z", "shortDesc": "Lidar z standard deviation", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 8, "default": 8.545594, "group": "Local Position Estimator", "max": 180.0, "min": -180.0, "name": "LPE_LON", "shortDesc": "Local origin longitude for nav w/o GPS", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0001, "group": "Local Position Estimator", "max": 10.0, "min": 0.0, "name": "LPE_LT_COV", "shortDesc": "Minimum landing target standard covariance, uses reported covariance if greater", "type": "Float", "units": "m^2"}, {"category": "Standard", "decimalPlaces": 8, "default": 0.001, "group": "Local Position Estimator", "max": 1.0, "min": 0.0, "name": "LPE_PN_B", "shortDesc": "Accel bias propagation noise density", "type": "Float", "units": "m/s^3/sqrt(Hz)"}, {"category": "Standard", "decimalPlaces": 8, "default": 0.1, "group": "Local Position Estimator", "longDesc": "Increase to trust measurements more. Decrease to trust model more.", "max": 1.0, "min": 0.0, "name": "LPE_PN_P", "shortDesc": "Position propagation noise density", "type": "Float", "units": "m/s/sqrt(Hz)"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.001, "group": "Local Position Estimator", "max": 1.0, "min": 0.0, "name": "LPE_PN_T", "shortDesc": "Terrain random walk noise density, hilly/outdoor (0.1), flat/Indoor (0.001)", "type": "Float", "units": "m/s/sqrt(Hz)"}, {"category": "Standard", "decimalPlaces": 8, "default": 0.1, "group": "Local Position Estimator", "longDesc": "Increase to trust measurements more. Decrease to trust model more.", "max": 1.0, "min": 0.0, "name": "LPE_PN_V", "shortDesc": "Velocity propagation noise density", "type": "Float", "units": "m/s^2/sqrt(Hz)"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Local Position Estimator", "max": 1.0, "min": -1.0, "name": "LPE_SNR_OFF_Z", "shortDesc": "Sonar z offset from center of vehicle +down", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "Local Position Estimator", "max": 1.0, "min": 0.01, "name": "LPE_SNR_Z", "shortDesc": "Sonar z standard deviation", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Local Position Estimator", "longDesc": "Used to calculate increased terrain random walk nosie due to movement.", "max": 100.0, "min": 0.0, "name": "LPE_T_MAX_GRADE", "shortDesc": "Terrain maximum percent grade, hilly/outdoor (100 = 45 deg), flat/Indoor (0 = 0 deg)", "type": "Float", "units": "%"}, {"category": "Standard", "decimalPlaces": 4, "default": 0.001, "group": "Local Position Estimator", "max": 1.0, "min": 0.0001, "name": "LPE_VIC_P", "shortDesc": "Vicon position standard deviation", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "Local Position Estimator", "longDesc": "Set to zero to enable automatic compensation from measurement timestamps", "max": 0.1, "min": 0.0, "name": "LPE_VIS_DELAY", "shortDesc": "Vision delay compensation", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.1, "group": "Local Position Estimator", "max": 1.0, "min": 0.01, "name": "LPE_VIS_XY", "shortDesc": "Vision xy standard deviation", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.5, "group": "Local Position Estimator", "max": 100.0, "min": 0.01, "name": "LPE_VIS_Z", "shortDesc": "Vision z standard deviation", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.3, "group": "Local Position Estimator", "max": 1.0, "min": 0.01, "name": "LPE_VXY_PUB", "shortDesc": "Required velocity xy standard deviation to publish position", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 0, "default": 5.0, "group": "Local Position Estimator", "max": 1000.0, "min": 5.0, "name": "LPE_X_LP", "shortDesc": "Cut frequency for state publication", "type": "Float", "units": "Hz"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "Local Position Estimator", "max": 5.0, "min": 0.3, "name": "LPE_Z_PUB", "shortDesc": "Required z standard deviation to publish altitude/ terrain", "type": "Float", "units": "m"}, {"category": "Standard", "default": 1, "group": "MAVLink", "longDesc": "This allows a ground control station to automatically find the drone on the local network.", "name": "MAV_0_BROADCAST", "shortDesc": "Broadcast heartbeats on local network for MAVLink instance 0", "type": "Int32", "values": [{"description": "Never broadcast", "value": 0}, {"description": "Always broadcast", "value": 1}, {"description": "Only multicast", "value": 2}]}, {"category": "Standard", "default": 2, "group": "MAVLink", "longDesc": "This is used to force flow control on or off for the the mavlink instance. By default it is auto detected. Use when auto detection fails.", "name": "MAV_0_FLOW_CTRL", "rebootRequired": true, "shortDesc": "Enable serial flow control for instance 0", "type": "Int32", "values": [{"description": "Force off", "value": 0}, {"description": "Force on", "value": 1}, {"description": "Auto-detected", "value": 2}]}, {"category": "Standard", "default": 1, "group": "MAVLink", "longDesc": "If enabled, forward incoming MAVLink messages to other MAVLink ports if the message is either broadcast or the target is not the autopilot. This allows for example a GCS to talk to a camera that is connected to the autopilot via MAVLink (on a different link than the GCS).", "name": "MAV_0_FORWARD", "rebootRequired": true, "shortDesc": "Enable MAVLink Message forwarding for instance 0", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 3, "default": 0.015, "group": "MAVLink", "increment": 0.001, "longDesc": "Positive real value that configures the transmission frequency of the HIGH_LATENCY2 stream for instance 0, configured in iridium mode. This parameter has no effect if the instance mode is different from iridium.", "max": 50.0, "min": 0.0, "name": "MAV_0_HL_FREQ", "rebootRequired": true, "shortDesc": "Configures the frequency of HIGH_LATENCY2 stream for instance 0", "type": "Float", "units": "Hz"}, {"category": "Standard", "default": 0, "group": "MAVLink", "longDesc": "The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.", "name": "MAV_0_MODE", "rebootRequired": true, "shortDesc": "MAVLink Mode for instance 0", "type": "Int32", "values": [{"description": "Normal", "value": 0}, {"description": "Custom", "value": 1}, {"description": "Onboard", "value": 2}, {"description": "OSD", "value": 3}, {"description": "Magic", "value": 4}, {"description": "Config", "value": 5}, {"description": "Minimal", "value": 7}, {"description": "External Vision", "value": 8}, {"description": "Gimbal", "value": 10}, {"description": "Onboard Low Bandwidth", "value": 11}, {"description": "uAvionix", "value": 12}]}, {"category": "Standard", "default": 1, "group": "MAVLink", "longDesc": "If enabled, MAVLink messages will be throttled according to `txbuf` field reported by radio_status. Requires a radio to send the mavlink message RADIO_STATUS.", "name": "MAV_0_RADIO_CTL", "rebootRequired": true, "shortDesc": "Enable software throttling of mavlink on instance 0", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1200, "group": "MAVLink", "longDesc": "Configure the maximum sending rate for the MAVLink streams in Bytes/sec. If the configured streams exceed the maximum rate, the sending rate of each stream is automatically decreased. If this is set to 0 a value of half of the theoretical maximum bandwidth is used. This corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on 8N1-configured links).", "min": 0, "name": "MAV_0_RATE", "rebootRequired": true, "shortDesc": "Maximum MAVLink sending rate for instance 0", "type": "Int32", "units": "B/s"}, {"category": "Standard", "default": 14550, "group": "MAVLink", "longDesc": "If ethernet enabled and selected as configuration for MAVLink instance 0, selected remote port will be set and used in MAVLink instance 0.", "name": "MAV_0_REMOTE_PRT", "rebootRequired": true, "shortDesc": "MAVLink Remote Port for instance 0", "type": "Int32"}, {"category": "Standard", "default": 14556, "group": "MAVLink", "longDesc": "If ethernet enabled and selected as configuration for MAVLink instance 0, selected udp port will be set and used in MAVLink instance 0.", "name": "MAV_0_UDP_PRT", "rebootRequired": true, "shortDesc": "MAVLink Network Port for instance 0", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "MAVLink", "longDesc": "This allows a ground control station to automatically find the drone on the local network.", "name": "MAV_1_BROADCAST", "shortDesc": "Broadcast heartbeats on local network for MAVLink instance 1", "type": "Int32", "values": [{"description": "Never broadcast", "value": 0}, {"description": "Always broadcast", "value": 1}, {"description": "Only multicast", "value": 2}]}, {"category": "Standard", "default": 2, "group": "MAVLink", "longDesc": "This is used to force flow control on or off for the the mavlink instance. By default it is auto detected. Use when auto detection fails.", "name": "MAV_1_FLOW_CTRL", "rebootRequired": true, "shortDesc": "Enable serial flow control for instance 1", "type": "Int32", "values": [{"description": "Force off", "value": 0}, {"description": "Force on", "value": 1}, {"description": "Auto-detected", "value": 2}]}, {"category": "Standard", "default": 0, "group": "MAVLink", "longDesc": "If enabled, forward incoming MAVLink messages to other MAVLink ports if the message is either broadcast or the target is not the autopilot. This allows for example a GCS to talk to a camera that is connected to the autopilot via MAVLink (on a different link than the GCS).", "name": "MAV_1_FORWARD", "rebootRequired": true, "shortDesc": "Enable MAVLink Message forwarding for instance 1", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 3, "default": 0.015, "group": "MAVLink", "increment": 0.001, "longDesc": "Positive real value that configures the transmission frequency of the HIGH_LATENCY2 stream for instance 1, configured in iridium mode. This parameter has no effect if the instance mode is different from iridium.", "max": 50.0, "min": 0.0, "name": "MAV_1_HL_FREQ", "rebootRequired": true, "shortDesc": "Configures the frequency of HIGH_LATENCY2 stream for instance 1", "type": "Float", "units": "Hz"}, {"category": "Standard", "default": 2, "group": "MAVLink", "longDesc": "The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.", "name": "MAV_1_MODE", "rebootRequired": true, "shortDesc": "MAVLink Mode for instance 1", "type": "Int32", "values": [{"description": "Normal", "value": 0}, {"description": "Custom", "value": 1}, {"description": "Onboard", "value": 2}, {"description": "OSD", "value": 3}, {"description": "Magic", "value": 4}, {"description": "Config", "value": 5}, {"description": "Minimal", "value": 7}, {"description": "External Vision", "value": 8}, {"description": "Gimbal", "value": 10}, {"description": "Onboard Low Bandwidth", "value": 11}, {"description": "uAvionix", "value": 12}]}, {"category": "Standard", "default": 1, "group": "MAVLink", "longDesc": "If enabled, MAVLink messages will be throttled according to `txbuf` field reported by radio_status. Requires a radio to send the mavlink message RADIO_STATUS.", "name": "MAV_1_RADIO_CTL", "rebootRequired": true, "shortDesc": "Enable software throttling of mavlink on instance 1", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "MAVLink", "longDesc": "Configure the maximum sending rate for the MAVLink streams in Bytes/sec. If the configured streams exceed the maximum rate, the sending rate of each stream is automatically decreased. If this is set to 0 a value of half of the theoretical maximum bandwidth is used. This corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on 8N1-configured links).", "min": 0, "name": "MAV_1_RATE", "rebootRequired": true, "shortDesc": "Maximum MAVLink sending rate for instance 1", "type": "Int32", "units": "B/s"}, {"category": "Standard", "default": 0, "group": "MAVLink", "longDesc": "If ethernet enabled and selected as configuration for MAVLink instance 1, selected remote port will be set and used in MAVLink instance 1.", "name": "MAV_1_REMOTE_PRT", "rebootRequired": true, "shortDesc": "MAVLink Remote Port for instance 1", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "MAVLink", "longDesc": "If ethernet enabled and selected as configuration for MAVLink instance 1, selected udp port will be set and used in MAVLink instance 1.", "name": "MAV_1_UDP_PRT", "rebootRequired": true, "shortDesc": "MAVLink Network Port for instance 1", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "MAVLink", "longDesc": "This allows a ground control station to automatically find the drone on the local network.", "name": "MAV_2_BROADCAST", "shortDesc": "Broadcast heartbeats on local network for MAVLink instance 2", "type": "Int32", "values": [{"description": "Never broadcast", "value": 0}, {"description": "Always broadcast", "value": 1}, {"description": "Only multicast", "value": 2}]}, {"category": "Standard", "default": 2, "group": "MAVLink", "longDesc": "This is used to force flow control on or off for the the mavlink instance. By default it is auto detected. Use when auto detection fails.", "name": "MAV_2_FLOW_CTRL", "rebootRequired": true, "shortDesc": "Enable serial flow control for instance 2", "type": "Int32", "values": [{"description": "Force off", "value": 0}, {"description": "Force on", "value": 1}, {"description": "Auto-detected", "value": 2}]}, {"category": "Standard", "default": 0, "group": "MAVLink", "longDesc": "If enabled, forward incoming MAVLink messages to other MAVLink ports if the message is either broadcast or the target is not the autopilot. This allows for example a GCS to talk to a camera that is connected to the autopilot via MAVLink (on a different link than the GCS).", "name": "MAV_2_FORWARD", "rebootRequired": true, "shortDesc": "Enable MAVLink Message forwarding for instance 2", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 3, "default": 0.015, "group": "MAVLink", "increment": 0.001, "longDesc": "Positive real value that configures the transmission frequency of the HIGH_LATENCY2 stream for instance 2, configured in iridium mode. This parameter has no effect if the instance mode is different from iridium.", "max": 50.0, "min": 0.0, "name": "MAV_2_HL_FREQ", "rebootRequired": true, "shortDesc": "Configures the frequency of HIGH_LATENCY2 stream for instance 2", "type": "Float", "units": "Hz"}, {"category": "Standard", "default": 0, "group": "MAVLink", "longDesc": "The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.", "name": "MAV_2_MODE", "rebootRequired": true, "shortDesc": "MAVLink Mode for instance 2", "type": "Int32", "values": [{"description": "Normal", "value": 0}, {"description": "Custom", "value": 1}, {"description": "Onboard", "value": 2}, {"description": "OSD", "value": 3}, {"description": "Magic", "value": 4}, {"description": "Config", "value": 5}, {"description": "Minimal", "value": 7}, {"description": "External Vision", "value": 8}, {"description": "Gimbal", "value": 10}, {"description": "Onboard Low Bandwidth", "value": 11}, {"description": "uAvionix", "value": 12}]}, {"category": "Standard", "default": 1, "group": "MAVLink", "longDesc": "If enabled, MAVLink messages will be throttled according to `txbuf` field reported by radio_status. Requires a radio to send the mavlink message RADIO_STATUS.", "name": "MAV_2_RADIO_CTL", "rebootRequired": true, "shortDesc": "Enable software throttling of mavlink on instance 2", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "MAVLink", "longDesc": "Configure the maximum sending rate for the MAVLink streams in Bytes/sec. If the configured streams exceed the maximum rate, the sending rate of each stream is automatically decreased. If this is set to 0 a value of half of the theoretical maximum bandwidth is used. This corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on 8N1-configured links).", "min": 0, "name": "MAV_2_RATE", "rebootRequired": true, "shortDesc": "Maximum MAVLink sending rate for instance 2", "type": "Int32", "units": "B/s"}, {"category": "Standard", "default": 0, "group": "MAVLink", "longDesc": "If ethernet enabled and selected as configuration for MAVLink instance 2, selected remote port will be set and used in MAVLink instance 2.", "name": "MAV_2_REMOTE_PRT", "rebootRequired": true, "shortDesc": "MAVLink Remote Port for instance 2", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "MAVLink", "longDesc": "If ethernet enabled and selected as configuration for MAVLink instance 2, selected udp port will be set and used in MAVLink instance 2.", "name": "MAV_2_UDP_PRT", "rebootRequired": true, "shortDesc": "MAVLink Network Port for instance 2", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "MAVLink", "max": 250, "min": 1, "name": "MAV_COMP_ID", "rebootRequired": true, "shortDesc": "MAVLink component ID", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "MAVLink", "longDesc": "If set to 1 incoming external setpoint messages will be directly forwarded to the controllers if in offboard control mode", "name": "MAV_FWDEXTSP", "shortDesc": "Forward external setpoint messages", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1, "group": "MAVLink", "longDesc": "Disabling the parameter hash check functionality will make the mavlink instance stream parameters continuously.", "name": "MAV_HASH_CHK_EN", "shortDesc": "Parameter hash check", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1, "group": "MAVLink", "longDesc": "The mavlink heartbeat message will not be forwarded if this parameter is set to 'disabled'. The main reason for disabling heartbeats to be forwarded is because they confuse dronekit.", "name": "MAV_HB_FORW_EN", "shortDesc": "Heartbeat message forwarding", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "MAVLink", "name": "MAV_PROTO_VER", "shortDesc": "MAVLink protocol version", "type": "Int32", "values": [{"description": "Default to 1, switch to 2 if GCS sends version 2", "value": 0}, {"description": "Always use version 1", "value": 1}, {"description": "Always use version 2", "value": 2}]}, {"category": "Standard", "default": 5, "group": "MAVLink", "longDesc": "If the connected radio stops reporting RADIO_STATUS for a certain time, a warning is triggered and, if MAV_X_RADIO_CTL is enabled, the software-flow control is reset.", "max": 250, "min": 1, "name": "MAV_RADIO_TOUT", "shortDesc": "Timeout in seconds for the RADIO_STATUS reports coming in", "type": "Int32", "units": "s"}, {"category": "Standard", "default": 0, "group": "MAVLink", "longDesc": "When non-zero the MAVLink app will attempt to configure the SiK radio to this ID and re-set the parameter to 0. If the value is negative it will reset the complete radio config to factory defaults. Only applies if this mavlink instance is going through a SiK radio", "max": 240, "min": -1, "name": "MAV_SIK_RADIO_ID", "shortDesc": "MAVLink SiK Radio ID", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "MAVLink", "max": 250, "min": 1, "name": "MAV_SYS_ID", "rebootRequired": true, "shortDesc": "MAVLink system ID", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "MAVLink", "max": 22, "min": 0, "name": "MAV_TYPE", "shortDesc": "MAVLink airframe type", "type": "Int32", "values": [{"description": "Generic micro air vehicle", "value": 0}, {"description": "Fixed wing aircraft", "value": 1}, {"description": "Quadrotor", "value": 2}, {"description": "Coaxial helicopter", "value": 3}, {"description": "Normal helicopter with tail rotor", "value": 4}, {"description": "Airship, controlled", "value": 7}, {"description": "Free balloon, uncontrolled", "value": 8}, {"description": "Ground rover", "value": 10}, {"description": "Surface vessel, boat, ship", "value": 11}, {"description": "Submarine", "value": 12}, {"description": "Hexarotor", "value": 13}, {"description": "Octorotor", "value": 14}, {"description": "Tricopter", "value": 15}, {"description": "VTOL Two-rotor Tailsitter", "value": 19}, {"description": "VTOL Quad-rotor Tailsitter", "value": 20}, {"description": "VTOL Tiltrotor", "value": 21}, {"description": "VTOL Standard (separate fixed rotors for hover and cruise flight)", "value": 22}, {"description": "VTOL Tailsitter", "value": 23}]}, {"category": "Standard", "default": 0, "group": "MAVLink", "longDesc": "If set to 1 incoming HIL GPS messages are parsed.", "name": "MAV_USEHILGPS", "shortDesc": "Use/Accept HIL GPS message even if not in HIL mode", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1, "group": "Magnetometer Bias Estimator", "longDesc": "This enables continuous calibration of the magnetometers before takeoff using gyro data.", "name": "MBE_ENABLE", "rebootRequired": true, "shortDesc": "Enable online mag bias calibration", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 18.0, "group": "Magnetometer Bias Estimator", "increment": 0.1, "longDesc": "Increase to make the estimator more responsive Decrease to make the estimator more robust to noise", "max": 100.0, "min": 0.1, "name": "MBE_LEARN_GAIN", "shortDesc": "Mag bias estimator learning gain", "type": "Float"}, {"category": "Standard", "default": 1, "group": "Manual Control", "longDesc": "This determines if moving the left stick to the lower right arms and to the lower left disarms the vehicle.", "name": "MAN_ARM_GESTURE", "shortDesc": "Enable arm/disarm stick gesture", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Manual Control", "longDesc": "The timeout for holding the left stick to the lower left and the right stick to the lower right at the same time until the gesture kills the actuators one-way. A negative value disables the feature.", "max": 15.0, "min": -1.0, "name": "MAN_KILL_GEST_T", "shortDesc": "Trigger time for kill stick gesture", "type": "Float", "units": "s"}, {"category": "Standard", "default": 30, "group": "Mission", "longDesc": "The time the system should do open loop loiter and wait for GPS recovery before it starts descending. Set to 0 to disable. Roll angle is set to FW_GPSF_R. Does only apply for fixed-wing vehicles or VTOLs with NAV_FORCE_VT set to 0.", "max": 3600, "min": 0, "name": "FW_GPSF_LT", "shortDesc": "GPS failure loiter time", "type": "Int32", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": 15.0, "group": "Mission", "increment": 0.5, "longDesc": "Roll angle in GPS failure loiter mode.", "max": 30.0, "min": 0.0, "name": "FW_GPSF_R", "shortDesc": "GPS failure fixed roll angle", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 1, "default": 10000.0, "group": "Mission", "increment": 100.0, "longDesc": "There will be a warning message if the current waypoint is more distant than MIS_DIST_1WP from Home. Has no effect on mission validity. Set a value of zero or less to disable.", "max": 100000.0, "min": -1.0, "name": "MIS_DIST_1WP", "shortDesc": "Maximal horizontal distance from Home to first waypoint", "type": "Float", "units": "m"}, {"category": "Standard", "default": 30, "group": "Mission", "longDesc": "Minimum altitude above landing point that the vehicle will climb to after an aborted landing. Then vehicle will loiter in this altitude until further command is received. Only applies to fixed-wing vehicles.", "min": 0, "name": "MIS_LND_ABRT_ALT", "shortDesc": "Landing abort min altitude", "type": "Int32", "units": "m"}, {"category": "Standard", "default": 0, "group": "Mission", "longDesc": "If enabled, yaw commands will be sent to the mount and the vehicle will follow its heading towards the flight direction. If disabled, the vehicle will yaw towards the ROI.", "max": 1, "min": 0, "name": "MIS_MNT_YAW_CTL", "shortDesc": "Enable yaw control of the mount. (Only affects multicopters and ROI mission items)", "type": "Int32", "values": [{"description": "Disable", "value": 0}, {"description": "Enable", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "Mission", "increment": 1.0, "min": 0.0, "name": "MIS_PD_TO", "shortDesc": "Timeout for a successful payload deployment acknowledgement", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": 2.5, "group": "Mission", "increment": 0.5, "longDesc": "This is the relative altitude the system will take off to if not otherwise specified.", "min": 0.0, "name": "MIS_TAKEOFF_ALT", "shortDesc": "Default take-off altitude", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Mission", "longDesc": "Specifies if a mission has to contain a takeoff and/or mission landing. Validity of configured takeoffs/landings is checked independently of the setting here.", "name": "MIS_TKO_LAND_REQ", "shortDesc": "Mission takeoff/landing required", "type": "Int32", "values": [{"description": "No requirements", "value": 0}, {"description": "Require a takeoff", "value": 1}, {"description": "Require a landing", "value": 2}, {"description": "Require a takeoff and a landing", "value": 3}, {"description": "Require both a takeoff and a landing, or neither", "value": 4}, {"description": "Same as previous when landed, in-air require landing only if no valid VTOL approach is present", "value": 5}]}, {"category": "Standard", "decimalPlaces": 1, "default": 12.0, "group": "Mission", "increment": 1.0, "max": 90.0, "min": 0.0, "name": "MIS_YAW_ERR", "shortDesc": "Max yaw error in degrees needed for waypoint heading acceptance", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 1, "default": -1.0, "group": "Mission", "increment": 1.0, "longDesc": "If set > 0 it will ignore the target heading for normal waypoint acceptance. If the waypoint forces the heading the timeout will matter. For example on VTOL forwards transition. Mainly useful for VTOLs that have less yaw authority and might not reach target yaw in wind. Disabled by default.", "max": 20.0, "min": -1.0, "name": "MIS_YAW_TMT", "shortDesc": "Time in seconds we wait on reaching target heading at a waypoint if it is forced", "type": "Float", "units": "s"}, {"category": "Standard", "default": 0, "group": "Mission", "max": 4, "min": 0, "name": "MPC_YAW_MODE", "shortDesc": "Heading behavior in autonomous modes", "type": "Int32", "values": [{"description": "towards waypoint", "value": 0}, {"description": "towards home", "value": 1}, {"description": "away from home", "value": 2}, {"description": "along trajectory", "value": 3}, {"description": "towards waypoint (yaw first)", "value": 4}, {"description": "yaw fixed", "value": 5}]}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "Mission", "increment": 0.5, "longDesc": "Default acceptance radius, overridden by acceptance radius of waypoint if set. For fixed wing the npfg switch distance is used for horizontal acceptance.", "max": 200.0, "min": 0.05, "name": "NAV_ACC_RAD", "shortDesc": "Acceptance Radius", "type": "Float", "units": "m"}, {"category": "Standard", "default": 1, "group": "Mission", "name": "NAV_FORCE_VT", "shortDesc": "Force VTOL mode takeoff and land", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "Mission", "longDesc": "Altitude acceptance used for the last waypoint before a fixed-wing landing. This is usually smaller than the standard vertical acceptance because close to the ground higher accuracy is required.", "max": 200.0, "min": 0.05, "name": "NAV_FW_ALTL_RAD", "shortDesc": "FW Altitude Acceptance Radius before a landing", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "Mission", "increment": 0.5, "longDesc": "Acceptance radius for fixedwing altitude.", "max": 200.0, "min": 0.05, "name": "NAV_FW_ALT_RAD", "shortDesc": "FW Altitude Acceptance Radius", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 80.0, "group": "Mission", "increment": 0.5, "longDesc": "Default value of loiter radius in FW mode (e.g. for Loiter mode).", "max": 1000.0, "min": 25.0, "name": "NAV_LOITER_RAD", "shortDesc": "Loiter radius (FW only)", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.8, "group": "Mission", "increment": 0.5, "longDesc": "Acceptance radius for multicopter altitude.", "max": 200.0, "min": 0.05, "name": "NAV_MC_ALT_RAD", "shortDesc": "MC Altitude Acceptance Radius", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": -1.0, "group": "Mission", "increment": 1.0, "longDesc": "Minimum height above ground the vehicle is allowed to descend to during Mission and RTL, excluding landing commands. Requires a distance sensor to be set up. Note: only prevents the vehicle from descending further, but does not force it to climb. Set to a negative value to disable.", "min": -1.0, "name": "NAV_MIN_GND_DIST", "shortDesc": "Minimum height above ground during Mission and RTL", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": -1.0, "group": "Mission", "increment": 0.5, "longDesc": "This is the minimum altitude above Home the system will always obey in Loiter (Hold) mode if switched into this mode without specifying an altitude (e.g. through Loiter switch on RC). Doesn't affect Loiters that are part of Missions or that are entered through a reposition setpoint (\"Go to\"). Set to a negative value to disable.", "min": -1.0, "name": "NAV_MIN_LTR_ALT", "shortDesc": "Minimum Loiter altitude", "type": "Float", "units": "m"}, {"category": "Standard", "default": 1, "group": "Mission", "longDesc": "Enabling this will allow the system to respond to transponder data from e.g. ADSB transponders", "name": "NAV_TRAFF_AVOID", "shortDesc": "Set traffic avoidance mode", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Warn only", "value": 1}, {"description": "Return mode", "value": 2}, {"description": "Land mode", "value": 3}, {"description": "Position Hold mode", "value": 4}]}, {"category": "Standard", "default": 500.0, "group": "Mission", "longDesc": "Defines a crosstrack horizontal distance", "min": 500.0, "name": "NAV_TRAFF_A_HOR", "shortDesc": "Set NAV TRAFFIC AVOID horizontal distance", "type": "Float", "units": "m"}, {"category": "Standard", "default": 500.0, "group": "Mission", "max": 500.0, "min": 10.0, "name": "NAV_TRAFF_A_VER", "shortDesc": "Set NAV TRAFFIC AVOID vertical distance", "type": "Float", "units": "m"}, {"category": "Standard", "default": 60, "group": "Mission", "longDesc": "Minimum acceptable time until collsion. Assumes constant speed over 3d distance.", "max": 900000000, "min": 1, "name": "NAV_TRAFF_COLL_T", "shortDesc": "Estimated time until collision", "type": "Int32", "units": "s"}, {"category": "Standard", "default": 0, "group": "Mixer Output", "longDesc": "The air-mode enables the mixer to increase the total thrust of the multirotor in order to keep attitude and rate control even at low and high throttle. This function should be disabled during tuning as it will help the controller to diverge if the closed-loop is unstable (i.e. the vehicle is not tuned yet). Enabling air-mode for yaw requires the use of an arming switch.", "name": "MC_AIRMODE", "shortDesc": "Multicopter air-mode", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Roll/Pitch", "value": 1}, {"description": "Roll/Pitch/Yaw", "value": 2}]}, {"category": "Standard", "default": 0, "group": "Mount", "longDesc": "Set to true for servo gimbal, false for passthrough. This is required for a gimbal which is not capable of stabilizing itself and relies on the IMU's attitude estimation.", "max": 2, "min": 0, "name": "MNT_DO_STAB", "shortDesc": "Stabilize the mount", "type": "Int32", "values": [{"description": "Disable", "value": 0}, {"description": "Stabilize all axis", "value": 1}, {"description": "Stabilize yaw for absolute/lock mode.", "value": 2}]}, {"category": "Standard", "decimalPlaces": 1, "default": 90.0, "group": "Mount", "max": 90.0, "min": -90.0, "name": "MNT_LND_P_MAX", "shortDesc": "Pitch maximum when landed", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 1, "default": -90.0, "group": "Mount", "max": 90.0, "min": -90.0, "name": "MNT_LND_P_MIN", "shortDesc": "Pitch minimum when landed", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 0, "group": "Mount", "max": 6, "min": 0, "name": "MNT_MAN_PITCH", "shortDesc": "Auxiliary channel to control pitch (in AUX input or manual mode)", "type": "Int32", "values": [{"description": "Disable", "value": 0}, {"description": "AUX1", "value": 1}, {"description": "AUX2", "value": 2}, {"description": "AUX3", "value": 3}, {"description": "AUX4", "value": 4}, {"description": "AUX5", "value": 5}, {"description": "AUX6", "value": 6}]}, {"category": "Standard", "default": 0, "group": "Mount", "max": 6, "min": 0, "name": "MNT_MAN_ROLL", "shortDesc": "Auxiliary channel to control roll (in AUX input or manual mode)", "type": "Int32", "values": [{"description": "Disable", "value": 0}, {"description": "AUX1", "value": 1}, {"description": "AUX2", "value": 2}, {"description": "AUX3", "value": 3}, {"description": "AUX4", "value": 4}, {"description": "AUX5", "value": 5}, {"description": "AUX6", "value": 6}]}, {"category": "Standard", "default": 0, "group": "Mount", "max": 6, "min": 0, "name": "MNT_MAN_YAW", "shortDesc": "Auxiliary channel to control yaw (in AUX input or manual mode)", "type": "Int32", "values": [{"description": "Disable", "value": 0}, {"description": "AUX1", "value": 1}, {"description": "AUX2", "value": 2}, {"description": "AUX3", "value": 3}, {"description": "AUX4", "value": 4}, {"description": "AUX5", "value": 5}, {"description": "AUX6", "value": 6}]}, {"category": "Standard", "default": 154, "group": "Mount", "longDesc": "If MNT_MODE_OUT is MAVLink protocol v2, mount configure/control commands will be sent with this component ID.", "name": "MNT_MAV_COMPID", "shortDesc": "Mavlink Component ID of the mount", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "Mount", "longDesc": "If MNT_MODE_OUT is MAVLink gimbal protocol v1, mount configure/control commands will be sent with this target ID.", "name": "MNT_MAV_SYSID", "shortDesc": "Mavlink System ID of the mount", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Mount", "longDesc": "This is the protocol used between the ground station and the autopilot. Recommended is Auto, RC only or MAVLink gimbal protocol v2. The rest will be deprecated.", "max": 4, "min": -1, "name": "MNT_MODE_IN", "rebootRequired": true, "shortDesc": "Mount input mode", "type": "Int32", "values": [{"description": "DISABLED", "value": -1}, {"description": "Auto (RC and MAVLink gimbal protocol v2)", "value": 0}, {"description": "RC", "value": 1}, {"description": "MAVLINK_ROI (protocol v1, to be deprecated)", "value": 2}, {"description": "MAVLINK_DO_MOUNT (protocol v1, to be deprecated)", "value": 3}, {"description": "MAVlink gimbal protocol v2", "value": 4}]}, {"category": "Standard", "default": 0, "group": "Mount", "longDesc": "This is the protocol used between the autopilot and a connected gimbal. Recommended is the MAVLink gimbal protocol v2 if the gimbal supports it.", "max": 2, "min": 0, "name": "MNT_MODE_OUT", "rebootRequired": true, "shortDesc": "Mount output mode", "type": "Int32", "values": [{"description": "AUX", "value": 0}, {"description": "MAVLink gimbal protocol v1", "value": 1}, {"description": "MAVLink gimbal protocol v2", "value": 2}]}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "Mount", "max": 360.0, "min": -360.0, "name": "MNT_OFF_PITCH", "shortDesc": "Offset for pitch channel output in degrees", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "Mount", "max": 360.0, "min": -360.0, "name": "MNT_OFF_ROLL", "shortDesc": "Offset for roll channel output in degrees", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "Mount", "max": 360.0, "min": -360.0, "name": "MNT_OFF_YAW", "shortDesc": "Offset for yaw channel output in degrees", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 1, "default": 90.0, "group": "Mount", "max": 720.0, "min": 1.0, "name": "MNT_RANGE_PITCH", "shortDesc": "Range of pitch channel output in degrees (only in AUX output mode)", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 1, "default": 90.0, "group": "Mount", "max": 720.0, "min": 1.0, "name": "MNT_RANGE_ROLL", "shortDesc": "Range of roll channel output in degrees (only in AUX output mode)", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 1, "default": 360.0, "group": "Mount", "max": 720.0, "min": 1.0, "name": "MNT_RANGE_YAW", "shortDesc": "Range of yaw channel output in degrees (only in AUX output mode)", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 30.0, "group": "Mount", "longDesc": "Full stick input [-1..1] translats to [-pitch rate..pitch rate].", "max": 90.0, "min": 1.0, "name": "MNT_RATE_PITCH", "shortDesc": "Angular pitch rate for manual input in degrees/second", "type": "Float", "units": "deg/s"}, {"category": "Standard", "default": 30.0, "group": "Mount", "longDesc": "Full stick input [-1..1] translats to [-yaw rate..yaw rate].", "max": 90.0, "min": 1.0, "name": "MNT_RATE_YAW", "shortDesc": "Angular yaw rate for manual input in degrees/second", "type": "Float", "units": "deg/s"}, {"category": "Standard", "default": 1, "group": "Mount", "max": 1, "min": 0, "name": "MNT_RC_IN_MODE", "shortDesc": "Input mode for RC gimbal input", "type": "Int32", "values": [{"description": "Angle", "value": 0}, {"description": "Angular rate", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Multicopter Acro Mode", "longDesc": "Exponential factor for tuning the input curve shape. 0 Purely linear input curve 1 Purely cubic input curve", "max": 1.0, "min": 0.0, "name": "MC_ACRO_EXPO", "shortDesc": "Acro mode roll, pitch expo factor", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Multicopter Acro Mode", "longDesc": "Exponential factor for tuning the input curve shape. 0 Purely linear input curve 1 Purely cubic input curve", "max": 1.0, "min": 0.0, "name": "MC_ACRO_EXPO_Y", "shortDesc": "Acro mode yaw expo factor", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 100.0, "group": "Multicopter Acro Mode", "increment": 5.0, "longDesc": "Full stick deflection leads to this rate.", "max": 1800.0, "min": 0.0, "name": "MC_ACRO_P_MAX", "shortDesc": "Acro mode maximum pitch rate", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 100.0, "group": "Multicopter Acro Mode", "increment": 5.0, "longDesc": "Full stick deflection leads to this rate.", "max": 1800.0, "min": 0.0, "name": "MC_ACRO_R_MAX", "shortDesc": "Acro mode maximum roll rate", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Multicopter Acro Mode", "longDesc": "\"Superexponential\" factor for refining the input curve shape tuned using MC_ACRO_EXPO. 0 Pure Expo function 0.7 reasonable shape enhancement for intuitive stick feel 0.95 very strong bent input curve only near maxima have effect", "max": 0.95, "min": 0.0, "name": "MC_ACRO_SUPEXPO", "shortDesc": "Acro mode roll, pitch super expo factor", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Multicopter Acro Mode", "longDesc": "\"Superexponential\" factor for refining the input curve shape tuned using MC_ACRO_EXPO_Y. 0 Pure Expo function 0.7 reasonable shape enhancement for intuitive stick feel 0.95 very strong bent input curve only near maxima have effect", "max": 0.95, "min": 0.0, "name": "MC_ACRO_SUPEXPOY", "shortDesc": "Acro mode yaw super expo factor", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 100.0, "group": "Multicopter Acro Mode", "increment": 5.0, "longDesc": "Full stick deflection leads to this rate.", "max": 1800.0, "min": 0.0, "name": "MC_ACRO_Y_MAX", "shortDesc": "Acro mode maximum yaw rate", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 220.0, "group": "Multicopter Attitude Control", "increment": 5.0, "longDesc": "Limit for pitch rate in manual and auto modes (except acro). Has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. This is not only limited by the vehicle's properties, but also by the maximum measurement rate of the gyro.", "max": 1800.0, "min": 0.0, "name": "MC_PITCHRATE_MAX", "shortDesc": "Max pitch rate", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 6.5, "group": "Multicopter Attitude Control", "increment": 0.1, "longDesc": "Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad.", "max": 12.0, "min": 0.0, "name": "MC_PITCH_P", "shortDesc": "Pitch P gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 220.0, "group": "Multicopter Attitude Control", "increment": 5.0, "longDesc": "Limit for roll rate in manual and auto modes (except acro). Has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. This is not only limited by the vehicle's properties, but also by the maximum measurement rate of the gyro.", "max": 1800.0, "min": 0.0, "name": "MC_ROLLRATE_MAX", "shortDesc": "Max roll rate", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 6.5, "group": "Multicopter Attitude Control", "increment": 0.1, "longDesc": "Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad.", "max": 12.0, "min": 0.0, "name": "MC_ROLL_P", "shortDesc": "Roll P gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 200.0, "group": "Multicopter Attitude Control", "increment": 5.0, "max": 1800.0, "min": 0.0, "name": "MC_YAWRATE_MAX", "shortDesc": "Max yaw rate", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 2.8, "group": "Multicopter Attitude Control", "increment": 0.1, "longDesc": "Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad.", "max": 5.0, "min": 0.0, "name": "MC_YAW_P", "shortDesc": "Yaw P gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.4, "group": "Multicopter Attitude Control", "increment": 0.1, "longDesc": "A fraction [0,1] deprioritizing yaw compared to roll and pitch in non-linear attitude control. Deprioritizing yaw is necessary because multicopters have much less control authority in yaw compared to the other axes and it makes sense because yaw is not critical for stable hovering or 3D navigation. For yaw control tuning use MC_YAW_P. This ratio has no impact on the yaw gain.", "max": 1.0, "min": 0.0, "name": "MC_YAW_WEIGHT", "shortDesc": "Yaw weight", "type": "Float"}, {"category": "Standard", "decimalPlaces": 0, "default": 60.0, "group": "Multicopter Attitude Control", "increment": 5.0, "longDesc": "Limits the acceleration of the yaw setpoint to avoid large control output and mixer saturation.", "max": 360.0, "min": 5.0, "name": "MPC_YAWRAUTO_ACC", "shortDesc": "Maximum yaw acceleration in autonomous modes", "type": "Float", "units": "deg/s^2"}, {"category": "Standard", "decimalPlaces": 0, "default": 45.0, "group": "Multicopter Attitude Control", "increment": 5.0, "longDesc": "Limits the rate of change of the yaw setpoint to avoid large control output and mixer saturation.", "max": 360.0, "min": 5.0, "name": "MPC_YAWRAUTO_MAX", "shortDesc": "Maximum yaw rate in autonomous modes", "type": "Float", "units": "deg/s"}, {"category": "Standard", "default": 0.4, "group": "Multicopter Position Control", "longDesc": "Only used in Position mode.", "max": 1.0, "min": 0.0, "name": "CP_DELAY", "shortDesc": "Average delay of the range sensor message plus the tracking delay of the position controller in seconds", "type": "Float", "units": "s"}, {"category": "Standard", "default": -1.0, "group": "Multicopter Position Control", "longDesc": "Only used in Position mode. Collision avoidance is disabled by setting this parameter to a negative value", "max": 15.0, "min": -1.0, "name": "CP_DIST", "shortDesc": "Minimum distance the vehicle should keep to all obstacles", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Multicopter Position Control", "longDesc": "Only used in Position mode.", "name": "CP_GO_NO_DATA", "shortDesc": "Boolean to allow moving into directions where there is no sensor data (outside FOV)", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 30.0, "group": "Multicopter Position Control", "longDesc": "Only used in Position mode.", "max": 90.0, "min": 0.0, "name": "CP_GUIDE_ANG", "shortDesc": "Angle left/right from the commanded setpoint by which the collision prevention algorithm can choose to change the setpoint direction", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Multicopter Position Control", "longDesc": "Setting this parameter to 0 disables the filter", "max": 2.0, "min": 0.0, "name": "MC_MAN_TILT_TAU", "shortDesc": "Manual tilt input filter time constant", "type": "Float", "units": "s"}, {"category": "Standard", "default": 1, "group": "Multicopter Position Control", "longDesc": "Set to decouple tilt from vertical acceleration. This provides smoother flight but slightly worse tracking in position and auto modes. Unset if accurate position tracking during dynamic maneuvers is more important than a smooth flight.", "name": "MPC_ACC_DECOUPLE", "shortDesc": "Acceleration to tilt coupling", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "Multicopter Position Control", "increment": 1.0, "max": 15.0, "min": 2.0, "name": "MPC_ACC_DOWN_MAX", "shortDesc": "Maximum downwards acceleration in climb rate controlled modes", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "Multicopter Position Control", "increment": 1.0, "longDesc": "When piloting manually, this parameter is only used in MPC_POS_MODE Acceleration based.", "max": 15.0, "min": 2.0, "name": "MPC_ACC_HOR", "shortDesc": "Acceleration for autonomous and for manual modes", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 2, "default": 5.0, "group": "Multicopter Position Control", "increment": 1.0, "longDesc": "MPC_POS_MODE 1 just deceleration 3 acceleration and deceleration 4 not used, use MPC_ACC_HOR instead", "max": 15.0, "min": 2.0, "name": "MPC_ACC_HOR_MAX", "shortDesc": "Maximum horizontal acceleration", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 1, "default": 4.0, "group": "Multicopter Position Control", "increment": 1.0, "max": 15.0, "min": 2.0, "name": "MPC_ACC_UP_MAX", "shortDesc": "Maximum upwards acceleration in climb rate controlled modes", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "default": 2, "group": "Multicopter Position Control", "longDesc": "Set to 0 to control height relative to the earth frame origin. This origin may move up and down in flight due to sensor drift. Set to 1 to control height relative to estimated distance to ground. The vehicle will move up and down with terrain height variation. Requires a distance to ground sensor. The height controller will revert to using height above origin if the distance to ground estimate becomes invalid as indicated by the local_position.distance_bottom_valid message being false. Set to 2 to control height relative to ground (requires a distance sensor) when stationary and relative to earth frame origin when moving horizontally. The speed threshold is controlled by the MPC_HOLD_MAX_XY parameter.", "max": 2, "min": 0, "name": "MPC_ALT_MODE", "shortDesc": "Altitude reference mode", "type": "Int32", "values": [{"description": "Altitude following", "value": 0}, {"description": "Terrain following", "value": 1}, {"description": "Terrain hold", "value": 2}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "Multicopter Position Control", "increment": 0.01, "longDesc": "Does not apply to manual throttle and direct attitude piloting by stick.", "max": 1.0, "min": 0.0, "name": "MPC_HOLD_DZ", "shortDesc": "Deadzone for sticks in manual piloted modes", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.8, "group": "Multicopter Position Control", "longDesc": "Only used with MPC_POS_MODE Direct velocity or MPC_ALT_MODE 2", "max": 3.0, "min": 0.0, "name": "MPC_HOLD_MAX_XY", "shortDesc": "Maximum horizontal velocity for which position hold is enabled (use 0 to disable check)", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.6, "group": "Multicopter Position Control", "longDesc": "Only used with MPC_ALT_MODE 1", "max": 3.0, "min": 0.0, "name": "MPC_HOLD_MAX_Z", "shortDesc": "Maximum vertical velocity for which position hold is enabled (use 0 to disable check)", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 4.0, "group": "Multicopter Position Control", "increment": 1.0, "longDesc": "Limit the maximum jerk of the vehicle (how fast the acceleration can change). A lower value leads to smoother vehicle motions but also limited agility.", "max": 80.0, "min": 1.0, "name": "MPC_JERK_AUTO", "shortDesc": "Jerk limit in autonomous modes", "type": "Float", "units": "m/s^3"}, {"category": "Standard", "decimalPlaces": 0, "default": 8.0, "group": "Multicopter Position Control", "increment": 1.0, "longDesc": "Limit the maximum jerk of the vehicle (how fast the acceleration can change). A lower value leads to smoother motions but limits agility (how fast it can change directions or break). Setting this to the maximum value essentially disables the limit. Only used with smooth MPC_POS_MODE Smoothed velocity and Acceleration based.", "max": 500.0, "min": 0.5, "name": "MPC_JERK_MAX", "shortDesc": "Maximum horizontal and vertical jerk in Position/Altitude mode", "type": "Float", "units": "m/s^3"}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "Multicopter Position Control", "longDesc": "Below this altitude descending velocity gets limited to a value between \"MPC_Z_VEL_MAX_DN\" (or \"MPC_Z_V_AUTO_DN\") and \"MPC_LAND_SPEED\" Value needs to be higher than \"MPC_LAND_ALT2\"", "max": 122.0, "min": 0.0, "name": "MPC_LAND_ALT1", "shortDesc": "Altitude for 1. step of slow landing (descend)", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "Multicopter Position Control", "longDesc": "Below this altitude descending velocity gets limited to \"MPC_LAND_SPEED\" Value needs to be lower than \"MPC_LAND_ALT1\"", "max": 122.0, "min": 0.0, "name": "MPC_LAND_ALT2", "shortDesc": "Altitude for 2. step of slow landing (landing)", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "Multicopter Position Control", "longDesc": "Below this altitude descending velocity gets limited to \"MPC_LAND_CRWL\", if LIDAR available. No effect if LIDAR not available", "max": 122.0, "min": 0.0, "name": "MPC_LAND_ALT3", "shortDesc": "Altitude for 3. step of slow landing", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.3, "group": "Multicopter Position Control", "longDesc": "Used below MPC_LAND_ALT3 if distance sensor data is availabe.", "min": 0.1, "name": "MPC_LAND_CRWL", "shortDesc": "Land crawl descend rate", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 0, "default": 1000.0, "group": "Multicopter Position Control", "increment": 1.0, "longDesc": "When nudging is enabled (see MPC_LAND_RC_HELP), this controls the maximum allowed horizontal displacement from the original landing point.", "min": 0.0, "name": "MPC_LAND_RADIUS", "shortDesc": "User assisted landing radius", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Multicopter Position Control", "longDesc": "Using stick input the vehicle can be moved horizontally and yawed. The descend speed is amended: stick full up - 0 stick centered - MPC_LAND_SPEED stick full down - 2 * MPC_LAND_SPEED Manual override during auto modes has to be disabled to use this feature (see COM_RC_OVERRIDE).", "max": 1, "min": 0, "name": "MPC_LAND_RC_HELP", "shortDesc": "Enable nudging based on user input during autonomous land routine", "type": "Int32", "values": [{"description": "Nudging disabled", "value": 0}, {"description": "Nudging enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 0.7, "group": "Multicopter Position Control", "min": 0.6, "name": "MPC_LAND_SPEED", "shortDesc": "Landing descend rate", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.08, "group": "Multicopter Position Control", "increment": 0.01, "longDesc": "The value is mapped to the lowest throttle stick position in Stabilized mode. Too low collective thrust leads to loss of roll/pitch/yaw torque control authority. Airmode is used to keep torque authority with zero thrust (see MC_AIRMODE).", "max": 1.0, "min": 0.0, "name": "MPC_MANTHR_MIN", "shortDesc": "Minimum collective thrust in Stabilized mode", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 0, "default": 35.0, "group": "Multicopter Position Control", "increment": 1.0, "max": 70.0, "min": 1.0, "name": "MPC_MAN_TILT_MAX", "shortDesc": "Maximal tilt angle in Stabilized or Altitude mode", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 0, "default": 150.0, "group": "Multicopter Position Control", "increment": 10.0, "max": 400.0, "min": 0.0, "name": "MPC_MAN_Y_MAX", "shortDesc": "Max manual yaw rate for Stabilized, Altitude, Position mode", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.08, "group": "Multicopter Position Control", "increment": 0.01, "longDesc": "Not used in Stabilized mode Setting this parameter to 0 disables the filter", "max": 5.0, "min": 0.0, "name": "MPC_MAN_Y_TAU", "shortDesc": "Manual yaw rate input filter time constant", "type": "Float", "units": "s"}, {"category": "Standard", "default": 4, "group": "Multicopter Position Control", "longDesc": "The supported sub-modes are: - \"Direct velocity\": Sticks directly map to velocity setpoints without smoothing. Also applies to vertical direction and Altitude mode. Useful for velocity control tuning. - \"Smoothed velocity\": Sticks map to velocity but with maximum acceleration and jerk limits based on jerk optimized trajectory generator (different algorithm than 1). - \"Acceleration based\": Sticks map to acceleration and there's a virtual brake drag", "name": "MPC_POS_MODE", "shortDesc": "Position/Altitude mode variant", "type": "Int32", "values": [{"description": "Direct velocity", "value": 0}, {"description": "Smoothed velocity", "value": 3}, {"description": "Acceleration based", "value": 4}]}, {"category": "Standard", "default": 0, "group": "Multicopter Position Control", "longDesc": "This parameter defines how the throttle stick input is mapped to collective thrust in Stabilized mode. In case the default is used ('Rescale to hover thrust'), the stick input is linearly rescaled, such that a centered stick corresponds to the hover throttle (see MPC_THR_HOVER). Select 'No Rescale' to directly map the stick 1:1 to the output. This can be useful in case the hover thrust is very low and the default would lead to too much distortion (e.g. if hover thrust is set to 20%, then 80% of the upper thrust range is squeezed into the upper half of the stick range). Note: In case MPC_THR_HOVER is set to 50%, the modes 0 and 1 are the same.", "name": "MPC_THR_CURVE", "shortDesc": "Thrust curve mapping in Stabilized Mode", "type": "Int32", "values": [{"description": "Rescale to hover thrust", "value": 0}, {"description": "No Rescale", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.5, "group": "Multicopter Position Control", "increment": 0.01, "longDesc": "Mapped to center throttle stick in Stabilized mode (see MPC_THR_CURVE). Used for initialization of the hover thrust estimator (see MPC_USE_HTE). The estimated hover thrust is used as base for zero vertical acceleration in altitude control. The hover thrust is important for land detection to work correctly.", "max": 0.8, "min": 0.1, "name": "MPC_THR_HOVER", "shortDesc": "Vertical thrust required to hover", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Multicopter Position Control", "increment": 0.05, "longDesc": "Limit allowed thrust e.g. for indoor test of overpowered vehicle.", "max": 1.0, "min": 0.0, "name": "MPC_THR_MAX", "shortDesc": "Maximum collective thrust in climb rate controlled modes", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.12, "group": "Multicopter Position Control", "increment": 0.01, "longDesc": "Too low thrust leads to loss of roll/pitch/yaw torque control authority. With airmode enabled this parameters can be set to 0 while still keeping torque authority (see MC_AIRMODE).", "max": 0.5, "min": 0.05, "name": "MPC_THR_MIN", "shortDesc": "Minimum collective thrust in climb rate controlled modes", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.3, "group": "Multicopter Position Control", "increment": 0.01, "longDesc": "Margin that is kept for horizontal control when higher priority vertical thrust is saturated. To avoid completely starving horizontal control with high vertical error.", "max": 0.5, "min": 0.0, "name": "MPC_THR_XY_MARG", "shortDesc": "Horizontal thrust margin", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 0, "default": 45.0, "group": "Multicopter Position Control", "increment": 1.0, "longDesc": "Absolute maximum for all velocity or acceleration controlled modes. Any higher value is truncated.", "max": 89.0, "min": 20.0, "name": "MPC_TILTMAX_AIR", "shortDesc": "Maximum tilt angle in air", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 0, "default": 12.0, "group": "Multicopter Position Control", "increment": 1.0, "longDesc": "Tighter tilt limit during takeoff to avoid tip over.", "max": 89.0, "min": 5.0, "name": "MPC_TILTMAX_LND", "shortDesc": "Maximum tilt during inital takeoff ramp", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 3.0, "group": "Multicopter Position Control", "longDesc": "Increasing this value will make climb rate controlled takeoff slower. If it's too slow the drone might scratch the ground and tip over. A time constant of 0 disables the ramp", "max": 5.0, "min": 0.0, "name": "MPC_TKO_RAMP_T", "shortDesc": "Smooth takeoff ramp time constant", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.5, "group": "Multicopter Position Control", "max": 5.0, "min": 1.0, "name": "MPC_TKO_SPEED", "shortDesc": "Takeoff climb rate", "type": "Float", "units": "m/s"}, {"category": "Standard", "default": 1, "group": "Multicopter Position Control", "longDesc": "Disable to use the fixed parameter MPC_THR_HOVER Enable to use the hover thrust estimator", "name": "MPC_USE_HTE", "shortDesc": "Hover thrust estimator", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "Multicopter Position Control", "increment": 0.5, "longDesc": "A value of 0 disables the filter.", "max": 50.0, "min": 0.0, "name": "MPC_VELD_LP", "shortDesc": "Velocity derivative low pass cutoff frequency", "type": "Float", "units": "Hz"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "Multicopter Position Control", "increment": 0.5, "longDesc": "A value of 0 disables the filter.", "max": 50.0, "min": 0.0, "name": "MPC_VEL_LP", "shortDesc": "Velocity low pass cutoff frequency", "type": "Float", "units": "Hz"}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "Multicopter Position Control", "increment": 1.0, "longDesc": "Must be smaller than MPC_XY_VEL_MAX. The maximum sideways and backward speed can be set differently using MPC_VEL_MAN_SIDE and MPC_VEL_MAN_BACK, respectively.", "max": 20.0, "min": 3.0, "name": "MPC_VEL_MANUAL", "shortDesc": "Maximum horizontal velocity setpoint in Position mode", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": -1.0, "group": "Multicopter Position Control", "increment": 1.0, "longDesc": "If set to a negative value or larger than MPC_VEL_MANUAL then MPC_VEL_MANUAL is used.", "max": 20.0, "min": -1.0, "name": "MPC_VEL_MAN_BACK", "shortDesc": "Maximum backward velocity in Position mode", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": -1.0, "group": "Multicopter Position Control", "increment": 1.0, "longDesc": "If set to a negative value or larger than MPC_VEL_MANUAL then MPC_VEL_MANUAL is used.", "max": 20.0, "min": -1.0, "name": "MPC_VEL_MAN_SIDE", "shortDesc": "Maximum sideways velocity in Position mode", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "Multicopter Position Control", "increment": 0.5, "longDesc": "A value of 0 disables the filter.", "max": 50.0, "min": 0.0, "name": "MPC_VEL_NF_BW", "shortDesc": "Velocity notch filter bandwidth", "type": "Float", "units": "Hz"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "Multicopter Position Control", "increment": 0.5, "longDesc": "The center frequency for the 2nd order notch filter on the velocity. A value of 0 disables the filter.", "max": 50.0, "min": 0.0, "name": "MPC_VEL_NF_FRQ", "shortDesc": "Velocity notch filter frequency", "type": "Float", "units": "Hz"}, {"category": "Standard", "decimalPlaces": 0, "default": 5.0, "group": "Multicopter Position Control", "increment": 1.0, "longDesc": "e.g. in Missions, RTL, Goto if the waypoint does not specify differently", "max": 20.0, "min": 3.0, "name": "MPC_XY_CRUISE", "shortDesc": "Default horizontal velocity in autonomous modes", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 2.0, "group": "Multicopter Position Control", "increment": 1.0, "longDesc": "The integration speed of the trajectory setpoint is linearly reduced with the horizontal position tracking error. When the error is above this parameter, the integration of the trajectory is stopped to wait for the drone. This value can be adjusted depending on the tracking capabilities of the vehicle.", "max": 10.0, "min": 0.1, "name": "MPC_XY_ERR_MAX", "shortDesc": "Maximum horizontal error allowed by the trajectory generator", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.6, "group": "Multicopter Position Control", "increment": 0.01, "longDesc": "The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve 1 Purely cubic input curve", "max": 1.0, "min": 0.0, "name": "MPC_XY_MAN_EXPO", "shortDesc": "Manual position control stick exponential curve sensitivity", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.95, "group": "Multicopter Position Control", "increment": 0.1, "longDesc": "Defined as corrective velocity in m/s per m position error", "max": 2.0, "min": 0.0, "name": "MPC_XY_P", "shortDesc": "Proportional gain for horizontal position error", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.5, "group": "Multicopter Position Control", "increment": 0.1, "max": 1.0, "min": 0.1, "name": "MPC_XY_TRAJ_P", "shortDesc": "Proportional gain for horizontal trajectory position error", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": -10.0, "group": "Multicopter Position Control", "increment": 1.0, "longDesc": "If set to a value greater than zero, other parameters are automatically set (such as MPC_XY_VEL_MAX or MPC_VEL_MANUAL). If set to a negative value, the existing individual parameters are used.", "max": 20.0, "min": -20.0, "name": "MPC_XY_VEL_ALL", "shortDesc": "Overall Horizontal Velocity Limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "Multicopter Position Control", "increment": 0.02, "longDesc": "Defined as corrective acceleration in m/s^2 per m/s^2 velocity derivative", "max": 2.0, "min": 0.1, "name": "MPC_XY_VEL_D_ACC", "shortDesc": "Differential gain for horizontal velocity error", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.4, "group": "Multicopter Position Control", "increment": 0.02, "longDesc": "Defined as correction acceleration in m/s^2 per m velocity integral Allows to eliminate steady state errors in disturbances like wind.", "max": 60.0, "min": 0.0, "name": "MPC_XY_VEL_I_ACC", "shortDesc": "Integral gain for horizontal velocity error", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 12.0, "group": "Multicopter Position Control", "increment": 1.0, "longDesc": "Absolute maximum for all velocity controlled modes. Any higher value is truncated.", "max": 20.0, "min": 0.0, "name": "MPC_XY_VEL_MAX", "shortDesc": "Maximum horizontal velocity", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.8, "group": "Multicopter Position Control", "increment": 0.1, "longDesc": "Defined as corrective acceleration in m/s^2 per m/s velocity error", "max": 5.0, "min": 1.2, "name": "MPC_XY_VEL_P_ACC", "shortDesc": "Proportional gain for horizontal velocity error", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.6, "group": "Multicopter Position Control", "increment": 0.01, "longDesc": "The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve 1 Purely cubic input curve", "max": 1.0, "min": 0.0, "name": "MPC_YAW_EXPO", "shortDesc": "Manual control stick yaw rotation exponential curve", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.6, "group": "Multicopter Position Control", "increment": 0.01, "longDesc": "The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve 1 Purely cubic input curve", "max": 1.0, "min": 0.0, "name": "MPC_Z_MAN_EXPO", "shortDesc": "Manual control stick vertical exponential curve", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Multicopter Position Control", "increment": 0.1, "longDesc": "Defined as corrective velocity in m/s per m position error", "max": 1.5, "min": 0.1, "name": "MPC_Z_P", "shortDesc": "Proportional gain for vertical position error", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": -3.0, "group": "Multicopter Position Control", "increment": 0.5, "longDesc": "If set to a value greater than zero, other parameters are automatically set (such as MPC_Z_VEL_MAX_UP or MPC_LAND_SPEED). If set to a negative value, the existing individual parameters are used.", "max": 8.0, "min": -3.0, "name": "MPC_Z_VEL_ALL", "shortDesc": "Overall Vertical Velocity Limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Multicopter Position Control", "increment": 0.02, "longDesc": "Defined as corrective acceleration in m/s^2 per m/s^2 velocity derivative", "max": 2.0, "min": 0.0, "name": "MPC_Z_VEL_D_ACC", "shortDesc": "Differential gain for vertical velocity error", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 2.0, "group": "Multicopter Position Control", "increment": 0.1, "longDesc": "Defined as corrective acceleration in m/s^2 per m velocity integral", "max": 3.0, "min": 0.2, "name": "MPC_Z_VEL_I_ACC", "shortDesc": "Integral gain for vertical velocity error", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.5, "group": "Multicopter Position Control", "increment": 0.1, "longDesc": "Absolute maximum for all climb rate controlled modes. In manually piloted modes full stick deflection commands this velocity. For default autonomous velocity see MPC_Z_V_AUTO_UP", "max": 4.0, "min": 0.5, "name": "MPC_Z_VEL_MAX_DN", "shortDesc": "Maximum descent velocity", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "Multicopter Position Control", "increment": 0.1, "longDesc": "Absolute maximum for all climb rate controlled modes. In manually piloted modes full stick deflection commands this velocity. For default autonomous velocity see MPC_Z_V_AUTO_UP", "max": 8.0, "min": 0.5, "name": "MPC_Z_VEL_MAX_UP", "shortDesc": "Maximum ascent velocity", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 4.0, "group": "Multicopter Position Control", "increment": 0.1, "longDesc": "Defined as corrective acceleration in m/s^2 per m/s velocity error", "max": 15.0, "min": 2.0, "name": "MPC_Z_VEL_P_ACC", "shortDesc": "Proportional gain for vertical velocity error", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.5, "group": "Multicopter Position Control", "increment": 0.5, "longDesc": "For manual modes and offboard, see MPC_Z_VEL_MAX_DN", "max": 4.0, "min": 0.5, "name": "MPC_Z_V_AUTO_DN", "shortDesc": "Descent velocity in autonomous modes", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "Multicopter Position Control", "increment": 0.5, "longDesc": "For manually controlled modes and offboard see MPC_Z_VEL_MAX_UP", "max": 8.0, "min": 0.5, "name": "MPC_Z_V_AUTO_UP", "shortDesc": "Ascent velocity in autonomous modes", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": -0.4, "group": "Multicopter Position Control", "increment": 0.05, "longDesc": "Changes the overall responsiveness of the vehicle. The higher the value, the faster the vehicle will react. If set to a value greater than zero, other parameters are automatically set (such as the acceleration or jerk limits). If set to a negative value, the existing individual parameters are used.", "max": 1.0, "min": -1.0, "name": "SYS_VEHICLE_RESP", "shortDesc": "Responsiveness", "type": "Float"}, {"category": "Standard", "default": 0, "group": "Multicopter Position Control", "name": "WV_EN", "shortDesc": "Enable weathervane", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1.0, "group": "Multicopter Position Control", "max": 5.0, "min": 0.0, "name": "WV_ROLL_MIN", "shortDesc": "Minimum roll angle setpoint for weathervane controller to demand a yaw-rate", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 90.0, "group": "Multicopter Position Control", "max": 120.0, "min": 0.0, "name": "WV_YRATE_MAX", "shortDesc": "Maximum yawrate the weathervane controller is allowed to demand", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 3.0, "group": "Multicopter Position Slow Mode", "increment": 0.1, "longDesc": "This value is used in slow mode if no aux channel is mapped and no limit is commanded through MAVLink.", "min": 0.1, "name": "MC_SLOW_DEF_HVEL", "shortDesc": "Default horizontal velocity limit", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Multicopter Position Slow Mode", "increment": 0.1, "longDesc": "This value is used in slow mode if no aux channel is mapped and no limit is commanded through MAVLink.", "min": 0.1, "name": "MC_SLOW_DEF_VVEL", "shortDesc": "Default vertical velocity limit", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 0, "default": 45.0, "group": "Multicopter Position Slow Mode", "increment": 0.1, "longDesc": "This value is used in slow mode if no aux channel is mapped and no limit is commanded through MAVLink.", "min": 1.0, "name": "MC_SLOW_DEF_YAWR", "shortDesc": "Default yaw rate limit", "type": "Float", "units": "deg/s"}, {"category": "Standard", "default": 0, "group": "Multicopter Position Slow Mode", "name": "MC_SLOW_MAP_HVEL", "shortDesc": "Manual input mapped to scale horizontal velocity in position slow mode", "type": "Int32", "values": [{"description": "No rescaling", "value": 0}, {"description": "AUX1", "value": 1}, {"description": "AUX2", "value": 2}, {"description": "AUX3", "value": 3}, {"description": "AUX4", "value": 4}, {"description": "AUX5", "value": 5}, {"description": "AUX6", "value": 6}]}, {"category": "Standard", "default": 0, "group": "Multicopter Position Slow Mode", "name": "MC_SLOW_MAP_VVEL", "shortDesc": "Manual input mapped to scale vertical velocity in position slow mode", "type": "Int32", "values": [{"description": "No rescaling", "value": 0}, {"description": "AUX1", "value": 1}, {"description": "AUX2", "value": 2}, {"description": "AUX3", "value": 3}, {"description": "AUX4", "value": 4}, {"description": "AUX5", "value": 5}, {"description": "AUX6", "value": 6}]}, {"category": "Standard", "default": 0, "group": "Multicopter Position Slow Mode", "name": "MC_SLOW_MAP_YAWR", "shortDesc": "Manual input mapped to scale yaw rate in position slow mode", "type": "Int32", "values": [{"description": "No rescaling", "value": 0}, {"description": "AUX1", "value": 1}, {"description": "AUX2", "value": 2}, {"description": "AUX3", "value": 3}, {"description": "AUX4", "value": 4}, {"description": "AUX5", "value": 5}, {"description": "AUX6", "value": 6}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.3, "group": "Multicopter Position Slow Mode", "increment": 0.1, "longDesc": "The lowest input maps and is clamped to this velocity.", "min": 0.1, "name": "MC_SLOW_MIN_HVEL", "shortDesc": "Horizontal velocity lower limit", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.3, "group": "Multicopter Position Slow Mode", "increment": 0.1, "longDesc": "The lowest input maps and is clamped to this velocity.", "min": 0.1, "name": "MC_SLOW_MIN_VVEL", "shortDesc": "Vertical velocity lower limit", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 0, "default": 3.0, "group": "Multicopter Position Slow Mode", "increment": 0.1, "longDesc": "The lowest input maps and is clamped to this rate.", "min": 1.0, "name": "MC_SLOW_MIN_YAWR", "shortDesc": "Yaw rate lower limit", "type": "Float", "units": "deg/s"}, {"category": "Standard", "default": 0, "group": "Multicopter Rate Control", "longDesc": "This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery. The copter should constantly behave as if it was fully charged with reduced max acceleration at lower battery percentages. i.e. if hover is at 0.5 throttle at 100% battery, it will still be 0.5 at 60% battery.", "name": "MC_BAT_SCALE_EN", "shortDesc": "Battery power level scaler", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 4, "default": 0.003, "group": "Multicopter Rate Control", "increment": 0.0005, "longDesc": "Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.", "min": 0.0, "name": "MC_PITCHRATE_D", "shortDesc": "Pitch rate D gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 4, "default": 0.0, "group": "Multicopter Rate Control", "longDesc": "Improves tracking performance.", "min": 0.0, "name": "MC_PITCHRATE_FF", "shortDesc": "Pitch rate feedforward", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.2, "group": "Multicopter Rate Control", "increment": 0.01, "longDesc": "Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset.", "min": 0.0, "name": "MC_PITCHRATE_I", "shortDesc": "Pitch rate I gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 4, "default": 1.0, "group": "Multicopter Rate Control", "increment": 0.0005, "longDesc": "Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_PITCHRATE_K * (MC_PITCHRATE_P * error + MC_PITCHRATE_I * error_integral + MC_PITCHRATE_D * error_derivative) Set MC_PITCHRATE_P=1 to implement a PID in the ideal form. Set MC_PITCHRATE_K=1 to implement a PID in the parallel form.", "max": 5.0, "min": 0.01, "name": "MC_PITCHRATE_K", "shortDesc": "Pitch rate controller gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.15, "group": "Multicopter Rate Control", "increment": 0.01, "longDesc": "Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.", "max": 0.6, "min": 0.01, "name": "MC_PITCHRATE_P", "shortDesc": "Pitch rate P gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.3, "group": "Multicopter Rate Control", "increment": 0.01, "longDesc": "Pitch rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large pitch moment trim changes.", "min": 0.0, "name": "MC_PR_INT_LIM", "shortDesc": "Pitch rate integrator limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 4, "default": 0.003, "group": "Multicopter Rate Control", "increment": 0.0005, "longDesc": "Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.", "max": 0.01, "min": 0.0, "name": "MC_ROLLRATE_D", "shortDesc": "Roll rate D gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 4, "default": 0.0, "group": "Multicopter Rate Control", "longDesc": "Improves tracking performance.", "min": 0.0, "name": "MC_ROLLRATE_FF", "shortDesc": "Roll rate feedforward", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.2, "group": "Multicopter Rate Control", "increment": 0.01, "longDesc": "Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset.", "min": 0.0, "name": "MC_ROLLRATE_I", "shortDesc": "Roll rate I gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 4, "default": 1.0, "group": "Multicopter Rate Control", "increment": 0.0005, "longDesc": "Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_ROLLRATE_K * (MC_ROLLRATE_P * error + MC_ROLLRATE_I * error_integral + MC_ROLLRATE_D * error_derivative) Set MC_ROLLRATE_P=1 to implement a PID in the ideal form. Set MC_ROLLRATE_K=1 to implement a PID in the parallel form.", "max": 5.0, "min": 0.01, "name": "MC_ROLLRATE_K", "shortDesc": "Roll rate controller gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.15, "group": "Multicopter Rate Control", "increment": 0.01, "longDesc": "Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.", "max": 0.5, "min": 0.01, "name": "MC_ROLLRATE_P", "shortDesc": "Roll rate P gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.3, "group": "Multicopter Rate Control", "increment": 0.01, "longDesc": "Roll rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large roll moment trim changes.", "min": 0.0, "name": "MC_RR_INT_LIM", "shortDesc": "Roll rate integrator limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Multicopter Rate Control", "increment": 0.01, "longDesc": "Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.", "min": 0.0, "name": "MC_YAWRATE_D", "shortDesc": "Yaw rate D gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 4, "default": 0.0, "group": "Multicopter Rate Control", "increment": 0.01, "longDesc": "Improves tracking performance.", "min": 0.0, "name": "MC_YAWRATE_FF", "shortDesc": "Yaw rate feedforward", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "Multicopter Rate Control", "increment": 0.01, "longDesc": "Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset.", "min": 0.0, "name": "MC_YAWRATE_I", "shortDesc": "Yaw rate I gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 4, "default": 1.0, "group": "Multicopter Rate Control", "increment": 0.0005, "longDesc": "Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_YAWRATE_K * (MC_YAWRATE_P * error + MC_YAWRATE_I * error_integral + MC_YAWRATE_D * error_derivative) Set MC_YAWRATE_P=1 to implement a PID in the ideal form. Set MC_YAWRATE_K=1 to implement a PID in the parallel form.", "max": 5.0, "min": 0.0, "name": "MC_YAWRATE_K", "shortDesc": "Yaw rate controller gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "Multicopter Rate Control", "increment": 0.01, "longDesc": "Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.", "max": 0.6, "min": 0.0, "name": "MC_YAWRATE_P", "shortDesc": "Yaw rate P gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.3, "group": "Multicopter Rate Control", "increment": 0.01, "longDesc": "Yaw rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large yaw moment trim changes.", "min": 0.0, "name": "MC_YR_INT_LIM", "shortDesc": "Yaw rate integrator limit", "type": "Float"}, {"category": "Standard", "default": 0, "group": "OSD", "longDesc": "Controls the vertical position of the crosshair display. Resolution is limited by OSD to 15 discrete values. Negative values will display the crosshairs below the horizon", "max": 8, "min": -8, "name": "OSD_CH_HEIGHT", "shortDesc": "OSD Crosshairs Height", "type": "Int32"}, {"category": "Standard", "default": 500, "group": "OSD", "longDesc": "Amount of time in milliseconds to dwell at the beginning of the display, when scrolling.", "max": 10000, "min": 100, "name": "OSD_DWELL_TIME", "shortDesc": "OSD Dwell Time (ms)", "type": "Int32"}, {"category": "Standard", "default": 3, "group": "OSD", "longDesc": "Minimum security of log level to display on the OSD.", "name": "OSD_LOG_LEVEL", "shortDesc": "OSD Warning Level", "type": "Int32"}, {"category": "Standard", "default": 125, "group": "OSD", "longDesc": "Scroll rate in milliseconds for OSD messages longer than available character width. This is lower-bounded by the nominal loop rate of this module.", "max": 1000, "min": 100, "name": "OSD_SCROLL_RATE", "shortDesc": "OSD Scroll Rate (ms)", "type": "Int32"}, {"bitmask": [{"description": "CRAFT_NAME", "index": 0}, {"description": "DISARMED", "index": 1}, {"description": "GPS_LAT", "index": 2}, {"description": "GPS_LON", "index": 3}, {"description": "GPS_SATS", "index": 4}, {"description": "GPS_SPEED", "index": 5}, {"description": "HOME_DIST", "index": 6}, {"description": "HOME_DIR", "index": 7}, {"description": "MAIN_BATT_VOLTAGE", "index": 8}, {"description": "CURRENT_DRAW", "index": 9}, {"description": "MAH_DRAWN", "index": 10}, {"description": "RSSI_VALUE", "index": 11}, {"description": "ALTITUDE", "index": 12}, {"description": "NUMERICAL_VARIO", "index": 13}, {"description": "(unused) FLYMODE", "index": 14}, {"description": "(unused) ESC_TMP", "index": 15}, {"description": "(unused) PITCH_ANGLE", "index": 16}, {"description": "(unused) ROLL_ANGLE", "index": 17}, {"description": "CROSSHAIRS", "index": 18}, {"description": "AVG_CELL_VOLTAGE", "index": 19}, {"description": "(unused) HORIZON_SIDEBARS", "index": 20}, {"description": "POWER", "index": 21}], "category": "Standard", "default": 16383, "group": "OSD", "longDesc": "Configure / toggle support display options.", "max": 4194303, "min": 0, "name": "OSD_SYMBOLS", "shortDesc": "OSD Symbol Selection", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "PWM Outputs", "increment": 0.1, "longDesc": "Parameter used to model the nonlinear relationship between motor control signal (e.g. PWM) and static thrust. The model is: rel_thrust = factor * rel_signal^2 + (1-factor) * rel_signal, where rel_thrust is the normalized thrust between 0 and 1, and rel_signal is the relative motor control signal between 0 and 1.", "max": 1.0, "min": 0.0, "name": "THR_MDL_FAC", "shortDesc": "Thrust to motor control signal model parameter", "type": "Float"}, {"category": "Standard", "default": 0, "group": "Payload Deliverer", "name": "PD_GRIPPER_EN", "rebootRequired": true, "shortDesc": "Enable Gripper actuation in Payload Deliverer", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 3.0, "group": "Payload Deliverer", "longDesc": "Maximum time Gripper will wait while the successful griper actuation isn't recognised. If the gripper has no feedback sensor, it will simply wait for this time before considering gripper actuation successful and publish a 'VehicleCommandAck' signaling successful gripper action", "min": 0.0, "name": "PD_GRIPPER_TO", "shortDesc": "Timeout for successful gripper actuation acknowledgement", "type": "Float", "units": "s"}, {"category": "Standard", "default": 0, "group": "Payload Deliverer", "max": 0, "min": -1, "name": "PD_GRIPPER_TYPE", "shortDesc": "Type of Gripper (Servo, etc.)", "type": "Int32", "values": [{"description": "Undefined", "value": -1}, {"description": "Servo", "value": 0}]}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "Precision Land", "increment": 0.5, "longDesc": "Time after which the landing target is considered lost without any new measurements.", "max": 50.0, "min": 0.0, "name": "PLD_BTOUT", "shortDesc": "Landing Target Timeout", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "Precision Land", "increment": 0.1, "longDesc": "Allow final approach (without horizontal positioning) if losing landing target closer than this to the ground.", "max": 10.0, "min": 0.0, "name": "PLD_FAPPR_ALT", "shortDesc": "Final approach altitude", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "Precision Land", "increment": 0.1, "longDesc": "Start descending if closer above landing target than this.", "max": 10.0, "min": 0.0, "name": "PLD_HACC_RAD", "shortDesc": "Horizontal acceptance radius", "type": "Float", "units": "m"}, {"category": "Standard", "default": 3, "group": "Precision Land", "longDesc": "Maximum number of times to search for the landing target if it is lost during the precision landing.", "max": 100, "min": 0, "name": "PLD_MAX_SRCH", "shortDesc": "Maximum number of search attempts", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "Precision Land", "increment": 0.1, "longDesc": "Altitude above home to which to climb when searching for the landing target.", "max": 100.0, "min": 0.0, "name": "PLD_SRCH_ALT", "shortDesc": "Search altitude", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "Precision Land", "increment": 0.1, "longDesc": "Time allowed to search for the landing target before falling back to normal landing.", "max": 100.0, "min": 0.0, "name": "PLD_SRCH_TOUT", "shortDesc": "Search timeout", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Pure Pursuit", "increment": 0.01, "longDesc": "Lower value -> More aggressive controller (beware overshoot/oscillations)", "max": 100.0, "min": 0.1, "name": "PP_LOOKAHD_GAIN", "shortDesc": "Tuning parameter for the pure pursuit controller", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 10.0, "group": "Pure Pursuit", "increment": 0.01, "max": 100.0, "min": 0.1, "name": "PP_LOOKAHD_MAX", "shortDesc": "Maximum lookahead distance for the pure pursuit controller", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Pure Pursuit", "increment": 0.01, "max": 100.0, "min": 0.1, "name": "PP_LOOKAHD_MIN", "shortDesc": "Minimum lookahead distance for the pure pursuit controller", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0.0, "group": "Radio Calibration", "longDesc": "The +- range of this value around the trim value will be considered as zero.", "max": 100.0, "min": 0.0, "name": "RC10_DZ", "shortDesc": "RC channel 10 dead zone", "type": "Float"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.", "max": 2200.0, "min": 1500.0, "name": "RC10_MAX", "shortDesc": "RC channel 10 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.", "max": 1500.0, "min": 800.0, "name": "RC10_MIN", "shortDesc": "RC channel 10 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.", "max": 1.0, "min": -1.0, "name": "RC10_REV", "shortDesc": "RC channel 10 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value", "max": 2200.0, "min": 800.0, "name": "RC10_TRIM", "shortDesc": "RC channel 10 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 0.0, "group": "Radio Calibration", "longDesc": "The +- range of this value around the trim value will be considered as zero.", "max": 100.0, "min": 0.0, "name": "RC11_DZ", "shortDesc": "RC channel 11 dead zone", "type": "Float"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.", "max": 2200.0, "min": 1500.0, "name": "RC11_MAX", "shortDesc": "RC channel 11 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.", "max": 1500.0, "min": 800.0, "name": "RC11_MIN", "shortDesc": "RC channel 11 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.", "max": 1.0, "min": -1.0, "name": "RC11_REV", "shortDesc": "RC channel 11 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value", "max": 2200.0, "min": 800.0, "name": "RC11_TRIM", "shortDesc": "RC channel 11 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 0.0, "group": "Radio Calibration", "longDesc": "The +- range of this value around the trim value will be considered as zero.", "max": 100.0, "min": 0.0, "name": "RC12_DZ", "shortDesc": "RC channel 12 dead zone", "type": "Float"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.", "max": 2200.0, "min": 1500.0, "name": "RC12_MAX", "shortDesc": "RC channel 12 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.", "max": 1500.0, "min": 800.0, "name": "RC12_MIN", "shortDesc": "RC channel 12 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.", "max": 1.0, "min": -1.0, "name": "RC12_REV", "shortDesc": "RC channel 12 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value", "max": 2200.0, "min": 800.0, "name": "RC12_TRIM", "shortDesc": "RC channel 12 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 0.0, "group": "Radio Calibration", "longDesc": "The +- range of this value around the trim value will be considered as zero.", "max": 100.0, "min": 0.0, "name": "RC13_DZ", "shortDesc": "RC channel 13 dead zone", "type": "Float"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.", "max": 2200.0, "min": 1500.0, "name": "RC13_MAX", "shortDesc": "RC channel 13 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.", "max": 1500.0, "min": 800.0, "name": "RC13_MIN", "shortDesc": "RC channel 13 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.", "max": 1.0, "min": -1.0, "name": "RC13_REV", "shortDesc": "RC channel 13 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value", "max": 2200.0, "min": 800.0, "name": "RC13_TRIM", "shortDesc": "RC channel 13 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 0.0, "group": "Radio Calibration", "longDesc": "The +- range of this value around the trim value will be considered as zero.", "max": 100.0, "min": 0.0, "name": "RC14_DZ", "shortDesc": "RC channel 14 dead zone", "type": "Float"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.", "max": 2200.0, "min": 1500.0, "name": "RC14_MAX", "shortDesc": "RC channel 14 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.", "max": 1500.0, "min": 800.0, "name": "RC14_MIN", "shortDesc": "RC channel 14 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.", "max": 1.0, "min": -1.0, "name": "RC14_REV", "shortDesc": "RC channel 14 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value", "max": 2200.0, "min": 800.0, "name": "RC14_TRIM", "shortDesc": "RC channel 14 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 0.0, "group": "Radio Calibration", "longDesc": "The +- range of this value around the trim value will be considered as zero.", "max": 100.0, "min": 0.0, "name": "RC15_DZ", "shortDesc": "RC channel 15 dead zone", "type": "Float"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.", "max": 2200.0, "min": 1500.0, "name": "RC15_MAX", "shortDesc": "RC channel 15 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.", "max": 1500.0, "min": 800.0, "name": "RC15_MIN", "shortDesc": "RC channel 15 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.", "max": 1.0, "min": -1.0, "name": "RC15_REV", "shortDesc": "RC channel 15 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value", "max": 2200.0, "min": 800.0, "name": "RC15_TRIM", "shortDesc": "RC channel 15 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 0.0, "group": "Radio Calibration", "longDesc": "The +- range of this value around the trim value will be considered as zero.", "max": 100.0, "min": 0.0, "name": "RC16_DZ", "shortDesc": "RC channel 16 dead zone", "type": "Float"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.", "max": 2200.0, "min": 1500.0, "name": "RC16_MAX", "shortDesc": "RC channel 16 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.", "max": 1500.0, "min": 800.0, "name": "RC16_MIN", "shortDesc": "RC channel 16 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.", "max": 1.0, "min": -1.0, "name": "RC16_REV", "shortDesc": "RC channel 16 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value", "max": 2200.0, "min": 800.0, "name": "RC16_TRIM", "shortDesc": "RC channel 16 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 0.0, "group": "Radio Calibration", "longDesc": "The +- range of this value around the trim value will be considered as zero.", "max": 100.0, "min": 0.0, "name": "RC17_DZ", "shortDesc": "RC channel 17 dead zone", "type": "Float"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.", "max": 2200.0, "min": 1500.0, "name": "RC17_MAX", "shortDesc": "RC channel 17 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.", "max": 1500.0, "min": 800.0, "name": "RC17_MIN", "shortDesc": "RC channel 17 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.", "max": 1.0, "min": -1.0, "name": "RC17_REV", "shortDesc": "RC channel 17 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value", "max": 2200.0, "min": 800.0, "name": "RC17_TRIM", "shortDesc": "RC channel 17 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 0.0, "group": "Radio Calibration", "longDesc": "The +- range of this value around the trim value will be considered as zero.", "max": 100.0, "min": 0.0, "name": "RC18_DZ", "shortDesc": "RC channel 18 dead zone", "type": "Float"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.", "max": 2200.0, "min": 1500.0, "name": "RC18_MAX", "shortDesc": "RC channel 18 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.", "max": 1500.0, "min": 800.0, "name": "RC18_MIN", "shortDesc": "RC channel 18 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.", "max": 1.0, "min": -1.0, "name": "RC18_REV", "shortDesc": "RC channel 18 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value", "max": 2200.0, "min": 800.0, "name": "RC18_TRIM", "shortDesc": "RC channel 18 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 10.0, "group": "Radio Calibration", "longDesc": "The +- range of this value around the trim value will be considered as zero.", "max": 100.0, "min": 0.0, "name": "RC1_DZ", "shortDesc": "RC channel 1 dead zone", "type": "Float", "units": "us"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for RC channel 1", "max": 2200.0, "min": 1500.0, "name": "RC1_MAX", "shortDesc": "RC channel 1 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for RC channel 1", "max": 1500.0, "min": 800.0, "name": "RC1_MIN", "shortDesc": "RC channel 1 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.", "max": 1.0, "min": -1.0, "name": "RC1_REV", "shortDesc": "RC channel 1 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value", "max": 2200.0, "min": 800.0, "name": "RC1_TRIM", "shortDesc": "RC channel 1 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 10.0, "group": "Radio Calibration", "longDesc": "The +- range of this value around the trim value will be considered as zero.", "max": 100.0, "min": 0.0, "name": "RC2_DZ", "shortDesc": "RC channel 2 dead zone", "type": "Float", "units": "us"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.", "max": 2200.0, "min": 1500.0, "name": "RC2_MAX", "shortDesc": "RC channel 2 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.", "max": 1500.0, "min": 800.0, "name": "RC2_MIN", "shortDesc": "RC channel 2 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.", "max": 1.0, "min": -1.0, "name": "RC2_REV", "shortDesc": "RC channel 2 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value", "max": 2200.0, "min": 800.0, "name": "RC2_TRIM", "shortDesc": "RC channel 2 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 10.0, "group": "Radio Calibration", "longDesc": "The +- range of this value around the trim value will be considered as zero.", "max": 100.0, "min": 0.0, "name": "RC3_DZ", "shortDesc": "RC channel 3 dead zone", "type": "Float", "units": "us"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.", "max": 2200.0, "min": 1500.0, "name": "RC3_MAX", "shortDesc": "RC channel 3 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.", "max": 1500.0, "min": 800.0, "name": "RC3_MIN", "shortDesc": "RC channel 3 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.", "max": 1.0, "min": -1.0, "name": "RC3_REV", "shortDesc": "RC channel 3 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value", "max": 2200.0, "min": 800.0, "name": "RC3_TRIM", "shortDesc": "RC channel 3 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 10.0, "group": "Radio Calibration", "longDesc": "The +- range of this value around the trim value will be considered as zero.", "max": 100.0, "min": 0.0, "name": "RC4_DZ", "shortDesc": "RC channel 4 dead zone", "type": "Float", "units": "us"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.", "max": 2200.0, "min": 1500.0, "name": "RC4_MAX", "shortDesc": "RC channel 4 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.", "max": 1500.0, "min": 800.0, "name": "RC4_MIN", "shortDesc": "RC channel 4 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.", "max": 1.0, "min": -1.0, "name": "RC4_REV", "shortDesc": "RC channel 4 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value", "max": 2200.0, "min": 800.0, "name": "RC4_TRIM", "shortDesc": "RC channel 4 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 10.0, "group": "Radio Calibration", "longDesc": "The +- range of this value around the trim value will be considered as zero.", "max": 100.0, "min": 0.0, "name": "RC5_DZ", "shortDesc": "RC channel 5 dead zone", "type": "Float"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.", "max": 2200.0, "min": 1500.0, "name": "RC5_MAX", "shortDesc": "RC channel 5 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.", "max": 1500.0, "min": 800.0, "name": "RC5_MIN", "shortDesc": "RC channel 5 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.", "max": 1.0, "min": -1.0, "name": "RC5_REV", "shortDesc": "RC channel 5 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value", "max": 2200.0, "min": 800.0, "name": "RC5_TRIM", "shortDesc": "RC channel 5 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 10.0, "group": "Radio Calibration", "longDesc": "The +- range of this value around the trim value will be considered as zero.", "max": 100.0, "min": 0.0, "name": "RC6_DZ", "shortDesc": "RC channel 6 dead zone", "type": "Float"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.", "max": 2200.0, "min": 1500.0, "name": "RC6_MAX", "shortDesc": "RC channel 6 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.", "max": 1500.0, "min": 800.0, "name": "RC6_MIN", "shortDesc": "RC channel 6 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.", "max": 1.0, "min": -1.0, "name": "RC6_REV", "shortDesc": "RC channel 6 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value", "max": 2200.0, "min": 800.0, "name": "RC6_TRIM", "shortDesc": "RC channel 6 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 10.0, "group": "Radio Calibration", "longDesc": "The +- range of this value around the trim value will be considered as zero.", "max": 100.0, "min": 0.0, "name": "RC7_DZ", "shortDesc": "RC channel 7 dead zone", "type": "Float"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.", "max": 2200.0, "min": 1500.0, "name": "RC7_MAX", "shortDesc": "RC channel 7 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.", "max": 1500.0, "min": 800.0, "name": "RC7_MIN", "shortDesc": "RC channel 7 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.", "max": 1.0, "min": -1.0, "name": "RC7_REV", "shortDesc": "RC channel 7 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value", "max": 2200.0, "min": 800.0, "name": "RC7_TRIM", "shortDesc": "RC channel 7 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 10.0, "group": "Radio Calibration", "longDesc": "The +- range of this value around the trim value will be considered as zero.", "max": 100.0, "min": 0.0, "name": "RC8_DZ", "shortDesc": "RC channel 8 dead zone", "type": "Float"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.", "max": 2200.0, "min": 1500.0, "name": "RC8_MAX", "shortDesc": "RC channel 8 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.", "max": 1500.0, "min": 800.0, "name": "RC8_MIN", "shortDesc": "RC channel 8 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.", "max": 1.0, "min": -1.0, "name": "RC8_REV", "shortDesc": "RC channel 8 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value", "max": 2200.0, "min": 800.0, "name": "RC8_TRIM", "shortDesc": "RC channel 8 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 0.0, "group": "Radio Calibration", "longDesc": "The +- range of this value around the trim value will be considered as zero.", "max": 100.0, "min": 0.0, "name": "RC9_DZ", "shortDesc": "RC channel 9 dead zone", "type": "Float"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.", "max": 2200.0, "min": 1500.0, "name": "RC9_MAX", "shortDesc": "RC channel 9 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.", "max": 1500.0, "min": 800.0, "name": "RC9_MIN", "shortDesc": "RC channel 9 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.", "max": 1.0, "min": -1.0, "name": "RC9_REV", "shortDesc": "RC channel 9 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value", "max": 2200.0, "min": 800.0, "name": "RC9_TRIM", "shortDesc": "RC channel 9 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "longDesc": "This parameter is used by Ground Station software to save the number of channels which were used during RC calibration. It is only meant for ground station use.", "max": 18, "min": 0, "name": "RC_CHAN_CNT", "shortDesc": "RC channel count", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "longDesc": "Use RC_MAP_FAILSAFE to specify which channel is used to indicate RC loss via this threshold. By default this is the throttle channel. Set to a PWM value slightly above the PWM value for the channel (e.g. throttle) in a failsafe event, but below the minimum PWM value for the channel during normal operation. Note: The default value of 0 disables the feature (it is below the expected range).", "max": 2200, "min": 0, "name": "RC_FAILS_THR", "shortDesc": "Failsafe channel PWM threshold", "type": "Int32", "units": "us"}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "longDesc": "Default function: Camera pitch", "max": 18, "min": 0, "name": "RC_MAP_AUX1", "shortDesc": "AUX1 Passthrough RC channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "longDesc": "Default function: Camera roll", "max": 18, "min": 0, "name": "RC_MAP_AUX2", "shortDesc": "AUX2 Passthrough RC channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "longDesc": "Default function: Camera azimuth / yaw", "max": 18, "min": 0, "name": "RC_MAP_AUX3", "shortDesc": "AUX3 Passthrough RC channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "max": 18, "min": 0, "name": "RC_MAP_AUX4", "shortDesc": "AUX4 Passthrough RC channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "max": 18, "min": 0, "name": "RC_MAP_AUX5", "shortDesc": "AUX5 Passthrough RC channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "max": 18, "min": 0, "name": "RC_MAP_AUX6", "shortDesc": "AUX6 Passthrough RC channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "max": 18, "min": 0, "name": "RC_MAP_ENG_MOT", "shortDesc": "RC channel to engage the main motor (for helicopters)", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "longDesc": "Configures which RC channel is used by the receiver to indicate the signal was lost (on receivers that use output a fixed signal value to report lost signal). If set to 0, the channel mapped to throttle is used. Use RC_FAILS_THR to set the threshold indicating lost signal. By default it's below the expected range and hence disabled.", "max": 18, "min": 0, "name": "RC_MAP_FAILSAFE", "shortDesc": "Failsafe channel mapping", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "longDesc": "Can be used for parameter tuning with the RC. This one is further referenced as the 1st parameter channel. Set to 0 to deactivate *", "max": 18, "min": 0, "name": "RC_MAP_PARAM1", "shortDesc": "PARAM1 tuning channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "longDesc": "Can be used for parameter tuning with the RC. This one is further referenced as the 2nd parameter channel. Set to 0 to deactivate *", "max": 18, "min": 0, "name": "RC_MAP_PARAM2", "shortDesc": "PARAM2 tuning channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "longDesc": "Can be used for parameter tuning with the RC. This one is further referenced as the 3th parameter channel. Set to 0 to deactivate *", "max": 18, "min": 0, "name": "RC_MAP_PARAM3", "shortDesc": "PARAM3 tuning channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "longDesc": "The channel index (starting from 1 for channel 1) indicates which channel should be used for reading pitch inputs from. A value of zero indicates the switch is not assigned.", "max": 18, "min": 0, "name": "RC_MAP_PITCH", "shortDesc": "Pitch control channel mapping", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "longDesc": "The channel index (starting from 1 for channel 1) indicates which channel should be used for reading roll inputs from. A value of zero indicates the switch is not assigned.", "max": 18, "min": 0, "name": "RC_MAP_ROLL", "shortDesc": "Roll control channel mapping", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "longDesc": "The channel index (starting from 1 for channel 1) indicates which channel should be used for reading throttle inputs from. A value of zero indicates the switch is not assigned.", "max": 18, "min": 0, "name": "RC_MAP_THROTTLE", "shortDesc": "Throttle control channel mapping", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "longDesc": "The channel index (starting from 1 for channel 1) indicates which channel should be used for reading yaw inputs from. A value of zero indicates the switch is not assigned.", "max": 18, "min": 0, "name": "RC_MAP_YAW", "shortDesc": "Yaw control channel mapping", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "longDesc": "0: do not read RSSI from input channel 1-18: read RSSI from specified input channel Specify the range for RSSI input with RC_RSSI_PWM_MIN and RC_RSSI_PWM_MAX parameters.", "max": 18, "min": 0, "name": "RC_RSSI_PWM_CHAN", "shortDesc": "PWM input channel that provides RSSI", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 2000, "group": "Radio Calibration", "longDesc": "Only used if RC_RSSI_PWM_CHAN > 0", "max": 2000, "min": 0, "name": "RC_RSSI_PWM_MAX", "shortDesc": "Max input value for RSSI reading", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Radio Calibration", "longDesc": "Only used if RC_RSSI_PWM_CHAN > 0", "max": 2000, "min": 0, "name": "RC_RSSI_PWM_MIN", "shortDesc": "Min input value for RSSI reading", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Radio Calibration", "increment": 0.01, "longDesc": "The trim value is the actuator control value the system needs for straight and level flight.", "max": 0.5, "min": -0.5, "name": "TRIM_PITCH", "shortDesc": "Pitch trim", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Radio Calibration", "increment": 0.01, "longDesc": "The trim value is the actuator control value the system needs for straight and level flight.", "max": 0.5, "min": -0.5, "name": "TRIM_ROLL", "shortDesc": "Roll trim", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Radio Calibration", "increment": 0.01, "longDesc": "The trim value is the actuator control value the system needs for straight and level flight.", "max": 0.5, "min": -0.5, "name": "TRIM_YAW", "shortDesc": "Yaw trim", "type": "Float"}, {"category": "Standard", "default": 0.75, "group": "Radio Switches", "longDesc": "0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th", "max": 1.0, "min": -1.0, "name": "RC_ARMSWITCH_TH", "shortDesc": "Threshold for the arm switch", "type": "Float"}, {"category": "Standard", "default": 0.75, "group": "Radio Switches", "longDesc": "0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th", "max": 1.0, "min": -1.0, "name": "RC_ENG_MOT_TH", "shortDesc": "Threshold for selecting main motor engage", "type": "Float"}, {"category": "Standard", "default": 0.75, "group": "Radio Switches", "longDesc": "0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th", "max": 1.0, "min": -1.0, "name": "RC_GEAR_TH", "shortDesc": "Threshold for the landing gear switch", "type": "Float"}, {"category": "Standard", "default": 0.75, "group": "Radio Switches", "longDesc": "0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th", "max": 1.0, "min": -1.0, "name": "RC_KILLSWITCH_TH", "shortDesc": "Threshold for the kill switch", "type": "Float"}, {"category": "Standard", "default": 0.75, "group": "Radio Switches", "longDesc": "0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th", "max": 1.0, "min": -1.0, "name": "RC_LOITER_TH", "shortDesc": "Threshold for selecting loiter mode", "type": "Float"}, {"category": "Standard", "default": 0, "group": "Radio Switches", "longDesc": "Use it to arm/disarm via switch instead of default throttle stick. If this is assigned, arming and disarming via stick is disabled.", "max": 18, "min": 0, "name": "RC_MAP_ARM_SW", "shortDesc": "Arm switch channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Switches", "max": 18, "min": 0, "name": "RC_MAP_FLAPS", "shortDesc": "Flaps channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Switches", "longDesc": "If this parameter is non-zero, flight modes are only selected by this channel and are assigned to six slots.", "max": 18, "min": 0, "name": "RC_MAP_FLTMODE", "shortDesc": "Single channel flight mode selection", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"bitmask": [{"description": "Mask Channel 1 as a mode button", "index": 0}, {"description": "Mask Channel 2 as a mode button", "index": 1}, {"description": "Mask Channel 3 as a mode button", "index": 2}, {"description": "Mask Channel 4 as a mode button", "index": 3}, {"description": "Mask Channel 5 as a mode button", "index": 4}, {"description": "Mask Channel 6 as a mode button", "index": 5}, {"description": "Mask Channel 7 as a mode button", "index": 6}, {"description": "Mask Channel 8 as a mode button", "index": 7}, {"description": "Mask Channel 9 as a mode button", "index": 8}, {"description": "Mask Channel 10 as a mode button", "index": 9}, {"description": "Mask Channel 11 as a mode button", "index": 10}, {"description": "Mask Channel 12 as a mode button", "index": 11}, {"description": "Mask Channel 13 as a mode button", "index": 12}, {"description": "Mask Channel 14 as a mode button", "index": 13}, {"description": "Mask Channel 15 as a mode button", "index": 14}, {"description": "Mask Channel 16 as a mode button", "index": 15}, {"description": "Mask Channel 17 as a mode button", "index": 16}, {"description": "Mask Channel 18 as a mode button", "index": 17}], "category": "Standard", "default": 0, "group": "Radio Switches", "longDesc": "This bitmask allows to specify multiple channels for changing flight modes using momentary buttons. Each channel is assigned to a mode slot ((lowest channel = slot 1). The resulting modes for each slot X is defined by the COM_FLTMODEX parameters. The functionality can be used only if RC_MAP_FLTMODE is disabled. The maximum number of available slots and hence bits set in the mask is 6.", "max": 258048, "min": 0, "name": "RC_MAP_FLTM_BTN", "shortDesc": "Button flight mode selection", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Radio Switches", "max": 18, "min": 0, "name": "RC_MAP_GEAR_SW", "shortDesc": "Landing gear switch channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Switches", "max": 18, "min": 0, "name": "RC_MAP_KILL_SW", "shortDesc": "Emergency Kill switch channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Switches", "max": 18, "min": 0, "name": "RC_MAP_LOITER_SW", "shortDesc": "Loiter switch channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Switches", "longDesc": "This is the main flight mode selector. The channel index (starting from 1 for channel 1) indicates which channel should be used for deciding about the main mode. A value of zero indicates the switch is not assigned.", "max": 18, "min": 0, "name": "RC_MAP_MODE_SW", "shortDesc": "Mode switch channel mapping (deprecated)", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Switches", "max": 18, "min": 0, "name": "RC_MAP_OFFB_SW", "shortDesc": "Offboard switch channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Switches", "max": 18, "min": 0, "name": "RC_MAP_PAY_SW", "shortDesc": "Payload Power Switch RC channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Switches", "max": 18, "min": 0, "name": "RC_MAP_RETURN_SW", "shortDesc": "Return switch channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Switches", "max": 18, "min": 0, "name": "RC_MAP_TRANS_SW", "shortDesc": "VTOL transition switch channel mapping", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0.75, "group": "Radio Switches", "longDesc": "0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th", "max": 1.0, "min": -1.0, "name": "RC_OFFB_TH", "shortDesc": "Threshold for selecting offboard mode", "type": "Float"}, {"category": "Standard", "default": 0.75, "group": "Radio Switches", "longDesc": "0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th", "max": 1.0, "min": -1.0, "name": "RC_PAYLOAD_TH", "shortDesc": "Threshold for selecting payload power switch", "type": "Float"}, {"category": "Standard", "default": 0.75, "group": "Radio Switches", "longDesc": "0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th", "max": 1.0, "min": -1.0, "name": "RC_RETURN_TH", "shortDesc": "Threshold for selecting return to launch mode", "type": "Float"}, {"category": "Standard", "default": 0.75, "group": "Radio Switches", "longDesc": "0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th", "max": 1.0, "min": -1.0, "name": "RC_TRANS_TH", "shortDesc": "Threshold for the VTOL transition switch", "type": "Float"}, {"category": "Standard", "default": 45, "group": "Return Mode", "longDesc": "Defines the half-angle of a cone centered around the destination position that affects the altitude at which the vehicle returns.", "max": 90, "min": 0, "name": "RTL_CONE_ANG", "shortDesc": "Half-angle of the return mode altitude cone", "type": "Int32", "units": "deg", "values": [{"description": "No cone, always climb to RTL_RETURN_ALT above destination.", "value": 0}, {"description": "25 degrees half cone angle.", "value": 25}, {"description": "45 degrees half cone angle.", "value": 45}, {"description": "65 degrees half cone angle.", "value": 65}, {"description": "80 degrees half cone angle.", "value": 80}, {"description": "Only climb to at least RTL_DESCEND_ALT above destination.", "value": 90}]}, {"category": "Standard", "decimalPlaces": 1, "default": 30.0, "group": "Return Mode", "increment": 0.5, "longDesc": "Descend to this altitude (above destination position) after return, and wait for time defined in RTL_LAND_DELAY. Land (i.e. slowly descend) from this altitude if autolanding allowed. VTOLs do transition to hover in this altitdue above the landing point.", "min": 0.0, "name": "RTL_DESCEND_ALT", "shortDesc": "Return mode loiter altitude", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "Return Mode", "increment": 0.5, "longDesc": "Delay before landing (after initial descent) in Return mode. If set to -1 the system will not land but loiter at RTL_DESCEND_ALT.", "min": -1.0, "name": "RTL_LAND_DELAY", "shortDesc": "Return mode delay", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": 80.0, "group": "Return Mode", "increment": 0.5, "longDesc": "Set the radius for loitering to a safe altitude for VTOL transition.", "min": 25.0, "name": "RTL_LOITER_RAD", "shortDesc": "Loiter radius for rtl descend", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "Return Mode", "increment": 0.5, "longDesc": "The return altitude will be calculated based on RTL_CONE_ANG parameter. The yaw setpoint will switch to the one defined by corresponding waypoint.", "min": 0.5, "name": "RTL_MIN_DIST", "shortDesc": "Horizontal radius from return point within which special rules for return mode apply", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Return Mode", "longDesc": "Use precision landing when doing an RTL landing phase.", "name": "RTL_PLD_MD", "shortDesc": "RTL precision land mode", "type": "Int32", "values": [{"description": "No precision landing", "value": 0}, {"description": "Opportunistic precision landing", "value": 1}, {"description": "Required precision landing", "value": 2}]}, {"category": "Standard", "decimalPlaces": 1, "default": 60.0, "group": "Return Mode", "increment": 0.5, "longDesc": "Default minimum altitude above destination (e.g. home, safe point, landing pattern) for return flight. The vehicle will climb to this altitude when Return mode is enganged, unless it currently is flying higher already. This is affected by RTL_MIN_DIST and RTL_CONE_ANG.", "min": 0.0, "name": "RTL_RETURN_ALT", "shortDesc": "Return mode return altitude", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Return Mode", "longDesc": "Return mode destination and flight path (home location, rally point, mission landing pattern, reverse mission)", "name": "RTL_TYPE", "shortDesc": "Return type", "type": "Int32", "values": [{"description": "Return to closest safe point (home or rally point) via direct path.", "value": 0}, {"description": "Return to closest safe point other than home (mission landing pattern or rally point), via direct path. If no mission landing or rally points are defined return home via direct path. Always chose closest safe landing point if vehicle is a VTOL in hover mode.", "value": 1}, {"description": "Return to a planned mission landing, if available, using the mission path, else return to home via the reverse mission path. Do not consider rally points.", "value": 2}, {"description": "Return via direct path to closest destination: home, start of mission landing pattern or safe point. If the destination is a mission landing pattern, follow the pattern to land.", "value": 3}]}, {"category": "Standard", "default": 0, "group": "Return To Land", "longDesc": "Only consider RTL point, if it has an approach defined.", "name": "RTL_APPR_FORCE", "shortDesc": "RTL force approach landing", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 1.1, "group": "Return To Land", "increment": 0.1, "longDesc": "Safety factor that is used to scale the actual RTL time estimate. Time with margin = RTL_TIME_FACTOR * time + RTL_TIME_MARGIN", "max": 2.0, "min": 1.0, "name": "RTL_TIME_FACTOR", "shortDesc": "RTL time estimate safety margin factor", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 100, "group": "Return To Land", "increment": 1, "longDesc": "Margin that is added to the time estimate, after it has already been scaled Time with margin = RTL_TIME_FACTOR * time + RTL_TIME_MARGIN", "max": 3600, "min": 0, "name": "RTL_TIME_MARGIN", "shortDesc": "RTL time estimate safety margin offset", "type": "Int32", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 2.0, "group": "Rover Ackermann", "increment": 0.01, "longDesc": "The geometric ideal acceptance radius is multiplied by this factor to account for kinematic and dynamic effects. Higher value -> The rover starts to cut the corner earlier.", "max": 100.0, "min": 1.0, "name": "RA_ACC_RAD_GAIN", "shortDesc": "Tuning parameter for corner cutting", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 3.0, "group": "Rover Ackermann", "increment": 0.01, "longDesc": "The controller scales the acceptance radius based on the angle between the previous, current and next waypoint. Higher value -> smoother trajectory at the cost of how close the rover gets to the waypoint (Set to -1 to disable corner cutting).", "max": 100.0, "min": -1.0, "name": "RA_ACC_RAD_MAX", "shortDesc": "Maximum acceptance radius for the waypoints", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Rover Ackermann", "increment": 0.001, "max": 100.0, "min": 0.0, "name": "RA_LAT_ACCEL_I", "shortDesc": "Integral gain for lateral acceleration controller", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Rover Ackermann", "increment": 0.01, "max": 100.0, "min": 0.0, "name": "RA_LAT_ACCEL_P", "shortDesc": "Proportional gain for lateral acceleration controller", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Rover Ackermann", "increment": 0.01, "longDesc": "This is used for the acceleration slew rate.", "max": 100.0, "min": -1.0, "name": "RA_MAX_ACCEL", "shortDesc": "Maximum acceleration for the rover", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Rover Ackermann", "increment": 0.01, "longDesc": "This is used for the deceleration slew rate, the feed-forward term for the speed controller during missions and the corner slow down effect. Note: For the corner slow down effect RA_MAX_JERK also has to be set.", "max": 100.0, "min": -1.0, "name": "RA_MAX_DECEL", "shortDesc": "Maximum deceleration for the rover", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Rover Ackermann", "increment": 0.01, "longDesc": "Limit for forwards acc/deceleration change. This is used for the corner slow down effect. Note: RA_MAX_DECEL also has to be set for this to be enabled.", "max": 100.0, "min": -1.0, "name": "RA_MAX_JERK", "shortDesc": "Maximum jerk", "type": "Float", "units": "m/s^3"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.01, "group": "Rover Ackermann", "increment": 0.01, "longDesc": "This parameter is used to cap the lateral acceleration and map controller inputs to desired lateral acceleration in Acro, Stabilized and Position mode.", "max": 1000.0, "min": 0.01, "name": "RA_MAX_LAT_ACCEL", "shortDesc": "Maximum allowed lateral acceleration", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Rover Ackermann", "increment": 0.01, "longDesc": "This is the maximum allowed speed setpoint when driving in a mode that uses closed loop speed control.", "max": 100.0, "min": -1.0, "name": "RA_MAX_SPEED", "shortDesc": "Maximum allowed speed", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.5236, "group": "Rover Ackermann", "increment": 0.01, "longDesc": "The maximum angle that the rover can steer", "max": 1.5708, "min": 0.1, "name": "RA_MAX_STR_ANG", "shortDesc": "Maximum steering angle", "type": "Float", "units": "rad"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Rover Ackermann", "increment": 0.01, "max": 1000.0, "min": -1.0, "name": "RA_MAX_STR_RATE", "shortDesc": "Maximum steering rate for the rover", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Rover Ackermann", "increment": 0.01, "longDesc": "This parameter is used to calculate the feedforward term of the closed loop speed control which linearly maps desired speeds to normalized motor commands [-1. 1]. A good starting point is the observed ground speed when the rover drives at maximum throttle in manual mode. Increase this parameter if the rover is faster than the setpoint, and decrease if the rover is slower.", "max": 100.0, "min": -1.0, "name": "RA_MAX_THR_SPEED", "shortDesc": "Speed the rover drives at maximum throttle", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Rover Ackermann", "increment": 0.001, "max": 100.0, "min": 0.0, "name": "RA_SPEED_I", "shortDesc": "Integral gain for ground speed controller", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Rover Ackermann", "increment": 0.01, "max": 100.0, "min": 0.0, "name": "RA_SPEED_P", "shortDesc": "Proportional gain for ground speed controller", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.5, "group": "Rover Ackermann", "increment": 0.001, "longDesc": "Distance from the front to the rear axle", "max": 100.0, "min": 0.001, "name": "RA_WHEEL_BASE", "shortDesc": "Wheel base", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.5, "group": "Rover Differential", "increment": 0.01, "longDesc": "Maximum acceleration is used to limit the acceleration of the rover", "max": 100.0, "min": 0.0, "name": "RD_MAX_ACCEL", "shortDesc": "Maximum acceleration", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Rover Differential", "increment": 0.01, "longDesc": "Maximum decelaration is used to limit the deceleration of the rover. Set to -1 to disable, causing the rover to decelerate as fast as possible. Caution: This disables the slow down effect in auto modes.", "max": 100.0, "min": -1.0, "name": "RD_MAX_DECEL", "shortDesc": "Maximum deceleration", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.5, "group": "Rover Differential", "increment": 0.01, "longDesc": "Limit for forwards acc/deceleration change.", "max": 100.0, "min": 0.0, "name": "RD_MAX_JERK", "shortDesc": "Maximum jerk", "type": "Float", "units": "m/s^3"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Rover Differential", "increment": 0.01, "longDesc": "This parameter is used to cap desired forward speed and map controller inputs to desired speeds in Position mode.", "max": 100.0, "min": 0.0, "name": "RD_MAX_SPEED", "shortDesc": "Maximum speed setpoint", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Rover Differential", "increment": 0.01, "longDesc": "This parameter is used to calculate the feedforward term of the closed loop speed control which linearly maps desired speeds to normalized motor commands [-1. 1]. A good starting point is the observed ground speed when the rover drives at maximum throttle in manual mode. Increase this parameter if the rover is faster than the setpoint, and decrease if the rover is slower.", "max": 100.0, "min": 0.0, "name": "RD_MAX_THR_SPD", "shortDesc": "Speed the rover drives at maximum throttle", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 2.0, "group": "Rover Differential", "increment": 0.01, "longDesc": "This parameter is used to calculate the feedforward term of the closed loop yaw rate control. The controller first calculates the required speed difference between the left and right motor to achieve the desired yaw rate. This desired speed difference is then linearly mapped to normalized motor commands. A good starting point is twice the speed the rover drives at maximum throttle (RD_MAX_THR_SPD)). Increase this parameter if the rover turns faster than the setpoint, and decrease if the rover turns slower.", "max": 100.0, "min": 0.0, "name": "RD_MAX_THR_YAW_R", "shortDesc": "Yaw rate turning left/right wheels at max speed in opposite directions", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Rover Differential", "increment": 0.01, "longDesc": "This parameter is used to cap desired yaw acceleration. This is used to adjust incoming yaw rate setpoints to a feasible yaw rate setpoint based on the physical limitation on how fast the yaw rate can change. This leads to a smooth setpoint trajectory for the closed loop yaw rate controller to track. Set to -1 to disable.", "max": 1000.0, "min": -1.0, "name": "RD_MAX_YAW_ACCEL", "shortDesc": "Maximum allowed yaw acceleration for the rover", "type": "Float", "units": "deg/s^2"}, {"category": "Standard", "decimalPlaces": 2, "default": 90.0, "group": "Rover Differential", "increment": 0.01, "longDesc": "This parameter is used to cap desired yaw rates and map controller inputs to desired yaw rates in Acro,Stabilized and Position mode.", "max": 1000.0, "min": 0.01, "name": "RD_MAX_YAW_RATE", "shortDesc": "Maximum allowed yaw rate for the rover", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Rover Differential", "increment": 0.01, "max": 100.0, "min": 0.0, "name": "RD_MISS_SPD_DEF", "shortDesc": "Default forward speed for the rover during auto modes", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Rover Differential", "increment": 0.01, "max": 100.0, "min": 0.0, "name": "RD_SPEED_I", "shortDesc": "Integral gain for closed loop forward speed controller", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Rover Differential", "increment": 0.01, "max": 100.0, "min": 0.0, "name": "RD_SPEED_P", "shortDesc": "Proportional gain for closed loop forward speed controller", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.174533, "group": "Rover Differential", "increment": 0.01, "longDesc": "This threshold is used for the state machine to switch from driving to turning based on the error between the desired and actual yaw. It is also used as the threshold whether the rover should come to a smooth stop at the next waypoint. This slow down effect is active if the angle between the line segments from prevWP-currWP and currWP-nextWP is smaller then 180 - RD_TRANS_DRV_TRN.", "max": 3.14159, "min": 0.001, "name": "RD_TRANS_DRV_TRN", "shortDesc": "Yaw error threshhold to switch from driving to spot turning", "type": "Float", "units": "rad"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0872665, "group": "Rover Differential", "increment": 0.01, "max": 3.14159, "min": 0.001, "name": "RD_TRANS_TRN_DRV", "shortDesc": "Yaw error threshhold to switch from spot turning to driving", "type": "Float", "units": "rad"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.5, "group": "Rover Differential", "increment": 0.001, "longDesc": "Distance from the center of the right wheel to the center of the left wheel", "max": 100.0, "min": 0.001, "name": "RD_WHEEL_TRACK", "shortDesc": "Wheel track", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Rover Differential", "increment": 0.01, "max": 100.0, "min": 0.0, "name": "RD_YAW_I", "shortDesc": "Integral gain for closed loop yaw controller", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Rover Differential", "increment": 0.01, "max": 100.0, "min": 0.0, "name": "RD_YAW_P", "shortDesc": "Proportional gain for closed loop yaw controller", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Rover Differential", "increment": 0.01, "max": 100.0, "min": 0.0, "name": "RD_YAW_RATE_I", "shortDesc": "Integral gain for closed loop yaw rate controller", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Rover Differential", "increment": 0.01, "max": 100.0, "min": 0.0, "name": "RD_YAW_RATE_P", "shortDesc": "Proportional gain for closed loop yaw rate controller", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Rover Mecanum", "increment": 0.01, "longDesc": "In Manual mode the setpoint for the yaw rate received from the control stick is scaled by this value.", "max": 1.0, "min": 0.01, "name": "RM_MAN_YAW_SCALE", "shortDesc": "Manual yaw rate scale", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.5, "group": "Rover Mecanum", "increment": 0.01, "longDesc": "Maximum acceleration is used to limit the acceleration of the rover", "max": 100.0, "min": 0.0, "name": "RM_MAX_ACCEL", "shortDesc": "Maximum acceleration", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.5, "group": "Rover Mecanum", "increment": 0.01, "longDesc": "Limit for forwards acc/deceleration change.", "max": 100.0, "min": 0.0, "name": "RM_MAX_JERK", "shortDesc": "Maximum jerk", "type": "Float", "units": "m/s^3"}, {"category": "Standard", "decimalPlaces": 2, "default": 7.0, "group": "Rover Mecanum", "increment": 0.01, "longDesc": "This parameter is used cap the maximum speed the rover is allowed to drive and to map stick inputs to desired speeds in position mode.", "max": 100.0, "min": 0.0, "name": "RM_MAX_SPEED", "shortDesc": "Maximum speed the rover is allowed to drive", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Rover Mecanum", "increment": 0.01, "longDesc": "This parameter is used to calculate the feedforward term of the closed loop speed control which linearly maps desired speeds to normalized motor commands [-1. 1]. A good starting point is the observed ground speed when the rover drives at maximum throttle in manual mode. Increase this parameter if the rover is faster than the setpoint, and decrease if the rover is slower.", "max": 100.0, "min": 0.0, "name": "RM_MAX_THR_SPD", "shortDesc": "Speed the rover drives at maximum throttle", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 2.0, "group": "Rover Mecanum", "increment": 0.01, "longDesc": "This parameter is used to calculate the feedforward term of the closed loop yaw rate control. The controller first calculates the required speed difference between the left and right motor to achieve the desired yaw rate. This desired speed difference is then linearly mapped to normalized motor commands. A good starting point is twice the speed the rover drives at maximum throttle (RM_MAX_THRTL_SPD)). Increase this parameter if the rover turns faster than the setpoint, and decrease if the rover turns slower.", "max": 100.0, "min": 0.0, "name": "RM_MAX_THR_YAW_R", "shortDesc": "Yaw rate turning left/right wheels at max speed in opposite directions", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 90.0, "group": "Rover Mecanum", "increment": 0.01, "longDesc": "This parameter is used to cap desired yaw rates and map controller inputs to desired yaw rates in acro mode.", "max": 1000.0, "min": 0.01, "name": "RM_MAX_YAW_RATE", "shortDesc": "Maximum allowed yaw rate for the rover", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Rover Mecanum", "increment": 0.01, "max": 100.0, "min": 0.0, "name": "RM_MISS_SPD_DEF", "shortDesc": "Default rover speed during a mission", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Rover Mecanum", "increment": 0.01, "longDesc": "The waypoint transition speed is calculated as: Transition_speed = Maximum_speed * (1 - normalized_transition_angle * RM_MISS_VEL_GAIN) The normalized transition angle is the angle between the line segment from prev-curr WP and curr-next WP interpolated from [0, 180] -> [0, 1]. Higher value -> More velocity reduction during cornering.", "max": 100.0, "min": 0.05, "name": "RM_MISS_VEL_GAIN", "shortDesc": "Tuning parameter for the velocity reduction during waypoint transition", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Rover Mecanum", "increment": 0.01, "max": 100.0, "min": 0.0, "name": "RM_SPEED_I", "shortDesc": "Integral gain for ground speed controller", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Rover Mecanum", "increment": 0.01, "max": 100.0, "min": 0.0, "name": "RM_SPEED_P", "shortDesc": "Proportional gain for speed controller", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.5, "group": "Rover Mecanum", "increment": 0.001, "longDesc": "Distance from the center of the right wheels to the center of the left wheels.", "max": 100.0, "min": 0.001, "name": "RM_WHEEL_TRACK", "shortDesc": "Wheel track", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "Rover Mecanum", "increment": 0.01, "max": 100.0, "min": 0.0, "name": "RM_YAW_I", "shortDesc": "Integral gain for closed loop yaw controller", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Rover Mecanum", "increment": 0.01, "max": 100.0, "min": 0.0, "name": "RM_YAW_P", "shortDesc": "Proportional gain for closed loop yaw controller", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Rover Mecanum", "increment": 0.01, "max": 100.0, "min": 0.0, "name": "RM_YAW_RATE_I", "shortDesc": "Integral gain for the closed-loop yaw rate controller", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Rover Mecanum", "increment": 0.01, "max": 100.0, "min": 0.0, "name": "RM_YAW_RATE_P", "shortDesc": "Proportional gain for the closed-loop yaw rate controller", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.75, "group": "Rover Position Control", "increment": 0.05, "longDesc": "Damping factor for L1 control.", "max": 0.9, "min": 0.6, "name": "GND_L1_DAMPING", "shortDesc": "L1 damping", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "Rover Position Control", "increment": 0.1, "longDesc": "This is the distance at which the next waypoint is activated. This should be set to about 2-4x of GND_WHEEL_BASE and not smaller than one meter (due to GPS accuracy).", "max": 50.0, "min": 1.0, "name": "GND_L1_DIST", "shortDesc": "L1 distance", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "Rover Position Control", "increment": 0.5, "longDesc": "This is the L1 distance and defines the tracking point ahead of the rover it's following. Use values around 2-5m for a 0.3m wheel base. Tuning instructions: Shorten slowly during tuning until response is sharp without oscillation.", "max": 50.0, "min": 0.5, "name": "GND_L1_PERIOD", "shortDesc": "L1 period", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 150.0, "group": "Rover Position Control", "max": 400.0, "min": 0.0, "name": "GND_MAN_Y_MAX", "shortDesc": "Max manual yaw rate", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.7854, "group": "Rover Position Control", "increment": 0.01, "longDesc": "At a control output of 0, the steering wheels are at 0 radians. At a control output of 1, the steering wheels are at GND_MAX_ANG radians.", "max": 3.14159, "min": 0.0, "name": "GND_MAX_ANG", "shortDesc": "Maximum turn angle for Ackerman steering", "type": "Float", "units": "rad"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.001, "group": "Rover Position Control", "increment": 0.005, "longDesc": "This is the derivative gain for the speed closed loop controller", "max": 50.0, "min": 0.0, "name": "GND_SPEED_D", "shortDesc": "Speed proportional gain", "type": "Float", "units": "%m/s"}, {"category": "Standard", "decimalPlaces": 3, "default": 3.0, "group": "Rover Position Control", "increment": 0.005, "longDesc": "This is the integral gain for the speed closed loop controller", "max": 50.0, "min": 0.0, "name": "GND_SPEED_I", "shortDesc": "Speed Integral gain", "type": "Float", "units": "%m/s"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Rover Position Control", "increment": 0.005, "longDesc": "This is the maxim value the integral can reach to prevent wind-up.", "max": 50.0, "min": 0.005, "name": "GND_SPEED_IMAX", "shortDesc": "Speed integral maximum value", "type": "Float", "units": "%m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "Rover Position Control", "increment": 0.5, "max": 40.0, "min": 0.0, "name": "GND_SPEED_MAX", "shortDesc": "Maximum ground speed", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 3, "default": 2.0, "group": "Rover Position Control", "increment": 0.005, "longDesc": "This is the proportional gain for the speed closed loop controller", "max": 50.0, "min": 0.005, "name": "GND_SPEED_P", "shortDesc": "Speed proportional gain", "type": "Float", "units": "%m/s"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Rover Position Control", "increment": 0.005, "longDesc": "This is a gain to map the speed control output to the throttle linearly.", "max": 50.0, "min": 0.005, "name": "GND_SPEED_THR_SC", "shortDesc": "Speed to throttle scaler", "type": "Float", "units": "%m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "Rover Position Control", "increment": 0.5, "max": 40.0, "min": 0.0, "name": "GND_SPEED_TRIM", "shortDesc": "Trim ground speed", "type": "Float", "units": "m/s"}, {"category": "Standard", "default": 1, "group": "Rover Position Control", "longDesc": "This allows the user to choose between closed loop gps speed or open loop cruise throttle speed", "max": 1, "min": 0, "name": "GND_SP_CTRL_MODE", "shortDesc": "Control mode for speed", "type": "Int32", "values": [{"description": "open loop control", "value": 0}, {"description": "close the loop with gps speed", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "Rover Position Control", "increment": 0.01, "longDesc": "This is the throttle setting required to achieve the desired cruise speed. 10% is ok for a traxxas stampede vxl with ESC set to training mode", "max": 1.0, "min": 0.0, "name": "GND_THR_CRUISE", "shortDesc": "Cruise throttle", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.3, "group": "Rover Position Control", "increment": 0.01, "longDesc": "This is the maximum throttle % that can be used by the controller. For a Traxxas stampede vxl with the ESC set to training, 30 % is enough", "max": 1.0, "min": 0.0, "name": "GND_THR_MAX", "shortDesc": "Throttle limit max", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Rover Position Control", "increment": 0.01, "longDesc": "This is the minimum throttle % that can be used by the controller. Set to 0 for rover", "max": 1.0, "min": 0.0, "name": "GND_THR_MIN", "shortDesc": "Throttle limit min", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.31, "group": "Rover Position Control", "increment": 0.01, "longDesc": "A value of 0.31 is typical for 1/10 RC cars.", "min": 0.0, "name": "GND_WHEEL_BASE", "shortDesc": "Distance from front axle to rear axle", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Runway Takeoff", "longDesc": "0: airframe heading when takeoff is initiated 1: position control along runway direction (bearing defined from vehicle position on takeoff initiation to MAV_CMD_TAKEOFF position defined by operator)", "max": 1, "min": 0, "name": "RWTO_HDG", "shortDesc": "Specifies which heading should be held during the runway takeoff ground roll", "type": "Int32", "values": [{"description": "Airframe", "value": 0}, {"description": "Runway", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Runway Takeoff", "increment": 0.01, "max": 1.0, "min": 0.0, "name": "RWTO_MAX_THR", "shortDesc": "Max throttle during runway takeoff", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "Runway Takeoff", "increment": 0.1, "max": 100.0, "min": 1.0, "name": "RWTO_NPFG_PERIOD", "shortDesc": "NPFG period while steering on runway", "type": "Float", "units": "s"}, {"category": "Standard", "default": 1, "group": "Runway Takeoff", "longDesc": "This is useful when map, GNSS, or yaw errors on ground are misaligned with what the operator intends for takeoff course. Particularly useful for skinny runways or if the wheel servo is a bit off trim.", "name": "RWTO_NUDGE", "shortDesc": "Enable use of yaw stick for nudging the wheel during runway ground roll", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "Runway Takeoff", "increment": 0.5, "longDesc": "A taildragger with steerable wheel might need to pitch up a little to keep its wheel on the ground before airspeed to takeoff is reached.", "max": 20.0, "min": -10.0, "name": "RWTO_PSP", "shortDesc": "Pitch setpoint during taxi / before takeoff rotation airspeed is reached", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 2, "default": 2.0, "group": "Runway Takeoff", "increment": 0.1, "max": 15.0, "min": 1.0, "name": "RWTO_RAMP_TIME", "shortDesc": "Throttle ramp up time for runway takeoff", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": -1.0, "group": "Runway Takeoff", "increment": 0.1, "longDesc": "The calibrated airspeed threshold during the takeoff ground roll when the plane should start rotating (pitching up). Must be less than the takeoff airspeed, will otherwise be capped at the takeoff airpeed (see FW_TKO_AIRSPD). If set <= 0.0, defaults to 0.9 * takeoff airspeed (see FW_TKO_AIRSPD)", "min": -1.0, "name": "RWTO_ROT_AIRSPD", "shortDesc": "Takeoff rotation airspeed", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "Runway Takeoff", "increment": 0.1, "longDesc": "This is the time desired to linearly ramp in takeoff pitch constraints during the takeoff rotation", "min": 0.1, "name": "RWTO_ROT_TIME", "shortDesc": "Takeoff rotation time", "type": "Float", "units": "s"}, {"category": "Standard", "default": 0, "group": "Runway Takeoff", "name": "RWTO_TKOFF", "shortDesc": "Runway takeoff with landing gear", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 2, "group": "SD Logging", "longDesc": "Selects the algorithm used for logfile encryption", "name": "SDLOG_ALGORITHM", "shortDesc": "Logfile Encryption algorithm", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "XChaCha20", "value": 2}]}, {"category": "Standard", "default": 0, "group": "SD Logging", "longDesc": "When enabled, logging will not start from boot if battery power is not detected (e.g. powered via USB on a test bench). This prevents extraneous flight logs from being created during bench testing. Note that this only applies to log-from-boot modes. This has no effect on arm-based modes.", "name": "SDLOG_BOOT_BAT", "shortDesc": "Battery-only Logging", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "SD Logging", "longDesc": "If there are more log directories than this value, the system will delete the oldest directories during startup. In addition, the system will delete old logs if there is not enough free space left. The minimum amount is 300 MB. If this is set to 0, old directories will only be removed if the free space falls below the minimum. Note: this does not apply to mission log files.", "max": 1000, "min": 0, "name": "SDLOG_DIRS_MAX", "rebootRequired": true, "shortDesc": "Maximum number of log directories to keep", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "SD Logging", "longDesc": "If the logfile is encrypted using a symmetric key algorithm, the used encryption key is generated at logging start and stored on the sdcard RSA2048 encrypted using this key.", "max": 255, "min": 0, "name": "SDLOG_EXCH_KEY", "shortDesc": "Logfile Encryption key exchange key", "type": "Int32"}, {"category": "Standard", "default": 2, "group": "SD Logging", "longDesc": "Selects the key in keystore, used for encrypting the log. When using a symmetric encryption algorithm, the key is generated at logging start and kept stored in this index. For symmetric algorithms, the key is volatile and valid only for the duration of logging. The key is stored in encrypted format on the sdcard alongside the logfile, using an RSA2048 key defined by the SDLOG_EXCHANGE_KEY", "max": 255, "min": 0, "name": "SDLOG_KEY", "shortDesc": "Logfile Encryption key index", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "SD Logging", "longDesc": "If enabled, a small additional \"mission\" log file will be written to the SD card. The log contains just those messages that are useful for tasks like generating flight statistics and geotagging. The different modes can be used to further reduce the logged data (and thus the log file size). For example, choose geotagging mode to only log data required for geotagging. Note that the normal/full log is still created, and contains all the data in the mission log (and more).", "name": "SDLOG_MISSION", "rebootRequired": true, "shortDesc": "Mission Log", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "All mission messages", "value": 1}, {"description": "Geotagging messages", "value": 2}]}, {"category": "Standard", "default": 0, "group": "SD Logging", "longDesc": "Determines when to start and stop logging. By default, logging is started when arming the system, and stopped when disarming.", "name": "SDLOG_MODE", "rebootRequired": true, "shortDesc": "Logging Mode", "type": "Int32", "values": [{"description": "disabled", "value": -1}, {"description": "when armed until disarm (default)", "value": 0}, {"description": "from boot until disarm", "value": 1}, {"description": "from boot until shutdown", "value": 2}, {"description": "while manual input AUX1 >30%", "value": 3}, {"description": "from 1st armed until shutdown", "value": 4}]}, {"bitmask": [{"description": "Default set (general log analysis)", "index": 0}, {"description": "Estimator replay (EKF2)", "index": 1}, {"description": "Thermal calibration", "index": 2}, {"description": "System identification", "index": 3}, {"description": "High rate", "index": 4}, {"description": "Debug", "index": 5}, {"description": "Sensor comparison", "index": 6}, {"description": "Computer Vision and Avoidance", "index": 7}, {"description": "Raw FIFO high-rate IMU (Gyro)", "index": 8}, {"description": "Raw FIFO high-rate IMU (Accel)", "index": 9}, {"description": "Mavlink tunnel message logging", "index": 10}], "category": "Standard", "default": 1, "group": "SD Logging", "longDesc": "This integer bitmask controls the set and rates of logged topics. The default allows for general log analysis while keeping the log file size reasonably small. Enabling multiple sets leads to higher bandwidth requirements and larger log files. Set bits true to enable: 0 : Default set (used for general log analysis) 1 : Full rate estimator (EKF2) replay topics 2 : Topics for thermal calibration (high rate raw IMU and Baro sensor data) 3 : Topics for system identification (high rate actuator control and IMU data) 4 : Full rates for analysis of fast maneuvers (RC, attitude, rates and actuators) 5 : Debugging topics (debug_*.msg topics, for custom code) 6 : Topics for sensor comparison (low rate raw IMU, Baro and magnetometer data) 7 : Topics for computer vision and collision avoidance 8 : Raw FIFO high-rate IMU (Gyro) 9 : Raw FIFO high-rate IMU (Accel) 10: Logging of mavlink tunnel message (useful for payload communication debugging)", "max": 2047, "min": 0, "name": "SDLOG_PROFILE", "rebootRequired": true, "shortDesc": "Logging topic profile (integer bitmask)", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "SD Logging", "longDesc": "the difference in hours and minutes from Coordinated Universal Time (UTC) for a your place and date. for example, In case of South Korea(UTC+09:00), UTC offset is 540 min (9*60) refer to https://en.wikipedia.org/wiki/List_of_UTC_time_offsets", "max": 1000, "min": -1000, "name": "SDLOG_UTC_OFFSET", "shortDesc": "UTC offset (unit: min)", "type": "Int32", "units": "min"}, {"category": "Standard", "default": 1, "group": "SD Logging", "longDesc": "If set to 1, add an ID to the log, which uniquely identifies the vehicle", "name": "SDLOG_UUID", "shortDesc": "Log UUID", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 60.0, "group": "SITL", "increment": 1.0, "max": 86400.0, "min": 1.0, "name": "SIM_BAT_DRAIN", "shortDesc": "Simulator Battery drain interval", "type": "Float", "units": "s"}, {"category": "Standard", "default": 1, "group": "SITL", "longDesc": "Enable or disable the internal battery simulation. This is useful when the battery is simulated externally and interfaced with PX4 through MAVLink for example.", "name": "SIM_BAT_ENABLE", "shortDesc": "Simulator Battery enabled", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 50.0, "group": "SITL", "increment": 0.1, "longDesc": "Can be used to alter the battery level during SITL- or HITL-simulation on the fly. Particularly useful for testing different low-battery behaviour.", "max": 100.0, "min": 0.0, "name": "SIM_BAT_MIN_PCT", "shortDesc": "Simulator Battery minimal percentage", "type": "Float", "units": "%"}, {"category": "System", "decimalPlaces": 3, "default": 0, "group": "Sensor Calibration", "longDesc": "Device ID of the accelerometer this calibration applies to.", "name": "CAL_ACC0_ID", "shortDesc": "Accelerometer 0 calibration device ID", "type": "Int32"}, {"category": "System", "decimalPlaces": 3, "default": -1, "group": "Sensor Calibration", "name": "CAL_ACC0_PRIO", "shortDesc": "Accelerometer 0 priority", "type": "Int32", "values": [{"description": "Uninitialized", "value": -1}, {"description": "Disabled", "value": 0}, {"description": "Min", "value": 1}, {"description": "Low", "value": 25}, {"description": "Medium (Default)", "value": 50}, {"description": "High", "value": 75}, {"description": "Max", "value": 100}]}, {"category": "System", "default": -1, "group": "Sensor Calibration", "longDesc": "An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.", "max": 40, "min": -1, "name": "CAL_ACC0_ROT", "shortDesc": "Accelerometer 0 rotation relative to airframe", "type": "Int32", "values": [{"description": "Internal", "value": -1}, {"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}, {"description": "Roll 180\u00b0", "value": 8}, {"description": "Roll 180\u00b0, Yaw 45\u00b0", "value": 9}, {"description": "Roll 180\u00b0, Yaw 90\u00b0", "value": 10}, {"description": "Roll 180\u00b0, Yaw 135\u00b0", "value": 11}, {"description": "Pitch 180\u00b0", "value": 12}, {"description": "Roll 180\u00b0, Yaw 225\u00b0", "value": 13}, {"description": "Roll 180\u00b0, Yaw 270\u00b0", "value": 14}, {"description": "Roll 180\u00b0, Yaw 315\u00b0", "value": 15}, {"description": "Roll 90\u00b0", "value": 16}, {"description": "Roll 90\u00b0, Yaw 45\u00b0", "value": 17}, {"description": "Roll 90\u00b0, Yaw 90\u00b0", "value": 18}, {"description": "Roll 90\u00b0, Yaw 135\u00b0", "value": 19}, {"description": "Roll 270\u00b0", "value": 20}, {"description": "Roll 270\u00b0, Yaw 45\u00b0", "value": 21}, {"description": "Roll 270\u00b0, Yaw 90\u00b0", "value": 22}, {"description": "Roll 270\u00b0, Yaw 135\u00b0", "value": 23}, {"description": "Pitch 90\u00b0", "value": 24}, {"description": "Pitch 270\u00b0", "value": 25}, {"description": "Pitch 180\u00b0, Yaw 90\u00b0", "value": 26}, {"description": "Pitch 180\u00b0, Yaw 270\u00b0", "value": 27}, {"description": "Roll 90\u00b0, Pitch 90\u00b0", "value": 28}, {"description": "Roll 180\u00b0, Pitch 90\u00b0", "value": 29}, {"description": "Roll 270\u00b0, Pitch 90\u00b0", "value": 30}, {"description": "Roll 90\u00b0, Pitch 180\u00b0", "value": 31}, {"description": "Roll 270\u00b0, Pitch 180\u00b0", "value": 32}, {"description": "Roll 90\u00b0, Pitch 270\u00b0", "value": 33}, {"description": "Roll 180\u00b0, Pitch 270\u00b0", "value": 34}, {"description": "Roll 270\u00b0, Pitch 270\u00b0", "value": 35}, {"description": "Roll 90\u00b0, Pitch 180\u00b0, Yaw 90\u00b0", "value": 36}, {"description": "Roll 90\u00b0, Yaw 270\u00b0", "value": 37}, {"description": "Roll 90\u00b0, Pitch 68\u00b0, Yaw 293\u00b0", "value": 38}, {"description": "Pitch 315\u00b0", "value": 39}, {"description": "Roll 90\u00b0, Pitch 315\u00b0", "value": 40}]}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_ACC0_XOFF", "shortDesc": "Accelerometer 0 X-axis offset", "type": "Float", "units": "m/s^2", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_ACC0_XSCALE", "shortDesc": "Accelerometer 0 X-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_ACC0_YOFF", "shortDesc": "Accelerometer 0 Y-axis offset", "type": "Float", "units": "m/s^2", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_ACC0_YSCALE", "shortDesc": "Accelerometer 0 Y-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_ACC0_ZOFF", "shortDesc": "Accelerometer 0 Z-axis offset", "type": "Float", "units": "m/s^2", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_ACC0_ZSCALE", "shortDesc": "Accelerometer 0 Z-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0, "group": "Sensor Calibration", "longDesc": "Device ID of the accelerometer this calibration applies to.", "name": "CAL_ACC1_ID", "shortDesc": "Accelerometer 1 calibration device ID", "type": "Int32"}, {"category": "System", "decimalPlaces": 3, "default": -1, "group": "Sensor Calibration", "name": "CAL_ACC1_PRIO", "shortDesc": "Accelerometer 1 priority", "type": "Int32", "values": [{"description": "Uninitialized", "value": -1}, {"description": "Disabled", "value": 0}, {"description": "Min", "value": 1}, {"description": "Low", "value": 25}, {"description": "Medium (Default)", "value": 50}, {"description": "High", "value": 75}, {"description": "Max", "value": 100}]}, {"category": "System", "default": -1, "group": "Sensor Calibration", "longDesc": "An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.", "max": 40, "min": -1, "name": "CAL_ACC1_ROT", "shortDesc": "Accelerometer 1 rotation relative to airframe", "type": "Int32", "values": [{"description": "Internal", "value": -1}, {"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}, {"description": "Roll 180\u00b0", "value": 8}, {"description": "Roll 180\u00b0, Yaw 45\u00b0", "value": 9}, {"description": "Roll 180\u00b0, Yaw 90\u00b0", "value": 10}, {"description": "Roll 180\u00b0, Yaw 135\u00b0", "value": 11}, {"description": "Pitch 180\u00b0", "value": 12}, {"description": "Roll 180\u00b0, Yaw 225\u00b0", "value": 13}, {"description": "Roll 180\u00b0, Yaw 270\u00b0", "value": 14}, {"description": "Roll 180\u00b0, Yaw 315\u00b0", "value": 15}, {"description": "Roll 90\u00b0", "value": 16}, {"description": "Roll 90\u00b0, Yaw 45\u00b0", "value": 17}, {"description": "Roll 90\u00b0, Yaw 90\u00b0", "value": 18}, {"description": "Roll 90\u00b0, Yaw 135\u00b0", "value": 19}, {"description": "Roll 270\u00b0", "value": 20}, {"description": "Roll 270\u00b0, Yaw 45\u00b0", "value": 21}, {"description": "Roll 270\u00b0, Yaw 90\u00b0", "value": 22}, {"description": "Roll 270\u00b0, Yaw 135\u00b0", "value": 23}, {"description": "Pitch 90\u00b0", "value": 24}, {"description": "Pitch 270\u00b0", "value": 25}, {"description": "Pitch 180\u00b0, Yaw 90\u00b0", "value": 26}, {"description": "Pitch 180\u00b0, Yaw 270\u00b0", "value": 27}, {"description": "Roll 90\u00b0, Pitch 90\u00b0", "value": 28}, {"description": "Roll 180\u00b0, Pitch 90\u00b0", "value": 29}, {"description": "Roll 270\u00b0, Pitch 90\u00b0", "value": 30}, {"description": "Roll 90\u00b0, Pitch 180\u00b0", "value": 31}, {"description": "Roll 270\u00b0, Pitch 180\u00b0", "value": 32}, {"description": "Roll 90\u00b0, Pitch 270\u00b0", "value": 33}, {"description": "Roll 180\u00b0, Pitch 270\u00b0", "value": 34}, {"description": "Roll 270\u00b0, Pitch 270\u00b0", "value": 35}, {"description": "Roll 90\u00b0, Pitch 180\u00b0, Yaw 90\u00b0", "value": 36}, {"description": "Roll 90\u00b0, Yaw 270\u00b0", "value": 37}, {"description": "Roll 90\u00b0, Pitch 68\u00b0, Yaw 293\u00b0", "value": 38}, {"description": "Pitch 315\u00b0", "value": 39}, {"description": "Roll 90\u00b0, Pitch 315\u00b0", "value": 40}]}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_ACC1_XOFF", "shortDesc": "Accelerometer 1 X-axis offset", "type": "Float", "units": "m/s^2", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_ACC1_XSCALE", "shortDesc": "Accelerometer 1 X-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_ACC1_YOFF", "shortDesc": "Accelerometer 1 Y-axis offset", "type": "Float", "units": "m/s^2", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_ACC1_YSCALE", "shortDesc": "Accelerometer 1 Y-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_ACC1_ZOFF", "shortDesc": "Accelerometer 1 Z-axis offset", "type": "Float", "units": "m/s^2", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_ACC1_ZSCALE", "shortDesc": "Accelerometer 1 Z-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0, "group": "Sensor Calibration", "longDesc": "Device ID of the accelerometer this calibration applies to.", "name": "CAL_ACC2_ID", "shortDesc": "Accelerometer 2 calibration device ID", "type": "Int32"}, {"category": "System", "decimalPlaces": 3, "default": -1, "group": "Sensor Calibration", "name": "CAL_ACC2_PRIO", "shortDesc": "Accelerometer 2 priority", "type": "Int32", "values": [{"description": "Uninitialized", "value": -1}, {"description": "Disabled", "value": 0}, {"description": "Min", "value": 1}, {"description": "Low", "value": 25}, {"description": "Medium (Default)", "value": 50}, {"description": "High", "value": 75}, {"description": "Max", "value": 100}]}, {"category": "System", "default": -1, "group": "Sensor Calibration", "longDesc": "An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.", "max": 40, "min": -1, "name": "CAL_ACC2_ROT", "shortDesc": "Accelerometer 2 rotation relative to airframe", "type": "Int32", "values": [{"description": "Internal", "value": -1}, {"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}, {"description": "Roll 180\u00b0", "value": 8}, {"description": "Roll 180\u00b0, Yaw 45\u00b0", "value": 9}, {"description": "Roll 180\u00b0, Yaw 90\u00b0", "value": 10}, {"description": "Roll 180\u00b0, Yaw 135\u00b0", "value": 11}, {"description": "Pitch 180\u00b0", "value": 12}, {"description": "Roll 180\u00b0, Yaw 225\u00b0", "value": 13}, {"description": "Roll 180\u00b0, Yaw 270\u00b0", "value": 14}, {"description": "Roll 180\u00b0, Yaw 315\u00b0", "value": 15}, {"description": "Roll 90\u00b0", "value": 16}, {"description": "Roll 90\u00b0, Yaw 45\u00b0", "value": 17}, {"description": "Roll 90\u00b0, Yaw 90\u00b0", "value": 18}, {"description": "Roll 90\u00b0, Yaw 135\u00b0", "value": 19}, {"description": "Roll 270\u00b0", "value": 20}, {"description": "Roll 270\u00b0, Yaw 45\u00b0", "value": 21}, {"description": "Roll 270\u00b0, Yaw 90\u00b0", "value": 22}, {"description": "Roll 270\u00b0, Yaw 135\u00b0", "value": 23}, {"description": "Pitch 90\u00b0", "value": 24}, {"description": "Pitch 270\u00b0", "value": 25}, {"description": "Pitch 180\u00b0, Yaw 90\u00b0", "value": 26}, {"description": "Pitch 180\u00b0, Yaw 270\u00b0", "value": 27}, {"description": "Roll 90\u00b0, Pitch 90\u00b0", "value": 28}, {"description": "Roll 180\u00b0, Pitch 90\u00b0", "value": 29}, {"description": "Roll 270\u00b0, Pitch 90\u00b0", "value": 30}, {"description": "Roll 90\u00b0, Pitch 180\u00b0", "value": 31}, {"description": "Roll 270\u00b0, Pitch 180\u00b0", "value": 32}, {"description": "Roll 90\u00b0, Pitch 270\u00b0", "value": 33}, {"description": "Roll 180\u00b0, Pitch 270\u00b0", "value": 34}, {"description": "Roll 270\u00b0, Pitch 270\u00b0", "value": 35}, {"description": "Roll 90\u00b0, Pitch 180\u00b0, Yaw 90\u00b0", "value": 36}, {"description": "Roll 90\u00b0, Yaw 270\u00b0", "value": 37}, {"description": "Roll 90\u00b0, Pitch 68\u00b0, Yaw 293\u00b0", "value": 38}, {"description": "Pitch 315\u00b0", "value": 39}, {"description": "Roll 90\u00b0, Pitch 315\u00b0", "value": 40}]}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_ACC2_XOFF", "shortDesc": "Accelerometer 2 X-axis offset", "type": "Float", "units": "m/s^2", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_ACC2_XSCALE", "shortDesc": "Accelerometer 2 X-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_ACC2_YOFF", "shortDesc": "Accelerometer 2 Y-axis offset", "type": "Float", "units": "m/s^2", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_ACC2_YSCALE", "shortDesc": "Accelerometer 2 Y-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_ACC2_ZOFF", "shortDesc": "Accelerometer 2 Z-axis offset", "type": "Float", "units": "m/s^2", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_ACC2_ZSCALE", "shortDesc": "Accelerometer 2 Z-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0, "group": "Sensor Calibration", "longDesc": "Device ID of the accelerometer this calibration applies to.", "name": "CAL_ACC3_ID", "shortDesc": "Accelerometer 3 calibration device ID", "type": "Int32"}, {"category": "System", "decimalPlaces": 3, "default": -1, "group": "Sensor Calibration", "name": "CAL_ACC3_PRIO", "shortDesc": "Accelerometer 3 priority", "type": "Int32", "values": [{"description": "Uninitialized", "value": -1}, {"description": "Disabled", "value": 0}, {"description": "Min", "value": 1}, {"description": "Low", "value": 25}, {"description": "Medium (Default)", "value": 50}, {"description": "High", "value": 75}, {"description": "Max", "value": 100}]}, {"category": "System", "default": -1, "group": "Sensor Calibration", "longDesc": "An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.", "max": 40, "min": -1, "name": "CAL_ACC3_ROT", "shortDesc": "Accelerometer 3 rotation relative to airframe", "type": "Int32", "values": [{"description": "Internal", "value": -1}, {"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}, {"description": "Roll 180\u00b0", "value": 8}, {"description": "Roll 180\u00b0, Yaw 45\u00b0", "value": 9}, {"description": "Roll 180\u00b0, Yaw 90\u00b0", "value": 10}, {"description": "Roll 180\u00b0, Yaw 135\u00b0", "value": 11}, {"description": "Pitch 180\u00b0", "value": 12}, {"description": "Roll 180\u00b0, Yaw 225\u00b0", "value": 13}, {"description": "Roll 180\u00b0, Yaw 270\u00b0", "value": 14}, {"description": "Roll 180\u00b0, Yaw 315\u00b0", "value": 15}, {"description": "Roll 90\u00b0", "value": 16}, {"description": "Roll 90\u00b0, Yaw 45\u00b0", "value": 17}, {"description": "Roll 90\u00b0, Yaw 90\u00b0", "value": 18}, {"description": "Roll 90\u00b0, Yaw 135\u00b0", "value": 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"units": "rad/s", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_GYRO2_YOFF", "shortDesc": "Gyroscope 2 Y-axis offset", "type": "Float", "units": "rad/s", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_GYRO2_ZOFF", "shortDesc": "Gyroscope 2 Z-axis offset", "type": "Float", "units": "rad/s", "volatile": true}, {"category": "System", "default": 0, "group": "Sensor Calibration", "longDesc": "Device ID of the gyroscope this calibration applies to.", "name": "CAL_GYRO3_ID", "shortDesc": "Gyroscope 3 calibration device ID", "type": "Int32"}, {"category": "System", "default": -1, "group": "Sensor Calibration", "name": "CAL_GYRO3_PRIO", "shortDesc": "Gyroscope 3 priority", "type": "Int32", "values": [{"description": "Uninitialized", "value": -1}, {"description": "Disabled", "value": 0}, {"description": "Min", "value": 1}, {"description": "Low", "value": 25}, {"description": "Medium (Default)", "value": 50}, {"description": "High", "value": 75}, {"description": "Max", "value": 100}]}, {"category": "System", "default": -1, "group": "Sensor Calibration", "longDesc": "An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.", "max": 40, "min": -1, "name": "CAL_GYRO3_ROT", "shortDesc": "Gyroscope 3 rotation relative to airframe", "type": "Int32", "values": [{"description": "Internal", "value": -1}, {"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}, {"description": "Roll 180\u00b0", "value": 8}, {"description": "Roll 180\u00b0, Yaw 45\u00b0", "value": 9}, {"description": "Roll 180\u00b0, Yaw 90\u00b0", "value": 10}, {"description": "Roll 180\u00b0, Yaw 135\u00b0", "value": 11}, {"description": "Pitch 180\u00b0", "value": 12}, {"description": "Roll 180\u00b0, Yaw 225\u00b0", "value": 13}, {"description": "Roll 180\u00b0, Yaw 270\u00b0", "value": 14}, {"description": "Roll 180\u00b0, Yaw 315\u00b0", "value": 15}, {"description": "Roll 90\u00b0", "value": 16}, {"description": "Roll 90\u00b0, Yaw 45\u00b0", "value": 17}, {"description": "Roll 90\u00b0, Yaw 90\u00b0", "value": 18}, {"description": "Roll 90\u00b0, Yaw 135\u00b0", "value": 19}, {"description": "Roll 270\u00b0", "value": 20}, {"description": "Roll 270\u00b0, Yaw 45\u00b0", "value": 21}, {"description": "Roll 270\u00b0, Yaw 90\u00b0", "value": 22}, {"description": "Roll 270\u00b0, Yaw 135\u00b0", "value": 23}, {"description": "Pitch 90\u00b0", "value": 24}, {"description": "Pitch 270\u00b0", "value": 25}, {"description": "Pitch 180\u00b0, Yaw 90\u00b0", "value": 26}, {"description": "Pitch 180\u00b0, Yaw 270\u00b0", "value": 27}, {"description": "Roll 90\u00b0, Pitch 90\u00b0", "value": 28}, {"description": "Roll 180\u00b0, Pitch 90\u00b0", "value": 29}, {"description": "Roll 270\u00b0, Pitch 90\u00b0", "value": 30}, {"description": "Roll 90\u00b0, Pitch 180\u00b0", "value": 31}, {"description": "Roll 270\u00b0, Pitch 180\u00b0", "value": 32}, {"description": "Roll 90\u00b0, Pitch 270\u00b0", "value": 33}, {"description": "Roll 180\u00b0, Pitch 270\u00b0", "value": 34}, {"description": "Roll 270\u00b0, Pitch 270\u00b0", "value": 35}, {"description": "Roll 90\u00b0, Pitch 180\u00b0, Yaw 90\u00b0", "value": 36}, {"description": "Roll 90\u00b0, Yaw 270\u00b0", "value": 37}, {"description": "Roll 90\u00b0, Pitch 68\u00b0, Yaw 293\u00b0", "value": 38}, {"description": "Pitch 315\u00b0", "value": 39}, {"description": "Roll 90\u00b0, Pitch 315\u00b0", "value": 40}]}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_GYRO3_XOFF", "shortDesc": "Gyroscope 3 X-axis offset", "type": "Float", "units": "rad/s", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_GYRO3_YOFF", "shortDesc": "Gyroscope 3 Y-axis offset", "type": "Float", "units": "rad/s", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_GYRO3_ZOFF", "shortDesc": "Gyroscope 3 Z-axis offset", "type": "Float", "units": "rad/s", "volatile": true}, {"category": "System", "default": 0, "group": "Sensor Calibration", "longDesc": "Device ID of the magnetometer this calibration applies to.", "name": "CAL_MAG0_ID", "shortDesc": "Magnetometer 0 calibration device ID", "type": "Int32"}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "longDesc": "Setting this parameter changes CAL_MAG0_ROT to \"Custom Euler Angle\"", "max": 180.0, "min": -180.0, "name": "CAL_MAG0_PITCH", "shortDesc": "Magnetometer 0 Custom Euler Pitch Angle", "type": "Float", "units": "deg"}, {"category": "System", "default": -1, "group": "Sensor Calibration", "name": "CAL_MAG0_PRIO", "shortDesc": "Magnetometer 0 priority", "type": "Int32", "values": [{"description": "Uninitialized", "value": -1}, {"description": "Disabled", "value": 0}, {"description": "Min", "value": 1}, {"description": "Low", "value": 25}, {"description": "Medium (Default)", "value": 50}, {"description": "High", "value": 75}, {"description": "Max", "value": 100}]}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "longDesc": "Setting this parameter changes CAL_MAG0_ROT to \"Custom Euler Angle\"", "max": 180.0, "min": -180.0, "name": "CAL_MAG0_ROLL", "shortDesc": "Magnetometer 0 Custom Euler Roll Angle", "type": "Float", "units": "deg"}, {"category": "System", "default": -1, "group": "Sensor Calibration", "longDesc": "An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero. Set to \"Custom Euler Angle\" to define the rotation using CAL_MAG0_ROLL, CAL_MAG0_PITCH and CAL_MAG0_YAW.", "max": 100, "min": -1, "name": "CAL_MAG0_ROT", "shortDesc": "Magnetometer 0 rotation relative to airframe", "type": "Int32", "values": [{"description": "Internal", "value": -1}, {"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}, {"description": "Roll 180\u00b0", "value": 8}, {"description": "Roll 180\u00b0, Yaw 45\u00b0", "value": 9}, {"description": "Roll 180\u00b0, Yaw 90\u00b0", "value": 10}, {"description": "Roll 180\u00b0, Yaw 135\u00b0", "value": 11}, {"description": "Pitch 180\u00b0", "value": 12}, {"description": "Roll 180\u00b0, Yaw 225\u00b0", "value": 13}, {"description": "Roll 180\u00b0, Yaw 270\u00b0", "value": 14}, {"description": "Roll 180\u00b0, Yaw 315\u00b0", "value": 15}, {"description": "Roll 90\u00b0", "value": 16}, {"description": "Roll 90\u00b0, Yaw 45\u00b0", "value": 17}, {"description": "Roll 90\u00b0, Yaw 90\u00b0", "value": 18}, {"description": "Roll 90\u00b0, Yaw 135\u00b0", "value": 19}, {"description": "Roll 270\u00b0", "value": 20}, {"description": "Roll 270\u00b0, Yaw 45\u00b0", "value": 21}, {"description": "Roll 270\u00b0, Yaw 90\u00b0", "value": 22}, {"description": "Roll 270\u00b0, Yaw 135\u00b0", "value": 23}, {"description": "Pitch 90\u00b0", "value": 24}, {"description": "Pitch 270\u00b0", "value": 25}, {"description": "Pitch 180\u00b0, Yaw 90\u00b0", "value": 26}, {"description": "Pitch 180\u00b0, Yaw 270\u00b0", "value": 27}, {"description": "Roll 90\u00b0, Pitch 90\u00b0", "value": 28}, {"description": "Roll 180\u00b0, Pitch 90\u00b0", "value": 29}, {"description": "Roll 270\u00b0, Pitch 90\u00b0", "value": 30}, {"description": "Roll 90\u00b0, Pitch 180\u00b0", "value": 31}, {"description": "Roll 270\u00b0, Pitch 180\u00b0", "value": 32}, {"description": "Roll 90\u00b0, Pitch 270\u00b0", "value": 33}, {"description": "Roll 180\u00b0, Pitch 270\u00b0", "value": 34}, {"description": "Roll 270\u00b0, Pitch 270\u00b0", "value": 35}, {"description": "Roll 90\u00b0, Pitch 180\u00b0, Yaw 90\u00b0", "value": 36}, {"description": "Roll 90\u00b0, Yaw 270\u00b0", "value": 37}, {"description": "Roll 90\u00b0, Pitch 68\u00b0, Yaw 293\u00b0", "value": 38}, {"description": "Pitch 315\u00b0", "value": 39}, {"description": "Roll 90\u00b0, Pitch 315\u00b0", "value": 40}, {"description": "Custom Euler Angle", "value": 100}]}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "longDesc": "Coefficient describing linear relationship between X component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]", "name": "CAL_MAG0_XCOMP", "shortDesc": "Magnetometer 0 X Axis throttle compensation", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG0_XODIAG", "shortDesc": "Magnetometer 0 X-axis off diagonal scale factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG0_XOFF", "shortDesc": "Magnetometer 0 X-axis offset", "type": "Float", "units": "gauss", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_MAG0_XSCALE", "shortDesc": "Magnetometer 0 X-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "longDesc": "Setting this parameter changes CAL_MAG0_ROT to \"Custom Euler Angle\"", "max": 180.0, "min": -180.0, "name": "CAL_MAG0_YAW", "shortDesc": "Magnetometer 0 Custom Euler Yaw Angle", "type": "Float", "units": "deg"}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "longDesc": "Coefficient describing linear relationship between Y component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]", "name": "CAL_MAG0_YCOMP", "shortDesc": "Magnetometer 0 Y Axis throttle compensation", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG0_YODIAG", "shortDesc": "Magnetometer 0 Y-axis off diagonal scale factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG0_YOFF", "shortDesc": "Magnetometer 0 Y-axis offset", "type": "Float", "units": "gauss", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_MAG0_YSCALE", "shortDesc": "Magnetometer 0 Y-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "longDesc": "Coefficient describing linear relationship between Z component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]", "name": "CAL_MAG0_ZCOMP", "shortDesc": "Magnetometer 0 Z Axis throttle compensation", "type": "Float", "volatile": true}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG0_ZODIAG", "shortDesc": "Magnetometer 0 Z-axis off diagonal scale factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG0_ZOFF", "shortDesc": "Magnetometer 0 Z-axis offset", "type": "Float", "units": "gauss", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_MAG0_ZSCALE", "shortDesc": "Magnetometer 0 Z-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "default": 0, "group": "Sensor Calibration", "longDesc": "Device ID of the magnetometer this calibration applies to.", "name": "CAL_MAG1_ID", "shortDesc": "Magnetometer 1 calibration device ID", "type": "Int32"}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "longDesc": "Setting this parameter changes CAL_MAG1_ROT to \"Custom Euler Angle\"", "max": 180.0, "min": -180.0, "name": "CAL_MAG1_PITCH", "shortDesc": "Magnetometer 1 Custom Euler Pitch Angle", "type": "Float", "units": "deg"}, {"category": "System", "default": -1, "group": "Sensor Calibration", "name": "CAL_MAG1_PRIO", "shortDesc": "Magnetometer 1 priority", "type": "Int32", "values": [{"description": "Uninitialized", "value": -1}, {"description": "Disabled", "value": 0}, {"description": "Min", "value": 1}, {"description": "Low", "value": 25}, {"description": "Medium (Default)", "value": 50}, {"description": "High", "value": 75}, {"description": "Max", "value": 100}]}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "longDesc": "Setting this parameter changes CAL_MAG1_ROT to \"Custom Euler Angle\"", "max": 180.0, "min": -180.0, "name": "CAL_MAG1_ROLL", "shortDesc": "Magnetometer 1 Custom Euler Roll Angle", "type": "Float", "units": "deg"}, {"category": "System", "default": -1, "group": "Sensor Calibration", "longDesc": "An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero. Set to \"Custom Euler Angle\" to define the rotation using CAL_MAG1_ROLL, CAL_MAG1_PITCH and CAL_MAG1_YAW.", "max": 100, "min": -1, "name": "CAL_MAG1_ROT", "shortDesc": "Magnetometer 1 rotation relative to airframe", "type": "Int32", "values": [{"description": "Internal", "value": -1}, {"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}, {"description": "Roll 180\u00b0", "value": 8}, {"description": "Roll 180\u00b0, Yaw 45\u00b0", "value": 9}, {"description": "Roll 180\u00b0, Yaw 90\u00b0", "value": 10}, {"description": "Roll 180\u00b0, Yaw 135\u00b0", "value": 11}, {"description": "Pitch 180\u00b0", "value": 12}, {"description": "Roll 180\u00b0, Yaw 225\u00b0", "value": 13}, {"description": "Roll 180\u00b0, Yaw 270\u00b0", "value": 14}, {"description": "Roll 180\u00b0, Yaw 315\u00b0", "value": 15}, {"description": "Roll 90\u00b0", "value": 16}, {"description": "Roll 90\u00b0, Yaw 45\u00b0", "value": 17}, {"description": "Roll 90\u00b0, Yaw 90\u00b0", "value": 18}, {"description": "Roll 90\u00b0, Yaw 135\u00b0", "value": 19}, {"description": "Roll 270\u00b0", "value": 20}, {"description": "Roll 270\u00b0, Yaw 45\u00b0", "value": 21}, {"description": "Roll 270\u00b0, Yaw 90\u00b0", "value": 22}, {"description": "Roll 270\u00b0, Yaw 135\u00b0", "value": 23}, {"description": "Pitch 90\u00b0", "value": 24}, {"description": "Pitch 270\u00b0", "value": 25}, {"description": "Pitch 180\u00b0, Yaw 90\u00b0", "value": 26}, {"description": "Pitch 180\u00b0, Yaw 270\u00b0", "value": 27}, {"description": "Roll 90\u00b0, Pitch 90\u00b0", "value": 28}, {"description": "Roll 180\u00b0, Pitch 90\u00b0", "value": 29}, {"description": "Roll 270\u00b0, Pitch 90\u00b0", "value": 30}, {"description": "Roll 90\u00b0, Pitch 180\u00b0", "value": 31}, {"description": "Roll 270\u00b0, Pitch 180\u00b0", "value": 32}, {"description": "Roll 90\u00b0, Pitch 270\u00b0", "value": 33}, {"description": "Roll 180\u00b0, Pitch 270\u00b0", "value": 34}, {"description": "Roll 270\u00b0, Pitch 270\u00b0", "value": 35}, {"description": "Roll 90\u00b0, Pitch 180\u00b0, Yaw 90\u00b0", "value": 36}, {"description": "Roll 90\u00b0, Yaw 270\u00b0", "value": 37}, {"description": "Roll 90\u00b0, Pitch 68\u00b0, Yaw 293\u00b0", "value": 38}, {"description": "Pitch 315\u00b0", "value": 39}, {"description": "Roll 90\u00b0, Pitch 315\u00b0", "value": 40}, {"description": "Custom Euler Angle", "value": 100}]}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "longDesc": "Coefficient describing linear relationship between X component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]", "name": "CAL_MAG1_XCOMP", "shortDesc": "Magnetometer 1 X Axis throttle compensation", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG1_XODIAG", "shortDesc": "Magnetometer 1 X-axis off diagonal scale factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG1_XOFF", "shortDesc": "Magnetometer 1 X-axis offset", "type": "Float", "units": "gauss", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_MAG1_XSCALE", "shortDesc": "Magnetometer 1 X-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "longDesc": "Setting this parameter changes CAL_MAG1_ROT to \"Custom Euler Angle\"", "max": 180.0, "min": -180.0, "name": "CAL_MAG1_YAW", "shortDesc": "Magnetometer 1 Custom Euler Yaw Angle", "type": "Float", "units": "deg"}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "longDesc": "Coefficient describing linear relationship between Y component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]", "name": "CAL_MAG1_YCOMP", "shortDesc": "Magnetometer 1 Y Axis throttle compensation", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG1_YODIAG", "shortDesc": "Magnetometer 1 Y-axis off diagonal scale factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG1_YOFF", "shortDesc": "Magnetometer 1 Y-axis offset", "type": "Float", "units": "gauss", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_MAG1_YSCALE", "shortDesc": "Magnetometer 1 Y-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "longDesc": "Coefficient describing linear relationship between Z component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]", "name": "CAL_MAG1_ZCOMP", "shortDesc": "Magnetometer 1 Z Axis throttle compensation", "type": "Float", "volatile": true}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG1_ZODIAG", "shortDesc": "Magnetometer 1 Z-axis off diagonal scale factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG1_ZOFF", "shortDesc": "Magnetometer 1 Z-axis offset", "type": "Float", "units": "gauss", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_MAG1_ZSCALE", "shortDesc": "Magnetometer 1 Z-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "default": 0, "group": "Sensor Calibration", "longDesc": "Device ID of the magnetometer this calibration applies to.", "name": "CAL_MAG2_ID", "shortDesc": "Magnetometer 2 calibration device ID", "type": "Int32"}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "longDesc": "Setting this parameter changes CAL_MAG2_ROT to \"Custom Euler Angle\"", "max": 180.0, "min": -180.0, "name": "CAL_MAG2_PITCH", "shortDesc": "Magnetometer 2 Custom Euler Pitch Angle", "type": "Float", "units": "deg"}, {"category": "System", "default": -1, "group": "Sensor Calibration", "name": "CAL_MAG2_PRIO", "shortDesc": "Magnetometer 2 priority", "type": "Int32", "values": [{"description": "Uninitialized", "value": -1}, {"description": "Disabled", "value": 0}, {"description": "Min", "value": 1}, {"description": "Low", "value": 25}, {"description": "Medium (Default)", "value": 50}, {"description": "High", "value": 75}, {"description": "Max", "value": 100}]}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "longDesc": "Setting this parameter changes CAL_MAG2_ROT to \"Custom Euler Angle\"", "max": 180.0, "min": -180.0, "name": "CAL_MAG2_ROLL", "shortDesc": "Magnetometer 2 Custom Euler Roll Angle", "type": "Float", "units": "deg"}, {"category": "System", "default": -1, "group": "Sensor Calibration", "longDesc": "An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero. Set to \"Custom Euler Angle\" to define the rotation using CAL_MAG2_ROLL, CAL_MAG2_PITCH and CAL_MAG2_YAW.", "max": 100, "min": -1, "name": "CAL_MAG2_ROT", "shortDesc": "Magnetometer 2 rotation relative to airframe", "type": "Int32", "values": [{"description": "Internal", "value": -1}, {"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}, {"description": "Roll 180\u00b0", "value": 8}, {"description": "Roll 180\u00b0, Yaw 45\u00b0", "value": 9}, {"description": "Roll 180\u00b0, Yaw 90\u00b0", "value": 10}, {"description": "Roll 180\u00b0, Yaw 135\u00b0", "value": 11}, {"description": "Pitch 180\u00b0", "value": 12}, {"description": "Roll 180\u00b0, Yaw 225\u00b0", "value": 13}, {"description": "Roll 180\u00b0, Yaw 270\u00b0", "value": 14}, {"description": "Roll 180\u00b0, Yaw 315\u00b0", "value": 15}, {"description": "Roll 90\u00b0", "value": 16}, {"description": "Roll 90\u00b0, Yaw 45\u00b0", "value": 17}, {"description": "Roll 90\u00b0, Yaw 90\u00b0", "value": 18}, {"description": "Roll 90\u00b0, Yaw 135\u00b0", "value": 19}, {"description": "Roll 270\u00b0", "value": 20}, {"description": "Roll 270\u00b0, Yaw 45\u00b0", "value": 21}, {"description": "Roll 270\u00b0, Yaw 90\u00b0", "value": 22}, {"description": "Roll 270\u00b0, Yaw 135\u00b0", "value": 23}, {"description": "Pitch 90\u00b0", "value": 24}, {"description": "Pitch 270\u00b0", "value": 25}, {"description": "Pitch 180\u00b0, Yaw 90\u00b0", "value": 26}, {"description": "Pitch 180\u00b0, Yaw 270\u00b0", "value": 27}, {"description": "Roll 90\u00b0, Pitch 90\u00b0", "value": 28}, {"description": "Roll 180\u00b0, Pitch 90\u00b0", "value": 29}, {"description": "Roll 270\u00b0, Pitch 90\u00b0", "value": 30}, {"description": "Roll 90\u00b0, Pitch 180\u00b0", "value": 31}, {"description": "Roll 270\u00b0, Pitch 180\u00b0", "value": 32}, {"description": "Roll 90\u00b0, Pitch 270\u00b0", "value": 33}, {"description": "Roll 180\u00b0, Pitch 270\u00b0", "value": 34}, {"description": "Roll 270\u00b0, Pitch 270\u00b0", "value": 35}, {"description": "Roll 90\u00b0, Pitch 180\u00b0, Yaw 90\u00b0", "value": 36}, {"description": "Roll 90\u00b0, Yaw 270\u00b0", "value": 37}, {"description": "Roll 90\u00b0, Pitch 68\u00b0, Yaw 293\u00b0", "value": 38}, {"description": "Pitch 315\u00b0", "value": 39}, {"description": "Roll 90\u00b0, Pitch 315\u00b0", "value": 40}, {"description": "Custom Euler Angle", "value": 100}]}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "longDesc": "Coefficient describing linear relationship between X component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]", "name": "CAL_MAG2_XCOMP", "shortDesc": "Magnetometer 2 X Axis throttle compensation", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG2_XODIAG", "shortDesc": "Magnetometer 2 X-axis off diagonal scale factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG2_XOFF", "shortDesc": "Magnetometer 2 X-axis offset", "type": "Float", "units": "gauss", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_MAG2_XSCALE", "shortDesc": "Magnetometer 2 X-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "longDesc": "Setting this parameter changes CAL_MAG2_ROT to \"Custom Euler Angle\"", "max": 180.0, "min": -180.0, "name": "CAL_MAG2_YAW", "shortDesc": "Magnetometer 2 Custom Euler Yaw Angle", "type": "Float", "units": "deg"}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "longDesc": "Coefficient describing linear relationship between Y component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]", "name": "CAL_MAG2_YCOMP", "shortDesc": "Magnetometer 2 Y Axis throttle compensation", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG2_YODIAG", "shortDesc": "Magnetometer 2 Y-axis off diagonal scale factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG2_YOFF", "shortDesc": "Magnetometer 2 Y-axis offset", "type": "Float", "units": "gauss", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_MAG2_YSCALE", "shortDesc": "Magnetometer 2 Y-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "longDesc": "Coefficient describing linear relationship between Z component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]", "name": "CAL_MAG2_ZCOMP", "shortDesc": "Magnetometer 2 Z Axis throttle compensation", "type": "Float", "volatile": true}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG2_ZODIAG", "shortDesc": "Magnetometer 2 Z-axis off diagonal scale factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG2_ZOFF", "shortDesc": "Magnetometer 2 Z-axis offset", "type": "Float", "units": "gauss", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_MAG2_ZSCALE", "shortDesc": "Magnetometer 2 Z-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "default": 0, "group": "Sensor Calibration", "longDesc": "Device ID of the magnetometer this calibration applies to.", "name": "CAL_MAG3_ID", "shortDesc": "Magnetometer 3 calibration device ID", "type": "Int32"}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "longDesc": "Setting this parameter changes CAL_MAG3_ROT to \"Custom Euler Angle\"", "max": 180.0, "min": -180.0, "name": "CAL_MAG3_PITCH", "shortDesc": "Magnetometer 3 Custom Euler Pitch Angle", "type": "Float", "units": "deg"}, {"category": "System", "default": -1, "group": "Sensor Calibration", "name": "CAL_MAG3_PRIO", "shortDesc": "Magnetometer 3 priority", "type": "Int32", "values": [{"description": "Uninitialized", "value": -1}, {"description": "Disabled", "value": 0}, {"description": "Min", "value": 1}, {"description": "Low", "value": 25}, {"description": "Medium (Default)", "value": 50}, {"description": "High", "value": 75}, {"description": "Max", "value": 100}]}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "longDesc": "Setting this parameter changes CAL_MAG3_ROT to \"Custom Euler Angle\"", "max": 180.0, "min": -180.0, "name": "CAL_MAG3_ROLL", "shortDesc": "Magnetometer 3 Custom Euler Roll Angle", "type": "Float", "units": "deg"}, {"category": "System", "default": -1, "group": "Sensor Calibration", "longDesc": "An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero. Set to \"Custom Euler Angle\" to define the rotation using CAL_MAG3_ROLL, CAL_MAG3_PITCH and CAL_MAG3_YAW.", "max": 100, "min": -1, "name": "CAL_MAG3_ROT", "shortDesc": "Magnetometer 3 rotation relative to airframe", "type": "Int32", "values": [{"description": "Internal", "value": -1}, {"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}, {"description": "Roll 180\u00b0", "value": 8}, {"description": "Roll 180\u00b0, Yaw 45\u00b0", "value": 9}, {"description": "Roll 180\u00b0, Yaw 90\u00b0", "value": 10}, {"description": "Roll 180\u00b0, Yaw 135\u00b0", "value": 11}, {"description": "Pitch 180\u00b0", "value": 12}, {"description": "Roll 180\u00b0, Yaw 225\u00b0", "value": 13}, {"description": "Roll 180\u00b0, Yaw 270\u00b0", "value": 14}, {"description": "Roll 180\u00b0, Yaw 315\u00b0", "value": 15}, {"description": "Roll 90\u00b0", "value": 16}, {"description": "Roll 90\u00b0, Yaw 45\u00b0", "value": 17}, {"description": "Roll 90\u00b0, Yaw 90\u00b0", "value": 18}, {"description": "Roll 90\u00b0, Yaw 135\u00b0", "value": 19}, {"description": "Roll 270\u00b0", "value": 20}, {"description": "Roll 270\u00b0, Yaw 45\u00b0", "value": 21}, {"description": "Roll 270\u00b0, Yaw 90\u00b0", "value": 22}, {"description": "Roll 270\u00b0, Yaw 135\u00b0", "value": 23}, {"description": "Pitch 90\u00b0", "value": 24}, {"description": "Pitch 270\u00b0", "value": 25}, {"description": "Pitch 180\u00b0, Yaw 90\u00b0", "value": 26}, {"description": "Pitch 180\u00b0, Yaw 270\u00b0", "value": 27}, {"description": "Roll 90\u00b0, Pitch 90\u00b0", "value": 28}, {"description": "Roll 180\u00b0, Pitch 90\u00b0", "value": 29}, {"description": "Roll 270\u00b0, Pitch 90\u00b0", "value": 30}, {"description": "Roll 90\u00b0, Pitch 180\u00b0", "value": 31}, {"description": "Roll 270\u00b0, Pitch 180\u00b0", "value": 32}, {"description": "Roll 90\u00b0, Pitch 270\u00b0", "value": 33}, {"description": "Roll 180\u00b0, Pitch 270\u00b0", "value": 34}, {"description": "Roll 270\u00b0, Pitch 270\u00b0", "value": 35}, {"description": "Roll 90\u00b0, Pitch 180\u00b0, Yaw 90\u00b0", "value": 36}, {"description": "Roll 90\u00b0, Yaw 270\u00b0", "value": 37}, {"description": "Roll 90\u00b0, Pitch 68\u00b0, Yaw 293\u00b0", "value": 38}, {"description": "Pitch 315\u00b0", "value": 39}, {"description": "Roll 90\u00b0, Pitch 315\u00b0", "value": 40}, {"description": "Custom Euler Angle", "value": 100}]}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "longDesc": "Coefficient describing linear relationship between X component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]", "name": "CAL_MAG3_XCOMP", "shortDesc": "Magnetometer 3 X Axis throttle compensation", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG3_XODIAG", "shortDesc": "Magnetometer 3 X-axis off diagonal scale factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG3_XOFF", "shortDesc": "Magnetometer 3 X-axis offset", "type": "Float", "units": "gauss", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_MAG3_XSCALE", "shortDesc": "Magnetometer 3 X-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "longDesc": "Setting this parameter changes CAL_MAG3_ROT to \"Custom Euler Angle\"", "max": 180.0, "min": -180.0, "name": "CAL_MAG3_YAW", "shortDesc": "Magnetometer 3 Custom Euler Yaw Angle", "type": "Float", "units": "deg"}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "longDesc": "Coefficient describing linear relationship between Y component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]", "name": "CAL_MAG3_YCOMP", "shortDesc": "Magnetometer 3 Y Axis throttle compensation", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG3_YODIAG", "shortDesc": "Magnetometer 3 Y-axis off diagonal scale factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG3_YOFF", "shortDesc": "Magnetometer 3 Y-axis offset", "type": "Float", "units": "gauss", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_MAG3_YSCALE", "shortDesc": "Magnetometer 3 Y-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "longDesc": "Coefficient describing linear relationship between Z component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]", "name": "CAL_MAG3_ZCOMP", "shortDesc": "Magnetometer 3 Z Axis throttle compensation", "type": "Float", "volatile": true}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG3_ZODIAG", "shortDesc": "Magnetometer 3 Z-axis off diagonal scale factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG3_ZOFF", "shortDesc": "Magnetometer 3 Z-axis offset", "type": "Float", "units": "gauss", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_MAG3_ZSCALE", "shortDesc": "Magnetometer 3 Z-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "default": 0, "group": "Sensor Calibration", "name": "CAL_MAG_COMP_TYP", "shortDesc": "Type of magnetometer compensation", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Throttle-based compensation", "value": 1}, {"description": "Current-based compensation (battery_status instance 0)", "value": 2}, {"description": "Current-based compensation (battery_status instance 1)", "value": 3}]}, {"category": "Standard", "default": 0.0, "group": "Sensor Calibration", "longDesc": "Pick the appropriate scaling from the datasheet. this number defines the (linear) conversion from voltage to Pascal (pa). For the MPXV7002DP this is 1000. NOTE: If the sensor always registers zero, try switching the static and dynamic tubes.", "name": "SENS_DPRES_ANSC", "shortDesc": "Differential pressure sensor analog scaling", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "longDesc": "The offset (zero-reading) in Pascal", "name": "SENS_DPRES_OFF", "shortDesc": "Differential pressure sensor offset", "type": "Float", "volatile": true}, {"category": "Standard", "decimalPlaces": 2, "default": 100.0, "group": "Sensor Calibration", "increment": 0.1, "longDesc": "This parameter defines the maximum distance from ground at which the optical flow sensor operates reliably. The height setpoint will be limited to be no greater than this value when the navigation system is completely reliant on optical flow data and the height above ground estimate is valid. The sensor may be usable above this height, but accuracy will progressively degrade.", "max": 100.0, "min": 1.0, "name": "SENS_FLOW_MAXHGT", "shortDesc": "Maximum height above ground when reliant on optical flow", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 8.0, "group": "Sensor Calibration", "longDesc": "Optical flow data will not fused by the estimators if the magnitude of the flow rate exceeds this value and control loops will be instructed to limit ground speed such that the flow rate produced by movement over ground is less than 50% of this value.", "min": 1.0, "name": "SENS_FLOW_MAXR", "shortDesc": "Magnitude of maximum angular flow rate reliably measurable by the optical flow sensor", "type": "Float", "units": "rad/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.08, "group": "Sensor Calibration", "increment": 0.1, "longDesc": "This parameter defines the minimum distance from ground at which the optical flow sensor operates reliably. The sensor may be usable below this height, but accuracy will progressively reduce to loss of focus.", "max": 1.0, "min": 0.0, "name": "SENS_FLOW_MINHGT", "shortDesc": "Minimum height above ground when reliant on optical flow", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "Model with Pitot CAL_AIR_TUBED_MM: Not used, 1.5 mm tubes assumed. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor. Model without Pitot (1.5 mm tubes) CAL_AIR_TUBED_MM: Not used, 1.5 mm tubes assumed. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor. Tube Pressure Drop CAL_AIR_TUBED_MM: Diameter in mm of the pitot and tubes, must have the same diameter. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor and the static + dynamic port length of the pitot.", "name": "CAL_AIR_CMODEL", "shortDesc": "Airspeed sensor compensation model for the SDP3x", "type": "Int32", "values": [{"description": "Model with Pitot", "value": 0}, {"description": "Model without Pitot (1.5 mm tubes)", "value": 1}, {"description": "Tube Pressure Drop", "value": 2}]}, {"category": "Standard", "default": 1.5, "group": "Sensors", "max": 100.0, "min": 1.5, "name": "CAL_AIR_TUBED_MM", "shortDesc": "Airspeed sensor tube diameter. Only used for the Tube Pressure Drop Compensation", "type": "Float", "units": "mm"}, {"category": "Standard", "default": 0.2, "group": "Sensors", "longDesc": "See the CAL_AIR_CMODEL explanation on how this parameter should be set.", "max": 2.0, "min": 0.01, "name": "CAL_AIR_TUBELEN", "shortDesc": "Airspeed sensor tube length", "type": "Float", "units": "m"}, {"category": "Developer", "default": 63, "group": "Sensors", "longDesc": "Use SENS_MAG_SIDES instead", "name": "CAL_MAG_SIDES", "shortDesc": "For legacy QGC support only", "type": "Int32"}, {"category": "Standard", "default": 30.0, "group": "Sensors", "longDesc": "The cutoff frequency for the 2nd order butterworth filter on the primary accelerometer. This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.", "max": 1000.0, "min": 0.0, "name": "IMU_ACCEL_CUTOFF", "rebootRequired": true, "shortDesc": "Low pass filter cutoff frequency for accel", "type": "Float", "units": "Hz"}, {"category": "Standard", "default": 30.0, "group": "Sensors", "longDesc": "The cutoff frequency for the 2nd order butterworth filter used on the time derivative of the measured angular velocity, also known as the D-term filter in the rate controller. The D-term uses the derivative of the rate and thus is the most susceptible to noise. Therefore, using a D-term filter allows to increase IMU_GYRO_CUTOFF, which leads to reduced control latency and permits to increase the P gains. A value of 0 disables the filter.", "max": 1000.0, "min": 0.0, "name": "IMU_DGYRO_CUTOFF", "rebootRequired": true, "shortDesc": "Cutoff frequency for angular acceleration (D-Term filter)", "type": "Float", "units": "Hz"}, {"category": "Standard", "default": 1, "group": "Sensors", "name": "IMU_GYRO_CAL_EN", "rebootRequired": true, "shortDesc": "IMU gyro auto calibration enable", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 40.0, "group": "Sensors", "longDesc": "The cutoff frequency for the 2nd order butterworth filter on the primary gyro. This only affects the angular velocity sent to the controllers, not the estimators. It applies also to the angular acceleration (D-Term filter), see IMU_DGYRO_CUTOFF. A value of 0 disables the filter.", "max": 1000.0, "min": 0.0, "name": "IMU_GYRO_CUTOFF", "rebootRequired": true, "shortDesc": "Low pass filter cutoff frequency for gyro", "type": "Float", "units": "Hz"}, {"category": "Standard", "default": 15.0, "group": "Sensors", "longDesc": "Bandwidth per notch filter when using dynamic notch filtering with ESC RPM.", "max": 30.0, "min": 5.0, "name": "IMU_GYRO_DNF_BW", "shortDesc": "IMU gyro ESC notch filter bandwidth", "type": "Float", "units": "Hz"}, {"bitmask": [{"description": "ESC RPM", "index": 0}, {"description": "FFT", "index": 1}], "category": "Standard", "default": 0, "group": "Sensors", "longDesc": "Enable bank of dynamically updating notch filters. Requires ESC RPM feedback or onboard FFT (IMU_GYRO_FFT_EN).", "max": 3, "min": 0, "name": "IMU_GYRO_DNF_EN", "shortDesc": "IMU gyro dynamic notch filtering", "type": "Int32"}, {"category": "Standard", "default": 3, "group": "Sensors", "longDesc": "ESC RPM number of harmonics (multiples of RPM) for ESC RPM dynamic notch filtering.", "max": 7, "min": 1, "name": "IMU_GYRO_DNF_HMC", "shortDesc": "IMU gyro dynamic notch filter harmonics", "type": "Int32"}, {"category": "Standard", "default": 25.0, "group": "Sensors", "longDesc": "Minimum notch filter frequency in Hz.", "name": "IMU_GYRO_DNF_MIN", "shortDesc": "IMU gyro dynamic notch filter minimum frequency", "type": "Float", "units": "Hz"}, {"category": "Standard", "default": 0, "group": "Sensors", "name": "IMU_GYRO_FFT_EN", "rebootRequired": true, "shortDesc": "IMU gyro FFT enable", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 512, "group": "Sensors", "name": "IMU_GYRO_FFT_LEN", "rebootRequired": true, "shortDesc": "IMU gyro FFT length", "type": "Int32", "units": "Hz", "values": [{"description": "256", "value": 256}, {"description": "512", "value": 512}, {"description": "1024", "value": 1024}, {"description": "4096", "value": 4096}]}, {"category": "Standard", "default": 150.0, "group": "Sensors", "max": 1000.0, "min": 1.0, "name": "IMU_GYRO_FFT_MAX", "rebootRequired": true, "shortDesc": "IMU gyro FFT maximum frequency", "type": "Float", "units": "Hz"}, {"category": "Standard", "default": 30.0, "group": "Sensors", "max": 1000.0, "min": 1.0, "name": "IMU_GYRO_FFT_MIN", "rebootRequired": true, "shortDesc": "IMU gyro FFT minimum frequency", "type": "Float", "units": "Hz"}, {"category": "Standard", "default": 10.0, "group": "Sensors", "max": 30.0, "min": 1.0, "name": "IMU_GYRO_FFT_SNR", "shortDesc": "IMU gyro FFT SNR", "type": "Float"}, {"category": "Standard", "default": 20.0, "group": "Sensors", "longDesc": "The frequency width of the stop band for the 2nd order notch filter on the primary gyro. See \"IMU_GYRO_NF0_FRQ\" to activate the filter and to set the notch frequency. Applies to both angular velocity and angular acceleration sent to the controllers.", "max": 100.0, "min": 0.0, "name": "IMU_GYRO_NF0_BW", "rebootRequired": true, "shortDesc": "Notch filter bandwidth for gyro", "type": "Float", "units": "Hz"}, {"category": "Standard", "default": 0.0, "group": "Sensors", "longDesc": "The center frequency for the 2nd order notch filter on the primary gyro. This filter can be enabled to avoid feedback amplification of structural resonances at a specific frequency. This only affects the signal sent to the controllers, not the estimators. Applies to both angular velocity and angular acceleration sent to the controllers. See \"IMU_GYRO_NF0_BW\" to set the bandwidth of the filter. A value of 0 disables the filter.", "max": 1000.0, "min": 0.0, "name": "IMU_GYRO_NF0_FRQ", "rebootRequired": true, "shortDesc": "Notch filter frequency for gyro", "type": "Float", "units": "Hz"}, {"category": "Standard", "default": 20.0, "group": "Sensors", "longDesc": "The frequency width of the stop band for the 2nd order notch filter on the primary gyro. See \"IMU_GYRO_NF1_FRQ\" to activate the filter and to set the notch frequency. Applies to both angular velocity and angular acceleration sent to the controllers.", "max": 100.0, "min": 0.0, "name": "IMU_GYRO_NF1_BW", "rebootRequired": true, "shortDesc": "Notch filter 1 bandwidth for gyro", "type": "Float", "units": "Hz"}, {"category": "Standard", "default": 0.0, "group": "Sensors", "longDesc": "The center frequency for the 2nd order notch filter on the primary gyro. This filter can be enabled to avoid feedback amplification of structural resonances at a specific frequency. This only affects the signal sent to the controllers, not the estimators. Applies to both angular velocity and angular acceleration sent to the controllers. See \"IMU_GYRO_NF1_BW\" to set the bandwidth of the filter. A value of 0 disables the filter.", "max": 1000.0, "min": 0.0, "name": "IMU_GYRO_NF1_FRQ", "rebootRequired": true, "shortDesc": "Notch filter 2 frequency for gyro", "type": "Float", "units": "Hz"}, {"category": "Standard", "default": 400, "group": "Sensors", "longDesc": "The maximum rate the gyro control data (vehicle_angular_velocity) will be allowed to publish at. This is the loop rate for the rate controller and outputs. Note: sensor data is always read and filtered at the full raw rate (eg commonly 8 kHz) regardless of this setting.", "max": 2000, "min": 100, "name": "IMU_GYRO_RATEMAX", "rebootRequired": true, "shortDesc": "Gyro control data maximum publication rate (inner loop rate)", "type": "Int32", "units": "Hz", "values": [{"description": "100 Hz", "value": 100}, {"description": "250 Hz", "value": 250}, {"description": "400 Hz", "value": 400}, {"description": "800 Hz", "value": 800}, {"description": "1000 Hz", "value": 1000}, {"description": "2000 Hz", "value": 2000}]}, {"category": "Standard", "default": 200, "group": "Sensors", "longDesc": "The rate at which raw IMU data is integrated to produce delta angles and delta velocities. Recommended to set this to a multiple of the estimator update period (currently 10 ms for ekf2).", "max": 1000, "min": 100, "name": "IMU_INTEG_RATE", "rebootRequired": true, "shortDesc": "IMU integration rate", "type": "Int32", "units": "Hz", "values": [{"description": "100 Hz", "value": 100}, {"description": "200 Hz", "value": 200}, {"description": "250 Hz", "value": 250}, {"description": "400 Hz", "value": 400}]}, {"category": "Standard", "default": 1013.25, "group": "Sensors", "max": 1500.0, "min": 500.0, "name": "SENS_BARO_QNH", "shortDesc": "QNH for barometer", "type": "Float", "units": "hPa"}, {"category": "Standard", "default": 20.0, "group": "Sensors", "longDesc": "Barometric air data maximum publication rate. This is an upper bound, actual barometric data rate is still dependent on the sensor.", "max": 200.0, "min": 1.0, "name": "SENS_BARO_RATE", "shortDesc": "Baro max rate", "type": "Float", "units": "Hz"}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "This parameter defines the rotation of the FMU board relative to the platform.", "max": 40, "min": -1, "name": "SENS_BOARD_ROT", "rebootRequired": true, "shortDesc": "Board rotation", "type": "Int32", "values": [{"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}, {"description": "Roll 180\u00b0", "value": 8}, {"description": "Roll 180\u00b0, Yaw 45\u00b0", "value": 9}, {"description": "Roll 180\u00b0, Yaw 90\u00b0", "value": 10}, {"description": "Roll 180\u00b0, Yaw 135\u00b0", "value": 11}, {"description": "Pitch 180\u00b0", "value": 12}, {"description": "Roll 180\u00b0, Yaw 225\u00b0", "value": 13}, {"description": "Roll 180\u00b0, Yaw 270\u00b0", "value": 14}, {"description": "Roll 180\u00b0, Yaw 315\u00b0", "value": 15}, {"description": "Roll 90\u00b0", "value": 16}, {"description": "Roll 90\u00b0, Yaw 45\u00b0", "value": 17}, {"description": "Roll 90\u00b0, Yaw 90\u00b0", "value": 18}, {"description": "Roll 90\u00b0, Yaw 135\u00b0", "value": 19}, {"description": "Roll 270\u00b0", "value": 20}, {"description": "Roll 270\u00b0, Yaw 45\u00b0", "value": 21}, {"description": "Roll 270\u00b0, Yaw 90\u00b0", "value": 22}, {"description": "Roll 270\u00b0, Yaw 135\u00b0", "value": 23}, {"description": "Pitch 90\u00b0", "value": 24}, {"description": "Pitch 270\u00b0", "value": 25}, {"description": "Pitch 180\u00b0, Yaw 90\u00b0", "value": 26}, {"description": "Pitch 180\u00b0, Yaw 270\u00b0", "value": 27}, {"description": "Roll 90\u00b0, Pitch 90\u00b0", "value": 28}, {"description": "Roll 180\u00b0, Pitch 90\u00b0", "value": 29}, {"description": "Roll 270\u00b0, Pitch 90\u00b0", "value": 30}, {"description": "Roll 90\u00b0, Pitch 180\u00b0", "value": 31}, {"description": "Roll 270\u00b0, Pitch 180\u00b0", "value": 32}, {"description": "Roll 90\u00b0, Pitch 270\u00b0", "value": 33}, {"description": "Roll 180\u00b0, Pitch 270\u00b0", "value": 34}, {"description": "Roll 270\u00b0, Pitch 270\u00b0", "value": 35}, {"description": "Roll 90\u00b0, Pitch 180\u00b0, Yaw 90\u00b0", "value": 36}, {"description": "Roll 90\u00b0, Yaw 270\u00b0", "value": 37}, {"description": "Roll 90\u00b0, Pitch 68\u00b0, Yaw 293\u00b0", "value": 38}, {"description": "Pitch 315\u00b0", "value": 39}, {"description": "Roll 90\u00b0, Pitch 315\u00b0", "value": 40}]}, {"category": "Standard", "default": 0.0, "group": "Sensors", "longDesc": "This parameter defines a rotational offset in degrees around the X (Roll) axis It allows the user to fine tune the board offset in the event of misalignment.", "name": "SENS_BOARD_X_OFF", "shortDesc": "Board rotation X (Roll) offset", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 0.0, "group": "Sensors", "longDesc": "This parameter defines a rotational offset in degrees around the Y (Pitch) axis. It allows the user to fine tune the board offset in the event of misalignment.", "name": "SENS_BOARD_Y_OFF", "shortDesc": "Board rotation Y (Pitch) offset", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 0.0, "group": "Sensors", "longDesc": "This parameter defines a rotational offset in degrees around the Z (Yaw) axis. It allows the user to fine tune the board offset in the event of misalignment.", "name": "SENS_BOARD_Z_OFF", "shortDesc": "Board rotation Z (YAW) offset", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 0, "group": "Sensors", "max": 1, "min": 0, "name": "SENS_EN_ARSPDSIM", "rebootRequired": true, "shortDesc": "Enable simulated airspeed sensor instance", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Sensors", "max": 1, "min": 0, "name": "SENS_EN_BAROSIM", "rebootRequired": true, "shortDesc": "Enable simulated barometer sensor instance", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Sensors", "max": 1, "min": 0, "name": "SENS_EN_GPSSIM", "rebootRequired": true, "shortDesc": "Enable simulated GPS sinstance", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Sensors", "max": 1, "min": 0, "name": "SENS_EN_MAGSIM", "rebootRequired": true, "shortDesc": "Enable simulated magnetometer sensor instance", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "System", "default": -1, "group": "Sensors", "name": "SENS_EN_THERMAL", "shortDesc": "Thermal control of sensor temperature", "type": "Int32", "values": [{"description": "Thermal control unavailable", "value": -1}, {"description": "Thermal control off", "value": 0}, {"description": "Thermal control enabled", "value": 1}]}, {"category": "System", "default": 1, "group": "Sensors", "longDesc": "Probe for optional external I2C devices.", "name": "SENS_EXT_I2C_PRB", "shortDesc": "External I2C probe", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 70.0, "group": "Sensors", "longDesc": "Optical flow data maximum publication rate. This is an upper bound, actual optical flow data rate is still dependent on the sensor.", "max": 200.0, "min": 1.0, "name": "SENS_FLOW_RATE", "rebootRequired": true, "shortDesc": "Optical flow max rate", "type": "Float", "units": "Hz"}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "This parameter defines the yaw rotation of the optical flow relative to the vehicle body frame. Zero rotation is defined as X on flow board pointing towards front of vehicle.", "name": "SENS_FLOW_ROT", "shortDesc": "Optical flow rotation", "type": "Int32", "values": [{"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}]}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Sensors", "max": 1.5, "min": 0.5, "name": "SENS_FLOW_SCALE", "shortDesc": "Optical flow scale factor", "type": "Float"}, {"bitmask": [{"description": "use speed accuracy", "index": 0}, {"description": "use hpos accuracy", "index": 1}, {"description": "use vpos accuracy", "index": 2}], "category": "Standard", "default": 7, "group": "Sensors", "longDesc": "Set bits in the following positions to set which GPS accuracy metrics will be used to calculate the blending weight. Set to zero to disable and always used first GPS instance. 0 : Set to true to use speed accuracy 1 : Set to true to use horizontal position accuracy 2 : Set to true to use vertical position accuracy", "max": 7, "min": 0, "name": "SENS_GPS_MASK", "shortDesc": "Multi GPS Blending Control Mask", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "When no blending is active, this defines the preferred GPS receiver instance. The GPS selection logic waits until the primary receiver is available to send data to the EKF even if a secondary instance is already available. The secondary instance is then only used if the primary one times out. To have an equal priority of all the instances, set this parameter to -1 and the best receiver will be used. This parameter has no effect if blending is active.", "max": 1, "min": -1, "name": "SENS_GPS_PRIME", "shortDesc": "Multi GPS primary instance", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "Sensors", "longDesc": "Sets the longest time constant that will be applied to the calculation of GPS position and height offsets used to correct data from multiple GPS data for steady state position differences.", "max": 100.0, "min": 1.0, "name": "SENS_GPS_TAU", "shortDesc": "Multi GPS Blending Time Constant", "type": "Float", "units": "s"}, {"category": "System", "default": 1, "group": "Sensors", "longDesc": "Automatically initialize IMU (accel/gyro) calibration from bias estimates if available.", "name": "SENS_IMU_AUTOCAL", "shortDesc": "IMU auto calibration", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "System", "default": 1, "group": "Sensors", "longDesc": "Notify the user if the IMU is clipping", "name": "SENS_IMU_CLPNOTI", "shortDesc": "IMU notify clipping", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "System", "default": 1, "group": "Sensors", "name": "SENS_IMU_MODE", "rebootRequired": true, "shortDesc": "Sensors hub IMU mode", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Publish primary IMU selection", "value": 1}]}, {"category": "System", "default": 1, "group": "Sensors", "longDesc": "For systems with an external barometer, this should be set to false to make sure that the external is used.", "name": "SENS_INT_BARO_EN", "rebootRequired": true, "shortDesc": "Enable internal barometers", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "System", "default": 1, "group": "Sensors", "longDesc": "Automatically initialize magnetometer calibration from bias estimate if available.", "name": "SENS_MAG_AUTOCAL", "shortDesc": "Magnetometer auto calibration", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1, "group": "Sensors", "longDesc": "During calibration attempt to automatically determine the rotation of external magnetometers.", "name": "SENS_MAG_AUTOROT", "shortDesc": "Automatically set external rotations", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "System", "default": 1, "group": "Sensors", "name": "SENS_MAG_MODE", "rebootRequired": true, "shortDesc": "Sensors hub mag mode", "type": "Int32", "values": [{"description": "Publish all magnetometers", "value": 0}, {"description": "Publish primary magnetometer", "value": 1}]}, {"category": "Standard", "default": 15.0, "group": "Sensors", "longDesc": "Magnetometer data maximum publication rate. This is an upper bound, actual magnetometer data rate is still dependent on the sensor.", "max": 200.0, "min": 1.0, "name": "SENS_MAG_RATE", "rebootRequired": true, "shortDesc": "Magnetometer max rate", "type": "Float", "units": "Hz"}, {"category": "Standard", "default": 63, "group": "Sensors", "longDesc": "If set to two side calibration, only the offsets are estimated, the scale calibration is left unchanged. Thus an initial six side calibration is recommended. Bits: ORIENTATION_TAIL_DOWN = 1 ORIENTATION_NOSE_DOWN = 2 ORIENTATION_LEFT = 4 ORIENTATION_RIGHT = 8 ORIENTATION_UPSIDE_DOWN = 16 ORIENTATION_RIGHTSIDE_UP = 32", "max": 63, "min": 34, "name": "SENS_MAG_SIDES", "shortDesc": "Bitfield selecting mag sides for calibration", "type": "Int32", "values": [{"description": "Two side calibration", "value": 34}, {"description": "Three side calibration", "value": 38}, {"description": "Six side calibration", "value": 63}]}, {"category": "Standard", "default": 0, "group": "Sensors", "max": 1, "min": 0, "name": "SIM_ARSPD_FAIL", "rebootRequired": true, "shortDesc": "Dynamically simulate failure of airspeed sensor instance", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 4, "default": 100.0, "group": "Simulation In Hardware", "increment": 0.01, "max": 1000.0, "min": 0.0, "name": "SIH_DISTSNSR_MAX", "shortDesc": "distance sensor maximum range", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 4, "default": 0.0, "group": "Simulation In Hardware", "increment": 0.01, "max": 10.0, "min": 0.0, "name": "SIH_DISTSNSR_MIN", "shortDesc": "distance sensor minimum range", "type": "Float", "units": "m"}, {"category": "Standard", "default": -1.0, "group": "Simulation In Hardware", "longDesc": "Absolute value superior to 10000 will disable distance sensor", "name": "SIH_DISTSNSR_OVR", "shortDesc": "if >= 0 the distance sensor measures will be overridden by this value", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.025, "group": "Simulation In Hardware", "increment": 0.005, "longDesc": "The inertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.", "min": 0.0, "name": "SIH_IXX", "shortDesc": "Vehicle inertia about X axis", "type": "Float", "units": "kg m^2"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Simulation In Hardware", "increment": 0.005, "longDesc": "The inertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass.", "name": "SIH_IXY", "shortDesc": "Vehicle cross term inertia xy", "type": "Float", "units": "kg m^2"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Simulation In Hardware", "increment": 0.005, "longDesc": "The inertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass.", "name": "SIH_IXZ", "shortDesc": "Vehicle cross term inertia xz", "type": "Float", "units": "kg m^2"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.025, "group": "Simulation In Hardware", "increment": 0.005, "longDesc": "The inertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.", "min": 0.0, "name": "SIH_IYY", "shortDesc": "Vehicle inertia about Y axis", "type": "Float", "units": "kg m^2"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Simulation In Hardware", "increment": 0.005, "longDesc": "The inertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass.", "name": "SIH_IYZ", "shortDesc": "Vehicle cross term inertia yz", "type": "Float", "units": "kg m^2"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.03, "group": "Simulation In Hardware", "increment": 0.005, "longDesc": "The inertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.", "min": 0.0, "name": "SIH_IZZ", "shortDesc": "Vehicle inertia about Z axis", "type": "Float", "units": "kg m^2"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Simulation In Hardware", "increment": 0.05, "longDesc": "Physical coefficient representing the friction with air particules. The greater this value, the slower the quad will move. Drag force function of velocity: D=-KDV*V. The maximum freefall velocity can be computed as V=10*MASS/KDV [m/s]", "min": 0.0, "name": "SIH_KDV", "shortDesc": "First order drag coefficient", "type": "Float", "units": "N/(m/s)"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.025, "group": "Simulation In Hardware", "increment": 0.005, "longDesc": "Physical coefficient representing the friction with air particules during rotations. The greater this value, the slower the quad will rotate. Aerodynamic moment function of body rate: Ma=-KDW*W_B. This value can be set to 0 if unknown.", "min": 0.0, "name": "SIH_KDW", "shortDesc": "First order angular damper coefficient", "type": "Float", "units": "Nm/(rad/s)"}, {"category": "Standard", "decimalPlaces": 2, "default": 489.4, "group": "Simulation In Hardware", "increment": 0.01, "longDesc": "This value represents the Above Mean Sea Level (AMSL) altitude where the simulation begins. If using FlightGear as a visual animation, this value can be tweaked such that the vehicle lies on the ground at takeoff. LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.", "max": 8848.0, "min": -420.0, "name": "SIH_LOC_H0", "shortDesc": "Initial AMSL ground altitude", "type": "Float", "units": "m"}, {"category": "Standard", "default": 47.397742, "group": "Simulation In Hardware", "longDesc": "This value represents the North-South location on Earth where the simulation begins. LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.", "max": 90.0, "min": -90.0, "name": "SIH_LOC_LAT0", "shortDesc": "Initial geodetic latitude", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 8.545594, "group": "Simulation In Hardware", "longDesc": "This value represents the East-West location on Earth where the simulation begins. LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.", "max": 180.0, "min": -180.0, "name": "SIH_LOC_LON0", "shortDesc": "Initial geodetic longitude", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "Simulation In Hardware", "increment": 0.05, "longDesc": "This is the arm length generating the pitching moment This value can be measured with a ruler. This corresponds to half the distance between the front and rear motors.", "min": 0.0, "name": "SIH_L_PITCH", "shortDesc": "Pitch arm length", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "Simulation In Hardware", "increment": 0.05, "longDesc": "This is the arm length generating the rolling moment This value can be measured with a ruler. This corresponds to half the distance between the left and right motors.", "min": 0.0, "name": "SIH_L_ROLL", "shortDesc": "Roll arm length", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Simulation In Hardware", "increment": 0.1, "longDesc": "This value can be measured by weighting the quad on a scale.", "min": 0.0, "name": "SIH_MASS", "shortDesc": "Vehicle mass", "type": "Float", "units": "kg"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.1, "group": "Simulation In Hardware", "increment": 0.05, "longDesc": "This is the maximum torque delivered by one propeller when the motor is running at full speed. This value is usually about few percent of the maximum thrust force.", "min": 0.0, "name": "SIH_Q_MAX", "shortDesc": "Max propeller torque", "type": "Float", "units": "Nm"}, {"category": "Standard", "decimalPlaces": 2, "default": 5.0, "group": "Simulation In Hardware", "increment": 0.5, "longDesc": "This is the maximum force delivered by one propeller when the motor is running at full speed. This value is usually about 5 times the mass of the quadrotor.", "min": 0.0, "name": "SIH_T_MAX", "shortDesc": "Max propeller thrust force", "type": "Float", "units": "N"}, {"category": "Standard", "default": 0.05, "group": "Simulation In Hardware", "longDesc": "the time taken for the thruster to step from 0 to 100% should be about 4 times tau", "name": "SIH_T_TAU", "shortDesc": "thruster time constant tau", "type": "Float", "units": "s"}, {"category": "Standard", "default": 0, "group": "Simulation In Hardware", "name": "SIH_VEHICLE_TYPE", "rebootRequired": true, "shortDesc": "Vehicle type", "type": "Int32", "values": [{"description": "Multicopter", "value": 0}, {"description": "Fixed-Wing", "value": 1}, {"description": "Tailsitter", "value": 2}]}, {"category": "Standard", "default": 0.0, "group": "Simulator", "name": "SIM_BARO_OFF_P", "shortDesc": "simulated barometer pressure offset", "type": "Float"}, {"category": "Standard", "default": 0.0, "group": "Simulator", "name": "SIM_BARO_OFF_T", "shortDesc": "simulated barometer temperature offset", "type": "Float", "units": "celcius"}, {"category": "Standard", "default": 10, "group": "Simulator", "max": 50, "min": 0, "name": "SIM_GPS_USED", "shortDesc": "simulated GPS number of satellites used", "type": "Int32"}, {"category": "Standard", "default": 0.0, "group": "Simulator", "name": "SIM_MAG_OFFSET_X", "shortDesc": "simulated magnetometer X offset", "type": "Float", "units": "gauss"}, {"category": "Standard", "default": 0.0, "group": "Simulator", "name": "SIM_MAG_OFFSET_Y", "shortDesc": "simulated magnetometer Y offset", "type": "Float", "units": "gauss"}, {"category": "Standard", "default": 0.0, "group": "Simulator", "name": "SIM_MAG_OFFSET_Z", "shortDesc": "simulated magnetometer Z offset", "type": "Float", "units": "gauss"}, {"category": "Standard", "default": 0, "group": "System", "longDesc": "Set to 1 to reset parameters on next system startup (setting defaults). Platform-specific values are used if available. RC* parameters are preserved.", "name": "SYS_AUTOCONFIG", "shortDesc": "Automatically configure default values", "type": "Int32", "values": [{"description": "Keep parameters", "value": 0}, {"description": "Reset parameters to airframe defaults", "value": 1}]}, {"category": "Standard", "default": 0, "group": "System", "longDesc": "CHANGING THIS VALUE REQUIRES A RESTART. Defines the auto-start script used to bootstrap the system.", "max": 9999999, "min": 0, "name": "SYS_AUTOSTART", "rebootRequired": true, "shortDesc": "Auto-start script index", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "System", "longDesc": "If enabled, update the bootloader on the next boot. WARNING: do not cut the power during an update process, otherwise you will have to recover using some alternative method (e.g. JTAG). Instructions: - Insert an SD card - Enable this parameter - Reboot the board (plug the power or send a reboot command) - Wait until the board comes back up (or at least 2 minutes) - If it does not come back, check the file bootlog.txt on the SD card", "name": "SYS_BL_UPDATE", "rebootRequired": true, "shortDesc": "Bootloader update", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "System", "longDesc": "0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the temperature calibration starts. default (0, no calibration)", "max": 1, "min": 0, "name": "SYS_CAL_ACCEL", "shortDesc": "Enable auto start of accelerometer thermal calibration at the next power up", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "System", "longDesc": "0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the temperature calibration starts. default (0, no calibration)", "max": 1, "min": 0, "name": "SYS_CAL_BARO", "shortDesc": "Enable auto start of barometer thermal calibration at the next power up", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "System", "longDesc": "0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the temperature calibration starts. default (0, no calibration)", "max": 1, "min": 0, "name": "SYS_CAL_GYRO", "shortDesc": "Enable auto start of rate gyro thermal calibration at the next power up", "type": "Int32"}, {"category": "Standard", "default": 24, "group": "System", "longDesc": "A temperature increase greater than this value is required during calibration. Calibration will complete for each sensor when the temperature increase above the starting temperature exceeds the value set by SYS_CAL_TDEL. If the temperature rise is insufficient, the calibration will continue indefinitely and the board will need to be repowered to exit.", "min": 10, "name": "SYS_CAL_TDEL", "shortDesc": "Required temperature rise during thermal calibration", "type": "Int32", "units": "celcius"}, {"category": "Standard", "default": 10, "group": "System", "longDesc": "Temperature calibration will not start if the temperature of any sensor is higher than the value set by SYS_CAL_TMAX.", "name": "SYS_CAL_TMAX", "shortDesc": "Maximum starting temperature for thermal calibration", "type": "Int32", "units": "celcius"}, {"category": "Standard", "default": 5, "group": "System", "longDesc": "Temperature calibration for each sensor will ignore data if the temperature is lower than the value set by SYS_CAL_TMIN.", "name": "SYS_CAL_TMIN", "shortDesc": "Minimum starting temperature for thermal calibration", "type": "Int32", "units": "celcius"}, {"category": "Standard", "default": 0, "group": "System", "name": "SYS_DM_BACKEND", "rebootRequired": true, "shortDesc": "Dataman storage backend", "type": "Int32", "values": [{"description": "Disabled", "value": -1}, {"description": "default (SD card)", "value": 0}, {"description": "RAM (not persistent)", "value": 1}]}, {"category": "Standard", "default": 0, "group": "System", "longDesc": "If enabled, future sensor calibrations will be stored to /fs/mtd_caldata. Note: this is only supported on boards with a separate calibration storage /fs/mtd_caldata.", "name": "SYS_FAC_CAL_MODE", "shortDesc": "Enable factory calibration mode", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "All sensors", "value": 1}, {"description": "All sensors except mag", "value": 2}]}, {"category": "Standard", "default": 0, "group": "System", "longDesc": "If enabled allows MAVLink INJECT_FAILURE commands. WARNING: the failures can easily cause crashes and are to be used with caution!", "name": "SYS_FAILURE_EN", "shortDesc": "Enable failure injection", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1, "group": "System", "longDesc": "Disable this if the board has no barometer, such as some of the Omnibus F4 SD variants. If disabled, the preflight checks will not check for the presence of a barometer.", "name": "SYS_HAS_BARO", "rebootRequired": true, "shortDesc": "Control if the vehicle has a barometer", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1, "group": "System", "longDesc": "Disable this if the system has no GPS. If disabled, the sensors hub will not process sensor_gps, and GPS will not be available for the rest of the system.", "name": "SYS_HAS_GPS", "rebootRequired": true, "shortDesc": "Control if the vehicle has a GPS", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1, "group": "System", "longDesc": "Set this to 0 if the board has no magnetometer. If set to 0, the preflight checks will not check for the presence of a magnetometer, otherwise N sensors are required.", "name": "SYS_HAS_MAG", "rebootRequired": true, "shortDesc": "Control if the vehicle has a magnetometer", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "System", "longDesc": "Set this to 0 if the board has no airspeed sensor. If set to 0, the preflight checks will not check for the presence of an airspeed sensor.", "max": 1, "min": 0, "name": "SYS_HAS_NUM_ASPD", "shortDesc": "Control if the vehicle has an airspeed sensor", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "System", "longDesc": "The preflight check will fail if fewer than this number of distance sensors with valid data is present. Disable the check with 0.", "max": 4, "min": 0, "name": "SYS_HAS_NUM_DIST", "shortDesc": "Number of distance sensors to check being available", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "System", "longDesc": "While enabled the system will boot in Hardware-In-The-Loop (HITL) or Simulation-In-Hardware (SIH) mode and not enable all sensors and checks. When disabled the same vehicle can be flown normally. Set to 'external HITL', if the system should perform as if it were a real vehicle (the only difference to a real system is then only the parameter value, which can be used for log analysis).", "name": "SYS_HITL", "rebootRequired": true, "shortDesc": "Enable HITL/SIH mode on next boot", "type": "Int32", "values": [{"description": "external HITL", "value": -1}, {"description": "HITL and SIH disabled", "value": 0}, {"description": "HITL enabled", "value": 1}, {"description": "SIH enabled", "value": 2}]}, {"category": "Standard", "default": 1, "group": "System", "longDesc": "This is used internally only: an airframe configuration might set an expected parameter version value via PARAM_DEFAULTS_VER. This is checked on bootup against SYS_PARAM_VER, and if they do not match, parameters are reset and reloaded from the airframe configuration.", "min": 0, "name": "SYS_PARAM_VER", "shortDesc": "Parameter version", "type": "Int32"}, {"category": "Standard", "default": 1.0, "group": "System", "longDesc": "Set to 0 to disable, 1 for maximum brightness", "name": "SYS_RGB_MAXBRT", "shortDesc": "RGB Led brightness limit", "type": "Float", "units": "%"}, {"category": "Standard", "default": 1, "group": "System", "name": "SYS_STCK_EN", "shortDesc": "Enable stack checking", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 2, "group": "Testing", "name": "TEST_1", "shortDesc": "TEST_1", "type": "Int32"}, {"category": "Standard", "default": 4, "group": "Testing", "name": "TEST_2", "shortDesc": "TEST_2", "type": "Int32"}, {"category": "Standard", "default": 5.0, "group": "Testing", "name": "TEST_3", "shortDesc": "TEST_3", "type": "Float"}, {"category": "Standard", "default": 0.01, "group": "Testing", "name": "TEST_D", "shortDesc": "TEST_D", "type": "Float"}, {"category": "Standard", "default": 2.0, "group": "Testing", "name": "TEST_DEV", "shortDesc": "TEST_DEV", "type": "Float"}, {"category": "Standard", "default": 10.0, "group": "Testing", "name": "TEST_D_LP", "shortDesc": "TEST_D_LP", "type": "Float"}, {"category": "Standard", "default": 10.0, "group": "Testing", "name": "TEST_HP", "shortDesc": "TEST_HP", "type": "Float"}, {"category": "Standard", "default": 0.1, "group": "Testing", "name": "TEST_I", "shortDesc": "TEST_I", "type": "Float"}, {"category": "Standard", "default": 1.0, "group": "Testing", "name": "TEST_I_MAX", "shortDesc": "TEST_I_MAX", "type": "Float"}, {"category": "Standard", "default": 10.0, "group": "Testing", "name": "TEST_LP", "shortDesc": "TEST_LP", "type": "Float"}, {"category": "Standard", "default": 1.0, "group": "Testing", "name": "TEST_MAX", "shortDesc": "TEST_MAX", "type": "Float"}, {"category": "Standard", "default": 1.0, "group": "Testing", "name": "TEST_MEAN", "shortDesc": "TEST_MEAN", "type": "Float"}, {"category": "Standard", "default": -1.0, "group": "Testing", "name": "TEST_MIN", "shortDesc": "TEST_MIN", "type": "Float"}, {"category": "Standard", "default": 0.2, "group": "Testing", "name": "TEST_P", "shortDesc": "TEST_P", "type": "Float"}, {"category": "Standard", "default": 12345678, "group": "Testing", "name": "TEST_PARAMS", "shortDesc": "TEST_PARAMS", "type": "Int32"}, {"category": "Standard", "default": 16, "group": "Testing", "name": "TEST_RC2_X", "shortDesc": "TEST_RC2_X", "type": "Int32"}, {"category": "Standard", "default": 8, "group": "Testing", "name": "TEST_RC_X", "shortDesc": "TEST_RC_X", "type": "Int32"}, {"category": "Standard", "default": 0.5, "group": "Testing", "name": "TEST_TRIM", "shortDesc": "TEST_TRIM", "type": "Float"}, {"category": "System", "default": 0, "group": "Thermal Compensation", "name": "TC_A0_ID", "shortDesc": "ID of Accelerometer that the calibration is for", "type": "Int32"}, {"category": "System", "default": 100.0, "group": "Thermal Compensation", "name": "TC_A0_TMAX", "shortDesc": "Accelerometer calibration maximum temperature", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A0_TMIN", "shortDesc": "Accelerometer calibration minimum temperature", "type": "Float"}, {"category": "System", "default": 25.0, "group": "Thermal Compensation", "name": "TC_A0_TREF", "shortDesc": "Accelerometer calibration reference temperature", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A0_X0_0", "shortDesc": "Accelerometer offset temperature ^0 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A0_X0_1", "shortDesc": "Accelerometer offset temperature ^0 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A0_X0_2", "shortDesc": "Accelerometer offset temperature ^0 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A0_X1_0", "shortDesc": "Accelerometer offset temperature ^1 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A0_X1_1", "shortDesc": "Accelerometer offset temperature ^1 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A0_X1_2", "shortDesc": "Accelerometer offset temperature ^1 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A0_X2_0", "shortDesc": "Accelerometer offset temperature ^2 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A0_X2_1", "shortDesc": "Accelerometer offset temperature ^2 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A0_X2_2", "shortDesc": "Accelerometer offset temperature ^2 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A0_X3_0", "shortDesc": "Accelerometer offset temperature ^3 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A0_X3_1", "shortDesc": "Accelerometer offset temperature ^3 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A0_X3_2", "shortDesc": "Accelerometer offset temperature ^3 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0, "group": "Thermal Compensation", "name": "TC_A1_ID", "shortDesc": "ID of Accelerometer that the calibration is for", "type": "Int32"}, {"category": "System", "default": 100.0, "group": "Thermal Compensation", "name": "TC_A1_TMAX", "shortDesc": "Accelerometer calibration maximum temperature", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A1_TMIN", "shortDesc": "Accelerometer calibration minimum temperature", "type": "Float"}, {"category": "System", "default": 25.0, "group": "Thermal Compensation", "name": "TC_A1_TREF", "shortDesc": "Accelerometer calibration reference temperature", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A1_X0_0", "shortDesc": "Accelerometer offset temperature ^0 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A1_X0_1", "shortDesc": "Accelerometer offset temperature ^0 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A1_X0_2", "shortDesc": "Accelerometer offset temperature ^0 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A1_X1_0", "shortDesc": "Accelerometer offset temperature ^1 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A1_X1_1", "shortDesc": "Accelerometer offset temperature ^1 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A1_X1_2", "shortDesc": "Accelerometer offset temperature ^1 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A1_X2_0", "shortDesc": "Accelerometer offset temperature ^2 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A1_X2_1", "shortDesc": "Accelerometer offset temperature ^2 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A1_X2_2", "shortDesc": "Accelerometer offset temperature ^2 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A1_X3_0", "shortDesc": "Accelerometer offset temperature ^3 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A1_X3_1", "shortDesc": "Accelerometer offset temperature ^3 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A1_X3_2", "shortDesc": "Accelerometer offset temperature ^3 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0, "group": "Thermal Compensation", "name": "TC_A2_ID", "shortDesc": "ID of Accelerometer that the calibration is for", "type": "Int32"}, {"category": "System", "default": 100.0, "group": "Thermal Compensation", "name": "TC_A2_TMAX", "shortDesc": "Accelerometer calibration maximum temperature", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A2_TMIN", "shortDesc": "Accelerometer calibration minimum temperature", "type": "Float"}, {"category": "System", "default": 25.0, "group": "Thermal Compensation", "name": "TC_A2_TREF", "shortDesc": "Accelerometer calibration reference temperature", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A2_X0_0", "shortDesc": "Accelerometer offset temperature ^0 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A2_X0_1", "shortDesc": "Accelerometer offset temperature ^0 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A2_X0_2", "shortDesc": "Accelerometer offset temperature ^0 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A2_X1_0", "shortDesc": "Accelerometer offset temperature ^1 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A2_X1_1", "shortDesc": "Accelerometer offset temperature ^1 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A2_X1_2", "shortDesc": "Accelerometer offset temperature ^1 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A2_X2_0", "shortDesc": "Accelerometer offset temperature ^2 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A2_X2_1", "shortDesc": "Accelerometer offset temperature ^2 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A2_X2_2", "shortDesc": "Accelerometer offset temperature ^2 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A2_X3_0", "shortDesc": "Accelerometer offset temperature ^3 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A2_X3_1", "shortDesc": "Accelerometer offset temperature ^3 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A2_X3_2", "shortDesc": "Accelerometer offset temperature ^3 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0, "group": "Thermal Compensation", "name": "TC_A3_ID", "shortDesc": "ID of Accelerometer that the calibration is for", "type": "Int32"}, {"category": "System", "default": 100.0, "group": "Thermal Compensation", "name": "TC_A3_TMAX", "shortDesc": "Accelerometer calibration maximum temperature", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A3_TMIN", "shortDesc": "Accelerometer calibration minimum temperature", "type": "Float"}, {"category": "System", "default": 25.0, "group": "Thermal Compensation", "name": "TC_A3_TREF", "shortDesc": "Accelerometer calibration reference temperature", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A3_X0_0", "shortDesc": "Accelerometer offset temperature ^0 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A3_X0_1", "shortDesc": "Accelerometer offset temperature ^0 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A3_X0_2", "shortDesc": "Accelerometer offset temperature ^0 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A3_X1_0", "shortDesc": "Accelerometer offset temperature ^1 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A3_X1_1", "shortDesc": "Accelerometer offset temperature ^1 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A3_X1_2", "shortDesc": "Accelerometer offset temperature ^1 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A3_X2_0", "shortDesc": "Accelerometer offset temperature ^2 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A3_X2_1", "shortDesc": "Accelerometer offset temperature ^2 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A3_X2_2", "shortDesc": "Accelerometer offset temperature ^2 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A3_X3_0", "shortDesc": "Accelerometer offset temperature ^3 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A3_X3_1", "shortDesc": "Accelerometer offset temperature ^3 polynomial coefficient - Y axis", "type": "Float"}, {"category": 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"TC_M0_X3_2", "shortDesc": "Magnetometer offset temperature ^3 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0, "group": "Thermal Compensation", "name": "TC_M1_ID", "shortDesc": "ID of Magnetometer that the calibration is for", "type": "Int32"}, {"category": "System", "default": 100.0, "group": "Thermal Compensation", "name": "TC_M1_TMAX", "shortDesc": "Magnetometer calibration maximum temperature", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M1_TMIN", "shortDesc": "Magnetometer calibration minimum temperature", "type": "Float"}, {"category": "System", "default": 25.0, "group": "Thermal Compensation", "name": "TC_M1_TREF", "shortDesc": "Magnetometer calibration reference temperature", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M1_X0_0", "shortDesc": "Magnetometer offset temperature ^0 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M1_X0_1", "shortDesc": "Magnetometer offset temperature ^0 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M1_X0_2", "shortDesc": "Magnetometer offset temperature ^0 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M1_X1_0", "shortDesc": "Magnetometer offset temperature ^1 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M1_X1_1", "shortDesc": "Magnetometer offset temperature ^1 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M1_X1_2", "shortDesc": "Magnetometer offset temperature ^1 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M1_X2_0", "shortDesc": "Magnetometer offset temperature ^2 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M1_X2_1", "shortDesc": "Magnetometer offset temperature ^2 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M1_X2_2", "shortDesc": "Magnetometer offset temperature ^2 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M1_X3_0", "shortDesc": "Magnetometer offset temperature ^3 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M1_X3_1", "shortDesc": "Magnetometer offset temperature ^3 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M1_X3_2", "shortDesc": "Magnetometer offset temperature ^3 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0, "group": "Thermal Compensation", "name": "TC_M2_ID", "shortDesc": "ID of Magnetometer that the calibration is for", "type": "Int32"}, {"category": "System", "default": 100.0, "group": "Thermal Compensation", "name": "TC_M2_TMAX", "shortDesc": "Magnetometer calibration maximum temperature", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M2_TMIN", "shortDesc": "Magnetometer calibration minimum temperature", "type": "Float"}, {"category": "System", "default": 25.0, "group": "Thermal Compensation", "name": "TC_M2_TREF", "shortDesc": "Magnetometer calibration reference temperature", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M2_X0_0", "shortDesc": "Magnetometer offset temperature ^0 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M2_X0_1", "shortDesc": "Magnetometer offset temperature ^0 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M2_X0_2", "shortDesc": "Magnetometer offset temperature ^0 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M2_X1_0", "shortDesc": "Magnetometer offset temperature ^1 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M2_X1_1", "shortDesc": "Magnetometer offset temperature ^1 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M2_X1_2", "shortDesc": "Magnetometer offset temperature ^1 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M2_X2_0", "shortDesc": "Magnetometer offset temperature ^2 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M2_X2_1", "shortDesc": "Magnetometer offset temperature ^2 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M2_X2_2", "shortDesc": "Magnetometer offset temperature ^2 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M2_X3_0", "shortDesc": "Magnetometer offset temperature ^3 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M2_X3_1", "shortDesc": "Magnetometer offset temperature ^3 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M2_X3_2", "shortDesc": "Magnetometer offset temperature ^3 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0, "group": "Thermal Compensation", "name": "TC_M3_ID", "shortDesc": "ID of Magnetometer that the calibration is for", "type": "Int32"}, {"category": "System", "default": 100.0, "group": "Thermal Compensation", "name": "TC_M3_TMAX", "shortDesc": "Magnetometer calibration maximum temperature", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M3_TMIN", "shortDesc": "Magnetometer calibration minimum temperature", "type": "Float"}, {"category": "System", "default": 25.0, "group": "Thermal Compensation", "name": "TC_M3_TREF", "shortDesc": "Magnetometer calibration reference temperature", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M3_X0_0", "shortDesc": "Magnetometer offset temperature ^0 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M3_X0_1", "shortDesc": "Magnetometer offset temperature ^0 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M3_X0_2", "shortDesc": "Magnetometer offset temperature ^0 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M3_X1_0", "shortDesc": "Magnetometer offset temperature ^1 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M3_X1_1", "shortDesc": "Magnetometer offset temperature ^1 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M3_X1_2", "shortDesc": "Magnetometer offset temperature ^1 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M3_X2_0", "shortDesc": "Magnetometer offset temperature ^2 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M3_X2_1", "shortDesc": "Magnetometer offset temperature ^2 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M3_X2_2", "shortDesc": "Magnetometer offset temperature ^2 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M3_X3_0", "shortDesc": "Magnetometer offset temperature ^3 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M3_X3_1", "shortDesc": "Magnetometer offset temperature ^3 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M3_X3_2", "shortDesc": "Magnetometer offset temperature ^3 polynomial coefficient - Z axis", "type": "Float"}, {"category": "Standard", "default": 0, "group": "Thermal Compensation", "name": "TC_M_ENABLE", "rebootRequired": true, "shortDesc": "Thermal compensation for magnetometer sensors", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0.0, "group": "UUV Attitude Control", "name": "UUV_DIRCT_PITCH", "shortDesc": "Direct pitch input", "type": "Float"}, {"category": "Standard", "default": 0.0, "group": "UUV Attitude Control", "name": "UUV_DIRCT_ROLL", "shortDesc": "Direct roll input", "type": "Float"}, {"category": "Standard", "default": 0.0, "group": "UUV Attitude Control", "name": "UUV_DIRCT_THRUST", "shortDesc": "Direct thrust input", "type": "Float"}, {"category": "Standard", "default": 0.0, "group": "UUV Attitude Control", "name": "UUV_DIRCT_YAW", "shortDesc": "Direct yaw input", "type": "Float"}, {"category": "Standard", "default": 0, "group": "UUV Attitude Control", "name": "UUV_INPUT_MODE", "shortDesc": "Select Input Mode", "type": "Int32", "values": [{"description": "use Attitude Setpoints", "value": 0}, {"description": "Direct Feedthrough", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 2.0, "group": "UUV Attitude Control", "name": "UUV_PITCH_D", "shortDesc": "Pitch differential gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 4.0, "group": "UUV Attitude Control", "name": "UUV_PITCH_P", "shortDesc": "Pitch proportional gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.5, "group": "UUV Attitude Control", "name": "UUV_ROLL_D", "shortDesc": "Roll differential gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 4.0, "group": "UUV Attitude Control", "name": "UUV_ROLL_P", "shortDesc": "Roll proportional gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 2.0, "group": "UUV Attitude Control", "name": "UUV_YAW_D", "shortDesc": "Yaw differential gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 4.0, "group": "UUV Attitude Control", "name": "UUV_YAW_P", "shortDesc": "Yawh proportional gain", "type": "Float"}, {"category": "Standard", "default": 0.2, "group": "UUV Position Control", "name": "UUV_GAIN_X_D", "shortDesc": "Gain of D controller X", "type": "Float"}, {"category": "Standard", "default": 1.0, "group": "UUV Position Control", "name": "UUV_GAIN_X_P", "shortDesc": "Gain of P controller X", "type": "Float"}, {"category": "Standard", "default": 0.2, "group": "UUV Position Control", "name": "UUV_GAIN_Y_D", "shortDesc": "Gain of D controller Y", "type": "Float"}, {"category": "Standard", "default": 1.0, "group": "UUV Position Control", "name": "UUV_GAIN_Y_P", "shortDesc": "Gain of P controller Y", "type": "Float"}, {"category": "Standard", "default": 0.2, "group": "UUV Position Control", "name": "UUV_GAIN_Z_D", "shortDesc": "Gain of D controller Z", "type": "Float"}, {"category": "Standard", "default": 1.0, "group": "UUV Position Control", "name": "UUV_GAIN_Z_P", "shortDesc": "Gain of P controller Z", "type": "Float"}, {"category": "Standard", "default": 1, "group": "UUV Position Control", "name": "UUV_STAB_MODE", "shortDesc": "Stabilization mode(1) or Position Control(0)", "type": "Int32", "values": [{"description": "Position Control", "value": 0}, {"description": "Stabilization Mode", "value": 1}]}, {"category": "Standard", "default": 2130706433, "group": "UXRCE-DDS Client", "longDesc": "If ethernet is enabled and is the selected configuration for uXRCE-DDS, the selected Agent IP address will be set and used. Decimal dot notation is not supported. IP address must be provided in int32 format. For example, 192.168.1.2 is mapped to -1062731518; 127.0.0.1 is mapped to 2130706433.", "name": "UXRCE_DDS_AG_IP", "rebootRequired": true, "shortDesc": "uXRCE-DDS Agent IP address", "type": "Int32"}, {"category": "System", "default": 0, "group": "UXRCE-DDS Client", "longDesc": "uXRCE-DDS domain ID", "name": "UXRCE_DDS_DOM_ID", "rebootRequired": true, "shortDesc": "uXRCE-DDS domain ID", "type": "Int32"}, {"category": "System", "default": 1, "group": "UXRCE-DDS Client", "longDesc": "uXRCE-DDS key, must be different from zero. In a single agent - multi client configuration, each client must have a unique session key.", "name": "UXRCE_DDS_KEY", "rebootRequired": true, "shortDesc": "uXRCE-DDS session key", "type": "Int32"}, {"category": "Standard", "default": 8888, "group": "UXRCE-DDS Client", "longDesc": "If ethernet is enabled and is the selected configuration for uXRCE-DDS, the selected UDP port will be set and used.", "max": 65535, "min": 0, "name": "UXRCE_DDS_PRT", "rebootRequired": true, "shortDesc": "uXRCE-DDS UDP port", "type": "Int32"}, {"category": "System", "default": 0, "group": "UXRCE-DDS Client", "longDesc": "Set the participant configuration on the Agent's system. 0: Use the default configuration. 1: Restrict messages to localhost (use in combination with ROS_LOCALHOST_ONLY=1). 2: Use a custom participant with the profile name \"px4_participant\".", "max": 2, "min": 0, "name": "UXRCE_DDS_PTCFG", "rebootRequired": true, "shortDesc": "uXRCE-DDS participant configuration", "type": "Int32", "values": [{"description": "Default", "value": 0}, {"description": "Localhost-only", "value": 1}, {"description": "Custom participant", "value": 2}]}, {"category": "System", "default": 0, "group": "UXRCE-DDS Client", "longDesc": "When enabled along with UXRCE_DDS_SYNCT, uxrce_dds_client will set the system clock using the agents UTC timestamp.", "name": "UXRCE_DDS_SYNCC", "rebootRequired": true, "shortDesc": "Enable uXRCE-DDS system clock synchronization", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "System", "default": 1, "group": "UXRCE-DDS Client", "longDesc": "When enabled, uxrce_dds_client will synchronize the timestamps of the incoming and outgoing messages measuring the offset between the Agent OS time and the PX4 time.", "name": "UXRCE_DDS_SYNCT", "rebootRequired": true, "shortDesc": "Enable uXRCE-DDS timestamp synchronization", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 8.0, "group": "VTOL Attitude Control", "increment": 1.0, "longDesc": "Airspeed at which we can start blending both fw and mc controls. Set to 0 to disable.", "max": 30.0, "min": 0.0, "name": "VT_ARSP_BLEND", "shortDesc": "Transition blending airspeed", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 10.0, "group": "VTOL Attitude Control", "increment": 1.0, "longDesc": "Airspeed at which we can switch to fw mode", "max": 30.0, "min": 0.0, "name": "VT_ARSP_TRANS", "shortDesc": "Transition airspeed", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "VTOL Attitude Control", "increment": 0.1, "longDesc": "Time in seconds it takes to tilt form VT_TILT_FW to VT_TILT_MC.", "max": 10.0, "min": 0.1, "name": "VT_BT_TILT_DUR", "shortDesc": "Duration motor tilt up in backtransition", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "VTOL Attitude Control", "increment": 0.05, "max": 0.3, "min": 0.0, "name": "VT_B_DEC_I", "shortDesc": "Backtransition deceleration setpoint to pitch I gain", "type": "Float", "units": "rad s/m"}, {"category": "Standard", "decimalPlaces": 2, "default": 2.0, "group": "VTOL Attitude Control", "increment": 0.1, "longDesc": "Used to calculate back transition distance in an auto mode. For standard vtol and tiltrotors a controller is used to track this value during the transition.", "max": 10.0, "min": 0.5, "name": "VT_B_DEC_MSS", "shortDesc": "Approximate deceleration during back transition", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 2, "default": 10.0, "group": "VTOL Attitude Control", "increment": 1.0, "longDesc": "Transition is also declared over if the groundspeed drops below MPC_XY_CRUISE.", "max": 20.0, "min": 0.1, "name": "VT_B_TRANS_DUR", "shortDesc": "Maximum duration of a back transition", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "VTOL Attitude Control", "increment": 0.1, "longDesc": "This sets the duration during which the MC motors ramp up to the commanded thrust during the back transition stage.", "max": 20.0, "min": 0.0, "name": "VT_B_TRANS_RAMP", "shortDesc": "Back transition MC motor ramp up time", "type": "Float", "units": "s"}, {"category": "Standard", "default": 1, "group": "VTOL Attitude Control", "longDesc": "If set to 1 the control surfaces are locked at the disarmed value in multicopter mode.", "name": "VT_ELEV_MC_LOCK", "shortDesc": "Lock control surfaces in hover", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "VTOL Attitude Control", "longDesc": "This feature can be used to avoid the plane having to pitch nose down in order to move forward. Prevents large, negative lift from pitching nose down into wind. Fixed-wing forward actuators refers to puller/pusher (standard VTOL), or forward-tilt (tiltrotor VTOL). Only active if demanded down pitch is below VT_PITCH_MIN. Use VT_FWD_THRUST_SC to tune it. Descend mode is treated as Landing too. Only active (if enabled) in Altitude, Position and Auto modes, not in Stabilized.", "name": "VT_FWD_THRUST_EN", "shortDesc": "Use fixed-wing actuation in hover to accelerate forward", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled (except LANDING)", "value": 1}, {"description": "Enabled if distance to ground above MPC_LAND_ALT1", "value": 2}, {"description": "Enabled if distance to ground above MPC_LAND_ALT2", "value": 3}, {"description": "Enabled constantly", "value": 4}, {"description": "Enabled if distance to ground above MPC_LAND_ALT1 (except LANDING)", "value": 5}, {"description": "Enabled if distance to ground above MPC_LAND_ALT2 (except LANDING)", "value": 6}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.7, "group": "VTOL Attitude Control", "increment": 0.01, "longDesc": "Scale applied to the demanded down-pitch to get the fixed-wing forward actuation in hover mode. Enabled via VT_FWD_THRUST_EN.", "max": 2.0, "min": 0.0, "name": "VT_FWD_THRUST_SC", "shortDesc": "Fixed-wing actuation thrust scale for hover forward flight", "type": "Float"}, {"bitmask": [{"description": "Yaw", "index": 0}, {"description": "Roll", "index": 1}, {"description": "Pitch", "index": 2}], "category": "Standard", "default": 0, "group": "VTOL Attitude Control", "longDesc": "Enable differential thrust seperately for roll, pitch, yaw in forward (fixed-wing) mode. The effectiveness of differential thrust around the corresponding axis can be tuned by setting VT_FW_DIFTHR_S_R / VT_FW_DIFTHR_S_P / VT_FW_DIFTHR_S_Y.", "max": 7, "min": 0, "name": "VT_FW_DIFTHR_EN", "shortDesc": "Differential thrust in forwards flight", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "VTOL Attitude Control", "increment": 0.1, "longDesc": "Differential thrust in forward flight is enabled via VT_FW_DIFTHR_EN.", "max": 2.0, "min": 0.0, "name": "VT_FW_DIFTHR_S_P", "shortDesc": "Pitch differential thrust factor in forward flight", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "VTOL Attitude Control", "increment": 0.1, "longDesc": "Differential thrust in forward flight is enabled via VT_FW_DIFTHR_EN.", "max": 2.0, "min": 0.0, "name": "VT_FW_DIFTHR_S_R", "shortDesc": "Roll differential thrust factor in forward flight", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "VTOL Attitude Control", "increment": 0.1, "longDesc": "Differential thrust in forward flight is enabled via VT_FW_DIFTHR_EN.", "max": 2.0, "min": 0.0, "name": "VT_FW_DIFTHR_S_Y", "shortDesc": "Yaw differential thrust factor in forward flight", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "VTOL Attitude Control", "increment": 1.0, "longDesc": "Minimum altitude for fixed-wing flight. When the vehicle is in fixed-wing mode and the altitude drops below this altitude (relative altitude above local origin), it will instantly switch back to MC mode and execute behavior defined in COM_QC_ACT.", "max": 200.0, "min": 0.0, "name": "VT_FW_MIN_ALT", "shortDesc": "Quad-chute altitude", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "VTOL Attitude Control", "increment": 1, "longDesc": "Maximum height above the ground (if available, otherwise above Home if available, otherwise above the local origin) where triggering a quad-chute is possible. At high altitudes there is a big risk to deplete the battery and therefore crash if quad-chuting there.", "min": 0, "name": "VT_FW_QC_HMAX", "shortDesc": "Quad-chute maximum height", "type": "Int32", "units": "m"}, {"category": "Standard", "default": 0, "group": "VTOL Attitude Control", "longDesc": "Absolute pitch threshold for quad-chute triggering in FW mode. Above this the vehicle will transition back to MC mode and execute behavior defined in COM_QC_ACT. Set to 0 do disable this threshold.", "max": 180, "min": 0, "name": "VT_FW_QC_P", "shortDesc": "Quad-chute max pitch threshold", "type": "Int32", "units": "deg"}, {"category": "Standard", "default": 0, "group": "VTOL Attitude Control", "longDesc": "Absolute roll threshold for quad-chute triggering in FW mode. Above this the vehicle will transition back to MC mode and execute behavior defined in COM_QC_ACT. Set to 0 do disable this threshold.", "max": 180, "min": 0, "name": "VT_FW_QC_R", "shortDesc": "Quad-chute max roll threshold", "type": "Int32", "units": "deg"}, {"category": "Standard", "decimalPlaces": 2, "default": 5.0, "group": "VTOL Attitude Control", "increment": 1.0, "longDesc": "Time in seconds used for a transition", "max": 20.0, "min": 0.1, "name": "VT_F_TRANS_DUR", "shortDesc": "Duration of a front transition", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "VTOL Attitude Control", "increment": 0.01, "max": 1.0, "min": 0.0, "name": "VT_F_TRANS_THR", "shortDesc": "Target throttle value for the transition to fixed-wing flight", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 6.0, "group": "VTOL Attitude Control", "increment": 0.5, "longDesc": "The duration of the front transition when there is no airspeed feedback available.", "max": 30.0, "min": 1.0, "name": "VT_F_TR_OL_TM", "shortDesc": "Airspeed-less front transition time (open loop)", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": -5.0, "group": "VTOL Attitude Control", "increment": 0.1, "longDesc": "Overrides VT_PITCH_MIN when the vehicle is in LAND mode (hovering). During landing it can be beneficial to reduce the pitch angle to reduce the generated lift in head wind.", "max": 45.0, "min": -10.0, "name": "VT_LND_PITCH_MIN", "shortDesc": "Minimum pitch angle during hover landing", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 1, "default": -5.0, "group": "VTOL Attitude Control", "increment": 0.1, "longDesc": "Any pitch setpoint below this value is translated to a forward force by the fixed-wing forward actuation if VT_FW_TRHUST_EN is set to 1.", "max": 45.0, "min": -10.0, "name": "VT_PITCH_MIN", "shortDesc": "Minimum pitch angle during hover", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.33, "group": "VTOL Attitude Control", "increment": 0.01, "longDesc": "Defines the slew rate of the puller/pusher throttle during transitions. Zero will deactivate the slew rate limiting and thus produce an instant throttle rise to the transition throttle VT_F_TRANS_THR.", "min": 0.0, "name": "VT_PSHER_SLEW", "shortDesc": "Pusher throttle ramp up slew rate", "type": "Float", "units": "1/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "VTOL Attitude Control", "increment": 1.0, "longDesc": "Altitude error threshold for quad-chute triggering during fixed-wing flight. The check is only active if altitude is controlled and the vehicle is below the current altitude reference. The altitude error is relative to the highest altitude the vehicle has achieved since it has flown below the current altitude reference. Set to 0 do disable.", "max": 200.0, "min": 0.0, "name": "VT_QC_ALT_LOSS", "shortDesc": "Quad-chute uncommanded descent threshold", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 20.0, "group": "VTOL Attitude Control", "increment": 1.0, "longDesc": "Altitude loss threshold for quad-chute triggering during VTOL transition to fixed-wing flight in altitude-controlled flight modes. Active until 5s after completing transition to fixed-wing. If the current altitude is more than this value below the altitude at the beginning of the transition, it will instantly switch back to MC mode and execute behavior defined in COM_QC_ACT. Set to 0 do disable this threshold.", "max": 50.0, "min": 0.0, "name": "VT_QC_T_ALT_LOSS", "shortDesc": "Quad-chute transition altitude loss threshold", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "VTOL Attitude Control", "increment": 0.1, "max": 1.0, "min": -1.0, "name": "VT_SPOILER_MC_LD", "shortDesc": "Spoiler setting while landing (hover)", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "VTOL Attitude Control", "increment": 0.01, "max": 1.0, "min": 0.0, "name": "VT_TILT_FW", "shortDesc": "Normalized tilt in FW", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "VTOL Attitude Control", "increment": 0.01, "max": 1.0, "min": 0.0, "name": "VT_TILT_MC", "shortDesc": "Normalized tilt in Hover", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.4, "group": "VTOL Attitude Control", "increment": 0.01, "max": 1.0, "min": 0.0, "name": "VT_TILT_TRANS", "shortDesc": "Normalized tilt in transition to FW", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 2.0, "group": "VTOL Attitude Control", "increment": 0.1, "longDesc": "Minimum time in seconds for front transition.", "max": 20.0, "min": 0.0, "name": "VT_TRANS_MIN_TM", "shortDesc": "Front transition minimum time", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.5, "group": "VTOL Attitude Control", "increment": 0.01, "longDesc": "Time in seconds it takes to tilt form VT_TILT_TRANS to VT_TILT_FW.", "max": 5.0, "min": 0.1, "name": "VT_TRANS_P2_DUR", "shortDesc": "Duration of front transition phase 2", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 15.0, "group": "VTOL Attitude Control", "increment": 1.0, "longDesc": "Time in seconds after which transition will be cancelled. Disabled if set to 0.", "max": 30.0, "min": 0.1, "name": "VT_TRANS_TIMEOUT", "shortDesc": "Front transition timeout", "type": "Float", "units": "s"}, {"category": "Standard", "default": 0, "group": "VTOL Attitude Control", "max": 2, "min": 0, "name": "VT_TYPE", "rebootRequired": true, "shortDesc": "VTOL Type (Tailsitter=0, Tiltrotor=1, Standard=2)", "type": "Int32", "values": [{"description": "Tailsitter", "value": 0}, {"description": "Tiltrotor", "value": 1}, {"description": "Standard", "value": 2}]}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "VTOL Attitude Control", "increment": 0.01, "longDesc": "The desired gain to convert roll sp into yaw rate sp.", "max": 3.0, "min": 0.0, "name": "WV_GAIN", "shortDesc": "Weather-vane roll angle to yawrate", "type": "Float", "units": "Hz"}, {"category": "Standard", "decimalPlaces": 1, "default": 80.0, "group": "VTOL Takeoff", "increment": 1.0, "longDesc": "Altitude relative to home at which vehicle will loiter after front transition.", "max": 300.0, "min": 20.0, "name": "VTO_LOITER_ALT", "shortDesc": "VTOL Takeoff relative loiter altitude", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Miscellaneous", "name": "UUV_SKIP_CTRL", "shortDesc": "Skip the controller", "type": "Int32", "values": [{"description": "use the module's controller", "value": 0}, {"description": "skip the controller and feedthrough the setpoints", "value": 1}]}], "translation": {"items": {"parameters": {"list": {"items": {"bitmask": {"list": {"key": "index", "translate": ["description"]}}, "values": {"list": {"key": "value", "translate": ["description"]}}}, "key": "name", "translate": ["shortDesc", "longDesc"], "translate-global": ["category", "group"]}}}}, "version": 1}
\ No newline at end of file
+{"parameters": [{"category": "Standard", "default": 75, "group": "UAVCAN Motor Parameters", "longDesc": "Speed controller bandwidth, in Hz. Higher values result in faster speed and current rise times, but may result in overshoot and higher current consumption. For fixed-wing aircraft, this value should be less than 50 Hz; for multirotors, values up to 100 Hz may provide improvements in responsiveness.", "max": 250, "min": 10, "name": "ctl_bw", "shortDesc": "Speed controller bandwidth", "type": "Int32", "units": "Hz"}, {"category": "Standard", "default": 1, "group": "UAVCAN Motor Parameters", "longDesc": "Motor spin direction as detected during initial enumeration. Use 0 or 1 to reverse direction.", "max": 1, "min": 0, "name": "ctl_dir", "shortDesc": "Reverse direction", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "UAVCAN Motor Parameters", "longDesc": "Speed (RPM) controller gain. Determines controller\n            aggressiveness; units are amp-seconds per radian. Systems with\n            higher rotational inertia (large props) will need gain increased;\n            systems with low rotational inertia (small props) may need gain\n            decreased. Higher values result in faster response, but may result\n            in oscillation and excessive overshoot. Lower values result in a\n            slower, smoother response.", "max": 1.0, "min": 0.0, "name": "ctl_gain", "shortDesc": "Speed (RPM) controller gain", "type": "Float", "units": "C/rad"}, {"category": "Standard", "decimalPlaces": 3, "default": 3.5, "group": "UAVCAN Motor Parameters", "longDesc": "Idle speed (e Hz)", "max": 100.0, "min": 0.0, "name": "ctl_hz_idle", "shortDesc": "Idle speed (e Hz)", "type": "Float", "units": "Hz"}, {"category": "Standard", "default": 25, "group": "UAVCAN Motor Parameters", "longDesc": "Spin-up rate (e Hz/s)", "max": 1000, "min": 5, "name": "ctl_start_rate", "shortDesc": "Spin-up rate (e Hz/s)", "type": "Int32", "units": "1/s^2"}, {"category": "Standard", "default": 0, "group": "UAVCAN Motor Parameters", "longDesc": "Index of this ESC in throttle command messages.", "max": 15, "min": 0, "name": "esc_index", "shortDesc": "Index of this ESC in throttle command messages.", "type": "Int32"}, {"category": "Standard", "default": 20034, "group": "UAVCAN Motor Parameters", "longDesc": "Extended status ID", "max": 1000000, "min": 1, "name": "id_ext_status", "shortDesc": "Extended status ID", "type": "Int32"}, {"category": "Standard", "default": 50000, "group": "UAVCAN Motor Parameters", "longDesc": "Extended status interval (\u00b5s)", "max": 1000000, "min": 0, "name": "int_ext_status", "shortDesc": "Extended status interval (\u00b5s)", "type": "Int32", "units": "us"}, {"category": "Standard", "default": 50000, "group": "UAVCAN Motor Parameters", "longDesc": "ESC status interval (\u00b5s)", "max": 1000000, "name": "int_status", "shortDesc": "ESC status interval (\u00b5s)", "type": "Int32", "units": "us"}, {"category": "Standard", "decimalPlaces": 3, "default": 12.0, "group": "UAVCAN Motor Parameters", "longDesc": "Motor current limit in amps. This determines the maximum\n            current controller setpoint, as well as the maximum allowable\n            current setpoint slew rate. This value should generally be set to\n            the continuous current rating listed in the motor\u2019s specification\n            sheet, or set equal to the motor\u2019s specified continuous power\n            divided by the motor voltage limit.", "max": 80.0, "min": 1.0, "name": "mot_i_max", "shortDesc": "Motor current limit in amps", "type": "Float", "units": "A"}, {"category": "Standard", "default": 2300, "group": "UAVCAN Motor Parameters", "longDesc": "Motor Kv in RPM per volt. This can be taken from the motor\u2019s\n            specification sheet; accuracy will help control performance but\n            some deviation from the specified value is acceptable.", "max": 4000, "min": 0, "name": "mot_kv", "shortDesc": "Motor Kv in RPM per volt", "type": "Int32", "units": "rpm/V"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "UAVCAN Motor Parameters", "longDesc": "READ ONLY: Motor inductance in henries. This is measured on start-up.", "name": "mot_ls", "shortDesc": "READ ONLY: Motor inductance in henries.", "type": "Float", "units": "H"}, {"category": "Standard", "default": 14, "group": "UAVCAN Motor Parameters", "longDesc": "Number of motor poles. Used to convert mechanical speeds to\n            electrical speeds. This number should be taken from the motor\u2019s\n            specification sheet.", "max": 40, "min": 2, "name": "mot_num_poles", "shortDesc": "Number of motor poles.", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "UAVCAN Motor Parameters", "longDesc": "READ ONLY: Motor resistance in ohms. This is measured on start-up. When\n            tuning a new motor, check that this value is approximately equal\n            to the value shown in the motor\u2019s specification sheet.", "name": "mot_rs", "shortDesc": "READ ONLY: Motor resistance in ohms", "type": "Float", "units": "Ohm"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.5, "group": "UAVCAN Motor Parameters", "longDesc": "Acceleration limit (V)", "max": 1.0, "min": 0.01, "name": "mot_v_accel", "shortDesc": "Acceleration limit (V)", "type": "Float", "units": "V"}, {"category": "Standard", "decimalPlaces": 3, "default": 14.8, "group": "UAVCAN Motor Parameters", "longDesc": "Motor voltage limit in volts. The current controller\u2019s\n            commanded voltage will never exceed this value. Note that this may\n            safely be above the nominal voltage of the motor; to determine the\n            actual motor voltage limit, divide the motor\u2019s rated power by the\n            motor current limit.", "min": 0.0, "name": "mot_v_max", "shortDesc": "Motor voltage limit in volts", "type": "Float", "units": "V"}, {"category": "Standard", "default": 2, "group": "UAVCAN GNSS", "longDesc": "Dynamic model used in the GNSS positioning engine. 0 \u2013\n        Automotive, 1 \u2013 Sea, 2 \u2013 Airborne.\n      ", "max": 2, "min": 0, "name": "gnss.dyn_model", "shortDesc": "GNSS dynamic model", "type": "Int32", "values": [{"description": "Automotive", "value": 0}, {"description": "Sea", "value": 1}, {"description": "Airborne", "value": 2}]}, {"category": "Standard", "default": 1, "group": "UAVCAN GNSS", "longDesc": "Broadcast the old (deprecated) GNSS fix message\n        uavcan.equipment.gnss.Fix alongside the new alternative\n        uavcan.equipment.gnss.Fix2. It is recommended to\n        disable this feature to reduce the CAN bus traffic.\n      ", "max": 1, "min": 0, "name": "gnss.old_fix_msg", "shortDesc": "Broadcast old GNSS fix message", "type": "Int32", "values": [{"description": "Fix2", "value": 0}, {"description": "Fix and Fix2", "value": 1}]}, {"category": "Standard", "default": 0, "group": "UAVCAN GNSS", "longDesc": "Set the device health to Warning if the dimensionality of\n              the GNSS solution is less than this value. 3 for the full (3D)\n              solution, 2 for planar (2D) solution, 1 for time-only solution,\n              0 disables the feature.\n      ", "max": 3, "min": 0, "name": "gnss.warn_dimens", "shortDesc": "device health warning", "type": "Int32", "values": [{"description": "disables the feature", "value": 0}, {"description": "time-only solution", "value": 1}, {"description": "planar (2D) solution", "value": 2}, {"description": "full (3D) solution", "value": 3}]}, {"category": "Standard", "default": 0, "group": "UAVCAN GNSS", "longDesc": "Set the device health to Warning if the number of satellites\n        used in the GNSS solution is below this threshold. Zero\n        disables the feature\n      ", "name": "gnss.warn_sats", "shortDesc": "", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "UAVCAN GNSS", "longDesc": "Set the device health to Warning if the number of satellites\n        used in the GNSS solution is below this threshold. Zero\n        disables the feature\n      ", "max": 1000000, "min": 0, "name": "uavcan.pubp-pres", "shortDesc": "", "type": "Int32", "units": "us"}, {"category": "Standard", "default": 0, "group": "ADSB", "longDesc": "Sets first 4 characters of a total of 8. Valid characters are A-Z, 0-9, \" \". Example \"PX4 \" -> 1347957792 For CALLSIGN shorter than 8 characters use the null terminator at the end '\\0'.", "name": "ADSB_CALLSIGN_1", "rebootRequired": true, "shortDesc": "First 4 characters of CALLSIGN", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "ADSB", "longDesc": "Sets second 4 characters of a total of 8. Valid characters are A-Z, 0-9, \" \" only. Example \"TEST\" -> 1413829460 For CALLSIGN shorter than 8 characters use the null terminator at the end '\\0'.", "name": "ADSB_CALLSIGN_2", "rebootRequired": true, "shortDesc": "Second 4 characters of CALLSIGN", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "ADSB", "longDesc": "Sets the vehicle emergency state", "max": 6, "min": 0, "name": "ADSB_EMERGC", "rebootRequired": true, "shortDesc": "ADSB-Out Emergency State", "type": "Int32", "values": [{"description": "NoEmergency", "value": 0}, {"description": "General", "value": 1}, {"description": "Medical", "value": 2}, {"description": "LowFuel", "value": 3}, {"description": "NoCommunications", "value": 4}, {"description": "Interference", "value": 5}, {"description": "Downed", "value": 6}]}, {"category": "Standard", "default": 14, "group": "ADSB", "longDesc": "Configure the emitter type of the vehicle.", "max": 15, "min": 0, "name": "ADSB_EMIT_TYPE", "rebootRequired": true, "shortDesc": "ADSB-Out Vehicle Emitter Type", "type": "Int32", "values": [{"description": "Unknown", "value": 0}, {"description": "Light", "value": 1}, {"description": "Small", "value": 2}, {"description": "Large", "value": 3}, {"description": "HighVortex", "value": 4}, {"description": "Heavy", "value": 5}, {"description": "Performance", "value": 6}, {"description": "Rotorcraft", "value": 7}, {"description": "RESERVED", "value": 8}, {"description": "Glider", "value": 9}, {"description": "LightAir", "value": 10}, {"description": "Parachute", "value": 11}, {"description": "UltraLight", "value": 12}, {"description": "RESERVED", "value": 13}, {"description": "UAV", "value": 14}, {"description": "Space", "value": 15}, {"description": "RESERVED", "value": 16}, {"description": "EmergencySurf", "value": 17}, {"description": "ServiceSurf", "value": 18}, {"description": "PointObstacle", "value": 19}]}, {"category": "Standard", "default": 0, "group": "ADSB", "longDesc": "Sets GPS lataral offset encoding", "max": 7, "min": 0, "name": "ADSB_GPS_OFF_LAT", "rebootRequired": true, "shortDesc": "ADSB-Out GPS Offset lat", "type": "Int32", "values": [{"description": "NoData", "value": 0}, {"description": "LatLeft2M", "value": 1}, {"description": "LatLeft4M", "value": 2}, {"description": "LatLeft6M", "value": 3}, {"description": "LatRight0M", "value": 4}, {"description": "LatRight2M", "value": 5}, {"description": "LatRight4M", "value": 6}, {"description": "LatRight6M", "value": 7}]}, {"category": "Standard", "default": 0, "group": "ADSB", "longDesc": "Sets GPS longitudinal offset encoding", "max": 1, "min": 0, "name": "ADSB_GPS_OFF_LON", "rebootRequired": true, "shortDesc": "ADSB-Out GPS Offset lon", "type": "Int32", "values": [{"description": "NoData", "value": 0}, {"description": "AppliedBySensor", "value": 1}]}, {"category": "Standard", "default": 1194684, "group": "ADSB", "longDesc": "Defines the ICAO ID of the vehicle", "max": 16777215, "min": -1, "name": "ADSB_ICAO_ID", "rebootRequired": true, "shortDesc": "ADSB-Out ICAO configuration", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "ADSB", "longDesc": "This vehicle is always tracked. Use 0 to disable.", "max": 16777215, "min": 0, "name": "ADSB_ICAO_SPECL", "rebootRequired": true, "shortDesc": "ADSB-In Special ICAO configuration", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "ADSB", "longDesc": "Enable Identification of Position feature", "name": "ADSB_IDENT", "rebootRequired": true, "shortDesc": "ADSB-Out Ident Configuration", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1, "group": "ADSB", "longDesc": "Report the length and width of the vehicle in meters. In most cases, use '1' for the smallest vehicle size.", "max": 15, "min": 0, "name": "ADSB_LEN_WIDTH", "rebootRequired": true, "shortDesc": "ADSB-Out Vehicle Size Configuration", "type": "Int32", "values": [{"description": "SizeUnknown", "value": 0}, {"description": "Len15_Wid23", "value": 1}, {"description": "Len25_Wid28", "value": 2}, {"description": "Len25_Wid34", "value": 3}, {"description": "Len35_Wid33", "value": 4}, {"description": "Len35_Wid38", "value": 5}, {"description": "Len45_Wid39", "value": 6}, {"description": "Len45_Wid45", "value": 7}, {"description": "Len55_Wid45", "value": 8}, {"description": "Len55_Wid52", "value": 9}, {"description": "Len65_Wid59", "value": 10}, {"description": "Len65_Wid67", "value": 11}, {"description": "Len75_Wid72", "value": 12}, {"description": "Len75_Wid80", "value": 13}, {"description": "Len85_Wid80", "value": 14}, {"description": "Len85_Wid90", "value": 15}]}, {"category": "Standard", "default": 25, "group": "ADSB", "longDesc": "Change number of targets to track", "max": 50, "min": 0, "name": "ADSB_LIST_MAX", "rebootRequired": true, "shortDesc": "ADSB-In Vehicle List Size", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "ADSB", "longDesc": "Informs ADSB vehicles of this vehicle's max speed capability", "max": 6, "min": 0, "name": "ADSB_MAX_SPEED", "rebootRequired": true, "shortDesc": "ADSB-Out Vehicle Max Speed", "type": "Int32", "values": [{"description": "UnknownMaxSpeed", "value": 0}, {"description": "75Kts", "value": 1}, {"description": "150Kts", "value": 2}, {"description": "300Kts", "value": 3}, {"description": "600Kts", "value": 4}, {"description": "1200Kts", "value": 5}, {"description": "Over1200Kts", "value": 6}]}, {"category": "Standard", "default": 1200, "group": "ADSB", "longDesc": "This parameter defines the squawk code. Value should be between 0000 and 7777.", "max": 7777, "min": 0, "name": "ADSB_SQUAWK", "rebootRequired": true, "shortDesc": "ADSB-Out squawk code configuration", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 2200, "min": 800, "name": "PCA9685_DIS1", "shortDesc": "PCA9685 Output Channel 1 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 2200, "min": 800, "name": "PCA9685_DIS10", "shortDesc": "PCA9685 Output Channel 10 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 2200, "min": 800, "name": "PCA9685_DIS11", "shortDesc": "PCA9685 Output Channel 11 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 2200, "min": 800, "name": "PCA9685_DIS12", "shortDesc": "PCA9685 Output Channel 12 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 2200, "min": 800, "name": "PCA9685_DIS13", "shortDesc": "PCA9685 Output Channel 13 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 2200, "min": 800, "name": "PCA9685_DIS14", "shortDesc": "PCA9685 Output Channel 14 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 2200, "min": 800, "name": "PCA9685_DIS15", "shortDesc": "PCA9685 Output Channel 15 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 2200, "min": 800, "name": "PCA9685_DIS16", "shortDesc": "PCA9685 Output Channel 16 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 2200, "min": 800, "name": "PCA9685_DIS2", "shortDesc": "PCA9685 Output Channel 2 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 2200, "min": 800, "name": "PCA9685_DIS3", "shortDesc": "PCA9685 Output Channel 3 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 2200, "min": 800, "name": "PCA9685_DIS4", "shortDesc": "PCA9685 Output Channel 4 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 2200, "min": 800, "name": "PCA9685_DIS5", "shortDesc": "PCA9685 Output Channel 5 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 2200, "min": 800, "name": "PCA9685_DIS6", "shortDesc": "PCA9685 Output Channel 6 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 2200, "min": 800, "name": "PCA9685_DIS7", "shortDesc": "PCA9685 Output Channel 7 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 2200, "min": 800, "name": "PCA9685_DIS8", "shortDesc": "PCA9685 Output Channel 8 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 2200, "min": 800, "name": "PCA9685_DIS9", "shortDesc": "PCA9685 Output Channel 9 Disarmed Value", "type": "Int32"}, {"bitmask": [{"description": "Put CH1 to Duty-Cycle mode", "index": 0}, {"description": "Put CH2 to Duty-Cycle mode", "index": 1}, {"description": "Put CH3 to Duty-Cycle mode", "index": 2}, {"description": "Put CH4 to Duty-Cycle mode", "index": 3}, {"description": "Put CH5 to Duty-Cycle mode", "index": 4}, {"description": "Put CH6 to Duty-Cycle mode", "index": 5}, {"description": "Put CH7 to Duty-Cycle mode", "index": 6}, {"description": "Put CH8 to Duty-Cycle mode", "index": 7}, {"description": "Put CH9 to Duty-Cycle mode", "index": 8}, {"description": "Put CH10 to Duty-Cycle mode", "index": 9}, {"description": "Put CH11 to Duty-Cycle mode", "index": 10}, {"description": "Put CH12 to Duty-Cycle mode", "index": 11}, {"description": "Put CH13 to Duty-Cycle mode", "index": 12}, {"description": "Put CH14 to Duty-Cycle mode", "index": 13}, {"description": "Put CH15 to Duty-Cycle mode", "index": 14}, {"description": "Put CH16 to Duty-Cycle mode", "index": 15}], "category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "The driver will output standard pulse-width encoded signal without this bit set. To make PCA9685 output in duty-cycle fashion, please enable the corresponding channel bit here and adjusting standard params to suit your need. The driver will have 12bits resolution for duty-cycle output. That means to achieve 0% to 100% output range on one channel, the corresponding params MIN and MAX for the channel should be set to 0 and 4096. Other standard params follows the same rule.", "max": 65535, "min": 0, "name": "PCA9685_DUTY_EN", "shortDesc": "Put the selected channels into Duty-Cycle output mode", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC1).", "max": 2200, "min": -1, "name": "PCA9685_FAIL1", "shortDesc": "PCA9685 Output Channel 1 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC10).", "max": 2200, "min": -1, "name": "PCA9685_FAIL10", "shortDesc": "PCA9685 Output Channel 10 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC11).", "max": 2200, "min": -1, "name": "PCA9685_FAIL11", "shortDesc": "PCA9685 Output Channel 11 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC12).", "max": 2200, "min": -1, "name": "PCA9685_FAIL12", "shortDesc": "PCA9685 Output Channel 12 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC13).", "max": 2200, "min": -1, "name": "PCA9685_FAIL13", "shortDesc": "PCA9685 Output Channel 13 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC14).", "max": 2200, "min": -1, "name": "PCA9685_FAIL14", "shortDesc": "PCA9685 Output Channel 14 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC15).", "max": 2200, "min": -1, "name": "PCA9685_FAIL15", "shortDesc": "PCA9685 Output Channel 15 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC16).", "max": 2200, "min": -1, "name": "PCA9685_FAIL16", "shortDesc": "PCA9685 Output Channel 16 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC2).", "max": 2200, "min": -1, "name": "PCA9685_FAIL2", "shortDesc": "PCA9685 Output Channel 2 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC3).", "max": 2200, "min": -1, "name": "PCA9685_FAIL3", "shortDesc": "PCA9685 Output Channel 3 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC4).", "max": 2200, "min": -1, "name": "PCA9685_FAIL4", "shortDesc": "PCA9685 Output Channel 4 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC5).", "max": 2200, "min": -1, "name": "PCA9685_FAIL5", "shortDesc": "PCA9685 Output Channel 5 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC6).", "max": 2200, "min": -1, "name": "PCA9685_FAIL6", "shortDesc": "PCA9685 Output Channel 6 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC7).", "max": 2200, "min": -1, "name": "PCA9685_FAIL7", "shortDesc": "PCA9685 Output Channel 7 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC8).", "max": 2200, "min": -1, "name": "PCA9685_FAIL8", "shortDesc": "PCA9685 Output Channel 8 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC9).", "max": 2200, "min": -1, "name": "PCA9685_FAIL9", "shortDesc": "PCA9685 Output Channel 9 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on PCA9685 Output Channel 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PCA9685_FUNC1", "shortDesc": "PCA9685 Output Channel 1 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on PCA9685 Output Channel 10. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PCA9685_FUNC10", "shortDesc": "PCA9685 Output Channel 10 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on PCA9685 Output Channel 11. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PCA9685_FUNC11", "shortDesc": "PCA9685 Output Channel 11 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on PCA9685 Output Channel 12. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PCA9685_FUNC12", "shortDesc": "PCA9685 Output Channel 12 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on PCA9685 Output Channel 13. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PCA9685_FUNC13", "shortDesc": "PCA9685 Output Channel 13 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on PCA9685 Output Channel 14. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PCA9685_FUNC14", "shortDesc": "PCA9685 Output Channel 14 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on PCA9685 Output Channel 15. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PCA9685_FUNC15", "shortDesc": "PCA9685 Output Channel 15 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on PCA9685 Output Channel 16. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PCA9685_FUNC16", "shortDesc": "PCA9685 Output Channel 16 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on PCA9685 Output Channel 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PCA9685_FUNC2", "shortDesc": "PCA9685 Output Channel 2 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on PCA9685 Output Channel 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PCA9685_FUNC3", "shortDesc": "PCA9685 Output Channel 3 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on PCA9685 Output Channel 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PCA9685_FUNC4", "shortDesc": "PCA9685 Output Channel 4 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on PCA9685 Output Channel 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PCA9685_FUNC5", "shortDesc": "PCA9685 Output Channel 5 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on PCA9685 Output Channel 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PCA9685_FUNC6", "shortDesc": "PCA9685 Output Channel 6 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on PCA9685 Output Channel 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PCA9685_FUNC7", "shortDesc": "PCA9685 Output Channel 7 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on PCA9685 Output Channel 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PCA9685_FUNC8", "shortDesc": "PCA9685 Output Channel 8 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on PCA9685 Output Channel 9. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PCA9685_FUNC9", "shortDesc": "PCA9685 Output Channel 9 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 1900, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 2200, "min": 1600, "name": "PCA9685_MAX1", "shortDesc": "PCA9685 Output Channel 1 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 1900, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 2200, "min": 1600, "name": "PCA9685_MAX10", "shortDesc": "PCA9685 Output Channel 10 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 1900, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 2200, "min": 1600, "name": "PCA9685_MAX11", "shortDesc": "PCA9685 Output Channel 11 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 1900, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 2200, "min": 1600, "name": "PCA9685_MAX12", "shortDesc": "PCA9685 Output Channel 12 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 1900, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 2200, "min": 1600, "name": "PCA9685_MAX13", "shortDesc": "PCA9685 Output Channel 13 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 1900, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 2200, "min": 1600, "name": "PCA9685_MAX14", "shortDesc": "PCA9685 Output Channel 14 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 1900, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 2200, "min": 1600, "name": "PCA9685_MAX15", "shortDesc": "PCA9685 Output Channel 15 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 1900, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 2200, "min": 1600, "name": "PCA9685_MAX16", "shortDesc": "PCA9685 Output Channel 16 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 1900, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 2200, "min": 1600, "name": "PCA9685_MAX2", "shortDesc": "PCA9685 Output Channel 2 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 1900, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 2200, "min": 1600, "name": "PCA9685_MAX3", "shortDesc": "PCA9685 Output Channel 3 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 1900, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 2200, "min": 1600, "name": "PCA9685_MAX4", "shortDesc": "PCA9685 Output Channel 4 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 1900, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 2200, "min": 1600, "name": "PCA9685_MAX5", "shortDesc": "PCA9685 Output Channel 5 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 1900, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 2200, "min": 1600, "name": "PCA9685_MAX6", "shortDesc": "PCA9685 Output Channel 6 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 1900, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 2200, "min": 1600, "name": "PCA9685_MAX7", "shortDesc": "PCA9685 Output Channel 7 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 1900, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 2200, "min": 1600, "name": "PCA9685_MAX8", "shortDesc": "PCA9685 Output Channel 8 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 1900, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 2200, "min": 1600, "name": "PCA9685_MAX9", "shortDesc": "PCA9685 Output Channel 9 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 1100, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1400, "min": 800, "name": "PCA9685_MIN1", "shortDesc": "PCA9685 Output Channel 1 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1100, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1400, "min": 800, "name": "PCA9685_MIN10", "shortDesc": "PCA9685 Output Channel 10 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1100, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1400, "min": 800, "name": "PCA9685_MIN11", "shortDesc": "PCA9685 Output Channel 11 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1100, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1400, "min": 800, "name": "PCA9685_MIN12", "shortDesc": "PCA9685 Output Channel 12 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1100, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1400, "min": 800, "name": "PCA9685_MIN13", "shortDesc": "PCA9685 Output Channel 13 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1100, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1400, "min": 800, "name": "PCA9685_MIN14", "shortDesc": "PCA9685 Output Channel 14 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1100, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1400, "min": 800, "name": "PCA9685_MIN15", "shortDesc": "PCA9685 Output Channel 15 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1100, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1400, "min": 800, "name": "PCA9685_MIN16", "shortDesc": "PCA9685 Output Channel 16 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1100, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1400, "min": 800, "name": "PCA9685_MIN2", "shortDesc": "PCA9685 Output Channel 2 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1100, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1400, "min": 800, "name": "PCA9685_MIN3", "shortDesc": "PCA9685 Output Channel 3 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1100, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1400, "min": 800, "name": "PCA9685_MIN4", "shortDesc": "PCA9685 Output Channel 4 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1100, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1400, "min": 800, "name": "PCA9685_MIN5", "shortDesc": "PCA9685 Output Channel 5 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1100, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1400, "min": 800, "name": "PCA9685_MIN6", "shortDesc": "PCA9685 Output Channel 6 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1100, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1400, "min": 800, "name": "PCA9685_MIN7", "shortDesc": "PCA9685 Output Channel 7 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1100, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1400, "min": 800, "name": "PCA9685_MIN8", "shortDesc": "PCA9685 Output Channel 8 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1100, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1400, "min": 800, "name": "PCA9685_MIN9", "shortDesc": "PCA9685 Output Channel 9 Minimum Value", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 2, "default": 50.0, "group": "Actuator Outputs", "longDesc": "Controls the PWM frequency at timing perspective. This is independent from PWM update frequency, as PCA9685 is capable to output without being continuously commanded by FC. Higher frequency leads to more accurate pulse width, but some ESCs and servos may not support it. This parameter should be set to the same value as PWM update rate in most case. This parameter MUST NOT exceed upper limit of 400.0, if any outputs as generic 1000~2000us pulse width is desired. Frequency higher than 400 only makes sense in duty-cycle mode.", "max": 1525.87, "min": 23.8, "name": "PCA9685_PWM_FREQ", "shortDesc": "PWM cycle frequency", "type": "Float"}, {"bitmask": [{"description": "PCA9685 Output Channel 1", "index": 0}, {"description": "PCA9685 Output Channel 2", "index": 1}, {"description": "PCA9685 Output Channel 3", "index": 2}, {"description": "PCA9685 Output Channel 4", "index": 3}, {"description": "PCA9685 Output Channel 5", "index": 4}, {"description": "PCA9685 Output Channel 6", "index": 5}, {"description": "PCA9685 Output Channel 7", "index": 6}, {"description": "PCA9685 Output Channel 8", "index": 7}, {"description": "PCA9685 Output Channel 9", "index": 8}, {"description": "PCA9685 Output Channel 10", "index": 9}, {"description": "PCA9685 Output Channel 11", "index": 10}, {"description": "PCA9685 Output Channel 12", "index": 11}, {"description": "PCA9685 Output Channel 13", "index": 12}, {"description": "PCA9685 Output Channel 14", "index": 13}, {"description": "PCA9685 Output Channel 15", "index": 14}, {"description": "PCA9685 Output Channel 16", "index": 15}], "category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Allows to reverse the output range for each channel. Note: this is only useful for servos.", "max": 65535, "min": 0, "name": "PCA9685_REV", "shortDesc": "Reverse Output Range for PCA9685 Output", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 2, "default": 50.0, "group": "Actuator Outputs", "longDesc": "Controls the update rate of PWM output. Flight Controller will inform those numbers of update events in a second, to PCA9685. Higher update rate will consume more I2C bandwidth, which may even lead to worse output latency, or completely block I2C bus.", "max": 400.0, "min": 50.0, "name": "PCA9685_SCHD_HZ", "shortDesc": "PWM update rate", "type": "Float"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 2200, "min": 800, "name": "PWM_AUX_DIS1", "shortDesc": "PWM Aux 1 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 2200, "min": 800, "name": "PWM_AUX_DIS10", "shortDesc": "PWM Capture 2 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 2200, "min": 800, "name": "PWM_AUX_DIS11", "shortDesc": "PWM Capture 3 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 2200, "min": 800, "name": "PWM_AUX_DIS2", "shortDesc": "PWM Aux 2 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 2200, "min": 800, "name": "PWM_AUX_DIS3", "shortDesc": "PWM Aux 3 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 2200, "min": 800, "name": "PWM_AUX_DIS4", "shortDesc": "PWM Aux 4 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 2200, "min": 800, "name": "PWM_AUX_DIS5", "shortDesc": "PWM Aux 5 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 2200, "min": 800, "name": "PWM_AUX_DIS6", "shortDesc": "PWM Aux 6 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 2200, "min": 800, "name": "PWM_AUX_DIS7", "shortDesc": "PWM Aux 7 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 2200, "min": 800, "name": "PWM_AUX_DIS8", "shortDesc": "PWM Aux 8 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 2200, "min": 800, "name": "PWM_AUX_DIS9", "shortDesc": "PWM Capture 1 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_AUX_FUNC1).", "max": 2200, "min": -1, "name": "PWM_AUX_FAIL1", "shortDesc": "PWM Aux 1 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_AUX_FUNC2).", "max": 2200, "min": -1, "name": "PWM_AUX_FAIL10", "shortDesc": "PWM Capture 2 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_AUX_FUNC3).", "max": 2200, "min": -1, "name": "PWM_AUX_FAIL11", "shortDesc": "PWM Capture 3 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_AUX_FUNC2).", "max": 2200, "min": -1, "name": "PWM_AUX_FAIL2", "shortDesc": "PWM Aux 2 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_AUX_FUNC3).", "max": 2200, "min": -1, "name": "PWM_AUX_FAIL3", "shortDesc": "PWM Aux 3 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_AUX_FUNC4).", "max": 2200, "min": -1, "name": "PWM_AUX_FAIL4", "shortDesc": "PWM Aux 4 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_AUX_FUNC5).", "max": 2200, "min": -1, "name": "PWM_AUX_FAIL5", "shortDesc": "PWM Aux 5 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_AUX_FUNC6).", "max": 2200, "min": -1, "name": "PWM_AUX_FAIL6", "shortDesc": "PWM Aux 6 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_AUX_FUNC7).", "max": 2200, "min": -1, "name": "PWM_AUX_FAIL7", "shortDesc": "PWM Aux 7 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_AUX_FUNC8).", "max": 2200, "min": -1, "name": "PWM_AUX_FAIL8", "shortDesc": "PWM Aux 8 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_AUX_FUNC1).", "max": 2200, "min": -1, "name": "PWM_AUX_FAIL9", "shortDesc": "PWM Capture 1 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on PWM Aux 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PWM_AUX_FUNC1", "shortDesc": "PWM Aux 1 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}, {"description": "Camera Trigger", "value": 2000}, {"description": "Camera Capture", "value": 2032}, {"description": "PPS Input", "value": 2064}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on PWM Capture 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PWM_AUX_FUNC10", "shortDesc": "PWM Capture 2 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}, {"description": "Camera Trigger", "value": 2000}, {"description": "Camera Capture", "value": 2032}, {"description": "PPS Input", "value": 2064}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on PWM Capture 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PWM_AUX_FUNC11", "shortDesc": "PWM Capture 3 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}, {"description": "Camera Trigger", "value": 2000}, {"description": "Camera Capture", "value": 2032}, {"description": "PPS Input", "value": 2064}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on PWM Aux 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PWM_AUX_FUNC2", "shortDesc": "PWM Aux 2 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}, {"description": "Camera Trigger", "value": 2000}, {"description": "Camera Capture", "value": 2032}, {"description": "PPS Input", "value": 2064}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on PWM Aux 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PWM_AUX_FUNC3", "shortDesc": "PWM Aux 3 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}, {"description": "Camera Trigger", "value": 2000}, {"description": "Camera Capture", "value": 2032}, {"description": "PPS Input", "value": 2064}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on PWM Aux 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PWM_AUX_FUNC4", "shortDesc": "PWM Aux 4 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}, {"description": "Camera Trigger", "value": 2000}, {"description": "Camera Capture", "value": 2032}, {"description": "PPS Input", "value": 2064}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on PWM Aux 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PWM_AUX_FUNC5", "shortDesc": "PWM Aux 5 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}, {"description": "Camera Trigger", "value": 2000}, {"description": "Camera Capture", "value": 2032}, {"description": "PPS Input", "value": 2064}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on PWM Aux 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PWM_AUX_FUNC6", "shortDesc": "PWM Aux 6 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}, {"description": "Camera Trigger", "value": 2000}, {"description": "Camera Capture", "value": 2032}, {"description": "PPS Input", "value": 2064}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on PWM Aux 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PWM_AUX_FUNC7", "shortDesc": "PWM Aux 7 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}, {"description": "Camera Trigger", "value": 2000}, {"description": "Camera Capture", "value": 2032}, {"description": "PPS Input", "value": 2064}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on PWM Aux 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PWM_AUX_FUNC8", "shortDesc": "PWM Aux 8 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}, {"description": "Camera Trigger", "value": 2000}, {"description": "Camera Capture", "value": 2032}, {"description": "PPS Input", "value": 2064}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on PWM Capture 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PWM_AUX_FUNC9", "shortDesc": "PWM Capture 1 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}, {"description": "Camera Trigger", "value": 2000}, {"description": "Camera Capture", "value": 2032}, {"description": "PPS Input", "value": 2064}]}, {"category": "Standard", "default": 2000, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 2200, "min": 1600, "name": "PWM_AUX_MAX1", "shortDesc": "PWM Aux 1 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 2000, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 2200, "min": 1600, "name": "PWM_AUX_MAX10", "shortDesc": "PWM Capture 2 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 2000, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 2200, "min": 1600, "name": "PWM_AUX_MAX11", "shortDesc": "PWM Capture 3 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 2000, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 2200, "min": 1600, "name": "PWM_AUX_MAX2", "shortDesc": "PWM Aux 2 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 2000, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 2200, "min": 1600, "name": "PWM_AUX_MAX3", "shortDesc": "PWM Aux 3 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 2000, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 2200, "min": 1600, "name": "PWM_AUX_MAX4", "shortDesc": "PWM Aux 4 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 2000, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 2200, "min": 1600, "name": "PWM_AUX_MAX5", "shortDesc": "PWM Aux 5 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 2000, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 2200, "min": 1600, "name": "PWM_AUX_MAX6", "shortDesc": "PWM Aux 6 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 2000, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 2200, "min": 1600, "name": "PWM_AUX_MAX7", "shortDesc": "PWM Aux 7 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 2000, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 2200, "min": 1600, "name": "PWM_AUX_MAX8", "shortDesc": "PWM Aux 8 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 2000, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 2200, "min": 1600, "name": "PWM_AUX_MAX9", "shortDesc": "PWM Capture 1 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1400, "min": 800, "name": "PWM_AUX_MIN1", "shortDesc": "PWM Aux 1 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1400, "min": 800, "name": "PWM_AUX_MIN10", "shortDesc": "PWM Capture 2 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1400, "min": 800, "name": "PWM_AUX_MIN11", "shortDesc": "PWM Capture 3 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1400, "min": 800, "name": "PWM_AUX_MIN2", "shortDesc": "PWM Aux 2 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1400, "min": 800, "name": "PWM_AUX_MIN3", "shortDesc": "PWM Aux 3 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1400, "min": 800, "name": "PWM_AUX_MIN4", "shortDesc": "PWM Aux 4 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1400, "min": 800, "name": "PWM_AUX_MIN5", "shortDesc": "PWM Aux 5 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1400, "min": 800, "name": "PWM_AUX_MIN6", "shortDesc": "PWM Aux 6 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1400, "min": 800, "name": "PWM_AUX_MIN7", "shortDesc": "PWM Aux 7 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1400, "min": 800, "name": "PWM_AUX_MIN8", "shortDesc": "PWM Aux 8 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1400, "min": 800, "name": "PWM_AUX_MIN9", "shortDesc": "PWM Capture 1 Minimum Value", "type": "Int32"}, {"bitmask": [{"description": "PWM Aux 1", "index": 0}, {"description": "PWM Aux 2", "index": 1}, {"description": "PWM Aux 3", "index": 2}, {"description": "PWM Aux 4", "index": 3}, {"description": "PWM Aux 5", "index": 4}, {"description": "PWM Aux 6", "index": 5}, {"description": "PWM Aux 7", "index": 6}, {"description": "PWM Aux 8", "index": 7}, {"description": "PWM Capture 1", "index": 8}, {"description": "PWM Capture 2", "index": 9}, {"description": "PWM Capture 3", "index": 10}], "category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Allows to reverse the output range for each channel. Note: this is only useful for servos.", "max": 2047, "min": 0, "name": "PWM_AUX_REV", "shortDesc": "Reverse Output Range for PWM AUX", "type": "Int32"}, {"category": "Standard", "default": 400, "group": "Actuator Outputs", "longDesc": "Select which Output Protocol to use for outputs PWM Aux 1-4. Custom PWM rates can be used by directly setting any value >0.", "name": "PWM_AUX_TIM0", "rebootRequired": true, "shortDesc": "Output Protocol Configuration for PWM Aux 1-4", "type": "Int32", "values": [{"description": "DShot150", "value": -5}, {"description": "DShot300", "value": -4}, {"description": "DShot600", "value": -3}, {"description": "DShot1200", "value": -2}, {"description": "OneShot", "value": -1}, {"description": "PWM 50 Hz", "value": 50}, {"description": "PWM 100 Hz", "value": 100}, {"description": "PWM 200 Hz", "value": 200}, {"description": "PWM 400 Hz", "value": 400}]}, {"category": "Standard", "default": 400, "group": "Actuator Outputs", "longDesc": "Select which Output Protocol to use for outputs PWM Aux 5-6. Custom PWM rates can be used by directly setting any value >0.", "name": "PWM_AUX_TIM1", "rebootRequired": true, "shortDesc": "Output Protocol Configuration for PWM Aux 5-6", "type": "Int32", "values": [{"description": "OneShot", "value": -1}, {"description": "PWM 50 Hz", "value": 50}, {"description": "PWM 100 Hz", "value": 100}, {"description": "PWM 200 Hz", "value": 200}, {"description": "PWM 400 Hz", "value": 400}]}, {"category": "Standard", "default": 400, "group": "Actuator Outputs", "longDesc": "Select which Output Protocol to use for outputs PWM Aux 7-8. Custom PWM rates can be used by directly setting any value >0.", "name": "PWM_AUX_TIM2", "rebootRequired": true, "shortDesc": "Output Protocol Configuration for PWM Aux 7-8", "type": "Int32", "values": [{"description": "OneShot", "value": -1}, {"description": "PWM 50 Hz", "value": 50}, {"description": "PWM 100 Hz", "value": 100}, {"description": "PWM 200 Hz", "value": 200}, {"description": "PWM 400 Hz", "value": 400}]}, {"category": "Standard", "default": 400, "group": "Actuator Outputs", "longDesc": "Select which Output Protocol to use for outputs PWM Capture 1-3. Custom PWM rates can be used by directly setting any value >0.", "name": "PWM_AUX_TIM3", "rebootRequired": true, "shortDesc": "Output Protocol Configuration for PWM Capture 1-3", "type": "Int32", "values": [{"description": "OneShot", "value": -1}, {"description": "PWM 50 Hz", "value": 50}, {"description": "PWM 100 Hz", "value": 100}, {"description": "PWM 200 Hz", "value": 200}, {"description": "PWM 400 Hz", "value": 400}]}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 2200, "min": 800, "name": "PWM_MAIN_DIS1", "shortDesc": "MAIN 1 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 2200, "min": 800, "name": "PWM_MAIN_DIS2", "shortDesc": "MAIN 2 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 2200, "min": 800, "name": "PWM_MAIN_DIS3", "shortDesc": "MAIN 3 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 2200, "min": 800, "name": "PWM_MAIN_DIS4", "shortDesc": "MAIN 4 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 2200, "min": 800, "name": "PWM_MAIN_DIS5", "shortDesc": "MAIN 5 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 2200, "min": 800, "name": "PWM_MAIN_DIS6", "shortDesc": "MAIN 6 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 2200, "min": 800, "name": "PWM_MAIN_DIS7", "shortDesc": "MAIN 7 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 2200, "min": 800, "name": "PWM_MAIN_DIS8", "shortDesc": "MAIN 8 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_MAIN_FUNC1).", "max": 2200, "min": -1, "name": "PWM_MAIN_FAIL1", "shortDesc": "MAIN 1 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_MAIN_FUNC2).", "max": 2200, "min": -1, "name": "PWM_MAIN_FAIL2", "shortDesc": "MAIN 2 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_MAIN_FUNC3).", "max": 2200, "min": -1, "name": "PWM_MAIN_FAIL3", "shortDesc": "MAIN 3 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_MAIN_FUNC4).", "max": 2200, "min": -1, "name": "PWM_MAIN_FAIL4", "shortDesc": "MAIN 4 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_MAIN_FUNC5).", "max": 2200, "min": -1, "name": "PWM_MAIN_FAIL5", "shortDesc": "MAIN 5 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_MAIN_FUNC6).", "max": 2200, "min": -1, "name": "PWM_MAIN_FAIL6", "shortDesc": "MAIN 6 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_MAIN_FUNC7).", "max": 2200, "min": -1, "name": "PWM_MAIN_FAIL7", "shortDesc": "MAIN 7 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_MAIN_FUNC8).", "max": 2200, "min": -1, "name": "PWM_MAIN_FAIL8", "shortDesc": "MAIN 8 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on MAIN 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PWM_MAIN_FUNC1", "shortDesc": "MAIN 1 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on MAIN 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PWM_MAIN_FUNC2", "shortDesc": "MAIN 2 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on MAIN 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PWM_MAIN_FUNC3", "shortDesc": "MAIN 3 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on MAIN 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PWM_MAIN_FUNC4", "shortDesc": "MAIN 4 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on MAIN 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PWM_MAIN_FUNC5", "shortDesc": "MAIN 5 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on MAIN 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PWM_MAIN_FUNC6", "shortDesc": "MAIN 6 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on MAIN 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PWM_MAIN_FUNC7", "shortDesc": "MAIN 7 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on MAIN 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "PWM_MAIN_FUNC8", "shortDesc": "MAIN 8 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 2000, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 2200, "min": 1600, "name": "PWM_MAIN_MAX1", "shortDesc": "MAIN 1 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 2000, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 2200, "min": 1600, "name": "PWM_MAIN_MAX2", "shortDesc": "MAIN 2 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 2000, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 2200, "min": 1600, "name": "PWM_MAIN_MAX3", "shortDesc": "MAIN 3 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 2000, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 2200, "min": 1600, "name": "PWM_MAIN_MAX4", "shortDesc": "MAIN 4 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 2000, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 2200, "min": 1600, "name": "PWM_MAIN_MAX5", "shortDesc": "MAIN 5 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 2000, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 2200, "min": 1600, "name": "PWM_MAIN_MAX6", "shortDesc": "MAIN 6 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 2000, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 2200, "min": 1600, "name": "PWM_MAIN_MAX7", "shortDesc": "MAIN 7 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 2000, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 2200, "min": 1600, "name": "PWM_MAIN_MAX8", "shortDesc": "MAIN 8 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1400, "min": 800, "name": "PWM_MAIN_MIN1", "shortDesc": "MAIN 1 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1400, "min": 800, "name": "PWM_MAIN_MIN2", "shortDesc": "MAIN 2 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1400, "min": 800, "name": "PWM_MAIN_MIN3", "shortDesc": "MAIN 3 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1400, "min": 800, "name": "PWM_MAIN_MIN4", "shortDesc": "MAIN 4 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1400, "min": 800, "name": "PWM_MAIN_MIN5", "shortDesc": "MAIN 5 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1400, "min": 800, "name": "PWM_MAIN_MIN6", "shortDesc": "MAIN 6 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1400, "min": 800, "name": "PWM_MAIN_MIN7", "shortDesc": "MAIN 7 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1400, "min": 800, "name": "PWM_MAIN_MIN8", "shortDesc": "MAIN 8 Minimum Value", "type": "Int32"}, {"bitmask": [{"description": "MAIN 1", "index": 0}, {"description": "MAIN 2", "index": 1}, {"description": "MAIN 3", "index": 2}, {"description": "MAIN 4", "index": 3}, {"description": "MAIN 5", "index": 4}, {"description": "MAIN 6", "index": 5}, {"description": "MAIN 7", "index": 6}, {"description": "MAIN 8", "index": 7}], "category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Allows to reverse the output range for each channel. Note: this is only useful for servos.", "max": 255, "min": 0, "name": "PWM_MAIN_REV", "shortDesc": "Reverse Output Range for PWM MAIN", "type": "Int32"}, {"category": "Standard", "default": 400, "group": "Actuator Outputs", "longDesc": "Select which Output Protocol to use for outputs MAIN 1-2. Custom PWM rates can be used by directly setting any value >0.", "name": "PWM_MAIN_TIM0", "rebootRequired": true, "shortDesc": "Output Protocol Configuration for MAIN 1-2", "type": "Int32", "values": [{"description": "OneShot", "value": -1}, {"description": "PWM 50 Hz", "value": 50}, {"description": "PWM 100 Hz", "value": 100}, {"description": "PWM 200 Hz", "value": 200}, {"description": "PWM 400 Hz", "value": 400}]}, {"category": "Standard", "default": 400, "group": "Actuator Outputs", "longDesc": "Select which Output Protocol to use for outputs MAIN 3-4. Custom PWM rates can be used by directly setting any value >0.", "name": "PWM_MAIN_TIM1", "rebootRequired": true, "shortDesc": "Output Protocol Configuration for MAIN 3-4", "type": "Int32", "values": [{"description": "OneShot", "value": -1}, {"description": "PWM 50 Hz", "value": 50}, {"description": "PWM 100 Hz", "value": 100}, {"description": "PWM 200 Hz", "value": 200}, {"description": "PWM 400 Hz", "value": 400}]}, {"category": "Standard", "default": 400, "group": "Actuator Outputs", "longDesc": "Select which Output Protocol to use for outputs MAIN 5-8. Custom PWM rates can be used by directly setting any value >0.", "name": "PWM_MAIN_TIM2", "rebootRequired": true, "shortDesc": "Output Protocol Configuration for MAIN 5-8", "type": "Int32", "values": [{"description": "OneShot", "value": -1}, {"description": "PWM 50 Hz", "value": 50}, {"description": "PWM 100 Hz", "value": 100}, {"description": "PWM 200 Hz", "value": 200}, {"description": "PWM 400 Hz", "value": 400}]}, {"category": "Standard", "default": 128, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 128, "min": 128, "name": "RBCLW_DIS1", "shortDesc": "Roboclaw Driver Channel 1 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 128, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 128, "min": 128, "name": "RBCLW_DIS2", "shortDesc": "Roboclaw Driver Channel 2 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see RBCLW_FUNC1).", "max": 257, "min": -1, "name": "RBCLW_FAIL1", "shortDesc": "Roboclaw Driver Channel 1 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see RBCLW_FUNC2).", "max": 257, "min": -1, "name": "RBCLW_FAIL2", "shortDesc": "Roboclaw Driver Channel 2 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on Roboclaw Driver Channel 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "RBCLW_FUNC1", "shortDesc": "Roboclaw Driver Channel 1 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on Roboclaw Driver Channel 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "RBCLW_FUNC2", "shortDesc": "Roboclaw Driver Channel 2 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 256, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 256, "min": 128, "name": "RBCLW_MAX1", "shortDesc": "Roboclaw Driver Channel 1 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 256, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 256, "min": 128, "name": "RBCLW_MAX2", "shortDesc": "Roboclaw Driver Channel 2 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 128, "min": 1, "name": "RBCLW_MIN1", "shortDesc": "Roboclaw Driver Channel 1 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 128, "min": 1, "name": "RBCLW_MIN2", "shortDesc": "Roboclaw Driver Channel 2 Minimum Value", "type": "Int32"}, {"bitmask": [{"description": "Roboclaw Driver Channel 1", "index": 0}, {"description": "Roboclaw Driver Channel 2", "index": 1}], "category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Allows to reverse the output range for each channel. Note: this is only useful for servos.", "max": 3, "min": 0, "name": "RBCLW_REV", "shortDesc": "Reverse Output Range for Roboclaw Driver", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 1000, "min": 0, "name": "SIM_GZ_EC_DIS1", "shortDesc": "SIM_GZ ESC 1 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 1000, "min": 0, "name": "SIM_GZ_EC_DIS2", "shortDesc": "SIM_GZ ESC 2 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 1000, "min": 0, "name": "SIM_GZ_EC_DIS3", "shortDesc": "SIM_GZ ESC 3 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 1000, "min": 0, "name": "SIM_GZ_EC_DIS4", "shortDesc": "SIM_GZ ESC 4 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 1000, "min": 0, "name": "SIM_GZ_EC_DIS5", "shortDesc": "SIM_GZ ESC 5 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 1000, "min": 0, "name": "SIM_GZ_EC_DIS6", "shortDesc": "SIM_GZ ESC 6 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 1000, "min": 0, "name": "SIM_GZ_EC_DIS7", "shortDesc": "SIM_GZ ESC 7 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 1000, "min": 0, "name": "SIM_GZ_EC_DIS8", "shortDesc": "SIM_GZ ESC 8 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC1).", "max": 1000, "min": -1, "name": "SIM_GZ_EC_FAIL1", "shortDesc": "SIM_GZ ESC 1 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC2).", "max": 1000, "min": -1, "name": "SIM_GZ_EC_FAIL2", "shortDesc": "SIM_GZ ESC 2 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC3).", "max": 1000, "min": -1, "name": "SIM_GZ_EC_FAIL3", "shortDesc": "SIM_GZ ESC 3 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC4).", "max": 1000, "min": -1, "name": "SIM_GZ_EC_FAIL4", "shortDesc": "SIM_GZ ESC 4 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC5).", "max": 1000, "min": -1, "name": "SIM_GZ_EC_FAIL5", "shortDesc": "SIM_GZ ESC 5 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC6).", "max": 1000, "min": -1, "name": "SIM_GZ_EC_FAIL6", "shortDesc": "SIM_GZ ESC 6 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC7).", "max": 1000, "min": -1, "name": "SIM_GZ_EC_FAIL7", "shortDesc": "SIM_GZ ESC 7 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC8).", "max": 1000, "min": -1, "name": "SIM_GZ_EC_FAIL8", "shortDesc": "SIM_GZ ESC 8 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM_GZ ESC 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "SIM_GZ_EC_FUNC1", "shortDesc": "SIM_GZ ESC 1 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM_GZ ESC 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "SIM_GZ_EC_FUNC2", "shortDesc": "SIM_GZ ESC 2 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM_GZ ESC 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "SIM_GZ_EC_FUNC3", "shortDesc": "SIM_GZ ESC 3 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM_GZ ESC 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "SIM_GZ_EC_FUNC4", "shortDesc": "SIM_GZ ESC 4 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM_GZ ESC 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "SIM_GZ_EC_FUNC5", "shortDesc": "SIM_GZ ESC 5 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM_GZ ESC 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "SIM_GZ_EC_FUNC6", "shortDesc": "SIM_GZ ESC 6 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM_GZ ESC 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "SIM_GZ_EC_FUNC7", "shortDesc": "SIM_GZ ESC 7 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM_GZ ESC 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "SIM_GZ_EC_FUNC8", "shortDesc": "SIM_GZ ESC 8 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "SIM_GZ_EC_MAX1", "shortDesc": "SIM_GZ ESC 1 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "SIM_GZ_EC_MAX2", "shortDesc": "SIM_GZ ESC 2 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "SIM_GZ_EC_MAX3", "shortDesc": "SIM_GZ ESC 3 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "SIM_GZ_EC_MAX4", "shortDesc": "SIM_GZ ESC 4 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "SIM_GZ_EC_MAX5", "shortDesc": "SIM_GZ ESC 5 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "SIM_GZ_EC_MAX6", "shortDesc": "SIM_GZ ESC 6 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "SIM_GZ_EC_MAX7", "shortDesc": "SIM_GZ ESC 7 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "SIM_GZ_EC_MAX8", "shortDesc": "SIM_GZ ESC 8 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "SIM_GZ_EC_MIN1", "shortDesc": "SIM_GZ ESC 1 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "SIM_GZ_EC_MIN2", "shortDesc": "SIM_GZ ESC 2 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "SIM_GZ_EC_MIN3", "shortDesc": "SIM_GZ ESC 3 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "SIM_GZ_EC_MIN4", "shortDesc": "SIM_GZ ESC 4 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "SIM_GZ_EC_MIN5", "shortDesc": "SIM_GZ ESC 5 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "SIM_GZ_EC_MIN6", "shortDesc": "SIM_GZ ESC 6 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "SIM_GZ_EC_MIN7", "shortDesc": "SIM_GZ ESC 7 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "SIM_GZ_EC_MIN8", "shortDesc": "SIM_GZ ESC 8 Minimum Value", "type": "Int32"}, {"bitmask": [{"description": "SIM_GZ ESC 1", "index": 0}, {"description": "SIM_GZ ESC 2", "index": 1}, {"description": "SIM_GZ ESC 3", "index": 2}, {"description": "SIM_GZ ESC 4", "index": 3}, {"description": "SIM_GZ ESC 5", "index": 4}, {"description": "SIM_GZ ESC 6", "index": 5}, {"description": "SIM_GZ ESC 7", "index": 6}, {"description": "SIM_GZ ESC 8", "index": 7}], "category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Allows to reverse the output range for each channel. Note: this is only useful for servos.", "max": 255, "min": 0, "name": "SIM_GZ_EC_REV", "shortDesc": "Reverse Output Range for SIM_GZ", "type": "Int32"}, {"category": "Standard", "default": 500, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 1000, "min": 0, "name": "SIM_GZ_SV_DIS1", "shortDesc": "SIM_GZ Servo 1 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 500, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 1000, "min": 0, "name": "SIM_GZ_SV_DIS2", "shortDesc": "SIM_GZ Servo 2 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 500, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 1000, "min": 0, "name": "SIM_GZ_SV_DIS3", "shortDesc": "SIM_GZ Servo 3 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 500, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 1000, "min": 0, "name": "SIM_GZ_SV_DIS4", "shortDesc": "SIM_GZ Servo 4 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 500, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 1000, "min": 0, "name": "SIM_GZ_SV_DIS5", "shortDesc": "SIM_GZ Servo 5 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 500, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 1000, "min": 0, "name": "SIM_GZ_SV_DIS6", "shortDesc": "SIM_GZ Servo 6 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 500, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 1000, "min": 0, "name": "SIM_GZ_SV_DIS7", "shortDesc": "SIM_GZ Servo 7 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 500, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 1000, "min": 0, "name": "SIM_GZ_SV_DIS8", "shortDesc": "SIM_GZ Servo 8 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_SV_FUNC1).", "max": 1000, "min": -1, "name": "SIM_GZ_SV_FAIL1", "shortDesc": "SIM_GZ Servo 1 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_SV_FUNC2).", "max": 1000, "min": -1, "name": "SIM_GZ_SV_FAIL2", "shortDesc": "SIM_GZ Servo 2 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_SV_FUNC3).", "max": 1000, "min": -1, "name": "SIM_GZ_SV_FAIL3", "shortDesc": "SIM_GZ Servo 3 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_SV_FUNC4).", "max": 1000, "min": -1, "name": "SIM_GZ_SV_FAIL4", "shortDesc": "SIM_GZ Servo 4 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_SV_FUNC5).", "max": 1000, "min": -1, "name": "SIM_GZ_SV_FAIL5", "shortDesc": "SIM_GZ Servo 5 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_SV_FUNC6).", "max": 1000, "min": -1, "name": "SIM_GZ_SV_FAIL6", "shortDesc": "SIM_GZ Servo 6 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_SV_FUNC7).", "max": 1000, "min": -1, "name": "SIM_GZ_SV_FAIL7", "shortDesc": "SIM_GZ Servo 7 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_SV_FUNC8).", "max": 1000, "min": -1, "name": "SIM_GZ_SV_FAIL8", "shortDesc": "SIM_GZ Servo 8 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM_GZ Servo 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "SIM_GZ_SV_FUNC1", "shortDesc": "SIM_GZ Servo 1 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM_GZ Servo 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "SIM_GZ_SV_FUNC2", "shortDesc": "SIM_GZ Servo 2 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM_GZ Servo 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "SIM_GZ_SV_FUNC3", "shortDesc": "SIM_GZ Servo 3 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM_GZ Servo 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "SIM_GZ_SV_FUNC4", "shortDesc": "SIM_GZ Servo 4 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM_GZ Servo 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "SIM_GZ_SV_FUNC5", "shortDesc": "SIM_GZ Servo 5 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM_GZ Servo 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "SIM_GZ_SV_FUNC6", "shortDesc": "SIM_GZ Servo 6 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM_GZ Servo 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "SIM_GZ_SV_FUNC7", "shortDesc": "SIM_GZ Servo 7 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM_GZ Servo 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "SIM_GZ_SV_FUNC8", "shortDesc": "SIM_GZ Servo 8 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "SIM_GZ_SV_MAX1", "shortDesc": "SIM_GZ Servo 1 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "SIM_GZ_SV_MAX2", "shortDesc": "SIM_GZ Servo 2 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "SIM_GZ_SV_MAX3", "shortDesc": "SIM_GZ Servo 3 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "SIM_GZ_SV_MAX4", "shortDesc": "SIM_GZ Servo 4 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "SIM_GZ_SV_MAX5", "shortDesc": "SIM_GZ Servo 5 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "SIM_GZ_SV_MAX6", "shortDesc": "SIM_GZ Servo 6 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "SIM_GZ_SV_MAX7", "shortDesc": "SIM_GZ Servo 7 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "SIM_GZ_SV_MAX8", "shortDesc": "SIM_GZ Servo 8 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "SIM_GZ_SV_MIN1", "shortDesc": "SIM_GZ Servo 1 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "SIM_GZ_SV_MIN2", "shortDesc": "SIM_GZ Servo 2 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "SIM_GZ_SV_MIN3", "shortDesc": "SIM_GZ Servo 3 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "SIM_GZ_SV_MIN4", "shortDesc": "SIM_GZ Servo 4 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "SIM_GZ_SV_MIN5", "shortDesc": "SIM_GZ Servo 5 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "SIM_GZ_SV_MIN6", "shortDesc": "SIM_GZ Servo 6 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "SIM_GZ_SV_MIN7", "shortDesc": "SIM_GZ Servo 7 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "SIM_GZ_SV_MIN8", "shortDesc": "SIM_GZ Servo 8 Minimum Value", "type": "Int32"}, {"bitmask": [{"description": "SIM_GZ Servo 1", "index": 0}, {"description": "SIM_GZ Servo 2", "index": 1}, {"description": "SIM_GZ Servo 3", "index": 2}, {"description": "SIM_GZ Servo 4", "index": 3}, {"description": "SIM_GZ Servo 5", "index": 4}, {"description": "SIM_GZ Servo 6", "index": 5}, {"description": "SIM_GZ Servo 7", "index": 6}, {"description": "SIM_GZ Servo 8", "index": 7}], "category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Allows to reverse the output range for each channel. Note: this is only useful for servos.", "max": 255, "min": 0, "name": "SIM_GZ_SV_REV", "shortDesc": "Reverse Output Range for SIM_GZ", "type": "Int32"}, {"category": "Standard", "default": 100, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 200, "min": 0, "name": "SIM_GZ_WH_DIS1", "shortDesc": "SIM_GZ Wheels 1 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 100, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 200, "min": 0, "name": "SIM_GZ_WH_DIS2", "shortDesc": "SIM_GZ Wheels 2 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_WH_FUNC1).", "max": 200, "min": -1, "name": "SIM_GZ_WH_FAIL1", "shortDesc": "SIM_GZ Wheels 1 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_WH_FUNC2).", "max": 200, "min": -1, "name": "SIM_GZ_WH_FAIL2", "shortDesc": "SIM_GZ Wheels 2 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM_GZ Wheels 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "SIM_GZ_WH_FUNC1", "shortDesc": "SIM_GZ Wheels 1 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on SIM_GZ Wheels 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "SIM_GZ_WH_FUNC2", "shortDesc": "SIM_GZ Wheels 2 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 200, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 200, "min": 0, "name": "SIM_GZ_WH_MAX1", "shortDesc": "SIM_GZ Wheels 1 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 200, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 200, "min": 0, "name": "SIM_GZ_WH_MAX2", "shortDesc": "SIM_GZ Wheels 2 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 200, "min": 0, "name": "SIM_GZ_WH_MIN1", "shortDesc": "SIM_GZ Wheels 1 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 200, "min": 0, "name": "SIM_GZ_WH_MIN2", "shortDesc": "SIM_GZ Wheels 2 Minimum Value", "type": "Int32"}, {"bitmask": [{"description": "SIM_GZ Wheels 1", "index": 0}, {"description": "SIM_GZ Wheels 2", "index": 1}], "category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Allows to reverse the output range for each channel. Note: this is only useful for servos.", "max": 3, "min": 0, "name": "SIM_GZ_WH_REV", "shortDesc": "Reverse Output Range for SIM_GZ", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on TAP ESC Output ESC 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "TAP_ESC_FUNC1", "shortDesc": "TAP ESC Output ESC 1 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on TAP ESC Output ESC 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "TAP_ESC_FUNC2", "shortDesc": "TAP ESC Output ESC 2 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on TAP ESC Output ESC 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "TAP_ESC_FUNC3", "shortDesc": "TAP ESC Output ESC 3 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on TAP ESC Output ESC 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "TAP_ESC_FUNC4", "shortDesc": "TAP ESC Output ESC 4 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on TAP ESC Output ESC 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "TAP_ESC_FUNC5", "shortDesc": "TAP ESC Output ESC 5 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on TAP ESC Output ESC 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "TAP_ESC_FUNC6", "shortDesc": "TAP ESC Output ESC 6 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on TAP ESC Output ESC 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "TAP_ESC_FUNC7", "shortDesc": "TAP ESC Output ESC 7 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on TAP ESC Output ESC 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "TAP_ESC_FUNC8", "shortDesc": "TAP ESC Output ESC 8 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"bitmask": [{"description": "TAP ESC Output ESC 1", "index": 0}, {"description": "TAP ESC Output ESC 2", "index": 1}, {"description": "TAP ESC Output ESC 3", "index": 2}, {"description": "TAP ESC Output ESC 4", "index": 3}, {"description": "TAP ESC Output ESC 5", "index": 4}, {"description": "TAP ESC Output ESC 6", "index": 5}, {"description": "TAP ESC Output ESC 7", "index": 6}, {"description": "TAP ESC Output ESC 8", "index": 7}], "category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Allows to reverse the output range for each channel. Note: this is only useful for servos.", "max": 255, "min": 0, "name": "TAP_ESC_REV", "shortDesc": "Reverse Output Range for TAP ESC Output", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_EC_FUNC1).", "max": 8191, "min": -1, "name": "UAVCAN_EC_FAIL1", "shortDesc": "UAVCAN ESC 1 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_EC_FUNC2).", "max": 8191, "min": -1, "name": "UAVCAN_EC_FAIL2", "shortDesc": "UAVCAN ESC 2 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_EC_FUNC3).", "max": 8191, "min": -1, "name": "UAVCAN_EC_FAIL3", "shortDesc": "UAVCAN ESC 3 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_EC_FUNC4).", "max": 8191, "min": -1, "name": "UAVCAN_EC_FAIL4", "shortDesc": "UAVCAN ESC 4 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_EC_FUNC5).", "max": 8191, "min": -1, "name": "UAVCAN_EC_FAIL5", "shortDesc": "UAVCAN ESC 5 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_EC_FUNC6).", "max": 8191, "min": -1, "name": "UAVCAN_EC_FAIL6", "shortDesc": "UAVCAN ESC 6 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_EC_FUNC7).", "max": 8191, "min": -1, "name": "UAVCAN_EC_FAIL7", "shortDesc": "UAVCAN ESC 7 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_EC_FUNC8).", "max": 8191, "min": -1, "name": "UAVCAN_EC_FAIL8", "shortDesc": "UAVCAN ESC 8 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on UAVCAN ESC 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "UAVCAN_EC_FUNC1", "shortDesc": "UAVCAN ESC 1 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on UAVCAN ESC 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "UAVCAN_EC_FUNC2", "shortDesc": "UAVCAN ESC 2 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on UAVCAN ESC 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "UAVCAN_EC_FUNC3", "shortDesc": "UAVCAN ESC 3 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on UAVCAN ESC 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "UAVCAN_EC_FUNC4", "shortDesc": "UAVCAN ESC 4 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on UAVCAN ESC 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "UAVCAN_EC_FUNC5", "shortDesc": "UAVCAN ESC 5 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on UAVCAN ESC 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "UAVCAN_EC_FUNC6", "shortDesc": "UAVCAN ESC 6 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on UAVCAN ESC 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "UAVCAN_EC_FUNC7", "shortDesc": "UAVCAN ESC 7 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on UAVCAN ESC 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "UAVCAN_EC_FUNC8", "shortDesc": "UAVCAN ESC 8 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 8191, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UAVCAN_EC_MAX1", "shortDesc": "UAVCAN ESC 1 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 8191, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UAVCAN_EC_MAX2", "shortDesc": "UAVCAN ESC 2 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 8191, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UAVCAN_EC_MAX3", "shortDesc": "UAVCAN ESC 3 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 8191, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UAVCAN_EC_MAX4", "shortDesc": "UAVCAN ESC 4 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 8191, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UAVCAN_EC_MAX5", "shortDesc": "UAVCAN ESC 5 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 8191, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UAVCAN_EC_MAX6", "shortDesc": "UAVCAN ESC 6 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 8191, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UAVCAN_EC_MAX7", "shortDesc": "UAVCAN ESC 7 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 8191, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UAVCAN_EC_MAX8", "shortDesc": "UAVCAN ESC 8 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UAVCAN_EC_MIN1", "shortDesc": "UAVCAN ESC 1 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UAVCAN_EC_MIN2", "shortDesc": "UAVCAN ESC 2 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UAVCAN_EC_MIN3", "shortDesc": "UAVCAN ESC 3 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UAVCAN_EC_MIN4", "shortDesc": "UAVCAN ESC 4 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UAVCAN_EC_MIN5", "shortDesc": "UAVCAN ESC 5 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UAVCAN_EC_MIN6", "shortDesc": "UAVCAN ESC 6 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UAVCAN_EC_MIN7", "shortDesc": "UAVCAN ESC 7 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UAVCAN_EC_MIN8", "shortDesc": "UAVCAN ESC 8 Minimum Value", "type": "Int32"}, {"bitmask": [{"description": "UAVCAN ESC 1", "index": 0}, {"description": "UAVCAN ESC 2", "index": 1}, {"description": "UAVCAN ESC 3", "index": 2}, {"description": "UAVCAN ESC 4", "index": 3}, {"description": "UAVCAN ESC 5", "index": 4}, {"description": "UAVCAN ESC 6", "index": 5}, {"description": "UAVCAN ESC 7", "index": 6}, {"description": "UAVCAN ESC 8", "index": 7}], "category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Allows to reverse the output range for each channel. Note: this is only useful for servos.", "max": 255, "min": 0, "name": "UAVCAN_EC_REV", "shortDesc": "Reverse Output Range for UAVCAN", "type": "Int32"}, {"category": "Standard", "default": 500, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 1000, "min": 0, "name": "UAVCAN_SV_DIS1", "shortDesc": "UAVCAN Servo 1 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 500, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 1000, "min": 0, "name": "UAVCAN_SV_DIS2", "shortDesc": "UAVCAN Servo 2 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 500, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 1000, "min": 0, "name": "UAVCAN_SV_DIS3", "shortDesc": "UAVCAN Servo 3 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 500, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 1000, "min": 0, "name": "UAVCAN_SV_DIS4", "shortDesc": "UAVCAN Servo 4 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 500, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 1000, "min": 0, "name": "UAVCAN_SV_DIS5", "shortDesc": "UAVCAN Servo 5 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 500, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 1000, "min": 0, "name": "UAVCAN_SV_DIS6", "shortDesc": "UAVCAN Servo 6 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 500, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 1000, "min": 0, "name": "UAVCAN_SV_DIS7", "shortDesc": "UAVCAN Servo 7 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": 500, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.", "max": 1000, "min": 0, "name": "UAVCAN_SV_DIS8", "shortDesc": "UAVCAN Servo 8 Disarmed Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_SV_FUNC1).", "max": 1000, "min": -1, "name": "UAVCAN_SV_FAIL1", "shortDesc": "UAVCAN Servo 1 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_SV_FUNC2).", "max": 1000, "min": -1, "name": "UAVCAN_SV_FAIL2", "shortDesc": "UAVCAN Servo 2 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_SV_FUNC3).", "max": 1000, "min": -1, "name": "UAVCAN_SV_FAIL3", "shortDesc": "UAVCAN Servo 3 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_SV_FUNC4).", "max": 1000, "min": -1, "name": "UAVCAN_SV_FAIL4", "shortDesc": "UAVCAN Servo 4 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_SV_FUNC5).", "max": 1000, "min": -1, "name": "UAVCAN_SV_FAIL5", "shortDesc": "UAVCAN Servo 5 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_SV_FUNC6).", "max": 1000, "min": -1, "name": "UAVCAN_SV_FAIL6", "shortDesc": "UAVCAN Servo 6 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_SV_FUNC7).", "max": 1000, "min": -1, "name": "UAVCAN_SV_FAIL7", "shortDesc": "UAVCAN Servo 7 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_SV_FUNC8).", "max": 1000, "min": -1, "name": "UAVCAN_SV_FAIL8", "shortDesc": "UAVCAN Servo 8 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on UAVCAN Servo 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "UAVCAN_SV_FUNC1", "shortDesc": "UAVCAN Servo 1 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on UAVCAN Servo 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "UAVCAN_SV_FUNC2", "shortDesc": "UAVCAN Servo 2 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on UAVCAN Servo 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "UAVCAN_SV_FUNC3", "shortDesc": "UAVCAN Servo 3 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on UAVCAN Servo 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "UAVCAN_SV_FUNC4", "shortDesc": "UAVCAN Servo 4 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on UAVCAN Servo 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "UAVCAN_SV_FUNC5", "shortDesc": "UAVCAN Servo 5 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on UAVCAN Servo 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "UAVCAN_SV_FUNC6", "shortDesc": "UAVCAN Servo 6 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on UAVCAN Servo 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "UAVCAN_SV_FUNC7", "shortDesc": "UAVCAN Servo 7 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on UAVCAN Servo 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "UAVCAN_SV_FUNC8", "shortDesc": "UAVCAN Servo 8 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "UAVCAN_SV_MAX1", "shortDesc": "UAVCAN Servo 1 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "UAVCAN_SV_MAX2", "shortDesc": "UAVCAN Servo 2 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "UAVCAN_SV_MAX3", "shortDesc": "UAVCAN Servo 3 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "UAVCAN_SV_MAX4", "shortDesc": "UAVCAN Servo 4 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "UAVCAN_SV_MAX5", "shortDesc": "UAVCAN Servo 5 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "UAVCAN_SV_MAX6", "shortDesc": "UAVCAN Servo 6 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "UAVCAN_SV_MAX7", "shortDesc": "UAVCAN Servo 7 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "UAVCAN_SV_MAX8", "shortDesc": "UAVCAN Servo 8 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "UAVCAN_SV_MIN1", "shortDesc": "UAVCAN Servo 1 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "UAVCAN_SV_MIN2", "shortDesc": "UAVCAN Servo 2 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "UAVCAN_SV_MIN3", "shortDesc": "UAVCAN Servo 3 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "UAVCAN_SV_MIN4", "shortDesc": "UAVCAN Servo 4 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "UAVCAN_SV_MIN5", "shortDesc": "UAVCAN Servo 5 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "UAVCAN_SV_MIN6", "shortDesc": "UAVCAN Servo 6 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "UAVCAN_SV_MIN7", "shortDesc": "UAVCAN Servo 7 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 1000, "min": 0, "name": "UAVCAN_SV_MIN8", "shortDesc": "UAVCAN Servo 8 Minimum Value", "type": "Int32"}, {"bitmask": [{"description": "UAVCAN Servo 1", "index": 0}, {"description": "UAVCAN Servo 2", "index": 1}, {"description": "UAVCAN Servo 3", "index": 2}, {"description": "UAVCAN Servo 4", "index": 3}, {"description": "UAVCAN Servo 5", "index": 4}, {"description": "UAVCAN Servo 6", "index": 5}, {"description": "UAVCAN Servo 7", "index": 6}, {"description": "UAVCAN Servo 8", "index": 7}], "category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Allows to reverse the output range for each channel. Note: this is only useful for servos.", "max": 255, "min": 0, "name": "UAVCAN_SV_REV", "shortDesc": "Reverse Output Range for UAVCAN", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC1).", "max": 8191, "min": -1, "name": "UCAN1_ESC_FAIL1", "shortDesc": "UAVCANv1 ESC 1 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC10).", "max": 8191, "min": -1, "name": "UCAN1_ESC_FAIL10", "shortDesc": "UAVCANv1 ESC 10 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC11).", "max": 8191, "min": -1, "name": "UCAN1_ESC_FAIL11", "shortDesc": "UAVCANv1 ESC 11 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC12).", "max": 8191, "min": -1, "name": "UCAN1_ESC_FAIL12", "shortDesc": "UAVCANv1 ESC 12 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC13).", "max": 8191, "min": -1, "name": "UCAN1_ESC_FAIL13", "shortDesc": "UAVCANv1 ESC 13 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC14).", "max": 8191, "min": -1, "name": "UCAN1_ESC_FAIL14", "shortDesc": "UAVCANv1 ESC 14 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC15).", "max": 8191, "min": -1, "name": "UCAN1_ESC_FAIL15", "shortDesc": "UAVCANv1 ESC 15 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC16).", "max": 8191, "min": -1, "name": "UCAN1_ESC_FAIL16", "shortDesc": "UAVCANv1 ESC 16 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC2).", "max": 8191, "min": -1, "name": "UCAN1_ESC_FAIL2", "shortDesc": "UAVCANv1 ESC 2 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC3).", "max": 8191, "min": -1, "name": "UCAN1_ESC_FAIL3", "shortDesc": "UAVCANv1 ESC 3 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC4).", "max": 8191, "min": -1, "name": "UCAN1_ESC_FAIL4", "shortDesc": "UAVCANv1 ESC 4 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC5).", "max": 8191, "min": -1, "name": "UCAN1_ESC_FAIL5", "shortDesc": "UAVCANv1 ESC 5 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC6).", "max": 8191, "min": -1, "name": "UCAN1_ESC_FAIL6", "shortDesc": "UAVCANv1 ESC 6 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC7).", "max": 8191, "min": -1, "name": "UCAN1_ESC_FAIL7", "shortDesc": "UAVCANv1 ESC 7 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC8).", "max": 8191, "min": -1, "name": "UCAN1_ESC_FAIL8", "shortDesc": "UAVCANv1 ESC 8 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Actuator Outputs", "longDesc": "This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC9).", "max": 8191, "min": -1, "name": "UCAN1_ESC_FAIL9", "shortDesc": "UAVCANv1 ESC 9 Failsafe Value", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on UAVCANv1 ESC 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "UCAN1_ESC_FUNC1", "shortDesc": "UAVCANv1 ESC 1 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on UAVCANv1 ESC 10. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "UCAN1_ESC_FUNC10", "shortDesc": "UAVCANv1 ESC 10 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on UAVCANv1 ESC 11. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "UCAN1_ESC_FUNC11", "shortDesc": "UAVCANv1 ESC 11 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on UAVCANv1 ESC 12. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "UCAN1_ESC_FUNC12", "shortDesc": "UAVCANv1 ESC 12 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on UAVCANv1 ESC 13. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "UCAN1_ESC_FUNC13", "shortDesc": "UAVCANv1 ESC 13 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on UAVCANv1 ESC 14. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "UCAN1_ESC_FUNC14", "shortDesc": "UAVCANv1 ESC 14 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on UAVCANv1 ESC 15. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "UCAN1_ESC_FUNC15", "shortDesc": "UAVCANv1 ESC 15 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on UAVCANv1 ESC 16. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "UCAN1_ESC_FUNC16", "shortDesc": "UAVCANv1 ESC 16 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on UAVCANv1 ESC 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "UCAN1_ESC_FUNC2", "shortDesc": "UAVCANv1 ESC 2 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on UAVCANv1 ESC 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "UCAN1_ESC_FUNC3", "shortDesc": "UAVCANv1 ESC 3 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on UAVCANv1 ESC 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "UCAN1_ESC_FUNC4", "shortDesc": "UAVCANv1 ESC 4 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on UAVCANv1 ESC 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "UCAN1_ESC_FUNC5", "shortDesc": "UAVCANv1 ESC 5 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on UAVCANv1 ESC 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "UCAN1_ESC_FUNC6", "shortDesc": "UAVCANv1 ESC 6 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on UAVCANv1 ESC 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "UCAN1_ESC_FUNC7", "shortDesc": "UAVCANv1 ESC 7 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on UAVCANv1 ESC 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "UCAN1_ESC_FUNC8", "shortDesc": "UAVCANv1 ESC 8 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on UAVCANv1 ESC 9. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "UCAN1_ESC_FUNC9", "shortDesc": "UAVCANv1 ESC 9 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 8191, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UCAN1_ESC_MAX1", "shortDesc": "UAVCANv1 ESC 1 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 8191, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UCAN1_ESC_MAX10", "shortDesc": "UAVCANv1 ESC 10 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 8191, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UCAN1_ESC_MAX11", "shortDesc": "UAVCANv1 ESC 11 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 8191, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UCAN1_ESC_MAX12", "shortDesc": "UAVCANv1 ESC 12 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 8191, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UCAN1_ESC_MAX13", "shortDesc": "UAVCANv1 ESC 13 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 8191, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UCAN1_ESC_MAX14", "shortDesc": "UAVCANv1 ESC 14 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 8191, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UCAN1_ESC_MAX15", "shortDesc": "UAVCANv1 ESC 15 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 8191, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UCAN1_ESC_MAX16", "shortDesc": "UAVCANv1 ESC 16 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 8191, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UCAN1_ESC_MAX2", "shortDesc": "UAVCANv1 ESC 2 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 8191, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UCAN1_ESC_MAX3", "shortDesc": "UAVCANv1 ESC 3 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 8191, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UCAN1_ESC_MAX4", "shortDesc": "UAVCANv1 ESC 4 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 8191, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UCAN1_ESC_MAX5", "shortDesc": "UAVCANv1 ESC 5 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 8191, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UCAN1_ESC_MAX6", "shortDesc": "UAVCANv1 ESC 6 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 8191, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UCAN1_ESC_MAX7", "shortDesc": "UAVCANv1 ESC 7 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 8191, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UCAN1_ESC_MAX8", "shortDesc": "UAVCANv1 ESC 8 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 8191, "group": "Actuator Outputs", "longDesc": "Maxmimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UCAN1_ESC_MAX9", "shortDesc": "UAVCANv1 ESC 9 Maximum Value", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UCAN1_ESC_MIN1", "shortDesc": "UAVCANv1 ESC 1 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UCAN1_ESC_MIN10", "shortDesc": "UAVCANv1 ESC 10 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UCAN1_ESC_MIN11", "shortDesc": "UAVCANv1 ESC 11 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UCAN1_ESC_MIN12", "shortDesc": "UAVCANv1 ESC 12 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UCAN1_ESC_MIN13", "shortDesc": "UAVCANv1 ESC 13 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UCAN1_ESC_MIN14", "shortDesc": "UAVCANv1 ESC 14 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UCAN1_ESC_MIN15", "shortDesc": "UAVCANv1 ESC 15 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UCAN1_ESC_MIN16", "shortDesc": "UAVCANv1 ESC 16 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UCAN1_ESC_MIN2", "shortDesc": "UAVCANv1 ESC 2 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UCAN1_ESC_MIN3", "shortDesc": "UAVCANv1 ESC 3 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UCAN1_ESC_MIN4", "shortDesc": "UAVCANv1 ESC 4 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UCAN1_ESC_MIN5", "shortDesc": "UAVCANv1 ESC 5 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UCAN1_ESC_MIN6", "shortDesc": "UAVCANv1 ESC 6 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UCAN1_ESC_MIN7", "shortDesc": "UAVCANv1 ESC 7 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UCAN1_ESC_MIN8", "shortDesc": "UAVCANv1 ESC 8 Minimum Value", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "Actuator Outputs", "longDesc": "Minimum output value (when not disarmed).", "max": 8191, "min": 0, "name": "UCAN1_ESC_MIN9", "shortDesc": "UAVCANv1 ESC 9 Minimum Value", "type": "Int32"}, {"bitmask": [{"description": "UAVCANv1 ESC 1", "index": 0}, {"description": "UAVCANv1 ESC 2", "index": 1}, {"description": "UAVCANv1 ESC 3", "index": 2}, {"description": "UAVCANv1 ESC 4", "index": 3}, {"description": "UAVCANv1 ESC 5", "index": 4}, {"description": "UAVCANv1 ESC 6", "index": 5}, {"description": "UAVCANv1 ESC 7", "index": 6}, {"description": "UAVCANv1 ESC 8", "index": 7}, {"description": "UAVCANv1 ESC 9", "index": 8}, {"description": "UAVCANv1 ESC 10", "index": 9}, {"description": "UAVCANv1 ESC 11", "index": 10}, {"description": "UAVCANv1 ESC 12", "index": 11}, {"description": "UAVCANv1 ESC 13", "index": 12}, {"description": "UAVCANv1 ESC 14", "index": 13}, {"description": "UAVCANv1 ESC 15", "index": 14}, {"description": "UAVCANv1 ESC 16", "index": 15}], "category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Allows to reverse the output range for each channel. Note: this is only useful for servos.", "max": 65535, "min": 0, "name": "UCAN1_ESC_REV", "shortDesc": "Reverse Output Range for UAVCANv1", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on VOXL2 IO Output PWM Channel 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "VOXL2_IO_FUNC1", "shortDesc": "VOXL2 IO Output PWM Channel 1 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on VOXL2 IO Output PWM Channel 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "VOXL2_IO_FUNC2", "shortDesc": "VOXL2 IO Output PWM Channel 2 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on VOXL2 IO Output PWM Channel 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "VOXL2_IO_FUNC3", "shortDesc": "VOXL2 IO Output PWM Channel 3 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on VOXL2 IO Output PWM Channel 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "VOXL2_IO_FUNC4", "shortDesc": "VOXL2 IO Output PWM Channel 4 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"bitmask": [{"description": "VOXL2 IO Output PWM Channel 1", "index": 0}, {"description": "VOXL2 IO Output PWM Channel 2", "index": 1}, {"description": "VOXL2 IO Output PWM Channel 3", "index": 2}, {"description": "VOXL2 IO Output PWM Channel 4", "index": 3}], "category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Allows to reverse the output range for each channel. Note: this is only useful for servos.", "max": 15, "min": 0, "name": "VOXL2_IO_REV", "shortDesc": "Reverse Output Range for VOXL2 IO Output", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on VOXL ESC Output ESC 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "VOXL_ESC_FUNC1", "shortDesc": "VOXL ESC Output ESC 1 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on VOXL ESC Output ESC 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "VOXL_ESC_FUNC2", "shortDesc": "VOXL ESC Output ESC 2 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on VOXL ESC Output ESC 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "VOXL_ESC_FUNC3", "shortDesc": "VOXL ESC Output ESC 3 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Select what should be output on VOXL ESC Output ESC 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest", "name": "VOXL_ESC_FUNC4", "shortDesc": "VOXL ESC Output ESC 4 Output Function", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Constant Min", "value": 1}, {"description": "Constant Max", "value": 2}, {"description": "Motor 1", "value": 101}, {"description": "Motor 2", "value": 102}, {"description": "Motor 3", "value": 103}, {"description": "Motor 4", "value": 104}, {"description": "Motor 5", "value": 105}, {"description": "Motor 6", "value": 106}, {"description": "Motor 7", "value": 107}, {"description": "Motor 8", "value": 108}, {"description": "Motor 9", "value": 109}, {"description": "Motor 10", "value": 110}, {"description": "Motor 11", "value": 111}, {"description": "Motor 12", "value": 112}, {"description": "Servo 1", "value": 201}, {"description": "Servo 2", "value": 202}, {"description": "Servo 3", "value": 203}, {"description": "Servo 4", "value": 204}, {"description": "Servo 5", "value": 205}, {"description": "Servo 6", "value": 206}, {"description": "Servo 7", "value": 207}, {"description": "Servo 8", "value": 208}, {"description": "Peripheral via Actuator Set 1", "value": 301}, {"description": "Peripheral via Actuator Set 2", "value": 302}, {"description": "Peripheral via Actuator Set 3", "value": 303}, {"description": "Peripheral via Actuator Set 4", "value": 304}, {"description": "Peripheral via Actuator Set 5", "value": 305}, {"description": "Peripheral via Actuator Set 6", "value": 306}, {"description": "Landing Gear", "value": 400}, {"description": "Parachute", "value": 401}, {"description": "RC Roll", "value": 402}, {"description": "RC Pitch", "value": 403}, {"description": "RC Throttle", "value": 404}, {"description": "RC Yaw", "value": 405}, {"description": "RC Flaps", "value": 406}, {"description": "RC AUX 1", "value": 407}, {"description": "RC AUX 2", "value": 408}, {"description": "RC AUX 3", "value": 409}, {"description": "RC AUX 4", "value": 410}, {"description": "RC AUX 5", "value": 411}, {"description": "RC AUX 6", "value": 412}, {"description": "Gimbal Roll", "value": 420}, {"description": "Gimbal Pitch", "value": 421}, {"description": "Gimbal Yaw", "value": 422}, {"description": "Gripper", "value": 430}, {"description": "Landing Gear Wheel", "value": 440}]}, {"bitmask": [{"description": "VOXL ESC Output ESC 1", "index": 0}, {"description": "VOXL ESC Output ESC 2", "index": 1}, {"description": "VOXL ESC Output ESC 3", "index": 2}, {"description": "VOXL ESC Output ESC 4", "index": 3}], "category": "Standard", "default": 0, "group": "Actuator Outputs", "longDesc": "Allows to reverse the output range for each channel. Note: this is only useful for servos.", "max": 15, "min": 0, "name": "VOXL_ESC_REV", "shortDesc": "Reverse Output Range for VOXL ESC Output", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "Airspeed Validator", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.", "max": 5, "min": 1, "name": "ASPD_BETA_GATE", "shortDesc": "Gate size for sideslip angle fusion", "type": "Int32", "units": "SD"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.15, "group": "Airspeed Validator", "longDesc": "Sideslip measurement noise of the internal wind estimator(s) of the airspeed selector.", "max": 1.0, "min": 0.0, "name": "ASPD_BETA_NOISE", "shortDesc": "Wind estimator sideslip measurement noise", "type": "Float", "units": "rad"}, {"bitmask": [{"description": "Only data missing check (triggers if more than 1s no data)", "index": 0}, {"description": "Data stuck (triggers if data is exactly constant for 2s in FW mode)", "index": 1}, {"description": "Innovation check (see ASPD_FS_INNOV)", "index": 2}, {"description": "Load factor check (triggers if measurement is below stall speed)", "index": 3}], "category": "Standard", "default": 7, "group": "Airspeed Validator", "longDesc": "Controls which checks are run to check airspeed data for validity. Only applied if ASPD_PRIMARY > 0.", "max": 15, "min": 0, "name": "ASPD_DO_CHECKS", "shortDesc": "Enable checks on airspeed sensors", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Airspeed Validator", "longDesc": "If set to true and airspeed checks are enabled, it will use a sensor-less airspeed estimation based on groundspeed minus windspeed if no other airspeed sensor available to fall back to.", "name": "ASPD_FALLBACK_GW", "shortDesc": "Enable fallback to sensor-less airspeed estimation", "type": "Int32", "values": [{"description": "Disable fallback to sensor-less estimation", "value": 0}, {"description": "Enable fallback to sensor-less estimation", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "Airspeed Validator", "longDesc": "This specifies the minimum airspeed innovation required to trigger a failsafe. Larger values make the check less sensitive, smaller values make it more sensitive. Large innovations indicate an inconsistency between predicted (groundspeed - windspeeed) and measured airspeed. The time required to detect a fault when the threshold is exceeded depends on the size of the exceedance and is controlled by the ASPD_FS_INTEG parameter.", "max": 10.0, "min": 0.5, "name": "ASPD_FS_INNOV", "shortDesc": "Airspeed failure innovation threshold", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "Airspeed Validator", "longDesc": "This sets the time integral of airspeed innovation exceedance above ASPD_FS_INNOV required to trigger a failsafe. Larger values make the check less sensitive, smaller positive values make it more sensitive.", "max": 50.0, "min": 0.0, "name": "ASPD_FS_INTEG", "shortDesc": "Airspeed failure innovation integral threshold", "type": "Float", "units": "m"}, {"category": "Standard", "default": -1, "group": "Airspeed Validator", "longDesc": "Delay before switching back to using airspeed sensor if checks indicate sensor is good. Set to a negative value to disable the re-enabling in flight.", "max": 1000, "min": -1, "name": "ASPD_FS_T_START", "shortDesc": "Airspeed failsafe start delay", "type": "Int32", "units": "s"}, {"category": "Standard", "default": 2, "group": "Airspeed Validator", "longDesc": "Delay before stopping use of airspeed sensor if checks indicate sensor is bad.", "max": 10, "min": 1, "name": "ASPD_FS_T_STOP", "shortDesc": "Airspeed failsafe stop delay", "type": "Int32", "units": "s"}, {"category": "Standard", "default": 1, "group": "Airspeed Validator", "name": "ASPD_PRIMARY", "rebootRequired": true, "shortDesc": "Index or primary airspeed measurement source", "type": "Int32", "values": [{"description": "Groundspeed minus windspeed", "value": 0}, {"description": "First airspeed sensor", "value": 1}, {"description": "Second airspeed sensor", "value": 2}, {"description": "Third airspeed sensor", "value": 3}]}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Airspeed Validator", "longDesc": "This is the scale IAS --> CAS of the first airspeed sensor instance", "max": 2.0, "min": 0.5, "name": "ASPD_SCALE_1", "rebootRequired": true, "shortDesc": "Scale of airspeed sensor 1", "type": "Float", "volatile": true}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Airspeed Validator", "longDesc": "This is the scale IAS --> CAS of the second airspeed sensor instance", "max": 2.0, "min": 0.5, "name": "ASPD_SCALE_2", "rebootRequired": true, "shortDesc": "Scale of airspeed sensor 2", "type": "Float", "volatile": true}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Airspeed Validator", "longDesc": "This is the scale IAS --> CAS of the third airspeed sensor instance", "max": 2.0, "min": 0.5, "name": "ASPD_SCALE_3", "rebootRequired": true, "shortDesc": "Scale of airspeed sensor 3", "type": "Float", "volatile": true}, {"category": "Standard", "default": 2, "group": "Airspeed Validator", "name": "ASPD_SCALE_APPLY", "shortDesc": "Controls when to apply the new estimated airspeed scale(s)", "type": "Int32", "values": [{"description": "Do not automatically apply the estimated scale", "value": 0}, {"description": "Apply the estimated scale after disarm", "value": 1}, {"description": "Apply the estimated scale in air", "value": 2}]}, {"category": "Standard", "decimalPlaces": 5, "default": 0.0001, "group": "Airspeed Validator", "longDesc": "Airspeed scale process noise of the internal wind estimator(s) of the airspeed selector. When unaided, the scale uncertainty (1-sigma, unitless) increases by this amount every second.", "max": 0.1, "min": 0.0, "name": "ASPD_SCALE_NSD", "shortDesc": "Wind estimator true airspeed scale process noise spectral density", "type": "Float", "units": "1/s/sqrt(Hz)"}, {"category": "Standard", "default": 4, "group": "Airspeed Validator", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.", "max": 5, "min": 1, "name": "ASPD_TAS_GATE", "shortDesc": "Gate size for true airspeed fusion", "type": "Int32", "units": "SD"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.4, "group": "Airspeed Validator", "longDesc": "True airspeed measurement noise of the internal wind estimator(s) of the airspeed selector.", "max": 4.0, "min": 0.0, "name": "ASPD_TAS_NOISE", "shortDesc": "Wind estimator true airspeed measurement noise", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.55, "group": "Airspeed Validator", "longDesc": "The synthetic airspeed estimate (from groundspeed and heading) will be declared valid as soon and as long the horizontal wind uncertainty is below this value.", "max": 5.0, "min": 0.001, "name": "ASPD_WERR_THR", "shortDesc": "Horizontal wind uncertainty threshold for synthetic airspeed", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "Airspeed Validator", "longDesc": "Wind process noise of the internal wind estimator(s) of the airspeed selector. When unaided, the wind estimate uncertainty (1-sigma, in m/s) increases by this amount every second.", "max": 1.0, "min": 0.0, "name": "ASPD_WIND_NSD", "shortDesc": "Wind estimator wind process noise spectral density", "type": "Float", "units": "m/s^2/sqrt(Hz)"}, {"category": "Standard", "default": 0, "group": "Attitude Q estimator", "name": "ATT_ACC_COMP", "shortDesc": "Acceleration compensation based on GPS velocity", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "Attitude Q estimator", "max": 2.0, "min": 0.0, "name": "ATT_BIAS_MAX", "shortDesc": "Gyro bias limit", "type": "Float", "units": "rad/s"}, {"category": "Standard", "default": 0, "group": "Attitude Q estimator", "longDesc": "Enable standalone quaternion based attitude estimator.", "name": "ATT_EN", "shortDesc": "standalone attitude estimator enable (unsupported)", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Attitude Q estimator", "longDesc": "Set to 1 to use heading estimate from vision. Set to 2 to use heading from motion capture.", "max": 2, "min": 0, "name": "ATT_EXT_HDG_M", "shortDesc": "External heading usage mode (from Motion capture/Vision)", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Vision", "value": 1}, {"description": "Motion Capture", "value": 2}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Attitude Q estimator", "longDesc": "This parameter is not used in normal operation, as the declination is looked up based on the GPS coordinates of the vehicle.", "name": "ATT_MAG_DECL", "shortDesc": "Magnetic declination, in degrees", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 1, "group": "Attitude Q estimator", "name": "ATT_MAG_DECL_A", "shortDesc": "Automatic GPS based declination compensation", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "Attitude Q estimator", "max": 1.0, "min": 0.0, "name": "ATT_W_ACC", "shortDesc": "Complimentary filter accelerometer weight", "type": "Float"}, {"category": "Standard", "default": 0.1, "group": "Attitude Q estimator", "max": 1.0, "min": 0.0, "name": "ATT_W_EXT_HDG", "shortDesc": "Complimentary filter external heading weight", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "Attitude Q estimator", "max": 1.0, "min": 0.0, "name": "ATT_W_GYRO_BIAS", "shortDesc": "Complimentary filter gyroscope bias weight", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "Attitude Q estimator", "longDesc": "Set to 0 to avoid using the magnetometer.", "max": 1.0, "min": 0.0, "name": "ATT_W_MAG", "shortDesc": "Complimentary filter magnetometer weight", "type": "Float"}, {"category": "Standard", "default": 2, "group": "Autotune", "longDesc": "After the auto-tuning sequence is completed, a new set of gains is available and can be applied immediately or after landing.", "name": "FW_AT_APPLY", "shortDesc": "Controls when to apply the new gains", "type": "Int32", "values": [{"description": "Do not apply the new gains (logging only)", "value": 0}, {"description": "Apply the new gains after disarm", "value": 1}, {"description": "Apply the new gains in air", "value": 2}]}, {"bitmask": [{"description": "roll", "index": 0}, {"description": "pitch", "index": 1}, {"description": "yaw", "index": 2}], "category": "Standard", "default": 3, "group": "Autotune", "longDesc": "Defines which axes will be tuned during the auto-tuning sequence Set bits in the following positions to enable: 0 : Roll 1 : Pitch 2 : Yaw", "max": 7, "min": 1, "name": "FW_AT_AXES", "shortDesc": "Tuning axes selection", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Autotune", "longDesc": "Defines which RC_MAP_AUXn parameter maps the RC channel used to enable/disable auto tuning.", "max": 6, "min": 0, "name": "FW_AT_MAN_AUX", "shortDesc": "Enable/disable auto tuning using an RC AUX input", "type": "Int32", "values": [{"description": "Disable", "value": 0}, {"description": "Aux1", "value": 1}, {"description": "Aux2", "value": 2}, {"description": "Aux3", "value": 3}, {"description": "Aux4", "value": 4}, {"description": "Aux5", "value": 5}, {"description": "Aux6", "value": 6}]}, {"category": "Standard", "default": 0, "group": "Autotune", "longDesc": "WARNING: this will inject steps to the rate controller and can be dangerous. Only activate if you know what you are doing, and in a safe environment. Any motion of the remote stick will abort the signal injection and reset this parameter Best is to perform the identification in position or hold mode. Increase the amplitude of the injected signal using FW_AT_SYSID_AMP for more signal/noise ratio", "name": "FW_AT_START", "shortDesc": "Start the autotuning sequence", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "Autotune", "longDesc": "This parameter scales the signal sent to the rate controller during system identification.", "max": 6.0, "min": 0.1, "name": "FW_AT_SYSID_AMP", "shortDesc": "Amplitude of the injected signal", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "Autotune", "longDesc": "Can be set lower or higher than the end frequency", "max": 30.0, "min": 0.1, "name": "FW_AT_SYSID_F0", "shortDesc": "Start frequency of the injected signal", "type": "Float", "units": "Hz"}, {"category": "Standard", "decimalPlaces": 1, "default": 20.0, "group": "Autotune", "longDesc": "Can be set lower or higher than the start frequency", "max": 30.0, "min": 0.1, "name": "FW_AT_SYSID_F1", "shortDesc": "End frequency of the injected signal", "type": "Float", "units": "Hz"}, {"category": "Standard", "decimalPlaces": 0, "default": 10.0, "group": "Autotune", "longDesc": "Duration of the input signal sent on each axis during system identification", "max": 120.0, "min": 5.0, "name": "FW_AT_SYSID_TIME", "shortDesc": "Maneuver time for each axis", "type": "Float", "units": "s"}, {"category": "Standard", "default": 0, "group": "Autotune", "longDesc": "Type of signal used during system identification to excite the system.", "name": "FW_AT_SYSID_TYPE", "shortDesc": "Input signal type", "type": "Int32", "values": [{"description": "Step", "value": 0}, {"description": "Linear sine sweep", "value": 1}, {"description": "Logarithmic sine sweep", "value": 2}]}, {"category": "Standard", "default": 1, "group": "Autotune", "longDesc": "After the auto-tuning sequence is completed, a new set of gains is available and can be applied immediately or after landing. WARNING Applying the gains in air is dangerous as there is no guarantee that those new gains will be able to stabilize the drone properly.", "name": "MC_AT_APPLY", "shortDesc": "Controls when to apply the new gains", "type": "Int32", "values": [{"description": "Do not apply the new gains (logging only)", "value": 0}, {"description": "Apply the new gains after disarm", "value": 1}, {"description": "WARNING Apply the new gains in air", "value": 2}]}, {"category": "Standard", "default": 0, "group": "Autotune", "name": "MC_AT_EN", "shortDesc": "Multicopter autotune module enable", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.14, "group": "Autotune", "max": 0.5, "min": 0.01, "name": "MC_AT_RISE_TIME", "shortDesc": "Desired angular rate closed-loop rise time", "type": "Float", "units": "s"}, {"category": "Standard", "default": 0, "group": "Autotune", "longDesc": "WARNING: this will inject steps to the rate controller and can be dangerous. Only activate if you know what you are doing, and in a safe environment. Any motion of the remote stick will abort the signal injection and reset this parameter Best is to perform the identification in position or hold mode. Increase the amplitude of the injected signal using MC_AT_SYSID_AMP for more signal/noise ratio", "name": "MC_AT_START", "shortDesc": "Start the autotuning sequence", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 0.7, "group": "Autotune", "max": 6.0, "min": 0.1, "name": "MC_AT_SYSID_AMP", "shortDesc": "Amplitude of the injected signal", "type": "Float"}, {"category": "Standard", "decimalPlaces": 8, "default": -1.0, "group": "Battery Calibration", "longDesc": "The voltage seen by the ADC multiplied by this factor will determine the battery current. A value of -1 means to use the board default.", "name": "BAT1_A_PER_V", "rebootRequired": true, "shortDesc": "Battery 1 current per volt (A/V)", "type": "Float"}, {"category": "Standard", "decimalPlaces": 0, "default": -1.0, "group": "Battery Calibration", "increment": 50.0, "longDesc": "Defines the capacity of battery 1 in mAh.", "max": 100000.0, "min": -1.0, "name": "BAT1_CAPACITY", "rebootRequired": true, "shortDesc": "Battery 1 capacity", "type": "Float", "units": "mAh"}, {"category": "Standard", "default": -1, "group": "Battery Calibration", "longDesc": "This parameter specifies the ADC channel used to monitor current of main power battery. A value of -1 means to use the board default.", "name": "BAT1_I_CHANNEL", "rebootRequired": true, "shortDesc": "Battery 1 Current ADC Channel", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Battery Calibration", "longDesc": "Defines the number of cells the attached battery consists of.", "name": "BAT1_N_CELLS", "rebootRequired": true, "shortDesc": "Number of cells for battery 1", "type": "Int32", "values": [{"description": "Unknown", "value": 0}, {"description": "1S Battery", "value": 1}, {"description": "2S Battery", "value": 2}, {"description": "3S Battery", "value": 3}, {"description": "4S Battery", "value": 4}, {"description": "5S Battery", "value": 5}, {"description": "6S Battery", "value": 6}, {"description": "7S Battery", "value": 7}, {"description": "8S Battery", "value": 8}, {"description": "9S Battery", "value": 9}, {"description": "10S Battery", "value": 10}, {"description": "11S Battery", "value": 11}, {"description": "12S Battery", "value": 12}, {"description": "13S Battery", "value": 13}, {"description": "14S Battery", "value": 14}, {"description": "15S Battery", "value": 15}, {"description": "16S Battery", "value": 16}]}, {"category": "Standard", "decimalPlaces": 4, "default": 0.005, "group": "Battery Calibration", "increment": 0.0005, "longDesc": "If non-negative, then this will be used in place of BAT1_V_LOAD_DROP for all calculations.", "max": 0.2, "min": -1.0, "name": "BAT1_R_INTERNAL", "rebootRequired": true, "shortDesc": "Explicitly defines the per cell internal resistance for battery 1", "type": "Float", "units": "Ohm"}, {"category": "Standard", "default": 0, "group": "Battery Calibration", "longDesc": "This parameter controls the source of battery data. The value 'Power Module' means that measurements are expected to come from a power module. If the value is set to 'External' then the system expects to receive mavlink battery status messages. If the value is set to 'ESCs', the battery information are taken from the esc_status message. This requires the ESC to provide both voltage as well as current.", "name": "BAT1_SOURCE", "rebootRequired": true, "shortDesc": "Battery 1 monitoring source", "type": "Int32", "values": [{"description": "Disabled", "value": -1}, {"description": "Power Module", "value": 0}, {"description": "External", "value": 1}, {"description": "ESCs", "value": 2}]}, {"category": "Standard", "default": -1, "group": "Battery Calibration", "longDesc": "This parameter specifies the ADC channel used to monitor voltage of main power battery. A value of -1 means to use the board default.", "name": "BAT1_V_CHANNEL", "rebootRequired": true, "shortDesc": "Battery 1 Voltage ADC Channel", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 2, "default": 4.05, "group": "Battery Calibration", "increment": 0.01, "longDesc": "Defines the voltage where a single cell of the battery is considered full. For a more accurate estimate set this below the nominal voltage of e.g. 4.2V", "name": "BAT1_V_CHARGED", "rebootRequired": true, "shortDesc": "Full cell voltage", "type": "Float", "units": "V"}, {"category": "Standard", "decimalPlaces": 8, "default": -1.0, "group": "Battery Calibration", "longDesc": "This is the divider from battery 1 voltage to ADC voltage. If using e.g. Mauch power modules the value from the datasheet can be applied straight here. A value of -1 means to use the board default.", "name": "BAT1_V_DIV", "rebootRequired": true, "shortDesc": "Battery 1 voltage divider (V divider)", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 3.6, "group": "Battery Calibration", "increment": 0.01, "longDesc": "Defines the voltage where a single cell of the battery is considered empty. The voltage should be chosen above the steep dropoff at 3.5V. A typical lithium battery can only be discharged under high load down to 10% before it drops off to a voltage level damaging the cells.", "name": "BAT1_V_EMPTY", "rebootRequired": true, "shortDesc": "Empty cell voltage", "type": "Float", "units": "V"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "Battery Calibration", "increment": 0.01, "longDesc": "This implicitly defines the internal resistance to maximum current ratio for the battery and assumes linearity. A good value to use is the difference between the 5C and 20-25C load. Not used if BAT1_R_INTERNAL is set.", "max": 0.5, "min": 0.07, "name": "BAT1_V_LOAD_DROP", "rebootRequired": true, "shortDesc": "Voltage drop per cell on full throttle", "type": "Float", "units": "V"}, {"category": "Standard", "decimalPlaces": 8, "default": -1.0, "group": "Battery Calibration", "longDesc": "The voltage seen by the ADC multiplied by this factor will determine the battery current. A value of -1 means to use the board default.", "name": "BAT2_A_PER_V", "rebootRequired": true, "shortDesc": "Battery 2 current per volt (A/V)", "type": "Float"}, {"category": "Standard", "decimalPlaces": 0, "default": -1.0, "group": "Battery Calibration", "increment": 50.0, "longDesc": "Defines the capacity of battery 2 in mAh.", "max": 100000.0, "min": -1.0, "name": "BAT2_CAPACITY", "rebootRequired": true, "shortDesc": "Battery 2 capacity", "type": "Float", "units": "mAh"}, {"category": "Standard", "default": -1, "group": "Battery Calibration", "longDesc": "This parameter specifies the ADC channel used to monitor current of main power battery. A value of -1 means to use the board default.", "name": "BAT2_I_CHANNEL", "rebootRequired": true, "shortDesc": "Battery 2 Current ADC Channel", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Battery Calibration", "longDesc": "Defines the number of cells the attached battery consists of.", "name": "BAT2_N_CELLS", "rebootRequired": true, "shortDesc": "Number of cells for battery 2", "type": "Int32", "values": [{"description": "Unknown", "value": 0}, {"description": "1S Battery", "value": 1}, {"description": "2S Battery", "value": 2}, {"description": "3S Battery", "value": 3}, {"description": "4S Battery", "value": 4}, {"description": "5S Battery", "value": 5}, {"description": "6S Battery", "value": 6}, {"description": "7S Battery", "value": 7}, {"description": "8S Battery", "value": 8}, {"description": "9S Battery", "value": 9}, {"description": "10S Battery", "value": 10}, {"description": "11S Battery", "value": 11}, {"description": "12S Battery", "value": 12}, {"description": "13S Battery", "value": 13}, {"description": "14S Battery", "value": 14}, {"description": "15S Battery", "value": 15}, {"description": "16S Battery", "value": 16}]}, {"category": "Standard", "decimalPlaces": 4, "default": 0.005, "group": "Battery Calibration", "increment": 0.0005, "longDesc": "If non-negative, then this will be used in place of BAT2_V_LOAD_DROP for all calculations.", "max": 0.2, "min": -1.0, "name": "BAT2_R_INTERNAL", "rebootRequired": true, "shortDesc": "Explicitly defines the per cell internal resistance for battery 2", "type": "Float", "units": "Ohm"}, {"category": "Standard", "default": -1, "group": "Battery Calibration", "longDesc": "This parameter controls the source of battery data. The value 'Power Module' means that measurements are expected to come from a power module. If the value is set to 'External' then the system expects to receive mavlink battery status messages. If the value is set to 'ESCs', the battery information are taken from the esc_status message. This requires the ESC to provide both voltage as well as current.", "name": "BAT2_SOURCE", "rebootRequired": true, "shortDesc": "Battery 2 monitoring source", "type": "Int32", "values": [{"description": "Disabled", "value": -1}, {"description": "Power Module", "value": 0}, {"description": "External", "value": 1}, {"description": "ESCs", "value": 2}]}, {"category": "Standard", "default": -1, "group": "Battery Calibration", "longDesc": "This parameter specifies the ADC channel used to monitor voltage of main power battery. A value of -1 means to use the board default.", "name": "BAT2_V_CHANNEL", "rebootRequired": true, "shortDesc": "Battery 2 Voltage ADC Channel", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 2, "default": 4.05, "group": "Battery Calibration", "increment": 0.01, "longDesc": "Defines the voltage where a single cell of the battery is considered full. For a more accurate estimate set this below the nominal voltage of e.g. 4.2V", "name": "BAT2_V_CHARGED", "rebootRequired": true, "shortDesc": "Full cell voltage", "type": "Float", "units": "V"}, {"category": "Standard", "decimalPlaces": 8, "default": -1.0, "group": "Battery Calibration", "longDesc": "This is the divider from battery 2 voltage to ADC voltage. If using e.g. Mauch power modules the value from the datasheet can be applied straight here. A value of -1 means to use the board default.", "name": "BAT2_V_DIV", "rebootRequired": true, "shortDesc": "Battery 2 voltage divider (V divider)", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 3.6, "group": "Battery Calibration", "increment": 0.01, "longDesc": "Defines the voltage where a single cell of the battery is considered empty. The voltage should be chosen above the steep dropoff at 3.5V. A typical lithium battery can only be discharged under high load down to 10% before it drops off to a voltage level damaging the cells.", "name": "BAT2_V_EMPTY", "rebootRequired": true, "shortDesc": "Empty cell voltage", "type": "Float", "units": "V"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "Battery Calibration", "increment": 0.01, "longDesc": "This implicitly defines the internal resistance to maximum current ratio for the battery and assumes linearity. A good value to use is the difference between the 5C and 20-25C load. Not used if BAT2_R_INTERNAL is set.", "max": 0.5, "min": 0.07, "name": "BAT2_V_LOAD_DROP", "rebootRequired": true, "shortDesc": "Voltage drop per cell on full throttle", "type": "Float", "units": "V"}, {"category": "Standard", "decimalPlaces": 0, "default": -1.0, "group": "Battery Calibration", "increment": 50.0, "longDesc": "Defines the capacity of battery 3 in mAh.", "max": 100000.0, "min": -1.0, "name": "BAT3_CAPACITY", "rebootRequired": true, "shortDesc": "Battery 3 capacity", "type": "Float", "units": "mAh"}, {"category": "Standard", "default": 0, "group": "Battery Calibration", "longDesc": "Defines the number of cells the attached battery consists of.", "name": "BAT3_N_CELLS", "rebootRequired": true, "shortDesc": "Number of cells for battery 3", "type": "Int32", "values": [{"description": "Unknown", "value": 0}, {"description": "1S Battery", "value": 1}, {"description": "2S Battery", "value": 2}, {"description": "3S Battery", "value": 3}, {"description": "4S Battery", "value": 4}, {"description": "5S Battery", "value": 5}, {"description": "6S Battery", "value": 6}, {"description": "7S Battery", "value": 7}, {"description": "8S Battery", "value": 8}, {"description": "9S Battery", "value": 9}, {"description": "10S Battery", "value": 10}, {"description": "11S Battery", "value": 11}, {"description": "12S Battery", "value": 12}, {"description": "13S Battery", "value": 13}, {"description": "14S Battery", "value": 14}, {"description": "15S Battery", "value": 15}, {"description": "16S Battery", "value": 16}]}, {"category": "Standard", "decimalPlaces": 4, "default": 0.005, "group": "Battery Calibration", "increment": 0.0005, "longDesc": "If non-negative, then this will be used in place of BAT3_V_LOAD_DROP for all calculations.", "max": 0.2, "min": -1.0, "name": "BAT3_R_INTERNAL", "rebootRequired": true, "shortDesc": "Explicitly defines the per cell internal resistance for battery 3", "type": "Float", "units": "Ohm"}, {"category": "Standard", "default": -1, "group": "Battery Calibration", "longDesc": "This parameter controls the source of battery data. The value 'Power Module' means that measurements are expected to come from a power module. If the value is set to 'External' then the system expects to receive mavlink battery status messages. If the value is set to 'ESCs', the battery information are taken from the esc_status message. This requires the ESC to provide both voltage as well as current.", "name": "BAT3_SOURCE", "rebootRequired": true, "shortDesc": "Battery 3 monitoring source", "type": "Int32", "values": [{"description": "Disabled", "value": -1}, {"description": "Power Module", "value": 0}, {"description": "External", "value": 1}, {"description": "ESCs", "value": 2}]}, {"category": "Standard", "decimalPlaces": 2, "default": 4.05, "group": "Battery Calibration", "increment": 0.01, "longDesc": "Defines the voltage where a single cell of the battery is considered full. For a more accurate estimate set this below the nominal voltage of e.g. 4.2V", "name": "BAT3_V_CHARGED", "rebootRequired": true, "shortDesc": "Full cell voltage", "type": "Float", "units": "V"}, {"category": "Standard", "decimalPlaces": 2, "default": 3.6, "group": "Battery Calibration", "increment": 0.01, "longDesc": "Defines the voltage where a single cell of the battery is considered empty. The voltage should be chosen above the steep dropoff at 3.5V. A typical lithium battery can only be discharged under high load down to 10% before it drops off to a voltage level damaging the cells.", "name": "BAT3_V_EMPTY", "rebootRequired": true, "shortDesc": "Empty cell voltage", "type": "Float", "units": "V"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "Battery Calibration", "increment": 0.01, "longDesc": "This implicitly defines the internal resistance to maximum current ratio for the battery and assumes linearity. A good value to use is the difference between the 5C and 20-25C load. Not used if BAT3_R_INTERNAL is set.", "max": 0.5, "min": 0.07, "name": "BAT3_V_LOAD_DROP", "rebootRequired": true, "shortDesc": "Voltage drop per cell on full throttle", "type": "Float", "units": "V"}, {"category": "Standard", "default": -1, "group": "Battery Calibration", "name": "BAT_ADC_CHANNEL", "shortDesc": "This parameter is deprecated. Please use BAT1_I_CHANNEL", "type": "Int32"}, {"category": "Standard", "default": 15.0, "group": "Battery Calibration", "increment": 0.1, "longDesc": "This value is used to initialize the in-flight average current estimation, which in turn is used for estimating remaining flight time and RTL triggering.", "max": 500.0, "min": 0.0, "name": "BAT_AVRG_CURRENT", "shortDesc": "Expected battery current in flight", "type": "Float", "units": "A"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.07, "group": "Battery Calibration", "increment": 0.01, "longDesc": "Sets the threshold when the battery will be reported as critically low. This has to be lower than the low threshold. This threshold commonly will trigger RTL.", "max": 0.25, "min": 0.05, "name": "BAT_CRIT_THR", "shortDesc": "Critical threshold", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.05, "group": "Battery Calibration", "increment": 0.01, "longDesc": "Sets the threshold when the battery will be reported as dangerously low. This has to be lower than the critical threshold. This threshold commonly will trigger landing.", "max": 0.1, "min": 0.03, "name": "BAT_EMERGEN_THR", "shortDesc": "Emergency threshold", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.15, "group": "Battery Calibration", "increment": 0.01, "longDesc": "Sets the threshold when the battery will be reported as low. This has to be higher than the critical threshold.", "max": 0.5, "min": 0.12, "name": "BAT_LOW_THR", "shortDesc": "Low threshold", "type": "Float", "units": "norm"}, {"category": "System", "default": 3, "group": "Battery Calibration", "name": "BAT_N_CELLS", "shortDesc": "This parameter is deprecated. Please use BAT1_N_CELLS instead", "type": "Int32"}, {"category": "System", "default": 4.05, "group": "Battery Calibration", "name": "BAT_V_CHARGED", "shortDesc": "This parameter is deprecated. Please use BAT1_V_CHARGED instead", "type": "Float"}, {"category": "System", "default": 3.6, "group": "Battery Calibration", "name": "BAT_V_EMPTY", "shortDesc": "This parameter is deprecated. Please use BAT1_V_EMPTY instead", "type": "Float"}, {"category": "System", "default": 0.3, "group": "Battery Calibration", "name": "BAT_V_LOAD_DROP", "shortDesc": "This parameter is deprecated. Please use BAT1_V_LOAD_DROP instead", "type": "Float"}, {"category": "Standard", "decimalPlaces": 8, "default": 0.0, "group": "Battery Calibration", "longDesc": "This offset will be subtracted before calculating the battery current based on the voltage.", "name": "BAT_V_OFFS_CURR", "shortDesc": "Offset in volt as seen by the ADC input of the current sensor", "type": "Float"}, {"category": "Standard", "default": 2, "group": "CDCACM", "name": "SYS_USB_AUTO", "rebootRequired": true, "shortDesc": "Enable USB autostart", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Auto-detect", "value": 1}, {"description": "MAVLink", "value": 2}]}, {"category": "Standard", "default": 2, "group": "CDCACM", "name": "USB_MAV_MODE", "rebootRequired": true, "shortDesc": "Specify USB MAVLink mode", "type": "Int32", "values": [{"description": "normal", "value": 0}, {"description": "custom", "value": 1}, {"description": "onboard", "value": 2}, {"description": "osd", "value": 3}, {"description": "magic", "value": 4}, {"description": "config", "value": 5}, {"description": "iridium", "value": 6}, {"description": "minimal", "value": 7}, {"description": "extvision", "value": 8}, {"description": "extvisionmin", "value": 9}, {"description": "gimbal", "value": 10}, {"description": "onboard_low_bandwidth", "value": 11}, {"description": "uavionix", "value": 12}]}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "Camera Capture", "longDesc": "This parameter sets the delay between image integration start and strobe firing", "max": 100.0, "min": 0.0, "name": "CAM_CAP_DELAY", "shortDesc": "Camera strobe delay", "type": "Float", "units": "ms"}, {"category": "Standard", "default": 0, "group": "Camera Control", "name": "CAM_CAP_EDGE", "rebootRequired": true, "shortDesc": "Camera capture edge", "type": "Int32", "values": [{"description": "Falling edge", "value": 0}, {"description": "Rising edge", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Camera Control", "longDesc": "Enables camera capture feedback", "name": "CAM_CAP_FBACK", "rebootRequired": true, "shortDesc": "Camera capture feedback", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Camera Control", "longDesc": "Change time measurement", "name": "CAM_CAP_MODE", "rebootRequired": true, "shortDesc": "Camera capture timestamping mode", "type": "Int32", "values": [{"description": "Get absolute timestamp", "value": 0}, {"description": "Get timestamp of mid exposure (active high)", "value": 1}, {"description": "Get timestamp of mid exposure (active low)", "value": 2}]}, {"category": "Standard", "decimalPlaces": 1, "default": 40.0, "group": "Camera trigger", "longDesc": "This parameter sets the time the trigger needs to pulled high or low.", "max": 3000.0, "min": 0.1, "name": "TRIG_ACT_TIME", "rebootRequired": true, "shortDesc": "Camera trigger activation time", "type": "Float", "units": "ms"}, {"category": "Standard", "decimalPlaces": 1, "default": 25.0, "group": "Camera trigger", "increment": 1.0, "longDesc": "Sets the distance at which to trigger the camera.", "min": 0.0, "name": "TRIG_DISTANCE", "rebootRequired": true, "shortDesc": "Camera trigger distance", "type": "Float", "units": "m"}, {"category": "Standard", "default": 4, "group": "Camera trigger", "longDesc": "Selects the trigger interface", "name": "TRIG_INTERFACE", "rebootRequired": true, "shortDesc": "Camera trigger Interface", "type": "Int32", "values": [{"description": "GPIO", "value": 1}, {"description": "Seagull MAP2 (over PWM)", "value": 2}, {"description": "MAVLink (forward via MAV_CMD_IMAGE_START_CAPTURE)", "value": 3}, {"description": "Generic PWM (IR trigger, servo)", "value": 4}]}, {"category": "Standard", "decimalPlaces": 1, "default": 40.0, "group": "Camera trigger", "longDesc": "This parameter sets the time between two consecutive trigger events", "max": 10000.0, "min": 4.0, "name": "TRIG_INTERVAL", "rebootRequired": true, "shortDesc": "Camera trigger interval", "type": "Float", "units": "ms"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "Camera trigger", "longDesc": "This parameter sets the minimum time between two consecutive trigger events the specific camera setup is supporting.", "max": 10000.0, "min": 1.0, "name": "TRIG_MIN_INTERVA", "rebootRequired": true, "shortDesc": "Minimum camera trigger interval", "type": "Float", "units": "ms"}, {"category": "Standard", "default": 0, "group": "Camera trigger", "max": 4, "min": 0, "name": "TRIG_MODE", "rebootRequired": true, "shortDesc": "Camera trigger mode", "type": "Int32", "values": [{"description": "Disable", "value": 0}, {"description": "Time based, on command", "value": 1}, {"description": "Time based, always on", "value": 2}, {"description": "Distance based, always on", "value": 3}, {"description": "Distance based, on command (Survey mode)", "value": 4}]}, {"category": "Standard", "default": 0, "group": "Camera trigger", "longDesc": "This parameter sets the polarity of the trigger (0 = active low, 1 = active high )", "max": 1, "min": 0, "name": "TRIG_POLARITY", "rebootRequired": true, "shortDesc": "Camera trigger polarity", "type": "Int32", "values": [{"description": "Active low", "value": 0}, {"description": "Active high", "value": 1}]}, {"category": "Standard", "default": 1500, "group": "Camera trigger", "max": 2000, "min": 1000, "name": "TRIG_PWM_NEUTRAL", "rebootRequired": true, "shortDesc": "PWM neutral output on trigger pin", "type": "Int32", "units": "us"}, {"category": "Standard", "default": 1900, "group": "Camera trigger", "max": 2000, "min": 1000, "name": "TRIG_PWM_SHOOT", "rebootRequired": true, "shortDesc": "PWM output to trigger shot", "type": "Int32", "units": "us"}, {"category": "Developer", "default": 0, "group": "Circuit Breaker", "longDesc": "Setting this parameter to 782097 will disable the buzzer audio notification. Setting this parameter to 782090 will disable the startup tune, while keeping all others enabled.", "max": 782097, "min": 0, "name": "CBRK_BUZZER", "rebootRequired": true, "shortDesc": "Circuit breaker for disabling buzzer", "type": "Int32"}, {"category": "Developer", "default": 121212, "group": "Circuit Breaker", "longDesc": "Setting this parameter to 121212 will disable the flight termination action if triggered by the FailureDetector logic or if FMU is lost. This circuit breaker does not affect the RC loss, data link loss, geofence, and takeoff failure detection safety logic.", "max": 121212, "min": 0, "name": "CBRK_FLIGHTTERM", "rebootRequired": true, "shortDesc": "Circuit breaker for flight termination", "type": "Int32"}, {"category": "Developer", "default": 22027, "group": "Circuit Breaker", "longDesc": "Setting this parameter to 22027 will disable IO safety. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK", "max": 22027, "min": 0, "name": "CBRK_IO_SAFETY", "shortDesc": "Circuit breaker for IO safety", "type": "Int32"}, {"category": "Developer", "default": 0, "group": "Circuit Breaker", "longDesc": "Setting this parameter to 894281 will disable the power valid checks in the commander. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK", "max": 894281, "min": 0, "name": "CBRK_SUPPLY_CHK", "shortDesc": "Circuit breaker for power supply check", "type": "Int32"}, {"category": "Developer", "default": 197848, "group": "Circuit Breaker", "longDesc": "Setting this parameter to 197848 will disable the USB connected checks in the commander, setting it to 0 keeps them enabled (recommended). We are generally recommending to not fly with the USB link connected and production vehicles should set this parameter to zero to prevent users from flying USB powered. However, for R&D purposes it has proven over the years to work just fine.", "max": 197848, "min": 0, "name": "CBRK_USB_CHK", "shortDesc": "Circuit breaker for USB link check", "type": "Int32"}, {"category": "Developer", "default": 0, "group": "Circuit Breaker", "longDesc": "Setting this parameter to 159753 will enable arming in fixed-wing mode for VTOLs. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK", "max": 159753, "min": 0, "name": "CBRK_VTOLARMING", "shortDesc": "Circuit breaker for arming in fixed-wing mode check", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "Note: actuator failure needs to be enabled and configured via FD_ACT_* parameters.", "max": 3, "min": 0, "name": "COM_ACT_FAIL_ACT", "shortDesc": "Set the actuator failure failsafe mode", "type": "Int32", "values": [{"description": "Warning only", "value": 0}, {"description": "Hold mode", "value": 1}, {"description": "Land mode", "value": 2}, {"description": "Return mode", "value": 3}, {"description": "Terminate", "value": 4}]}, {"category": "Standard", "default": 1, "group": "Commander", "longDesc": "Set 0 to prevent accidental use of the vehicle e.g. for safety or maintenance reasons.", "name": "COM_ARMABLE", "shortDesc": "Flag to allow arming", "type": "Int32", "values": [{"description": "Disallow arming", "value": 0}, {"description": "Allow arming", "value": 1}]}, {"category": "Standard", "default": 10, "group": "Commander", "longDesc": "Used if arm authorization is requested by COM_ARM_AUTH_REQ.", "name": "COM_ARM_AUTH_ID", "shortDesc": "Arm authorizer system id", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "Methods: - one arm: request authorization and arm when authorization is received - two step arm: 1st arm command request an authorization and 2nd arm command arm the drone if authorized Used if arm authorization is requested by COM_ARM_AUTH_REQ.", "name": "COM_ARM_AUTH_MET", "shortDesc": "Arm authorization method", "type": "Int32", "values": [{"description": "one arm", "value": 0}, {"description": "two step arm", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "By default off. The default allows to arm the vehicle without a arm authorization.", "name": "COM_ARM_AUTH_REQ", "shortDesc": "Require arm authorization to arm", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "Commander", "increment": 0.1, "longDesc": "Timeout for authorizer answer. Used if arm authorization is requested by COM_ARM_AUTH_REQ.", "name": "COM_ARM_AUTH_TO", "shortDesc": "Arm authorization timeout", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Commander", "increment": 0.01, "longDesc": "Additional battery level check that only allows arming if the state of charge of the emptiest connected battery is above this value. A value of 0 disables the check.", "max": 0.9, "min": 0.0, "name": "COM_ARM_BAT_MIN", "shortDesc": "Minimum battery level for arming", "type": "Float", "units": "norm"}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "If this parameter is set, the system will check ESC's online status and failures. This param is specific for ESCs reporting status. It shall be used only if ESCs support telemetry.", "name": "COM_ARM_CHK_ESCS", "shortDesc": "Enable checks on ESCs that report telemetry", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Commander", "increment": 0.05, "max": 1.0, "min": 0.1, "name": "COM_ARM_EKF_HGT", "shortDesc": "Maximum EKF height innovation test ratio that will allow arming", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.5, "group": "Commander", "increment": 0.05, "max": 1.0, "min": 0.1, "name": "COM_ARM_EKF_POS", "shortDesc": "Maximum EKF position innovation test ratio that will allow arming", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.5, "group": "Commander", "increment": 0.05, "max": 1.0, "min": 0.1, "name": "COM_ARM_EKF_VEL", "shortDesc": "Maximum EKF velocity innovation test ratio that will allow arming", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.5, "group": "Commander", "increment": 0.05, "max": 1.0, "min": 0.1, "name": "COM_ARM_EKF_YAW", "shortDesc": "Maximum EKF yaw innovation test ratio that will allow arming", "type": "Float"}, {"category": "Standard", "default": 1, "group": "Commander", "longDesc": "This check detects if there are hardfault files present on the SD card. If so, and the parameter is enabled, arming is prevented.", "name": "COM_ARM_HFLT_CHK", "shortDesc": "Enable FMU SD card hardfault detection check", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.7, "group": "Commander", "increment": 0.05, "max": 1.0, "min": 0.1, "name": "COM_ARM_IMU_ACC", "shortDesc": "Maximum accelerometer inconsistency between IMU units that will allow arming", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.25, "group": "Commander", "increment": 0.01, "max": 0.3, "min": 0.02, "name": "COM_ARM_IMU_GYR", "shortDesc": "Maximum rate gyro inconsistency between IMU units that will allow arming", "type": "Float", "units": "rad/s"}, {"category": "Standard", "default": 60, "group": "Commander", "longDesc": "Set -1 to disable the check.", "max": 180, "min": 3, "name": "COM_ARM_MAG_ANG", "shortDesc": "Maximum magnetic field inconsistency between units that will allow arming", "type": "Int32", "units": "deg"}, {"category": "Standard", "default": 2, "group": "Commander", "longDesc": "Check if the estimator detects a strong magnetic disturbance (check enabled by EKF2_MAG_CHECK)", "name": "COM_ARM_MAG_STR", "shortDesc": "Enable mag strength preflight check", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Deny arming", "value": 1}, {"description": "Warning only", "value": 2}]}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "The default allows to arm the vehicle without a valid mission.", "name": "COM_ARM_MIS_REQ", "shortDesc": "Require valid mission to arm", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "This check detects if the Open Drone ID system is missing. Depending on the value of the parameter, the check can be disabled, warn only or deny arming.", "name": "COM_ARM_ODID", "shortDesc": "Enable Drone ID system detection and health check", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Warning only", "value": 1}, {"description": "Enforce Open Drone ID system presence", "value": 2}]}, {"category": "Standard", "default": 1, "group": "Commander", "longDesc": "This check detects if the FMU SD card is missing. Depending on the value of the parameter, the check can be disabled, warn only or deny arming.", "name": "COM_ARM_SDCARD", "shortDesc": "Enable FMU SD card detection check", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Warning only", "value": 1}, {"description": "Enforce SD card presence", "value": 2}]}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "0: Arming/disarming triggers on switch transition. 1: Arming/disarming triggers when holding the momentary button down for COM_RC_ARM_HYST like the stick gesture.", "name": "COM_ARM_SWISBTN", "shortDesc": "Arm switch is a momentary button", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1, "group": "Commander", "name": "COM_ARM_WO_GPS", "shortDesc": "Allow arming without GPS", "type": "Int32", "values": [{"description": "Require GPS lock to arm", "value": 0}, {"description": "Allow arming without GPS", "value": 1}]}, {"category": "Standard", "default": 95.0, "group": "Commander", "increment": 1.0, "longDesc": "The check fails if the CPU load is above this threshold for 2s. A negative value disables the check.", "max": 100.0, "min": -1.0, "name": "COM_CPU_MAX", "shortDesc": "Maximum allowed CPU load to still arm", "type": "Float", "units": "%"}, {"category": "Standard", "decimalPlaces": 1, "default": 2.0, "group": "Commander", "increment": 0.1, "longDesc": "A non-zero, positive value specifies the time-out period in seconds after which the vehicle will be automatically disarmed in case a landing situation has been detected during this period. A zero or negative value means that automatic disarming triggered by landing detection is disabled.", "name": "COM_DISARM_LAND", "shortDesc": "Time-out for auto disarm after landing", "type": "Float", "units": "s"}, {"category": "Standard", "default": 1, "group": "Commander", "longDesc": "0: Disallow disarming when not landed 1: Allow disarming in multicopter flight in modes where the thrust is directly controlled by thr throttle stick e.g. Stabilized, Acro", "name": "COM_DISARM_MAN", "shortDesc": "Allow disarming via switch/stick/button on multicopters in manual thrust modes", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "Commander", "increment": 0.1, "longDesc": "A non-zero, positive value specifies the time in seconds, within which the vehicle is expected to take off after arming. In case the vehicle didn't takeoff within the timeout it disarms again. A negative value disables autmoatic disarming triggered by a pre-takeoff timeout.", "name": "COM_DISARM_PRFLT", "shortDesc": "Time-out for auto disarm if not taking off", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": 10, "group": "Commander", "increment": 1, "longDesc": "After this amount of seconds without datalink, the GCS connection lost mode triggers", "max": 300, "min": 5, "name": "COM_DL_LOSS_T", "shortDesc": "GCS connection loss time threshold", "type": "Int32", "units": "s"}, {"category": "Standard", "decimalPlaces": 3, "default": 5.0, "group": "Commander", "longDesc": "Before entering failsafe (RTL, Land, Hold), wait COM_FAIL_ACT_T seconds in Hold mode for the user to realize. During that time the user cannot take over control via the stick override feature (see COM_RC_OVERRIDE). Afterwards the configured failsafe action is triggered and the user may use stick override. A zero value disables the delay and the user cannot take over via stick movements (switching modes is still allowed).", "max": 25.0, "min": 0.0, "name": "COM_FAIL_ACT_T", "shortDesc": "Delay between failsafe condition triggered and failsafe reaction", "type": "Float", "units": "s"}, {"category": "System", "default": 0, "group": "Commander", "longDesc": "This number is incremented automatically after every flight on disarming in order to remember the next flight UUID. The first flight is 0.", "min": 0, "name": "COM_FLIGHT_UUID", "shortDesc": "Next flight UUID", "type": "Int32", "volatile": true}, {"category": "Standard", "default": -1, "group": "Commander", "longDesc": "If the main switch channel is in this range the selected flight mode will be applied.", "name": "COM_FLTMODE1", "shortDesc": "Mode slot 1", "type": "Int32", "values": [{"description": "Unassigned", "value": -1}, {"description": "Manual", "value": 0}, {"description": "Altitude", "value": 1}, {"description": "Position", "value": 2}, {"description": "Mission", "value": 3}, {"description": "Hold", "value": 4}, {"description": "Return", "value": 5}, {"description": "Acro", "value": 6}, {"description": "Offboard", "value": 7}, {"description": "Stabilized", "value": 8}, {"description": "Position Slow", "value": 9}, {"description": "Takeoff", "value": 10}, {"description": "Land", "value": 11}, {"description": "Follow Me", "value": 12}, {"description": "Precision Land", "value": 13}, {"description": "External Mode 1", "value": 100}, {"description": "External Mode 2", "value": 101}, {"description": "External Mode 3", "value": 102}, {"description": "External Mode 4", "value": 103}, {"description": "External Mode 5", "value": 104}, {"description": "External Mode 6", "value": 105}, {"description": "External Mode 7", "value": 106}, {"description": "External Mode 8", "value": 107}]}, {"category": "Standard", "default": -1, "group": "Commander", "longDesc": "If the main switch channel is in this range the selected flight mode will be applied.", "name": "COM_FLTMODE2", "shortDesc": "Mode slot 2", "type": "Int32", "values": [{"description": "Unassigned", "value": -1}, {"description": "Manual", "value": 0}, {"description": "Altitude", "value": 1}, {"description": "Position", "value": 2}, {"description": "Mission", "value": 3}, {"description": "Hold", "value": 4}, {"description": "Return", "value": 5}, {"description": "Acro", "value": 6}, {"description": "Offboard", "value": 7}, {"description": "Stabilized", "value": 8}, {"description": "Position Slow", "value": 9}, {"description": "Takeoff", "value": 10}, {"description": "Land", "value": 11}, {"description": "Follow Me", "value": 12}, {"description": "Precision Land", "value": 13}, {"description": "External Mode 1", "value": 100}, {"description": "External Mode 2", "value": 101}, {"description": "External Mode 3", "value": 102}, {"description": "External Mode 4", "value": 103}, {"description": "External Mode 5", "value": 104}, {"description": "External Mode 6", "value": 105}, {"description": "External Mode 7", "value": 106}, {"description": "External Mode 8", "value": 107}]}, {"category": "Standard", "default": -1, "group": "Commander", "longDesc": "If the main switch channel is in this range the selected flight mode will be applied.", "name": "COM_FLTMODE3", "shortDesc": "Mode slot 3", "type": "Int32", "values": [{"description": "Unassigned", "value": -1}, {"description": "Manual", "value": 0}, {"description": "Altitude", "value": 1}, {"description": "Position", "value": 2}, {"description": "Mission", "value": 3}, {"description": "Hold", "value": 4}, {"description": "Return", "value": 5}, {"description": "Acro", "value": 6}, {"description": "Offboard", "value": 7}, {"description": "Stabilized", "value": 8}, {"description": "Position Slow", "value": 9}, {"description": "Takeoff", "value": 10}, {"description": "Land", "value": 11}, {"description": "Follow Me", "value": 12}, {"description": "Precision Land", "value": 13}, {"description": "External Mode 1", "value": 100}, {"description": "External Mode 2", "value": 101}, {"description": "External Mode 3", "value": 102}, {"description": "External Mode 4", "value": 103}, {"description": "External Mode 5", "value": 104}, {"description": "External Mode 6", "value": 105}, {"description": "External Mode 7", "value": 106}, {"description": "External Mode 8", "value": 107}]}, {"category": "Standard", "default": -1, "group": "Commander", "longDesc": "If the main switch channel is in this range the selected flight mode will be applied.", "name": "COM_FLTMODE4", "shortDesc": "Mode slot 4", "type": "Int32", "values": [{"description": "Unassigned", "value": -1}, {"description": "Manual", "value": 0}, {"description": "Altitude", "value": 1}, {"description": "Position", "value": 2}, {"description": "Mission", "value": 3}, {"description": "Hold", "value": 4}, {"description": "Return", "value": 5}, {"description": "Acro", "value": 6}, {"description": "Offboard", "value": 7}, {"description": "Stabilized", "value": 8}, {"description": "Position Slow", "value": 9}, {"description": "Takeoff", "value": 10}, {"description": "Land", "value": 11}, {"description": "Follow Me", "value": 12}, {"description": "Precision Land", "value": 13}, {"description": "External Mode 1", "value": 100}, {"description": "External Mode 2", "value": 101}, {"description": "External Mode 3", "value": 102}, {"description": "External Mode 4", "value": 103}, {"description": "External Mode 5", "value": 104}, {"description": "External Mode 6", "value": 105}, {"description": "External Mode 7", "value": 106}, {"description": "External Mode 8", "value": 107}]}, {"category": "Standard", "default": -1, "group": "Commander", "longDesc": "If the main switch channel is in this range the selected flight mode will be applied.", "name": "COM_FLTMODE5", "shortDesc": "Mode slot 5", "type": "Int32", "values": [{"description": "Unassigned", "value": -1}, {"description": "Manual", "value": 0}, {"description": "Altitude", "value": 1}, {"description": "Position", "value": 2}, {"description": "Mission", "value": 3}, {"description": "Hold", "value": 4}, {"description": "Return", "value": 5}, {"description": "Acro", "value": 6}, {"description": "Offboard", "value": 7}, {"description": "Stabilized", "value": 8}, {"description": "Position Slow", "value": 9}, {"description": "Takeoff", "value": 10}, {"description": "Land", "value": 11}, {"description": "Follow Me", "value": 12}, {"description": "Precision Land", "value": 13}, {"description": "External Mode 1", "value": 100}, {"description": "External Mode 2", "value": 101}, {"description": "External Mode 3", "value": 102}, {"description": "External Mode 4", "value": 103}, {"description": "External Mode 5", "value": 104}, {"description": "External Mode 6", "value": 105}, {"description": "External Mode 7", "value": 106}, {"description": "External Mode 8", "value": 107}]}, {"category": "Standard", "default": -1, "group": "Commander", "longDesc": "If the main switch channel is in this range the selected flight mode will be applied.", "name": "COM_FLTMODE6", "shortDesc": "Mode slot 6", "type": "Int32", "values": [{"description": "Unassigned", "value": -1}, {"description": "Manual", "value": 0}, {"description": "Altitude", "value": 1}, {"description": "Position", "value": 2}, {"description": "Mission", "value": 3}, {"description": "Hold", "value": 4}, {"description": "Return", "value": 5}, {"description": "Acro", "value": 6}, {"description": "Offboard", "value": 7}, {"description": "Stabilized", "value": 8}, {"description": "Position Slow", "value": 9}, {"description": "Takeoff", "value": 10}, {"description": "Land", "value": 11}, {"description": "Follow Me", "value": 12}, {"description": "Precision Land", "value": 13}, {"description": "External Mode 1", "value": 100}, {"description": "External Mode 2", "value": 101}, {"description": "External Mode 3", "value": 102}, {"description": "External Mode 4", "value": 103}, {"description": "External Mode 5", "value": 104}, {"description": "External Mode 6", "value": 105}, {"description": "External Mode 7", "value": 106}, {"description": "External Mode 8", "value": 107}]}, {"category": "Standard", "default": 3, "group": "Commander", "increment": 1, "longDesc": "Action the system takes when the remaining flight time is below the estimated time it takes to reach the RTL destination.", "name": "COM_FLTT_LOW_ACT", "shortDesc": "Remaining flight time low failsafe", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Warning", "value": 1}, {"description": "Return", "value": 3}]}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "Describes the intended use of the vehicle. Can be used by ground control software or log post processing. This param does not influence the behavior within the firmware. This means for example the control logic is independent of the setting of this param (but depends on other params).", "name": "COM_FLT_PROFILE", "shortDesc": "User Flight Profile", "type": "Int32", "values": [{"description": "Default", "value": 0}, {"description": "Pro User", "value": 100}, {"description": "Flight Tester", "value": 200}, {"description": "Developer", "value": 300}]}, {"category": "Standard", "default": -1, "group": "Commander", "longDesc": "The vehicle aborts the current operation and returns to launch when the time since takeoff is above this value. It is not possible to resume the mission or switch to any auto mode other than RTL or Land. Taking over in any manual mode is still possible. Starting from 90% of the maximum flight time, a warning message will be sent every 1 minute with the remaining time until automatic RTL. Set to -1 to disable.", "min": -1, "name": "COM_FLT_TIME_MAX", "shortDesc": "Maximum allowed flight time", "type": "Int32", "units": "s"}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "Force safety when the vehicle disarms", "name": "COM_FORCE_SAFETY", "shortDesc": "Enable force safety", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 120, "group": "Commander", "longDesc": "After this amount of seconds without datalink the data link lost mode triggers", "max": 3600, "min": 60, "name": "COM_HLDL_LOSS_T", "shortDesc": "High Latency Datalink loss time threshold", "type": "Int32", "units": "s"}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "After a data link loss: after this number of seconds with a healthy datalink the 'datalink loss' flag is set back to false", "max": 60, "min": 0, "name": "COM_HLDL_REG_T", "shortDesc": "High Latency Datalink regain time threshold", "type": "Int32", "units": "s"}, {"category": "Standard", "default": 1, "group": "Commander", "longDesc": "Set home position automatically if possible.", "name": "COM_HOME_EN", "rebootRequired": true, "shortDesc": "Home position enabled", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "If set to true, the autopilot is allowed to set its home position after takeoff The true home position is back-computed if a local position is estimate if available. If no local position is available, home is set to the current position.", "name": "COM_HOME_IN_AIR", "shortDesc": "Allows setting the home position after takeoff", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Commander", "increment": 1, "longDesc": "Action the system takes when an imbalanced propeller is detected by the failure detector. See also FD_IMB_PROP_THR to set the failure threshold.", "name": "COM_IMB_PROP_ACT", "shortDesc": "Imbalanced propeller failsafe mode", "type": "Int32", "values": [{"description": "Disabled", "value": -1}, {"description": "Warning", "value": 0}, {"description": "Return", "value": 1}, {"description": "Land", "value": 2}]}, {"category": "Standard", "default": 5.0, "group": "Commander", "increment": 0.1, "max": 30.0, "min": 0.0, "name": "COM_KILL_DISARM", "shortDesc": "Timeout value for disarming when kill switch is engaged", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 3, "default": 3.0, "group": "Commander", "longDesc": "A non-zero, positive value specifies the timeframe in seconds within failure detector is allowed to disarm the vehicle if attitude exceeds the limits defined in FD_FAIL_P and FD_FAIL_R. The check is not executed for flight modes that do support acrobatic maneuvers, e.g: Acro (MC/FW) and Manual (FW). A zero or negative value means that the check is disabled.", "max": 5.0, "min": -1.0, "name": "COM_LKDOWN_TKO", "shortDesc": "Timeout for detecting a failure after takeoff", "type": "Float", "units": "s"}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "Action the system takes at critical battery. See also BAT_CRIT_THR and BAT_EMERGEN_THR for definition of battery states.", "name": "COM_LOW_BAT_ACT", "shortDesc": "Battery failsafe mode", "type": "Int32", "values": [{"description": "Warning", "value": 0}, {"description": "Land mode", "value": 2}, {"description": "Return at critical level, land at emergency level", "value": 3}]}, {"category": "System", "default": 0, "group": "Commander", "longDesc": "This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.", "name": "COM_MODE0_HASH", "shortDesc": "External mode identifier 0", "type": "Int32", "volatile": true}, {"category": "System", "default": 0, "group": "Commander", "longDesc": "This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.", "name": "COM_MODE1_HASH", "shortDesc": "External mode identifier 1", "type": "Int32", "volatile": true}, {"category": "System", "default": 0, "group": "Commander", "longDesc": "This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.", "name": "COM_MODE2_HASH", "shortDesc": "External mode identifier 2", "type": "Int32", "volatile": true}, {"category": "System", "default": 0, "group": "Commander", "longDesc": "This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.", "name": "COM_MODE3_HASH", "shortDesc": "External mode identifier 3", "type": "Int32", "volatile": true}, {"category": "System", "default": 0, "group": "Commander", "longDesc": "This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.", "name": "COM_MODE4_HASH", "shortDesc": "External mode identifier 4", "type": "Int32", "volatile": true}, {"category": "System", "default": 0, "group": "Commander", "longDesc": "This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.", "name": "COM_MODE5_HASH", "shortDesc": "External mode identifier 5", "type": "Int32", "volatile": true}, {"category": "System", "default": 0, "group": "Commander", "longDesc": "This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.", "name": "COM_MODE6_HASH", "shortDesc": "External mode identifier 6", "type": "Int32", "volatile": true}, {"category": "System", "default": 0, "group": "Commander", "longDesc": "This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.", "name": "COM_MODE7_HASH", "shortDesc": "External mode identifier 7", "type": "Int32", "volatile": true}, {"category": "Standard", "default": 1, "group": "Commander", "longDesc": "If set, enables the actuator test interface via MAVLink (ACTUATOR_TEST), that allows spinning the motors and moving the servos for testing purposes.", "name": "COM_MOT_TEST_EN", "shortDesc": "Enable Actuator Testing", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 5.0, "group": "Commander", "increment": 0.01, "max": 60.0, "min": 0.0, "name": "COM_OBC_LOSS_T", "shortDesc": "Time-out to wait when onboard computer connection is lost before warning about loss connection", "type": "Float", "units": "s"}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "The offboard loss failsafe will only be entered after a timeout, set by COM_OF_LOSS_T in seconds.", "name": "COM_OBL_RC_ACT", "shortDesc": "Set offboard loss failsafe mode", "type": "Int32", "values": [{"description": "Position mode", "value": 0}, {"description": "Altitude mode", "value": 1}, {"description": "Manual", "value": 2}, {"description": "Return mode", "value": 3}, {"description": "Land mode", "value": 4}, {"description": "Hold mode", "value": 5}, {"description": "Terminate", "value": 6}, {"description": "Disarm", "value": 7}]}, {"category": "Standard", "default": 0, "group": "Commander", "name": "COM_OBS_AVOID", "shortDesc": "Flag to enable obstacle avoidance", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1.0, "group": "Commander", "increment": 0.01, "longDesc": "See COM_OBL_RC_ACT to configure action.", "max": 60.0, "min": 0.0, "name": "COM_OF_LOSS_T", "shortDesc": "Time-out to wait when offboard connection is lost before triggering offboard lost action", "type": "Float", "units": "s"}, {"category": "Standard", "default": 0, "group": "Commander", "name": "COM_PARACHUTE", "shortDesc": "Expect and require a healthy MAVLink parachute system", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "This sets the flight mode that will be used if navigation accuracy is no longer adequate for position control. If Altitude/Manual is selected: assume use of remote control after fallback. Switch to Altitude mode if a height estimate is available, else switch to MANUAL. If Land/Descend is selected: assume no use of remote control after fallback. Switch to Land mode if a height estimate is available, else switch to Descend.", "name": "COM_POSCTL_NAVL", "shortDesc": "Position control navigation loss response", "type": "Int32", "values": [{"description": "Altitude/Manual", "value": 0}, {"description": "Land/Descend", "value": 1}]}, {"category": "Standard", "default": 1, "group": "Commander", "longDesc": "This sets number of seconds that the position checks need to be failed before the failsafe will activate. The default value has been optimised for rotary wing applications. For fixed wing applications, a larger value between 5 and 10 should be used.", "max": 100, "min": 1, "name": "COM_POS_FS_DELAY", "shortDesc": "Loss of position failsafe activation delay", "type": "Int32", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "Commander", "longDesc": "This is the horizontal position error (EPH) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing. If the previous position error was below this threshold, there is an additional factor of 2.5 applied (threshold for invalidation 2.5 times the one for validation). Set to -1 to disable.", "max": 400.0, "min": -1.0, "name": "COM_POS_FS_EPH", "shortDesc": "Horizontal position error threshold", "type": "Float", "units": "m"}, {"category": "Standard", "default": -1.0, "group": "Commander", "longDesc": "Specify the threshold for triggering a warning for low local position accuracy. Additionally triggers a RTL if currently in Mission or Loiter mode. Local position has to be still declared valid, which is most of all depending on COM_POS_FS_EPH. Use this feature on systems with dead-reckoning capabilites (e.g. fixed-wing vehicles with airspeed sensor) to improve the user notification and failure mitigation when flying in GNSS-denied areas. Set to -1 to disable.", "max": 1000.0, "min": -1.0, "name": "COM_POS_LOW_EPH", "shortDesc": "EPH threshold for RTL", "type": "Float", "units": "m"}, {"category": "Standard", "default": 1, "group": "Commander", "longDesc": "This configures a check to verify the expected number of 5V rail power supplies are present. By default only one is expected. Note: CBRK_SUPPLY_CHK disables all power checks including this one.", "max": 4, "min": 0, "name": "COM_POWER_COUNT", "shortDesc": "Required number of redundant power modules", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "Condition to enter the prearmed state, an intermediate state between disarmed and armed in which non-throttling actuators are active.", "name": "COM_PREARM_MODE", "shortDesc": "Condition to enter prearmed mode", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Safety button", "value": 1}, {"description": "Always", "value": 2}]}, {"category": "Standard", "default": 0, "group": "Commander", "name": "COM_QC_ACT", "shortDesc": "Set command after a quadchute", "type": "Int32", "values": [{"description": "Warning only", "value": -1}, {"description": "Return mode", "value": 0}, {"description": "Land mode", "value": 1}, {"description": "Hold mode", "value": 2}]}, {"bitmask": [{"description": "Mission", "index": 0}, {"description": "Hold", "index": 1}, {"description": "Offboard", "index": 2}], "category": "Standard", "default": 0, "group": "Commander", "longDesc": "Specify modes in which RC loss is ignored and the failsafe action not triggered.", "max": 31, "min": 0, "name": "COM_RCL_EXCEPT", "shortDesc": "RC loss exceptions", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Commander", "longDesc": "The default value of 1000 requires the stick to be held in the arm or disarm position for 1 second.", "max": 1500, "min": 100, "name": "COM_RC_ARM_HYST", "shortDesc": "RC input arm/disarm command duration", "type": "Int32", "units": "ms"}, {"category": "Standard", "default": 3, "group": "Commander", "longDesc": "A value of 0 enables RC transmitter control (only). A valid RC transmitter calibration is required. A value of 1 allows joystick control only. RC input handling and the associated checks are disabled. A value of 2 allows either RC Transmitter or Joystick input. The first valid input is used, will fallback to other sources if the input stream becomes invalid. A value of 3 allows either input from RC or joystick. The first available source is selected and used until reboot. A value of 4 ignores any stick input.", "max": 4, "min": 0, "name": "COM_RC_IN_MODE", "shortDesc": "RC control input mode", "type": "Int32", "values": [{"description": "RC Transmitter only", "value": 0}, {"description": "Joystick only", "value": 1}, {"description": "RC and Joystick with fallback", "value": 2}, {"description": "RC or Joystick keep first", "value": 3}, {"description": "Stick input disabled", "value": 4}]}, {"category": "Standard", "decimalPlaces": 1, "default": 0.5, "group": "Commander", "increment": 0.1, "longDesc": "The time in seconds without a new setpoint from RC or Joystick, after which the connection is considered lost. This must be kept short as the vehicle will use the last supplied setpoint until the timeout triggers.", "max": 35.0, "min": 0.0, "name": "COM_RC_LOSS_T", "shortDesc": "Manual control loss timeout", "type": "Float", "units": "s"}, {"bitmask": [{"description": "Enable override during auto modes (except for in critical battery reaction)", "index": 0}, {"description": "Enable override during offboard mode", "index": 1}], "category": "Standard", "default": 1, "group": "Commander", "longDesc": "When RC stick override is enabled, moving the RC sticks more than COM_RC_STICK_OV immediately gives control back to the pilot by switching to Position mode and if position is unavailable Altitude mode. Note: Only has an effect on multicopters, and VTOLs in multicopter mode.", "max": 3, "min": 0, "name": "COM_RC_OVERRIDE", "shortDesc": "Enable RC stick override of auto and/or offboard modes", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 0, "default": 30.0, "group": "Commander", "increment": 0.05, "longDesc": "If COM_RC_OVERRIDE is enabled and the joystick input is moved more than this threshold the autopilot the pilot takes over control.", "max": 80.0, "min": 5.0, "name": "COM_RC_STICK_OV", "shortDesc": "RC stick override threshold", "type": "Float", "units": "%"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "Commander", "increment": 0.1, "longDesc": "The minimal time from arming the motors until moving the vehicle is possible is COM_SPOOLUP_TIME seconds. Goal: - Motors and propellers spool up to idle speed before getting commanded to spin faster - Timeout for ESCs and smart batteries to successfulyy do failure checks e.g. for stuck rotors before the vehicle is off the ground", "max": 30.0, "min": 0.0, "name": "COM_SPOOLUP_TIME", "shortDesc": "Enforced delay between arming and further navigation", "type": "Float", "units": "s"}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "The mode transition after TAKEOFF has completed successfully.", "name": "COM_TAKEOFF_ACT", "shortDesc": "Action after TAKEOFF has been accepted", "type": "Int32", "values": [{"description": "Hold", "value": 0}, {"description": "Mission (if valid)", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "Allows to start the vehicle by throwing it into the air.", "name": "COM_THROW_EN", "shortDesc": "Enable throw-start", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "Commander", "increment": 0.1, "longDesc": "When the throw launch is enabled, the drone will only arm after this speed is exceeded before detecting the freefall. This is a safety feature to ensure the drone does not turn on after accidental drop or a rapid movement before the throw. Set to 0 to disable.", "min": 0.0, "name": "COM_THROW_SPEED", "shortDesc": "Minimum speed for the throw start", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "Commander", "longDesc": "This is the horizontal velocity error (EVH) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing. If the previous velocity error was below this threshold, there is an additional factor of 2.5 applied (threshold for invalidation 2.5 times the one for validation).", "min": 0.0, "name": "COM_VEL_FS_EVH", "shortDesc": "Horizontal velocity error threshold", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": -1.0, "group": "Commander", "increment": 0.1, "longDesc": "Wind speed threshold above which an automatic failsafe action is triggered. Failsafe action can be specified with COM_WIND_MAX_ACT.", "min": -1.0, "name": "COM_WIND_MAX", "shortDesc": "High wind speed failsafe threshold", "type": "Float", "units": "m/s"}, {"category": "Standard", "default": 0, "group": "Commander", "increment": 1, "longDesc": "Action the system takes when a wind speed above the specified threshold is detected. See COM_WIND_MAX to set the failsafe threshold. If enabled, it is not possible to resume the mission or switch to any auto mode other than RTL or Land if this threshold is exceeded. Taking over in any manual mode is still possible.", "name": "COM_WIND_MAX_ACT", "shortDesc": "High wind failsafe mode", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Warning", "value": 1}, {"description": "Hold", "value": 2}, {"description": "Return", "value": 3}, {"description": "Terminate", "value": 4}, {"description": "Land", "value": 5}]}, {"category": "Standard", "decimalPlaces": 1, "default": -1.0, "group": "Commander", "increment": 0.1, "longDesc": "A warning is triggered if the currently estimated wind speed is above this value. Warning is sent periodically (every 1 minute). Set to -1 to disable.", "min": -1.0, "name": "COM_WIND_WARN", "shortDesc": "Wind speed warning threshold", "type": "Float", "units": "m/s"}, {"category": "Standard", "default": 0, "group": "Commander", "longDesc": "The GCS connection loss failsafe will only be entered after a timeout, set by COM_DL_LOSS_T in seconds. Once the timeout occurs the selected action will be executed.", "max": 6, "min": 0, "name": "NAV_DLL_ACT", "shortDesc": "Set GCS connection loss failsafe mode", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Hold mode", "value": 1}, {"description": "Return mode", "value": 2}, {"description": "Land mode", "value": 3}, {"description": "Terminate", "value": 5}, {"description": "Disarm", "value": 6}]}, {"category": "Standard", "default": 2, "group": "Commander", "longDesc": "The RC loss failsafe will only be entered after a timeout, set by COM_RC_LOSS_T in seconds. If RC input checks have been disabled by setting the COM_RC_IN_MODE param it will not be triggered.", "max": 6, "min": 1, "name": "NAV_RCL_ACT", "shortDesc": "Set RC loss failsafe mode", "type": "Int32", "values": [{"description": "Hold mode", "value": 1}, {"description": "Return mode", "value": 2}, {"description": "Land mode", "value": 3}, {"description": "Terminate", "value": 5}, {"description": "Disarm", "value": 6}]}, {"category": "Standard", "default": 1000000, "group": "Cyphal", "max": 1000000, "min": 20000, "name": "CYPHAL_BAUD", "rebootRequired": true, "shortDesc": "UAVCAN/CAN v1 bus bitrate", "type": "Int32", "units": "bit/s"}, {"category": "Standard", "default": 1, "group": "Cyphal", "longDesc": "0 - Cyphal disabled. 1 - Enables Cyphal", "name": "CYPHAL_ENABLE", "rebootRequired": true, "shortDesc": "Cyphal", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1, "group": "Cyphal", "longDesc": "Read the specs at http://uavcan.org to learn more about Node ID.", "max": 125, "min": -1, "name": "CYPHAL_ID", "rebootRequired": true, "shortDesc": "Cyphal Node ID", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Cyphal", "max": 6143, "min": -1, "name": "UCAN1_ACTR_PUB", "shortDesc": "actuator_outputs uORB over Cyphal publication port ID", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Cyphal", "max": 6143, "min": -1, "name": "UCAN1_BMS_BP_SUB", "shortDesc": "UDRAL battery parameters subscription  port ID", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Cyphal", "max": 6143, "min": -1, "name": "UCAN1_BMS_BS_SUB", "shortDesc": "UDRAL battery status subscription port ID", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Cyphal", "max": 6143, "min": -1, "name": "UCAN1_BMS_ES_SUB", "shortDesc": "UDRAL battery energy source subscription port ID", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Cyphal", "max": 6143, "min": -1, "name": "UCAN1_ESC0_SUB", "shortDesc": "ESC 0 subscription port ID", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Cyphal", "max": 6143, "min": -1, "name": "UCAN1_ESC_PUB", "shortDesc": "Cyphal ESC publication port ID", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Cyphal", "max": 6143, "min": -1, "name": "UCAN1_GPS0_SUB", "shortDesc": "GPS 0 subscription port ID", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Cyphal", "max": 6143, "min": -1, "name": "UCAN1_GPS1_SUB", "shortDesc": "GPS 1 subscription port ID", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Cyphal", "max": 6143, "min": -1, "name": "UCAN1_GPS_PUB", "shortDesc": "Cyphal GPS publication port ID", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Cyphal", "max": 6143, "min": -1, "name": "UCAN1_LG_BMS_SUB", "shortDesc": "Cyphal legacy battery port ID", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Cyphal", "max": 6143, "min": -1, "name": "UCAN1_SERVO_PUB", "shortDesc": "Cyphal Servo publication port ID", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Cyphal", "max": 6143, "min": -1, "name": "UCAN1_UORB_GPS", "shortDesc": "sensor_gps uORB over Cyphal subscription port ID", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Cyphal", "max": 6143, "min": -1, "name": "UCAN1_UORB_GPS_P", "shortDesc": "sensor_gps uORB over Cyphal publication port ID", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "DShot", "longDesc": "When the actuator_output is between DSHOT_3D_DEAD_L and DSHOT_3D_DEAD_H, motor will not spin. This value is with respect to the mixer_module range (0-1999), not the DSHOT values.", "max": 1999, "min": 1000, "name": "DSHOT_3D_DEAD_H", "shortDesc": "DSHOT 3D deadband high", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "DShot", "longDesc": "When the actuator_output is between DSHOT_3D_DEAD_L and DSHOT_3D_DEAD_H, motor will not spin. This value is with respect to the mixer_module range (0-1999), not the DSHOT values.", "max": 1000, "min": 0, "name": "DSHOT_3D_DEAD_L", "shortDesc": "DSHOT 3D deadband low", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "DShot", "longDesc": "WARNING: ESC must be configured for 3D mode, and DSHOT_MIN set to 0. This splits the throttle ranges in two. Direction 1) 48 is the slowest, 1047 is the fastest. Direction 2) 1049 is the slowest, 2047 is the fastest. When mixer outputs 1000 or value inside DSHOT 3D deadband, DShot 0 is sent.", "name": "DSHOT_3D_ENABLE", "shortDesc": "Allows for 3d mode when using DShot and suitable mixer", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.055, "group": "DShot", "increment": 0.01, "longDesc": "Minimum Output Value for DShot in percent. The value depends on the ESC. Make sure to set this high enough so that the motors are always spinning while armed.", "max": 1.0, "min": 0.0, "name": "DSHOT_MIN", "shortDesc": "Minimum DShot Motor Output", "type": "Float", "units": "%"}, {"category": "Standard", "default": 0, "group": "DShot", "longDesc": "Configure on which serial port to run DShot Driver.", "name": "DSHOT_TEL_CFG", "rebootRequired": true, "shortDesc": "Serial Configuration for DShot Driver", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "UART 6", "value": 6}, {"description": "TELEM 1", "value": 101}, {"description": "TELEM 2", "value": 102}, {"description": "TELEM 3", "value": 103}, {"description": "TELEM/SERIAL 4", "value": 104}, {"description": "GPS 1", "value": 201}, {"description": "GPS 2", "value": 202}, {"description": "GPS 3", "value": 203}, {"description": "Radio Controller", "value": 300}, {"description": "Wifi Port", "value": 301}, {"description": "EXT2", "value": 401}]}, {"category": "Standard", "default": 14, "group": "DShot", "longDesc": "Specify the number of magnetic poles of the motors. It is required to compute the RPM value from the eRPM returned with the ESC telemetry. Either get the number from the motor spec sheet or count the magnets on the bell of the motor (not the stator magnets). Typical motors for 5 inch props have 14 poles.", "name": "MOT_POLE_COUNT", "shortDesc": "Number of magnetic poles of the motors", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "EKF2", "max": 0.5, "min": 0.0, "name": "EKF2_ABIAS_INIT", "rebootRequired": true, "shortDesc": "1-sigma IMU accelerometer switch-on bias", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 1, "default": 25.0, "group": "EKF2", "longDesc": "If the magnitude of the IMU accelerometer vector exceeds this value, the EKF accel bias state estimation will be inhibited. This reduces the adverse effect of high manoeuvre accelerations and IMU nonlinerity and scale factor errors on the accel bias estimates.", "max": 200.0, "min": 20.0, "name": "EKF2_ABL_ACCLIM", "shortDesc": "Maximum IMU accel magnitude that allows IMU bias learning", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "EKF2", "longDesc": "If the magnitude of the IMU angular rate vector exceeds this value, the EKF accel bias state estimation will be inhibited. This reduces the adverse effect of rapid rotation rates and associated errors on the accel bias estimates.", "max": 20.0, "min": 2.0, "name": "EKF2_ABL_GYRLIM", "shortDesc": "Maximum IMU gyro angular rate magnitude that allows IMU bias learning", "type": "Float", "units": "rad/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.4, "group": "EKF2", "longDesc": "The ekf accel bias states will be limited to within a range equivalent to +- of this value.", "max": 0.8, "min": 0.0, "name": "EKF2_ABL_LIM", "shortDesc": "Accelerometer bias learning limit", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.5, "group": "EKF2", "longDesc": "The vector magnitude of angular rate and acceleration used to check if learning should be inhibited has a peak hold filter applied to it with an exponential decay. This parameter controls the time constant of the decay.", "max": 1.0, "min": 0.1, "name": "EKF2_ABL_TAU", "shortDesc": "Time constant used by acceleration and angular rate magnitude checks used to inhibit accel bias learning", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 6, "default": 0.003, "group": "EKF2", "max": 0.01, "min": 0.0, "name": "EKF2_ACC_B_NOISE", "shortDesc": "Process noise for IMU accelerometer bias prediction", "type": "Float", "units": "m/s^3"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.35, "group": "EKF2", "max": 1.0, "min": 0.01, "name": "EKF2_ACC_NOISE", "shortDesc": "Accelerometer noise for covariance prediction", "type": "Float", "units": "m/s^2"}, {"bitmask": [{"description": "Horizontal position", "index": 0}, {"description": "Vertical position", "index": 1}], "category": "Standard", "default": 1, "group": "EKF2", "longDesc": "Set bits in the following positions to enable: 0 : Horizontal position fusion 1 : Vertical position fusion", "max": 3, "min": 0, "name": "EKF2_AGP_CTRL", "shortDesc": "Aux global position (AGP) sensor aiding", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "EKF2", "max": 300.0, "min": 0.0, "name": "EKF2_AGP_DELAY", "rebootRequired": true, "shortDesc": "Aux global position estimator delay relative to IMU measurements", "type": "Float", "units": "ms"}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "EKF2", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.", "min": 1.0, "name": "EKF2_AGP_GATE", "shortDesc": "Gate size for aux global position fusion", "type": "Float", "units": "SD"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.9, "group": "EKF2", "min": 0.01, "name": "EKF2_AGP_NOISE", "shortDesc": "Measurement noise for aux global position observations used to lower bound or replace the uncertainty included in the message", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.1, "group": "EKF2", "max": 0.5, "min": 0.0, "name": "EKF2_ANGERR_INIT", "rebootRequired": true, "shortDesc": "1-sigma tilt angle uncertainty after gravity vector alignment", "type": "Float", "units": "rad"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "EKF2", "longDesc": "Airspeed data is fused for wind estimation if above this threshold. Set to 0 to disable airspeed fusion. For reliable wind estimation both sideslip (see EKF2_FUSE_BETA) and airspeed fusion should be enabled. Only applies to fixed-wing vehicles (or VTOLs in fixed-wing mode).", "min": 0.0, "name": "EKF2_ARSP_THR", "shortDesc": "Airspeed fusion threshold", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 20.0, "group": "EKF2", "max": 50.0, "min": 5.0, "name": "EKF2_ASPD_MAX", "shortDesc": "Upper limit on airspeed along individual axes used to correct baro for position error effects", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 100.0, "group": "EKF2", "max": 300.0, "min": 0.0, "name": "EKF2_ASP_DELAY", "rebootRequired": true, "shortDesc": "Airspeed measurement delay relative to IMU measurements", "type": "Float", "units": "ms"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "EKF2", "max": 300.0, "min": 0.0, "name": "EKF2_AVEL_DELAY", "rebootRequired": true, "shortDesc": "Auxiliary Velocity Estimate (e.g from a landing target) delay relative to IMU measurements", "type": "Float", "units": "ms"}, {"category": "Standard", "default": 1, "group": "EKF2", "longDesc": "If this parameter is enabled then the estimator will make use of the barometric height measurements to estimate its height in addition to other height sources (if activated).", "name": "EKF2_BARO_CTRL", "shortDesc": "Barometric sensor height aiding", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "EKF2", "max": 300.0, "min": 0.0, "name": "EKF2_BARO_DELAY", "rebootRequired": true, "shortDesc": "Barometer measurement delay relative to IMU measurements", "type": "Float", "units": "ms"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "EKF2", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.", "min": 1.0, "name": "EKF2_BARO_GATE", "shortDesc": "Gate size for barometric and GPS height fusion", "type": "Float", "units": "SD"}, {"category": "Standard", "decimalPlaces": 2, "default": 3.5, "group": "EKF2", "max": 15.0, "min": 0.01, "name": "EKF2_BARO_NOISE", "shortDesc": "Measurement noise for barometric altitude", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 100.0, "group": "EKF2", "longDesc": "This parameter controls the prediction of drag produced by bluff body drag along the forward/reverse axis when flying a multi-copter which enables estimation of wind drift when enabled by the EKF2_DRAG_CTRL parameter. The drag produced by this effect scales with speed squared. The predicted drag from the rotors is specified separately by the EKF2_MCOEF parameter. Set this parameter to zero to turn off the bluff body drag model for this axis.", "max": 200.0, "min": 0.0, "name": "EKF2_BCOEF_X", "shortDesc": "X-axis ballistic coefficient used for multi-rotor wind estimation", "type": "Float", "units": "kg/m^2"}, {"category": "Standard", "decimalPlaces": 1, "default": 100.0, "group": "EKF2", "longDesc": "This parameter controls the prediction of drag produced by bluff body drag along the right/left axis when flying a multi-copter, which enables estimation of wind drift when enabled by the EKF2_DRAG_CTRL parameter. The drag produced by this effect scales with speed squared. The predicted drag from the rotors is specified separately by the EKF2_MCOEF parameter. Set this parameter to zero to turn off the bluff body drag model for this axis.", "max": 200.0, "min": 0.0, "name": "EKF2_BCOEF_Y", "shortDesc": "Y-axis ballistic coefficient used for multi-rotor wind estimation", "type": "Float", "units": "kg/m^2"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "EKF2", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.", "min": 1.0, "name": "EKF2_BETA_GATE", "shortDesc": "Gate size for synthetic sideslip fusion", "type": "Float", "units": "SD"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.3, "group": "EKF2", "max": 1.0, "min": 0.1, "name": "EKF2_BETA_NOISE", "shortDesc": "Noise for synthetic sideslip fusion", "type": "Float", "units": "m/s"}, {"bitmask": [{"description": "use geo_lookup declination", "index": 0}, {"description": "save EKF2_MAG_DECL on disarm", "index": 1}], "category": "Standard", "default": 3, "group": "EKF2", "longDesc": "Set bits in the following positions to enable functions. 0 : Set to true to use the declination from the geo_lookup library when the GPS position becomes available, set to false to always use the EKF2_MAG_DECL value. 1 : Set to true to save the EKF2_MAG_DECL parameter to the value returned by the EKF when the vehicle disarms.", "max": 3, "min": 0, "name": "EKF2_DECL_TYPE", "rebootRequired": true, "shortDesc": "Integer bitmask controlling handling of magnetic declination", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 1, "default": 200.0, "group": "EKF2", "longDesc": "Defines the delay between the current time and the delayed-time horizon. This value should be at least as large as the largest EKF2_XXX_DELAY parameter.", "max": 1000.0, "min": 0.0, "name": "EKF2_DELAY_MAX", "rebootRequired": true, "shortDesc": "Maximum delay of all the aiding sensors", "type": "Float", "units": "ms"}, {"category": "Standard", "default": 0, "group": "EKF2", "longDesc": "Activate wind speed estimation using specific-force measurements and a drag model defined by EKF2_BCOEF_[XY] and EKF2_MCOEF. Only use on vehicles that have their thrust aligned with the Z axis and no thrust in the XY plane.", "name": "EKF2_DRAG_CTRL", "shortDesc": "Multirotor wind estimation selection", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 2.5, "group": "EKF2", "longDesc": "Increasing this makes the multi-rotor wind estimates adjust more slowly.", "max": 10.0, "min": 0.5, "name": "EKF2_DRAG_NOISE", "shortDesc": "Specific drag force observation noise variance used by the multi-rotor specific drag force model", "type": "Float", "units": "(m/s^2)^2"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.4, "group": "EKF2", "max": 5.0, "min": 0.5, "name": "EKF2_EAS_NOISE", "shortDesc": "Measurement noise for airspeed fusion", "type": "Float", "units": "m/s"}, {"category": "Standard", "default": 1, "group": "EKF2", "name": "EKF2_EN", "shortDesc": "EKF2 enable", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "EKF2", "min": 0.05, "name": "EKF2_EVA_NOISE", "shortDesc": "Measurement noise for vision angle observations used to lower bound or replace the uncertainty included in the message", "type": "Float", "units": "rad"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "EKF2", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.", "min": 1.0, "name": "EKF2_EVP_GATE", "shortDesc": "Gate size for vision position fusion", "type": "Float", "units": "SD"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "EKF2", "min": 0.01, "name": "EKF2_EVP_NOISE", "shortDesc": "Measurement noise for vision position observations used to lower bound or replace the uncertainty included in the message", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "EKF2", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.", "min": 1.0, "name": "EKF2_EVV_GATE", "shortDesc": "Gate size for vision velocity estimate fusion", "type": "Float", "units": "SD"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "EKF2", "min": 0.01, "name": "EKF2_EVV_NOISE", "shortDesc": "Measurement noise for vision velocity observations used to lower bound or replace the uncertainty included in the message", "type": "Float", "units": "m/s"}, {"bitmask": [{"description": "Horizontal position", "index": 0}, {"description": "Vertical position", "index": 1}, {"description": "3D velocity", "index": 2}, {"description": "Yaw", "index": 3}], "category": "Standard", "default": 15, "group": "EKF2", "longDesc": "Set bits in the following positions to enable: 0 : Horizontal position fusion 1 : Vertical position fusion 2 : 3D velocity fusion 3 : Yaw", "max": 15, "min": 0, "name": "EKF2_EV_CTRL", "shortDesc": "External vision (EV) sensor aiding", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "EKF2", "max": 300.0, "min": 0.0, "name": "EKF2_EV_DELAY", "rebootRequired": true, "shortDesc": "Vision Position Estimator delay relative to IMU measurements", "type": "Float", "units": "ms"}, {"category": "Standard", "default": 0, "group": "EKF2", "longDesc": "If set to 0 (default) the measurement noise is taken from the vision message and the EV noise parameters are used as a lower bound. If set to 1 the observation noise is set from the parameters directly,", "name": "EKF2_EV_NOISE_MD", "shortDesc": "External vision (EV) noise mode", "type": "Int32", "values": [{"description": "EV reported variance (parameter lower bound)", "value": 0}, {"description": "EV noise parameters", "value": 1}]}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "name": "EKF2_EV_POS_X", "shortDesc": "X position of VI sensor focal point in body frame (forward axis with origin relative to vehicle centre of gravity)", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "name": "EKF2_EV_POS_Y", "shortDesc": "Y position of VI sensor focal point in body frame (right axis with origin relative to vehicle centre of gravity)", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "name": "EKF2_EV_POS_Z", "shortDesc": "Z position of VI sensor focal point in body frame (down axis with origin relative to vehicle centre of gravity)", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 0, "group": "EKF2", "longDesc": "External vision will only be started and fused if the quality metric is above this threshold. The quality metric is a completely optional field provided by some VIO systems.", "max": 100, "min": 0, "name": "EKF2_EV_QMIN", "shortDesc": "External vision (EV) minimum quality (optional)", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "EKF2", "longDesc": "For reliable wind estimation both sideslip and airspeed fusion (see EKF2_ARSP_THR) should be enabled. Only applies to fixed-wing vehicles (or VTOLs in fixed-wing mode). Note: side slip fusion is currently not supported for tailsitters.", "name": "EKF2_FUSE_BETA", "shortDesc": "Enable synthetic sideslip fusion", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "EKF2", "max": 0.2, "min": 0.0, "name": "EKF2_GBIAS_INIT", "rebootRequired": true, "shortDesc": "1-sigma IMU gyro switch-on bias", "type": "Float", "units": "rad/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 4.0, "group": "EKF2", "longDesc": "Sets the value of deadzone applied to negative baro innovations. Deadzone is enabled when EKF2_GND_EFF_DZ > 0.", "max": 10.0, "min": 0.0, "name": "EKF2_GND_EFF_DZ", "shortDesc": "Baro deadzone range for height fusion", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.5, "group": "EKF2", "longDesc": "Sets the maximum distance to the ground level where negative baro innovations are expected.", "max": 5.0, "min": 0.0, "name": "EKF2_GND_MAX_HGT", "shortDesc": "Height above ground level for ground effect zone", "type": "Float", "units": "m"}, {"bitmask": [{"description": "Min sat count (EKF2_REQ_NSATS)", "index": 0}, {"description": "Max PDOP (EKF2_REQ_PDOP)", "index": 1}, {"description": "Max horizontal position error (EKF2_REQ_EPH)", "index": 2}, {"description": "Max vertical position error (EKF2_REQ_EPV)", "index": 3}, {"description": "Max speed error (EKF2_REQ_SACC)", "index": 4}, {"description": "Max horizontal position rate (EKF2_REQ_HDRIFT)", "index": 5}, {"description": "Max vertical position rate (EKF2_REQ_VDRIFT)", "index": 6}, {"description": "Max horizontal speed (EKF2_REQ_HDRIFT)", "index": 7}, {"description": "Max vertical velocity discrepancy (EKF2_REQ_VDRIFT)", "index": 8}], "category": "Standard", "default": 245, "group": "EKF2", "longDesc": "Set bits to 1 to enable checks. Checks enabled by the following bit positions 0 : Minimum required sat count set by EKF2_REQ_NSATS 1 : Maximum allowed PDOP set by EKF2_REQ_PDOP 2 : Maximum allowed horizontal position error set by EKF2_REQ_EPH 3 : Maximum allowed vertical position error set by EKF2_REQ_EPV 4 : Maximum allowed speed error set by EKF2_REQ_SACC 5 : Maximum allowed horizontal position rate set by EKF2_REQ_HDRIFT. This check will only run when the vehicle is on ground and stationary. 6 : Maximum allowed vertical position rate set by EKF2_REQ_VDRIFT. This check will only run when the vehicle is on ground and stationary. 7 : Maximum allowed horizontal speed set by EKF2_REQ_HDRIFT. This check will only run when the vehicle is on ground and stationary. 8 : Maximum allowed vertical velocity discrepancy set by EKF2_REQ_VDRIFT", "max": 511, "min": 0, "name": "EKF2_GPS_CHECK", "shortDesc": "Integer bitmask controlling GPS checks", "type": "Int32"}, {"bitmask": [{"description": "Lon/lat", "index": 0}, {"description": "Altitude", "index": 1}, {"description": "3D velocity", "index": 2}, {"description": "Dual antenna heading", "index": 3}], "category": "Standard", "default": 7, "group": "EKF2", "longDesc": "Set bits in the following positions to enable: 0 : Longitude and latitude fusion 1 : Altitude fusion 2 : 3D velocity fusion 3 : Dual antenna heading fusion", "max": 15, "min": 0, "name": "EKF2_GPS_CTRL", "shortDesc": "GNSS sensor aiding", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 1, "default": 110.0, "group": "EKF2", "max": 300.0, "min": 0.0, "name": "EKF2_GPS_DELAY", "rebootRequired": true, "shortDesc": "GPS measurement delay relative to IMU measurements", "type": "Float", "units": "ms"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "name": "EKF2_GPS_POS_X", "shortDesc": "X position of GPS antenna in body frame (forward axis with origin relative to vehicle centre of gravity)", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "name": "EKF2_GPS_POS_Y", "shortDesc": "Y position of GPS antenna in body frame (right axis with origin relative to vehicle centre of gravity)", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "name": "EKF2_GPS_POS_Z", "shortDesc": "Z position of GPS antenna in body frame (down axis with origin relative to vehicle centre of gravity)", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "EKF2", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.", "min": 1.0, "name": "EKF2_GPS_P_GATE", "shortDesc": "Gate size for GNSS position fusion", "type": "Float", "units": "SD"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.5, "group": "EKF2", "max": 10.0, "min": 0.01, "name": "EKF2_GPS_P_NOISE", "shortDesc": "Measurement noise for GNSS position", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "EKF2", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.", "min": 1.0, "name": "EKF2_GPS_V_GATE", "shortDesc": "Gate size for GNSS velocity fusion", "type": "Float", "units": "SD"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.3, "group": "EKF2", "max": 5.0, "min": 0.01, "name": "EKF2_GPS_V_NOISE", "shortDesc": "Measurement noise for GNSS velocity", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "EKF2", "max": 10.0, "min": 0.1, "name": "EKF2_GRAV_NOISE", "shortDesc": "Accelerometer measurement noise for gravity based observations", "type": "Float", "units": "g0"}, {"category": "Standard", "decimalPlaces": 1, "default": 15.0, "group": "EKF2", "longDesc": "If no airspeed measurements are available, the EKF-GSF AHRS calculation will assume this value of true airspeed when compensating for centripetal acceleration during turns. Set to zero to disable centripetal acceleration compensation during fixed wing flight modes.", "max": 100.0, "min": 0.0, "name": "EKF2_GSF_TAS", "shortDesc": "Default value of true airspeed used in EKF-GSF AHRS calculation", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.15, "group": "EKF2", "longDesc": "The ekf gyro bias states will be limited to within a range equivalent to +- of this value.", "max": 0.4, "min": 0.0, "name": "EKF2_GYR_B_LIM", "shortDesc": "Gyro bias learning limit", "type": "Float", "units": "rad/s"}, {"category": "Standard", "decimalPlaces": 6, "default": 0.001, "group": "EKF2", "max": 0.01, "min": 0.0, "name": "EKF2_GYR_B_NOISE", "shortDesc": "Process noise for IMU rate gyro bias prediction", "type": "Float", "units": "rad/s^2"}, {"category": "Standard", "decimalPlaces": 4, "default": 0.015, "group": "EKF2", "max": 0.1, "min": 0.0001, "name": "EKF2_GYR_NOISE", "shortDesc": "Rate gyro noise for covariance prediction", "type": "Float", "units": "rad/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 2.6, "group": "EKF2", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.", "min": 1.0, "name": "EKF2_HDG_GATE", "shortDesc": "Gate size for heading fusion", "type": "Float", "units": "SD"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.3, "group": "EKF2", "max": 1.0, "min": 0.01, "name": "EKF2_HEAD_NOISE", "shortDesc": "Measurement noise for magnetic heading fusion", "type": "Float", "units": "rad"}, {"category": "Standard", "default": 1, "group": "EKF2", "longDesc": "When multiple height sources are enabled at the same time, the height estimate will always converge towards the reference height source selected by this parameter. The range sensor and vision options should only be used when for operation over a flat surface as the local NED origin will move up and down with ground level.", "name": "EKF2_HGT_REF", "rebootRequired": true, "shortDesc": "Determines the reference source of height data used by the EKF", "type": "Int32", "values": [{"description": "Barometric pressure", "value": 0}, {"description": "GPS", "value": 1}, {"description": "Range sensor", "value": 2}, {"description": "Vision", "value": 3}]}, {"bitmask": [{"description": "Gyro Bias", "index": 0}, {"description": "Accel Bias", "index": 1}, {"description": "Gravity vector fusion", "index": 2}], "category": "Standard", "default": 7, "group": "EKF2", "max": 7, "min": 0, "name": "EKF2_IMU_CTRL", "shortDesc": "IMU control", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "name": "EKF2_IMU_POS_X", "shortDesc": "X position of IMU in body frame (forward axis with origin relative to vehicle centre of gravity)", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "name": "EKF2_IMU_POS_Y", "shortDesc": "Y position of IMU in body frame (right axis with origin relative to vehicle centre of gravity)", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "name": "EKF2_IMU_POS_Z", "shortDesc": "Z position of IMU in body frame (down axis with origin relative to vehicle centre of gravity)", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.5, "group": "EKF2", "longDesc": "The heading is assumed to be observable when the body acceleration is greater than this parameter when a global position/velocity aiding source is active.", "max": 5.0, "min": 0.0, "name": "EKF2_MAG_ACCLIM", "shortDesc": "Horizontal acceleration threshold used for heading observability check", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 6, "default": 0.0001, "group": "EKF2", "max": 0.1, "min": 0.0, "name": "EKF2_MAG_B_NOISE", "shortDesc": "Process noise for body magnetic field prediction", "type": "Float", "units": "gauss/s"}, {"bitmask": [{"description": "Strength (EKF2_MAG_CHK_STR)", "index": 0}, {"description": "Inclination (EKF2_MAG_CHK_INC)", "index": 1}, {"description": "Wait for WMM", "index": 2}], "category": "Standard", "default": 1, "group": "EKF2", "longDesc": "Bitmask to set which check is used to decide whether the magnetometer data is valid. If GNSS data is received, the magnetic field is compared to a World Magnetic Model (WMM), otherwise an average value is used. This check is useful to reject occasional hard iron disturbance. Set bits to 1 to enable checks. Checks enabled by the following bit positions 0 : Magnetic field strength. Set tolerance using EKF2_MAG_CHK_STR 1 : Magnetic field inclination. Set tolerance using EKF2_MAG_CHK_INC 2 : Wait for GNSS to find the theoretical strength and inclination using the WMM", "max": 7, "min": 0, "name": "EKF2_MAG_CHECK", "shortDesc": "Magnetic field strength test selection", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 1, "default": 20.0, "group": "EKF2", "longDesc": "Maximum allowed deviation from the expected magnetic field inclination to pass the check.", "max": 90.0, "min": 0.0, "name": "EKF2_MAG_CHK_INC", "shortDesc": "Magnetic field inclination check tolerance", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "EKF2", "longDesc": "Maximum allowed deviation from the expected magnetic field strength to pass the check.", "max": 1.0, "min": 0.0, "name": "EKF2_MAG_CHK_STR", "shortDesc": "Magnetic field strength check tolerance", "type": "Float", "units": "gauss"}, {"category": "System", "decimalPlaces": 1, "default": 0.0, "group": "EKF2", "name": "EKF2_MAG_DECL", "shortDesc": "Magnetic declination", "type": "Float", "units": "deg", "volatile": true}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "EKF2", "max": 300.0, "min": 0.0, "name": "EKF2_MAG_DELAY", "rebootRequired": true, "shortDesc": "Magnetometer measurement delay relative to IMU measurements", "type": "Float", "units": "ms"}, {"category": "Standard", "decimalPlaces": 6, "default": 0.001, "group": "EKF2", "max": 0.1, "min": 0.0, "name": "EKF2_MAG_E_NOISE", "shortDesc": "Process noise for earth magnetic field prediction", "type": "Float", "units": "gauss/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "EKF2", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.", "min": 1.0, "name": "EKF2_MAG_GATE", "shortDesc": "Gate size for magnetometer XYZ component fusion", "type": "Float", "units": "SD"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "EKF2", "max": 1.0, "min": 0.001, "name": "EKF2_MAG_NOISE", "shortDesc": "Measurement noise for magnetometer 3-axis fusion", "type": "Float", "units": "gauss"}, {"category": "Standard", "default": 0, "group": "EKF2", "longDesc": "Integer controlling the type of magnetometer fusion used - magnetic heading or 3-component vector. The fusion of magnetometer data as a three component vector enables vehicle body fixed hard iron errors to be learned, but requires a stable earth field. If set to 'Automatic' magnetic heading fusion is used when on-ground and 3-axis magnetic field fusion in-flight with fallback to magnetic heading fusion if there is insufficient motion to make yaw or magnetic field states observable. If set to 'Magnetic heading' magnetic heading fusion is used at all times. If set to 'None' the magnetometer will not be used under any circumstance. If no external source of yaw is available, it is possible to use post-takeoff horizontal movement combined with GPS velocity measurements to align the yaw angle with the timer required (depending on the amount of movement and GPS data quality).", "name": "EKF2_MAG_TYPE", "rebootRequired": true, "shortDesc": "Type of magnetometer fusion", "type": "Int32", "values": [{"description": "Automatic", "value": 0}, {"description": "Magnetic heading", "value": 1}, {"description": "None", "value": 5}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.15, "group": "EKF2", "longDesc": "This parameter controls the prediction of drag produced by the propellers when flying a multi-copter, which enables estimation of wind drift when enabled by the EKF2_DRAG_CTRL parameter. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the propeller axis of rotation is lost when passing through the rotor disc. This  changes the momentum of the flow which creates a drag reaction force. When comparing un-ducted propellers of the same diameter, the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with propeller selection. Momentum drag is significantly higher for ducted rotors. To account for the drag produced by the body which scales with speed squared, see documentation for the EKF2_BCOEF_X and EKF2_BCOEF_Y parameters. Set this parameter to zero to turn off the momentum drag model for both axis.", "max": 1.0, "min": 0.0, "name": "EKF2_MCOEF", "shortDesc": "Propeller momentum drag coefficient used for multi-rotor wind estimation", "type": "Float", "units": "1/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "EKF2", "longDesc": "If the vehicle is on ground, is not moving as determined by the motion test and the range finder is returning invalid or no data, then an assumed range value of EKF2_MIN_RNG will be used by the terrain estimator so that a terrain height estimate is available at the start of flight in situations where the range finder may be inside its minimum measurements distance when on ground.", "min": 0.01, "name": "EKF2_MIN_RNG", "shortDesc": "Expected range finder reading when on ground", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "EKF2", "longDesc": "Maximum number of IMUs to use for Multi-EKF. Set 0 to disable. Requires SENS_IMU_MODE 0.", "max": 4, "min": 0, "name": "EKF2_MULTI_IMU", "rebootRequired": true, "shortDesc": "Multi-EKF IMUs", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "EKF2", "longDesc": "Maximum number of magnetometers to use for Multi-EKF. Set 0 to disable. Requires SENS_MAG_MODE 0.", "max": 4, "min": 0, "name": "EKF2_MULTI_MAG", "rebootRequired": true, "shortDesc": "Multi-EKF Magnetometers", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "EKF2", "max": 50.0, "min": 0.5, "name": "EKF2_NOAID_NOISE", "shortDesc": "Measurement noise for non-aiding position hold", "type": "Float", "units": "m"}, {"category": "Standard", "default": 5000000, "group": "EKF2", "max": 10000000, "min": 500000, "name": "EKF2_NOAID_TOUT", "shortDesc": "Maximum lapsed time from last fusion of measurements that constrain velocity drift before the EKF will report the horizontal nav solution as invalid", "type": "Int32", "units": "us"}, {"category": "Standard", "default": 0, "group": "EKF2", "longDesc": "Enable optical flow fusion.", "name": "EKF2_OF_CTRL", "shortDesc": "Optical flow aiding", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 20.0, "group": "EKF2", "longDesc": "Assumes measurement is timestamped at trailing edge of integration period", "max": 300.0, "min": 0.0, "name": "EKF2_OF_DELAY", "rebootRequired": true, "shortDesc": "Optical flow measurement delay relative to IMU measurements", "type": "Float", "units": "ms"}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "EKF2", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.", "min": 1.0, "name": "EKF2_OF_GATE", "shortDesc": "Gate size for optical flow fusion", "type": "Float", "units": "SD"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.5, "group": "EKF2", "longDesc": "(when it's reported quality metric is at the minimum set by EKF2_OF_QMIN). The following condition must be met: EKF2_OF_N_MAXN >= EKF2_OF_N_MIN", "min": 0.05, "name": "EKF2_OF_N_MAX", "shortDesc": "Measurement noise for the optical flow sensor", "type": "Float", "units": "rad/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.15, "group": "EKF2", "min": 0.05, "name": "EKF2_OF_N_MIN", "shortDesc": "Measurement noise for the optical flow sensor when it's reported quality metric is at the maximum", "type": "Float", "units": "rad/s"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "name": "EKF2_OF_POS_X", "shortDesc": "X position of optical flow focal point in body frame (forward axis with origin relative to vehicle centre of gravity)", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "name": "EKF2_OF_POS_Y", "shortDesc": "Y position of optical flow focal point in body frame (right axis with origin relative to vehicle centre of gravity)", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "name": "EKF2_OF_POS_Z", "shortDesc": "Z position of optical flow focal point in body frame (down axis with origin relative to vehicle centre of gravity)", "type": "Float", "units": "m"}, {"category": "Standard", "default": 1, "group": "EKF2", "max": 255, "min": 0, "name": "EKF2_OF_QMIN", "shortDesc": "Optical Flow data will only be used in air if the sensor reports a quality metric >= EKF2_OF_QMIN", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "EKF2", "max": 255, "min": 0, "name": "EKF2_OF_QMIN_GND", "shortDesc": "Optical Flow data will only be used on the ground if the sensor reports a quality metric >= EKF2_OF_QMIN_GND", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "EKF2", "longDesc": "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.", "max": 0.5, "min": -0.5, "name": "EKF2_PCOEF_XN", "shortDesc": "Static pressure position error coefficient for the negative X axis", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "EKF2", "longDesc": "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 forward flight, then this will be a negative number.", "max": 0.5, "min": -0.5, "name": "EKF2_PCOEF_XP", "shortDesc": "Static pressure position error coefficient for the positive X axis", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "EKF2", "longDesc": "This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the negative Y (LH) body axis. If the baro height estimate rises during sideways flight to the left, then this will be a negative number.", "max": 0.5, "min": -0.5, "name": "EKF2_PCOEF_YN", "shortDesc": "Pressure position error coefficient for the negative Y axis", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "EKF2", "longDesc": "This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the positive Y (RH) body axis. If the baro height estimate rises during sideways flight to the right, then this will be a negative number.", "max": 0.5, "min": -0.5, "name": "EKF2_PCOEF_YP", "shortDesc": "Pressure position error coefficient for the positive Y axis", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "EKF2", "longDesc": "This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the Z body axis.", "max": 0.5, "min": -0.5, "name": "EKF2_PCOEF_Z", "shortDesc": "Static pressure position error coefficient for the Z axis", "type": "Float"}, {"category": "Standard", "default": 10000, "group": "EKF2", "longDesc": "EKF prediction period in microseconds. This should ideally be an integer multiple of the IMU time delta. Actual filter update will be an integer multiple of IMU update.", "max": 20000, "min": 1000, "name": "EKF2_PREDICT_US", "shortDesc": "EKF prediction period", "type": "Int32", "units": "us"}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "EKF2", "max": 100.0, "min": 2.0, "name": "EKF2_REQ_EPH", "shortDesc": "Required EPH to use GPS", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "EKF2", "max": 100.0, "min": 2.0, "name": "EKF2_REQ_EPV", "shortDesc": "Required EPV to use GPS", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "EKF2", "longDesc": "Minimum continuous period without GPS failure required to mark a healthy GPS status. It can be reduced to speed up initialization, but it's recommended to keep this unchanged for a vehicle.", "min": 0.1, "name": "EKF2_REQ_GPS_H", "rebootRequired": true, "shortDesc": "Required GPS health time on startup", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "EKF2", "max": 1.0, "min": 0.1, "name": "EKF2_REQ_HDRIFT", "shortDesc": "Maximum horizontal drift speed to use GPS", "type": "Float", "units": "m/s"}, {"category": "Standard", "default": 6, "group": "EKF2", "max": 12, "min": 4, "name": "EKF2_REQ_NSATS", "shortDesc": "Required satellite count to use GPS", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 1, "default": 2.5, "group": "EKF2", "max": 5.0, "min": 1.5, "name": "EKF2_REQ_PDOP", "shortDesc": "Maximum PDOP to use GPS", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.5, "group": "EKF2", "max": 5.0, "min": 0.5, "name": "EKF2_REQ_SACC", "shortDesc": "Required speed accuracy to use GPS", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "EKF2", "max": 1.5, "min": 0.1, "name": "EKF2_REQ_VDRIFT", "shortDesc": "Maximum vertical drift speed to use GPS", "type": "Float", "units": "m/s"}, {"category": "Standard", "default": 5.0, "group": "EKF2", "longDesc": "If the vehicle absolute altitude exceeds this value then the estimator will not fuse range measurements to estimate its height. This only applies when conditional range aid mode is activated (EKF2_RNG_CTRL = 1).", "max": 10.0, "min": 1.0, "name": "EKF2_RNG_A_HMAX", "shortDesc": "Maximum absolute altitude (height above ground level) allowed for conditional range aid mode", "type": "Float", "units": "m"}, {"category": "Standard", "default": 1.0, "group": "EKF2", "longDesc": "A lower value means HAGL needs to be more stable in order to use range finder for height estimation in range aid mode", "max": 5.0, "min": 0.1, "name": "EKF2_RNG_A_IGATE", "shortDesc": "Gate size used for innovation consistency checks for range aid fusion", "type": "Float", "units": "SD"}, {"category": "Standard", "default": 1.0, "group": "EKF2", "longDesc": "If the vehicle horizontal speed exceeds this value then the estimator will not fuse range measurements to estimate its height. This only applies when conditional range aid mode is activated (EKF2_RNG_CTRL = 1).", "max": 2.0, "min": 0.1, "name": "EKF2_RNG_A_VMAX", "shortDesc": "Maximum horizontal velocity allowed for conditional range aid mode", "type": "Float", "units": "m/s"}, {"category": "Standard", "default": 1, "group": "EKF2", "longDesc": "WARNING: Range finder measurements are less reliable and can experience unexpected errors. For these reasons, if accurate control of height relative to ground is required, it is recommended to use the MPC_ALT_MODE parameter instead, unless baro errors are severe enough to cause problems with landing and takeoff. To en-/disable range finder for terrain height estimation, use EKF2_TERR_MASK instead. If this parameter is enabled then the estimator will make use of the range finder measurements to estimate its height in addition to other height sources (if activated). Range sensor aiding can be enabled (i.e.: always use) or set in \"conditional\" mode. Conditional mode: This enables the range finder to be used during low speed (< EKF2_RNG_A_VMAX) and low altitude (< EKF2_RNG_A_HMAX) operation, eg takeoff and landing, where baro interference from rotor wash is excessive and can corrupt EKF state estimates. It is intended to be used where a vertical takeoff and landing is performed, and horizontal flight does not occur until above EKF2_RNG_A_HMAX.", "name": "EKF2_RNG_CTRL", "shortDesc": "Range sensor height aiding", "type": "Int32", "values": [{"description": "Disable range fusion", "value": 0}, {"description": "Enabled (conditional mode)", "value": 1}, {"description": "Enabled", "value": 2}]}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "EKF2", "max": 300.0, "min": 0.0, "name": "EKF2_RNG_DELAY", "rebootRequired": true, "shortDesc": "Range finder measurement delay relative to IMU measurements", "type": "Float", "units": "ms"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "EKF2", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.", "min": 1.0, "name": "EKF2_RNG_GATE", "shortDesc": "Gate size for range finder fusion", "type": "Float", "units": "SD"}, {"category": "Standard", "default": 1.0, "group": "EKF2", "longDesc": "To be used, the time derivative of the distance sensor measurements projected on the vertical axis needs to be statistically consistent with the estimated vertical velocity of the drone. Decrease this value to make the filter more robust against range finder faulty data (stuck, reflections, ...). Note: tune the range finder noise parameters (EKF2_RNG_NOISE and EKF2_RNG_SFE) before tuning this gate.", "max": 5.0, "min": 0.1, "name": "EKF2_RNG_K_GATE", "shortDesc": "Gate size used for range finder kinematic consistency check", "type": "Float", "units": "SD"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "EKF2", "min": 0.01, "name": "EKF2_RNG_NOISE", "shortDesc": "Measurement noise for range finder fusion", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "max": 0.75, "min": -0.75, "name": "EKF2_RNG_PITCH", "shortDesc": "Range sensor pitch offset", "type": "Float", "units": "rad"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "name": "EKF2_RNG_POS_X", "shortDesc": "X position of range finder origin in body frame (forward axis with origin relative to vehicle centre of gravity)", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "name": "EKF2_RNG_POS_Y", "shortDesc": "Y position of range finder origin in body frame (right axis with origin relative to vehicle centre of gravity)", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "EKF2", "name": "EKF2_RNG_POS_Z", "shortDesc": "Z position of range finder origin in body frame (down axis with origin relative to vehicle centre of gravity)", "type": "Float", "units": "m"}, {"category": "Standard", "default": 1.0, "group": "EKF2", "max": 5.0, "min": 0.1, "name": "EKF2_RNG_QLTY_T", "shortDesc": "Minimum duration during which the reported range finder signal quality needs to be non-zero in order to be declared valid (s)", "type": "Float", "units": "s"}, {"category": "Standard", "default": 0.05, "group": "EKF2", "longDesc": "Specifies the increase in range finder noise with range.", "max": 0.2, "min": 0.0, "name": "EKF2_RNG_SFE", "shortDesc": "Range finder range dependent noise scaler", "type": "Float", "units": "m/m"}, {"category": "Standard", "default": 0.2, "group": "EKF2", "longDesc": "EKF2 instances have to be better than the selected by at least this amount before their relative score can be reduced.", "name": "EKF2_SEL_ERR_RED", "shortDesc": "Selector error reduce threshold", "type": "Float"}, {"category": "Standard", "default": 1.0, "group": "EKF2", "longDesc": "EKF2 selector acceleration error threshold for comparing accelerometers. Acceleration vector differences larger than this will result in accumulated velocity error.", "name": "EKF2_SEL_IMU_ACC", "shortDesc": "Selector acceleration threshold", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "default": 15.0, "group": "EKF2", "longDesc": "EKF2 selector maximum accumulated angular error threshold for comparing gyros. Accumulated angular error larger than this will result in the sensor being declared faulty.", "name": "EKF2_SEL_IMU_ANG", "shortDesc": "Selector angular threshold", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 7.0, "group": "EKF2", "longDesc": "EKF2 selector angular rate error threshold for comparing gyros. Angular rate vector differences larger than this will result in accumulated angular error.", "name": "EKF2_SEL_IMU_RAT", "shortDesc": "Selector angular rate threshold", "type": "Float", "units": "deg/s"}, {"category": "Standard", "default": 2.0, "group": "EKF2", "longDesc": "EKF2 selector maximum accumulated velocity threshold for comparing accelerometers. Accumulated velocity error larger than this will result in the sensor being declared faulty.", "name": "EKF2_SEL_IMU_VEL", "shortDesc": "Selector angular threshold", "type": "Float", "units": "m/s"}, {"category": "Standard", "default": 0, "group": "EKF2", "longDesc": "Use for vehicles where the measured body Z magnetic field is subject to strong magnetic interference. For magnetic heading fusion the magnetometer Z measurement will be replaced by a synthetic value calculated using the knowledge of the 3D magnetic field vector at the location of the drone. Therefore, this parameter will only have an effect if the global position of the drone is known. For 3D mag fusion the magnetometer Z measurement will simply be ignored instead of fusing the synthetic value.", "name": "EKF2_SYNT_MAG_Z", "shortDesc": "Enable synthetic magnetometer Z component measurement", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "EKF2", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.", "min": 1.0, "name": "EKF2_TAS_GATE", "shortDesc": "Gate size for TAS fusion", "type": "Float", "units": "SD"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.25, "group": "EKF2", "max": 1.0, "min": 0.1, "name": "EKF2_TAU_POS", "shortDesc": "Time constant of the position output prediction and smoothing filter. Controls how tightly the output track the EKF states", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.25, "group": "EKF2", "max": 1.0, "name": "EKF2_TAU_VEL", "shortDesc": "Time constant of the velocity output prediction and smoothing filter", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.5, "group": "EKF2", "min": 0.0, "name": "EKF2_TERR_GRAD", "shortDesc": "Magnitude of terrain gradient", "type": "Float", "units": "m/m"}, {"bitmask": [{"description": "use range finder", "index": 0}, {"description": "use optical flow", "index": 1}], "category": "Standard", "default": 3, "group": "EKF2", "longDesc": "Set bits in the following positions to enable: 0 : Set to true to use range finder data if available 1 : Set to true to use optical flow data if available", "max": 3, "min": 0, "name": "EKF2_TERR_MASK", "shortDesc": "Integer bitmask controlling fusion sources of the terrain estimator", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "EKF2", "min": 0.5, "name": "EKF2_TERR_NOISE", "shortDesc": "Terrain altitude process noise - accounts for instability in vehicle height estimate", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "EKF2", "longDesc": "When unaided, the wind estimate uncertainty (1-sigma, in m/s) increases by this amount every second.", "max": 1.0, "min": 0.0, "name": "EKF2_WIND_NSD", "shortDesc": "Process noise spectral density for wind velocity prediction", "type": "Float", "units": "m/s^2/sqrt(Hz)"}, {"category": "Standard", "default": 0, "group": "ESC", "max": 65535, "min": 0, "name": "ESC_BL_VER", "shortDesc": "Required esc bootloader version", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "ESC", "max": 65535, "min": 0, "name": "ESC_FW_VER", "shortDesc": "Required esc firmware version", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "ESC", "max": 65535, "min": 0, "name": "ESC_HW_VER", "shortDesc": "Required esc hardware version", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Events", "longDesc": "Enable/disable event task for RC Loss. When enabled, an alarm tune will be played via buzzer or ESCs, if supported. The alarm will sound after a disarm, if the vehicle was previously armed and only if the vehicle had RC signal at some point. Particularly useful for locating crashed drones without a GPS sensor.", "name": "EV_TSK_RC_LOSS", "rebootRequired": true, "shortDesc": "RC Loss Alarm", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Events", "longDesc": "Enable/disable event task for displaying the vehicle status using arm-mounted LEDs. When enabled and if the vehicle supports it, LEDs will flash indicating various vehicle status changes. Currently PX4 has not implemented any specific status events. -", "name": "EV_TSK_STAT_DIS", "rebootRequired": true, "shortDesc": "Status Display", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 30.0, "group": "FW Attitude Control", "increment": 0.5, "longDesc": "Applies to both directions in all manual modes with attitude stabilization but without altitude control", "max": 90.0, "min": 0.0, "name": "FW_MAN_P_MAX", "shortDesc": "Maximum manual pitch angle", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 1, "default": 45.0, "group": "FW Attitude Control", "increment": 0.5, "longDesc": "Applies to both directions in all manual modes with attitude stabilization", "max": 90.0, "min": 0.0, "name": "FW_MAN_R_MAX", "shortDesc": "Maximum manual roll angle", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 1, "default": 30.0, "group": "FW Attitude Control", "increment": 0.5, "longDesc": "This is the maximally added yaw rate setpoint from the yaw stick in any attitude controlled flight mode. It is added to the yaw rate setpoint generated by the controller for turn coordination.", "min": 0.0, "name": "FW_MAN_YR_MAX", "shortDesc": "Maximum manually added yaw rate", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "FW Attitude Control", "increment": 0.5, "longDesc": "An airframe specific offset of the pitch setpoint in degrees, the value is added to the pitch setpoint and should correspond to the pitch at typical cruise speed of the airframe.", "max": 90.0, "min": -90.0, "name": "FW_PSP_OFF", "shortDesc": "Pitch setpoint offset (pitch at level flight)", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 1, "default": 60.0, "group": "FW Attitude Control", "increment": 0.5, "max": 180.0, "min": 0.0, "name": "FW_P_RMAX_NEG", "shortDesc": "Maximum negative / down pitch rate setpoint", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 60.0, "group": "FW Attitude Control", "increment": 0.5, "max": 180.0, "min": 0.0, "name": "FW_P_RMAX_POS", "shortDesc": "Maximum positive / up pitch rate setpoint", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.4, "group": "FW Attitude Control", "increment": 0.05, "longDesc": "This defines the latency between a pitch step input and the achieved setpoint (inverse to a P gain). Smaller systems may require smaller values.", "max": 1.0, "min": 0.2, "name": "FW_P_TC", "shortDesc": "Attitude pitch time constant", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": 70.0, "group": "FW Attitude Control", "increment": 0.5, "max": 180.0, "min": 0.0, "name": "FW_R_RMAX", "shortDesc": "Maximum roll rate setpoint", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.4, "group": "FW Attitude Control", "increment": 0.05, "longDesc": "This defines the latency between a roll step input and the achieved setpoint (inverse to a P gain). Smaller systems may require smaller values.", "max": 1.0, "min": 0.2, "name": "FW_R_TC", "shortDesc": "Attitude Roll Time Constant", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "FW Attitude Control", "increment": 0.01, "max": 1.0, "min": 0.0, "name": "FW_SPOILERS_DESC", "shortDesc": "Spoiler descend setting", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "FW Attitude Control", "increment": 0.01, "max": 1.0, "min": 0.0, "name": "FW_SPOILERS_LND", "shortDesc": "Spoiler landing setting", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "FW Attitude Control", "increment": 0.05, "max": 10.0, "min": 0.0, "name": "FW_WR_FF", "shortDesc": "Wheel steering rate feed forward", "type": "Float", "units": "%/rad/s"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.1, "group": "FW Attitude Control", "increment": 0.005, "longDesc": "This gain defines how much control response will result out of a steady state error. It trims any constant error.", "max": 10.0, "min": 0.0, "name": "FW_WR_I", "shortDesc": "Wheel steering rate integrator gain", "type": "Float", "units": "%/rad"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.4, "group": "FW Attitude Control", "increment": 0.05, "max": 1.0, "min": 0.0, "name": "FW_WR_IMAX", "shortDesc": "Wheel steering rate integrator limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.5, "group": "FW Attitude Control", "increment": 0.005, "longDesc": "This defines how much the wheel steering input will be commanded depending on the current body angular rate error.", "max": 10.0, "min": 0.0, "name": "FW_WR_P", "shortDesc": "Wheel steering rate proportional gain", "type": "Float", "units": "%/rad/s"}, {"category": "Standard", "default": 0, "group": "FW Attitude Control", "longDesc": "Only enabled during automatic runway takeoff and landing. In all manual modes the wheel is directly controlled with yaw stick.", "name": "FW_W_EN", "shortDesc": "Enable wheel steering controller", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 30.0, "group": "FW Attitude Control", "increment": 0.5, "longDesc": "This limits the maximum wheel steering rate the controller will output (in degrees per second).", "max": 90.0, "min": 0.0, "name": "FW_W_RMAX", "shortDesc": "Maximum wheel steering rate", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 50.0, "group": "FW Attitude Control", "increment": 0.5, "max": 180.0, "min": 0.0, "name": "FW_Y_RMAX", "shortDesc": "Maximum yaw rate setpoint", "type": "Float", "units": "deg/s"}, {"bitmask": [{"description": "Abort if terrain is not found (only applies to mission landings)", "index": 0}, {"description": "Abort if terrain times out (after a first successful measurement)", "index": 1}], "category": "Standard", "default": 3, "group": "FW Auto Landing", "longDesc": "Terrain estimation: bit 0: Abort if terrain is not found bit 1: Abort if terrain times out (after a first successful measurement) The last estimate is always used as ground, whether the last valid measurement or the land waypoint, depending on the selected abort criteria, until an abort condition is entered. If FW_LND_USETER == 0, these bits are ignored. TODO: Extend automatic abort conditions e.g. glide slope tracking error (horizontal and vertical)", "max": 3, "min": 0, "name": "FW_LND_ABORT", "shortDesc": "Bit mask to set the automatic landing abort conditions", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 1, "default": -1.0, "group": "FW Auto Landing", "increment": 0.1, "longDesc": "The calibrated airspeed setpoint during landing. If set <= 0.0, landing airspeed = FW_AIRSPD_MIN by default.", "min": -1.0, "name": "FW_LND_AIRSPD", "shortDesc": "Landing airspeed", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "FW Auto Landing", "increment": 0.5, "longDesc": "Typically the desired landing slope angle when landing configuration (flaps, airspeed) is enabled. Set this value within the vehicle's performance limits.", "max": 15.0, "min": 1.0, "name": "FW_LND_ANG", "shortDesc": "Maximum landing slope angle", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 0, "group": "FW Auto Landing", "longDesc": "When disabled, the landing configuration (flaps, landing airspeed, etc.) is only activated on the final approach to landing. When enabled, it is already activated when entering the final loiter-down (loiter-to-alt) waypoint before the landing approach.", "name": "FW_LND_EARLYCFG", "shortDesc": "Early landing configuration deployment", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 0.5, "group": "FW Auto Landing", "increment": 0.5, "longDesc": "NOTE: max(FW_LND_FLALT, FW_LND_FL_TIME * |z-velocity|) is taken as the flare altitude", "min": 0.0, "name": "FW_LND_FLALT", "shortDesc": "Landing flare altitude (relative to landing altitude)", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 15.0, "group": "FW Auto Landing", "increment": 0.5, "longDesc": "Maximum pitch during flare, a positive sign means nose up Applied once flaring is triggered", "max": 45.0, "min": 0.0, "name": "FW_LND_FL_PMAX", "shortDesc": "Flare, maximum pitch", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 1, "default": 2.5, "group": "FW Auto Landing", "increment": 0.5, "longDesc": "Minimum pitch during flare, a positive sign means nose up Applied once flaring is triggered", "max": 15.0, "min": -5.0, "name": "FW_LND_FL_PMIN", "shortDesc": "Flare, minimum pitch", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.25, "group": "FW Auto Landing", "increment": 0.1, "longDesc": "TECS will attempt to control the aircraft to this sink rate via pitch angle (throttle killed during flare)", "max": 2.0, "min": 0.0, "name": "FW_LND_FL_SINK", "shortDesc": "Landing flare sink rate", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "FW Auto Landing", "increment": 0.1, "longDesc": "Multiplied by the descent rate to calculate a dynamic altitude at which to trigger the flare. NOTE: max(FW_LND_FLALT, FW_LND_FL_TIME * descent rate) is taken as the flare altitude", "max": 5.0, "min": 0.1, "name": "FW_LND_FL_TIME", "shortDesc": "Landing flare time", "type": "Float", "units": "s"}, {"category": "Standard", "default": 2, "group": "FW Auto Landing", "longDesc": "Approach angle nudging: shifts the touchdown point laterally while keeping the approach entrance point constant Approach path nudging: shifts the touchdown point laterally along with the entire approach path This is useful for manually adjusting the landing point in real time when map or GNSS errors cause an offset from the desired landing vector. Nuding is done with yaw stick, constrained to FW_LND_TD_OFF (in meters) and the direction is relative to the vehicle heading (stick deflection to the right = land point moves to the right as seen by the vehicle).", "max": 2, "min": 0, "name": "FW_LND_NUDGE", "shortDesc": "Landing touchdown nudging option", "type": "Int32", "values": [{"description": "Disable nudging", "value": 0}, {"description": "Nudge approach angle", "value": 1}, {"description": "Nudge approach path", "value": 2}]}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "FW Auto Landing", "increment": 1.0, "max": 10.0, "min": 0.0, "name": "FW_LND_TD_OFF", "shortDesc": "Maximum lateral position offset for the touchdown point", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": -1.0, "group": "FW Auto Landing", "increment": 0.1, "longDesc": "This is the time after the start of flaring that we expect the vehicle to touch the runway. At this time, a 0.5s clamp down ramp will engage, constraining the pitch setpoint to RWTO_PSP. If enabled, ensure that RWTO_PSP is configured appropriately for full gear contact on ground roll. Set to -1.0 to disable touchdown clamping. E.g. it may not be desirable to clamp on belly landings. The touchdown time will be constrained to be greater than or equal to the flare time (FW_LND_FL_TIME).", "max": 5.0, "min": -1.0, "name": "FW_LND_TD_TIME", "shortDesc": "Landing touchdown time (since flare start)", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "FW Auto Landing", "increment": 0.1, "longDesc": "Set this parameter to less than 1.0 to make TECS react faster to altitude errors during landing than during normal flight. During landing, the TECS altitude time constant (FW_T_ALT_TC) is multiplied by this value.", "max": 1.0, "min": 0.2, "name": "FW_LND_THRTC_SC", "shortDesc": "Altitude time constant factor for landing", "type": "Float", "units": ""}, {"category": "Standard", "default": 1, "group": "FW Auto Landing", "longDesc": "NOTE: terrain estimate is currently solely derived from a distance sensor. If enabled and no measurement is found within a given timeout, the landing waypoint altitude will be used OR the landing will be aborted, depending on the criteria set in FW_LND_ABORT. If disabled, FW_LND_ABORT terrain based criteria are ignored.", "max": 2, "min": 0, "name": "FW_LND_USETER", "shortDesc": "Use terrain estimation during landing. This is critical for detecting when to flare, and should be enabled if possible", "type": "Int32", "values": [{"description": "Disable the terrain estimate", "value": 0}, {"description": "Use the terrain estimate to trigger the flare (only)", "value": 1}, {"description": "Calculate landing glide slope relative to the terrain estimate", "value": 2}]}, {"category": "Standard", "decimalPlaces": 1, "default": 0.5, "group": "FW Geometry", "increment": 1.0, "longDesc": "This is used to constrain a minimum altitude below which we keep wings level to avoid wing tip strike. It's safer to give a slight margin here (> 0m)", "min": 0.0, "name": "FW_WING_HEIGHT", "shortDesc": "Height (AGL) of the wings when the aircraft is on the ground", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "FW Geometry", "increment": 0.1, "longDesc": "This is used for limiting the roll setpoint near the ground. (if multiple wings, take the longest span)", "min": 0.1, "name": "FW_WING_SPAN", "shortDesc": "The aircraft's wing span (length from tip to tip)", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.05, "group": "FW Launch detection", "increment": 0.05, "longDesc": "Launch is detected when acceleration in body forward direction is above FW_LAUN_AC_THLD for FW_LAUN_AC_T seconds.", "max": 5.0, "min": 0.0, "name": "FW_LAUN_AC_T", "shortDesc": "Trigger time", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": 30.0, "group": "FW Launch detection", "increment": 0.5, "longDesc": "Launch is detected when acceleration in body forward direction is above FW_LAUN_AC_THLD for FW_LAUN_AC_T seconds.", "min": 0.0, "name": "FW_LAUN_AC_THLD", "shortDesc": "Trigger acceleration threshold", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "default": 0, "group": "FW Launch detection", "longDesc": "Enables automatic launch detection based on measured acceleration. Use for hand- or catapult-launched vehicles. Not compatible with runway takeoff.", "name": "FW_LAUN_DETCN_ON", "shortDesc": "Fixed-wing launch detection", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "FW Launch detection", "increment": 0.5, "longDesc": "Start the motor(s) this amount of seconds after launch is detected.", "max": 10.0, "min": 0.0, "name": "FW_LAUN_MOT_DEL", "shortDesc": "Motor delay", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.7, "group": "FW NPFG Control", "increment": 0.01, "longDesc": "Damping ratio of the NPFG control law.", "max": 1.0, "min": 0.1, "name": "NPFG_DAMPING", "shortDesc": "NPFG damping ratio", "type": "Float"}, {"category": "Standard", "default": 1, "group": "FW NPFG Control", "name": "NPFG_EN_MIN_GSP", "shortDesc": "Enable minimum forward ground speed maintaining excess wind handling logic", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "FW NPFG Control", "increment": 0.5, "longDesc": "The maximum value of the minimum forward ground speed that may be commanded by the track keeping excess wind handling logic. Commanded in full at the normalized track error fraction of the track error boundary and reduced to zero on track.", "max": 10.0, "min": 0.0, "name": "NPFG_GSP_MAX_TK", "shortDesc": "Maximum, minimum forward ground speed for track keeping in excess wind", "type": "Float", "units": "m/s"}, {"category": "Standard", "default": 1, "group": "FW NPFG Control", "longDesc": "Avoids limit cycling from a too aggressively tuned period/damping combination. If set to false, also disables the upper bound NPFG_PERIOD_UB.", "name": "NPFG_LB_PERIOD", "shortDesc": "Enable automatic lower bound on the NPFG period", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "FW NPFG Control", "increment": 0.1, "longDesc": "Period of the NPFG control law.", "max": 100.0, "min": 1.0, "name": "NPFG_PERIOD", "shortDesc": "NPFG period", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.5, "group": "FW NPFG Control", "increment": 0.1, "longDesc": "Multiplied by period for conservative minimum period bounding (when period lower bounding is enabled). 1.0 bounds at marginal stability.", "max": 10.0, "min": 1.0, "name": "NPFG_PERIOD_SF", "shortDesc": "Period safety factor", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.5, "group": "FW NPFG Control", "increment": 0.05, "longDesc": "Time constant of roll controller command / response, modeled as first order delay. Used to determine lower period bound. Setting zero disables automatic period bounding.", "max": 2.0, "min": 0.0, "name": "NPFG_ROLL_TC", "shortDesc": "Roll time constant", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.32, "group": "FW NPFG Control", "increment": 0.01, "longDesc": "Multiplied by the track error boundary to determine when the aircraft switches to the next waypoint and/or path segment. Should be less than 1.", "max": 1.0, "min": 0.1, "name": "NPFG_SW_DST_MLT", "shortDesc": "NPFG switch distance multiplier", "type": "Float"}, {"category": "Standard", "default": 1, "group": "FW NPFG Control", "name": "NPFG_TRACK_KEEP", "shortDesc": "Enable track keeping excess wind handling logic", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1, "group": "FW NPFG Control", "longDesc": "Adapts period to maintain track keeping in variable winds and path curvature.", "name": "NPFG_UB_PERIOD", "shortDesc": "Enable automatic upper bound on the NPFG period", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1, "group": "FW NPFG Control", "longDesc": "Disabling this parameter further disables all other airspeed incrementation options.", "name": "NPFG_WIND_REG", "shortDesc": "Enable wind excess regulation", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 0, "default": 90.0, "group": "FW Path Control", "increment": 1.0, "longDesc": "The maximum change in roll angle setpoint per second.", "min": 0.0, "name": "FW_PN_R_SLEW_MAX", "shortDesc": "Path navigation roll slew rate limit", "type": "Float", "units": "deg/s"}, {"bitmask": [{"description": "Alternative stick configuration (height rate on throttle stick, airspeed on pitch stick)", "index": 0}, {"description": "Enable airspeed setpoint via sticks in altitude and position flight mode", "index": 1}], "category": "Standard", "default": 2, "group": "FW Path Control", "longDesc": "Set RC/joystick configuration for fixed-wing manual position and altitude controlled flight.", "max": 3, "min": 0, "name": "FW_POS_STK_CONF", "shortDesc": "RC stick configuration fixed-wing", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 1, "default": 50.0, "group": "FW Path Control", "increment": 0.5, "longDesc": "The maximum roll angle setpoint for setpoint for a height-rate or altitude controlled mode.", "max": 65.0, "min": 35.0, "name": "FW_R_LIM", "shortDesc": "Maximum roll angle", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "FW Path Control", "increment": 0.5, "max": 30.0, "min": -5.0, "name": "FW_TKO_PITCH_MIN", "shortDesc": "Minimum pitch during takeoff", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 1, "default": 20.0, "group": "FW Performance", "increment": 0.5, "longDesc": "The maximal airspeed (calibrated airspeed) the user is able to command.", "min": 0.5, "name": "FW_AIRSPD_MAX", "shortDesc": "Maximum Airspeed (CAS)", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "FW Performance", "increment": 0.5, "longDesc": "The minimal airspeed (calibrated airspeed) the user is able to command. Further, if the airspeed falls below this value, the TECS controller will try to increase airspeed more aggressively. Has to be set according to the vehicle's stall speed (which should be set in FW_AIRSPD_STALL), with some margin between the stall speed and minimum airspeed. This value corresponds to the desired minimum speed with the default load factor (level flight, default weight), and is automatically adpated to the current load factor (calculated from roll setpoint and WEIGHT_GROSS/WEIGHT_BASE).", "min": 0.5, "name": "FW_AIRSPD_MIN", "shortDesc": "Minimum Airspeed (CAS)", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 7.0, "group": "FW Performance", "increment": 0.5, "longDesc": "The stall airspeed (calibrated airspeed) of the vehicle. It is used for airspeed sensor failure detection and for the control surface scaling airspeed limits.", "min": 0.5, "name": "FW_AIRSPD_STALL", "shortDesc": "Stall Airspeed (CAS)", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 15.0, "group": "FW Performance", "increment": 0.5, "longDesc": "The trim CAS (calibrated airspeed) of the vehicle. If an airspeed controller is active, this is the default airspeed setpoint that the controller will try to achieve. This value corresponds to the trim airspeed with the default load factor (level flight, default weight).", "min": 0.5, "name": "FW_AIRSPD_TRIM", "shortDesc": "Trim (Cruise) Airspeed", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 0, "default": -1.0, "group": "FW Performance", "increment": 1.0, "longDesc": "Altitude in standard atmosphere at which the vehicle in normal configuration (WEIGHT_BASE) is still able to achieve a maximum climb rate of 0.5m/s at maximum throttle (FW_THR_MAX). Used to compensate for air density in FW_T_CLMB_MAX. Set negative to disable.", "min": -1.0, "name": "FW_SERVICE_CEIL", "shortDesc": "Service ceiling", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "FW Performance", "increment": 0.01, "longDesc": "Required throttle (at sea level, standard atmosphere) for level flight at maximum airspeed FW_AIRSPD_MAX Set to 0 to disable mapping of airspeed to trim throttle.", "max": 1.0, "min": 0.0, "name": "FW_THR_ASPD_MAX", "shortDesc": "Throttle at max airspeed", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "FW Performance", "increment": 0.01, "longDesc": "Required throttle (at sea level, standard atmosphere) for level flight at minimum airspeed FW_AIRSPD_MIN Set to 0 to disable mapping of airspeed to trim throttle below FW_AIRSPD_TRIM.", "max": 1.0, "min": 0.0, "name": "FW_THR_ASPD_MIN", "shortDesc": "Throttle at min airspeed", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.6, "group": "FW Performance", "increment": 0.01, "longDesc": "Required throttle (at sea level, standard atmosphere) for level flight at FW_AIRSPD_TRIM", "max": 1.0, "min": 0.0, "name": "FW_THR_TRIM", "shortDesc": "Trim throttle", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "FW Performance", "increment": 0.5, "longDesc": "This is the maximum calibrated climb rate that the aircraft can achieve with the throttle set to FW_THR_MAX and the airspeed set to the trim value. For electric aircraft make sure this number can be achieved towards the end of flight when the battery voltage has reduced.", "max": 15.0, "min": 1.0, "name": "FW_T_CLMB_MAX", "shortDesc": "Maximum climb rate", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 2.0, "group": "FW Performance", "increment": 0.5, "longDesc": "This is the minimum calibrated sink rate of the aircraft with the throttle set to THR_MIN and flown at the same airspeed as used to measure FW_T_CLMB_MAX.", "max": 5.0, "min": 1.0, "name": "FW_T_SINK_MIN", "shortDesc": "Minimum descent rate", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": -1.0, "group": "FW Performance", "increment": 0.5, "longDesc": "This is the weight of the vehicle at which it's performance limits were derived. A zero or negative value disables trim throttle and minimum airspeed compensation based on weight.", "name": "WEIGHT_BASE", "shortDesc": "Vehicle base weight", "type": "Float", "units": "kg"}, {"category": "Standard", "decimalPlaces": 1, "default": -1.0, "group": "FW Performance", "increment": 0.1, "longDesc": "This is the actual weight of the vehicle at any time. This value will differ from WEIGHT_BASE in case weight was added or removed from the base weight. Examples are the addition of payloads or larger batteries. A zero or negative value disables trim throttle and minimum airspeed compensation based on weight.", "name": "WEIGHT_GROSS", "shortDesc": "Vehicle gross weight", "type": "Float", "units": "kg"}, {"category": "Standard", "default": 90.0, "group": "FW Rate Control", "max": 720.0, "min": 10.0, "name": "FW_ACRO_X_MAX", "shortDesc": "Acro body roll max rate setpoint", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 0, "group": "FW Rate Control", "longDesc": "If this parameter is set to 1, the yaw rate controller is enabled in Fixed-wing Acro mode. Otherwise the pilot commands directly the yaw actuator. It is disabled by default because an active yaw rate controller will fight against the natural turn coordination of the plane.", "name": "FW_ACRO_YAW_EN", "shortDesc": "Enable yaw rate controller in Acro", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 90.0, "group": "FW Rate Control", "max": 720.0, "min": 10.0, "name": "FW_ACRO_Y_MAX", "shortDesc": "Acro body pitch max rate setpoint", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 45.0, "group": "FW Rate Control", "max": 720.0, "min": 10.0, "name": "FW_ACRO_Z_MAX", "shortDesc": "Acro body yaw max rate setpoint", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 1, "group": "FW Rate Control", "longDesc": "This enables a logic that automatically adjusts the output of the rate controller to take into account the real torque produced by an aerodynamic control surface given the current deviation from the trim airspeed (FW_AIRSPD_TRIM). Enable when using aerodynamic control surfaces (e.g.: plane) Disable when using rotor wings (e.g.: autogyro)", "name": "FW_ARSP_SCALE_EN", "shortDesc": "Enable airspeed scaling", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "FW Rate Control", "longDesc": "This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery.", "name": "FW_BAT_SCALE_EN", "shortDesc": "Enable throttle scale by battery level", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "FW Rate Control", "increment": 0.01, "longDesc": "This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MAX.", "max": 0.5, "min": -0.5, "name": "FW_DTRIM_P_VMAX", "shortDesc": "Pitch trim increment at maximum airspeed", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "FW Rate Control", "increment": 0.01, "longDesc": "This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MIN.", "max": 0.5, "min": -0.5, "name": "FW_DTRIM_P_VMIN", "shortDesc": "Pitch trim increment at minimum airspeed", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "FW Rate Control", "increment": 0.01, "longDesc": "This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MAX.", "max": 0.5, "min": -0.5, "name": "FW_DTRIM_R_VMAX", "shortDesc": "Roll trim increment at maximum airspeed", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "FW Rate Control", "increment": 0.01, "longDesc": "This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MIN.", "max": 0.5, "min": -0.5, "name": "FW_DTRIM_R_VMIN", "shortDesc": "Roll trim increment at minimum airspeed", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "FW Rate Control", "increment": 0.01, "longDesc": "This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MAX.", "max": 0.5, "min": -0.5, "name": "FW_DTRIM_Y_VMAX", "shortDesc": "Yaw trim increment at maximum airspeed", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "FW Rate Control", "increment": 0.01, "longDesc": "This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MIN.", "max": 0.5, "min": -0.5, "name": "FW_DTRIM_Y_VMIN", "shortDesc": "Yaw trim increment at minimum airspeed", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "FW Rate Control", "increment": 0.01, "longDesc": "Sets a fraction of full flaps during landing. Also applies to flaperons if enabled in the mixer/allocation.", "max": 1.0, "min": 0.0, "name": "FW_FLAPS_LND_SCL", "shortDesc": "Flaps setting during landing", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "FW Rate Control", "increment": 0.01, "longDesc": "Sets a fraction of full flaps during take-off. Also applies to flaperons if enabled in the mixer/allocation.", "max": 1.0, "min": 0.0, "name": "FW_FLAPS_TO_SCL", "shortDesc": "Flaps setting during take-off", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "FW Rate Control", "increment": 0.01, "longDesc": "Scale factor applied to the desired pitch actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.", "min": 0.0, "name": "FW_MAN_P_SC", "shortDesc": "Manual pitch scale", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "FW Rate Control", "increment": 0.01, "longDesc": "Scale factor applied to the desired roll actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.", "max": 1.0, "min": 0.0, "name": "FW_MAN_R_SC", "shortDesc": "Manual roll scale", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "FW Rate Control", "increment": 0.01, "longDesc": "Scale factor applied to the desired yaw actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.", "min": 0.0, "name": "FW_MAN_Y_SC", "shortDesc": "Manual yaw scale", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "FW Rate Control", "increment": 0.005, "longDesc": "Pitch rate differential gain.", "max": 10.0, "min": 0.0, "name": "FW_PR_D", "shortDesc": "Pitch rate derivative gain", "type": "Float", "units": "%/rad/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.5, "group": "FW Rate Control", "increment": 0.05, "longDesc": "Direct feed forward from rate setpoint to control surface output", "max": 10.0, "min": 0.0, "name": "FW_PR_FF", "shortDesc": "Pitch rate feed forward", "type": "Float", "units": "%/rad/s"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.1, "group": "FW Rate Control", "increment": 0.005, "max": 10.0, "min": 0.0, "name": "FW_PR_I", "shortDesc": "Pitch rate integrator gain", "type": "Float", "units": "%/rad"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.4, "group": "FW Rate Control", "increment": 0.05, "max": 1.0, "min": 0.0, "name": "FW_PR_IMAX", "shortDesc": "Pitch rate integrator limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.08, "group": "FW Rate Control", "increment": 0.005, "max": 10.0, "min": 0.0, "name": "FW_PR_P", "shortDesc": "Pitch rate proportional gain", "type": "Float", "units": "%/rad/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "FW Rate Control", "increment": 0.01, "longDesc": "This gain can be used to counteract the \"adverse yaw\" effect for fixed wings. When the plane enters a roll it will tend to yaw the nose out of the turn. This gain enables the use of a yaw actuator to counteract this effect.", "min": 0.0, "name": "FW_RLL_TO_YAW_FF", "shortDesc": "Roll control to yaw control feedforward gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "FW Rate Control", "increment": 0.005, "max": 10.0, "min": 0.0, "name": "FW_RR_D", "shortDesc": "Roll rate derivative gain", "type": "Float", "units": "%/rad/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.5, "group": "FW Rate Control", "increment": 0.05, "longDesc": "Direct feed forward from rate setpoint to control surface output.", "max": 10.0, "min": 0.0, "name": "FW_RR_FF", "shortDesc": "Roll rate feed forward", "type": "Float", "units": "%/rad/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "FW Rate Control", "increment": 0.01, "max": 10.0, "min": 0.0, "name": "FW_RR_I", "shortDesc": "Roll rate integrator gain", "type": "Float", "units": "%/rad"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "FW Rate Control", "increment": 0.05, "max": 1.0, "min": 0.0, "name": "FW_RR_IMAX", "shortDesc": "Roll integrator limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "FW Rate Control", "increment": 0.005, "max": 10.0, "min": 0.0, "name": "FW_RR_P", "shortDesc": "Roll rate proportional gain", "type": "Float", "units": "%/rad/s"}, {"category": "Standard", "default": 0, "group": "FW Rate Control", "longDesc": "Chose source for manual setting of spoilers in manual flight modes.", "name": "FW_SPOILERS_MAN", "shortDesc": "Spoiler input in manual flight", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Flaps channel", "value": 1}, {"description": "Aux1", "value": 2}]}, {"category": "Standard", "default": 1, "group": "FW Rate Control", "longDesc": "If set to 1, the airspeed measurement data, if valid, is used in the following controllers: - Rate controller: output scaling - Attitude controller: coordinated turn controller - Position controller: airspeed setpoint tracking, takeoff logic - VTOL: transition logic", "name": "FW_USE_AIRSPD", "shortDesc": "Use airspeed for control", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "FW Rate Control", "increment": 0.005, "max": 10.0, "min": 0.0, "name": "FW_YR_D", "shortDesc": "Yaw rate derivative gain", "type": "Float", "units": "%/rad/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.3, "group": "FW Rate Control", "increment": 0.05, "longDesc": "Direct feed forward from rate setpoint to control surface output", "max": 10.0, "min": 0.0, "name": "FW_YR_FF", "shortDesc": "Yaw rate feed forward", "type": "Float", "units": "%/rad/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.1, "group": "FW Rate Control", "increment": 0.5, "max": 10.0, "min": 0.0, "name": "FW_YR_I", "shortDesc": "Yaw rate integrator gain", "type": "Float", "units": "%/rad"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "FW Rate Control", "increment": 0.05, "max": 1.0, "min": 0.0, "name": "FW_YR_IMAX", "shortDesc": "Yaw rate integrator limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "FW Rate Control", "increment": 0.005, "max": 10.0, "min": 0.0, "name": "FW_YR_P", "shortDesc": "Yaw rate proportional gain", "type": "Float", "units": "%/rad/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "FW TECS", "increment": 0.5, "longDesc": "The controller will increase the commanded airspeed to maintain this minimum groundspeed to the next waypoint.", "max": 40.0, "min": 0.0, "name": "FW_GND_SPD_MIN", "shortDesc": "Minimum groundspeed", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 30.0, "group": "FW TECS", "increment": 0.5, "longDesc": "The maximum pitch angle setpoint setpoint for a height-rate or altitude controlled mode.", "max": 60.0, "min": 0.0, "name": "FW_P_LIM_MAX", "shortDesc": "Maximum pitch angle", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 1, "default": -30.0, "group": "FW TECS", "increment": 0.5, "longDesc": "The minimum pitch angle setpoint for a height-rate or altitude controlled mode.", "max": 0.0, "min": -60.0, "name": "FW_P_LIM_MIN", "shortDesc": "Minimum pitch angle", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "FW TECS", "increment": 0.01, "longDesc": "This is the minimum throttle while on the ground For aircraft with internal combustion engines, this parameter should be set above the desired idle rpm. For electric motors, idle should typically be set to zero. Note that in automatic modes, \"landed\" conditions will engage idle throttle.", "max": 0.4, "min": 0.0, "name": "FW_THR_IDLE", "shortDesc": "Idle throttle", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "FW TECS", "increment": 0.01, "longDesc": "Maximum throttle limit in altitude controlled modes. Should be set accordingly to achieve FW_T_CLMB_MAX.", "max": 1.0, "min": 0.0, "name": "FW_THR_MAX", "shortDesc": "Throttle limit max", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "FW TECS", "increment": 0.01, "longDesc": "Minimum throttle limit in altitude controlled modes. Usually set to 0 but can be increased to prevent the motor from stopping when descending, which can increase achievable descent rates. For aircraft with internal combustion engine this parameter should be set for desired idle rpm.", "max": 1.0, "min": 0.0, "name": "FW_THR_MIN", "shortDesc": "Throttle limit min", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "FW TECS", "increment": 0.01, "longDesc": "Maximum slew rate for the commanded throttle", "max": 1.0, "min": 0.0, "name": "FW_THR_SLEW_MAX", "shortDesc": "Throttle max slew rate", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": -1.0, "group": "FW TECS", "increment": 0.1, "longDesc": "The calibrated airspeed setpoint TECS will stabilize to during the takeoff climbout. If set <= 0.0, FW_AIRSPD_MIN will be set by default.", "min": -1.0, "name": "FW_TKO_AIRSPD", "shortDesc": "Takeoff Airspeed", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 5.0, "group": "FW TECS", "increment": 0.5, "min": 2.0, "name": "FW_T_ALT_TC", "shortDesc": "Altitude error time constant", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 3.0, "group": "FW TECS", "increment": 0.01, "longDesc": "The default rate at which the vehicle will climb in autonomous modes to achieve altitude setpoints. In manual modes this defines the maximum rate at which the altitude setpoint can be increased.", "max": 15.0, "min": 0.5, "name": "FW_T_CLMB_R_SP", "shortDesc": "Default target climbrate", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.3, "group": "FW TECS", "increment": 0.05, "max": 1.0, "min": 0.0, "name": "FW_T_HRATE_FF", "shortDesc": "Height rate feed forward", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "FW TECS", "increment": 0.05, "longDesc": "Integrator gain on the pitch part of the control loop. Increase it to trim out speed and height offsets faster, with the downside of possible overshoots and oscillations.", "max": 2.0, "min": 0.0, "name": "FW_T_I_GAIN_PIT", "shortDesc": "Integrator gain pitch", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "FW TECS", "increment": 0.1, "longDesc": "This is the damping gain for the pitch demand loop. Increase to add damping to correct for oscillations in height. The default value of 0.0 will work well provided the pitch to servo controller has been tuned properly.", "max": 2.0, "min": 0.0, "name": "FW_T_PTCH_DAMP", "shortDesc": "Pitch damping factor", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 15.0, "group": "FW TECS", "increment": 0.5, "longDesc": "Increasing this gain turn increases the amount of throttle that will be used to compensate for the additional drag created by turning. Ideally this should be set to  approximately 10 x the extra sink rate in m/s created by a 45 degree bank turn. Increase this gain if the aircraft initially loses energy in turns and reduce if the aircraft initially gains energy in turns. Efficient high aspect-ratio aircraft (eg powered sailplanes) can use a lower value, whereas inefficient low aspect-ratio models (eg delta wings) can use a higher value.", "max": 20.0, "min": 0.0, "name": "FW_T_RLL2THR", "shortDesc": "Roll -> Throttle feedforward", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "FW TECS", "increment": 0.01, "max": 3.0, "min": 0.5, "name": "FW_T_SEB_R_FF", "shortDesc": "Specific total energy balance rate feedforward gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "FW TECS", "increment": 0.5, "longDesc": "This sets the maximum descent rate that the controller will use. If this value is too large, the aircraft can over-speed on descent. This should be set to a value that can be achieved without exceeding the lower pitch angle limit and without over-speeding the aircraft.", "max": 15.0, "min": 1.0, "name": "FW_T_SINK_MAX", "shortDesc": "Maximum descent rate", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 2.0, "group": "FW TECS", "increment": 0.01, "longDesc": "The default rate at which the vehicle will sink in autonomous modes to achieve altitude setpoints. In manual modes this defines the maximum rate at which the altitude setpoint can be decreased.", "max": 15.0, "min": 0.5, "name": "FW_T_SINK_R_SP", "shortDesc": "Default target sinkrate", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "FW TECS", "increment": 1.0, "longDesc": "This parameter adjusts the amount of weighting that the pitch control applies to speed vs height errors. Setting it to 0.0 will cause the pitch control to control height and ignore speed errors. This will normally improve height accuracy but give larger airspeed errors. Setting it to 2.0 will cause the pitch control loop to control speed and ignore height errors. This will normally reduce airspeed errors, but give larger height errors. The default value of 1.0 allows the pitch control to simultaneously control height and speed. Set to 2 for gliders.", "max": 2.0, "min": 0.0, "name": "FW_T_SPDWEIGHT", "shortDesc": "Speed <--> Altitude priority", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "FW TECS", "increment": 0.1, "longDesc": "This is the measurement standard deviation for the airspeed rate used in the airspeed filter in TECS.", "max": 10.0, "min": 0.01, "name": "FW_T_SPD_DEV_STD", "shortDesc": "Airspeed rate measurement standard deviation for airspeed filter", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "FW TECS", "increment": 0.1, "longDesc": "This is the process noise standard deviation in the airspeed filter filter defining the noise in the airspeed rate for the constant airspeed rate model. This is used to define how much the airspeed and the airspeed rate are filtered. The smaller the value the more the measurements are smoothed with the drawback for delays.", "max": 10.0, "min": 0.01, "name": "FW_T_SPD_PRC_STD", "shortDesc": "Process noise standard deviation for the airspeed rate in the airspeed filter", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.07, "group": "FW TECS", "increment": 0.1, "longDesc": "This is the measurement standard deviation for the airspeed used in the airspeed filter in TECS.", "max": 10.0, "min": 0.01, "name": "FW_T_SPD_STD", "shortDesc": "Airspeed measurement standard deviation for airspeed filter", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.4, "group": "FW TECS", "increment": 0.01, "longDesc": "This filter is applied to the specific total energy rate used for throttle damping.", "max": 2.0, "min": 0.0, "name": "FW_T_STE_R_TC", "shortDesc": "Specific total energy rate first order filter time constant", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 5.0, "group": "FW TECS", "increment": 0.5, "min": 2.0, "name": "FW_T_TAS_TC", "shortDesc": "True airspeed error time constant", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "FW TECS", "increment": 0.01, "longDesc": "This is the damping gain for the throttle demand loop. Increase to add damping to correct for oscillations in speed and height.", "max": 1.0, "min": 0.0, "name": "FW_T_THR_DAMPING", "shortDesc": "Throttle damping factor", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.02, "group": "FW TECS", "increment": 0.005, "longDesc": "Integrator gain on the throttle part of the control loop. Increase it to trim out speed and height offsets faster, with the downside of possible overshoots and oscillations.", "max": 1.0, "min": 0.0, "name": "FW_T_THR_INTEG", "shortDesc": "Integrator gain throttle", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 7.0, "group": "FW TECS", "increment": 0.5, "longDesc": "This is the maximum vertical acceleration (in m/s/s) either up or down that the controller will use to correct speed or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g) allows for reasonably aggressive pitch changes if required to recover from under-speed conditions.", "max": 10.0, "min": 1.0, "name": "FW_T_VERT_ACC", "shortDesc": "Maximum vertical acceleration", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "FW TECS", "increment": 0.01, "longDesc": "Multiplying this factor with the current absolute wind estimate gives the airspeed offset added to the minimum airspeed setpoint limit. This helps to make the system more robust against disturbances (turbulence) in high wind. Only applies to AUTO flight mode.", "min": 0.0, "name": "FW_WIND_ARSP_SC", "shortDesc": "Wind-based airspeed scaling factor", "type": "Float"}, {"category": "Standard", "default": 1, "group": "Failure Detector", "longDesc": "If enabled, failure detector will verify that for motors, a minimum amount of ESC current per throttle level is being consumed. Otherwise this indicates an motor failure.", "name": "FD_ACT_EN", "rebootRequired": true, "shortDesc": "Enable Actuator Failure check", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 2.0, "group": "Failure Detector", "increment": 1.0, "longDesc": "Motor failure triggers only below this current value", "max": 50.0, "min": 0.0, "name": "FD_ACT_MOT_C2T", "shortDesc": "Motor Failure Current/Throttle Threshold", "type": "Float", "units": "A/%"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "Failure Detector", "increment": 0.01, "longDesc": "Motor failure triggers only above this throttle value.", "max": 1.0, "min": 0.0, "name": "FD_ACT_MOT_THR", "shortDesc": "Motor Failure Throttle Threshold", "type": "Float", "units": "norm"}, {"category": "Standard", "default": 100, "group": "Failure Detector", "increment": 100, "longDesc": "Motor failure triggers only if the throttle threshold and the current to throttle threshold are violated for this time.", "max": 10000, "min": 10, "name": "FD_ACT_MOT_TOUT", "shortDesc": "Motor Failure Time Threshold", "type": "Int32", "units": "ms"}, {"category": "Standard", "default": 1, "group": "Failure Detector", "longDesc": "If enabled, failure detector will verify that all the ESCs have successfully armed when the vehicle has transitioned to the armed state. Timeout for receiving an acknowledgement from the ESCs is 0.3s, if no feedback is received the failure detector will auto disarm the vehicle.", "name": "FD_ESCS_EN", "shortDesc": "Enable checks on ESCs that report their arming state", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Failure Detector", "longDesc": "Enabled on either AUX5 or MAIN5 depending on board. External ATS is required by ASTM F3322-18.", "name": "FD_EXT_ATS_EN", "rebootRequired": true, "shortDesc": "Enable PWM input on for engaging failsafe from an external automatic trigger system (ATS)", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 1900, "group": "Failure Detector", "longDesc": "External ATS is required by ASTM F3322-18.", "name": "FD_EXT_ATS_TRIG", "shortDesc": "The PWM threshold from external automatic trigger system for engaging failsafe", "type": "Int32", "units": "us"}, {"category": "Standard", "default": 60, "group": "Failure Detector", "longDesc": "Maximum pitch angle before FailureDetector triggers the attitude_failure flag. The flag triggers flight termination (if @CBRK_FLIGHTTERM = 0), which sets outputs to their failsafe values. On takeoff the flag triggers lockdown (irrespective of @CBRK_FLIGHTTERM), which disarms motors but does not set outputs to failsafe values. Setting this parameter to 0 disables the check", "max": 180, "min": 0, "name": "FD_FAIL_P", "shortDesc": "FailureDetector Max Pitch", "type": "Int32", "units": "deg"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.3, "group": "Failure Detector", "longDesc": "Seconds (decimal) that pitch has to exceed FD_FAIL_P before being considered as a failure.", "max": 5.0, "min": 0.02, "name": "FD_FAIL_P_TTRI", "shortDesc": "Pitch failure trigger time", "type": "Float", "units": "s"}, {"category": "Standard", "default": 60, "group": "Failure Detector", "longDesc": "Maximum roll angle before FailureDetector triggers the attitude_failure flag. The flag triggers flight termination (if @CBRK_FLIGHTTERM = 0), which sets outputs to their failsafe values. On takeoff the flag triggers lockdown (irrespective of @CBRK_FLIGHTTERM), which disarms motors but does not set outputs to failsafe values. Setting this parameter to 0 disables the check", "max": 180, "min": 0, "name": "FD_FAIL_R", "shortDesc": "FailureDetector Max Roll", "type": "Int32", "units": "deg"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.3, "group": "Failure Detector", "longDesc": "Seconds (decimal) that roll has to exceed FD_FAIL_R before being considered as a failure.", "max": 5.0, "min": 0.02, "name": "FD_FAIL_R_TTRI", "shortDesc": "Roll failure trigger time", "type": "Float", "units": "s"}, {"category": "Standard", "default": 30, "group": "Failure Detector", "increment": 1, "longDesc": "Value at which the imbalanced propeller metric (based on horizontal and vertical acceleration variance) triggers a failure Setting this value to 0 disables the feature.", "max": 1000, "min": 0, "name": "FD_IMB_PROP_THR", "shortDesc": "Imbalanced propeller check threshold", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 1, "default": 1000.0, "group": "FlightTaskOrbit", "increment": 0.5, "max": 10000.0, "min": 1.0, "name": "MC_ORBIT_RAD_MAX", "shortDesc": "Maximum radius of orbit", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Follow target", "longDesc": "Maintain altitude or track target's altitude. When maintaining the altitude, the drone can crash into terrain when the target moves uphill. When tracking the target's altitude, the follow altitude FLW_TGT_HT should be high enough to prevent terrain collisions due to GPS inaccuracies of the target.", "name": "FLW_TGT_ALT_M", "shortDesc": "Altitude control mode", "type": "Int32", "values": [{"description": "2D Tracking: Maintain constant altitude relative to home and track XY position only", "value": 0}, {"description": "2D + Terrain: Maintain constant altitude relative to terrain below and track XY position", "value": 1}, {"description": "3D Tracking: Track target's altitude (be aware that GPS altitude bias usually makes this useless)", "value": 2}]}, {"category": "Standard", "default": 8.0, "group": "Follow target", "longDesc": "The distance in meters to follow the target at", "min": 1.0, "name": "FLW_TGT_DST", "shortDesc": "Distance to follow target from", "type": "Float", "units": "m"}, {"category": "Standard", "default": 180.0, "group": "Follow target", "longDesc": "Angle to follow the target from. 0.0 Equals straight in front of the target's course (direction of motion) and the angle increases in clockwise direction, meaning Right-side would be 90.0 degrees while Left-side is -90.0 degrees Note: When the user force sets the angle out of the min/max range, it will be wrapped (e.g. 480 -> 120) in the range to gracefully handle the out of range.", "max": 180.0, "min": -180.0, "name": "FLW_TGT_FA", "shortDesc": "Follow Angle setting in degrees", "type": "Float"}, {"category": "Standard", "default": 8.0, "group": "Follow target", "longDesc": "Following height above the target", "min": 8.0, "name": "FLW_TGT_HT", "shortDesc": "Follow target height", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "Follow target", "longDesc": "This is the maximum tangential velocity the drone will circle around the target whenever an orbit angle setpoint changes. Higher value means more aggressive follow behavior.", "max": 20.0, "min": 0.0, "name": "FLW_TGT_MAX_VEL", "shortDesc": "Maximum tangential velocity setting for generating the follow orbit trajectory", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "Follow target", "longDesc": "lower values increase the responsiveness to changing position, but also ignore less noise", "max": 1.0, "min": 0.0, "name": "FLW_TGT_RS", "shortDesc": "Responsiveness to target movement in Target Estimator", "type": "Float"}, {"category": "Standard", "default": 201, "group": "GPS", "longDesc": "Configure on which serial port to run Main GPS.", "name": "GPS_1_CONFIG", "rebootRequired": true, "shortDesc": "Serial Configuration for Main GPS", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "UART 6", "value": 6}, {"description": "TELEM 1", "value": 101}, {"description": "TELEM 2", "value": 102}, {"description": "TELEM 3", "value": 103}, {"description": "TELEM/SERIAL 4", "value": 104}, {"description": "GPS 1", "value": 201}, {"description": "GPS 2", "value": 202}, {"description": "GPS 3", "value": 203}, {"description": "Radio Controller", "value": 300}, {"description": "Wifi Port", "value": 301}, {"description": "EXT2", "value": 401}]}, {"bitmask": [{"description": "GPS (with QZSS)", "index": 0}, {"description": "SBAS", "index": 1}, {"description": "Galileo", "index": 2}, {"description": "BeiDou", "index": 3}, {"description": "GLONASS", "index": 4}, {"description": "NAVIC", "index": 5}], "category": "Standard", "default": 0, "group": "GPS", "longDesc": "This integer bitmask controls the set of GNSS systems used by the receiver. Check your receiver's documentation on how many systems are supported to be used in parallel. Currently this functionality is just implemented for u-blox receivers. When no bits are set, the receiver's default configuration should be used. Set bits true to enable: 0 : Use GPS (with QZSS) 1 : Use SBAS (multiple GPS augmentation systems) 2 : Use Galileo 3 : Use BeiDou 4 : Use GLONASS 5 : Use NAVIC", "max": 63, "min": 0, "name": "GPS_1_GNSS", "rebootRequired": true, "shortDesc": "GNSS Systems for Primary GPS (integer bitmask)", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "GPS", "longDesc": "Select the GPS protocol over serial. Auto-detection will probe all protocols, and thus is a bit slower.", "max": 7, "min": 0, "name": "GPS_1_PROTOCOL", "rebootRequired": true, "shortDesc": "Protocol for Main GPS", "type": "Int32", "values": [{"description": "Auto detect", "value": 0}, {"description": "u-blox", "value": 1}, {"description": "MTK", "value": 2}, {"description": "Ashtech / Trimble", "value": 3}, {"description": "Emlid Reach", "value": 4}, {"description": "Femtomes", "value": 5}, {"description": "NMEA (generic)", "value": 6}]}, {"category": "Standard", "default": 0, "group": "GPS", "longDesc": "Configure on which serial port to run Secondary GPS.", "name": "GPS_2_CONFIG", "rebootRequired": true, "shortDesc": "Serial Configuration for Secondary GPS", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "UART 6", "value": 6}, {"description": "TELEM 1", "value": 101}, {"description": "TELEM 2", "value": 102}, {"description": "TELEM 3", "value": 103}, {"description": "TELEM/SERIAL 4", "value": 104}, {"description": "GPS 1", "value": 201}, {"description": "GPS 2", "value": 202}, {"description": "GPS 3", "value": 203}, {"description": "Radio Controller", "value": 300}, {"description": "Wifi Port", "value": 301}, {"description": "EXT2", "value": 401}]}, {"bitmask": [{"description": "GPS (with QZSS)", "index": 0}, {"description": "SBAS", "index": 1}, {"description": "Galileo", "index": 2}, {"description": "BeiDou", "index": 3}, {"description": "GLONASS", "index": 4}, {"description": "NAVIC", "index": 5}], "category": "Standard", "default": 0, "group": "GPS", "longDesc": "This integer bitmask controls the set of GNSS systems used by the receiver. Check your receiver's documentation on how many systems are supported to be used in parallel. Currently this functionality is just implemented for u-blox receivers. When no bits are set, the receiver's default configuration should be used. Set bits true to enable: 0 : Use GPS (with QZSS) 1 : Use SBAS (multiple GPS augmentation systems) 2 : Use Galileo 3 : Use BeiDou 4 : Use GLONASS 5 : Use NAVIC", "max": 63, "min": 0, "name": "GPS_2_GNSS", "rebootRequired": true, "shortDesc": "GNSS Systems for Secondary GPS (integer bitmask)", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "GPS", "longDesc": "Select the GPS protocol over serial. Auto-detection will probe all protocols, and thus is a bit slower.", "max": 6, "min": 0, "name": "GPS_2_PROTOCOL", "rebootRequired": true, "shortDesc": "Protocol for Secondary GPS", "type": "Int32", "values": [{"description": "Auto detect", "value": 0}, {"description": "u-blox", "value": 1}, {"description": "MTK", "value": 2}, {"description": "Ashtech / Trimble", "value": 3}, {"description": "Emlid Reach", "value": 4}, {"description": "Femtomes", "value": 5}, {"description": "NMEA (generic)", "value": 6}]}, {"category": "Standard", "default": 0, "group": "GPS", "longDesc": "If this is set to 1, all GPS communication data will be published via uORB, and written to the log file as gps_dump message. If this is set to 2, the main GPS is configured to output RTCM data, which is then logged as gps_dump and can be used for PPK.", "max": 2, "min": 0, "name": "GPS_DUMP_COMM", "shortDesc": "Log GPS communication data", "type": "Int32", "values": [{"description": "Disable", "value": 0}, {"description": "Full communication", "value": 1}, {"description": "RTCM output (PPK)", "value": 2}]}, {"category": "Standard", "default": 0, "group": "GPS", "longDesc": "Enable publication of satellite info (ORB_ID(satellite_info)) if possible. Not available on MTK.", "name": "GPS_SAT_INFO", "rebootRequired": true, "shortDesc": "Enable sat info (if available)", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 230400, "group": "GPS", "longDesc": "Select a baudrate for the F9P's UART2 port. In GPS_UBX_MODE 1, 2, and 3, the F9P's UART2 port is configured to send/receive RTCM corrections. Set this to 57600 if you want to attach a telemetry radio on UART2.", "min": 0, "name": "GPS_UBX_BAUD2", "rebootRequired": true, "shortDesc": "u-blox F9P UART2 Baudrate", "type": "Int32", "units": "B/s"}, {"bitmask": [{"description": "Enable I2C input protocol UBX", "index": 0}, {"description": "Enable I2C input protocol NMEA", "index": 1}, {"description": "Enable I2C input protocol RTCM3X", "index": 2}, {"description": "Enable I2C output protocol UBX", "index": 3}, {"description": "Enable I2C output protocol NMEA", "index": 4}, {"description": "Enable I2C output protocol RTCM3X", "index": 5}], "category": "Standard", "default": 0, "group": "GPS", "max": 32, "min": 0, "name": "GPS_UBX_CFG_INTF", "rebootRequired": true, "shortDesc": "u-blox protocol configuration for interfaces", "type": "Int32"}, {"category": "Standard", "default": 7, "group": "GPS", "longDesc": "u-blox receivers support different dynamic platform models to adjust the navigation engine to the expected application environment.", "max": 9, "min": 0, "name": "GPS_UBX_DYNMODEL", "rebootRequired": true, "shortDesc": "u-blox GPS dynamic platform model", "type": "Int32", "values": [{"description": "stationary", "value": 2}, {"description": "automotive", "value": 4}, {"description": "airborne with <1g acceleration", "value": 6}, {"description": "airborne with <2g acceleration", "value": 7}, {"description": "airborne with <4g acceleration", "value": 8}]}, {"category": "Standard", "default": 0, "group": "GPS", "longDesc": "Select the u-blox configuration setup. Most setups will use the default, including RTK and dual GPS without heading. If rover has RTCM corrections from a static base (or other static correction source) coming in on UART2, then select Mode 5. The Heading mode requires 2 F9P devices to be attached. The main GPS will act as rover and output heading information, whereas the secondary will act as moving base. Modes 1 and 2 require each F9P UART1 to be connected to the Autopilot. In addition, UART2 on the F9P units are connected to each other. Modes 3 and 4 only require UART1 on each F9P connected to the Autopilot or Can Node. UART RX DMA is required. RTK is still possible with this setup.", "max": 1, "min": 0, "name": "GPS_UBX_MODE", "rebootRequired": true, "shortDesc": "u-blox GPS Mode", "type": "Int32", "values": [{"description": "Default", "value": 0}, {"description": "Heading (Rover With Moving Base UART1 Connected To Autopilot, UART2 Connected To Moving Base)", "value": 1}, {"description": "Moving Base (UART1 Connected To Autopilot, UART2 Connected To Rover)", "value": 2}, {"description": "Heading (Rover With Moving Base UART1 Connected to Autopilot Or Can Node At 921600)", "value": 3}, {"description": "Moving Base (Moving Base UART1 Connected to Autopilot Or Can Node At 921600)", "value": 4}, {"description": "Rover with Static Base on UART2 (similar to Default, except coming in on UART2)", "value": 5}]}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "GPS", "longDesc": "Heading offset angle for dual antenna GPS setups that support heading estimation. Set this to 0 if the antennas are parallel to the forward-facing direction of the vehicle and the rover (or Unicore primary) antenna is in front. The offset angle increases clockwise. Set this to 90 if the rover (or Unicore primary, or Septentrio Mosaic Aux) antenna is placed on the right side of the vehicle and the moving base antenna is on the left side. (Note: the Unicore primary antenna is the one connected on the right as seen from the top).", "max": 360.0, "min": 0.0, "name": "GPS_YAW_OFFSET", "rebootRequired": true, "shortDesc": "Heading/Yaw offset for dual antenna GPS", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 0, "group": "GPS", "longDesc": "Enables the PPS capture module. This switches mode of FMU channel 7 to be the PPS input channel.", "name": "PPS_CAP_ENABLE", "rebootRequired": true, "shortDesc": "PPS Capture Enable", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 2, "group": "Geofence", "longDesc": "Note: Setting this value to 4 enables flight termination, which will kill the vehicle on violation of the fence.", "max": 5, "min": 0, "name": "GF_ACTION", "shortDesc": "Geofence violation action", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Warning", "value": 1}, {"description": "Hold mode", "value": 2}, {"description": "Return mode", "value": 3}, {"description": "Terminate", "value": 4}, {"description": "Land mode", "value": 5}]}, {"category": "Standard", "default": 0.0, "group": "Geofence", "increment": 1.0, "longDesc": "Maximum horizontal distance in meters the vehicle can be from Home before triggering a geofence action. Disabled if 0.", "max": 10000.0, "min": 0.0, "name": "GF_MAX_HOR_DIST", "shortDesc": "Max horizontal distance from Home", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0.0, "group": "Geofence", "increment": 1.0, "longDesc": "Maximum vertical distance in meters the vehicle can be from Home before triggering a geofence action. Disabled if 0.", "max": 10000.0, "min": 0.0, "name": "GF_MAX_VER_DIST", "shortDesc": "Max vertical distance from Home", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Geofence", "longDesc": "WARNING: This experimental feature may cause flyaways. Use at your own risk. Predict the motion of the vehicle and trigger the breach if it is determined that the current trajectory would result in a breach happening before the vehicle can make evasive maneuvers. The vehicle is then re-routed to a safe hold position (stop for multirotor, loiter for fixed wing).", "name": "GF_PREDICT", "shortDesc": "[EXPERIMENTAL] Use Pre-emptive geofence triggering", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Geofence", "longDesc": "Select which position source should be used. Selecting GPS instead of global position makes sure that there is no dependence on the position estimator 0 = global position, 1 = GPS", "max": 1, "min": 0, "name": "GF_SOURCE", "shortDesc": "Geofence source", "type": "Int32", "values": [{"description": "GPOS", "value": 0}, {"description": "GPS", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "Defines which mixer implementation to use. Some are generic, while others are specifically fit to a certain vehicle with a fixed set of actuators. 'Custom' should only be used if noting else can be used.", "name": "CA_AIRFRAME", "shortDesc": "Airframe selection", "type": "Int32", "values": [{"description": "Multirotor", "value": 0}, {"description": "Fixed-wing", "value": 1}, {"description": "Standard VTOL", "value": 2}, {"description": "Tiltrotor VTOL", "value": 3}, {"description": "Tailsitter VTOL", "value": 4}, {"description": "Rover (Ackermann)", "value": 5}, {"description": "Rover (Differential)", "value": 6}, {"description": "Motors (6DOF)", "value": 7}, {"description": "Multirotor with Tilt", "value": 8}, {"description": "Custom", "value": 9}, {"description": "Helicopter (tail ESC)", "value": 10}, {"description": "Helicopter (tail Servo)", "value": 11}, {"description": "Helicopter (Coaxial)", "value": 12}]}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "This is used to specify how to handle motor failures reported by failure detector.", "name": "CA_FAILURE_MODE", "shortDesc": "Motor failure handling mode", "type": "Int32", "values": [{"description": "Ignore", "value": 0}, {"description": "Remove first failed motor from effectiveness", "value": 1}]}, {"category": "Standard", "decimalPlaces": 3, "default": -0.05, "group": "Geometry", "increment": 0.1, "longDesc": "Defines the collective pitch at the interval position 0 for a given thrust setpoint. Use negative values if the swash plate needs to move down to provide upwards thrust.", "max": 1.0, "min": -1.0, "name": "CA_HELI_PITCH_C0", "shortDesc": "Collective pitch curve at position 0", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0725, "group": "Geometry", "increment": 0.1, "longDesc": "Defines the collective pitch at the interval position 1 for a given thrust setpoint. Use negative values if the swash plate needs to move down to provide upwards thrust.", "max": 1.0, "min": -1.0, "name": "CA_HELI_PITCH_C1", "shortDesc": "Collective pitch curve at position 1", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.2, "group": "Geometry", "increment": 0.1, "longDesc": "Defines the collective pitch at the interval position 2 for a given thrust setpoint. Use negative values if the swash plate needs to move down to provide upwards thrust.", "max": 1.0, "min": -1.0, "name": "CA_HELI_PITCH_C2", "shortDesc": "Collective pitch curve at position 2", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.325, "group": "Geometry", "increment": 0.1, "longDesc": "Defines the collective pitch at the interval position 3 for a given thrust setpoint. Use negative values if the swash plate needs to move down to provide upwards thrust.", "max": 1.0, "min": -1.0, "name": "CA_HELI_PITCH_C3", "shortDesc": "Collective pitch curve at position 3", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.45, "group": "Geometry", "increment": 0.1, "longDesc": "Defines the collective pitch at the interval position 4 for a given thrust setpoint. Use negative values if the swash plate needs to move down to provide upwards thrust.", "max": 1.0, "min": -1.0, "name": "CA_HELI_PITCH_C4", "shortDesc": "Collective pitch curve at position 4", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Defines the output throttle at the interval position 0.", "max": 1.0, "min": 0.0, "name": "CA_HELI_THR_C0", "shortDesc": "Throttle curve at position 0", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Defines the output throttle at the interval position 1.", "max": 1.0, "min": 0.0, "name": "CA_HELI_THR_C1", "shortDesc": "Throttle curve at position 1", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Defines the output throttle at the interval position 2.", "max": 1.0, "min": 0.0, "name": "CA_HELI_THR_C2", "shortDesc": "Throttle curve at position 2", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Defines the output throttle at the interval position 3.", "max": 1.0, "min": 0.0, "name": "CA_HELI_THR_C3", "shortDesc": "Throttle curve at position 3", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Defines the output throttle at the interval position 4.", "max": 1.0, "min": 0.0, "name": "CA_HELI_THR_C4", "shortDesc": "Throttle curve at position 4", "type": "Float"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "Default configuration is for a clockwise turning main rotor and positive thrust of the tail rotor is expected to rotate the vehicle clockwise. Set this parameter to true if the tail rotor provides thrust in counter-clockwise direction which is mostly the case when the main rotor turns counter-clockwise.", "name": "CA_HELI_YAW_CCW", "shortDesc": "Main rotor turns counter-clockwise", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "This allows to specify which collective pitch command results in the least amount of rotor drag. This is used to increase the accuracy of the yaw drag torque compensation based on collective pitch by aligning the lowest rotor drag with zero compensation. For symmetric profile blades this is the command that results in exactly 0\u00b0 collective blade angle. For lift profile blades this is typically a command resulting in slightly negative collective blade angle. tail_output += CA_HELI_YAW_CP_S * abs(collective_pitch - CA_HELI_YAW_CP_O)", "max": 2.0, "min": -2.0, "name": "CA_HELI_YAW_CP_O", "shortDesc": "Offset for yaw compensation based on collective pitch", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "This allows to add a proportional factor of the collective pitch command to the yaw command. A negative value is needed when positive thrust of the tail rotor rotates the vehicle opposite to the main rotor turn direction. tail_output += CA_HELI_YAW_CP_S * abs(collective_pitch - CA_HELI_YAW_CP_O)", "max": 2.0, "min": -2.0, "name": "CA_HELI_YAW_CP_S", "shortDesc": "Scale for yaw compensation based on collective pitch", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "This allows to add a proportional factor of the throttle command to the yaw command. A negative value is needed when positive thrust of the tail rotor rotates the vehicle opposite to the main rotor turn direction. tail_output += CA_HELI_YAW_TH_S * throttle", "max": 2.0, "min": -2.0, "name": "CA_HELI_YAW_TH_S", "shortDesc": "Scale for yaw compensation based on throttle", "type": "Float"}, {"category": "Standard", "default": 2, "group": "Geometry", "longDesc": "Selects the algorithm and desaturation method. If set to Automtic, the selection is based on the airframe (CA_AIRFRAME).", "name": "CA_METHOD", "shortDesc": "Control allocation method", "type": "Int32", "values": [{"description": "Pseudo-inverse with output clipping", "value": 0}, {"description": "Pseudo-inverse with sequential desaturation technique", "value": 1}, {"description": "Automatic", "value": 2}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.01, "longDesc": "Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.", "max": 10.0, "min": 0.0, "name": "CA_R0_SLEW", "shortDesc": "Motor 0 slew rate limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.01, "longDesc": "Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.", "max": 10.0, "min": 0.0, "name": "CA_R10_SLEW", "shortDesc": "Motor 10 slew rate limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.01, "longDesc": "Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.", "max": 10.0, "min": 0.0, "name": "CA_R11_SLEW", "shortDesc": "Motor 11 slew rate limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.01, "longDesc": "Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.", "max": 10.0, "min": 0.0, "name": "CA_R1_SLEW", "shortDesc": "Motor 1 slew rate limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.01, "longDesc": "Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.", "max": 10.0, "min": 0.0, "name": "CA_R2_SLEW", "shortDesc": "Motor 2 slew rate limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.01, "longDesc": "Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.", "max": 10.0, "min": 0.0, "name": "CA_R3_SLEW", "shortDesc": "Motor 3 slew rate limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.01, "longDesc": "Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.", "max": 10.0, "min": 0.0, "name": "CA_R4_SLEW", "shortDesc": "Motor 4 slew rate limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.01, "longDesc": "Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.", "max": 10.0, "min": 0.0, "name": "CA_R5_SLEW", "shortDesc": "Motor 5 slew rate limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.01, "longDesc": "Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.", "max": 10.0, "min": 0.0, "name": "CA_R6_SLEW", "shortDesc": "Motor 6 slew rate limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.01, "longDesc": "Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.", "max": 10.0, "min": 0.0, "name": "CA_R7_SLEW", "shortDesc": "Motor 7 slew rate limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.01, "longDesc": "Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.", "max": 10.0, "min": 0.0, "name": "CA_R8_SLEW", "shortDesc": "Motor 8 slew rate limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.01, "longDesc": "Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.", "max": 10.0, "min": 0.0, "name": "CA_R9_SLEW", "shortDesc": "Motor 9 slew rate limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR0_AX", "shortDesc": "Axis of rotor 0 thrust vector, X body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR0_AY", "shortDesc": "Axis of rotor 0 thrust vector, Y body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR0_AZ", "shortDesc": "Axis of rotor 0 thrust vector, Z body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 6.5, "group": "Geometry", "increment": 1.0, "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.", "max": 100.0, "min": 0.0, "name": "CA_ROTOR0_CT", "shortDesc": "Thrust coefficient of rotor 0", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "Geometry", "increment": 0.01, "longDesc": "The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.", "max": 1.0, "min": -1.0, "name": "CA_ROTOR0_KM", "shortDesc": "Moment coefficient of rotor 0", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR0_PX", "shortDesc": "Position of rotor 0 along X body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR0_PY", "shortDesc": "Position of rotor 0 along Y body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR0_PZ", "shortDesc": "Position of rotor 0 along Z body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.", "name": "CA_ROTOR0_TILT", "shortDesc": "Rotor 0 tilt assignment", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Tilt 1", "value": 1}, {"description": "Tilt 2", "value": 2}, {"description": "Tilt 3", "value": 3}, {"description": "Tilt 4", "value": 4}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR10_AX", "shortDesc": "Axis of rotor 10 thrust vector, X body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR10_AY", "shortDesc": "Axis of rotor 10 thrust vector, Y body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR10_AZ", "shortDesc": "Axis of rotor 10 thrust vector, Z body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 6.5, "group": "Geometry", "increment": 1.0, "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.", "max": 100.0, "min": 0.0, "name": "CA_ROTOR10_CT", "shortDesc": "Thrust coefficient of rotor 10", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "Geometry", "increment": 0.01, "longDesc": "The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.", "max": 1.0, "min": -1.0, "name": "CA_ROTOR10_KM", "shortDesc": "Moment coefficient of rotor 10", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR10_PX", "shortDesc": "Position of rotor 10 along X body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR10_PY", "shortDesc": "Position of rotor 10 along Y body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR10_PZ", "shortDesc": "Position of rotor 10 along Z body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.", "name": "CA_ROTOR10_TILT", "shortDesc": "Rotor 10 tilt assignment", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Tilt 1", "value": 1}, {"description": "Tilt 2", "value": 2}, {"description": "Tilt 3", "value": 3}, {"description": "Tilt 4", "value": 4}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR11_AX", "shortDesc": "Axis of rotor 11 thrust vector, X body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR11_AY", "shortDesc": "Axis of rotor 11 thrust vector, Y body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR11_AZ", "shortDesc": "Axis of rotor 11 thrust vector, Z body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 6.5, "group": "Geometry", "increment": 1.0, "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.", "max": 100.0, "min": 0.0, "name": "CA_ROTOR11_CT", "shortDesc": "Thrust coefficient of rotor 11", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "Geometry", "increment": 0.01, "longDesc": "The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.", "max": 1.0, "min": -1.0, "name": "CA_ROTOR11_KM", "shortDesc": "Moment coefficient of rotor 11", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR11_PX", "shortDesc": "Position of rotor 11 along X body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR11_PY", "shortDesc": "Position of rotor 11 along Y body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR11_PZ", "shortDesc": "Position of rotor 11 along Z body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.", "name": "CA_ROTOR11_TILT", "shortDesc": "Rotor 11 tilt assignment", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Tilt 1", "value": 1}, {"description": "Tilt 2", "value": 2}, {"description": "Tilt 3", "value": 3}, {"description": "Tilt 4", "value": 4}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR1_AX", "shortDesc": "Axis of rotor 1 thrust vector, X body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR1_AY", "shortDesc": "Axis of rotor 1 thrust vector, Y body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR1_AZ", "shortDesc": "Axis of rotor 1 thrust vector, Z body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 6.5, "group": "Geometry", "increment": 1.0, "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.", "max": 100.0, "min": 0.0, "name": "CA_ROTOR1_CT", "shortDesc": "Thrust coefficient of rotor 1", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "Geometry", "increment": 0.01, "longDesc": "The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.", "max": 1.0, "min": -1.0, "name": "CA_ROTOR1_KM", "shortDesc": "Moment coefficient of rotor 1", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR1_PX", "shortDesc": "Position of rotor 1 along X body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR1_PY", "shortDesc": "Position of rotor 1 along Y body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR1_PZ", "shortDesc": "Position of rotor 1 along Z body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.", "name": "CA_ROTOR1_TILT", "shortDesc": "Rotor 1 tilt assignment", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Tilt 1", "value": 1}, {"description": "Tilt 2", "value": 2}, {"description": "Tilt 3", "value": 3}, {"description": "Tilt 4", "value": 4}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR2_AX", "shortDesc": "Axis of rotor 2 thrust vector, X body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR2_AY", "shortDesc": "Axis of rotor 2 thrust vector, Y body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR2_AZ", "shortDesc": "Axis of rotor 2 thrust vector, Z body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 6.5, "group": "Geometry", "increment": 1.0, "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.", "max": 100.0, "min": 0.0, "name": "CA_ROTOR2_CT", "shortDesc": "Thrust coefficient of rotor 2", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "Geometry", "increment": 0.01, "longDesc": "The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.", "max": 1.0, "min": -1.0, "name": "CA_ROTOR2_KM", "shortDesc": "Moment coefficient of rotor 2", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR2_PX", "shortDesc": "Position of rotor 2 along X body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR2_PY", "shortDesc": "Position of rotor 2 along Y body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR2_PZ", "shortDesc": "Position of rotor 2 along Z body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.", "name": "CA_ROTOR2_TILT", "shortDesc": "Rotor 2 tilt assignment", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Tilt 1", "value": 1}, {"description": "Tilt 2", "value": 2}, {"description": "Tilt 3", "value": 3}, {"description": "Tilt 4", "value": 4}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR3_AX", "shortDesc": "Axis of rotor 3 thrust vector, X body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR3_AY", "shortDesc": "Axis of rotor 3 thrust vector, Y body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR3_AZ", "shortDesc": "Axis of rotor 3 thrust vector, Z body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 6.5, "group": "Geometry", "increment": 1.0, "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.", "max": 100.0, "min": 0.0, "name": "CA_ROTOR3_CT", "shortDesc": "Thrust coefficient of rotor 3", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "Geometry", "increment": 0.01, "longDesc": "The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.", "max": 1.0, "min": -1.0, "name": "CA_ROTOR3_KM", "shortDesc": "Moment coefficient of rotor 3", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR3_PX", "shortDesc": "Position of rotor 3 along X body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR3_PY", "shortDesc": "Position of rotor 3 along Y body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR3_PZ", "shortDesc": "Position of rotor 3 along Z body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.", "name": "CA_ROTOR3_TILT", "shortDesc": "Rotor 3 tilt assignment", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Tilt 1", "value": 1}, {"description": "Tilt 2", "value": 2}, {"description": "Tilt 3", "value": 3}, {"description": "Tilt 4", "value": 4}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR4_AX", "shortDesc": "Axis of rotor 4 thrust vector, X body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR4_AY", "shortDesc": "Axis of rotor 4 thrust vector, Y body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR4_AZ", "shortDesc": "Axis of rotor 4 thrust vector, Z body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 6.5, "group": "Geometry", "increment": 1.0, "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.", "max": 100.0, "min": 0.0, "name": "CA_ROTOR4_CT", "shortDesc": "Thrust coefficient of rotor 4", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "Geometry", "increment": 0.01, "longDesc": "The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.", "max": 1.0, "min": -1.0, "name": "CA_ROTOR4_KM", "shortDesc": "Moment coefficient of rotor 4", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR4_PX", "shortDesc": "Position of rotor 4 along X body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR4_PY", "shortDesc": "Position of rotor 4 along Y body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR4_PZ", "shortDesc": "Position of rotor 4 along Z body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.", "name": "CA_ROTOR4_TILT", "shortDesc": "Rotor 4 tilt assignment", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Tilt 1", "value": 1}, {"description": "Tilt 2", "value": 2}, {"description": "Tilt 3", "value": 3}, {"description": "Tilt 4", "value": 4}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR5_AX", "shortDesc": "Axis of rotor 5 thrust vector, X body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR5_AY", "shortDesc": "Axis of rotor 5 thrust vector, Y body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR5_AZ", "shortDesc": "Axis of rotor 5 thrust vector, Z body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 6.5, "group": "Geometry", "increment": 1.0, "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.", "max": 100.0, "min": 0.0, "name": "CA_ROTOR5_CT", "shortDesc": "Thrust coefficient of rotor 5", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "Geometry", "increment": 0.01, "longDesc": "The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.", "max": 1.0, "min": -1.0, "name": "CA_ROTOR5_KM", "shortDesc": "Moment coefficient of rotor 5", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR5_PX", "shortDesc": "Position of rotor 5 along X body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR5_PY", "shortDesc": "Position of rotor 5 along Y body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR5_PZ", "shortDesc": "Position of rotor 5 along Z body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.", "name": "CA_ROTOR5_TILT", "shortDesc": "Rotor 5 tilt assignment", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Tilt 1", "value": 1}, {"description": "Tilt 2", "value": 2}, {"description": "Tilt 3", "value": 3}, {"description": "Tilt 4", "value": 4}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR6_AX", "shortDesc": "Axis of rotor 6 thrust vector, X body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR6_AY", "shortDesc": "Axis of rotor 6 thrust vector, Y body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR6_AZ", "shortDesc": "Axis of rotor 6 thrust vector, Z body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 6.5, "group": "Geometry", "increment": 1.0, "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.", "max": 100.0, "min": 0.0, "name": "CA_ROTOR6_CT", "shortDesc": "Thrust coefficient of rotor 6", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "Geometry", "increment": 0.01, "longDesc": "The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.", "max": 1.0, "min": -1.0, "name": "CA_ROTOR6_KM", "shortDesc": "Moment coefficient of rotor 6", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR6_PX", "shortDesc": "Position of rotor 6 along X body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR6_PY", "shortDesc": "Position of rotor 6 along Y body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR6_PZ", "shortDesc": "Position of rotor 6 along Z body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.", "name": "CA_ROTOR6_TILT", "shortDesc": "Rotor 6 tilt assignment", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Tilt 1", "value": 1}, {"description": "Tilt 2", "value": 2}, {"description": "Tilt 3", "value": 3}, {"description": "Tilt 4", "value": 4}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR7_AX", "shortDesc": "Axis of rotor 7 thrust vector, X body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR7_AY", "shortDesc": "Axis of rotor 7 thrust vector, Y body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR7_AZ", "shortDesc": "Axis of rotor 7 thrust vector, Z body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 6.5, "group": "Geometry", "increment": 1.0, "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.", "max": 100.0, "min": 0.0, "name": "CA_ROTOR7_CT", "shortDesc": "Thrust coefficient of rotor 7", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "Geometry", "increment": 0.01, "longDesc": "The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.", "max": 1.0, "min": -1.0, "name": "CA_ROTOR7_KM", "shortDesc": "Moment coefficient of rotor 7", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR7_PX", "shortDesc": "Position of rotor 7 along X body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR7_PY", "shortDesc": "Position of rotor 7 along Y body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR7_PZ", "shortDesc": "Position of rotor 7 along Z body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.", "name": "CA_ROTOR7_TILT", "shortDesc": "Rotor 7 tilt assignment", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Tilt 1", "value": 1}, {"description": "Tilt 2", "value": 2}, {"description": "Tilt 3", "value": 3}, {"description": "Tilt 4", "value": 4}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR8_AX", "shortDesc": "Axis of rotor 8 thrust vector, X body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR8_AY", "shortDesc": "Axis of rotor 8 thrust vector, Y body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR8_AZ", "shortDesc": "Axis of rotor 8 thrust vector, Z body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 6.5, "group": "Geometry", "increment": 1.0, "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.", "max": 100.0, "min": 0.0, "name": "CA_ROTOR8_CT", "shortDesc": "Thrust coefficient of rotor 8", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "Geometry", "increment": 0.01, "longDesc": "The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.", "max": 1.0, "min": -1.0, "name": "CA_ROTOR8_KM", "shortDesc": "Moment coefficient of rotor 8", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR8_PX", "shortDesc": "Position of rotor 8 along X body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR8_PY", "shortDesc": "Position of rotor 8 along Y body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR8_PZ", "shortDesc": "Position of rotor 8 along Z body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.", "name": "CA_ROTOR8_TILT", "shortDesc": "Rotor 8 tilt assignment", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Tilt 1", "value": 1}, {"description": "Tilt 2", "value": 2}, {"description": "Tilt 3", "value": 3}, {"description": "Tilt 4", "value": 4}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR9_AX", "shortDesc": "Axis of rotor 9 thrust vector, X body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR9_AY", "shortDesc": "Axis of rotor 9 thrust vector, Y body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Geometry", "increment": 0.1, "longDesc": "Only the direction is considered (the vector is normalized).", "max": 100.0, "min": -100.0, "name": "CA_ROTOR9_AZ", "shortDesc": "Axis of rotor 9 thrust vector, Z body axis component", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 6.5, "group": "Geometry", "increment": 1.0, "longDesc": "The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.", "max": 100.0, "min": 0.0, "name": "CA_ROTOR9_CT", "shortDesc": "Thrust coefficient of rotor 9", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "Geometry", "increment": 0.01, "longDesc": "The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.", "max": 1.0, "min": -1.0, "name": "CA_ROTOR9_KM", "shortDesc": "Moment coefficient of rotor 9", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR9_PX", "shortDesc": "Position of rotor 9 along X body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR9_PY", "shortDesc": "Position of rotor 9 along Y body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.1, "max": 100.0, "min": -100.0, "name": "CA_ROTOR9_PZ", "shortDesc": "Position of rotor 9 along Z body axis relative to center of gravity", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "If not set to None, this motor is tilted by the configured tilt servo.", "name": "CA_ROTOR9_TILT", "shortDesc": "Rotor 9 tilt assignment", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Tilt 1", "value": 1}, {"description": "Tilt 2", "value": 2}, {"description": "Tilt 3", "value": 3}, {"description": "Tilt 4", "value": 4}]}, {"category": "Standard", "default": 0, "group": "Geometry", "name": "CA_ROTOR_COUNT", "shortDesc": "Total number of rotors", "type": "Int32", "values": [{"description": "0", "value": 0}, {"description": "1", "value": 1}, {"description": "2", "value": 2}, {"description": "3", "value": 3}, {"description": "4", "value": 4}, {"description": "5", "value": 5}, {"description": "6", "value": 6}, {"description": "7", "value": 7}, {"description": "8", "value": 8}, {"description": "9", "value": 9}, {"description": "10", "value": 10}, {"description": "11", "value": 11}, {"description": "12", "value": 12}]}, {"bitmask": [{"description": "Motor 1", "index": 0}, {"description": "Motor 2", "index": 1}, {"description": "Motor 3", "index": 2}, {"description": "Motor 4", "index": 3}, {"description": "Motor 5", "index": 4}, {"description": "Motor 6", "index": 5}, {"description": "Motor 7", "index": 6}, {"description": "Motor 8", "index": 7}, {"description": "Motor 9", "index": 8}, {"description": "Motor 10", "index": 9}, {"description": "Motor 11", "index": 10}, {"description": "Motor 12", "index": 11}], "category": "Standard", "default": 0, "group": "Geometry", "longDesc": "Configure motors to be bidirectional/reversible. Note that the output driver needs to support this as well.", "max": 4095, "min": 0, "name": "CA_R_REV", "shortDesc": "Bidirectional/Reversible motors", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 0, "default": 0.0, "group": "Geometry", "increment": 10.0, "longDesc": "The angle is measured clockwise (as seen from top), with 0 pointing forwards (X axis).", "max": 360.0, "min": 0.0, "name": "CA_SP0_ANG0", "shortDesc": "Angle for swash plate servo 0", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 0, "default": 140.0, "group": "Geometry", "increment": 10.0, "longDesc": "The angle is measured clockwise (as seen from top), with 0 pointing forwards (X axis).", "max": 360.0, "min": 0.0, "name": "CA_SP0_ANG1", "shortDesc": "Angle for swash plate servo 1", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 0, "default": 220.0, "group": "Geometry", "increment": 10.0, "longDesc": "The angle is measured clockwise (as seen from top), with 0 pointing forwards (X axis).", "max": 360.0, "min": 0.0, "name": "CA_SP0_ANG2", "shortDesc": "Angle for swash plate servo 2", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 0, "default": 0.0, "group": "Geometry", "increment": 10.0, "longDesc": "The angle is measured clockwise (as seen from top), with 0 pointing forwards (X axis).", "max": 360.0, "min": 0.0, "name": "CA_SP0_ANG3", "shortDesc": "Angle for swash plate servo 3", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Geometry", "increment": 0.1, "longDesc": "This is relative to the other arm lengths.", "max": 10.0, "min": 0.0, "name": "CA_SP0_ARM_L0", "shortDesc": "Arm length for swash plate servo 0", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Geometry", "increment": 0.1, "longDesc": "This is relative to the other arm lengths.", "max": 10.0, "min": 0.0, "name": "CA_SP0_ARM_L1", "shortDesc": "Arm length for swash plate servo 1", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Geometry", "increment": 0.1, "longDesc": "This is relative to the other arm lengths.", "max": 10.0, "min": 0.0, "name": "CA_SP0_ARM_L2", "shortDesc": "Arm length for swash plate servo 2", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Geometry", "increment": 0.1, "longDesc": "This is relative to the other arm lengths.", "max": 10.0, "min": 0.0, "name": "CA_SP0_ARM_L3", "shortDesc": "Arm length for swash plate servo 3", "type": "Float"}, {"category": "Standard", "default": 3, "group": "Geometry", "name": "CA_SP0_COUNT", "shortDesc": "Number of swash plates servos", "type": "Int32", "values": [{"description": "2", "value": 2}, {"description": "3", "value": 3}, {"description": "4", "value": 4}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.05, "longDesc": "Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.", "max": 10.0, "min": 0.0, "name": "CA_SV0_SLEW", "shortDesc": "Servo 0 slew rate limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.05, "longDesc": "Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.", "max": 10.0, "min": 0.0, "name": "CA_SV1_SLEW", "shortDesc": "Servo 1 slew rate limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.05, "longDesc": "Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.", "max": 10.0, "min": 0.0, "name": "CA_SV2_SLEW", "shortDesc": "Servo 2 slew rate limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.05, "longDesc": "Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.", "max": 10.0, "min": 0.0, "name": "CA_SV3_SLEW", "shortDesc": "Servo 3 slew rate limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.05, "longDesc": "Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.", "max": 10.0, "min": 0.0, "name": "CA_SV4_SLEW", "shortDesc": "Servo 4 slew rate limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.05, "longDesc": "Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.", "max": 10.0, "min": 0.0, "name": "CA_SV5_SLEW", "shortDesc": "Servo 5 slew rate limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.05, "longDesc": "Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.", "max": 10.0, "min": 0.0, "name": "CA_SV6_SLEW", "shortDesc": "Servo 6 slew rate limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "increment": 0.05, "longDesc": "Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.", "max": 10.0, "min": 0.0, "name": "CA_SV7_SLEW", "shortDesc": "Servo 7 slew rate limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS0_FLAP", "shortDesc": "Control Surface 0 configuration as flap", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS0_SPOIL", "shortDesc": "Control Surface 0 configuration as spoiler", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "longDesc": "Can be used to add an offset to the servo control.", "max": 1.0, "min": -1.0, "name": "CA_SV_CS0_TRIM", "shortDesc": "Control Surface 0 trim", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS0_TRQ_P", "shortDesc": "Control Surface 0 pitch torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS0_TRQ_R", "shortDesc": "Control Surface 0 roll torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS0_TRQ_Y", "shortDesc": "Control Surface 0 yaw torque scaling", "type": "Float"}, {"category": "Standard", "default": 0, "group": "Geometry", "name": "CA_SV_CS0_TYPE", "shortDesc": "Control Surface 0 type", "type": "Int32", "values": [{"description": "(Not set)", "value": 0}, {"description": "Left Aileron", "value": 1}, {"description": "Right Aileron", "value": 2}, {"description": "Elevator", "value": 3}, {"description": "Rudder", "value": 4}, {"description": "Left Elevon", "value": 5}, {"description": "Right Elevon", "value": 6}, {"description": "Left V-Tail", "value": 7}, {"description": "Right V-Tail", "value": 8}, {"description": "Left Flap", "value": 9}, {"description": "Right Flap", "value": 10}, {"description": "Airbrake", "value": 11}, {"description": "Custom", "value": 12}, {"description": "Left A-tail", "value": 13}, {"description": "Right A-tail", "value": 14}, {"description": "Single Channel Aileron", "value": 15}, {"description": "Steering Wheel", "value": 16}, {"description": "Left Spoiler", "value": 17}, {"description": "Right Spoiler", "value": 18}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS1_FLAP", "shortDesc": "Control Surface 1 configuration as flap", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS1_SPOIL", "shortDesc": "Control Surface 1 configuration as spoiler", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "longDesc": "Can be used to add an offset to the servo control.", "max": 1.0, "min": -1.0, "name": "CA_SV_CS1_TRIM", "shortDesc": "Control Surface 1 trim", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS1_TRQ_P", "shortDesc": "Control Surface 1 pitch torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS1_TRQ_R", "shortDesc": "Control Surface 1 roll torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS1_TRQ_Y", "shortDesc": "Control Surface 1 yaw torque scaling", "type": "Float"}, {"category": "Standard", "default": 0, "group": "Geometry", "name": "CA_SV_CS1_TYPE", "shortDesc": "Control Surface 1 type", "type": "Int32", "values": [{"description": "(Not set)", "value": 0}, {"description": "Left Aileron", "value": 1}, {"description": "Right Aileron", "value": 2}, {"description": "Elevator", "value": 3}, {"description": "Rudder", "value": 4}, {"description": "Left Elevon", "value": 5}, {"description": "Right Elevon", "value": 6}, {"description": "Left V-Tail", "value": 7}, {"description": "Right V-Tail", "value": 8}, {"description": "Left Flap", "value": 9}, {"description": "Right Flap", "value": 10}, {"description": "Airbrake", "value": 11}, {"description": "Custom", "value": 12}, {"description": "Left A-tail", "value": 13}, {"description": "Right A-tail", "value": 14}, {"description": "Single Channel Aileron", "value": 15}, {"description": "Steering Wheel", "value": 16}, {"description": "Left Spoiler", "value": 17}, {"description": "Right Spoiler", "value": 18}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS2_FLAP", "shortDesc": "Control Surface 2 configuration as flap", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS2_SPOIL", "shortDesc": "Control Surface 2 configuration as spoiler", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "longDesc": "Can be used to add an offset to the servo control.", "max": 1.0, "min": -1.0, "name": "CA_SV_CS2_TRIM", "shortDesc": "Control Surface 2 trim", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS2_TRQ_P", "shortDesc": "Control Surface 2 pitch torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS2_TRQ_R", "shortDesc": "Control Surface 2 roll torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS2_TRQ_Y", "shortDesc": "Control Surface 2 yaw torque scaling", "type": "Float"}, {"category": "Standard", "default": 0, "group": "Geometry", "name": "CA_SV_CS2_TYPE", "shortDesc": "Control Surface 2 type", "type": "Int32", "values": [{"description": "(Not set)", "value": 0}, {"description": "Left Aileron", "value": 1}, {"description": "Right Aileron", "value": 2}, {"description": "Elevator", "value": 3}, {"description": "Rudder", "value": 4}, {"description": "Left Elevon", "value": 5}, {"description": "Right Elevon", "value": 6}, {"description": "Left V-Tail", "value": 7}, {"description": "Right V-Tail", "value": 8}, {"description": "Left Flap", "value": 9}, {"description": "Right Flap", "value": 10}, {"description": "Airbrake", "value": 11}, {"description": "Custom", "value": 12}, {"description": "Left A-tail", "value": 13}, {"description": "Right A-tail", "value": 14}, {"description": "Single Channel Aileron", "value": 15}, {"description": "Steering Wheel", "value": 16}, {"description": "Left Spoiler", "value": 17}, {"description": "Right Spoiler", "value": 18}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS3_FLAP", "shortDesc": "Control Surface 3 configuration as flap", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS3_SPOIL", "shortDesc": "Control Surface 3 configuration as spoiler", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "longDesc": "Can be used to add an offset to the servo control.", "max": 1.0, "min": -1.0, "name": "CA_SV_CS3_TRIM", "shortDesc": "Control Surface 3 trim", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS3_TRQ_P", "shortDesc": "Control Surface 3 pitch torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS3_TRQ_R", "shortDesc": "Control Surface 3 roll torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS3_TRQ_Y", "shortDesc": "Control Surface 3 yaw torque scaling", "type": "Float"}, {"category": "Standard", "default": 0, "group": "Geometry", "name": "CA_SV_CS3_TYPE", "shortDesc": "Control Surface 3 type", "type": "Int32", "values": [{"description": "(Not set)", "value": 0}, {"description": "Left Aileron", "value": 1}, {"description": "Right Aileron", "value": 2}, {"description": "Elevator", "value": 3}, {"description": "Rudder", "value": 4}, {"description": "Left Elevon", "value": 5}, {"description": "Right Elevon", "value": 6}, {"description": "Left V-Tail", "value": 7}, {"description": "Right V-Tail", "value": 8}, {"description": "Left Flap", "value": 9}, {"description": "Right Flap", "value": 10}, {"description": "Airbrake", "value": 11}, {"description": "Custom", "value": 12}, {"description": "Left A-tail", "value": 13}, {"description": "Right A-tail", "value": 14}, {"description": "Single Channel Aileron", "value": 15}, {"description": "Steering Wheel", "value": 16}, {"description": "Left Spoiler", "value": 17}, {"description": "Right Spoiler", "value": 18}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS4_FLAP", "shortDesc": "Control Surface 4 configuration as flap", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS4_SPOIL", "shortDesc": "Control Surface 4 configuration as spoiler", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "longDesc": "Can be used to add an offset to the servo control.", "max": 1.0, "min": -1.0, "name": "CA_SV_CS4_TRIM", "shortDesc": "Control Surface 4 trim", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS4_TRQ_P", "shortDesc": "Control Surface 4 pitch torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS4_TRQ_R", "shortDesc": "Control Surface 4 roll torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS4_TRQ_Y", "shortDesc": "Control Surface 4 yaw torque scaling", "type": "Float"}, {"category": "Standard", "default": 0, "group": "Geometry", "name": "CA_SV_CS4_TYPE", "shortDesc": "Control Surface 4 type", "type": "Int32", "values": [{"description": "(Not set)", "value": 0}, {"description": "Left Aileron", "value": 1}, {"description": "Right Aileron", "value": 2}, {"description": "Elevator", "value": 3}, {"description": "Rudder", "value": 4}, {"description": "Left Elevon", "value": 5}, {"description": "Right Elevon", "value": 6}, {"description": "Left V-Tail", "value": 7}, {"description": "Right V-Tail", "value": 8}, {"description": "Left Flap", "value": 9}, {"description": "Right Flap", "value": 10}, {"description": "Airbrake", "value": 11}, {"description": "Custom", "value": 12}, {"description": "Left A-tail", "value": 13}, {"description": "Right A-tail", "value": 14}, {"description": "Single Channel Aileron", "value": 15}, {"description": "Steering Wheel", "value": 16}, {"description": "Left Spoiler", "value": 17}, {"description": "Right Spoiler", "value": 18}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS5_FLAP", "shortDesc": "Control Surface 5 configuration as flap", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS5_SPOIL", "shortDesc": "Control Surface 5 configuration as spoiler", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "longDesc": "Can be used to add an offset to the servo control.", "max": 1.0, "min": -1.0, "name": "CA_SV_CS5_TRIM", "shortDesc": "Control Surface 5 trim", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS5_TRQ_P", "shortDesc": "Control Surface 5 pitch torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS5_TRQ_R", "shortDesc": "Control Surface 5 roll torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS5_TRQ_Y", "shortDesc": "Control Surface 5 yaw torque scaling", "type": "Float"}, {"category": "Standard", "default": 0, "group": "Geometry", "name": "CA_SV_CS5_TYPE", "shortDesc": "Control Surface 5 type", "type": "Int32", "values": [{"description": "(Not set)", "value": 0}, {"description": "Left Aileron", "value": 1}, {"description": "Right Aileron", "value": 2}, {"description": "Elevator", "value": 3}, {"description": "Rudder", "value": 4}, {"description": "Left Elevon", "value": 5}, {"description": "Right Elevon", "value": 6}, {"description": "Left V-Tail", "value": 7}, {"description": "Right V-Tail", "value": 8}, {"description": "Left Flap", "value": 9}, {"description": "Right Flap", "value": 10}, {"description": "Airbrake", "value": 11}, {"description": "Custom", "value": 12}, {"description": "Left A-tail", "value": 13}, {"description": "Right A-tail", "value": 14}, {"description": "Single Channel Aileron", "value": 15}, {"description": "Steering Wheel", "value": 16}, {"description": "Left Spoiler", "value": 17}, {"description": "Right Spoiler", "value": 18}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS6_FLAP", "shortDesc": "Control Surface 6 configuration as flap", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS6_SPOIL", "shortDesc": "Control Surface 6 configuration as spoiler", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "longDesc": "Can be used to add an offset to the servo control.", "max": 1.0, "min": -1.0, "name": "CA_SV_CS6_TRIM", "shortDesc": "Control Surface 6 trim", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS6_TRQ_P", "shortDesc": "Control Surface 6 pitch torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS6_TRQ_R", "shortDesc": "Control Surface 6 roll torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS6_TRQ_Y", "shortDesc": "Control Surface 6 yaw torque scaling", "type": "Float"}, {"category": "Standard", "default": 0, "group": "Geometry", "name": "CA_SV_CS6_TYPE", "shortDesc": "Control Surface 6 type", "type": "Int32", "values": [{"description": "(Not set)", "value": 0}, {"description": "Left Aileron", "value": 1}, {"description": "Right Aileron", "value": 2}, {"description": "Elevator", "value": 3}, {"description": "Rudder", "value": 4}, {"description": "Left Elevon", "value": 5}, {"description": "Right Elevon", "value": 6}, {"description": "Left V-Tail", "value": 7}, {"description": "Right V-Tail", "value": 8}, {"description": "Left Flap", "value": 9}, {"description": "Right Flap", "value": 10}, {"description": "Airbrake", "value": 11}, {"description": "Custom", "value": 12}, {"description": "Left A-tail", "value": 13}, {"description": "Right A-tail", "value": 14}, {"description": "Single Channel Aileron", "value": 15}, {"description": "Steering Wheel", "value": 16}, {"description": "Left Spoiler", "value": 17}, {"description": "Right Spoiler", "value": 18}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS7_FLAP", "shortDesc": "Control Surface 7 configuration as flap", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "max": 1.0, "min": -1.0, "name": "CA_SV_CS7_SPOIL", "shortDesc": "Control Surface 7 configuration as spoiler", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "longDesc": "Can be used to add an offset to the servo control.", "max": 1.0, "min": -1.0, "name": "CA_SV_CS7_TRIM", "shortDesc": "Control Surface 7 trim", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS7_TRQ_P", "shortDesc": "Control Surface 7 pitch torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS7_TRQ_R", "shortDesc": "Control Surface 7 roll torque scaling", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Geometry", "name": "CA_SV_CS7_TRQ_Y", "shortDesc": "Control Surface 7 yaw torque scaling", "type": "Float"}, {"category": "Standard", "default": 0, "group": "Geometry", "name": "CA_SV_CS7_TYPE", "shortDesc": "Control Surface 7 type", "type": "Int32", "values": [{"description": "(Not set)", "value": 0}, {"description": "Left Aileron", "value": 1}, {"description": "Right Aileron", "value": 2}, {"description": "Elevator", "value": 3}, {"description": "Rudder", "value": 4}, {"description": "Left Elevon", "value": 5}, {"description": "Right Elevon", "value": 6}, {"description": "Left V-Tail", "value": 7}, {"description": "Right V-Tail", "value": 8}, {"description": "Left Flap", "value": 9}, {"description": "Right Flap", "value": 10}, {"description": "Airbrake", "value": 11}, {"description": "Custom", "value": 12}, {"description": "Left A-tail", "value": 13}, {"description": "Right A-tail", "value": 14}, {"description": "Single Channel Aileron", "value": 15}, {"description": "Steering Wheel", "value": 16}, {"description": "Left Spoiler", "value": 17}, {"description": "Right Spoiler", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Geometry", "name": "CA_SV_CS_COUNT", "shortDesc": "Total number of Control Surfaces", "type": "Int32", "values": [{"description": "0", "value": 0}, {"description": "1", "value": 1}, {"description": "2", "value": 2}, {"description": "3", "value": 3}, {"description": "4", "value": 4}, {"description": "5", "value": 5}, {"description": "6", "value": 6}, {"description": "7", "value": 7}, {"description": "8", "value": 8}]}, {"category": "Standard", "default": 1, "group": "Geometry", "longDesc": "Define if this servo is used for additional control.", "name": "CA_SV_TL0_CT", "shortDesc": "Tilt 0 is used for control", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Yaw", "value": 1}, {"description": "Pitch", "value": 2}, {"description": "Yaw and Pitch", "value": 3}]}, {"category": "Standard", "decimalPlaces": 0, "default": 90.0, "group": "Geometry", "longDesc": "Defines the tilt angle when the servo is at the maximum. An angle of zero means upwards.", "max": 90.0, "min": -90.0, "name": "CA_SV_TL0_MAXA", "shortDesc": "Tilt Servo 0 Tilt Angle at Maximum", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 0, "default": 0.0, "group": "Geometry", "longDesc": "Defines the tilt angle when the servo is at the minimum. An angle of zero means upwards.", "max": 90.0, "min": -90.0, "name": "CA_SV_TL0_MINA", "shortDesc": "Tilt Servo 0 Tilt Angle at Minimum", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "Defines the direction the servo tilts towards when moving towards the maximum tilt angle. For example if the minimum tilt angle is -90, the maximum 90, and the direction 'Towards Front', the motor axis aligns with the XZ-plane, points towards -X at the minimum and +X at the maximum tilt.", "max": 359, "min": 0, "name": "CA_SV_TL0_TD", "shortDesc": "Tilt Servo 0 Tilt Direction", "type": "Int32", "values": [{"description": "Towards Front", "value": 0}, {"description": "Towards Right", "value": 90}]}, {"category": "Standard", "default": 1, "group": "Geometry", "longDesc": "Define if this servo is used for additional control.", "name": "CA_SV_TL1_CT", "shortDesc": "Tilt 1 is used for control", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Yaw", "value": 1}, {"description": "Pitch", "value": 2}, {"description": "Yaw and Pitch", "value": 3}]}, {"category": "Standard", "decimalPlaces": 0, "default": 90.0, "group": "Geometry", "longDesc": "Defines the tilt angle when the servo is at the maximum. An angle of zero means upwards.", "max": 90.0, "min": -90.0, "name": "CA_SV_TL1_MAXA", "shortDesc": "Tilt Servo 1 Tilt Angle at Maximum", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 0, "default": 0.0, "group": "Geometry", "longDesc": "Defines the tilt angle when the servo is at the minimum. An angle of zero means upwards.", "max": 90.0, "min": -90.0, "name": "CA_SV_TL1_MINA", "shortDesc": "Tilt Servo 1 Tilt Angle at Minimum", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "Defines the direction the servo tilts towards when moving towards the maximum tilt angle. For example if the minimum tilt angle is -90, the maximum 90, and the direction 'Towards Front', the motor axis aligns with the XZ-plane, points towards -X at the minimum and +X at the maximum tilt.", "max": 359, "min": 0, "name": "CA_SV_TL1_TD", "shortDesc": "Tilt Servo 1 Tilt Direction", "type": "Int32", "values": [{"description": "Towards Front", "value": 0}, {"description": "Towards Right", "value": 90}]}, {"category": "Standard", "default": 1, "group": "Geometry", "longDesc": "Define if this servo is used for additional control.", "name": "CA_SV_TL2_CT", "shortDesc": "Tilt 2 is used for control", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Yaw", "value": 1}, {"description": "Pitch", "value": 2}, {"description": "Yaw and Pitch", "value": 3}]}, {"category": "Standard", "decimalPlaces": 0, "default": 90.0, "group": "Geometry", "longDesc": "Defines the tilt angle when the servo is at the maximum. An angle of zero means upwards.", "max": 90.0, "min": -90.0, "name": "CA_SV_TL2_MAXA", "shortDesc": "Tilt Servo 2 Tilt Angle at Maximum", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 0, "default": 0.0, "group": "Geometry", "longDesc": "Defines the tilt angle when the servo is at the minimum. An angle of zero means upwards.", "max": 90.0, "min": -90.0, "name": "CA_SV_TL2_MINA", "shortDesc": "Tilt Servo 2 Tilt Angle at Minimum", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "Defines the direction the servo tilts towards when moving towards the maximum tilt angle. For example if the minimum tilt angle is -90, the maximum 90, and the direction 'Towards Front', the motor axis aligns with the XZ-plane, points towards -X at the minimum and +X at the maximum tilt.", "max": 359, "min": 0, "name": "CA_SV_TL2_TD", "shortDesc": "Tilt Servo 2 Tilt Direction", "type": "Int32", "values": [{"description": "Towards Front", "value": 0}, {"description": "Towards Right", "value": 90}]}, {"category": "Standard", "default": 1, "group": "Geometry", "longDesc": "Define if this servo is used for additional control.", "name": "CA_SV_TL3_CT", "shortDesc": "Tilt 3 is used for control", "type": "Int32", "values": [{"description": "None", "value": 0}, {"description": "Yaw", "value": 1}, {"description": "Pitch", "value": 2}, {"description": "Yaw and Pitch", "value": 3}]}, {"category": "Standard", "decimalPlaces": 0, "default": 90.0, "group": "Geometry", "longDesc": "Defines the tilt angle when the servo is at the maximum. An angle of zero means upwards.", "max": 90.0, "min": -90.0, "name": "CA_SV_TL3_MAXA", "shortDesc": "Tilt Servo 3 Tilt Angle at Maximum", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 0, "default": 0.0, "group": "Geometry", "longDesc": "Defines the tilt angle when the servo is at the minimum. An angle of zero means upwards.", "max": 90.0, "min": -90.0, "name": "CA_SV_TL3_MINA", "shortDesc": "Tilt Servo 3 Tilt Angle at Minimum", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 0, "group": "Geometry", "longDesc": "Defines the direction the servo tilts towards when moving towards the maximum tilt angle. For example if the minimum tilt angle is -90, the maximum 90, and the direction 'Towards Front', the motor axis aligns with the XZ-plane, points towards -X at the minimum and +X at the maximum tilt.", "max": 359, "min": 0, "name": "CA_SV_TL3_TD", "shortDesc": "Tilt Servo 3 Tilt Direction", "type": "Int32", "values": [{"description": "Towards Front", "value": 0}, {"description": "Towards Right", "value": 90}]}, {"category": "Standard", "default": 0, "group": "Geometry", "name": "CA_SV_TL_COUNT", "shortDesc": "Total number of Tilt Servos", "type": "Int32", "values": [{"description": "0", "value": 0}, {"description": "1", "value": 1}, {"description": "2", "value": 2}, {"description": "3", "value": 3}, {"description": "4", "value": 4}]}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "Hover Thrust Estimator", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.", "max": 10.0, "min": 1.0, "name": "HTE_ACC_GATE", "shortDesc": "Gate size for acceleration fusion", "type": "Float", "units": "SD"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.1, "group": "Hover Thrust Estimator", "longDesc": "Sets the number of standard deviations used by the innovation consistency test.", "max": 1.0, "min": 0.0, "name": "HTE_HT_ERR_INIT", "shortDesc": "1-sigma initial hover thrust uncertainty", "type": "Float", "units": "normalized_thrust"}, {"category": "Standard", "decimalPlaces": 4, "default": 0.0036, "group": "Hover Thrust Estimator", "longDesc": "Reduce to make the hover thrust estimate more stable, increase if the real hover thrust is expected to change quickly over time.", "max": 1.0, "min": 0.0001, "name": "HTE_HT_NOISE", "shortDesc": "Hover thrust process noise", "type": "Float", "units": "normalized_thrust/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "Hover Thrust Estimator", "longDesc": "Defines the range of the hover thrust estimate around MPC_THR_HOVER. A value of 0.2 with MPC_THR_HOVER at 0.5 results in a range of [0.3, 0.7]. Set to a large value if the vehicle operates in varying physical conditions that affect the required hover thrust strongly (e.g. differently sized payloads).", "max": 0.4, "min": 0.01, "name": "HTE_THR_RANGE", "shortDesc": "Max deviation from MPC_THR_HOVER", "type": "Float", "units": "normalized_thrust"}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "Hover Thrust Estimator", "longDesc": "Above this speed, the measurement noise is linearly increased to reduce the sensitivity of the estimator from biased measurement. Set to a low value on vehicles with large lifting surfaces.", "max": 20.0, "min": 1.0, "name": "HTE_VXY_THR", "shortDesc": "Horizontal velocity threshold for sensitivity reduction", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 2.0, "group": "Hover Thrust Estimator", "longDesc": "Above this speed, the measurement noise is linearly increased to reduce the sensitivity of the estimator from biased measurement. Set to a low value on vehicles affected by air drag when climbing or descending.", "max": 10.0, "min": 1.0, "name": "HTE_VZ_THR", "shortDesc": "Vertical velocity threshold for sensitivity reduction", "type": "Float", "units": "m/s"}, {"category": "Standard", "default": 0, "group": "Iridium SBD", "longDesc": "Configure on which serial port to run Iridium (with MAVLink).", "name": "ISBD_CONFIG", "rebootRequired": true, "shortDesc": "Serial Configuration for Iridium (with MAVLink)", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "UART 6", "value": 6}, {"description": "TELEM 1", "value": 101}, {"description": "TELEM 2", "value": 102}, {"description": "TELEM 3", "value": 103}, {"description": "TELEM/SERIAL 4", "value": 104}, {"description": "GPS 1", "value": 201}, {"description": "GPS 2", "value": 202}, {"description": "GPS 3", "value": 203}, {"description": "Radio Controller", "value": 300}, {"description": "Wifi Port", "value": 301}, {"description": "EXT2", "value": 401}]}, {"category": "Standard", "default": 0, "group": "Iridium SBD", "max": 5000, "min": 0, "name": "ISBD_READ_INT", "shortDesc": "Satellite radio read interval. Only required to be nonzero if data is not sent using a ring call", "type": "Int32", "units": "s"}, {"category": "Standard", "default": 60, "group": "Iridium SBD", "max": 300, "min": 0, "name": "ISBD_SBD_TIMEOUT", "shortDesc": "Iridium SBD session timeout", "type": "Int32", "units": "s"}, {"category": "Standard", "default": 0, "group": "Iridium SBD", "longDesc": "Value 0 turns the functionality off", "max": 500, "min": 0, "name": "ISBD_STACK_TIME", "shortDesc": "Time the Iridium driver will wait for additional mavlink messages to combine them into one SBD message", "type": "Int32", "units": "ms"}, {"category": "Standard", "decimalPlaces": 1, "default": 6.0, "group": "Land Detector", "longDesc": "Maximum airspeed allowed in the landed state", "max": 20.0, "min": 2.0, "name": "LNDFW_AIRSPD_MAX", "shortDesc": "Fixed-wing land detector: Max airspeed", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 2.0, "group": "Land Detector", "longDesc": "Time the land conditions (speeds and acceleration) have to be satisfied to detect a landing.", "min": 0.1, "name": "LNDFW_TRIG_TIME", "rebootRequired": true, "shortDesc": "Fixed-wing land detection trigger time", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "Land Detector", "longDesc": "Maximum horizontal velocity allowed in the landed state. A factor of 0.7 is applied in case of airspeed-less flying (either because no sensor is present or sensor data got invalid in flight).", "max": 10.0, "min": 0.5, "name": "LNDFW_VEL_XY_MAX", "shortDesc": "Fixed-wing land detector: Max horizontal velocity threshold", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "Land Detector", "longDesc": "Maximum vertical velocity allowed in the landed state.", "max": 20.0, "min": 0.1, "name": "LNDFW_VEL_Z_MAX", "shortDesc": "Fixed-wing land detector: Max vertiacal velocity threshold", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 8.0, "group": "Land Detector", "longDesc": "Maximum horizontal (x,y body axes) acceleration allowed in the landed state", "max": 15.0, "min": 2.0, "name": "LNDFW_XYACC_MAX", "shortDesc": "Fixed-wing land detector: Max horizontal acceleration", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 2, "default": 2.0, "group": "Land Detector", "longDesc": "The height above ground below which ground effect creates barometric altitude errors. A negative value indicates no ground effect.", "min": -1.0, "name": "LNDMC_ALT_GND", "shortDesc": "Ground effect altitude for multicopters", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 20.0, "group": "Land Detector", "longDesc": "Maximum allowed angular velocity around each axis allowed in the landed state.", "name": "LNDMC_ROT_MAX", "shortDesc": "Multicopter max rotation", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "Land Detector", "longDesc": "Total time it takes to go through all three land detection stages: ground contact, maybe landed, landed when all necessary conditions are constantly met.", "max": 10.0, "min": 0.1, "name": "LNDMC_TRIG_TIME", "shortDesc": "Multicopter land detection trigger time", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.5, "group": "Land Detector", "longDesc": "Maximum horizontal velocity allowed in the landed state", "name": "LNDMC_XY_VEL_MAX", "shortDesc": "Multicopter max horizontal velocity", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.25, "group": "Land Detector", "longDesc": "Vertical velocity threshold to detect landing. Has to be set lower than the expected minimal speed for landing, which is either MPC_LAND_SPEED or MPC_LAND_CRWL. This is enforced by an automatic check.", "min": 0.0, "name": "LNDMC_Z_VEL_MAX", "shortDesc": "Multicopter vertical velocity threshold", "type": "Float", "units": "m/s"}, {"category": "System", "default": 0, "group": "Land Detector", "longDesc": "Total flight time of this autopilot. Higher 32 bits of the value. Flight time in microseconds = (LND_FLIGHT_T_HI << 32) | LND_FLIGHT_T_LO.", "min": 0, "name": "LND_FLIGHT_T_HI", "shortDesc": "Total flight time in microseconds", "type": "Int32", "volatile": true}, {"category": "System", "default": 0, "group": "Land Detector", "longDesc": "Total flight time of this autopilot. Lower 32 bits of the value. Flight time in microseconds = (LND_FLIGHT_T_HI << 32) | LND_FLIGHT_T_LO.", "min": 0, "name": "LND_FLIGHT_T_LO", "shortDesc": "Total flight time in microseconds", "type": "Int32", "volatile": true}, {"category": "Standard", "decimalPlaces": 2, "default": 10.0, "group": "Landing Target Estimator", "longDesc": "Variance of acceleration measurement used for landing target position prediction. Higher values results in tighter following of the measurements and more lenient outlier rejection", "min": 0.01, "name": "LTEST_ACC_UNC", "shortDesc": "Acceleration uncertainty", "type": "Float", "units": "(m/s^2)^2"}, {"category": "Standard", "decimalPlaces": 4, "default": 0.005, "group": "Landing Target Estimator", "longDesc": "Variance of the landing target measurement from the driver. Higher values result in less aggressive following of the measurement and a smoother output as well as fewer rejected measurements.", "name": "LTEST_MEAS_UNC", "shortDesc": "Landing target measurement uncertainty", "type": "Float", "units": "tan(rad)^2"}, {"category": "Standard", "default": 0, "group": "Landing Target Estimator", "longDesc": "Configure the mode of the landing target. Depending on the mode, the landing target observations are used differently to aid position estimation. Mode Moving:     The landing target may be moving around while in the field of view of the vehicle. Landing target measurements are not used to aid positioning. Mode Stationary: The landing target is stationary. Measured velocity w.r.t. the landing target is used to aid velocity estimation.", "max": 1, "min": 0, "name": "LTEST_MODE", "shortDesc": "Landing target mode", "type": "Int32", "values": [{"description": "Moving", "value": 0}, {"description": "Stationary", "value": 1}]}, {"category": "Standard", "decimalPlaces": 3, "default": 0.1, "group": "Landing Target Estimator", "longDesc": "Initial variance of the relative landing target position in x and y direction", "min": 0.001, "name": "LTEST_POS_UNC_IN", "shortDesc": "Initial landing target position uncertainty", "type": "Float", "units": "m^2"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Landing Target Estimator", "longDesc": "Landing target x measurements are scaled by this factor before being used", "min": 0.01, "name": "LTEST_SCALE_X", "shortDesc": "Scale factor for sensor measurements in sensor x axis", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Landing Target Estimator", "longDesc": "Landing target y measurements are scaled by this factor before being used", "min": 0.01, "name": "LTEST_SCALE_Y", "shortDesc": "Scale factor for sensor measurements in sensor y axis", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Landing Target Estimator", "name": "LTEST_SENS_POS_X", "rebootRequired": true, "shortDesc": "X Position of IRLOCK in body frame (forward)", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Landing Target Estimator", "name": "LTEST_SENS_POS_Y", "rebootRequired": true, "shortDesc": "Y Position of IRLOCK in body frame (right)", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Landing Target Estimator", "name": "LTEST_SENS_POS_Z", "rebootRequired": true, "shortDesc": "Z Position of IRLOCK in body frame (downward)", "type": "Float", "units": "m"}, {"category": "Standard", "default": 2, "group": "Landing Target Estimator", "longDesc": "Default orientation of Yaw 90\u00b0", "max": 40, "min": -1, "name": "LTEST_SENS_ROT", "rebootRequired": true, "shortDesc": "Rotation of IRLOCK sensor relative to airframe", "type": "Int32", "values": [{"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}]}, {"category": "Standard", "decimalPlaces": 3, "default": 0.1, "group": "Landing Target Estimator", "longDesc": "Initial variance of the relative landing target velocity in x and y directions", "min": 0.001, "name": "LTEST_VEL_UNC_IN", "shortDesc": "Initial landing target velocity uncertainty", "type": "Float", "units": "(m/s)^2"}, {"category": "Standard", "decimalPlaces": 4, "default": 0.012, "group": "Local Position Estimator", "longDesc": "Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz) Larger than data sheet to account for tilt error.", "max": 2.0, "min": 1e-05, "name": "LPE_ACC_XY", "shortDesc": "Accelerometer xy noise density", "type": "Float", "units": "m/s^2/sqrt(Hz)"}, {"category": "Standard", "decimalPlaces": 4, "default": 0.02, "group": "Local Position Estimator", "longDesc": "Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz)", "max": 2.0, "min": 1e-05, "name": "LPE_ACC_Z", "shortDesc": "Accelerometer z noise density", "type": "Float", "units": "m/s^2/sqrt(Hz)"}, {"category": "Standard", "decimalPlaces": 2, "default": 3.0, "group": "Local Position Estimator", "max": 100.0, "min": 0.01, "name": "LPE_BAR_Z", "shortDesc": "Barometric presssure altitude z standard deviation", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Local Position Estimator", "name": "LPE_EN", "shortDesc": "Local position estimator enable (unsupported)", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 3, "default": 3.0, "group": "Local Position Estimator", "max": 5.0, "min": 1.0, "name": "LPE_EPH_MAX", "shortDesc": "Max EPH allowed for GPS initialization", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 5.0, "group": "Local Position Estimator", "max": 5.0, "min": 1.0, "name": "LPE_EPV_MAX", "shortDesc": "Max EPV allowed for GPS initialization", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Local Position Estimator", "longDesc": "By initializing the estimator to the LPE_LAT/LON parameters when global information is unavailable", "max": 1, "min": 0, "name": "LPE_FAKE_ORIGIN", "shortDesc": "Enable publishing of a fake global position (e.g for AUTO missions using Optical Flow)", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.001, "group": "Local Position Estimator", "max": 2.0, "min": 0.0, "name": "LPE_FGYRO_HP", "shortDesc": "Flow gyro high pass filter cut off frequency", "type": "Float", "units": "Hz"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Local Position Estimator", "max": 1.0, "min": -1.0, "name": "LPE_FLW_OFF_Z", "shortDesc": "Optical flow z offset from center", "type": "Float", "units": "m"}, {"category": "Standard", "default": 150, "group": "Local Position Estimator", "max": 255, "min": 0, "name": "LPE_FLW_QMIN", "shortDesc": "Optical flow minimum quality threshold", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 3, "default": 7.0, "group": "Local Position Estimator", "max": 10.0, "min": 0.1, "name": "LPE_FLW_R", "shortDesc": "Optical flow rotation (roll/pitch) noise gain", "type": "Float", "units": "m/s/rad"}, {"category": "Standard", "decimalPlaces": 3, "default": 7.0, "group": "Local Position Estimator", "max": 10.0, "min": 0.0, "name": "LPE_FLW_RR", "shortDesc": "Optical flow angular velocity noise gain", "type": "Float", "units": "m/rad"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.3, "group": "Local Position Estimator", "max": 10.0, "min": 0.1, "name": "LPE_FLW_SCALE", "shortDesc": "Optical flow scale", "type": "Float", "units": "m"}, {"bitmask": [{"description": "fuse GPS, requires GPS for alt. init", "index": 0}, {"description": "fuse optical flow", "index": 1}, {"description": "fuse vision position", "index": 2}, {"description": "fuse landing target", "index": 3}, {"description": "fuse land detector", "index": 4}, {"description": "pub agl as lpos down", "index": 5}, {"description": "flow gyro compensation", "index": 6}, {"description": "fuse baro", "index": 7}], "category": "Standard", "default": 145, "group": "Local Position Estimator", "longDesc": "Set bits in the following positions to enable: 0 : Set to true to fuse GPS data if available, also requires GPS for altitude init 1 : Set to true to fuse optical flow data if available 2 : Set to true to fuse vision position 3 : Set to true to enable landing target 4 : Set to true to fuse land detector 5 : Set to true to publish AGL as local position down component 6 : Set to true to enable flow gyro compensation 7 : Set to true to enable baro fusion default (145 - GPS, baro, land detector)", "max": 255, "min": 0, "name": "LPE_FUSION", "shortDesc": "Integer bitmask controlling data fusion", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.29, "group": "Local Position Estimator", "max": 0.4, "min": 0.0, "name": "LPE_GPS_DELAY", "shortDesc": "GPS delay compensaton", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.25, "group": "Local Position Estimator", "longDesc": "EPV used if greater than this value.", "max": 2.0, "min": 0.01, "name": "LPE_GPS_VXY", "shortDesc": "GPS xy velocity standard deviation", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.25, "group": "Local Position Estimator", "max": 2.0, "min": 0.01, "name": "LPE_GPS_VZ", "shortDesc": "GPS z velocity standard deviation", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Local Position Estimator", "max": 5.0, "min": 0.01, "name": "LPE_GPS_XY", "shortDesc": "Minimum GPS xy standard deviation, uses reported EPH if greater", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 3.0, "group": "Local Position Estimator", "max": 200.0, "min": 0.01, "name": "LPE_GPS_Z", "shortDesc": "Minimum GPS z standard deviation, uses reported EPV if greater", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "Local Position Estimator", "max": 10.0, "min": 0.01, "name": "LPE_LAND_VXY", "shortDesc": "Land detector xy velocity standard deviation", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.03, "group": "Local Position Estimator", "max": 10.0, "min": 0.001, "name": "LPE_LAND_Z", "shortDesc": "Land detector z standard deviation", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 8, "default": 47.397742, "group": "Local Position Estimator", "max": 90.0, "min": -90.0, "name": "LPE_LAT", "shortDesc": "Local origin latitude for nav w/o GPS", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Local Position Estimator", "max": 1.0, "min": -1.0, "name": "LPE_LDR_OFF_Z", "shortDesc": "Lidar z offset from center of vehicle +down", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.03, "group": "Local Position Estimator", "max": 1.0, "min": 0.01, "name": "LPE_LDR_Z", "shortDesc": "Lidar z standard deviation", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 8, "default": 8.545594, "group": "Local Position Estimator", "max": 180.0, "min": -180.0, "name": "LPE_LON", "shortDesc": "Local origin longitude for nav w/o GPS", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0001, "group": "Local Position Estimator", "max": 10.0, "min": 0.0, "name": "LPE_LT_COV", "shortDesc": "Minimum landing target standard covariance, uses reported covariance if greater", "type": "Float", "units": "m^2"}, {"category": "Standard", "decimalPlaces": 8, "default": 0.001, "group": "Local Position Estimator", "max": 1.0, "min": 0.0, "name": "LPE_PN_B", "shortDesc": "Accel bias propagation noise density", "type": "Float", "units": "m/s^3/sqrt(Hz)"}, {"category": "Standard", "decimalPlaces": 8, "default": 0.1, "group": "Local Position Estimator", "longDesc": "Increase to trust measurements more. Decrease to trust model more.", "max": 1.0, "min": 0.0, "name": "LPE_PN_P", "shortDesc": "Position propagation noise density", "type": "Float", "units": "m/s/sqrt(Hz)"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.001, "group": "Local Position Estimator", "max": 1.0, "min": 0.0, "name": "LPE_PN_T", "shortDesc": "Terrain random walk noise density, hilly/outdoor (0.1), flat/Indoor (0.001)", "type": "Float", "units": "m/s/sqrt(Hz)"}, {"category": "Standard", "decimalPlaces": 8, "default": 0.1, "group": "Local Position Estimator", "longDesc": "Increase to trust measurements more. Decrease to trust model more.", "max": 1.0, "min": 0.0, "name": "LPE_PN_V", "shortDesc": "Velocity propagation noise density", "type": "Float", "units": "m/s^2/sqrt(Hz)"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Local Position Estimator", "max": 1.0, "min": -1.0, "name": "LPE_SNR_OFF_Z", "shortDesc": "Sonar z offset from center of vehicle +down", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.05, "group": "Local Position Estimator", "max": 1.0, "min": 0.01, "name": "LPE_SNR_Z", "shortDesc": "Sonar z standard deviation", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Local Position Estimator", "longDesc": "Used to calculate increased terrain random walk nosie due to movement.", "max": 100.0, "min": 0.0, "name": "LPE_T_MAX_GRADE", "shortDesc": "Terrain maximum percent grade, hilly/outdoor (100 = 45 deg), flat/Indoor (0 = 0 deg)", "type": "Float", "units": "%"}, {"category": "Standard", "decimalPlaces": 4, "default": 0.001, "group": "Local Position Estimator", "max": 1.0, "min": 0.0001, "name": "LPE_VIC_P", "shortDesc": "Vicon position standard deviation", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "Local Position Estimator", "longDesc": "Set to zero to enable automatic compensation from measurement timestamps", "max": 0.1, "min": 0.0, "name": "LPE_VIS_DELAY", "shortDesc": "Vision delay compensation", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.1, "group": "Local Position Estimator", "max": 1.0, "min": 0.01, "name": "LPE_VIS_XY", "shortDesc": "Vision xy standard deviation", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.5, "group": "Local Position Estimator", "max": 100.0, "min": 0.01, "name": "LPE_VIS_Z", "shortDesc": "Vision z standard deviation", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.3, "group": "Local Position Estimator", "max": 1.0, "min": 0.01, "name": "LPE_VXY_PUB", "shortDesc": "Required velocity xy standard deviation to publish position", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 0, "default": 5.0, "group": "Local Position Estimator", "max": 1000.0, "min": 5.0, "name": "LPE_X_LP", "shortDesc": "Cut frequency for state publication", "type": "Float", "units": "Hz"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "Local Position Estimator", "max": 5.0, "min": 0.3, "name": "LPE_Z_PUB", "shortDesc": "Required z standard deviation to publish altitude/ terrain", "type": "Float", "units": "m"}, {"category": "Standard", "default": 1, "group": "MAVLink", "longDesc": "This allows a ground control station to automatically find the drone on the local network.", "name": "MAV_0_BROADCAST", "shortDesc": "Broadcast heartbeats on local network for MAVLink instance 0", "type": "Int32", "values": [{"description": "Never broadcast", "value": 0}, {"description": "Always broadcast", "value": 1}, {"description": "Only multicast", "value": 2}]}, {"category": "Standard", "default": 101, "group": "MAVLink", "longDesc": "Configure on which serial port to run MAVLink.", "name": "MAV_0_CONFIG", "rebootRequired": true, "shortDesc": "Serial Configuration for MAVLink (instance 0)", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "UART 6", "value": 6}, {"description": "TELEM 1", "value": 101}, {"description": "TELEM 2", "value": 102}, {"description": "TELEM 3", "value": 103}, {"description": "TELEM/SERIAL 4", "value": 104}, {"description": "GPS 1", "value": 201}, {"description": "GPS 2", "value": 202}, {"description": "GPS 3", "value": 203}, {"description": "Radio Controller", "value": 300}, {"description": "Wifi Port", "value": 301}, {"description": "EXT2", "value": 401}, {"description": "Ethernet", "value": 1000}]}, {"category": "Standard", "default": 2, "group": "MAVLink", "longDesc": "This is used to force flow control on or off for the the mavlink instance. By default it is auto detected. Use when auto detection fails.", "name": "MAV_0_FLOW_CTRL", "rebootRequired": true, "shortDesc": "Enable serial flow control for instance 0", "type": "Int32", "values": [{"description": "Force off", "value": 0}, {"description": "Force on", "value": 1}, {"description": "Auto-detected", "value": 2}]}, {"category": "Standard", "default": 1, "group": "MAVLink", "longDesc": "If enabled, forward incoming MAVLink messages to other MAVLink ports if the message is either broadcast or the target is not the autopilot. This allows for example a GCS to talk to a camera that is connected to the autopilot via MAVLink (on a different link than the GCS).", "name": "MAV_0_FORWARD", "rebootRequired": true, "shortDesc": "Enable MAVLink Message forwarding for instance 0", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "MAVLink", "longDesc": "The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.", "name": "MAV_0_MODE", "rebootRequired": true, "shortDesc": "MAVLink Mode for instance 0", "type": "Int32", "values": [{"description": "Normal", "value": 0}, {"description": "Custom", "value": 1}, {"description": "Onboard", "value": 2}, {"description": "OSD", "value": 3}, {"description": "Magic", "value": 4}, {"description": "Config", "value": 5}, {"description": "Minimal", "value": 7}, {"description": "External Vision", "value": 8}, {"description": "Gimbal", "value": 10}, {"description": "Onboard Low Bandwidth", "value": 11}, {"description": "uAvionix", "value": 12}]}, {"category": "Standard", "default": 1, "group": "MAVLink", "longDesc": "If enabled, MAVLink messages will be throttled according to `txbuf` field reported by radio_status. Requires a radio to send the mavlink message RADIO_STATUS.", "name": "MAV_0_RADIO_CTL", "rebootRequired": true, "shortDesc": "Enable software throttling of mavlink on instance 0", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1200, "group": "MAVLink", "longDesc": "Configure the maximum sending rate for the MAVLink streams in Bytes/sec. If the configured streams exceed the maximum rate, the sending rate of each stream is automatically decreased. If this is set to 0 a value of half of the theoretical maximum bandwidth is used. This corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on 8N1-configured links).", "min": 0, "name": "MAV_0_RATE", "rebootRequired": true, "shortDesc": "Maximum MAVLink sending rate for instance 0", "type": "Int32", "units": "B/s"}, {"category": "Standard", "default": 14550, "group": "MAVLink", "longDesc": "If ethernet enabled and selected as configuration for MAVLink instance 0, selected remote port will be set and used in MAVLink instance 0.", "name": "MAV_0_REMOTE_PRT", "rebootRequired": true, "shortDesc": "MAVLink Remote Port for instance 0", "type": "Int32"}, {"category": "Standard", "default": 14556, "group": "MAVLink", "longDesc": "If ethernet enabled and selected as configuration for MAVLink instance 0, selected udp port will be set and used in MAVLink instance 0.", "name": "MAV_0_UDP_PRT", "rebootRequired": true, "shortDesc": "MAVLink Network Port for instance 0", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "MAVLink", "longDesc": "This allows a ground control station to automatically find the drone on the local network.", "name": "MAV_1_BROADCAST", "shortDesc": "Broadcast heartbeats on local network for MAVLink instance 1", "type": "Int32", "values": [{"description": "Never broadcast", "value": 0}, {"description": "Always broadcast", "value": 1}, {"description": "Only multicast", "value": 2}]}, {"category": "Standard", "default": 0, "group": "MAVLink", "longDesc": "Configure on which serial port to run MAVLink.", "name": "MAV_1_CONFIG", "rebootRequired": true, "shortDesc": "Serial Configuration for MAVLink (instance 1)", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "UART 6", "value": 6}, {"description": "TELEM 1", "value": 101}, {"description": "TELEM 2", "value": 102}, {"description": "TELEM 3", "value": 103}, {"description": "TELEM/SERIAL 4", "value": 104}, {"description": "GPS 1", "value": 201}, {"description": "GPS 2", "value": 202}, {"description": "GPS 3", "value": 203}, {"description": "Radio Controller", "value": 300}, {"description": "Wifi Port", "value": 301}, {"description": "EXT2", "value": 401}, {"description": "Ethernet", "value": 1000}]}, {"category": "Standard", "default": 2, "group": "MAVLink", "longDesc": "This is used to force flow control on or off for the the mavlink instance. By default it is auto detected. Use when auto detection fails.", "name": "MAV_1_FLOW_CTRL", "rebootRequired": true, "shortDesc": "Enable serial flow control for instance 1", "type": "Int32", "values": [{"description": "Force off", "value": 0}, {"description": "Force on", "value": 1}, {"description": "Auto-detected", "value": 2}]}, {"category": "Standard", "default": 0, "group": "MAVLink", "longDesc": "If enabled, forward incoming MAVLink messages to other MAVLink ports if the message is either broadcast or the target is not the autopilot. This allows for example a GCS to talk to a camera that is connected to the autopilot via MAVLink (on a different link than the GCS).", "name": "MAV_1_FORWARD", "rebootRequired": true, "shortDesc": "Enable MAVLink Message forwarding for instance 1", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 2, "group": "MAVLink", "longDesc": "The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.", "name": "MAV_1_MODE", "rebootRequired": true, "shortDesc": "MAVLink Mode for instance 1", "type": "Int32", "values": [{"description": "Normal", "value": 0}, {"description": "Custom", "value": 1}, {"description": "Onboard", "value": 2}, {"description": "OSD", "value": 3}, {"description": "Magic", "value": 4}, {"description": "Config", "value": 5}, {"description": "Minimal", "value": 7}, {"description": "External Vision", "value": 8}, {"description": "Gimbal", "value": 10}, {"description": "Onboard Low Bandwidth", "value": 11}, {"description": "uAvionix", "value": 12}]}, {"category": "Standard", "default": 1, "group": "MAVLink", "longDesc": "If enabled, MAVLink messages will be throttled according to `txbuf` field reported by radio_status. Requires a radio to send the mavlink message RADIO_STATUS.", "name": "MAV_1_RADIO_CTL", "rebootRequired": true, "shortDesc": "Enable software throttling of mavlink on instance 1", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "MAVLink", "longDesc": "Configure the maximum sending rate for the MAVLink streams in Bytes/sec. If the configured streams exceed the maximum rate, the sending rate of each stream is automatically decreased. If this is set to 0 a value of half of the theoretical maximum bandwidth is used. This corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on 8N1-configured links).", "min": 0, "name": "MAV_1_RATE", "rebootRequired": true, "shortDesc": "Maximum MAVLink sending rate for instance 1", "type": "Int32", "units": "B/s"}, {"category": "Standard", "default": 0, "group": "MAVLink", "longDesc": "If ethernet enabled and selected as configuration for MAVLink instance 1, selected remote port will be set and used in MAVLink instance 1.", "name": "MAV_1_REMOTE_PRT", "rebootRequired": true, "shortDesc": "MAVLink Remote Port for instance 1", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "MAVLink", "longDesc": "If ethernet enabled and selected as configuration for MAVLink instance 1, selected udp port will be set and used in MAVLink instance 1.", "name": "MAV_1_UDP_PRT", "rebootRequired": true, "shortDesc": "MAVLink Network Port for instance 1", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "MAVLink", "longDesc": "This allows a ground control station to automatically find the drone on the local network.", "name": "MAV_2_BROADCAST", "shortDesc": "Broadcast heartbeats on local network for MAVLink instance 2", "type": "Int32", "values": [{"description": "Never broadcast", "value": 0}, {"description": "Always broadcast", "value": 1}, {"description": "Only multicast", "value": 2}]}, {"category": "Standard", "default": 0, "group": "MAVLink", "longDesc": "Configure on which serial port to run MAVLink.", "name": "MAV_2_CONFIG", "rebootRequired": true, "shortDesc": "Serial Configuration for MAVLink (instance 2)", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "UART 6", "value": 6}, {"description": "TELEM 1", "value": 101}, {"description": "TELEM 2", "value": 102}, {"description": "TELEM 3", "value": 103}, {"description": "TELEM/SERIAL 4", "value": 104}, {"description": "GPS 1", "value": 201}, {"description": "GPS 2", "value": 202}, {"description": "GPS 3", "value": 203}, {"description": "Radio Controller", "value": 300}, {"description": "Wifi Port", "value": 301}, {"description": "EXT2", "value": 401}, {"description": "Ethernet", "value": 1000}]}, {"category": "Standard", "default": 2, "group": "MAVLink", "longDesc": "This is used to force flow control on or off for the the mavlink instance. By default it is auto detected. Use when auto detection fails.", "name": "MAV_2_FLOW_CTRL", "rebootRequired": true, "shortDesc": "Enable serial flow control for instance 2", "type": "Int32", "values": [{"description": "Force off", "value": 0}, {"description": "Force on", "value": 1}, {"description": "Auto-detected", "value": 2}]}, {"category": "Standard", "default": 0, "group": "MAVLink", "longDesc": "If enabled, forward incoming MAVLink messages to other MAVLink ports if the message is either broadcast or the target is not the autopilot. This allows for example a GCS to talk to a camera that is connected to the autopilot via MAVLink (on a different link than the GCS).", "name": "MAV_2_FORWARD", "rebootRequired": true, "shortDesc": "Enable MAVLink Message forwarding for instance 2", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "MAVLink", "longDesc": "The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.", "name": "MAV_2_MODE", "rebootRequired": true, "shortDesc": "MAVLink Mode for instance 2", "type": "Int32", "values": [{"description": "Normal", "value": 0}, {"description": "Custom", "value": 1}, {"description": "Onboard", "value": 2}, {"description": "OSD", "value": 3}, {"description": "Magic", "value": 4}, {"description": "Config", "value": 5}, {"description": "Minimal", "value": 7}, {"description": "External Vision", "value": 8}, {"description": "Gimbal", "value": 10}, {"description": "Onboard Low Bandwidth", "value": 11}, {"description": "uAvionix", "value": 12}]}, {"category": "Standard", "default": 1, "group": "MAVLink", "longDesc": "If enabled, MAVLink messages will be throttled according to `txbuf` field reported by radio_status. Requires a radio to send the mavlink message RADIO_STATUS.", "name": "MAV_2_RADIO_CTL", "rebootRequired": true, "shortDesc": "Enable software throttling of mavlink on instance 2", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "MAVLink", "longDesc": "Configure the maximum sending rate for the MAVLink streams in Bytes/sec. If the configured streams exceed the maximum rate, the sending rate of each stream is automatically decreased. If this is set to 0 a value of half of the theoretical maximum bandwidth is used. This corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on 8N1-configured links).", "min": 0, "name": "MAV_2_RATE", "rebootRequired": true, "shortDesc": "Maximum MAVLink sending rate for instance 2", "type": "Int32", "units": "B/s"}, {"category": "Standard", "default": 0, "group": "MAVLink", "longDesc": "If ethernet enabled and selected as configuration for MAVLink instance 2, selected remote port will be set and used in MAVLink instance 2.", "name": "MAV_2_REMOTE_PRT", "rebootRequired": true, "shortDesc": "MAVLink Remote Port for instance 2", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "MAVLink", "longDesc": "If ethernet enabled and selected as configuration for MAVLink instance 2, selected udp port will be set and used in MAVLink instance 2.", "name": "MAV_2_UDP_PRT", "rebootRequired": true, "shortDesc": "MAVLink Network Port for instance 2", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "MAVLink", "max": 250, "min": 1, "name": "MAV_COMP_ID", "rebootRequired": true, "shortDesc": "MAVLink component ID", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "MAVLink", "longDesc": "If set to 1 incoming external setpoint messages will be directly forwarded to the controllers if in offboard control mode", "name": "MAV_FWDEXTSP", "shortDesc": "Forward external setpoint messages", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1, "group": "MAVLink", "longDesc": "Disabling the parameter hash check functionality will make the mavlink instance stream parameters continuously.", "name": "MAV_HASH_CHK_EN", "shortDesc": "Parameter hash check", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1, "group": "MAVLink", "longDesc": "The mavlink heartbeat message will not be forwarded if this parameter is set to 'disabled'. The main reason for disabling heartbeats to be forwarded is because they confuse dronekit.", "name": "MAV_HB_FORW_EN", "shortDesc": "Heartbeat message forwarding", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "MAVLink", "name": "MAV_PROTO_VER", "shortDesc": "MAVLink protocol version", "type": "Int32", "values": [{"description": "Default to 1, switch to 2 if GCS sends version 2", "value": 0}, {"description": "Always use version 1", "value": 1}, {"description": "Always use version 2", "value": 2}]}, {"category": "Standard", "default": 5, "group": "MAVLink", "longDesc": "If the connected radio stops reporting RADIO_STATUS for a certain time, a warning is triggered and, if MAV_X_RADIO_CTL is enabled, the software-flow control is reset.", "max": 250, "min": 1, "name": "MAV_RADIO_TOUT", "shortDesc": "Timeout in seconds for the RADIO_STATUS reports coming in", "type": "Int32", "units": "s"}, {"category": "Standard", "default": 0, "group": "MAVLink", "longDesc": "When non-zero the MAVLink app will attempt to configure the SiK radio to this ID and re-set the parameter to 0. If the value is negative it will reset the complete radio config to factory defaults. Only applies if this mavlink instance is going through a SiK radio", "max": 240, "min": -1, "name": "MAV_SIK_RADIO_ID", "shortDesc": "MAVLink SiK Radio ID", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "MAVLink", "max": 250, "min": 1, "name": "MAV_SYS_ID", "rebootRequired": true, "shortDesc": "MAVLink system ID", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "MAVLink", "max": 22, "min": 0, "name": "MAV_TYPE", "shortDesc": "MAVLink airframe type", "type": "Int32", "values": [{"description": "Generic micro air vehicle", "value": 0}, {"description": "Fixed wing aircraft", "value": 1}, {"description": "Quadrotor", "value": 2}, {"description": "Coaxial helicopter", "value": 3}, {"description": "Normal helicopter with tail rotor", "value": 4}, {"description": "Airship, controlled", "value": 7}, {"description": "Free balloon, uncontrolled", "value": 8}, {"description": "Ground rover", "value": 10}, {"description": "Surface vessel, boat, ship", "value": 11}, {"description": "Submarine", "value": 12}, {"description": "Hexarotor", "value": 13}, {"description": "Octorotor", "value": 14}, {"description": "Tricopter", "value": 15}, {"description": "VTOL Two-rotor Tailsitter", "value": 19}, {"description": "VTOL Quad-rotor Tailsitter", "value": 20}, {"description": "VTOL Tiltrotor", "value": 21}, {"description": "VTOL Standard (separate fixed rotors for hover and cruise flight)", "value": 22}, {"description": "VTOL Tailsitter", "value": 23}]}, {"category": "Standard", "default": 0, "group": "MAVLink", "longDesc": "If set to 1 incoming HIL GPS messages are parsed.", "name": "MAV_USEHILGPS", "shortDesc": "Use/Accept HIL GPS message even if not in HIL mode", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1, "group": "Magnetometer Bias Estimator", "longDesc": "This enables continuous calibration of the magnetometers before takeoff using gyro data.", "name": "MBE_ENABLE", "rebootRequired": true, "shortDesc": "Enable online mag bias calibration", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 18.0, "group": "Magnetometer Bias Estimator", "increment": 0.1, "longDesc": "Increase to make the estimator more responsive Decrease to make the estimator more robust to noise", "max": 100.0, "min": 0.1, "name": "MBE_LEARN_GAIN", "shortDesc": "Mag bias estimator learning gain", "type": "Float"}, {"category": "Standard", "default": 1, "group": "Manual Control", "longDesc": "This determines if moving the left stick to the lower right arms and to the lower left disarms the vehicle.", "name": "MAN_ARM_GESTURE", "shortDesc": "Enable arm/disarm stick gesture", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": -1.0, "group": "Manual Control", "longDesc": "The timeout for holding the left stick to the lower left and the right stick to the lower right at the same time until the gesture kills the actuators one-way. A negative value disables the feature.", "max": 15.0, "min": -1.0, "name": "MAN_KILL_GEST_T", "shortDesc": "Trigger time for kill stick gesture", "type": "Float", "units": "s"}, {"category": "Standard", "default": 30, "group": "Mission", "longDesc": "The time in seconds the system should do open loop loiter and wait for GPS recovery before it starts descending. Set to 0 to disable. Roll angle is set to FW_GPSF_R. Does only apply for fixed-wing vehicles or VTOLs with NAV_FORCE_VT set to 0.", "max": 3600, "min": 0, "name": "FW_GPSF_LT", "shortDesc": "GPS failure loiter time", "type": "Int32", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": 15.0, "group": "Mission", "increment": 0.5, "longDesc": "Roll in degrees during the loiter after the vehicle has lost GPS in an auto mode (e.g. mission or loiter).", "max": 30.0, "min": 0.0, "name": "FW_GPSF_R", "shortDesc": "GPS failure fixed roll angle", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 1, "default": 900.0, "group": "Mission", "increment": 100.0, "longDesc": "Failsafe check to prevent running mission stored from previous flight at a new takeoff location. Set a value of zero or less to disable. The mission will not be started if the current waypoint is more distant than MIS_DIST_1WP from the current position.", "max": 10000.0, "min": -1.0, "name": "MIS_DIST_1WP", "shortDesc": "Maximal horizontal distance from current position to first waypoint", "type": "Float", "units": "m"}, {"category": "Standard", "default": 30, "group": "Mission", "longDesc": "Minimum altitude above landing point that the vehicle will climb to after an aborted landing. Then vehicle will loiter in this altitude until further command is received. Only applies to fixed-wing vehicles.", "min": 0, "name": "MIS_LND_ABRT_ALT", "shortDesc": "Landing abort min altitude", "type": "Int32", "units": "m"}, {"category": "Standard", "default": 0, "group": "Mission", "longDesc": "If enabled, yaw commands will be sent to the mount and the vehicle will follow its heading towards the flight direction. If disabled, the vehicle will yaw towards the ROI.", "max": 1, "min": 0, "name": "MIS_MNT_YAW_CTL", "shortDesc": "Enable yaw control of the mount. (Only affects multicopters and ROI mission items)", "type": "Int32", "values": [{"description": "Disable", "value": 0}, {"description": "Enable", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "Mission", "increment": 1.0, "min": 0.0, "name": "MIS_PD_TO", "shortDesc": "Timeout for a successful payload deployment acknowledgement", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": 2.5, "group": "Mission", "increment": 0.5, "longDesc": "This is the relative altitude the system will take off to if not otherwise specified.", "min": 0.0, "name": "MIS_TAKEOFF_ALT", "shortDesc": "Default take-off altitude", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Mission", "longDesc": "Specifies if a mission has to contain a takeoff and/or mission landing. Validity of configured takeoffs/landings is checked independently of the setting here.", "name": "MIS_TKO_LAND_REQ", "shortDesc": "Mission takeoff/landing required", "type": "Int32", "values": [{"description": "No requirements", "value": 0}, {"description": "Require a takeoff", "value": 1}, {"description": "Require a landing", "value": 2}, {"description": "Require a takeoff and a landing", "value": 3}, {"description": "Require both a takeoff and a landing, or neither", "value": 4}, {"description": "Same as previous when landed, in-air require landing only if no valid VTOL approach is present", "value": 5}]}, {"category": "Standard", "decimalPlaces": 1, "default": 12.0, "group": "Mission", "increment": 1.0, "max": 90.0, "min": 0.0, "name": "MIS_YAW_ERR", "shortDesc": "Max yaw error in degrees needed for waypoint heading acceptance", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 1, "default": -1.0, "group": "Mission", "increment": 1.0, "longDesc": "If set > 0 it will ignore the target heading for normal waypoint acceptance. If the waypoint forces the heading the timeout will matter. For example on VTOL forwards transition. Mainly useful for VTOLs that have less yaw authority and might not reach target yaw in wind. Disabled by default.", "max": 20.0, "min": -1.0, "name": "MIS_YAW_TMT", "shortDesc": "Time in seconds we wait on reaching target heading at a waypoint if it is forced", "type": "Float", "units": "s"}, {"category": "Standard", "default": 0, "group": "Mission", "max": 4, "min": 0, "name": "MPC_YAW_MODE", "shortDesc": "Heading behavior in autonomous modes", "type": "Int32", "values": [{"description": "towards waypoint", "value": 0}, {"description": "towards home", "value": 1}, {"description": "away from home", "value": 2}, {"description": "along trajectory", "value": 3}, {"description": "towards waypoint (yaw first)", "value": 4}]}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "Mission", "increment": 0.5, "longDesc": "Default acceptance radius, overridden by acceptance radius of waypoint if set. For fixed wing the npfg switch distance is used for horizontal acceptance.", "max": 200.0, "min": 0.05, "name": "NAV_ACC_RAD", "shortDesc": "Acceptance Radius", "type": "Float", "units": "m"}, {"category": "Standard", "default": 1, "group": "Mission", "name": "NAV_FORCE_VT", "shortDesc": "Force VTOL mode takeoff and land", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "Mission", "longDesc": "Altitude acceptance used for the last waypoint before a fixed-wing landing. This is usually smaller than the standard vertical acceptance because close to the ground higher accuracy is required.", "max": 200.0, "min": 0.05, "name": "NAV_FW_ALTL_RAD", "shortDesc": "FW Altitude Acceptance Radius before a landing", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "Mission", "increment": 0.5, "longDesc": "Acceptance radius for fixedwing altitude.", "max": 200.0, "min": 0.05, "name": "NAV_FW_ALT_RAD", "shortDesc": "FW Altitude Acceptance Radius", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 80.0, "group": "Mission", "increment": 0.5, "longDesc": "Default value of loiter radius in FW mode (e.g. for Loiter mode).", "max": 1000.0, "min": 25.0, "name": "NAV_LOITER_RAD", "shortDesc": "Loiter radius (FW only)", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.8, "group": "Mission", "increment": 0.5, "longDesc": "Acceptance radius for multicopter altitude.", "max": 200.0, "min": 0.05, "name": "NAV_MC_ALT_RAD", "shortDesc": "MC Altitude Acceptance Radius", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": -1.0, "group": "Mission", "increment": 0.5, "longDesc": "This is the minimum altitude above Home the system will always obey in Loiter (Hold) mode if switched into this mode without specifying an altitude (e.g. through Loiter switch on RC). Doesn't affect Loiters that are part of Missions or that are entered through a reposition setpoint (\"Go to\"). Set to a negative value to disable.", "min": -1.0, "name": "NAV_MIN_LTR_ALT", "shortDesc": "Minimum Loiter altitude", "type": "Float", "units": "m"}, {"category": "Standard", "default": 1, "group": "Mission", "longDesc": "Enabling this will allow the system to respond to transponder data from e.g. ADSB transponders", "name": "NAV_TRAFF_AVOID", "shortDesc": "Set traffic avoidance mode", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Warn only", "value": 1}, {"description": "Return mode", "value": 2}, {"description": "Land mode", "value": 3}, {"description": "Position Hold mode", "value": 4}]}, {"category": "Standard", "default": 500.0, "group": "Mission", "longDesc": "Defines a crosstrack horizontal distance", "min": 500.0, "name": "NAV_TRAFF_A_HOR", "shortDesc": "Set NAV TRAFFIC AVOID horizontal distance", "type": "Float", "units": "m"}, {"category": "Standard", "default": 500.0, "group": "Mission", "max": 500.0, "min": 10.0, "name": "NAV_TRAFF_A_VER", "shortDesc": "Set NAV TRAFFIC AVOID vertical distance", "type": "Float", "units": "m"}, {"category": "Standard", "default": 60, "group": "Mission", "longDesc": "Minimum acceptable time until collsion. Assumes constant speed over 3d distance.", "max": 900000000, "min": 1, "name": "NAV_TRAFF_COLL_T", "shortDesc": "Estimated time until collision", "type": "Int32", "units": "s"}, {"category": "Standard", "default": 0, "group": "Mixer Output", "longDesc": "The air-mode enables the mixer to increase the total thrust of the multirotor in order to keep attitude and rate control even at low and high throttle. This function should be disabled during tuning as it will help the controller to diverge if the closed-loop is unstable (i.e. the vehicle is not tuned yet). Enabling air-mode for yaw requires the use of an arming switch.", "name": "MC_AIRMODE", "shortDesc": "Multicopter air-mode", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Roll/Pitch", "value": 1}, {"description": "Roll/Pitch/Yaw", "value": 2}]}, {"category": "Standard", "default": 0, "group": "ModalAI Custom Configuration", "longDesc": "This can be set to indicate that drone behavior needs to be changed to match a custom setting", "name": "MODALAI_CONFIG", "rebootRequired": true, "shortDesc": "Custom configuration for ModalAI drones", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Mount", "longDesc": "Set to true for servo gimbal, false for passthrough. This is required for a gimbal which is not capable of stabilizing itself and relies on the IMU's attitude estimation.", "max": 2, "min": 0, "name": "MNT_DO_STAB", "shortDesc": "Stabilize the mount", "type": "Int32", "values": [{"description": "Disable", "value": 0}, {"description": "Stabilize all axis", "value": 1}, {"description": "Stabilize yaw for absolute/lock mode.", "value": 2}]}, {"category": "Standard", "decimalPlaces": 1, "default": 90.0, "group": "Mount", "max": 90.0, "min": -90.0, "name": "MNT_LND_P_MAX", "shortDesc": "Pitch maximum when landed", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 1, "default": -90.0, "group": "Mount", "max": 90.0, "min": -90.0, "name": "MNT_LND_P_MIN", "shortDesc": "Pitch minimum when landed", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 0, "group": "Mount", "max": 6, "min": 0, "name": "MNT_MAN_PITCH", "shortDesc": "Auxiliary channel to control pitch (in AUX input or manual mode)", "type": "Int32", "values": [{"description": "Disable", "value": 0}, {"description": "AUX1", "value": 1}, {"description": "AUX2", "value": 2}, {"description": "AUX3", "value": 3}, {"description": "AUX4", "value": 4}, {"description": "AUX5", "value": 5}, {"description": "AUX6", "value": 6}]}, {"category": "Standard", "default": 0, "group": "Mount", "max": 6, "min": 0, "name": "MNT_MAN_ROLL", "shortDesc": "Auxiliary channel to control roll (in AUX input or manual mode)", "type": "Int32", "values": [{"description": "Disable", "value": 0}, {"description": "AUX1", "value": 1}, {"description": "AUX2", "value": 2}, {"description": "AUX3", "value": 3}, {"description": "AUX4", "value": 4}, {"description": "AUX5", "value": 5}, {"description": "AUX6", "value": 6}]}, {"category": "Standard", "default": 0, "group": "Mount", "max": 6, "min": 0, "name": "MNT_MAN_YAW", "shortDesc": "Auxiliary channel to control yaw (in AUX input or manual mode)", "type": "Int32", "values": [{"description": "Disable", "value": 0}, {"description": "AUX1", "value": 1}, {"description": "AUX2", "value": 2}, {"description": "AUX3", "value": 3}, {"description": "AUX4", "value": 4}, {"description": "AUX5", "value": 5}, {"description": "AUX6", "value": 6}]}, {"category": "Standard", "default": 154, "group": "Mount", "longDesc": "If MNT_MODE_OUT is MAVLink protocol v2, mount configure/control commands will be sent with this component ID.", "name": "MNT_MAV_COMPID", "shortDesc": "Mavlink Component ID of the mount", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "Mount", "longDesc": "If MNT_MODE_OUT is MAVLink gimbal protocol v1, mount configure/control commands will be sent with this target ID.", "name": "MNT_MAV_SYSID", "shortDesc": "Mavlink System ID of the mount", "type": "Int32"}, {"category": "Standard", "default": -1, "group": "Mount", "longDesc": "This is the protocol used between the ground station and the autopilot. Recommended is Auto, RC only or MAVLink gimbal protocol v2. The rest will be deprecated.", "max": 4, "min": -1, "name": "MNT_MODE_IN", "rebootRequired": true, "shortDesc": "Mount input mode", "type": "Int32", "values": [{"description": "DISABLED", "value": -1}, {"description": "Auto (RC and MAVLink gimbal protocol v2)", "value": 0}, {"description": "RC", "value": 1}, {"description": "MAVLINK_ROI (protocol v1, to be deprecated)", "value": 2}, {"description": "MAVLINK_DO_MOUNT (protocol v1, to be deprecated)", "value": 3}, {"description": "MAVlink gimbal protocol v2", "value": 4}]}, {"category": "Standard", "default": 0, "group": "Mount", "longDesc": "This is the protocol used between the autopilot and a connected gimbal. Recommended is the MAVLink gimbal protocol v2 if the gimbal supports it.", "max": 2, "min": 0, "name": "MNT_MODE_OUT", "rebootRequired": true, "shortDesc": "Mount output mode", "type": "Int32", "values": [{"description": "AUX", "value": 0}, {"description": "MAVLink gimbal protocol v1", "value": 1}, {"description": "MAVLink gimbal protocol v2", "value": 2}]}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "Mount", "max": 360.0, "min": -360.0, "name": "MNT_OFF_PITCH", "shortDesc": "Offset for pitch channel output in degrees", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "Mount", "max": 360.0, "min": -360.0, "name": "MNT_OFF_ROLL", "shortDesc": "Offset for roll channel output in degrees", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "Mount", "max": 360.0, "min": -360.0, "name": "MNT_OFF_YAW", "shortDesc": "Offset for yaw channel output in degrees", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 1, "default": 90.0, "group": "Mount", "max": 720.0, "min": 1.0, "name": "MNT_RANGE_PITCH", "shortDesc": "Range of pitch channel output in degrees (only in AUX output mode)", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 1, "default": 90.0, "group": "Mount", "max": 720.0, "min": 1.0, "name": "MNT_RANGE_ROLL", "shortDesc": "Range of roll channel output in degrees (only in AUX output mode)", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 1, "default": 360.0, "group": "Mount", "max": 720.0, "min": 1.0, "name": "MNT_RANGE_YAW", "shortDesc": "Range of yaw channel output in degrees (only in AUX output mode)", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 30.0, "group": "Mount", "longDesc": "Full stick input [-1..1] translats to [-pitch rate..pitch rate].", "max": 90.0, "min": 1.0, "name": "MNT_RATE_PITCH", "shortDesc": "Angular pitch rate for manual input in degrees/second", "type": "Float", "units": "deg/s"}, {"category": "Standard", "default": 30.0, "group": "Mount", "longDesc": "Full stick input [-1..1] translats to [-yaw rate..yaw rate].", "max": 90.0, "min": 1.0, "name": "MNT_RATE_YAW", "shortDesc": "Angular yaw rate for manual input in degrees/second", "type": "Float", "units": "deg/s"}, {"category": "Standard", "default": 1, "group": "Mount", "max": 1, "min": 0, "name": "MNT_RC_IN_MODE", "shortDesc": "Input mode for RC gimbal input", "type": "Int32", "values": [{"description": "Angle", "value": 0}, {"description": "Angular rate", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Multicopter Acro Mode", "longDesc": "Exponential factor for tuning the input curve shape. 0 Purely linear input curve 1 Purely cubic input curve", "max": 1.0, "min": 0.0, "name": "MC_ACRO_EXPO", "shortDesc": "Acro mode roll, pitch expo factor", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Multicopter Acro Mode", "longDesc": "Exponential factor for tuning the input curve shape. 0 Purely linear input curve 1 Purely cubic input curve", "max": 1.0, "min": 0.0, "name": "MC_ACRO_EXPO_Y", "shortDesc": "Acro mode yaw expo factor", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 100.0, "group": "Multicopter Acro Mode", "increment": 5.0, "longDesc": "Full stick deflection leads to this rate.", "max": 1800.0, "min": 0.0, "name": "MC_ACRO_P_MAX", "shortDesc": "Acro mode maximum pitch rate", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 100.0, "group": "Multicopter Acro Mode", "increment": 5.0, "longDesc": "Full stick deflection leads to this rate.", "max": 1800.0, "min": 0.0, "name": "MC_ACRO_R_MAX", "shortDesc": "Acro mode maximum roll rate", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Multicopter Acro Mode", "longDesc": "\"Superexponential\" factor for refining the input curve shape tuned using MC_ACRO_EXPO. 0 Pure Expo function 0.7 reasonable shape enhancement for intuitive stick feel 0.95 very strong bent input curve only near maxima have effect", "max": 0.95, "min": 0.0, "name": "MC_ACRO_SUPEXPO", "shortDesc": "Acro mode roll, pitch super expo factor", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Multicopter Acro Mode", "longDesc": "\"Superexponential\" factor for refining the input curve shape tuned using MC_ACRO_EXPO_Y. 0 Pure Expo function 0.7 reasonable shape enhancement for intuitive stick feel 0.95 very strong bent input curve only near maxima have effect", "max": 0.95, "min": 0.0, "name": "MC_ACRO_SUPEXPOY", "shortDesc": "Acro mode yaw super expo factor", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 100.0, "group": "Multicopter Acro Mode", "increment": 5.0, "longDesc": "Full stick deflection leads to this rate.", "max": 1800.0, "min": 0.0, "name": "MC_ACRO_Y_MAX", "shortDesc": "Acro mode maximum yaw rate", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 220.0, "group": "Multicopter Attitude Control", "increment": 5.0, "longDesc": "Limit for pitch rate in manual and auto modes (except acro). Has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. This is not only limited by the vehicle's properties, but also by the maximum measurement rate of the gyro.", "max": 1800.0, "min": 0.0, "name": "MC_PITCHRATE_MAX", "shortDesc": "Max pitch rate", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 6.5, "group": "Multicopter Attitude Control", "increment": 0.1, "longDesc": "Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad.", "max": 12.0, "min": 0.0, "name": "MC_PITCH_P", "shortDesc": "Pitch P gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 220.0, "group": "Multicopter Attitude Control", "increment": 5.0, "longDesc": "Limit for roll rate in manual and auto modes (except acro). Has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. This is not only limited by the vehicle's properties, but also by the maximum measurement rate of the gyro.", "max": 1800.0, "min": 0.0, "name": "MC_ROLLRATE_MAX", "shortDesc": "Max roll rate", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 6.5, "group": "Multicopter Attitude Control", "increment": 0.1, "longDesc": "Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad.", "max": 12.0, "min": 0.0, "name": "MC_ROLL_P", "shortDesc": "Roll P gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 200.0, "group": "Multicopter Attitude Control", "increment": 5.0, "max": 1800.0, "min": 0.0, "name": "MC_YAWRATE_MAX", "shortDesc": "Max yaw rate", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 2.8, "group": "Multicopter Attitude Control", "increment": 0.1, "longDesc": "Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad.", "max": 5.0, "min": 0.0, "name": "MC_YAW_P", "shortDesc": "Yaw P gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.4, "group": "Multicopter Attitude Control", "increment": 0.1, "longDesc": "A fraction [0,1] deprioritizing yaw compared to roll and pitch in non-linear attitude control. Deprioritizing yaw is necessary because multicopters have much less control authority in yaw compared to the other axes and it makes sense because yaw is not critical for stable hovering or 3D navigation. For yaw control tuning use MC_YAW_P. This ratio has no impact on the yaw gain.", "max": 1.0, "min": 0.0, "name": "MC_YAW_WEIGHT", "shortDesc": "Yaw weight", "type": "Float"}, {"category": "Standard", "decimalPlaces": 0, "default": 60.0, "group": "Multicopter Attitude Control", "increment": 5.0, "longDesc": "Limits the acceleration of the yaw setpoint to avoid large control output and mixer saturation.", "max": 360.0, "min": 5.0, "name": "MPC_YAWRAUTO_ACC", "shortDesc": "Maximum yaw acceleration in autonomous modes", "type": "Float", "units": "deg/s^2"}, {"category": "Standard", "decimalPlaces": 0, "default": 45.0, "group": "Multicopter Attitude Control", "increment": 5.0, "longDesc": "Limits the rate of change of the yaw setpoint to avoid large control output and mixer saturation.", "max": 360.0, "min": 5.0, "name": "MPC_YAWRAUTO_MAX", "shortDesc": "Maximum yaw rate in autonomous modes", "type": "Float", "units": "deg/s"}, {"category": "Standard", "default": 0.4, "group": "Multicopter Position Control", "longDesc": "Only used in Position mode.", "max": 1.0, "min": 0.0, "name": "CP_DELAY", "shortDesc": "Average delay of the range sensor message plus the tracking delay of the position controller in seconds", "type": "Float", "units": "s"}, {"category": "Standard", "default": -1.0, "group": "Multicopter Position Control", "longDesc": "Only used in Position mode. Collision avoidance is disabled by setting this parameter to a negative value", "max": 15.0, "min": -1.0, "name": "CP_DIST", "shortDesc": "Minimum distance the vehicle should keep to all obstacles", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Multicopter Position Control", "longDesc": "Only used in Position mode.", "name": "CP_GO_NO_DATA", "shortDesc": "Boolean to allow moving into directions where there is no sensor data (outside FOV)", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 30.0, "group": "Multicopter Position Control", "longDesc": "Only used in Position mode.", "max": 90.0, "min": 0.0, "name": "CP_GUIDE_ANG", "shortDesc": "Angle left/right from the commanded setpoint by which the collision prevention algorithm can choose to change the setpoint direction", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Multicopter Position Control", "longDesc": "Setting this parameter to 0 disables the filter", "max": 2.0, "min": 0.0, "name": "MC_MAN_TILT_TAU", "shortDesc": "Manual tilt input filter time constant", "type": "Float", "units": "s"}, {"category": "Standard", "default": 1, "group": "Multicopter Position Control", "longDesc": "Set to decouple tilt from vertical acceleration.", "name": "MPC_ACC_DECOUPLE", "shortDesc": "Acceleration to tilt coupling", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "Multicopter Position Control", "increment": 1.0, "max": 15.0, "min": 2.0, "name": "MPC_ACC_DOWN_MAX", "shortDesc": "Maximum downwards acceleration in climb rate controlled modes", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "Multicopter Position Control", "increment": 1.0, "longDesc": "When piloting manually, this parameter is only used in MPC_POS_MODE 4.", "max": 15.0, "min": 2.0, "name": "MPC_ACC_HOR", "shortDesc": "Acceleration for autonomous and for manual modes", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 2, "default": 5.0, "group": "Multicopter Position Control", "increment": 1.0, "longDesc": "MPC_POS_MODE 1 just deceleration 3 acceleration and deceleration 4 not used, use MPC_ACC_HOR instead", "max": 15.0, "min": 2.0, "name": "MPC_ACC_HOR_MAX", "shortDesc": "Maximum horizontal acceleration", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 1, "default": 4.0, "group": "Multicopter Position Control", "increment": 1.0, "max": 15.0, "min": 2.0, "name": "MPC_ACC_UP_MAX", "shortDesc": "Maximum upwards acceleration in climb rate controlled modes", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "default": 2, "group": "Multicopter Position Control", "longDesc": "Set to 0 to control height relative to the earth frame origin. This origin may move up and down in flight due to sensor drift. Set to 1 to control height relative to estimated distance to ground. The vehicle will move up and down with terrain height variation. Requires a distance to ground sensor. The height controller will revert to using height above origin if the distance to ground estimate becomes invalid as indicated by the local_position.distance_bottom_valid message being false. Set to 2 to control height relative to ground (requires a distance sensor) when stationary and relative to earth frame origin when moving horizontally. The speed threshold is controlled by the MPC_HOLD_MAX_XY parameter.", "max": 2, "min": 0, "name": "MPC_ALT_MODE", "shortDesc": "Altitude reference mode", "type": "Int32", "values": [{"description": "Altitude following", "value": 0}, {"description": "Terrain following", "value": 1}, {"description": "Terrain hold", "value": 2}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "Multicopter Position Control", "increment": 0.01, "longDesc": "Does not apply to manual throttle and direct attitude piloting by stick.", "max": 1.0, "min": 0.0, "name": "MPC_HOLD_DZ", "shortDesc": "Deadzone for sticks in manual piloted modes", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.8, "group": "Multicopter Position Control", "longDesc": "Only used with MPC_POS_MODE 0 or MPC_ALT_MODE 2", "max": 3.0, "min": 0.0, "name": "MPC_HOLD_MAX_XY", "shortDesc": "Maximum horizontal velocity for which position hold is enabled (use 0 to disable check)", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.6, "group": "Multicopter Position Control", "longDesc": "Only used with MPC_ALT_MODE 1", "max": 3.0, "min": 0.0, "name": "MPC_HOLD_MAX_Z", "shortDesc": "Maximum vertical velocity for which position hold is enabled (use 0 to disable check)", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 4.0, "group": "Multicopter Position Control", "increment": 1.0, "longDesc": "Limit the maximum jerk of the vehicle (how fast the acceleration can change). A lower value leads to smoother vehicle motions but also limited agility.", "max": 80.0, "min": 1.0, "name": "MPC_JERK_AUTO", "shortDesc": "Jerk limit in autonomous modes", "type": "Float", "units": "m/s^3"}, {"category": "Standard", "decimalPlaces": 0, "default": 8.0, "group": "Multicopter Position Control", "increment": 1.0, "longDesc": "Limit the maximum jerk of the vehicle (how fast the acceleration can change). A lower value leads to smoother motions but limits agility (how fast it can change directions or break). Setting this to the maximum value essentially disables the limit. Only used with smooth MPC_POS_MODE 3 and 4.", "max": 500.0, "min": 0.5, "name": "MPC_JERK_MAX", "shortDesc": "Maximum horizontal and vertical jerk in Position/Altitude mode", "type": "Float", "units": "m/s^3"}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "Multicopter Position Control", "longDesc": "Below this altitude descending velocity gets limited to a value between \"MPC_Z_VEL_MAX_DN\" (or \"MPC_Z_V_AUTO_DN\") and \"MPC_LAND_SPEED\" Value needs to be higher than \"MPC_LAND_ALT2\"", "max": 122.0, "min": 0.0, "name": "MPC_LAND_ALT1", "shortDesc": "Altitude for 1. step of slow landing (descend)", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "Multicopter Position Control", "longDesc": "Below this altitude descending velocity gets limited to \"MPC_LAND_SPEED\" Value needs to be lower than \"MPC_LAND_ALT1\"", "max": 122.0, "min": 0.0, "name": "MPC_LAND_ALT2", "shortDesc": "Altitude for 2. step of slow landing (landing)", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "Multicopter Position Control", "longDesc": "Below this altitude descending velocity gets limited to \"MPC_LAND_CRWL\", if LIDAR available. No effect if LIDAR not available", "max": 122.0, "min": 0.0, "name": "MPC_LAND_ALT3", "shortDesc": "Altitude for 3. step of slow landing", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.3, "group": "Multicopter Position Control", "longDesc": "Used below MPC_LAND_ALT3 if distance sensor data is availabe.", "min": 0.1, "name": "MPC_LAND_CRWL", "shortDesc": "Land crawl descend rate", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 0, "default": 1000.0, "group": "Multicopter Position Control", "increment": 1.0, "longDesc": "When nudging is enabled (see MPC_LAND_RC_HELP), this controls the maximum allowed horizontal displacement from the original landing point.", "min": 0.0, "name": "MPC_LAND_RADIUS", "shortDesc": "User assisted landing radius", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Multicopter Position Control", "longDesc": "Using stick input the vehicle can be moved horizontally and yawed. The descend speed is amended: stick full up - 0 stick centered - MPC_LAND_SPEED stick full down - 2 * MPC_LAND_SPEED Manual override during auto modes has to be disabled to use this feature (see COM_RC_OVERRIDE).", "max": 1, "min": 0, "name": "MPC_LAND_RC_HELP", "shortDesc": "Enable nudging based on user input during autonomous land routine", "type": "Int32", "values": [{"description": "Nudging disabled", "value": 0}, {"description": "Nudging enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 0.7, "group": "Multicopter Position Control", "min": 0.6, "name": "MPC_LAND_SPEED", "shortDesc": "Landing descend rate", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.08, "group": "Multicopter Position Control", "increment": 0.01, "longDesc": "The value is mapped to the lowest throttle stick position in Stabilized mode. Too low collective thrust leads to loss of roll/pitch/yaw torque control authority. Airmode is used to keep torque authority with zero thrust (see MC_AIRMODE).", "max": 1.0, "min": 0.0, "name": "MPC_MANTHR_MIN", "shortDesc": "Minimum collective thrust in Stabilized mode", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 0, "default": 35.0, "group": "Multicopter Position Control", "increment": 1.0, "max": 70.0, "min": 1.0, "name": "MPC_MAN_TILT_MAX", "shortDesc": "Maximal tilt angle in Stabilized or Altitude mode", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 0, "default": 150.0, "group": "Multicopter Position Control", "increment": 10.0, "max": 400.0, "min": 0.0, "name": "MPC_MAN_Y_MAX", "shortDesc": "Max manual yaw rate for Stabilized, Altitude, Position mode", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.08, "group": "Multicopter Position Control", "increment": 0.01, "longDesc": "Not used in Stabilized mode Setting this parameter to 0 disables the filter", "max": 5.0, "min": 0.0, "name": "MPC_MAN_Y_TAU", "shortDesc": "Manual yaw rate input filter time constant", "type": "Float", "units": "s"}, {"category": "Standard", "default": 4, "group": "Multicopter Position Control", "longDesc": "The supported sub-modes are: 0 Sticks directly map to velocity setpoints without smoothing. Also applies to vertical direction and Altitude mode. Useful for velocity control tuning. 3 Sticks map to velocity but with maximum acceleration and jerk limits based on jerk optimized trajectory generator (different algorithm than 1). 4 Sticks map to acceleration and there's a virtual brake drag", "name": "MPC_POS_MODE", "shortDesc": "Position/Altitude mode variant", "type": "Int32", "values": [{"description": "Direct velocity", "value": 0}, {"description": "Smoothed velocity", "value": 3}, {"description": "Acceleration based", "value": 4}]}, {"category": "Standard", "default": 0, "group": "Multicopter Position Control", "longDesc": "This parameter defines how the throttle stick input is mapped to collective thrust in Stabilized mode. In case the default is used ('Rescale to hover thrust'), the stick input is linearly rescaled, such that a centered stick corresponds to the hover throttle (see MPC_THR_HOVER). Select 'No Rescale' to directly map the stick 1:1 to the output. This can be useful in case the hover thrust is very low and the default would lead to too much distortion (e.g. if hover thrust is set to 20%, then 80% of the upper thrust range is squeezed into the upper half of the stick range). Note: In case MPC_THR_HOVER is set to 50%, the modes 0 and 1 are the same.", "name": "MPC_THR_CURVE", "shortDesc": "Thrust curve mapping in Stabilized Mode", "type": "Int32", "values": [{"description": "Rescale to hover thrust", "value": 0}, {"description": "No Rescale", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.5, "group": "Multicopter Position Control", "increment": 0.01, "longDesc": "Mapped to center throttle stick in Stabilized mode (see MPC_THR_CURVE). Used for initialization of the hover thrust estimator (see MPC_USE_HTE). The estimated hover thrust is used as base for zero vertical acceleration in altitude control. The hover thrust is important for land detection to work correctly.", "max": 0.8, "min": 0.1, "name": "MPC_THR_HOVER", "shortDesc": "Vertical thrust required to hover", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Multicopter Position Control", "increment": 0.05, "longDesc": "Limit allowed thrust e.g. for indoor test of overpowered vehicle.", "max": 1.0, "min": 0.0, "name": "MPC_THR_MAX", "shortDesc": "Maximum collective thrust in climb rate controlled modes", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.12, "group": "Multicopter Position Control", "increment": 0.01, "longDesc": "Too low thrust leads to loss of roll/pitch/yaw torque control authority. With airmode enabled this parameters can be set to 0 while still keeping torque authority (see MC_AIRMODE).", "max": 0.5, "min": 0.05, "name": "MPC_THR_MIN", "shortDesc": "Minimum collective thrust in climb rate controlled modes", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.3, "group": "Multicopter Position Control", "increment": 0.01, "longDesc": "Margin that is kept for horizontal control when higher priority vertical thrust is saturated. To avoid completely starving horizontal control with high vertical error.", "max": 0.5, "min": 0.0, "name": "MPC_THR_XY_MARG", "shortDesc": "Horizontal thrust margin", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 0, "default": 45.0, "group": "Multicopter Position Control", "increment": 1.0, "longDesc": "Absolute maximum for all velocity or acceleration controlled modes. Any higher value is truncated.", "max": 89.0, "min": 20.0, "name": "MPC_TILTMAX_AIR", "shortDesc": "Maximum tilt angle in air", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 0, "default": 12.0, "group": "Multicopter Position Control", "increment": 1.0, "longDesc": "Tighter tilt limit during takeoff to avoid tip over.", "max": 89.0, "min": 5.0, "name": "MPC_TILTMAX_LND", "shortDesc": "Maximum tilt during inital takeoff ramp", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 3.0, "group": "Multicopter Position Control", "longDesc": "Increasing this value will make climb rate controlled takeoff slower. If it's too slow the drone might scratch the ground and tip over. A time constant of 0 disables the ramp", "max": 5.0, "min": 0.0, "name": "MPC_TKO_RAMP_T", "shortDesc": "Smooth takeoff ramp time constant", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.5, "group": "Multicopter Position Control", "max": 5.0, "min": 1.0, "name": "MPC_TKO_SPEED", "shortDesc": "Takeoff climb rate", "type": "Float", "units": "m/s"}, {"category": "Standard", "default": 1, "group": "Multicopter Position Control", "longDesc": "Disable to use the fixed parameter MPC_THR_HOVER Enable to use the hover thrust estimator", "name": "MPC_USE_HTE", "shortDesc": "Hover thrust estimator", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "Multicopter Position Control", "increment": 0.5, "max": 10.0, "min": 0.0, "name": "MPC_VELD_LP", "shortDesc": "Numerical velocity derivative low pass cutoff frequency", "type": "Float", "units": "Hz"}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "Multicopter Position Control", "increment": 1.0, "longDesc": "Must be smaller than MPC_XY_VEL_MAX. The maximum sideways and backward speed can be set differently using MPC_VEL_MAN_SIDE and MPC_VEL_MAN_BACK, respectively.", "max": 20.0, "min": 3.0, "name": "MPC_VEL_MANUAL", "shortDesc": "Maximum horizontal velocity setpoint in Position mode", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": -1.0, "group": "Multicopter Position Control", "increment": 1.0, "longDesc": "If set to a negative value or larger than MPC_VEL_MANUAL then MPC_VEL_MANUAL is used.", "max": 20.0, "min": -1.0, "name": "MPC_VEL_MAN_BACK", "shortDesc": "Maximum backward velocity in Position mode", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": -1.0, "group": "Multicopter Position Control", "increment": 1.0, "longDesc": "If set to a negative value or larger than MPC_VEL_MANUAL then MPC_VEL_MANUAL is used.", "max": 20.0, "min": -1.0, "name": "MPC_VEL_MAN_SIDE", "shortDesc": "Maximum sideways velocity in Position mode", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 0, "default": 5.0, "group": "Multicopter Position Control", "increment": 1.0, "longDesc": "e.g. in Missions, RTL, Goto if the waypoint does not specify differently", "max": 20.0, "min": 3.0, "name": "MPC_XY_CRUISE", "shortDesc": "Default horizontal velocity in autonomous modes", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 2.0, "group": "Multicopter Position Control", "increment": 1.0, "longDesc": "The integration speed of the trajectory setpoint is linearly reduced with the horizontal position tracking error. When the error is above this parameter, the integration of the trajectory is stopped to wait for the drone. This value can be adjusted depending on the tracking capabilities of the vehicle.", "max": 10.0, "min": 0.1, "name": "MPC_XY_ERR_MAX", "shortDesc": "Maximum horizontal error allowed by the trajectory generator", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.6, "group": "Multicopter Position Control", "increment": 0.01, "longDesc": "The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve 1 Purely cubic input curve", "max": 1.0, "min": 0.0, "name": "MPC_XY_MAN_EXPO", "shortDesc": "Manual position control stick exponential curve sensitivity", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.95, "group": "Multicopter Position Control", "increment": 0.1, "longDesc": "Defined as corrective velocity in m/s per m position error", "max": 2.0, "min": 0.0, "name": "MPC_XY_P", "shortDesc": "Proportional gain for horizontal position error", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.5, "group": "Multicopter Position Control", "increment": 0.1, "max": 1.0, "min": 0.1, "name": "MPC_XY_TRAJ_P", "shortDesc": "Proportional gain for horizontal trajectory position error", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": -10.0, "group": "Multicopter Position Control", "increment": 1.0, "longDesc": "If set to a value greater than zero, other parameters are automatically set (such as MPC_XY_VEL_MAX or MPC_VEL_MANUAL). If set to a negative value, the existing individual parameters are used.", "max": 20.0, "min": -20.0, "name": "MPC_XY_VEL_ALL", "shortDesc": "Overall Horizontal Velocity Limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "Multicopter Position Control", "increment": 0.02, "longDesc": "Defined as corrective acceleration in m/s^2 per m/s^2 velocity derivative", "max": 2.0, "min": 0.1, "name": "MPC_XY_VEL_D_ACC", "shortDesc": "Differential gain for horizontal velocity error", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.4, "group": "Multicopter Position Control", "increment": 0.02, "longDesc": "Defined as correction acceleration in m/s^2 per m velocity integral Allows to eliminate steady state errors in disturbances like wind.", "max": 60.0, "min": 0.0, "name": "MPC_XY_VEL_I_ACC", "shortDesc": "Integral gain for horizontal velocity error", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 12.0, "group": "Multicopter Position Control", "increment": 1.0, "longDesc": "Absolute maximum for all velocity controlled modes. Any higher value is truncated.", "max": 20.0, "min": 0.0, "name": "MPC_XY_VEL_MAX", "shortDesc": "Maximum horizontal velocity", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.8, "group": "Multicopter Position Control", "increment": 0.1, "longDesc": "Defined as corrective acceleration in m/s^2 per m/s velocity error", "max": 5.0, "min": 1.2, "name": "MPC_XY_VEL_P_ACC", "shortDesc": "Proportional gain for horizontal velocity error", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.6, "group": "Multicopter Position Control", "increment": 0.01, "longDesc": "The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve 1 Purely cubic input curve", "max": 1.0, "min": 0.0, "name": "MPC_YAW_EXPO", "shortDesc": "Manual control stick yaw rotation exponential curve", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.6, "group": "Multicopter Position Control", "increment": 0.01, "longDesc": "The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve 1 Purely cubic input curve", "max": 1.0, "min": 0.0, "name": "MPC_Z_MAN_EXPO", "shortDesc": "Manual control stick vertical exponential curve", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Multicopter Position Control", "increment": 0.1, "longDesc": "Defined as corrective velocity in m/s per m position error", "max": 1.5, "min": 0.1, "name": "MPC_Z_P", "shortDesc": "Proportional gain for vertical position error", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": -3.0, "group": "Multicopter Position Control", "increment": 0.5, "longDesc": "If set to a value greater than zero, other parameters are automatically set (such as MPC_Z_VEL_MAX_UP or MPC_LAND_SPEED). If set to a negative value, the existing individual parameters are used.", "max": 8.0, "min": -3.0, "name": "MPC_Z_VEL_ALL", "shortDesc": "Overall Vertical Velocity Limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Multicopter Position Control", "increment": 0.02, "longDesc": "Defined as corrective acceleration in m/s^2 per m/s^2 velocity derivative", "max": 2.0, "min": 0.0, "name": "MPC_Z_VEL_D_ACC", "shortDesc": "Differential gain for vertical velocity error", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 2.0, "group": "Multicopter Position Control", "increment": 0.1, "longDesc": "Defined as corrective acceleration in m/s^2 per m velocity integral", "max": 3.0, "min": 0.2, "name": "MPC_Z_VEL_I_ACC", "shortDesc": "Integral gain for vertical velocity error", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.5, "group": "Multicopter Position Control", "increment": 0.1, "longDesc": "Absolute maximum for all climb rate controlled modes. In manually piloted modes full stick deflection commands this velocity. For default autonomous velocity see MPC_Z_V_AUTO_UP", "max": 4.0, "min": 0.5, "name": "MPC_Z_VEL_MAX_DN", "shortDesc": "Maximum descent velocity", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "Multicopter Position Control", "increment": 0.1, "longDesc": "Absolute maximum for all climb rate controlled modes. In manually piloted modes full stick deflection commands this velocity. For default autonomous velocity see MPC_Z_V_AUTO_UP", "max": 8.0, "min": 0.5, "name": "MPC_Z_VEL_MAX_UP", "shortDesc": "Maximum ascent velocity", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 4.0, "group": "Multicopter Position Control", "increment": 0.1, "longDesc": "Defined as corrective acceleration in m/s^2 per m/s velocity error", "max": 15.0, "min": 2.0, "name": "MPC_Z_VEL_P_ACC", "shortDesc": "Proportional gain for vertical velocity error", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.5, "group": "Multicopter Position Control", "increment": 0.5, "longDesc": "For manual modes and offboard, see MPC_Z_VEL_MAX_DN", "max": 4.0, "min": 0.5, "name": "MPC_Z_V_AUTO_DN", "shortDesc": "Descent velocity in autonomous modes", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "Multicopter Position Control", "increment": 0.5, "longDesc": "For manually controlled modes and offboard see MPC_Z_VEL_MAX_UP", "max": 8.0, "min": 0.5, "name": "MPC_Z_V_AUTO_UP", "shortDesc": "Ascent velocity in autonomous modes", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": -0.4, "group": "Multicopter Position Control", "increment": 0.05, "longDesc": "Changes the overall responsiveness of the vehicle. The higher the value, the faster the vehicle will react. If set to a value greater than zero, other parameters are automatically set (such as the acceleration or jerk limits). If set to a negative value, the existing individual parameters are used.", "max": 1.0, "min": -1.0, "name": "SYS_VEHICLE_RESP", "shortDesc": "Responsiveness", "type": "Float"}, {"category": "Standard", "default": 0, "group": "Multicopter Position Control", "name": "WV_EN", "shortDesc": "Enable weathervane", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1.0, "group": "Multicopter Position Control", "max": 5.0, "min": 0.0, "name": "WV_ROLL_MIN", "shortDesc": "Minimum roll angle setpoint for weathervane controller to demand a yaw-rate", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 90.0, "group": "Multicopter Position Control", "max": 120.0, "min": 0.0, "name": "WV_YRATE_MAX", "shortDesc": "Maximum yawrate the weathervane controller is allowed to demand", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 3.0, "group": "Multicopter Position Slow Mode", "increment": 0.1, "longDesc": "This value is used in slow mode if no aux channel is mapped and no limit is commanded through MAVLink.", "min": 0.1, "name": "MC_SLOW_DEF_HVEL", "shortDesc": "Default horizontal velocity limit", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Multicopter Position Slow Mode", "increment": 0.1, "longDesc": "This value is used in slow mode if no aux channel is mapped and no limit is commanded through MAVLink.", "min": 0.1, "name": "MC_SLOW_DEF_VVEL", "shortDesc": "Default vertical velocity limit", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 0, "default": 45.0, "group": "Multicopter Position Slow Mode", "increment": 0.1, "longDesc": "This value is used in slow mode if no aux channel is mapped and no limit is commanded through MAVLink.", "min": 1.0, "name": "MC_SLOW_DEF_YAWR", "shortDesc": "Default yaw rate limit", "type": "Float", "units": "deg/s"}, {"category": "Standard", "default": 0, "group": "Multicopter Position Slow Mode", "name": "MC_SLOW_MAP_HVEL", "shortDesc": "Manual input mapped to scale horizontal velocity in position slow mode", "type": "Int32", "values": [{"description": "No rescaling", "value": 0}, {"description": "AUX1", "value": 1}, {"description": "AUX2", "value": 2}, {"description": "AUX3", "value": 3}, {"description": "AUX4", "value": 4}, {"description": "AUX5", "value": 5}, {"description": "AUX6", "value": 6}]}, {"category": "Standard", "default": 0, "group": "Multicopter Position Slow Mode", "name": "MC_SLOW_MAP_VVEL", "shortDesc": "Manual input mapped to scale vertical velocity in position slow mode", "type": "Int32", "values": [{"description": "No rescaling", "value": 0}, {"description": "AUX1", "value": 1}, {"description": "AUX2", "value": 2}, {"description": "AUX3", "value": 3}, {"description": "AUX4", "value": 4}, {"description": "AUX5", "value": 5}, {"description": "AUX6", "value": 6}]}, {"category": "Standard", "default": 0, "group": "Multicopter Position Slow Mode", "name": "MC_SLOW_MAP_YAWR", "shortDesc": "Manual input mapped to scale yaw rate in position slow mode", "type": "Int32", "values": [{"description": "No rescaling", "value": 0}, {"description": "AUX1", "value": 1}, {"description": "AUX2", "value": 2}, {"description": "AUX3", "value": 3}, {"description": "AUX4", "value": 4}, {"description": "AUX5", "value": 5}, {"description": "AUX6", "value": 6}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.3, "group": "Multicopter Position Slow Mode", "increment": 0.1, "longDesc": "The lowest input maps and is clamped to this velocity.", "min": 0.1, "name": "MC_SLOW_MIN_HVEL", "shortDesc": "Horizontal velocity lower limit", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.3, "group": "Multicopter Position Slow Mode", "increment": 0.1, "longDesc": "The lowest input maps and is clamped to this velocity.", "min": 0.1, "name": "MC_SLOW_MIN_VVEL", "shortDesc": "Vertical velocity lower limit", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 0, "default": 3.0, "group": "Multicopter Position Slow Mode", "increment": 0.1, "longDesc": "The lowest input maps and is clamped to this rate.", "min": 1.0, "name": "MC_SLOW_MIN_YAWR", "shortDesc": "Yaw rate lower limit", "type": "Float", "units": "deg/s"}, {"category": "Standard", "default": 0, "group": "Multicopter Rate Control", "longDesc": "This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery. The copter should constantly behave as if it was fully charged with reduced max acceleration at lower battery percentages. i.e. if hover is at 0.5 throttle at 100% battery, it will still be 0.5 at 60% battery.", "name": "MC_BAT_SCALE_EN", "shortDesc": "Battery power level scaler", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 4, "default": 0.003, "group": "Multicopter Rate Control", "increment": 0.0005, "longDesc": "Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.", "min": 0.0, "name": "MC_PITCHRATE_D", "shortDesc": "Pitch rate D gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 4, "default": 0.0, "group": "Multicopter Rate Control", "longDesc": "Improves tracking performance.", "min": 0.0, "name": "MC_PITCHRATE_FF", "shortDesc": "Pitch rate feedforward", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.2, "group": "Multicopter Rate Control", "increment": 0.01, "longDesc": "Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset.", "min": 0.0, "name": "MC_PITCHRATE_I", "shortDesc": "Pitch rate I gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 4, "default": 1.0, "group": "Multicopter Rate Control", "increment": 0.0005, "longDesc": "Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_PITCHRATE_K * (MC_PITCHRATE_P * error + MC_PITCHRATE_I * error_integral + MC_PITCHRATE_D * error_derivative) Set MC_PITCHRATE_P=1 to implement a PID in the ideal form. Set MC_PITCHRATE_K=1 to implement a PID in the parallel form.", "max": 5.0, "min": 0.01, "name": "MC_PITCHRATE_K", "shortDesc": "Pitch rate controller gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.15, "group": "Multicopter Rate Control", "increment": 0.01, "longDesc": "Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.", "max": 0.6, "min": 0.01, "name": "MC_PITCHRATE_P", "shortDesc": "Pitch rate P gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.3, "group": "Multicopter Rate Control", "increment": 0.01, "longDesc": "Pitch rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large pitch moment trim changes.", "min": 0.0, "name": "MC_PR_INT_LIM", "shortDesc": "Pitch rate integrator limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 4, "default": 0.003, "group": "Multicopter Rate Control", "increment": 0.0005, "longDesc": "Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.", "max": 0.01, "min": 0.0, "name": "MC_ROLLRATE_D", "shortDesc": "Roll rate D gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 4, "default": 0.0, "group": "Multicopter Rate Control", "longDesc": "Improves tracking performance.", "min": 0.0, "name": "MC_ROLLRATE_FF", "shortDesc": "Roll rate feedforward", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.2, "group": "Multicopter Rate Control", "increment": 0.01, "longDesc": "Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset.", "min": 0.0, "name": "MC_ROLLRATE_I", "shortDesc": "Roll rate I gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 4, "default": 1.0, "group": "Multicopter Rate Control", "increment": 0.0005, "longDesc": "Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_ROLLRATE_K * (MC_ROLLRATE_P * error + MC_ROLLRATE_I * error_integral + MC_ROLLRATE_D * error_derivative) Set MC_ROLLRATE_P=1 to implement a PID in the ideal form. Set MC_ROLLRATE_K=1 to implement a PID in the parallel form.", "max": 5.0, "min": 0.01, "name": "MC_ROLLRATE_K", "shortDesc": "Roll rate controller gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.15, "group": "Multicopter Rate Control", "increment": 0.01, "longDesc": "Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.", "max": 0.5, "min": 0.01, "name": "MC_ROLLRATE_P", "shortDesc": "Roll rate P gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.3, "group": "Multicopter Rate Control", "increment": 0.01, "longDesc": "Roll rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large roll moment trim changes.", "min": 0.0, "name": "MC_RR_INT_LIM", "shortDesc": "Roll rate integrator limit", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Multicopter Rate Control", "increment": 0.01, "longDesc": "Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.", "min": 0.0, "name": "MC_YAWRATE_D", "shortDesc": "Yaw rate D gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 4, "default": 0.0, "group": "Multicopter Rate Control", "increment": 0.01, "longDesc": "Improves tracking performance.", "min": 0.0, "name": "MC_YAWRATE_FF", "shortDesc": "Yaw rate feedforward", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "Multicopter Rate Control", "increment": 0.01, "longDesc": "Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset.", "min": 0.0, "name": "MC_YAWRATE_I", "shortDesc": "Yaw rate I gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 4, "default": 1.0, "group": "Multicopter Rate Control", "increment": 0.0005, "longDesc": "Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_YAWRATE_K * (MC_YAWRATE_P * error + MC_YAWRATE_I * error_integral + MC_YAWRATE_D * error_derivative) Set MC_YAWRATE_P=1 to implement a PID in the ideal form. Set MC_YAWRATE_K=1 to implement a PID in the parallel form.", "max": 5.0, "min": 0.0, "name": "MC_YAWRATE_K", "shortDesc": "Yaw rate controller gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "Multicopter Rate Control", "increment": 0.01, "longDesc": "Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.", "max": 0.6, "min": 0.0, "name": "MC_YAWRATE_P", "shortDesc": "Yaw rate P gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.3, "group": "Multicopter Rate Control", "increment": 0.01, "longDesc": "Yaw rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large yaw moment trim changes.", "min": 0.0, "name": "MC_YR_INT_LIM", "shortDesc": "Yaw rate integrator limit", "type": "Float"}, {"category": "Standard", "default": 0, "group": "OSD", "longDesc": "Configure on which serial port to run MSP OSD.", "name": "MSP_OSD_CONFIG", "rebootRequired": true, "shortDesc": "Serial Configuration for MSP OSD", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "UART 6", "value": 6}, {"description": "TELEM 1", "value": 101}, {"description": "TELEM 2", "value": 102}, {"description": "TELEM 3", "value": 103}, {"description": "TELEM/SERIAL 4", "value": 104}, {"description": "GPS 1", "value": 201}, {"description": "GPS 2", "value": 202}, {"description": "GPS 3", "value": 203}, {"description": "Radio Controller", "value": 300}, {"description": "Wifi Port", "value": 301}, {"description": "EXT2", "value": 401}]}, {"category": "Standard", "default": 0, "group": "OSD", "longDesc": "Configure the ATXXXX OSD Chip (mounted on the OmnibusF4SD board) and select the transmission standard.", "name": "OSD_ATXXXX_CFG", "rebootRequired": true, "shortDesc": "Enable/Disable the ATXXX OSD Chip", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "NTSC", "value": 1}, {"description": "PAL", "value": 2}]}, {"category": "Standard", "default": 0, "group": "OSD", "longDesc": "Controls the vertical position of the crosshair display. Resolution is limited by OSD to 15 discrete values. Negative values will display the crosshairs below the horizon", "max": 8, "min": -8, "name": "OSD_CH_HEIGHT", "shortDesc": "OSD Crosshairs Height", "type": "Int32"}, {"category": "Standard", "default": 500, "group": "OSD", "longDesc": "Amount of time in milliseconds to dwell at the beginning of the display, when scrolling.", "max": 10000, "min": 100, "name": "OSD_DWELL_TIME", "shortDesc": "OSD Dwell Time (ms)", "type": "Int32"}, {"category": "Standard", "default": 3, "group": "OSD", "longDesc": "Minimum security of log level to display on the OSD.", "name": "OSD_LOG_LEVEL", "shortDesc": "OSD Warning Level", "type": "Int32"}, {"category": "Standard", "default": 125, "group": "OSD", "longDesc": "Scroll rate in milliseconds for OSD messages longer than available character width. This is lower-bounded by the nominal loop rate of this module.", "max": 1000, "min": 100, "name": "OSD_SCROLL_RATE", "shortDesc": "OSD Scroll Rate (ms)", "type": "Int32"}, {"bitmask": [{"description": "CRAFT_NAME", "index": 0}, {"description": "DISARMED", "index": 1}, {"description": "GPS_LAT", "index": 2}, {"description": "GPS_LON", "index": 3}, {"description": "GPS_SATS", "index": 4}, {"description": "GPS_SPEED", "index": 5}, {"description": "HOME_DIST", "index": 6}, {"description": "HOME_DIR", "index": 7}, {"description": "MAIN_BATT_VOLTAGE", "index": 8}, {"description": "CURRENT_DRAW", "index": 9}, {"description": "MAH_DRAWN", "index": 10}, {"description": "RSSI_VALUE", "index": 11}, {"description": "ALTITUDE", "index": 12}, {"description": "NUMERICAL_VARIO", "index": 13}, {"description": "(unused) FLYMODE", "index": 14}, {"description": "(unused) ESC_TMP", "index": 15}, {"description": "(unused) PITCH_ANGLE", "index": 16}, {"description": "(unused) ROLL_ANGLE", "index": 17}, {"description": "CROSSHAIRS", "index": 18}, {"description": "AVG_CELL_VOLTAGE", "index": 19}, {"description": "(unused) HORIZON_SIDEBARS", "index": 20}, {"description": "POWER", "index": 21}], "category": "Standard", "default": 16383, "group": "OSD", "longDesc": "Configure / toggle support display options.", "max": 4194303, "min": 0, "name": "OSD_SYMBOLS", "shortDesc": "OSD Symbol Selection", "type": "Int32"}, {"category": "Standard", "default": 0.0, "group": "PWM Outputs", "longDesc": "Minimum time allowed for the motor input signal to pass through a range of 1000 PWM units. A value x means that the motor signal can only go from 1000 to 2000 PWM in minimum x seconds. Zero means that slew rate limiting is disabled.", "min": 0.0, "name": "MOT_SLEW_MAX", "shortDesc": "Minimum motor rise time (slew rate limit)", "type": "Float", "units": "s/(1000*PWM)"}, {"category": "Standard", "default": 0, "group": "PWM Outputs", "longDesc": "Set to 1 to enable S.BUS version 1 output instead of RSSI.", "name": "PWM_SBUS_MODE", "shortDesc": "S.BUS out", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "PWM Outputs", "increment": 0.1, "longDesc": "Parameter used to model the nonlinear relationship between motor control signal (e.g. PWM) and static thrust. The model is: rel_thrust = factor * rel_signal^2 + (1-factor) * rel_signal, where rel_thrust is the normalized thrust between 0 and 1, and rel_signal is the relative motor control signal between 0 and 1.", "max": 1.0, "min": 0.0, "name": "THR_MDL_FAC", "shortDesc": "Thrust to motor control signal model parameter", "type": "Float"}, {"category": "Standard", "default": 0, "group": "Payload Deliverer", "name": "PD_GRIPPER_EN", "rebootRequired": true, "shortDesc": "Enable Gripper actuation in Payload Deliverer", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 3.0, "group": "Payload Deliverer", "longDesc": "Maximum time Gripper will wait while the successful griper actuation isn't recognised. If the gripper has no feedback sensor, it will simply wait for this time before considering gripper actuation successful and publish a 'VehicleCommandAck' signaling successful gripper action", "min": 0.0, "name": "PD_GRIPPER_TO", "shortDesc": "Timeout for successful gripper actuation acknowledgement", "type": "Float", "units": "s"}, {"category": "Standard", "default": 0, "group": "Payload Deliverer", "max": 0, "min": -1, "name": "PD_GRIPPER_TYPE", "shortDesc": "Type of Gripper (Servo, etc.)", "type": "Int32", "values": [{"description": "Undefined", "value": -1}, {"description": "Servo", "value": 0}]}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "Precision Land", "increment": 0.5, "longDesc": "Time after which the landing target is considered lost without any new measurements.", "max": 50.0, "min": 0.0, "name": "PLD_BTOUT", "shortDesc": "Landing Target Timeout", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "Precision Land", "increment": 0.1, "longDesc": "Allow final approach (without horizontal positioning) if losing landing target closer than this to the ground.", "max": 10.0, "min": 0.0, "name": "PLD_FAPPR_ALT", "shortDesc": "Final approach altitude", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "Precision Land", "increment": 0.1, "longDesc": "Start descending if closer above landing target than this.", "max": 10.0, "min": 0.0, "name": "PLD_HACC_RAD", "shortDesc": "Horizontal acceptance radius", "type": "Float", "units": "m"}, {"category": "Standard", "default": 3, "group": "Precision Land", "longDesc": "Maximum number of times to search for the landing target if it is lost during the precision landing.", "max": 100, "min": 0, "name": "PLD_MAX_SRCH", "shortDesc": "Maximum number of search attempts", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "Precision Land", "increment": 0.1, "longDesc": "Altitude above home to which to climb when searching for the landing target.", "max": 100.0, "min": 0.0, "name": "PLD_SRCH_ALT", "shortDesc": "Search altitude", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "Precision Land", "increment": 0.1, "longDesc": "Time allowed to search for the landing target before falling back to normal landing.", "max": 100.0, "min": 0.0, "name": "PLD_SRCH_TOUT", "shortDesc": "Search timeout", "type": "Float", "units": "s"}, {"category": "Standard", "default": 0, "group": "RC", "longDesc": "Crossfire telemetry enable", "name": "RC_CRSF_TEL_EN", "shortDesc": "Crossfire RC telemetry enable", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "System", "default": -1, "group": "RC Input", "longDesc": "Select your RC input protocol or auto to scan.", "max": 7, "min": -1, "name": "RC_INPUT_PROTO", "shortDesc": "RC input protocol", "type": "Int32", "values": [{"description": "Auto", "value": -1}, {"description": "None", "value": 0}, {"description": "PPM", "value": 1}, {"description": "SBUS", "value": 2}, {"description": "DSM", "value": 3}, {"description": "ST24", "value": 4}, {"description": "SUMD", "value": 5}, {"description": "CRSF", "value": 6}, {"description": "GHST", "value": 7}]}, {"category": "Standard", "default": 0.0, "group": "Radio Calibration", "longDesc": "The +- range of this value around the trim value will be considered as zero.", "max": 100.0, "min": 0.0, "name": "RC10_DZ", "shortDesc": "RC channel 10 dead zone", "type": "Float"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.", "max": 2200.0, "min": 1500.0, "name": "RC10_MAX", "shortDesc": "RC channel 10 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.", "max": 1500.0, "min": 800.0, "name": "RC10_MIN", "shortDesc": "RC channel 10 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.", "max": 1.0, "min": -1.0, "name": "RC10_REV", "shortDesc": "RC channel 10 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value", "max": 2200.0, "min": 800.0, "name": "RC10_TRIM", "shortDesc": "RC channel 10 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 0.0, "group": "Radio Calibration", "longDesc": "The +- range of this value around the trim value will be considered as zero.", "max": 100.0, "min": 0.0, "name": "RC11_DZ", "shortDesc": "RC channel 11 dead zone", "type": "Float"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.", "max": 2200.0, "min": 1500.0, "name": "RC11_MAX", "shortDesc": "RC channel 11 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.", "max": 1500.0, "min": 800.0, "name": "RC11_MIN", "shortDesc": "RC channel 11 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.", "max": 1.0, "min": -1.0, "name": "RC11_REV", "shortDesc": "RC channel 11 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value", "max": 2200.0, "min": 800.0, "name": "RC11_TRIM", "shortDesc": "RC channel 11 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 0.0, "group": "Radio Calibration", "longDesc": "The +- range of this value around the trim value will be considered as zero.", "max": 100.0, "min": 0.0, "name": "RC12_DZ", "shortDesc": "RC channel 12 dead zone", "type": "Float"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.", "max": 2200.0, "min": 1500.0, "name": "RC12_MAX", "shortDesc": "RC channel 12 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.", "max": 1500.0, "min": 800.0, "name": "RC12_MIN", "shortDesc": "RC channel 12 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.", "max": 1.0, "min": -1.0, "name": "RC12_REV", "shortDesc": "RC channel 12 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value", "max": 2200.0, "min": 800.0, "name": "RC12_TRIM", "shortDesc": "RC channel 12 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 0.0, "group": "Radio Calibration", "longDesc": "The +- range of this value around the trim value will be considered as zero.", "max": 100.0, "min": 0.0, "name": "RC13_DZ", "shortDesc": "RC channel 13 dead zone", "type": "Float"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.", "max": 2200.0, "min": 1500.0, "name": "RC13_MAX", "shortDesc": "RC channel 13 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.", "max": 1500.0, "min": 800.0, "name": "RC13_MIN", "shortDesc": "RC channel 13 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.", "max": 1.0, "min": -1.0, "name": "RC13_REV", "shortDesc": "RC channel 13 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value", "max": 2200.0, "min": 800.0, "name": "RC13_TRIM", "shortDesc": "RC channel 13 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 0.0, "group": "Radio Calibration", "longDesc": "The +- range of this value around the trim value will be considered as zero.", "max": 100.0, "min": 0.0, "name": "RC14_DZ", "shortDesc": "RC channel 14 dead zone", "type": "Float"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.", "max": 2200.0, "min": 1500.0, "name": "RC14_MAX", "shortDesc": "RC channel 14 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.", "max": 1500.0, "min": 800.0, "name": "RC14_MIN", "shortDesc": "RC channel 14 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.", "max": 1.0, "min": -1.0, "name": "RC14_REV", "shortDesc": "RC channel 14 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value", "max": 2200.0, "min": 800.0, "name": "RC14_TRIM", "shortDesc": "RC channel 14 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 0.0, "group": "Radio Calibration", "longDesc": "The +- range of this value around the trim value will be considered as zero.", "max": 100.0, "min": 0.0, "name": "RC15_DZ", "shortDesc": "RC channel 15 dead zone", "type": "Float"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.", "max": 2200.0, "min": 1500.0, "name": "RC15_MAX", "shortDesc": "RC channel 15 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.", "max": 1500.0, "min": 800.0, "name": "RC15_MIN", "shortDesc": "RC channel 15 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.", "max": 1.0, "min": -1.0, "name": "RC15_REV", "shortDesc": "RC channel 15 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value", "max": 2200.0, "min": 800.0, "name": "RC15_TRIM", "shortDesc": "RC channel 15 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 0.0, "group": "Radio Calibration", "longDesc": "The +- range of this value around the trim value will be considered as zero.", "max": 100.0, "min": 0.0, "name": "RC16_DZ", "shortDesc": "RC channel 16 dead zone", "type": "Float"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.", "max": 2200.0, "min": 1500.0, "name": "RC16_MAX", "shortDesc": "RC channel 16 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.", "max": 1500.0, "min": 800.0, "name": "RC16_MIN", "shortDesc": "RC channel 16 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.", "max": 1.0, "min": -1.0, "name": "RC16_REV", "shortDesc": "RC channel 16 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value", "max": 2200.0, "min": 800.0, "name": "RC16_TRIM", "shortDesc": "RC channel 16 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 0.0, "group": "Radio Calibration", "longDesc": "The +- range of this value around the trim value will be considered as zero.", "max": 100.0, "min": 0.0, "name": "RC17_DZ", "shortDesc": "RC channel 17 dead zone", "type": "Float"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.", "max": 2200.0, "min": 1500.0, "name": "RC17_MAX", "shortDesc": "RC channel 17 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.", "max": 1500.0, "min": 800.0, "name": "RC17_MIN", "shortDesc": "RC channel 17 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.", "max": 1.0, "min": -1.0, "name": "RC17_REV", "shortDesc": "RC channel 17 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value", "max": 2200.0, "min": 800.0, "name": "RC17_TRIM", "shortDesc": "RC channel 17 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 0.0, "group": "Radio Calibration", "longDesc": "The +- range of this value around the trim value will be considered as zero.", "max": 100.0, "min": 0.0, "name": "RC18_DZ", "shortDesc": "RC channel 18 dead zone", "type": "Float"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.", "max": 2200.0, "min": 1500.0, "name": "RC18_MAX", "shortDesc": "RC channel 18 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.", "max": 1500.0, "min": 800.0, "name": "RC18_MIN", "shortDesc": "RC channel 18 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.", "max": 1.0, "min": -1.0, "name": "RC18_REV", "shortDesc": "RC channel 18 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value", "max": 2200.0, "min": 800.0, "name": "RC18_TRIM", "shortDesc": "RC channel 18 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 10.0, "group": "Radio Calibration", "longDesc": "The +- range of this value around the trim value will be considered as zero.", "max": 100.0, "min": 0.0, "name": "RC1_DZ", "shortDesc": "RC channel 1 dead zone", "type": "Float", "units": "us"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for RC channel 1", "max": 2200.0, "min": 1500.0, "name": "RC1_MAX", "shortDesc": "RC channel 1 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for RC channel 1", "max": 1500.0, "min": 800.0, "name": "RC1_MIN", "shortDesc": "RC channel 1 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.", "max": 1.0, "min": -1.0, "name": "RC1_REV", "shortDesc": "RC channel 1 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value", "max": 2200.0, "min": 800.0, "name": "RC1_TRIM", "shortDesc": "RC channel 1 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 10.0, "group": "Radio Calibration", "longDesc": "The +- range of this value around the trim value will be considered as zero.", "max": 100.0, "min": 0.0, "name": "RC2_DZ", "shortDesc": "RC channel 2 dead zone", "type": "Float", "units": "us"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.", "max": 2200.0, "min": 1500.0, "name": "RC2_MAX", "shortDesc": "RC channel 2 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.", "max": 1500.0, "min": 800.0, "name": "RC2_MIN", "shortDesc": "RC channel 2 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.", "max": 1.0, "min": -1.0, "name": "RC2_REV", "shortDesc": "RC channel 2 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value", "max": 2200.0, "min": 800.0, "name": "RC2_TRIM", "shortDesc": "RC channel 2 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 10.0, "group": "Radio Calibration", "longDesc": "The +- range of this value around the trim value will be considered as zero.", "max": 100.0, "min": 0.0, "name": "RC3_DZ", "shortDesc": "RC channel 3 dead zone", "type": "Float", "units": "us"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.", "max": 2200.0, "min": 1500.0, "name": "RC3_MAX", "shortDesc": "RC channel 3 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.", "max": 1500.0, "min": 800.0, "name": "RC3_MIN", "shortDesc": "RC channel 3 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.", "max": 1.0, "min": -1.0, "name": "RC3_REV", "shortDesc": "RC channel 3 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value", "max": 2200.0, "min": 800.0, "name": "RC3_TRIM", "shortDesc": "RC channel 3 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 10.0, "group": "Radio Calibration", "longDesc": "The +- range of this value around the trim value will be considered as zero.", "max": 100.0, "min": 0.0, "name": "RC4_DZ", "shortDesc": "RC channel 4 dead zone", "type": "Float", "units": "us"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.", "max": 2200.0, "min": 1500.0, "name": "RC4_MAX", "shortDesc": "RC channel 4 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.", "max": 1500.0, "min": 800.0, "name": "RC4_MIN", "shortDesc": "RC channel 4 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.", "max": 1.0, "min": -1.0, "name": "RC4_REV", "shortDesc": "RC channel 4 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value", "max": 2200.0, "min": 800.0, "name": "RC4_TRIM", "shortDesc": "RC channel 4 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 10.0, "group": "Radio Calibration", "longDesc": "The +- range of this value around the trim value will be considered as zero.", "max": 100.0, "min": 0.0, "name": "RC5_DZ", "shortDesc": "RC channel 5 dead zone", "type": "Float"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.", "max": 2200.0, "min": 1500.0, "name": "RC5_MAX", "shortDesc": "RC channel 5 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.", "max": 1500.0, "min": 800.0, "name": "RC5_MIN", "shortDesc": "RC channel 5 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.", "max": 1.0, "min": -1.0, "name": "RC5_REV", "shortDesc": "RC channel 5 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value", "max": 2200.0, "min": 800.0, "name": "RC5_TRIM", "shortDesc": "RC channel 5 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 10.0, "group": "Radio Calibration", "longDesc": "The +- range of this value around the trim value will be considered as zero.", "max": 100.0, "min": 0.0, "name": "RC6_DZ", "shortDesc": "RC channel 6 dead zone", "type": "Float"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.", "max": 2200.0, "min": 1500.0, "name": "RC6_MAX", "shortDesc": "RC channel 6 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.", "max": 1500.0, "min": 800.0, "name": "RC6_MIN", "shortDesc": "RC channel 6 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.", "max": 1.0, "min": -1.0, "name": "RC6_REV", "shortDesc": "RC channel 6 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value", "max": 2200.0, "min": 800.0, "name": "RC6_TRIM", "shortDesc": "RC channel 6 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 10.0, "group": "Radio Calibration", "longDesc": "The +- range of this value around the trim value will be considered as zero.", "max": 100.0, "min": 0.0, "name": "RC7_DZ", "shortDesc": "RC channel 7 dead zone", "type": "Float"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.", "max": 2200.0, "min": 1500.0, "name": "RC7_MAX", "shortDesc": "RC channel 7 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.", "max": 1500.0, "min": 800.0, "name": "RC7_MIN", "shortDesc": "RC channel 7 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.", "max": 1.0, "min": -1.0, "name": "RC7_REV", "shortDesc": "RC channel 7 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value", "max": 2200.0, "min": 800.0, "name": "RC7_TRIM", "shortDesc": "RC channel 7 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 10.0, "group": "Radio Calibration", "longDesc": "The +- range of this value around the trim value will be considered as zero.", "max": 100.0, "min": 0.0, "name": "RC8_DZ", "shortDesc": "RC channel 8 dead zone", "type": "Float"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.", "max": 2200.0, "min": 1500.0, "name": "RC8_MAX", "shortDesc": "RC channel 8 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.", "max": 1500.0, "min": 800.0, "name": "RC8_MIN", "shortDesc": "RC channel 8 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.", "max": 1.0, "min": -1.0, "name": "RC8_REV", "shortDesc": "RC channel 8 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value", "max": 2200.0, "min": 800.0, "name": "RC8_TRIM", "shortDesc": "RC channel 8 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 0.0, "group": "Radio Calibration", "longDesc": "The +- range of this value around the trim value will be considered as zero.", "max": 100.0, "min": 0.0, "name": "RC9_DZ", "shortDesc": "RC channel 9 dead zone", "type": "Float"}, {"category": "Standard", "default": 2000.0, "group": "Radio Calibration", "longDesc": "Maximum value for this channel.", "max": 2200.0, "min": 1500.0, "name": "RC9_MAX", "shortDesc": "RC channel 9 maximum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1000.0, "group": "Radio Calibration", "longDesc": "Minimum value for this channel.", "max": 1500.0, "min": 800.0, "name": "RC9_MIN", "shortDesc": "RC channel 9 minimum", "type": "Float", "units": "us"}, {"category": "Standard", "default": 1.0, "group": "Radio Calibration", "longDesc": "Set to -1 to reverse channel.", "max": 1.0, "min": -1.0, "name": "RC9_REV", "shortDesc": "RC channel 9 reverse", "type": "Float", "values": [{"description": "Reverse", "value": -1.0}, {"description": "Normal", "value": 1.0}]}, {"category": "Standard", "default": 1500.0, "group": "Radio Calibration", "longDesc": "Mid point value", "max": 2200.0, "min": 800.0, "name": "RC9_TRIM", "shortDesc": "RC channel 9 trim", "type": "Float", "units": "us"}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "longDesc": "This parameter is used by Ground Station software to save the number of channels which were used during RC calibration. It is only meant for ground station use.", "max": 18, "min": 0, "name": "RC_CHAN_CNT", "shortDesc": "RC channel count", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "longDesc": "Use RC_MAP_FAILSAFE to specify which channel is used to indicate RC loss via this threshold. By default this is the throttle channel. Set to a PWM value slightly above the PWM value for the channel (e.g. throttle) in a failsafe event, but below the minimum PWM value for the channel during normal operation. Note: The default value of 0 disables the feature (it is below the expected range).", "max": 2200, "min": 0, "name": "RC_FAILS_THR", "shortDesc": "Failsafe channel PWM threshold", "type": "Int32", "units": "us"}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "longDesc": "Default function: Camera pitch", "max": 18, "min": 0, "name": "RC_MAP_AUX1", "shortDesc": "AUX1 Passthrough RC channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "longDesc": "Default function: Camera roll", "max": 18, "min": 0, "name": "RC_MAP_AUX2", "shortDesc": "AUX2 Passthrough RC channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "longDesc": "Default function: Camera azimuth / yaw", "max": 18, "min": 0, "name": "RC_MAP_AUX3", "shortDesc": "AUX3 Passthrough RC channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "max": 18, "min": 0, "name": "RC_MAP_AUX4", "shortDesc": "AUX4 Passthrough RC channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "max": 18, "min": 0, "name": "RC_MAP_AUX5", "shortDesc": "AUX5 Passthrough RC channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "max": 18, "min": 0, "name": "RC_MAP_AUX6", "shortDesc": "AUX6 Passthrough RC channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "max": 18, "min": 0, "name": "RC_MAP_ENG_MOT", "shortDesc": "RC channel to engage the main motor (for helicopters)", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "longDesc": "Configures which RC channel is used by the receiver to indicate the signal was lost (on receivers that use output a fixed signal value to report lost signal). If set to 0, the channel mapped to throttle is used. Use RC_FAILS_THR to set the threshold indicating lost signal. By default it's below the expected range and hence disabled.", "max": 18, "min": 0, "name": "RC_MAP_FAILSAFE", "shortDesc": "Failsafe channel mapping", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "longDesc": "Can be used for parameter tuning with the RC. This one is further referenced as the 1st parameter channel. Set to 0 to deactivate *", "max": 18, "min": 0, "name": "RC_MAP_PARAM1", "shortDesc": "PARAM1 tuning channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "longDesc": "Can be used for parameter tuning with the RC. This one is further referenced as the 2nd parameter channel. Set to 0 to deactivate *", "max": 18, "min": 0, "name": "RC_MAP_PARAM2", "shortDesc": "PARAM2 tuning channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "longDesc": "Can be used for parameter tuning with the RC. This one is further referenced as the 3th parameter channel. Set to 0 to deactivate *", "max": 18, "min": 0, "name": "RC_MAP_PARAM3", "shortDesc": "PARAM3 tuning channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "longDesc": "The channel index (starting from 1 for channel 1) indicates which channel should be used for reading pitch inputs from. A value of zero indicates the switch is not assigned.", "max": 18, "min": 0, "name": "RC_MAP_PITCH", "shortDesc": "Pitch control channel mapping", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "longDesc": "The channel index (starting from 1 for channel 1) indicates which channel should be used for reading roll inputs from. A value of zero indicates the switch is not assigned.", "max": 18, "min": 0, "name": "RC_MAP_ROLL", "shortDesc": "Roll control channel mapping", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "longDesc": "The channel index (starting from 1 for channel 1) indicates which channel should be used for reading throttle inputs from. A value of zero indicates the switch is not assigned.", "max": 18, "min": 0, "name": "RC_MAP_THROTTLE", "shortDesc": "Throttle control channel mapping", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "longDesc": "The channel index (starting from 1 for channel 1) indicates which channel should be used for reading yaw inputs from. A value of zero indicates the switch is not assigned.", "max": 18, "min": 0, "name": "RC_MAP_YAW", "shortDesc": "Yaw control channel mapping", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Calibration", "longDesc": "0: do not read RSSI from input channel 1-18: read RSSI from specified input channel Specify the range for RSSI input with RC_RSSI_PWM_MIN and RC_RSSI_PWM_MAX parameters.", "max": 18, "min": 0, "name": "RC_RSSI_PWM_CHAN", "shortDesc": "PWM input channel that provides RSSI", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 2000, "group": "Radio Calibration", "longDesc": "Only used if RC_RSSI_PWM_CHAN > 0", "max": 2000, "min": 0, "name": "RC_RSSI_PWM_MAX", "shortDesc": "Max input value for RSSI reading", "type": "Int32"}, {"category": "Standard", "default": 1000, "group": "Radio Calibration", "longDesc": "Only used if RC_RSSI_PWM_CHAN > 0", "max": 2000, "min": 0, "name": "RC_RSSI_PWM_MIN", "shortDesc": "Min input value for RSSI reading", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Radio Calibration", "increment": 0.01, "longDesc": "The trim value is the actuator control value the system needs for straight and level flight.", "max": 0.5, "min": -0.5, "name": "TRIM_PITCH", "shortDesc": "Pitch trim", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Radio Calibration", "increment": 0.01, "longDesc": "The trim value is the actuator control value the system needs for straight and level flight.", "max": 0.5, "min": -0.5, "name": "TRIM_ROLL", "shortDesc": "Roll trim", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Radio Calibration", "increment": 0.01, "longDesc": "The trim value is the actuator control value the system needs for straight and level flight.", "max": 0.5, "min": -0.5, "name": "TRIM_YAW", "shortDesc": "Yaw trim", "type": "Float"}, {"category": "Standard", "default": 0.75, "group": "Radio Switches", "longDesc": "0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th", "max": 1.0, "min": -1.0, "name": "RC_ARMSWITCH_TH", "shortDesc": "Threshold for the arm switch", "type": "Float"}, {"category": "Standard", "default": 0.75, "group": "Radio Switches", "longDesc": "0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th", "max": 1.0, "min": -1.0, "name": "RC_ENG_MOT_TH", "shortDesc": "Threshold for selecting main motor engage", "type": "Float"}, {"category": "Standard", "default": 0.75, "group": "Radio Switches", "longDesc": "0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th", "max": 1.0, "min": -1.0, "name": "RC_GEAR_TH", "shortDesc": "Threshold for the landing gear switch", "type": "Float"}, {"category": "Standard", "default": 0.75, "group": "Radio Switches", "longDesc": "0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th", "max": 1.0, "min": -1.0, "name": "RC_KILLSWITCH_TH", "shortDesc": "Threshold for the kill switch", "type": "Float"}, {"category": "Standard", "default": 0.75, "group": "Radio Switches", "longDesc": "0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th", "max": 1.0, "min": -1.0, "name": "RC_LOITER_TH", "shortDesc": "Threshold for selecting loiter mode", "type": "Float"}, {"category": "Standard", "default": 0, "group": "Radio Switches", "max": 18, "min": 0, "name": "RC_MAP_ACRO_SW", "shortDesc": "Acro switch channel (deprecated)", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Switches", "longDesc": "Use it to arm/disarm via switch instead of default throttle stick. If this is assigned, arming and disarming via stick is disabled.", "max": 18, "min": 0, "name": "RC_MAP_ARM_SW", "shortDesc": "Arm switch channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Switches", "max": 18, "min": 0, "name": "RC_MAP_FLAPS", "shortDesc": "Flaps channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Switches", "longDesc": "If this parameter is non-zero, flight modes are only selected by this channel and are assigned to six slots.", "max": 18, "min": 0, "name": "RC_MAP_FLTMODE", "shortDesc": "Single channel flight mode selection", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"bitmask": [{"description": "Mask Channel 1 as a mode button", "index": 0}, {"description": "Mask Channel 2 as a mode button", "index": 1}, {"description": "Mask Channel 3 as a mode button", "index": 2}, {"description": "Mask Channel 4 as a mode button", "index": 3}, {"description": "Mask Channel 5 as a mode button", "index": 4}, {"description": "Mask Channel 6 as a mode button", "index": 5}, {"description": "Mask Channel 7 as a mode button", "index": 6}, {"description": "Mask Channel 8 as a mode button", "index": 7}, {"description": "Mask Channel 9 as a mode button", "index": 8}, {"description": "Mask Channel 10 as a mode button", "index": 9}, {"description": "Mask Channel 11 as a mode button", "index": 10}, {"description": "Mask Channel 12 as a mode button", "index": 11}, {"description": "Mask Channel 13 as a mode button", "index": 12}, {"description": "Mask Channel 14 as a mode button", "index": 13}, {"description": "Mask Channel 15 as a mode button", "index": 14}, {"description": "Mask Channel 16 as a mode button", "index": 15}, {"description": "Mask Channel 17 as a mode button", "index": 16}, {"description": "Mask Channel 18 as a mode button", "index": 17}], "category": "Standard", "default": 0, "group": "Radio Switches", "longDesc": "This bitmask allows to specify multiple channels for changing flight modes using momentary buttons. Each channel is assigned to a mode slot ((lowest channel = slot 1). The resulting modes for each slot X is defined by the COM_FLTMODEX parameters. The functionality can be used only if RC_MAP_FLTMODE is disabled. The maximum number of available slots and hence bits set in the mask is 6.", "max": 258048, "min": 0, "name": "RC_MAP_FLTM_BTN", "shortDesc": "Button flight mode selection", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Radio Switches", "max": 18, "min": 0, "name": "RC_MAP_GEAR_SW", "shortDesc": "Landing gear switch channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Switches", "max": 18, "min": 0, "name": "RC_MAP_KILL_SW", "shortDesc": "Emergency Kill switch channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Switches", "max": 18, "min": 0, "name": "RC_MAP_LOITER_SW", "shortDesc": "Loiter switch channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Switches", "max": 18, "min": 0, "name": "RC_MAP_MAN_SW", "shortDesc": "Manual switch channel mapping (deprecated)", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Switches", "longDesc": "This is the main flight mode selector. The channel index (starting from 1 for channel 1) indicates which channel should be used for deciding about the main mode. A value of zero indicates the switch is not assigned.", "max": 18, "min": 0, "name": "RC_MAP_MODE_SW", "shortDesc": "Mode switch channel mapping (deprecated)", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Switches", "max": 18, "min": 0, "name": "RC_MAP_OFFB_SW", "shortDesc": "Offboard switch channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Switches", "max": 18, "min": 0, "name": "RC_MAP_PAY_SW", "shortDesc": "Payload Power Switch RC channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Switches", "max": 18, "min": 0, "name": "RC_MAP_POSCTL_SW", "shortDesc": "Position Control switch channel (deprecated)", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Switches", "max": 18, "min": 0, "name": "RC_MAP_RATT_SW", "shortDesc": "Rattitude switch channel (deprecated)", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Switches", "max": 18, "min": 0, "name": "RC_MAP_RETURN_SW", "shortDesc": "Return switch channel", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Switches", "max": 18, "min": 0, "name": "RC_MAP_STAB_SW", "shortDesc": "Stabilize switch channel mapping  (deprecated)", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0, "group": "Radio Switches", "max": 18, "min": 0, "name": "RC_MAP_TRANS_SW", "shortDesc": "VTOL transition switch channel mapping", "type": "Int32", "values": [{"description": "Unassigned", "value": 0}, {"description": "Channel 1", "value": 1}, {"description": "Channel 2", "value": 2}, {"description": "Channel 3", "value": 3}, {"description": "Channel 4", "value": 4}, {"description": "Channel 5", "value": 5}, {"description": "Channel 6", "value": 6}, {"description": "Channel 7", "value": 7}, {"description": "Channel 8", "value": 8}, {"description": "Channel 9", "value": 9}, {"description": "Channel 10", "value": 10}, {"description": "Channel 11", "value": 11}, {"description": "Channel 12", "value": 12}, {"description": "Channel 13", "value": 13}, {"description": "Channel 14", "value": 14}, {"description": "Channel 15", "value": 15}, {"description": "Channel 16", "value": 16}, {"description": "Channel 17", "value": 17}, {"description": "Channel 18", "value": 18}]}, {"category": "Standard", "default": 0.75, "group": "Radio Switches", "longDesc": "0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th", "max": 1.0, "min": -1.0, "name": "RC_OFFB_TH", "shortDesc": "Threshold for selecting offboard mode", "type": "Float"}, {"category": "Standard", "default": 0.75, "group": "Radio Switches", "longDesc": "0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th", "max": 1.0, "min": -1.0, "name": "RC_PAYLOAD_TH", "shortDesc": "Threshold for selecting payload power switch", "type": "Float"}, {"category": "Standard", "default": 0.75, "group": "Radio Switches", "longDesc": "0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th", "max": 1.0, "min": -1.0, "name": "RC_RETURN_TH", "shortDesc": "Threshold for selecting return to launch mode", "type": "Float"}, {"category": "Standard", "default": 0.75, "group": "Radio Switches", "longDesc": "0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel>th negative : true when channel<th", "max": 1.0, "min": -1.0, "name": "RC_TRANS_TH", "shortDesc": "Threshold for the VTOL transition switch", "type": "Float"}, {"category": "Standard", "default": 45, "group": "Return Mode", "longDesc": "Defines the half-angle of a cone centered around the destination position that affects the altitude at which the vehicle returns.", "max": 90, "min": 0, "name": "RTL_CONE_ANG", "shortDesc": "Half-angle of the return mode altitude cone", "type": "Int32", "units": "deg", "values": [{"description": "No cone, always climb to RTL_RETURN_ALT above destination.", "value": 0}, {"description": "25 degrees half cone angle.", "value": 25}, {"description": "45 degrees half cone angle.", "value": 45}, {"description": "65 degrees half cone angle.", "value": 65}, {"description": "80 degrees half cone angle.", "value": 80}, {"description": "Only climb to at least RTL_DESCEND_ALT above destination.", "value": 90}]}, {"category": "Standard", "decimalPlaces": 1, "default": 30.0, "group": "Return Mode", "increment": 0.5, "longDesc": "Descend to this altitude (above destination position) after return, and wait for time defined in RTL_LAND_DELAY. Land (i.e. slowly descend) from this altitude if autolanding allowed. VTOLs do transition to hover in this altitdue above the landing point.", "min": 0.0, "name": "RTL_DESCEND_ALT", "shortDesc": "Return mode loiter altitude", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "Return Mode", "increment": 0.5, "longDesc": "Delay before landing (after initial descent) in Return mode. If set to -1 the system will not land but loiter at RTL_DESCEND_ALT.", "min": -1.0, "name": "RTL_LAND_DELAY", "shortDesc": "Return mode delay", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": 80.0, "group": "Return Mode", "increment": 0.5, "longDesc": "Set the radius for loitering to a safe altitude for VTOL transition.", "min": 25.0, "name": "RTL_LOITER_RAD", "shortDesc": "Loiter radius for rtl descend", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "Return Mode", "increment": 0.5, "longDesc": "The return altitude will be calculated based on RTL_CONE_ANG parameter. The yaw setpoint will switch to the one defined by corresponding waypoint.", "min": 0.5, "name": "RTL_MIN_DIST", "shortDesc": "Horizontal radius from return point within which special rules for return mode apply", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Return Mode", "longDesc": "Use precision landing when doing an RTL landing phase.", "name": "RTL_PLD_MD", "shortDesc": "RTL precision land mode", "type": "Int32", "values": [{"description": "No precision landing", "value": 0}, {"description": "Opportunistic precision landing", "value": 1}, {"description": "Required precision landing", "value": 2}]}, {"category": "Standard", "decimalPlaces": 1, "default": 60.0, "group": "Return Mode", "increment": 0.5, "longDesc": "Default minimum altitude above destination (e.g. home, safe point, landing pattern) for return flight. The vehicle will climb to this altitude when Return mode is enganged, unless it currently is flying higher already. This is affected by RTL_MIN_DIST and RTL_CONE_ANG.", "min": 0.0, "name": "RTL_RETURN_ALT", "shortDesc": "Return mode return altitude", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Return Mode", "longDesc": "Return mode destination and flight path (home location, rally point, mission landing pattern, reverse mission)", "name": "RTL_TYPE", "shortDesc": "Return type", "type": "Int32", "values": [{"description": "Return to closest safe point (home or rally point) via direct path.", "value": 0}, {"description": "Return to closest safe point other than home (mission landing pattern or rally point), via direct path. If no mission landing or rally points are defined return home via direct path. Always chose closest safe landing point if vehicle is a VTOL in hover mode.", "value": 1}, {"description": "Return to a planned mission landing, if available, using the mission path, else return to home via the reverse mission path. Do not consider rally points.", "value": 2}, {"description": "Return via direct path to closest destination: home, start of mission landing pattern or safe point. If the destination is a mission landing pattern, follow the pattern to land.", "value": 3}]}, {"category": "Standard", "default": 0, "group": "Return To Land", "longDesc": "Only consider RTL point, if it has an approach defined.", "name": "RTL_APPR_FORCE", "shortDesc": "RTL force approach landing", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 1.1, "group": "Return To Land", "increment": 0.1, "longDesc": "Safety factor that is used to scale the actual RTL time estimate. Time with margin = RTL_TIME_FACTOR * time + RTL_TIME_MARGIN", "max": 2.0, "min": 1.0, "name": "RTL_TIME_FACTOR", "shortDesc": "RTL time estimate safety margin factor", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 100, "group": "Return To Land", "increment": 1, "longDesc": "Margin that is added to the time estimate, after it has already been scaled Time with margin = RTL_TIME_FACTOR * time + RTL_TIME_MARGIN", "max": 3600, "min": 0, "name": "RTL_TIME_MARGIN", "shortDesc": "RTL time estimate safety margin offset", "type": "Int32", "units": "s"}, {"category": "Standard", "default": 0, "group": "Roboclaw", "longDesc": "Configure on which serial port to run Roboclaw Driver.", "name": "RBCLW_SER_CFG", "rebootRequired": true, "shortDesc": "Serial Configuration for Roboclaw Driver", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "UART 6", "value": 6}, {"description": "TELEM 1", "value": 101}, {"description": "TELEM 2", "value": 102}, {"description": "TELEM 3", "value": 103}, {"description": "TELEM/SERIAL 4", "value": 104}, {"description": "GPS 1", "value": 201}, {"description": "GPS 2", "value": 202}, {"description": "GPS 3", "value": 203}, {"description": "Radio Controller", "value": 300}, {"description": "Wifi Port", "value": 301}, {"description": "EXT2", "value": 401}]}, {"category": "Standard", "default": 128, "group": "Roboclaw Driver", "longDesc": "The ESC has to be configured to have an address from 0x80 to 0x87. This parameter needs to match the configured value.", "max": 135, "min": 128, "name": "RBCLW_ADDRESS", "shortDesc": "Address of the ESC on the bus", "type": "Int32", "values": [{"description": "0x80", "value": 128}, {"description": "0x81", "value": 129}, {"description": "0x82", "value": 130}, {"description": "0x83", "value": 131}, {"description": "0x84", "value": 132}, {"description": "0x85", "value": 133}, {"description": "0x86", "value": 134}, {"description": "0x87", "value": 135}]}, {"category": "Standard", "default": 1200, "group": "Roboclaw Driver", "longDesc": "The default value of 1200 corresponds to the default configuration of the Aion R1 rover.", "min": 1, "name": "RBCLW_COUNTS_REV", "shortDesc": "Number of encoder counts for one wheel revolution", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Rover Differential Drive", "increment": 0.01, "max": 1.0, "min": 0.0, "name": "RDD_ANG_SCALE", "shortDesc": "Manual angular velocity scale", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Rover Differential Drive", "increment": 0.01, "max": 100.0, "min": 0.0, "name": "RDD_I_ANG_VEL", "shortDesc": "Integral gain for angular velocity controller", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Rover Differential Drive", "increment": 0.01, "max": 100.0, "min": 0.0, "name": "RDD_I_SPEED", "shortDesc": "Integral gain for ground speed controller", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.5, "group": "Rover Differential Drive", "increment": 0.01, "longDesc": "Maximum acceleration is used to limit the acceleration of the rover", "max": 100.0, "min": 0.0, "name": "RDD_MAX_ACCEL", "shortDesc": "Maximum acceleration", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.5, "group": "Rover Differential Drive", "increment": 0.01, "longDesc": "Limit for forwards acc/deceleration change.", "max": 100.0, "min": 0.0, "name": "RDD_MAX_JERK", "shortDesc": "Maximum jerk", "type": "Float", "units": "m/s^3"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Rover Differential Drive", "increment": 0.01, "max": 100.0, "min": 0.0, "name": "RDD_P_ANG_VEL", "shortDesc": "Proportional gain for angular velocity controller", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Rover Differential Drive", "increment": 0.01, "max": 100.0, "min": 0.0, "name": "RDD_P_HEADING", "shortDesc": "Proportional gain for heading controller", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Rover Differential Drive", "increment": 0.01, "max": 100.0, "min": 0.0, "name": "RDD_P_SPEED", "shortDesc": "Proportional gain for speed controller", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Rover Differential Drive", "increment": 0.01, "max": 1.0, "min": 0.0, "name": "RDD_SPEED_SCALE", "shortDesc": "Manual speed scale", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.5, "group": "Rover Differential Drive", "increment": 0.001, "longDesc": "Distance from the center of the right wheel to the center of the left wheel", "max": 100.0, "min": 0.001, "name": "RDD_WHEEL_BASE", "shortDesc": "Wheel base", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.1, "group": "Rover Differential Drive", "increment": 0.001, "longDesc": "Size of the wheel, half the diameter of the wheel", "max": 100.0, "min": 0.001, "name": "RDD_WHEEL_RADIUS", "shortDesc": "Wheel radius", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.3, "group": "Rover Differential Drive", "increment": 0.01, "max": 100.0, "min": 0.0, "name": "RDD_WHEEL_SPEED", "shortDesc": "Maximum wheel speed", "type": "Float", "units": "rad/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.75, "group": "Rover Position Control", "increment": 0.05, "longDesc": "Damping factor for L1 control.", "max": 0.9, "min": 0.6, "name": "GND_L1_DAMPING", "shortDesc": "L1 damping", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "Rover Position Control", "increment": 0.1, "longDesc": "This is the distance at which the next waypoint is activated. This should be set to about 2-4x of GND_WHEEL_BASE and not smaller than one meter (due to GPS accuracy).", "max": 50.0, "min": 1.0, "name": "GND_L1_DIST", "shortDesc": "L1 distance", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "Rover Position Control", "increment": 0.5, "longDesc": "This is the L1 distance and defines the tracking point ahead of the rover it's following. Use values around 2-5m for a 0.3m wheel base. Tuning instructions: Shorten slowly during tuning until response is sharp without oscillation.", "max": 50.0, "min": 0.5, "name": "GND_L1_PERIOD", "shortDesc": "L1 period", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 150.0, "group": "Rover Position Control", "max": 400.0, "min": 0.0, "name": "GND_MAN_Y_MAX", "shortDesc": "Max manual yaw rate", "type": "Float", "units": "deg/s"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.7854, "group": "Rover Position Control", "increment": 0.01, "longDesc": "At a control output of 0, the steering wheels are at 0 radians. At a control output of 1, the steering wheels are at GND_MAX_ANG radians.", "max": 3.14159, "min": 0.0, "name": "GND_MAX_ANG", "shortDesc": "Maximum turn angle for Ackerman steering", "type": "Float", "units": "rad"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.001, "group": "Rover Position Control", "increment": 0.005, "longDesc": "This is the derivative gain for the speed closed loop controller", "max": 50.0, "min": 0.0, "name": "GND_SPEED_D", "shortDesc": "Speed proportional gain", "type": "Float", "units": "%m/s"}, {"category": "Standard", "decimalPlaces": 3, "default": 3.0, "group": "Rover Position Control", "increment": 0.005, "longDesc": "This is the integral gain for the speed closed loop controller", "max": 50.0, "min": 0.0, "name": "GND_SPEED_I", "shortDesc": "Speed Integral gain", "type": "Float", "units": "%m/s"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Rover Position Control", "increment": 0.005, "longDesc": "This is the maxim value the integral can reach to prevent wind-up.", "max": 50.0, "min": 0.005, "name": "GND_SPEED_IMAX", "shortDesc": "Speed integral maximum value", "type": "Float", "units": "%m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "Rover Position Control", "increment": 0.5, "max": 40.0, "min": 0.0, "name": "GND_SPEED_MAX", "shortDesc": "Maximum ground speed", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 3, "default": 2.0, "group": "Rover Position Control", "increment": 0.005, "longDesc": "This is the proportional gain for the speed closed loop controller", "max": 50.0, "min": 0.005, "name": "GND_SPEED_P", "shortDesc": "Speed proportional gain", "type": "Float", "units": "%m/s"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "Rover Position Control", "increment": 0.005, "longDesc": "This is a gain to map the speed control output to the throttle linearly.", "max": 50.0, "min": 0.005, "name": "GND_SPEED_THR_SC", "shortDesc": "Speed to throttle scaler", "type": "Float", "units": "%m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "Rover Position Control", "increment": 0.5, "max": 40.0, "min": 0.0, "name": "GND_SPEED_TRIM", "shortDesc": "Trim ground speed", "type": "Float", "units": "m/s"}, {"category": "Standard", "default": 1, "group": "Rover Position Control", "longDesc": "This allows the user to choose between closed loop gps speed or open loop cruise throttle speed", "max": 1, "min": 0, "name": "GND_SP_CTRL_MODE", "shortDesc": "Control mode for speed", "type": "Int32", "values": [{"description": "open loop control", "value": 0}, {"description": "close the loop with gps speed", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "Rover Position Control", "increment": 0.01, "longDesc": "This is the throttle setting required to achieve the desired cruise speed. 10% is ok for a traxxas stampede vxl with ESC set to training mode", "max": 1.0, "min": 0.0, "name": "GND_THR_CRUISE", "shortDesc": "Cruise throttle", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.3, "group": "Rover Position Control", "increment": 0.01, "longDesc": "This is the maximum throttle % that can be used by the controller. For a Traxxas stampede vxl with the ESC set to training, 30 % is enough", "max": 1.0, "min": 0.0, "name": "GND_THR_MAX", "shortDesc": "Throttle limit max", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "Rover Position Control", "increment": 0.01, "longDesc": "This is the minimum throttle % that can be used by the controller. Set to 0 for rover", "max": 1.0, "min": 0.0, "name": "GND_THR_MIN", "shortDesc": "Throttle limit min", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.31, "group": "Rover Position Control", "increment": 0.01, "longDesc": "A value of 0.31 is typical for 1/10 RC cars.", "min": 0.0, "name": "GND_WHEEL_BASE", "shortDesc": "Distance from front axle to rear axle", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Runway Takeoff", "longDesc": "0: airframe heading when takeoff is initiated 1: position control along runway direction (bearing defined from vehicle position on takeoff initiation to MAV_CMD_TAKEOFF position defined by operator)", "max": 1, "min": 0, "name": "RWTO_HDG", "shortDesc": "Specifies which heading should be held during the runway takeoff ground roll", "type": "Int32", "values": [{"description": "Airframe", "value": 0}, {"description": "Runway", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Runway Takeoff", "increment": 0.01, "max": 1.0, "min": 0.0, "name": "RWTO_MAX_THR", "shortDesc": "Max throttle during runway takeoff", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 1, "default": 5.0, "group": "Runway Takeoff", "increment": 0.1, "max": 100.0, "min": 1.0, "name": "RWTO_NPFG_PERIOD", "shortDesc": "NPFG period while steering on runway", "type": "Float", "units": "s"}, {"category": "Standard", "default": 1, "group": "Runway Takeoff", "longDesc": "This is useful when map, GNSS, or yaw errors on ground are misaligned with what the operator intends for takeoff course. Particularly useful for skinny runways or if the wheel servo is a bit off trim.", "name": "RWTO_NUDGE", "shortDesc": "Enable use of yaw stick for nudging the wheel during runway ground roll", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "Runway Takeoff", "increment": 0.5, "longDesc": "A taildragger with steerable wheel might need to pitch up a little to keep its wheel on the ground before airspeed to takeoff is reached.", "max": 20.0, "min": -10.0, "name": "RWTO_PSP", "shortDesc": "Pitch setpoint during taxi / before takeoff rotation airspeed is reached", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 2, "default": 2.0, "group": "Runway Takeoff", "increment": 0.1, "max": 15.0, "min": 1.0, "name": "RWTO_RAMP_TIME", "shortDesc": "Throttle ramp up time for runway takeoff", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": -1.0, "group": "Runway Takeoff", "increment": 0.1, "longDesc": "The calibrated airspeed threshold during the takeoff ground roll when the plane should start rotating (pitching up). Must be less than the takeoff airspeed, will otherwise be capped at the takeoff airpeed (see FW_TKO_AIRSPD). If set <= 0.0, defaults to 0.9 * takeoff airspeed (see FW_TKO_AIRSPD)", "min": -1.0, "name": "RWTO_ROT_AIRSPD", "shortDesc": "Takeoff rotation airspeed", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "Runway Takeoff", "increment": 0.1, "longDesc": "This is the time desired to linearly ramp in takeoff pitch constraints during the takeoff rotation", "min": 0.1, "name": "RWTO_ROT_TIME", "shortDesc": "Takeoff rotation time", "type": "Float", "units": "s"}, {"category": "Standard", "default": 0, "group": "Runway Takeoff", "name": "RWTO_TKOFF", "shortDesc": "Runway takeoff with landing gear", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 2, "group": "SD Logging", "longDesc": "Selects the algorithm used for logfile encryption", "name": "SDLOG_ALGORITHM", "shortDesc": "Logfile Encryption algorithm", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "XChaCha20", "value": 2}, {"description": "AES", "value": 3}]}, {"category": "Standard", "default": 0, "group": "SD Logging", "longDesc": "When enabled, logging will not start from boot if battery power is not detected (e.g. powered via USB on a test bench). This prevents extraneous flight logs from being created during bench testing. Note that this only applies to log-from-boot modes. This has no effect on arm-based modes.", "name": "SDLOG_BOOT_BAT", "shortDesc": "Battery-only Logging", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "SD Logging", "longDesc": "If there are more log directories than this value, the system will delete the oldest directories during startup. In addition, the system will delete old logs if there is not enough free space left. The minimum amount is 300 MB. If this is set to 0, old directories will only be removed if the free space falls below the minimum. Note: this does not apply to mission log files.", "max": 1000, "min": 0, "name": "SDLOG_DIRS_MAX", "rebootRequired": true, "shortDesc": "Maximum number of log directories to keep", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "SD Logging", "longDesc": "If the logfile is encrypted using a symmetric key algorithm, the used encryption key is generated at logging start and stored on the sdcard RSA2048 encrypted using this key.", "max": 255, "min": 0, "name": "SDLOG_EXCH_KEY", "shortDesc": "Logfile Encryption key exchange key", "type": "Int32"}, {"category": "Standard", "default": 2, "group": "SD Logging", "longDesc": "Selects the key in keystore, used for encrypting the log. When using a symmetric encryption algorithm, the key is generated at logging start and kept stored in this index. For symmetric algorithms, the key is volatile and valid only for the duration of logging. The key is stored in encrypted format on the sdcard alongside the logfile, using an RSA2048 key defined by the SDLOG_EXCHANGE_KEY", "max": 255, "min": 0, "name": "SDLOG_KEY", "shortDesc": "Logfile Encryption key index", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "SD Logging", "longDesc": "If enabled, a small additional \"mission\" log file will be written to the SD card. The log contains just those messages that are useful for tasks like generating flight statistics and geotagging. The different modes can be used to further reduce the logged data (and thus the log file size). For example, choose geotagging mode to only log data required for geotagging. Note that the normal/full log is still created, and contains all the data in the mission log (and more).", "name": "SDLOG_MISSION", "rebootRequired": true, "shortDesc": "Mission Log", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "All mission messages", "value": 1}, {"description": "Geotagging messages", "value": 2}]}, {"category": "Standard", "default": 0, "group": "SD Logging", "longDesc": "Determines when to start and stop logging. By default, logging is started when arming the system, and stopped when disarming.", "name": "SDLOG_MODE", "rebootRequired": true, "shortDesc": "Logging Mode", "type": "Int32", "values": [{"description": "disabled", "value": -1}, {"description": "when armed until disarm (default)", "value": 0}, {"description": "from boot until disarm", "value": 1}, {"description": "from boot until shutdown", "value": 2}, {"description": "depending on AUX1 RC channel", "value": 3}, {"description": "from 1st armed until shutdown", "value": 4}]}, {"bitmask": [{"description": "Default set (general log analysis)", "index": 0}, {"description": "Estimator replay (EKF2)", "index": 1}, {"description": "Thermal calibration", "index": 2}, {"description": "System identification", "index": 3}, {"description": "High rate", "index": 4}, {"description": "Debug", "index": 5}, {"description": "Sensor comparison", "index": 6}, {"description": "Computer Vision and Avoidance", "index": 7}, {"description": "Raw FIFO high-rate IMU (Gyro)", "index": 8}, {"description": "Raw FIFO high-rate IMU (Accel)", "index": 9}, {"description": "Mavlink tunnel message logging", "index": 10}], "category": "Standard", "default": 1, "group": "SD Logging", "longDesc": "This integer bitmask controls the set and rates of logged topics. The default allows for general log analysis while keeping the log file size reasonably small. Enabling multiple sets leads to higher bandwidth requirements and larger log files. Set bits true to enable: 0 : Default set (used for general log analysis) 1 : Full rate estimator (EKF2) replay topics 2 : Topics for thermal calibration (high rate raw IMU and Baro sensor data) 3 : Topics for system identification (high rate actuator control and IMU data) 4 : Full rates for analysis of fast maneuvers (RC, attitude, rates and actuators) 5 : Debugging topics (debug_*.msg topics, for custom code) 6 : Topics for sensor comparison (low rate raw IMU, Baro and magnetometer data) 7 : Topics for computer vision and collision avoidance 8 : Raw FIFO high-rate IMU (Gyro) 9 : Raw FIFO high-rate IMU (Accel) 10: Logging of mavlink tunnel message (useful for payload communication debugging)", "max": 2047, "min": 0, "name": "SDLOG_PROFILE", "rebootRequired": true, "shortDesc": "Logging topic profile (integer bitmask)", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "SD Logging", "longDesc": "the difference in hours and minutes from Coordinated Universal Time (UTC) for a your place and date. for example, In case of South Korea(UTC+09:00), UTC offset is 540 min (9*60) refer to https://en.wikipedia.org/wiki/List_of_UTC_time_offsets", "max": 1000, "min": -1000, "name": "SDLOG_UTC_OFFSET", "shortDesc": "UTC offset (unit: min)", "type": "Int32", "units": "min"}, {"category": "Standard", "default": 1, "group": "SD Logging", "longDesc": "If set to 1, add an ID to the log, which uniquely identifies the vehicle", "name": "SDLOG_UUID", "shortDesc": "Log UUID", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 60.0, "group": "SITL", "increment": 1.0, "max": 86400.0, "min": 1.0, "name": "SIM_BAT_DRAIN", "shortDesc": "Simulator Battery drain interval", "type": "Float", "units": "s"}, {"category": "Standard", "default": 1, "group": "SITL", "longDesc": "Enable or disable the internal battery simulation. This is useful when the battery is simulated externally and interfaced with PX4 through MAVLink for example.", "name": "SIM_BAT_ENABLE", "shortDesc": "Simulator Battery enabled", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 50.0, "group": "SITL", "increment": 0.1, "longDesc": "Can be used to alter the battery level during SITL- or HITL-simulation on the fly. Particularly useful for testing different low-battery behaviour.", "max": 100.0, "min": 0.0, "name": "SIM_BAT_MIN_PCT", "shortDesc": "Simulator Battery minimal percentage", "type": "Float", "units": "%"}, {"category": "System", "decimalPlaces": 3, "default": 0, "group": "Sensor Calibration", "longDesc": "Device ID of the accelerometer this calibration applies to.", "name": "CAL_ACC0_ID", "shortDesc": "Accelerometer 0 calibration device ID", "type": "Int32"}, {"category": "System", "decimalPlaces": 3, "default": -1, "group": "Sensor Calibration", "name": "CAL_ACC0_PRIO", "shortDesc": "Accelerometer 0 priority", "type": "Int32", "values": [{"description": "Uninitialized", "value": -1}, {"description": "Disabled", "value": 0}, {"description": "Min", "value": 1}, {"description": "Low", "value": 25}, {"description": "Medium (Default)", "value": 50}, {"description": "High", "value": 75}, {"description": "Max", "value": 100}]}, {"category": "System", "default": -1, "group": "Sensor Calibration", "longDesc": "An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.", "max": 40, "min": -1, "name": "CAL_ACC0_ROT", "shortDesc": "Accelerometer 0 rotation relative to airframe", "type": "Int32", "values": [{"description": "Internal", "value": -1}, {"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}, {"description": "Roll 180\u00b0", "value": 8}, {"description": "Roll 180\u00b0, Yaw 45\u00b0", "value": 9}, {"description": "Roll 180\u00b0, Yaw 90\u00b0", "value": 10}, {"description": "Roll 180\u00b0, Yaw 135\u00b0", "value": 11}, {"description": "Pitch 180\u00b0", "value": 12}, {"description": "Roll 180\u00b0, Yaw 225\u00b0", "value": 13}, {"description": "Roll 180\u00b0, Yaw 270\u00b0", "value": 14}, {"description": "Roll 180\u00b0, Yaw 315\u00b0", "value": 15}, {"description": "Roll 90\u00b0", "value": 16}, {"description": "Roll 90\u00b0, Yaw 45\u00b0", "value": 17}, {"description": "Roll 90\u00b0, Yaw 90\u00b0", "value": 18}, {"description": "Roll 90\u00b0, Yaw 135\u00b0", "value": 19}, {"description": "Roll 270\u00b0", "value": 20}, {"description": "Roll 270\u00b0, Yaw 45\u00b0", "value": 21}, {"description": "Roll 270\u00b0, Yaw 90\u00b0", "value": 22}, {"description": "Roll 270\u00b0, Yaw 135\u00b0", "value": 23}, {"description": "Pitch 90\u00b0", "value": 24}, {"description": "Pitch 270\u00b0", "value": 25}, {"description": "Pitch 180\u00b0, Yaw 90\u00b0", "value": 26}, {"description": "Pitch 180\u00b0, Yaw 270\u00b0", "value": 27}, {"description": "Roll 90\u00b0, Pitch 90\u00b0", "value": 28}, {"description": "Roll 180\u00b0, Pitch 90\u00b0", "value": 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"value": 25}, {"description": "Medium (Default)", "value": 50}, {"description": "High", "value": 75}, {"description": "Max", "value": 100}]}, {"category": "System", "default": 0, "group": "Sensor Calibration", "longDesc": "Device ID of the gyroscope this calibration applies to.", "name": "CAL_GYRO0_ID", "shortDesc": "Gyroscope 0 calibration device ID", "type": "Int32"}, {"category": "System", "default": -1, "group": "Sensor Calibration", "name": "CAL_GYRO0_PRIO", "shortDesc": "Gyroscope 0 priority", "type": "Int32", "values": [{"description": "Uninitialized", "value": -1}, {"description": "Disabled", "value": 0}, {"description": "Min", "value": 1}, {"description": "Low", "value": 25}, {"description": "Medium (Default)", "value": 50}, {"description": "High", "value": 75}, {"description": "Max", "value": 100}]}, {"category": "System", "default": -1, "group": "Sensor Calibration", "longDesc": "An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.", "max": 40, "min": -1, "name": "CAL_GYRO0_ROT", "shortDesc": "Gyroscope 0 rotation relative to airframe", "type": "Int32", "values": [{"description": "Internal", "value": -1}, {"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}, {"description": "Roll 180\u00b0", "value": 8}, {"description": "Roll 180\u00b0, Yaw 45\u00b0", "value": 9}, {"description": "Roll 180\u00b0, Yaw 90\u00b0", "value": 10}, {"description": "Roll 180\u00b0, Yaw 135\u00b0", "value": 11}, {"description": "Pitch 180\u00b0", "value": 12}, {"description": "Roll 180\u00b0, Yaw 225\u00b0", "value": 13}, {"description": "Roll 180\u00b0, Yaw 270\u00b0", "value": 14}, {"description": "Roll 180\u00b0, Yaw 315\u00b0", "value": 15}, {"description": "Roll 90\u00b0", "value": 16}, {"description": "Roll 90\u00b0, Yaw 45\u00b0", "value": 17}, {"description": "Roll 90\u00b0, Yaw 90\u00b0", "value": 18}, {"description": "Roll 90\u00b0, Yaw 135\u00b0", "value": 19}, {"description": "Roll 270\u00b0", "value": 20}, {"description": "Roll 270\u00b0, Yaw 45\u00b0", "value": 21}, {"description": "Roll 270\u00b0, Yaw 90\u00b0", "value": 22}, {"description": "Roll 270\u00b0, Yaw 135\u00b0", "value": 23}, {"description": "Pitch 90\u00b0", "value": 24}, {"description": "Pitch 270\u00b0", "value": 25}, {"description": "Pitch 180\u00b0, Yaw 90\u00b0", "value": 26}, {"description": "Pitch 180\u00b0, Yaw 270\u00b0", "value": 27}, {"description": "Roll 90\u00b0, Pitch 90\u00b0", "value": 28}, {"description": "Roll 180\u00b0, Pitch 90\u00b0", "value": 29}, {"description": "Roll 270\u00b0, Pitch 90\u00b0", "value": 30}, {"description": "Roll 90\u00b0, Pitch 180\u00b0", "value": 31}, {"description": "Roll 270\u00b0, Pitch 180\u00b0", "value": 32}, {"description": "Roll 90\u00b0, Pitch 270\u00b0", "value": 33}, {"description": "Roll 180\u00b0, Pitch 270\u00b0", "value": 34}, {"description": "Roll 270\u00b0, Pitch 270\u00b0", "value": 35}, {"description": "Roll 90\u00b0, Pitch 180\u00b0, Yaw 90\u00b0", "value": 36}, {"description": "Roll 90\u00b0, Yaw 270\u00b0", "value": 37}, {"description": "Roll 90\u00b0, Pitch 68\u00b0, Yaw 293\u00b0", "value": 38}, {"description": "Pitch 315\u00b0", "value": 39}, {"description": "Roll 90\u00b0, Pitch 315\u00b0", "value": 40}]}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_GYRO0_XOFF", "shortDesc": "Gyroscope 0 X-axis offset", "type": "Float", "units": "rad/s", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_GYRO0_YOFF", "shortDesc": "Gyroscope 0 Y-axis offset", "type": "Float", "units": "rad/s", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_GYRO0_ZOFF", "shortDesc": "Gyroscope 0 Z-axis offset", "type": "Float", "units": "rad/s", "volatile": true}, {"category": "System", "default": 0, "group": "Sensor Calibration", "longDesc": "Device ID of the gyroscope this calibration applies to.", "name": "CAL_GYRO1_ID", "shortDesc": "Gyroscope 1 calibration device ID", "type": "Int32"}, {"category": "System", "default": -1, "group": "Sensor Calibration", "name": "CAL_GYRO1_PRIO", "shortDesc": "Gyroscope 1 priority", "type": "Int32", "values": [{"description": "Uninitialized", "value": -1}, {"description": "Disabled", "value": 0}, {"description": "Min", "value": 1}, {"description": "Low", "value": 25}, {"description": "Medium (Default)", "value": 50}, {"description": "High", "value": 75}, {"description": "Max", "value": 100}]}, {"category": "System", "default": -1, "group": "Sensor Calibration", "longDesc": "An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.", "max": 40, "min": -1, "name": "CAL_GYRO1_ROT", "shortDesc": "Gyroscope 1 rotation relative to airframe", "type": "Int32", "values": [{"description": "Internal", "value": -1}, {"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}, {"description": "Roll 180\u00b0", "value": 8}, {"description": "Roll 180\u00b0, Yaw 45\u00b0", "value": 9}, {"description": "Roll 180\u00b0, Yaw 90\u00b0", "value": 10}, {"description": "Roll 180\u00b0, Yaw 135\u00b0", "value": 11}, {"description": "Pitch 180\u00b0", "value": 12}, {"description": "Roll 180\u00b0, Yaw 225\u00b0", "value": 13}, {"description": "Roll 180\u00b0, Yaw 270\u00b0", "value": 14}, {"description": "Roll 180\u00b0, Yaw 315\u00b0", "value": 15}, {"description": "Roll 90\u00b0", "value": 16}, {"description": "Roll 90\u00b0, Yaw 45\u00b0", "value": 17}, {"description": "Roll 90\u00b0, Yaw 90\u00b0", "value": 18}, {"description": "Roll 90\u00b0, Yaw 135\u00b0", "value": 19}, {"description": "Roll 270\u00b0", "value": 20}, {"description": "Roll 270\u00b0, Yaw 45\u00b0", "value": 21}, {"description": "Roll 270\u00b0, Yaw 90\u00b0", "value": 22}, {"description": "Roll 270\u00b0, Yaw 135\u00b0", "value": 23}, {"description": "Pitch 90\u00b0", "value": 24}, {"description": "Pitch 270\u00b0", "value": 25}, {"description": "Pitch 180\u00b0, Yaw 90\u00b0", "value": 26}, {"description": "Pitch 180\u00b0, Yaw 270\u00b0", "value": 27}, {"description": "Roll 90\u00b0, Pitch 90\u00b0", "value": 28}, {"description": "Roll 180\u00b0, Pitch 90\u00b0", "value": 29}, {"description": "Roll 270\u00b0, Pitch 90\u00b0", "value": 30}, {"description": "Roll 90\u00b0, Pitch 180\u00b0", "value": 31}, {"description": "Roll 270\u00b0, Pitch 180\u00b0", "value": 32}, {"description": "Roll 90\u00b0, Pitch 270\u00b0", "value": 33}, {"description": "Roll 180\u00b0, Pitch 270\u00b0", "value": 34}, {"description": "Roll 270\u00b0, Pitch 270\u00b0", "value": 35}, {"description": "Roll 90\u00b0, Pitch 180\u00b0, Yaw 90\u00b0", "value": 36}, {"description": "Roll 90\u00b0, Yaw 270\u00b0", "value": 37}, {"description": "Roll 90\u00b0, Pitch 68\u00b0, Yaw 293\u00b0", "value": 38}, {"description": "Pitch 315\u00b0", "value": 39}, {"description": "Roll 90\u00b0, Pitch 315\u00b0", "value": 40}]}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_GYRO1_XOFF", "shortDesc": "Gyroscope 1 X-axis offset", "type": "Float", "units": "rad/s", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_GYRO1_YOFF", "shortDesc": "Gyroscope 1 Y-axis offset", "type": "Float", "units": "rad/s", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_GYRO1_ZOFF", "shortDesc": "Gyroscope 1 Z-axis offset", "type": "Float", "units": "rad/s", "volatile": true}, {"category": "System", "default": 0, "group": "Sensor Calibration", "longDesc": "Device ID of the gyroscope this calibration applies to.", "name": "CAL_GYRO2_ID", "shortDesc": "Gyroscope 2 calibration device ID", "type": "Int32"}, {"category": "System", "default": -1, "group": "Sensor Calibration", "name": "CAL_GYRO2_PRIO", "shortDesc": "Gyroscope 2 priority", "type": "Int32", "values": [{"description": "Uninitialized", "value": -1}, {"description": "Disabled", "value": 0}, {"description": "Min", "value": 1}, {"description": "Low", "value": 25}, {"description": "Medium (Default)", "value": 50}, {"description": "High", "value": 75}, {"description": "Max", "value": 100}]}, {"category": "System", "default": -1, "group": "Sensor Calibration", "longDesc": "An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.", "max": 40, "min": -1, "name": "CAL_GYRO2_ROT", "shortDesc": "Gyroscope 2 rotation relative to airframe", "type": "Int32", "values": [{"description": "Internal", "value": -1}, {"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}, {"description": "Roll 180\u00b0", "value": 8}, {"description": "Roll 180\u00b0, Yaw 45\u00b0", "value": 9}, {"description": "Roll 180\u00b0, Yaw 90\u00b0", "value": 10}, {"description": "Roll 180\u00b0, Yaw 135\u00b0", "value": 11}, {"description": "Pitch 180\u00b0", "value": 12}, {"description": "Roll 180\u00b0, Yaw 225\u00b0", "value": 13}, {"description": "Roll 180\u00b0, Yaw 270\u00b0", "value": 14}, {"description": "Roll 180\u00b0, Yaw 315\u00b0", "value": 15}, {"description": "Roll 90\u00b0", "value": 16}, {"description": "Roll 90\u00b0, Yaw 45\u00b0", "value": 17}, {"description": "Roll 90\u00b0, Yaw 90\u00b0", "value": 18}, {"description": "Roll 90\u00b0, Yaw 135\u00b0", "value": 19}, {"description": "Roll 270\u00b0", "value": 20}, {"description": "Roll 270\u00b0, Yaw 45\u00b0", "value": 21}, {"description": "Roll 270\u00b0, Yaw 90\u00b0", "value": 22}, {"description": "Roll 270\u00b0, Yaw 135\u00b0", "value": 23}, {"description": "Pitch 90\u00b0", "value": 24}, {"description": "Pitch 270\u00b0", "value": 25}, {"description": "Pitch 180\u00b0, Yaw 90\u00b0", "value": 26}, {"description": "Pitch 180\u00b0, Yaw 270\u00b0", "value": 27}, {"description": "Roll 90\u00b0, Pitch 90\u00b0", "value": 28}, {"description": "Roll 180\u00b0, Pitch 90\u00b0", "value": 29}, {"description": "Roll 270\u00b0, Pitch 90\u00b0", "value": 30}, {"description": "Roll 90\u00b0, Pitch 180\u00b0", "value": 31}, {"description": "Roll 270\u00b0, Pitch 180\u00b0", "value": 32}, {"description": "Roll 90\u00b0, Pitch 270\u00b0", "value": 33}, {"description": "Roll 180\u00b0, Pitch 270\u00b0", "value": 34}, {"description": "Roll 270\u00b0, Pitch 270\u00b0", "value": 35}, {"description": "Roll 90\u00b0, Pitch 180\u00b0, Yaw 90\u00b0", "value": 36}, {"description": "Roll 90\u00b0, Yaw 270\u00b0", "value": 37}, {"description": "Roll 90\u00b0, Pitch 68\u00b0, Yaw 293\u00b0", "value": 38}, {"description": "Pitch 315\u00b0", "value": 39}, {"description": "Roll 90\u00b0, Pitch 315\u00b0", "value": 40}]}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_GYRO2_XOFF", "shortDesc": "Gyroscope 2 X-axis offset", "type": "Float", "units": "rad/s", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_GYRO2_YOFF", "shortDesc": "Gyroscope 2 Y-axis offset", "type": "Float", "units": "rad/s", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_GYRO2_ZOFF", "shortDesc": "Gyroscope 2 Z-axis offset", "type": "Float", "units": "rad/s", "volatile": true}, {"category": "System", "default": 0, "group": "Sensor Calibration", "longDesc": "Device ID of the gyroscope this calibration applies to.", "name": "CAL_GYRO3_ID", "shortDesc": "Gyroscope 3 calibration device ID", "type": "Int32"}, {"category": "System", "default": -1, "group": "Sensor Calibration", "name": "CAL_GYRO3_PRIO", "shortDesc": "Gyroscope 3 priority", "type": "Int32", "values": [{"description": "Uninitialized", "value": -1}, {"description": "Disabled", "value": 0}, {"description": "Min", "value": 1}, {"description": "Low", "value": 25}, {"description": "Medium (Default)", "value": 50}, {"description": "High", "value": 75}, {"description": "Max", "value": 100}]}, {"category": "System", "default": -1, "group": "Sensor Calibration", "longDesc": "An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.", "max": 40, "min": -1, "name": "CAL_GYRO3_ROT", "shortDesc": "Gyroscope 3 rotation relative to airframe", "type": "Int32", "values": [{"description": "Internal", "value": -1}, {"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}, {"description": "Roll 180\u00b0", "value": 8}, {"description": "Roll 180\u00b0, Yaw 45\u00b0", "value": 9}, {"description": "Roll 180\u00b0, Yaw 90\u00b0", "value": 10}, {"description": "Roll 180\u00b0, Yaw 135\u00b0", "value": 11}, {"description": "Pitch 180\u00b0", "value": 12}, {"description": "Roll 180\u00b0, Yaw 225\u00b0", "value": 13}, {"description": "Roll 180\u00b0, Yaw 270\u00b0", "value": 14}, {"description": "Roll 180\u00b0, Yaw 315\u00b0", "value": 15}, {"description": "Roll 90\u00b0", "value": 16}, {"description": "Roll 90\u00b0, Yaw 45\u00b0", "value": 17}, {"description": "Roll 90\u00b0, Yaw 90\u00b0", "value": 18}, {"description": "Roll 90\u00b0, Yaw 135\u00b0", "value": 19}, {"description": "Roll 270\u00b0", "value": 20}, {"description": "Roll 270\u00b0, Yaw 45\u00b0", "value": 21}, {"description": "Roll 270\u00b0, Yaw 90\u00b0", "value": 22}, {"description": "Roll 270\u00b0, Yaw 135\u00b0", "value": 23}, {"description": "Pitch 90\u00b0", "value": 24}, {"description": "Pitch 270\u00b0", "value": 25}, {"description": "Pitch 180\u00b0, Yaw 90\u00b0", "value": 26}, {"description": "Pitch 180\u00b0, Yaw 270\u00b0", "value": 27}, {"description": "Roll 90\u00b0, Pitch 90\u00b0", "value": 28}, {"description": "Roll 180\u00b0, Pitch 90\u00b0", "value": 29}, {"description": "Roll 270\u00b0, Pitch 90\u00b0", "value": 30}, {"description": "Roll 90\u00b0, Pitch 180\u00b0", "value": 31}, {"description": "Roll 270\u00b0, Pitch 180\u00b0", "value": 32}, {"description": "Roll 90\u00b0, Pitch 270\u00b0", "value": 33}, {"description": "Roll 180\u00b0, Pitch 270\u00b0", "value": 34}, {"description": "Roll 270\u00b0, Pitch 270\u00b0", "value": 35}, {"description": "Roll 90\u00b0, Pitch 180\u00b0, Yaw 90\u00b0", "value": 36}, {"description": "Roll 90\u00b0, Yaw 270\u00b0", "value": 37}, {"description": "Roll 90\u00b0, Pitch 68\u00b0, Yaw 293\u00b0", "value": 38}, {"description": "Pitch 315\u00b0", "value": 39}, {"description": "Roll 90\u00b0, Pitch 315\u00b0", "value": 40}]}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_GYRO3_XOFF", "shortDesc": "Gyroscope 3 X-axis offset", "type": "Float", "units": "rad/s", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_GYRO3_YOFF", "shortDesc": "Gyroscope 3 Y-axis offset", "type": "Float", "units": "rad/s", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_GYRO3_ZOFF", "shortDesc": "Gyroscope 3 Z-axis offset", "type": "Float", "units": "rad/s", "volatile": true}, {"category": "System", "default": 0, "group": "Sensor Calibration", "longDesc": "Device ID of the magnetometer this calibration applies to.", "name": "CAL_MAG0_ID", "shortDesc": "Magnetometer 0 calibration device ID", "type": "Int32"}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "longDesc": "Setting this parameter changes CAL_MAG0_ROT to \"Custom Euler Angle\"", "max": 180.0, "min": -180.0, "name": "CAL_MAG0_PITCH", "shortDesc": "Magnetometer 0 Custom Euler Pitch Angle", "type": "Float", "units": "deg"}, {"category": "System", "default": -1, "group": "Sensor Calibration", "name": "CAL_MAG0_PRIO", "shortDesc": "Magnetometer 0 priority", "type": "Int32", "values": [{"description": "Uninitialized", "value": -1}, {"description": "Disabled", "value": 0}, {"description": "Min", "value": 1}, {"description": "Low", "value": 25}, {"description": "Medium (Default)", "value": 50}, {"description": "High", "value": 75}, {"description": "Max", "value": 100}]}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "longDesc": "Setting this parameter changes CAL_MAG0_ROT to \"Custom Euler Angle\"", "max": 180.0, "min": -180.0, "name": "CAL_MAG0_ROLL", "shortDesc": "Magnetometer 0 Custom Euler Roll Angle", "type": "Float", "units": "deg"}, {"category": "System", "default": -1, "group": "Sensor Calibration", "longDesc": "An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero. Set to \"Custom Euler Angle\" to define the rotation using CAL_MAG0_ROLL, CAL_MAG0_PITCH and CAL_MAG0_YAW.", "max": 100, "min": -1, "name": "CAL_MAG0_ROT", "shortDesc": "Magnetometer 0 rotation relative to airframe", "type": "Int32", "values": [{"description": "Internal", "value": -1}, {"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}, {"description": "Roll 180\u00b0", "value": 8}, {"description": "Roll 180\u00b0, Yaw 45\u00b0", "value": 9}, {"description": "Roll 180\u00b0, Yaw 90\u00b0", "value": 10}, {"description": "Roll 180\u00b0, Yaw 135\u00b0", "value": 11}, {"description": "Pitch 180\u00b0", "value": 12}, {"description": "Roll 180\u00b0, Yaw 225\u00b0", "value": 13}, {"description": "Roll 180\u00b0, Yaw 270\u00b0", "value": 14}, {"description": "Roll 180\u00b0, Yaw 315\u00b0", "value": 15}, {"description": "Roll 90\u00b0", "value": 16}, {"description": "Roll 90\u00b0, Yaw 45\u00b0", "value": 17}, {"description": "Roll 90\u00b0, Yaw 90\u00b0", "value": 18}, {"description": "Roll 90\u00b0, Yaw 135\u00b0", "value": 19}, {"description": "Roll 270\u00b0", "value": 20}, {"description": "Roll 270\u00b0, Yaw 45\u00b0", "value": 21}, {"description": "Roll 270\u00b0, Yaw 90\u00b0", "value": 22}, {"description": "Roll 270\u00b0, Yaw 135\u00b0", "value": 23}, {"description": "Pitch 90\u00b0", "value": 24}, {"description": "Pitch 270\u00b0", "value": 25}, {"description": "Pitch 180\u00b0, Yaw 90\u00b0", "value": 26}, {"description": "Pitch 180\u00b0, Yaw 270\u00b0", "value": 27}, {"description": "Roll 90\u00b0, Pitch 90\u00b0", "value": 28}, {"description": "Roll 180\u00b0, Pitch 90\u00b0", "value": 29}, {"description": "Roll 270\u00b0, Pitch 90\u00b0", "value": 30}, {"description": "Roll 90\u00b0, Pitch 180\u00b0", "value": 31}, {"description": "Roll 270\u00b0, Pitch 180\u00b0", "value": 32}, {"description": "Roll 90\u00b0, Pitch 270\u00b0", "value": 33}, {"description": "Roll 180\u00b0, Pitch 270\u00b0", "value": 34}, {"description": "Roll 270\u00b0, Pitch 270\u00b0", "value": 35}, {"description": "Roll 90\u00b0, Pitch 180\u00b0, Yaw 90\u00b0", "value": 36}, {"description": "Roll 90\u00b0, Yaw 270\u00b0", "value": 37}, {"description": "Roll 90\u00b0, Pitch 68\u00b0, Yaw 293\u00b0", "value": 38}, {"description": "Pitch 315\u00b0", "value": 39}, {"description": "Roll 90\u00b0, Pitch 315\u00b0", "value": 40}, {"description": "Custom Euler Angle", "value": 100}]}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "longDesc": "Coefficient describing linear relationship between X component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]", "name": "CAL_MAG0_XCOMP", "shortDesc": "Magnetometer 0 X Axis throttle compensation", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG0_XODIAG", "shortDesc": "Magnetometer 0 X-axis off diagonal scale factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG0_XOFF", "shortDesc": "Magnetometer 0 X-axis offset", "type": "Float", "units": "gauss", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_MAG0_XSCALE", "shortDesc": "Magnetometer 0 X-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "longDesc": "Setting this parameter changes CAL_MAG0_ROT to \"Custom Euler Angle\"", "max": 180.0, "min": -180.0, "name": "CAL_MAG0_YAW", "shortDesc": "Magnetometer 0 Custom Euler Yaw Angle", "type": "Float", "units": "deg"}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "longDesc": "Coefficient describing linear relationship between Y component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]", "name": "CAL_MAG0_YCOMP", "shortDesc": "Magnetometer 0 Y Axis throttle compensation", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG0_YODIAG", "shortDesc": "Magnetometer 0 Y-axis off diagonal scale factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG0_YOFF", "shortDesc": "Magnetometer 0 Y-axis offset", "type": "Float", "units": "gauss", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_MAG0_YSCALE", "shortDesc": "Magnetometer 0 Y-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "longDesc": "Coefficient describing linear relationship between Z component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]", "name": "CAL_MAG0_ZCOMP", "shortDesc": "Magnetometer 0 Z Axis throttle compensation", "type": "Float", "volatile": true}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG0_ZODIAG", "shortDesc": "Magnetometer 0 Z-axis off diagonal scale factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG0_ZOFF", "shortDesc": "Magnetometer 0 Z-axis offset", "type": "Float", "units": "gauss", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_MAG0_ZSCALE", "shortDesc": "Magnetometer 0 Z-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "default": 0, "group": "Sensor Calibration", "longDesc": "Device ID of the magnetometer this calibration applies to.", "name": "CAL_MAG1_ID", "shortDesc": "Magnetometer 1 calibration device ID", "type": "Int32"}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "longDesc": "Setting this parameter changes CAL_MAG1_ROT to \"Custom Euler Angle\"", "max": 180.0, "min": -180.0, "name": "CAL_MAG1_PITCH", "shortDesc": "Magnetometer 1 Custom Euler Pitch Angle", "type": "Float", "units": "deg"}, {"category": "System", "default": -1, "group": "Sensor Calibration", "name": "CAL_MAG1_PRIO", "shortDesc": "Magnetometer 1 priority", "type": "Int32", "values": [{"description": "Uninitialized", "value": -1}, {"description": "Disabled", "value": 0}, {"description": "Min", "value": 1}, {"description": "Low", "value": 25}, {"description": "Medium (Default)", "value": 50}, {"description": "High", "value": 75}, {"description": "Max", "value": 100}]}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "longDesc": "Setting this parameter changes CAL_MAG1_ROT to \"Custom Euler Angle\"", "max": 180.0, "min": -180.0, "name": "CAL_MAG1_ROLL", "shortDesc": "Magnetometer 1 Custom Euler Roll Angle", "type": "Float", "units": "deg"}, {"category": "System", "default": -1, "group": "Sensor Calibration", "longDesc": "An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero. Set to \"Custom Euler Angle\" to define the rotation using CAL_MAG1_ROLL, CAL_MAG1_PITCH and CAL_MAG1_YAW.", "max": 100, "min": -1, "name": "CAL_MAG1_ROT", "shortDesc": "Magnetometer 1 rotation relative to airframe", "type": "Int32", "values": [{"description": "Internal", "value": -1}, {"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}, {"description": "Roll 180\u00b0", "value": 8}, {"description": "Roll 180\u00b0, Yaw 45\u00b0", "value": 9}, {"description": "Roll 180\u00b0, Yaw 90\u00b0", "value": 10}, {"description": "Roll 180\u00b0, Yaw 135\u00b0", "value": 11}, {"description": "Pitch 180\u00b0", "value": 12}, {"description": "Roll 180\u00b0, Yaw 225\u00b0", "value": 13}, {"description": "Roll 180\u00b0, Yaw 270\u00b0", "value": 14}, {"description": "Roll 180\u00b0, Yaw 315\u00b0", "value": 15}, {"description": "Roll 90\u00b0", "value": 16}, {"description": "Roll 90\u00b0, Yaw 45\u00b0", "value": 17}, {"description": "Roll 90\u00b0, Yaw 90\u00b0", "value": 18}, {"description": "Roll 90\u00b0, Yaw 135\u00b0", "value": 19}, {"description": "Roll 270\u00b0", "value": 20}, {"description": "Roll 270\u00b0, Yaw 45\u00b0", "value": 21}, {"description": "Roll 270\u00b0, Yaw 90\u00b0", "value": 22}, {"description": "Roll 270\u00b0, Yaw 135\u00b0", "value": 23}, {"description": "Pitch 90\u00b0", "value": 24}, {"description": "Pitch 270\u00b0", "value": 25}, {"description": "Pitch 180\u00b0, Yaw 90\u00b0", "value": 26}, {"description": "Pitch 180\u00b0, Yaw 270\u00b0", "value": 27}, {"description": "Roll 90\u00b0, Pitch 90\u00b0", "value": 28}, {"description": "Roll 180\u00b0, Pitch 90\u00b0", "value": 29}, {"description": "Roll 270\u00b0, Pitch 90\u00b0", "value": 30}, {"description": "Roll 90\u00b0, Pitch 180\u00b0", "value": 31}, {"description": "Roll 270\u00b0, Pitch 180\u00b0", "value": 32}, {"description": "Roll 90\u00b0, Pitch 270\u00b0", "value": 33}, {"description": "Roll 180\u00b0, Pitch 270\u00b0", "value": 34}, {"description": "Roll 270\u00b0, Pitch 270\u00b0", "value": 35}, {"description": "Roll 90\u00b0, Pitch 180\u00b0, Yaw 90\u00b0", "value": 36}, {"description": "Roll 90\u00b0, Yaw 270\u00b0", "value": 37}, {"description": "Roll 90\u00b0, Pitch 68\u00b0, Yaw 293\u00b0", "value": 38}, {"description": "Pitch 315\u00b0", "value": 39}, {"description": "Roll 90\u00b0, Pitch 315\u00b0", "value": 40}, {"description": "Custom Euler Angle", "value": 100}]}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "longDesc": "Coefficient describing linear relationship between X component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]", "name": "CAL_MAG1_XCOMP", "shortDesc": "Magnetometer 1 X Axis throttle compensation", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG1_XODIAG", "shortDesc": "Magnetometer 1 X-axis off diagonal scale factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG1_XOFF", "shortDesc": "Magnetometer 1 X-axis offset", "type": "Float", "units": "gauss", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_MAG1_XSCALE", "shortDesc": "Magnetometer 1 X-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "longDesc": "Setting this parameter changes CAL_MAG1_ROT to \"Custom Euler Angle\"", "max": 180.0, "min": -180.0, "name": "CAL_MAG1_YAW", "shortDesc": "Magnetometer 1 Custom Euler Yaw Angle", "type": "Float", "units": "deg"}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "longDesc": "Coefficient describing linear relationship between Y component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]", "name": "CAL_MAG1_YCOMP", "shortDesc": "Magnetometer 1 Y Axis throttle compensation", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG1_YODIAG", "shortDesc": "Magnetometer 1 Y-axis off diagonal scale factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG1_YOFF", "shortDesc": "Magnetometer 1 Y-axis offset", "type": "Float", "units": "gauss", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_MAG1_YSCALE", "shortDesc": "Magnetometer 1 Y-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "longDesc": "Coefficient describing linear relationship between Z component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]", "name": "CAL_MAG1_ZCOMP", "shortDesc": "Magnetometer 1 Z Axis throttle compensation", "type": "Float", "volatile": true}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG1_ZODIAG", "shortDesc": "Magnetometer 1 Z-axis off diagonal scale factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG1_ZOFF", "shortDesc": "Magnetometer 1 Z-axis offset", "type": "Float", "units": "gauss", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_MAG1_ZSCALE", "shortDesc": "Magnetometer 1 Z-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "default": 0, "group": "Sensor Calibration", "longDesc": "Device ID of the magnetometer this calibration applies to.", "name": "CAL_MAG2_ID", "shortDesc": "Magnetometer 2 calibration device ID", "type": "Int32"}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "longDesc": "Setting this parameter changes CAL_MAG2_ROT to \"Custom Euler Angle\"", "max": 180.0, "min": -180.0, "name": "CAL_MAG2_PITCH", "shortDesc": "Magnetometer 2 Custom Euler Pitch Angle", "type": "Float", "units": "deg"}, {"category": "System", "default": -1, "group": "Sensor Calibration", "name": "CAL_MAG2_PRIO", "shortDesc": "Magnetometer 2 priority", "type": "Int32", "values": [{"description": "Uninitialized", "value": -1}, {"description": "Disabled", "value": 0}, {"description": "Min", "value": 1}, {"description": "Low", "value": 25}, {"description": "Medium (Default)", "value": 50}, {"description": "High", "value": 75}, {"description": "Max", "value": 100}]}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "longDesc": "Setting this parameter changes CAL_MAG2_ROT to \"Custom Euler Angle\"", "max": 180.0, "min": -180.0, "name": "CAL_MAG2_ROLL", "shortDesc": "Magnetometer 2 Custom Euler Roll Angle", "type": "Float", "units": "deg"}, {"category": "System", "default": -1, "group": "Sensor Calibration", "longDesc": "An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero. Set to \"Custom Euler Angle\" to define the rotation using CAL_MAG2_ROLL, CAL_MAG2_PITCH and CAL_MAG2_YAW.", "max": 100, "min": -1, "name": "CAL_MAG2_ROT", "shortDesc": "Magnetometer 2 rotation relative to airframe", "type": "Int32", "values": [{"description": "Internal", "value": -1}, {"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}, {"description": "Roll 180\u00b0", "value": 8}, {"description": "Roll 180\u00b0, Yaw 45\u00b0", "value": 9}, {"description": "Roll 180\u00b0, Yaw 90\u00b0", "value": 10}, {"description": "Roll 180\u00b0, Yaw 135\u00b0", "value": 11}, {"description": "Pitch 180\u00b0", "value": 12}, {"description": "Roll 180\u00b0, Yaw 225\u00b0", "value": 13}, {"description": "Roll 180\u00b0, Yaw 270\u00b0", "value": 14}, {"description": "Roll 180\u00b0, Yaw 315\u00b0", "value": 15}, {"description": "Roll 90\u00b0", "value": 16}, {"description": "Roll 90\u00b0, Yaw 45\u00b0", "value": 17}, {"description": "Roll 90\u00b0, Yaw 90\u00b0", "value": 18}, {"description": "Roll 90\u00b0, Yaw 135\u00b0", "value": 19}, {"description": "Roll 270\u00b0", "value": 20}, {"description": "Roll 270\u00b0, Yaw 45\u00b0", "value": 21}, {"description": "Roll 270\u00b0, Yaw 90\u00b0", "value": 22}, {"description": "Roll 270\u00b0, Yaw 135\u00b0", "value": 23}, {"description": "Pitch 90\u00b0", "value": 24}, {"description": "Pitch 270\u00b0", "value": 25}, {"description": "Pitch 180\u00b0, Yaw 90\u00b0", "value": 26}, {"description": "Pitch 180\u00b0, Yaw 270\u00b0", "value": 27}, {"description": "Roll 90\u00b0, Pitch 90\u00b0", "value": 28}, {"description": "Roll 180\u00b0, Pitch 90\u00b0", "value": 29}, {"description": "Roll 270\u00b0, Pitch 90\u00b0", "value": 30}, {"description": "Roll 90\u00b0, Pitch 180\u00b0", "value": 31}, {"description": "Roll 270\u00b0, Pitch 180\u00b0", "value": 32}, {"description": "Roll 90\u00b0, Pitch 270\u00b0", "value": 33}, {"description": "Roll 180\u00b0, Pitch 270\u00b0", "value": 34}, {"description": "Roll 270\u00b0, Pitch 270\u00b0", "value": 35}, {"description": "Roll 90\u00b0, Pitch 180\u00b0, Yaw 90\u00b0", "value": 36}, {"description": "Roll 90\u00b0, Yaw 270\u00b0", "value": 37}, {"description": "Roll 90\u00b0, Pitch 68\u00b0, Yaw 293\u00b0", "value": 38}, {"description": "Pitch 315\u00b0", "value": 39}, {"description": "Roll 90\u00b0, Pitch 315\u00b0", "value": 40}, {"description": "Custom Euler Angle", "value": 100}]}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "longDesc": "Coefficient describing linear relationship between X component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]", "name": "CAL_MAG2_XCOMP", "shortDesc": "Magnetometer 2 X Axis throttle compensation", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG2_XODIAG", "shortDesc": "Magnetometer 2 X-axis off diagonal scale factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG2_XOFF", "shortDesc": "Magnetometer 2 X-axis offset", "type": "Float", "units": "gauss", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_MAG2_XSCALE", "shortDesc": "Magnetometer 2 X-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "longDesc": "Setting this parameter changes CAL_MAG2_ROT to \"Custom Euler Angle\"", "max": 180.0, "min": -180.0, "name": "CAL_MAG2_YAW", "shortDesc": "Magnetometer 2 Custom Euler Yaw Angle", "type": "Float", "units": "deg"}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "longDesc": "Coefficient describing linear relationship between Y component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]", "name": "CAL_MAG2_YCOMP", "shortDesc": "Magnetometer 2 Y Axis throttle compensation", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG2_YODIAG", "shortDesc": "Magnetometer 2 Y-axis off diagonal scale factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG2_YOFF", "shortDesc": "Magnetometer 2 Y-axis offset", "type": "Float", "units": "gauss", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_MAG2_YSCALE", "shortDesc": "Magnetometer 2 Y-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "longDesc": "Coefficient describing linear relationship between Z component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]", "name": "CAL_MAG2_ZCOMP", "shortDesc": "Magnetometer 2 Z Axis throttle compensation", "type": "Float", "volatile": true}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG2_ZODIAG", "shortDesc": "Magnetometer 2 Z-axis off diagonal scale factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG2_ZOFF", "shortDesc": "Magnetometer 2 Z-axis offset", "type": "Float", "units": "gauss", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_MAG2_ZSCALE", "shortDesc": "Magnetometer 2 Z-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "default": 0, "group": "Sensor Calibration", "longDesc": "Device ID of the magnetometer this calibration applies to.", "name": "CAL_MAG3_ID", "shortDesc": "Magnetometer 3 calibration device ID", "type": "Int32"}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "longDesc": "Setting this parameter changes CAL_MAG3_ROT to \"Custom Euler Angle\"", "max": 180.0, "min": -180.0, "name": "CAL_MAG3_PITCH", "shortDesc": "Magnetometer 3 Custom Euler Pitch Angle", "type": "Float", "units": "deg"}, {"category": "System", "default": -1, "group": "Sensor Calibration", "name": "CAL_MAG3_PRIO", "shortDesc": "Magnetometer 3 priority", "type": "Int32", "values": [{"description": "Uninitialized", "value": -1}, {"description": "Disabled", "value": 0}, {"description": "Min", "value": 1}, {"description": "Low", "value": 25}, {"description": "Medium (Default)", "value": 50}, {"description": "High", "value": 75}, {"description": "Max", "value": 100}]}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "longDesc": "Setting this parameter changes CAL_MAG3_ROT to \"Custom Euler Angle\"", "max": 180.0, "min": -180.0, "name": "CAL_MAG3_ROLL", "shortDesc": "Magnetometer 3 Custom Euler Roll Angle", "type": "Float", "units": "deg"}, {"category": "System", "default": -1, "group": "Sensor Calibration", "longDesc": "An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero. Set to \"Custom Euler Angle\" to define the rotation using CAL_MAG3_ROLL, CAL_MAG3_PITCH and CAL_MAG3_YAW.", "max": 100, "min": -1, "name": "CAL_MAG3_ROT", "shortDesc": "Magnetometer 3 rotation relative to airframe", "type": "Int32", "values": [{"description": "Internal", "value": -1}, {"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}, {"description": "Roll 180\u00b0", "value": 8}, {"description": "Roll 180\u00b0, Yaw 45\u00b0", "value": 9}, {"description": "Roll 180\u00b0, Yaw 90\u00b0", "value": 10}, {"description": "Roll 180\u00b0, Yaw 135\u00b0", "value": 11}, {"description": "Pitch 180\u00b0", "value": 12}, {"description": "Roll 180\u00b0, Yaw 225\u00b0", "value": 13}, {"description": "Roll 180\u00b0, Yaw 270\u00b0", "value": 14}, {"description": "Roll 180\u00b0, Yaw 315\u00b0", "value": 15}, {"description": "Roll 90\u00b0", "value": 16}, {"description": "Roll 90\u00b0, Yaw 45\u00b0", "value": 17}, {"description": "Roll 90\u00b0, Yaw 90\u00b0", "value": 18}, {"description": "Roll 90\u00b0, Yaw 135\u00b0", "value": 19}, {"description": "Roll 270\u00b0", "value": 20}, {"description": "Roll 270\u00b0, Yaw 45\u00b0", "value": 21}, {"description": "Roll 270\u00b0, Yaw 90\u00b0", "value": 22}, {"description": "Roll 270\u00b0, Yaw 135\u00b0", "value": 23}, {"description": "Pitch 90\u00b0", "value": 24}, {"description": "Pitch 270\u00b0", "value": 25}, {"description": "Pitch 180\u00b0, Yaw 90\u00b0", "value": 26}, {"description": "Pitch 180\u00b0, Yaw 270\u00b0", "value": 27}, {"description": "Roll 90\u00b0, Pitch 90\u00b0", "value": 28}, {"description": "Roll 180\u00b0, Pitch 90\u00b0", "value": 29}, {"description": "Roll 270\u00b0, Pitch 90\u00b0", "value": 30}, {"description": "Roll 90\u00b0, Pitch 180\u00b0", "value": 31}, {"description": "Roll 270\u00b0, Pitch 180\u00b0", "value": 32}, {"description": "Roll 90\u00b0, Pitch 270\u00b0", "value": 33}, {"description": "Roll 180\u00b0, Pitch 270\u00b0", "value": 34}, {"description": "Roll 270\u00b0, Pitch 270\u00b0", "value": 35}, {"description": "Roll 90\u00b0, Pitch 180\u00b0, Yaw 90\u00b0", "value": 36}, {"description": "Roll 90\u00b0, Yaw 270\u00b0", "value": 37}, {"description": "Roll 90\u00b0, Pitch 68\u00b0, Yaw 293\u00b0", "value": 38}, {"description": "Pitch 315\u00b0", "value": 39}, {"description": "Roll 90\u00b0, Pitch 315\u00b0", "value": 40}, {"description": "Custom Euler Angle", "value": 100}]}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "longDesc": "Coefficient describing linear relationship between X component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]", "name": "CAL_MAG3_XCOMP", "shortDesc": "Magnetometer 3 X Axis throttle compensation", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG3_XODIAG", "shortDesc": "Magnetometer 3 X-axis off diagonal scale factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG3_XOFF", "shortDesc": "Magnetometer 3 X-axis offset", "type": "Float", "units": "gauss", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_MAG3_XSCALE", "shortDesc": "Magnetometer 3 X-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "longDesc": "Setting this parameter changes CAL_MAG3_ROT to \"Custom Euler Angle\"", "max": 180.0, "min": -180.0, "name": "CAL_MAG3_YAW", "shortDesc": "Magnetometer 3 Custom Euler Yaw Angle", "type": "Float", "units": "deg"}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "longDesc": "Coefficient describing linear relationship between Y component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]", "name": "CAL_MAG3_YCOMP", "shortDesc": "Magnetometer 3 Y Axis throttle compensation", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG3_YODIAG", "shortDesc": "Magnetometer 3 Y-axis off diagonal scale factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG3_YOFF", "shortDesc": "Magnetometer 3 Y-axis offset", "type": "Float", "units": "gauss", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_MAG3_YSCALE", "shortDesc": "Magnetometer 3 Y-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "longDesc": "Coefficient describing linear relationship between Z component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]", "name": "CAL_MAG3_ZCOMP", "shortDesc": "Magnetometer 3 Z Axis throttle compensation", "type": "Float", "volatile": true}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG3_ZODIAG", "shortDesc": "Magnetometer 3 Z-axis off diagonal scale factor", "type": "Float", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 0.0, "group": "Sensor Calibration", "name": "CAL_MAG3_ZOFF", "shortDesc": "Magnetometer 3 Z-axis offset", "type": "Float", "units": "gauss", "volatile": true}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensor Calibration", "max": 3.0, "min": 0.1, "name": "CAL_MAG3_ZSCALE", "shortDesc": "Magnetometer 3 Z-axis scaling factor", "type": "Float", "volatile": true}, {"category": "System", "default": 0, "group": "Sensor Calibration", "name": "CAL_MAG_COMP_TYP", "shortDesc": "Type of magnetometer compensation", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Throttle-based compensation", "value": 1}, {"description": "Current-based compensation (battery_status instance 0)", "value": 2}, {"description": "Current-based compensation (battery_status instance 1)", "value": 3}]}, {"category": "Standard", "default": 0.0, "group": "Sensor Calibration", "longDesc": "Pick the appropriate scaling from the datasheet. this number defines the (linear) conversion from voltage to Pascal (pa). For the MPXV7002DP this is 1000. NOTE: If the sensor always registers zero, try switching the static and dynamic tubes.", "name": "SENS_DPRES_ANSC", "shortDesc": "Differential pressure sensor analog scaling", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Sensor Calibration", "longDesc": "The offset (zero-reading) in Pascal", "name": "SENS_DPRES_OFF", "shortDesc": "Differential pressure sensor offset", "type": "Float", "volatile": true}, {"category": "Standard", "decimalPlaces": 1, "default": 100.0, "group": "Sensor Calibration", "increment": 0.1, "longDesc": "This parameter defines the maximum distance from ground at which the optical flow sensor operates reliably. The height setpoint will be limited to be no greater than this value when the navigation system is completely reliant on optical flow data and the height above ground estimate is valid. The sensor may be usable above this height, but accuracy will progressively degrade.", "max": 100.0, "min": 1.0, "name": "SENS_FLOW_MAXHGT", "shortDesc": "Maximum height above ground when reliant on optical flow", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 8.0, "group": "Sensor Calibration", "longDesc": "Optical flow data will not fused by the estimators if the magnitude of the flow rate exceeds this value and control loops will be instructed to limit ground speed such that the flow rate produced by movement over ground is less than 50% of this value.", "min": 1.0, "name": "SENS_FLOW_MAXR", "shortDesc": "Magnitude of maximum angular flow rate reliably measurable by the optical flow sensor", "type": "Float", "units": "rad/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.08, "group": "Sensor Calibration", "increment": 0.1, "longDesc": "This parameter defines the minimum distance from ground at which the optical flow sensor operates reliably. The sensor may be usable below this height, but accuracy will progressively reduce to loss of focus.", "max": 1.0, "min": 0.0, "name": "SENS_FLOW_MINHGT", "shortDesc": "Minimum height above ground when reliant on optical flow", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "If enabled, the internal ADC is not used.", "name": "ADC_ADS1115_EN", "rebootRequired": true, "shortDesc": "Enable external ADS1115 ADC", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "Sensors", "name": "BAT1_C_MULT", "rebootRequired": true, "shortDesc": "Capacity/current multiplier for high-current capable SMBUS battery", "type": "Float"}, {"category": "Standard", "default": 0, "group": "Sensors", "max": 2, "min": 0, "name": "BAT1_SMBUS_MODEL", "rebootRequired": true, "shortDesc": "Battery device model", "type": "Int32", "values": [{"description": "AutoDetect", "value": 0}, {"description": "BQ40Z50 based", "value": 1}, {"description": "BQ40Z80 based", "value": 2}]}, {"category": "Standard", "decimalPlaces": 1, "default": 11, "group": "Sensors", "name": "BATMON_ADDR_DFLT", "rebootRequired": true, "shortDesc": "I2C address for BatMon battery 1", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Sensors", "max": 2, "min": 0, "name": "BATMON_DRIVER_EN", "rebootRequired": true, "shortDesc": "Parameter to enable BatMon module", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Start on default I2C addr(BATMON_ADDR_DFLT)", "value": 1}, {"description": "Autodetect I2C address (TODO)", "value": 2}]}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "Model with Pitot CAL_AIR_TUBED_MM: Not used, 1.5 mm tubes assumed. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor. Model without Pitot (1.5 mm tubes) CAL_AIR_TUBED_MM: Not used, 1.5 mm tubes assumed. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor. Tube Pressure Drop CAL_AIR_TUBED_MM: Diameter in mm of the pitot and tubes, must have the same diameter. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor and the static + dynamic port length of the pitot.", "name": "CAL_AIR_CMODEL", "shortDesc": "Airspeed sensor compensation model for the SDP3x", "type": "Int32", "values": [{"description": "Model with Pitot", "value": 0}, {"description": "Model without Pitot (1.5 mm tubes)", "value": 1}, {"description": "Tube Pressure Drop", "value": 2}]}, {"category": "Standard", "default": 1.5, "group": "Sensors", "max": 100.0, "min": 1.5, "name": "CAL_AIR_TUBED_MM", "shortDesc": "Airspeed sensor tube diameter. Only used for the Tube Pressure Drop Compensation", "type": "Float", "units": "mm"}, {"category": "Standard", "default": 0.2, "group": "Sensors", "longDesc": "See the CAL_AIR_CMODEL explanation on how this parameter should be set.", "max": 2.0, "min": 0.01, "name": "CAL_AIR_TUBELEN", "shortDesc": "Airspeed sensor tube length", "type": "Float", "units": "m"}, {"category": "Developer", "default": 63, "group": "Sensors", "longDesc": "Use SENS_MAG_SIDES instead", "name": "CAL_MAG_SIDES", "shortDesc": "For legacy QGC support only", "type": "Int32"}, {"category": "Standard", "default": 30.0, "group": "Sensors", "longDesc": "The cutoff frequency for the 2nd order butterworth filter on the primary accelerometer. This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.", "max": 1000.0, "min": 0.0, "name": "IMU_ACCEL_CUTOFF", "rebootRequired": true, "shortDesc": "Low pass filter cutoff frequency for accel", "type": "Float", "units": "Hz"}, {"category": "Standard", "default": 30.0, "group": "Sensors", "longDesc": "The cutoff frequency for the 2nd order butterworth filter used on the time derivative of the measured angular velocity, also known as the D-term filter in the rate controller. The D-term uses the derivative of the rate and thus is the most susceptible to noise. Therefore, using a D-term filter allows to increase IMU_GYRO_CUTOFF, which leads to reduced control latency and permits to increase the P gains. A value of 0 disables the filter.", "max": 1000.0, "min": 0.0, "name": "IMU_DGYRO_CUTOFF", "rebootRequired": true, "shortDesc": "Cutoff frequency for angular acceleration (D-Term filter)", "type": "Float", "units": "Hz"}, {"category": "Standard", "default": 1, "group": "Sensors", "name": "IMU_GYRO_CAL_EN", "rebootRequired": true, "shortDesc": "IMU gyro auto calibration enable", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 40.0, "group": "Sensors", "longDesc": "The cutoff frequency for the 2nd order butterworth filter on the primary gyro. This only affects the angular velocity sent to the controllers, not the estimators. It applies also to the angular acceleration (D-Term filter), see IMU_DGYRO_CUTOFF. A value of 0 disables the filter.", "max": 1000.0, "min": 0.0, "name": "IMU_GYRO_CUTOFF", "rebootRequired": true, "shortDesc": "Low pass filter cutoff frequency for gyro", "type": "Float", "units": "Hz"}, {"category": "Standard", "default": 15.0, "group": "Sensors", "longDesc": "Bandwidth per notch filter when using dynamic notch filtering with ESC RPM.", "max": 30.0, "min": 5.0, "name": "IMU_GYRO_DNF_BW", "shortDesc": "IMU gyro ESC notch filter bandwidth", "type": "Float", "units": "Hz"}, {"bitmask": [{"description": "ESC RPM", "index": 0}, {"description": "FFT", "index": 1}], "category": "Standard", "default": 0, "group": "Sensors", "longDesc": "Enable bank of dynamically updating notch filters. Requires ESC RPM feedback or onboard FFT (IMU_GYRO_FFT_EN).", "max": 3, "min": 0, "name": "IMU_GYRO_DNF_EN", "shortDesc": "IMU gyro dynamic notch filtering", "type": "Int32"}, {"category": "Standard", "default": 3, "group": "Sensors", "longDesc": "ESC RPM number of harmonics (multiples of RPM) for ESC RPM dynamic notch filtering.", "max": 7, "min": 1, "name": "IMU_GYRO_DNF_HMC", "shortDesc": "IMU gyro dynamic notch filter harmonics", "type": "Int32"}, {"category": "Standard", "default": 25.0, "group": "Sensors", "longDesc": "Minimum notch filter frequency in Hz.", "name": "IMU_GYRO_DNF_MIN", "shortDesc": "IMU gyro dynamic notch filter minimum frequency", "type": "Float", "units": "Hz"}, {"category": "Standard", "default": 0, "group": "Sensors", "name": "IMU_GYRO_FFT_EN", "rebootRequired": true, "shortDesc": "IMU gyro FFT enable", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 512, "group": "Sensors", "name": "IMU_GYRO_FFT_LEN", "rebootRequired": true, "shortDesc": "IMU gyro FFT length", "type": "Int32", "units": "Hz", "values": [{"description": "256", "value": 256}, {"description": "512", "value": 512}, {"description": "1024", "value": 1024}, {"description": "4096", "value": 4096}]}, {"category": "Standard", "default": 150.0, "group": "Sensors", "max": 1000.0, "min": 1.0, "name": "IMU_GYRO_FFT_MAX", "rebootRequired": true, "shortDesc": "IMU gyro FFT maximum frequency", "type": "Float", "units": "Hz"}, {"category": "Standard", "default": 30.0, "group": "Sensors", "max": 1000.0, "min": 1.0, "name": "IMU_GYRO_FFT_MIN", "rebootRequired": true, "shortDesc": "IMU gyro FFT minimum frequency", "type": "Float", "units": "Hz"}, {"category": "Standard", "default": 10.0, "group": "Sensors", "max": 30.0, "min": 1.0, "name": "IMU_GYRO_FFT_SNR", "shortDesc": "IMU gyro FFT SNR", "type": "Float"}, {"category": "Standard", "default": 20.0, "group": "Sensors", "longDesc": "The frequency width of the stop band for the 2nd order notch filter on the primary gyro. See \"IMU_GYRO_NF0_FRQ\" to activate the filter and to set the notch frequency. Applies to both angular velocity and angular acceleration sent to the controllers.", "max": 100.0, "min": 0.0, "name": "IMU_GYRO_NF0_BW", "rebootRequired": true, "shortDesc": "Notch filter bandwidth for gyro", "type": "Float", "units": "Hz"}, {"category": "Standard", "default": 0.0, "group": "Sensors", "longDesc": "The center frequency for the 2nd order notch filter on the primary gyro. This filter can be enabled to avoid feedback amplification of structural resonances at a specific frequency. This only affects the signal sent to the controllers, not the estimators. Applies to both angular velocity and angular acceleration sent to the controllers. See \"IMU_GYRO_NF0_BW\" to set the bandwidth of the filter. A value of 0 disables the filter.", "max": 1000.0, "min": 0.0, "name": "IMU_GYRO_NF0_FRQ", "rebootRequired": true, "shortDesc": "Notch filter frequency for gyro", "type": "Float", "units": "Hz"}, {"category": "Standard", "default": 20.0, "group": "Sensors", "longDesc": "The frequency width of the stop band for the 2nd order notch filter on the primary gyro. See \"IMU_GYRO_NF1_FRQ\" to activate the filter and to set the notch frequency. Applies to both angular velocity and angular acceleration sent to the controllers.", "max": 100.0, "min": 0.0, "name": "IMU_GYRO_NF1_BW", "rebootRequired": true, "shortDesc": "Notch filter 1 bandwidth for gyro", "type": "Float", "units": "Hz"}, {"category": "Standard", "default": 0.0, "group": "Sensors", "longDesc": "The center frequency for the 2nd order notch filter on the primary gyro. This filter can be enabled to avoid feedback amplification of structural resonances at a specific frequency. This only affects the signal sent to the controllers, not the estimators. Applies to both angular velocity and angular acceleration sent to the controllers. See \"IMU_GYRO_NF1_BW\" to set the bandwidth of the filter. A value of 0 disables the filter.", "max": 1000.0, "min": 0.0, "name": "IMU_GYRO_NF1_FRQ", "rebootRequired": true, "shortDesc": "Notch filter 2 frequency for gyro", "type": "Float", "units": "Hz"}, {"category": "Standard", "default": 400, "group": "Sensors", "longDesc": "The maximum rate the gyro control data (vehicle_angular_velocity) will be allowed to publish at. This is the loop rate for the rate controller and outputs. Note: sensor data is always read and filtered at the full raw rate (eg commonly 8 kHz) regardless of this setting.", "max": 2000, "min": 100, "name": "IMU_GYRO_RATEMAX", "rebootRequired": true, "shortDesc": "Gyro control data maximum publication rate (inner loop rate)", "type": "Int32", "units": "Hz", "values": [{"description": "100 Hz", "value": 100}, {"description": "250 Hz", "value": 250}, {"description": "400 Hz", "value": 400}, {"description": "800 Hz", "value": 800}, {"description": "1000 Hz", "value": 1000}, {"description": "2000 Hz", "value": 2000}]}, {"category": "Standard", "default": 200, "group": "Sensors", "longDesc": "The rate at which raw IMU data is integrated to produce delta angles and delta velocities. Recommended to set this to a multiple of the estimator update period (currently 10 ms for ekf2).", "max": 1000, "min": 100, "name": "IMU_INTEG_RATE", "rebootRequired": true, "shortDesc": "IMU integration rate", "type": "Int32", "units": "Hz", "values": [{"description": "100 Hz", "value": 100}, {"description": "200 Hz", "value": 200}, {"description": "250 Hz", "value": 250}, {"description": "400 Hz", "value": 400}]}, {"category": "Standard", "decimalPlaces": 1, "default": 8607, "group": "Sensors", "increment": 1, "max": 65535, "min": 0, "name": "INA220_CONFIG", "shortDesc": "INA220 Power Monitor Config", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 2, "default": 164.0, "group": "Sensors", "increment": 0.1, "max": 500.0, "min": 0.1, "name": "INA220_CUR_BAT", "shortDesc": "INA220 Power Monitor Battery Max Current", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 164.0, "group": "Sensors", "increment": 0.1, "max": 500.0, "min": 0.1, "name": "INA220_CUR_REG", "shortDesc": "INA220 Power Monitor Regulator Max Current", "type": "Float"}, {"category": "Standard", "decimalPlaces": 10, "default": 0.0005, "group": "Sensors", "increment": 1e-09, "max": 0.1, "min": 1e-09, "name": "INA220_SHUNT_BAT", "shortDesc": "INA220 Power Monitor Battery Shunt", "type": "Float"}, {"category": "Standard", "decimalPlaces": 10, "default": 0.0005, "group": "Sensors", "increment": 1e-09, "max": 0.1, "min": 1e-09, "name": "INA220_SHUNT_REG", "shortDesc": "INA220 Power Monitor Regulator Shunt", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 18139, "group": "Sensors", "increment": 1, "max": 65535, "min": 0, "name": "INA226_CONFIG", "shortDesc": "INA226 Power Monitor Config", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 2, "default": 164.0, "group": "Sensors", "increment": 0.1, "max": 200.0, "min": 0.1, "name": "INA226_CURRENT", "shortDesc": "INA226 Power Monitor Max Current", "type": "Float"}, {"category": "Standard", "decimalPlaces": 10, "default": 0.0005, "group": "Sensors", "increment": 1e-09, "max": 0.1, "min": 1e-09, "name": "INA226_SHUNT", "shortDesc": "INA226 Power Monitor Shunt", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 63779, "group": "Sensors", "increment": 1, "max": 65535, "min": 0, "name": "INA228_CONFIG", "shortDesc": "INA228 Power Monitor Config", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 2, "default": 327.68, "group": "Sensors", "increment": 0.1, "max": 327.68, "min": 0.1, "name": "INA228_CURRENT", "shortDesc": "INA228 Power Monitor Max Current", "type": "Float"}, {"category": "Standard", "decimalPlaces": 10, "default": 0.0005, "group": "Sensors", "increment": 1e-09, "max": 0.1, "min": 1e-09, "name": "INA228_SHUNT", "shortDesc": "INA228 Power Monitor Shunt", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 327.68, "group": "Sensors", "increment": 0.1, "max": 327.68, "min": 0.1, "name": "INA238_CURRENT", "shortDesc": "INA238 Power Monitor Max Current", "type": "Float"}, {"category": "Standard", "decimalPlaces": 10, "default": 0.0003, "group": "Sensors", "increment": 1e-09, "max": 0.1, "min": 1e-09, "name": "INA238_SHUNT", "shortDesc": "INA238 Power Monitor Shunt", "type": "Float"}, {"category": "Standard", "default": 2, "group": "Sensors", "longDesc": "Nmumber of signals per rotation of actuator", "min": 1, "name": "PCF8583_MAGNET", "rebootRequired": true, "shortDesc": "PCF8583 rotorfreq (i2c) pulse count", "type": "Int32"}, {"category": "Standard", "default": 1000000, "group": "Sensors", "longDesc": "Determines how often the sensor is read out.", "name": "PCF8583_POOL", "rebootRequired": true, "shortDesc": "PCF8583 rotorfreq (i2c) pool interval", "type": "Int32", "units": "us"}, {"category": "Standard", "default": 500000, "group": "Sensors", "longDesc": "Internal device counter is reset to 0 when overrun this value, counter is able to store up to 6 digits reset of counter takes some time - measurement with reset has worse accuracy. 0 means reset counter after every measurement.", "name": "PCF8583_RESET", "rebootRequired": true, "shortDesc": "PCF8583 rotorfreq (i2c) pulse reset value", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "Sensors", "longDesc": "This parameter defines the hysteresis for switching between short and long range mode.", "max": 10, "min": 1, "name": "SENS_AFBR_HYSTER", "shortDesc": "AFBR Rangefinder Short/Long Range Threshold Hysteresis", "type": "Int32", "units": "m"}, {"category": "Standard", "default": 25, "group": "Sensors", "longDesc": "This parameter defines measurement rate of the AFBR Rangefinder in long range mode.", "max": 100, "min": 1, "name": "SENS_AFBR_L_RATE", "shortDesc": "AFBR Rangefinder Long Range Rate", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "This parameter defines the mode of the AFBR Rangefinder.", "max": 3, "min": 0, "name": "SENS_AFBR_MODE", "rebootRequired": true, "shortDesc": "AFBR Rangefinder Mode", "type": "Int32", "values": [{"description": "Short Range Mode", "value": 0}, {"description": "Long Range Mode", "value": 1}, {"description": "High Speed Short Range Mode", "value": 2}, {"description": "High Speed Long Range Mode", "value": 3}]}, {"category": "Standard", "default": 50, "group": "Sensors", "longDesc": "This parameter defines measurement rate of the AFBR Rangefinder in short range mode.", "max": 100, "min": 1, "name": "SENS_AFBR_S_RATE", "shortDesc": "AFBR Rangefinder Short Range Rate", "type": "Int32"}, {"category": "Standard", "default": 4, "group": "Sensors", "longDesc": "This parameter defines the threshold for switching between short and long range mode. The mode will switch from short to long range when the distance is greater than the threshold plus the hysteresis. The mode will switch from long to short range when the distance is less than the threshold minus the hysteresis.", "max": 50, "min": 1, "name": "SENS_AFBR_THRESH", "shortDesc": "AFBR Rangefinder Short/Long Range Threshold", "type": "Int32", "units": "m"}, {"category": "Standard", "default": 1013.25, "group": "Sensors", "max": 1500.0, "min": 500.0, "name": "SENS_BARO_QNH", "shortDesc": "QNH for barometer", "type": "Float", "units": "hPa"}, {"category": "Standard", "default": 20.0, "group": "Sensors", "longDesc": "Barometric air data maximum publication rate. This is an upper bound, actual barometric data rate is still dependent on the sensor.", "max": 200.0, "min": 1.0, "name": "SENS_BARO_RATE", "shortDesc": "Baro max rate", "type": "Float", "units": "Hz"}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "This parameter defines the rotation of the FMU board relative to the platform.", "max": 40, "min": -1, "name": "SENS_BOARD_ROT", "rebootRequired": true, "shortDesc": "Board rotation", "type": "Int32", "values": [{"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}, {"description": "Roll 180\u00b0", "value": 8}, {"description": "Roll 180\u00b0, Yaw 45\u00b0", "value": 9}, {"description": "Roll 180\u00b0, Yaw 90\u00b0", "value": 10}, {"description": "Roll 180\u00b0, Yaw 135\u00b0", "value": 11}, {"description": "Pitch 180\u00b0", "value": 12}, {"description": "Roll 180\u00b0, Yaw 225\u00b0", "value": 13}, {"description": "Roll 180\u00b0, Yaw 270\u00b0", "value": 14}, {"description": "Roll 180\u00b0, Yaw 315\u00b0", "value": 15}, {"description": "Roll 90\u00b0", "value": 16}, {"description": "Roll 90\u00b0, Yaw 45\u00b0", "value": 17}, {"description": "Roll 90\u00b0, Yaw 90\u00b0", "value": 18}, {"description": "Roll 90\u00b0, Yaw 135\u00b0", "value": 19}, {"description": "Roll 270\u00b0", "value": 20}, {"description": "Roll 270\u00b0, Yaw 45\u00b0", "value": 21}, {"description": "Roll 270\u00b0, Yaw 90\u00b0", "value": 22}, {"description": "Roll 270\u00b0, Yaw 135\u00b0", "value": 23}, {"description": "Pitch 90\u00b0", "value": 24}, {"description": "Pitch 270\u00b0", "value": 25}, {"description": "Pitch 180\u00b0, Yaw 90\u00b0", "value": 26}, {"description": "Pitch 180\u00b0, Yaw 270\u00b0", "value": 27}, {"description": "Roll 90\u00b0, Pitch 90\u00b0", "value": 28}, {"description": "Roll 180\u00b0, Pitch 90\u00b0", "value": 29}, {"description": "Roll 270\u00b0, Pitch 90\u00b0", "value": 30}, {"description": "Roll 90\u00b0, Pitch 180\u00b0", "value": 31}, {"description": "Roll 270\u00b0, Pitch 180\u00b0", "value": 32}, {"description": "Roll 90\u00b0, Pitch 270\u00b0", "value": 33}, {"description": "Roll 180\u00b0, Pitch 270\u00b0", "value": 34}, {"description": "Roll 270\u00b0, Pitch 270\u00b0", "value": 35}, {"description": "Roll 90\u00b0, Pitch 180\u00b0, Yaw 90\u00b0", "value": 36}, {"description": "Roll 90\u00b0, Yaw 270\u00b0", "value": 37}, {"description": "Roll 90\u00b0, Pitch 68\u00b0, Yaw 293\u00b0", "value": 38}, {"description": "Pitch 315\u00b0", "value": 39}, {"description": "Roll 90\u00b0, Pitch 315\u00b0", "value": 40}]}, {"category": "Standard", "default": 0.0, "group": "Sensors", "longDesc": "This parameter defines a rotational offset in degrees around the X (Roll) axis It allows the user to fine tune the board offset in the event of misalignment.", "name": "SENS_BOARD_X_OFF", "shortDesc": "Board rotation X (Roll) offset", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 0.0, "group": "Sensors", "longDesc": "This parameter defines a rotational offset in degrees around the Y (Pitch) axis. It allows the user to fine tune the board offset in the event of misalignment.", "name": "SENS_BOARD_Y_OFF", "shortDesc": "Board rotation Y (Pitch) offset", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 0.0, "group": "Sensors", "longDesc": "This parameter defines a rotational offset in degrees around the Z (Yaw) axis. It allows the user to fine tune the board offset in the event of misalignment.", "name": "SENS_BOARD_Z_OFF", "shortDesc": "Board rotation Z (YAW) offset", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "Configure on which serial port to run Lanbao PSK-CM8JL65-CC5.", "name": "SENS_CM8JL65_CFG", "rebootRequired": true, "shortDesc": "Serial Configuration for Lanbao PSK-CM8JL65-CC5", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "UART 6", "value": 6}, {"description": "TELEM 1", "value": 101}, {"description": "TELEM 2", "value": 102}, {"description": "TELEM 3", "value": 103}, {"description": "TELEM/SERIAL 4", "value": 104}, {"description": "GPS 1", "value": 201}, {"description": "GPS 2", "value": 202}, {"description": "GPS 3", "value": 203}, {"description": "Radio Controller", "value": 300}, {"description": "Wifi Port", "value": 301}, {"description": "EXT2", "value": 401}]}, {"category": "Standard", "default": 25, "group": "Sensors", "longDesc": "Distance Sensor Rotation as MAV_SENSOR_ORIENTATION enum", "name": "SENS_CM8JL65_R_0", "rebootRequired": true, "shortDesc": "Distance Sensor Rotation", "type": "Int32", "values": [{"description": "ROTATION_FORWARD_FACING", "value": 0}, {"description": "ROTATION_RIGHT_FACING", "value": 2}, {"description": "ROTATION_LEFT_FACING", "value": 6}, {"description": "ROTATION_BACKWARD_FACING", "value": 12}, {"description": "ROTATION_UPWARD_FACING", "value": 24}, {"description": "ROTATION_DOWNWARD_FACING", "value": 25}]}, {"category": "Standard", "default": 0, "group": "Sensors", "max": 1, "min": 0, "name": "SENS_EN_ADIS164X", "rebootRequired": true, "shortDesc": "Analog Devices ADIS16448 IMU (external SPI)", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Sensors", "name": "SENS_EN_ADIS165X", "rebootRequired": true, "shortDesc": "Analog Devices ADIS16507 IMU (external SPI)", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Sensors", "max": 1, "min": 0, "name": "SENS_EN_ARSPDSIM", "rebootRequired": true, "shortDesc": "Enable simulated airspeed sensor instance", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Sensors", "name": "SENS_EN_ASP5033", "rebootRequired": true, "shortDesc": "ASP5033 differential pressure sensor (external I2C)", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Sensors", "max": 1, "min": 0, "name": "SENS_EN_BAROSIM", "rebootRequired": true, "shortDesc": "Enable simulated barometer sensor instance", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Sensors", "name": "SENS_EN_BATT", "rebootRequired": true, "shortDesc": "SMBUS Smart battery driver BQ40Z50 and BQ40Z80", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Sensors", "name": "SENS_EN_ETSASPD", "rebootRequired": true, "shortDesc": "Eagle Tree airspeed sensor (external I2C)", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Sensors", "max": 1, "min": 0, "name": "SENS_EN_GPSSIM", "rebootRequired": true, "shortDesc": "Enable simulated GPS sinstance", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "For systems a INA220 Power Monitor, this should be set to true", "name": "SENS_EN_INA220", "rebootRequired": true, "shortDesc": "Enable INA220 Power Monitor", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "For systems a INA226 Power Monitor, this should be set to true", "name": "SENS_EN_INA226", "rebootRequired": true, "shortDesc": "Enable INA226 Power Monitor", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "For systems a INA228 Power Monitor, this should be set to true", "name": "SENS_EN_INA228", "rebootRequired": true, "shortDesc": "Enable INA228 Power Monitor", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "For systems a INA238 Power Monitor, this should be set to true", "name": "SENS_EN_INA238", "rebootRequired": true, "shortDesc": "Enable INA238 Power Monitor", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Sensors", "name": "SENS_EN_IRLOCK", "rebootRequired": true, "shortDesc": "IR-LOCK Sensor (external I2C)", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Sensors", "max": 2, "min": 0, "name": "SENS_EN_LL40LS", "rebootRequired": true, "shortDesc": "Lidar-Lite (LL40LS)", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "PWM", "value": 1}, {"description": "I2C", "value": 2}]}, {"category": "Standard", "default": 0, "group": "Sensors", "max": 1, "min": 0, "name": "SENS_EN_MAGSIM", "rebootRequired": true, "shortDesc": "Enable simulated magnetometer sensor instance", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Sensors", "name": "SENS_EN_MB12XX", "rebootRequired": true, "shortDesc": "Maxbotix Sonar (mb12xx)", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Sensors", "max": 1, "min": 0, "name": "SENS_EN_MPDT", "rebootRequired": true, "shortDesc": "Enable Mappydot rangefinder (i2c)", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Autodetect", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Sensors", "name": "SENS_EN_MS4515", "rebootRequired": true, "shortDesc": "TE MS4515 differential pressure sensor (external I2C)", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Sensors", "name": "SENS_EN_MS4525DO", "rebootRequired": true, "shortDesc": "TE MS4525DO differential pressure sensor (external I2C)", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Sensors", "name": "SENS_EN_MS5525DS", "rebootRequired": true, "shortDesc": "TE MS5525DSO differential pressure sensor (external I2C)", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Sensors", "name": "SENS_EN_PAA3905", "rebootRequired": true, "shortDesc": "PAA3905 Optical Flow", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Sensors", "name": "SENS_EN_PAW3902", "rebootRequired": true, "shortDesc": "PAW3902/PAW3903 Optical Flow", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "Run PCF8583 driver automatically", "max": 1, "min": 0, "name": "SENS_EN_PCF8583", "rebootRequired": true, "shortDesc": "PCF8583 eneable driver", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Eneabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Sensors", "name": "SENS_EN_PGA460", "rebootRequired": true, "shortDesc": "PGA460 Ultrasonic driver (PGA460)", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Sensors", "name": "SENS_EN_PMW3901", "rebootRequired": true, "shortDesc": "PMW3901 Optical Flow", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Sensors", "name": "SENS_EN_PX4FLOW", "rebootRequired": true, "shortDesc": "PX4 Flow Optical Flow", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Sensors", "name": "SENS_EN_SDP3X", "rebootRequired": true, "shortDesc": "Sensirion SDP3X differential pressure sensor (external I2C)", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1, "group": "Sensors", "name": "SENS_EN_SF0X", "rebootRequired": true, "shortDesc": "Lightware Laser Rangefinder hardware model (serial)", "type": "Int32", "values": [{"description": "SF02", "value": 1}, {"description": "SF10/a", "value": 2}, {"description": "SF10/b", "value": 3}, {"description": "SF10/c", "value": 4}, {"description": "SF11/c", "value": 5}, {"description": "SF30/b", "value": 6}, {"description": "SF30/c", "value": 7}, {"description": "LW20/c", "value": 8}]}, {"category": "Standard", "default": 0, "group": "Sensors", "max": 6, "min": 0, "name": "SENS_EN_SF1XX", "rebootRequired": true, "shortDesc": "Lightware SF1xx/SF20/LW20 laser rangefinder (i2c)", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "SF10/a", "value": 1}, {"description": "SF10/b", "value": 2}, {"description": "SF10/c", "value": 3}, {"description": "SF11/c", "value": 4}, {"description": "SF/LW20/b", "value": 5}, {"description": "SF/LW20/c", "value": 6}, {"description": "SF/LW30/d", "value": 7}]}, {"category": "Standard", "default": 102, "group": "Sensors", "longDesc": "Configure on which serial port to run Lightware SF45 Rangefinder (serial).", "name": "SENS_EN_SF45_CFG", "rebootRequired": true, "shortDesc": "Serial Configuration for Lightware SF45 Rangefinder (serial)", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "UART 6", "value": 6}, {"description": "TELEM 1", "value": 101}, {"description": "TELEM 2", "value": 102}, {"description": "TELEM 3", "value": 103}, {"description": "TELEM/SERIAL 4", "value": 104}, {"description": "GPS 1", "value": 201}, {"description": "GPS 2", "value": 202}, {"description": "GPS 3", "value": 203}, {"description": "Radio Controller", "value": 300}, {"description": "Wifi Port", "value": 301}, {"description": "EXT2", "value": 401}]}, {"category": "Standard", "default": 0, "group": "Sensors", "name": "SENS_EN_SHT3X", "rebootRequired": true, "shortDesc": "SHT3x temperature and hygrometer", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Sensors", "name": "SENS_EN_SPL06", "rebootRequired": true, "shortDesc": "Goertek SPL06 Barometer (external I2C)", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Sensors", "name": "SENS_EN_SR05", "rebootRequired": true, "shortDesc": "HY-SRF05 / HC-SR05", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Sensors", "name": "SENS_EN_TF02PRO", "rebootRequired": true, "shortDesc": "TF02 Pro Distance Sensor (i2c)", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "System", "default": -1, "group": "Sensors", "name": "SENS_EN_THERMAL", "shortDesc": "Thermal control of sensor temperature", "type": "Int32", "values": [{"description": "Thermal control unavailable", "value": -1}, {"description": "Thermal control off", "value": 0}, {"description": "Thermal control enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Sensors", "max": 3, "min": 0, "name": "SENS_EN_TRANGER", "rebootRequired": true, "shortDesc": "TeraRanger Rangefinder (i2c)", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Autodetect", "value": 1}, {"description": "TROne", "value": 2}, {"description": "TREvo60m", "value": 3}, {"description": "TREvo600Hz", "value": 4}, {"description": "TREvo3m", "value": 5}]}, {"category": "Standard", "default": 0, "group": "Sensors", "name": "SENS_EN_VL53L0X", "rebootRequired": true, "shortDesc": "VL53L0X Distance Sensor", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Sensors", "name": "SENS_EN_VL53L1X", "rebootRequired": true, "shortDesc": "VL53L1X Distance Sensor", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "System", "default": 1, "group": "Sensors", "longDesc": "Probe for optional external I2C devices.", "name": "SENS_EXT_I2C_PRB", "shortDesc": "External I2C probe", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 70.0, "group": "Sensors", "longDesc": "Optical flow data maximum publication rate. This is an upper bound, actual optical flow data rate is still dependent on the sensor.", "max": 200.0, "min": 1.0, "name": "SENS_FLOW_RATE", "rebootRequired": true, "shortDesc": "Optical flow max rate", "type": "Float", "units": "Hz"}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "This parameter defines the yaw rotation of the optical flow relative to the vehicle body frame. Zero rotation is defined as X on flow board pointing towards front of vehicle.", "name": "SENS_FLOW_ROT", "shortDesc": "Optical flow rotation", "type": "Int32", "values": [{"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}]}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "Configure on which serial port to run FT Technologies Digital Wind Sensor (serial).", "name": "SENS_FTX_CFG", "rebootRequired": true, "shortDesc": "Serial Configuration for FT Technologies Digital Wind Sensor (serial)", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "UART 6", "value": 6}, {"description": "TELEM 1", "value": 101}, {"description": "TELEM 2", "value": 102}, {"description": "TELEM 3", "value": 103}, {"description": "TELEM/SERIAL 4", "value": 104}, {"description": "GPS 1", "value": 201}, {"description": "GPS 2", "value": 202}, {"description": "GPS 3", "value": 203}, {"description": "Radio Controller", "value": 300}, {"description": "Wifi Port", "value": 301}, {"description": "EXT2", "value": 401}]}, {"bitmask": [{"description": "use speed accuracy", "index": 0}, {"description": "use hpos accuracy", "index": 1}, {"description": "use vpos accuracy", "index": 2}], "category": "Standard", "default": 7, "group": "Sensors", "longDesc": "Set bits in the following positions to set which GPS accuracy metrics will be used to calculate the blending weight. Set to zero to disable and always used first GPS instance. 0 : Set to true to use speed accuracy 1 : Set to true to use horizontal position accuracy 2 : Set to true to use vertical position accuracy", "max": 7, "min": 0, "name": "SENS_GPS_MASK", "shortDesc": "Multi GPS Blending Control Mask", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "When no blending is active, this defines the preferred GPS receiver instance. The GPS selection logic waits until the primary receiver is available to send data to the EKF even if a secondary instance is already available. The secondary instance is then only used if the primary one times out. To have an equal priority of all the instances, set this parameter to -1 and the best receiver will be used. This parameter has no effect if blending is active.", "max": 1, "min": -1, "name": "SENS_GPS_PRIME", "shortDesc": "Multi GPS primary instance", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 1, "default": 10.0, "group": "Sensors", "longDesc": "Sets the longest time constant that will be applied to the calculation of GPS position and height offsets used to correct data from multiple GPS data for steady state position differences.", "max": 100.0, "min": 1.0, "name": "SENS_GPS_TAU", "shortDesc": "Multi GPS Blending Time Constant", "type": "Float", "units": "s"}, {"category": "System", "default": 1, "group": "Sensors", "longDesc": "Automatically initialize IMU (accel/gyro) calibration from bias estimates if available.", "name": "SENS_IMU_AUTOCAL", "shortDesc": "IMU auto calibration", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "System", "default": 1, "group": "Sensors", "longDesc": "Notify the user if the IMU is clipping", "name": "SENS_IMU_CLPNOTI", "shortDesc": "IMU notify clipping", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "System", "default": 1, "group": "Sensors", "name": "SENS_IMU_MODE", "rebootRequired": true, "shortDesc": "Sensors hub IMU mode", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Publish primary IMU selection", "value": 1}]}, {"category": "System", "decimalPlaces": 3, "default": 55.0, "group": "Sensors", "max": 85.0, "min": 0.0, "name": "SENS_IMU_TEMP", "shortDesc": "Target IMU temperature", "type": "Float", "units": "celcius"}, {"category": "System", "decimalPlaces": 3, "default": 0.05, "group": "Sensors", "max": 1.0, "min": 0.0, "name": "SENS_IMU_TEMP_FF", "shortDesc": "IMU heater controller feedforward value", "type": "Float", "units": "%"}, {"category": "System", "decimalPlaces": 3, "default": 0.025, "group": "Sensors", "max": 1.0, "min": 0.0, "name": "SENS_IMU_TEMP_I", "shortDesc": "IMU heater controller integrator gain value", "type": "Float", "units": "us/C"}, {"category": "System", "decimalPlaces": 3, "default": 1.0, "group": "Sensors", "max": 2.0, "min": 0.0, "name": "SENS_IMU_TEMP_P", "shortDesc": "IMU heater controller proportional gain value", "type": "Float", "units": "us/C"}, {"category": "System", "default": 1, "group": "Sensors", "longDesc": "For systems with an external barometer, this should be set to false to make sure that the external is used.", "name": "SENS_INT_BARO_EN", "rebootRequired": true, "shortDesc": "Enable internal barometers", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "Configure on which serial port to run LeddarOne Rangefinder.", "name": "SENS_LEDDAR1_CFG", "rebootRequired": true, "shortDesc": "Serial Configuration for LeddarOne Rangefinder", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "UART 6", "value": 6}, {"description": "TELEM 1", "value": 101}, {"description": "TELEM 2", "value": 102}, {"description": "TELEM 3", "value": 103}, {"description": "TELEM/SERIAL 4", "value": 104}, {"description": "GPS 1", "value": 201}, {"description": "GPS 2", "value": 202}, {"description": "GPS 3", "value": 203}, {"description": "Radio Controller", "value": 300}, {"description": "Wifi Port", "value": 301}, {"description": "EXT2", "value": 401}]}, {"category": "System", "default": 1, "group": "Sensors", "longDesc": "Automatically initialize magnetometer calibration from bias estimate if available.", "name": "SENS_MAG_AUTOCAL", "shortDesc": "Magnetometer auto calibration", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1, "group": "Sensors", "longDesc": "During calibration attempt to automatically determine the rotation of external magnetometers.", "name": "SENS_MAG_AUTOROT", "shortDesc": "Automatically set external rotations", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "System", "default": 1, "group": "Sensors", "name": "SENS_MAG_MODE", "rebootRequired": true, "shortDesc": "Sensors hub mag mode", "type": "Int32", "values": [{"description": "Publish all magnetometers", "value": 0}, {"description": "Publish primary magnetometer", "value": 1}]}, {"category": "Standard", "default": 15.0, "group": "Sensors", "longDesc": "Magnetometer data maximum publication rate. This is an upper bound, actual magnetometer data rate is still dependent on the sensor.", "max": 200.0, "min": 1.0, "name": "SENS_MAG_RATE", "rebootRequired": true, "shortDesc": "Magnetometer max rate", "type": "Float", "units": "Hz"}, {"category": "Standard", "default": 63, "group": "Sensors", "longDesc": "If set to two side calibration, only the offsets are estimated, the scale calibration is left unchanged. Thus an initial six side calibration is recommended. Bits: ORIENTATION_TAIL_DOWN = 1 ORIENTATION_NOSE_DOWN = 2 ORIENTATION_LEFT = 4 ORIENTATION_RIGHT = 8 ORIENTATION_UPSIDE_DOWN = 16 ORIENTATION_RIGHTSIDE_UP = 32", "max": 63, "min": 34, "name": "SENS_MAG_SIDES", "shortDesc": "Bitfield selecting mag sides for calibration", "type": "Int32", "values": [{"description": "Two side calibration", "value": 34}, {"description": "Three side calibration", "value": 38}, {"description": "Six side calibration", "value": 63}]}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "This parameter defines the rotation of the sensor relative to the platform.", "max": 7, "min": 0, "name": "SENS_MB12_0_ROT", "rebootRequired": true, "shortDesc": "MaxBotix MB12XX Sensor 0 Rotation", "type": "Int32", "values": [{"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}]}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "This parameter defines the rotation of the sensor relative to the platform.", "max": 7, "min": 0, "name": "SENS_MB12_10_ROT", "rebootRequired": true, "shortDesc": "MaxBotix MB12XX Sensor 10 Rotation", "type": "Int32", "values": [{"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}]}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "This parameter defines the rotation of the sensor relative to the platform.", "max": 7, "min": 0, "name": "SENS_MB12_11_ROT", "rebootRequired": true, "shortDesc": "MaxBotix MB12XX Sensor 12 Rotation", "type": "Int32", "values": [{"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}]}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "This parameter defines the rotation of the sensor relative to the platform.", "max": 7, "min": 0, "name": "SENS_MB12_1_ROT", "rebootRequired": true, "shortDesc": "MaxBotix MB12XX Sensor 1 Rotation", "type": "Int32", "values": [{"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}]}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "This parameter defines the rotation of the sensor relative to the platform.", "max": 7, "min": 0, "name": "SENS_MB12_2_ROT", "rebootRequired": true, "shortDesc": "MaxBotix MB12XX Sensor 2 Rotation", "type": "Int32", "values": [{"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}]}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "This parameter defines the rotation of the sensor relative to the platform.", "max": 7, "min": 0, "name": "SENS_MB12_3_ROT", "rebootRequired": true, "shortDesc": "MaxBotix MB12XX Sensor 3 Rotation", "type": "Int32", "values": [{"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}]}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "This parameter defines the rotation of the sensor relative to the platform.", "max": 7, "min": 0, "name": "SENS_MB12_4_ROT", "rebootRequired": true, "shortDesc": "MaxBotix MB12XX Sensor 4 Rotation", "type": "Int32", "values": [{"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}]}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "This parameter defines the rotation of the sensor relative to the platform.", "max": 7, "min": 0, "name": "SENS_MB12_5_ROT", "rebootRequired": true, "shortDesc": "MaxBotix MB12XX Sensor 5 Rotation", "type": "Int32", "values": [{"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}]}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "This parameter defines the rotation of the sensor relative to the platform.", "max": 7, "min": 0, "name": "SENS_MB12_6_ROT", "rebootRequired": true, "shortDesc": "MaxBotix MB12XX Sensor 6 Rotation", "type": "Int32", "values": [{"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}]}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "This parameter defines the rotation of the sensor relative to the platform.", "max": 7, "min": 0, "name": "SENS_MB12_7_ROT", "rebootRequired": true, "shortDesc": "MaxBotix MB12XX Sensor 7 Rotation", "type": "Int32", "values": [{"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}]}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "This parameter defines the rotation of the sensor relative to the platform.", "max": 7, "min": 0, "name": "SENS_MB12_8_ROT", "rebootRequired": true, "shortDesc": "MaxBotix MB12XX Sensor 8 Rotation", "type": "Int32", "values": [{"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}]}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "This parameter defines the rotation of the sensor relative to the platform.", "max": 7, "min": 0, "name": "SENS_MB12_9_ROT", "rebootRequired": true, "shortDesc": "MaxBotix MB12XX Sensor 9 Rotation", "type": "Int32", "values": [{"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}]}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "This parameter defines the rotation of the Mappydot sensor relative to the platform.", "max": 7, "min": 0, "name": "SENS_MPDT0_ROT", "rebootRequired": true, "shortDesc": "MappyDot Sensor 0 Rotation", "type": "Int32", "values": [{"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}]}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "This parameter defines the rotation of the Mappydot sensor relative to the platform.", "max": 7, "min": 0, "name": "SENS_MPDT10_ROT", "rebootRequired": true, "shortDesc": "MappyDot Sensor 10 Rotation", "type": "Int32", "values": [{"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}]}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "This parameter defines the rotation of the Mappydot sensor relative to the platform.", "max": 7, "min": 0, "name": "SENS_MPDT11_ROT", "rebootRequired": true, "shortDesc": "MappyDot Sensor 12 Rotation", "type": "Int32", "values": [{"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}]}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "This parameter defines the rotation of the Mappydot sensor relative to the platform.", "max": 7, "min": 0, "name": "SENS_MPDT1_ROT", "rebootRequired": true, "shortDesc": "MappyDot Sensor 1 Rotation", "type": "Int32", "values": [{"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}]}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "This parameter defines the rotation of the Mappydot sensor relative to the platform.", "max": 7, "min": 0, "name": "SENS_MPDT2_ROT", "rebootRequired": true, "shortDesc": "MappyDot Sensor 2 Rotation", "type": "Int32", "values": [{"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}]}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "This parameter defines the rotation of the Mappydot sensor relative to the platform.", "max": 7, "min": 0, "name": "SENS_MPDT3_ROT", "rebootRequired": true, "shortDesc": "MappyDot Sensor 3 Rotation", "type": "Int32", "values": [{"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}]}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "This parameter defines the rotation of the Mappydot sensor relative to the platform.", "max": 7, "min": 0, "name": "SENS_MPDT4_ROT", "rebootRequired": true, "shortDesc": "MappyDot Sensor 4 Rotation", "type": "Int32", "values": [{"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}]}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "This parameter defines the rotation of the Mappydot sensor relative to the platform.", "max": 7, "min": 0, "name": "SENS_MPDT5_ROT", "rebootRequired": true, "shortDesc": "MappyDot Sensor 5 Rotation", "type": "Int32", "values": [{"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}]}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "This parameter defines the rotation of the Mappydot sensor relative to the platform.", "max": 7, "min": 0, "name": "SENS_MPDT6_ROT", "rebootRequired": true, "shortDesc": "MappyDot Sensor 6 Rotation", "type": "Int32", "values": [{"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}]}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "This parameter defines the rotation of the Mappydot sensor relative to the platform.", "max": 7, "min": 0, "name": "SENS_MPDT7_ROT", "rebootRequired": true, "shortDesc": "MappyDot Sensor 7 Rotation", "type": "Int32", "values": [{"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}]}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "This parameter defines the rotation of the Mappydot sensor relative to the platform.", "max": 7, "min": 0, "name": "SENS_MPDT8_ROT", "rebootRequired": true, "shortDesc": "MappyDot Sensor 8 Rotation", "type": "Int32", "values": [{"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}]}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "This parameter defines the rotation of the Mappydot sensor relative to the platform.", "max": 7, "min": 0, "name": "SENS_MPDT9_ROT", "rebootRequired": true, "shortDesc": "MappyDot Sensor 9 Rotation", "type": "Int32", "values": [{"description": "No rotation", "value": 0}, {"description": "Yaw 45\u00b0", "value": 1}, {"description": "Yaw 90\u00b0", "value": 2}, {"description": "Yaw 135\u00b0", "value": 3}, {"description": "Yaw 180\u00b0", "value": 4}, {"description": "Yaw 225\u00b0", "value": 5}, {"description": "Yaw 270\u00b0", "value": 6}, {"description": "Yaw 315\u00b0", "value": 7}]}, {"category": "Standard", "default": 0, "group": "Sensors", "max": 101, "min": 0, "name": "SENS_OR_ADIS164X", "rebootRequired": true, "shortDesc": "Analog Devices ADIS16448 IMU Orientation(external SPI)", "type": "Int32", "values": [{"description": "ROTATION_NONE", "value": 0}, {"description": "ROTATION_YAW_180", "value": 4}]}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "Configure on which serial port to run Lightware Laser Rangefinder (serial).", "name": "SENS_SF0X_CFG", "rebootRequired": true, "shortDesc": "Serial Configuration for Lightware Laser Rangefinder (serial)", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "UART 6", "value": 6}, {"description": "TELEM 1", "value": 101}, {"description": "TELEM 2", "value": 102}, {"description": "TELEM 3", "value": 103}, {"description": "TELEM/SERIAL 4", "value": 104}, {"description": "GPS 1", "value": 201}, {"description": "GPS 2", "value": 202}, {"description": "GPS 3", "value": 203}, {"description": "Radio Controller", "value": 300}, {"description": "Wifi Port", "value": 301}, {"description": "EXT2", "value": 401}]}, {"category": "System", "default": 0, "group": "Sensors", "name": "SENS_TEMP_ID", "shortDesc": "Target IMU device ID to regulate temperature", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "Configure on which serial port to run ThoneFlow-3901U optical flow sensor.", "name": "SENS_TFLOW_CFG", "rebootRequired": true, "shortDesc": "Serial Configuration for ThoneFlow-3901U optical flow sensor", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "UART 6", "value": 6}, {"description": "TELEM 1", "value": 101}, {"description": "TELEM 2", "value": 102}, {"description": "TELEM 3", "value": 103}, {"description": "TELEM/SERIAL 4", "value": 104}, {"description": "GPS 1", "value": 201}, {"description": "GPS 2", "value": 202}, {"description": "GPS 3", "value": 203}, {"description": "Radio Controller", "value": 300}, {"description": "Wifi Port", "value": 301}, {"description": "EXT2", "value": 401}]}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "Configure on which serial port to run Benewake TFmini Rangefinder.", "name": "SENS_TFMINI_CFG", "rebootRequired": true, "shortDesc": "Serial Configuration for Benewake TFmini Rangefinder", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "UART 6", "value": 6}, {"description": "TELEM 1", "value": 101}, {"description": "TELEM 2", "value": 102}, {"description": "TELEM 3", "value": 103}, {"description": "TELEM/SERIAL 4", "value": 104}, {"description": "GPS 1", "value": 201}, {"description": "GPS 2", "value": 202}, {"description": "GPS 3", "value": 203}, {"description": "Radio Controller", "value": 300}, {"description": "Wifi Port", "value": 301}, {"description": "EXT2", "value": 401}]}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "Configure on which serial port to run uLanding Radar.", "name": "SENS_ULAND_CFG", "rebootRequired": true, "shortDesc": "Serial Configuration for uLanding Radar", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "UART 6", "value": 6}, {"description": "TELEM 1", "value": 101}, {"description": "TELEM 2", "value": 102}, {"description": "TELEM 3", "value": 103}, {"description": "TELEM/SERIAL 4", "value": 104}, {"description": "GPS 1", "value": 201}, {"description": "GPS 2", "value": 202}, {"description": "GPS 3", "value": 203}, {"description": "Radio Controller", "value": 300}, {"description": "Wifi Port", "value": 301}, {"description": "EXT2", "value": 401}]}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "Configure on which serial port to run VectorNav (VN-100, VN-200, VN-300).", "name": "SENS_VN_CFG", "rebootRequired": true, "shortDesc": "Serial Configuration for VectorNav (VN-100, VN-200, VN-300)", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "UART 6", "value": 6}, {"description": "TELEM 1", "value": 101}, {"description": "TELEM 2", "value": 102}, {"description": "TELEM 3", "value": 103}, {"description": "TELEM/SERIAL 4", "value": 104}, {"description": "GPS 1", "value": 201}, {"description": "GPS 2", "value": 202}, {"description": "GPS 3", "value": 203}, {"description": "Radio Controller", "value": 300}, {"description": "Wifi Port", "value": 301}, {"description": "EXT2", "value": 401}]}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "The SF45 mounted facing upward or downward on the frame", "name": "SF45_ORIENT_CFG", "rebootRequired": true, "shortDesc": "Orientation upright or facing downward", "type": "Int32", "values": [{"description": "Rotation upward", "value": 0}, {"description": "Rotation downward", "value": 1}]}, {"category": "Standard", "default": 1, "group": "Sensors", "longDesc": "The SF45 sets the update rate in Hz to allow greater resolution", "name": "SF45_UPDATE_CFG", "rebootRequired": true, "shortDesc": "Update rate in Hz", "type": "Int32", "values": [{"description": "50hz", "value": 1}, {"description": "100hz", "value": 2}, {"description": "200hz", "value": 3}, {"description": "400hz", "value": 4}, {"description": "500hz", "value": 5}, {"description": "625hz", "value": 6}, {"description": "1000hz", "value": 7}, {"description": "1250hz", "value": 8}, {"description": "1538hz", "value": 9}, {"description": "2000hz", "value": 10}, {"description": "2500hz", "value": 11}, {"description": "5000hz", "value": 12}]}, {"category": "Standard", "default": 0, "group": "Sensors", "longDesc": "The usb port on the sensor indicates 180deg, opposite usb is forward facing", "name": "SF45_YAW_CFG", "rebootRequired": true, "shortDesc": "Sensor facing forward or backward", "type": "Int32", "values": [{"description": "Rotation forward", "value": 0}, {"description": "Rotation backward", "value": 1}, {"description": "Rotation right", "value": 2}, {"description": "Rotation left", "value": 3}]}, {"category": "Standard", "default": 0, "group": "Sensors", "max": 1, "min": 0, "name": "SIM_ARSPD_FAIL", "rebootRequired": true, "shortDesc": "Dynamically simulate failure of airspeed sensor instance", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "System", "default": 0, "group": "Sensors", "longDesc": "INS or sensors", "name": "VN_MODE", "shortDesc": "VectorNav driver mode", "type": "Int32", "values": [{"description": "Sensors Only (default)", "value": 0}, {"description": "INS", "value": 1}]}, {"category": "Standard", "decimalPlaces": 10, "default": 0.00063, "group": "Sensors", "increment": 1e-09, "max": 0.1, "min": 1e-09, "name": "VOXLPM_SHUNT_BAT", "rebootRequired": true, "shortDesc": "VOXL Power Monitor Shunt, Battery", "type": "Float"}, {"category": "Standard", "decimalPlaces": 10, "default": 0.0056, "group": "Sensors", "increment": 1e-09, "max": 0.1, "min": 1e-09, "name": "VOXLPM_SHUNT_REG", "rebootRequired": true, "shortDesc": "VOXL Power Monitor Shunt, Regulator", "type": "Float"}, {"category": "Standard", "default": 1, "group": "Septentrio", "longDesc": "By default, the receiver is automatically configured. Sometimes it may be used for multiple purposes. If the offered parameters aren't sufficient, this parameter can be disabled to have full control of the receiver configuration. A good way to use this is to enable automatic configuration, let the receiver be configured, and then disable it to make manual adjustments.", "name": "SEP_AUTO_CONFIG", "rebootRequired": true, "shortDesc": "Toggle automatic receiver configuration", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"bitmask": [{"description": "GPS", "index": 0}, {"description": "GLONASS", "index": 1}, {"description": "Galileo", "index": 2}, {"description": "SBAS", "index": 3}, {"description": "BeiDou", "index": 4}], "category": "Standard", "default": 0, "group": "Septentrio", "longDesc": "Choice of which constellations the receiver should use for PVT computation. When this is 0, the constellation usage isn't changed.", "max": 63, "min": 0, "name": "SEP_CONST_USAGE", "rebootRequired": true, "shortDesc": "Usage of different constellations", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "Septentrio", "longDesc": "Log raw communication between the driver and connected receivers. For example, \"To receiver\" will log all commands and corrections sent by the driver to the receiver.", "max": 3, "min": 0, "name": "SEP_DUMP_COMM", "shortDesc": "Log GPS communication data", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "From receiver", "value": 1}, {"description": "To receiver", "value": 2}, {"description": "Both", "value": 3}]}, {"category": "Standard", "default": 0, "group": "Septentrio", "longDesc": "Setup and expected use of the hardware. - Default: Use two receivers as completely separate instances. - Moving base: Use two receivers in a rover & moving base setup for heading.", "max": 1, "min": 0, "name": "SEP_HARDW_SETUP", "rebootRequired": true, "shortDesc": "Setup and expected use of the hardware", "type": "Int32", "values": [{"description": "Default", "value": 0}, {"description": "Moving base", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Septentrio", "longDesc": "When the receiver is already set up to log data, this decides whether extra logged data should be added or overwrite existing data.", "name": "SEP_LOG_FORCE", "rebootRequired": true, "shortDesc": "Whether to overwrite or add to existing logging", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Septentrio", "longDesc": "Select the frequency at which the connected receiver should log data to its internal storage.", "max": 10, "min": 0, "name": "SEP_LOG_HZ", "rebootRequired": true, "shortDesc": "Logging frequency for the receiver", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "0.1 Hz", "value": 1}, {"description": "0.2 Hz", "value": 2}, {"description": "0.5 Hz", "value": 3}, {"description": "1 Hz", "value": 4}, {"description": "2 Hz", "value": 5}, {"description": "5 Hz", "value": 6}, {"description": "10 Hz", "value": 7}, {"description": "20 Hz", "value": 8}, {"description": "25 Hz", "value": 9}, {"description": "50 Hz", "value": 10}]}, {"category": "Standard", "default": 2, "group": "Septentrio", "longDesc": "Select the level of detail that needs to be logged by the receiver.", "max": 3, "min": 0, "name": "SEP_LOG_LEVEL", "rebootRequired": true, "shortDesc": "Logging level for the receiver", "type": "Int32", "values": [{"description": "Lite", "value": 0}, {"description": "Basic", "value": 1}, {"description": "Default", "value": 2}, {"description": "Full", "value": 3}]}, {"category": "Standard", "default": 1, "group": "Septentrio", "longDesc": "The output frequency of the main SBF blocks needed for PVT information.", "max": 3, "min": 0, "name": "SEP_OUTP_HZ", "rebootRequired": true, "shortDesc": "Output frequency of main SBF blocks", "type": "Int32", "values": [{"description": "5 Hz", "value": 0}, {"description": "10 Hz", "value": 1}, {"description": "20 Hz", "value": 2}, {"description": "25 Hz", "value": 3}]}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Septentrio", "longDesc": "Vertical offsets can be compensated for by adjusting the Pitch offset. Note that this can be interpreted as the \"roll\" angle in case the antennas are aligned along the perpendicular axis. This occurs in situations where the two antenna ARPs may not be exactly at the same height in the vehicle reference frame. Since pitch is defined as the right-handed rotation about the vehicle Y axis, a situation where the main antenna is mounted lower than the aux antenna (assuming the default antenna setup) will result in a positive pitch.", "max": 90.0, "min": -90.0, "name": "SEP_PITCH_OFFS", "rebootRequired": true, "shortDesc": "Pitch offset for dual antenna GPS", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 0, "group": "Septentrio", "longDesc": "Configure on which serial port to run GPS Port.", "name": "SEP_PORT1_CFG", "rebootRequired": true, "shortDesc": "Serial Configuration for GPS Port", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "UART 6", "value": 6}, {"description": "TELEM 1", "value": 101}, {"description": "TELEM 2", "value": 102}, {"description": "TELEM 3", "value": 103}, {"description": "TELEM/SERIAL 4", "value": 104}, {"description": "GPS 1", "value": 201}, {"description": "GPS 2", "value": 202}, {"description": "GPS 3", "value": 203}, {"description": "Radio Controller", "value": 300}, {"description": "Wifi Port", "value": 301}, {"description": "EXT2", "value": 401}]}, {"category": "Standard", "default": 0, "group": "Septentrio", "longDesc": "Configure on which serial port to run Secondary GPS port.", "name": "SEP_PORT2_CFG", "rebootRequired": true, "shortDesc": "Serial Configuration for Secondary GPS port", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "UART 6", "value": 6}, {"description": "TELEM 1", "value": 101}, {"description": "TELEM 2", "value": 102}, {"description": "TELEM 3", "value": 103}, {"description": "TELEM/SERIAL 4", "value": 104}, {"description": "GPS 1", "value": 201}, {"description": "GPS 2", "value": 202}, {"description": "GPS 3", "value": 203}, {"description": "Radio Controller", "value": 300}, {"description": "Wifi Port", "value": 301}, {"description": "EXT2", "value": 401}]}, {"category": "Standard", "default": 0, "group": "Septentrio", "longDesc": "Enable publication of satellite info (ORB_ID(satellite_info)) if possible.", "name": "SEP_SAT_INFO", "rebootRequired": true, "shortDesc": "Enable sat info", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 2, "group": "Septentrio", "longDesc": "The stream the autopilot sets up on the receiver to output the logging data. Set this to another value if the default stream is already used for another purpose.", "max": 10, "min": 1, "name": "SEP_STREAM_LOG", "rebootRequired": true, "shortDesc": "Logging stream used during automatic configuration", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "Septentrio", "longDesc": "The stream the autopilot sets up on the receiver to output the main data. Set this to another value if the default stream is already used for another purpose.", "max": 10, "min": 1, "name": "SEP_STREAM_MAIN", "rebootRequired": true, "shortDesc": "Main stream used during automatic configuration", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Septentrio", "longDesc": "Heading offset angle for dual antenna GPS setups that support heading estimation. Set this to 0 if the antennas are parallel to the forward-facing direction of the vehicle and the rover antenna is in front. The offset angle increases clockwise. Set this to 90 if the rover antenna is placed on the right side of the vehicle and the moving base antenna is on the left side.", "max": 360.0, "min": -360.0, "name": "SEP_YAW_OFFS", "rebootRequired": true, "shortDesc": "Heading/Yaw offset for dual antenna GPS", "type": "Float", "units": "deg"}, {"category": "Standard", "default": 0, "group": "Serial", "longDesc": "Configure on which serial port to run CRSF RC Input Driver. Crossfire RC (CRSF) driver.", "name": "RC_CRSF_PRT_CFG", "rebootRequired": true, "shortDesc": "Serial Configuration for CRSF RC Input Driver", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "UART 6", "value": 6}, {"description": "TELEM 1", "value": 101}, {"description": "TELEM 2", "value": 102}, {"description": "TELEM 3", "value": 103}, {"description": "TELEM/SERIAL 4", "value": 104}, {"description": "GPS 1", "value": 201}, {"description": "GPS 2", "value": 202}, {"description": "GPS 3", "value": 203}, {"description": "Radio Controller", "value": 300}, {"description": "Wifi Port", "value": 301}, {"description": "EXT2", "value": 401}]}, {"category": "Standard", "default": 300, "group": "Serial", "longDesc": "Configure on which serial port to run RC Input Driver. Setting this to 'Disabled' will use a board-specific default port for RC input.", "name": "RC_PORT_CONFIG", "rebootRequired": true, "shortDesc": "Serial Configuration for RC Input Driver", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "UART 6", "value": 6}, {"description": "TELEM 1", "value": 101}, {"description": "TELEM 2", "value": 102}, {"description": "TELEM 3", "value": 103}, {"description": "TELEM/SERIAL 4", "value": 104}, {"description": "GPS 1", "value": 201}, {"description": "GPS 2", "value": 202}, {"description": "GPS 3", "value": 203}, {"description": "Radio Controller", "value": 300}, {"description": "Wifi Port", "value": 301}, {"description": "EXT2", "value": 401}]}, {"category": "Standard", "default": 57600, "group": "Serial", "longDesc": "Configure the Baudrate for the EXT2 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.", "name": "SER_EXT2_BAUD", "rebootRequired": true, "shortDesc": "Baudrate for the EXT2 Serial Port", "type": "Int32", "values": [{"description": "Auto", "value": 0}, {"description": "50 8N1", "value": 50}, {"description": "75 8N1", "value": 75}, {"description": "110 8N1", "value": 110}, {"description": "134 8N1", "value": 134}, {"description": "150 8N1", "value": 150}, {"description": "200 8N1", "value": 200}, {"description": "300 8N1", "value": 300}, {"description": "600 8N1", "value": 600}, {"description": "1200 8N1", "value": 1200}, {"description": "1800 8N1", "value": 1800}, {"description": "2400 8N1", "value": 2400}, {"description": "4800 8N1", "value": 4800}, {"description": "9600 8N1", "value": 9600}, {"description": "19200 8N1", "value": 19200}, {"description": "38400 8N1", "value": 38400}, {"description": "57600 8N1", "value": 57600}, {"description": "115200 8N1", "value": 115200}, {"description": "230400 8N1", "value": 230400}, {"description": "460800 8N1", "value": 460800}, {"description": "500000 8N1", "value": 500000}, {"description": "921600 8N1", "value": 921600}, {"description": "1000000 8N1", "value": 1000000}, {"description": "1500000 8N1", "value": 1500000}, {"description": "2000000 8N1", "value": 2000000}, {"description": "3000000 8N1", "value": 3000000}]}, {"category": "Standard", "default": 0, "group": "Serial", "longDesc": "Configure the Baudrate for the GPS 1 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.", "name": "SER_GPS1_BAUD", "rebootRequired": true, "shortDesc": "Baudrate for the GPS 1 Serial Port", "type": "Int32", "values": [{"description": "Auto", "value": 0}, {"description": "50 8N1", "value": 50}, {"description": "75 8N1", "value": 75}, {"description": "110 8N1", "value": 110}, {"description": "134 8N1", "value": 134}, {"description": "150 8N1", "value": 150}, {"description": "200 8N1", "value": 200}, {"description": "300 8N1", "value": 300}, {"description": "600 8N1", "value": 600}, {"description": "1200 8N1", "value": 1200}, {"description": "1800 8N1", "value": 1800}, {"description": "2400 8N1", "value": 2400}, {"description": "4800 8N1", "value": 4800}, {"description": "9600 8N1", "value": 9600}, {"description": "19200 8N1", "value": 19200}, {"description": "38400 8N1", "value": 38400}, {"description": "57600 8N1", "value": 57600}, {"description": "115200 8N1", "value": 115200}, {"description": "230400 8N1", "value": 230400}, {"description": "460800 8N1", "value": 460800}, {"description": "500000 8N1", "value": 500000}, {"description": "921600 8N1", "value": 921600}, {"description": "1000000 8N1", "value": 1000000}, {"description": "1500000 8N1", "value": 1500000}, {"description": "2000000 8N1", "value": 2000000}, {"description": "3000000 8N1", "value": 3000000}]}, {"category": "Standard", "default": 0, "group": "Serial", "longDesc": "Configure the Baudrate for the GPS 2 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.", "name": "SER_GPS2_BAUD", "rebootRequired": true, "shortDesc": "Baudrate for the GPS 2 Serial Port", "type": "Int32", "values": [{"description": "Auto", "value": 0}, {"description": "50 8N1", "value": 50}, {"description": "75 8N1", "value": 75}, {"description": "110 8N1", "value": 110}, {"description": "134 8N1", "value": 134}, {"description": "150 8N1", "value": 150}, {"description": "200 8N1", "value": 200}, {"description": "300 8N1", "value": 300}, {"description": "600 8N1", "value": 600}, {"description": "1200 8N1", "value": 1200}, {"description": "1800 8N1", "value": 1800}, {"description": "2400 8N1", "value": 2400}, {"description": "4800 8N1", "value": 4800}, {"description": "9600 8N1", "value": 9600}, {"description": "19200 8N1", "value": 19200}, {"description": "38400 8N1", "value": 38400}, {"description": "57600 8N1", "value": 57600}, {"description": "115200 8N1", "value": 115200}, {"description": "230400 8N1", "value": 230400}, {"description": "460800 8N1", "value": 460800}, {"description": "500000 8N1", "value": 500000}, {"description": "921600 8N1", "value": 921600}, {"description": "1000000 8N1", "value": 1000000}, {"description": "1500000 8N1", "value": 1500000}, {"description": "2000000 8N1", "value": 2000000}, {"description": "3000000 8N1", "value": 3000000}]}, {"category": "Standard", "default": 0, "group": "Serial", "longDesc": "Configure the Baudrate for the GPS 3 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.", "name": "SER_GPS3_BAUD", "rebootRequired": true, "shortDesc": "Baudrate for the GPS 3 Serial Port", "type": "Int32", "values": [{"description": "Auto", "value": 0}, {"description": "50 8N1", "value": 50}, {"description": "75 8N1", "value": 75}, {"description": "110 8N1", "value": 110}, {"description": "134 8N1", "value": 134}, {"description": "150 8N1", "value": 150}, {"description": "200 8N1", "value": 200}, {"description": "300 8N1", "value": 300}, {"description": "600 8N1", "value": 600}, {"description": "1200 8N1", "value": 1200}, {"description": "1800 8N1", "value": 1800}, {"description": "2400 8N1", "value": 2400}, {"description": "4800 8N1", "value": 4800}, {"description": "9600 8N1", "value": 9600}, {"description": "19200 8N1", "value": 19200}, {"description": "38400 8N1", "value": 38400}, {"description": "57600 8N1", "value": 57600}, {"description": "115200 8N1", "value": 115200}, {"description": "230400 8N1", "value": 230400}, {"description": "460800 8N1", "value": 460800}, {"description": "500000 8N1", "value": 500000}, {"description": "921600 8N1", "value": 921600}, {"description": "1000000 8N1", "value": 1000000}, {"description": "1500000 8N1", "value": 1500000}, {"description": "2000000 8N1", "value": 2000000}, {"description": "3000000 8N1", "value": 3000000}]}, {"category": "Standard", "default": 5, "group": "Serial", "longDesc": "Baudrate for the Serial Port connected to the MXS Transponder", "max": 10, "min": 0, "name": "SER_MXS_BAUD", "rebootRequired": true, "shortDesc": "MXS Serial Communication Baud rate", "type": "Int32", "values": [{"description": "38400", "value": 0}, {"description": "600", "value": 1}, {"description": "4800", "value": 2}, {"description": "9600", "value": 3}, {"description": "RESERVED", "value": 4}, {"description": "57600", "value": 5}, {"description": "115200", "value": 6}, {"description": "230400", "value": 7}, {"description": "19200", "value": 8}, {"description": "460800", "value": 9}, {"description": "921600", "value": 10}]}, {"category": "Standard", "default": 0, "group": "Serial", "longDesc": "Configure the Baudrate for the Radio Controller Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.", "name": "SER_RC_BAUD", "rebootRequired": true, "shortDesc": "Baudrate for the Radio Controller Serial Port", "type": "Int32", "values": [{"description": "Auto", "value": 0}, {"description": "50 8N1", "value": 50}, {"description": "75 8N1", "value": 75}, {"description": "110 8N1", "value": 110}, {"description": "134 8N1", "value": 134}, {"description": "150 8N1", "value": 150}, {"description": "200 8N1", "value": 200}, {"description": "300 8N1", "value": 300}, {"description": "600 8N1", "value": 600}, {"description": "1200 8N1", "value": 1200}, {"description": "1800 8N1", "value": 1800}, {"description": "2400 8N1", "value": 2400}, {"description": "4800 8N1", "value": 4800}, {"description": "9600 8N1", "value": 9600}, {"description": "19200 8N1", "value": 19200}, {"description": "38400 8N1", "value": 38400}, {"description": "57600 8N1", "value": 57600}, {"description": "115200 8N1", "value": 115200}, {"description": "230400 8N1", "value": 230400}, {"description": "460800 8N1", "value": 460800}, {"description": "500000 8N1", "value": 500000}, {"description": "921600 8N1", "value": 921600}, {"description": "1000000 8N1", "value": 1000000}, {"description": "1500000 8N1", "value": 1500000}, {"description": "2000000 8N1", "value": 2000000}, {"description": "3000000 8N1", "value": 3000000}]}, {"category": "Standard", "default": 57600, "group": "Serial", "longDesc": "Configure the Baudrate for the TELEM 1 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.", "name": "SER_TEL1_BAUD", "rebootRequired": true, "shortDesc": "Baudrate for the TELEM 1 Serial Port", "type": "Int32", "values": [{"description": "Auto", "value": 0}, {"description": "50 8N1", "value": 50}, {"description": "75 8N1", "value": 75}, {"description": "110 8N1", "value": 110}, {"description": "134 8N1", "value": 134}, {"description": "150 8N1", "value": 150}, {"description": "200 8N1", "value": 200}, {"description": "300 8N1", "value": 300}, {"description": "600 8N1", "value": 600}, {"description": "1200 8N1", "value": 1200}, {"description": "1800 8N1", "value": 1800}, {"description": "2400 8N1", "value": 2400}, {"description": "4800 8N1", "value": 4800}, {"description": "9600 8N1", "value": 9600}, {"description": "19200 8N1", "value": 19200}, {"description": "38400 8N1", "value": 38400}, {"description": "57600 8N1", "value": 57600}, {"description": "115200 8N1", "value": 115200}, {"description": "230400 8N1", "value": 230400}, {"description": "460800 8N1", "value": 460800}, {"description": "500000 8N1", "value": 500000}, {"description": "921600 8N1", "value": 921600}, {"description": "1000000 8N1", "value": 1000000}, {"description": "1500000 8N1", "value": 1500000}, {"description": "2000000 8N1", "value": 2000000}, {"description": "3000000 8N1", "value": 3000000}]}, {"category": "Standard", "default": 921600, "group": "Serial", "longDesc": "Configure the Baudrate for the TELEM 2 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.", "name": "SER_TEL2_BAUD", "rebootRequired": true, "shortDesc": "Baudrate for the TELEM 2 Serial Port", "type": "Int32", "values": [{"description": "Auto", "value": 0}, {"description": "50 8N1", "value": 50}, {"description": "75 8N1", "value": 75}, {"description": "110 8N1", "value": 110}, {"description": "134 8N1", "value": 134}, {"description": "150 8N1", "value": 150}, {"description": "200 8N1", "value": 200}, {"description": "300 8N1", "value": 300}, {"description": "600 8N1", "value": 600}, {"description": "1200 8N1", "value": 1200}, {"description": "1800 8N1", "value": 1800}, {"description": "2400 8N1", "value": 2400}, {"description": "4800 8N1", "value": 4800}, {"description": "9600 8N1", "value": 9600}, {"description": "19200 8N1", "value": 19200}, {"description": "38400 8N1", "value": 38400}, {"description": "57600 8N1", "value": 57600}, {"description": "115200 8N1", "value": 115200}, {"description": "230400 8N1", "value": 230400}, {"description": "460800 8N1", "value": 460800}, {"description": "500000 8N1", "value": 500000}, {"description": "921600 8N1", "value": 921600}, {"description": "1000000 8N1", "value": 1000000}, {"description": "1500000 8N1", "value": 1500000}, {"description": "2000000 8N1", "value": 2000000}, {"description": "3000000 8N1", "value": 3000000}]}, {"category": "Standard", "default": 57600, "group": "Serial", "longDesc": "Configure the Baudrate for the TELEM 3 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.", "name": "SER_TEL3_BAUD", "rebootRequired": true, "shortDesc": "Baudrate for the TELEM 3 Serial Port", "type": "Int32", "values": [{"description": "Auto", "value": 0}, {"description": "50 8N1", "value": 50}, {"description": "75 8N1", "value": 75}, {"description": "110 8N1", "value": 110}, {"description": "134 8N1", "value": 134}, {"description": "150 8N1", "value": 150}, {"description": "200 8N1", "value": 200}, {"description": "300 8N1", "value": 300}, {"description": "600 8N1", "value": 600}, {"description": "1200 8N1", "value": 1200}, {"description": "1800 8N1", "value": 1800}, {"description": "2400 8N1", "value": 2400}, {"description": "4800 8N1", "value": 4800}, {"description": "9600 8N1", "value": 9600}, {"description": "19200 8N1", "value": 19200}, {"description": "38400 8N1", "value": 38400}, {"description": "57600 8N1", "value": 57600}, {"description": "115200 8N1", "value": 115200}, {"description": "230400 8N1", "value": 230400}, {"description": "460800 8N1", "value": 460800}, {"description": "500000 8N1", "value": 500000}, {"description": "921600 8N1", "value": 921600}, {"description": "1000000 8N1", "value": 1000000}, {"description": "1500000 8N1", "value": 1500000}, {"description": "2000000 8N1", "value": 2000000}, {"description": "3000000 8N1", "value": 3000000}]}, {"category": "Standard", "default": 57600, "group": "Serial", "longDesc": "Configure the Baudrate for the TELEM/SERIAL 4 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.", "name": "SER_TEL4_BAUD", "rebootRequired": true, "shortDesc": "Baudrate for the TELEM/SERIAL 4 Serial Port", "type": "Int32", "values": [{"description": "Auto", "value": 0}, {"description": "50 8N1", "value": 50}, {"description": "75 8N1", "value": 75}, {"description": "110 8N1", "value": 110}, {"description": "134 8N1", "value": 134}, {"description": "150 8N1", "value": 150}, {"description": "200 8N1", "value": 200}, {"description": "300 8N1", "value": 300}, {"description": "600 8N1", "value": 600}, {"description": "1200 8N1", "value": 1200}, {"description": "1800 8N1", "value": 1800}, {"description": "2400 8N1", "value": 2400}, {"description": "4800 8N1", "value": 4800}, {"description": "9600 8N1", "value": 9600}, {"description": "19200 8N1", "value": 19200}, {"description": "38400 8N1", "value": 38400}, {"description": "57600 8N1", "value": 57600}, {"description": "115200 8N1", "value": 115200}, {"description": "230400 8N1", "value": 230400}, {"description": "460800 8N1", "value": 460800}, {"description": "500000 8N1", "value": 500000}, {"description": "921600 8N1", "value": 921600}, {"description": "1000000 8N1", "value": 1000000}, {"description": "1500000 8N1", "value": 1500000}, {"description": "2000000 8N1", "value": 2000000}, {"description": "3000000 8N1", "value": 3000000}]}, {"category": "Standard", "default": 57600, "group": "Serial", "longDesc": "Configure the Baudrate for the UART 6 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.", "name": "SER_URT6_BAUD", "rebootRequired": true, "shortDesc": "Baudrate for the UART 6 Serial Port", "type": "Int32", "values": [{"description": "Auto", "value": 0}, {"description": "50 8N1", "value": 50}, {"description": "75 8N1", "value": 75}, {"description": "110 8N1", "value": 110}, {"description": "134 8N1", "value": 134}, {"description": "150 8N1", "value": 150}, {"description": "200 8N1", "value": 200}, {"description": "300 8N1", "value": 300}, {"description": "600 8N1", "value": 600}, {"description": "1200 8N1", "value": 1200}, {"description": "1800 8N1", "value": 1800}, {"description": "2400 8N1", "value": 2400}, {"description": "4800 8N1", "value": 4800}, {"description": "9600 8N1", "value": 9600}, {"description": "19200 8N1", "value": 19200}, {"description": "38400 8N1", "value": 38400}, {"description": "57600 8N1", "value": 57600}, {"description": "115200 8N1", "value": 115200}, {"description": "230400 8N1", "value": 230400}, {"description": "460800 8N1", "value": 460800}, {"description": "500000 8N1", "value": 500000}, {"description": "921600 8N1", "value": 921600}, {"description": "1000000 8N1", "value": 1000000}, {"description": "1500000 8N1", "value": 1500000}, {"description": "2000000 8N1", "value": 2000000}, {"description": "3000000 8N1", "value": 3000000}]}, {"category": "Standard", "default": 1, "group": "Serial", "longDesc": "Configure the Baudrate for the Wifi Port Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.", "name": "SER_WIFI_BAUD", "rebootRequired": true, "shortDesc": "Baudrate for the Wifi Port Serial Port", "type": "Int32", "values": [{"description": "Auto", "value": 0}, {"description": "50 8N1", "value": 50}, {"description": "75 8N1", "value": 75}, {"description": "110 8N1", "value": 110}, {"description": "134 8N1", "value": 134}, {"description": "150 8N1", "value": 150}, {"description": "200 8N1", "value": 200}, {"description": "300 8N1", "value": 300}, {"description": "600 8N1", "value": 600}, {"description": "1200 8N1", "value": 1200}, {"description": "1800 8N1", "value": 1800}, {"description": "2400 8N1", "value": 2400}, {"description": "4800 8N1", "value": 4800}, {"description": "9600 8N1", "value": 9600}, {"description": "19200 8N1", "value": 19200}, {"description": "38400 8N1", "value": 38400}, {"description": "57600 8N1", "value": 57600}, {"description": "115200 8N1", "value": 115200}, {"description": "230400 8N1", "value": 230400}, {"description": "460800 8N1", "value": 460800}, {"description": "500000 8N1", "value": 500000}, {"description": "921600 8N1", "value": 921600}, {"description": "1000000 8N1", "value": 1000000}, {"description": "1500000 8N1", "value": 1500000}, {"description": "2000000 8N1", "value": 2000000}, {"description": "3000000 8N1", "value": 3000000}]}, {"category": "Standard", "decimalPlaces": 4, "default": 100.0, "group": "Simulation In Hardware", "increment": 0.01, "max": 1000.0, "min": 0.0, "name": "SIH_DISTSNSR_MAX", "shortDesc": "distance sensor maximum range", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 4, "default": 0.0, "group": "Simulation In Hardware", "increment": 0.01, "max": 10.0, "min": 0.0, "name": "SIH_DISTSNSR_MIN", "shortDesc": "distance sensor minimum range", "type": "Float", "units": "m"}, {"category": "Standard", "default": -1.0, "group": "Simulation In Hardware", "longDesc": "Absolute value superior to 10000 will disable distance sensor", "name": "SIH_DISTSNSR_OVR", "shortDesc": "if >= 0 the distance sensor measures will be overridden by this value", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.025, "group": "Simulation In Hardware", "increment": 0.005, "longDesc": "The inertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.", "min": 0.0, "name": "SIH_IXX", "shortDesc": "Vehicle inertia about X axis", "type": "Float", "units": "kg m^2"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Simulation In Hardware", "increment": 0.005, "longDesc": "The inertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass.", "name": "SIH_IXY", "shortDesc": "Vehicle cross term inertia xy", "type": "Float", "units": "kg m^2"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Simulation In Hardware", "increment": 0.005, "longDesc": "The inertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass.", "name": "SIH_IXZ", "shortDesc": "Vehicle cross term inertia xz", "type": "Float", "units": "kg m^2"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.025, "group": "Simulation In Hardware", "increment": 0.005, "longDesc": "The inertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.", "min": 0.0, "name": "SIH_IYY", "shortDesc": "Vehicle inertia about Y axis", "type": "Float", "units": "kg m^2"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "Simulation In Hardware", "increment": 0.005, "longDesc": "The inertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass.", "name": "SIH_IYZ", "shortDesc": "Vehicle cross term inertia yz", "type": "Float", "units": "kg m^2"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.03, "group": "Simulation In Hardware", "increment": 0.005, "longDesc": "The inertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.", "min": 0.0, "name": "SIH_IZZ", "shortDesc": "Vehicle inertia about Z axis", "type": "Float", "units": "kg m^2"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Simulation In Hardware", "increment": 0.05, "longDesc": "Physical coefficient representing the friction with air particules. The greater this value, the slower the quad will move. Drag force function of velocity: D=-KDV*V. The maximum freefall velocity can be computed as V=10*MASS/KDV [m/s]", "min": 0.0, "name": "SIH_KDV", "shortDesc": "First order drag coefficient", "type": "Float", "units": "N/(m/s)"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.025, "group": "Simulation In Hardware", "increment": 0.005, "longDesc": "Physical coefficient representing the friction with air particules during rotations. The greater this value, the slower the quad will rotate. Aerodynamic moment function of body rate: Ma=-KDW*W_B. This value can be set to 0 if unknown.", "min": 0.0, "name": "SIH_KDW", "shortDesc": "First order angular damper coefficient", "type": "Float", "units": "Nm/(rad/s)"}, {"category": "Standard", "decimalPlaces": 2, "default": 32.34, "group": "Simulation In Hardware", "increment": 0.01, "longDesc": "This value represents the Above Mean Sea Level (AMSL) altitude where the simulation begins. If using FlightGear as a visual animation, this value can be tweaked such that the vehicle lies on the ground at takeoff. LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.", "max": 8848.0, "min": -420.0, "name": "SIH_LOC_H0", "shortDesc": "Initial AMSL ground altitude", "type": "Float", "units": "m"}, {"category": "Standard", "default": 454671160, "group": "Simulation In Hardware", "longDesc": "This value represents the North-South location on Earth where the simulation begins. A value of 45 deg should be written 450000000. LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.", "max": 850000000, "min": -850000000, "name": "SIH_LOC_LAT0", "shortDesc": "Initial geodetic latitude", "type": "Int32", "units": "deg*1e7"}, {"category": "Standard", "default": -737578370, "group": "Simulation In Hardware", "longDesc": "This value represents the East-West location on Earth where the simulation begins. A value of 45 deg should be written 450000000. LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.", "max": 1800000000, "min": -1800000000, "name": "SIH_LOC_LON0", "shortDesc": "Initial geodetic longitude", "type": "Int32", "units": "deg*1e7"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "Simulation In Hardware", "increment": 0.05, "longDesc": "This is the arm length generating the pitching moment This value can be measured with a ruler. This corresponds to half the distance between the front and rear motors.", "min": 0.0, "name": "SIH_L_PITCH", "shortDesc": "Pitch arm length", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.2, "group": "Simulation In Hardware", "increment": 0.05, "longDesc": "This is the arm length generating the rolling moment This value can be measured with a ruler. This corresponds to half the distance between the left and right motors.", "min": 0.0, "name": "SIH_L_ROLL", "shortDesc": "Roll arm length", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "Simulation In Hardware", "increment": 0.1, "longDesc": "This value can be measured by weighting the quad on a scale.", "min": 0.0, "name": "SIH_MASS", "shortDesc": "Vehicle mass", "type": "Float", "units": "kg"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.1, "group": "Simulation In Hardware", "increment": 0.05, "longDesc": "This is the maximum torque delivered by one propeller when the motor is running at full speed. This value is usually about few percent of the maximum thrust force.", "min": 0.0, "name": "SIH_Q_MAX", "shortDesc": "Max propeller torque", "type": "Float", "units": "Nm"}, {"category": "Standard", "decimalPlaces": 2, "default": 5.0, "group": "Simulation In Hardware", "increment": 0.5, "longDesc": "This is the maximum force delivered by one propeller when the motor is running at full speed. This value is usually about 5 times the mass of the quadrotor.", "min": 0.0, "name": "SIH_T_MAX", "shortDesc": "Max propeller thrust force", "type": "Float", "units": "N"}, {"category": "Standard", "default": 0.05, "group": "Simulation In Hardware", "longDesc": "the time taken for the thruster to step from 0 to 100% should be about 4 times tau", "name": "SIH_T_TAU", "shortDesc": "thruster time constant tau", "type": "Float", "units": "s"}, {"category": "Standard", "default": 0, "group": "Simulation In Hardware", "name": "SIH_VEHICLE_TYPE", "rebootRequired": true, "shortDesc": "Vehicle type", "type": "Int32", "values": [{"description": "Multicopter", "value": 0}, {"description": "Fixed-Wing", "value": 1}, {"description": "Tailsitter", "value": 2}]}, {"category": "Standard", "default": 0.0, "group": "Simulator", "name": "SIM_BARO_OFF_P", "shortDesc": "simulated barometer pressure offset", "type": "Float"}, {"category": "Standard", "default": 0.0, "group": "Simulator", "name": "SIM_BARO_OFF_T", "shortDesc": "simulated barometer temperature offset", "type": "Float", "units": "celcius"}, {"category": "Standard", "default": 10, "group": "Simulator", "max": 50, "min": 0, "name": "SIM_GPS_USED", "shortDesc": "simulated GPS number of satellites used", "type": "Int32"}, {"category": "Standard", "default": 0.0, "group": "Simulator", "name": "SIM_MAG_OFFSET_X", "shortDesc": "simulated magnetometer X offset", "type": "Float", "units": "gauss"}, {"category": "Standard", "default": 0.0, "group": "Simulator", "name": "SIM_MAG_OFFSET_Y", "shortDesc": "simulated magnetometer Y offset", "type": "Float", "units": "gauss"}, {"category": "Standard", "default": 0.0, "group": "Simulator", "name": "SIM_MAG_OFFSET_Z", "shortDesc": "simulated magnetometer Z offset", "type": "Float", "units": "gauss"}, {"category": "Standard", "default": 0, "group": "System", "longDesc": "Set to 1 to reset parameters on next system startup (setting defaults). Platform-specific values are used if available. RC* parameters are preserved.", "name": "SYS_AUTOCONFIG", "shortDesc": "Automatically configure default values", "type": "Int32", "values": [{"description": "Keep parameters", "value": 0}, {"description": "Reset parameters to airframe defaults", "value": 1}]}, {"category": "Standard", "default": 0, "group": "System", "longDesc": "CHANGING THIS VALUE REQUIRES A RESTART. Defines the auto-start script used to bootstrap the system.", "max": 9999999, "min": 0, "name": "SYS_AUTOSTART", "rebootRequired": true, "shortDesc": "Auto-start script index", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "System", "longDesc": "If enabled, update the bootloader on the next boot. WARNING: do not cut the power during an update process, otherwise you will have to recover using some alternative method (e.g. JTAG). Instructions: - Insert an SD card - Enable this parameter - Reboot the board (plug the power or send a reboot command) - Wait until the board comes back up (or at least 2 minutes) - If it does not come back, check the file bootlog.txt on the SD card", "name": "SYS_BL_UPDATE", "rebootRequired": true, "shortDesc": "Bootloader update", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "System", "longDesc": "0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the temperature calibration starts. default (0, no calibration)", "max": 1, "min": 0, "name": "SYS_CAL_ACCEL", "shortDesc": "Enable auto start of accelerometer thermal calibration at the next power up", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "System", "longDesc": "0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the temperature calibration starts. default (0, no calibration)", "max": 1, "min": 0, "name": "SYS_CAL_BARO", "shortDesc": "Enable auto start of barometer thermal calibration at the next power up", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "System", "longDesc": "0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the temperature calibration starts. default (0, no calibration)", "max": 1, "min": 0, "name": "SYS_CAL_GYRO", "shortDesc": "Enable auto start of rate gyro thermal calibration at the next power up", "type": "Int32"}, {"category": "Standard", "default": 24, "group": "System", "longDesc": "A temperature increase greater than this value is required during calibration. Calibration will complete for each sensor when the temperature increase above the starting temperature exceeds the value set by SYS_CAL_TDEL. If the temperature rise is insufficient, the calibration will continue indefinitely and the board will need to be repowered to exit.", "min": 10, "name": "SYS_CAL_TDEL", "shortDesc": "Required temperature rise during thermal calibration", "type": "Int32", "units": "celcius"}, {"category": "Standard", "default": 10, "group": "System", "longDesc": "Temperature calibration will not start if the temperature of any sensor is higher than the value set by SYS_CAL_TMAX.", "name": "SYS_CAL_TMAX", "shortDesc": "Maximum starting temperature for thermal calibration", "type": "Int32", "units": "celcius"}, {"category": "Standard", "default": 5, "group": "System", "longDesc": "Temperature calibration for each sensor will ignore data if the temperature is lower than the value set by SYS_CAL_TMIN.", "name": "SYS_CAL_TMIN", "shortDesc": "Minimum starting temperature for thermal calibration", "type": "Int32", "units": "celcius"}, {"category": "Standard", "default": 0, "group": "System", "name": "SYS_DM_BACKEND", "rebootRequired": true, "shortDesc": "Dataman storage backend", "type": "Int32", "values": [{"description": "Disabled", "value": -1}, {"description": "default (SD card)", "value": 0}, {"description": "RAM (not persistent)", "value": 1}]}, {"category": "Standard", "default": 0, "group": "System", "longDesc": "If enabled, future sensor calibrations will be stored to /fs/mtd_caldata. Note: this is only supported on boards with a separate calibration storage /fs/mtd_caldata.", "name": "SYS_FAC_CAL_MODE", "shortDesc": "Enable factory calibration mode", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "All sensors", "value": 1}, {"description": "All sensors except mag", "value": 2}]}, {"category": "Standard", "default": 0, "group": "System", "longDesc": "If enabled allows MAVLink INJECT_FAILURE commands. WARNING: the failures can easily cause crashes and are to be used with caution!", "name": "SYS_FAILURE_EN", "shortDesc": "Enable failure injection", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1, "group": "System", "longDesc": "Disable this if the board has no barometer, such as some of the Omnibus F4 SD variants. If disabled, the preflight checks will not check for the presence of a barometer.", "name": "SYS_HAS_BARO", "rebootRequired": true, "shortDesc": "Control if the vehicle has a barometer", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1, "group": "System", "longDesc": "Disable this if the system has no GPS. If disabled, the sensors hub will not process sensor_gps, and GPS will not be available for the rest of the system.", "name": "SYS_HAS_GPS", "rebootRequired": true, "shortDesc": "Control if the vehicle has a GPS", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1, "group": "System", "longDesc": "Set this to 0 if the board has no magnetometer. If set to 0, the preflight checks will not check for the presence of a magnetometer, otherwise N sensors are required.", "name": "SYS_HAS_MAG", "rebootRequired": true, "shortDesc": "Control if the vehicle has a magnetometer", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "System", "longDesc": "Set this to 0 if the board has no airspeed sensor. If set to 0, the preflight checks will not check for the presence of an airspeed sensor.", "max": 1, "min": 0, "name": "SYS_HAS_NUM_ASPD", "shortDesc": "Control if the vehicle has an airspeed sensor", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "System", "longDesc": "The preflight check will fail if fewer than this number of distance sensors with valid data is present. Disable the check with 0.", "max": 4, "min": 0, "name": "SYS_HAS_NUM_DIST", "shortDesc": "Number of distance sensors to check being available", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "System", "longDesc": "While enabled the system will boot in Hardware-In-The-Loop (HITL) or Simulation-In-Hardware (SIH) mode and not enable all sensors and checks. When disabled the same vehicle can be flown normally. Set to 'external HITL', if the system should perform as if it were a real vehicle (the only difference to a real system is then only the parameter value, which can be used for log analysis).", "name": "SYS_HITL", "rebootRequired": true, "shortDesc": "Enable HITL/SIH mode on next boot", "type": "Int32", "values": [{"description": "external HITL", "value": -1}, {"description": "HITL and SIH disabled", "value": 0}, {"description": "HITL enabled", "value": 1}, {"description": "SIH enabled", "value": 2}]}, {"category": "Standard", "default": 1.0, "group": "System", "longDesc": "Set to 0 to disable, 1 for maximum brightness", "name": "SYS_RGB_MAXBRT", "shortDesc": "RGB Led brightness limit", "type": "Float", "units": "%"}, {"category": "Standard", "default": 1, "group": "System", "name": "SYS_STCK_EN", "shortDesc": "Enable stack checking", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Telemetry", "longDesc": "If true, the FMU will try to connect to Blacksheep telemetry on start up", "name": "TEL_BST_EN", "rebootRequired": true, "shortDesc": "Blacksheep telemetry Enable", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Telemetry", "longDesc": "Configure on which serial port to run FrSky Telemetry.", "name": "TEL_FRSKY_CONFIG", "rebootRequired": true, "shortDesc": "Serial Configuration for FrSky Telemetry", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "UART 6", "value": 6}, {"description": "TELEM 1", "value": 101}, {"description": "TELEM 2", "value": 102}, {"description": "TELEM 3", "value": 103}, {"description": "TELEM/SERIAL 4", "value": 104}, {"description": "GPS 1", "value": 201}, {"description": "GPS 2", "value": 202}, {"description": "GPS 3", "value": 203}, {"description": "Radio Controller", "value": 300}, {"description": "Wifi Port", "value": 301}, {"description": "EXT2", "value": 401}]}, {"category": "Standard", "default": 0, "group": "Telemetry", "longDesc": "Configure on which serial port to run HoTT Telemetry.", "name": "TEL_HOTT_CONFIG", "rebootRequired": true, "shortDesc": "Serial Configuration for HoTT Telemetry", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "UART 6", "value": 6}, {"description": "TELEM 1", "value": 101}, {"description": "TELEM 2", "value": 102}, {"description": "TELEM 3", "value": 103}, {"description": "TELEM/SERIAL 4", "value": 104}, {"description": "GPS 1", "value": 201}, {"description": "GPS 2", "value": 202}, {"description": "GPS 3", "value": 203}, {"description": "Radio Controller", "value": 300}, {"description": "Wifi Port", "value": 301}, {"description": "EXT2", "value": 401}]}, {"category": "Standard", "default": 2, "group": "Testing", "name": "TEST_1", "shortDesc": "TEST_1", "type": "Int32"}, {"category": "Standard", "default": 4, "group": "Testing", "name": "TEST_2", "shortDesc": "TEST_2", "type": "Int32"}, {"category": "Standard", "default": 5.0, "group": "Testing", "name": "TEST_3", "shortDesc": "TEST_3", "type": "Float"}, {"category": "Standard", "default": 0.01, "group": "Testing", "name": "TEST_D", "shortDesc": "TEST_D", "type": "Float"}, {"category": "Standard", "default": 2.0, "group": "Testing", "name": "TEST_DEV", "shortDesc": "TEST_DEV", "type": "Float"}, {"category": "Standard", "default": 10.0, "group": "Testing", "name": "TEST_D_LP", "shortDesc": "TEST_D_LP", "type": "Float"}, {"category": "Standard", "default": 10.0, "group": "Testing", "name": "TEST_HP", "shortDesc": "TEST_HP", "type": "Float"}, {"category": "Standard", "default": 0.1, "group": "Testing", "name": "TEST_I", "shortDesc": "TEST_I", "type": "Float"}, {"category": "Standard", "default": 1.0, "group": "Testing", "name": "TEST_I_MAX", "shortDesc": "TEST_I_MAX", "type": "Float"}, {"category": "Standard", "default": 10.0, "group": "Testing", "name": "TEST_LP", "shortDesc": "TEST_LP", "type": "Float"}, {"category": "Standard", "default": 1.0, "group": "Testing", "name": "TEST_MAX", "shortDesc": "TEST_MAX", "type": "Float"}, {"category": "Standard", "default": 1.0, "group": "Testing", "name": "TEST_MEAN", "shortDesc": "TEST_MEAN", "type": "Float"}, {"category": "Standard", "default": -1.0, "group": "Testing", "name": "TEST_MIN", "shortDesc": "TEST_MIN", "type": "Float"}, {"category": "Standard", "default": 0.2, "group": "Testing", "name": "TEST_P", "shortDesc": "TEST_P", "type": "Float"}, {"category": "Standard", "default": 12345678, "group": "Testing", "name": "TEST_PARAMS", "shortDesc": "TEST_PARAMS", "type": "Int32"}, {"category": "Standard", "default": 16, "group": "Testing", "name": "TEST_RC2_X", "shortDesc": "TEST_RC2_X", "type": "Int32"}, {"category": "Standard", "default": 8, "group": "Testing", "name": "TEST_RC_X", "shortDesc": "TEST_RC_X", "type": "Int32"}, {"category": "Standard", "default": 0.5, "group": "Testing", "name": "TEST_TRIM", "shortDesc": "TEST_TRIM", "type": "Float"}, {"category": "System", "default": 0, "group": "Thermal Compensation", "name": "TC_A0_ID", "shortDesc": "ID of Accelerometer that the calibration is for", "type": "Int32"}, {"category": "System", "default": 100.0, "group": "Thermal Compensation", "name": "TC_A0_TMAX", "shortDesc": "Accelerometer calibration maximum temperature", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A0_TMIN", "shortDesc": "Accelerometer calibration minimum temperature", "type": "Float"}, {"category": "System", "default": 25.0, "group": "Thermal Compensation", "name": "TC_A0_TREF", "shortDesc": "Accelerometer calibration reference temperature", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A0_X0_0", "shortDesc": "Accelerometer offset temperature ^0 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A0_X0_1", "shortDesc": "Accelerometer offset temperature ^0 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A0_X0_2", "shortDesc": "Accelerometer offset temperature ^0 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A0_X1_0", "shortDesc": "Accelerometer offset temperature ^1 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A0_X1_1", "shortDesc": "Accelerometer offset temperature ^1 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A0_X1_2", "shortDesc": "Accelerometer offset temperature ^1 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A0_X2_0", "shortDesc": "Accelerometer offset temperature ^2 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A0_X2_1", "shortDesc": "Accelerometer offset temperature ^2 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A0_X2_2", "shortDesc": "Accelerometer offset temperature ^2 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A0_X3_0", "shortDesc": "Accelerometer offset temperature ^3 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A0_X3_1", "shortDesc": "Accelerometer offset temperature ^3 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A0_X3_2", "shortDesc": "Accelerometer offset temperature ^3 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0, "group": "Thermal Compensation", "name": "TC_A1_ID", "shortDesc": "ID of Accelerometer that the calibration is for", "type": "Int32"}, {"category": "System", "default": 100.0, "group": "Thermal Compensation", "name": "TC_A1_TMAX", "shortDesc": "Accelerometer calibration maximum temperature", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A1_TMIN", "shortDesc": "Accelerometer calibration minimum temperature", "type": "Float"}, {"category": "System", "default": 25.0, "group": "Thermal Compensation", "name": "TC_A1_TREF", "shortDesc": "Accelerometer calibration reference temperature", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A1_X0_0", "shortDesc": "Accelerometer offset temperature ^0 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A1_X0_1", "shortDesc": "Accelerometer offset temperature ^0 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A1_X0_2", "shortDesc": "Accelerometer offset temperature ^0 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A1_X1_0", "shortDesc": "Accelerometer offset temperature ^1 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A1_X1_1", "shortDesc": "Accelerometer offset temperature ^1 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A1_X1_2", "shortDesc": "Accelerometer offset temperature ^1 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A1_X2_0", "shortDesc": "Accelerometer offset temperature ^2 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A1_X2_1", "shortDesc": "Accelerometer offset temperature ^2 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A1_X2_2", "shortDesc": "Accelerometer offset temperature ^2 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A1_X3_0", "shortDesc": "Accelerometer offset temperature ^3 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A1_X3_1", "shortDesc": "Accelerometer offset temperature ^3 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A1_X3_2", "shortDesc": "Accelerometer offset temperature ^3 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0, "group": "Thermal Compensation", "name": "TC_A2_ID", "shortDesc": "ID of Accelerometer that the calibration is for", "type": "Int32"}, {"category": "System", "default": 100.0, "group": "Thermal Compensation", "name": "TC_A2_TMAX", "shortDesc": "Accelerometer calibration maximum temperature", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A2_TMIN", "shortDesc": "Accelerometer calibration minimum temperature", "type": "Float"}, {"category": "System", "default": 25.0, "group": "Thermal Compensation", "name": "TC_A2_TREF", "shortDesc": "Accelerometer calibration reference temperature", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A2_X0_0", "shortDesc": "Accelerometer offset temperature ^0 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A2_X0_1", "shortDesc": "Accelerometer offset temperature ^0 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A2_X0_2", "shortDesc": "Accelerometer offset temperature ^0 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A2_X1_0", "shortDesc": "Accelerometer offset temperature ^1 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A2_X1_1", "shortDesc": "Accelerometer offset temperature ^1 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A2_X1_2", "shortDesc": "Accelerometer offset temperature ^1 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A2_X2_0", "shortDesc": "Accelerometer offset temperature ^2 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A2_X2_1", "shortDesc": "Accelerometer offset temperature ^2 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A2_X2_2", "shortDesc": "Accelerometer offset temperature ^2 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A2_X3_0", "shortDesc": "Accelerometer offset temperature ^3 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A2_X3_1", "shortDesc": "Accelerometer offset temperature ^3 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A2_X3_2", "shortDesc": "Accelerometer offset temperature ^3 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0, "group": "Thermal Compensation", "name": "TC_A3_ID", "shortDesc": "ID of Accelerometer that the calibration is for", "type": "Int32"}, {"category": "System", "default": 100.0, "group": "Thermal Compensation", "name": "TC_A3_TMAX", "shortDesc": "Accelerometer calibration maximum temperature", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A3_TMIN", "shortDesc": "Accelerometer calibration minimum temperature", "type": "Float"}, {"category": "System", "default": 25.0, "group": "Thermal Compensation", "name": "TC_A3_TREF", "shortDesc": "Accelerometer calibration reference temperature", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A3_X0_0", "shortDesc": "Accelerometer offset temperature ^0 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A3_X0_1", "shortDesc": "Accelerometer offset temperature ^0 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A3_X0_2", "shortDesc": "Accelerometer offset temperature ^0 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A3_X1_0", "shortDesc": "Accelerometer offset temperature ^1 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A3_X1_1", "shortDesc": "Accelerometer offset temperature ^1 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A3_X1_2", "shortDesc": "Accelerometer offset temperature ^1 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A3_X2_0", "shortDesc": "Accelerometer offset temperature ^2 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A3_X2_1", "shortDesc": "Accelerometer offset temperature ^2 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A3_X2_2", "shortDesc": "Accelerometer offset temperature ^2 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_A3_X3_0", "shortDesc": "Accelerometer offset temperature ^3 polynomial coefficient - X axis", "type": "Float"}, {"category": 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"name": "TC_M0_X3_1", "shortDesc": "Magnetometer offset temperature ^3 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M0_X3_2", "shortDesc": "Magnetometer offset temperature ^3 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0, "group": "Thermal Compensation", "name": "TC_M1_ID", "shortDesc": "ID of Magnetometer that the calibration is for", "type": "Int32"}, {"category": "System", "default": 100.0, "group": "Thermal Compensation", "name": "TC_M1_TMAX", "shortDesc": "Magnetometer calibration maximum temperature", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M1_TMIN", "shortDesc": "Magnetometer calibration minimum temperature", "type": "Float"}, {"category": "System", "default": 25.0, "group": "Thermal Compensation", "name": "TC_M1_TREF", "shortDesc": "Magnetometer calibration reference temperature", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M1_X0_0", "shortDesc": "Magnetometer offset temperature ^0 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M1_X0_1", "shortDesc": "Magnetometer offset temperature ^0 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M1_X0_2", "shortDesc": "Magnetometer offset temperature ^0 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M1_X1_0", "shortDesc": "Magnetometer offset temperature ^1 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M1_X1_1", "shortDesc": "Magnetometer offset temperature ^1 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M1_X1_2", "shortDesc": "Magnetometer offset temperature ^1 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M1_X2_0", "shortDesc": "Magnetometer offset temperature ^2 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M1_X2_1", "shortDesc": "Magnetometer offset temperature ^2 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M1_X2_2", "shortDesc": "Magnetometer offset temperature ^2 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M1_X3_0", "shortDesc": "Magnetometer offset temperature ^3 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M1_X3_1", "shortDesc": "Magnetometer offset temperature ^3 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M1_X3_2", "shortDesc": "Magnetometer offset temperature ^3 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0, "group": "Thermal Compensation", "name": "TC_M2_ID", "shortDesc": "ID of Magnetometer that the calibration is for", "type": "Int32"}, {"category": "System", "default": 100.0, "group": "Thermal Compensation", "name": "TC_M2_TMAX", "shortDesc": "Magnetometer calibration maximum temperature", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M2_TMIN", "shortDesc": "Magnetometer calibration minimum temperature", "type": "Float"}, {"category": "System", "default": 25.0, "group": "Thermal Compensation", "name": "TC_M2_TREF", "shortDesc": "Magnetometer calibration reference temperature", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M2_X0_0", "shortDesc": "Magnetometer offset temperature ^0 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M2_X0_1", "shortDesc": "Magnetometer offset temperature ^0 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M2_X0_2", "shortDesc": "Magnetometer offset temperature ^0 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M2_X1_0", "shortDesc": "Magnetometer offset temperature ^1 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M2_X1_1", "shortDesc": "Magnetometer offset temperature ^1 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M2_X1_2", "shortDesc": "Magnetometer offset temperature ^1 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M2_X2_0", "shortDesc": "Magnetometer offset temperature ^2 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M2_X2_1", "shortDesc": "Magnetometer offset temperature ^2 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M2_X2_2", "shortDesc": "Magnetometer offset temperature ^2 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M2_X3_0", "shortDesc": "Magnetometer offset temperature ^3 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M2_X3_1", "shortDesc": "Magnetometer offset temperature ^3 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M2_X3_2", "shortDesc": "Magnetometer offset temperature ^3 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0, "group": "Thermal Compensation", "name": "TC_M3_ID", "shortDesc": "ID of Magnetometer that the calibration is for", "type": "Int32"}, {"category": "System", "default": 100.0, "group": "Thermal Compensation", "name": "TC_M3_TMAX", "shortDesc": "Magnetometer calibration maximum temperature", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M3_TMIN", "shortDesc": "Magnetometer calibration minimum temperature", "type": "Float"}, {"category": "System", "default": 25.0, "group": "Thermal Compensation", "name": "TC_M3_TREF", "shortDesc": "Magnetometer calibration reference temperature", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M3_X0_0", "shortDesc": "Magnetometer offset temperature ^0 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M3_X0_1", "shortDesc": "Magnetometer offset temperature ^0 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M3_X0_2", "shortDesc": "Magnetometer offset temperature ^0 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M3_X1_0", "shortDesc": "Magnetometer offset temperature ^1 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M3_X1_1", "shortDesc": "Magnetometer offset temperature ^1 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M3_X1_2", "shortDesc": "Magnetometer offset temperature ^1 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M3_X2_0", "shortDesc": "Magnetometer offset temperature ^2 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M3_X2_1", "shortDesc": "Magnetometer offset temperature ^2 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M3_X2_2", "shortDesc": "Magnetometer offset temperature ^2 polynomial coefficient - Z axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M3_X3_0", "shortDesc": "Magnetometer offset temperature ^3 polynomial coefficient - X axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M3_X3_1", "shortDesc": "Magnetometer offset temperature ^3 polynomial coefficient - Y axis", "type": "Float"}, {"category": "System", "default": 0.0, "group": "Thermal Compensation", "name": "TC_M3_X3_2", "shortDesc": "Magnetometer offset temperature ^3 polynomial coefficient - Z axis", "type": "Float"}, {"category": "Standard", "default": 0, "group": "Thermal Compensation", "name": "TC_M_ENABLE", "rebootRequired": true, "shortDesc": "Thermal compensation for magnetometer sensors", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Transponder", "longDesc": "Disables auto-configuration mode enabling MXS config through external software.", "name": "MXS_EXT_CFG", "rebootRequired": true, "shortDesc": "Sagetech External Configuration Mode", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "Transponder", "longDesc": "This parameter defines the operating mode of the MXS", "max": 3, "min": 0, "name": "MXS_OP_MODE", "rebootRequired": true, "shortDesc": "Sagetech MXS mode configuration", "type": "Int32", "values": [{"description": "Off", "value": 0}, {"description": "On", "value": 1}, {"description": "Standby", "value": 2}, {"description": "Alt", "value": 3}]}, {"category": "Standard", "default": 0, "group": "Transponder", "longDesc": "Configure on which serial port to run Sagetech MXS Serial Port.", "name": "MXS_SER_CFG", "rebootRequired": true, "shortDesc": "Serial Configuration for Sagetech MXS Serial Port", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "UART 6", "value": 6}, {"description": "TELEM 1", "value": 101}, {"description": "TELEM 2", "value": 102}, {"description": "TELEM 3", "value": 103}, {"description": "TELEM/SERIAL 4", "value": 104}, {"description": "GPS 1", "value": 201}, {"description": "GPS 2", "value": 202}, {"description": "GPS 3", "value": 203}, {"description": "Radio Controller", "value": 300}, {"description": "Wifi Port", "value": 301}, {"description": "EXT2", "value": 401}]}, {"category": "Standard", "default": 1, "group": "Transponder", "longDesc": "The MXS communication port to receive Target data from", "max": 2, "min": 0, "name": "MXS_TARG_PORT", "rebootRequired": true, "shortDesc": "Sagetech MXS Participant Configuration", "type": "Int32", "values": [{"description": "Auto", "value": 0}, {"description": "COM0", "value": 1}, {"description": "COM1", "value": 2}]}, {"category": "Standard", "default": 1000000, "group": "UAVCAN", "max": 1000000, "min": 20000, "name": "CANNODE_BITRATE", "shortDesc": "UAVCAN CAN bus bitrate", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "UAVCAN", "name": "CANNODE_PUB_MBD", "rebootRequired": true, "shortDesc": "Enable MovingBaselineData publication", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "UAVCAN", "max": 1, "name": "CANNODE_SUB_MBD", "rebootRequired": true, "shortDesc": "Enable MovingBaselineData subscription", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "UAVCAN", "name": "CANNODE_SUB_RTCM", "rebootRequired": true, "shortDesc": "Enable RTCM subscription", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "UAVCAN", "max": 1, "name": "CANNODE_TERM", "shortDesc": "CAN built-in bus termination", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "UAVCAN", "name": "SIM_GZ_EN", "rebootRequired": true, "shortDesc": "Simulator Gazebo bridge enable", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1000000, "group": "UAVCAN", "max": 1000000, "min": 20000, "name": "UAVCAN_BITRATE", "rebootRequired": true, "shortDesc": "UAVCAN CAN bus bitrate", "type": "Int32", "units": "bit/s"}, {"category": "Standard", "default": 0, "group": "UAVCAN", "longDesc": "0 - UAVCAN disabled. 1 - Enables support for UAVCAN sensors without dynamic node ID allocation and firmware update. 2 - Enables support for UAVCAN sensors with dynamic node ID allocation and firmware update. 3 - Enables support for UAVCAN sensors and actuators with dynamic node ID allocation and firmware update. Also sets the motor control outputs to UAVCAN.", "max": 3, "min": 0, "name": "UAVCAN_ENABLE", "rebootRequired": true, "shortDesc": "UAVCAN mode", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Sensors Manual Config", "value": 1}, {"description": "Sensors Automatic Config", "value": 2}, {"description": "Sensors and Actuators (ESCs) Automatic Config", "value": 3}]}, {"category": "Standard", "default": 2, "group": "UAVCAN", "longDesc": "This parameter defines the minimum condition under which the system will command the ANTI_COLLISION lights on 0 - Always off 1 - When autopilot is armed 2 - When autopilot is prearmed 3 - Always on", "max": 3, "min": 0, "name": "UAVCAN_LGT_ANTCL", "rebootRequired": true, "shortDesc": "UAVCAN ANTI_COLLISION light operating mode", "type": "Int32", "values": [{"description": "Always off", "value": 0}, {"description": "When autopilot is armed", "value": 1}, {"description": "When autopilot is prearmed", "value": 2}, {"description": "Always on", "value": 3}]}, {"category": "Standard", "default": 0, "group": "UAVCAN", "longDesc": "This parameter defines the minimum condition under which the system will command the LIGHT_ID_LANDING lights on 0 - Always off 1 - When autopilot is armed 2 - When autopilot is prearmed 3 - Always on", "max": 3, "min": 0, "name": "UAVCAN_LGT_LAND", "rebootRequired": true, "shortDesc": "UAVCAN LIGHT_ID_LANDING light operating mode", "type": "Int32", "values": [{"description": "Always off", "value": 0}, {"description": "When autopilot is armed", "value": 1}, {"description": "When autopilot is prearmed", "value": 2}, {"description": "Always on", "value": 3}]}, {"category": "Standard", "default": 3, "group": "UAVCAN", "longDesc": "This parameter defines the minimum condition under which the system will command the RIGHT_OF_WAY lights on 0 - Always off 1 - When autopilot is armed 2 - When autopilot is prearmed 3 - Always on", "max": 3, "min": 0, "name": "UAVCAN_LGT_NAV", "rebootRequired": true, "shortDesc": "UAVCAN RIGHT_OF_WAY light operating mode", "type": "Int32", "values": [{"description": "Always off", "value": 0}, {"description": "When autopilot is armed", "value": 1}, {"description": "When autopilot is prearmed", "value": 2}, {"description": "Always on", "value": 3}]}, {"category": "Standard", "default": 1, "group": "UAVCAN", "longDesc": "This parameter defines the minimum condition under which the system will command the STROBE lights on 0 - Always off 1 - When autopilot is armed 2 - When autopilot is prearmed 3 - Always on", "max": 3, "min": 0, "name": "UAVCAN_LGT_STROB", "rebootRequired": true, "shortDesc": "UAVCAN STROBE light operating mode", "type": "Int32", "values": [{"description": "Always off", "value": 0}, {"description": "When autopilot is armed", "value": 1}, {"description": "When autopilot is prearmed", "value": 2}, {"description": "Always on", "value": 3}]}, {"category": "Standard", "default": 1, "group": "UAVCAN", "longDesc": "Read the specs at http://uavcan.org to learn more about Node ID.", "max": 125, "min": 1, "name": "UAVCAN_NODE_ID", "rebootRequired": true, "shortDesc": "UAVCAN Node ID", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "UAVCAN", "longDesc": "Enable UAVCAN Arming Status stream publication uavcan::equipment::safety::ArmingStatus", "name": "UAVCAN_PUB_ARM", "rebootRequired": true, "shortDesc": "publish Arming Status stream", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "UAVCAN", "longDesc": "Enable UAVCAN RTCM stream publication ardupilot::gnss::MovingBaselineData", "name": "UAVCAN_PUB_MBD", "rebootRequired": true, "shortDesc": "publish moving baseline data RTCM stream", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "UAVCAN", "longDesc": "Enable UAVCAN RTCM stream publication uavcan::equipment::gnss::RTCMStream", "name": "UAVCAN_PUB_RTCM", "rebootRequired": true, "shortDesc": "publish RTCM stream", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 200.0, "group": "UAVCAN", "longDesc": "This parameter defines the maximum valid range for a rangefinder connected via UAVCAN.", "name": "UAVCAN_RNG_MAX", "shortDesc": "UAVCAN rangefinder maximum range", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0.3, "group": "UAVCAN", "longDesc": "This parameter defines the minimum valid range for a rangefinder connected via UAVCAN.", "name": "UAVCAN_RNG_MIN", "shortDesc": "UAVCAN rangefinder minimum range", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "UAVCAN", "longDesc": "Enable UAVCAN airspeed subscriptions. uavcan::equipment::air_data::IndicatedAirspeed uavcan::equipment::air_data::TrueAirspeed uavcan::equipment::air_data::StaticTemperature", "name": "UAVCAN_SUB_ASPD", "rebootRequired": true, "shortDesc": "subscription airspeed", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "UAVCAN", "longDesc": "Enable UAVCAN barometer subscription. uavcan::equipment::air_data::StaticPressure uavcan::equipment::air_data::StaticTemperature", "name": "UAVCAN_SUB_BARO", "rebootRequired": true, "shortDesc": "subscription barometer", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "UAVCAN", "longDesc": "Enable UAVCAN battery subscription. uavcan::equipment::power::BatteryInfo ardupilot::equipment::power::BatteryInfoAux 0 - Disable 1 - Use raw data. Recommended for Smart battery 2 - Filter the data with internal battery library", "max": 2, "min": 0, "name": "UAVCAN_SUB_BAT", "rebootRequired": true, "shortDesc": "subscription battery", "type": "Int32", "values": [{"description": "Disable", "value": 0}, {"description": "Raw data", "value": 1}, {"description": "Filter data", "value": 2}]}, {"category": "Standard", "default": 0, "group": "UAVCAN", "longDesc": "Enable UAVCAN button subscription. ardupilot::indication::Button", "name": "UAVCAN_SUB_BTN", "rebootRequired": true, "shortDesc": "subscription button", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "UAVCAN", "longDesc": "Enable UAVCAN differential pressure subscription. uavcan::equipment::air_data::RawAirData", "name": "UAVCAN_SUB_DPRES", "rebootRequired": true, "shortDesc": "subscription differential pressure", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "UAVCAN", "longDesc": "Enable UAVCAN optical flow subscription.", "name": "UAVCAN_SUB_FLOW", "rebootRequired": true, "shortDesc": "subscription flow", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1, "group": "UAVCAN", "longDesc": "Enable UAVCAN GPS subscriptions. uavcan::equipment::gnss::Fix uavcan::equipment::gnss::Fix2 uavcan::equipment::gnss::Auxiliary", "name": "UAVCAN_SUB_GPS", "rebootRequired": true, "shortDesc": "subscription GPS", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1, "group": "UAVCAN", "longDesc": "Enable UAVCAN GPS Relative subscription. ardupilot::gnss::RelPosHeading", "name": "UAVCAN_SUB_GPS_R", "rebootRequired": true, "shortDesc": "subscription GPS Relative", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "UAVCAN", "longDesc": "Enable UAVCAN hygrometer subscriptions. dronecan::sensors::hygrometer::Hygrometer", "name": "UAVCAN_SUB_HYGRO", "rebootRequired": true, "shortDesc": "subscription hygrometer", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "UAVCAN", "longDesc": "Enable UAVCAN internal combustion engine (ICE) subscription. uavcan::equipment::ice::reciprocating::Status", "name": "UAVCAN_SUB_ICE", "rebootRequired": true, "shortDesc": "subscription ICE", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "UAVCAN", "longDesc": "Enable UAVCAN IMU subscription. uavcan::equipment::ahrs::RawIMU", "name": "UAVCAN_SUB_IMU", "rebootRequired": true, "shortDesc": "subscription IMU", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 1, "group": "UAVCAN", "longDesc": "Enable UAVCAN mag subscription. uavcan::equipment::ahrs::MagneticFieldStrength uavcan::equipment::ahrs::MagneticFieldStrength2", "name": "UAVCAN_SUB_MAG", "rebootRequired": true, "shortDesc": "subscription magnetometer", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "UAVCAN", "longDesc": "Enable UAVCAN range finder subscription. uavcan::equipment::range_sensor::Measurement", "name": "UAVCAN_SUB_RNG", "rebootRequired": true, "shortDesc": "subscription range finder", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0.0, "group": "UUV Attitude Control", "name": "UUV_DIRCT_PITCH", "shortDesc": "Direct pitch input", "type": "Float"}, {"category": "Standard", "default": 0.0, "group": "UUV Attitude Control", "name": "UUV_DIRCT_ROLL", "shortDesc": "Direct roll input", "type": "Float"}, {"category": "Standard", "default": 0.0, "group": "UUV Attitude Control", "name": "UUV_DIRCT_THRUST", "shortDesc": "Direct thrust input", "type": "Float"}, {"category": "Standard", "default": 0.0, "group": "UUV Attitude Control", "name": "UUV_DIRCT_YAW", "shortDesc": "Direct yaw input", "type": "Float"}, {"category": "Standard", "default": 0, "group": "UUV Attitude Control", "name": "UUV_INPUT_MODE", "shortDesc": "Select Input Mode", "type": "Int32", "values": [{"description": "use Attitude Setpoints", "value": 0}, {"description": "Direct Feedthrough", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 2.0, "group": "UUV Attitude Control", "name": "UUV_PITCH_D", "shortDesc": "Pitch differential gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 4.0, "group": "UUV Attitude Control", "name": "UUV_PITCH_P", "shortDesc": "Pitch proportional gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.5, "group": "UUV Attitude Control", "name": "UUV_ROLL_D", "shortDesc": "Roll differential gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 4.0, "group": "UUV Attitude Control", "name": "UUV_ROLL_P", "shortDesc": "Roll proportional gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 2.0, "group": "UUV Attitude Control", "name": "UUV_YAW_D", "shortDesc": "Yaw differential gain", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 4.0, "group": "UUV Attitude Control", "name": "UUV_YAW_P", "shortDesc": "Yawh proportional gain", "type": "Float"}, {"category": "Standard", "default": 0.2, "group": "UUV Position Control", "name": "UUV_GAIN_X_D", "shortDesc": "Gain of D controller X", "type": "Float"}, {"category": "Standard", "default": 1.0, "group": "UUV Position Control", "name": "UUV_GAIN_X_P", "shortDesc": "Gain of P controller X", "type": "Float"}, {"category": "Standard", "default": 0.2, "group": "UUV Position Control", "name": "UUV_GAIN_Y_D", "shortDesc": "Gain of D controller Y", "type": "Float"}, {"category": "Standard", "default": 1.0, "group": "UUV Position Control", "name": "UUV_GAIN_Y_P", "shortDesc": "Gain of P controller Y", "type": "Float"}, {"category": "Standard", "default": 0.2, "group": "UUV Position Control", "name": "UUV_GAIN_Z_D", "shortDesc": "Gain of D controller Z", "type": "Float"}, {"category": "Standard", "default": 1.0, "group": "UUV Position Control", "name": "UUV_GAIN_Z_P", "shortDesc": "Gain of P controller Z", "type": "Float"}, {"category": "Standard", "default": 1, "group": "UUV Position Control", "name": "UUV_STAB_MODE", "shortDesc": "Stabilization mode(1) or Position Control(0)", "type": "Int32", "values": [{"description": "Position Control", "value": 0}, {"description": "Stabilization Mode", "value": 1}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "UWB", "increment": 0.01, "longDesc": "UWB sensor positioning in relation to Drone in NED. X offset. A Positive offset results in a Position o", "name": "UWB_INIT_OFF_X", "shortDesc": "UWB sensor X offset in body frame", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "UWB", "increment": 0.01, "longDesc": "UWB sensor positioning in relation to Drone in NED. Y offset.", "name": "UWB_INIT_OFF_Y", "shortDesc": "UWB sensor Y offset in body frame", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.0, "group": "UWB", "increment": 0.01, "longDesc": "UWB sensor positioning in relation to Drone in NED. Z offset.", "name": "UWB_INIT_OFF_Z", "shortDesc": "UWB sensor Z offset in body frame", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "UWB", "longDesc": "Configure on which serial port to run Ultrawideband position sensor driver.", "name": "UWB_PORT_CFG", "rebootRequired": true, "shortDesc": "Serial Configuration for Ultrawideband position sensor driver", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "UART 6", "value": 6}, {"description": "TELEM 1", "value": 101}, {"description": "TELEM 2", "value": 102}, {"description": "TELEM 3", "value": 103}, {"description": "TELEM/SERIAL 4", "value": 104}, {"description": "GPS 1", "value": 201}, {"description": "GPS 2", "value": 202}, {"description": "GPS 3", "value": 203}, {"description": "Radio Controller", "value": 300}, {"description": "Wifi Port", "value": 301}, {"description": "EXT2", "value": 401}]}, {"category": "Standard", "default": 0, "group": "UWB", "longDesc": "The orientation of the sensor relative to the forward direction of the body frame. Look up table in src/lib/conversion/rotation.h Default position is the antannaes downward facing, UWB board parallel with body frame.", "name": "UWB_SENS_ROT", "shortDesc": "UWB sensor orientation", "type": "Int32", "values": [{"description": "ROTATION_NONE", "value": 0}, {"description": "ROTATION_YAW_45", "value": 1}, {"description": "ROTATION_YAW_90", "value": 2}, {"description": "ROTATION_YAW_135", "value": 3}, {"description": "ROTATION_YAW_180", "value": 4}, {"description": "ROTATION_YAW_225", "value": 5}, {"description": "ROTATION_YAW_270", "value": 6}, {"description": "ROTATION_YAW_315", "value": 7}, {"description": "ROTATION_ROLL_180", "value": 8}, {"description": "ROTATION_ROLL_180_YAW_45", "value": 9}, {"description": "ROTATION_ROLL_180_YAW_90", "value": 10}, {"description": "ROTATION_ROLL_180_YAW_135", "value": 11}, {"description": "ROTATION_PITCH_180", "value": 12}, {"description": "ROTATION_ROLL_180_YAW_225", "value": 13}, {"description": "ROTATION_ROLL_180_YAW_270", "value": 14}, {"description": "ROTATION_ROLL_180_YAW_315", "value": 15}, {"description": "ROTATION_ROLL_90", "value": 16}, {"description": "ROTATION_ROLL_90_YAW_45", "value": 17}, {"description": "ROTATION_ROLL_90_YAW_90", "value": 18}, {"description": "ROTATION_ROLL_90_YAW_135", "value": 19}, {"description": "ROTATION_ROLL_270", "value": 20}, {"description": "ROTATION_ROLL_270_YAW_45", "value": 21}, {"description": "ROTATION_ROLL_270_YAW_90", "value": 22}, {"description": "ROTATION_ROLL_270_YAW_135", "value": 23}, {"description": "ROTATION_PITCH_90", "value": 24}, {"description": "ROTATION_PITCH_270", "value": 25}, {"description": "ROTATION_PITCH_180_YAW_90", "value": 26}, {"description": "ROTATION_PITCH_180_YAW_270", "value": 27}, {"description": "ROTATION_ROLL_90_PITCH_90", "value": 28}, {"description": "ROTATION_ROLL_180_PITCH_90", "value": 29}, {"description": "ROTATION_ROLL_270_PITCH_90", "value": 30}, {"description": "ROTATION_ROLL_90_PITCH_180", "value": 31}, {"description": "ROTATION_ROLL_270_PITCH_180", "value": 32}, {"description": "ROTATION_ROLL_90_PITCH_270", "value": 33}, {"description": "ROTATION_ROLL_180_PITCH_270", "value": 34}, {"description": "ROTATION_ROLL_270_PITCH_270", "value": 35}, {"description": "ROTATION_ROLL_90_PITCH_180_YAW_90", "value": 36}, {"description": "ROTATION_ROLL_90_YAW_270", "value": 37}, {"description": "ROTATION_ROLL_90_PITCH_68_YAW_293", "value": 38}, {"description": "ROTATION_PITCH_315", "value": 39}, {"description": "ROTATION_ROLL_90_PITCH_315", "value": 40}]}, {"category": "Standard", "default": 2130706433, "group": "UXRCE-DDS Client", "longDesc": "If ethernet is enabled and is the selected configuration for uXRCE-DDS, the selected Agent IP address will be set and used. Decimal dot notation is not supported. IP address must be provided in int32 format. For example, 192.168.1.2 is mapped to -1062731518; 127.0.0.1 is mapped to 2130706433.", "name": "UXRCE_DDS_AG_IP", "rebootRequired": true, "shortDesc": "uXRCE-DDS Agent IP address", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "UXRCE-DDS Client", "longDesc": "Configure on which serial port to run UXRCE-DDS Client.", "name": "UXRCE_DDS_CFG", "rebootRequired": true, "shortDesc": "Serial Configuration for UXRCE-DDS Client", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "UART 6", "value": 6}, {"description": "TELEM 1", "value": 101}, {"description": "TELEM 2", "value": 102}, {"description": "TELEM 3", "value": 103}, {"description": "TELEM/SERIAL 4", "value": 104}, {"description": "GPS 1", "value": 201}, {"description": "GPS 2", "value": 202}, {"description": "GPS 3", "value": 203}, {"description": "Radio Controller", "value": 300}, {"description": "Wifi Port", "value": 301}, {"description": "EXT2", "value": 401}, {"description": "Ethernet", "value": 1000}]}, {"category": "System", "default": 0, "group": "UXRCE-DDS Client", "longDesc": "uXRCE-DDS domain ID", "name": "UXRCE_DDS_DOM_ID", "rebootRequired": true, "shortDesc": "uXRCE-DDS domain ID", "type": "Int32"}, {"category": "System", "default": 1, "group": "UXRCE-DDS Client", "longDesc": "uXRCE-DDS key, must be different from zero. In a single agent - multi client configuration, each client must have a unique session key.", "name": "UXRCE_DDS_KEY", "rebootRequired": true, "shortDesc": "uXRCE-DDS session key", "type": "Int32"}, {"category": "Standard", "default": 8888, "group": "UXRCE-DDS Client", "longDesc": "If ethernet is enabled and is the selected configuration for uXRCE-DDS, the selected UDP port will be set and used.", "max": 65535, "min": 0, "name": "UXRCE_DDS_PRT", "rebootRequired": true, "shortDesc": "uXRCE-DDS UDP port", "type": "Int32"}, {"category": "System", "default": 0, "group": "UXRCE-DDS Client", "longDesc": "Set the participant configuration on the Agent's system. 0: Use the default configuration. 1: Restrict messages to localhost (use in combination with ROS_LOCALHOST_ONLY=1). 2: Use a custom participant with the profile name \"px4_participant\".", "max": 2, "min": 0, "name": "UXRCE_DDS_PTCFG", "rebootRequired": true, "shortDesc": "uXRCE-DDS participant configuration", "type": "Int32", "values": [{"description": "Default", "value": 0}, {"description": "Localhost-only", "value": 1}, {"description": "Custom participant", "value": 2}]}, {"category": "System", "default": 0, "group": "UXRCE-DDS Client", "longDesc": "When enabled along with UXRCE_DDS_SYNCT, uxrce_dds_client will set the system clock using the agents UTC timestamp.", "name": "UXRCE_DDS_SYNCC", "rebootRequired": true, "shortDesc": "Enable uXRCE-DDS system clock synchronization", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "System", "default": 1, "group": "UXRCE-DDS Client", "longDesc": "When enabled, uxrce_dds_client will synchronize the timestamps of the incoming and outgoing messages measuring the offset between the Agent OS time and the PX4 time.", "name": "UXRCE_DDS_SYNCT", "rebootRequired": true, "shortDesc": "Enable uXRCE-DDS timestamp synchronization", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 250000, "group": "VOXL ESC", "longDesc": "Default rate is 250Kbps, which is used in off-the-shelf MoadalAI ESC products.", "name": "VOXL_ESC_BAUD", "shortDesc": "UART ESC baud rate", "type": "Int32", "units": "bit/s"}, {"category": "Standard", "default": 0, "group": "VOXL ESC", "longDesc": "Selects what type of UART ESC, if any, is being used.", "max": 1, "min": 0, "name": "VOXL_ESC_CONFIG", "rebootRequired": true, "shortDesc": "UART ESC configuration", "type": "Int32", "values": [{"description": "- Disabled", "value": 0}, {"description": "- VOXL ESC", "value": 1}]}, {"category": "Standard", "default": 0, "group": "VOXL ESC", "longDesc": "Selects what type of mode is enabled, if any", "max": 2, "min": 0, "name": "VOXL_ESC_MODE", "rebootRequired": true, "shortDesc": "UART ESC Mode", "type": "Int32", "values": [{"description": "- None", "value": 0}, {"description": "- Turtle Mode enabled via AUX1", "value": 1}, {"description": "- Turtle Mode enabled via AUX2", "value": 2}, {"description": "- UART Passthrough Mode", "value": 3}]}, {"category": "Standard", "default": 1, "group": "VOXL ESC", "longDesc": "Only applicable to ESCs that report total battery voltage and current", "max": 1, "min": 0, "name": "VOXL_ESC_PUB_BST", "rebootRequired": true, "shortDesc": "UART ESC Enable publishing of battery status", "type": "Int32", "values": [{"description": "- Disabled", "value": 0}, {"description": "- Enabled", "value": 1}]}, {"category": "Standard", "default": 15000, "group": "VOXL ESC", "longDesc": "Maximum RPM for ESC", "name": "VOXL_ESC_RPM_MAX", "shortDesc": "UART ESC RPM Max", "type": "Int32", "units": "rpm"}, {"category": "Standard", "default": 5500, "group": "VOXL ESC", "longDesc": "Minimum RPM for ESC", "name": "VOXL_ESC_RPM_MIN", "shortDesc": "UART ESC RPM Min", "type": "Int32", "units": "rpm"}, {"category": "Standard", "default": 0, "group": "VOXL ESC", "name": "VOXL_ESC_SDIR1", "shortDesc": "UART ESC ID 1 Spin Direction Flag", "type": "Int32", "values": [{"description": "- Default", "value": 0}, {"description": "- Reverse", "value": 1}]}, {"category": "Standard", "default": 0, "group": "VOXL ESC", "name": "VOXL_ESC_SDIR2", "shortDesc": "UART ESC ID 2 Spin Direction Flag", "type": "Int32", "values": [{"description": "- Default", "value": 0}, {"description": "- Reverse", "value": 1}]}, {"category": "Standard", "default": 0, "group": "VOXL ESC", "name": "VOXL_ESC_SDIR3", "shortDesc": "UART ESC ID 3 Spin Direction Flag", "type": "Int32", "values": [{"description": "- Default", "value": 0}, {"description": "- Reverse", "value": 1}]}, {"category": "Standard", "default": 0, "group": "VOXL ESC", "name": "VOXL_ESC_SDIR4", "shortDesc": "UART ESC ID 4 Spin Direction Flag", "type": "Int32", "values": [{"description": "- Default", "value": 0}, {"description": "- Reverse", "value": 1}]}, {"category": "Standard", "decimalPlaces": 10, "default": 0.99, "group": "VOXL ESC", "increment": 0.001, "max": 1.0, "min": 0.0, "name": "VOXL_ESC_T_COSP", "shortDesc": "UART ESC Turtle Mode Cosphi", "type": "Float"}, {"category": "Standard", "decimalPlaces": 10, "default": 20, "group": "VOXL ESC", "increment": 1, "max": 100, "min": 0, "name": "VOXL_ESC_T_DEAD", "shortDesc": "UART ESC Turtle Mode Crash Flip Motor Deadband", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 10, "default": 35, "group": "VOXL ESC", "increment": 1, "max": 100, "min": 0, "name": "VOXL_ESC_T_EXPO", "shortDesc": "UART ESC Turtle Mode Crash Flip Motor expo", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 10, "default": 0.15, "group": "VOXL ESC", "increment": 1.0, "max": 100.0, "min": 0.0, "name": "VOXL_ESC_T_MINF", "shortDesc": "UART ESC Turtle Mode Crash Flip Motor STICK_MINF", "type": "Float"}, {"category": "Standard", "default": 0, "group": "VOXL ESC", "longDesc": "Only applicable to ESCs that report temperature", "max": 200, "min": 0, "name": "VOXL_ESC_T_OVER", "rebootRequired": true, "shortDesc": "UART ESC Over-Temperature Threshold (Degrees C)", "type": "Int32", "values": [{"description": "- Disabled", "value": 0}]}, {"category": "Standard", "decimalPlaces": 10, "default": 90, "group": "VOXL ESC", "increment": 1, "max": 100, "min": 1, "name": "VOXL_ESC_T_PERC", "shortDesc": "UART ESC Turtle Mode Crash Flip Motor Percent", "type": "Int32"}, {"category": "Standard", "default": 0, "group": "VOXL ESC", "longDesc": "Only applicable to ESCs that report temperature", "max": 200, "min": 0, "name": "VOXL_ESC_T_WARN", "rebootRequired": true, "shortDesc": "UART ESC Temperature Warning Threshold (Degrees C)", "type": "Int32", "values": [{"description": "- Disabled", "value": 0}]}, {"category": "Standard", "default": 0, "group": "VOXL ESC", "max": 1, "min": 0, "name": "VOXL_ESC_VLOG", "rebootRequired": true, "shortDesc": "UART ESC verbose logging", "type": "Int32", "values": [{"description": "- Disabled", "value": 0}, {"description": "- Enabled", "value": 1}]}, {"category": "Standard", "default": 921600, "group": "VOXL2 IO", "longDesc": "Default rate is 921600, which is used for communicating with M0065.", "name": "VOXL2_IO_BAUD", "shortDesc": "UART M0065 baud rate", "type": "Int32", "units": "bit/s"}, {"category": "Standard", "default": 2000, "group": "VOXL2 IO", "longDesc": "Maximum duration (microseconds) for M0065 PWM", "max": 2000, "min": 0, "name": "VOXL2_IO_MAX", "shortDesc": "M0065 PWM Max", "type": "Int32", "units": "us"}, {"category": "Standard", "default": 1000, "group": "VOXL2 IO", "longDesc": "Minimum duration (microseconds) for M0065 PWM", "max": 2000, "min": 0, "name": "VOXL2_IO_MIN", "shortDesc": "M0065 PWM Min", "type": "Int32", "units": "us"}, {"category": "Standard", "decimalPlaces": 2, "default": 8.0, "group": "VTOL Attitude Control", "increment": 1.0, "longDesc": "Airspeed at which we can start blending both fw and mc controls. Set to 0 to disable.", "max": 30.0, "min": 0.0, "name": "VT_ARSP_BLEND", "shortDesc": "Transition blending airspeed", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 2, "default": 10.0, "group": "VTOL Attitude Control", "increment": 1.0, "longDesc": "Airspeed at which we can switch to fw mode", "max": 30.0, "min": 0.0, "name": "VT_ARSP_TRANS", "shortDesc": "Transition airspeed", "type": "Float", "units": "m/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 1.0, "group": "VTOL Attitude Control", "increment": 0.1, "longDesc": "Time in seconds it takes to tilt form VT_TILT_FW to VT_TILT_MC.", "max": 10.0, "min": 0.1, "name": "VT_BT_TILT_DUR", "shortDesc": "Duration motor tilt up in backtransition", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "VTOL Attitude Control", "increment": 0.05, "max": 0.3, "min": 0.0, "name": "VT_B_DEC_I", "shortDesc": "Backtransition deceleration setpoint to pitch I gain", "type": "Float", "units": "rad s/m"}, {"category": "Standard", "decimalPlaces": 2, "default": 2.0, "group": "VTOL Attitude Control", "increment": 0.1, "longDesc": "Used to calculate back transition distance in an auto mode. For standard vtol and tiltrotors a controller is used to track this value during the transition.", "max": 10.0, "min": 0.5, "name": "VT_B_DEC_MSS", "shortDesc": "Approximate deceleration during back transition", "type": "Float", "units": "m/s^2"}, {"category": "Standard", "decimalPlaces": 2, "default": 10.0, "group": "VTOL Attitude Control", "increment": 1.0, "longDesc": "Transition is also declared over if the groundspeed drops below MPC_XY_CRUISE.", "max": 20.0, "min": 0.1, "name": "VT_B_TRANS_DUR", "shortDesc": "Maximum duration of a back transition", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": 3.0, "group": "VTOL Attitude Control", "increment": 0.1, "longDesc": "This sets the duration during which the MC motors ramp up to the commanded thrust during the back transition stage.", "max": 20.0, "min": 0.0, "name": "VT_B_TRANS_RAMP", "shortDesc": "Back transition MC motor ramp up time", "type": "Float", "units": "s"}, {"category": "Standard", "default": 1, "group": "VTOL Attitude Control", "longDesc": "If set to 1 the control surfaces are locked at the disarmed value in multicopter mode.", "name": "VT_ELEV_MC_LOCK", "shortDesc": "Lock control surfaces in hover", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}]}, {"category": "Standard", "default": 0, "group": "VTOL Attitude Control", "longDesc": "This feature can be used to avoid the plane having to pitch nose down in order to move forward. Prevents large, negative lift from pitching nose down into wind. Fixed-wing forward actuators refers to puller/pusher (standard VTOL), or forward-tilt (tiltrotor VTOL). Only active if demanded down pitch is below VT_PITCH_MIN. Use VT_FWD_THRUST_SC to tune it. Descend mode is treated as Landing too. Only active (if enabled) in Altitude, Position and Auto modes, not in Stabilized.", "name": "VT_FWD_THRUST_EN", "shortDesc": "Use fixed-wing actuation in hover to accelerate forward", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled (except LANDING)", "value": 1}, {"description": "Enabled if distance to ground above MPC_LAND_ALT1", "value": 2}, {"description": "Enabled if distance to ground above MPC_LAND_ALT2", "value": 3}, {"description": "Enabled constantly", "value": 4}, {"description": "Enabled if distance to ground above MPC_LAND_ALT1 (except LANDING)", "value": 5}, {"description": "Enabled if distance to ground above MPC_LAND_ALT2 (except LANDING)", "value": 6}]}, {"category": "Standard", "decimalPlaces": 2, "default": 0.7, "group": "VTOL Attitude Control", "increment": 0.01, "longDesc": "Scale applied to the demanded down-pitch to get the fixed-wing forward actuation in hover mode. Enabled via VT_FWD_THRUST_EN.", "max": 2.0, "min": 0.0, "name": "VT_FWD_THRUST_SC", "shortDesc": "Fixed-wing actuation thrust scale for hover forward flight", "type": "Float"}, {"bitmask": [{"description": "Yaw", "index": 0}, {"description": "Roll", "index": 1}, {"description": "Pitch", "index": 2}], "category": "Standard", "default": 0, "group": "VTOL Attitude Control", "longDesc": "Enable differential thrust seperately for roll, pitch, yaw in forward (fixed-wing) mode. The effectiveness of differential thrust around the corresponding axis can be tuned by setting VT_FW_DIFTHR_S_R / VT_FW_DIFTHR_S_P / VT_FW_DIFTHR_S_Y.", "max": 7, "min": 0, "name": "VT_FW_DIFTHR_EN", "shortDesc": "Differential thrust in forwards flight", "type": "Int32"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "VTOL Attitude Control", "increment": 0.1, "longDesc": "Differential thrust in forward flight is enabled via VT_FW_DIFTHR_EN.", "max": 2.0, "min": 0.0, "name": "VT_FW_DIFTHR_S_P", "shortDesc": "Pitch differential thrust factor in forward flight", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 1.0, "group": "VTOL Attitude Control", "increment": 0.1, "longDesc": "Differential thrust in forward flight is enabled via VT_FW_DIFTHR_EN.", "max": 2.0, "min": 0.0, "name": "VT_FW_DIFTHR_S_R", "shortDesc": "Roll differential thrust factor in forward flight", "type": "Float"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.1, "group": "VTOL Attitude Control", "increment": 0.1, "longDesc": "Differential thrust in forward flight is enabled via VT_FW_DIFTHR_EN.", "max": 2.0, "min": 0.0, "name": "VT_FW_DIFTHR_S_Y", "shortDesc": "Yaw differential thrust factor in forward flight", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "VTOL Attitude Control", "increment": 1.0, "longDesc": "Minimum altitude for fixed-wing flight. When the vehicle is in fixed-wing mode and the altitude drops below this altitude (relative altitude above local origin), it will instantly switch back to MC mode and execute behavior defined in COM_QC_ACT.", "max": 200.0, "min": 0.0, "name": "VT_FW_MIN_ALT", "shortDesc": "Quad-chute altitude", "type": "Float", "units": "m"}, {"category": "Standard", "default": 0, "group": "VTOL Attitude Control", "increment": 1, "longDesc": "Maximum height above the ground (if available, otherwise above Home if available, otherwise above the local origin) where triggering a quad-chute is possible. At high altitudes there is a big risk to deplete the battery and therefore crash if quad-chuting there.", "min": 0, "name": "VT_FW_QC_HMAX", "shortDesc": "Quad-chute maximum height", "type": "Int32", "units": "m"}, {"category": "Standard", "default": 0, "group": "VTOL Attitude Control", "longDesc": "Absolute pitch threshold for quad-chute triggering in FW mode. Above this the vehicle will transition back to MC mode and execute behavior defined in COM_QC_ACT. Set to 0 do disable this threshold.", "max": 180, "min": 0, "name": "VT_FW_QC_P", "shortDesc": "Quad-chute max pitch threshold", "type": "Int32", "units": "deg"}, {"category": "Standard", "default": 0, "group": "VTOL Attitude Control", "longDesc": "Absolute roll threshold for quad-chute triggering in FW mode. Above this the vehicle will transition back to MC mode and execute behavior defined in COM_QC_ACT. Set to 0 do disable this threshold.", "max": 180, "min": 0, "name": "VT_FW_QC_R", "shortDesc": "Quad-chute max roll threshold", "type": "Int32", "units": "deg"}, {"category": "Standard", "decimalPlaces": 2, "default": 5.0, "group": "VTOL Attitude Control", "increment": 1.0, "longDesc": "Time in seconds used for a transition", "max": 20.0, "min": 0.1, "name": "VT_F_TRANS_DUR", "shortDesc": "Duration of a front transition", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "VTOL Attitude Control", "increment": 0.01, "max": 1.0, "min": 0.0, "name": "VT_F_TRANS_THR", "shortDesc": "Target throttle value for the transition to fixed-wing flight", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 6.0, "group": "VTOL Attitude Control", "increment": 0.5, "longDesc": "The duration of the front transition when there is no airspeed feedback available.", "max": 30.0, "min": 1.0, "name": "VT_F_TR_OL_TM", "shortDesc": "Airspeed-less front transition time (open loop)", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 1, "default": -5.0, "group": "VTOL Attitude Control", "increment": 0.1, "longDesc": "Overrides VT_PITCH_MIN when the vehicle is in LAND mode (hovering). During landing it can be beneficial to reduce the pitch angle to reduce the generated lift in head wind.", "max": 45.0, "min": -10.0, "name": "VT_LND_PITCH_MIN", "shortDesc": "Minimum pitch angle during hover landing", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 1, "default": -5.0, "group": "VTOL Attitude Control", "increment": 0.1, "longDesc": "Any pitch setpoint below this value is translated to a forward force by the fixed-wing forward actuation if VT_FW_TRHUST_EN is set to 1.", "max": 45.0, "min": -10.0, "name": "VT_PITCH_MIN", "shortDesc": "Minimum pitch angle during hover", "type": "Float", "units": "deg"}, {"category": "Standard", "decimalPlaces": 2, "default": 0.33, "group": "VTOL Attitude Control", "increment": 0.01, "longDesc": "Defines the slew rate of the puller/pusher throttle during transitions. Zero will deactivate the slew rate limiting and thus produce an instant throttle rise to the transition throttle VT_F_TRANS_THR.", "min": 0.0, "name": "VT_PSHER_SLEW", "shortDesc": "Pusher throttle ramp up slew rate", "type": "Float", "units": "1/s"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "VTOL Attitude Control", "increment": 1.0, "longDesc": "Altitude error threshold for quad-chute triggering during fixed-wing flight. The check is only active if altitude is controlled and the vehicle is below the current altitude reference. The altitude error is relative to the highest altitude the vehicle has achieved since it has flown below the current altitude reference. Set to 0 do disable.", "max": 200.0, "min": 0.0, "name": "VT_QC_ALT_LOSS", "shortDesc": "Quad-chute uncommanded descent threshold", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 20.0, "group": "VTOL Attitude Control", "increment": 1.0, "longDesc": "Altitude loss threshold for quad-chute triggering during VTOL transition to fixed-wing flight in altitude-controlled flight modes. Active until 5s after completing transition to fixed-wing. If the current altitude is more than this value below the altitude at the beginning of the transition, it will instantly switch back to MC mode and execute behavior defined in COM_QC_ACT. Set to 0 do disable this threshold.", "max": 50.0, "min": 0.0, "name": "VT_QC_T_ALT_LOSS", "shortDesc": "Quad-chute transition altitude loss threshold", "type": "Float", "units": "m"}, {"category": "Standard", "decimalPlaces": 1, "default": 0.0, "group": "VTOL Attitude Control", "increment": 0.1, "max": 1.0, "min": -1.0, "name": "VT_SPOILER_MC_LD", "shortDesc": "Spoiler setting while landing (hover)", "type": "Float", "units": "norm"}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "VTOL Attitude Control", "increment": 0.01, "max": 1.0, "min": 0.0, "name": "VT_TILT_FW", "shortDesc": "Normalized tilt in FW", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.0, "group": "VTOL Attitude Control", "increment": 0.01, "max": 1.0, "min": 0.0, "name": "VT_TILT_MC", "shortDesc": "Normalized tilt in Hover", "type": "Float"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.4, "group": "VTOL Attitude Control", "increment": 0.01, "max": 1.0, "min": 0.0, "name": "VT_TILT_TRANS", "shortDesc": "Normalized tilt in transition to FW", "type": "Float"}, {"category": "Standard", "decimalPlaces": 1, "default": 2.0, "group": "VTOL Attitude Control", "increment": 0.1, "longDesc": "Minimum time in seconds for front transition.", "max": 20.0, "min": 0.0, "name": "VT_TRANS_MIN_TM", "shortDesc": "Front transition minimum time", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 3, "default": 0.5, "group": "VTOL Attitude Control", "increment": 0.01, "longDesc": "Time in seconds it takes to tilt form VT_TILT_TRANS to VT_TILT_FW.", "max": 5.0, "min": 0.1, "name": "VT_TRANS_P2_DUR", "shortDesc": "Duration of front transition phase 2", "type": "Float", "units": "s"}, {"category": "Standard", "decimalPlaces": 2, "default": 15.0, "group": "VTOL Attitude Control", "increment": 1.0, "longDesc": "Time in seconds after which transition will be cancelled. Disabled if set to 0.", "max": 30.0, "min": 0.1, "name": "VT_TRANS_TIMEOUT", "shortDesc": "Front transition timeout", "type": "Float", "units": "s"}, {"category": "Standard", "default": 0, "group": "VTOL Attitude Control", "max": 2, "min": 0, "name": "VT_TYPE", "rebootRequired": true, "shortDesc": "VTOL Type (Tailsitter=0, Tiltrotor=1, Standard=2)", "type": "Int32", "values": [{"description": "Tailsitter", "value": 0}, {"description": "Tiltrotor", "value": 1}, {"description": "Standard", "value": 2}]}, {"category": "Standard", "decimalPlaces": 3, "default": 1.0, "group": "VTOL Attitude Control", "increment": 0.01, "longDesc": "The desired gain to convert roll sp into yaw rate sp.", "max": 3.0, "min": 0.0, "name": "WV_GAIN", "shortDesc": "Weather-vane roll angle to yawrate", "type": "Float", "units": "Hz"}, {"category": "Standard", "decimalPlaces": 1, "default": 80.0, "group": "VTOL Takeoff", "increment": 1.0, "longDesc": "Altitude relative to home at which vehicle will loiter after front transition.", "max": 300.0, "min": 20.0, "name": "VTO_LOITER_ALT", "shortDesc": "VTOL Takeoff relative loiter altitude", "type": "Float", "units": "m"}, {"category": "System", "default": 0, "group": "Zenoh", "longDesc": "Zenoh", "name": "ZENOH_ENABLE", "rebootRequired": true, "shortDesc": "Zenoh Enable", "type": "Int32"}, {"category": "Standard", "default": 1, "group": "Miscellaneous", "max": 2, "min": 0, "name": "SF1XX_MODE", "shortDesc": "Lightware SF1xx/SF20/LW20 Operation Mode", "type": "Int32", "values": [{"description": "Disabled", "value": 0}, {"description": "Enabled", "value": 1}, {"description": "Disabled during VTOL fast forward flight", "value": 2}]}, {"category": "Standard", "default": 0, "group": "Miscellaneous", "name": "UUV_SKIP_CTRL", "shortDesc": "Skip the controller", "type": "Int32", "values": [{"description": "use the module's controller", "value": 0}, {"description": "skip the controller and feedthrough the setpoints", "value": 1}]}], "translation": {"items": {"parameters": {"list": {"items": {"bitmask": {"list": {"key": "index", "translate": ["description"]}}, "values": {"list": {"key": "value", "translate": ["description"]}}}, "key": "name", "translate": ["shortDesc", "longDesc"], "translate-global": ["category", "group"]}}}}, "version": 1}
\ No newline at end of file
diff --git a/to_translate/parameters.ts b/to_translate/parameters.ts
index d1ca3f7..175d9b0 100644
--- a/to_translate/parameters.ts
+++ b/to_translate/parameters.ts
@@ -873,36447 +873,76587 @@
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/shortDesc</name>
+  <name>/parameters/PCA9685_DIS1/shortDesc</name>
   <message>
-  <source>SIM Channel 1 Output Function</source>
+  <source>PCA9685 Output Channel 1 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/longDesc</name>
+  <name>/parameters/PCA9685_DIS1/longDesc</name>
   <message>
-  <source>Select what should be output on SIM Channel 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/0/description</name>
+  <name>/parameters/PCA9685_DIS10/shortDesc</name>
+  <message>
+  <source>PCA9685 Output Channel 10 Disarmed Value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DIS10/longDesc</name>
+  <message>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DIS11/shortDesc</name>
+  <message>
+  <source>PCA9685 Output Channel 11 Disarmed Value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DIS11/longDesc</name>
+  <message>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DIS12/shortDesc</name>
+  <message>
+  <source>PCA9685 Output Channel 12 Disarmed Value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DIS12/longDesc</name>
+  <message>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DIS13/shortDesc</name>
+  <message>
+  <source>PCA9685 Output Channel 13 Disarmed Value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DIS13/longDesc</name>
+  <message>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DIS14/shortDesc</name>
+  <message>
+  <source>PCA9685 Output Channel 14 Disarmed Value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DIS14/longDesc</name>
+  <message>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DIS15/shortDesc</name>
+  <message>
+  <source>PCA9685 Output Channel 15 Disarmed Value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DIS15/longDesc</name>
+  <message>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DIS16/shortDesc</name>
+  <message>
+  <source>PCA9685 Output Channel 16 Disarmed Value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DIS16/longDesc</name>
+  <message>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DIS2/shortDesc</name>
+  <message>
+  <source>PCA9685 Output Channel 2 Disarmed Value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DIS2/longDesc</name>
+  <message>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DIS3/shortDesc</name>
+  <message>
+  <source>PCA9685 Output Channel 3 Disarmed Value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DIS3/longDesc</name>
+  <message>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DIS4/shortDesc</name>
+  <message>
+  <source>PCA9685 Output Channel 4 Disarmed Value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DIS4/longDesc</name>
+  <message>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DIS5/shortDesc</name>
+  <message>
+  <source>PCA9685 Output Channel 5 Disarmed Value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DIS5/longDesc</name>
+  <message>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DIS6/shortDesc</name>
+  <message>
+  <source>PCA9685 Output Channel 6 Disarmed Value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DIS6/longDesc</name>
+  <message>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DIS7/shortDesc</name>
+  <message>
+  <source>PCA9685 Output Channel 7 Disarmed Value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DIS7/longDesc</name>
+  <message>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DIS8/shortDesc</name>
+  <message>
+  <source>PCA9685 Output Channel 8 Disarmed Value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DIS8/longDesc</name>
+  <message>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DIS9/shortDesc</name>
+  <message>
+  <source>PCA9685 Output Channel 9 Disarmed Value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DIS9/longDesc</name>
+  <message>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DUTY_EN/shortDesc</name>
+  <message>
+  <source>Put the selected channels into Duty-Cycle output mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DUTY_EN/longDesc</name>
+  <message>
+  <source>The driver will output standard pulse-width encoded signal without this bit set. To make PCA9685 output in duty-cycle fashion, please enable the corresponding channel bit here and adjusting standard params to suit your need. The driver will have 12bits resolution for duty-cycle output. That means to achieve 0% to 100% output range on one channel, the corresponding params MIN and MAX for the channel should be set to 0 and 4096. Other standard params follows the same rule.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DUTY_EN/bitmask/0/description</name>
+  <message>
+  <source>Put CH1 to Duty-Cycle mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DUTY_EN/bitmask/1/description</name>
+  <message>
+  <source>Put CH2 to Duty-Cycle mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DUTY_EN/bitmask/2/description</name>
+  <message>
+  <source>Put CH3 to Duty-Cycle mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DUTY_EN/bitmask/3/description</name>
+  <message>
+  <source>Put CH4 to Duty-Cycle mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DUTY_EN/bitmask/4/description</name>
+  <message>
+  <source>Put CH5 to Duty-Cycle mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DUTY_EN/bitmask/5/description</name>
+  <message>
+  <source>Put CH6 to Duty-Cycle mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DUTY_EN/bitmask/6/description</name>
+  <message>
+  <source>Put CH7 to Duty-Cycle mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DUTY_EN/bitmask/7/description</name>
+  <message>
+  <source>Put CH8 to Duty-Cycle mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DUTY_EN/bitmask/8/description</name>
+  <message>
+  <source>Put CH9 to Duty-Cycle mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DUTY_EN/bitmask/9/description</name>
+  <message>
+  <source>Put CH10 to Duty-Cycle mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DUTY_EN/bitmask/10/description</name>
+  <message>
+  <source>Put CH11 to Duty-Cycle mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DUTY_EN/bitmask/11/description</name>
+  <message>
+  <source>Put CH12 to Duty-Cycle mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DUTY_EN/bitmask/12/description</name>
+  <message>
+  <source>Put CH13 to Duty-Cycle mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DUTY_EN/bitmask/13/description</name>
+  <message>
+  <source>Put CH14 to Duty-Cycle mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DUTY_EN/bitmask/14/description</name>
+  <message>
+  <source>Put CH15 to Duty-Cycle mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_DUTY_EN/bitmask/15/description</name>
+  <message>
+  <source>Put CH16 to Duty-Cycle mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_FAIL1/shortDesc</name>
+  <message>
+  <source>PCA9685 Output Channel 1 Failsafe Value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_FAIL1/longDesc</name>
+  <message>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC1).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_FAIL10/shortDesc</name>
+  <message>
+  <source>PCA9685 Output Channel 10 Failsafe Value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_FAIL10/longDesc</name>
+  <message>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC10).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_FAIL11/shortDesc</name>
+  <message>
+  <source>PCA9685 Output Channel 11 Failsafe Value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_FAIL11/longDesc</name>
+  <message>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC11).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_FAIL12/shortDesc</name>
+  <message>
+  <source>PCA9685 Output Channel 12 Failsafe Value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_FAIL12/longDesc</name>
+  <message>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC12).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_FAIL13/shortDesc</name>
+  <message>
+  <source>PCA9685 Output Channel 13 Failsafe Value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_FAIL13/longDesc</name>
+  <message>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC13).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_FAIL14/shortDesc</name>
+  <message>
+  <source>PCA9685 Output Channel 14 Failsafe Value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_FAIL14/longDesc</name>
+  <message>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC14).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_FAIL15/shortDesc</name>
+  <message>
+  <source>PCA9685 Output Channel 15 Failsafe Value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_FAIL15/longDesc</name>
+  <message>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC15).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_FAIL16/shortDesc</name>
+  <message>
+  <source>PCA9685 Output Channel 16 Failsafe Value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_FAIL16/longDesc</name>
+  <message>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC16).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_FAIL2/shortDesc</name>
+  <message>
+  <source>PCA9685 Output Channel 2 Failsafe Value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_FAIL2/longDesc</name>
+  <message>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC2).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_FAIL3/shortDesc</name>
+  <message>
+  <source>PCA9685 Output Channel 3 Failsafe Value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_FAIL3/longDesc</name>
+  <message>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC3).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_FAIL4/shortDesc</name>
+  <message>
+  <source>PCA9685 Output Channel 4 Failsafe Value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_FAIL4/longDesc</name>
+  <message>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC4).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_FAIL5/shortDesc</name>
+  <message>
+  <source>PCA9685 Output Channel 5 Failsafe Value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_FAIL5/longDesc</name>
+  <message>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC5).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_FAIL6/shortDesc</name>
+  <message>
+  <source>PCA9685 Output Channel 6 Failsafe Value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_FAIL6/longDesc</name>
+  <message>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC6).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_FAIL7/shortDesc</name>
+  <message>
+  <source>PCA9685 Output Channel 7 Failsafe Value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_FAIL7/longDesc</name>
+  <message>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC7).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_FAIL8/shortDesc</name>
+  <message>
+  <source>PCA9685 Output Channel 8 Failsafe Value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_FAIL8/longDesc</name>
+  <message>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC8).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_FAIL9/shortDesc</name>
+  <message>
+  <source>PCA9685 Output Channel 9 Failsafe Value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_FAIL9/longDesc</name>
+  <message>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PCA9685_FUNC9).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_FUNC1/shortDesc</name>
+  <message>
+  <source>PCA9685 Output Channel 1 Output Function</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_FUNC1/longDesc</name>
+  <message>
+  <source>Select what should be output on PCA9685 Output Channel 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCA9685_FUNC1/values/0/description</name>
   <message>
   <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/1/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/1/description</name>
   <message>
   <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/2/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/2/description</name>
   <message>
   <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/101/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/101/description</name>
   <message>
   <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/102/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/102/description</name>
   <message>
   <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/103/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/103/description</name>
   <message>
   <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/104/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/104/description</name>
   <message>
   <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/105/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/105/description</name>
   <message>
   <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/106/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/106/description</name>
   <message>
   <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/107/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/107/description</name>
   <message>
   <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/108/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/108/description</name>
   <message>
   <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/109/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/109/description</name>
   <message>
   <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/110/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/110/description</name>
   <message>
   <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/111/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/111/description</name>
   <message>
   <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/112/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/112/description</name>
   <message>
   <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/201/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/201/description</name>
   <message>
   <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/202/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/202/description</name>
   <message>
   <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/203/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/203/description</name>
   <message>
   <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/204/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/204/description</name>
   <message>
   <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/205/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/205/description</name>
   <message>
   <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/206/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/206/description</name>
   <message>
   <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/207/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/207/description</name>
   <message>
   <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/208/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/208/description</name>
   <message>
   <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/301/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/301/description</name>
   <message>
   <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/302/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/302/description</name>
   <message>
   <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/303/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/303/description</name>
   <message>
   <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/304/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/304/description</name>
   <message>
   <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/305/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/305/description</name>
   <message>
   <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/306/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/306/description</name>
   <message>
   <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/400/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/400/description</name>
   <message>
   <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/401/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/401/description</name>
   <message>
   <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/402/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/402/description</name>
   <message>
   <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/403/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/403/description</name>
   <message>
   <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/404/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/404/description</name>
   <message>
   <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/405/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/405/description</name>
   <message>
   <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/406/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/406/description</name>
   <message>
   <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/407/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/407/description</name>
   <message>
   <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/408/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/408/description</name>
   <message>
   <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/409/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/409/description</name>
   <message>
   <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/410/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/410/description</name>
   <message>
   <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/411/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/411/description</name>
   <message>
   <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/412/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/412/description</name>
   <message>
   <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/420/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/420/description</name>
   <message>
   <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/421/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/421/description</name>
   <message>
   <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/422/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/422/description</name>
   <message>
   <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/430/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/430/description</name>
   <message>
   <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC1/values/440/description</name>
+  <name>/parameters/PCA9685_FUNC1/values/440/description</name>
   <message>
   <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/shortDesc</name>
+  <name>/parameters/PCA9685_FUNC10/shortDesc</name>
   <message>
-  <source>SIM Channel 10 Output Function</source>
+  <source>PCA9685 Output Channel 10 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/longDesc</name>
+  <name>/parameters/PCA9685_FUNC10/longDesc</name>
   <message>
-  <source>Select what should be output on SIM Channel 10. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
+  <source>Select what should be output on PCA9685 Output Channel 10. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/0/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/0/description</name>
   <message>
   <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/1/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/1/description</name>
   <message>
   <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/2/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/2/description</name>
   <message>
   <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/101/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/101/description</name>
   <message>
   <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/102/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/102/description</name>
   <message>
   <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/103/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/103/description</name>
   <message>
   <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/104/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/104/description</name>
   <message>
   <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/105/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/105/description</name>
   <message>
   <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/106/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/106/description</name>
   <message>
   <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/107/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/107/description</name>
   <message>
   <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/108/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/108/description</name>
   <message>
   <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/109/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/109/description</name>
   <message>
   <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/110/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/110/description</name>
   <message>
   <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/111/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/111/description</name>
   <message>
   <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/112/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/112/description</name>
   <message>
   <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/201/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/201/description</name>
   <message>
   <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/202/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/202/description</name>
   <message>
   <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/203/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/203/description</name>
   <message>
   <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/204/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/204/description</name>
   <message>
   <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/205/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/205/description</name>
   <message>
   <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/206/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/206/description</name>
   <message>
   <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/207/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/207/description</name>
   <message>
   <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/208/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/208/description</name>
   <message>
   <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/301/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/301/description</name>
   <message>
   <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/302/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/302/description</name>
   <message>
   <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/303/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/303/description</name>
   <message>
   <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/304/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/304/description</name>
   <message>
   <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/305/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/305/description</name>
   <message>
   <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/306/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/306/description</name>
   <message>
   <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/400/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/400/description</name>
   <message>
   <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/401/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/401/description</name>
   <message>
   <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/402/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/402/description</name>
   <message>
   <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/403/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/403/description</name>
   <message>
   <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/404/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/404/description</name>
   <message>
   <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/405/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/405/description</name>
   <message>
   <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/406/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/406/description</name>
   <message>
   <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/407/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/407/description</name>
   <message>
   <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/408/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/408/description</name>
   <message>
   <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/409/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/409/description</name>
   <message>
   <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/410/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/410/description</name>
   <message>
   <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/411/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/411/description</name>
   <message>
   <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/412/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/412/description</name>
   <message>
   <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/420/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/420/description</name>
   <message>
   <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/421/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/421/description</name>
   <message>
   <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/422/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/422/description</name>
   <message>
   <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/430/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/430/description</name>
   <message>
   <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC10/values/440/description</name>
+  <name>/parameters/PCA9685_FUNC10/values/440/description</name>
   <message>
   <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/shortDesc</name>
+  <name>/parameters/PCA9685_FUNC11/shortDesc</name>
   <message>
-  <source>SIM Channel 11 Output Function</source>
+  <source>PCA9685 Output Channel 11 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/longDesc</name>
+  <name>/parameters/PCA9685_FUNC11/longDesc</name>
   <message>
-  <source>Select what should be output on SIM Channel 11. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
+  <source>Select what should be output on PCA9685 Output Channel 11. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/0/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/0/description</name>
   <message>
   <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/1/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/1/description</name>
   <message>
   <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/2/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/2/description</name>
   <message>
   <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/101/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/101/description</name>
   <message>
   <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/102/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/102/description</name>
   <message>
   <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/103/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/103/description</name>
   <message>
   <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/104/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/104/description</name>
   <message>
   <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/105/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/105/description</name>
   <message>
   <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/106/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/106/description</name>
   <message>
   <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/107/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/107/description</name>
   <message>
   <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/108/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/108/description</name>
   <message>
   <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/109/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/109/description</name>
   <message>
   <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/110/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/110/description</name>
   <message>
   <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/111/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/111/description</name>
   <message>
   <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/112/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/112/description</name>
   <message>
   <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/201/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/201/description</name>
   <message>
   <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/202/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/202/description</name>
   <message>
   <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/203/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/203/description</name>
   <message>
   <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/204/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/204/description</name>
   <message>
   <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/205/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/205/description</name>
   <message>
   <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/206/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/206/description</name>
   <message>
   <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/207/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/207/description</name>
   <message>
   <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/208/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/208/description</name>
   <message>
   <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/301/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/301/description</name>
   <message>
   <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/302/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/302/description</name>
   <message>
   <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/303/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/303/description</name>
   <message>
   <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/304/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/304/description</name>
   <message>
   <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/305/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/305/description</name>
   <message>
   <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/306/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/306/description</name>
   <message>
   <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/400/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/400/description</name>
   <message>
   <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/401/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/401/description</name>
   <message>
   <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/402/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/402/description</name>
   <message>
   <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/403/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/403/description</name>
   <message>
   <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/404/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/404/description</name>
   <message>
   <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/405/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/405/description</name>
   <message>
   <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/406/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/406/description</name>
   <message>
   <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/407/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/407/description</name>
   <message>
   <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/408/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/408/description</name>
   <message>
   <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/409/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/409/description</name>
   <message>
   <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/410/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/410/description</name>
   <message>
   <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/411/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/411/description</name>
   <message>
   <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/412/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/412/description</name>
   <message>
   <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/420/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/420/description</name>
   <message>
   <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/421/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/421/description</name>
   <message>
   <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/422/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/422/description</name>
   <message>
   <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/430/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/430/description</name>
   <message>
   <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC11/values/440/description</name>
+  <name>/parameters/PCA9685_FUNC11/values/440/description</name>
   <message>
   <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/shortDesc</name>
+  <name>/parameters/PCA9685_FUNC12/shortDesc</name>
   <message>
-  <source>SIM Channel 12 Output Function</source>
+  <source>PCA9685 Output Channel 12 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/longDesc</name>
+  <name>/parameters/PCA9685_FUNC12/longDesc</name>
   <message>
-  <source>Select what should be output on SIM Channel 12. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
+  <source>Select what should be output on PCA9685 Output Channel 12. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/0/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/0/description</name>
   <message>
   <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/1/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/1/description</name>
   <message>
   <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/2/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/2/description</name>
   <message>
   <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/101/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/101/description</name>
   <message>
   <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/102/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/102/description</name>
   <message>
   <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/103/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/103/description</name>
   <message>
   <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/104/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/104/description</name>
   <message>
   <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/105/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/105/description</name>
   <message>
   <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/106/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/106/description</name>
   <message>
   <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/107/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/107/description</name>
   <message>
   <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/108/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/108/description</name>
   <message>
   <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/109/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/109/description</name>
   <message>
   <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/110/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/110/description</name>
   <message>
   <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/111/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/111/description</name>
   <message>
   <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/112/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/112/description</name>
   <message>
   <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/201/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/201/description</name>
   <message>
   <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/202/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/202/description</name>
   <message>
   <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/203/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/203/description</name>
   <message>
   <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/204/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/204/description</name>
   <message>
   <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/205/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/205/description</name>
   <message>
   <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/206/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/206/description</name>
   <message>
   <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/207/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/207/description</name>
   <message>
   <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/208/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/208/description</name>
   <message>
   <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/301/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/301/description</name>
   <message>
   <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/302/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/302/description</name>
   <message>
   <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/303/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/303/description</name>
   <message>
   <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/304/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/304/description</name>
   <message>
   <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/305/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/305/description</name>
   <message>
   <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/306/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/306/description</name>
   <message>
   <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/400/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/400/description</name>
   <message>
   <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/401/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/401/description</name>
   <message>
   <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/402/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/402/description</name>
   <message>
   <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/403/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/403/description</name>
   <message>
   <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/404/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/404/description</name>
   <message>
   <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/405/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/405/description</name>
   <message>
   <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/406/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/406/description</name>
   <message>
   <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/407/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/407/description</name>
   <message>
   <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/408/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/408/description</name>
   <message>
   <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/409/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/409/description</name>
   <message>
   <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/410/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/410/description</name>
   <message>
   <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/411/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/411/description</name>
   <message>
   <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/412/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/412/description</name>
   <message>
   <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/420/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/420/description</name>
   <message>
   <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/421/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/421/description</name>
   <message>
   <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/422/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/422/description</name>
   <message>
   <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/430/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/430/description</name>
   <message>
   <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC12/values/440/description</name>
+  <name>/parameters/PCA9685_FUNC12/values/440/description</name>
   <message>
   <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/shortDesc</name>
+  <name>/parameters/PCA9685_FUNC13/shortDesc</name>
   <message>
-  <source>SIM Channel 13 Output Function</source>
+  <source>PCA9685 Output Channel 13 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/longDesc</name>
+  <name>/parameters/PCA9685_FUNC13/longDesc</name>
   <message>
-  <source>Select what should be output on SIM Channel 13. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
+  <source>Select what should be output on PCA9685 Output Channel 13. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/0/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/0/description</name>
   <message>
   <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/1/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/1/description</name>
   <message>
   <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/2/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/2/description</name>
   <message>
   <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/101/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/101/description</name>
   <message>
   <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/102/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/102/description</name>
   <message>
   <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/103/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/103/description</name>
   <message>
   <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/104/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/104/description</name>
   <message>
   <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/105/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/105/description</name>
   <message>
   <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/106/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/106/description</name>
   <message>
   <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/107/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/107/description</name>
   <message>
   <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/108/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/108/description</name>
   <message>
   <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/109/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/109/description</name>
   <message>
   <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/110/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/110/description</name>
   <message>
   <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/111/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/111/description</name>
   <message>
   <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/112/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/112/description</name>
   <message>
   <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/201/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/201/description</name>
   <message>
   <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/202/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/202/description</name>
   <message>
   <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/203/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/203/description</name>
   <message>
   <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/204/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/204/description</name>
   <message>
   <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/205/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/205/description</name>
   <message>
   <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/206/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/206/description</name>
   <message>
   <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/207/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/207/description</name>
   <message>
   <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/208/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/208/description</name>
   <message>
   <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/301/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/301/description</name>
   <message>
   <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/302/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/302/description</name>
   <message>
   <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/303/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/303/description</name>
   <message>
   <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/304/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/304/description</name>
   <message>
   <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/305/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/305/description</name>
   <message>
   <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/306/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/306/description</name>
   <message>
   <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/400/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/400/description</name>
   <message>
   <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/401/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/401/description</name>
   <message>
   <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/402/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/402/description</name>
   <message>
   <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/403/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/403/description</name>
   <message>
   <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/404/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/404/description</name>
   <message>
   <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/405/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/405/description</name>
   <message>
   <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/406/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/406/description</name>
   <message>
   <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/407/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/407/description</name>
   <message>
   <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/408/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/408/description</name>
   <message>
   <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/409/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/409/description</name>
   <message>
   <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/410/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/410/description</name>
   <message>
   <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/411/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/411/description</name>
   <message>
   <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/412/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/412/description</name>
   <message>
   <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/420/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/420/description</name>
   <message>
   <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/421/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/421/description</name>
   <message>
   <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/422/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/422/description</name>
   <message>
   <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/430/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/430/description</name>
   <message>
   <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC13/values/440/description</name>
+  <name>/parameters/PCA9685_FUNC13/values/440/description</name>
   <message>
   <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/shortDesc</name>
+  <name>/parameters/PCA9685_FUNC14/shortDesc</name>
   <message>
-  <source>SIM Channel 14 Output Function</source>
+  <source>PCA9685 Output Channel 14 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/longDesc</name>
+  <name>/parameters/PCA9685_FUNC14/longDesc</name>
   <message>
-  <source>Select what should be output on SIM Channel 14. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
+  <source>Select what should be output on PCA9685 Output Channel 14. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/0/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/0/description</name>
   <message>
   <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/1/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/1/description</name>
   <message>
   <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/2/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/2/description</name>
   <message>
   <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/101/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/101/description</name>
   <message>
   <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/102/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/102/description</name>
   <message>
   <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/103/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/103/description</name>
   <message>
   <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/104/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/104/description</name>
   <message>
   <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/105/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/105/description</name>
   <message>
   <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/106/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/106/description</name>
   <message>
   <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/107/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/107/description</name>
   <message>
   <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/108/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/108/description</name>
   <message>
   <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/109/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/109/description</name>
   <message>
   <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/110/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/110/description</name>
   <message>
   <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/111/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/111/description</name>
   <message>
   <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/112/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/112/description</name>
   <message>
   <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/201/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/201/description</name>
   <message>
   <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/202/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/202/description</name>
   <message>
   <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/203/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/203/description</name>
   <message>
   <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/204/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/204/description</name>
   <message>
   <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/205/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/205/description</name>
   <message>
   <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/206/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/206/description</name>
   <message>
   <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/207/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/207/description</name>
   <message>
   <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/208/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/208/description</name>
   <message>
   <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/301/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/301/description</name>
   <message>
   <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/302/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/302/description</name>
   <message>
   <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/303/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/303/description</name>
   <message>
   <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/304/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/304/description</name>
   <message>
   <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/305/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/305/description</name>
   <message>
   <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/306/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/306/description</name>
   <message>
   <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/400/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/400/description</name>
   <message>
   <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/401/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/401/description</name>
   <message>
   <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/402/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/402/description</name>
   <message>
   <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/403/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/403/description</name>
   <message>
   <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/404/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/404/description</name>
   <message>
   <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/405/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/405/description</name>
   <message>
   <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/406/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/406/description</name>
   <message>
   <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/407/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/407/description</name>
   <message>
   <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/408/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/408/description</name>
   <message>
   <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/409/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/409/description</name>
   <message>
   <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/410/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/410/description</name>
   <message>
   <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/411/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/411/description</name>
   <message>
   <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/412/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/412/description</name>
   <message>
   <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/420/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/420/description</name>
   <message>
   <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/421/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/421/description</name>
   <message>
   <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/422/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/422/description</name>
   <message>
   <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/430/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/430/description</name>
   <message>
   <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC14/values/440/description</name>
+  <name>/parameters/PCA9685_FUNC14/values/440/description</name>
   <message>
   <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/shortDesc</name>
+  <name>/parameters/PCA9685_FUNC15/shortDesc</name>
   <message>
-  <source>SIM Channel 15 Output Function</source>
+  <source>PCA9685 Output Channel 15 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/longDesc</name>
+  <name>/parameters/PCA9685_FUNC15/longDesc</name>
   <message>
-  <source>Select what should be output on SIM Channel 15. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
+  <source>Select what should be output on PCA9685 Output Channel 15. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/0/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/0/description</name>
   <message>
   <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/1/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/1/description</name>
   <message>
   <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/2/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/2/description</name>
   <message>
   <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/101/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/101/description</name>
   <message>
   <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/102/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/102/description</name>
   <message>
   <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/103/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/103/description</name>
   <message>
   <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/104/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/104/description</name>
   <message>
   <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/105/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/105/description</name>
   <message>
   <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/106/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/106/description</name>
   <message>
   <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/107/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/107/description</name>
   <message>
   <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/108/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/108/description</name>
   <message>
   <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/109/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/109/description</name>
   <message>
   <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/110/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/110/description</name>
   <message>
   <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/111/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/111/description</name>
   <message>
   <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/112/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/112/description</name>
   <message>
   <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/201/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/201/description</name>
   <message>
   <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/202/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/202/description</name>
   <message>
   <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/203/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/203/description</name>
   <message>
   <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/204/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/204/description</name>
   <message>
   <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/205/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/205/description</name>
   <message>
   <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/206/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/206/description</name>
   <message>
   <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/207/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/207/description</name>
   <message>
   <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/208/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/208/description</name>
   <message>
   <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/301/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/301/description</name>
   <message>
   <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/302/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/302/description</name>
   <message>
   <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/303/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/303/description</name>
   <message>
   <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/304/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/304/description</name>
   <message>
   <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/305/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/305/description</name>
   <message>
   <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/306/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/306/description</name>
   <message>
   <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/400/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/400/description</name>
   <message>
   <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/401/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/401/description</name>
   <message>
   <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/402/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/402/description</name>
   <message>
   <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/403/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/403/description</name>
   <message>
   <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/404/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/404/description</name>
   <message>
   <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/405/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/405/description</name>
   <message>
   <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/406/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/406/description</name>
   <message>
   <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/407/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/407/description</name>
   <message>
   <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/408/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/408/description</name>
   <message>
   <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/409/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/409/description</name>
   <message>
   <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/410/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/410/description</name>
   <message>
   <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/411/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/411/description</name>
   <message>
   <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/412/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/412/description</name>
   <message>
   <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/420/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/420/description</name>
   <message>
   <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/421/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/421/description</name>
   <message>
   <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/422/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/422/description</name>
   <message>
   <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/430/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/430/description</name>
   <message>
   <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC15/values/440/description</name>
+  <name>/parameters/PCA9685_FUNC15/values/440/description</name>
   <message>
   <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/shortDesc</name>
+  <name>/parameters/PCA9685_FUNC16/shortDesc</name>
   <message>
-  <source>SIM Channel 16 Output Function</source>
+  <source>PCA9685 Output Channel 16 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/longDesc</name>
+  <name>/parameters/PCA9685_FUNC16/longDesc</name>
   <message>
-  <source>Select what should be output on SIM Channel 16. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
+  <source>Select what should be output on PCA9685 Output Channel 16. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/0/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/0/description</name>
   <message>
   <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/1/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/1/description</name>
   <message>
   <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/2/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/2/description</name>
   <message>
   <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/101/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/101/description</name>
   <message>
   <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/102/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/102/description</name>
   <message>
   <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/103/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/103/description</name>
   <message>
   <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/104/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/104/description</name>
   <message>
   <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/105/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/105/description</name>
   <message>
   <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/106/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/106/description</name>
   <message>
   <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/107/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/107/description</name>
   <message>
   <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/108/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/108/description</name>
   <message>
   <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/109/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/109/description</name>
   <message>
   <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/110/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/110/description</name>
   <message>
   <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/111/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/111/description</name>
   <message>
   <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/112/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/112/description</name>
   <message>
   <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/201/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/201/description</name>
   <message>
   <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/202/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/202/description</name>
   <message>
   <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/203/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/203/description</name>
   <message>
   <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/204/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/204/description</name>
   <message>
   <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/205/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/205/description</name>
   <message>
   <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/206/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/206/description</name>
   <message>
   <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/207/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/207/description</name>
   <message>
   <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/208/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/208/description</name>
   <message>
   <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/301/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/301/description</name>
   <message>
   <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/302/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/302/description</name>
   <message>
   <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/303/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/303/description</name>
   <message>
   <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/304/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/304/description</name>
   <message>
   <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/305/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/305/description</name>
   <message>
   <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/306/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/306/description</name>
   <message>
   <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/400/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/400/description</name>
   <message>
   <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/401/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/401/description</name>
   <message>
   <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/402/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/402/description</name>
   <message>
   <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/403/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/403/description</name>
   <message>
   <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/404/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/404/description</name>
   <message>
   <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/405/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/405/description</name>
   <message>
   <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/406/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/406/description</name>
   <message>
   <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/407/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/407/description</name>
   <message>
   <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/408/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/408/description</name>
   <message>
   <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/409/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/409/description</name>
   <message>
   <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/410/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/410/description</name>
   <message>
   <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/411/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/411/description</name>
   <message>
   <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/412/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/412/description</name>
   <message>
   <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/420/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/420/description</name>
   <message>
   <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/421/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/421/description</name>
   <message>
   <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/422/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/422/description</name>
   <message>
   <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/430/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/430/description</name>
   <message>
   <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC16/values/440/description</name>
+  <name>/parameters/PCA9685_FUNC16/values/440/description</name>
   <message>
   <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/shortDesc</name>
+  <name>/parameters/PCA9685_FUNC2/shortDesc</name>
   <message>
-  <source>SIM Channel 2 Output Function</source>
+  <source>PCA9685 Output Channel 2 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/longDesc</name>
+  <name>/parameters/PCA9685_FUNC2/longDesc</name>
   <message>
-  <source>Select what should be output on SIM Channel 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
+  <source>Select what should be output on PCA9685 Output Channel 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/0/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/0/description</name>
   <message>
   <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/1/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/1/description</name>
   <message>
   <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/2/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/2/description</name>
   <message>
   <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/101/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/101/description</name>
   <message>
   <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/102/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/102/description</name>
   <message>
   <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/103/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/103/description</name>
   <message>
   <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/104/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/104/description</name>
   <message>
   <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/105/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/105/description</name>
   <message>
   <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/106/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/106/description</name>
   <message>
   <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/107/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/107/description</name>
   <message>
   <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/108/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/108/description</name>
   <message>
   <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/109/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/109/description</name>
   <message>
   <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/110/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/110/description</name>
   <message>
   <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/111/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/111/description</name>
   <message>
   <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/112/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/112/description</name>
   <message>
   <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/201/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/201/description</name>
   <message>
   <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/202/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/202/description</name>
   <message>
   <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/203/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/203/description</name>
   <message>
   <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/204/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/204/description</name>
   <message>
   <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/205/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/205/description</name>
   <message>
   <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/206/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/206/description</name>
   <message>
   <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/207/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/207/description</name>
   <message>
   <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/208/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/208/description</name>
   <message>
   <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/301/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/301/description</name>
   <message>
   <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/302/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/302/description</name>
   <message>
   <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/303/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/303/description</name>
   <message>
   <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/304/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/304/description</name>
   <message>
   <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/305/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/305/description</name>
   <message>
   <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/306/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/306/description</name>
   <message>
   <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/400/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/400/description</name>
   <message>
   <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/401/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/401/description</name>
   <message>
   <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/402/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/402/description</name>
   <message>
   <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/403/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/403/description</name>
   <message>
   <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/404/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/404/description</name>
   <message>
   <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/405/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/405/description</name>
   <message>
   <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/406/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/406/description</name>
   <message>
   <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/407/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/407/description</name>
   <message>
   <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/408/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/408/description</name>
   <message>
   <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/409/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/409/description</name>
   <message>
   <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/410/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/410/description</name>
   <message>
   <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/411/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/411/description</name>
   <message>
   <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/412/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/412/description</name>
   <message>
   <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/420/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/420/description</name>
   <message>
   <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/421/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/421/description</name>
   <message>
   <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/422/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/422/description</name>
   <message>
   <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/430/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/430/description</name>
   <message>
   <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC2/values/440/description</name>
+  <name>/parameters/PCA9685_FUNC2/values/440/description</name>
   <message>
   <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/shortDesc</name>
+  <name>/parameters/PCA9685_FUNC3/shortDesc</name>
   <message>
-  <source>SIM Channel 3 Output Function</source>
+  <source>PCA9685 Output Channel 3 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/longDesc</name>
+  <name>/parameters/PCA9685_FUNC3/longDesc</name>
   <message>
-  <source>Select what should be output on SIM Channel 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
+  <source>Select what should be output on PCA9685 Output Channel 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/0/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/0/description</name>
   <message>
   <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/1/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/1/description</name>
   <message>
   <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/2/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/2/description</name>
   <message>
   <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/101/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/101/description</name>
   <message>
   <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/102/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/102/description</name>
   <message>
   <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/103/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/103/description</name>
   <message>
   <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/104/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/104/description</name>
   <message>
   <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/105/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/105/description</name>
   <message>
   <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/106/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/106/description</name>
   <message>
   <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/107/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/107/description</name>
   <message>
   <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/108/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/108/description</name>
   <message>
   <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/109/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/109/description</name>
   <message>
   <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/110/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/110/description</name>
   <message>
   <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/111/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/111/description</name>
   <message>
   <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/112/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/112/description</name>
   <message>
   <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/201/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/201/description</name>
   <message>
   <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/202/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/202/description</name>
   <message>
   <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/203/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/203/description</name>
   <message>
   <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/204/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/204/description</name>
   <message>
   <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/205/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/205/description</name>
   <message>
   <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/206/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/206/description</name>
   <message>
   <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/207/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/207/description</name>
   <message>
   <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/208/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/208/description</name>
   <message>
   <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/301/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/301/description</name>
   <message>
   <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/302/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/302/description</name>
   <message>
   <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/303/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/303/description</name>
   <message>
   <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/304/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/304/description</name>
   <message>
   <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/305/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/305/description</name>
   <message>
   <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/306/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/306/description</name>
   <message>
   <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/400/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/400/description</name>
   <message>
   <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/401/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/401/description</name>
   <message>
   <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/402/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/402/description</name>
   <message>
   <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/403/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/403/description</name>
   <message>
   <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/404/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/404/description</name>
   <message>
   <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/405/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/405/description</name>
   <message>
   <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/406/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/406/description</name>
   <message>
   <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/407/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/407/description</name>
   <message>
   <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/408/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/408/description</name>
   <message>
   <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/409/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/409/description</name>
   <message>
   <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/410/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/410/description</name>
   <message>
   <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/411/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/411/description</name>
   <message>
   <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/412/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/412/description</name>
   <message>
   <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/420/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/420/description</name>
   <message>
   <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/421/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/421/description</name>
   <message>
   <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/422/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/422/description</name>
   <message>
   <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/430/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/430/description</name>
   <message>
   <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC3/values/440/description</name>
+  <name>/parameters/PCA9685_FUNC3/values/440/description</name>
   <message>
   <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/shortDesc</name>
+  <name>/parameters/PCA9685_FUNC4/shortDesc</name>
   <message>
-  <source>SIM Channel 4 Output Function</source>
+  <source>PCA9685 Output Channel 4 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/longDesc</name>
+  <name>/parameters/PCA9685_FUNC4/longDesc</name>
   <message>
-  <source>Select what should be output on SIM Channel 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
+  <source>Select what should be output on PCA9685 Output Channel 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/0/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/0/description</name>
   <message>
   <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/1/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/1/description</name>
   <message>
   <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/2/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/2/description</name>
   <message>
   <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/101/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/101/description</name>
   <message>
   <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/102/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/102/description</name>
   <message>
   <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/103/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/103/description</name>
   <message>
   <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/104/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/104/description</name>
   <message>
   <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/105/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/105/description</name>
   <message>
   <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/106/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/106/description</name>
   <message>
   <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/107/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/107/description</name>
   <message>
   <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/108/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/108/description</name>
   <message>
   <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/109/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/109/description</name>
   <message>
   <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/110/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/110/description</name>
   <message>
   <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/111/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/111/description</name>
   <message>
   <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/112/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/112/description</name>
   <message>
   <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/201/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/201/description</name>
   <message>
   <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/202/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/202/description</name>
   <message>
   <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/203/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/203/description</name>
   <message>
   <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/204/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/204/description</name>
   <message>
   <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/205/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/205/description</name>
   <message>
   <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/206/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/206/description</name>
   <message>
   <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/207/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/207/description</name>
   <message>
   <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/208/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/208/description</name>
   <message>
   <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/301/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/301/description</name>
   <message>
   <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/302/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/302/description</name>
   <message>
   <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/303/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/303/description</name>
   <message>
   <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/304/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/304/description</name>
   <message>
   <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/305/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/305/description</name>
   <message>
   <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/306/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/306/description</name>
   <message>
   <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/400/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/400/description</name>
   <message>
   <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/401/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/401/description</name>
   <message>
   <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/402/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/402/description</name>
   <message>
   <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/403/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/403/description</name>
   <message>
   <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/404/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/404/description</name>
   <message>
   <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/405/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/405/description</name>
   <message>
   <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/406/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/406/description</name>
   <message>
   <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/407/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/407/description</name>
   <message>
   <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/408/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/408/description</name>
   <message>
   <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/409/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/409/description</name>
   <message>
   <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/410/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/410/description</name>
   <message>
   <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/411/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/411/description</name>
   <message>
   <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/412/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/412/description</name>
   <message>
   <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/420/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/420/description</name>
   <message>
   <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/421/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/421/description</name>
   <message>
   <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/422/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/422/description</name>
   <message>
   <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/430/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/430/description</name>
   <message>
   <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC4/values/440/description</name>
+  <name>/parameters/PCA9685_FUNC4/values/440/description</name>
   <message>
   <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/shortDesc</name>
+  <name>/parameters/PCA9685_FUNC5/shortDesc</name>
   <message>
-  <source>SIM Channel 5 Output Function</source>
+  <source>PCA9685 Output Channel 5 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/longDesc</name>
+  <name>/parameters/PCA9685_FUNC5/longDesc</name>
   <message>
-  <source>Select what should be output on SIM Channel 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
+  <source>Select what should be output on PCA9685 Output Channel 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/0/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/0/description</name>
   <message>
   <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/1/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/1/description</name>
   <message>
   <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/2/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/2/description</name>
   <message>
   <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/101/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/101/description</name>
   <message>
   <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/102/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/102/description</name>
   <message>
   <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/103/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/103/description</name>
   <message>
   <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/104/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/104/description</name>
   <message>
   <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/105/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/105/description</name>
   <message>
   <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/106/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/106/description</name>
   <message>
   <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/107/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/107/description</name>
   <message>
   <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/108/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/108/description</name>
   <message>
   <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/109/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/109/description</name>
   <message>
   <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/110/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/110/description</name>
   <message>
   <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/111/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/111/description</name>
   <message>
   <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/112/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/112/description</name>
   <message>
   <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/201/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/201/description</name>
   <message>
   <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/202/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/202/description</name>
   <message>
   <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/203/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/203/description</name>
   <message>
   <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/204/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/204/description</name>
   <message>
   <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/205/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/205/description</name>
   <message>
   <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/206/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/206/description</name>
   <message>
   <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/207/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/207/description</name>
   <message>
   <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/208/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/208/description</name>
   <message>
   <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/301/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/301/description</name>
   <message>
   <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/302/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/302/description</name>
   <message>
   <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/303/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/303/description</name>
   <message>
   <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/304/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/304/description</name>
   <message>
   <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/305/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/305/description</name>
   <message>
   <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/306/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/306/description</name>
   <message>
   <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/400/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/400/description</name>
   <message>
   <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/401/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/401/description</name>
   <message>
   <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/402/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/402/description</name>
   <message>
   <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/403/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/403/description</name>
   <message>
   <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/404/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/404/description</name>
   <message>
   <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/405/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/405/description</name>
   <message>
   <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/406/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/406/description</name>
   <message>
   <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/407/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/407/description</name>
   <message>
   <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/408/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/408/description</name>
   <message>
   <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/409/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/409/description</name>
   <message>
   <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/410/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/410/description</name>
   <message>
   <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/411/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/411/description</name>
   <message>
   <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/412/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/412/description</name>
   <message>
   <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/420/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/420/description</name>
   <message>
   <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/421/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/421/description</name>
   <message>
   <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/422/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/422/description</name>
   <message>
   <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/430/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/430/description</name>
   <message>
   <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC5/values/440/description</name>
+  <name>/parameters/PCA9685_FUNC5/values/440/description</name>
   <message>
   <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/shortDesc</name>
+  <name>/parameters/PCA9685_FUNC6/shortDesc</name>
   <message>
-  <source>SIM Channel 6 Output Function</source>
+  <source>PCA9685 Output Channel 6 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/longDesc</name>
+  <name>/parameters/PCA9685_FUNC6/longDesc</name>
   <message>
-  <source>Select what should be output on SIM Channel 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
+  <source>Select what should be output on PCA9685 Output Channel 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/0/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/0/description</name>
   <message>
   <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/1/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/1/description</name>
   <message>
   <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/2/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/2/description</name>
   <message>
   <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/101/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/101/description</name>
   <message>
   <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/102/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/102/description</name>
   <message>
   <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/103/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/103/description</name>
   <message>
   <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/104/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/104/description</name>
   <message>
   <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/105/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/105/description</name>
   <message>
   <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/106/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/106/description</name>
   <message>
   <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/107/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/107/description</name>
   <message>
   <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/108/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/108/description</name>
   <message>
   <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/109/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/109/description</name>
   <message>
   <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/110/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/110/description</name>
   <message>
   <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/111/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/111/description</name>
   <message>
   <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/112/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/112/description</name>
   <message>
   <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/201/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/201/description</name>
   <message>
   <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/202/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/202/description</name>
   <message>
   <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/203/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/203/description</name>
   <message>
   <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/204/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/204/description</name>
   <message>
   <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/205/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/205/description</name>
   <message>
   <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/206/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/206/description</name>
   <message>
   <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/207/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/207/description</name>
   <message>
   <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/208/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/208/description</name>
   <message>
   <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/301/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/301/description</name>
   <message>
   <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/302/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/302/description</name>
   <message>
   <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/303/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/303/description</name>
   <message>
   <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/304/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/304/description</name>
   <message>
   <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/305/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/305/description</name>
   <message>
   <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/306/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/306/description</name>
   <message>
   <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/400/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/400/description</name>
   <message>
   <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/401/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/401/description</name>
   <message>
   <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/402/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/402/description</name>
   <message>
   <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/403/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/403/description</name>
   <message>
   <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/404/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/404/description</name>
   <message>
   <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/405/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/405/description</name>
   <message>
   <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/406/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/406/description</name>
   <message>
   <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/407/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/407/description</name>
   <message>
   <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/408/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/408/description</name>
   <message>
   <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/409/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/409/description</name>
   <message>
   <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/410/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/410/description</name>
   <message>
   <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/411/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/411/description</name>
   <message>
   <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/412/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/412/description</name>
   <message>
   <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/420/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/420/description</name>
   <message>
   <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/421/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/421/description</name>
   <message>
   <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/422/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/422/description</name>
   <message>
   <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/430/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/430/description</name>
   <message>
   <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC6/values/440/description</name>
+  <name>/parameters/PCA9685_FUNC6/values/440/description</name>
   <message>
   <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/shortDesc</name>
+  <name>/parameters/PCA9685_FUNC7/shortDesc</name>
   <message>
-  <source>SIM Channel 7 Output Function</source>
+  <source>PCA9685 Output Channel 7 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/longDesc</name>
+  <name>/parameters/PCA9685_FUNC7/longDesc</name>
   <message>
-  <source>Select what should be output on SIM Channel 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
+  <source>Select what should be output on PCA9685 Output Channel 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/0/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/0/description</name>
   <message>
   <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/1/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/1/description</name>
   <message>
   <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/2/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/2/description</name>
   <message>
   <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/101/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/101/description</name>
   <message>
   <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/102/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/102/description</name>
   <message>
   <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/103/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/103/description</name>
   <message>
   <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/104/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/104/description</name>
   <message>
   <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/105/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/105/description</name>
   <message>
   <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/106/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/106/description</name>
   <message>
   <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/107/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/107/description</name>
   <message>
   <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/108/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/108/description</name>
   <message>
   <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/109/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/109/description</name>
   <message>
   <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/110/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/110/description</name>
   <message>
   <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/111/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/111/description</name>
   <message>
   <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/112/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/112/description</name>
   <message>
   <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/201/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/201/description</name>
   <message>
   <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/202/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/202/description</name>
   <message>
   <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/203/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/203/description</name>
   <message>
   <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/204/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/204/description</name>
   <message>
   <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/205/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/205/description</name>
   <message>
   <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/206/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/206/description</name>
   <message>
   <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/207/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/207/description</name>
   <message>
   <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/208/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/208/description</name>
   <message>
   <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/301/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/301/description</name>
   <message>
   <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/302/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/302/description</name>
   <message>
   <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/303/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/303/description</name>
   <message>
   <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/304/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/304/description</name>
   <message>
   <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/305/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/305/description</name>
   <message>
   <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/306/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/306/description</name>
   <message>
   <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/400/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/400/description</name>
   <message>
   <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/401/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/401/description</name>
   <message>
   <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/402/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/402/description</name>
   <message>
   <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/403/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/403/description</name>
   <message>
   <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/404/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/404/description</name>
   <message>
   <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/405/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/405/description</name>
   <message>
   <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/406/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/406/description</name>
   <message>
   <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/407/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/407/description</name>
   <message>
   <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/408/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/408/description</name>
   <message>
   <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/409/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/409/description</name>
   <message>
   <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/410/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/410/description</name>
   <message>
   <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/411/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/411/description</name>
   <message>
   <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/412/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/412/description</name>
   <message>
   <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/420/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/420/description</name>
   <message>
   <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/421/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/421/description</name>
   <message>
   <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/422/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/422/description</name>
   <message>
   <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/430/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/430/description</name>
   <message>
   <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC7/values/440/description</name>
+  <name>/parameters/PCA9685_FUNC7/values/440/description</name>
   <message>
   <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/shortDesc</name>
+  <name>/parameters/PCA9685_FUNC8/shortDesc</name>
   <message>
-  <source>SIM Channel 8 Output Function</source>
+  <source>PCA9685 Output Channel 8 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/longDesc</name>
+  <name>/parameters/PCA9685_FUNC8/longDesc</name>
   <message>
-  <source>Select what should be output on SIM Channel 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
+  <source>Select what should be output on PCA9685 Output Channel 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/0/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/0/description</name>
   <message>
   <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/1/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/1/description</name>
   <message>
   <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/2/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/2/description</name>
   <message>
   <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/101/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/101/description</name>
   <message>
   <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/102/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/102/description</name>
   <message>
   <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/103/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/103/description</name>
   <message>
   <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/104/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/104/description</name>
   <message>
   <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/105/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/105/description</name>
   <message>
   <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/106/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/106/description</name>
   <message>
   <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/107/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/107/description</name>
   <message>
   <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/108/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/108/description</name>
   <message>
   <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/109/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/109/description</name>
   <message>
   <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/110/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/110/description</name>
   <message>
   <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/111/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/111/description</name>
   <message>
   <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/112/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/112/description</name>
   <message>
   <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/201/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/201/description</name>
   <message>
   <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/202/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/202/description</name>
   <message>
   <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/203/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/203/description</name>
   <message>
   <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/204/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/204/description</name>
   <message>
   <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/205/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/205/description</name>
   <message>
   <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/206/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/206/description</name>
   <message>
   <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/207/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/207/description</name>
   <message>
   <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/208/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/208/description</name>
   <message>
   <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/301/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/301/description</name>
   <message>
   <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/302/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/302/description</name>
   <message>
   <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/303/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/303/description</name>
   <message>
   <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/304/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/304/description</name>
   <message>
   <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/305/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/305/description</name>
   <message>
   <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/306/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/306/description</name>
   <message>
   <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/400/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/400/description</name>
   <message>
   <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/401/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/401/description</name>
   <message>
   <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/402/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/402/description</name>
   <message>
   <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/403/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/403/description</name>
   <message>
   <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/404/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/404/description</name>
   <message>
   <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/405/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/405/description</name>
   <message>
   <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/406/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/406/description</name>
   <message>
   <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/407/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/407/description</name>
   <message>
   <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/408/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/408/description</name>
   <message>
   <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/409/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/409/description</name>
   <message>
   <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/410/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/410/description</name>
   <message>
   <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/411/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/411/description</name>
   <message>
   <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/412/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/412/description</name>
   <message>
   <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/420/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/420/description</name>
   <message>
   <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/421/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/421/description</name>
   <message>
   <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/422/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/422/description</name>
   <message>
   <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/430/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/430/description</name>
   <message>
   <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC8/values/440/description</name>
+  <name>/parameters/PCA9685_FUNC8/values/440/description</name>
   <message>
   <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/shortDesc</name>
+  <name>/parameters/PCA9685_FUNC9/shortDesc</name>
   <message>
-  <source>SIM Channel 9 Output Function</source>
+  <source>PCA9685 Output Channel 9 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/longDesc</name>
+  <name>/parameters/PCA9685_FUNC9/longDesc</name>
   <message>
-  <source>Select what should be output on SIM Channel 9. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
+  <source>Select what should be output on PCA9685 Output Channel 9. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/0/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/0/description</name>
   <message>
   <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/1/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/1/description</name>
   <message>
   <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/2/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/2/description</name>
   <message>
   <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/101/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/101/description</name>
   <message>
   <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/102/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/102/description</name>
   <message>
   <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/103/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/103/description</name>
   <message>
   <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/104/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/104/description</name>
   <message>
   <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/105/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/105/description</name>
   <message>
   <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/106/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/106/description</name>
   <message>
   <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/107/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/107/description</name>
   <message>
   <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/108/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/108/description</name>
   <message>
   <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/109/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/109/description</name>
   <message>
   <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/110/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/110/description</name>
   <message>
   <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/111/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/111/description</name>
   <message>
   <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/112/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/112/description</name>
   <message>
   <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/201/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/201/description</name>
   <message>
   <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/202/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/202/description</name>
   <message>
   <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/203/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/203/description</name>
   <message>
   <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/204/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/204/description</name>
   <message>
   <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/205/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/205/description</name>
   <message>
   <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/206/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/206/description</name>
   <message>
   <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/207/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/207/description</name>
   <message>
   <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/208/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/208/description</name>
   <message>
   <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/301/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/301/description</name>
   <message>
   <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/302/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/302/description</name>
   <message>
   <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/303/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/303/description</name>
   <message>
   <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/304/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/304/description</name>
   <message>
   <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/305/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/305/description</name>
   <message>
   <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/306/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/306/description</name>
   <message>
   <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/400/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/400/description</name>
   <message>
   <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/401/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/401/description</name>
   <message>
   <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/402/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/402/description</name>
   <message>
   <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/403/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/403/description</name>
   <message>
   <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/404/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/404/description</name>
   <message>
   <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/405/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/405/description</name>
   <message>
   <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/406/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/406/description</name>
   <message>
   <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/407/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/407/description</name>
   <message>
   <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/408/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/408/description</name>
   <message>
   <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/409/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/409/description</name>
   <message>
   <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/410/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/410/description</name>
   <message>
   <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/411/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/411/description</name>
   <message>
   <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/412/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/412/description</name>
   <message>
   <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/420/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/420/description</name>
   <message>
   <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/421/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/421/description</name>
   <message>
   <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/422/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/422/description</name>
   <message>
   <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/430/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/430/description</name>
   <message>
   <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_FUNC9/values/440/description</name>
+  <name>/parameters/PCA9685_FUNC9/values/440/description</name>
   <message>
   <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_REV/shortDesc</name>
+  <name>/parameters/PCA9685_MAX1/shortDesc</name>
   <message>
-  <source>Reverse Output Range for SIM</source>
+  <source>PCA9685 Output Channel 1 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_REV/longDesc</name>
+  <name>/parameters/PCA9685_MAX1/longDesc</name>
   <message>
-  <source>Allows to reverse the output range for each channel. Note: this is only useful for servos.</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_REV/bitmask/0/description</name>
+  <name>/parameters/PCA9685_MAX10/shortDesc</name>
   <message>
-  <source>SIM Channel 1</source>
+  <source>PCA9685 Output Channel 10 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_REV/bitmask/1/description</name>
+  <name>/parameters/PCA9685_MAX10/longDesc</name>
   <message>
-  <source>SIM Channel 2</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_REV/bitmask/2/description</name>
+  <name>/parameters/PCA9685_MAX11/shortDesc</name>
   <message>
-  <source>SIM Channel 3</source>
+  <source>PCA9685 Output Channel 11 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_REV/bitmask/3/description</name>
+  <name>/parameters/PCA9685_MAX11/longDesc</name>
   <message>
-  <source>SIM Channel 4</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_REV/bitmask/4/description</name>
+  <name>/parameters/PCA9685_MAX12/shortDesc</name>
   <message>
-  <source>SIM Channel 5</source>
+  <source>PCA9685 Output Channel 12 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_REV/bitmask/5/description</name>
+  <name>/parameters/PCA9685_MAX12/longDesc</name>
   <message>
-  <source>SIM Channel 6</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_REV/bitmask/6/description</name>
+  <name>/parameters/PCA9685_MAX13/shortDesc</name>
   <message>
-  <source>SIM Channel 7</source>
+  <source>PCA9685 Output Channel 13 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_REV/bitmask/7/description</name>
+  <name>/parameters/PCA9685_MAX13/longDesc</name>
   <message>
-  <source>SIM Channel 8</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_REV/bitmask/8/description</name>
+  <name>/parameters/PCA9685_MAX14/shortDesc</name>
   <message>
-  <source>SIM Channel 9</source>
+  <source>PCA9685 Output Channel 14 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_REV/bitmask/9/description</name>
+  <name>/parameters/PCA9685_MAX14/longDesc</name>
   <message>
-  <source>SIM Channel 10</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_REV/bitmask/10/description</name>
+  <name>/parameters/PCA9685_MAX15/shortDesc</name>
   <message>
-  <source>SIM Channel 11</source>
+  <source>PCA9685 Output Channel 15 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_REV/bitmask/11/description</name>
+  <name>/parameters/PCA9685_MAX15/longDesc</name>
   <message>
-  <source>SIM Channel 12</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_REV/bitmask/12/description</name>
+  <name>/parameters/PCA9685_MAX16/shortDesc</name>
   <message>
-  <source>SIM Channel 13</source>
+  <source>PCA9685 Output Channel 16 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_REV/bitmask/13/description</name>
+  <name>/parameters/PCA9685_MAX16/longDesc</name>
   <message>
-  <source>SIM Channel 14</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_REV/bitmask/14/description</name>
+  <name>/parameters/PCA9685_MAX2/shortDesc</name>
   <message>
-  <source>SIM Channel 15</source>
+  <source>PCA9685 Output Channel 2 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PWM_MAIN_REV/bitmask/15/description</name>
+  <name>/parameters/PCA9685_MAX2/longDesc</name>
   <message>
-  <source>SIM Channel 16</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_BETA_GATE/shortDesc</name>
+  <name>/parameters/PCA9685_MAX3/shortDesc</name>
   <message>
-  <source>Gate size for sideslip angle fusion</source>
+  <source>PCA9685 Output Channel 3 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_BETA_GATE/longDesc</name>
+  <name>/parameters/PCA9685_MAX3/longDesc</name>
   <message>
-  <source>Sets the number of standard deviations used by the innovation consistency test.</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_BETA_NOISE/shortDesc</name>
+  <name>/parameters/PCA9685_MAX4/shortDesc</name>
   <message>
-  <source>Wind estimator sideslip measurement noise</source>
+  <source>PCA9685 Output Channel 4 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_BETA_NOISE/longDesc</name>
+  <name>/parameters/PCA9685_MAX4/longDesc</name>
   <message>
-  <source>Sideslip measurement noise of the internal wind estimator(s) of the airspeed selector.</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_DO_CHECKS/shortDesc</name>
+  <name>/parameters/PCA9685_MAX5/shortDesc</name>
   <message>
-  <source>Enable checks on airspeed sensors</source>
+  <source>PCA9685 Output Channel 5 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_DO_CHECKS/longDesc</name>
+  <name>/parameters/PCA9685_MAX5/longDesc</name>
   <message>
-  <source>Controls which checks are run to check airspeed data for validity. Only applied if ASPD_PRIMARY &gt; 0.</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_DO_CHECKS/bitmask/0/description</name>
+  <name>/parameters/PCA9685_MAX6/shortDesc</name>
   <message>
-  <source>Only data missing check (triggers if more than 1s no data)</source>
+  <source>PCA9685 Output Channel 6 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_DO_CHECKS/bitmask/1/description</name>
+  <name>/parameters/PCA9685_MAX6/longDesc</name>
   <message>
-  <source>Data stuck (triggers if data is exactly constant for 2s in FW mode)</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_DO_CHECKS/bitmask/2/description</name>
+  <name>/parameters/PCA9685_MAX7/shortDesc</name>
   <message>
-  <source>Innovation check (see ASPD_FS_INNOV)</source>
+  <source>PCA9685 Output Channel 7 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_DO_CHECKS/bitmask/3/description</name>
+  <name>/parameters/PCA9685_MAX7/longDesc</name>
   <message>
-  <source>Load factor check (triggers if measurement is below stall speed)</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_DO_CHECKS/bitmask/4/description</name>
+  <name>/parameters/PCA9685_MAX8/shortDesc</name>
   <message>
-  <source>First principle check (airspeed change vs. throttle and pitch)</source>
+  <source>PCA9685 Output Channel 8 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_FALLBACK_GW/shortDesc</name>
+  <name>/parameters/PCA9685_MAX8/longDesc</name>
   <message>
-  <source>Enable fallback to sensor-less airspeed estimation</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_FALLBACK_GW/longDesc</name>
+  <name>/parameters/PCA9685_MAX9/shortDesc</name>
   <message>
-  <source>If set to true and airspeed checks are enabled, it will use a sensor-less airspeed estimation based on groundspeed minus windspeed if no other airspeed sensor available to fall back to.</source>
+  <source>PCA9685 Output Channel 9 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_FALLBACK_GW/values/0/description</name>
+  <name>/parameters/PCA9685_MAX9/longDesc</name>
   <message>
-  <source>Disable fallback to sensor-less estimation</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_FALLBACK_GW/values/1/description</name>
+  <name>/parameters/PCA9685_MIN1/shortDesc</name>
   <message>
-  <source>Enable fallback to sensor-less estimation</source>
+  <source>PCA9685 Output Channel 1 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_FP_T_WINDOW/shortDesc</name>
+  <name>/parameters/PCA9685_MIN1/longDesc</name>
   <message>
-  <source>First principle airspeed check time window</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_FP_T_WINDOW/longDesc</name>
+  <name>/parameters/PCA9685_MIN10/shortDesc</name>
   <message>
-  <source>Window for comparing airspeed change to throttle and pitch change. Triggers when the airspeed change within this window is negative while throttle increases and the vehicle pitches down. Is meant to catch degrading airspeed blockages as can happen when flying through icing conditions. Relies on  FW_THR_TRIM being set accurately.</source>
+  <source>PCA9685 Output Channel 10 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_FS_INNOV/shortDesc</name>
+  <name>/parameters/PCA9685_MIN10/longDesc</name>
   <message>
-  <source>Airspeed failure innovation threshold</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_FS_INNOV/longDesc</name>
+  <name>/parameters/PCA9685_MIN11/shortDesc</name>
   <message>
-  <source>This specifies the minimum airspeed innovation required to trigger a failsafe. Larger values make the check less sensitive, smaller values make it more sensitive. Large innovations indicate an inconsistency between predicted (groundspeed - windspeeed) and measured airspeed. The time required to detect a fault when the threshold is exceeded depends on the size of the exceedance and is controlled by the ASPD_FS_INTEG parameter.</source>
+  <source>PCA9685 Output Channel 11 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_FS_INTEG/shortDesc</name>
+  <name>/parameters/PCA9685_MIN11/longDesc</name>
   <message>
-  <source>Airspeed failure innovation integral threshold</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_FS_INTEG/longDesc</name>
+  <name>/parameters/PCA9685_MIN12/shortDesc</name>
   <message>
-  <source>This sets the time integral of airspeed innovation exceedance above ASPD_FS_INNOV required to trigger a failsafe. Larger values make the check less sensitive, smaller positive values make it more sensitive.</source>
+  <source>PCA9685 Output Channel 12 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_FS_T_START/shortDesc</name>
+  <name>/parameters/PCA9685_MIN12/longDesc</name>
   <message>
-  <source>Airspeed failsafe start delay</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_FS_T_START/longDesc</name>
+  <name>/parameters/PCA9685_MIN13/shortDesc</name>
   <message>
-  <source>Delay before switching back to using airspeed sensor if checks indicate sensor is good. Set to a negative value to disable the re-enabling in flight.</source>
+  <source>PCA9685 Output Channel 13 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_FS_T_STOP/shortDesc</name>
+  <name>/parameters/PCA9685_MIN13/longDesc</name>
   <message>
-  <source>Airspeed failsafe stop delay</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_FS_T_STOP/longDesc</name>
+  <name>/parameters/PCA9685_MIN14/shortDesc</name>
   <message>
-  <source>Delay before stopping use of airspeed sensor if checks indicate sensor is bad.</source>
+  <source>PCA9685 Output Channel 14 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_PRIMARY/shortDesc</name>
+  <name>/parameters/PCA9685_MIN14/longDesc</name>
   <message>
-  <source>Index or primary airspeed measurement source</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_PRIMARY/values/0/description</name>
+  <name>/parameters/PCA9685_MIN15/shortDesc</name>
   <message>
-  <source>Groundspeed minus windspeed</source>
+  <source>PCA9685 Output Channel 15 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_PRIMARY/values/1/description</name>
+  <name>/parameters/PCA9685_MIN15/longDesc</name>
   <message>
-  <source>First airspeed sensor</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_PRIMARY/values/2/description</name>
+  <name>/parameters/PCA9685_MIN16/shortDesc</name>
   <message>
-  <source>Second airspeed sensor</source>
+  <source>PCA9685 Output Channel 16 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_PRIMARY/values/3/description</name>
+  <name>/parameters/PCA9685_MIN16/longDesc</name>
   <message>
-  <source>Third airspeed sensor</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_SCALE_1/shortDesc</name>
+  <name>/parameters/PCA9685_MIN2/shortDesc</name>
   <message>
-  <source>Scale of airspeed sensor 1</source>
+  <source>PCA9685 Output Channel 2 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_SCALE_1/longDesc</name>
+  <name>/parameters/PCA9685_MIN2/longDesc</name>
   <message>
-  <source>This is the scale IAS --&gt; CAS of the first airspeed sensor instance</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_SCALE_2/shortDesc</name>
+  <name>/parameters/PCA9685_MIN3/shortDesc</name>
   <message>
-  <source>Scale of airspeed sensor 2</source>
+  <source>PCA9685 Output Channel 3 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_SCALE_2/longDesc</name>
+  <name>/parameters/PCA9685_MIN3/longDesc</name>
   <message>
-  <source>This is the scale IAS --&gt; CAS of the second airspeed sensor instance</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_SCALE_3/shortDesc</name>
+  <name>/parameters/PCA9685_MIN4/shortDesc</name>
   <message>
-  <source>Scale of airspeed sensor 3</source>
+  <source>PCA9685 Output Channel 4 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_SCALE_3/longDesc</name>
+  <name>/parameters/PCA9685_MIN4/longDesc</name>
   <message>
-  <source>This is the scale IAS --&gt; CAS of the third airspeed sensor instance</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_SCALE_APPLY/shortDesc</name>
+  <name>/parameters/PCA9685_MIN5/shortDesc</name>
   <message>
-  <source>Controls when to apply the new estimated airspeed scale(s)</source>
+  <source>PCA9685 Output Channel 5 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_SCALE_APPLY/values/0/description</name>
+  <name>/parameters/PCA9685_MIN5/longDesc</name>
   <message>
-  <source>Do not automatically apply the estimated scale</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_SCALE_APPLY/values/1/description</name>
+  <name>/parameters/PCA9685_MIN6/shortDesc</name>
   <message>
-  <source>Apply the estimated scale after disarm</source>
+  <source>PCA9685 Output Channel 6 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_SCALE_APPLY/values/2/description</name>
+  <name>/parameters/PCA9685_MIN6/longDesc</name>
   <message>
-  <source>Apply the estimated scale in air</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_SCALE_NSD/shortDesc</name>
+  <name>/parameters/PCA9685_MIN7/shortDesc</name>
   <message>
-  <source>Wind estimator true airspeed scale process noise spectral density</source>
+  <source>PCA9685 Output Channel 7 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_SCALE_NSD/longDesc</name>
+  <name>/parameters/PCA9685_MIN7/longDesc</name>
   <message>
-  <source>Airspeed scale process noise of the internal wind estimator(s) of the airspeed selector. When unaided, the scale uncertainty (1-sigma, unitless) increases by this amount every second.</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_TAS_GATE/shortDesc</name>
+  <name>/parameters/PCA9685_MIN8/shortDesc</name>
   <message>
-  <source>Gate size for true airspeed fusion</source>
+  <source>PCA9685 Output Channel 8 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_TAS_GATE/longDesc</name>
+  <name>/parameters/PCA9685_MIN8/longDesc</name>
   <message>
-  <source>Sets the number of standard deviations used by the innovation consistency test.</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_TAS_NOISE/shortDesc</name>
+  <name>/parameters/PCA9685_MIN9/shortDesc</name>
   <message>
-  <source>Wind estimator true airspeed measurement noise</source>
+  <source>PCA9685 Output Channel 9 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_TAS_NOISE/longDesc</name>
+  <name>/parameters/PCA9685_MIN9/longDesc</name>
   <message>
-  <source>True airspeed measurement noise of the internal wind estimator(s) of the airspeed selector.</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_WERR_THR/shortDesc</name>
+  <name>/parameters/PCA9685_PWM_FREQ/shortDesc</name>
   <message>
-  <source>Horizontal wind uncertainty threshold for synthetic airspeed</source>
+  <source>PWM cycle frequency</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_WERR_THR/longDesc</name>
+  <name>/parameters/PCA9685_PWM_FREQ/longDesc</name>
   <message>
-  <source>The synthetic airspeed estimate (from groundspeed and heading) will be declared valid as soon and as long the horizontal wind uncertainty is below this value.</source>
+  <source>Controls the PWM frequency at timing perspective. This is independent from PWM update frequency, as PCA9685 is capable to output without being continuously commanded by FC. Higher frequency leads to more accurate pulse width, but some ESCs and servos may not support it. This parameter should be set to the same value as PWM update rate in most case. This parameter MUST NOT exceed upper limit of 400.0, if any outputs as generic 1000~2000us pulse width is desired. Frequency higher than 400 only makes sense in duty-cycle mode.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_WIND_NSD/shortDesc</name>
+  <name>/parameters/PCA9685_REV/shortDesc</name>
   <message>
-  <source>Wind estimator wind process noise spectral density</source>
+  <source>Reverse Output Range for PCA9685 Output</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ASPD_WIND_NSD/longDesc</name>
+  <name>/parameters/PCA9685_REV/longDesc</name>
   <message>
-  <source>Wind process noise of the internal wind estimator(s) of the airspeed selector. When unaided, the wind estimate uncertainty (1-sigma, in m/s) increases by this amount every second.</source>
+  <source>Allows to reverse the output range for each channel. Note: this is only useful for servos.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ATT_ACC_COMP/shortDesc</name>
+  <name>/parameters/PCA9685_REV/bitmask/0/description</name>
   <message>
-  <source>Acceleration compensation based on GPS velocity</source>
+  <source>PCA9685 Output Channel 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ATT_ACC_COMP/values/0/description</name>
+  <name>/parameters/PCA9685_REV/bitmask/1/description</name>
   <message>
-  <source>Disabled</source>
+  <source>PCA9685 Output Channel 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ATT_ACC_COMP/values/1/description</name>
+  <name>/parameters/PCA9685_REV/bitmask/2/description</name>
   <message>
-  <source>Enabled</source>
+  <source>PCA9685 Output Channel 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ATT_BIAS_MAX/shortDesc</name>
+  <name>/parameters/PCA9685_REV/bitmask/3/description</name>
   <message>
-  <source>Gyro bias limit</source>
+  <source>PCA9685 Output Channel 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ATT_EN/shortDesc</name>
+  <name>/parameters/PCA9685_REV/bitmask/4/description</name>
   <message>
-  <source>standalone attitude estimator enable (unsupported)</source>
+  <source>PCA9685 Output Channel 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ATT_EN/longDesc</name>
+  <name>/parameters/PCA9685_REV/bitmask/5/description</name>
   <message>
-  <source>Enable standalone quaternion based attitude estimator.</source>
+  <source>PCA9685 Output Channel 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ATT_EN/values/0/description</name>
+  <name>/parameters/PCA9685_REV/bitmask/6/description</name>
   <message>
-  <source>Disabled</source>
+  <source>PCA9685 Output Channel 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ATT_EN/values/1/description</name>
+  <name>/parameters/PCA9685_REV/bitmask/7/description</name>
   <message>
-  <source>Enabled</source>
+  <source>PCA9685 Output Channel 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ATT_EXT_HDG_M/shortDesc</name>
+  <name>/parameters/PCA9685_REV/bitmask/8/description</name>
   <message>
-  <source>External heading usage mode (from Motion capture/Vision)</source>
+  <source>PCA9685 Output Channel 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ATT_EXT_HDG_M/longDesc</name>
+  <name>/parameters/PCA9685_REV/bitmask/9/description</name>
   <message>
-  <source>Set to 1 to use heading estimate from vision. Set to 2 to use heading from motion capture.</source>
+  <source>PCA9685 Output Channel 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ATT_EXT_HDG_M/values/0/description</name>
+  <name>/parameters/PCA9685_REV/bitmask/10/description</name>
   <message>
-  <source>None</source>
+  <source>PCA9685 Output Channel 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ATT_EXT_HDG_M/values/1/description</name>
+  <name>/parameters/PCA9685_REV/bitmask/11/description</name>
   <message>
-  <source>Vision</source>
+  <source>PCA9685 Output Channel 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ATT_EXT_HDG_M/values/2/description</name>
+  <name>/parameters/PCA9685_REV/bitmask/12/description</name>
   <message>
-  <source>Motion Capture</source>
+  <source>PCA9685 Output Channel 13</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ATT_MAG_DECL/shortDesc</name>
+  <name>/parameters/PCA9685_REV/bitmask/13/description</name>
   <message>
-  <source>Magnetic declination, in degrees</source>
+  <source>PCA9685 Output Channel 14</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ATT_MAG_DECL/longDesc</name>
+  <name>/parameters/PCA9685_REV/bitmask/14/description</name>
   <message>
-  <source>This parameter is not used in normal operation, as the declination is looked up based on the GPS coordinates of the vehicle.</source>
+  <source>PCA9685 Output Channel 15</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ATT_MAG_DECL_A/shortDesc</name>
+  <name>/parameters/PCA9685_REV/bitmask/15/description</name>
   <message>
-  <source>Automatic GPS based declination compensation</source>
+  <source>PCA9685 Output Channel 16</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ATT_MAG_DECL_A/values/0/description</name>
+  <name>/parameters/PCA9685_SCHD_HZ/shortDesc</name>
   <message>
-  <source>Disabled</source>
+  <source>PWM update rate</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ATT_MAG_DECL_A/values/1/description</name>
+  <name>/parameters/PCA9685_SCHD_HZ/longDesc</name>
   <message>
-  <source>Enabled</source>
+  <source>Controls the update rate of PWM output. Flight Controller will inform those numbers of update events in a second, to PCA9685. Higher update rate will consume more I2C bandwidth, which may even lead to worse output latency, or completely block I2C bus.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ATT_W_ACC/shortDesc</name>
+  <name>/parameters/PWM_AUX_DIS1/shortDesc</name>
   <message>
-  <source>Complimentary filter accelerometer weight</source>
+  <source>PWM Aux 1 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ATT_W_EXT_HDG/shortDesc</name>
+  <name>/parameters/PWM_AUX_DIS1/longDesc</name>
   <message>
-  <source>Complimentary filter external heading weight</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ATT_W_GYRO_BIAS/shortDesc</name>
+  <name>/parameters/PWM_AUX_DIS10/shortDesc</name>
   <message>
-  <source>Complimentary filter gyroscope bias weight</source>
+  <source>PWM Capture 2 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ATT_W_MAG/shortDesc</name>
+  <name>/parameters/PWM_AUX_DIS10/longDesc</name>
   <message>
-  <source>Complimentary filter magnetometer weight</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/ATT_W_MAG/longDesc</name>
+  <name>/parameters/PWM_AUX_DIS11/shortDesc</name>
   <message>
-  <source>Set to 0 to avoid using the magnetometer.</source>
+  <source>PWM Capture 3 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_AT_APPLY/shortDesc</name>
+  <name>/parameters/PWM_AUX_DIS11/longDesc</name>
   <message>
-  <source>Controls when to apply the new gains</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_AT_APPLY/longDesc</name>
+  <name>/parameters/PWM_AUX_DIS2/shortDesc</name>
   <message>
-  <source>After the auto-tuning sequence is completed, a new set of gains is available and can be applied immediately or after landing.</source>
+  <source>PWM Aux 2 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_AT_APPLY/values/0/description</name>
+  <name>/parameters/PWM_AUX_DIS2/longDesc</name>
   <message>
-  <source>Do not apply the new gains (logging only)</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_AT_APPLY/values/1/description</name>
+  <name>/parameters/PWM_AUX_DIS3/shortDesc</name>
   <message>
-  <source>Apply the new gains after disarm</source>
+  <source>PWM Aux 3 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_AT_APPLY/values/2/description</name>
+  <name>/parameters/PWM_AUX_DIS3/longDesc</name>
   <message>
-  <source>Apply the new gains in air</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_AT_AXES/shortDesc</name>
+  <name>/parameters/PWM_AUX_DIS4/shortDesc</name>
   <message>
-  <source>Tuning axes selection</source>
+  <source>PWM Aux 4 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_AT_AXES/longDesc</name>
+  <name>/parameters/PWM_AUX_DIS4/longDesc</name>
   <message>
-  <source>Defines which axes will be tuned during the auto-tuning sequence Set bits in the following positions to enable: 0 : Roll 1 : Pitch 2 : Yaw</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_AT_AXES/bitmask/0/description</name>
+  <name>/parameters/PWM_AUX_DIS5/shortDesc</name>
   <message>
-  <source>roll</source>
+  <source>PWM Aux 5 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_AT_AXES/bitmask/1/description</name>
+  <name>/parameters/PWM_AUX_DIS5/longDesc</name>
   <message>
-  <source>pitch</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_AT_AXES/bitmask/2/description</name>
+  <name>/parameters/PWM_AUX_DIS6/shortDesc</name>
   <message>
-  <source>yaw</source>
+  <source>PWM Aux 6 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_AT_MAN_AUX/shortDesc</name>
+  <name>/parameters/PWM_AUX_DIS6/longDesc</name>
   <message>
-  <source>Enable/disable auto tuning using an RC AUX input</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_AT_MAN_AUX/longDesc</name>
+  <name>/parameters/PWM_AUX_DIS7/shortDesc</name>
   <message>
-  <source>Defines which RC_MAP_AUXn parameter maps the RC channel used to enable/disable auto tuning.</source>
+  <source>PWM Aux 7 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_AT_MAN_AUX/values/0/description</name>
+  <name>/parameters/PWM_AUX_DIS7/longDesc</name>
   <message>
-  <source>Disable</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_AT_MAN_AUX/values/1/description</name>
+  <name>/parameters/PWM_AUX_DIS8/shortDesc</name>
   <message>
-  <source>Aux1</source>
+  <source>PWM Aux 8 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_AT_MAN_AUX/values/2/description</name>
+  <name>/parameters/PWM_AUX_DIS8/longDesc</name>
   <message>
-  <source>Aux2</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_AT_MAN_AUX/values/3/description</name>
+  <name>/parameters/PWM_AUX_DIS9/shortDesc</name>
   <message>
-  <source>Aux3</source>
+  <source>PWM Capture 1 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_AT_MAN_AUX/values/4/description</name>
+  <name>/parameters/PWM_AUX_DIS9/longDesc</name>
   <message>
-  <source>Aux4</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_AT_MAN_AUX/values/5/description</name>
+  <name>/parameters/PWM_AUX_FAIL1/shortDesc</name>
   <message>
-  <source>Aux5</source>
+  <source>PWM Aux 1 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_AT_MAN_AUX/values/6/description</name>
+  <name>/parameters/PWM_AUX_FAIL1/longDesc</name>
   <message>
-  <source>Aux6</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_AUX_FUNC1).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_AT_START/shortDesc</name>
+  <name>/parameters/PWM_AUX_FAIL10/shortDesc</name>
   <message>
-  <source>Start the autotuning sequence</source>
+  <source>PWM Capture 2 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_AT_START/longDesc</name>
+  <name>/parameters/PWM_AUX_FAIL10/longDesc</name>
   <message>
-  <source>WARNING: this will inject steps to the rate controller and can be dangerous. Only activate if you know what you are doing, and in a safe environment. Any motion of the remote stick will abort the signal injection and reset this parameter Best is to perform the identification in position or hold mode. Increase the amplitude of the injected signal using FW_AT_SYSID_AMP for more signal/noise ratio</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_AUX_FUNC2).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_AT_START/values/0/description</name>
+  <name>/parameters/PWM_AUX_FAIL11/shortDesc</name>
   <message>
-  <source>Disabled</source>
+  <source>PWM Capture 3 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_AT_START/values/1/description</name>
+  <name>/parameters/PWM_AUX_FAIL11/longDesc</name>
   <message>
-  <source>Enabled</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_AUX_FUNC3).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_AT_SYSID_AMP/shortDesc</name>
+  <name>/parameters/PWM_AUX_FAIL2/shortDesc</name>
   <message>
-  <source>Amplitude of the injected signal</source>
+  <source>PWM Aux 2 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_AT_SYSID_AMP/longDesc</name>
+  <name>/parameters/PWM_AUX_FAIL2/longDesc</name>
   <message>
-  <source>This parameter scales the signal sent to the rate controller during system identification.</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_AUX_FUNC2).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_AT_SYSID_F0/shortDesc</name>
+  <name>/parameters/PWM_AUX_FAIL3/shortDesc</name>
   <message>
-  <source>Start frequency of the injected signal</source>
+  <source>PWM Aux 3 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_AT_SYSID_F0/longDesc</name>
+  <name>/parameters/PWM_AUX_FAIL3/longDesc</name>
   <message>
-  <source>Can be set lower or higher than the end frequency</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_AUX_FUNC3).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_AT_SYSID_F1/shortDesc</name>
+  <name>/parameters/PWM_AUX_FAIL4/shortDesc</name>
   <message>
-  <source>End frequency of the injected signal</source>
+  <source>PWM Aux 4 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_AT_SYSID_F1/longDesc</name>
+  <name>/parameters/PWM_AUX_FAIL4/longDesc</name>
   <message>
-  <source>Can be set lower or higher than the start frequency</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_AUX_FUNC4).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_AT_SYSID_TIME/shortDesc</name>
+  <name>/parameters/PWM_AUX_FAIL5/shortDesc</name>
   <message>
-  <source>Maneuver time for each axis</source>
+  <source>PWM Aux 5 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_AT_SYSID_TIME/longDesc</name>
+  <name>/parameters/PWM_AUX_FAIL5/longDesc</name>
   <message>
-  <source>Duration of the input signal sent on each axis during system identification</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_AUX_FUNC5).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_AT_SYSID_TYPE/shortDesc</name>
+  <name>/parameters/PWM_AUX_FAIL6/shortDesc</name>
   <message>
-  <source>Input signal type</source>
+  <source>PWM Aux 6 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_AT_SYSID_TYPE/longDesc</name>
+  <name>/parameters/PWM_AUX_FAIL6/longDesc</name>
   <message>
-  <source>Type of signal used during system identification to excite the system.</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_AUX_FUNC6).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_AT_SYSID_TYPE/values/0/description</name>
+  <name>/parameters/PWM_AUX_FAIL7/shortDesc</name>
   <message>
-  <source>Step</source>
+  <source>PWM Aux 7 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_AT_SYSID_TYPE/values/1/description</name>
+  <name>/parameters/PWM_AUX_FAIL7/longDesc</name>
   <message>
-  <source>Linear sine sweep</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_AUX_FUNC7).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_AT_SYSID_TYPE/values/2/description</name>
+  <name>/parameters/PWM_AUX_FAIL8/shortDesc</name>
   <message>
-  <source>Logarithmic sine sweep</source>
+  <source>PWM Aux 8 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_AT_APPLY/shortDesc</name>
+  <name>/parameters/PWM_AUX_FAIL8/longDesc</name>
   <message>
-  <source>Controls when to apply the new gains</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_AUX_FUNC8).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_AT_APPLY/longDesc</name>
+  <name>/parameters/PWM_AUX_FAIL9/shortDesc</name>
   <message>
-  <source>After the auto-tuning sequence is completed, a new set of gains is available and can be applied immediately or after landing. WARNING Applying the gains in air is dangerous as there is no guarantee that those new gains will be able to stabilize the drone properly.</source>
+  <source>PWM Capture 1 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_AT_APPLY/values/0/description</name>
+  <name>/parameters/PWM_AUX_FAIL9/longDesc</name>
   <message>
-  <source>Do not apply the new gains (logging only)</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_AUX_FUNC1).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_AT_APPLY/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC1/shortDesc</name>
   <message>
-  <source>Apply the new gains after disarm</source>
+  <source>PWM Aux 1 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_AT_APPLY/values/2/description</name>
+  <name>/parameters/PWM_AUX_FUNC1/longDesc</name>
   <message>
-  <source>WARNING Apply the new gains in air</source>
+  <source>Select what should be output on PWM Aux 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_AT_EN/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/0/description</name>
   <message>
-  <source>Multicopter autotune module enable</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_AT_EN/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/1/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_AT_EN/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/2/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_AT_RISE_TIME/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/101/description</name>
   <message>
-  <source>Desired angular rate closed-loop rise time</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_AT_START/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/102/description</name>
   <message>
-  <source>Start the autotuning sequence</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_AT_START/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/103/description</name>
   <message>
-  <source>WARNING: this will inject steps to the rate controller and can be dangerous. Only activate if you know what you are doing, and in a safe environment. Any motion of the remote stick will abort the signal injection and reset this parameter Best is to perform the identification in position or hold mode. Increase the amplitude of the injected signal using MC_AT_SYSID_AMP for more signal/noise ratio</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_AT_START/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/104/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_AT_START/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/105/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_AT_SYSID_AMP/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/106/description</name>
   <message>
-  <source>Amplitude of the injected signal</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT1_CAPACITY/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/107/description</name>
   <message>
-  <source>Battery 1 capacity</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT1_CAPACITY/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/108/description</name>
   <message>
-  <source>Defines the capacity of battery 1 in mAh.</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT1_N_CELLS/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/109/description</name>
   <message>
-  <source>Number of cells for battery 1</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT1_N_CELLS/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/110/description</name>
   <message>
-  <source>Defines the number of cells the attached battery consists of.</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT1_N_CELLS/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/111/description</name>
   <message>
-  <source>Unknown</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT1_N_CELLS/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/112/description</name>
   <message>
-  <source>1S Battery</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT1_N_CELLS/values/2/description</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/201/description</name>
   <message>
-  <source>2S Battery</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT1_N_CELLS/values/3/description</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/202/description</name>
   <message>
-  <source>3S Battery</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT1_N_CELLS/values/4/description</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/203/description</name>
   <message>
-  <source>4S Battery</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT1_N_CELLS/values/5/description</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/204/description</name>
   <message>
-  <source>5S Battery</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT1_N_CELLS/values/6/description</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/205/description</name>
   <message>
-  <source>6S Battery</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT1_N_CELLS/values/7/description</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/206/description</name>
   <message>
-  <source>7S Battery</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT1_N_CELLS/values/8/description</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/207/description</name>
   <message>
-  <source>8S Battery</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT1_N_CELLS/values/9/description</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/208/description</name>
   <message>
-  <source>9S Battery</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT1_N_CELLS/values/10/description</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/301/description</name>
   <message>
-  <source>10S Battery</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT1_N_CELLS/values/11/description</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/302/description</name>
   <message>
-  <source>11S Battery</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT1_N_CELLS/values/12/description</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/303/description</name>
   <message>
-  <source>12S Battery</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT1_N_CELLS/values/13/description</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/304/description</name>
   <message>
-  <source>13S Battery</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT1_N_CELLS/values/14/description</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/305/description</name>
   <message>
-  <source>14S Battery</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT1_N_CELLS/values/15/description</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/306/description</name>
   <message>
-  <source>15S Battery</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT1_N_CELLS/values/16/description</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/400/description</name>
   <message>
-  <source>16S Battery</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT1_R_INTERNAL/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/401/description</name>
   <message>
-  <source>Explicitly defines the per cell internal resistance for battery 1</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT1_R_INTERNAL/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/402/description</name>
   <message>
-  <source>If non-negative, then this will be used instead of the online estimated internal resistance.</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT1_SOURCE/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/403/description</name>
   <message>
-  <source>Battery 1 monitoring source</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT1_SOURCE/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/404/description</name>
   <message>
-  <source>This parameter controls the source of battery data. The value 'Power Module' means that measurements are expected to come from a power module. If the value is set to 'External' then the system expects to receive mavlink battery status messages. If the value is set to 'ESCs', the battery information are taken from the esc_status message. This requires the ESC to provide both voltage as well as current.</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT1_SOURCE/values/-1/description</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/405/description</name>
   <message>
-  <source>Disabled</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT1_SOURCE/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/406/description</name>
   <message>
-  <source>Power Module</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT1_SOURCE/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/407/description</name>
   <message>
-  <source>External</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT1_SOURCE/values/2/description</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/408/description</name>
   <message>
-  <source>ESCs</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT1_V_CHARGED/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/409/description</name>
   <message>
-  <source>Full cell voltage</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT1_V_CHARGED/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/410/description</name>
   <message>
-  <source>Defines the voltage where a single cell of the battery is considered full. For a more accurate estimate set this below the nominal voltage of e.g. 4.2V</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT1_V_EMPTY/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/411/description</name>
   <message>
-  <source>Empty cell voltage</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT1_V_EMPTY/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/412/description</name>
   <message>
-  <source>Defines the voltage where a single cell of the battery is considered empty. The voltage should be chosen above the steep dropoff at 3.5V. A typical lithium battery can only be discharged under high load down to 10% before it drops off to a voltage level damaging the cells.</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT2_CAPACITY/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/420/description</name>
   <message>
-  <source>Battery 2 capacity</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT2_CAPACITY/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/421/description</name>
   <message>
-  <source>Defines the capacity of battery 2 in mAh.</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT2_N_CELLS/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/422/description</name>
   <message>
-  <source>Number of cells for battery 2</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT2_N_CELLS/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/430/description</name>
   <message>
-  <source>Defines the number of cells the attached battery consists of.</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT2_N_CELLS/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/440/description</name>
   <message>
-  <source>Unknown</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT2_N_CELLS/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/2000/description</name>
   <message>
-  <source>1S Battery</source>
+  <source>Camera Trigger</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT2_N_CELLS/values/2/description</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/2032/description</name>
   <message>
-  <source>2S Battery</source>
+  <source>Camera Capture</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT2_N_CELLS/values/3/description</name>
+  <name>/parameters/PWM_AUX_FUNC1/values/2064/description</name>
   <message>
-  <source>3S Battery</source>
+  <source>PPS Input</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT2_N_CELLS/values/4/description</name>
+  <name>/parameters/PWM_AUX_FUNC10/shortDesc</name>
   <message>
-  <source>4S Battery</source>
+  <source>PWM Capture 2 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT2_N_CELLS/values/5/description</name>
+  <name>/parameters/PWM_AUX_FUNC10/longDesc</name>
   <message>
-  <source>5S Battery</source>
+  <source>Select what should be output on PWM Capture 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT2_N_CELLS/values/6/description</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/0/description</name>
   <message>
-  <source>6S Battery</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT2_N_CELLS/values/7/description</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/1/description</name>
   <message>
-  <source>7S Battery</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT2_N_CELLS/values/8/description</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/2/description</name>
   <message>
-  <source>8S Battery</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT2_N_CELLS/values/9/description</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/101/description</name>
   <message>
-  <source>9S Battery</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT2_N_CELLS/values/10/description</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/102/description</name>
   <message>
-  <source>10S Battery</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT2_N_CELLS/values/11/description</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/103/description</name>
   <message>
-  <source>11S Battery</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT2_N_CELLS/values/12/description</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/104/description</name>
   <message>
-  <source>12S Battery</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT2_N_CELLS/values/13/description</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/105/description</name>
   <message>
-  <source>13S Battery</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT2_N_CELLS/values/14/description</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/106/description</name>
   <message>
-  <source>14S Battery</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT2_N_CELLS/values/15/description</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/107/description</name>
   <message>
-  <source>15S Battery</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT2_N_CELLS/values/16/description</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/108/description</name>
   <message>
-  <source>16S Battery</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT2_R_INTERNAL/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/109/description</name>
   <message>
-  <source>Explicitly defines the per cell internal resistance for battery 2</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT2_R_INTERNAL/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/110/description</name>
   <message>
-  <source>If non-negative, then this will be used instead of the online estimated internal resistance.</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT2_SOURCE/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/111/description</name>
   <message>
-  <source>Battery 2 monitoring source</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT2_SOURCE/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/112/description</name>
   <message>
-  <source>This parameter controls the source of battery data. The value 'Power Module' means that measurements are expected to come from a power module. If the value is set to 'External' then the system expects to receive mavlink battery status messages. If the value is set to 'ESCs', the battery information are taken from the esc_status message. This requires the ESC to provide both voltage as well as current.</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT2_SOURCE/values/-1/description</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/201/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT2_SOURCE/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/202/description</name>
   <message>
-  <source>Power Module</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT2_SOURCE/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/203/description</name>
   <message>
-  <source>External</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT2_SOURCE/values/2/description</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/204/description</name>
   <message>
-  <source>ESCs</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT2_V_CHARGED/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/205/description</name>
   <message>
-  <source>Full cell voltage</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT2_V_CHARGED/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/206/description</name>
   <message>
-  <source>Defines the voltage where a single cell of the battery is considered full. For a more accurate estimate set this below the nominal voltage of e.g. 4.2V</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT2_V_EMPTY/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/207/description</name>
   <message>
-  <source>Empty cell voltage</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT2_V_EMPTY/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/208/description</name>
   <message>
-  <source>Defines the voltage where a single cell of the battery is considered empty. The voltage should be chosen above the steep dropoff at 3.5V. A typical lithium battery can only be discharged under high load down to 10% before it drops off to a voltage level damaging the cells.</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT3_CAPACITY/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/301/description</name>
   <message>
-  <source>Battery 3 capacity</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT3_CAPACITY/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/302/description</name>
   <message>
-  <source>Defines the capacity of battery 3 in mAh.</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT3_N_CELLS/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/303/description</name>
   <message>
-  <source>Number of cells for battery 3</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT3_N_CELLS/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/304/description</name>
   <message>
-  <source>Defines the number of cells the attached battery consists of.</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT3_N_CELLS/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/305/description</name>
   <message>
-  <source>Unknown</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT3_N_CELLS/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/306/description</name>
   <message>
-  <source>1S Battery</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT3_N_CELLS/values/2/description</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/400/description</name>
   <message>
-  <source>2S Battery</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT3_N_CELLS/values/3/description</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/401/description</name>
   <message>
-  <source>3S Battery</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT3_N_CELLS/values/4/description</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/402/description</name>
   <message>
-  <source>4S Battery</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT3_N_CELLS/values/5/description</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/403/description</name>
   <message>
-  <source>5S Battery</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT3_N_CELLS/values/6/description</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/404/description</name>
   <message>
-  <source>6S Battery</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT3_N_CELLS/values/7/description</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/405/description</name>
   <message>
-  <source>7S Battery</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT3_N_CELLS/values/8/description</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/406/description</name>
   <message>
-  <source>8S Battery</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT3_N_CELLS/values/9/description</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/407/description</name>
   <message>
-  <source>9S Battery</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT3_N_CELLS/values/10/description</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/408/description</name>
   <message>
-  <source>10S Battery</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT3_N_CELLS/values/11/description</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/409/description</name>
   <message>
-  <source>11S Battery</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT3_N_CELLS/values/12/description</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/410/description</name>
   <message>
-  <source>12S Battery</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT3_N_CELLS/values/13/description</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/411/description</name>
   <message>
-  <source>13S Battery</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT3_N_CELLS/values/14/description</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/412/description</name>
   <message>
-  <source>14S Battery</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT3_N_CELLS/values/15/description</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/420/description</name>
   <message>
-  <source>15S Battery</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT3_N_CELLS/values/16/description</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/421/description</name>
   <message>
-  <source>16S Battery</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT3_R_INTERNAL/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/422/description</name>
   <message>
-  <source>Explicitly defines the per cell internal resistance for battery 3</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT3_R_INTERNAL/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/430/description</name>
   <message>
-  <source>If non-negative, then this will be used instead of the online estimated internal resistance.</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT3_SOURCE/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/440/description</name>
   <message>
-  <source>Battery 3 monitoring source</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT3_SOURCE/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/2000/description</name>
   <message>
-  <source>This parameter controls the source of battery data. The value 'Power Module' means that measurements are expected to come from a power module. If the value is set to 'External' then the system expects to receive mavlink battery status messages. If the value is set to 'ESCs', the battery information are taken from the esc_status message. This requires the ESC to provide both voltage as well as current.</source>
+  <source>Camera Trigger</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT3_SOURCE/values/-1/description</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/2032/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Camera Capture</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT3_SOURCE/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC10/values/2064/description</name>
   <message>
-  <source>Power Module</source>
+  <source>PPS Input</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT3_SOURCE/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC11/shortDesc</name>
   <message>
-  <source>External</source>
+  <source>PWM Capture 3 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT3_SOURCE/values/2/description</name>
+  <name>/parameters/PWM_AUX_FUNC11/longDesc</name>
   <message>
-  <source>ESCs</source>
+  <source>Select what should be output on PWM Capture 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT3_V_CHARGED/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/0/description</name>
   <message>
-  <source>Full cell voltage</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT3_V_CHARGED/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/1/description</name>
   <message>
-  <source>Defines the voltage where a single cell of the battery is considered full. For a more accurate estimate set this below the nominal voltage of e.g. 4.2V</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT3_V_EMPTY/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/2/description</name>
   <message>
-  <source>Empty cell voltage</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT3_V_EMPTY/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/101/description</name>
   <message>
-  <source>Defines the voltage where a single cell of the battery is considered empty. The voltage should be chosen above the steep dropoff at 3.5V. A typical lithium battery can only be discharged under high load down to 10% before it drops off to a voltage level damaging the cells.</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT_AVRG_CURRENT/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/102/description</name>
   <message>
-  <source>Expected battery current in flight</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT_AVRG_CURRENT/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/103/description</name>
   <message>
-  <source>This value is used to initialize the in-flight average current estimation, which in turn is used for estimating remaining flight time and RTL triggering.</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT_CRIT_THR/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/104/description</name>
   <message>
-  <source>Critical threshold</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT_CRIT_THR/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/105/description</name>
   <message>
-  <source>Sets the threshold when the battery will be reported as critically low. This has to be lower than the low threshold. This threshold commonly will trigger RTL.</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT_EMERGEN_THR/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/106/description</name>
   <message>
-  <source>Emergency threshold</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT_EMERGEN_THR/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/107/description</name>
   <message>
-  <source>Sets the threshold when the battery will be reported as dangerously low. This has to be lower than the critical threshold. This threshold commonly will trigger landing.</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT_LOW_THR/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/108/description</name>
   <message>
-  <source>Low threshold</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/BAT_LOW_THR/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/109/description</name>
   <message>
-  <source>Sets the threshold when the battery will be reported as low. This has to be higher than the critical threshold.</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TRIG_ACT_TIME/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/110/description</name>
   <message>
-  <source>Camera trigger activation time</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TRIG_ACT_TIME/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/111/description</name>
   <message>
-  <source>This parameter sets the time the trigger needs to pulled high or low.</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TRIG_DISTANCE/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/112/description</name>
   <message>
-  <source>Camera trigger distance</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TRIG_DISTANCE/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/201/description</name>
   <message>
-  <source>Sets the distance at which to trigger the camera.</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TRIG_INTERFACE/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/202/description</name>
   <message>
-  <source>Camera trigger Interface</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TRIG_INTERFACE/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/203/description</name>
   <message>
-  <source>Selects the trigger interface</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TRIG_INTERFACE/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/204/description</name>
   <message>
-  <source>GPIO</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TRIG_INTERFACE/values/2/description</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/205/description</name>
   <message>
-  <source>Seagull MAP2 (over PWM)</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TRIG_INTERFACE/values/3/description</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/206/description</name>
   <message>
-  <source>MAVLink (Camera Protocol v1)</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TRIG_INTERFACE/values/4/description</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/207/description</name>
   <message>
-  <source>Generic PWM (IR trigger, servo)</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TRIG_INTERVAL/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/208/description</name>
   <message>
-  <source>Camera trigger interval</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TRIG_INTERVAL/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/301/description</name>
   <message>
-  <source>This parameter sets the time between two consecutive trigger events</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TRIG_MIN_INTERVA/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/302/description</name>
   <message>
-  <source>Minimum camera trigger interval</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TRIG_MIN_INTERVA/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/303/description</name>
   <message>
-  <source>This parameter sets the minimum time between two consecutive trigger events the specific camera setup is supporting.</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TRIG_MODE/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/304/description</name>
   <message>
-  <source>Camera trigger mode</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TRIG_MODE/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/305/description</name>
   <message>
-  <source>Disable</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TRIG_MODE/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/306/description</name>
   <message>
-  <source>Time based, on command</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TRIG_MODE/values/2/description</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/400/description</name>
   <message>
-  <source>Time based, always on</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TRIG_MODE/values/3/description</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/401/description</name>
   <message>
-  <source>Distance based, always on</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TRIG_MODE/values/4/description</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/402/description</name>
   <message>
-  <source>Distance based, on command (Survey mode)</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TRIG_POLARITY/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/403/description</name>
   <message>
-  <source>Camera trigger polarity</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TRIG_POLARITY/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/404/description</name>
   <message>
-  <source>This parameter sets the polarity of the trigger (0 = active low, 1 = active high )</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TRIG_POLARITY/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/405/description</name>
   <message>
-  <source>Active low</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TRIG_POLARITY/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/406/description</name>
   <message>
-  <source>Active high</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TRIG_PWM_NEUTRAL/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/407/description</name>
   <message>
-  <source>PWM neutral output on trigger pin</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TRIG_PWM_SHOOT/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/408/description</name>
   <message>
-  <source>PWM output to trigger shot</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CBRK_BUZZER/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/409/description</name>
   <message>
-  <source>Circuit breaker for disabling buzzer</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CBRK_BUZZER/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/410/description</name>
   <message>
-  <source>Setting this parameter to 782097 will disable the buzzer audio notification. Setting this parameter to 782090 will disable the startup tune, while keeping all others enabled.</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CBRK_FLIGHTTERM/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/411/description</name>
   <message>
-  <source>Circuit breaker for flight termination</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CBRK_FLIGHTTERM/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/412/description</name>
   <message>
-  <source>Setting this parameter to 121212 will disable the flight termination action if triggered by the FailureDetector logic or if FMU is lost. This circuit breaker does not affect the RC loss, data link loss, geofence, and takeoff failure detection safety logic.</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CBRK_IO_SAFETY/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/420/description</name>
   <message>
-  <source>Circuit breaker for IO safety</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CBRK_IO_SAFETY/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/421/description</name>
   <message>
-  <source>Setting this parameter to 22027 will disable IO safety. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CBRK_SUPPLY_CHK/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/422/description</name>
   <message>
-  <source>Circuit breaker for power supply check</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CBRK_SUPPLY_CHK/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/430/description</name>
   <message>
-  <source>Setting this parameter to 894281 will disable the power valid checks in the commander. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CBRK_USB_CHK/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/440/description</name>
   <message>
-  <source>Circuit breaker for USB link check</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CBRK_USB_CHK/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/2000/description</name>
   <message>
-  <source>Setting this parameter to 197848 will disable the USB connected checks in the commander, setting it to 0 keeps them enabled (recommended). We are generally recommending to not fly with the USB link connected and production vehicles should set this parameter to zero to prevent users from flying USB powered. However, for R&amp;D purposes it has proven over the years to work just fine.</source>
+  <source>Camera Trigger</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CBRK_VTOLARMING/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/2032/description</name>
   <message>
-  <source>Circuit breaker for arming in fixed-wing mode check</source>
+  <source>Camera Capture</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CBRK_VTOLARMING/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC11/values/2064/description</name>
   <message>
-  <source>Setting this parameter to 159753 will enable arming in fixed-wing mode for VTOLs. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</source>
+  <source>PPS Input</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ACT_FAIL_ACT/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC2/shortDesc</name>
   <message>
-  <source>Set the actuator failure failsafe mode</source>
+  <source>PWM Aux 2 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ACT_FAIL_ACT/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC2/longDesc</name>
   <message>
-  <source>Note: actuator failure needs to be enabled and configured via FD_ACT_* parameters.</source>
+  <source>Select what should be output on PWM Aux 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ACT_FAIL_ACT/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/0/description</name>
   <message>
-  <source>Warning only</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ACT_FAIL_ACT/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/1/description</name>
   <message>
-  <source>Hold mode</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ACT_FAIL_ACT/values/2/description</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/2/description</name>
   <message>
-  <source>Land mode</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ACT_FAIL_ACT/values/3/description</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/101/description</name>
   <message>
-  <source>Return mode</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ACT_FAIL_ACT/values/4/description</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/102/description</name>
   <message>
-  <source>Terminate</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARMABLE/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/103/description</name>
   <message>
-  <source>Flag to allow arming</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARMABLE/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/104/description</name>
   <message>
-  <source>Set 0 to prevent accidental use of the vehicle e.g. for safety or maintenance reasons.</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARMABLE/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/105/description</name>
   <message>
-  <source>Disallow arming</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARMABLE/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/106/description</name>
   <message>
-  <source>Allow arming</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_AUTH_ID/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/107/description</name>
   <message>
-  <source>Arm authorizer system id</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_AUTH_ID/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/108/description</name>
   <message>
-  <source>Used if arm authorization is requested by COM_ARM_AUTH_REQ.</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_AUTH_MET/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/109/description</name>
   <message>
-  <source>Arm authorization method</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_AUTH_MET/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/110/description</name>
   <message>
-  <source>Methods: - one arm: request authorization and arm when authorization is received - two step arm: 1st arm command request an authorization and 2nd arm command arm the drone if authorized Used if arm authorization is requested by COM_ARM_AUTH_REQ.</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_AUTH_MET/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/111/description</name>
   <message>
-  <source>one arm</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_AUTH_MET/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/112/description</name>
   <message>
-  <source>two step arm</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_AUTH_REQ/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/201/description</name>
   <message>
-  <source>Require arm authorization to arm</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_AUTH_REQ/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/202/description</name>
   <message>
-  <source>By default off. The default allows to arm the vehicle without a arm authorization.</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_AUTH_REQ/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/203/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_AUTH_REQ/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/204/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_AUTH_TO/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/205/description</name>
   <message>
-  <source>Arm authorization timeout</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_AUTH_TO/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/206/description</name>
   <message>
-  <source>Timeout for authorizer answer. Used if arm authorization is requested by COM_ARM_AUTH_REQ.</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_BAT_MIN/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/207/description</name>
   <message>
-  <source>Minimum battery level for arming</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_BAT_MIN/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/208/description</name>
   <message>
-  <source>Threshold for battery percentage below arming is prohibited. A negative value means BAT_CRIT_THR is the threshold.</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_CHK_ESCS/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/301/description</name>
   <message>
-  <source>Enable checks on ESCs that report telemetry</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_CHK_ESCS/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/302/description</name>
   <message>
-  <source>If this parameter is set, the system will check ESC's online status and failures. This param is specific for ESCs reporting status. It shall be used only if ESCs support telemetry.</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_CHK_ESCS/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/303/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_CHK_ESCS/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/304/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_HFLT_CHK/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/305/description</name>
   <message>
-  <source>Enable FMU SD card hardfault detection check</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_HFLT_CHK/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/306/description</name>
   <message>
-  <source>This check detects if there are hardfault files present on the SD card. If so, and the parameter is enabled, arming is prevented.</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_HFLT_CHK/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/400/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_HFLT_CHK/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/401/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_IMU_ACC/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/402/description</name>
   <message>
-  <source>Maximum accelerometer inconsistency between IMU units that will allow arming</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_IMU_GYR/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/403/description</name>
   <message>
-  <source>Maximum rate gyro inconsistency between IMU units that will allow arming</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_MAG_ANG/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/404/description</name>
   <message>
-  <source>Maximum magnetic field inconsistency between units that will allow arming</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_MAG_ANG/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/405/description</name>
   <message>
-  <source>Set -1 to disable the check.</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_MAG_STR/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/406/description</name>
   <message>
-  <source>Enable mag strength preflight check</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_MAG_STR/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/407/description</name>
   <message>
-  <source>Check if the estimator detects a strong magnetic disturbance (check enabled by EKF2_MAG_CHECK)</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_MAG_STR/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/408/description</name>
   <message>
-  <source>Disabled</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_MAG_STR/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/409/description</name>
   <message>
-  <source>Deny arming</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_MAG_STR/values/2/description</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/410/description</name>
   <message>
-  <source>Warning only</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_MIS_REQ/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/411/description</name>
   <message>
-  <source>Require valid mission to arm</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_MIS_REQ/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/412/description</name>
   <message>
-  <source>The default allows to arm the vehicle without a valid mission.</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_MIS_REQ/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/420/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_MIS_REQ/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/421/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_ODID/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/422/description</name>
   <message>
-  <source>Enable Drone ID system detection and health check</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_ODID/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/430/description</name>
   <message>
-  <source>This check detects if the Open Drone ID system is missing. Depending on the value of the parameter, the check can be disabled, warn only or deny arming.</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_ODID/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/440/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_ODID/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/2000/description</name>
   <message>
-  <source>Warning only</source>
+  <source>Camera Trigger</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_ODID/values/2/description</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/2032/description</name>
   <message>
-  <source>Enforce Open Drone ID system presence</source>
+  <source>Camera Capture</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_SDCARD/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC2/values/2064/description</name>
   <message>
-  <source>Enable FMU SD card detection check</source>
+  <source>PPS Input</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_SDCARD/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC3/shortDesc</name>
   <message>
-  <source>This check detects if the FMU SD card is missing. Depending on the value of the parameter, the check can be disabled, warn only or deny arming.</source>
+  <source>PWM Aux 3 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_SDCARD/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC3/longDesc</name>
   <message>
-  <source>Disabled</source>
+  <source>Select what should be output on PWM Aux 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_SDCARD/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/0/description</name>
   <message>
-  <source>Warning only</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_SDCARD/values/2/description</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/1/description</name>
   <message>
-  <source>Enforce SD card presence</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_SWISBTN/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/2/description</name>
   <message>
-  <source>Arm switch is a momentary button</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_SWISBTN/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/101/description</name>
   <message>
-  <source>0: Arming/disarming triggers on switch transition. 1: Arming/disarming triggers when holding the momentary button down for COM_RC_ARM_HYST like the stick gesture.</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_SWISBTN/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/102/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_SWISBTN/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/103/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_WO_GPS/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/104/description</name>
   <message>
-  <source>GPS preflight check</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_WO_GPS/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/105/description</name>
   <message>
-  <source>Measures taken when a check defined by EKF2_GPS_CHECK is failing.</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_WO_GPS/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/106/description</name>
   <message>
-  <source>Deny arming</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_WO_GPS/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/107/description</name>
   <message>
-  <source>Warning only</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_ARM_WO_GPS/values/2/description</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/108/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_CPU_MAX/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/109/description</name>
   <message>
-  <source>Maximum allowed CPU load to still arm</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_CPU_MAX/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/110/description</name>
   <message>
-  <source>The check fails if the CPU load is above this threshold for 2s. A negative value disables the check.</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_DISARM_LAND/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/111/description</name>
   <message>
-  <source>Time-out for auto disarm after landing</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_DISARM_LAND/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/112/description</name>
   <message>
-  <source>A non-zero, positive value specifies the time-out period in seconds after which the vehicle will be automatically disarmed in case a landing situation has been detected during this period. A zero or negative value means that automatic disarming triggered by landing detection is disabled.</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_DISARM_MAN/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/201/description</name>
   <message>
-  <source>Allow disarming via switch/stick/button on multicopters in manual thrust modes</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_DISARM_MAN/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/202/description</name>
   <message>
-  <source>0: Disallow disarming when not landed 1: Allow disarming in multicopter flight in modes where the thrust is directly controlled by thr throttle stick e.g. Stabilized, Acro</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_DISARM_MAN/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/203/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_DISARM_MAN/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/204/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_DISARM_PRFLT/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/205/description</name>
   <message>
-  <source>Time-out for auto disarm if not taking off</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_DISARM_PRFLT/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/206/description</name>
   <message>
-  <source>A non-zero, positive value specifies the time in seconds, within which the vehicle is expected to take off after arming. In case the vehicle didn't takeoff within the timeout it disarms again. A negative value disables autmoatic disarming triggered by a pre-takeoff timeout.</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_DL_LOSS_T/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/207/description</name>
   <message>
-  <source>GCS connection loss time threshold</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_DL_LOSS_T/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/208/description</name>
   <message>
-  <source>After this amount of seconds without datalink, the GCS connection lost mode triggers</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FAIL_ACT_T/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/301/description</name>
   <message>
-  <source>Delay between failsafe condition triggered and failsafe reaction</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FAIL_ACT_T/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/302/description</name>
   <message>
-  <source>Before entering failsafe (RTL, Land, Hold), wait COM_FAIL_ACT_T seconds in Hold mode for the user to realize. During that time the user cannot take over control via the stick override feature (see COM_RC_OVERRIDE). Afterwards the configured failsafe action is triggered and the user may use stick override. A zero value disables the delay and the user cannot take over via stick movements (switching modes is still allowed).</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLIGHT_UUID/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/303/description</name>
   <message>
-  <source>Next flight UUID</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLIGHT_UUID/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/304/description</name>
   <message>
-  <source>This number is incremented automatically after every flight on disarming in order to remember the next flight UUID. The first flight is 0.</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE1/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/305/description</name>
   <message>
-  <source>Mode slot 1</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE1/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/306/description</name>
   <message>
-  <source>If the main switch channel is in this range the selected flight mode will be applied.</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE1/values/-1/description</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/400/description</name>
   <message>
-  <source>Unassigned</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE1/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/401/description</name>
   <message>
-  <source>Manual</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE1/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/402/description</name>
   <message>
-  <source>Altitude</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE1/values/2/description</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/403/description</name>
   <message>
-  <source>Position</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE1/values/3/description</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/404/description</name>
   <message>
-  <source>Mission</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE1/values/4/description</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/405/description</name>
   <message>
-  <source>Hold</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE1/values/5/description</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/406/description</name>
   <message>
-  <source>Return</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE1/values/6/description</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/407/description</name>
   <message>
-  <source>Acro</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE1/values/7/description</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/408/description</name>
   <message>
-  <source>Offboard</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE1/values/8/description</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/409/description</name>
   <message>
-  <source>Stabilized</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE1/values/9/description</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/410/description</name>
   <message>
-  <source>Position Slow</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE1/values/10/description</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/411/description</name>
   <message>
-  <source>Takeoff</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE1/values/11/description</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/412/description</name>
   <message>
-  <source>Land</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE1/values/12/description</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/420/description</name>
   <message>
-  <source>Follow Me</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE1/values/13/description</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/421/description</name>
   <message>
-  <source>Precision Land</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE1/values/100/description</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/422/description</name>
   <message>
-  <source>External Mode 1</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE1/values/101/description</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/430/description</name>
   <message>
-  <source>External Mode 2</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE1/values/102/description</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/440/description</name>
   <message>
-  <source>External Mode 3</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE1/values/103/description</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/2000/description</name>
   <message>
-  <source>External Mode 4</source>
+  <source>Camera Trigger</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE1/values/104/description</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/2032/description</name>
   <message>
-  <source>External Mode 5</source>
+  <source>Camera Capture</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE1/values/105/description</name>
+  <name>/parameters/PWM_AUX_FUNC3/values/2064/description</name>
   <message>
-  <source>External Mode 6</source>
+  <source>PPS Input</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE1/values/106/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/shortDesc</name>
   <message>
-  <source>External Mode 7</source>
+  <source>PWM Aux 4 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE1/values/107/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/longDesc</name>
   <message>
-  <source>External Mode 8</source>
+  <source>Select what should be output on PWM Aux 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE2/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/0/description</name>
   <message>
-  <source>Mode slot 2</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE2/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/1/description</name>
   <message>
-  <source>If the main switch channel is in this range the selected flight mode will be applied.</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE2/values/-1/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/2/description</name>
   <message>
-  <source>Unassigned</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE2/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/101/description</name>
   <message>
-  <source>Manual</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE2/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/102/description</name>
   <message>
-  <source>Altitude</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE2/values/2/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/103/description</name>
   <message>
-  <source>Position</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE2/values/3/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/104/description</name>
   <message>
-  <source>Mission</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE2/values/4/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/105/description</name>
   <message>
-  <source>Hold</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE2/values/5/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/106/description</name>
   <message>
-  <source>Return</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE2/values/6/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/107/description</name>
   <message>
-  <source>Acro</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE2/values/7/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/108/description</name>
   <message>
-  <source>Offboard</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE2/values/8/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/109/description</name>
   <message>
-  <source>Stabilized</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE2/values/9/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/110/description</name>
   <message>
-  <source>Position Slow</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE2/values/10/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/111/description</name>
   <message>
-  <source>Takeoff</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE2/values/11/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/112/description</name>
   <message>
-  <source>Land</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE2/values/12/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/201/description</name>
   <message>
-  <source>Follow Me</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE2/values/13/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/202/description</name>
   <message>
-  <source>Precision Land</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE2/values/100/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/203/description</name>
   <message>
-  <source>External Mode 1</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE2/values/101/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/204/description</name>
   <message>
-  <source>External Mode 2</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE2/values/102/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/205/description</name>
   <message>
-  <source>External Mode 3</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE2/values/103/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/206/description</name>
   <message>
-  <source>External Mode 4</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE2/values/104/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/207/description</name>
   <message>
-  <source>External Mode 5</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE2/values/105/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/208/description</name>
   <message>
-  <source>External Mode 6</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE2/values/106/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/301/description</name>
   <message>
-  <source>External Mode 7</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE2/values/107/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/302/description</name>
   <message>
-  <source>External Mode 8</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE3/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/303/description</name>
   <message>
-  <source>Mode slot 3</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE3/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/304/description</name>
   <message>
-  <source>If the main switch channel is in this range the selected flight mode will be applied.</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE3/values/-1/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/305/description</name>
   <message>
-  <source>Unassigned</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE3/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/306/description</name>
   <message>
-  <source>Manual</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE3/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/400/description</name>
   <message>
-  <source>Altitude</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE3/values/2/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/401/description</name>
   <message>
-  <source>Position</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE3/values/3/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/402/description</name>
   <message>
-  <source>Mission</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE3/values/4/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/403/description</name>
   <message>
-  <source>Hold</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE3/values/5/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/404/description</name>
   <message>
-  <source>Return</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE3/values/6/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/405/description</name>
   <message>
-  <source>Acro</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE3/values/7/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/406/description</name>
   <message>
-  <source>Offboard</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE3/values/8/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/407/description</name>
   <message>
-  <source>Stabilized</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE3/values/9/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/408/description</name>
   <message>
-  <source>Position Slow</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE3/values/10/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/409/description</name>
   <message>
-  <source>Takeoff</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE3/values/11/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/410/description</name>
   <message>
-  <source>Land</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE3/values/12/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/411/description</name>
   <message>
-  <source>Follow Me</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE3/values/13/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/412/description</name>
   <message>
-  <source>Precision Land</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE3/values/100/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/420/description</name>
   <message>
-  <source>External Mode 1</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE3/values/101/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/421/description</name>
   <message>
-  <source>External Mode 2</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE3/values/102/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/422/description</name>
   <message>
-  <source>External Mode 3</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE3/values/103/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/430/description</name>
   <message>
-  <source>External Mode 4</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE3/values/104/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/440/description</name>
   <message>
-  <source>External Mode 5</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE3/values/105/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/2000/description</name>
   <message>
-  <source>External Mode 6</source>
+  <source>Camera Trigger</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE3/values/106/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/2032/description</name>
   <message>
-  <source>External Mode 7</source>
+  <source>Camera Capture</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE3/values/107/description</name>
+  <name>/parameters/PWM_AUX_FUNC4/values/2064/description</name>
   <message>
-  <source>External Mode 8</source>
+  <source>PPS Input</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE4/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC5/shortDesc</name>
   <message>
-  <source>Mode slot 4</source>
+  <source>PWM Aux 5 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE4/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC5/longDesc</name>
   <message>
-  <source>If the main switch channel is in this range the selected flight mode will be applied.</source>
+  <source>Select what should be output on PWM Aux 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE4/values/-1/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/0/description</name>
   <message>
-  <source>Unassigned</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE4/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/1/description</name>
   <message>
-  <source>Manual</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE4/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/2/description</name>
   <message>
-  <source>Altitude</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE4/values/2/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/101/description</name>
   <message>
-  <source>Position</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE4/values/3/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/102/description</name>
   <message>
-  <source>Mission</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE4/values/4/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/103/description</name>
   <message>
-  <source>Hold</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE4/values/5/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/104/description</name>
   <message>
-  <source>Return</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE4/values/6/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/105/description</name>
   <message>
-  <source>Acro</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE4/values/7/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/106/description</name>
   <message>
-  <source>Offboard</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE4/values/8/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/107/description</name>
   <message>
-  <source>Stabilized</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE4/values/9/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/108/description</name>
   <message>
-  <source>Position Slow</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE4/values/10/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/109/description</name>
   <message>
-  <source>Takeoff</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE4/values/11/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/110/description</name>
   <message>
-  <source>Land</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE4/values/12/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/111/description</name>
   <message>
-  <source>Follow Me</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE4/values/13/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/112/description</name>
   <message>
-  <source>Precision Land</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE4/values/100/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/201/description</name>
   <message>
-  <source>External Mode 1</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE4/values/101/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/202/description</name>
   <message>
-  <source>External Mode 2</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE4/values/102/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/203/description</name>
   <message>
-  <source>External Mode 3</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE4/values/103/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/204/description</name>
   <message>
-  <source>External Mode 4</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE4/values/104/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/205/description</name>
   <message>
-  <source>External Mode 5</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE4/values/105/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/206/description</name>
   <message>
-  <source>External Mode 6</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE4/values/106/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/207/description</name>
   <message>
-  <source>External Mode 7</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE4/values/107/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/208/description</name>
   <message>
-  <source>External Mode 8</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE5/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/301/description</name>
   <message>
-  <source>Mode slot 5</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE5/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/302/description</name>
   <message>
-  <source>If the main switch channel is in this range the selected flight mode will be applied.</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE5/values/-1/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/303/description</name>
   <message>
-  <source>Unassigned</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE5/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/304/description</name>
   <message>
-  <source>Manual</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE5/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/305/description</name>
   <message>
-  <source>Altitude</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE5/values/2/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/306/description</name>
   <message>
-  <source>Position</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE5/values/3/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/400/description</name>
   <message>
-  <source>Mission</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE5/values/4/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/401/description</name>
   <message>
-  <source>Hold</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE5/values/5/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/402/description</name>
   <message>
-  <source>Return</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE5/values/6/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/403/description</name>
   <message>
-  <source>Acro</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE5/values/7/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/404/description</name>
   <message>
-  <source>Offboard</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE5/values/8/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/405/description</name>
   <message>
-  <source>Stabilized</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE5/values/9/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/406/description</name>
   <message>
-  <source>Position Slow</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE5/values/10/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/407/description</name>
   <message>
-  <source>Takeoff</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE5/values/11/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/408/description</name>
   <message>
-  <source>Land</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE5/values/12/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/409/description</name>
   <message>
-  <source>Follow Me</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE5/values/13/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/410/description</name>
   <message>
-  <source>Precision Land</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE5/values/100/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/411/description</name>
   <message>
-  <source>External Mode 1</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE5/values/101/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/412/description</name>
   <message>
-  <source>External Mode 2</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE5/values/102/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/420/description</name>
   <message>
-  <source>External Mode 3</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE5/values/103/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/421/description</name>
   <message>
-  <source>External Mode 4</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE5/values/104/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/422/description</name>
   <message>
-  <source>External Mode 5</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE5/values/105/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/430/description</name>
   <message>
-  <source>External Mode 6</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE5/values/106/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/440/description</name>
   <message>
-  <source>External Mode 7</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE5/values/107/description</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/2000/description</name>
   <message>
-  <source>External Mode 8</source>
+  <source>Camera Trigger</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE6/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/2032/description</name>
   <message>
-  <source>Mode slot 6</source>
+  <source>Camera Capture</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE6/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC5/values/2064/description</name>
   <message>
-  <source>If the main switch channel is in this range the selected flight mode will be applied.</source>
+  <source>PPS Input</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE6/values/-1/description</name>
+  <name>/parameters/PWM_AUX_FUNC6/shortDesc</name>
   <message>
-  <source>Unassigned</source>
+  <source>PWM Aux 6 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE6/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC6/longDesc</name>
   <message>
-  <source>Manual</source>
+  <source>Select what should be output on PWM Aux 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE6/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/0/description</name>
   <message>
-  <source>Altitude</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE6/values/2/description</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/1/description</name>
   <message>
-  <source>Position</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE6/values/3/description</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/2/description</name>
   <message>
-  <source>Mission</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE6/values/4/description</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/101/description</name>
   <message>
-  <source>Hold</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE6/values/5/description</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/102/description</name>
   <message>
-  <source>Return</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE6/values/6/description</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/103/description</name>
   <message>
-  <source>Acro</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE6/values/7/description</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/104/description</name>
   <message>
-  <source>Offboard</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE6/values/8/description</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/105/description</name>
   <message>
-  <source>Stabilized</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE6/values/9/description</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/106/description</name>
   <message>
-  <source>Position Slow</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE6/values/10/description</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/107/description</name>
   <message>
-  <source>Takeoff</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE6/values/11/description</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/108/description</name>
   <message>
-  <source>Land</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE6/values/12/description</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/109/description</name>
   <message>
-  <source>Follow Me</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE6/values/13/description</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/110/description</name>
   <message>
-  <source>Precision Land</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE6/values/100/description</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/111/description</name>
   <message>
-  <source>External Mode 1</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE6/values/101/description</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/112/description</name>
   <message>
-  <source>External Mode 2</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE6/values/102/description</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/201/description</name>
   <message>
-  <source>External Mode 3</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE6/values/103/description</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/202/description</name>
   <message>
-  <source>External Mode 4</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE6/values/104/description</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/203/description</name>
   <message>
-  <source>External Mode 5</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE6/values/105/description</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/204/description</name>
   <message>
-  <source>External Mode 6</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE6/values/106/description</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/205/description</name>
   <message>
-  <source>External Mode 7</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTMODE6/values/107/description</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/206/description</name>
   <message>
-  <source>External Mode 8</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTT_LOW_ACT/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/207/description</name>
   <message>
-  <source>Remaining flight time low failsafe</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTT_LOW_ACT/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/208/description</name>
   <message>
-  <source>Action the system takes when the remaining flight time is below the estimated time it takes to reach the RTL destination.</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTT_LOW_ACT/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/301/description</name>
   <message>
-  <source>None</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTT_LOW_ACT/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/302/description</name>
   <message>
-  <source>Warning</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLTT_LOW_ACT/values/3/description</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/303/description</name>
   <message>
-  <source>Return</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLT_PROFILE/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/304/description</name>
   <message>
-  <source>User Flight Profile</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLT_PROFILE/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/305/description</name>
   <message>
-  <source>Describes the intended use of the vehicle. Can be used by ground control software or log post processing. This param does not influence the behavior within the firmware. This means for example the control logic is independent of the setting of this param (but depends on other params).</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLT_PROFILE/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/306/description</name>
   <message>
-  <source>Default</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLT_PROFILE/values/100/description</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/400/description</name>
   <message>
-  <source>Pro User</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLT_PROFILE/values/200/description</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/401/description</name>
   <message>
-  <source>Flight Tester</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLT_PROFILE/values/300/description</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/402/description</name>
   <message>
-  <source>Developer</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLT_TIME_MAX/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/403/description</name>
   <message>
-  <source>Maximum allowed flight time</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FLT_TIME_MAX/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/404/description</name>
   <message>
-  <source>The vehicle aborts the current operation and returns to launch when the time since takeoff is above this value. It is not possible to resume the mission or switch to any auto mode other than RTL or Land. Taking over in any manual mode is still possible. Starting from 90% of the maximum flight time, a warning message will be sent every 1 minute with the remaining time until automatic RTL. Set to -1 to disable.</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FORCE_SAFETY/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/405/description</name>
   <message>
-  <source>Enable force safety</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FORCE_SAFETY/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/406/description</name>
   <message>
-  <source>Force safety when the vehicle disarms</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FORCE_SAFETY/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/407/description</name>
   <message>
-  <source>Disabled</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_FORCE_SAFETY/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/408/description</name>
   <message>
-  <source>Enabled</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_HLDL_LOSS_T/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/409/description</name>
   <message>
-  <source>High Latency Datalink loss time threshold</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_HLDL_LOSS_T/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/410/description</name>
   <message>
-  <source>After this amount of seconds without datalink the data link lost mode triggers</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_HLDL_REG_T/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/411/description</name>
   <message>
-  <source>High Latency Datalink regain time threshold</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_HLDL_REG_T/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/412/description</name>
   <message>
-  <source>After a data link loss: after this number of seconds with a healthy datalink the 'datalink loss' flag is set back to false</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_HOME_EN/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/420/description</name>
   <message>
-  <source>Home position enabled</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_HOME_EN/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/421/description</name>
   <message>
-  <source>Set home position automatically if possible.</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_HOME_EN/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/422/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_HOME_EN/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/430/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_HOME_IN_AIR/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/440/description</name>
   <message>
-  <source>Allows setting the home position after takeoff</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_HOME_IN_AIR/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/2000/description</name>
   <message>
-  <source>If set to true, the autopilot is allowed to set its home position after takeoff The true home position is back-computed if a local position is estimate if available. If no local position is available, home is set to the current position.</source>
+  <source>Camera Trigger</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_HOME_IN_AIR/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/2032/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Camera Capture</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_HOME_IN_AIR/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC6/values/2064/description</name>
   <message>
-  <source>Enabled</source>
+  <source>PPS Input</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_IMB_PROP_ACT/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC7/shortDesc</name>
   <message>
-  <source>Imbalanced propeller failsafe mode</source>
+  <source>PWM Aux 7 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_IMB_PROP_ACT/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC7/longDesc</name>
   <message>
-  <source>Action the system takes when an imbalanced propeller is detected by the failure detector. See also FD_IMB_PROP_THR to set the failure threshold.</source>
+  <source>Select what should be output on PWM Aux 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_IMB_PROP_ACT/values/-1/description</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/0/description</name>
   <message>
   <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_IMB_PROP_ACT/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/1/description</name>
   <message>
-  <source>Warning</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_IMB_PROP_ACT/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/2/description</name>
   <message>
-  <source>Return</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_IMB_PROP_ACT/values/2/description</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/101/description</name>
   <message>
-  <source>Land</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_KILL_DISARM/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/102/description</name>
   <message>
-  <source>Timeout value for disarming when kill switch is engaged</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_LKDOWN_TKO/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/103/description</name>
   <message>
-  <source>Timeout for detecting a failure after takeoff</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_LKDOWN_TKO/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/104/description</name>
   <message>
-  <source>A non-zero, positive value specifies the timeframe in seconds within failure detector is allowed to disarm the vehicle if attitude exceeds the limits defined in FD_FAIL_P and FD_FAIL_R. The check is not executed for flight modes that do support acrobatic maneuvers, e.g: Acro (MC/FW) and Manual (FW). A zero or negative value means that the check is disabled.</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_LOW_BAT_ACT/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/105/description</name>
   <message>
-  <source>Battery failsafe mode</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_LOW_BAT_ACT/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/106/description</name>
   <message>
-  <source>Action the system takes at critical battery. See also BAT_CRIT_THR and BAT_EMERGEN_THR for definition of battery states.</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_LOW_BAT_ACT/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/107/description</name>
   <message>
-  <source>Warning</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_LOW_BAT_ACT/values/2/description</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/108/description</name>
   <message>
-  <source>Land mode</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_LOW_BAT_ACT/values/3/description</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/109/description</name>
   <message>
-  <source>Return at critical level, land at emergency level</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_MODE0_HASH/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/110/description</name>
   <message>
-  <source>External mode identifier 0</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_MODE0_HASH/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/111/description</name>
   <message>
-  <source>This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_MODE1_HASH/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/112/description</name>
   <message>
-  <source>External mode identifier 1</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_MODE1_HASH/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/201/description</name>
   <message>
-  <source>This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_MODE2_HASH/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/202/description</name>
   <message>
-  <source>External mode identifier 2</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_MODE2_HASH/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/203/description</name>
   <message>
-  <source>This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_MODE3_HASH/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/204/description</name>
   <message>
-  <source>External mode identifier 3</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_MODE3_HASH/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/205/description</name>
   <message>
-  <source>This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_MODE4_HASH/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/206/description</name>
   <message>
-  <source>External mode identifier 4</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_MODE4_HASH/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/207/description</name>
   <message>
-  <source>This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_MODE5_HASH/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/208/description</name>
   <message>
-  <source>External mode identifier 5</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_MODE5_HASH/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/301/description</name>
   <message>
-  <source>This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_MODE6_HASH/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/302/description</name>
   <message>
-  <source>External mode identifier 6</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_MODE6_HASH/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/303/description</name>
   <message>
-  <source>This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_MODE7_HASH/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/304/description</name>
   <message>
-  <source>External mode identifier 7</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_MODE7_HASH/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/305/description</name>
   <message>
-  <source>This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_MOT_TEST_EN/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/306/description</name>
   <message>
-  <source>Enable Actuator Testing</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_MOT_TEST_EN/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/400/description</name>
   <message>
-  <source>If set, enables the actuator test interface via MAVLink (ACTUATOR_TEST), that allows spinning the motors and moving the servos for testing purposes.</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_MOT_TEST_EN/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/401/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_MOT_TEST_EN/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/402/description</name>
   <message>
-  <source>Enabled</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_OBC_LOSS_T/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/403/description</name>
   <message>
-  <source>Time-out to wait when onboard computer connection is lost before warning about loss connection</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_OBL_RC_ACT/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/404/description</name>
   <message>
-  <source>Set offboard loss failsafe mode</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_OBL_RC_ACT/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/405/description</name>
   <message>
-  <source>The offboard loss failsafe will only be entered after a timeout, set by COM_OF_LOSS_T in seconds.</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_OBL_RC_ACT/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/406/description</name>
   <message>
-  <source>Position mode</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_OBL_RC_ACT/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/407/description</name>
   <message>
-  <source>Altitude mode</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_OBL_RC_ACT/values/2/description</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/408/description</name>
   <message>
-  <source>Stabilized</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_OBL_RC_ACT/values/3/description</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/409/description</name>
   <message>
-  <source>Return mode</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_OBL_RC_ACT/values/4/description</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/410/description</name>
   <message>
-  <source>Land mode</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_OBL_RC_ACT/values/5/description</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/411/description</name>
   <message>
-  <source>Hold mode</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_OBL_RC_ACT/values/6/description</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/412/description</name>
   <message>
-  <source>Terminate</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_OBL_RC_ACT/values/7/description</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/420/description</name>
   <message>
-  <source>Disarm</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_OBS_AVOID/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/421/description</name>
   <message>
-  <source>Flag to enable obstacle avoidance</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_OBS_AVOID/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/422/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_OBS_AVOID/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/430/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_OF_LOSS_T/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/440/description</name>
   <message>
-  <source>Time-out to wait when offboard connection is lost before triggering offboard lost action</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_OF_LOSS_T/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/2000/description</name>
   <message>
-  <source>See COM_OBL_RC_ACT to configure action.</source>
+  <source>Camera Trigger</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_PARACHUTE/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/2032/description</name>
   <message>
-  <source>Expect and require a healthy MAVLink parachute system</source>
+  <source>Camera Capture</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_PARACHUTE/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC7/values/2064/description</name>
   <message>
-  <source>Disabled</source>
+  <source>PPS Input</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_PARACHUTE/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC8/shortDesc</name>
   <message>
-  <source>Enabled</source>
+  <source>PWM Aux 8 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_POSCTL_NAVL/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC8/longDesc</name>
   <message>
-  <source>Position mode navigation loss response</source>
+  <source>Select what should be output on PWM Aux 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_POSCTL_NAVL/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/0/description</name>
   <message>
-  <source>This sets the flight mode that will be used if navigation accuracy is no longer adequate for position control in manual Position mode.</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_POSCTL_NAVL/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/1/description</name>
   <message>
-  <source>Altitude mode</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_POSCTL_NAVL/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/2/description</name>
   <message>
-  <source>Land mode (descend)</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_POS_FS_DELAY/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/101/description</name>
   <message>
-  <source>Loss of position failsafe activation delay</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_POS_FS_DELAY/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/102/description</name>
   <message>
-  <source>This sets number of seconds that the position checks need to be failed before the failsafe will activate. The default value has been optimised for rotary wing applications. For fixed wing applications, a larger value between 5 and 10 should be used.</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_POS_FS_EPH/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/103/description</name>
   <message>
-  <source>Horizontal position error threshold</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_POS_FS_EPH/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/104/description</name>
   <message>
-  <source>This is the horizontal position error (EPH) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing. If the previous position error was below this threshold, there is an additional factor of 2.5 applied (threshold for invalidation 2.5 times the one for validation). Set to -1 to disable.</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_POS_LOW_ACT/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/105/description</name>
   <message>
-  <source>Low position accuracy action</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_POS_LOW_ACT/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/106/description</name>
   <message>
-  <source>Action the system takes when the estimated position has an accuracy below the specified threshold. See COM_POS_LOW_EPH to set the failsafe threshold. The failsafe action is only executed if the vehicle is in auto mission or auto loiter mode, otherwise it is only a warning.</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_POS_LOW_ACT/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/107/description</name>
   <message>
-  <source>None</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_POS_LOW_ACT/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/108/description</name>
   <message>
-  <source>Warning</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_POS_LOW_ACT/values/2/description</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/109/description</name>
   <message>
-  <source>Hold</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_POS_LOW_ACT/values/3/description</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/110/description</name>
   <message>
-  <source>Return</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_POS_LOW_ACT/values/4/description</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/111/description</name>
   <message>
-  <source>Terminate</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_POS_LOW_ACT/values/5/description</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/112/description</name>
   <message>
-  <source>Land</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_POS_LOW_EPH/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/201/description</name>
   <message>
-  <source>Low position accuracy failsafe threshold</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_POS_LOW_EPH/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/202/description</name>
   <message>
-  <source>This triggers the action specified in COM_POS_LOW_ACT if the estimated position accuracy is below this threshold. Local position has to be still declared valid, which requires some kind of velocity aiding or large dead-reckoning time (EKF2_NOAID_TOUT), and a high failsafe threshold (COM_POS_FS_EPH). Set to -1 to disable.</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_POWER_COUNT/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/203/description</name>
   <message>
-  <source>Required number of redundant power modules</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_POWER_COUNT/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/204/description</name>
   <message>
-  <source>This configures a check to verify the expected number of 5V rail power supplies are present. By default only one is expected. Note: CBRK_SUPPLY_CHK disables all power checks including this one.</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_PREARM_MODE/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/205/description</name>
   <message>
-  <source>Condition to enter prearmed mode</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_PREARM_MODE/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/206/description</name>
   <message>
-  <source>Condition to enter the prearmed state, an intermediate state between disarmed and armed in which non-throttling actuators are active.</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_PREARM_MODE/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/207/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_PREARM_MODE/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/208/description</name>
   <message>
-  <source>Safety button</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_PREARM_MODE/values/2/description</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/301/description</name>
   <message>
-  <source>Always</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_QC_ACT/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/302/description</name>
   <message>
-  <source>Set command after a quadchute</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_QC_ACT/values/-1/description</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/303/description</name>
   <message>
-  <source>Warning only</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_QC_ACT/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/304/description</name>
   <message>
-  <source>Return mode</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_QC_ACT/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/305/description</name>
   <message>
-  <source>Land mode</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_QC_ACT/values/2/description</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/306/description</name>
   <message>
-  <source>Hold mode</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_RAM_MAX/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/400/description</name>
   <message>
-  <source>Maximum allowed RAM usage to pass checks</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_RAM_MAX/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/401/description</name>
   <message>
-  <source>The check fails if the RAM usage is above this threshold. A negative value disables the check.</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_RCL_EXCEPT/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/402/description</name>
   <message>
-  <source>RC loss exceptions</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_RCL_EXCEPT/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/403/description</name>
   <message>
-  <source>Specify modes in which RC loss is ignored and the failsafe action not triggered.</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_RCL_EXCEPT/bitmask/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/404/description</name>
   <message>
-  <source>Mission</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_RCL_EXCEPT/bitmask/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/405/description</name>
   <message>
-  <source>Hold</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_RCL_EXCEPT/bitmask/2/description</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/406/description</name>
   <message>
-  <source>Offboard</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_RC_ARM_HYST/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/407/description</name>
   <message>
-  <source>RC input arm/disarm command duration</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_RC_ARM_HYST/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/408/description</name>
   <message>
-  <source>The default value of 1000 requires the stick to be held in the arm or disarm position for 1 second.</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_RC_IN_MODE/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/409/description</name>
   <message>
-  <source>RC control input mode</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_RC_IN_MODE/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/410/description</name>
   <message>
-  <source>A value of 0 enables RC transmitter control (only). A valid RC transmitter calibration is required. A value of 1 allows joystick control only. RC input handling and the associated checks are disabled. A value of 2 allows either RC Transmitter or Joystick input. The first valid input is used, will fallback to other sources if the input stream becomes invalid. A value of 3 allows either input from RC or joystick. The first available source is selected and used until reboot. A value of 4 ignores any stick input.</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_RC_IN_MODE/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/411/description</name>
   <message>
-  <source>RC Transmitter only</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_RC_IN_MODE/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/412/description</name>
   <message>
-  <source>Joystick only</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_RC_IN_MODE/values/2/description</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/420/description</name>
   <message>
-  <source>RC and Joystick with fallback</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_RC_IN_MODE/values/3/description</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/421/description</name>
   <message>
-  <source>RC or Joystick keep first</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_RC_IN_MODE/values/4/description</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/422/description</name>
   <message>
-  <source>Stick input disabled</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_RC_LOSS_T/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/430/description</name>
   <message>
-  <source>Manual control loss timeout</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_RC_LOSS_T/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/440/description</name>
   <message>
-  <source>The time in seconds without a new setpoint from RC or Joystick, after which the connection is considered lost. This must be kept short as the vehicle will use the last supplied setpoint until the timeout triggers.</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_RC_OVERRIDE/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/2000/description</name>
   <message>
-  <source>Enable RC stick override of auto and/or offboard modes</source>
+  <source>Camera Trigger</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_RC_OVERRIDE/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/2032/description</name>
   <message>
-  <source>When RC stick override is enabled, moving the RC sticks more than COM_RC_STICK_OV immediately gives control back to the pilot by switching to Position mode and if position is unavailable Altitude mode. Note: Only has an effect on multicopters, and VTOLs in multicopter mode.</source>
+  <source>Camera Capture</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_RC_OVERRIDE/bitmask/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC8/values/2064/description</name>
   <message>
-  <source>Enable override during auto modes (except for in critical battery reaction)</source>
+  <source>PPS Input</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_RC_OVERRIDE/bitmask/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC9/shortDesc</name>
   <message>
-  <source>Enable override during offboard mode</source>
+  <source>PWM Capture 1 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_RC_STICK_OV/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC9/longDesc</name>
   <message>
-  <source>RC stick override threshold</source>
+  <source>Select what should be output on PWM Capture 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_RC_STICK_OV/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/0/description</name>
   <message>
-  <source>If COM_RC_OVERRIDE is enabled and the joystick input is moved more than this threshold the autopilot the pilot takes over control.</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_SPOOLUP_TIME/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/1/description</name>
   <message>
-  <source>Enforced delay between arming and further navigation</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_SPOOLUP_TIME/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/2/description</name>
   <message>
-  <source>The minimal time from arming the motors until moving the vehicle is possible is COM_SPOOLUP_TIME seconds. Goal: - Motors and propellers spool up to idle speed before getting commanded to spin faster - Timeout for ESCs and smart batteries to successfulyy do failure checks e.g. for stuck rotors before the vehicle is off the ground</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_TAKEOFF_ACT/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/101/description</name>
   <message>
-  <source>Action after TAKEOFF has been accepted</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_TAKEOFF_ACT/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/102/description</name>
   <message>
-  <source>The mode transition after TAKEOFF has completed successfully.</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_TAKEOFF_ACT/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/103/description</name>
   <message>
-  <source>Hold</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_TAKEOFF_ACT/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/104/description</name>
   <message>
-  <source>Mission (if valid)</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_THROW_EN/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/105/description</name>
   <message>
-  <source>Enable throw-start</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_THROW_EN/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/106/description</name>
   <message>
-  <source>Allows to start the vehicle by throwing it into the air.</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_THROW_EN/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/107/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_THROW_EN/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/108/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_THROW_SPEED/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/109/description</name>
   <message>
-  <source>Minimum speed for the throw start</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_THROW_SPEED/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/110/description</name>
   <message>
-  <source>When the throw launch is enabled, the drone will only allow motors to spin after this speed is exceeded before detecting the freefall. This is a safety feature to ensure the drone does not turn on after accidental drop or a rapid movement before the throw. Set to 0 to disable.</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_VEL_FS_EVH/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/111/description</name>
   <message>
-  <source>Horizontal velocity error threshold</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_VEL_FS_EVH/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/112/description</name>
   <message>
-  <source>This is the horizontal velocity error (EVH) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing. If the previous velocity error was below this threshold, there is an additional factor of 2.5 applied (threshold for invalidation 2.5 times the one for validation).</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_WIND_MAX/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/201/description</name>
   <message>
-  <source>High wind speed failsafe threshold</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_WIND_MAX/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/202/description</name>
   <message>
-  <source>Wind speed threshold above which an automatic failsafe action is triggered. Failsafe action can be specified with COM_WIND_MAX_ACT.</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_WIND_MAX_ACT/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/203/description</name>
   <message>
-  <source>High wind failsafe mode</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_WIND_MAX_ACT/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/204/description</name>
   <message>
-  <source>Action the system takes when a wind speed above the specified threshold is detected. See COM_WIND_MAX to set the failsafe threshold. If enabled, it is not possible to resume the mission or switch to any auto mode other than RTL or Land if this threshold is exceeded. Taking over in any manual mode is still possible.</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_WIND_MAX_ACT/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/205/description</name>
   <message>
-  <source>None</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_WIND_MAX_ACT/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/206/description</name>
   <message>
-  <source>Warning</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_WIND_MAX_ACT/values/2/description</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/207/description</name>
   <message>
-  <source>Hold</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_WIND_MAX_ACT/values/3/description</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/208/description</name>
   <message>
-  <source>Return</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_WIND_MAX_ACT/values/4/description</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/301/description</name>
   <message>
-  <source>Terminate</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_WIND_MAX_ACT/values/5/description</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/302/description</name>
   <message>
-  <source>Land</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_WIND_WARN/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/303/description</name>
   <message>
-  <source>Wind speed warning threshold</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/COM_WIND_WARN/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/304/description</name>
   <message>
-  <source>A warning is triggered if the currently estimated wind speed is above this value. Warning is sent periodically (every 1 minute). Set to -1 to disable.</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NAV_DLL_ACT/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/305/description</name>
   <message>
-  <source>Set GCS connection loss failsafe mode</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NAV_DLL_ACT/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/306/description</name>
   <message>
-  <source>The GCS connection loss failsafe will only be entered after a timeout, set by COM_DL_LOSS_T in seconds. Once the timeout occurs the selected action will be executed.</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NAV_DLL_ACT/values/0/description</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/400/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NAV_DLL_ACT/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/401/description</name>
   <message>
-  <source>Hold mode</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NAV_DLL_ACT/values/2/description</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/402/description</name>
   <message>
-  <source>Return mode</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NAV_DLL_ACT/values/3/description</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/403/description</name>
   <message>
-  <source>Land mode</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NAV_DLL_ACT/values/5/description</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/404/description</name>
   <message>
-  <source>Terminate</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NAV_DLL_ACT/values/6/description</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/405/description</name>
   <message>
-  <source>Disarm</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NAV_RCL_ACT/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/406/description</name>
   <message>
-  <source>Set RC loss failsafe mode</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NAV_RCL_ACT/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/407/description</name>
   <message>
-  <source>The RC loss failsafe will only be entered after a timeout, set by COM_RC_LOSS_T in seconds. If RC input checks have been disabled by setting the COM_RC_IN_MODE param it will not be triggered.</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NAV_RCL_ACT/values/1/description</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/408/description</name>
   <message>
-  <source>Hold mode</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NAV_RCL_ACT/values/2/description</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/409/description</name>
   <message>
-  <source>Return mode</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NAV_RCL_ACT/values/3/description</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/410/description</name>
   <message>
-  <source>Land mode</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NAV_RCL_ACT/values/5/description</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/411/description</name>
   <message>
-  <source>Terminate</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NAV_RCL_ACT/values/6/description</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/412/description</name>
   <message>
-  <source>Disarm</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_ABIAS_INIT/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/420/description</name>
   <message>
-  <source>1-sigma IMU accelerometer switch-on bias</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_ABL_ACCLIM/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/421/description</name>
   <message>
-  <source>Maximum IMU accel magnitude that allows IMU bias learning</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_ABL_ACCLIM/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/422/description</name>
   <message>
-  <source>If the magnitude of the IMU accelerometer vector exceeds this value, the EKF accel bias state estimation will be inhibited. This reduces the adverse effect of high manoeuvre accelerations and IMU nonlinerity and scale factor errors on the accel bias estimates.</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_ABL_GYRLIM/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/430/description</name>
   <message>
-  <source>Maximum IMU gyro angular rate magnitude that allows IMU bias learning</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_ABL_GYRLIM/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/440/description</name>
   <message>
-  <source>If the magnitude of the IMU angular rate vector exceeds this value, the EKF accel bias state estimation will be inhibited. This reduces the adverse effect of rapid rotation rates and associated errors on the accel bias estimates.</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_ABL_LIM/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/2000/description</name>
   <message>
-  <source>Accelerometer bias learning limit</source>
+  <source>Camera Trigger</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_ABL_LIM/longDesc</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/2032/description</name>
   <message>
-  <source>The ekf accel bias states will be limited to within a range equivalent to +- of this value.</source>
+  <source>Camera Capture</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_ABL_TAU/shortDesc</name>
+  <name>/parameters/PWM_AUX_FUNC9/values/2064/description</name>
   <message>
-  <source>Accel bias learning inhibit time constant</source>
+  <source>PPS Input</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_ABL_TAU/longDesc</name>
+  <name>/parameters/PWM_AUX_MAX1/shortDesc</name>
   <message>
-  <source>The vector magnitude of angular rate and acceleration used to check if learning should be inhibited has a peak hold filter applied to it with an exponential decay. This parameter controls the time constant of the decay.</source>
+  <source>PWM Aux 1 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_ACC_B_NOISE/shortDesc</name>
+  <name>/parameters/PWM_AUX_MAX1/longDesc</name>
   <message>
-  <source>Process noise for IMU accelerometer bias prediction</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_ACC_NOISE/shortDesc</name>
+  <name>/parameters/PWM_AUX_MAX10/shortDesc</name>
   <message>
-  <source>Accelerometer noise for covariance prediction</source>
+  <source>PWM Capture 2 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_AGP_CTRL/shortDesc</name>
+  <name>/parameters/PWM_AUX_MAX10/longDesc</name>
   <message>
-  <source>Aux global position (AGP) sensor aiding</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_AGP_CTRL/longDesc</name>
+  <name>/parameters/PWM_AUX_MAX11/shortDesc</name>
   <message>
-  <source>Set bits in the following positions to enable: 0 : Horizontal position fusion 1 : Vertical position fusion</source>
+  <source>PWM Capture 3 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_AGP_CTRL/bitmask/0/description</name>
+  <name>/parameters/PWM_AUX_MAX11/longDesc</name>
   <message>
-  <source>Horizontal position</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_AGP_CTRL/bitmask/1/description</name>
+  <name>/parameters/PWM_AUX_MAX2/shortDesc</name>
   <message>
-  <source>Vertical position</source>
+  <source>PWM Aux 2 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_AGP_DELAY/shortDesc</name>
+  <name>/parameters/PWM_AUX_MAX2/longDesc</name>
   <message>
-  <source>Aux global position estimator delay relative to IMU measurements</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_AGP_GATE/shortDesc</name>
+  <name>/parameters/PWM_AUX_MAX3/shortDesc</name>
   <message>
-  <source>Gate size for aux global position fusion</source>
+  <source>PWM Aux 3 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_AGP_GATE/longDesc</name>
+  <name>/parameters/PWM_AUX_MAX3/longDesc</name>
   <message>
-  <source>Sets the number of standard deviations used by the innovation consistency test.</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_AGP_NOISE/shortDesc</name>
+  <name>/parameters/PWM_AUX_MAX4/shortDesc</name>
   <message>
-  <source>Measurement noise for aux global position measurements</source>
+  <source>PWM Aux 4 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_AGP_NOISE/longDesc</name>
+  <name>/parameters/PWM_AUX_MAX4/longDesc</name>
   <message>
-  <source>Used to lower bound or replace the uncertainty included in the message</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_ANGERR_INIT/shortDesc</name>
+  <name>/parameters/PWM_AUX_MAX5/shortDesc</name>
   <message>
-  <source>1-sigma tilt angle uncertainty after gravity vector alignment</source>
+  <source>PWM Aux 5 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_ARSP_THR/shortDesc</name>
+  <name>/parameters/PWM_AUX_MAX5/longDesc</name>
   <message>
-  <source>Airspeed fusion threshold</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_ARSP_THR/longDesc</name>
+  <name>/parameters/PWM_AUX_MAX6/shortDesc</name>
   <message>
-  <source>Airspeed data is fused for wind estimation if above this threshold. Set to 0 to disable airspeed fusion. For reliable wind estimation both sideslip (see EKF2_FUSE_BETA) and airspeed fusion should be enabled. Only applies to fixed-wing vehicles (or VTOLs in fixed-wing mode).</source>
+  <source>PWM Aux 6 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_ASPD_MAX/shortDesc</name>
+  <name>/parameters/PWM_AUX_MAX6/longDesc</name>
   <message>
-  <source>Maximum airspeed used for baro static pressure compensation</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_ASP_DELAY/shortDesc</name>
+  <name>/parameters/PWM_AUX_MAX7/shortDesc</name>
   <message>
-  <source>Airspeed measurement delay relative to IMU measurements</source>
+  <source>PWM Aux 7 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_AVEL_DELAY/shortDesc</name>
+  <name>/parameters/PWM_AUX_MAX7/longDesc</name>
   <message>
-  <source>Auxiliary Velocity Estimate delay relative to IMU measurements</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_BARO_CTRL/shortDesc</name>
+  <name>/parameters/PWM_AUX_MAX8/shortDesc</name>
   <message>
-  <source>Barometric sensor height aiding</source>
+  <source>PWM Aux 8 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_BARO_CTRL/longDesc</name>
+  <name>/parameters/PWM_AUX_MAX8/longDesc</name>
   <message>
-  <source>If this parameter is enabled then the estimator will make use of the barometric height measurements to estimate its height in addition to other height sources (if activated).</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_BARO_CTRL/values/0/description</name>
+  <name>/parameters/PWM_AUX_MAX9/shortDesc</name>
   <message>
-  <source>Disabled</source>
+  <source>PWM Capture 1 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_BARO_CTRL/values/1/description</name>
+  <name>/parameters/PWM_AUX_MAX9/longDesc</name>
   <message>
-  <source>Enabled</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_BARO_DELAY/shortDesc</name>
+  <name>/parameters/PWM_AUX_MIN1/shortDesc</name>
   <message>
-  <source>Barometer measurement delay relative to IMU measurements</source>
+  <source>PWM Aux 1 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_BARO_GATE/shortDesc</name>
+  <name>/parameters/PWM_AUX_MIN1/longDesc</name>
   <message>
-  <source>Gate size for barometric and GPS height fusion</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_BARO_GATE/longDesc</name>
+  <name>/parameters/PWM_AUX_MIN10/shortDesc</name>
   <message>
-  <source>Sets the number of standard deviations used by the innovation consistency test.</source>
+  <source>PWM Capture 2 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_BARO_NOISE/shortDesc</name>
+  <name>/parameters/PWM_AUX_MIN10/longDesc</name>
   <message>
-  <source>Measurement noise for barometric altitude</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_BCOEF_X/shortDesc</name>
+  <name>/parameters/PWM_AUX_MIN11/shortDesc</name>
   <message>
-  <source>X-axis ballistic coefficient used for multi-rotor wind estimation</source>
+  <source>PWM Capture 3 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_BCOEF_X/longDesc</name>
+  <name>/parameters/PWM_AUX_MIN11/longDesc</name>
   <message>
-  <source>This parameter controls the prediction of drag produced by bluff body drag along the forward/reverse axis when flying a multi-copter which enables estimation of wind drift when enabled by the EKF2_DRAG_CTRL parameter. The drag produced by this effect scales with speed squared. The predicted drag from the rotors is specified separately by the EKF2_MCOEF parameter. Set this parameter to zero to turn off the bluff body drag model for this axis.</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_BCOEF_Y/shortDesc</name>
+  <name>/parameters/PWM_AUX_MIN2/shortDesc</name>
   <message>
-  <source>Y-axis ballistic coefficient used for multi-rotor wind estimation</source>
+  <source>PWM Aux 2 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_BCOEF_Y/longDesc</name>
+  <name>/parameters/PWM_AUX_MIN2/longDesc</name>
   <message>
-  <source>This parameter controls the prediction of drag produced by bluff body drag along the right/left axis when flying a multi-copter, which enables estimation of wind drift when enabled by the EKF2_DRAG_CTRL parameter. The drag produced by this effect scales with speed squared. The predicted drag from the rotors is specified separately by the EKF2_MCOEF parameter. Set this parameter to zero to turn off the bluff body drag model for this axis.</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_BETA_GATE/shortDesc</name>
+  <name>/parameters/PWM_AUX_MIN3/shortDesc</name>
   <message>
-  <source>Gate size for synthetic sideslip fusion</source>
+  <source>PWM Aux 3 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_BETA_GATE/longDesc</name>
+  <name>/parameters/PWM_AUX_MIN3/longDesc</name>
   <message>
-  <source>Sets the number of standard deviations used by the innovation consistency test.</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_BETA_NOISE/shortDesc</name>
+  <name>/parameters/PWM_AUX_MIN4/shortDesc</name>
   <message>
-  <source>Noise for synthetic sideslip fusion</source>
+  <source>PWM Aux 4 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_DECL_TYPE/shortDesc</name>
+  <name>/parameters/PWM_AUX_MIN4/longDesc</name>
   <message>
-  <source>Integer bitmask controlling handling of magnetic declination</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_DECL_TYPE/longDesc</name>
+  <name>/parameters/PWM_AUX_MIN5/shortDesc</name>
   <message>
-  <source>Set bits in the following positions to enable functions. 0 : Set to true to use the declination from the geo_lookup library when the GPS position becomes available, set to false to always use the EKF2_MAG_DECL value. 1 : Set to true to save the EKF2_MAG_DECL parameter to the value returned by the EKF when the vehicle disarms.</source>
+  <source>PWM Aux 5 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_DECL_TYPE/bitmask/0/description</name>
+  <name>/parameters/PWM_AUX_MIN5/longDesc</name>
   <message>
-  <source>use geo_lookup declination</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_DECL_TYPE/bitmask/1/description</name>
+  <name>/parameters/PWM_AUX_MIN6/shortDesc</name>
   <message>
-  <source>save EKF2_MAG_DECL on disarm</source>
+  <source>PWM Aux 6 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_DELAY_MAX/shortDesc</name>
+  <name>/parameters/PWM_AUX_MIN6/longDesc</name>
   <message>
-  <source>Maximum delay of all the aiding sensors</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_DELAY_MAX/longDesc</name>
+  <name>/parameters/PWM_AUX_MIN7/shortDesc</name>
   <message>
-  <source>Defines the delay between the current time and the delayed-time horizon. This value should be at least as large as the largest EKF2_XXX_DELAY parameter.</source>
+  <source>PWM Aux 7 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_DRAG_CTRL/shortDesc</name>
+  <name>/parameters/PWM_AUX_MIN7/longDesc</name>
   <message>
-  <source>Multirotor wind estimation selection</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_DRAG_CTRL/longDesc</name>
+  <name>/parameters/PWM_AUX_MIN8/shortDesc</name>
   <message>
-  <source>Activate wind speed estimation using specific-force measurements and a drag model defined by EKF2_BCOEF_[XY] and EKF2_MCOEF. Only use on vehicles that have their thrust aligned with the Z axis and no thrust in the XY plane.</source>
+  <source>PWM Aux 8 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_DRAG_CTRL/values/0/description</name>
+  <name>/parameters/PWM_AUX_MIN8/longDesc</name>
   <message>
-  <source>Disabled</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_DRAG_CTRL/values/1/description</name>
+  <name>/parameters/PWM_AUX_MIN9/shortDesc</name>
   <message>
-  <source>Enabled</source>
+  <source>PWM Capture 1 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_DRAG_NOISE/shortDesc</name>
+  <name>/parameters/PWM_AUX_MIN9/longDesc</name>
   <message>
-  <source>Specific drag force observation noise variance</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_DRAG_NOISE/longDesc</name>
+  <name>/parameters/PWM_AUX_REV/shortDesc</name>
   <message>
-  <source>Used by the multi-rotor specific drag force model. Increasing this makes the multi-rotor wind estimates adjust more slowly.</source>
+  <source>Reverse Output Range for PWM AUX</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_EAS_NOISE/shortDesc</name>
+  <name>/parameters/PWM_AUX_REV/longDesc</name>
   <message>
-  <source>Measurement noise for airspeed fusion</source>
+  <source>Allows to reverse the output range for each channel. Note: this is only useful for servos.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_EN/shortDesc</name>
+  <name>/parameters/PWM_AUX_REV/bitmask/0/description</name>
   <message>
-  <source>EKF2 enable</source>
+  <source>PWM Aux 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_EN/values/0/description</name>
+  <name>/parameters/PWM_AUX_REV/bitmask/1/description</name>
   <message>
-  <source>Disabled</source>
+  <source>PWM Aux 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_EN/values/1/description</name>
+  <name>/parameters/PWM_AUX_REV/bitmask/2/description</name>
   <message>
-  <source>Enabled</source>
+  <source>PWM Aux 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_EVA_NOISE/shortDesc</name>
+  <name>/parameters/PWM_AUX_REV/bitmask/3/description</name>
   <message>
-  <source>Measurement noise for vision angle measurements</source>
+  <source>PWM Aux 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_EVA_NOISE/longDesc</name>
+  <name>/parameters/PWM_AUX_REV/bitmask/4/description</name>
   <message>
-  <source>Used to lower bound or replace the uncertainty included in the message</source>
+  <source>PWM Aux 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_EVP_GATE/shortDesc</name>
+  <name>/parameters/PWM_AUX_REV/bitmask/5/description</name>
   <message>
-  <source>Gate size for vision position fusion</source>
+  <source>PWM Aux 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_EVP_GATE/longDesc</name>
+  <name>/parameters/PWM_AUX_REV/bitmask/6/description</name>
   <message>
-  <source>Sets the number of standard deviations used by the innovation consistency test.</source>
+  <source>PWM Aux 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_EVP_NOISE/shortDesc</name>
+  <name>/parameters/PWM_AUX_REV/bitmask/7/description</name>
   <message>
-  <source>Measurement noise for vision position measurements</source>
+  <source>PWM Aux 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_EVP_NOISE/longDesc</name>
+  <name>/parameters/PWM_AUX_REV/bitmask/8/description</name>
   <message>
-  <source>Used to lower bound or replace the uncertainty included in the message</source>
+  <source>PWM Capture 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_EVV_GATE/shortDesc</name>
+  <name>/parameters/PWM_AUX_REV/bitmask/9/description</name>
   <message>
-  <source>Gate size for vision velocity estimate fusion</source>
+  <source>PWM Capture 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_EVV_GATE/longDesc</name>
+  <name>/parameters/PWM_AUX_REV/bitmask/10/description</name>
   <message>
-  <source>Sets the number of standard deviations used by the innovation consistency test.</source>
+  <source>PWM Capture 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_EVV_NOISE/shortDesc</name>
+  <name>/parameters/PWM_AUX_TIM0/shortDesc</name>
   <message>
-  <source>Measurement noise for vision velocity measurements</source>
+  <source>Output Protocol Configuration for PWM Aux 1-4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_EVV_NOISE/longDesc</name>
+  <name>/parameters/PWM_AUX_TIM0/longDesc</name>
   <message>
-  <source>Used to lower bound or replace the uncertainty included in the message</source>
+  <source>Select which Output Protocol to use for outputs PWM Aux 1-4. Custom PWM rates can be used by directly setting any value &gt;0.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_EV_CTRL/shortDesc</name>
+  <name>/parameters/PWM_AUX_TIM0/values/-5/description</name>
   <message>
-  <source>External vision (EV) sensor aiding</source>
+  <source>DShot150</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_EV_CTRL/longDesc</name>
+  <name>/parameters/PWM_AUX_TIM0/values/-4/description</name>
   <message>
-  <source>Set bits in the following positions to enable: 0 : Horizontal position fusion 1 : Vertical position fusion 2 : 3D velocity fusion 3 : Yaw</source>
+  <source>DShot300</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_EV_CTRL/bitmask/0/description</name>
+  <name>/parameters/PWM_AUX_TIM0/values/-3/description</name>
   <message>
-  <source>Horizontal position</source>
+  <source>DShot600</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_EV_CTRL/bitmask/1/description</name>
+  <name>/parameters/PWM_AUX_TIM0/values/-2/description</name>
   <message>
-  <source>Vertical position</source>
+  <source>DShot1200</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_EV_CTRL/bitmask/2/description</name>
+  <name>/parameters/PWM_AUX_TIM0/values/-1/description</name>
   <message>
-  <source>3D velocity</source>
+  <source>OneShot</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_EV_CTRL/bitmask/3/description</name>
+  <name>/parameters/PWM_AUX_TIM0/values/50/description</name>
   <message>
-  <source>Yaw</source>
+  <source>PWM 50 Hz</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_EV_DELAY/shortDesc</name>
+  <name>/parameters/PWM_AUX_TIM0/values/100/description</name>
   <message>
-  <source>Vision Position Estimator delay relative to IMU measurements</source>
+  <source>PWM 100 Hz</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_EV_NOISE_MD/shortDesc</name>
+  <name>/parameters/PWM_AUX_TIM0/values/200/description</name>
   <message>
-  <source>External vision (EV) noise mode</source>
+  <source>PWM 200 Hz</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_EV_NOISE_MD/longDesc</name>
+  <name>/parameters/PWM_AUX_TIM0/values/400/description</name>
   <message>
-  <source>If set to 0 (default) the measurement noise is taken from the vision message and the EV noise parameters are used as a lower bound. If set to 1 the observation noise is set from the parameters directly,</source>
+  <source>PWM 400 Hz</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_EV_NOISE_MD/values/0/description</name>
+  <name>/parameters/PWM_AUX_TIM1/shortDesc</name>
   <message>
-  <source>EV reported variance (parameter lower bound)</source>
+  <source>Output Protocol Configuration for PWM Aux 5-6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_EV_NOISE_MD/values/1/description</name>
+  <name>/parameters/PWM_AUX_TIM1/longDesc</name>
   <message>
-  <source>EV noise parameters</source>
+  <source>Select which Output Protocol to use for outputs PWM Aux 5-6. Custom PWM rates can be used by directly setting any value &gt;0.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_EV_POS_X/shortDesc</name>
+  <name>/parameters/PWM_AUX_TIM1/values/-1/description</name>
   <message>
-  <source>X position of VI sensor focal point in body frame</source>
+  <source>OneShot</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_EV_POS_X/longDesc</name>
+  <name>/parameters/PWM_AUX_TIM1/values/50/description</name>
   <message>
-  <source>Forward axis with origin relative to vehicle centre of gravity</source>
+  <source>PWM 50 Hz</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_EV_POS_Y/shortDesc</name>
+  <name>/parameters/PWM_AUX_TIM1/values/100/description</name>
   <message>
-  <source>Y position of VI sensor focal point in body frame</source>
+  <source>PWM 100 Hz</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_EV_POS_Y/longDesc</name>
+  <name>/parameters/PWM_AUX_TIM1/values/200/description</name>
   <message>
-  <source>Forward axis with origin relative to vehicle centre of gravity</source>
+  <source>PWM 200 Hz</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_EV_POS_Z/shortDesc</name>
+  <name>/parameters/PWM_AUX_TIM1/values/400/description</name>
   <message>
-  <source>Z position of VI sensor focal point in body frame</source>
+  <source>PWM 400 Hz</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_EV_POS_Z/longDesc</name>
+  <name>/parameters/PWM_AUX_TIM2/shortDesc</name>
   <message>
-  <source>Forward axis with origin relative to vehicle centre of gravity</source>
+  <source>Output Protocol Configuration for PWM Aux 7-8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_EV_QMIN/shortDesc</name>
+  <name>/parameters/PWM_AUX_TIM2/longDesc</name>
   <message>
-  <source>External vision (EV) minimum quality (optional)</source>
+  <source>Select which Output Protocol to use for outputs PWM Aux 7-8. Custom PWM rates can be used by directly setting any value &gt;0.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_EV_QMIN/longDesc</name>
+  <name>/parameters/PWM_AUX_TIM2/values/-1/description</name>
   <message>
-  <source>External vision will only be started and fused if the quality metric is above this threshold. The quality metric is a completely optional field provided by some VIO systems.</source>
+  <source>OneShot</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_FUSE_BETA/shortDesc</name>
+  <name>/parameters/PWM_AUX_TIM2/values/50/description</name>
   <message>
-  <source>Enable synthetic sideslip fusion</source>
+  <source>PWM 50 Hz</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_FUSE_BETA/longDesc</name>
+  <name>/parameters/PWM_AUX_TIM2/values/100/description</name>
   <message>
-  <source>For reliable wind estimation both sideslip and airspeed fusion (see EKF2_ARSP_THR) should be enabled. Only applies to fixed-wing vehicles (or VTOLs in fixed-wing mode). Note: side slip fusion is currently not supported for tailsitters.</source>
+  <source>PWM 100 Hz</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_FUSE_BETA/values/0/description</name>
+  <name>/parameters/PWM_AUX_TIM2/values/200/description</name>
   <message>
-  <source>Disabled</source>
+  <source>PWM 200 Hz</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_FUSE_BETA/values/1/description</name>
+  <name>/parameters/PWM_AUX_TIM2/values/400/description</name>
   <message>
-  <source>Enabled</source>
+  <source>PWM 400 Hz</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_GBIAS_INIT/shortDesc</name>
+  <name>/parameters/PWM_AUX_TIM3/shortDesc</name>
   <message>
-  <source>1-sigma IMU gyro switch-on bias</source>
+  <source>Output Protocol Configuration for PWM Capture 1-3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_GND_EFF_DZ/shortDesc</name>
+  <name>/parameters/PWM_AUX_TIM3/longDesc</name>
   <message>
-  <source>Baro deadzone range for height fusion</source>
+  <source>Select which Output Protocol to use for outputs PWM Capture 1-3. Custom PWM rates can be used by directly setting any value &gt;0.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_GND_EFF_DZ/longDesc</name>
+  <name>/parameters/PWM_AUX_TIM3/values/-1/description</name>
   <message>
-  <source>Sets the value of deadzone applied to negative baro innovations. Deadzone is enabled when EKF2_GND_EFF_DZ &gt; 0.</source>
+  <source>OneShot</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_GND_MAX_HGT/shortDesc</name>
+  <name>/parameters/PWM_AUX_TIM3/values/50/description</name>
   <message>
-  <source>Height above ground level for ground effect zone</source>
+  <source>PWM 50 Hz</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_GND_MAX_HGT/longDesc</name>
+  <name>/parameters/PWM_AUX_TIM3/values/100/description</name>
   <message>
-  <source>Sets the maximum distance to the ground level where negative baro innovations are expected.</source>
+  <source>PWM 100 Hz</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_GPS_CHECK/shortDesc</name>
+  <name>/parameters/PWM_AUX_TIM3/values/200/description</name>
   <message>
-  <source>Integer bitmask controlling GPS checks</source>
+  <source>PWM 200 Hz</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_GPS_CHECK/longDesc</name>
+  <name>/parameters/PWM_AUX_TIM3/values/400/description</name>
   <message>
-  <source>Each threshold value is defined by the parameter indicated next to the check. Drift and offset checks only run when the vehicle is on ground and stationary.</source>
+  <source>PWM 400 Hz</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_GPS_CHECK/bitmask/0/description</name>
+  <name>/parameters/PWM_MAIN_DIS1/shortDesc</name>
   <message>
-  <source>Sat count (EKF2_REQ_NSATS)</source>
+  <source>MAIN 1 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_GPS_CHECK/bitmask/1/description</name>
+  <name>/parameters/PWM_MAIN_DIS1/longDesc</name>
   <message>
-  <source>PDOP (EKF2_REQ_PDOP)</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_GPS_CHECK/bitmask/2/description</name>
+  <name>/parameters/PWM_MAIN_DIS2/shortDesc</name>
   <message>
-  <source>EPH (EKF2_REQ_EPH)</source>
+  <source>MAIN 2 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_GPS_CHECK/bitmask/3/description</name>
+  <name>/parameters/PWM_MAIN_DIS2/longDesc</name>
   <message>
-  <source>EPV (EKF2_REQ_EPV)</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_GPS_CHECK/bitmask/4/description</name>
+  <name>/parameters/PWM_MAIN_DIS3/shortDesc</name>
   <message>
-  <source>Speed accuracy (EKF2_REQ_SACC)</source>
+  <source>MAIN 3 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_GPS_CHECK/bitmask/5/description</name>
+  <name>/parameters/PWM_MAIN_DIS3/longDesc</name>
   <message>
-  <source>Horizontal position drift (EKF2_REQ_HDRIFT)</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_GPS_CHECK/bitmask/6/description</name>
+  <name>/parameters/PWM_MAIN_DIS4/shortDesc</name>
   <message>
-  <source>Vertical position drift (EKF2_REQ_VDRIFT)</source>
+  <source>MAIN 4 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_GPS_CHECK/bitmask/7/description</name>
+  <name>/parameters/PWM_MAIN_DIS4/longDesc</name>
   <message>
-  <source>Horizontal speed offset (EKF2_REQ_HDRIFT)</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_GPS_CHECK/bitmask/8/description</name>
+  <name>/parameters/PWM_MAIN_DIS5/shortDesc</name>
   <message>
-  <source>Vertical speed offset (EKF2_REQ_VDRIFT)</source>
+  <source>MAIN 5 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_GPS_CHECK/bitmask/9/description</name>
+  <name>/parameters/PWM_MAIN_DIS5/longDesc</name>
   <message>
-  <source>Spoofing</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_GPS_CTRL/shortDesc</name>
+  <name>/parameters/PWM_MAIN_DIS6/shortDesc</name>
   <message>
-  <source>GNSS sensor aiding</source>
+  <source>MAIN 6 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_GPS_CTRL/longDesc</name>
+  <name>/parameters/PWM_MAIN_DIS6/longDesc</name>
   <message>
-  <source>Set bits in the following positions to enable: 0 : Longitude and latitude fusion 1 : Altitude fusion 2 : 3D velocity fusion 3 : Dual antenna heading fusion</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_GPS_CTRL/bitmask/0/description</name>
+  <name>/parameters/PWM_MAIN_DIS7/shortDesc</name>
   <message>
-  <source>Lon/lat</source>
+  <source>MAIN 7 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_GPS_CTRL/bitmask/1/description</name>
+  <name>/parameters/PWM_MAIN_DIS7/longDesc</name>
   <message>
-  <source>Altitude</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_GPS_CTRL/bitmask/2/description</name>
+  <name>/parameters/PWM_MAIN_DIS8/shortDesc</name>
   <message>
-  <source>3D velocity</source>
+  <source>MAIN 8 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_GPS_CTRL/bitmask/3/description</name>
+  <name>/parameters/PWM_MAIN_DIS8/longDesc</name>
   <message>
-  <source>Dual antenna heading</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_GPS_DELAY/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FAIL1/shortDesc</name>
   <message>
-  <source>GPS measurement delay relative to IMU measurements</source>
+  <source>MAIN 1 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_GPS_POS_X/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FAIL1/longDesc</name>
   <message>
-  <source>X position of GPS antenna in body frame</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_MAIN_FUNC1).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_GPS_POS_X/longDesc</name>
+  <name>/parameters/PWM_MAIN_FAIL2/shortDesc</name>
   <message>
-  <source>Forward axis with origin relative to vehicle centre of gravity</source>
+  <source>MAIN 2 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_GPS_POS_Y/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FAIL2/longDesc</name>
   <message>
-  <source>Y position of GPS antenna in body frame</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_MAIN_FUNC2).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_GPS_POS_Y/longDesc</name>
+  <name>/parameters/PWM_MAIN_FAIL3/shortDesc</name>
   <message>
-  <source>Forward axis with origin relative to vehicle centre of gravity</source>
+  <source>MAIN 3 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_GPS_POS_Z/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FAIL3/longDesc</name>
   <message>
-  <source>Z position of GPS antenna in body frame</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_MAIN_FUNC3).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_GPS_POS_Z/longDesc</name>
+  <name>/parameters/PWM_MAIN_FAIL4/shortDesc</name>
   <message>
-  <source>Forward axis with origin relative to vehicle centre of gravity</source>
+  <source>MAIN 4 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_GPS_P_GATE/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FAIL4/longDesc</name>
   <message>
-  <source>Gate size for GNSS position fusion</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_MAIN_FUNC4).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_GPS_P_GATE/longDesc</name>
+  <name>/parameters/PWM_MAIN_FAIL5/shortDesc</name>
   <message>
-  <source>Sets the number of standard deviations used by the innovation consistency test.</source>
+  <source>MAIN 5 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_GPS_P_NOISE/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FAIL5/longDesc</name>
   <message>
-  <source>Measurement noise for GNSS position</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_MAIN_FUNC5).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_GPS_V_GATE/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FAIL6/shortDesc</name>
   <message>
-  <source>Gate size for GNSS velocity fusion</source>
+  <source>MAIN 6 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_GPS_V_GATE/longDesc</name>
+  <name>/parameters/PWM_MAIN_FAIL6/longDesc</name>
   <message>
-  <source>Sets the number of standard deviations used by the innovation consistency test.</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_MAIN_FUNC6).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_GPS_V_NOISE/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FAIL7/shortDesc</name>
   <message>
-  <source>Measurement noise for GNSS velocity</source>
+  <source>MAIN 7 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_GPS_YAW_OFF/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FAIL7/longDesc</name>
   <message>
-  <source>Heading/Yaw offset for dual antenna GPS</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_MAIN_FUNC7).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_GRAV_NOISE/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FAIL8/shortDesc</name>
   <message>
-  <source>Accelerometer measurement noise for gravity based observations</source>
+  <source>MAIN 8 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_GSF_TAS/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FAIL8/longDesc</name>
   <message>
-  <source>Default value of true airspeed used in EKF-GSF AHRS calculation</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see PWM_MAIN_FUNC8).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_GSF_TAS/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC1/shortDesc</name>
   <message>
-  <source>If no airspeed measurements are available, the EKF-GSF AHRS calculation will assume this value of true airspeed when compensating for centripetal acceleration during turns. Set to zero to disable centripetal acceleration compensation during fixed wing flight modes.</source>
+  <source>MAIN 1 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_GYR_B_LIM/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC1/longDesc</name>
   <message>
-  <source>Gyro bias learning limit</source>
+  <source>Select what should be output on MAIN 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_GYR_B_LIM/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/0/description</name>
   <message>
-  <source>The ekf gyro bias states will be limited to within a range equivalent to +- of this value.</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_GYR_B_NOISE/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/1/description</name>
   <message>
-  <source>Process noise for IMU rate gyro bias prediction</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_GYR_NOISE/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/2/description</name>
   <message>
-  <source>Rate gyro noise for covariance prediction</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_HDG_GATE/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/101/description</name>
   <message>
-  <source>Gate size for heading fusion</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_HDG_GATE/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/102/description</name>
   <message>
-  <source>Sets the number of standard deviations used by the innovation consistency test.</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_HEAD_NOISE/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/103/description</name>
   <message>
-  <source>Measurement noise for magnetic heading fusion</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_HGT_REF/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/104/description</name>
   <message>
-  <source>Determines the reference source of height data used by the EKF</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_HGT_REF/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/105/description</name>
   <message>
-  <source>When multiple height sources are enabled at the same time, the height estimate will always converge towards the reference height source selected by this parameter. The range sensor and vision options should only be used when for operation over a flat surface as the local NED origin will move up and down with ground level.</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_HGT_REF/values/0/description</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/106/description</name>
   <message>
-  <source>Barometric pressure</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_HGT_REF/values/1/description</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/107/description</name>
   <message>
-  <source>GPS</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_HGT_REF/values/2/description</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/108/description</name>
   <message>
-  <source>Range sensor</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_HGT_REF/values/3/description</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/109/description</name>
   <message>
-  <source>Vision</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_IMU_CTRL/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/110/description</name>
   <message>
-  <source>IMU control</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_IMU_CTRL/bitmask/0/description</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/111/description</name>
   <message>
-  <source>Gyro Bias</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_IMU_CTRL/bitmask/1/description</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/112/description</name>
   <message>
-  <source>Accel Bias</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_IMU_CTRL/bitmask/2/description</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/201/description</name>
   <message>
-  <source>Gravity vector fusion</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_IMU_POS_X/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/202/description</name>
   <message>
-  <source>X position of IMU in body frame</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_IMU_POS_X/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/203/description</name>
   <message>
-  <source>Forward axis with origin relative to vehicle centre of gravity</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_IMU_POS_Y/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/204/description</name>
   <message>
-  <source>Y position of IMU in body frame</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_IMU_POS_Y/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/205/description</name>
   <message>
-  <source>Forward axis with origin relative to vehicle centre of gravity</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_IMU_POS_Z/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/206/description</name>
   <message>
-  <source>Z position of IMU in body frame</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_IMU_POS_Z/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/207/description</name>
   <message>
-  <source>Forward axis with origin relative to vehicle centre of gravity</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_LOG_VERBOSE/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/208/description</name>
   <message>
-  <source>Verbose logging</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_LOG_VERBOSE/values/0/description</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/301/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_LOG_VERBOSE/values/1/description</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/302/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_MAG_ACCLIM/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/303/description</name>
   <message>
-  <source>Horizontal acceleration threshold used for heading observability check</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_MAG_ACCLIM/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/304/description</name>
   <message>
-  <source>The heading is assumed to be observable when the body acceleration is greater than this parameter when a global position/velocity aiding source is active.</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_MAG_B_NOISE/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/305/description</name>
   <message>
-  <source>Process noise for body magnetic field prediction</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_MAG_CHECK/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/306/description</name>
   <message>
-  <source>Magnetic field strength test selection</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_MAG_CHECK/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/400/description</name>
   <message>
-  <source>Bitmask to set which check is used to decide whether the magnetometer data is valid. If GNSS data is received, the magnetic field is compared to a World Magnetic Model (WMM), otherwise an average value is used. This check is useful to reject occasional hard iron disturbance. Set bits to 1 to enable checks. Checks enabled by the following bit positions 0 : Magnetic field strength. Set tolerance using EKF2_MAG_CHK_STR 1 : Magnetic field inclination. Set tolerance using EKF2_MAG_CHK_INC 2 : Wait for GNSS to find the theoretical strength and inclination using the WMM</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_MAG_CHECK/bitmask/0/description</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/401/description</name>
   <message>
-  <source>Strength (EKF2_MAG_CHK_STR)</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_MAG_CHECK/bitmask/1/description</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/402/description</name>
   <message>
-  <source>Inclination (EKF2_MAG_CHK_INC)</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_MAG_CHECK/bitmask/2/description</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/403/description</name>
   <message>
-  <source>Wait for WMM</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_MAG_CHK_INC/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/404/description</name>
   <message>
-  <source>Magnetic field inclination check tolerance</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_MAG_CHK_INC/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/405/description</name>
   <message>
-  <source>Maximum allowed deviation from the expected magnetic field inclination to pass the check.</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_MAG_CHK_STR/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/406/description</name>
   <message>
-  <source>Magnetic field strength check tolerance</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_MAG_CHK_STR/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/407/description</name>
   <message>
-  <source>Maximum allowed deviation from the expected magnetic field strength to pass the check.</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_MAG_DECL/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/408/description</name>
   <message>
-  <source>Magnetic declination</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_MAG_DELAY/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/409/description</name>
   <message>
-  <source>Magnetometer measurement delay relative to IMU measurements</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_MAG_E_NOISE/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/410/description</name>
   <message>
-  <source>Process noise for earth magnetic field prediction</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_MAG_GATE/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/411/description</name>
   <message>
-  <source>Gate size for magnetometer XYZ component fusion</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_MAG_GATE/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/412/description</name>
   <message>
-  <source>Sets the number of standard deviations used by the innovation consistency test.</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_MAG_NOISE/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/420/description</name>
   <message>
-  <source>Measurement noise for magnetometer 3-axis fusion</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_MAG_TYPE/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/421/description</name>
   <message>
-  <source>Type of magnetometer fusion</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_MAG_TYPE/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/422/description</name>
   <message>
-  <source>Integer controlling the type of magnetometer fusion used - magnetic heading or 3-component vector. The fusion of magnetometer data as a three component vector enables vehicle body fixed hard iron errors to be learned, but requires a stable earth field. If set to 'Automatic' magnetic heading fusion is used when on-ground and 3-axis magnetic field fusion in-flight. If set to 'Magnetic heading' magnetic heading fusion is used at all times. If set to 'None' the magnetometer will not be used under any circumstance. If no external source of yaw is available, it is possible to use post-takeoff horizontal movement combined with GNSS velocity measurements to align the yaw angle. If set to 'Init' the magnetometer is only used to initalize the heading.</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_MAG_TYPE/values/0/description</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/430/description</name>
   <message>
-  <source>Automatic</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_MAG_TYPE/values/1/description</name>
+  <name>/parameters/PWM_MAIN_FUNC1/values/440/description</name>
   <message>
-  <source>Magnetic heading</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_MAG_TYPE/values/5/description</name>
+  <name>/parameters/PWM_MAIN_FUNC2/shortDesc</name>
   <message>
-  <source>None</source>
+  <source>MAIN 2 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_MAG_TYPE/values/6/description</name>
+  <name>/parameters/PWM_MAIN_FUNC2/longDesc</name>
   <message>
-  <source>Init</source>
+  <source>Select what should be output on MAIN 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_MCOEF/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/0/description</name>
   <message>
-  <source>Propeller momentum drag coefficient for multi-rotor wind estimation</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_MCOEF/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/1/description</name>
   <message>
-  <source>This parameter controls the prediction of drag produced by the propellers when flying a multi-copter, which enables estimation of wind drift when enabled by the EKF2_DRAG_CTRL parameter. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the propeller axis of rotation is lost when passing through the rotor disc. This  changes the momentum of the flow which creates a drag reaction force. When comparing un-ducted propellers of the same diameter, the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with propeller selection. Momentum drag is significantly higher for ducted rotors. To account for the drag produced by the body which scales with speed squared, see documentation for the EKF2_BCOEF_X and EKF2_BCOEF_Y parameters. Set this parameter to zero to turn off the momentum drag model for both axis.</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_MIN_RNG/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/2/description</name>
   <message>
-  <source>Expected range finder reading when on ground</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_MIN_RNG/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/101/description</name>
   <message>
-  <source>If the vehicle is on ground, is not moving as determined by the motion test and the range finder is returning invalid or no data, then an assumed range value of EKF2_MIN_RNG will be used by the terrain estimator so that a terrain height estimate is available at the start of flight in situations where the range finder may be inside its minimum measurements distance when on ground.</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_MULTI_IMU/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/102/description</name>
   <message>
-  <source>Multi-EKF IMUs</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_MULTI_IMU/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/103/description</name>
   <message>
-  <source>Maximum number of IMUs to use for Multi-EKF. Set 0 to disable. Requires SENS_IMU_MODE 0.</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_MULTI_MAG/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/104/description</name>
   <message>
-  <source>Multi-EKF Magnetometers</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_MULTI_MAG/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/105/description</name>
   <message>
-  <source>Maximum number of magnetometers to use for Multi-EKF. Set 0 to disable. Requires SENS_MAG_MODE 0.</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_NOAID_NOISE/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/106/description</name>
   <message>
-  <source>Measurement noise for non-aiding position hold</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_NOAID_TOUT/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/107/description</name>
   <message>
-  <source>Maximum inertial dead-reckoning time</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_NOAID_TOUT/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/108/description</name>
   <message>
-  <source>Maximum lapsed time from last fusion of measurements that constrain velocity drift before the EKF will report the horizontal nav solution as invalid</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_OF_CTRL/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/109/description</name>
   <message>
-  <source>Optical flow aiding</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_OF_CTRL/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/110/description</name>
   <message>
-  <source>Enable optical flow fusion.</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_OF_CTRL/values/0/description</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/111/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_OF_CTRL/values/1/description</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/112/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_OF_DELAY/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/201/description</name>
   <message>
-  <source>Optical flow measurement delay relative to IMU measurements</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_OF_DELAY/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/202/description</name>
   <message>
-  <source>Assumes measurement is timestamped at trailing edge of integration period</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_OF_GATE/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/203/description</name>
   <message>
-  <source>Gate size for optical flow fusion</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_OF_GATE/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/204/description</name>
   <message>
-  <source>Sets the number of standard deviations used by the innovation consistency test.</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_OF_GYR_SRC/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/205/description</name>
   <message>
-  <source>Optical flow angular rate compensation source</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_OF_GYR_SRC/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/206/description</name>
   <message>
-  <source>Auto: use gyro from optical flow message if available, internal gyro otherwise. Internal: always use internal gyro</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_OF_GYR_SRC/values/0/description</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/207/description</name>
   <message>
-  <source>Auto</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_OF_GYR_SRC/values/1/description</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/208/description</name>
   <message>
-  <source>Internal</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_OF_N_MAX/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/301/description</name>
   <message>
-  <source>Optical flow maximum noise</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_OF_N_MAX/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/302/description</name>
   <message>
-  <source>Measurement noise for the optical flow sensor when it's reported quality metric is at the minimum</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_OF_N_MIN/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/303/description</name>
   <message>
-  <source>Optical flow minimum noise</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_OF_N_MIN/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/304/description</name>
   <message>
-  <source>Measurement noise for the optical flow sensor when it's reported quality metric is at the maximum</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_OF_POS_X/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/305/description</name>
   <message>
-  <source>X position of optical flow focal point in body frame</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_OF_POS_X/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/306/description</name>
   <message>
-  <source>Forward axis with origin relative to vehicle centre of gravity</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_OF_POS_Y/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/400/description</name>
   <message>
-  <source>Y position of optical flow focal point in body frame</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_OF_POS_Y/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/401/description</name>
   <message>
-  <source>Forward axis with origin relative to vehicle centre of gravity</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_OF_POS_Z/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/402/description</name>
   <message>
-  <source>Z position of optical flow focal point in body frame</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_OF_POS_Z/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/403/description</name>
   <message>
-  <source>Forward axis with origin relative to vehicle centre of gravity</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_OF_QMIN/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/404/description</name>
   <message>
-  <source>In air optical flow minimum quality</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_OF_QMIN/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/405/description</name>
   <message>
-  <source>Optical Flow data will only be used in air if the sensor reports a quality metric &gt;= EKF2_OF_QMIN</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_OF_QMIN_GND/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/406/description</name>
   <message>
-  <source>On ground optical flow minimum quality</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_OF_QMIN_GND/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/407/description</name>
   <message>
-  <source>Optical Flow data will only be used on the ground if the sensor reports a quality metric &gt;= EKF2_OF_QMIN_GND</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_PCOEF_XN/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/408/description</name>
   <message>
-  <source>Static pressure position error coefficient for the negative X axis</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_PCOEF_XN/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/409/description</name>
   <message>
-  <source>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.</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_PCOEF_XP/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/410/description</name>
   <message>
-  <source>Static pressure position error coefficient for the positive X axis</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_PCOEF_XP/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/411/description</name>
   <message>
-  <source>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 forward flight, then this will be a negative number.</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_PCOEF_YN/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/412/description</name>
   <message>
-  <source>Pressure position error coefficient for the negative Y axis</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_PCOEF_YN/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/420/description</name>
   <message>
-  <source>This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the negative Y (LH) body axis. If the baro height estimate rises during sideways flight to the left, then this will be a negative number.</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_PCOEF_YP/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/421/description</name>
   <message>
-  <source>Pressure position error coefficient for the positive Y axis</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_PCOEF_YP/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/422/description</name>
   <message>
-  <source>This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the positive Y (RH) body axis. If the baro height estimate rises during sideways flight to the right, then this will be a negative number.</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_PCOEF_Z/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/430/description</name>
   <message>
-  <source>Static pressure position error coefficient for the Z axis</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_PCOEF_Z/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC2/values/440/description</name>
   <message>
-  <source>This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the Z body axis.</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_PREDICT_US/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/shortDesc</name>
   <message>
-  <source>EKF prediction period</source>
+  <source>MAIN 3 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_PREDICT_US/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/longDesc</name>
   <message>
-  <source>EKF prediction period in microseconds. This should ideally be an integer multiple of the IMU time delta. Actual filter update will be an integer multiple of IMU update.</source>
+  <source>Select what should be output on MAIN 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_REQ_EPH/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/0/description</name>
   <message>
-  <source>Required EPH to use GPS</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_REQ_EPV/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/1/description</name>
   <message>
-  <source>Required EPV to use GPS</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_REQ_GPS_H/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/2/description</name>
   <message>
-  <source>Required GPS health time on startup</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_REQ_GPS_H/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/101/description</name>
   <message>
-  <source>Minimum continuous period without GPS failure required to mark a healthy GPS status. It can be reduced to speed up initialization, but it's recommended to keep this unchanged for a vehicle.</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_REQ_HDRIFT/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/102/description</name>
   <message>
-  <source>Maximum horizontal drift speed to use GPS</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_REQ_NSATS/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/103/description</name>
   <message>
-  <source>Required satellite count to use GPS</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_REQ_PDOP/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/104/description</name>
   <message>
-  <source>Maximum PDOP to use GPS</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_REQ_SACC/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/105/description</name>
   <message>
-  <source>Required speed accuracy to use GPS</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_REQ_VDRIFT/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/106/description</name>
   <message>
-  <source>Maximum vertical drift speed to use GPS</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_RNG_A_HMAX/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/107/description</name>
   <message>
-  <source>Maximum height above ground allowed for conditional range aid mode</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_RNG_A_HMAX/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/108/description</name>
   <message>
-  <source>If the vehicle absolute altitude exceeds this value then the estimator will not fuse range measurements to estimate its height. This only applies when conditional range aid mode is activated (EKF2_RNG_CTRL = 1).</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_RNG_A_IGATE/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/109/description</name>
   <message>
-  <source>Gate size used for innovation consistency checks for range aid fusion</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_RNG_A_IGATE/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/110/description</name>
   <message>
-  <source>A lower value means HAGL needs to be more stable in order to use range finder for height estimation in range aid mode</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_RNG_A_VMAX/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/111/description</name>
   <message>
-  <source>Maximum horizontal velocity allowed for conditional range aid mode</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_RNG_A_VMAX/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/112/description</name>
   <message>
-  <source>If the vehicle horizontal speed exceeds this value then the estimator will not fuse range measurements to estimate its height. This only applies when conditional range aid mode is activated (EKF2_RNG_CTRL = 1).</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_RNG_CTRL/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/201/description</name>
   <message>
-  <source>Range sensor height aiding</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_RNG_CTRL/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/202/description</name>
   <message>
-  <source>WARNING: Range finder measurements are less reliable and can experience unexpected errors. For these reasons, if accurate control of height relative to ground is required, it is recommended to use the MPC_ALT_MODE parameter instead, unless baro errors are severe enough to cause problems with landing and takeoff. If this parameter is enabled then the estimator will make use of the range finder measurements to estimate its height in addition to other height sources (if activated). Range sensor aiding can be enabled (i.e.: always use) or set in "conditional" mode. Conditional mode: This enables the range finder to be used during low speed (&lt; EKF2_RNG_A_VMAX) and low altitude (&lt; EKF2_RNG_A_HMAX) operation, eg takeoff and landing, where baro interference from rotor wash is excessive and can corrupt EKF state estimates. It is intended to be used where a vertical takeoff and landing is performed, and horizontal flight does not occur until above EKF2_RNG_A_HMAX.</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_RNG_CTRL/values/0/description</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/203/description</name>
   <message>
-  <source>Disable range fusion</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_RNG_CTRL/values/1/description</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/204/description</name>
   <message>
-  <source>Enabled (conditional mode)</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_RNG_CTRL/values/2/description</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/205/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_RNG_DELAY/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/206/description</name>
   <message>
-  <source>Range finder measurement delay relative to IMU measurements</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_RNG_FOG/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/207/description</name>
   <message>
-  <source>Maximum distance at which the range finder could detect fog (m)</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_RNG_FOG/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/208/description</name>
   <message>
-  <source>Limit for fog detection. If the range finder measures a distance greater than this value, the measurement is considered to not be blocked by fog or rain. If there's a jump from larger than RNG_FOG to smaller than EKF2_RNG_FOG, the measurement may gets rejected. 0 - disabled</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_RNG_GATE/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/301/description</name>
   <message>
-  <source>Gate size for range finder fusion</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_RNG_GATE/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/302/description</name>
   <message>
-  <source>Sets the number of standard deviations used by the innovation consistency test.</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_RNG_K_GATE/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/303/description</name>
   <message>
-  <source>Gate size used for range finder kinematic consistency check</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_RNG_K_GATE/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/304/description</name>
   <message>
-  <source>To be used, the time derivative of the distance sensor measurements projected on the vertical axis needs to be statistically consistent with the estimated vertical velocity of the drone. Decrease this value to make the filter more robust against range finder faulty data (stuck, reflections, ...). Note: tune the range finder noise parameters (EKF2_RNG_NOISE and EKF2_RNG_SFE) before tuning this gate.</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_RNG_NOISE/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/305/description</name>
   <message>
-  <source>Measurement noise for range finder fusion</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_RNG_PITCH/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/306/description</name>
   <message>
-  <source>Range sensor pitch offset</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_RNG_POS_X/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/400/description</name>
   <message>
-  <source>X position of range finder origin in body frame</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_RNG_POS_X/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/401/description</name>
   <message>
-  <source>Forward axis with origin relative to vehicle centre of gravity</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_RNG_POS_Y/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/402/description</name>
   <message>
-  <source>Y position of range finder origin in body frame</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_RNG_POS_Y/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/403/description</name>
   <message>
-  <source>Forward axis with origin relative to vehicle centre of gravity</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_RNG_POS_Z/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/404/description</name>
   <message>
-  <source>Z position of range finder origin in body frame</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_RNG_POS_Z/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/405/description</name>
   <message>
-  <source>Forward axis with origin relative to vehicle centre of gravity</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_RNG_QLTY_T/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/406/description</name>
   <message>
-  <source>Minumum range validity period</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_RNG_QLTY_T/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/407/description</name>
   <message>
-  <source>Minimum duration during which the reported range finder signal quality needs to be non-zero in order to be declared valid (s)</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_RNG_SFE/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/408/description</name>
   <message>
-  <source>Range finder range dependent noise scaler</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_RNG_SFE/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/409/description</name>
   <message>
-  <source>Specifies the increase in range finder noise with range.</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_SEL_ERR_RED/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/410/description</name>
   <message>
-  <source>Selector error reduce threshold</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_SEL_ERR_RED/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/411/description</name>
   <message>
-  <source>EKF2 instances have to be better than the selected by at least this amount before their relative score can be reduced.</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_SEL_IMU_ACC/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/412/description</name>
   <message>
-  <source>Selector acceleration threshold</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_SEL_IMU_ACC/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/420/description</name>
   <message>
-  <source>EKF2 selector acceleration error threshold for comparing accelerometers. Acceleration vector differences larger than this will result in accumulated velocity error.</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_SEL_IMU_ANG/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/421/description</name>
   <message>
-  <source>Selector angular threshold</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_SEL_IMU_ANG/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/422/description</name>
   <message>
-  <source>EKF2 selector maximum accumulated angular error threshold for comparing gyros. Accumulated angular error larger than this will result in the sensor being declared faulty.</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_SEL_IMU_RAT/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/430/description</name>
   <message>
-  <source>Selector angular rate threshold</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_SEL_IMU_RAT/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC3/values/440/description</name>
   <message>
-  <source>EKF2 selector angular rate error threshold for comparing gyros. Angular rate vector differences larger than this will result in accumulated angular error.</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_SEL_IMU_VEL/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC4/shortDesc</name>
   <message>
-  <source>Selector angular threshold</source>
+  <source>MAIN 4 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_SEL_IMU_VEL/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC4/longDesc</name>
   <message>
-  <source>EKF2 selector maximum accumulated velocity threshold for comparing accelerometers. Accumulated velocity error larger than this will result in the sensor being declared faulty.</source>
+  <source>Select what should be output on MAIN 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_SYNT_MAG_Z/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/0/description</name>
   <message>
-  <source>Enable synthetic magnetometer Z component measurement</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_SYNT_MAG_Z/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/1/description</name>
   <message>
-  <source>Use for vehicles where the measured body Z magnetic field is subject to strong magnetic interference. For magnetic heading fusion the magnetometer Z measurement will be replaced by a synthetic value calculated using the knowledge of the 3D magnetic field vector at the location of the drone. Therefore, this parameter will only have an effect if the global position of the drone is known. For 3D mag fusion the magnetometer Z measurement will simply be ignored instead of fusing the synthetic value.</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_SYNT_MAG_Z/values/0/description</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/2/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_SYNT_MAG_Z/values/1/description</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/101/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_TAS_GATE/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/102/description</name>
   <message>
-  <source>Gate size for TAS fusion</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_TAS_GATE/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/103/description</name>
   <message>
-  <source>Sets the number of standard deviations used by the innovation consistency test.</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_TAU_POS/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/104/description</name>
   <message>
-  <source>Output predictor position time constant</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_TAU_POS/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/105/description</name>
   <message>
-  <source>Controls how tightly the output track the EKF states</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_TAU_VEL/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/106/description</name>
   <message>
-  <source>Time constant of the velocity output prediction and smoothing filter</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_TERR_GRAD/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/107/description</name>
   <message>
-  <source>Magnitude of terrain gradient</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_TERR_NOISE/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/108/description</name>
   <message>
-  <source>Terrain altitude process noise</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_VEL_LIM/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/109/description</name>
   <message>
-  <source>Velocity limit</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_WIND_NSD/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/110/description</name>
   <message>
-  <source>Process noise spectral density for wind velocity prediction</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EKF2_WIND_NSD/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/111/description</name>
   <message>
-  <source>When unaided, the wind estimate uncertainty (1-sigma, in m/s) increases by this amount every second.</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EV_TSK_RC_LOSS/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/112/description</name>
   <message>
-  <source>RC Loss Alarm</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EV_TSK_RC_LOSS/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/201/description</name>
   <message>
-  <source>Enable/disable event task for RC Loss. When enabled, an alarm tune will be played via buzzer or ESCs, if supported. The alarm will sound after a disarm, if the vehicle was previously armed and only if the vehicle had RC signal at some point. Particularly useful for locating crashed drones without a GPS sensor.</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EV_TSK_RC_LOSS/values/0/description</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/202/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EV_TSK_RC_LOSS/values/1/description</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/203/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EV_TSK_STAT_DIS/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/204/description</name>
   <message>
-  <source>Status Display</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EV_TSK_STAT_DIS/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/205/description</name>
   <message>
-  <source>Enable/disable event task for displaying the vehicle status using arm-mounted LEDs. When enabled and if the vehicle supports it, LEDs will flash indicating various vehicle status changes. Currently PX4 has not implemented any specific status events. -</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EV_TSK_STAT_DIS/values/0/description</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/206/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/EV_TSK_STAT_DIS/values/1/description</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/207/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_MAN_P_MAX/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/208/description</name>
   <message>
-  <source>Maximum manual pitch angle</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_MAN_P_MAX/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/301/description</name>
   <message>
-  <source>Applies to both directions in all manual modes with attitude stabilization but without altitude control</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_MAN_R_MAX/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/302/description</name>
   <message>
-  <source>Maximum manual roll angle</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_MAN_R_MAX/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/303/description</name>
   <message>
-  <source>Applies to both directions in all manual modes with attitude stabilization</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_MAN_YR_MAX/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/304/description</name>
   <message>
-  <source>Maximum manually added yaw rate</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_MAN_YR_MAX/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/305/description</name>
   <message>
-  <source>This is the maximally added yaw rate setpoint from the yaw stick in any attitude controlled flight mode. It is added to the yaw rate setpoint generated by the controller for turn coordination.</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_PSP_OFF/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/306/description</name>
   <message>
-  <source>Pitch setpoint offset (pitch at level flight)</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_PSP_OFF/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/400/description</name>
   <message>
-  <source>An airframe specific offset of the pitch setpoint in degrees, the value is added to the pitch setpoint and should correspond to the pitch at typical cruise speed of the airframe.</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_P_RMAX_NEG/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/401/description</name>
   <message>
-  <source>Maximum negative / down pitch rate setpoint</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_P_RMAX_POS/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/402/description</name>
   <message>
-  <source>Maximum positive / up pitch rate setpoint</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_P_TC/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/403/description</name>
   <message>
-  <source>Attitude pitch time constant</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_P_TC/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/404/description</name>
   <message>
-  <source>This defines the latency between a pitch step input and the achieved setpoint (inverse to a P gain). Smaller systems may require smaller values.</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_R_RMAX/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/405/description</name>
   <message>
-  <source>Maximum roll rate setpoint</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_R_TC/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/406/description</name>
   <message>
-  <source>Attitude Roll Time Constant</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_R_TC/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/407/description</name>
   <message>
-  <source>This defines the latency between a roll step input and the achieved setpoint (inverse to a P gain). Smaller systems may require smaller values.</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_SPOILERS_LND/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/408/description</name>
   <message>
-  <source>Spoiler landing setting</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_WR_FF/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/409/description</name>
   <message>
-  <source>Wheel steering rate feed forward</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_WR_I/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/410/description</name>
   <message>
-  <source>Wheel steering rate integrator gain</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_WR_I/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/411/description</name>
   <message>
-  <source>This gain defines how much control response will result out of a steady state error. It trims any constant error.</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_WR_IMAX/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/412/description</name>
   <message>
-  <source>Wheel steering rate integrator limit</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_WR_P/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/420/description</name>
   <message>
-  <source>Wheel steering rate proportional gain</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_WR_P/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/421/description</name>
   <message>
-  <source>This defines how much the wheel steering input will be commanded depending on the current body angular rate error.</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_W_EN/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/422/description</name>
   <message>
-  <source>Enable wheel steering controller</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_W_EN/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/430/description</name>
   <message>
-  <source>Only enabled during automatic runway takeoff and landing. In all manual modes the wheel is directly controlled with yaw stick.</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_W_EN/values/0/description</name>
+  <name>/parameters/PWM_MAIN_FUNC4/values/440/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_W_EN/values/1/description</name>
+  <name>/parameters/PWM_MAIN_FUNC5/shortDesc</name>
   <message>
-  <source>Enabled</source>
+  <source>MAIN 5 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_W_RMAX/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC5/longDesc</name>
   <message>
-  <source>Maximum wheel steering rate</source>
+  <source>Select what should be output on MAIN 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_W_RMAX/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/0/description</name>
   <message>
-  <source>This limits the maximum wheel steering rate the controller will output (in degrees per second).</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_Y_RMAX/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/1/description</name>
   <message>
-  <source>Maximum yaw rate setpoint</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LND_ABORT/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/2/description</name>
   <message>
-  <source>Bit mask to set the automatic landing abort conditions</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LND_ABORT/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/101/description</name>
   <message>
-  <source>Terrain estimation: bit 0: Abort if terrain is not found bit 1: Abort if terrain times out (after a first successful measurement) The last estimate is always used as ground, whether the last valid measurement or the land waypoint, depending on the selected abort criteria, until an abort condition is entered. If FW_LND_USETER == 0, these bits are ignored. TODO: Extend automatic abort conditions e.g. glide slope tracking error (horizontal and vertical)</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LND_ABORT/bitmask/0/description</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/102/description</name>
   <message>
-  <source>Abort if terrain is not found (only applies to mission landings)</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LND_ABORT/bitmask/1/description</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/103/description</name>
   <message>
-  <source>Abort if terrain times out (after a first successful measurement)</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LND_AIRSPD/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/104/description</name>
   <message>
-  <source>Landing airspeed</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LND_AIRSPD/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/105/description</name>
   <message>
-  <source>The calibrated airspeed setpoint during landing. If set &lt;= 0, landing airspeed = FW_AIRSPD_MIN by default.</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LND_ANG/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/106/description</name>
   <message>
-  <source>Maximum landing slope angle</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LND_ANG/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/107/description</name>
   <message>
-  <source>Typically the desired landing slope angle when landing configuration (flaps, airspeed) is enabled. Set this value within the vehicle's performance limits.</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LND_EARLYCFG/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/108/description</name>
   <message>
-  <source>Early landing configuration deployment</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LND_EARLYCFG/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/109/description</name>
   <message>
-  <source>Allows to deploy the landing configuration (flaps, landing airspeed, etc.) already in the loiter-down waypoint before the final approach. Otherwise is enabled only in the final approach.</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LND_EARLYCFG/values/0/description</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/110/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LND_EARLYCFG/values/1/description</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/111/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LND_FLALT/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/112/description</name>
   <message>
-  <source>Landing flare altitude (relative to landing altitude)</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LND_FLALT/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/201/description</name>
   <message>
-  <source>NOTE: max(FW_LND_FLALT, FW_LND_FL_TIME * |z-velocity|) is taken as the flare altitude</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LND_FL_PMAX/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/202/description</name>
   <message>
-  <source>Flare, maximum pitch</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LND_FL_PMAX/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/203/description</name>
   <message>
-  <source>Maximum pitch during landing flare.</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LND_FL_PMIN/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/204/description</name>
   <message>
-  <source>Flare, minimum pitch</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LND_FL_PMIN/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/205/description</name>
   <message>
-  <source>Minimum pitch during landing flare.</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LND_FL_SINK/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/206/description</name>
   <message>
-  <source>Landing flare sink rate</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LND_FL_SINK/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/207/description</name>
   <message>
-  <source>TECS will attempt to control the aircraft to this sink rate via pitch angle (throttle killed during flare)</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LND_FL_TIME/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/208/description</name>
   <message>
-  <source>Landing flare time</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LND_FL_TIME/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/301/description</name>
   <message>
-  <source>Multiplied by the descent rate to calculate a dynamic altitude at which to trigger the flare. NOTE: max(FW_LND_FLALT, FW_LND_FL_TIME * descent rate) is taken as the flare altitude</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LND_NUDGE/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/302/description</name>
   <message>
-  <source>Landing touchdown nudging option</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LND_NUDGE/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/303/description</name>
   <message>
-  <source>Approach angle nudging: shifts the touchdown point laterally while keeping the approach entrance point constant Approach path nudging: shifts the touchdown point laterally along with the entire approach path This is useful for manually adjusting the landing point in real time when map or GNSS errors cause an offset from the desired landing vector. Nudging is done with yaw stick, constrained to FW_LND_TD_OFF (in meters) and the direction is relative to the vehicle heading (stick deflection to the right = land point moves to the right as seen by the vehicle).</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LND_NUDGE/values/0/description</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/304/description</name>
   <message>
-  <source>Disable nudging</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LND_NUDGE/values/1/description</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/305/description</name>
   <message>
-  <source>Nudge approach angle</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LND_NUDGE/values/2/description</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/306/description</name>
   <message>
-  <source>Nudge approach path</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LND_TD_OFF/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/400/description</name>
   <message>
-  <source>Maximum lateral position offset for the touchdown point</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LND_TD_TIME/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/401/description</name>
   <message>
-  <source>Landing touchdown time (since flare start)</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LND_TD_TIME/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/402/description</name>
   <message>
-  <source>This is the time after the start of flaring that we expect the vehicle to touch the runway. At this time, a 0.5s clamp down ramp will engage, constraining the pitch setpoint to RWTO_PSP. If enabled, ensure that RWTO_PSP is configured appropriately for full gear contact on ground roll. Set to -1.0 to disable touchdown clamping. E.g. it may not be desirable to clamp on belly landings. The touchdown time will be constrained to be greater than or equal to the flare time (FW_LND_FL_TIME).</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LND_THRTC_SC/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/403/description</name>
   <message>
-  <source>Altitude time constant factor for landing and low-height flight</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LND_THRTC_SC/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/404/description</name>
   <message>
-  <source>The TECS altitude time constant (FW_T_ALT_TC) is multiplied by this value.</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LND_USETER/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/405/description</name>
   <message>
-  <source>Use terrain estimation during landing</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LND_USETER/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/406/description</name>
   <message>
-  <source>This is critical for detecting when to flare, and should be enabled if possible. NOTE: terrain estimate is currently solely derived from a distance sensor. If enabled and no measurement is found within a given timeout, the landing waypoint altitude will be used OR the landing will be aborted, depending on the criteria set in FW_LND_ABORT. If disabled, FW_LND_ABORT terrain based criteria are ignored.</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LND_USETER/values/0/description</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/407/description</name>
   <message>
-  <source>Disable the terrain estimate</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LND_USETER/values/1/description</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/408/description</name>
   <message>
-  <source>Use the terrain estimate to trigger the flare (only)</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LND_USETER/values/2/description</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/409/description</name>
   <message>
-  <source>Calculate landing glide slope relative to the terrain estimate</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_WING_HEIGHT/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/410/description</name>
   <message>
-  <source>Height (AGL) of the wings when the aircraft is on the ground</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_WING_HEIGHT/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/411/description</name>
   <message>
-  <source>This is used to constrain a minimum altitude below which we keep wings level to avoid wing tip strike. It's safer to give a slight margin here (&gt; 0m)</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_WING_SPAN/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/412/description</name>
   <message>
-  <source>The aircraft's wing span (length from tip to tip)</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_WING_SPAN/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/420/description</name>
   <message>
-  <source>This is used for limiting the roll setpoint near the ground. (if multiple wings, take the longest span)</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LAUN_AC_T/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/421/description</name>
   <message>
-  <source>Trigger time</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LAUN_AC_T/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/422/description</name>
   <message>
-  <source>Launch is detected when acceleration in body forward direction is above FW_LAUN_AC_THLD for FW_LAUN_AC_T seconds.</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LAUN_AC_THLD/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/430/description</name>
   <message>
-  <source>Trigger acceleration threshold</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LAUN_AC_THLD/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC5/values/440/description</name>
   <message>
-  <source>Launch is detected when acceleration in body forward direction is above FW_LAUN_AC_THLD for FW_LAUN_AC_T seconds.</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LAUN_DETCN_ON/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC6/shortDesc</name>
   <message>
-  <source>Fixed-wing launch detection</source>
+  <source>MAIN 6 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LAUN_DETCN_ON/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC6/longDesc</name>
   <message>
-  <source>Enables automatic launch detection based on measured acceleration. Use for hand- or catapult-launched vehicles. Not compatible with runway takeoff.</source>
+  <source>Select what should be output on MAIN 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LAUN_DETCN_ON/values/0/description</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/0/description</name>
   <message>
   <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LAUN_DETCN_ON/values/1/description</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/1/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LAUN_MOT_DEL/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/2/description</name>
   <message>
-  <source>Motor delay</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_LAUN_MOT_DEL/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/101/description</name>
   <message>
-  <source>Start the motor(s) this amount of seconds after launch is detected.</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NPFG_DAMPING/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/102/description</name>
   <message>
-  <source>NPFG damping ratio</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NPFG_DAMPING/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/103/description</name>
   <message>
-  <source>Damping ratio of the NPFG control law.</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NPFG_EN_MIN_GSP/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/104/description</name>
   <message>
-  <source>Enable minimum forward ground speed maintaining excess wind handling logic</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NPFG_EN_MIN_GSP/values/0/description</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/105/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NPFG_EN_MIN_GSP/values/1/description</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/106/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NPFG_GSP_MAX_TK/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/107/description</name>
   <message>
-  <source>Maximum, minimum forward ground speed for track keeping in excess wind</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NPFG_GSP_MAX_TK/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/108/description</name>
   <message>
-  <source>The maximum value of the minimum forward ground speed that may be commanded by the track keeping excess wind handling logic. Commanded in full at the normalized track error fraction of the track error boundary and reduced to zero on track.</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NPFG_LB_PERIOD/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/109/description</name>
   <message>
-  <source>Enable automatic lower bound on the NPFG period</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NPFG_LB_PERIOD/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/110/description</name>
   <message>
-  <source>Avoids limit cycling from a too aggressively tuned period/damping combination. If set to false, also disables the upper bound NPFG_PERIOD_UB.</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NPFG_LB_PERIOD/values/0/description</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/111/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NPFG_LB_PERIOD/values/1/description</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/112/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NPFG_PERIOD/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/201/description</name>
   <message>
-  <source>NPFG period</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NPFG_PERIOD/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/202/description</name>
   <message>
-  <source>Period of the NPFG control law.</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NPFG_PERIOD_SF/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/203/description</name>
   <message>
-  <source>Period safety factor</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NPFG_PERIOD_SF/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/204/description</name>
   <message>
-  <source>Multiplied by period for conservative minimum period bounding (when period lower bounding is enabled). 1.0 bounds at marginal stability.</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NPFG_ROLL_TC/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/205/description</name>
   <message>
-  <source>Roll time constant</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NPFG_ROLL_TC/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/206/description</name>
   <message>
-  <source>Time constant of roll controller command / response, modeled as first order delay. Used to determine lower period bound. Setting zero disables automatic period bounding.</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NPFG_SW_DST_MLT/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/207/description</name>
   <message>
-  <source>NPFG switch distance multiplier</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NPFG_SW_DST_MLT/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/208/description</name>
   <message>
-  <source>Multiplied by the track error boundary to determine when the aircraft switches to the next waypoint and/or path segment. Should be less than 1.</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NPFG_TRACK_KEEP/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/301/description</name>
   <message>
-  <source>Enable track keeping excess wind handling logic</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NPFG_TRACK_KEEP/values/0/description</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/302/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NPFG_TRACK_KEEP/values/1/description</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/303/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NPFG_UB_PERIOD/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/304/description</name>
   <message>
-  <source>Enable automatic upper bound on the NPFG period</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NPFG_UB_PERIOD/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/305/description</name>
   <message>
-  <source>Adapts period to maintain track keeping in variable winds and path curvature.</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NPFG_UB_PERIOD/values/0/description</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/306/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NPFG_UB_PERIOD/values/1/description</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/400/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NPFG_WIND_REG/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/401/description</name>
   <message>
-  <source>Enable wind excess regulation</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NPFG_WIND_REG/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/402/description</name>
   <message>
-  <source>Disabling this parameter further disables all other airspeed incrementation options.</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NPFG_WIND_REG/values/0/description</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/403/description</name>
   <message>
-  <source>Disabled</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NPFG_WIND_REG/values/1/description</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/404/description</name>
   <message>
-  <source>Enabled</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_PN_R_SLEW_MAX/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/405/description</name>
   <message>
-  <source>Path navigation roll slew rate limit</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_PN_R_SLEW_MAX/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/406/description</name>
   <message>
-  <source>The maximum change in roll angle setpoint per second. This limit is applied in all Auto modes, plus manual Position and Altitude modes.</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_POS_STK_CONF/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/407/description</name>
   <message>
-  <source>Custom stick configuration</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_POS_STK_CONF/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/408/description</name>
   <message>
-  <source>Applies in manual Position and Altitude flight modes.</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_POS_STK_CONF/bitmask/0/description</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/409/description</name>
   <message>
-  <source>Alternative stick configuration (height rate on throttle stick, airspeed on pitch stick)</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_POS_STK_CONF/bitmask/1/description</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/410/description</name>
   <message>
-  <source>Enable airspeed setpoint via sticks in altitude and position flight mode</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_R_LIM/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/411/description</name>
   <message>
-  <source>Maximum roll angle setpoint</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_R_LIM/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/412/description</name>
   <message>
-  <source>Applies in any altitude controlled flight mode.</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_TKO_PITCH_MIN/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/420/description</name>
   <message>
-  <source>Minimum pitch during takeoff</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_AIRSPD_MAX/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/421/description</name>
   <message>
-  <source>Maximum Airspeed (CAS)</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_AIRSPD_MAX/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/422/description</name>
   <message>
-  <source>The maximal airspeed (calibrated airspeed) the user is able to command.</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_AIRSPD_MIN/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/430/description</name>
   <message>
-  <source>Minimum Airspeed (CAS)</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_AIRSPD_MIN/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC6/values/440/description</name>
   <message>
-  <source>The minimal airspeed (calibrated airspeed) the user is able to command. Further, if the airspeed falls below this value, the TECS controller will try to increase airspeed more aggressively. Has to be set according to the vehicle's stall speed (which should be set in FW_AIRSPD_STALL), with some margin between the stall speed and minimum airspeed. This value corresponds to the desired minimum speed with the default load factor (level flight, default weight), and is automatically adpated to the current load factor (calculated from roll setpoint and WEIGHT_GROSS/WEIGHT_BASE).</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_AIRSPD_STALL/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC7/shortDesc</name>
   <message>
-  <source>Stall Airspeed (CAS)</source>
+  <source>MAIN 7 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_AIRSPD_STALL/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC7/longDesc</name>
   <message>
-  <source>The stall airspeed (calibrated airspeed) of the vehicle. It is used for airspeed sensor failure detection and for the control surface scaling airspeed limits.</source>
+  <source>Select what should be output on MAIN 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_AIRSPD_TRIM/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/0/description</name>
   <message>
-  <source>Trim (Cruise) Airspeed</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_AIRSPD_TRIM/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/1/description</name>
   <message>
-  <source>The trim CAS (calibrated airspeed) of the vehicle. If an airspeed controller is active, this is the default airspeed setpoint that the controller will try to achieve. This value corresponds to the trim airspeed with the default load factor (level flight, default weight).</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_SERVICE_CEIL/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/2/description</name>
   <message>
-  <source>Service ceiling</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_SERVICE_CEIL/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/101/description</name>
   <message>
-  <source>Altitude in standard atmosphere at which the vehicle in normal configuration (WEIGHT_BASE) is still able to achieve a maximum climb rate of 0.5m/s at maximum throttle (FW_THR_MAX). Used to compensate for air density in FW_T_CLMB_MAX. Set negative to disable.</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_THR_ASPD_MAX/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/102/description</name>
   <message>
-  <source>Throttle at max airspeed</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_THR_ASPD_MAX/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/103/description</name>
   <message>
-  <source>Required throttle (at sea level, standard atmosphere) for level flight at maximum airspeed FW_AIRSPD_MAX Set to 0 to disable mapping of airspeed to trim throttle.</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_THR_ASPD_MIN/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/104/description</name>
   <message>
-  <source>Throttle at min airspeed</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_THR_ASPD_MIN/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/105/description</name>
   <message>
-  <source>Required throttle (at sea level, standard atmosphere) for level flight at minimum airspeed FW_AIRSPD_MIN Set to 0 to disable mapping of airspeed to trim throttle below FW_AIRSPD_TRIM.</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_THR_TRIM/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/106/description</name>
   <message>
-  <source>Trim throttle</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_THR_TRIM/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/107/description</name>
   <message>
-  <source>Required throttle (at sea level, standard atmosphere) for level flight at FW_AIRSPD_TRIM</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_T_CLMB_MAX/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/108/description</name>
   <message>
-  <source>Maximum climb rate</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_T_CLMB_MAX/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/109/description</name>
   <message>
-  <source>This is the maximum calibrated climb rate that the aircraft can achieve with the throttle set to FW_THR_MAX and the airspeed set to the trim value. For electric aircraft make sure this number can be achieved towards the end of flight when the battery voltage has reduced.</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_T_SINK_MIN/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/110/description</name>
   <message>
-  <source>Minimum descent rate</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_T_SINK_MIN/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/111/description</name>
   <message>
-  <source>This is the minimum calibrated sink rate of the aircraft with the throttle set to THR_MIN and flown at the same airspeed as used to measure FW_T_CLMB_MAX.</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/WEIGHT_BASE/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/112/description</name>
   <message>
-  <source>Vehicle base weight</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/WEIGHT_BASE/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/201/description</name>
   <message>
-  <source>This is the weight of the vehicle at which it's performance limits were derived. A zero or negative value disables trim throttle and minimum airspeed compensation based on weight.</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/WEIGHT_GROSS/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/202/description</name>
   <message>
-  <source>Vehicle gross weight</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/WEIGHT_GROSS/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/203/description</name>
   <message>
-  <source>This is the actual weight of the vehicle at any time. This value will differ from WEIGHT_BASE in case weight was added or removed from the base weight. Examples are the addition of payloads or larger batteries. A zero or negative value disables trim throttle and minimum airspeed compensation based on weight.</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_ACRO_X_MAX/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/204/description</name>
   <message>
-  <source>Acro body roll max rate setpoint</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_ACRO_YAW_EN/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/205/description</name>
   <message>
-  <source>Enable yaw rate controller in Acro</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_ACRO_YAW_EN/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/206/description</name>
   <message>
-  <source>If this parameter is set to 1, the yaw rate controller is enabled in Fixed-wing Acro mode. Otherwise the pilot commands directly the yaw actuator. It is disabled by default because an active yaw rate controller will fight against the natural turn coordination of the plane.</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_ACRO_YAW_EN/values/0/description</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/207/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_ACRO_YAW_EN/values/1/description</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/208/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_ACRO_Y_MAX/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/301/description</name>
   <message>
-  <source>Acro body pitch max rate setpoint</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_ACRO_Z_MAX/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/302/description</name>
   <message>
-  <source>Acro body yaw max rate setpoint</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_ARSP_SCALE_EN/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/303/description</name>
   <message>
-  <source>Enable airspeed scaling</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_ARSP_SCALE_EN/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/304/description</name>
   <message>
-  <source>This enables a logic that automatically adjusts the output of the rate controller to take into account the real torque produced by an aerodynamic control surface given the current deviation from the trim airspeed (FW_AIRSPD_TRIM). Enable when using aerodynamic control surfaces (e.g.: plane) Disable when using rotor wings (e.g.: autogyro)</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_ARSP_SCALE_EN/values/0/description</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/305/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_ARSP_SCALE_EN/values/1/description</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/306/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_BAT_SCALE_EN/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/400/description</name>
   <message>
-  <source>Enable throttle scale by battery level</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_BAT_SCALE_EN/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/401/description</name>
   <message>
-  <source>This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery.</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_BAT_SCALE_EN/values/0/description</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/402/description</name>
   <message>
-  <source>Disabled</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_BAT_SCALE_EN/values/1/description</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/403/description</name>
   <message>
-  <source>Enabled</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_DTRIM_P_VMAX/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/404/description</name>
   <message>
-  <source>Pitch trim increment at maximum airspeed</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_DTRIM_P_VMAX/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/405/description</name>
   <message>
-  <source>This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MAX.</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_DTRIM_P_VMIN/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/406/description</name>
   <message>
-  <source>Pitch trim increment at minimum airspeed</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_DTRIM_P_VMIN/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/407/description</name>
   <message>
-  <source>This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MIN.</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_DTRIM_R_VMAX/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/408/description</name>
   <message>
-  <source>Roll trim increment at maximum airspeed</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_DTRIM_R_VMAX/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/409/description</name>
   <message>
-  <source>This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MAX.</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_DTRIM_R_VMIN/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/410/description</name>
   <message>
-  <source>Roll trim increment at minimum airspeed</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_DTRIM_R_VMIN/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/411/description</name>
   <message>
-  <source>This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MIN.</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_DTRIM_Y_VMAX/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/412/description</name>
   <message>
-  <source>Yaw trim increment at maximum airspeed</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_DTRIM_Y_VMAX/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/420/description</name>
   <message>
-  <source>This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MAX.</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_DTRIM_Y_VMIN/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/421/description</name>
   <message>
-  <source>Yaw trim increment at minimum airspeed</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_DTRIM_Y_VMIN/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/422/description</name>
   <message>
-  <source>This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MIN.</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_FLAPS_LND_SCL/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/430/description</name>
   <message>
-  <source>Flaps setting during landing</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_FLAPS_LND_SCL/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC7/values/440/description</name>
   <message>
-  <source>Sets a fraction of full flaps during landing. Also applies to flaperons if enabled in the mixer/allocation.</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_FLAPS_TO_SCL/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC8/shortDesc</name>
   <message>
-  <source>Flaps setting during take-off</source>
+  <source>MAIN 8 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_FLAPS_TO_SCL/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC8/longDesc</name>
   <message>
-  <source>Sets a fraction of full flaps during take-off. Also applies to flaperons if enabled in the mixer/allocation.</source>
+  <source>Select what should be output on MAIN 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_MAN_P_SC/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/0/description</name>
   <message>
-  <source>Manual pitch scale</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_MAN_P_SC/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/1/description</name>
   <message>
-  <source>Scale factor applied to the desired pitch actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_MAN_R_SC/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/2/description</name>
   <message>
-  <source>Manual roll scale</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_MAN_R_SC/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/101/description</name>
   <message>
-  <source>Scale factor applied to the desired roll actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_MAN_Y_SC/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/102/description</name>
   <message>
-  <source>Manual yaw scale</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_MAN_Y_SC/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/103/description</name>
   <message>
-  <source>Scale factor applied to the desired yaw actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_PR_D/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/104/description</name>
   <message>
-  <source>Pitch rate derivative gain</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_PR_D/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/105/description</name>
   <message>
-  <source>Pitch rate differential gain.</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_PR_FF/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/106/description</name>
   <message>
-  <source>Pitch rate feed forward</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_PR_FF/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/107/description</name>
   <message>
-  <source>Direct feed forward from rate setpoint to control surface output</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_PR_I/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/108/description</name>
   <message>
-  <source>Pitch rate integrator gain</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_PR_IMAX/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/109/description</name>
   <message>
-  <source>Pitch rate integrator limit</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_PR_P/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/110/description</name>
   <message>
-  <source>Pitch rate proportional gain</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_RLL_TO_YAW_FF/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/111/description</name>
   <message>
-  <source>Roll control to yaw control feedforward gain</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_RLL_TO_YAW_FF/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/112/description</name>
   <message>
-  <source>This gain can be used to counteract the "adverse yaw" effect for fixed wings. When the plane enters a roll it will tend to yaw the nose out of the turn. This gain enables the use of a yaw actuator to counteract this effect.</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_RR_D/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/201/description</name>
   <message>
-  <source>Roll rate derivative gain</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_RR_FF/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/202/description</name>
   <message>
-  <source>Roll rate feed forward</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_RR_FF/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/203/description</name>
   <message>
-  <source>Direct feed forward from rate setpoint to control surface output.</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_RR_I/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/204/description</name>
   <message>
-  <source>Roll rate integrator gain</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_RR_IMAX/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/205/description</name>
   <message>
-  <source>Roll integrator limit</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_RR_P/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/206/description</name>
   <message>
-  <source>Roll rate proportional gain</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_SPOILERS_MAN/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/207/description</name>
   <message>
-  <source>Spoiler input in manual flight</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_SPOILERS_MAN/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/208/description</name>
   <message>
-  <source>Chose source for manual setting of spoilers in manual flight modes.</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_SPOILERS_MAN/values/0/description</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/301/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_SPOILERS_MAN/values/1/description</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/302/description</name>
   <message>
-  <source>Flaps channel</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_SPOILERS_MAN/values/2/description</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/303/description</name>
   <message>
-  <source>Aux1</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_USE_AIRSPD/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/304/description</name>
   <message>
-  <source>Use airspeed for control</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_USE_AIRSPD/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/305/description</name>
   <message>
-  <source>If set to 1, the airspeed measurement data, if valid, is used in the following controllers: - Rate controller: output scaling - Attitude controller: coordinated turn controller - Position controller: airspeed setpoint tracking, takeoff logic - VTOL: transition logic</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_USE_AIRSPD/values/0/description</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/306/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_USE_AIRSPD/values/1/description</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/400/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_YR_D/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/401/description</name>
   <message>
-  <source>Yaw rate derivative gain</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_YR_FF/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/402/description</name>
   <message>
-  <source>Yaw rate feed forward</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_YR_FF/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/403/description</name>
   <message>
-  <source>Direct feed forward from rate setpoint to control surface output</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_YR_I/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/404/description</name>
   <message>
-  <source>Yaw rate integrator gain</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_YR_IMAX/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/405/description</name>
   <message>
-  <source>Yaw rate integrator limit</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_YR_P/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/406/description</name>
   <message>
-  <source>Yaw rate proportional gain</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_GND_SPD_MIN/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/407/description</name>
   <message>
-  <source>Minimum groundspeed</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_GND_SPD_MIN/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/408/description</name>
   <message>
-  <source>The controller will increase the commanded airspeed to maintain this minimum groundspeed to the next waypoint.</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_P_LIM_MAX/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/409/description</name>
   <message>
-  <source>Maximum pitch angle setpoint</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_P_LIM_MAX/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/410/description</name>
   <message>
-  <source>Applies in any altitude controlled flight mode.</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_P_LIM_MIN/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/411/description</name>
   <message>
-  <source>Minimum pitch angle setpoint</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_P_LIM_MIN/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/412/description</name>
   <message>
-  <source>Applies in any altitude controlled flight mode.</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_THR_IDLE/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/420/description</name>
   <message>
-  <source>Idle throttle</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_THR_IDLE/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/421/description</name>
   <message>
-  <source>This is the minimum throttle while on the ground ("landed") in auto modes.</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_THR_MAX/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/422/description</name>
   <message>
-  <source>Throttle limit max</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_THR_MAX/longDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/430/description</name>
   <message>
-  <source>Applies in any altitude controlled flight mode. Should be set accordingly to achieve FW_T_CLMB_MAX.</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_THR_MIN/shortDesc</name>
+  <name>/parameters/PWM_MAIN_FUNC8/values/440/description</name>
   <message>
-  <source>Throttle limit min</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_THR_MIN/longDesc</name>
+  <name>/parameters/PWM_MAIN_MAX1/shortDesc</name>
   <message>
-  <source>Applies in any altitude controlled flight mode. Usually set to 0 but can be increased to prevent the motor from stopping when descending, which can increase achievable descent rates.</source>
+  <source>MAIN 1 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_THR_SLEW_MAX/shortDesc</name>
+  <name>/parameters/PWM_MAIN_MAX1/longDesc</name>
   <message>
-  <source>Throttle max slew rate</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_THR_SLEW_MAX/longDesc</name>
+  <name>/parameters/PWM_MAIN_MAX2/shortDesc</name>
   <message>
-  <source>Maximum slew rate for the commanded throttle</source>
+  <source>MAIN 2 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_TKO_AIRSPD/shortDesc</name>
+  <name>/parameters/PWM_MAIN_MAX2/longDesc</name>
   <message>
-  <source>Takeoff Airspeed</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_TKO_AIRSPD/longDesc</name>
+  <name>/parameters/PWM_MAIN_MAX3/shortDesc</name>
   <message>
-  <source>The calibrated airspeed setpoint during the takeoff climbout. If set &lt;= 0, FW_AIRSPD_MIN will be set by default.</source>
+  <source>MAIN 3 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_T_ALT_TC/shortDesc</name>
+  <name>/parameters/PWM_MAIN_MAX3/longDesc</name>
   <message>
-  <source>Altitude error time constant</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_T_CLMB_R_SP/shortDesc</name>
+  <name>/parameters/PWM_MAIN_MAX4/shortDesc</name>
   <message>
-  <source>Default target climbrate</source>
+  <source>MAIN 4 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_T_CLMB_R_SP/longDesc</name>
+  <name>/parameters/PWM_MAIN_MAX4/longDesc</name>
   <message>
-  <source>In auto modes: default climb rate output by controller to achieve altitude setpoints. In manual modes: maximum climb rate setpoint.</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_T_F_ALT_ERR/shortDesc</name>
+  <name>/parameters/PWM_MAIN_MAX5/shortDesc</name>
   <message>
-  <source>Fast descend: minimum altitude error</source>
+  <source>MAIN 5 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_T_F_ALT_ERR/longDesc</name>
+  <name>/parameters/PWM_MAIN_MAX5/longDesc</name>
   <message>
-  <source>Minimum altitude error needed to descend with max airspeed and minimal throttle. A negative value disables fast descend.</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_T_HRATE_FF/shortDesc</name>
+  <name>/parameters/PWM_MAIN_MAX6/shortDesc</name>
   <message>
-  <source>Height rate feed forward</source>
+  <source>MAIN 6 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_T_I_GAIN_PIT/shortDesc</name>
+  <name>/parameters/PWM_MAIN_MAX6/longDesc</name>
   <message>
-  <source>Integrator gain pitch</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_T_I_GAIN_PIT/longDesc</name>
+  <name>/parameters/PWM_MAIN_MAX7/shortDesc</name>
   <message>
-  <source>Increase it to trim out speed and height offsets faster, with the downside of possible overshoots and oscillations.</source>
+  <source>MAIN 7 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_T_PTCH_DAMP/shortDesc</name>
+  <name>/parameters/PWM_MAIN_MAX7/longDesc</name>
   <message>
-  <source>Pitch damping gain</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_T_RLL2THR/shortDesc</name>
+  <name>/parameters/PWM_MAIN_MAX8/shortDesc</name>
   <message>
-  <source>Roll -&gt; Throttle feedforward</source>
+  <source>MAIN 8 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_T_RLL2THR/longDesc</name>
+  <name>/parameters/PWM_MAIN_MAX8/longDesc</name>
   <message>
-  <source>Is used to compensate for the additional drag created by turning. Increase this gain if the aircraft initially loses energy in turns and reduce if the aircraft initially gains energy in turns.</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_T_SEB_R_FF/shortDesc</name>
+  <name>/parameters/PWM_MAIN_MIN1/shortDesc</name>
   <message>
-  <source>Specific total energy balance rate feedforward gain</source>
+  <source>MAIN 1 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_T_SINK_MAX/shortDesc</name>
+  <name>/parameters/PWM_MAIN_MIN1/longDesc</name>
   <message>
-  <source>Maximum descent rate</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_T_SINK_MAX/longDesc</name>
+  <name>/parameters/PWM_MAIN_MIN2/shortDesc</name>
   <message>
-  <source>This sets the maximum descent rate that the controller will use.</source>
+  <source>MAIN 2 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_T_SINK_R_SP/shortDesc</name>
+  <name>/parameters/PWM_MAIN_MIN2/longDesc</name>
   <message>
-  <source>Default target sinkrate</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_T_SINK_R_SP/longDesc</name>
+  <name>/parameters/PWM_MAIN_MIN3/shortDesc</name>
   <message>
-  <source>In auto modes: default sink rate output by controller to achieve altitude setpoints. In manual modes: maximum sink rate setpoint.</source>
+  <source>MAIN 3 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_T_SPDWEIGHT/shortDesc</name>
+  <name>/parameters/PWM_MAIN_MIN3/longDesc</name>
   <message>
-  <source>Speed &lt;--&gt; Altitude priority</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_T_SPDWEIGHT/longDesc</name>
+  <name>/parameters/PWM_MAIN_MIN4/shortDesc</name>
   <message>
-  <source>Adjusts the amount of weighting that the pitch control applies to speed vs height errors. Setting it to 0.0 will cause the pitch control to control height and ignore speed errors. Setting it to 2.0 will cause the pitch control loop to control speed and ignore height errors. The default value of 1.0 allows the pitch control to simultaneously control height and speed. Set to 2 for gliders.</source>
+  <source>MAIN 4 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_T_SPD_DEV_STD/shortDesc</name>
+  <name>/parameters/PWM_MAIN_MIN4/longDesc</name>
   <message>
-  <source>Airspeed rate measurement standard deviation</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_T_SPD_DEV_STD/longDesc</name>
+  <name>/parameters/PWM_MAIN_MIN5/shortDesc</name>
   <message>
-  <source>For the airspeed filter in TECS.</source>
+  <source>MAIN 5 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_T_SPD_PRC_STD/shortDesc</name>
+  <name>/parameters/PWM_MAIN_MIN5/longDesc</name>
   <message>
-  <source>Process noise standard deviation for the airspeed rate</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_T_SPD_PRC_STD/longDesc</name>
+  <name>/parameters/PWM_MAIN_MIN6/shortDesc</name>
   <message>
-  <source>This is defining the noise in the airspeed rate for the constant airspeed rate model of the TECS airspeed filter.</source>
+  <source>MAIN 6 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_T_SPD_STD/shortDesc</name>
+  <name>/parameters/PWM_MAIN_MIN6/longDesc</name>
   <message>
-  <source>Airspeed measurement standard deviation</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_T_SPD_STD/longDesc</name>
+  <name>/parameters/PWM_MAIN_MIN7/shortDesc</name>
   <message>
-  <source>For the airspeed filter in TECS.</source>
+  <source>MAIN 7 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_T_STE_R_TC/shortDesc</name>
+  <name>/parameters/PWM_MAIN_MIN7/longDesc</name>
   <message>
-  <source>Specific total energy rate first order filter time constant</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_T_STE_R_TC/longDesc</name>
+  <name>/parameters/PWM_MAIN_MIN8/shortDesc</name>
   <message>
-  <source>This filter is applied to the specific total energy rate used for throttle damping.</source>
+  <source>MAIN 8 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_T_TAS_TC/shortDesc</name>
+  <name>/parameters/PWM_MAIN_MIN8/longDesc</name>
   <message>
-  <source>True airspeed error time constant</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_T_THR_DAMPING/shortDesc</name>
+  <name>/parameters/PWM_MAIN_REV/shortDesc</name>
   <message>
-  <source>Throttle damping factor</source>
+  <source>Reverse Output Range for PWM MAIN</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_T_THR_DAMPING/longDesc</name>
+  <name>/parameters/PWM_MAIN_REV/longDesc</name>
   <message>
-  <source>This is the damping gain for the throttle demand loop.</source>
+  <source>Allows to reverse the output range for each channel. Note: this is only useful for servos.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_T_THR_INTEG/shortDesc</name>
+  <name>/parameters/PWM_MAIN_REV/bitmask/0/description</name>
   <message>
-  <source>Integrator gain throttle</source>
+  <source>MAIN 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_T_THR_INTEG/longDesc</name>
+  <name>/parameters/PWM_MAIN_REV/bitmask/1/description</name>
   <message>
-  <source>Increase it to trim out speed and height offsets faster, with the downside of possible overshoots and oscillations.</source>
+  <source>MAIN 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_T_THR_LOW_HGT/shortDesc</name>
+  <name>/parameters/PWM_MAIN_REV/bitmask/2/description</name>
   <message>
-  <source>Low-height threshold for tighter altitude tracking</source>
+  <source>MAIN 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_T_THR_LOW_HGT/longDesc</name>
+  <name>/parameters/PWM_MAIN_REV/bitmask/3/description</name>
   <message>
-  <source>Defines the height (distance to bottom) threshold below which tighter altitude tracking gets enabled (see FW_LND_THRTC_SC). Below this height, TECS smoothly (1 sec / sec) transitions the altitude tracking time constant from FW_T_ALT_TC to FW_LND_THRTC_SC*FW_T_ALT_TC. If equal to -1, low-height traking is disabled.</source>
+  <source>MAIN 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_T_VERT_ACC/shortDesc</name>
+  <name>/parameters/PWM_MAIN_REV/bitmask/4/description</name>
   <message>
-  <source>Maximum vertical acceleration</source>
+  <source>MAIN 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_T_VERT_ACC/longDesc</name>
+  <name>/parameters/PWM_MAIN_REV/bitmask/5/description</name>
   <message>
-  <source>This is the maximum vertical acceleration either up or down that the controller will use to correct speed or height errors.</source>
+  <source>MAIN 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_WIND_ARSP_SC/shortDesc</name>
+  <name>/parameters/PWM_MAIN_REV/bitmask/6/description</name>
   <message>
-  <source>Wind-based airspeed scaling factor</source>
+  <source>MAIN 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_WIND_ARSP_SC/longDesc</name>
+  <name>/parameters/PWM_MAIN_REV/bitmask/7/description</name>
   <message>
-  <source>Multiplying this factor with the current absolute wind estimate gives the airspeed offset added to the minimum airspeed setpoint limit. This helps to make the system more robust against disturbances (turbulence) in high wind.</source>
+  <source>MAIN 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FD_ACT_EN/shortDesc</name>
+  <name>/parameters/PWM_MAIN_TIM0/shortDesc</name>
   <message>
-  <source>Enable Actuator Failure check</source>
+  <source>Output Protocol Configuration for MAIN 1-2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FD_ACT_EN/longDesc</name>
+  <name>/parameters/PWM_MAIN_TIM0/longDesc</name>
   <message>
-  <source>If enabled, failure detector will verify that for motors, a minimum amount of ESC current per throttle level is being consumed. Otherwise this indicates an motor failure.</source>
+  <source>Select which Output Protocol to use for outputs MAIN 1-2. Custom PWM rates can be used by directly setting any value &gt;0.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FD_ACT_EN/values/0/description</name>
+  <name>/parameters/PWM_MAIN_TIM0/values/-1/description</name>
   <message>
-  <source>Disabled</source>
+  <source>OneShot</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FD_ACT_EN/values/1/description</name>
+  <name>/parameters/PWM_MAIN_TIM0/values/50/description</name>
   <message>
-  <source>Enabled</source>
+  <source>PWM 50 Hz</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FD_ACT_MOT_C2T/shortDesc</name>
+  <name>/parameters/PWM_MAIN_TIM0/values/100/description</name>
   <message>
-  <source>Motor Failure Current/Throttle Threshold</source>
+  <source>PWM 100 Hz</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FD_ACT_MOT_C2T/longDesc</name>
+  <name>/parameters/PWM_MAIN_TIM0/values/200/description</name>
   <message>
-  <source>Motor failure triggers only below this current value</source>
+  <source>PWM 200 Hz</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FD_ACT_MOT_THR/shortDesc</name>
+  <name>/parameters/PWM_MAIN_TIM0/values/400/description</name>
   <message>
-  <source>Motor Failure Throttle Threshold</source>
+  <source>PWM 400 Hz</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FD_ACT_MOT_THR/longDesc</name>
+  <name>/parameters/PWM_MAIN_TIM1/shortDesc</name>
   <message>
-  <source>Motor failure triggers only above this throttle value.</source>
+  <source>Output Protocol Configuration for MAIN 3-4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FD_ACT_MOT_TOUT/shortDesc</name>
+  <name>/parameters/PWM_MAIN_TIM1/longDesc</name>
   <message>
-  <source>Motor Failure Time Threshold</source>
+  <source>Select which Output Protocol to use for outputs MAIN 3-4. Custom PWM rates can be used by directly setting any value &gt;0.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FD_ACT_MOT_TOUT/longDesc</name>
+  <name>/parameters/PWM_MAIN_TIM1/values/-1/description</name>
   <message>
-  <source>Motor failure triggers only if the throttle threshold and the current to throttle threshold are violated for this time.</source>
+  <source>OneShot</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FD_ESCS_EN/shortDesc</name>
+  <name>/parameters/PWM_MAIN_TIM1/values/50/description</name>
   <message>
-  <source>Enable checks on ESCs that report their arming state</source>
+  <source>PWM 50 Hz</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FD_ESCS_EN/longDesc</name>
+  <name>/parameters/PWM_MAIN_TIM1/values/100/description</name>
   <message>
-  <source>If enabled, failure detector will verify that all the ESCs have successfully armed when the vehicle has transitioned to the armed state. Timeout for receiving an acknowledgement from the ESCs is 0.3s, if no feedback is received the failure detector will auto disarm the vehicle.</source>
+  <source>PWM 100 Hz</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FD_ESCS_EN/values/0/description</name>
+  <name>/parameters/PWM_MAIN_TIM1/values/200/description</name>
   <message>
-  <source>Disabled</source>
+  <source>PWM 200 Hz</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FD_ESCS_EN/values/1/description</name>
+  <name>/parameters/PWM_MAIN_TIM1/values/400/description</name>
   <message>
-  <source>Enabled</source>
+  <source>PWM 400 Hz</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FD_EXT_ATS_EN/shortDesc</name>
+  <name>/parameters/PWM_MAIN_TIM2/shortDesc</name>
   <message>
-  <source>Enable PWM input on for engaging failsafe from an external automatic trigger system (ATS)</source>
+  <source>Output Protocol Configuration for MAIN 5-8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FD_EXT_ATS_EN/longDesc</name>
+  <name>/parameters/PWM_MAIN_TIM2/longDesc</name>
   <message>
-  <source>Enabled on either AUX5 or MAIN5 depending on board. External ATS is required by ASTM F3322-18.</source>
+  <source>Select which Output Protocol to use for outputs MAIN 5-8. Custom PWM rates can be used by directly setting any value &gt;0.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FD_EXT_ATS_EN/values/0/description</name>
+  <name>/parameters/PWM_MAIN_TIM2/values/-1/description</name>
   <message>
-  <source>Disabled</source>
+  <source>OneShot</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FD_EXT_ATS_EN/values/1/description</name>
+  <name>/parameters/PWM_MAIN_TIM2/values/50/description</name>
   <message>
-  <source>Enabled</source>
+  <source>PWM 50 Hz</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FD_EXT_ATS_TRIG/shortDesc</name>
+  <name>/parameters/PWM_MAIN_TIM2/values/100/description</name>
   <message>
-  <source>The PWM threshold from external automatic trigger system for engaging failsafe</source>
+  <source>PWM 100 Hz</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FD_EXT_ATS_TRIG/longDesc</name>
+  <name>/parameters/PWM_MAIN_TIM2/values/200/description</name>
   <message>
-  <source>External ATS is required by ASTM F3322-18.</source>
+  <source>PWM 200 Hz</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FD_FAIL_P/shortDesc</name>
+  <name>/parameters/PWM_MAIN_TIM2/values/400/description</name>
   <message>
-  <source>FailureDetector Max Pitch</source>
+  <source>PWM 400 Hz</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FD_FAIL_P/longDesc</name>
+  <name>/parameters/RBCLW_DIS1/shortDesc</name>
   <message>
-  <source>Maximum pitch angle before FailureDetector triggers the attitude_failure flag. The flag triggers flight termination (if @CBRK_FLIGHTTERM = 0), which sets outputs to their failsafe values. On takeoff the flag triggers lockdown (irrespective of @CBRK_FLIGHTTERM), which disarms motors but does not set outputs to failsafe values. Setting this parameter to 0 disables the check</source>
+  <source>Roboclaw Driver Channel 1 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FD_FAIL_P_TTRI/shortDesc</name>
+  <name>/parameters/RBCLW_DIS1/longDesc</name>
   <message>
-  <source>Pitch failure trigger time</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FD_FAIL_P_TTRI/longDesc</name>
+  <name>/parameters/RBCLW_DIS2/shortDesc</name>
   <message>
-  <source>Seconds (decimal) that pitch has to exceed FD_FAIL_P before being considered as a failure.</source>
+  <source>Roboclaw Driver Channel 2 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FD_FAIL_R/shortDesc</name>
+  <name>/parameters/RBCLW_DIS2/longDesc</name>
   <message>
-  <source>FailureDetector Max Roll</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FD_FAIL_R/longDesc</name>
+  <name>/parameters/RBCLW_FAIL1/shortDesc</name>
   <message>
-  <source>Maximum roll angle before FailureDetector triggers the attitude_failure flag. The flag triggers flight termination (if @CBRK_FLIGHTTERM = 0), which sets outputs to their failsafe values. On takeoff the flag triggers lockdown (irrespective of @CBRK_FLIGHTTERM), which disarms motors but does not set outputs to failsafe values. Setting this parameter to 0 disables the check</source>
+  <source>Roboclaw Driver Channel 1 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FD_FAIL_R_TTRI/shortDesc</name>
+  <name>/parameters/RBCLW_FAIL1/longDesc</name>
   <message>
-  <source>Roll failure trigger time</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see RBCLW_FUNC1).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FD_FAIL_R_TTRI/longDesc</name>
+  <name>/parameters/RBCLW_FAIL2/shortDesc</name>
   <message>
-  <source>Seconds (decimal) that roll has to exceed FD_FAIL_R before being considered as a failure.</source>
+  <source>Roboclaw Driver Channel 2 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FD_IMB_PROP_THR/shortDesc</name>
+  <name>/parameters/RBCLW_FAIL2/longDesc</name>
   <message>
-  <source>Imbalanced propeller check threshold</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see RBCLW_FUNC2).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FD_IMB_PROP_THR/longDesc</name>
+  <name>/parameters/RBCLW_FUNC1/shortDesc</name>
   <message>
-  <source>Value at which the imbalanced propeller metric (based on horizontal and vertical acceleration variance) triggers a failure Setting this value to 0 disables the feature.</source>
+  <source>Roboclaw Driver Channel 1 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_ORBIT_RAD_MAX/shortDesc</name>
+  <name>/parameters/RBCLW_FUNC1/longDesc</name>
   <message>
-  <source>Maximum radius of orbit</source>
+  <source>Select what should be output on Roboclaw Driver Channel 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_ORBIT_YAW_MOD/shortDesc</name>
+  <name>/parameters/RBCLW_FUNC1/values/0/description</name>
   <message>
-  <source>Yaw behaviour during orbit flight</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_ORBIT_YAW_MOD/values/0/description</name>
+  <name>/parameters/RBCLW_FUNC1/values/1/description</name>
   <message>
-  <source>Front to Circle Center</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_ORBIT_YAW_MOD/values/1/description</name>
+  <name>/parameters/RBCLW_FUNC1/values/2/description</name>
   <message>
-  <source>Hold Initial Heading</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_ORBIT_YAW_MOD/values/2/description</name>
+  <name>/parameters/RBCLW_FUNC1/values/101/description</name>
   <message>
-  <source>Uncontrolled</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_ORBIT_YAW_MOD/values/3/description</name>
+  <name>/parameters/RBCLW_FUNC1/values/102/description</name>
   <message>
-  <source>Hold Front Tangent to Circle</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_ORBIT_YAW_MOD/values/4/description</name>
+  <name>/parameters/RBCLW_FUNC1/values/103/description</name>
   <message>
-  <source>RC Controlled</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FLW_TGT_ALT_M/shortDesc</name>
+  <name>/parameters/RBCLW_FUNC1/values/104/description</name>
   <message>
-  <source>Altitude control mode</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FLW_TGT_ALT_M/longDesc</name>
+  <name>/parameters/RBCLW_FUNC1/values/105/description</name>
   <message>
-  <source>Maintain altitude or track target's altitude. When maintaining the altitude, the drone can crash into terrain when the target moves uphill. When tracking the target's altitude, the follow altitude FLW_TGT_HT should be high enough to prevent terrain collisions due to GPS inaccuracies of the target.</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FLW_TGT_ALT_M/values/0/description</name>
+  <name>/parameters/RBCLW_FUNC1/values/106/description</name>
   <message>
-  <source>2D Tracking: Maintain constant altitude relative to home and track XY position only</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FLW_TGT_ALT_M/values/1/description</name>
+  <name>/parameters/RBCLW_FUNC1/values/107/description</name>
   <message>
-  <source>2D + Terrain: Maintain constant altitude relative to terrain below and track XY position</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FLW_TGT_ALT_M/values/2/description</name>
+  <name>/parameters/RBCLW_FUNC1/values/108/description</name>
   <message>
-  <source>3D Tracking: Track target's altitude (be aware that GPS altitude bias usually makes this useless)</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FLW_TGT_DST/shortDesc</name>
+  <name>/parameters/RBCLW_FUNC1/values/109/description</name>
   <message>
-  <source>Distance to follow target from</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FLW_TGT_DST/longDesc</name>
+  <name>/parameters/RBCLW_FUNC1/values/110/description</name>
   <message>
-  <source>The distance in meters to follow the target at</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FLW_TGT_FA/shortDesc</name>
+  <name>/parameters/RBCLW_FUNC1/values/111/description</name>
   <message>
-  <source>Follow Angle setting in degrees</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FLW_TGT_FA/longDesc</name>
+  <name>/parameters/RBCLW_FUNC1/values/112/description</name>
   <message>
-  <source>Angle to follow the target from. 0.0 Equals straight in front of the target's course (direction of motion) and the angle increases in clockwise direction, meaning Right-side would be 90.0 degrees while Left-side is -90.0 degrees Note: When the user force sets the angle out of the min/max range, it will be wrapped (e.g. 480 -&gt; 120) in the range to gracefully handle the out of range.</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FLW_TGT_HT/shortDesc</name>
+  <name>/parameters/RBCLW_FUNC1/values/201/description</name>
   <message>
-  <source>Follow target height</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FLW_TGT_HT/longDesc</name>
+  <name>/parameters/RBCLW_FUNC1/values/202/description</name>
   <message>
-  <source>Following height above the target</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FLW_TGT_MAX_VEL/shortDesc</name>
+  <name>/parameters/RBCLW_FUNC1/values/203/description</name>
   <message>
-  <source>Maximum tangential velocity setting for generating the follow orbit trajectory</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FLW_TGT_MAX_VEL/longDesc</name>
+  <name>/parameters/RBCLW_FUNC1/values/204/description</name>
   <message>
-  <source>This is the maximum tangential velocity the drone will circle around the target whenever an orbit angle setpoint changes. Higher value means more aggressive follow behavior.</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FLW_TGT_RS/shortDesc</name>
+  <name>/parameters/RBCLW_FUNC1/values/205/description</name>
   <message>
-  <source>Responsiveness to target movement in Target Estimator</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FLW_TGT_RS/longDesc</name>
+  <name>/parameters/RBCLW_FUNC1/values/206/description</name>
   <message>
-  <source>lower values increase the responsiveness to changing position, but also ignore less noise</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_1_GNSS/shortDesc</name>
+  <name>/parameters/RBCLW_FUNC1/values/207/description</name>
   <message>
-  <source>GNSS Systems for Primary GPS (integer bitmask)</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_1_GNSS/longDesc</name>
+  <name>/parameters/RBCLW_FUNC1/values/208/description</name>
   <message>
-  <source>This integer bitmask controls the set of GNSS systems used by the receiver. Check your receiver's documentation on how many systems are supported to be used in parallel. Currently this functionality is just implemented for u-blox receivers. When no bits are set, the receiver's default configuration should be used. Set bits true to enable: 0 : Use GPS (with QZSS) 1 : Use SBAS (multiple GPS augmentation systems) 2 : Use Galileo 3 : Use BeiDou 4 : Use GLONASS 5 : Use NAVIC</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_1_GNSS/bitmask/0/description</name>
+  <name>/parameters/RBCLW_FUNC1/values/301/description</name>
   <message>
-  <source>GPS (with QZSS)</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_1_GNSS/bitmask/1/description</name>
+  <name>/parameters/RBCLW_FUNC1/values/302/description</name>
   <message>
-  <source>SBAS</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_1_GNSS/bitmask/2/description</name>
+  <name>/parameters/RBCLW_FUNC1/values/303/description</name>
   <message>
-  <source>Galileo</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_1_GNSS/bitmask/3/description</name>
+  <name>/parameters/RBCLW_FUNC1/values/304/description</name>
   <message>
-  <source>BeiDou</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_1_GNSS/bitmask/4/description</name>
+  <name>/parameters/RBCLW_FUNC1/values/305/description</name>
   <message>
-  <source>GLONASS</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_1_GNSS/bitmask/5/description</name>
+  <name>/parameters/RBCLW_FUNC1/values/306/description</name>
   <message>
-  <source>NAVIC</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_1_PROTOCOL/shortDesc</name>
+  <name>/parameters/RBCLW_FUNC1/values/400/description</name>
   <message>
-  <source>Protocol for Main GPS</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_1_PROTOCOL/longDesc</name>
+  <name>/parameters/RBCLW_FUNC1/values/401/description</name>
   <message>
-  <source>Select the GPS protocol over serial. Auto-detection will probe all protocols, and thus is a bit slower.</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_1_PROTOCOL/values/0/description</name>
+  <name>/parameters/RBCLW_FUNC1/values/402/description</name>
   <message>
-  <source>Auto detect</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_1_PROTOCOL/values/1/description</name>
+  <name>/parameters/RBCLW_FUNC1/values/403/description</name>
   <message>
-  <source>u-blox</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_1_PROTOCOL/values/2/description</name>
+  <name>/parameters/RBCLW_FUNC1/values/404/description</name>
   <message>
-  <source>MTK</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_1_PROTOCOL/values/3/description</name>
+  <name>/parameters/RBCLW_FUNC1/values/405/description</name>
   <message>
-  <source>Ashtech / Trimble</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_1_PROTOCOL/values/4/description</name>
+  <name>/parameters/RBCLW_FUNC1/values/406/description</name>
   <message>
-  <source>Emlid Reach</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_1_PROTOCOL/values/5/description</name>
+  <name>/parameters/RBCLW_FUNC1/values/407/description</name>
   <message>
-  <source>Femtomes</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_1_PROTOCOL/values/6/description</name>
+  <name>/parameters/RBCLW_FUNC1/values/408/description</name>
   <message>
-  <source>NMEA (generic)</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_2_GNSS/shortDesc</name>
+  <name>/parameters/RBCLW_FUNC1/values/409/description</name>
   <message>
-  <source>GNSS Systems for Secondary GPS (integer bitmask)</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_2_GNSS/longDesc</name>
+  <name>/parameters/RBCLW_FUNC1/values/410/description</name>
   <message>
-  <source>This integer bitmask controls the set of GNSS systems used by the receiver. Check your receiver's documentation on how many systems are supported to be used in parallel. Currently this functionality is just implemented for u-blox receivers. When no bits are set, the receiver's default configuration should be used. Set bits true to enable: 0 : Use GPS (with QZSS) 1 : Use SBAS (multiple GPS augmentation systems) 2 : Use Galileo 3 : Use BeiDou 4 : Use GLONASS 5 : Use NAVIC</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_2_GNSS/bitmask/0/description</name>
+  <name>/parameters/RBCLW_FUNC1/values/411/description</name>
   <message>
-  <source>GPS (with QZSS)</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_2_GNSS/bitmask/1/description</name>
+  <name>/parameters/RBCLW_FUNC1/values/412/description</name>
   <message>
-  <source>SBAS</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_2_GNSS/bitmask/2/description</name>
+  <name>/parameters/RBCLW_FUNC1/values/420/description</name>
   <message>
-  <source>Galileo</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_2_GNSS/bitmask/3/description</name>
+  <name>/parameters/RBCLW_FUNC1/values/421/description</name>
   <message>
-  <source>BeiDou</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_2_GNSS/bitmask/4/description</name>
+  <name>/parameters/RBCLW_FUNC1/values/422/description</name>
   <message>
-  <source>GLONASS</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_2_GNSS/bitmask/5/description</name>
+  <name>/parameters/RBCLW_FUNC1/values/430/description</name>
   <message>
-  <source>NAVIC</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_2_PROTOCOL/shortDesc</name>
+  <name>/parameters/RBCLW_FUNC1/values/440/description</name>
   <message>
-  <source>Protocol for Secondary GPS</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_2_PROTOCOL/longDesc</name>
+  <name>/parameters/RBCLW_FUNC2/shortDesc</name>
   <message>
-  <source>Select the GPS protocol over serial. Auto-detection will probe all protocols, and thus is a bit slower.</source>
+  <source>Roboclaw Driver Channel 2 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_2_PROTOCOL/values/0/description</name>
+  <name>/parameters/RBCLW_FUNC2/longDesc</name>
   <message>
-  <source>Auto detect</source>
+  <source>Select what should be output on Roboclaw Driver Channel 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_2_PROTOCOL/values/1/description</name>
+  <name>/parameters/RBCLW_FUNC2/values/0/description</name>
   <message>
-  <source>u-blox</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_2_PROTOCOL/values/2/description</name>
+  <name>/parameters/RBCLW_FUNC2/values/1/description</name>
   <message>
-  <source>MTK</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_2_PROTOCOL/values/3/description</name>
+  <name>/parameters/RBCLW_FUNC2/values/2/description</name>
   <message>
-  <source>Ashtech / Trimble</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_2_PROTOCOL/values/4/description</name>
+  <name>/parameters/RBCLW_FUNC2/values/101/description</name>
   <message>
-  <source>Emlid Reach</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_2_PROTOCOL/values/5/description</name>
+  <name>/parameters/RBCLW_FUNC2/values/102/description</name>
   <message>
-  <source>Femtomes</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_2_PROTOCOL/values/6/description</name>
+  <name>/parameters/RBCLW_FUNC2/values/103/description</name>
   <message>
-  <source>NMEA (generic)</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_DUMP_COMM/shortDesc</name>
+  <name>/parameters/RBCLW_FUNC2/values/104/description</name>
   <message>
-  <source>Log GPS communication data</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_DUMP_COMM/longDesc</name>
+  <name>/parameters/RBCLW_FUNC2/values/105/description</name>
   <message>
-  <source>If this is set to 1, all GPS communication data will be published via uORB, and written to the log file as gps_dump message. If this is set to 2, the main GPS is configured to output RTCM data, which is then logged as gps_dump and can be used for PPK.</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_DUMP_COMM/values/0/description</name>
+  <name>/parameters/RBCLW_FUNC2/values/106/description</name>
   <message>
-  <source>Disable</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_DUMP_COMM/values/1/description</name>
+  <name>/parameters/RBCLW_FUNC2/values/107/description</name>
   <message>
-  <source>Full communication</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_DUMP_COMM/values/2/description</name>
+  <name>/parameters/RBCLW_FUNC2/values/108/description</name>
   <message>
-  <source>RTCM output (PPK)</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_SAT_INFO/shortDesc</name>
+  <name>/parameters/RBCLW_FUNC2/values/109/description</name>
   <message>
-  <source>Enable sat info (if available)</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_SAT_INFO/longDesc</name>
+  <name>/parameters/RBCLW_FUNC2/values/110/description</name>
   <message>
-  <source>Enable publication of satellite info (ORB_ID(satellite_info)) if possible. Not available on MTK.</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_SAT_INFO/values/0/description</name>
+  <name>/parameters/RBCLW_FUNC2/values/111/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_SAT_INFO/values/1/description</name>
+  <name>/parameters/RBCLW_FUNC2/values/112/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_UBX_BAUD2/shortDesc</name>
+  <name>/parameters/RBCLW_FUNC2/values/201/description</name>
   <message>
-  <source>u-blox F9P UART2 Baudrate</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_UBX_BAUD2/longDesc</name>
+  <name>/parameters/RBCLW_FUNC2/values/202/description</name>
   <message>
-  <source>Select a baudrate for the F9P's UART2 port. In GPS_UBX_MODE 1, 2, and 3, the F9P's UART2 port is configured to send/receive RTCM corrections. Set this to 57600 if you want to attach a telemetry radio on UART2.</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_UBX_CFG_INTF/shortDesc</name>
+  <name>/parameters/RBCLW_FUNC2/values/203/description</name>
   <message>
-  <source>u-blox protocol configuration for interfaces</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_UBX_CFG_INTF/bitmask/0/description</name>
+  <name>/parameters/RBCLW_FUNC2/values/204/description</name>
   <message>
-  <source>Enable I2C input protocol UBX</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_UBX_CFG_INTF/bitmask/1/description</name>
+  <name>/parameters/RBCLW_FUNC2/values/205/description</name>
   <message>
-  <source>Enable I2C input protocol NMEA</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_UBX_CFG_INTF/bitmask/2/description</name>
+  <name>/parameters/RBCLW_FUNC2/values/206/description</name>
   <message>
-  <source>Enable I2C input protocol RTCM3X</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_UBX_CFG_INTF/bitmask/3/description</name>
+  <name>/parameters/RBCLW_FUNC2/values/207/description</name>
   <message>
-  <source>Enable I2C output protocol UBX</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_UBX_CFG_INTF/bitmask/4/description</name>
+  <name>/parameters/RBCLW_FUNC2/values/208/description</name>
   <message>
-  <source>Enable I2C output protocol NMEA</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_UBX_CFG_INTF/bitmask/5/description</name>
+  <name>/parameters/RBCLW_FUNC2/values/301/description</name>
   <message>
-  <source>Enable I2C output protocol RTCM3X</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_UBX_DYNMODEL/shortDesc</name>
+  <name>/parameters/RBCLW_FUNC2/values/302/description</name>
   <message>
-  <source>u-blox GPS dynamic platform model</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_UBX_DYNMODEL/longDesc</name>
+  <name>/parameters/RBCLW_FUNC2/values/303/description</name>
   <message>
-  <source>u-blox receivers support different dynamic platform models to adjust the navigation engine to the expected application environment.</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_UBX_DYNMODEL/values/2/description</name>
+  <name>/parameters/RBCLW_FUNC2/values/304/description</name>
   <message>
-  <source>stationary</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_UBX_DYNMODEL/values/4/description</name>
+  <name>/parameters/RBCLW_FUNC2/values/305/description</name>
   <message>
-  <source>automotive</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_UBX_DYNMODEL/values/6/description</name>
+  <name>/parameters/RBCLW_FUNC2/values/306/description</name>
   <message>
-  <source>airborne with &lt;1g acceleration</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_UBX_DYNMODEL/values/7/description</name>
+  <name>/parameters/RBCLW_FUNC2/values/400/description</name>
   <message>
-  <source>airborne with &lt;2g acceleration</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_UBX_DYNMODEL/values/8/description</name>
+  <name>/parameters/RBCLW_FUNC2/values/401/description</name>
   <message>
-  <source>airborne with &lt;4g acceleration</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_UBX_MODE/shortDesc</name>
+  <name>/parameters/RBCLW_FUNC2/values/402/description</name>
   <message>
-  <source>u-blox GPS Mode</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_UBX_MODE/longDesc</name>
+  <name>/parameters/RBCLW_FUNC2/values/403/description</name>
   <message>
-  <source>Select the u-blox configuration setup. Most setups will use the default, including RTK and dual GPS without heading. If rover has RTCM corrections from a static base (or other static correction source) coming in on UART2, then select Mode 5. The Heading mode requires 2 F9P devices to be attached. The main GPS will act as rover and output heading information, whereas the secondary will act as moving base. Modes 1 and 2 require each F9P UART1 to be connected to the Autopilot. In addition, UART2 on the F9P units are connected to each other. Modes 3 and 4 only require UART1 on each F9P connected to the Autopilot or Can Node. UART RX DMA is required. RTK is still possible with this setup.</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_UBX_MODE/values/0/description</name>
+  <name>/parameters/RBCLW_FUNC2/values/404/description</name>
   <message>
-  <source>Default</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_UBX_MODE/values/1/description</name>
+  <name>/parameters/RBCLW_FUNC2/values/405/description</name>
   <message>
-  <source>Heading (Rover With Moving Base UART1 Connected To Autopilot, UART2 Connected To Moving Base)</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_UBX_MODE/values/2/description</name>
+  <name>/parameters/RBCLW_FUNC2/values/406/description</name>
   <message>
-  <source>Moving Base (UART1 Connected To Autopilot, UART2 Connected To Rover)</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_UBX_MODE/values/3/description</name>
+  <name>/parameters/RBCLW_FUNC2/values/407/description</name>
   <message>
-  <source>Heading (Rover With Moving Base UART1 Connected to Autopilot Or Can Node At 921600)</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_UBX_MODE/values/4/description</name>
+  <name>/parameters/RBCLW_FUNC2/values/408/description</name>
   <message>
-  <source>Moving Base (Moving Base UART1 Connected to Autopilot Or Can Node At 921600)</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_UBX_MODE/values/5/description</name>
+  <name>/parameters/RBCLW_FUNC2/values/409/description</name>
   <message>
-  <source>Rover with Static Base on UART2 (similar to Default, except coming in on UART2)</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_YAW_OFFSET/shortDesc</name>
+  <name>/parameters/RBCLW_FUNC2/values/410/description</name>
   <message>
-  <source>Heading/Yaw offset for dual antenna GPS</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GPS_YAW_OFFSET/longDesc</name>
+  <name>/parameters/RBCLW_FUNC2/values/411/description</name>
   <message>
-  <source>Heading offset angle for dual antenna GPS setups that support heading estimation. Set this to 0 if the antennas are parallel to the forward-facing direction of the vehicle and the rover (or Unicore primary) antenna is in front. The offset angle increases clockwise. Set this to 90 if the rover (or Unicore primary, or Septentrio Mosaic Aux) antenna is placed on the right side of the vehicle and the moving base antenna is on the left side. (Note: the Unicore primary antenna is the one connected on the right as seen from the top).</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GF_ACTION/shortDesc</name>
+  <name>/parameters/RBCLW_FUNC2/values/412/description</name>
   <message>
-  <source>Geofence violation action</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GF_ACTION/longDesc</name>
+  <name>/parameters/RBCLW_FUNC2/values/420/description</name>
   <message>
-  <source>Note: Setting this value to 4 enables flight termination, which will kill the vehicle on violation of the fence.</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GF_ACTION/values/0/description</name>
+  <name>/parameters/RBCLW_FUNC2/values/421/description</name>
   <message>
-  <source>None</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GF_ACTION/values/1/description</name>
+  <name>/parameters/RBCLW_FUNC2/values/422/description</name>
   <message>
-  <source>Warning</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GF_ACTION/values/2/description</name>
+  <name>/parameters/RBCLW_FUNC2/values/430/description</name>
   <message>
-  <source>Hold mode</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GF_ACTION/values/3/description</name>
+  <name>/parameters/RBCLW_FUNC2/values/440/description</name>
   <message>
-  <source>Return mode</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GF_ACTION/values/4/description</name>
+  <name>/parameters/RBCLW_MAX1/shortDesc</name>
   <message>
-  <source>Terminate</source>
+  <source>Roboclaw Driver Channel 1 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GF_ACTION/values/5/description</name>
+  <name>/parameters/RBCLW_MAX1/longDesc</name>
   <message>
-  <source>Land mode</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GF_MAX_HOR_DIST/shortDesc</name>
+  <name>/parameters/RBCLW_MAX2/shortDesc</name>
   <message>
-  <source>Max horizontal distance from Home</source>
+  <source>Roboclaw Driver Channel 2 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GF_MAX_HOR_DIST/longDesc</name>
+  <name>/parameters/RBCLW_MAX2/longDesc</name>
   <message>
-  <source>Maximum horizontal distance in meters the vehicle can be from Home before triggering a geofence action. Disabled if 0.</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GF_MAX_VER_DIST/shortDesc</name>
+  <name>/parameters/RBCLW_MIN1/shortDesc</name>
   <message>
-  <source>Max vertical distance from Home</source>
+  <source>Roboclaw Driver Channel 1 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GF_MAX_VER_DIST/longDesc</name>
+  <name>/parameters/RBCLW_MIN1/longDesc</name>
   <message>
-  <source>Maximum vertical distance in meters the vehicle can be from Home before triggering a geofence action. Disabled if 0.</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GF_PREDICT/shortDesc</name>
+  <name>/parameters/RBCLW_MIN2/shortDesc</name>
   <message>
-  <source>[EXPERIMENTAL] Use Pre-emptive geofence triggering</source>
+  <source>Roboclaw Driver Channel 2 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GF_PREDICT/longDesc</name>
+  <name>/parameters/RBCLW_MIN2/longDesc</name>
   <message>
-  <source>WARNING: This experimental feature may cause flyaways. Use at your own risk. Predict the motion of the vehicle and trigger the breach if it is determined that the current trajectory would result in a breach happening before the vehicle can make evasive maneuvers. The vehicle is then re-routed to a safe hold position (stop for multirotor, loiter for fixed wing).</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GF_PREDICT/values/0/description</name>
+  <name>/parameters/RBCLW_REV/shortDesc</name>
   <message>
-  <source>Disabled</source>
+  <source>Reverse Output Range for Roboclaw Driver</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GF_PREDICT/values/1/description</name>
+  <name>/parameters/RBCLW_REV/longDesc</name>
   <message>
-  <source>Enabled</source>
+  <source>Allows to reverse the output range for each channel. Note: this is only useful for servos.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GF_SOURCE/shortDesc</name>
+  <name>/parameters/RBCLW_REV/bitmask/0/description</name>
   <message>
-  <source>Geofence source</source>
+  <source>Roboclaw Driver Channel 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GF_SOURCE/longDesc</name>
+  <name>/parameters/RBCLW_REV/bitmask/1/description</name>
   <message>
-  <source>Select which position source should be used. Selecting GPS instead of global position makes sure that there is no dependence on the position estimator 0 = global position, 1 = GPS</source>
+  <source>Roboclaw Driver Channel 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GF_SOURCE/values/0/description</name>
+  <name>/parameters/SIM_GZ_EC_DIS1/shortDesc</name>
   <message>
-  <source>GPOS</source>
+  <source>SIM_GZ ESC 1 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GF_SOURCE/values/1/description</name>
+  <name>/parameters/SIM_GZ_EC_DIS1/longDesc</name>
   <message>
-  <source>GPS</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_AIRFRAME/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_DIS2/shortDesc</name>
   <message>
-  <source>Airframe selection</source>
+  <source>SIM_GZ ESC 2 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_AIRFRAME/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_DIS2/longDesc</name>
   <message>
-  <source>Defines which mixer implementation to use. Some are generic, while others are specifically fit to a certain vehicle with a fixed set of actuators. 'Custom' should only be used if noting else can be used.</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_AIRFRAME/values/0/description</name>
+  <name>/parameters/SIM_GZ_EC_DIS3/shortDesc</name>
   <message>
-  <source>Multirotor</source>
+  <source>SIM_GZ ESC 3 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_AIRFRAME/values/1/description</name>
+  <name>/parameters/SIM_GZ_EC_DIS3/longDesc</name>
   <message>
-  <source>Fixed-wing</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_AIRFRAME/values/2/description</name>
+  <name>/parameters/SIM_GZ_EC_DIS4/shortDesc</name>
   <message>
-  <source>Standard VTOL</source>
+  <source>SIM_GZ ESC 4 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_AIRFRAME/values/3/description</name>
+  <name>/parameters/SIM_GZ_EC_DIS4/longDesc</name>
   <message>
-  <source>Tiltrotor VTOL</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_AIRFRAME/values/4/description</name>
+  <name>/parameters/SIM_GZ_EC_DIS5/shortDesc</name>
   <message>
-  <source>Tailsitter VTOL</source>
+  <source>SIM_GZ ESC 5 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_AIRFRAME/values/5/description</name>
+  <name>/parameters/SIM_GZ_EC_DIS5/longDesc</name>
   <message>
-  <source>Rover (Ackermann)</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_AIRFRAME/values/6/description</name>
+  <name>/parameters/SIM_GZ_EC_DIS6/shortDesc</name>
   <message>
-  <source>Rover (Differential)</source>
+  <source>SIM_GZ ESC 6 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_AIRFRAME/values/7/description</name>
+  <name>/parameters/SIM_GZ_EC_DIS6/longDesc</name>
   <message>
-  <source>Motors (6DOF)</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_AIRFRAME/values/8/description</name>
+  <name>/parameters/SIM_GZ_EC_DIS7/shortDesc</name>
   <message>
-  <source>Multirotor with Tilt</source>
+  <source>SIM_GZ ESC 7 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_AIRFRAME/values/9/description</name>
+  <name>/parameters/SIM_GZ_EC_DIS7/longDesc</name>
   <message>
-  <source>Custom</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_AIRFRAME/values/10/description</name>
+  <name>/parameters/SIM_GZ_EC_DIS8/shortDesc</name>
   <message>
-  <source>Helicopter (tail ESC)</source>
+  <source>SIM_GZ ESC 8 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_AIRFRAME/values/11/description</name>
+  <name>/parameters/SIM_GZ_EC_DIS8/longDesc</name>
   <message>
-  <source>Helicopter (tail Servo)</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_AIRFRAME/values/12/description</name>
+  <name>/parameters/SIM_GZ_EC_FAIL1/shortDesc</name>
   <message>
-  <source>Helicopter (Coaxial)</source>
+  <source>SIM_GZ ESC 1 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_AIRFRAME/values/13/description</name>
+  <name>/parameters/SIM_GZ_EC_FAIL1/longDesc</name>
   <message>
-  <source>Rover (Mecanum)</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC1).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_FAILURE_MODE/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FAIL2/shortDesc</name>
   <message>
-  <source>Motor failure handling mode</source>
+  <source>SIM_GZ ESC 2 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_FAILURE_MODE/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FAIL2/longDesc</name>
   <message>
-  <source>This is used to specify how to handle motor failures reported by failure detector.</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC2).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_FAILURE_MODE/values/0/description</name>
+  <name>/parameters/SIM_GZ_EC_FAIL3/shortDesc</name>
   <message>
-  <source>Ignore</source>
+  <source>SIM_GZ ESC 3 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_FAILURE_MODE/values/1/description</name>
+  <name>/parameters/SIM_GZ_EC_FAIL3/longDesc</name>
   <message>
-  <source>Remove first failed motor from effectiveness</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC3).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_HELI_PITCH_C0/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FAIL4/shortDesc</name>
   <message>
-  <source>Collective pitch curve at position 0</source>
+  <source>SIM_GZ ESC 4 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_HELI_PITCH_C0/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FAIL4/longDesc</name>
   <message>
-  <source>Defines the collective pitch at the interval position 0 for a given thrust setpoint. Use negative values if the swash plate needs to move down to provide upwards thrust.</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC4).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_HELI_PITCH_C1/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FAIL5/shortDesc</name>
   <message>
-  <source>Collective pitch curve at position 1</source>
+  <source>SIM_GZ ESC 5 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_HELI_PITCH_C1/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FAIL5/longDesc</name>
   <message>
-  <source>Defines the collective pitch at the interval position 1 for a given thrust setpoint. Use negative values if the swash plate needs to move down to provide upwards thrust.</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC5).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_HELI_PITCH_C2/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FAIL6/shortDesc</name>
   <message>
-  <source>Collective pitch curve at position 2</source>
+  <source>SIM_GZ ESC 6 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_HELI_PITCH_C2/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FAIL6/longDesc</name>
   <message>
-  <source>Defines the collective pitch at the interval position 2 for a given thrust setpoint. Use negative values if the swash plate needs to move down to provide upwards thrust.</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC6).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_HELI_PITCH_C3/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FAIL7/shortDesc</name>
   <message>
-  <source>Collective pitch curve at position 3</source>
+  <source>SIM_GZ ESC 7 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_HELI_PITCH_C3/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FAIL7/longDesc</name>
   <message>
-  <source>Defines the collective pitch at the interval position 3 for a given thrust setpoint. Use negative values if the swash plate needs to move down to provide upwards thrust.</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC7).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_HELI_PITCH_C4/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FAIL8/shortDesc</name>
   <message>
-  <source>Collective pitch curve at position 4</source>
+  <source>SIM_GZ ESC 8 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_HELI_PITCH_C4/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FAIL8/longDesc</name>
   <message>
-  <source>Defines the collective pitch at the interval position 4 for a given thrust setpoint. Use negative values if the swash plate needs to move down to provide upwards thrust.</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC8).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_HELI_THR_C0/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/shortDesc</name>
   <message>
-  <source>Throttle curve at position 0</source>
+  <source>SIM_GZ ESC 1 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_HELI_THR_C0/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/longDesc</name>
   <message>
-  <source>Defines the output throttle at the interval position 0.</source>
+  <source>Select what should be output on SIM_GZ ESC 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_HELI_THR_C1/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/0/description</name>
   <message>
-  <source>Throttle curve at position 1</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_HELI_THR_C1/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/1/description</name>
   <message>
-  <source>Defines the output throttle at the interval position 1.</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_HELI_THR_C2/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/2/description</name>
   <message>
-  <source>Throttle curve at position 2</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_HELI_THR_C2/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/101/description</name>
   <message>
-  <source>Defines the output throttle at the interval position 2.</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_HELI_THR_C3/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/102/description</name>
   <message>
-  <source>Throttle curve at position 3</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_HELI_THR_C3/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/103/description</name>
   <message>
-  <source>Defines the output throttle at the interval position 3.</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_HELI_THR_C4/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/104/description</name>
   <message>
-  <source>Throttle curve at position 4</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_HELI_THR_C4/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/105/description</name>
   <message>
-  <source>Defines the output throttle at the interval position 4.</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_HELI_YAW_CCW/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/106/description</name>
   <message>
-  <source>Main rotor turns counter-clockwise</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_HELI_YAW_CCW/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/107/description</name>
   <message>
-  <source>Default configuration is for a clockwise turning main rotor and positive thrust of the tail rotor is expected to rotate the vehicle clockwise. Set this parameter to true if the tail rotor provides thrust in counter-clockwise direction which is mostly the case when the main rotor turns counter-clockwise.</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_HELI_YAW_CCW/values/0/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/108/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_HELI_YAW_CCW/values/1/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/109/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_HELI_YAW_CP_O/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/110/description</name>
   <message>
-  <source>Offset for yaw compensation based on collective pitch</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_HELI_YAW_CP_O/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/111/description</name>
   <message>
-  <source>This allows to specify which collective pitch command results in the least amount of rotor drag. This is used to increase the accuracy of the yaw drag torque compensation based on collective pitch by aligning the lowest rotor drag with zero compensation. For symmetric profile blades this is the command that results in exactly 0° collective blade angle. For lift profile blades this is typically a command resulting in slightly negative collective blade angle. tail_output += CA_HELI_YAW_CP_S * abs(collective_pitch - CA_HELI_YAW_CP_O)</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_HELI_YAW_CP_S/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/112/description</name>
   <message>
-  <source>Scale for yaw compensation based on collective pitch</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_HELI_YAW_CP_S/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/201/description</name>
   <message>
-  <source>This allows to add a proportional factor of the collective pitch command to the yaw command. A negative value is needed when positive thrust of the tail rotor rotates the vehicle opposite to the main rotor turn direction. tail_output += CA_HELI_YAW_CP_S * abs(collective_pitch - CA_HELI_YAW_CP_O)</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_HELI_YAW_TH_S/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/202/description</name>
   <message>
-  <source>Scale for yaw compensation based on throttle</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_HELI_YAW_TH_S/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/203/description</name>
   <message>
-  <source>This allows to add a proportional factor of the throttle command to the yaw command. A negative value is needed when positive thrust of the tail rotor rotates the vehicle opposite to the main rotor turn direction. tail_output += CA_HELI_YAW_TH_S * throttle</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_METHOD/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/204/description</name>
   <message>
-  <source>Control allocation method</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_METHOD/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/205/description</name>
   <message>
-  <source>Selects the algorithm and desaturation method. If set to Automtic, the selection is based on the airframe (CA_AIRFRAME).</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_METHOD/values/0/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/206/description</name>
   <message>
-  <source>Pseudo-inverse with output clipping</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_METHOD/values/1/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/207/description</name>
   <message>
-  <source>Pseudo-inverse with sequential desaturation technique</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_METHOD/values/2/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/208/description</name>
   <message>
-  <source>Automatic</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_R0_SLEW/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/301/description</name>
   <message>
-  <source>Motor 0 slew rate limit</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_R0_SLEW/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/302/description</name>
   <message>
-  <source>Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_R10_SLEW/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/303/description</name>
   <message>
-  <source>Motor 10 slew rate limit</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_R10_SLEW/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/304/description</name>
   <message>
-  <source>Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_R11_SLEW/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/305/description</name>
   <message>
-  <source>Motor 11 slew rate limit</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_R11_SLEW/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/306/description</name>
   <message>
-  <source>Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_R1_SLEW/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/400/description</name>
   <message>
-  <source>Motor 1 slew rate limit</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_R1_SLEW/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/401/description</name>
   <message>
-  <source>Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_R2_SLEW/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/402/description</name>
   <message>
-  <source>Motor 2 slew rate limit</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_R2_SLEW/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/403/description</name>
   <message>
-  <source>Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_R3_SLEW/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/404/description</name>
   <message>
-  <source>Motor 3 slew rate limit</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_R3_SLEW/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/405/description</name>
   <message>
-  <source>Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_R4_SLEW/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/406/description</name>
   <message>
-  <source>Motor 4 slew rate limit</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_R4_SLEW/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/407/description</name>
   <message>
-  <source>Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_R5_SLEW/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/408/description</name>
   <message>
-  <source>Motor 5 slew rate limit</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_R5_SLEW/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/409/description</name>
   <message>
-  <source>Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_R6_SLEW/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/410/description</name>
   <message>
-  <source>Motor 6 slew rate limit</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_R6_SLEW/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/411/description</name>
   <message>
-  <source>Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_R7_SLEW/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/412/description</name>
   <message>
-  <source>Motor 7 slew rate limit</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_R7_SLEW/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/420/description</name>
   <message>
-  <source>Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_R8_SLEW/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/421/description</name>
   <message>
-  <source>Motor 8 slew rate limit</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_R8_SLEW/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/422/description</name>
   <message>
-  <source>Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_R9_SLEW/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/430/description</name>
   <message>
-  <source>Motor 9 slew rate limit</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_R9_SLEW/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC1/values/440/description</name>
   <message>
-  <source>Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR0_AX/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/shortDesc</name>
   <message>
-  <source>Axis of rotor 0 thrust vector, X body axis component</source>
+  <source>SIM_GZ ESC 2 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR0_AX/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/longDesc</name>
   <message>
-  <source>Only the direction is considered (the vector is normalized).</source>
+  <source>Select what should be output on SIM_GZ ESC 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR0_AY/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/0/description</name>
   <message>
-  <source>Axis of rotor 0 thrust vector, Y body axis component</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR0_AY/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/1/description</name>
   <message>
-  <source>Only the direction is considered (the vector is normalized).</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR0_AZ/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/2/description</name>
   <message>
-  <source>Axis of rotor 0 thrust vector, Z body axis component</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR0_AZ/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/101/description</name>
   <message>
-  <source>Only the direction is considered (the vector is normalized).</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR0_CT/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/102/description</name>
   <message>
-  <source>Thrust coefficient of rotor 0</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR0_CT/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/103/description</name>
   <message>
-  <source>The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR0_KM/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/104/description</name>
   <message>
-  <source>Moment coefficient of rotor 0</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR0_KM/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/105/description</name>
   <message>
-  <source>The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR0_PX/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/106/description</name>
   <message>
-  <source>Position of rotor 0 along X body axis relative to center of gravity</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR0_PY/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/107/description</name>
   <message>
-  <source>Position of rotor 0 along Y body axis relative to center of gravity</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR0_PZ/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/108/description</name>
   <message>
-  <source>Position of rotor 0 along Z body axis relative to center of gravity</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR0_TILT/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/109/description</name>
   <message>
-  <source>Rotor 0 tilt assignment</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR0_TILT/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/110/description</name>
   <message>
-  <source>If not set to None, this motor is tilted by the configured tilt servo.</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR0_TILT/values/0/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/111/description</name>
   <message>
-  <source>None</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR0_TILT/values/1/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/112/description</name>
   <message>
-  <source>Tilt 1</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR0_TILT/values/2/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/201/description</name>
   <message>
-  <source>Tilt 2</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR0_TILT/values/3/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/202/description</name>
   <message>
-  <source>Tilt 3</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR0_TILT/values/4/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/203/description</name>
   <message>
-  <source>Tilt 4</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR10_AX/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/204/description</name>
   <message>
-  <source>Axis of rotor 10 thrust vector, X body axis component</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR10_AX/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/205/description</name>
   <message>
-  <source>Only the direction is considered (the vector is normalized).</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR10_AY/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/206/description</name>
   <message>
-  <source>Axis of rotor 10 thrust vector, Y body axis component</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR10_AY/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/207/description</name>
   <message>
-  <source>Only the direction is considered (the vector is normalized).</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR10_AZ/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/208/description</name>
   <message>
-  <source>Axis of rotor 10 thrust vector, Z body axis component</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR10_AZ/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/301/description</name>
   <message>
-  <source>Only the direction is considered (the vector is normalized).</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR10_CT/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/302/description</name>
   <message>
-  <source>Thrust coefficient of rotor 10</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR10_CT/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/303/description</name>
   <message>
-  <source>The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR10_KM/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/304/description</name>
   <message>
-  <source>Moment coefficient of rotor 10</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR10_KM/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/305/description</name>
   <message>
-  <source>The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR10_PX/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/306/description</name>
   <message>
-  <source>Position of rotor 10 along X body axis relative to center of gravity</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR10_PY/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/400/description</name>
   <message>
-  <source>Position of rotor 10 along Y body axis relative to center of gravity</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR10_PZ/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/401/description</name>
   <message>
-  <source>Position of rotor 10 along Z body axis relative to center of gravity</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR10_TILT/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/402/description</name>
   <message>
-  <source>Rotor 10 tilt assignment</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR10_TILT/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/403/description</name>
   <message>
-  <source>If not set to None, this motor is tilted by the configured tilt servo.</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR10_TILT/values/0/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/404/description</name>
   <message>
-  <source>None</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR10_TILT/values/1/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/405/description</name>
   <message>
-  <source>Tilt 1</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR10_TILT/values/2/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/406/description</name>
   <message>
-  <source>Tilt 2</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR10_TILT/values/3/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/407/description</name>
   <message>
-  <source>Tilt 3</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR10_TILT/values/4/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/408/description</name>
   <message>
-  <source>Tilt 4</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR11_AX/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/409/description</name>
   <message>
-  <source>Axis of rotor 11 thrust vector, X body axis component</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR11_AX/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/410/description</name>
   <message>
-  <source>Only the direction is considered (the vector is normalized).</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR11_AY/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/411/description</name>
   <message>
-  <source>Axis of rotor 11 thrust vector, Y body axis component</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR11_AY/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/412/description</name>
   <message>
-  <source>Only the direction is considered (the vector is normalized).</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR11_AZ/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/420/description</name>
   <message>
-  <source>Axis of rotor 11 thrust vector, Z body axis component</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR11_AZ/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/421/description</name>
   <message>
-  <source>Only the direction is considered (the vector is normalized).</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR11_CT/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/422/description</name>
   <message>
-  <source>Thrust coefficient of rotor 11</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR11_CT/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/430/description</name>
   <message>
-  <source>The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR11_KM/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC2/values/440/description</name>
   <message>
-  <source>Moment coefficient of rotor 11</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR11_KM/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/shortDesc</name>
   <message>
-  <source>The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.</source>
+  <source>SIM_GZ ESC 3 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR11_PX/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/longDesc</name>
   <message>
-  <source>Position of rotor 11 along X body axis relative to center of gravity</source>
+  <source>Select what should be output on SIM_GZ ESC 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR11_PY/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/0/description</name>
   <message>
-  <source>Position of rotor 11 along Y body axis relative to center of gravity</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR11_PZ/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/1/description</name>
   <message>
-  <source>Position of rotor 11 along Z body axis relative to center of gravity</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR11_TILT/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/2/description</name>
   <message>
-  <source>Rotor 11 tilt assignment</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR11_TILT/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/101/description</name>
   <message>
-  <source>If not set to None, this motor is tilted by the configured tilt servo.</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR11_TILT/values/0/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/102/description</name>
   <message>
-  <source>None</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR11_TILT/values/1/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/103/description</name>
   <message>
-  <source>Tilt 1</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR11_TILT/values/2/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/104/description</name>
   <message>
-  <source>Tilt 2</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR11_TILT/values/3/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/105/description</name>
   <message>
-  <source>Tilt 3</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR11_TILT/values/4/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/106/description</name>
   <message>
-  <source>Tilt 4</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR1_AX/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/107/description</name>
   <message>
-  <source>Axis of rotor 1 thrust vector, X body axis component</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR1_AX/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/108/description</name>
   <message>
-  <source>Only the direction is considered (the vector is normalized).</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR1_AY/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/109/description</name>
   <message>
-  <source>Axis of rotor 1 thrust vector, Y body axis component</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR1_AY/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/110/description</name>
   <message>
-  <source>Only the direction is considered (the vector is normalized).</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR1_AZ/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/111/description</name>
   <message>
-  <source>Axis of rotor 1 thrust vector, Z body axis component</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR1_AZ/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/112/description</name>
   <message>
-  <source>Only the direction is considered (the vector is normalized).</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR1_CT/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/201/description</name>
   <message>
-  <source>Thrust coefficient of rotor 1</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR1_CT/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/202/description</name>
   <message>
-  <source>The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR1_KM/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/203/description</name>
   <message>
-  <source>Moment coefficient of rotor 1</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR1_KM/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/204/description</name>
   <message>
-  <source>The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR1_PX/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/205/description</name>
   <message>
-  <source>Position of rotor 1 along X body axis relative to center of gravity</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR1_PY/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/206/description</name>
   <message>
-  <source>Position of rotor 1 along Y body axis relative to center of gravity</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR1_PZ/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/207/description</name>
   <message>
-  <source>Position of rotor 1 along Z body axis relative to center of gravity</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR1_TILT/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/208/description</name>
   <message>
-  <source>Rotor 1 tilt assignment</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR1_TILT/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/301/description</name>
   <message>
-  <source>If not set to None, this motor is tilted by the configured tilt servo.</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR1_TILT/values/0/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/302/description</name>
   <message>
-  <source>None</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR1_TILT/values/1/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/303/description</name>
   <message>
-  <source>Tilt 1</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR1_TILT/values/2/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/304/description</name>
   <message>
-  <source>Tilt 2</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR1_TILT/values/3/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/305/description</name>
   <message>
-  <source>Tilt 3</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR1_TILT/values/4/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/306/description</name>
   <message>
-  <source>Tilt 4</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR2_AX/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/400/description</name>
   <message>
-  <source>Axis of rotor 2 thrust vector, X body axis component</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR2_AX/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/401/description</name>
   <message>
-  <source>Only the direction is considered (the vector is normalized).</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR2_AY/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/402/description</name>
   <message>
-  <source>Axis of rotor 2 thrust vector, Y body axis component</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR2_AY/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/403/description</name>
   <message>
-  <source>Only the direction is considered (the vector is normalized).</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR2_AZ/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/404/description</name>
   <message>
-  <source>Axis of rotor 2 thrust vector, Z body axis component</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR2_AZ/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/405/description</name>
   <message>
-  <source>Only the direction is considered (the vector is normalized).</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR2_CT/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/406/description</name>
   <message>
-  <source>Thrust coefficient of rotor 2</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR2_CT/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/407/description</name>
   <message>
-  <source>The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR2_KM/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/408/description</name>
   <message>
-  <source>Moment coefficient of rotor 2</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR2_KM/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/409/description</name>
   <message>
-  <source>The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR2_PX/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/410/description</name>
   <message>
-  <source>Position of rotor 2 along X body axis relative to center of gravity</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR2_PY/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/411/description</name>
   <message>
-  <source>Position of rotor 2 along Y body axis relative to center of gravity</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR2_PZ/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/412/description</name>
   <message>
-  <source>Position of rotor 2 along Z body axis relative to center of gravity</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR2_TILT/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/420/description</name>
   <message>
-  <source>Rotor 2 tilt assignment</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR2_TILT/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/421/description</name>
   <message>
-  <source>If not set to None, this motor is tilted by the configured tilt servo.</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR2_TILT/values/0/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/422/description</name>
   <message>
-  <source>None</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR2_TILT/values/1/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/430/description</name>
   <message>
-  <source>Tilt 1</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR2_TILT/values/2/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC3/values/440/description</name>
   <message>
-  <source>Tilt 2</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR2_TILT/values/3/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/shortDesc</name>
   <message>
-  <source>Tilt 3</source>
+  <source>SIM_GZ ESC 4 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR2_TILT/values/4/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/longDesc</name>
   <message>
-  <source>Tilt 4</source>
+  <source>Select what should be output on SIM_GZ ESC 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR3_AX/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/0/description</name>
   <message>
-  <source>Axis of rotor 3 thrust vector, X body axis component</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR3_AX/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/1/description</name>
   <message>
-  <source>Only the direction is considered (the vector is normalized).</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR3_AY/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/2/description</name>
   <message>
-  <source>Axis of rotor 3 thrust vector, Y body axis component</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR3_AY/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/101/description</name>
   <message>
-  <source>Only the direction is considered (the vector is normalized).</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR3_AZ/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/102/description</name>
   <message>
-  <source>Axis of rotor 3 thrust vector, Z body axis component</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR3_AZ/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/103/description</name>
   <message>
-  <source>Only the direction is considered (the vector is normalized).</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR3_CT/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/104/description</name>
   <message>
-  <source>Thrust coefficient of rotor 3</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR3_CT/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/105/description</name>
   <message>
-  <source>The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR3_KM/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/106/description</name>
   <message>
-  <source>Moment coefficient of rotor 3</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR3_KM/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/107/description</name>
   <message>
-  <source>The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR3_PX/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/108/description</name>
   <message>
-  <source>Position of rotor 3 along X body axis relative to center of gravity</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR3_PY/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/109/description</name>
   <message>
-  <source>Position of rotor 3 along Y body axis relative to center of gravity</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR3_PZ/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/110/description</name>
   <message>
-  <source>Position of rotor 3 along Z body axis relative to center of gravity</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR3_TILT/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/111/description</name>
   <message>
-  <source>Rotor 3 tilt assignment</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR3_TILT/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/112/description</name>
   <message>
-  <source>If not set to None, this motor is tilted by the configured tilt servo.</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR3_TILT/values/0/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/201/description</name>
   <message>
-  <source>None</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR3_TILT/values/1/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/202/description</name>
   <message>
-  <source>Tilt 1</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR3_TILT/values/2/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/203/description</name>
   <message>
-  <source>Tilt 2</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR3_TILT/values/3/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/204/description</name>
   <message>
-  <source>Tilt 3</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR3_TILT/values/4/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/205/description</name>
   <message>
-  <source>Tilt 4</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR4_AX/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/206/description</name>
   <message>
-  <source>Axis of rotor 4 thrust vector, X body axis component</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR4_AX/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/207/description</name>
   <message>
-  <source>Only the direction is considered (the vector is normalized).</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR4_AY/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/208/description</name>
   <message>
-  <source>Axis of rotor 4 thrust vector, Y body axis component</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR4_AY/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/301/description</name>
   <message>
-  <source>Only the direction is considered (the vector is normalized).</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR4_AZ/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/302/description</name>
   <message>
-  <source>Axis of rotor 4 thrust vector, Z body axis component</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR4_AZ/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/303/description</name>
   <message>
-  <source>Only the direction is considered (the vector is normalized).</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR4_CT/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/304/description</name>
   <message>
-  <source>Thrust coefficient of rotor 4</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR4_CT/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/305/description</name>
   <message>
-  <source>The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR4_KM/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/306/description</name>
   <message>
-  <source>Moment coefficient of rotor 4</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR4_KM/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/400/description</name>
   <message>
-  <source>The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR4_PX/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/401/description</name>
   <message>
-  <source>Position of rotor 4 along X body axis relative to center of gravity</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR4_PY/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/402/description</name>
   <message>
-  <source>Position of rotor 4 along Y body axis relative to center of gravity</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR4_PZ/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/403/description</name>
   <message>
-  <source>Position of rotor 4 along Z body axis relative to center of gravity</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR4_TILT/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/404/description</name>
   <message>
-  <source>Rotor 4 tilt assignment</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR4_TILT/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/405/description</name>
   <message>
-  <source>If not set to None, this motor is tilted by the configured tilt servo.</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR4_TILT/values/0/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/406/description</name>
   <message>
-  <source>None</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR4_TILT/values/1/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/407/description</name>
   <message>
-  <source>Tilt 1</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR4_TILT/values/2/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/408/description</name>
   <message>
-  <source>Tilt 2</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR4_TILT/values/3/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/409/description</name>
   <message>
-  <source>Tilt 3</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR4_TILT/values/4/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/410/description</name>
   <message>
-  <source>Tilt 4</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR5_AX/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/411/description</name>
   <message>
-  <source>Axis of rotor 5 thrust vector, X body axis component</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR5_AX/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/412/description</name>
   <message>
-  <source>Only the direction is considered (the vector is normalized).</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR5_AY/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/420/description</name>
   <message>
-  <source>Axis of rotor 5 thrust vector, Y body axis component</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR5_AY/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/421/description</name>
   <message>
-  <source>Only the direction is considered (the vector is normalized).</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR5_AZ/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/422/description</name>
   <message>
-  <source>Axis of rotor 5 thrust vector, Z body axis component</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR5_AZ/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/430/description</name>
   <message>
-  <source>Only the direction is considered (the vector is normalized).</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR5_CT/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC4/values/440/description</name>
   <message>
-  <source>Thrust coefficient of rotor 5</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR5_CT/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/shortDesc</name>
   <message>
-  <source>The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.</source>
+  <source>SIM_GZ ESC 5 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR5_KM/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/longDesc</name>
   <message>
-  <source>Moment coefficient of rotor 5</source>
+  <source>Select what should be output on SIM_GZ ESC 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR5_KM/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/0/description</name>
   <message>
-  <source>The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR5_PX/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/1/description</name>
   <message>
-  <source>Position of rotor 5 along X body axis relative to center of gravity</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR5_PY/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/2/description</name>
   <message>
-  <source>Position of rotor 5 along Y body axis relative to center of gravity</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR5_PZ/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/101/description</name>
   <message>
-  <source>Position of rotor 5 along Z body axis relative to center of gravity</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR5_TILT/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/102/description</name>
   <message>
-  <source>Rotor 5 tilt assignment</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR5_TILT/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/103/description</name>
   <message>
-  <source>If not set to None, this motor is tilted by the configured tilt servo.</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR5_TILT/values/0/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/104/description</name>
   <message>
-  <source>None</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR5_TILT/values/1/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/105/description</name>
   <message>
-  <source>Tilt 1</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR5_TILT/values/2/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/106/description</name>
   <message>
-  <source>Tilt 2</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR5_TILT/values/3/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/107/description</name>
   <message>
-  <source>Tilt 3</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR5_TILT/values/4/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/108/description</name>
   <message>
-  <source>Tilt 4</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR6_AX/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/109/description</name>
   <message>
-  <source>Axis of rotor 6 thrust vector, X body axis component</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR6_AX/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/110/description</name>
   <message>
-  <source>Only the direction is considered (the vector is normalized).</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR6_AY/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/111/description</name>
   <message>
-  <source>Axis of rotor 6 thrust vector, Y body axis component</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR6_AY/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/112/description</name>
   <message>
-  <source>Only the direction is considered (the vector is normalized).</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR6_AZ/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/201/description</name>
   <message>
-  <source>Axis of rotor 6 thrust vector, Z body axis component</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR6_AZ/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/202/description</name>
   <message>
-  <source>Only the direction is considered (the vector is normalized).</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR6_CT/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/203/description</name>
   <message>
-  <source>Thrust coefficient of rotor 6</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR6_CT/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/204/description</name>
   <message>
-  <source>The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR6_KM/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/205/description</name>
   <message>
-  <source>Moment coefficient of rotor 6</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR6_KM/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/206/description</name>
   <message>
-  <source>The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR6_PX/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/207/description</name>
   <message>
-  <source>Position of rotor 6 along X body axis relative to center of gravity</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR6_PY/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/208/description</name>
   <message>
-  <source>Position of rotor 6 along Y body axis relative to center of gravity</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR6_PZ/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/301/description</name>
   <message>
-  <source>Position of rotor 6 along Z body axis relative to center of gravity</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR6_TILT/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/302/description</name>
   <message>
-  <source>Rotor 6 tilt assignment</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR6_TILT/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/303/description</name>
   <message>
-  <source>If not set to None, this motor is tilted by the configured tilt servo.</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR6_TILT/values/0/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/304/description</name>
   <message>
-  <source>None</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR6_TILT/values/1/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/305/description</name>
   <message>
-  <source>Tilt 1</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR6_TILT/values/2/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/306/description</name>
   <message>
-  <source>Tilt 2</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR6_TILT/values/3/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/400/description</name>
   <message>
-  <source>Tilt 3</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR6_TILT/values/4/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/401/description</name>
   <message>
-  <source>Tilt 4</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR7_AX/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/402/description</name>
   <message>
-  <source>Axis of rotor 7 thrust vector, X body axis component</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR7_AX/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/403/description</name>
   <message>
-  <source>Only the direction is considered (the vector is normalized).</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR7_AY/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/404/description</name>
   <message>
-  <source>Axis of rotor 7 thrust vector, Y body axis component</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR7_AY/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/405/description</name>
   <message>
-  <source>Only the direction is considered (the vector is normalized).</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR7_AZ/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/406/description</name>
   <message>
-  <source>Axis of rotor 7 thrust vector, Z body axis component</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR7_AZ/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/407/description</name>
   <message>
-  <source>Only the direction is considered (the vector is normalized).</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR7_CT/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/408/description</name>
   <message>
-  <source>Thrust coefficient of rotor 7</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR7_CT/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/409/description</name>
   <message>
-  <source>The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR7_KM/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/410/description</name>
   <message>
-  <source>Moment coefficient of rotor 7</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR7_KM/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/411/description</name>
   <message>
-  <source>The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR7_PX/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/412/description</name>
   <message>
-  <source>Position of rotor 7 along X body axis relative to center of gravity</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR7_PY/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/420/description</name>
   <message>
-  <source>Position of rotor 7 along Y body axis relative to center of gravity</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR7_PZ/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/421/description</name>
   <message>
-  <source>Position of rotor 7 along Z body axis relative to center of gravity</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR7_TILT/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/422/description</name>
   <message>
-  <source>Rotor 7 tilt assignment</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR7_TILT/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/430/description</name>
   <message>
-  <source>If not set to None, this motor is tilted by the configured tilt servo.</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR7_TILT/values/0/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC5/values/440/description</name>
   <message>
-  <source>None</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR7_TILT/values/1/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/shortDesc</name>
   <message>
-  <source>Tilt 1</source>
+  <source>SIM_GZ ESC 6 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR7_TILT/values/2/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/longDesc</name>
   <message>
-  <source>Tilt 2</source>
+  <source>Select what should be output on SIM_GZ ESC 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR7_TILT/values/3/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/0/description</name>
   <message>
-  <source>Tilt 3</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR7_TILT/values/4/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/1/description</name>
   <message>
-  <source>Tilt 4</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR8_AX/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/2/description</name>
   <message>
-  <source>Axis of rotor 8 thrust vector, X body axis component</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR8_AX/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/101/description</name>
   <message>
-  <source>Only the direction is considered (the vector is normalized).</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR8_AY/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/102/description</name>
   <message>
-  <source>Axis of rotor 8 thrust vector, Y body axis component</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR8_AY/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/103/description</name>
   <message>
-  <source>Only the direction is considered (the vector is normalized).</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR8_AZ/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/104/description</name>
   <message>
-  <source>Axis of rotor 8 thrust vector, Z body axis component</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR8_AZ/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/105/description</name>
   <message>
-  <source>Only the direction is considered (the vector is normalized).</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR8_CT/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/106/description</name>
   <message>
-  <source>Thrust coefficient of rotor 8</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR8_CT/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/107/description</name>
   <message>
-  <source>The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR8_KM/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/108/description</name>
   <message>
-  <source>Moment coefficient of rotor 8</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR8_KM/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/109/description</name>
   <message>
-  <source>The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR8_PX/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/110/description</name>
   <message>
-  <source>Position of rotor 8 along X body axis relative to center of gravity</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR8_PY/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/111/description</name>
   <message>
-  <source>Position of rotor 8 along Y body axis relative to center of gravity</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR8_PZ/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/112/description</name>
   <message>
-  <source>Position of rotor 8 along Z body axis relative to center of gravity</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR8_TILT/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/201/description</name>
   <message>
-  <source>Rotor 8 tilt assignment</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR8_TILT/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/202/description</name>
   <message>
-  <source>If not set to None, this motor is tilted by the configured tilt servo.</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR8_TILT/values/0/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/203/description</name>
   <message>
-  <source>None</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR8_TILT/values/1/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/204/description</name>
   <message>
-  <source>Tilt 1</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR8_TILT/values/2/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/205/description</name>
   <message>
-  <source>Tilt 2</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR8_TILT/values/3/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/206/description</name>
   <message>
-  <source>Tilt 3</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR8_TILT/values/4/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/207/description</name>
   <message>
-  <source>Tilt 4</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR9_AX/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/208/description</name>
   <message>
-  <source>Axis of rotor 9 thrust vector, X body axis component</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR9_AX/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/301/description</name>
   <message>
-  <source>Only the direction is considered (the vector is normalized).</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR9_AY/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/302/description</name>
   <message>
-  <source>Axis of rotor 9 thrust vector, Y body axis component</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR9_AY/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/303/description</name>
   <message>
-  <source>Only the direction is considered (the vector is normalized).</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR9_AZ/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/304/description</name>
   <message>
-  <source>Axis of rotor 9 thrust vector, Z body axis component</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR9_AZ/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/305/description</name>
   <message>
-  <source>Only the direction is considered (the vector is normalized).</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR9_CT/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/306/description</name>
   <message>
-  <source>Thrust coefficient of rotor 9</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR9_CT/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/400/description</name>
   <message>
-  <source>The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR9_KM/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/401/description</name>
   <message>
-  <source>Moment coefficient of rotor 9</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR9_KM/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/402/description</name>
   <message>
-  <source>The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR9_PX/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/403/description</name>
   <message>
-  <source>Position of rotor 9 along X body axis relative to center of gravity</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR9_PY/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/404/description</name>
   <message>
-  <source>Position of rotor 9 along Y body axis relative to center of gravity</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR9_PZ/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/405/description</name>
   <message>
-  <source>Position of rotor 9 along Z body axis relative to center of gravity</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR9_TILT/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/406/description</name>
   <message>
-  <source>Rotor 9 tilt assignment</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR9_TILT/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/407/description</name>
   <message>
-  <source>If not set to None, this motor is tilted by the configured tilt servo.</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR9_TILT/values/0/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/408/description</name>
   <message>
-  <source>None</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR9_TILT/values/1/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/409/description</name>
   <message>
-  <source>Tilt 1</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR9_TILT/values/2/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/410/description</name>
   <message>
-  <source>Tilt 2</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR9_TILT/values/3/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/411/description</name>
   <message>
-  <source>Tilt 3</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR9_TILT/values/4/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/412/description</name>
   <message>
-  <source>Tilt 4</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR_COUNT/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/420/description</name>
   <message>
-  <source>Total number of rotors</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR_COUNT/values/0/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/421/description</name>
   <message>
-  <source>0</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR_COUNT/values/1/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/422/description</name>
   <message>
-  <source>1</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR_COUNT/values/2/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/430/description</name>
   <message>
-  <source>2</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR_COUNT/values/3/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC6/values/440/description</name>
   <message>
-  <source>3</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR_COUNT/values/4/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/shortDesc</name>
   <message>
-  <source>4</source>
+  <source>SIM_GZ ESC 7 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR_COUNT/values/5/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/longDesc</name>
   <message>
-  <source>5</source>
+  <source>Select what should be output on SIM_GZ ESC 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR_COUNT/values/6/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/0/description</name>
   <message>
-  <source>6</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR_COUNT/values/7/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/1/description</name>
   <message>
-  <source>7</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR_COUNT/values/8/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/2/description</name>
   <message>
-  <source>8</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR_COUNT/values/9/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/101/description</name>
   <message>
-  <source>9</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR_COUNT/values/10/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/102/description</name>
   <message>
-  <source>10</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR_COUNT/values/11/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/103/description</name>
   <message>
-  <source>11</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_ROTOR_COUNT/values/12/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/104/description</name>
   <message>
-  <source>12</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_R_REV/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/105/description</name>
   <message>
-  <source>Bidirectional/Reversible motors</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_R_REV/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/106/description</name>
   <message>
-  <source>Configure motors to be bidirectional/reversible. Note that the output driver needs to support this as well.</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_R_REV/bitmask/0/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/107/description</name>
   <message>
-  <source>Motor 1</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_R_REV/bitmask/1/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/108/description</name>
   <message>
-  <source>Motor 2</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_R_REV/bitmask/2/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/109/description</name>
   <message>
-  <source>Motor 3</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_R_REV/bitmask/3/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/110/description</name>
   <message>
-  <source>Motor 4</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_R_REV/bitmask/4/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/111/description</name>
   <message>
-  <source>Motor 5</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_R_REV/bitmask/5/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/112/description</name>
   <message>
-  <source>Motor 6</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_R_REV/bitmask/6/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/201/description</name>
   <message>
-  <source>Motor 7</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_R_REV/bitmask/7/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/202/description</name>
   <message>
-  <source>Motor 8</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_R_REV/bitmask/8/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/203/description</name>
   <message>
-  <source>Motor 9</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_R_REV/bitmask/9/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/204/description</name>
   <message>
-  <source>Motor 10</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_R_REV/bitmask/10/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/205/description</name>
   <message>
-  <source>Motor 11</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_R_REV/bitmask/11/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/206/description</name>
   <message>
-  <source>Motor 12</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SP0_ANG0/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/207/description</name>
   <message>
-  <source>Angle for swash plate servo 0</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SP0_ANG0/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/208/description</name>
   <message>
-  <source>The angle is measured clockwise (as seen from top), with 0 pointing forwards (X axis).</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SP0_ANG1/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/301/description</name>
   <message>
-  <source>Angle for swash plate servo 1</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SP0_ANG1/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/302/description</name>
   <message>
-  <source>The angle is measured clockwise (as seen from top), with 0 pointing forwards (X axis).</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SP0_ANG2/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/303/description</name>
   <message>
-  <source>Angle for swash plate servo 2</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SP0_ANG2/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/304/description</name>
   <message>
-  <source>The angle is measured clockwise (as seen from top), with 0 pointing forwards (X axis).</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SP0_ANG3/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/305/description</name>
   <message>
-  <source>Angle for swash plate servo 3</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SP0_ANG3/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/306/description</name>
   <message>
-  <source>The angle is measured clockwise (as seen from top), with 0 pointing forwards (X axis).</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SP0_ARM_L0/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/400/description</name>
   <message>
-  <source>Arm length for swash plate servo 0</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SP0_ARM_L0/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/401/description</name>
   <message>
-  <source>This is relative to the other arm lengths.</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SP0_ARM_L1/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/402/description</name>
   <message>
-  <source>Arm length for swash plate servo 1</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SP0_ARM_L1/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/403/description</name>
   <message>
-  <source>This is relative to the other arm lengths.</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SP0_ARM_L2/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/404/description</name>
   <message>
-  <source>Arm length for swash plate servo 2</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SP0_ARM_L2/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/405/description</name>
   <message>
-  <source>This is relative to the other arm lengths.</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SP0_ARM_L3/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/406/description</name>
   <message>
-  <source>Arm length for swash plate servo 3</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SP0_ARM_L3/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/407/description</name>
   <message>
-  <source>This is relative to the other arm lengths.</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SP0_COUNT/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/408/description</name>
   <message>
-  <source>Number of swash plates servos</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SP0_COUNT/values/2/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/409/description</name>
   <message>
-  <source>2</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SP0_COUNT/values/3/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/410/description</name>
   <message>
-  <source>3</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SP0_COUNT/values/4/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/411/description</name>
   <message>
-  <source>4</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV0_SLEW/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/412/description</name>
   <message>
-  <source>Servo 0 slew rate limit</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV0_SLEW/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/420/description</name>
   <message>
-  <source>Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV1_SLEW/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/421/description</name>
   <message>
-  <source>Servo 1 slew rate limit</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV1_SLEW/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/422/description</name>
   <message>
-  <source>Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV2_SLEW/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/430/description</name>
   <message>
-  <source>Servo 2 slew rate limit</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV2_SLEW/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC7/values/440/description</name>
   <message>
-  <source>Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV3_SLEW/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/shortDesc</name>
   <message>
-  <source>Servo 3 slew rate limit</source>
+  <source>SIM_GZ ESC 8 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV3_SLEW/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/longDesc</name>
   <message>
-  <source>Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.</source>
+  <source>Select what should be output on SIM_GZ ESC 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV4_SLEW/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/0/description</name>
   <message>
-  <source>Servo 4 slew rate limit</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV4_SLEW/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/1/description</name>
   <message>
-  <source>Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV5_SLEW/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/2/description</name>
   <message>
-  <source>Servo 5 slew rate limit</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV5_SLEW/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/101/description</name>
   <message>
-  <source>Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV6_SLEW/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/102/description</name>
   <message>
-  <source>Servo 6 slew rate limit</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV6_SLEW/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/103/description</name>
   <message>
-  <source>Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV7_SLEW/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/104/description</name>
   <message>
-  <source>Servo 7 slew rate limit</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV7_SLEW/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/105/description</name>
   <message>
-  <source>Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS0_FLAP/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/106/description</name>
   <message>
-  <source>Control Surface 0 configuration as flap</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS0_SPOIL/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/107/description</name>
   <message>
-  <source>Control Surface 0 configuration as spoiler</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS0_TRIM/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/108/description</name>
   <message>
-  <source>Control Surface 0 trim</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS0_TRIM/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/109/description</name>
   <message>
-  <source>Can be used to add an offset to the servo control.</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS0_TRQ_P/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/110/description</name>
   <message>
-  <source>Control Surface 0 pitch torque scaling</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS0_TRQ_R/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/111/description</name>
   <message>
-  <source>Control Surface 0 roll torque scaling</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS0_TRQ_Y/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/112/description</name>
   <message>
-  <source>Control Surface 0 yaw torque scaling</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS0_TYPE/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/201/description</name>
   <message>
-  <source>Control Surface 0 type</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS0_TYPE/values/0/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/202/description</name>
   <message>
-  <source>(Not set)</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS0_TYPE/values/1/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/203/description</name>
   <message>
-  <source>Left Aileron</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS0_TYPE/values/2/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/204/description</name>
   <message>
-  <source>Right Aileron</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS0_TYPE/values/3/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/205/description</name>
   <message>
-  <source>Elevator</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS0_TYPE/values/4/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/206/description</name>
   <message>
-  <source>Rudder</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS0_TYPE/values/5/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/207/description</name>
   <message>
-  <source>Left Elevon</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS0_TYPE/values/6/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/208/description</name>
   <message>
-  <source>Right Elevon</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS0_TYPE/values/7/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/301/description</name>
   <message>
-  <source>Left V-Tail</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS0_TYPE/values/8/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/302/description</name>
   <message>
-  <source>Right V-Tail</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS0_TYPE/values/9/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/303/description</name>
   <message>
-  <source>Left Flap</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS0_TYPE/values/10/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/304/description</name>
   <message>
-  <source>Right Flap</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS0_TYPE/values/11/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/305/description</name>
   <message>
-  <source>Airbrake</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS0_TYPE/values/12/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/306/description</name>
   <message>
-  <source>Custom</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS0_TYPE/values/13/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/400/description</name>
   <message>
-  <source>Left A-tail</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS0_TYPE/values/14/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/401/description</name>
   <message>
-  <source>Right A-tail</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS0_TYPE/values/15/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/402/description</name>
   <message>
-  <source>Single Channel Aileron</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS0_TYPE/values/16/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/403/description</name>
   <message>
-  <source>Steering Wheel</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS0_TYPE/values/17/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/404/description</name>
   <message>
-  <source>Left Spoiler</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS0_TYPE/values/18/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/405/description</name>
   <message>
-  <source>Right Spoiler</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS1_FLAP/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/406/description</name>
   <message>
-  <source>Control Surface 1 configuration as flap</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS1_SPOIL/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/407/description</name>
   <message>
-  <source>Control Surface 1 configuration as spoiler</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS1_TRIM/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/408/description</name>
   <message>
-  <source>Control Surface 1 trim</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS1_TRIM/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/409/description</name>
   <message>
-  <source>Can be used to add an offset to the servo control.</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS1_TRQ_P/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/410/description</name>
   <message>
-  <source>Control Surface 1 pitch torque scaling</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS1_TRQ_R/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/411/description</name>
   <message>
-  <source>Control Surface 1 roll torque scaling</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS1_TRQ_Y/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/412/description</name>
   <message>
-  <source>Control Surface 1 yaw torque scaling</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS1_TYPE/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/420/description</name>
   <message>
-  <source>Control Surface 1 type</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS1_TYPE/values/0/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/421/description</name>
   <message>
-  <source>(Not set)</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS1_TYPE/values/1/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/422/description</name>
   <message>
-  <source>Left Aileron</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS1_TYPE/values/2/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/430/description</name>
   <message>
-  <source>Right Aileron</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS1_TYPE/values/3/description</name>
+  <name>/parameters/SIM_GZ_EC_FUNC8/values/440/description</name>
   <message>
-  <source>Elevator</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS1_TYPE/values/4/description</name>
+  <name>/parameters/SIM_GZ_EC_MAX1/shortDesc</name>
   <message>
-  <source>Rudder</source>
+  <source>SIM_GZ ESC 1 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS1_TYPE/values/5/description</name>
+  <name>/parameters/SIM_GZ_EC_MAX1/longDesc</name>
   <message>
-  <source>Left Elevon</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS1_TYPE/values/6/description</name>
+  <name>/parameters/SIM_GZ_EC_MAX2/shortDesc</name>
   <message>
-  <source>Right Elevon</source>
+  <source>SIM_GZ ESC 2 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS1_TYPE/values/7/description</name>
+  <name>/parameters/SIM_GZ_EC_MAX2/longDesc</name>
   <message>
-  <source>Left V-Tail</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS1_TYPE/values/8/description</name>
+  <name>/parameters/SIM_GZ_EC_MAX3/shortDesc</name>
   <message>
-  <source>Right V-Tail</source>
+  <source>SIM_GZ ESC 3 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS1_TYPE/values/9/description</name>
+  <name>/parameters/SIM_GZ_EC_MAX3/longDesc</name>
   <message>
-  <source>Left Flap</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS1_TYPE/values/10/description</name>
+  <name>/parameters/SIM_GZ_EC_MAX4/shortDesc</name>
   <message>
-  <source>Right Flap</source>
+  <source>SIM_GZ ESC 4 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS1_TYPE/values/11/description</name>
+  <name>/parameters/SIM_GZ_EC_MAX4/longDesc</name>
   <message>
-  <source>Airbrake</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS1_TYPE/values/12/description</name>
+  <name>/parameters/SIM_GZ_EC_MAX5/shortDesc</name>
   <message>
-  <source>Custom</source>
+  <source>SIM_GZ ESC 5 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS1_TYPE/values/13/description</name>
+  <name>/parameters/SIM_GZ_EC_MAX5/longDesc</name>
   <message>
-  <source>Left A-tail</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS1_TYPE/values/14/description</name>
+  <name>/parameters/SIM_GZ_EC_MAX6/shortDesc</name>
   <message>
-  <source>Right A-tail</source>
+  <source>SIM_GZ ESC 6 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS1_TYPE/values/15/description</name>
+  <name>/parameters/SIM_GZ_EC_MAX6/longDesc</name>
   <message>
-  <source>Single Channel Aileron</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS1_TYPE/values/16/description</name>
+  <name>/parameters/SIM_GZ_EC_MAX7/shortDesc</name>
   <message>
-  <source>Steering Wheel</source>
+  <source>SIM_GZ ESC 7 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS1_TYPE/values/17/description</name>
+  <name>/parameters/SIM_GZ_EC_MAX7/longDesc</name>
   <message>
-  <source>Left Spoiler</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS1_TYPE/values/18/description</name>
+  <name>/parameters/SIM_GZ_EC_MAX8/shortDesc</name>
   <message>
-  <source>Right Spoiler</source>
+  <source>SIM_GZ ESC 8 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS2_FLAP/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_MAX8/longDesc</name>
   <message>
-  <source>Control Surface 2 configuration as flap</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS2_SPOIL/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_MIN1/shortDesc</name>
   <message>
-  <source>Control Surface 2 configuration as spoiler</source>
+  <source>SIM_GZ ESC 1 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS2_TRIM/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_MIN1/longDesc</name>
   <message>
-  <source>Control Surface 2 trim</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS2_TRIM/longDesc</name>
+  <name>/parameters/SIM_GZ_EC_MIN2/shortDesc</name>
   <message>
-  <source>Can be used to add an offset to the servo control.</source>
+  <source>SIM_GZ ESC 2 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS2_TRQ_P/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_MIN2/longDesc</name>
   <message>
-  <source>Control Surface 2 pitch torque scaling</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS2_TRQ_R/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_MIN3/shortDesc</name>
   <message>
-  <source>Control Surface 2 roll torque scaling</source>
+  <source>SIM_GZ ESC 3 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS2_TRQ_Y/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_MIN3/longDesc</name>
   <message>
-  <source>Control Surface 2 yaw torque scaling</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS2_TYPE/shortDesc</name>
+  <name>/parameters/SIM_GZ_EC_MIN4/shortDesc</name>
   <message>
-  <source>Control Surface 2 type</source>
+  <source>SIM_GZ ESC 4 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS2_TYPE/values/0/description</name>
+  <name>/parameters/SIM_GZ_EC_MIN4/longDesc</name>
   <message>
-  <source>(Not set)</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS2_TYPE/values/1/description</name>
+  <name>/parameters/SIM_GZ_EC_MIN5/shortDesc</name>
   <message>
-  <source>Left Aileron</source>
+  <source>SIM_GZ ESC 5 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS2_TYPE/values/2/description</name>
+  <name>/parameters/SIM_GZ_EC_MIN5/longDesc</name>
   <message>
-  <source>Right Aileron</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS2_TYPE/values/3/description</name>
+  <name>/parameters/SIM_GZ_EC_MIN6/shortDesc</name>
   <message>
-  <source>Elevator</source>
+  <source>SIM_GZ ESC 6 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS2_TYPE/values/4/description</name>
+  <name>/parameters/SIM_GZ_EC_MIN6/longDesc</name>
   <message>
-  <source>Rudder</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS2_TYPE/values/5/description</name>
+  <name>/parameters/SIM_GZ_EC_MIN7/shortDesc</name>
   <message>
-  <source>Left Elevon</source>
+  <source>SIM_GZ ESC 7 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS2_TYPE/values/6/description</name>
+  <name>/parameters/SIM_GZ_EC_MIN7/longDesc</name>
   <message>
-  <source>Right Elevon</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS2_TYPE/values/7/description</name>
+  <name>/parameters/SIM_GZ_EC_MIN8/shortDesc</name>
   <message>
-  <source>Left V-Tail</source>
+  <source>SIM_GZ ESC 8 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS2_TYPE/values/8/description</name>
+  <name>/parameters/SIM_GZ_EC_MIN8/longDesc</name>
   <message>
-  <source>Right V-Tail</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS2_TYPE/values/9/description</name>
+  <name>/parameters/SIM_GZ_EC_REV/shortDesc</name>
   <message>
-  <source>Left Flap</source>
+  <source>Reverse Output Range for SIM_GZ</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS2_TYPE/values/10/description</name>
+  <name>/parameters/SIM_GZ_EC_REV/longDesc</name>
   <message>
-  <source>Right Flap</source>
+  <source>Allows to reverse the output range for each channel. Note: this is only useful for servos.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS2_TYPE/values/11/description</name>
+  <name>/parameters/SIM_GZ_EC_REV/bitmask/0/description</name>
   <message>
-  <source>Airbrake</source>
+  <source>SIM_GZ ESC 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS2_TYPE/values/12/description</name>
+  <name>/parameters/SIM_GZ_EC_REV/bitmask/1/description</name>
   <message>
-  <source>Custom</source>
+  <source>SIM_GZ ESC 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS2_TYPE/values/13/description</name>
+  <name>/parameters/SIM_GZ_EC_REV/bitmask/2/description</name>
   <message>
-  <source>Left A-tail</source>
+  <source>SIM_GZ ESC 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS2_TYPE/values/14/description</name>
+  <name>/parameters/SIM_GZ_EC_REV/bitmask/3/description</name>
   <message>
-  <source>Right A-tail</source>
+  <source>SIM_GZ ESC 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS2_TYPE/values/15/description</name>
+  <name>/parameters/SIM_GZ_EC_REV/bitmask/4/description</name>
   <message>
-  <source>Single Channel Aileron</source>
+  <source>SIM_GZ ESC 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS2_TYPE/values/16/description</name>
+  <name>/parameters/SIM_GZ_EC_REV/bitmask/5/description</name>
   <message>
-  <source>Steering Wheel</source>
+  <source>SIM_GZ ESC 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS2_TYPE/values/17/description</name>
+  <name>/parameters/SIM_GZ_EC_REV/bitmask/6/description</name>
   <message>
-  <source>Left Spoiler</source>
+  <source>SIM_GZ ESC 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS2_TYPE/values/18/description</name>
+  <name>/parameters/SIM_GZ_EC_REV/bitmask/7/description</name>
   <message>
-  <source>Right Spoiler</source>
+  <source>SIM_GZ ESC 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS3_FLAP/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_DIS1/shortDesc</name>
   <message>
-  <source>Control Surface 3 configuration as flap</source>
+  <source>SIM_GZ Servo 1 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS3_SPOIL/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_DIS1/longDesc</name>
   <message>
-  <source>Control Surface 3 configuration as spoiler</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS3_TRIM/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_DIS2/shortDesc</name>
   <message>
-  <source>Control Surface 3 trim</source>
+  <source>SIM_GZ Servo 2 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS3_TRIM/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_DIS2/longDesc</name>
   <message>
-  <source>Can be used to add an offset to the servo control.</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS3_TRQ_P/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_DIS3/shortDesc</name>
   <message>
-  <source>Control Surface 3 pitch torque scaling</source>
+  <source>SIM_GZ Servo 3 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS3_TRQ_R/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_DIS3/longDesc</name>
   <message>
-  <source>Control Surface 3 roll torque scaling</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS3_TRQ_Y/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_DIS4/shortDesc</name>
   <message>
-  <source>Control Surface 3 yaw torque scaling</source>
+  <source>SIM_GZ Servo 4 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS3_TYPE/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_DIS4/longDesc</name>
   <message>
-  <source>Control Surface 3 type</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS3_TYPE/values/0/description</name>
+  <name>/parameters/SIM_GZ_SV_DIS5/shortDesc</name>
   <message>
-  <source>(Not set)</source>
+  <source>SIM_GZ Servo 5 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS3_TYPE/values/1/description</name>
+  <name>/parameters/SIM_GZ_SV_DIS5/longDesc</name>
   <message>
-  <source>Left Aileron</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS3_TYPE/values/2/description</name>
+  <name>/parameters/SIM_GZ_SV_DIS6/shortDesc</name>
   <message>
-  <source>Right Aileron</source>
+  <source>SIM_GZ Servo 6 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS3_TYPE/values/3/description</name>
+  <name>/parameters/SIM_GZ_SV_DIS6/longDesc</name>
   <message>
-  <source>Elevator</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS3_TYPE/values/4/description</name>
+  <name>/parameters/SIM_GZ_SV_DIS7/shortDesc</name>
   <message>
-  <source>Rudder</source>
+  <source>SIM_GZ Servo 7 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS3_TYPE/values/5/description</name>
+  <name>/parameters/SIM_GZ_SV_DIS7/longDesc</name>
   <message>
-  <source>Left Elevon</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS3_TYPE/values/6/description</name>
+  <name>/parameters/SIM_GZ_SV_DIS8/shortDesc</name>
   <message>
-  <source>Right Elevon</source>
+  <source>SIM_GZ Servo 8 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS3_TYPE/values/7/description</name>
+  <name>/parameters/SIM_GZ_SV_DIS8/longDesc</name>
   <message>
-  <source>Left V-Tail</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS3_TYPE/values/8/description</name>
+  <name>/parameters/SIM_GZ_SV_FAIL1/shortDesc</name>
   <message>
-  <source>Right V-Tail</source>
+  <source>SIM_GZ Servo 1 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS3_TYPE/values/9/description</name>
+  <name>/parameters/SIM_GZ_SV_FAIL1/longDesc</name>
   <message>
-  <source>Left Flap</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_SV_FUNC1).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS3_TYPE/values/10/description</name>
+  <name>/parameters/SIM_GZ_SV_FAIL2/shortDesc</name>
   <message>
-  <source>Right Flap</source>
+  <source>SIM_GZ Servo 2 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS3_TYPE/values/11/description</name>
+  <name>/parameters/SIM_GZ_SV_FAIL2/longDesc</name>
   <message>
-  <source>Airbrake</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_SV_FUNC2).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS3_TYPE/values/12/description</name>
+  <name>/parameters/SIM_GZ_SV_FAIL3/shortDesc</name>
   <message>
-  <source>Custom</source>
+  <source>SIM_GZ Servo 3 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS3_TYPE/values/13/description</name>
+  <name>/parameters/SIM_GZ_SV_FAIL3/longDesc</name>
   <message>
-  <source>Left A-tail</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_SV_FUNC3).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS3_TYPE/values/14/description</name>
+  <name>/parameters/SIM_GZ_SV_FAIL4/shortDesc</name>
   <message>
-  <source>Right A-tail</source>
+  <source>SIM_GZ Servo 4 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS3_TYPE/values/15/description</name>
+  <name>/parameters/SIM_GZ_SV_FAIL4/longDesc</name>
   <message>
-  <source>Single Channel Aileron</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_SV_FUNC4).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS3_TYPE/values/16/description</name>
+  <name>/parameters/SIM_GZ_SV_FAIL5/shortDesc</name>
   <message>
-  <source>Steering Wheel</source>
+  <source>SIM_GZ Servo 5 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS3_TYPE/values/17/description</name>
+  <name>/parameters/SIM_GZ_SV_FAIL5/longDesc</name>
   <message>
-  <source>Left Spoiler</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_SV_FUNC5).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS3_TYPE/values/18/description</name>
+  <name>/parameters/SIM_GZ_SV_FAIL6/shortDesc</name>
   <message>
-  <source>Right Spoiler</source>
+  <source>SIM_GZ Servo 6 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS4_FLAP/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FAIL6/longDesc</name>
   <message>
-  <source>Control Surface 4 configuration as flap</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_SV_FUNC6).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS4_SPOIL/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FAIL7/shortDesc</name>
   <message>
-  <source>Control Surface 4 configuration as spoiler</source>
+  <source>SIM_GZ Servo 7 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS4_TRIM/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FAIL7/longDesc</name>
   <message>
-  <source>Control Surface 4 trim</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_SV_FUNC7).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS4_TRIM/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FAIL8/shortDesc</name>
   <message>
-  <source>Can be used to add an offset to the servo control.</source>
+  <source>SIM_GZ Servo 8 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS4_TRQ_P/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FAIL8/longDesc</name>
   <message>
-  <source>Control Surface 4 pitch torque scaling</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_SV_FUNC8).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS4_TRQ_R/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/shortDesc</name>
   <message>
-  <source>Control Surface 4 roll torque scaling</source>
+  <source>SIM_GZ Servo 1 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS4_TRQ_Y/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/longDesc</name>
   <message>
-  <source>Control Surface 4 yaw torque scaling</source>
+  <source>Select what should be output on SIM_GZ Servo 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS4_TYPE/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/0/description</name>
   <message>
-  <source>Control Surface 4 type</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS4_TYPE/values/0/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/1/description</name>
   <message>
-  <source>(Not set)</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS4_TYPE/values/1/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/2/description</name>
   <message>
-  <source>Left Aileron</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS4_TYPE/values/2/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/101/description</name>
   <message>
-  <source>Right Aileron</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS4_TYPE/values/3/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/102/description</name>
   <message>
-  <source>Elevator</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS4_TYPE/values/4/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/103/description</name>
   <message>
-  <source>Rudder</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS4_TYPE/values/5/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/104/description</name>
   <message>
-  <source>Left Elevon</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS4_TYPE/values/6/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/105/description</name>
   <message>
-  <source>Right Elevon</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS4_TYPE/values/7/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/106/description</name>
   <message>
-  <source>Left V-Tail</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS4_TYPE/values/8/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/107/description</name>
   <message>
-  <source>Right V-Tail</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS4_TYPE/values/9/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/108/description</name>
   <message>
-  <source>Left Flap</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS4_TYPE/values/10/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/109/description</name>
   <message>
-  <source>Right Flap</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS4_TYPE/values/11/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/110/description</name>
   <message>
-  <source>Airbrake</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS4_TYPE/values/12/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/111/description</name>
   <message>
-  <source>Custom</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS4_TYPE/values/13/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/112/description</name>
   <message>
-  <source>Left A-tail</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS4_TYPE/values/14/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/201/description</name>
   <message>
-  <source>Right A-tail</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS4_TYPE/values/15/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/202/description</name>
   <message>
-  <source>Single Channel Aileron</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS4_TYPE/values/16/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/203/description</name>
   <message>
-  <source>Steering Wheel</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS4_TYPE/values/17/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/204/description</name>
   <message>
-  <source>Left Spoiler</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS4_TYPE/values/18/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/205/description</name>
   <message>
-  <source>Right Spoiler</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS5_FLAP/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/206/description</name>
   <message>
-  <source>Control Surface 5 configuration as flap</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS5_SPOIL/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/207/description</name>
   <message>
-  <source>Control Surface 5 configuration as spoiler</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS5_TRIM/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/208/description</name>
   <message>
-  <source>Control Surface 5 trim</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS5_TRIM/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/301/description</name>
   <message>
-  <source>Can be used to add an offset to the servo control.</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS5_TRQ_P/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/302/description</name>
   <message>
-  <source>Control Surface 5 pitch torque scaling</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS5_TRQ_R/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/303/description</name>
   <message>
-  <source>Control Surface 5 roll torque scaling</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS5_TRQ_Y/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/304/description</name>
   <message>
-  <source>Control Surface 5 yaw torque scaling</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS5_TYPE/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/305/description</name>
   <message>
-  <source>Control Surface 5 type</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS5_TYPE/values/0/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/306/description</name>
   <message>
-  <source>(Not set)</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS5_TYPE/values/1/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/400/description</name>
   <message>
-  <source>Left Aileron</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS5_TYPE/values/2/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/401/description</name>
   <message>
-  <source>Right Aileron</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS5_TYPE/values/3/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/402/description</name>
   <message>
-  <source>Elevator</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS5_TYPE/values/4/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/403/description</name>
   <message>
-  <source>Rudder</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS5_TYPE/values/5/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/404/description</name>
   <message>
-  <source>Left Elevon</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS5_TYPE/values/6/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/405/description</name>
   <message>
-  <source>Right Elevon</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS5_TYPE/values/7/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/406/description</name>
   <message>
-  <source>Left V-Tail</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS5_TYPE/values/8/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/407/description</name>
   <message>
-  <source>Right V-Tail</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS5_TYPE/values/9/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/408/description</name>
   <message>
-  <source>Left Flap</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS5_TYPE/values/10/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/409/description</name>
   <message>
-  <source>Right Flap</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS5_TYPE/values/11/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/410/description</name>
   <message>
-  <source>Airbrake</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS5_TYPE/values/12/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/411/description</name>
   <message>
-  <source>Custom</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS5_TYPE/values/13/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/412/description</name>
   <message>
-  <source>Left A-tail</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS5_TYPE/values/14/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/420/description</name>
   <message>
-  <source>Right A-tail</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS5_TYPE/values/15/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/421/description</name>
   <message>
-  <source>Single Channel Aileron</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS5_TYPE/values/16/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/422/description</name>
   <message>
-  <source>Steering Wheel</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS5_TYPE/values/17/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/430/description</name>
   <message>
-  <source>Left Spoiler</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS5_TYPE/values/18/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC1/values/440/description</name>
   <message>
-  <source>Right Spoiler</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS6_FLAP/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/shortDesc</name>
   <message>
-  <source>Control Surface 6 configuration as flap</source>
+  <source>SIM_GZ Servo 2 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS6_SPOIL/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/longDesc</name>
   <message>
-  <source>Control Surface 6 configuration as spoiler</source>
+  <source>Select what should be output on SIM_GZ Servo 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS6_TRIM/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/0/description</name>
   <message>
-  <source>Control Surface 6 trim</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS6_TRIM/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/1/description</name>
   <message>
-  <source>Can be used to add an offset to the servo control.</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS6_TRQ_P/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/2/description</name>
   <message>
-  <source>Control Surface 6 pitch torque scaling</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS6_TRQ_R/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/101/description</name>
   <message>
-  <source>Control Surface 6 roll torque scaling</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS6_TRQ_Y/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/102/description</name>
   <message>
-  <source>Control Surface 6 yaw torque scaling</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS6_TYPE/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/103/description</name>
   <message>
-  <source>Control Surface 6 type</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS6_TYPE/values/0/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/104/description</name>
   <message>
-  <source>(Not set)</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS6_TYPE/values/1/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/105/description</name>
   <message>
-  <source>Left Aileron</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS6_TYPE/values/2/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/106/description</name>
   <message>
-  <source>Right Aileron</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS6_TYPE/values/3/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/107/description</name>
   <message>
-  <source>Elevator</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS6_TYPE/values/4/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/108/description</name>
   <message>
-  <source>Rudder</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS6_TYPE/values/5/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/109/description</name>
   <message>
-  <source>Left Elevon</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS6_TYPE/values/6/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/110/description</name>
   <message>
-  <source>Right Elevon</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS6_TYPE/values/7/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/111/description</name>
   <message>
-  <source>Left V-Tail</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS6_TYPE/values/8/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/112/description</name>
   <message>
-  <source>Right V-Tail</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS6_TYPE/values/9/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/201/description</name>
   <message>
-  <source>Left Flap</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS6_TYPE/values/10/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/202/description</name>
   <message>
-  <source>Right Flap</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS6_TYPE/values/11/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/203/description</name>
   <message>
-  <source>Airbrake</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS6_TYPE/values/12/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/204/description</name>
   <message>
-  <source>Custom</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS6_TYPE/values/13/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/205/description</name>
   <message>
-  <source>Left A-tail</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS6_TYPE/values/14/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/206/description</name>
   <message>
-  <source>Right A-tail</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS6_TYPE/values/15/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/207/description</name>
   <message>
-  <source>Single Channel Aileron</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS6_TYPE/values/16/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/208/description</name>
   <message>
-  <source>Steering Wheel</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS6_TYPE/values/17/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/301/description</name>
   <message>
-  <source>Left Spoiler</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS6_TYPE/values/18/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/302/description</name>
   <message>
-  <source>Right Spoiler</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS7_FLAP/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/303/description</name>
   <message>
-  <source>Control Surface 7 configuration as flap</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS7_SPOIL/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/304/description</name>
   <message>
-  <source>Control Surface 7 configuration as spoiler</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS7_TRIM/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/305/description</name>
   <message>
-  <source>Control Surface 7 trim</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS7_TRIM/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/306/description</name>
   <message>
-  <source>Can be used to add an offset to the servo control.</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS7_TRQ_P/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/400/description</name>
   <message>
-  <source>Control Surface 7 pitch torque scaling</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS7_TRQ_R/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/401/description</name>
   <message>
-  <source>Control Surface 7 roll torque scaling</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS7_TRQ_Y/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/402/description</name>
   <message>
-  <source>Control Surface 7 yaw torque scaling</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS7_TYPE/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/403/description</name>
   <message>
-  <source>Control Surface 7 type</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS7_TYPE/values/0/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/404/description</name>
   <message>
-  <source>(Not set)</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS7_TYPE/values/1/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/405/description</name>
   <message>
-  <source>Left Aileron</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS7_TYPE/values/2/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/406/description</name>
   <message>
-  <source>Right Aileron</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS7_TYPE/values/3/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/407/description</name>
   <message>
-  <source>Elevator</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS7_TYPE/values/4/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/408/description</name>
   <message>
-  <source>Rudder</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS7_TYPE/values/5/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/409/description</name>
   <message>
-  <source>Left Elevon</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS7_TYPE/values/6/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/410/description</name>
   <message>
-  <source>Right Elevon</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS7_TYPE/values/7/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/411/description</name>
   <message>
-  <source>Left V-Tail</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS7_TYPE/values/8/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/412/description</name>
   <message>
-  <source>Right V-Tail</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS7_TYPE/values/9/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/420/description</name>
   <message>
-  <source>Left Flap</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS7_TYPE/values/10/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/421/description</name>
   <message>
-  <source>Right Flap</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS7_TYPE/values/11/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/422/description</name>
   <message>
-  <source>Airbrake</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS7_TYPE/values/12/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/430/description</name>
   <message>
-  <source>Custom</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS7_TYPE/values/13/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC2/values/440/description</name>
   <message>
-  <source>Left A-tail</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS7_TYPE/values/14/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/shortDesc</name>
   <message>
-  <source>Right A-tail</source>
+  <source>SIM_GZ Servo 3 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS7_TYPE/values/15/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/longDesc</name>
   <message>
-  <source>Single Channel Aileron</source>
+  <source>Select what should be output on SIM_GZ Servo 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS7_TYPE/values/16/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/0/description</name>
   <message>
-  <source>Steering Wheel</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS7_TYPE/values/17/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/1/description</name>
   <message>
-  <source>Left Spoiler</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS7_TYPE/values/18/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/2/description</name>
   <message>
-  <source>Right Spoiler</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS_COUNT/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/101/description</name>
   <message>
-  <source>Total number of Control Surfaces</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS_COUNT/values/0/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/102/description</name>
   <message>
-  <source>0</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS_COUNT/values/1/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/103/description</name>
   <message>
-  <source>1</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS_COUNT/values/2/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/104/description</name>
   <message>
-  <source>2</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS_COUNT/values/3/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/105/description</name>
   <message>
-  <source>3</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS_COUNT/values/4/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/106/description</name>
   <message>
-  <source>4</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS_COUNT/values/5/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/107/description</name>
   <message>
-  <source>5</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS_COUNT/values/6/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/108/description</name>
   <message>
-  <source>6</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS_COUNT/values/7/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/109/description</name>
   <message>
-  <source>7</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_CS_COUNT/values/8/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/110/description</name>
   <message>
-  <source>8</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL0_CT/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/111/description</name>
   <message>
-  <source>Tilt 0 is used for control</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL0_CT/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/112/description</name>
   <message>
-  <source>Define if this servo is used for additional control.</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL0_CT/values/0/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/201/description</name>
   <message>
-  <source>None</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL0_CT/values/1/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/202/description</name>
   <message>
-  <source>Yaw</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL0_CT/values/2/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/203/description</name>
   <message>
-  <source>Pitch</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL0_CT/values/3/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/204/description</name>
   <message>
-  <source>Yaw and Pitch</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL0_MAXA/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/205/description</name>
   <message>
-  <source>Tilt Servo 0 Tilt Angle at Maximum</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL0_MAXA/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/206/description</name>
   <message>
-  <source>Defines the tilt angle when the servo is at the maximum. An angle of zero means upwards.</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL0_MINA/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/207/description</name>
   <message>
-  <source>Tilt Servo 0 Tilt Angle at Minimum</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL0_MINA/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/208/description</name>
   <message>
-  <source>Defines the tilt angle when the servo is at the minimum. An angle of zero means upwards.</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL0_TD/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/301/description</name>
   <message>
-  <source>Tilt Servo 0 Tilt Direction</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL0_TD/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/302/description</name>
   <message>
-  <source>Defines the direction the servo tilts towards when moving towards the maximum tilt angle. For example if the minimum tilt angle is -90, the maximum 90, and the direction 'Towards Front', the motor axis aligns with the XZ-plane, points towards -X at the minimum and +X at the maximum tilt.</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL0_TD/values/0/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/303/description</name>
   <message>
-  <source>Towards Front</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL0_TD/values/90/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/304/description</name>
   <message>
-  <source>Towards Right</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL1_CT/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/305/description</name>
   <message>
-  <source>Tilt 1 is used for control</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL1_CT/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/306/description</name>
   <message>
-  <source>Define if this servo is used for additional control.</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL1_CT/values/0/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/400/description</name>
   <message>
-  <source>None</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL1_CT/values/1/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/401/description</name>
   <message>
-  <source>Yaw</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL1_CT/values/2/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/402/description</name>
   <message>
-  <source>Pitch</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL1_CT/values/3/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/403/description</name>
   <message>
-  <source>Yaw and Pitch</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL1_MAXA/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/404/description</name>
   <message>
-  <source>Tilt Servo 1 Tilt Angle at Maximum</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL1_MAXA/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/405/description</name>
   <message>
-  <source>Defines the tilt angle when the servo is at the maximum. An angle of zero means upwards.</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL1_MINA/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/406/description</name>
   <message>
-  <source>Tilt Servo 1 Tilt Angle at Minimum</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL1_MINA/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/407/description</name>
   <message>
-  <source>Defines the tilt angle when the servo is at the minimum. An angle of zero means upwards.</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL1_TD/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/408/description</name>
   <message>
-  <source>Tilt Servo 1 Tilt Direction</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL1_TD/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/409/description</name>
   <message>
-  <source>Defines the direction the servo tilts towards when moving towards the maximum tilt angle. For example if the minimum tilt angle is -90, the maximum 90, and the direction 'Towards Front', the motor axis aligns with the XZ-plane, points towards -X at the minimum and +X at the maximum tilt.</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL1_TD/values/0/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/410/description</name>
   <message>
-  <source>Towards Front</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL1_TD/values/90/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/411/description</name>
   <message>
-  <source>Towards Right</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL2_CT/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/412/description</name>
   <message>
-  <source>Tilt 2 is used for control</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL2_CT/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/420/description</name>
   <message>
-  <source>Define if this servo is used for additional control.</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL2_CT/values/0/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/421/description</name>
   <message>
-  <source>None</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL2_CT/values/1/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/422/description</name>
   <message>
-  <source>Yaw</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL2_CT/values/2/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/430/description</name>
   <message>
-  <source>Pitch</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL2_CT/values/3/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC3/values/440/description</name>
   <message>
-  <source>Yaw and Pitch</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL2_MAXA/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/shortDesc</name>
   <message>
-  <source>Tilt Servo 2 Tilt Angle at Maximum</source>
+  <source>SIM_GZ Servo 4 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL2_MAXA/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/longDesc</name>
   <message>
-  <source>Defines the tilt angle when the servo is at the maximum. An angle of zero means upwards.</source>
+  <source>Select what should be output on SIM_GZ Servo 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL2_MINA/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/0/description</name>
   <message>
-  <source>Tilt Servo 2 Tilt Angle at Minimum</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL2_MINA/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/1/description</name>
   <message>
-  <source>Defines the tilt angle when the servo is at the minimum. An angle of zero means upwards.</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL2_TD/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/2/description</name>
   <message>
-  <source>Tilt Servo 2 Tilt Direction</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL2_TD/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/101/description</name>
   <message>
-  <source>Defines the direction the servo tilts towards when moving towards the maximum tilt angle. For example if the minimum tilt angle is -90, the maximum 90, and the direction 'Towards Front', the motor axis aligns with the XZ-plane, points towards -X at the minimum and +X at the maximum tilt.</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL2_TD/values/0/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/102/description</name>
   <message>
-  <source>Towards Front</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL2_TD/values/90/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/103/description</name>
   <message>
-  <source>Towards Right</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL3_CT/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/104/description</name>
   <message>
-  <source>Tilt 3 is used for control</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL3_CT/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/105/description</name>
   <message>
-  <source>Define if this servo is used for additional control.</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL3_CT/values/0/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/106/description</name>
   <message>
-  <source>None</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL3_CT/values/1/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/107/description</name>
   <message>
-  <source>Yaw</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL3_CT/values/2/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/108/description</name>
   <message>
-  <source>Pitch</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL3_CT/values/3/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/109/description</name>
   <message>
-  <source>Yaw and Pitch</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL3_MAXA/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/110/description</name>
   <message>
-  <source>Tilt Servo 3 Tilt Angle at Maximum</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL3_MAXA/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/111/description</name>
   <message>
-  <source>Defines the tilt angle when the servo is at the maximum. An angle of zero means upwards.</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL3_MINA/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/112/description</name>
   <message>
-  <source>Tilt Servo 3 Tilt Angle at Minimum</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL3_MINA/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/201/description</name>
   <message>
-  <source>Defines the tilt angle when the servo is at the minimum. An angle of zero means upwards.</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL3_TD/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/202/description</name>
   <message>
-  <source>Tilt Servo 3 Tilt Direction</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL3_TD/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/203/description</name>
   <message>
-  <source>Defines the direction the servo tilts towards when moving towards the maximum tilt angle. For example if the minimum tilt angle is -90, the maximum 90, and the direction 'Towards Front', the motor axis aligns with the XZ-plane, points towards -X at the minimum and +X at the maximum tilt.</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL3_TD/values/0/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/204/description</name>
   <message>
-  <source>Towards Front</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL3_TD/values/90/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/205/description</name>
   <message>
-  <source>Towards Right</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL_COUNT/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/206/description</name>
   <message>
-  <source>Total number of Tilt Servos</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL_COUNT/values/0/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/207/description</name>
   <message>
-  <source>0</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL_COUNT/values/1/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/208/description</name>
   <message>
-  <source>1</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL_COUNT/values/2/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/301/description</name>
   <message>
-  <source>2</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL_COUNT/values/3/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/302/description</name>
   <message>
-  <source>3</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CA_SV_TL_COUNT/values/4/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/303/description</name>
   <message>
-  <source>4</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/HTE_ACC_GATE/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/304/description</name>
   <message>
-  <source>Gate size for acceleration fusion</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/HTE_ACC_GATE/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/305/description</name>
   <message>
-  <source>Sets the number of standard deviations used by the innovation consistency test.</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/HTE_HT_ERR_INIT/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/306/description</name>
   <message>
-  <source>1-sigma initial hover thrust uncertainty</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/HTE_HT_ERR_INIT/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/400/description</name>
   <message>
-  <source>Sets the number of standard deviations used by the innovation consistency test.</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/HTE_HT_NOISE/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/401/description</name>
   <message>
-  <source>Hover thrust process noise</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/HTE_HT_NOISE/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/402/description</name>
   <message>
-  <source>Reduce to make the hover thrust estimate more stable, increase if the real hover thrust is expected to change quickly over time.</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/HTE_THR_RANGE/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/403/description</name>
   <message>
-  <source>Max deviation from MPC_THR_HOVER</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/HTE_THR_RANGE/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/404/description</name>
   <message>
-  <source>Defines the range of the hover thrust estimate around MPC_THR_HOVER. A value of 0.2 with MPC_THR_HOVER at 0.5 results in a range of [0.3, 0.7]. Set to a large value if the vehicle operates in varying physical conditions that affect the required hover thrust strongly (e.g. differently sized payloads).</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/HTE_VXY_THR/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/405/description</name>
   <message>
-  <source>Horizontal velocity threshold for sensitivity reduction</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/HTE_VXY_THR/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/406/description</name>
   <message>
-  <source>Above this speed, the measurement noise is linearly increased to reduce the sensitivity of the estimator from biased measurement. Set to a low value on vehicles with large lifting surfaces.</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/HTE_VZ_THR/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/407/description</name>
   <message>
-  <source>Vertical velocity threshold for sensitivity reduction</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/HTE_VZ_THR/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/408/description</name>
   <message>
-  <source>Above this speed, the measurement noise is linearly increased to reduce the sensitivity of the estimator from biased measurement. Set to a low value on vehicles affected by air drag when climbing or descending.</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LNDFW_AIRSPD_MAX/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/409/description</name>
   <message>
-  <source>Fixed-wing land detector: Max airspeed</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LNDFW_AIRSPD_MAX/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/410/description</name>
   <message>
-  <source>Maximum airspeed allowed in the landed state</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LNDFW_TRIG_TIME/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/411/description</name>
   <message>
-  <source>Fixed-wing land detection trigger time</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LNDFW_TRIG_TIME/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/412/description</name>
   <message>
-  <source>Time the land conditions (speeds and acceleration) have to be satisfied to detect a landing.</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LNDFW_VEL_XY_MAX/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/420/description</name>
   <message>
-  <source>Fixed-wing land detector: Max horizontal velocity threshold</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LNDFW_VEL_XY_MAX/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/421/description</name>
   <message>
-  <source>Maximum horizontal velocity allowed in the landed state. A factor of 0.7 is applied in case of airspeed-less flying (either because no sensor is present or sensor data got invalid in flight).</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LNDFW_VEL_Z_MAX/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/422/description</name>
   <message>
-  <source>Fixed-wing land detector: Max vertiacal velocity threshold</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LNDFW_VEL_Z_MAX/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/430/description</name>
   <message>
-  <source>Maximum vertical velocity allowed in the landed state.</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LNDFW_XYACC_MAX/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC4/values/440/description</name>
   <message>
-  <source>Fixed-wing land detector: Max horizontal acceleration</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LNDFW_XYACC_MAX/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/shortDesc</name>
   <message>
-  <source>Maximum horizontal (x,y body axes) acceleration allowed in the landed state</source>
+  <source>SIM_GZ Servo 5 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LNDMC_ALT_GND/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/longDesc</name>
   <message>
-  <source>Ground effect altitude for multicopters</source>
+  <source>Select what should be output on SIM_GZ Servo 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LNDMC_ALT_GND/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/0/description</name>
   <message>
-  <source>The height above ground below which ground effect creates barometric altitude errors. A negative value indicates no ground effect.</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LNDMC_ROT_MAX/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/1/description</name>
   <message>
-  <source>Multicopter max rotation</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LNDMC_ROT_MAX/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/2/description</name>
   <message>
-  <source>Maximum allowed angular velocity around each axis allowed in the landed state.</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LNDMC_TRIG_TIME/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/101/description</name>
   <message>
-  <source>Multicopter land detection trigger time</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LNDMC_TRIG_TIME/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/102/description</name>
   <message>
-  <source>Total time it takes to go through all three land detection stages: ground contact, maybe landed, landed when all necessary conditions are constantly met.</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LNDMC_XY_VEL_MAX/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/103/description</name>
   <message>
-  <source>Multicopter max horizontal velocity</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LNDMC_XY_VEL_MAX/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/104/description</name>
   <message>
-  <source>Maximum horizontal velocity allowed in the landed state</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LNDMC_Z_VEL_MAX/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/105/description</name>
   <message>
-  <source>Multicopter vertical velocity threshold</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LNDMC_Z_VEL_MAX/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/106/description</name>
   <message>
-  <source>Vertical velocity threshold to detect landing. Has to be set lower than the expected minimal speed for landing, which is either MPC_LAND_SPEED or MPC_LAND_CRWL. This is enforced by an automatic check.</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LND_FLIGHT_T_HI/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/107/description</name>
   <message>
-  <source>Total flight time in microseconds</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LND_FLIGHT_T_HI/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/108/description</name>
   <message>
-  <source>Total flight time of this autopilot. Higher 32 bits of the value. Flight time in microseconds = (LND_FLIGHT_T_HI &lt;&lt; 32) | LND_FLIGHT_T_LO.</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LND_FLIGHT_T_LO/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/109/description</name>
   <message>
-  <source>Total flight time in microseconds</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LND_FLIGHT_T_LO/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/110/description</name>
   <message>
-  <source>Total flight time of this autopilot. Lower 32 bits of the value. Flight time in microseconds = (LND_FLIGHT_T_HI &lt;&lt; 32) | LND_FLIGHT_T_LO.</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LTEST_ACC_UNC/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/111/description</name>
   <message>
-  <source>Acceleration uncertainty</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LTEST_ACC_UNC/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/112/description</name>
   <message>
-  <source>Variance of acceleration measurement used for landing target position prediction. Higher values results in tighter following of the measurements and more lenient outlier rejection</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LTEST_MEAS_UNC/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/201/description</name>
   <message>
-  <source>Landing target measurement uncertainty</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LTEST_MEAS_UNC/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/202/description</name>
   <message>
-  <source>Variance of the landing target measurement from the driver. Higher values result in less aggressive following of the measurement and a smoother output as well as fewer rejected measurements.</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LTEST_MODE/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/203/description</name>
   <message>
-  <source>Landing target mode</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LTEST_MODE/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/204/description</name>
   <message>
-  <source>Configure the mode of the landing target. Depending on the mode, the landing target observations are used differently to aid position estimation. Mode Moving:     The landing target may be moving around while in the field of view of the vehicle. Landing target measurements are not used to aid positioning. Mode Stationary: The landing target is stationary. Measured velocity w.r.t. the landing target is used to aid velocity estimation.</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LTEST_MODE/values/0/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/205/description</name>
   <message>
-  <source>Moving</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LTEST_MODE/values/1/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/206/description</name>
   <message>
-  <source>Stationary</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LTEST_POS_UNC_IN/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/207/description</name>
   <message>
-  <source>Initial landing target position uncertainty</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LTEST_POS_UNC_IN/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/208/description</name>
   <message>
-  <source>Initial variance of the relative landing target position in x and y direction</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LTEST_SCALE_X/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/301/description</name>
   <message>
-  <source>Scale factor for sensor measurements in sensor x axis</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LTEST_SCALE_X/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/302/description</name>
   <message>
-  <source>Landing target x measurements are scaled by this factor before being used</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LTEST_SCALE_Y/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/303/description</name>
   <message>
-  <source>Scale factor for sensor measurements in sensor y axis</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LTEST_SCALE_Y/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/304/description</name>
   <message>
-  <source>Landing target y measurements are scaled by this factor before being used</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LTEST_SENS_POS_X/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/305/description</name>
   <message>
-  <source>X Position of IRLOCK in body frame (forward)</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LTEST_SENS_POS_Y/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/306/description</name>
   <message>
-  <source>Y Position of IRLOCK in body frame (right)</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LTEST_SENS_POS_Z/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/400/description</name>
   <message>
-  <source>Z Position of IRLOCK in body frame (downward)</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LTEST_SENS_ROT/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/401/description</name>
   <message>
-  <source>Rotation of IRLOCK sensor relative to airframe</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LTEST_SENS_ROT/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/402/description</name>
   <message>
-  <source>Default orientation of Yaw 90°</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LTEST_SENS_ROT/values/0/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/403/description</name>
   <message>
-  <source>No rotation</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LTEST_SENS_ROT/values/1/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/404/description</name>
   <message>
-  <source>Yaw 45°</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LTEST_SENS_ROT/values/2/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/405/description</name>
   <message>
-  <source>Yaw 90°</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LTEST_SENS_ROT/values/3/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/406/description</name>
   <message>
-  <source>Yaw 135°</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LTEST_SENS_ROT/values/4/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/407/description</name>
   <message>
-  <source>Yaw 180°</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LTEST_SENS_ROT/values/5/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/408/description</name>
   <message>
-  <source>Yaw 225°</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LTEST_SENS_ROT/values/6/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/409/description</name>
   <message>
-  <source>Yaw 270°</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LTEST_SENS_ROT/values/7/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/410/description</name>
   <message>
-  <source>Yaw 315°</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LTEST_VEL_UNC_IN/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/411/description</name>
   <message>
-  <source>Initial landing target velocity uncertainty</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LTEST_VEL_UNC_IN/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/412/description</name>
   <message>
-  <source>Initial variance of the relative landing target velocity in x and y directions</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_ACC_XY/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/420/description</name>
   <message>
-  <source>Accelerometer xy noise density</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_ACC_XY/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/421/description</name>
   <message>
-  <source>Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz) Larger than data sheet to account for tilt error.</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_ACC_Z/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/422/description</name>
   <message>
-  <source>Accelerometer z noise density</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_ACC_Z/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/430/description</name>
   <message>
-  <source>Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz)</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_BAR_Z/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC5/values/440/description</name>
   <message>
-  <source>Barometric presssure altitude z standard deviation</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_EN/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/shortDesc</name>
   <message>
-  <source>Local position estimator enable (unsupported)</source>
+  <source>SIM_GZ Servo 6 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_EN/values/0/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/longDesc</name>
   <message>
-  <source>Disabled</source>
+  <source>Select what should be output on SIM_GZ Servo 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_EN/values/1/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/0/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_EPH_MAX/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/1/description</name>
   <message>
-  <source>Max EPH allowed for GPS initialization</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_EPV_MAX/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/2/description</name>
   <message>
-  <source>Max EPV allowed for GPS initialization</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_FAKE_ORIGIN/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/101/description</name>
   <message>
-  <source>Enable publishing of a fake global position (e.g for AUTO missions using Optical Flow)</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_FAKE_ORIGIN/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/102/description</name>
   <message>
-  <source>By initializing the estimator to the LPE_LAT/LON parameters when global information is unavailable</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_FGYRO_HP/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/103/description</name>
   <message>
-  <source>Flow gyro high pass filter cut off frequency</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_FLW_OFF_Z/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/104/description</name>
   <message>
-  <source>Optical flow z offset from center</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_FLW_QMIN/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/105/description</name>
   <message>
-  <source>Optical flow minimum quality threshold</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_FLW_R/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/106/description</name>
   <message>
-  <source>Optical flow rotation (roll/pitch) noise gain</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_FLW_RR/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/107/description</name>
   <message>
-  <source>Optical flow angular velocity noise gain</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_FLW_SCALE/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/108/description</name>
   <message>
-  <source>Optical flow scale</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_FUSION/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/109/description</name>
   <message>
-  <source>Integer bitmask controlling data fusion</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_FUSION/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/110/description</name>
   <message>
-  <source>Set bits in the following positions to enable: 0 : Set to true to fuse GPS data if available, also requires GPS for altitude init 1 : Set to true to fuse optical flow data if available 2 : Set to true to fuse vision position 3 : Set to true to enable landing target 4 : Set to true to fuse land detector 5 : Set to true to publish AGL as local position down component 6 : Set to true to enable flow gyro compensation 7 : Set to true to enable baro fusion default (145 - GPS, baro, land detector)</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_FUSION/bitmask/0/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/111/description</name>
   <message>
-  <source>fuse GPS, requires GPS for alt. init</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_FUSION/bitmask/1/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/112/description</name>
   <message>
-  <source>fuse optical flow</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_FUSION/bitmask/2/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/201/description</name>
   <message>
-  <source>fuse vision position</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_FUSION/bitmask/3/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/202/description</name>
   <message>
-  <source>fuse landing target</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_FUSION/bitmask/4/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/203/description</name>
   <message>
-  <source>fuse land detector</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_FUSION/bitmask/5/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/204/description</name>
   <message>
-  <source>pub agl as lpos down</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_FUSION/bitmask/6/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/205/description</name>
   <message>
-  <source>flow gyro compensation</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_FUSION/bitmask/7/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/206/description</name>
   <message>
-  <source>fuse baro</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_GPS_DELAY/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/207/description</name>
   <message>
-  <source>GPS delay compensaton</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_GPS_VXY/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/208/description</name>
   <message>
-  <source>GPS xy velocity standard deviation</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_GPS_VXY/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/301/description</name>
   <message>
-  <source>EPV used if greater than this value.</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_GPS_VZ/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/302/description</name>
   <message>
-  <source>GPS z velocity standard deviation</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_GPS_XY/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/303/description</name>
   <message>
-  <source>Minimum GPS xy standard deviation, uses reported EPH if greater</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_GPS_Z/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/304/description</name>
   <message>
-  <source>Minimum GPS z standard deviation, uses reported EPV if greater</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_LAND_VXY/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/305/description</name>
   <message>
-  <source>Land detector xy velocity standard deviation</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_LAND_Z/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/306/description</name>
   <message>
-  <source>Land detector z standard deviation</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_LAT/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/400/description</name>
   <message>
-  <source>Local origin latitude for nav w/o GPS</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_LDR_OFF_Z/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/401/description</name>
   <message>
-  <source>Lidar z offset from center of vehicle +down</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_LDR_Z/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/402/description</name>
   <message>
-  <source>Lidar z standard deviation</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_LON/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/403/description</name>
   <message>
-  <source>Local origin longitude for nav w/o GPS</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_LT_COV/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/404/description</name>
   <message>
-  <source>Minimum landing target standard covariance, uses reported covariance if greater</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_PN_B/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/405/description</name>
   <message>
-  <source>Accel bias propagation noise density</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_PN_P/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/406/description</name>
   <message>
-  <source>Position propagation noise density</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_PN_P/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/407/description</name>
   <message>
-  <source>Increase to trust measurements more. Decrease to trust model more.</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_PN_T/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/408/description</name>
   <message>
-  <source>Terrain random walk noise density, hilly/outdoor (0.1), flat/Indoor (0.001)</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_PN_V/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/409/description</name>
   <message>
-  <source>Velocity propagation noise density</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_PN_V/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/410/description</name>
   <message>
-  <source>Increase to trust measurements more. Decrease to trust model more.</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_SNR_OFF_Z/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/411/description</name>
   <message>
-  <source>Sonar z offset from center of vehicle +down</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_SNR_Z/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/412/description</name>
   <message>
-  <source>Sonar z standard deviation</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_T_MAX_GRADE/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/420/description</name>
   <message>
-  <source>Terrain maximum percent grade, hilly/outdoor (100 = 45 deg), flat/Indoor (0 = 0 deg)</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_T_MAX_GRADE/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/421/description</name>
   <message>
-  <source>Used to calculate increased terrain random walk nosie due to movement.</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_VIC_P/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/422/description</name>
   <message>
-  <source>Vicon position standard deviation</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_VIS_DELAY/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/430/description</name>
   <message>
-  <source>Vision delay compensation</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_VIS_DELAY/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC6/values/440/description</name>
   <message>
-  <source>Set to zero to enable automatic compensation from measurement timestamps</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_VIS_XY/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/shortDesc</name>
   <message>
-  <source>Vision xy standard deviation</source>
+  <source>SIM_GZ Servo 7 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_VIS_Z/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/longDesc</name>
   <message>
-  <source>Vision z standard deviation</source>
+  <source>Select what should be output on SIM_GZ Servo 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_VXY_PUB/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/0/description</name>
   <message>
-  <source>Required velocity xy standard deviation to publish position</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_X_LP/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/1/description</name>
   <message>
-  <source>Cut frequency for state publication</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/LPE_Z_PUB/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/2/description</name>
   <message>
-  <source>Required z standard deviation to publish altitude/ terrain</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_0_BROADCAST/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/101/description</name>
   <message>
-  <source>Broadcast heartbeats on local network for MAVLink instance 0</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_0_BROADCAST/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/102/description</name>
   <message>
-  <source>This allows a ground control station to automatically find the drone on the local network.</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_0_BROADCAST/values/0/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/103/description</name>
   <message>
-  <source>Never broadcast</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_0_BROADCAST/values/1/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/104/description</name>
   <message>
-  <source>Always broadcast</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_0_BROADCAST/values/2/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/105/description</name>
   <message>
-  <source>Only multicast</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_0_FLOW_CTRL/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/106/description</name>
   <message>
-  <source>Enable serial flow control for instance 0</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_0_FLOW_CTRL/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/107/description</name>
   <message>
-  <source>This is used to force flow control on or off for the the mavlink instance. By default it is auto detected. Use when auto detection fails.</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_0_FLOW_CTRL/values/0/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/108/description</name>
   <message>
-  <source>Force off</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_0_FLOW_CTRL/values/1/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/109/description</name>
   <message>
-  <source>Force on</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_0_FLOW_CTRL/values/2/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/110/description</name>
   <message>
-  <source>Auto-detected</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_0_FORWARD/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/111/description</name>
   <message>
-  <source>Enable MAVLink Message forwarding for instance 0</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_0_FORWARD/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/112/description</name>
   <message>
-  <source>If enabled, forward incoming MAVLink messages to other MAVLink ports if the message is either broadcast or the target is not the autopilot. This allows for example a GCS to talk to a camera that is connected to the autopilot via MAVLink (on a different link than the GCS).</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_0_FORWARD/values/0/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/201/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_0_FORWARD/values/1/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/202/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_0_HL_FREQ/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/203/description</name>
   <message>
-  <source>Configures the frequency of HIGH_LATENCY2 stream for instance 0</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_0_HL_FREQ/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/204/description</name>
   <message>
-  <source>Positive real value that configures the transmission frequency of the HIGH_LATENCY2 stream for instance 0, configured in iridium mode. This parameter has no effect if the instance mode is different from iridium.</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_0_MODE/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/205/description</name>
   <message>
-  <source>MAVLink Mode for instance 0</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_0_MODE/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/206/description</name>
   <message>
-  <source>The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_0_MODE/values/0/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/207/description</name>
   <message>
-  <source>Normal</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_0_MODE/values/1/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/208/description</name>
   <message>
-  <source>Custom</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_0_MODE/values/2/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/301/description</name>
   <message>
-  <source>Onboard</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_0_MODE/values/3/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/302/description</name>
   <message>
-  <source>OSD</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_0_MODE/values/4/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/303/description</name>
   <message>
-  <source>Magic</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_0_MODE/values/5/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/304/description</name>
   <message>
-  <source>Config</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_0_MODE/values/7/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/305/description</name>
   <message>
-  <source>Minimal</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_0_MODE/values/8/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/306/description</name>
   <message>
-  <source>External Vision</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_0_MODE/values/10/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/400/description</name>
   <message>
-  <source>Gimbal</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_0_MODE/values/11/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/401/description</name>
   <message>
-  <source>Onboard Low Bandwidth</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_0_MODE/values/12/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/402/description</name>
   <message>
-  <source>uAvionix</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_0_RADIO_CTL/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/403/description</name>
   <message>
-  <source>Enable software throttling of mavlink on instance 0</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_0_RADIO_CTL/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/404/description</name>
   <message>
-  <source>If enabled, MAVLink messages will be throttled according to `txbuf` field reported by radio_status. Requires a radio to send the mavlink message RADIO_STATUS.</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_0_RADIO_CTL/values/0/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/405/description</name>
   <message>
-  <source>Disabled</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_0_RADIO_CTL/values/1/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/406/description</name>
   <message>
-  <source>Enabled</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_0_RATE/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/407/description</name>
   <message>
-  <source>Maximum MAVLink sending rate for instance 0</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_0_RATE/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/408/description</name>
   <message>
-  <source>Configure the maximum sending rate for the MAVLink streams in Bytes/sec. If the configured streams exceed the maximum rate, the sending rate of each stream is automatically decreased. If this is set to 0 a value of half of the theoretical maximum bandwidth is used. This corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on 8N1-configured links).</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_0_REMOTE_PRT/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/409/description</name>
   <message>
-  <source>MAVLink Remote Port for instance 0</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_0_REMOTE_PRT/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/410/description</name>
   <message>
-  <source>If ethernet enabled and selected as configuration for MAVLink instance 0, selected remote port will be set and used in MAVLink instance 0.</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_0_UDP_PRT/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/411/description</name>
   <message>
-  <source>MAVLink Network Port for instance 0</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_0_UDP_PRT/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/412/description</name>
   <message>
-  <source>If ethernet enabled and selected as configuration for MAVLink instance 0, selected udp port will be set and used in MAVLink instance 0.</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_1_BROADCAST/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/420/description</name>
   <message>
-  <source>Broadcast heartbeats on local network for MAVLink instance 1</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_1_BROADCAST/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/421/description</name>
   <message>
-  <source>This allows a ground control station to automatically find the drone on the local network.</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_1_BROADCAST/values/0/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/422/description</name>
   <message>
-  <source>Never broadcast</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_1_BROADCAST/values/1/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/430/description</name>
   <message>
-  <source>Always broadcast</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_1_BROADCAST/values/2/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC7/values/440/description</name>
   <message>
-  <source>Only multicast</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_1_FLOW_CTRL/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/shortDesc</name>
   <message>
-  <source>Enable serial flow control for instance 1</source>
+  <source>SIM_GZ Servo 8 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_1_FLOW_CTRL/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/longDesc</name>
   <message>
-  <source>This is used to force flow control on or off for the the mavlink instance. By default it is auto detected. Use when auto detection fails.</source>
+  <source>Select what should be output on SIM_GZ Servo 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_1_FLOW_CTRL/values/0/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/0/description</name>
   <message>
-  <source>Force off</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_1_FLOW_CTRL/values/1/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/1/description</name>
   <message>
-  <source>Force on</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_1_FLOW_CTRL/values/2/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/2/description</name>
   <message>
-  <source>Auto-detected</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_1_FORWARD/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/101/description</name>
   <message>
-  <source>Enable MAVLink Message forwarding for instance 1</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_1_FORWARD/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/102/description</name>
   <message>
-  <source>If enabled, forward incoming MAVLink messages to other MAVLink ports if the message is either broadcast or the target is not the autopilot. This allows for example a GCS to talk to a camera that is connected to the autopilot via MAVLink (on a different link than the GCS).</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_1_FORWARD/values/0/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/103/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_1_FORWARD/values/1/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/104/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_1_HL_FREQ/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/105/description</name>
   <message>
-  <source>Configures the frequency of HIGH_LATENCY2 stream for instance 1</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_1_HL_FREQ/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/106/description</name>
   <message>
-  <source>Positive real value that configures the transmission frequency of the HIGH_LATENCY2 stream for instance 1, configured in iridium mode. This parameter has no effect if the instance mode is different from iridium.</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_1_MODE/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/107/description</name>
   <message>
-  <source>MAVLink Mode for instance 1</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_1_MODE/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/108/description</name>
   <message>
-  <source>The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_1_MODE/values/0/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/109/description</name>
   <message>
-  <source>Normal</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_1_MODE/values/1/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/110/description</name>
   <message>
-  <source>Custom</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_1_MODE/values/2/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/111/description</name>
   <message>
-  <source>Onboard</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_1_MODE/values/3/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/112/description</name>
   <message>
-  <source>OSD</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_1_MODE/values/4/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/201/description</name>
   <message>
-  <source>Magic</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_1_MODE/values/5/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/202/description</name>
   <message>
-  <source>Config</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_1_MODE/values/7/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/203/description</name>
   <message>
-  <source>Minimal</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_1_MODE/values/8/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/204/description</name>
   <message>
-  <source>External Vision</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_1_MODE/values/10/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/205/description</name>
   <message>
-  <source>Gimbal</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_1_MODE/values/11/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/206/description</name>
   <message>
-  <source>Onboard Low Bandwidth</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_1_MODE/values/12/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/207/description</name>
   <message>
-  <source>uAvionix</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_1_RADIO_CTL/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/208/description</name>
   <message>
-  <source>Enable software throttling of mavlink on instance 1</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_1_RADIO_CTL/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/301/description</name>
   <message>
-  <source>If enabled, MAVLink messages will be throttled according to `txbuf` field reported by radio_status. Requires a radio to send the mavlink message RADIO_STATUS.</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_1_RADIO_CTL/values/0/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/302/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_1_RADIO_CTL/values/1/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/303/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_1_RATE/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/304/description</name>
   <message>
-  <source>Maximum MAVLink sending rate for instance 1</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_1_RATE/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/305/description</name>
   <message>
-  <source>Configure the maximum sending rate for the MAVLink streams in Bytes/sec. If the configured streams exceed the maximum rate, the sending rate of each stream is automatically decreased. If this is set to 0 a value of half of the theoretical maximum bandwidth is used. This corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on 8N1-configured links).</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_1_REMOTE_PRT/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/306/description</name>
   <message>
-  <source>MAVLink Remote Port for instance 1</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_1_REMOTE_PRT/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/400/description</name>
   <message>
-  <source>If ethernet enabled and selected as configuration for MAVLink instance 1, selected remote port will be set and used in MAVLink instance 1.</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_1_UDP_PRT/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/401/description</name>
   <message>
-  <source>MAVLink Network Port for instance 1</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_1_UDP_PRT/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/402/description</name>
   <message>
-  <source>If ethernet enabled and selected as configuration for MAVLink instance 1, selected udp port will be set and used in MAVLink instance 1.</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_2_BROADCAST/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/403/description</name>
   <message>
-  <source>Broadcast heartbeats on local network for MAVLink instance 2</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_2_BROADCAST/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/404/description</name>
   <message>
-  <source>This allows a ground control station to automatically find the drone on the local network.</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_2_BROADCAST/values/0/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/405/description</name>
   <message>
-  <source>Never broadcast</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_2_BROADCAST/values/1/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/406/description</name>
   <message>
-  <source>Always broadcast</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_2_BROADCAST/values/2/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/407/description</name>
   <message>
-  <source>Only multicast</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_2_FLOW_CTRL/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/408/description</name>
   <message>
-  <source>Enable serial flow control for instance 2</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_2_FLOW_CTRL/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/409/description</name>
   <message>
-  <source>This is used to force flow control on or off for the the mavlink instance. By default it is auto detected. Use when auto detection fails.</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_2_FLOW_CTRL/values/0/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/410/description</name>
   <message>
-  <source>Force off</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_2_FLOW_CTRL/values/1/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/411/description</name>
   <message>
-  <source>Force on</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_2_FLOW_CTRL/values/2/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/412/description</name>
   <message>
-  <source>Auto-detected</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_2_FORWARD/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/420/description</name>
   <message>
-  <source>Enable MAVLink Message forwarding for instance 2</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_2_FORWARD/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/421/description</name>
   <message>
-  <source>If enabled, forward incoming MAVLink messages to other MAVLink ports if the message is either broadcast or the target is not the autopilot. This allows for example a GCS to talk to a camera that is connected to the autopilot via MAVLink (on a different link than the GCS).</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_2_FORWARD/values/0/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/422/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_2_FORWARD/values/1/description</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/430/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_2_HL_FREQ/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_FUNC8/values/440/description</name>
   <message>
-  <source>Configures the frequency of HIGH_LATENCY2 stream for instance 2</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_2_HL_FREQ/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_MAX1/shortDesc</name>
   <message>
-  <source>Positive real value that configures the transmission frequency of the HIGH_LATENCY2 stream for instance 2, configured in iridium mode. This parameter has no effect if the instance mode is different from iridium.</source>
+  <source>SIM_GZ Servo 1 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_2_MODE/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_MAX1/longDesc</name>
   <message>
-  <source>MAVLink Mode for instance 2</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_2_MODE/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_MAX2/shortDesc</name>
   <message>
-  <source>The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.</source>
+  <source>SIM_GZ Servo 2 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_2_MODE/values/0/description</name>
+  <name>/parameters/SIM_GZ_SV_MAX2/longDesc</name>
   <message>
-  <source>Normal</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_2_MODE/values/1/description</name>
+  <name>/parameters/SIM_GZ_SV_MAX3/shortDesc</name>
   <message>
-  <source>Custom</source>
+  <source>SIM_GZ Servo 3 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_2_MODE/values/2/description</name>
+  <name>/parameters/SIM_GZ_SV_MAX3/longDesc</name>
   <message>
-  <source>Onboard</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_2_MODE/values/3/description</name>
+  <name>/parameters/SIM_GZ_SV_MAX4/shortDesc</name>
   <message>
-  <source>OSD</source>
+  <source>SIM_GZ Servo 4 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_2_MODE/values/4/description</name>
+  <name>/parameters/SIM_GZ_SV_MAX4/longDesc</name>
   <message>
-  <source>Magic</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_2_MODE/values/5/description</name>
+  <name>/parameters/SIM_GZ_SV_MAX5/shortDesc</name>
   <message>
-  <source>Config</source>
+  <source>SIM_GZ Servo 5 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_2_MODE/values/7/description</name>
+  <name>/parameters/SIM_GZ_SV_MAX5/longDesc</name>
   <message>
-  <source>Minimal</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_2_MODE/values/8/description</name>
+  <name>/parameters/SIM_GZ_SV_MAX6/shortDesc</name>
   <message>
-  <source>External Vision</source>
+  <source>SIM_GZ Servo 6 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_2_MODE/values/10/description</name>
+  <name>/parameters/SIM_GZ_SV_MAX6/longDesc</name>
   <message>
-  <source>Gimbal</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_2_MODE/values/11/description</name>
+  <name>/parameters/SIM_GZ_SV_MAX7/shortDesc</name>
   <message>
-  <source>Onboard Low Bandwidth</source>
+  <source>SIM_GZ Servo 7 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_2_MODE/values/12/description</name>
+  <name>/parameters/SIM_GZ_SV_MAX7/longDesc</name>
   <message>
-  <source>uAvionix</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_2_RADIO_CTL/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_MAX8/shortDesc</name>
   <message>
-  <source>Enable software throttling of mavlink on instance 2</source>
+  <source>SIM_GZ Servo 8 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_2_RADIO_CTL/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_MAX8/longDesc</name>
   <message>
-  <source>If enabled, MAVLink messages will be throttled according to `txbuf` field reported by radio_status. Requires a radio to send the mavlink message RADIO_STATUS.</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_2_RADIO_CTL/values/0/description</name>
+  <name>/parameters/SIM_GZ_SV_MIN1/shortDesc</name>
   <message>
-  <source>Disabled</source>
+  <source>SIM_GZ Servo 1 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_2_RADIO_CTL/values/1/description</name>
+  <name>/parameters/SIM_GZ_SV_MIN1/longDesc</name>
   <message>
-  <source>Enabled</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_2_RATE/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_MIN2/shortDesc</name>
   <message>
-  <source>Maximum MAVLink sending rate for instance 2</source>
+  <source>SIM_GZ Servo 2 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_2_RATE/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_MIN2/longDesc</name>
   <message>
-  <source>Configure the maximum sending rate for the MAVLink streams in Bytes/sec. If the configured streams exceed the maximum rate, the sending rate of each stream is automatically decreased. If this is set to 0 a value of half of the theoretical maximum bandwidth is used. This corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on 8N1-configured links).</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_2_REMOTE_PRT/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_MIN3/shortDesc</name>
   <message>
-  <source>MAVLink Remote Port for instance 2</source>
+  <source>SIM_GZ Servo 3 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_2_REMOTE_PRT/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_MIN3/longDesc</name>
   <message>
-  <source>If ethernet enabled and selected as configuration for MAVLink instance 2, selected remote port will be set and used in MAVLink instance 2.</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_2_UDP_PRT/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_MIN4/shortDesc</name>
   <message>
-  <source>MAVLink Network Port for instance 2</source>
+  <source>SIM_GZ Servo 4 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_2_UDP_PRT/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_MIN4/longDesc</name>
   <message>
-  <source>If ethernet enabled and selected as configuration for MAVLink instance 2, selected udp port will be set and used in MAVLink instance 2.</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_COMP_ID/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_MIN5/shortDesc</name>
   <message>
-  <source>MAVLink component ID</source>
+  <source>SIM_GZ Servo 5 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_FWDEXTSP/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_MIN5/longDesc</name>
   <message>
-  <source>Forward external setpoint messages</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_FWDEXTSP/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_MIN6/shortDesc</name>
   <message>
-  <source>If set to 1 incoming external setpoint messages will be directly forwarded to the controllers if in offboard control mode</source>
+  <source>SIM_GZ Servo 6 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_FWDEXTSP/values/0/description</name>
+  <name>/parameters/SIM_GZ_SV_MIN6/longDesc</name>
   <message>
-  <source>Disabled</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_FWDEXTSP/values/1/description</name>
+  <name>/parameters/SIM_GZ_SV_MIN7/shortDesc</name>
   <message>
-  <source>Enabled</source>
+  <source>SIM_GZ Servo 7 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_HASH_CHK_EN/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_MIN7/longDesc</name>
   <message>
-  <source>Parameter hash check</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_HASH_CHK_EN/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_MIN8/shortDesc</name>
   <message>
-  <source>Disabling the parameter hash check functionality will make the mavlink instance stream parameters continuously.</source>
+  <source>SIM_GZ Servo 8 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_HASH_CHK_EN/values/0/description</name>
+  <name>/parameters/SIM_GZ_SV_MIN8/longDesc</name>
   <message>
-  <source>Disabled</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_HASH_CHK_EN/values/1/description</name>
+  <name>/parameters/SIM_GZ_SV_REV/shortDesc</name>
   <message>
-  <source>Enabled</source>
+  <source>Reverse Output Range for SIM_GZ</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_HB_FORW_EN/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_REV/longDesc</name>
   <message>
-  <source>Heartbeat message forwarding</source>
+  <source>Allows to reverse the output range for each channel. Note: this is only useful for servos.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_HB_FORW_EN/longDesc</name>
+  <name>/parameters/SIM_GZ_SV_REV/bitmask/0/description</name>
   <message>
-  <source>The mavlink heartbeat message will not be forwarded if this parameter is set to 'disabled'. The main reason for disabling heartbeats to be forwarded is because they confuse dronekit.</source>
+  <source>SIM_GZ Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_HB_FORW_EN/values/0/description</name>
+  <name>/parameters/SIM_GZ_SV_REV/bitmask/1/description</name>
   <message>
-  <source>Disabled</source>
+  <source>SIM_GZ Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_HB_FORW_EN/values/1/description</name>
+  <name>/parameters/SIM_GZ_SV_REV/bitmask/2/description</name>
   <message>
-  <source>Enabled</source>
+  <source>SIM_GZ Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_PROTO_VER/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_REV/bitmask/3/description</name>
   <message>
-  <source>MAVLink protocol version</source>
+  <source>SIM_GZ Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_PROTO_VER/values/0/description</name>
+  <name>/parameters/SIM_GZ_SV_REV/bitmask/4/description</name>
   <message>
-  <source>Default to 1, switch to 2 if GCS sends version 2</source>
+  <source>SIM_GZ Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_PROTO_VER/values/1/description</name>
+  <name>/parameters/SIM_GZ_SV_REV/bitmask/5/description</name>
   <message>
-  <source>Always use version 1</source>
+  <source>SIM_GZ Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_PROTO_VER/values/2/description</name>
+  <name>/parameters/SIM_GZ_SV_REV/bitmask/6/description</name>
   <message>
-  <source>Always use version 2</source>
+  <source>SIM_GZ Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_RADIO_TOUT/shortDesc</name>
+  <name>/parameters/SIM_GZ_SV_REV/bitmask/7/description</name>
   <message>
-  <source>Timeout in seconds for the RADIO_STATUS reports coming in</source>
+  <source>SIM_GZ Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_RADIO_TOUT/longDesc</name>
+  <name>/parameters/SIM_GZ_WH_DIS1/shortDesc</name>
   <message>
-  <source>If the connected radio stops reporting RADIO_STATUS for a certain time, a warning is triggered and, if MAV_X_RADIO_CTL is enabled, the software-flow control is reset.</source>
+  <source>SIM_GZ Wheels 1 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_SIK_RADIO_ID/shortDesc</name>
+  <name>/parameters/SIM_GZ_WH_DIS1/longDesc</name>
   <message>
-  <source>MAVLink SiK Radio ID</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_SIK_RADIO_ID/longDesc</name>
+  <name>/parameters/SIM_GZ_WH_DIS2/shortDesc</name>
   <message>
-  <source>When non-zero the MAVLink app will attempt to configure the SiK radio to this ID and re-set the parameter to 0. If the value is negative it will reset the complete radio config to factory defaults. Only applies if this mavlink instance is going through a SiK radio</source>
+  <source>SIM_GZ Wheels 2 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_SYS_ID/shortDesc</name>
+  <name>/parameters/SIM_GZ_WH_DIS2/longDesc</name>
   <message>
-  <source>MAVLink system ID</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_TYPE/shortDesc</name>
+  <name>/parameters/SIM_GZ_WH_FAIL1/shortDesc</name>
   <message>
-  <source>MAVLink airframe type</source>
+  <source>SIM_GZ Wheels 1 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_TYPE/values/0/description</name>
+  <name>/parameters/SIM_GZ_WH_FAIL1/longDesc</name>
   <message>
-  <source>Generic micro air vehicle</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_WH_FUNC1).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_TYPE/values/1/description</name>
+  <name>/parameters/SIM_GZ_WH_FAIL2/shortDesc</name>
   <message>
-  <source>Fixed wing aircraft</source>
+  <source>SIM_GZ Wheels 2 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_TYPE/values/2/description</name>
+  <name>/parameters/SIM_GZ_WH_FAIL2/longDesc</name>
   <message>
-  <source>Quadrotor</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see SIM_GZ_WH_FUNC2).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_TYPE/values/3/description</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/shortDesc</name>
   <message>
-  <source>Coaxial helicopter</source>
+  <source>SIM_GZ Wheels 1 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_TYPE/values/4/description</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/longDesc</name>
   <message>
-  <source>Normal helicopter with tail rotor</source>
+  <source>Select what should be output on SIM_GZ Wheels 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_TYPE/values/7/description</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/0/description</name>
   <message>
-  <source>Airship, controlled</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_TYPE/values/8/description</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/1/description</name>
   <message>
-  <source>Free balloon, uncontrolled</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_TYPE/values/10/description</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/2/description</name>
   <message>
-  <source>Ground rover</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_TYPE/values/11/description</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/101/description</name>
   <message>
-  <source>Surface vessel, boat, ship</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_TYPE/values/12/description</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/102/description</name>
   <message>
-  <source>Submarine</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_TYPE/values/13/description</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/103/description</name>
   <message>
-  <source>Hexarotor</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_TYPE/values/14/description</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/104/description</name>
   <message>
-  <source>Octorotor</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_TYPE/values/15/description</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/105/description</name>
   <message>
-  <source>Tricopter</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_TYPE/values/19/description</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/106/description</name>
   <message>
-  <source>VTOL Two-rotor Tailsitter</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_TYPE/values/20/description</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/107/description</name>
   <message>
-  <source>VTOL Quad-rotor Tailsitter</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_TYPE/values/21/description</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/108/description</name>
   <message>
-  <source>VTOL Tiltrotor</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_TYPE/values/22/description</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/109/description</name>
   <message>
-  <source>VTOL Standard (separate fixed rotors for hover and cruise flight)</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_TYPE/values/23/description</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/110/description</name>
   <message>
-  <source>VTOL Tailsitter</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_USEHILGPS/shortDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/111/description</name>
   <message>
-  <source>Use/Accept HIL GPS message even if not in HIL mode</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_USEHILGPS/longDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/112/description</name>
   <message>
-  <source>If set to 1 incoming HIL GPS messages are parsed.</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_USEHILGPS/values/0/description</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/201/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAV_USEHILGPS/values/1/description</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/202/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MBE_ENABLE/shortDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/203/description</name>
   <message>
-  <source>Enable online mag bias calibration</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MBE_ENABLE/longDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/204/description</name>
   <message>
-  <source>This enables continuous calibration of the magnetometers before takeoff using gyro data.</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MBE_ENABLE/values/0/description</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/205/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MBE_ENABLE/values/1/description</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/206/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MBE_LEARN_GAIN/shortDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/207/description</name>
   <message>
-  <source>Mag bias estimator learning gain</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MBE_LEARN_GAIN/longDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/208/description</name>
   <message>
-  <source>Increase to make the estimator more responsive Decrease to make the estimator more robust to noise</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAN_ARM_GESTURE/shortDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/301/description</name>
   <message>
-  <source>Enable arm/disarm stick gesture</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAN_ARM_GESTURE/longDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/302/description</name>
   <message>
-  <source>This determines if moving the left stick to the lower right arms and to the lower left disarms the vehicle.</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAN_ARM_GESTURE/values/0/description</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/303/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAN_ARM_GESTURE/values/1/description</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/304/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAN_KILL_GEST_T/shortDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/305/description</name>
   <message>
-  <source>Trigger time for kill stick gesture</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MAN_KILL_GEST_T/longDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/306/description</name>
   <message>
-  <source>The timeout for holding the left stick to the lower left and the right stick to the lower right at the same time until the gesture kills the actuators one-way. A negative value disables the feature.</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_GPSF_LT/shortDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/400/description</name>
   <message>
-  <source>GPS failure loiter time</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_GPSF_LT/longDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/401/description</name>
   <message>
-  <source>The time the system should do open loop loiter and wait for GPS recovery before it starts descending. Set to 0 to disable. Roll angle is set to FW_GPSF_R. Does only apply for fixed-wing vehicles or VTOLs with NAV_FORCE_VT set to 0.</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_GPSF_R/shortDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/402/description</name>
   <message>
-  <source>GPS failure fixed roll angle</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/FW_GPSF_R/longDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/403/description</name>
   <message>
-  <source>Roll angle in GPS failure loiter mode.</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MIS_DIST_1WP/shortDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/404/description</name>
   <message>
-  <source>Maximal horizontal distance from Home to first waypoint</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MIS_DIST_1WP/longDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/405/description</name>
   <message>
-  <source>There will be a warning message if the current waypoint is more distant than MIS_DIST_1WP from Home. Has no effect on mission validity. Set a value of zero or less to disable.</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MIS_LND_ABRT_ALT/shortDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/406/description</name>
   <message>
-  <source>Landing abort min altitude</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MIS_LND_ABRT_ALT/longDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/407/description</name>
   <message>
-  <source>Minimum altitude above landing point that the vehicle will climb to after an aborted landing. Then vehicle will loiter in this altitude until further command is received. Only applies to fixed-wing vehicles.</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MIS_MNT_YAW_CTL/shortDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/408/description</name>
   <message>
-  <source>Enable yaw control of the mount. (Only affects multicopters and ROI mission items)</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MIS_MNT_YAW_CTL/longDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/409/description</name>
   <message>
-  <source>If enabled, yaw commands will be sent to the mount and the vehicle will follow its heading towards the flight direction. If disabled, the vehicle will yaw towards the ROI.</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MIS_MNT_YAW_CTL/values/0/description</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/410/description</name>
   <message>
-  <source>Disable</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MIS_MNT_YAW_CTL/values/1/description</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/411/description</name>
   <message>
-  <source>Enable</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MIS_PD_TO/shortDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/412/description</name>
   <message>
-  <source>Timeout for a successful payload deployment acknowledgement</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MIS_TAKEOFF_ALT/shortDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/420/description</name>
   <message>
-  <source>Default take-off altitude</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MIS_TAKEOFF_ALT/longDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/421/description</name>
   <message>
-  <source>This is the relative altitude the system will take off to if not otherwise specified.</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MIS_TKO_LAND_REQ/shortDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/422/description</name>
   <message>
-  <source>Mission takeoff/landing required</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MIS_TKO_LAND_REQ/longDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/430/description</name>
   <message>
-  <source>Specifies if a mission has to contain a takeoff and/or mission landing. Validity of configured takeoffs/landings is checked independently of the setting here.</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MIS_TKO_LAND_REQ/values/0/description</name>
+  <name>/parameters/SIM_GZ_WH_FUNC1/values/440/description</name>
   <message>
-  <source>No requirements</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MIS_TKO_LAND_REQ/values/1/description</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/shortDesc</name>
   <message>
-  <source>Require a takeoff</source>
+  <source>SIM_GZ Wheels 2 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MIS_TKO_LAND_REQ/values/2/description</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/longDesc</name>
   <message>
-  <source>Require a landing</source>
+  <source>Select what should be output on SIM_GZ Wheels 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MIS_TKO_LAND_REQ/values/3/description</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/0/description</name>
   <message>
-  <source>Require a takeoff and a landing</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MIS_TKO_LAND_REQ/values/4/description</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/1/description</name>
   <message>
-  <source>Require both a takeoff and a landing, or neither</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MIS_TKO_LAND_REQ/values/5/description</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/2/description</name>
   <message>
-  <source>Same as previous when landed, in-air require landing only if no valid VTOL approach is present</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MIS_YAW_ERR/shortDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/101/description</name>
   <message>
-  <source>Max yaw error in degrees needed for waypoint heading acceptance</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MIS_YAW_TMT/shortDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/102/description</name>
   <message>
-  <source>Time in seconds we wait on reaching target heading at a waypoint if it is forced</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MIS_YAW_TMT/longDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/103/description</name>
   <message>
-  <source>If set &gt; 0 it will ignore the target heading for normal waypoint acceptance. If the waypoint forces the heading the timeout will matter. For example on VTOL forwards transition. Mainly useful for VTOLs that have less yaw authority and might not reach target yaw in wind. Disabled by default.</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_YAW_MODE/shortDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/104/description</name>
   <message>
-  <source>Heading behavior in autonomous modes</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_YAW_MODE/values/0/description</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/105/description</name>
   <message>
-  <source>towards waypoint</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_YAW_MODE/values/1/description</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/106/description</name>
   <message>
-  <source>towards home</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_YAW_MODE/values/2/description</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/107/description</name>
   <message>
-  <source>away from home</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_YAW_MODE/values/3/description</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/108/description</name>
   <message>
-  <source>along trajectory</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_YAW_MODE/values/4/description</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/109/description</name>
   <message>
-  <source>towards waypoint (yaw first)</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_YAW_MODE/values/5/description</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/110/description</name>
   <message>
-  <source>yaw fixed</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NAV_ACC_RAD/shortDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/111/description</name>
   <message>
-  <source>Acceptance Radius</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NAV_ACC_RAD/longDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/112/description</name>
   <message>
-  <source>Default acceptance radius, overridden by acceptance radius of waypoint if set. For fixed wing the npfg switch distance is used for horizontal acceptance.</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NAV_FORCE_VT/shortDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/201/description</name>
   <message>
-  <source>Force VTOL mode takeoff and land</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NAV_FORCE_VT/values/0/description</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/202/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NAV_FORCE_VT/values/1/description</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/203/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NAV_FW_ALTL_RAD/shortDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/204/description</name>
   <message>
-  <source>FW Altitude Acceptance Radius before a landing</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NAV_FW_ALTL_RAD/longDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/205/description</name>
   <message>
-  <source>Altitude acceptance used for the last waypoint before a fixed-wing landing. This is usually smaller than the standard vertical acceptance because close to the ground higher accuracy is required.</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NAV_FW_ALT_RAD/shortDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/206/description</name>
   <message>
-  <source>FW Altitude Acceptance Radius</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NAV_FW_ALT_RAD/longDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/207/description</name>
   <message>
-  <source>Acceptance radius for fixedwing altitude.</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NAV_LOITER_RAD/shortDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/208/description</name>
   <message>
-  <source>Loiter radius (FW only)</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NAV_LOITER_RAD/longDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/301/description</name>
   <message>
-  <source>Default value of loiter radius in FW mode (e.g. for Loiter mode).</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NAV_MC_ALT_RAD/shortDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/302/description</name>
   <message>
-  <source>MC Altitude Acceptance Radius</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NAV_MC_ALT_RAD/longDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/303/description</name>
   <message>
-  <source>Acceptance radius for multicopter altitude.</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NAV_MIN_GND_DIST/shortDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/304/description</name>
   <message>
-  <source>Minimum height above ground during Mission and RTL</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NAV_MIN_GND_DIST/longDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/305/description</name>
   <message>
-  <source>Minimum height above ground the vehicle is allowed to descend to during Mission and RTL, excluding landing commands. Requires a distance sensor to be set up. Note: only prevents the vehicle from descending further, but does not force it to climb. Set to a negative value to disable.</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NAV_MIN_LTR_ALT/shortDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/306/description</name>
   <message>
-  <source>Minimum Loiter altitude</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NAV_MIN_LTR_ALT/longDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/400/description</name>
   <message>
-  <source>This is the minimum altitude above Home the system will always obey in Loiter (Hold) mode if switched into this mode without specifying an altitude (e.g. through Loiter switch on RC). Doesn't affect Loiters that are part of Missions or that are entered through a reposition setpoint ("Go to"). Set to a negative value to disable.</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NAV_TRAFF_AVOID/shortDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/401/description</name>
   <message>
-  <source>Set traffic avoidance mode</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NAV_TRAFF_AVOID/longDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/402/description</name>
   <message>
-  <source>Enabling this will allow the system to respond to transponder data from e.g. ADSB transponders</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NAV_TRAFF_AVOID/values/0/description</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/403/description</name>
   <message>
-  <source>Disabled</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NAV_TRAFF_AVOID/values/1/description</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/404/description</name>
   <message>
-  <source>Warn only</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NAV_TRAFF_AVOID/values/2/description</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/405/description</name>
   <message>
-  <source>Return mode</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NAV_TRAFF_AVOID/values/3/description</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/406/description</name>
   <message>
-  <source>Land mode</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NAV_TRAFF_AVOID/values/4/description</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/407/description</name>
   <message>
-  <source>Position Hold mode</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NAV_TRAFF_A_HOR/shortDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/408/description</name>
   <message>
-  <source>Set NAV TRAFFIC AVOID horizontal distance</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NAV_TRAFF_A_HOR/longDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/409/description</name>
   <message>
-  <source>Defines a crosstrack horizontal distance</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NAV_TRAFF_A_VER/shortDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/410/description</name>
   <message>
-  <source>Set NAV TRAFFIC AVOID vertical distance</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NAV_TRAFF_COLL_T/shortDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/411/description</name>
   <message>
-  <source>Estimated time until collision</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/NAV_TRAFF_COLL_T/longDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/412/description</name>
   <message>
-  <source>Minimum acceptable time until collsion. Assumes constant speed over 3d distance.</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_AIRMODE/shortDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/420/description</name>
   <message>
-  <source>Multicopter air-mode</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_AIRMODE/longDesc</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/421/description</name>
   <message>
-  <source>The air-mode enables the mixer to increase the total thrust of the multirotor in order to keep attitude and rate control even at low and high throttle. This function should be disabled during tuning as it will help the controller to diverge if the closed-loop is unstable (i.e. the vehicle is not tuned yet). Enabling air-mode for yaw requires the use of an arming switch.</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_AIRMODE/values/0/description</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/422/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_AIRMODE/values/1/description</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/430/description</name>
   <message>
-  <source>Roll/Pitch</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_AIRMODE/values/2/description</name>
+  <name>/parameters/SIM_GZ_WH_FUNC2/values/440/description</name>
   <message>
-  <source>Roll/Pitch/Yaw</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_DO_STAB/shortDesc</name>
+  <name>/parameters/SIM_GZ_WH_MAX1/shortDesc</name>
   <message>
-  <source>Stabilize the mount</source>
+  <source>SIM_GZ Wheels 1 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_DO_STAB/longDesc</name>
+  <name>/parameters/SIM_GZ_WH_MAX1/longDesc</name>
   <message>
-  <source>Set to true for servo gimbal, false for passthrough. This is required for a gimbal which is not capable of stabilizing itself and relies on the IMU's attitude estimation.</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_DO_STAB/values/0/description</name>
+  <name>/parameters/SIM_GZ_WH_MAX2/shortDesc</name>
   <message>
-  <source>Disable</source>
+  <source>SIM_GZ Wheels 2 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_DO_STAB/values/1/description</name>
+  <name>/parameters/SIM_GZ_WH_MAX2/longDesc</name>
   <message>
-  <source>Stabilize all axis</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_DO_STAB/values/2/description</name>
+  <name>/parameters/SIM_GZ_WH_MIN1/shortDesc</name>
   <message>
-  <source>Stabilize yaw for absolute/lock mode.</source>
+  <source>SIM_GZ Wheels 1 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_LND_P_MAX/shortDesc</name>
+  <name>/parameters/SIM_GZ_WH_MIN1/longDesc</name>
   <message>
-  <source>Pitch maximum when landed</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_LND_P_MIN/shortDesc</name>
+  <name>/parameters/SIM_GZ_WH_MIN2/shortDesc</name>
   <message>
-  <source>Pitch minimum when landed</source>
+  <source>SIM_GZ Wheels 2 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_MAN_PITCH/shortDesc</name>
+  <name>/parameters/SIM_GZ_WH_MIN2/longDesc</name>
   <message>
-  <source>Auxiliary channel to control pitch (in AUX input or manual mode)</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_MAN_PITCH/values/0/description</name>
+  <name>/parameters/SIM_GZ_WH_REV/shortDesc</name>
   <message>
-  <source>Disable</source>
+  <source>Reverse Output Range for SIM_GZ</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_MAN_PITCH/values/1/description</name>
+  <name>/parameters/SIM_GZ_WH_REV/longDesc</name>
   <message>
-  <source>AUX1</source>
+  <source>Allows to reverse the output range for each channel. Note: this is only useful for servos.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_MAN_PITCH/values/2/description</name>
+  <name>/parameters/SIM_GZ_WH_REV/bitmask/0/description</name>
   <message>
-  <source>AUX2</source>
+  <source>SIM_GZ Wheels 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_MAN_PITCH/values/3/description</name>
+  <name>/parameters/SIM_GZ_WH_REV/bitmask/1/description</name>
   <message>
-  <source>AUX3</source>
+  <source>SIM_GZ Wheels 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_MAN_PITCH/values/4/description</name>
+  <name>/parameters/TAP_ESC_FUNC1/shortDesc</name>
   <message>
-  <source>AUX4</source>
+  <source>TAP ESC Output ESC 1 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_MAN_PITCH/values/5/description</name>
+  <name>/parameters/TAP_ESC_FUNC1/longDesc</name>
   <message>
-  <source>AUX5</source>
+  <source>Select what should be output on TAP ESC Output ESC 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_MAN_PITCH/values/6/description</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/0/description</name>
   <message>
-  <source>AUX6</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_MAN_ROLL/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/1/description</name>
   <message>
-  <source>Auxiliary channel to control roll (in AUX input or manual mode)</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_MAN_ROLL/values/0/description</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/2/description</name>
   <message>
-  <source>Disable</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_MAN_ROLL/values/1/description</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/101/description</name>
   <message>
-  <source>AUX1</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_MAN_ROLL/values/2/description</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/102/description</name>
   <message>
-  <source>AUX2</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_MAN_ROLL/values/3/description</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/103/description</name>
   <message>
-  <source>AUX3</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_MAN_ROLL/values/4/description</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/104/description</name>
   <message>
-  <source>AUX4</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_MAN_ROLL/values/5/description</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/105/description</name>
   <message>
-  <source>AUX5</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_MAN_ROLL/values/6/description</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/106/description</name>
   <message>
-  <source>AUX6</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_MAN_YAW/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/107/description</name>
   <message>
-  <source>Auxiliary channel to control yaw (in AUX input or manual mode)</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_MAN_YAW/values/0/description</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/108/description</name>
   <message>
-  <source>Disable</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_MAN_YAW/values/1/description</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/109/description</name>
   <message>
-  <source>AUX1</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_MAN_YAW/values/2/description</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/110/description</name>
   <message>
-  <source>AUX2</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_MAN_YAW/values/3/description</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/111/description</name>
   <message>
-  <source>AUX3</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_MAN_YAW/values/4/description</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/112/description</name>
   <message>
-  <source>AUX4</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_MAN_YAW/values/5/description</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/201/description</name>
   <message>
-  <source>AUX5</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_MAN_YAW/values/6/description</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/202/description</name>
   <message>
-  <source>AUX6</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_MAV_COMPID/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/203/description</name>
   <message>
-  <source>Mavlink Component ID of the mount</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_MAV_COMPID/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/204/description</name>
   <message>
-  <source>If MNT_MODE_OUT is MAVLink protocol v2, mount configure/control commands will be sent with this component ID.</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_MAV_SYSID/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/205/description</name>
   <message>
-  <source>Mavlink System ID of the mount</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_MAV_SYSID/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/206/description</name>
   <message>
-  <source>If MNT_MODE_OUT is MAVLink gimbal protocol v1, mount configure/control commands will be sent with this target ID.</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_MODE_IN/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/207/description</name>
   <message>
-  <source>Mount input mode</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_MODE_IN/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/208/description</name>
   <message>
-  <source>This is the protocol used between the ground station and the autopilot. Recommended is Auto, RC only or MAVLink gimbal protocol v2. The rest will be deprecated.</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_MODE_IN/values/-1/description</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/301/description</name>
   <message>
-  <source>DISABLED</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_MODE_IN/values/0/description</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/302/description</name>
   <message>
-  <source>Auto (RC and MAVLink gimbal protocol v2)</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_MODE_IN/values/1/description</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/303/description</name>
   <message>
-  <source>RC</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_MODE_IN/values/2/description</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/304/description</name>
   <message>
-  <source>MAVLINK_ROI (protocol v1, to be deprecated)</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_MODE_IN/values/3/description</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/305/description</name>
   <message>
-  <source>MAVLINK_DO_MOUNT (protocol v1, to be deprecated)</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_MODE_IN/values/4/description</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/306/description</name>
   <message>
-  <source>MAVlink gimbal protocol v2</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_MODE_OUT/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/400/description</name>
   <message>
-  <source>Mount output mode</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_MODE_OUT/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/401/description</name>
   <message>
-  <source>This is the protocol used between the autopilot and a connected gimbal. Recommended is the MAVLink gimbal protocol v2 if the gimbal supports it.</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_MODE_OUT/values/0/description</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/402/description</name>
   <message>
-  <source>AUX</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_MODE_OUT/values/1/description</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/403/description</name>
   <message>
-  <source>MAVLink gimbal protocol v1</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_MODE_OUT/values/2/description</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/404/description</name>
   <message>
-  <source>MAVLink gimbal protocol v2</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_OFF_PITCH/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/405/description</name>
   <message>
-  <source>Offset for pitch channel output in degrees</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_OFF_ROLL/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/406/description</name>
   <message>
-  <source>Offset for roll channel output in degrees</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_OFF_YAW/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/407/description</name>
   <message>
-  <source>Offset for yaw channel output in degrees</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_RANGE_PITCH/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/408/description</name>
   <message>
-  <source>Range of pitch channel output in degrees (only in AUX output mode)</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_RANGE_ROLL/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/409/description</name>
   <message>
-  <source>Range of roll channel output in degrees (only in AUX output mode)</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_RANGE_YAW/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/410/description</name>
   <message>
-  <source>Range of yaw channel output in degrees (only in AUX output mode)</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_RATE_PITCH/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/411/description</name>
   <message>
-  <source>Angular pitch rate for manual input in degrees/second</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_RATE_PITCH/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/412/description</name>
   <message>
-  <source>Full stick input [-1..1] translats to [-pitch rate..pitch rate].</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_RATE_YAW/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/420/description</name>
   <message>
-  <source>Angular yaw rate for manual input in degrees/second</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_RATE_YAW/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/421/description</name>
   <message>
-  <source>Full stick input [-1..1] translats to [-yaw rate..yaw rate].</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_RC_IN_MODE/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/422/description</name>
   <message>
-  <source>Input mode for RC gimbal input</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_RC_IN_MODE/values/0/description</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/430/description</name>
   <message>
-  <source>Angle</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MNT_RC_IN_MODE/values/1/description</name>
+  <name>/parameters/TAP_ESC_FUNC1/values/440/description</name>
   <message>
-  <source>Angular rate</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_ACRO_EXPO/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC2/shortDesc</name>
   <message>
-  <source>Acro mode roll, pitch expo factor</source>
+  <source>TAP ESC Output ESC 2 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_ACRO_EXPO/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC2/longDesc</name>
   <message>
-  <source>Exponential factor for tuning the input curve shape. 0 Purely linear input curve 1 Purely cubic input curve</source>
+  <source>Select what should be output on TAP ESC Output ESC 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_ACRO_EXPO_Y/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/0/description</name>
   <message>
-  <source>Acro mode yaw expo factor</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_ACRO_EXPO_Y/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/1/description</name>
   <message>
-  <source>Exponential factor for tuning the input curve shape. 0 Purely linear input curve 1 Purely cubic input curve</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_ACRO_P_MAX/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/2/description</name>
   <message>
-  <source>Acro mode maximum pitch rate</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_ACRO_P_MAX/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/101/description</name>
   <message>
-  <source>Full stick deflection leads to this rate.</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_ACRO_R_MAX/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/102/description</name>
   <message>
-  <source>Acro mode maximum roll rate</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_ACRO_R_MAX/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/103/description</name>
   <message>
-  <source>Full stick deflection leads to this rate.</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_ACRO_SUPEXPO/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/104/description</name>
   <message>
-  <source>Acro mode roll, pitch super expo factor</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_ACRO_SUPEXPO/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/105/description</name>
   <message>
-  <source>"Superexponential" factor for refining the input curve shape tuned using MC_ACRO_EXPO. 0 Pure Expo function 0.7 reasonable shape enhancement for intuitive stick feel 0.95 very strong bent input curve only near maxima have effect</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_ACRO_SUPEXPOY/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/106/description</name>
   <message>
-  <source>Acro mode yaw super expo factor</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_ACRO_SUPEXPOY/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/107/description</name>
   <message>
-  <source>"Superexponential" factor for refining the input curve shape tuned using MC_ACRO_EXPO_Y. 0 Pure Expo function 0.7 reasonable shape enhancement for intuitive stick feel 0.95 very strong bent input curve only near maxima have effect</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_ACRO_Y_MAX/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/108/description</name>
   <message>
-  <source>Acro mode maximum yaw rate</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_ACRO_Y_MAX/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/109/description</name>
   <message>
-  <source>Full stick deflection leads to this rate.</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_PITCHRATE_MAX/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/110/description</name>
   <message>
-  <source>Max pitch rate</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_PITCHRATE_MAX/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/111/description</name>
   <message>
-  <source>Limit for pitch rate in manual and auto modes (except acro). Has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. This is not only limited by the vehicle's properties, but also by the maximum measurement rate of the gyro.</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_PITCH_P/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/112/description</name>
   <message>
-  <source>Pitch P gain</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_PITCH_P/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/201/description</name>
   <message>
-  <source>Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_ROLLRATE_MAX/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/202/description</name>
   <message>
-  <source>Max roll rate</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_ROLLRATE_MAX/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/203/description</name>
   <message>
-  <source>Limit for roll rate in manual and auto modes (except acro). Has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. This is not only limited by the vehicle's properties, but also by the maximum measurement rate of the gyro.</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_ROLL_P/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/204/description</name>
   <message>
-  <source>Roll P gain</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_ROLL_P/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/205/description</name>
   <message>
-  <source>Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_YAWRATE_MAX/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/206/description</name>
   <message>
-  <source>Max yaw rate</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_YAW_P/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/207/description</name>
   <message>
-  <source>Yaw P gain</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_YAW_P/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/208/description</name>
   <message>
-  <source>Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_YAW_WEIGHT/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/301/description</name>
   <message>
-  <source>Yaw weight</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_YAW_WEIGHT/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/302/description</name>
   <message>
-  <source>A fraction [0,1] deprioritizing yaw compared to roll and pitch in non-linear attitude control. Deprioritizing yaw is necessary because multicopters have much less control authority in yaw compared to the other axes and it makes sense because yaw is not critical for stable hovering or 3D navigation. For yaw control tuning use MC_YAW_P. This ratio has no impact on the yaw gain.</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_YAWRAUTO_ACC/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/303/description</name>
   <message>
-  <source>Maximum yaw acceleration in autonomous modes</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_YAWRAUTO_ACC/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/304/description</name>
   <message>
-  <source>Limits the acceleration of the yaw setpoint to avoid large control output and mixer saturation.</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_YAWRAUTO_MAX/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/305/description</name>
   <message>
-  <source>Maximum yaw rate in autonomous modes</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_YAWRAUTO_MAX/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/306/description</name>
   <message>
-  <source>Limits the rate of change of the yaw setpoint to avoid large control output and mixer saturation.</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CP_DELAY/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/400/description</name>
   <message>
-  <source>Average delay of the range sensor message plus the tracking delay of the position controller in seconds</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CP_DELAY/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/401/description</name>
   <message>
-  <source>Only used in Position mode.</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CP_DIST/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/402/description</name>
   <message>
-  <source>Minimum distance the vehicle should keep to all obstacles</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CP_DIST/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/403/description</name>
   <message>
-  <source>Only used in Position mode. Collision avoidance is disabled by setting this parameter to a negative value</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CP_GO_NO_DATA/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/404/description</name>
   <message>
-  <source>Boolean to allow moving into directions where there is no sensor data (outside FOV)</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CP_GO_NO_DATA/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/405/description</name>
   <message>
-  <source>Only used in Position mode.</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CP_GO_NO_DATA/values/0/description</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/406/description</name>
   <message>
-  <source>Disabled</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CP_GO_NO_DATA/values/1/description</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/407/description</name>
   <message>
-  <source>Enabled</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CP_GUIDE_ANG/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/408/description</name>
   <message>
-  <source>Angle left/right from the commanded setpoint by which the collision prevention algorithm can choose to change the setpoint direction</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CP_GUIDE_ANG/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/409/description</name>
   <message>
-  <source>Only used in Position mode.</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_MAN_TILT_TAU/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/410/description</name>
   <message>
-  <source>Manual tilt input filter time constant</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_MAN_TILT_TAU/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/411/description</name>
   <message>
-  <source>Setting this parameter to 0 disables the filter</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_ACC_DECOUPLE/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/412/description</name>
   <message>
-  <source>Acceleration to tilt coupling</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_ACC_DECOUPLE/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/420/description</name>
   <message>
-  <source>Set to decouple tilt from vertical acceleration. This provides smoother flight but slightly worse tracking in position and auto modes. Unset if accurate position tracking during dynamic maneuvers is more important than a smooth flight.</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_ACC_DECOUPLE/values/0/description</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/421/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_ACC_DECOUPLE/values/1/description</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/422/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_ACC_DOWN_MAX/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/430/description</name>
   <message>
-  <source>Maximum downwards acceleration in climb rate controlled modes</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_ACC_HOR/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC2/values/440/description</name>
   <message>
-  <source>Acceleration for autonomous and for manual modes</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_ACC_HOR/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC3/shortDesc</name>
   <message>
-  <source>When piloting manually, this parameter is only used in MPC_POS_MODE Acceleration based.</source>
+  <source>TAP ESC Output ESC 3 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_ACC_HOR_MAX/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC3/longDesc</name>
   <message>
-  <source>Maximum horizontal acceleration</source>
+  <source>Select what should be output on TAP ESC Output ESC 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_ACC_HOR_MAX/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/0/description</name>
   <message>
-  <source>MPC_POS_MODE 1 just deceleration 3 acceleration and deceleration 4 not used, use MPC_ACC_HOR instead</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_ACC_UP_MAX/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/1/description</name>
   <message>
-  <source>Maximum upwards acceleration in climb rate controlled modes</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_ALT_MODE/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/2/description</name>
   <message>
-  <source>Altitude reference mode</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_ALT_MODE/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/101/description</name>
   <message>
-  <source>Set to 0 to control height relative to the earth frame origin. This origin may move up and down in flight due to sensor drift. Set to 1 to control height relative to estimated distance to ground. The vehicle will move up and down with terrain height variation. Requires a distance to ground sensor. The height controller will revert to using height above origin if the distance to ground estimate becomes invalid as indicated by the local_position.distance_bottom_valid message being false. Set to 2 to control height relative to ground (requires a distance sensor) when stationary and relative to earth frame origin when moving horizontally. The speed threshold is controlled by the MPC_HOLD_MAX_XY parameter.</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_ALT_MODE/values/0/description</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/102/description</name>
   <message>
-  <source>Altitude following</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_ALT_MODE/values/1/description</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/103/description</name>
   <message>
-  <source>Terrain following</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_ALT_MODE/values/2/description</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/104/description</name>
   <message>
-  <source>Terrain hold</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_HOLD_DZ/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/105/description</name>
   <message>
-  <source>Deadzone for sticks in manual piloted modes</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_HOLD_DZ/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/106/description</name>
   <message>
-  <source>Does not apply to manual throttle and direct attitude piloting by stick.</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_HOLD_MAX_XY/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/107/description</name>
   <message>
-  <source>Maximum horizontal velocity for which position hold is enabled (use 0 to disable check)</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_HOLD_MAX_XY/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/108/description</name>
   <message>
-  <source>Only used with MPC_POS_MODE Direct velocity or MPC_ALT_MODE 2</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_HOLD_MAX_Z/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/109/description</name>
   <message>
-  <source>Maximum vertical velocity for which position hold is enabled (use 0 to disable check)</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_HOLD_MAX_Z/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/110/description</name>
   <message>
-  <source>Only used with MPC_ALT_MODE 1</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_JERK_AUTO/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/111/description</name>
   <message>
-  <source>Jerk limit in autonomous modes</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_JERK_AUTO/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/112/description</name>
   <message>
-  <source>Limit the maximum jerk of the vehicle (how fast the acceleration can change). A lower value leads to smoother vehicle motions but also limited agility.</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_JERK_MAX/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/201/description</name>
   <message>
-  <source>Maximum horizontal and vertical jerk in Position/Altitude mode</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_JERK_MAX/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/202/description</name>
   <message>
-  <source>Limit the maximum jerk of the vehicle (how fast the acceleration can change). A lower value leads to smoother motions but limits agility (how fast it can change directions or break). Setting this to the maximum value essentially disables the limit. Only used with smooth MPC_POS_MODE Smoothed velocity and Acceleration based.</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_LAND_ALT1/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/203/description</name>
   <message>
-  <source>Altitude for 1. step of slow landing (descend)</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_LAND_ALT1/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/204/description</name>
   <message>
-  <source>Below this altitude descending velocity gets limited to a value between "MPC_Z_VEL_MAX_DN" (or "MPC_Z_V_AUTO_DN") and "MPC_LAND_SPEED" Value needs to be higher than "MPC_LAND_ALT2"</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_LAND_ALT2/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/205/description</name>
   <message>
-  <source>Altitude for 2. step of slow landing (landing)</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_LAND_ALT2/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/206/description</name>
   <message>
-  <source>Below this altitude descending velocity gets limited to "MPC_LAND_SPEED" Value needs to be lower than "MPC_LAND_ALT1"</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_LAND_ALT3/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/207/description</name>
   <message>
-  <source>Altitude for 3. step of slow landing</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_LAND_ALT3/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/208/description</name>
   <message>
-  <source>Below this altitude descending velocity gets limited to "MPC_LAND_CRWL", if LIDAR available. No effect if LIDAR not available</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_LAND_CRWL/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/301/description</name>
   <message>
-  <source>Land crawl descend rate</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_LAND_CRWL/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/302/description</name>
   <message>
-  <source>Used below MPC_LAND_ALT3 if distance sensor data is availabe.</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_LAND_RADIUS/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/303/description</name>
   <message>
-  <source>User assisted landing radius</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_LAND_RADIUS/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/304/description</name>
   <message>
-  <source>When nudging is enabled (see MPC_LAND_RC_HELP), this controls the maximum allowed horizontal displacement from the original landing point.</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_LAND_RC_HELP/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/305/description</name>
   <message>
-  <source>Enable nudging based on user input during autonomous land routine</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_LAND_RC_HELP/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/306/description</name>
   <message>
-  <source>Using stick input the vehicle can be moved horizontally and yawed. The descend speed is amended: stick full up - 0 stick centered - MPC_LAND_SPEED stick full down - 2 * MPC_LAND_SPEED Manual override during auto modes has to be disabled to use this feature (see COM_RC_OVERRIDE).</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_LAND_RC_HELP/values/0/description</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/400/description</name>
   <message>
-  <source>Nudging disabled</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_LAND_RC_HELP/values/1/description</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/401/description</name>
   <message>
-  <source>Nudging enabled</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_LAND_SPEED/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/402/description</name>
   <message>
-  <source>Landing descend rate</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_MANTHR_MIN/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/403/description</name>
   <message>
-  <source>Minimum collective thrust in Stabilized mode</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_MANTHR_MIN/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/404/description</name>
   <message>
-  <source>The value is mapped to the lowest throttle stick position in Stabilized mode. Too low collective thrust leads to loss of roll/pitch/yaw torque control authority. Airmode is used to keep torque authority with zero thrust (see MC_AIRMODE).</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_MAN_TILT_MAX/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/405/description</name>
   <message>
-  <source>Maximal tilt angle in Stabilized or Altitude mode</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_MAN_Y_MAX/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/406/description</name>
   <message>
-  <source>Max manual yaw rate for Stabilized, Altitude, Position mode</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_MAN_Y_TAU/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/407/description</name>
   <message>
-  <source>Manual yaw rate input filter time constant</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_MAN_Y_TAU/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/408/description</name>
   <message>
-  <source>Not used in Stabilized mode Setting this parameter to 0 disables the filter</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_POS_MODE/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/409/description</name>
   <message>
-  <source>Position/Altitude mode variant</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_POS_MODE/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/410/description</name>
   <message>
-  <source>The supported sub-modes are: - "Direct velocity": Sticks directly map to velocity setpoints without smoothing. Also applies to vertical direction and Altitude mode. Useful for velocity control tuning. - "Smoothed velocity": Sticks map to velocity but with maximum acceleration and jerk limits based on jerk optimized trajectory generator (different algorithm than 1). - "Acceleration based": Sticks map to acceleration and there's a virtual brake drag</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_POS_MODE/values/0/description</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/411/description</name>
   <message>
-  <source>Direct velocity</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_POS_MODE/values/3/description</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/412/description</name>
   <message>
-  <source>Smoothed velocity</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_POS_MODE/values/4/description</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/420/description</name>
   <message>
-  <source>Acceleration based</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_THR_CURVE/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/421/description</name>
   <message>
-  <source>Thrust curve mapping in Stabilized Mode</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_THR_CURVE/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/422/description</name>
   <message>
-  <source>This parameter defines how the throttle stick input is mapped to collective thrust in Stabilized mode. In case the default is used ('Rescale to hover thrust'), the stick input is linearly rescaled, such that a centered stick corresponds to the hover throttle (see MPC_THR_HOVER). Select 'No Rescale' to directly map the stick 1:1 to the output. This can be useful in case the hover thrust is very low and the default would lead to too much distortion (e.g. if hover thrust is set to 20%, then 80% of the upper thrust range is squeezed into the upper half of the stick range). Note: In case MPC_THR_HOVER is set to 50%, the modes 0 and 1 are the same.</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_THR_CURVE/values/0/description</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/430/description</name>
   <message>
-  <source>Rescale to hover thrust</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_THR_CURVE/values/1/description</name>
+  <name>/parameters/TAP_ESC_FUNC3/values/440/description</name>
   <message>
-  <source>No Rescale</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_THR_HOVER/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/shortDesc</name>
   <message>
-  <source>Vertical thrust required to hover</source>
+  <source>TAP ESC Output ESC 4 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_THR_HOVER/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/longDesc</name>
   <message>
-  <source>Mapped to center throttle stick in Stabilized mode (see MPC_THR_CURVE). Used for initialization of the hover thrust estimator (see MPC_USE_HTE). The estimated hover thrust is used as base for zero vertical acceleration in altitude control. The hover thrust is important for land detection to work correctly.</source>
+  <source>Select what should be output on TAP ESC Output ESC 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_THR_MAX/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/0/description</name>
   <message>
-  <source>Maximum collective thrust in climb rate controlled modes</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_THR_MAX/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/1/description</name>
   <message>
-  <source>Limit allowed thrust e.g. for indoor test of overpowered vehicle.</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_THR_MIN/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/2/description</name>
   <message>
-  <source>Minimum collective thrust in climb rate controlled modes</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_THR_MIN/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/101/description</name>
   <message>
-  <source>Too low thrust leads to loss of roll/pitch/yaw torque control authority. With airmode enabled this parameters can be set to 0 while still keeping torque authority (see MC_AIRMODE).</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_THR_XY_MARG/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/102/description</name>
   <message>
-  <source>Horizontal thrust margin</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_THR_XY_MARG/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/103/description</name>
   <message>
-  <source>Margin that is kept for horizontal control when higher priority vertical thrust is saturated. To avoid completely starving horizontal control with high vertical error.</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_TILTMAX_AIR/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/104/description</name>
   <message>
-  <source>Maximum tilt angle in air</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_TILTMAX_AIR/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/105/description</name>
   <message>
-  <source>Absolute maximum for all velocity or acceleration controlled modes. Any higher value is truncated.</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_TILTMAX_LND/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/106/description</name>
   <message>
-  <source>Maximum tilt during inital takeoff ramp</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_TILTMAX_LND/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/107/description</name>
   <message>
-  <source>Tighter tilt limit during takeoff to avoid tip over.</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_TKO_RAMP_T/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/108/description</name>
   <message>
-  <source>Smooth takeoff ramp time constant</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_TKO_RAMP_T/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/109/description</name>
   <message>
-  <source>Increasing this value will make climb rate controlled takeoff slower. If it's too slow the drone might scratch the ground and tip over. A time constant of 0 disables the ramp</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_TKO_SPEED/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/110/description</name>
   <message>
-  <source>Takeoff climb rate</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_USE_HTE/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/111/description</name>
   <message>
-  <source>Hover thrust estimator</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_USE_HTE/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/112/description</name>
   <message>
-  <source>Disable to use the fixed parameter MPC_THR_HOVER Enable to use the hover thrust estimator</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_USE_HTE/values/0/description</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/201/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_USE_HTE/values/1/description</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/202/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_VELD_LP/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/203/description</name>
   <message>
-  <source>Velocity derivative low pass cutoff frequency</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_VELD_LP/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/204/description</name>
   <message>
-  <source>A value of 0 disables the filter.</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_VEL_LP/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/205/description</name>
   <message>
-  <source>Velocity low pass cutoff frequency</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_VEL_LP/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/206/description</name>
   <message>
-  <source>A value of 0 disables the filter.</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_VEL_MANUAL/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/207/description</name>
   <message>
-  <source>Maximum horizontal velocity setpoint in Position mode</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_VEL_MANUAL/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/208/description</name>
   <message>
-  <source>Must be smaller than MPC_XY_VEL_MAX. The maximum sideways and backward speed can be set differently using MPC_VEL_MAN_SIDE and MPC_VEL_MAN_BACK, respectively.</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_VEL_MAN_BACK/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/301/description</name>
   <message>
-  <source>Maximum backward velocity in Position mode</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_VEL_MAN_BACK/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/302/description</name>
   <message>
-  <source>If set to a negative value or larger than MPC_VEL_MANUAL then MPC_VEL_MANUAL is used.</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_VEL_MAN_SIDE/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/303/description</name>
   <message>
-  <source>Maximum sideways velocity in Position mode</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_VEL_MAN_SIDE/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/304/description</name>
   <message>
-  <source>If set to a negative value or larger than MPC_VEL_MANUAL then MPC_VEL_MANUAL is used.</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_VEL_NF_BW/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/305/description</name>
   <message>
-  <source>Velocity notch filter bandwidth</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_VEL_NF_BW/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/306/description</name>
   <message>
-  <source>A value of 0 disables the filter.</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_VEL_NF_FRQ/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/400/description</name>
   <message>
-  <source>Velocity notch filter frequency</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_VEL_NF_FRQ/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/401/description</name>
   <message>
-  <source>The center frequency for the 2nd order notch filter on the velocity. A value of 0 disables the filter.</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_XY_CRUISE/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/402/description</name>
   <message>
-  <source>Default horizontal velocity in autonomous modes</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_XY_CRUISE/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/403/description</name>
   <message>
-  <source>e.g. in Missions, RTL, Goto if the waypoint does not specify differently</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_XY_ERR_MAX/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/404/description</name>
   <message>
-  <source>Maximum horizontal error allowed by the trajectory generator</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_XY_ERR_MAX/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/405/description</name>
   <message>
-  <source>The integration speed of the trajectory setpoint is linearly reduced with the horizontal position tracking error. When the error is above this parameter, the integration of the trajectory is stopped to wait for the drone. This value can be adjusted depending on the tracking capabilities of the vehicle.</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_XY_MAN_EXPO/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/406/description</name>
   <message>
-  <source>Manual position control stick exponential curve sensitivity</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_XY_MAN_EXPO/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/407/description</name>
   <message>
-  <source>The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve 1 Purely cubic input curve</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_XY_P/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/408/description</name>
   <message>
-  <source>Proportional gain for horizontal position error</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_XY_P/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/409/description</name>
   <message>
-  <source>Defined as corrective velocity in m/s per m position error</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_XY_TRAJ_P/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/410/description</name>
   <message>
-  <source>Proportional gain for horizontal trajectory position error</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_XY_VEL_ALL/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/411/description</name>
   <message>
-  <source>Overall Horizontal Velocity Limit</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_XY_VEL_ALL/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/412/description</name>
   <message>
-  <source>If set to a value greater than zero, other parameters are automatically set (such as MPC_XY_VEL_MAX or MPC_VEL_MANUAL). If set to a negative value, the existing individual parameters are used.</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_XY_VEL_D_ACC/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/420/description</name>
   <message>
-  <source>Differential gain for horizontal velocity error</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_XY_VEL_D_ACC/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/421/description</name>
   <message>
-  <source>Defined as corrective acceleration in m/s^2 per m/s^2 velocity derivative</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_XY_VEL_I_ACC/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/422/description</name>
   <message>
-  <source>Integral gain for horizontal velocity error</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_XY_VEL_I_ACC/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/430/description</name>
   <message>
-  <source>Defined as correction acceleration in m/s^2 per m velocity integral Allows to eliminate steady state errors in disturbances like wind.</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_XY_VEL_MAX/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC4/values/440/description</name>
   <message>
-  <source>Maximum horizontal velocity</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_XY_VEL_MAX/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC5/shortDesc</name>
   <message>
-  <source>Absolute maximum for all velocity controlled modes. Any higher value is truncated.</source>
+  <source>TAP ESC Output ESC 5 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_XY_VEL_P_ACC/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC5/longDesc</name>
   <message>
-  <source>Proportional gain for horizontal velocity error</source>
+  <source>Select what should be output on TAP ESC Output ESC 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_XY_VEL_P_ACC/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/0/description</name>
   <message>
-  <source>Defined as corrective acceleration in m/s^2 per m/s velocity error</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_YAW_EXPO/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/1/description</name>
   <message>
-  <source>Manual control stick yaw rotation exponential curve</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_YAW_EXPO/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/2/description</name>
   <message>
-  <source>The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve 1 Purely cubic input curve</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_Z_MAN_EXPO/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/101/description</name>
   <message>
-  <source>Manual control stick vertical exponential curve</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_Z_MAN_EXPO/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/102/description</name>
   <message>
-  <source>The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve 1 Purely cubic input curve</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_Z_P/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/103/description</name>
   <message>
-  <source>Proportional gain for vertical position error</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_Z_P/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/104/description</name>
   <message>
-  <source>Defined as corrective velocity in m/s per m position error</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_Z_VEL_ALL/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/105/description</name>
   <message>
-  <source>Overall Vertical Velocity Limit</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_Z_VEL_ALL/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/106/description</name>
   <message>
-  <source>If set to a value greater than zero, other parameters are automatically set (such as MPC_Z_VEL_MAX_UP or MPC_LAND_SPEED). If set to a negative value, the existing individual parameters are used.</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_Z_VEL_D_ACC/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/107/description</name>
   <message>
-  <source>Differential gain for vertical velocity error</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_Z_VEL_D_ACC/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/108/description</name>
   <message>
-  <source>Defined as corrective acceleration in m/s^2 per m/s^2 velocity derivative</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_Z_VEL_I_ACC/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/109/description</name>
   <message>
-  <source>Integral gain for vertical velocity error</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_Z_VEL_I_ACC/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/110/description</name>
   <message>
-  <source>Defined as corrective acceleration in m/s^2 per m velocity integral</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_Z_VEL_MAX_DN/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/111/description</name>
   <message>
-  <source>Maximum descent velocity</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_Z_VEL_MAX_DN/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/112/description</name>
   <message>
-  <source>Absolute maximum for all climb rate controlled modes. In manually piloted modes full stick deflection commands this velocity. For default autonomous velocity see MPC_Z_V_AUTO_UP</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_Z_VEL_MAX_UP/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/201/description</name>
   <message>
-  <source>Maximum ascent velocity</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_Z_VEL_MAX_UP/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/202/description</name>
   <message>
-  <source>Absolute maximum for all climb rate controlled modes. In manually piloted modes full stick deflection commands this velocity. For default autonomous velocity see MPC_Z_V_AUTO_UP</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_Z_VEL_P_ACC/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/203/description</name>
   <message>
-  <source>Proportional gain for vertical velocity error</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_Z_VEL_P_ACC/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/204/description</name>
   <message>
-  <source>Defined as corrective acceleration in m/s^2 per m/s velocity error</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_Z_V_AUTO_DN/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/205/description</name>
   <message>
-  <source>Descent velocity in autonomous modes</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_Z_V_AUTO_DN/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/206/description</name>
   <message>
-  <source>For manual modes and offboard, see MPC_Z_VEL_MAX_DN</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_Z_V_AUTO_UP/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/207/description</name>
   <message>
-  <source>Ascent velocity in autonomous modes</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MPC_Z_V_AUTO_UP/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/208/description</name>
   <message>
-  <source>For manually controlled modes and offboard see MPC_Z_VEL_MAX_UP</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_VEHICLE_RESP/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/301/description</name>
   <message>
-  <source>Responsiveness</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_VEHICLE_RESP/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/302/description</name>
   <message>
-  <source>Changes the overall responsiveness of the vehicle. The higher the value, the faster the vehicle will react. If set to a value greater than zero, other parameters are automatically set (such as the acceleration or jerk limits). If set to a negative value, the existing individual parameters are used.</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/WV_EN/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/303/description</name>
   <message>
-  <source>Enable weathervane</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/WV_EN/values/0/description</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/304/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/WV_EN/values/1/description</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/305/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/WV_ROLL_MIN/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/306/description</name>
   <message>
-  <source>Minimum roll angle setpoint for weathervane controller to demand a yaw-rate</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/WV_YRATE_MAX/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/400/description</name>
   <message>
-  <source>Maximum yawrate the weathervane controller is allowed to demand</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_SLOW_DEF_HVEL/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/401/description</name>
   <message>
-  <source>Default horizontal velocity limit</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_SLOW_DEF_HVEL/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/402/description</name>
   <message>
-  <source>This value is used in slow mode if no aux channel is mapped and no limit is commanded through MAVLink.</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_SLOW_DEF_VVEL/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/403/description</name>
   <message>
-  <source>Default vertical velocity limit</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_SLOW_DEF_VVEL/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/404/description</name>
   <message>
-  <source>This value is used in slow mode if no aux channel is mapped and no limit is commanded through MAVLink.</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_SLOW_DEF_YAWR/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/405/description</name>
   <message>
-  <source>Default yaw rate limit</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_SLOW_DEF_YAWR/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/406/description</name>
   <message>
-  <source>This value is used in slow mode if no aux channel is mapped and no limit is commanded through MAVLink.</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_SLOW_MAP_HVEL/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/407/description</name>
   <message>
-  <source>Manual input mapped to scale horizontal velocity in position slow mode</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_SLOW_MAP_HVEL/values/0/description</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/408/description</name>
   <message>
-  <source>No rescaling</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_SLOW_MAP_HVEL/values/1/description</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/409/description</name>
   <message>
-  <source>AUX1</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_SLOW_MAP_HVEL/values/2/description</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/410/description</name>
   <message>
-  <source>AUX2</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_SLOW_MAP_HVEL/values/3/description</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/411/description</name>
   <message>
-  <source>AUX3</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_SLOW_MAP_HVEL/values/4/description</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/412/description</name>
   <message>
-  <source>AUX4</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_SLOW_MAP_HVEL/values/5/description</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/420/description</name>
   <message>
-  <source>AUX5</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_SLOW_MAP_HVEL/values/6/description</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/421/description</name>
   <message>
-  <source>AUX6</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_SLOW_MAP_VVEL/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/422/description</name>
   <message>
-  <source>Manual input mapped to scale vertical velocity in position slow mode</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_SLOW_MAP_VVEL/values/0/description</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/430/description</name>
   <message>
-  <source>No rescaling</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_SLOW_MAP_VVEL/values/1/description</name>
+  <name>/parameters/TAP_ESC_FUNC5/values/440/description</name>
   <message>
-  <source>AUX1</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_SLOW_MAP_VVEL/values/2/description</name>
+  <name>/parameters/TAP_ESC_FUNC6/shortDesc</name>
   <message>
-  <source>AUX2</source>
+  <source>TAP ESC Output ESC 6 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_SLOW_MAP_VVEL/values/3/description</name>
+  <name>/parameters/TAP_ESC_FUNC6/longDesc</name>
   <message>
-  <source>AUX3</source>
+  <source>Select what should be output on TAP ESC Output ESC 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_SLOW_MAP_VVEL/values/4/description</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/0/description</name>
   <message>
-  <source>AUX4</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_SLOW_MAP_VVEL/values/5/description</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/1/description</name>
   <message>
-  <source>AUX5</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_SLOW_MAP_VVEL/values/6/description</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/2/description</name>
   <message>
-  <source>AUX6</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_SLOW_MAP_YAWR/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/101/description</name>
   <message>
-  <source>Manual input mapped to scale yaw rate in position slow mode</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_SLOW_MAP_YAWR/values/0/description</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/102/description</name>
   <message>
-  <source>No rescaling</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_SLOW_MAP_YAWR/values/1/description</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/103/description</name>
   <message>
-  <source>AUX1</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_SLOW_MAP_YAWR/values/2/description</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/104/description</name>
   <message>
-  <source>AUX2</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_SLOW_MAP_YAWR/values/3/description</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/105/description</name>
   <message>
-  <source>AUX3</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_SLOW_MAP_YAWR/values/4/description</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/106/description</name>
   <message>
-  <source>AUX4</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_SLOW_MAP_YAWR/values/5/description</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/107/description</name>
   <message>
-  <source>AUX5</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_SLOW_MAP_YAWR/values/6/description</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/108/description</name>
   <message>
-  <source>AUX6</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_SLOW_MIN_HVEL/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/109/description</name>
   <message>
-  <source>Horizontal velocity lower limit</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_SLOW_MIN_HVEL/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/110/description</name>
   <message>
-  <source>The lowest input maps and is clamped to this velocity.</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_SLOW_MIN_VVEL/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/111/description</name>
   <message>
-  <source>Vertical velocity lower limit</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_SLOW_MIN_VVEL/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/112/description</name>
   <message>
-  <source>The lowest input maps and is clamped to this velocity.</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_SLOW_MIN_YAWR/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/201/description</name>
   <message>
-  <source>Yaw rate lower limit</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_SLOW_MIN_YAWR/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/202/description</name>
   <message>
-  <source>The lowest input maps and is clamped to this rate.</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_BAT_SCALE_EN/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/203/description</name>
   <message>
-  <source>Battery power level scaler</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_BAT_SCALE_EN/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/204/description</name>
   <message>
-  <source>This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery. The copter should constantly behave as if it was fully charged with reduced max acceleration at lower battery percentages. i.e. if hover is at 0.5 throttle at 100% battery, it will still be 0.5 at 60% battery.</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_BAT_SCALE_EN/values/0/description</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/205/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_BAT_SCALE_EN/values/1/description</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/206/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_PITCHRATE_D/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/207/description</name>
   <message>
-  <source>Pitch rate D gain</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_PITCHRATE_D/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/208/description</name>
   <message>
-  <source>Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_PITCHRATE_FF/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/301/description</name>
   <message>
-  <source>Pitch rate feedforward</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_PITCHRATE_FF/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/302/description</name>
   <message>
-  <source>Improves tracking performance.</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_PITCHRATE_I/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/303/description</name>
   <message>
-  <source>Pitch rate I gain</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_PITCHRATE_I/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/304/description</name>
   <message>
-  <source>Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset.</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_PITCHRATE_K/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/305/description</name>
   <message>
-  <source>Pitch rate controller gain</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_PITCHRATE_K/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/306/description</name>
   <message>
-  <source>Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_PITCHRATE_K * (MC_PITCHRATE_P * error + MC_PITCHRATE_I * error_integral + MC_PITCHRATE_D * error_derivative) Set MC_PITCHRATE_P=1 to implement a PID in the ideal form. Set MC_PITCHRATE_K=1 to implement a PID in the parallel form.</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_PITCHRATE_P/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/400/description</name>
   <message>
-  <source>Pitch rate P gain</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_PITCHRATE_P/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/401/description</name>
   <message>
-  <source>Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_PR_INT_LIM/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/402/description</name>
   <message>
-  <source>Pitch rate integrator limit</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_PR_INT_LIM/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/403/description</name>
   <message>
-  <source>Pitch rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large pitch moment trim changes.</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_ROLLRATE_D/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/404/description</name>
   <message>
-  <source>Roll rate D gain</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_ROLLRATE_D/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/405/description</name>
   <message>
-  <source>Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_ROLLRATE_FF/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/406/description</name>
   <message>
-  <source>Roll rate feedforward</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_ROLLRATE_FF/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/407/description</name>
   <message>
-  <source>Improves tracking performance.</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_ROLLRATE_I/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/408/description</name>
   <message>
-  <source>Roll rate I gain</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_ROLLRATE_I/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/409/description</name>
   <message>
-  <source>Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset.</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_ROLLRATE_K/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/410/description</name>
   <message>
-  <source>Roll rate controller gain</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_ROLLRATE_K/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/411/description</name>
   <message>
-  <source>Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_ROLLRATE_K * (MC_ROLLRATE_P * error + MC_ROLLRATE_I * error_integral + MC_ROLLRATE_D * error_derivative) Set MC_ROLLRATE_P=1 to implement a PID in the ideal form. Set MC_ROLLRATE_K=1 to implement a PID in the parallel form.</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_ROLLRATE_P/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/412/description</name>
   <message>
-  <source>Roll rate P gain</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_ROLLRATE_P/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/420/description</name>
   <message>
-  <source>Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_RR_INT_LIM/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/421/description</name>
   <message>
-  <source>Roll rate integrator limit</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_RR_INT_LIM/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/422/description</name>
   <message>
-  <source>Roll rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large roll moment trim changes.</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_YAWRATE_D/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/430/description</name>
   <message>
-  <source>Yaw rate D gain</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_YAWRATE_D/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC6/values/440/description</name>
   <message>
-  <source>Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_YAWRATE_FF/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC7/shortDesc</name>
   <message>
-  <source>Yaw rate feedforward</source>
+  <source>TAP ESC Output ESC 7 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_YAWRATE_FF/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC7/longDesc</name>
   <message>
-  <source>Improves tracking performance.</source>
+  <source>Select what should be output on TAP ESC Output ESC 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_YAWRATE_I/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/0/description</name>
   <message>
-  <source>Yaw rate I gain</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_YAWRATE_I/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/1/description</name>
   <message>
-  <source>Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset.</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_YAWRATE_K/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/2/description</name>
   <message>
-  <source>Yaw rate controller gain</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_YAWRATE_K/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/101/description</name>
   <message>
-  <source>Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_YAWRATE_K * (MC_YAWRATE_P * error + MC_YAWRATE_I * error_integral + MC_YAWRATE_D * error_derivative) Set MC_YAWRATE_P=1 to implement a PID in the ideal form. Set MC_YAWRATE_K=1 to implement a PID in the parallel form.</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_YAWRATE_P/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/102/description</name>
   <message>
-  <source>Yaw rate P gain</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_YAWRATE_P/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/103/description</name>
   <message>
-  <source>Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_YR_INT_LIM/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/104/description</name>
   <message>
-  <source>Yaw rate integrator limit</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/MC_YR_INT_LIM/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/105/description</name>
   <message>
-  <source>Yaw rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large yaw moment trim changes.</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/OSD_CH_HEIGHT/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/106/description</name>
   <message>
-  <source>OSD Crosshairs Height</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/OSD_CH_HEIGHT/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/107/description</name>
   <message>
-  <source>Controls the vertical position of the crosshair display. Resolution is limited by OSD to 15 discrete values. Negative values will display the crosshairs below the horizon</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/OSD_DWELL_TIME/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/108/description</name>
   <message>
-  <source>OSD Dwell Time (ms)</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/OSD_DWELL_TIME/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/109/description</name>
   <message>
-  <source>Amount of time in milliseconds to dwell at the beginning of the display, when scrolling.</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/OSD_LOG_LEVEL/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/110/description</name>
   <message>
-  <source>OSD Warning Level</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/OSD_LOG_LEVEL/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/111/description</name>
   <message>
-  <source>Minimum security of log level to display on the OSD.</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/OSD_SCROLL_RATE/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/112/description</name>
   <message>
-  <source>OSD Scroll Rate (ms)</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/OSD_SCROLL_RATE/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/201/description</name>
   <message>
-  <source>Scroll rate in milliseconds for OSD messages longer than available character width. This is lower-bounded by the nominal loop rate of this module.</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/OSD_SYMBOLS/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/202/description</name>
   <message>
-  <source>OSD Symbol Selection</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/OSD_SYMBOLS/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/203/description</name>
   <message>
-  <source>Configure / toggle support display options.</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/OSD_SYMBOLS/bitmask/0/description</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/204/description</name>
   <message>
-  <source>CRAFT_NAME</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/OSD_SYMBOLS/bitmask/1/description</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/205/description</name>
   <message>
-  <source>DISARMED</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/OSD_SYMBOLS/bitmask/2/description</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/206/description</name>
   <message>
-  <source>GPS_LAT</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/OSD_SYMBOLS/bitmask/3/description</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/207/description</name>
   <message>
-  <source>GPS_LON</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/OSD_SYMBOLS/bitmask/4/description</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/208/description</name>
   <message>
-  <source>GPS_SATS</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/OSD_SYMBOLS/bitmask/5/description</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/301/description</name>
   <message>
-  <source>GPS_SPEED</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/OSD_SYMBOLS/bitmask/6/description</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/302/description</name>
   <message>
-  <source>HOME_DIST</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/OSD_SYMBOLS/bitmask/7/description</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/303/description</name>
   <message>
-  <source>HOME_DIR</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/OSD_SYMBOLS/bitmask/8/description</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/304/description</name>
   <message>
-  <source>MAIN_BATT_VOLTAGE</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/OSD_SYMBOLS/bitmask/9/description</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/305/description</name>
   <message>
-  <source>CURRENT_DRAW</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/OSD_SYMBOLS/bitmask/10/description</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/306/description</name>
   <message>
-  <source>MAH_DRAWN</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/OSD_SYMBOLS/bitmask/11/description</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/400/description</name>
   <message>
-  <source>RSSI_VALUE</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/OSD_SYMBOLS/bitmask/12/description</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/401/description</name>
   <message>
-  <source>ALTITUDE</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/OSD_SYMBOLS/bitmask/13/description</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/402/description</name>
   <message>
-  <source>NUMERICAL_VARIO</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/OSD_SYMBOLS/bitmask/14/description</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/403/description</name>
   <message>
-  <source>(unused) FLYMODE</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/OSD_SYMBOLS/bitmask/15/description</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/404/description</name>
   <message>
-  <source>(unused) ESC_TMP</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/OSD_SYMBOLS/bitmask/16/description</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/405/description</name>
   <message>
-  <source>(unused) PITCH_ANGLE</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/OSD_SYMBOLS/bitmask/17/description</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/406/description</name>
   <message>
-  <source>(unused) ROLL_ANGLE</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/OSD_SYMBOLS/bitmask/18/description</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/407/description</name>
   <message>
-  <source>CROSSHAIRS</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/OSD_SYMBOLS/bitmask/19/description</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/408/description</name>
   <message>
-  <source>AVG_CELL_VOLTAGE</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/OSD_SYMBOLS/bitmask/20/description</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/409/description</name>
   <message>
-  <source>(unused) HORIZON_SIDEBARS</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/OSD_SYMBOLS/bitmask/21/description</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/410/description</name>
   <message>
-  <source>POWER</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/THR_MDL_FAC/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/411/description</name>
   <message>
-  <source>Thrust to motor control signal model parameter</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/THR_MDL_FAC/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/412/description</name>
   <message>
-  <source>Parameter used to model the nonlinear relationship between motor control signal (e.g. PWM) and static thrust. The model is: rel_thrust = factor * rel_signal^2 + (1-factor) * rel_signal, where rel_thrust is the normalized thrust between 0 and 1, and rel_signal is the relative motor control signal between 0 and 1.</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PD_GRIPPER_EN/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/420/description</name>
   <message>
-  <source>Enable Gripper actuation in Payload Deliverer</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PD_GRIPPER_EN/values/0/description</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/421/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PD_GRIPPER_EN/values/1/description</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/422/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PD_GRIPPER_TO/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/430/description</name>
   <message>
-  <source>Timeout for successful gripper actuation acknowledgement</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PD_GRIPPER_TO/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC7/values/440/description</name>
   <message>
-  <source>Maximum time Gripper will wait while the successful griper actuation isn't recognised. If the gripper has no feedback sensor, it will simply wait for this time before considering gripper actuation successful and publish a 'VehicleCommandAck' signaling successful gripper action</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PD_GRIPPER_TYPE/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC8/shortDesc</name>
   <message>
-  <source>Type of Gripper (Servo, etc.)</source>
+  <source>TAP ESC Output ESC 8 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PD_GRIPPER_TYPE/values/-1/description</name>
+  <name>/parameters/TAP_ESC_FUNC8/longDesc</name>
   <message>
-  <source>Undefined</source>
+  <source>Select what should be output on TAP ESC Output ESC 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PD_GRIPPER_TYPE/values/0/description</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/0/description</name>
   <message>
-  <source>Servo</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PLD_BTOUT/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/1/description</name>
   <message>
-  <source>Landing Target Timeout</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PLD_BTOUT/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/2/description</name>
   <message>
-  <source>Time after which the landing target is considered lost without any new measurements.</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PLD_FAPPR_ALT/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/101/description</name>
   <message>
-  <source>Final approach altitude</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PLD_FAPPR_ALT/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/102/description</name>
   <message>
-  <source>Allow final approach (without horizontal positioning) if losing landing target closer than this to the ground.</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PLD_HACC_RAD/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/103/description</name>
   <message>
-  <source>Horizontal acceptance radius</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PLD_HACC_RAD/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/104/description</name>
   <message>
-  <source>Start descending if closer above landing target than this.</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PLD_MAX_SRCH/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/105/description</name>
   <message>
-  <source>Maximum number of search attempts</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PLD_MAX_SRCH/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/106/description</name>
   <message>
-  <source>Maximum number of times to search for the landing target if it is lost during the precision landing.</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PLD_SRCH_ALT/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/107/description</name>
   <message>
-  <source>Search altitude</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PLD_SRCH_ALT/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/108/description</name>
   <message>
-  <source>Altitude above home to which to climb when searching for the landing target.</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PLD_SRCH_TOUT/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/109/description</name>
   <message>
-  <source>Search timeout</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PLD_SRCH_TOUT/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/110/description</name>
   <message>
-  <source>Time allowed to search for the landing target before falling back to normal landing.</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PP_LOOKAHD_GAIN/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/111/description</name>
   <message>
-  <source>Tuning parameter for the pure pursuit controller</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PP_LOOKAHD_GAIN/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/112/description</name>
   <message>
-  <source>Lower value -&gt; More aggressive controller (beware overshoot/oscillations)</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PP_LOOKAHD_MAX/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/201/description</name>
   <message>
-  <source>Maximum lookahead distance for the pure pursuit controller</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/PP_LOOKAHD_MIN/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/202/description</name>
   <message>
-  <source>Minimum lookahead distance for the pure pursuit controller</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC10_DZ/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/203/description</name>
   <message>
-  <source>RC channel 10 dead zone</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC10_DZ/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/204/description</name>
   <message>
-  <source>The +- range of this value around the trim value will be considered as zero.</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC10_MAX/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/205/description</name>
   <message>
-  <source>RC channel 10 maximum</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC10_MAX/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/206/description</name>
   <message>
-  <source>Maximum value for this channel.</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC10_MIN/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/207/description</name>
   <message>
-  <source>RC channel 10 minimum</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC10_MIN/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/208/description</name>
   <message>
-  <source>Minimum value for this channel.</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC10_REV/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/301/description</name>
   <message>
-  <source>RC channel 10 reverse</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC10_REV/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/302/description</name>
   <message>
-  <source>Set to -1 to reverse channel.</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC10_REV/values/-1.0/description</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/303/description</name>
   <message>
-  <source>Reverse</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC10_REV/values/1.0/description</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/304/description</name>
   <message>
-  <source>Normal</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC10_TRIM/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/305/description</name>
   <message>
-  <source>RC channel 10 trim</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC10_TRIM/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/306/description</name>
   <message>
-  <source>Mid point value</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC11_DZ/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/400/description</name>
   <message>
-  <source>RC channel 11 dead zone</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC11_DZ/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/401/description</name>
   <message>
-  <source>The +- range of this value around the trim value will be considered as zero.</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC11_MAX/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/402/description</name>
   <message>
-  <source>RC channel 11 maximum</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC11_MAX/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/403/description</name>
   <message>
-  <source>Maximum value for this channel.</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC11_MIN/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/404/description</name>
   <message>
-  <source>RC channel 11 minimum</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC11_MIN/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/405/description</name>
   <message>
-  <source>Minimum value for this channel.</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC11_REV/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/406/description</name>
   <message>
-  <source>RC channel 11 reverse</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC11_REV/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/407/description</name>
   <message>
-  <source>Set to -1 to reverse channel.</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC11_REV/values/-1.0/description</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/408/description</name>
   <message>
-  <source>Reverse</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC11_REV/values/1.0/description</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/409/description</name>
   <message>
-  <source>Normal</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC11_TRIM/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/410/description</name>
   <message>
-  <source>RC channel 11 trim</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC11_TRIM/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/411/description</name>
   <message>
-  <source>Mid point value</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC12_DZ/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/412/description</name>
   <message>
-  <source>RC channel 12 dead zone</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC12_DZ/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/420/description</name>
   <message>
-  <source>The +- range of this value around the trim value will be considered as zero.</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC12_MAX/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/421/description</name>
   <message>
-  <source>RC channel 12 maximum</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC12_MAX/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/422/description</name>
   <message>
-  <source>Maximum value for this channel.</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC12_MIN/shortDesc</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/430/description</name>
   <message>
-  <source>RC channel 12 minimum</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC12_MIN/longDesc</name>
+  <name>/parameters/TAP_ESC_FUNC8/values/440/description</name>
   <message>
-  <source>Minimum value for this channel.</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC12_REV/shortDesc</name>
+  <name>/parameters/TAP_ESC_REV/shortDesc</name>
   <message>
-  <source>RC channel 12 reverse</source>
+  <source>Reverse Output Range for TAP ESC Output</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC12_REV/longDesc</name>
+  <name>/parameters/TAP_ESC_REV/longDesc</name>
   <message>
-  <source>Set to -1 to reverse channel.</source>
+  <source>Allows to reverse the output range for each channel. Note: this is only useful for servos.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC12_REV/values/-1.0/description</name>
+  <name>/parameters/TAP_ESC_REV/bitmask/0/description</name>
   <message>
-  <source>Reverse</source>
+  <source>TAP ESC Output ESC 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC12_REV/values/1.0/description</name>
+  <name>/parameters/TAP_ESC_REV/bitmask/1/description</name>
   <message>
-  <source>Normal</source>
+  <source>TAP ESC Output ESC 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC12_TRIM/shortDesc</name>
+  <name>/parameters/TAP_ESC_REV/bitmask/2/description</name>
   <message>
-  <source>RC channel 12 trim</source>
+  <source>TAP ESC Output ESC 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC12_TRIM/longDesc</name>
+  <name>/parameters/TAP_ESC_REV/bitmask/3/description</name>
   <message>
-  <source>Mid point value</source>
+  <source>TAP ESC Output ESC 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC13_DZ/shortDesc</name>
+  <name>/parameters/TAP_ESC_REV/bitmask/4/description</name>
   <message>
-  <source>RC channel 13 dead zone</source>
+  <source>TAP ESC Output ESC 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC13_DZ/longDesc</name>
+  <name>/parameters/TAP_ESC_REV/bitmask/5/description</name>
   <message>
-  <source>The +- range of this value around the trim value will be considered as zero.</source>
+  <source>TAP ESC Output ESC 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC13_MAX/shortDesc</name>
+  <name>/parameters/TAP_ESC_REV/bitmask/6/description</name>
   <message>
-  <source>RC channel 13 maximum</source>
+  <source>TAP ESC Output ESC 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC13_MAX/longDesc</name>
+  <name>/parameters/TAP_ESC_REV/bitmask/7/description</name>
   <message>
-  <source>Maximum value for this channel.</source>
+  <source>TAP ESC Output ESC 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC13_MIN/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FAIL1/shortDesc</name>
   <message>
-  <source>RC channel 13 minimum</source>
+  <source>UAVCAN ESC 1 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC13_MIN/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FAIL1/longDesc</name>
   <message>
-  <source>Minimum value for this channel.</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_EC_FUNC1).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC13_REV/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FAIL2/shortDesc</name>
   <message>
-  <source>RC channel 13 reverse</source>
+  <source>UAVCAN ESC 2 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC13_REV/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FAIL2/longDesc</name>
   <message>
-  <source>Set to -1 to reverse channel.</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_EC_FUNC2).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC13_REV/values/-1.0/description</name>
+  <name>/parameters/UAVCAN_EC_FAIL3/shortDesc</name>
   <message>
-  <source>Reverse</source>
+  <source>UAVCAN ESC 3 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC13_REV/values/1.0/description</name>
+  <name>/parameters/UAVCAN_EC_FAIL3/longDesc</name>
   <message>
-  <source>Normal</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_EC_FUNC3).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC13_TRIM/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FAIL4/shortDesc</name>
   <message>
-  <source>RC channel 13 trim</source>
+  <source>UAVCAN ESC 4 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC13_TRIM/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FAIL4/longDesc</name>
   <message>
-  <source>Mid point value</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_EC_FUNC4).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC14_DZ/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FAIL5/shortDesc</name>
   <message>
-  <source>RC channel 14 dead zone</source>
+  <source>UAVCAN ESC 5 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC14_DZ/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FAIL5/longDesc</name>
   <message>
-  <source>The +- range of this value around the trim value will be considered as zero.</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_EC_FUNC5).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC14_MAX/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FAIL6/shortDesc</name>
   <message>
-  <source>RC channel 14 maximum</source>
+  <source>UAVCAN ESC 6 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC14_MAX/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FAIL6/longDesc</name>
   <message>
-  <source>Maximum value for this channel.</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_EC_FUNC6).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC14_MIN/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FAIL7/shortDesc</name>
   <message>
-  <source>RC channel 14 minimum</source>
+  <source>UAVCAN ESC 7 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC14_MIN/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FAIL7/longDesc</name>
   <message>
-  <source>Minimum value for this channel.</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_EC_FUNC7).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC14_REV/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FAIL8/shortDesc</name>
   <message>
-  <source>RC channel 14 reverse</source>
+  <source>UAVCAN ESC 8 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC14_REV/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FAIL8/longDesc</name>
   <message>
-  <source>Set to -1 to reverse channel.</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_EC_FUNC8).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC14_REV/values/-1.0/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/shortDesc</name>
   <message>
-  <source>Reverse</source>
+  <source>UAVCAN ESC 1 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC14_REV/values/1.0/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/longDesc</name>
   <message>
-  <source>Normal</source>
+  <source>Select what should be output on UAVCAN ESC 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC14_TRIM/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/0/description</name>
   <message>
-  <source>RC channel 14 trim</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC14_TRIM/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/1/description</name>
   <message>
-  <source>Mid point value</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC15_DZ/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/2/description</name>
   <message>
-  <source>RC channel 15 dead zone</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC15_DZ/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/101/description</name>
   <message>
-  <source>The +- range of this value around the trim value will be considered as zero.</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC15_MAX/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/102/description</name>
   <message>
-  <source>RC channel 15 maximum</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC15_MAX/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/103/description</name>
   <message>
-  <source>Maximum value for this channel.</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC15_MIN/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/104/description</name>
   <message>
-  <source>RC channel 15 minimum</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC15_MIN/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/105/description</name>
   <message>
-  <source>Minimum value for this channel.</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC15_REV/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/106/description</name>
   <message>
-  <source>RC channel 15 reverse</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC15_REV/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/107/description</name>
   <message>
-  <source>Set to -1 to reverse channel.</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC15_REV/values/-1.0/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/108/description</name>
   <message>
-  <source>Reverse</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC15_REV/values/1.0/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/109/description</name>
   <message>
-  <source>Normal</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC15_TRIM/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/110/description</name>
   <message>
-  <source>RC channel 15 trim</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC15_TRIM/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/111/description</name>
   <message>
-  <source>Mid point value</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC16_DZ/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/112/description</name>
   <message>
-  <source>RC channel 16 dead zone</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC16_DZ/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/201/description</name>
   <message>
-  <source>The +- range of this value around the trim value will be considered as zero.</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC16_MAX/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/202/description</name>
   <message>
-  <source>RC channel 16 maximum</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC16_MAX/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/203/description</name>
   <message>
-  <source>Maximum value for this channel.</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC16_MIN/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/204/description</name>
   <message>
-  <source>RC channel 16 minimum</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC16_MIN/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/205/description</name>
   <message>
-  <source>Minimum value for this channel.</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC16_REV/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/206/description</name>
   <message>
-  <source>RC channel 16 reverse</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC16_REV/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/207/description</name>
   <message>
-  <source>Set to -1 to reverse channel.</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC16_REV/values/-1.0/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/208/description</name>
   <message>
-  <source>Reverse</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC16_REV/values/1.0/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/301/description</name>
   <message>
-  <source>Normal</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC16_TRIM/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/302/description</name>
   <message>
-  <source>RC channel 16 trim</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC16_TRIM/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/303/description</name>
   <message>
-  <source>Mid point value</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC17_DZ/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/304/description</name>
   <message>
-  <source>RC channel 17 dead zone</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC17_DZ/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/305/description</name>
   <message>
-  <source>The +- range of this value around the trim value will be considered as zero.</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC17_MAX/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/306/description</name>
   <message>
-  <source>RC channel 17 maximum</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC17_MAX/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/400/description</name>
   <message>
-  <source>Maximum value for this channel.</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC17_MIN/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/401/description</name>
   <message>
-  <source>RC channel 17 minimum</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC17_MIN/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/402/description</name>
   <message>
-  <source>Minimum value for this channel.</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC17_REV/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/403/description</name>
   <message>
-  <source>RC channel 17 reverse</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC17_REV/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/404/description</name>
   <message>
-  <source>Set to -1 to reverse channel.</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC17_REV/values/-1.0/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/405/description</name>
   <message>
-  <source>Reverse</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC17_REV/values/1.0/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/406/description</name>
   <message>
-  <source>Normal</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC17_TRIM/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/407/description</name>
   <message>
-  <source>RC channel 17 trim</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC17_TRIM/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/408/description</name>
   <message>
-  <source>Mid point value</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC18_DZ/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/409/description</name>
   <message>
-  <source>RC channel 18 dead zone</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC18_DZ/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/410/description</name>
   <message>
-  <source>The +- range of this value around the trim value will be considered as zero.</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC18_MAX/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/411/description</name>
   <message>
-  <source>RC channel 18 maximum</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC18_MAX/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/412/description</name>
   <message>
-  <source>Maximum value for this channel.</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC18_MIN/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/420/description</name>
   <message>
-  <source>RC channel 18 minimum</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC18_MIN/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/421/description</name>
   <message>
-  <source>Minimum value for this channel.</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC18_REV/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/422/description</name>
   <message>
-  <source>RC channel 18 reverse</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC18_REV/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/430/description</name>
   <message>
-  <source>Set to -1 to reverse channel.</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC18_REV/values/-1.0/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC1/values/440/description</name>
   <message>
-  <source>Reverse</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC18_REV/values/1.0/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/shortDesc</name>
   <message>
-  <source>Normal</source>
+  <source>UAVCAN ESC 2 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC18_TRIM/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/longDesc</name>
   <message>
-  <source>RC channel 18 trim</source>
+  <source>Select what should be output on UAVCAN ESC 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC18_TRIM/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/0/description</name>
   <message>
-  <source>Mid point value</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC1_DZ/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/1/description</name>
   <message>
-  <source>RC channel 1 dead zone</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC1_DZ/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/2/description</name>
   <message>
-  <source>The +- range of this value around the trim value will be considered as zero.</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC1_MAX/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/101/description</name>
   <message>
-  <source>RC channel 1 maximum</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC1_MAX/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/102/description</name>
   <message>
-  <source>Maximum value for RC channel 1</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC1_MIN/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/103/description</name>
   <message>
-  <source>RC channel 1 minimum</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC1_MIN/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/104/description</name>
   <message>
-  <source>Minimum value for RC channel 1</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC1_REV/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/105/description</name>
   <message>
-  <source>RC channel 1 reverse</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC1_REV/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/106/description</name>
   <message>
-  <source>Set to -1 to reverse channel.</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC1_REV/values/-1.0/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/107/description</name>
   <message>
-  <source>Reverse</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC1_REV/values/1.0/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/108/description</name>
   <message>
-  <source>Normal</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC1_TRIM/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/109/description</name>
   <message>
-  <source>RC channel 1 trim</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC1_TRIM/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/110/description</name>
   <message>
-  <source>Mid point value</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC2_DZ/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/111/description</name>
   <message>
-  <source>RC channel 2 dead zone</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC2_DZ/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/112/description</name>
   <message>
-  <source>The +- range of this value around the trim value will be considered as zero.</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC2_MAX/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/201/description</name>
   <message>
-  <source>RC channel 2 maximum</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC2_MAX/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/202/description</name>
   <message>
-  <source>Maximum value for this channel.</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC2_MIN/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/203/description</name>
   <message>
-  <source>RC channel 2 minimum</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC2_MIN/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/204/description</name>
   <message>
-  <source>Minimum value for this channel.</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC2_REV/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/205/description</name>
   <message>
-  <source>RC channel 2 reverse</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC2_REV/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/206/description</name>
   <message>
-  <source>Set to -1 to reverse channel.</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC2_REV/values/-1.0/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/207/description</name>
   <message>
-  <source>Reverse</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC2_REV/values/1.0/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/208/description</name>
   <message>
-  <source>Normal</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC2_TRIM/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/301/description</name>
   <message>
-  <source>RC channel 2 trim</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC2_TRIM/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/302/description</name>
   <message>
-  <source>Mid point value</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC3_DZ/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/303/description</name>
   <message>
-  <source>RC channel 3 dead zone</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC3_DZ/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/304/description</name>
   <message>
-  <source>The +- range of this value around the trim value will be considered as zero.</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC3_MAX/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/305/description</name>
   <message>
-  <source>RC channel 3 maximum</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC3_MAX/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/306/description</name>
   <message>
-  <source>Maximum value for this channel.</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC3_MIN/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/400/description</name>
   <message>
-  <source>RC channel 3 minimum</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC3_MIN/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/401/description</name>
   <message>
-  <source>Minimum value for this channel.</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC3_REV/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/402/description</name>
   <message>
-  <source>RC channel 3 reverse</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC3_REV/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/403/description</name>
   <message>
-  <source>Set to -1 to reverse channel.</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC3_REV/values/-1.0/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/404/description</name>
   <message>
-  <source>Reverse</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC3_REV/values/1.0/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/405/description</name>
   <message>
-  <source>Normal</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC3_TRIM/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/406/description</name>
   <message>
-  <source>RC channel 3 trim</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC3_TRIM/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/407/description</name>
   <message>
-  <source>Mid point value</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC4_DZ/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/408/description</name>
   <message>
-  <source>RC channel 4 dead zone</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC4_DZ/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/409/description</name>
   <message>
-  <source>The +- range of this value around the trim value will be considered as zero.</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC4_MAX/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/410/description</name>
   <message>
-  <source>RC channel 4 maximum</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC4_MAX/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/411/description</name>
   <message>
-  <source>Maximum value for this channel.</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC4_MIN/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/412/description</name>
   <message>
-  <source>RC channel 4 minimum</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC4_MIN/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/420/description</name>
   <message>
-  <source>Minimum value for this channel.</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC4_REV/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/421/description</name>
   <message>
-  <source>RC channel 4 reverse</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC4_REV/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/422/description</name>
   <message>
-  <source>Set to -1 to reverse channel.</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC4_REV/values/-1.0/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/430/description</name>
   <message>
-  <source>Reverse</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC4_REV/values/1.0/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC2/values/440/description</name>
   <message>
-  <source>Normal</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC4_TRIM/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/shortDesc</name>
   <message>
-  <source>RC channel 4 trim</source>
+  <source>UAVCAN ESC 3 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC4_TRIM/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/longDesc</name>
   <message>
-  <source>Mid point value</source>
+  <source>Select what should be output on UAVCAN ESC 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC5_DZ/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/0/description</name>
   <message>
-  <source>RC channel 5 dead zone</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC5_DZ/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/1/description</name>
   <message>
-  <source>The +- range of this value around the trim value will be considered as zero.</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC5_MAX/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/2/description</name>
   <message>
-  <source>RC channel 5 maximum</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC5_MAX/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/101/description</name>
   <message>
-  <source>Maximum value for this channel.</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC5_MIN/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/102/description</name>
   <message>
-  <source>RC channel 5 minimum</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC5_MIN/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/103/description</name>
   <message>
-  <source>Minimum value for this channel.</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC5_REV/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/104/description</name>
   <message>
-  <source>RC channel 5 reverse</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC5_REV/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/105/description</name>
   <message>
-  <source>Set to -1 to reverse channel.</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC5_REV/values/-1.0/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/106/description</name>
   <message>
-  <source>Reverse</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC5_REV/values/1.0/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/107/description</name>
   <message>
-  <source>Normal</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC5_TRIM/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/108/description</name>
   <message>
-  <source>RC channel 5 trim</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC5_TRIM/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/109/description</name>
   <message>
-  <source>Mid point value</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC6_DZ/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/110/description</name>
   <message>
-  <source>RC channel 6 dead zone</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC6_DZ/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/111/description</name>
   <message>
-  <source>The +- range of this value around the trim value will be considered as zero.</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC6_MAX/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/112/description</name>
   <message>
-  <source>RC channel 6 maximum</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC6_MAX/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/201/description</name>
   <message>
-  <source>Maximum value for this channel.</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC6_MIN/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/202/description</name>
   <message>
-  <source>RC channel 6 minimum</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC6_MIN/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/203/description</name>
   <message>
-  <source>Minimum value for this channel.</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC6_REV/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/204/description</name>
   <message>
-  <source>RC channel 6 reverse</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC6_REV/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/205/description</name>
   <message>
-  <source>Set to -1 to reverse channel.</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC6_REV/values/-1.0/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/206/description</name>
   <message>
-  <source>Reverse</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC6_REV/values/1.0/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/207/description</name>
   <message>
-  <source>Normal</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC6_TRIM/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/208/description</name>
   <message>
-  <source>RC channel 6 trim</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC6_TRIM/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/301/description</name>
   <message>
-  <source>Mid point value</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC7_DZ/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/302/description</name>
   <message>
-  <source>RC channel 7 dead zone</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC7_DZ/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/303/description</name>
   <message>
-  <source>The +- range of this value around the trim value will be considered as zero.</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC7_MAX/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/304/description</name>
   <message>
-  <source>RC channel 7 maximum</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC7_MAX/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/305/description</name>
   <message>
-  <source>Maximum value for this channel.</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC7_MIN/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/306/description</name>
   <message>
-  <source>RC channel 7 minimum</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC7_MIN/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/400/description</name>
   <message>
-  <source>Minimum value for this channel.</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC7_REV/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/401/description</name>
   <message>
-  <source>RC channel 7 reverse</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC7_REV/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/402/description</name>
   <message>
-  <source>Set to -1 to reverse channel.</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC7_REV/values/-1.0/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/403/description</name>
   <message>
-  <source>Reverse</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC7_REV/values/1.0/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/404/description</name>
   <message>
-  <source>Normal</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC7_TRIM/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/405/description</name>
   <message>
-  <source>RC channel 7 trim</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC7_TRIM/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/406/description</name>
   <message>
-  <source>Mid point value</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC8_DZ/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/407/description</name>
   <message>
-  <source>RC channel 8 dead zone</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC8_DZ/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/408/description</name>
   <message>
-  <source>The +- range of this value around the trim value will be considered as zero.</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC8_MAX/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/409/description</name>
   <message>
-  <source>RC channel 8 maximum</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC8_MAX/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/410/description</name>
   <message>
-  <source>Maximum value for this channel.</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC8_MIN/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/411/description</name>
   <message>
-  <source>RC channel 8 minimum</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC8_MIN/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/412/description</name>
   <message>
-  <source>Minimum value for this channel.</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC8_REV/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/420/description</name>
   <message>
-  <source>RC channel 8 reverse</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC8_REV/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/421/description</name>
   <message>
-  <source>Set to -1 to reverse channel.</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC8_REV/values/-1.0/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/422/description</name>
   <message>
-  <source>Reverse</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC8_REV/values/1.0/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/430/description</name>
   <message>
-  <source>Normal</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC8_TRIM/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC3/values/440/description</name>
   <message>
-  <source>RC channel 8 trim</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC8_TRIM/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/shortDesc</name>
   <message>
-  <source>Mid point value</source>
+  <source>UAVCAN ESC 4 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC9_DZ/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/longDesc</name>
   <message>
-  <source>RC channel 9 dead zone</source>
+  <source>Select what should be output on UAVCAN ESC 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC9_DZ/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/0/description</name>
   <message>
-  <source>The +- range of this value around the trim value will be considered as zero.</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC9_MAX/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/1/description</name>
   <message>
-  <source>RC channel 9 maximum</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC9_MAX/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/2/description</name>
   <message>
-  <source>Maximum value for this channel.</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC9_MIN/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/101/description</name>
   <message>
-  <source>RC channel 9 minimum</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC9_MIN/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/102/description</name>
   <message>
-  <source>Minimum value for this channel.</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC9_REV/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/103/description</name>
   <message>
-  <source>RC channel 9 reverse</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC9_REV/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/104/description</name>
   <message>
-  <source>Set to -1 to reverse channel.</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC9_REV/values/-1.0/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/105/description</name>
   <message>
-  <source>Reverse</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC9_REV/values/1.0/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/106/description</name>
   <message>
-  <source>Normal</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC9_TRIM/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/107/description</name>
   <message>
-  <source>RC channel 9 trim</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC9_TRIM/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/108/description</name>
   <message>
-  <source>Mid point value</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_CHAN_CNT/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/109/description</name>
   <message>
-  <source>RC channel count</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_CHAN_CNT/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/110/description</name>
   <message>
-  <source>This parameter is used by Ground Station software to save the number of channels which were used during RC calibration. It is only meant for ground station use.</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_FAILS_THR/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/111/description</name>
   <message>
-  <source>Failsafe channel PWM threshold</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_FAILS_THR/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/112/description</name>
   <message>
-  <source>Use RC_MAP_FAILSAFE to specify which channel is used to indicate RC loss via this threshold. By default this is the throttle channel. Set to a PWM value slightly above the PWM value for the channel (e.g. throttle) in a failsafe event, but below the minimum PWM value for the channel during normal operation. Note: The default value of 0 disables the feature (it is below the expected range).</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX1/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/201/description</name>
   <message>
-  <source>AUX1 Passthrough RC channel</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX1/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/202/description</name>
   <message>
-  <source>Default function: Camera pitch</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX1/values/0/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/203/description</name>
   <message>
-  <source>Unassigned</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX1/values/1/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/204/description</name>
   <message>
-  <source>Channel 1</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX1/values/2/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/205/description</name>
   <message>
-  <source>Channel 2</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX1/values/3/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/206/description</name>
   <message>
-  <source>Channel 3</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX1/values/4/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/207/description</name>
   <message>
-  <source>Channel 4</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX1/values/5/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/208/description</name>
   <message>
-  <source>Channel 5</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX1/values/6/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/301/description</name>
   <message>
-  <source>Channel 6</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX1/values/7/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/302/description</name>
   <message>
-  <source>Channel 7</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX1/values/8/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/303/description</name>
   <message>
-  <source>Channel 8</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX1/values/9/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/304/description</name>
   <message>
-  <source>Channel 9</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX1/values/10/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/305/description</name>
   <message>
-  <source>Channel 10</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX1/values/11/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/306/description</name>
   <message>
-  <source>Channel 11</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX1/values/12/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/400/description</name>
   <message>
-  <source>Channel 12</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX1/values/13/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/401/description</name>
   <message>
-  <source>Channel 13</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX1/values/14/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/402/description</name>
   <message>
-  <source>Channel 14</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX1/values/15/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/403/description</name>
   <message>
-  <source>Channel 15</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX1/values/16/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/404/description</name>
   <message>
-  <source>Channel 16</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX1/values/17/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/405/description</name>
   <message>
-  <source>Channel 17</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX1/values/18/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/406/description</name>
   <message>
-  <source>Channel 18</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX2/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/407/description</name>
   <message>
-  <source>AUX2 Passthrough RC channel</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX2/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/408/description</name>
   <message>
-  <source>Default function: Camera roll</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX2/values/0/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/409/description</name>
   <message>
-  <source>Unassigned</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX2/values/1/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/410/description</name>
   <message>
-  <source>Channel 1</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX2/values/2/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/411/description</name>
   <message>
-  <source>Channel 2</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX2/values/3/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/412/description</name>
   <message>
-  <source>Channel 3</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX2/values/4/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/420/description</name>
   <message>
-  <source>Channel 4</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX2/values/5/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/421/description</name>
   <message>
-  <source>Channel 5</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX2/values/6/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/422/description</name>
   <message>
-  <source>Channel 6</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX2/values/7/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/430/description</name>
   <message>
-  <source>Channel 7</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX2/values/8/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC4/values/440/description</name>
   <message>
-  <source>Channel 8</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX2/values/9/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/shortDesc</name>
   <message>
-  <source>Channel 9</source>
+  <source>UAVCAN ESC 5 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX2/values/10/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/longDesc</name>
   <message>
-  <source>Channel 10</source>
+  <source>Select what should be output on UAVCAN ESC 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX2/values/11/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/0/description</name>
   <message>
-  <source>Channel 11</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX2/values/12/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/1/description</name>
   <message>
-  <source>Channel 12</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX2/values/13/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/2/description</name>
   <message>
-  <source>Channel 13</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX2/values/14/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/101/description</name>
   <message>
-  <source>Channel 14</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX2/values/15/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/102/description</name>
   <message>
-  <source>Channel 15</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX2/values/16/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/103/description</name>
   <message>
-  <source>Channel 16</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX2/values/17/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/104/description</name>
   <message>
-  <source>Channel 17</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX2/values/18/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/105/description</name>
   <message>
-  <source>Channel 18</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX3/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/106/description</name>
   <message>
-  <source>AUX3 Passthrough RC channel</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX3/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/107/description</name>
   <message>
-  <source>Default function: Camera azimuth / yaw</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX3/values/0/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/108/description</name>
   <message>
-  <source>Unassigned</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX3/values/1/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/109/description</name>
   <message>
-  <source>Channel 1</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX3/values/2/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/110/description</name>
   <message>
-  <source>Channel 2</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX3/values/3/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/111/description</name>
   <message>
-  <source>Channel 3</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX3/values/4/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/112/description</name>
   <message>
-  <source>Channel 4</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX3/values/5/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/201/description</name>
   <message>
-  <source>Channel 5</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX3/values/6/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/202/description</name>
   <message>
-  <source>Channel 6</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX3/values/7/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/203/description</name>
   <message>
-  <source>Channel 7</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX3/values/8/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/204/description</name>
   <message>
-  <source>Channel 8</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX3/values/9/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/205/description</name>
   <message>
-  <source>Channel 9</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX3/values/10/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/206/description</name>
   <message>
-  <source>Channel 10</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX3/values/11/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/207/description</name>
   <message>
-  <source>Channel 11</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX3/values/12/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/208/description</name>
   <message>
-  <source>Channel 12</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX3/values/13/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/301/description</name>
   <message>
-  <source>Channel 13</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX3/values/14/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/302/description</name>
   <message>
-  <source>Channel 14</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX3/values/15/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/303/description</name>
   <message>
-  <source>Channel 15</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX3/values/16/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/304/description</name>
   <message>
-  <source>Channel 16</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX3/values/17/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/305/description</name>
   <message>
-  <source>Channel 17</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX3/values/18/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/306/description</name>
   <message>
-  <source>Channel 18</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX4/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/400/description</name>
   <message>
-  <source>AUX4 Passthrough RC channel</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX4/values/0/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/401/description</name>
   <message>
-  <source>Unassigned</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX4/values/1/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/402/description</name>
   <message>
-  <source>Channel 1</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX4/values/2/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/403/description</name>
   <message>
-  <source>Channel 2</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX4/values/3/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/404/description</name>
   <message>
-  <source>Channel 3</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX4/values/4/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/405/description</name>
   <message>
-  <source>Channel 4</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX4/values/5/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/406/description</name>
   <message>
-  <source>Channel 5</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX4/values/6/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/407/description</name>
   <message>
-  <source>Channel 6</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX4/values/7/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/408/description</name>
   <message>
-  <source>Channel 7</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX4/values/8/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/409/description</name>
   <message>
-  <source>Channel 8</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX4/values/9/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/410/description</name>
   <message>
-  <source>Channel 9</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX4/values/10/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/411/description</name>
   <message>
-  <source>Channel 10</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX4/values/11/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/412/description</name>
   <message>
-  <source>Channel 11</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX4/values/12/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/420/description</name>
   <message>
-  <source>Channel 12</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX4/values/13/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/421/description</name>
   <message>
-  <source>Channel 13</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX4/values/14/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/422/description</name>
   <message>
-  <source>Channel 14</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX4/values/15/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/430/description</name>
   <message>
-  <source>Channel 15</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX4/values/16/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC5/values/440/description</name>
   <message>
-  <source>Channel 16</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX4/values/17/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/shortDesc</name>
   <message>
-  <source>Channel 17</source>
+  <source>UAVCAN ESC 6 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX4/values/18/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/longDesc</name>
   <message>
-  <source>Channel 18</source>
+  <source>Select what should be output on UAVCAN ESC 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX5/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/0/description</name>
   <message>
-  <source>AUX5 Passthrough RC channel</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX5/values/0/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/1/description</name>
   <message>
-  <source>Unassigned</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX5/values/1/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/2/description</name>
   <message>
-  <source>Channel 1</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX5/values/2/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/101/description</name>
   <message>
-  <source>Channel 2</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX5/values/3/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/102/description</name>
   <message>
-  <source>Channel 3</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX5/values/4/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/103/description</name>
   <message>
-  <source>Channel 4</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX5/values/5/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/104/description</name>
   <message>
-  <source>Channel 5</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX5/values/6/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/105/description</name>
   <message>
-  <source>Channel 6</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX5/values/7/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/106/description</name>
   <message>
-  <source>Channel 7</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX5/values/8/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/107/description</name>
   <message>
-  <source>Channel 8</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX5/values/9/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/108/description</name>
   <message>
-  <source>Channel 9</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX5/values/10/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/109/description</name>
   <message>
-  <source>Channel 10</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX5/values/11/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/110/description</name>
   <message>
-  <source>Channel 11</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX5/values/12/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/111/description</name>
   <message>
-  <source>Channel 12</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX5/values/13/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/112/description</name>
   <message>
-  <source>Channel 13</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX5/values/14/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/201/description</name>
   <message>
-  <source>Channel 14</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX5/values/15/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/202/description</name>
   <message>
-  <source>Channel 15</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX5/values/16/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/203/description</name>
   <message>
-  <source>Channel 16</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX5/values/17/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/204/description</name>
   <message>
-  <source>Channel 17</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX5/values/18/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/205/description</name>
   <message>
-  <source>Channel 18</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX6/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/206/description</name>
   <message>
-  <source>AUX6 Passthrough RC channel</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX6/values/0/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/207/description</name>
   <message>
-  <source>Unassigned</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX6/values/1/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/208/description</name>
   <message>
-  <source>Channel 1</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX6/values/2/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/301/description</name>
   <message>
-  <source>Channel 2</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX6/values/3/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/302/description</name>
   <message>
-  <source>Channel 3</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX6/values/4/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/303/description</name>
   <message>
-  <source>Channel 4</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX6/values/5/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/304/description</name>
   <message>
-  <source>Channel 5</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX6/values/6/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/305/description</name>
   <message>
-  <source>Channel 6</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX6/values/7/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/306/description</name>
   <message>
-  <source>Channel 7</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX6/values/8/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/400/description</name>
   <message>
-  <source>Channel 8</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX6/values/9/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/401/description</name>
   <message>
-  <source>Channel 9</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX6/values/10/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/402/description</name>
   <message>
-  <source>Channel 10</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX6/values/11/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/403/description</name>
   <message>
-  <source>Channel 11</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX6/values/12/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/404/description</name>
   <message>
-  <source>Channel 12</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX6/values/13/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/405/description</name>
   <message>
-  <source>Channel 13</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX6/values/14/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/406/description</name>
   <message>
-  <source>Channel 14</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX6/values/15/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/407/description</name>
   <message>
-  <source>Channel 15</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX6/values/16/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/408/description</name>
   <message>
-  <source>Channel 16</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX6/values/17/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/409/description</name>
   <message>
-  <source>Channel 17</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_AUX6/values/18/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/410/description</name>
   <message>
-  <source>Channel 18</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ENG_MOT/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/411/description</name>
   <message>
-  <source>RC channel to engage the main motor (for helicopters)</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ENG_MOT/values/0/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/412/description</name>
   <message>
-  <source>Unassigned</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ENG_MOT/values/1/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/420/description</name>
   <message>
-  <source>Channel 1</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ENG_MOT/values/2/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/421/description</name>
   <message>
-  <source>Channel 2</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ENG_MOT/values/3/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/422/description</name>
   <message>
-  <source>Channel 3</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ENG_MOT/values/4/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/430/description</name>
   <message>
-  <source>Channel 4</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ENG_MOT/values/5/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC6/values/440/description</name>
   <message>
-  <source>Channel 5</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ENG_MOT/values/6/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/shortDesc</name>
   <message>
-  <source>Channel 6</source>
+  <source>UAVCAN ESC 7 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ENG_MOT/values/7/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/longDesc</name>
   <message>
-  <source>Channel 7</source>
+  <source>Select what should be output on UAVCAN ESC 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ENG_MOT/values/8/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/0/description</name>
   <message>
-  <source>Channel 8</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ENG_MOT/values/9/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/1/description</name>
   <message>
-  <source>Channel 9</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ENG_MOT/values/10/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/2/description</name>
   <message>
-  <source>Channel 10</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ENG_MOT/values/11/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/101/description</name>
   <message>
-  <source>Channel 11</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ENG_MOT/values/12/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/102/description</name>
   <message>
-  <source>Channel 12</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ENG_MOT/values/13/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/103/description</name>
   <message>
-  <source>Channel 13</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ENG_MOT/values/14/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/104/description</name>
   <message>
-  <source>Channel 14</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ENG_MOT/values/15/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/105/description</name>
   <message>
-  <source>Channel 15</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ENG_MOT/values/16/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/106/description</name>
   <message>
-  <source>Channel 16</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ENG_MOT/values/17/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/107/description</name>
   <message>
-  <source>Channel 17</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ENG_MOT/values/18/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/108/description</name>
   <message>
-  <source>Channel 18</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FAILSAFE/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/109/description</name>
   <message>
-  <source>Failsafe channel mapping</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FAILSAFE/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/110/description</name>
   <message>
-  <source>Configures which RC channel is used by the receiver to indicate the signal was lost (on receivers that use output a fixed signal value to report lost signal). If set to 0, the channel mapped to throttle is used. Use RC_FAILS_THR to set the threshold indicating lost signal. By default it's below the expected range and hence disabled.</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FAILSAFE/values/0/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/111/description</name>
   <message>
-  <source>Unassigned</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FAILSAFE/values/1/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/112/description</name>
   <message>
-  <source>Channel 1</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FAILSAFE/values/2/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/201/description</name>
   <message>
-  <source>Channel 2</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FAILSAFE/values/3/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/202/description</name>
   <message>
-  <source>Channel 3</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FAILSAFE/values/4/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/203/description</name>
   <message>
-  <source>Channel 4</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FAILSAFE/values/5/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/204/description</name>
   <message>
-  <source>Channel 5</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FAILSAFE/values/6/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/205/description</name>
   <message>
-  <source>Channel 6</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FAILSAFE/values/7/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/206/description</name>
   <message>
-  <source>Channel 7</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FAILSAFE/values/8/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/207/description</name>
   <message>
-  <source>Channel 8</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FAILSAFE/values/9/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/208/description</name>
   <message>
-  <source>Channel 9</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FAILSAFE/values/10/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/301/description</name>
   <message>
-  <source>Channel 10</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FAILSAFE/values/11/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/302/description</name>
   <message>
-  <source>Channel 11</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FAILSAFE/values/12/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/303/description</name>
   <message>
-  <source>Channel 12</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FAILSAFE/values/13/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/304/description</name>
   <message>
-  <source>Channel 13</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FAILSAFE/values/14/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/305/description</name>
   <message>
-  <source>Channel 14</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FAILSAFE/values/15/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/306/description</name>
   <message>
-  <source>Channel 15</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FAILSAFE/values/16/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/400/description</name>
   <message>
-  <source>Channel 16</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FAILSAFE/values/17/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/401/description</name>
   <message>
-  <source>Channel 17</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FAILSAFE/values/18/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/402/description</name>
   <message>
-  <source>Channel 18</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM1/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/403/description</name>
   <message>
-  <source>PARAM1 tuning channel</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM1/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/404/description</name>
   <message>
-  <source>Can be used for parameter tuning with the RC. This one is further referenced as the 1st parameter channel. Set to 0 to deactivate *</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM1/values/0/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/405/description</name>
   <message>
-  <source>Unassigned</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM1/values/1/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/406/description</name>
   <message>
-  <source>Channel 1</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM1/values/2/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/407/description</name>
   <message>
-  <source>Channel 2</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM1/values/3/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/408/description</name>
   <message>
-  <source>Channel 3</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM1/values/4/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/409/description</name>
   <message>
-  <source>Channel 4</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM1/values/5/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/410/description</name>
   <message>
-  <source>Channel 5</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM1/values/6/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/411/description</name>
   <message>
-  <source>Channel 6</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM1/values/7/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/412/description</name>
   <message>
-  <source>Channel 7</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM1/values/8/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/420/description</name>
   <message>
-  <source>Channel 8</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM1/values/9/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/421/description</name>
   <message>
-  <source>Channel 9</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM1/values/10/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/422/description</name>
   <message>
-  <source>Channel 10</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM1/values/11/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/430/description</name>
   <message>
-  <source>Channel 11</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM1/values/12/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC7/values/440/description</name>
   <message>
-  <source>Channel 12</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM1/values/13/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/shortDesc</name>
   <message>
-  <source>Channel 13</source>
+  <source>UAVCAN ESC 8 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM1/values/14/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/longDesc</name>
   <message>
-  <source>Channel 14</source>
+  <source>Select what should be output on UAVCAN ESC 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM1/values/15/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/0/description</name>
   <message>
-  <source>Channel 15</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM1/values/16/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/1/description</name>
   <message>
-  <source>Channel 16</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM1/values/17/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/2/description</name>
   <message>
-  <source>Channel 17</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM1/values/18/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/101/description</name>
   <message>
-  <source>Channel 18</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM2/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/102/description</name>
   <message>
-  <source>PARAM2 tuning channel</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM2/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/103/description</name>
   <message>
-  <source>Can be used for parameter tuning with the RC. This one is further referenced as the 2nd parameter channel. Set to 0 to deactivate *</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM2/values/0/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/104/description</name>
   <message>
-  <source>Unassigned</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM2/values/1/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/105/description</name>
   <message>
-  <source>Channel 1</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM2/values/2/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/106/description</name>
   <message>
-  <source>Channel 2</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM2/values/3/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/107/description</name>
   <message>
-  <source>Channel 3</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM2/values/4/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/108/description</name>
   <message>
-  <source>Channel 4</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM2/values/5/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/109/description</name>
   <message>
-  <source>Channel 5</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM2/values/6/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/110/description</name>
   <message>
-  <source>Channel 6</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM2/values/7/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/111/description</name>
   <message>
-  <source>Channel 7</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM2/values/8/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/112/description</name>
   <message>
-  <source>Channel 8</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM2/values/9/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/201/description</name>
   <message>
-  <source>Channel 9</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM2/values/10/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/202/description</name>
   <message>
-  <source>Channel 10</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM2/values/11/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/203/description</name>
   <message>
-  <source>Channel 11</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM2/values/12/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/204/description</name>
   <message>
-  <source>Channel 12</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM2/values/13/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/205/description</name>
   <message>
-  <source>Channel 13</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM2/values/14/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/206/description</name>
   <message>
-  <source>Channel 14</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM2/values/15/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/207/description</name>
   <message>
-  <source>Channel 15</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM2/values/16/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/208/description</name>
   <message>
-  <source>Channel 16</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM2/values/17/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/301/description</name>
   <message>
-  <source>Channel 17</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM2/values/18/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/302/description</name>
   <message>
-  <source>Channel 18</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM3/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/303/description</name>
   <message>
-  <source>PARAM3 tuning channel</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM3/longDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/304/description</name>
   <message>
-  <source>Can be used for parameter tuning with the RC. This one is further referenced as the 3th parameter channel. Set to 0 to deactivate *</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM3/values/0/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/305/description</name>
   <message>
-  <source>Unassigned</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM3/values/1/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/306/description</name>
   <message>
-  <source>Channel 1</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM3/values/2/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/400/description</name>
   <message>
-  <source>Channel 2</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM3/values/3/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/401/description</name>
   <message>
-  <source>Channel 3</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM3/values/4/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/402/description</name>
   <message>
-  <source>Channel 4</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM3/values/5/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/403/description</name>
   <message>
-  <source>Channel 5</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM3/values/6/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/404/description</name>
   <message>
-  <source>Channel 6</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM3/values/7/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/405/description</name>
   <message>
-  <source>Channel 7</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM3/values/8/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/406/description</name>
   <message>
-  <source>Channel 8</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM3/values/9/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/407/description</name>
   <message>
-  <source>Channel 9</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM3/values/10/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/408/description</name>
   <message>
-  <source>Channel 10</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM3/values/11/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/409/description</name>
   <message>
-  <source>Channel 11</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM3/values/12/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/410/description</name>
   <message>
-  <source>Channel 12</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM3/values/13/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/411/description</name>
   <message>
-  <source>Channel 13</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM3/values/14/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/412/description</name>
   <message>
-  <source>Channel 14</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM3/values/15/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/420/description</name>
   <message>
-  <source>Channel 15</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM3/values/16/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/421/description</name>
   <message>
-  <source>Channel 16</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM3/values/17/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/422/description</name>
   <message>
-  <source>Channel 17</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PARAM3/values/18/description</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/430/description</name>
   <message>
-  <source>Channel 18</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PITCH/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_FUNC8/values/440/description</name>
   <message>
-  <source>Pitch control channel mapping</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PITCH/longDesc</name>
+  <name>/parameters/UAVCAN_EC_MAX1/shortDesc</name>
   <message>
-  <source>The channel index (starting from 1 for channel 1) indicates which channel should be used for reading pitch inputs from. A value of zero indicates the switch is not assigned.</source>
+  <source>UAVCAN ESC 1 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PITCH/values/0/description</name>
+  <name>/parameters/UAVCAN_EC_MAX1/longDesc</name>
   <message>
-  <source>Unassigned</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PITCH/values/1/description</name>
+  <name>/parameters/UAVCAN_EC_MAX2/shortDesc</name>
   <message>
-  <source>Channel 1</source>
+  <source>UAVCAN ESC 2 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PITCH/values/2/description</name>
+  <name>/parameters/UAVCAN_EC_MAX2/longDesc</name>
   <message>
-  <source>Channel 2</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PITCH/values/3/description</name>
+  <name>/parameters/UAVCAN_EC_MAX3/shortDesc</name>
   <message>
-  <source>Channel 3</source>
+  <source>UAVCAN ESC 3 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PITCH/values/4/description</name>
+  <name>/parameters/UAVCAN_EC_MAX3/longDesc</name>
   <message>
-  <source>Channel 4</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PITCH/values/5/description</name>
+  <name>/parameters/UAVCAN_EC_MAX4/shortDesc</name>
   <message>
-  <source>Channel 5</source>
+  <source>UAVCAN ESC 4 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PITCH/values/6/description</name>
+  <name>/parameters/UAVCAN_EC_MAX4/longDesc</name>
   <message>
-  <source>Channel 6</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PITCH/values/7/description</name>
+  <name>/parameters/UAVCAN_EC_MAX5/shortDesc</name>
   <message>
-  <source>Channel 7</source>
+  <source>UAVCAN ESC 5 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PITCH/values/8/description</name>
+  <name>/parameters/UAVCAN_EC_MAX5/longDesc</name>
   <message>
-  <source>Channel 8</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PITCH/values/9/description</name>
+  <name>/parameters/UAVCAN_EC_MAX6/shortDesc</name>
   <message>
-  <source>Channel 9</source>
+  <source>UAVCAN ESC 6 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PITCH/values/10/description</name>
+  <name>/parameters/UAVCAN_EC_MAX6/longDesc</name>
   <message>
-  <source>Channel 10</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PITCH/values/11/description</name>
+  <name>/parameters/UAVCAN_EC_MAX7/shortDesc</name>
   <message>
-  <source>Channel 11</source>
+  <source>UAVCAN ESC 7 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PITCH/values/12/description</name>
+  <name>/parameters/UAVCAN_EC_MAX7/longDesc</name>
   <message>
-  <source>Channel 12</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PITCH/values/13/description</name>
+  <name>/parameters/UAVCAN_EC_MAX8/shortDesc</name>
   <message>
-  <source>Channel 13</source>
+  <source>UAVCAN ESC 8 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PITCH/values/14/description</name>
+  <name>/parameters/UAVCAN_EC_MAX8/longDesc</name>
   <message>
-  <source>Channel 14</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PITCH/values/15/description</name>
+  <name>/parameters/UAVCAN_EC_MIN1/shortDesc</name>
   <message>
-  <source>Channel 15</source>
+  <source>UAVCAN ESC 1 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PITCH/values/16/description</name>
+  <name>/parameters/UAVCAN_EC_MIN1/longDesc</name>
   <message>
-  <source>Channel 16</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PITCH/values/17/description</name>
+  <name>/parameters/UAVCAN_EC_MIN2/shortDesc</name>
   <message>
-  <source>Channel 17</source>
+  <source>UAVCAN ESC 2 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PITCH/values/18/description</name>
+  <name>/parameters/UAVCAN_EC_MIN2/longDesc</name>
   <message>
-  <source>Channel 18</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ROLL/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_MIN3/shortDesc</name>
   <message>
-  <source>Roll control channel mapping</source>
+  <source>UAVCAN ESC 3 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ROLL/longDesc</name>
+  <name>/parameters/UAVCAN_EC_MIN3/longDesc</name>
   <message>
-  <source>The channel index (starting from 1 for channel 1) indicates which channel should be used for reading roll inputs from. A value of zero indicates the switch is not assigned.</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ROLL/values/0/description</name>
+  <name>/parameters/UAVCAN_EC_MIN4/shortDesc</name>
   <message>
-  <source>Unassigned</source>
+  <source>UAVCAN ESC 4 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ROLL/values/1/description</name>
+  <name>/parameters/UAVCAN_EC_MIN4/longDesc</name>
   <message>
-  <source>Channel 1</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ROLL/values/2/description</name>
+  <name>/parameters/UAVCAN_EC_MIN5/shortDesc</name>
   <message>
-  <source>Channel 2</source>
+  <source>UAVCAN ESC 5 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ROLL/values/3/description</name>
+  <name>/parameters/UAVCAN_EC_MIN5/longDesc</name>
   <message>
-  <source>Channel 3</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ROLL/values/4/description</name>
+  <name>/parameters/UAVCAN_EC_MIN6/shortDesc</name>
   <message>
-  <source>Channel 4</source>
+  <source>UAVCAN ESC 6 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ROLL/values/5/description</name>
+  <name>/parameters/UAVCAN_EC_MIN6/longDesc</name>
   <message>
-  <source>Channel 5</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ROLL/values/6/description</name>
+  <name>/parameters/UAVCAN_EC_MIN7/shortDesc</name>
   <message>
-  <source>Channel 6</source>
+  <source>UAVCAN ESC 7 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ROLL/values/7/description</name>
+  <name>/parameters/UAVCAN_EC_MIN7/longDesc</name>
   <message>
-  <source>Channel 7</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ROLL/values/8/description</name>
+  <name>/parameters/UAVCAN_EC_MIN8/shortDesc</name>
   <message>
-  <source>Channel 8</source>
+  <source>UAVCAN ESC 8 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ROLL/values/9/description</name>
+  <name>/parameters/UAVCAN_EC_MIN8/longDesc</name>
   <message>
-  <source>Channel 9</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ROLL/values/10/description</name>
+  <name>/parameters/UAVCAN_EC_REV/shortDesc</name>
   <message>
-  <source>Channel 10</source>
+  <source>Reverse Output Range for UAVCAN</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ROLL/values/11/description</name>
+  <name>/parameters/UAVCAN_EC_REV/longDesc</name>
   <message>
-  <source>Channel 11</source>
+  <source>Allows to reverse the output range for each channel. Note: this is only useful for servos.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ROLL/values/12/description</name>
+  <name>/parameters/UAVCAN_EC_REV/bitmask/0/description</name>
   <message>
-  <source>Channel 12</source>
+  <source>UAVCAN ESC 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ROLL/values/13/description</name>
+  <name>/parameters/UAVCAN_EC_REV/bitmask/1/description</name>
   <message>
-  <source>Channel 13</source>
+  <source>UAVCAN ESC 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ROLL/values/14/description</name>
+  <name>/parameters/UAVCAN_EC_REV/bitmask/2/description</name>
   <message>
-  <source>Channel 14</source>
+  <source>UAVCAN ESC 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ROLL/values/15/description</name>
+  <name>/parameters/UAVCAN_EC_REV/bitmask/3/description</name>
   <message>
-  <source>Channel 15</source>
+  <source>UAVCAN ESC 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ROLL/values/16/description</name>
+  <name>/parameters/UAVCAN_EC_REV/bitmask/4/description</name>
   <message>
-  <source>Channel 16</source>
+  <source>UAVCAN ESC 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ROLL/values/17/description</name>
+  <name>/parameters/UAVCAN_EC_REV/bitmask/5/description</name>
   <message>
-  <source>Channel 17</source>
+  <source>UAVCAN ESC 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ROLL/values/18/description</name>
+  <name>/parameters/UAVCAN_EC_REV/bitmask/6/description</name>
   <message>
-  <source>Channel 18</source>
+  <source>UAVCAN ESC 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_THROTTLE/shortDesc</name>
+  <name>/parameters/UAVCAN_EC_REV/bitmask/7/description</name>
   <message>
-  <source>Throttle control channel mapping</source>
+  <source>UAVCAN ESC 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_THROTTLE/longDesc</name>
+  <name>/parameters/UAVCAN_SV_DIS1/shortDesc</name>
   <message>
-  <source>The channel index (starting from 1 for channel 1) indicates which channel should be used for reading throttle inputs from. A value of zero indicates the switch is not assigned.</source>
+  <source>UAVCAN Servo 1 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_THROTTLE/values/0/description</name>
+  <name>/parameters/UAVCAN_SV_DIS1/longDesc</name>
   <message>
-  <source>Unassigned</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_THROTTLE/values/1/description</name>
+  <name>/parameters/UAVCAN_SV_DIS2/shortDesc</name>
   <message>
-  <source>Channel 1</source>
+  <source>UAVCAN Servo 2 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_THROTTLE/values/2/description</name>
+  <name>/parameters/UAVCAN_SV_DIS2/longDesc</name>
   <message>
-  <source>Channel 2</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_THROTTLE/values/3/description</name>
+  <name>/parameters/UAVCAN_SV_DIS3/shortDesc</name>
   <message>
-  <source>Channel 3</source>
+  <source>UAVCAN Servo 3 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_THROTTLE/values/4/description</name>
+  <name>/parameters/UAVCAN_SV_DIS3/longDesc</name>
   <message>
-  <source>Channel 4</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_THROTTLE/values/5/description</name>
+  <name>/parameters/UAVCAN_SV_DIS4/shortDesc</name>
   <message>
-  <source>Channel 5</source>
+  <source>UAVCAN Servo 4 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_THROTTLE/values/6/description</name>
+  <name>/parameters/UAVCAN_SV_DIS4/longDesc</name>
   <message>
-  <source>Channel 6</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_THROTTLE/values/7/description</name>
+  <name>/parameters/UAVCAN_SV_DIS5/shortDesc</name>
   <message>
-  <source>Channel 7</source>
+  <source>UAVCAN Servo 5 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_THROTTLE/values/8/description</name>
+  <name>/parameters/UAVCAN_SV_DIS5/longDesc</name>
   <message>
-  <source>Channel 8</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_THROTTLE/values/9/description</name>
+  <name>/parameters/UAVCAN_SV_DIS6/shortDesc</name>
   <message>
-  <source>Channel 9</source>
+  <source>UAVCAN Servo 6 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_THROTTLE/values/10/description</name>
+  <name>/parameters/UAVCAN_SV_DIS6/longDesc</name>
   <message>
-  <source>Channel 10</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_THROTTLE/values/11/description</name>
+  <name>/parameters/UAVCAN_SV_DIS7/shortDesc</name>
   <message>
-  <source>Channel 11</source>
+  <source>UAVCAN Servo 7 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_THROTTLE/values/12/description</name>
+  <name>/parameters/UAVCAN_SV_DIS7/longDesc</name>
   <message>
-  <source>Channel 12</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_THROTTLE/values/13/description</name>
+  <name>/parameters/UAVCAN_SV_DIS8/shortDesc</name>
   <message>
-  <source>Channel 13</source>
+  <source>UAVCAN Servo 8 Disarmed Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_THROTTLE/values/14/description</name>
+  <name>/parameters/UAVCAN_SV_DIS8/longDesc</name>
   <message>
-  <source>Channel 14</source>
+  <source>This is the output value that is set when not armed. Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_THROTTLE/values/15/description</name>
+  <name>/parameters/UAVCAN_SV_FAIL1/shortDesc</name>
   <message>
-  <source>Channel 15</source>
+  <source>UAVCAN Servo 1 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_THROTTLE/values/16/description</name>
+  <name>/parameters/UAVCAN_SV_FAIL1/longDesc</name>
   <message>
-  <source>Channel 16</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_SV_FUNC1).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_THROTTLE/values/17/description</name>
+  <name>/parameters/UAVCAN_SV_FAIL2/shortDesc</name>
   <message>
-  <source>Channel 17</source>
+  <source>UAVCAN Servo 2 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_THROTTLE/values/18/description</name>
+  <name>/parameters/UAVCAN_SV_FAIL2/longDesc</name>
   <message>
-  <source>Channel 18</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_SV_FUNC2).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_YAW/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FAIL3/shortDesc</name>
   <message>
-  <source>Yaw control channel mapping</source>
+  <source>UAVCAN Servo 3 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_YAW/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FAIL3/longDesc</name>
   <message>
-  <source>The channel index (starting from 1 for channel 1) indicates which channel should be used for reading yaw inputs from. A value of zero indicates the switch is not assigned.</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_SV_FUNC3).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_YAW/values/0/description</name>
+  <name>/parameters/UAVCAN_SV_FAIL4/shortDesc</name>
   <message>
-  <source>Unassigned</source>
+  <source>UAVCAN Servo 4 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_YAW/values/1/description</name>
+  <name>/parameters/UAVCAN_SV_FAIL4/longDesc</name>
   <message>
-  <source>Channel 1</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_SV_FUNC4).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_YAW/values/2/description</name>
+  <name>/parameters/UAVCAN_SV_FAIL5/shortDesc</name>
   <message>
-  <source>Channel 2</source>
+  <source>UAVCAN Servo 5 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_YAW/values/3/description</name>
+  <name>/parameters/UAVCAN_SV_FAIL5/longDesc</name>
   <message>
-  <source>Channel 3</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_SV_FUNC5).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_YAW/values/4/description</name>
+  <name>/parameters/UAVCAN_SV_FAIL6/shortDesc</name>
   <message>
-  <source>Channel 4</source>
+  <source>UAVCAN Servo 6 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_YAW/values/5/description</name>
+  <name>/parameters/UAVCAN_SV_FAIL6/longDesc</name>
   <message>
-  <source>Channel 5</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_SV_FUNC6).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_YAW/values/6/description</name>
+  <name>/parameters/UAVCAN_SV_FAIL7/shortDesc</name>
   <message>
-  <source>Channel 6</source>
+  <source>UAVCAN Servo 7 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_YAW/values/7/description</name>
+  <name>/parameters/UAVCAN_SV_FAIL7/longDesc</name>
   <message>
-  <source>Channel 7</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_SV_FUNC7).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_YAW/values/8/description</name>
+  <name>/parameters/UAVCAN_SV_FAIL8/shortDesc</name>
   <message>
-  <source>Channel 8</source>
+  <source>UAVCAN Servo 8 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_YAW/values/9/description</name>
+  <name>/parameters/UAVCAN_SV_FAIL8/longDesc</name>
   <message>
-  <source>Channel 9</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UAVCAN_SV_FUNC8).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_YAW/values/10/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/shortDesc</name>
   <message>
-  <source>Channel 10</source>
+  <source>UAVCAN Servo 1 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_YAW/values/11/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/longDesc</name>
   <message>
-  <source>Channel 11</source>
+  <source>Select what should be output on UAVCAN Servo 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_YAW/values/12/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/0/description</name>
   <message>
-  <source>Channel 12</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_YAW/values/13/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/1/description</name>
   <message>
-  <source>Channel 13</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_YAW/values/14/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/2/description</name>
   <message>
-  <source>Channel 14</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_YAW/values/15/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/101/description</name>
   <message>
-  <source>Channel 15</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_YAW/values/16/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/102/description</name>
   <message>
-  <source>Channel 16</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_YAW/values/17/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/103/description</name>
   <message>
-  <source>Channel 17</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_YAW/values/18/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/104/description</name>
   <message>
-  <source>Channel 18</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_RSSI_PWM_CHAN/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/105/description</name>
   <message>
-  <source>PWM input channel that provides RSSI</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_RSSI_PWM_CHAN/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/106/description</name>
   <message>
-  <source>0: do not read RSSI from input channel 1-18: read RSSI from specified input channel Specify the range for RSSI input with RC_RSSI_PWM_MIN and RC_RSSI_PWM_MAX parameters.</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_RSSI_PWM_CHAN/values/0/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/107/description</name>
   <message>
-  <source>Unassigned</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_RSSI_PWM_CHAN/values/1/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/108/description</name>
   <message>
-  <source>Channel 1</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_RSSI_PWM_CHAN/values/2/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/109/description</name>
   <message>
-  <source>Channel 2</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_RSSI_PWM_CHAN/values/3/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/110/description</name>
   <message>
-  <source>Channel 3</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_RSSI_PWM_CHAN/values/4/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/111/description</name>
   <message>
-  <source>Channel 4</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_RSSI_PWM_CHAN/values/5/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/112/description</name>
   <message>
-  <source>Channel 5</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_RSSI_PWM_CHAN/values/6/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/201/description</name>
   <message>
-  <source>Channel 6</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_RSSI_PWM_CHAN/values/7/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/202/description</name>
   <message>
-  <source>Channel 7</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_RSSI_PWM_CHAN/values/8/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/203/description</name>
   <message>
-  <source>Channel 8</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_RSSI_PWM_CHAN/values/9/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/204/description</name>
   <message>
-  <source>Channel 9</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_RSSI_PWM_CHAN/values/10/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/205/description</name>
   <message>
-  <source>Channel 10</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_RSSI_PWM_CHAN/values/11/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/206/description</name>
   <message>
-  <source>Channel 11</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_RSSI_PWM_CHAN/values/12/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/207/description</name>
   <message>
-  <source>Channel 12</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_RSSI_PWM_CHAN/values/13/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/208/description</name>
   <message>
-  <source>Channel 13</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_RSSI_PWM_CHAN/values/14/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/301/description</name>
   <message>
-  <source>Channel 14</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_RSSI_PWM_CHAN/values/15/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/302/description</name>
   <message>
-  <source>Channel 15</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_RSSI_PWM_CHAN/values/16/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/303/description</name>
   <message>
-  <source>Channel 16</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_RSSI_PWM_CHAN/values/17/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/304/description</name>
   <message>
-  <source>Channel 17</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_RSSI_PWM_CHAN/values/18/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/305/description</name>
   <message>
-  <source>Channel 18</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_RSSI_PWM_MAX/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/306/description</name>
   <message>
-  <source>Max input value for RSSI reading</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_RSSI_PWM_MAX/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/400/description</name>
   <message>
-  <source>Only used if RC_RSSI_PWM_CHAN &gt; 0</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_RSSI_PWM_MIN/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/401/description</name>
   <message>
-  <source>Min input value for RSSI reading</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_RSSI_PWM_MIN/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/402/description</name>
   <message>
-  <source>Only used if RC_RSSI_PWM_CHAN &gt; 0</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TRIM_PITCH/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/403/description</name>
   <message>
-  <source>Pitch trim</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TRIM_PITCH/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/404/description</name>
   <message>
-  <source>The trim value is the actuator control value the system needs for straight and level flight.</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TRIM_ROLL/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/405/description</name>
   <message>
-  <source>Roll trim</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TRIM_ROLL/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/406/description</name>
   <message>
-  <source>The trim value is the actuator control value the system needs for straight and level flight.</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TRIM_YAW/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/407/description</name>
   <message>
-  <source>Yaw trim</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TRIM_YAW/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/408/description</name>
   <message>
-  <source>The trim value is the actuator control value the system needs for straight and level flight.</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_ARMSWITCH_TH/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/409/description</name>
   <message>
-  <source>Threshold for the arm switch</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_ARMSWITCH_TH/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/410/description</name>
   <message>
-  <source>0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel&gt;th negative : true when channel&lt;th</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_ENG_MOT_TH/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/411/description</name>
   <message>
-  <source>Threshold for selecting main motor engage</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_ENG_MOT_TH/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/412/description</name>
   <message>
-  <source>0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel&gt;th negative : true when channel&lt;th</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_GEAR_TH/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/420/description</name>
   <message>
-  <source>Threshold for the landing gear switch</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_GEAR_TH/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/421/description</name>
   <message>
-  <source>0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel&gt;th negative : true when channel&lt;th</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_KILLSWITCH_TH/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/422/description</name>
   <message>
-  <source>Threshold for the kill switch</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_KILLSWITCH_TH/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/430/description</name>
   <message>
-  <source>0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel&gt;th negative : true when channel&lt;th</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_LOITER_TH/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC1/values/440/description</name>
   <message>
-  <source>Threshold for selecting loiter mode</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_LOITER_TH/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/shortDesc</name>
   <message>
-  <source>0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel&gt;th negative : true when channel&lt;th</source>
+  <source>UAVCAN Servo 2 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ARM_SW/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/longDesc</name>
   <message>
-  <source>Arm switch channel</source>
+  <source>Select what should be output on UAVCAN Servo 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ARM_SW/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/0/description</name>
   <message>
-  <source>Use it to arm/disarm via switch instead of default throttle stick. If this is assigned, arming and disarming via stick is disabled.</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ARM_SW/values/0/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/1/description</name>
   <message>
-  <source>Unassigned</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ARM_SW/values/1/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/2/description</name>
   <message>
-  <source>Channel 1</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ARM_SW/values/2/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/101/description</name>
   <message>
-  <source>Channel 2</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ARM_SW/values/3/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/102/description</name>
   <message>
-  <source>Channel 3</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ARM_SW/values/4/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/103/description</name>
   <message>
-  <source>Channel 4</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ARM_SW/values/5/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/104/description</name>
   <message>
-  <source>Channel 5</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ARM_SW/values/6/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/105/description</name>
   <message>
-  <source>Channel 6</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ARM_SW/values/7/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/106/description</name>
   <message>
-  <source>Channel 7</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ARM_SW/values/8/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/107/description</name>
   <message>
-  <source>Channel 8</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ARM_SW/values/9/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/108/description</name>
   <message>
-  <source>Channel 9</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ARM_SW/values/10/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/109/description</name>
   <message>
-  <source>Channel 10</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ARM_SW/values/11/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/110/description</name>
   <message>
-  <source>Channel 11</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ARM_SW/values/12/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/111/description</name>
   <message>
-  <source>Channel 12</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ARM_SW/values/13/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/112/description</name>
   <message>
-  <source>Channel 13</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ARM_SW/values/14/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/201/description</name>
   <message>
-  <source>Channel 14</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ARM_SW/values/15/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/202/description</name>
   <message>
-  <source>Channel 15</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ARM_SW/values/16/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/203/description</name>
   <message>
-  <source>Channel 16</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ARM_SW/values/17/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/204/description</name>
   <message>
-  <source>Channel 17</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_ARM_SW/values/18/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/205/description</name>
   <message>
-  <source>Channel 18</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLAPS/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/206/description</name>
   <message>
-  <source>Flaps channel</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLAPS/values/0/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/207/description</name>
   <message>
-  <source>Unassigned</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLAPS/values/1/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/208/description</name>
   <message>
-  <source>Channel 1</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLAPS/values/2/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/301/description</name>
   <message>
-  <source>Channel 2</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLAPS/values/3/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/302/description</name>
   <message>
-  <source>Channel 3</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLAPS/values/4/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/303/description</name>
   <message>
-  <source>Channel 4</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLAPS/values/5/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/304/description</name>
   <message>
-  <source>Channel 5</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLAPS/values/6/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/305/description</name>
   <message>
-  <source>Channel 6</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLAPS/values/7/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/306/description</name>
   <message>
-  <source>Channel 7</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLAPS/values/8/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/400/description</name>
   <message>
-  <source>Channel 8</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLAPS/values/9/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/401/description</name>
   <message>
-  <source>Channel 9</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLAPS/values/10/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/402/description</name>
   <message>
-  <source>Channel 10</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLAPS/values/11/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/403/description</name>
   <message>
-  <source>Channel 11</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLAPS/values/12/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/404/description</name>
   <message>
-  <source>Channel 12</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLAPS/values/13/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/405/description</name>
   <message>
-  <source>Channel 13</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLAPS/values/14/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/406/description</name>
   <message>
-  <source>Channel 14</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLAPS/values/15/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/407/description</name>
   <message>
-  <source>Channel 15</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLAPS/values/16/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/408/description</name>
   <message>
-  <source>Channel 16</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLAPS/values/17/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/409/description</name>
   <message>
-  <source>Channel 17</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLAPS/values/18/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/410/description</name>
   <message>
-  <source>Channel 18</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLTMODE/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/411/description</name>
   <message>
-  <source>Single channel flight mode selection</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLTMODE/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/412/description</name>
   <message>
-  <source>If this parameter is non-zero, flight modes are only selected by this channel and are assigned to six slots.</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLTMODE/values/0/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/420/description</name>
   <message>
-  <source>Unassigned</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLTMODE/values/1/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/421/description</name>
   <message>
-  <source>Channel 1</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLTMODE/values/2/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/422/description</name>
   <message>
-  <source>Channel 2</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLTMODE/values/3/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/430/description</name>
   <message>
-  <source>Channel 3</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLTMODE/values/4/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC2/values/440/description</name>
   <message>
-  <source>Channel 4</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLTMODE/values/5/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/shortDesc</name>
   <message>
-  <source>Channel 5</source>
+  <source>UAVCAN Servo 3 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLTMODE/values/6/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/longDesc</name>
   <message>
-  <source>Channel 6</source>
+  <source>Select what should be output on UAVCAN Servo 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLTMODE/values/7/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/0/description</name>
   <message>
-  <source>Channel 7</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLTMODE/values/8/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/1/description</name>
   <message>
-  <source>Channel 8</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLTMODE/values/9/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/2/description</name>
   <message>
-  <source>Channel 9</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLTMODE/values/10/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/101/description</name>
   <message>
-  <source>Channel 10</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLTMODE/values/11/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/102/description</name>
   <message>
-  <source>Channel 11</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLTMODE/values/12/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/103/description</name>
   <message>
-  <source>Channel 12</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLTMODE/values/13/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/104/description</name>
   <message>
-  <source>Channel 13</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLTMODE/values/14/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/105/description</name>
   <message>
-  <source>Channel 14</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLTMODE/values/15/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/106/description</name>
   <message>
-  <source>Channel 15</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLTMODE/values/16/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/107/description</name>
   <message>
-  <source>Channel 16</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLTMODE/values/17/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/108/description</name>
   <message>
-  <source>Channel 17</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLTMODE/values/18/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/109/description</name>
   <message>
-  <source>Channel 18</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLTM_BTN/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/110/description</name>
   <message>
-  <source>Button flight mode selection</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLTM_BTN/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/111/description</name>
   <message>
-  <source>This bitmask allows to specify multiple channels for changing flight modes using momentary buttons. Each channel is assigned to a mode slot ((lowest channel = slot 1). The resulting modes for each slot X is defined by the COM_FLTMODEX parameters. The functionality can be used only if RC_MAP_FLTMODE is disabled. The maximum number of available slots and hence bits set in the mask is 6.</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLTM_BTN/bitmask/0/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/112/description</name>
   <message>
-  <source>Mask Channel 1 as a mode button</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLTM_BTN/bitmask/1/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/201/description</name>
   <message>
-  <source>Mask Channel 2 as a mode button</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLTM_BTN/bitmask/2/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/202/description</name>
   <message>
-  <source>Mask Channel 3 as a mode button</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLTM_BTN/bitmask/3/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/203/description</name>
   <message>
-  <source>Mask Channel 4 as a mode button</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLTM_BTN/bitmask/4/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/204/description</name>
   <message>
-  <source>Mask Channel 5 as a mode button</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLTM_BTN/bitmask/5/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/205/description</name>
   <message>
-  <source>Mask Channel 6 as a mode button</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLTM_BTN/bitmask/6/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/206/description</name>
   <message>
-  <source>Mask Channel 7 as a mode button</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLTM_BTN/bitmask/7/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/207/description</name>
   <message>
-  <source>Mask Channel 8 as a mode button</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLTM_BTN/bitmask/8/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/208/description</name>
   <message>
-  <source>Mask Channel 9 as a mode button</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLTM_BTN/bitmask/9/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/301/description</name>
   <message>
-  <source>Mask Channel 10 as a mode button</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLTM_BTN/bitmask/10/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/302/description</name>
   <message>
-  <source>Mask Channel 11 as a mode button</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLTM_BTN/bitmask/11/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/303/description</name>
   <message>
-  <source>Mask Channel 12 as a mode button</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLTM_BTN/bitmask/12/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/304/description</name>
   <message>
-  <source>Mask Channel 13 as a mode button</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLTM_BTN/bitmask/13/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/305/description</name>
   <message>
-  <source>Mask Channel 14 as a mode button</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLTM_BTN/bitmask/14/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/306/description</name>
   <message>
-  <source>Mask Channel 15 as a mode button</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLTM_BTN/bitmask/15/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/400/description</name>
   <message>
-  <source>Mask Channel 16 as a mode button</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLTM_BTN/bitmask/16/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/401/description</name>
   <message>
-  <source>Mask Channel 17 as a mode button</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_FLTM_BTN/bitmask/17/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/402/description</name>
   <message>
-  <source>Mask Channel 18 as a mode button</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_GEAR_SW/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/403/description</name>
   <message>
-  <source>Landing gear switch channel</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_GEAR_SW/values/0/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/404/description</name>
   <message>
-  <source>Unassigned</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_GEAR_SW/values/1/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/405/description</name>
   <message>
-  <source>Channel 1</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_GEAR_SW/values/2/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/406/description</name>
   <message>
-  <source>Channel 2</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_GEAR_SW/values/3/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/407/description</name>
   <message>
-  <source>Channel 3</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_GEAR_SW/values/4/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/408/description</name>
   <message>
-  <source>Channel 4</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_GEAR_SW/values/5/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/409/description</name>
   <message>
-  <source>Channel 5</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_GEAR_SW/values/6/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/410/description</name>
   <message>
-  <source>Channel 6</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_GEAR_SW/values/7/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/411/description</name>
   <message>
-  <source>Channel 7</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_GEAR_SW/values/8/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/412/description</name>
   <message>
-  <source>Channel 8</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_GEAR_SW/values/9/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/420/description</name>
   <message>
-  <source>Channel 9</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_GEAR_SW/values/10/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/421/description</name>
   <message>
-  <source>Channel 10</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_GEAR_SW/values/11/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/422/description</name>
   <message>
-  <source>Channel 11</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_GEAR_SW/values/12/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/430/description</name>
   <message>
-  <source>Channel 12</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_GEAR_SW/values/13/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC3/values/440/description</name>
   <message>
-  <source>Channel 13</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_GEAR_SW/values/14/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/shortDesc</name>
   <message>
-  <source>Channel 14</source>
+  <source>UAVCAN Servo 4 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_GEAR_SW/values/15/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/longDesc</name>
   <message>
-  <source>Channel 15</source>
+  <source>Select what should be output on UAVCAN Servo 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_GEAR_SW/values/16/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/0/description</name>
   <message>
-  <source>Channel 16</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_GEAR_SW/values/17/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/1/description</name>
   <message>
-  <source>Channel 17</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_GEAR_SW/values/18/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/2/description</name>
   <message>
-  <source>Channel 18</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_KILL_SW/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/101/description</name>
   <message>
-  <source>Emergency Kill switch channel</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_KILL_SW/values/0/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/102/description</name>
   <message>
-  <source>Unassigned</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_KILL_SW/values/1/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/103/description</name>
   <message>
-  <source>Channel 1</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_KILL_SW/values/2/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/104/description</name>
   <message>
-  <source>Channel 2</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_KILL_SW/values/3/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/105/description</name>
   <message>
-  <source>Channel 3</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_KILL_SW/values/4/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/106/description</name>
   <message>
-  <source>Channel 4</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_KILL_SW/values/5/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/107/description</name>
   <message>
-  <source>Channel 5</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_KILL_SW/values/6/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/108/description</name>
   <message>
-  <source>Channel 6</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_KILL_SW/values/7/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/109/description</name>
   <message>
-  <source>Channel 7</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_KILL_SW/values/8/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/110/description</name>
   <message>
-  <source>Channel 8</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_KILL_SW/values/9/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/111/description</name>
   <message>
-  <source>Channel 9</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_KILL_SW/values/10/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/112/description</name>
   <message>
-  <source>Channel 10</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_KILL_SW/values/11/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/201/description</name>
   <message>
-  <source>Channel 11</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_KILL_SW/values/12/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/202/description</name>
   <message>
-  <source>Channel 12</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_KILL_SW/values/13/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/203/description</name>
   <message>
-  <source>Channel 13</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_KILL_SW/values/14/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/204/description</name>
   <message>
-  <source>Channel 14</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_KILL_SW/values/15/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/205/description</name>
   <message>
-  <source>Channel 15</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_KILL_SW/values/16/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/206/description</name>
   <message>
-  <source>Channel 16</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_KILL_SW/values/17/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/207/description</name>
   <message>
-  <source>Channel 17</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_KILL_SW/values/18/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/208/description</name>
   <message>
-  <source>Channel 18</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_LOITER_SW/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/301/description</name>
   <message>
-  <source>Loiter switch channel</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_LOITER_SW/values/0/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/302/description</name>
   <message>
-  <source>Unassigned</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_LOITER_SW/values/1/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/303/description</name>
   <message>
-  <source>Channel 1</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_LOITER_SW/values/2/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/304/description</name>
   <message>
-  <source>Channel 2</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_LOITER_SW/values/3/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/305/description</name>
   <message>
-  <source>Channel 3</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_LOITER_SW/values/4/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/306/description</name>
   <message>
-  <source>Channel 4</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_LOITER_SW/values/5/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/400/description</name>
   <message>
-  <source>Channel 5</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_LOITER_SW/values/6/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/401/description</name>
   <message>
-  <source>Channel 6</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_LOITER_SW/values/7/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/402/description</name>
   <message>
-  <source>Channel 7</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_LOITER_SW/values/8/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/403/description</name>
   <message>
-  <source>Channel 8</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_LOITER_SW/values/9/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/404/description</name>
   <message>
-  <source>Channel 9</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_LOITER_SW/values/10/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/405/description</name>
   <message>
-  <source>Channel 10</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_LOITER_SW/values/11/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/406/description</name>
   <message>
-  <source>Channel 11</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_LOITER_SW/values/12/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/407/description</name>
   <message>
-  <source>Channel 12</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_LOITER_SW/values/13/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/408/description</name>
   <message>
-  <source>Channel 13</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_LOITER_SW/values/14/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/409/description</name>
   <message>
-  <source>Channel 14</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_LOITER_SW/values/15/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/410/description</name>
   <message>
-  <source>Channel 15</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_LOITER_SW/values/16/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/411/description</name>
   <message>
-  <source>Channel 16</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_LOITER_SW/values/17/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/412/description</name>
   <message>
-  <source>Channel 17</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_LOITER_SW/values/18/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/420/description</name>
   <message>
-  <source>Channel 18</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_MODE_SW/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/421/description</name>
   <message>
-  <source>Mode switch channel mapping (deprecated)</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_MODE_SW/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/422/description</name>
   <message>
-  <source>This is the main flight mode selector. The channel index (starting from 1 for channel 1) indicates which channel should be used for deciding about the main mode. A value of zero indicates the switch is not assigned.</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_MODE_SW/values/0/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/430/description</name>
   <message>
-  <source>Unassigned</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_MODE_SW/values/1/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC4/values/440/description</name>
   <message>
-  <source>Channel 1</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_MODE_SW/values/2/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/shortDesc</name>
   <message>
-  <source>Channel 2</source>
+  <source>UAVCAN Servo 5 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_MODE_SW/values/3/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/longDesc</name>
   <message>
-  <source>Channel 3</source>
+  <source>Select what should be output on UAVCAN Servo 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_MODE_SW/values/4/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/0/description</name>
   <message>
-  <source>Channel 4</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_MODE_SW/values/5/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/1/description</name>
   <message>
-  <source>Channel 5</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_MODE_SW/values/6/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/2/description</name>
   <message>
-  <source>Channel 6</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_MODE_SW/values/7/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/101/description</name>
   <message>
-  <source>Channel 7</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_MODE_SW/values/8/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/102/description</name>
   <message>
-  <source>Channel 8</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_MODE_SW/values/9/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/103/description</name>
   <message>
-  <source>Channel 9</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_MODE_SW/values/10/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/104/description</name>
   <message>
-  <source>Channel 10</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_MODE_SW/values/11/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/105/description</name>
   <message>
-  <source>Channel 11</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_MODE_SW/values/12/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/106/description</name>
   <message>
-  <source>Channel 12</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_MODE_SW/values/13/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/107/description</name>
   <message>
-  <source>Channel 13</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_MODE_SW/values/14/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/108/description</name>
   <message>
-  <source>Channel 14</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_MODE_SW/values/15/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/109/description</name>
   <message>
-  <source>Channel 15</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_MODE_SW/values/16/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/110/description</name>
   <message>
-  <source>Channel 16</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_MODE_SW/values/17/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/111/description</name>
   <message>
-  <source>Channel 17</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_MODE_SW/values/18/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/112/description</name>
   <message>
-  <source>Channel 18</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_OFFB_SW/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/201/description</name>
   <message>
-  <source>Offboard switch channel</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_OFFB_SW/values/0/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/202/description</name>
   <message>
-  <source>Unassigned</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_OFFB_SW/values/1/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/203/description</name>
   <message>
-  <source>Channel 1</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_OFFB_SW/values/2/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/204/description</name>
   <message>
-  <source>Channel 2</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_OFFB_SW/values/3/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/205/description</name>
   <message>
-  <source>Channel 3</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_OFFB_SW/values/4/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/206/description</name>
   <message>
-  <source>Channel 4</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_OFFB_SW/values/5/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/207/description</name>
   <message>
-  <source>Channel 5</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_OFFB_SW/values/6/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/208/description</name>
   <message>
-  <source>Channel 6</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_OFFB_SW/values/7/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/301/description</name>
   <message>
-  <source>Channel 7</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_OFFB_SW/values/8/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/302/description</name>
   <message>
-  <source>Channel 8</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_OFFB_SW/values/9/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/303/description</name>
   <message>
-  <source>Channel 9</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_OFFB_SW/values/10/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/304/description</name>
   <message>
-  <source>Channel 10</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_OFFB_SW/values/11/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/305/description</name>
   <message>
-  <source>Channel 11</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_OFFB_SW/values/12/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/306/description</name>
   <message>
-  <source>Channel 12</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_OFFB_SW/values/13/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/400/description</name>
   <message>
-  <source>Channel 13</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_OFFB_SW/values/14/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/401/description</name>
   <message>
-  <source>Channel 14</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_OFFB_SW/values/15/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/402/description</name>
   <message>
-  <source>Channel 15</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_OFFB_SW/values/16/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/403/description</name>
   <message>
-  <source>Channel 16</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_OFFB_SW/values/17/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/404/description</name>
   <message>
-  <source>Channel 17</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_OFFB_SW/values/18/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/405/description</name>
   <message>
-  <source>Channel 18</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PAY_SW/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/406/description</name>
   <message>
-  <source>Payload Power Switch RC channel</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PAY_SW/values/0/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/407/description</name>
   <message>
-  <source>Unassigned</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PAY_SW/values/1/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/408/description</name>
   <message>
-  <source>Channel 1</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PAY_SW/values/2/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/409/description</name>
   <message>
-  <source>Channel 2</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PAY_SW/values/3/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/410/description</name>
   <message>
-  <source>Channel 3</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PAY_SW/values/4/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/411/description</name>
   <message>
-  <source>Channel 4</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PAY_SW/values/5/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/412/description</name>
   <message>
-  <source>Channel 5</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PAY_SW/values/6/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/420/description</name>
   <message>
-  <source>Channel 6</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PAY_SW/values/7/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/421/description</name>
   <message>
-  <source>Channel 7</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PAY_SW/values/8/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/422/description</name>
   <message>
-  <source>Channel 8</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PAY_SW/values/9/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/430/description</name>
   <message>
-  <source>Channel 9</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PAY_SW/values/10/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC5/values/440/description</name>
   <message>
-  <source>Channel 10</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PAY_SW/values/11/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/shortDesc</name>
   <message>
-  <source>Channel 11</source>
+  <source>UAVCAN Servo 6 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PAY_SW/values/12/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/longDesc</name>
   <message>
-  <source>Channel 12</source>
+  <source>Select what should be output on UAVCAN Servo 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PAY_SW/values/13/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/0/description</name>
   <message>
-  <source>Channel 13</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PAY_SW/values/14/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/1/description</name>
   <message>
-  <source>Channel 14</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PAY_SW/values/15/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/2/description</name>
   <message>
-  <source>Channel 15</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PAY_SW/values/16/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/101/description</name>
   <message>
-  <source>Channel 16</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PAY_SW/values/17/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/102/description</name>
   <message>
-  <source>Channel 17</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_PAY_SW/values/18/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/103/description</name>
   <message>
-  <source>Channel 18</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_RETURN_SW/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/104/description</name>
   <message>
-  <source>Return switch channel</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_RETURN_SW/values/0/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/105/description</name>
   <message>
-  <source>Unassigned</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_RETURN_SW/values/1/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/106/description</name>
   <message>
-  <source>Channel 1</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_RETURN_SW/values/2/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/107/description</name>
   <message>
-  <source>Channel 2</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_RETURN_SW/values/3/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/108/description</name>
   <message>
-  <source>Channel 3</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_RETURN_SW/values/4/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/109/description</name>
   <message>
-  <source>Channel 4</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_RETURN_SW/values/5/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/110/description</name>
   <message>
-  <source>Channel 5</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_RETURN_SW/values/6/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/111/description</name>
   <message>
-  <source>Channel 6</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_RETURN_SW/values/7/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/112/description</name>
   <message>
-  <source>Channel 7</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_RETURN_SW/values/8/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/201/description</name>
   <message>
-  <source>Channel 8</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_RETURN_SW/values/9/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/202/description</name>
   <message>
-  <source>Channel 9</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_RETURN_SW/values/10/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/203/description</name>
   <message>
-  <source>Channel 10</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_RETURN_SW/values/11/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/204/description</name>
   <message>
-  <source>Channel 11</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_RETURN_SW/values/12/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/205/description</name>
   <message>
-  <source>Channel 12</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_RETURN_SW/values/13/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/206/description</name>
   <message>
-  <source>Channel 13</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_RETURN_SW/values/14/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/207/description</name>
   <message>
-  <source>Channel 14</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_RETURN_SW/values/15/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/208/description</name>
   <message>
-  <source>Channel 15</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_RETURN_SW/values/16/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/301/description</name>
   <message>
-  <source>Channel 16</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_RETURN_SW/values/17/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/302/description</name>
   <message>
-  <source>Channel 17</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_RETURN_SW/values/18/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/303/description</name>
   <message>
-  <source>Channel 18</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_TRANS_SW/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/304/description</name>
   <message>
-  <source>VTOL transition switch channel mapping</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_TRANS_SW/values/0/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/305/description</name>
   <message>
-  <source>Unassigned</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_TRANS_SW/values/1/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/306/description</name>
   <message>
-  <source>Channel 1</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_TRANS_SW/values/2/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/400/description</name>
   <message>
-  <source>Channel 2</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_TRANS_SW/values/3/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/401/description</name>
   <message>
-  <source>Channel 3</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_TRANS_SW/values/4/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/402/description</name>
   <message>
-  <source>Channel 4</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_TRANS_SW/values/5/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/403/description</name>
   <message>
-  <source>Channel 5</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_TRANS_SW/values/6/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/404/description</name>
   <message>
-  <source>Channel 6</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_TRANS_SW/values/7/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/405/description</name>
   <message>
-  <source>Channel 7</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_TRANS_SW/values/8/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/406/description</name>
   <message>
-  <source>Channel 8</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_TRANS_SW/values/9/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/407/description</name>
   <message>
-  <source>Channel 9</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_TRANS_SW/values/10/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/408/description</name>
   <message>
-  <source>Channel 10</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_TRANS_SW/values/11/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/409/description</name>
   <message>
-  <source>Channel 11</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_TRANS_SW/values/12/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/410/description</name>
   <message>
-  <source>Channel 12</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_TRANS_SW/values/13/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/411/description</name>
   <message>
-  <source>Channel 13</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_TRANS_SW/values/14/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/412/description</name>
   <message>
-  <source>Channel 14</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_TRANS_SW/values/15/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/420/description</name>
   <message>
-  <source>Channel 15</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_TRANS_SW/values/16/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/421/description</name>
   <message>
-  <source>Channel 16</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_TRANS_SW/values/17/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/422/description</name>
   <message>
-  <source>Channel 17</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_MAP_TRANS_SW/values/18/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/430/description</name>
   <message>
-  <source>Channel 18</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_OFFB_TH/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC6/values/440/description</name>
   <message>
-  <source>Threshold for selecting offboard mode</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_OFFB_TH/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/shortDesc</name>
   <message>
-  <source>0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel&gt;th negative : true when channel&lt;th</source>
+  <source>UAVCAN Servo 7 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_PAYLOAD_TH/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/longDesc</name>
   <message>
-  <source>Threshold for selecting payload power switch</source>
+  <source>Select what should be output on UAVCAN Servo 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_PAYLOAD_TH/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/0/description</name>
   <message>
-  <source>0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel&gt;th negative : true when channel&lt;th</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_RETURN_TH/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/1/description</name>
   <message>
-  <source>Threshold for selecting return to launch mode</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_RETURN_TH/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/2/description</name>
   <message>
-  <source>0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel&gt;th negative : true when channel&lt;th</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_TRANS_TH/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/101/description</name>
   <message>
-  <source>Threshold for the VTOL transition switch</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RC_TRANS_TH/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/102/description</name>
   <message>
-  <source>0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel&gt;th negative : true when channel&lt;th</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RTL_CONE_ANG/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/103/description</name>
   <message>
-  <source>Half-angle of the return mode altitude cone</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RTL_CONE_ANG/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/104/description</name>
   <message>
-  <source>Defines the half-angle of a cone centered around the destination position that affects the altitude at which the vehicle returns.</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RTL_CONE_ANG/values/0/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/105/description</name>
   <message>
-  <source>No cone, always climb to RTL_RETURN_ALT above destination.</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RTL_CONE_ANG/values/25/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/106/description</name>
   <message>
-  <source>25 degrees half cone angle.</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RTL_CONE_ANG/values/45/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/107/description</name>
   <message>
-  <source>45 degrees half cone angle.</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RTL_CONE_ANG/values/65/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/108/description</name>
   <message>
-  <source>65 degrees half cone angle.</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RTL_CONE_ANG/values/80/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/109/description</name>
   <message>
-  <source>80 degrees half cone angle.</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RTL_CONE_ANG/values/90/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/110/description</name>
   <message>
-  <source>Only climb to at least RTL_DESCEND_ALT above destination.</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RTL_DESCEND_ALT/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/111/description</name>
   <message>
-  <source>Return mode loiter altitude</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RTL_DESCEND_ALT/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/112/description</name>
   <message>
-  <source>Descend to this altitude (above destination position) after return, and wait for time defined in RTL_LAND_DELAY. Land (i.e. slowly descend) from this altitude if autolanding allowed. VTOLs do transition to hover in this altitdue above the landing point.</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RTL_LAND_DELAY/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/201/description</name>
   <message>
-  <source>Return mode delay</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RTL_LAND_DELAY/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/202/description</name>
   <message>
-  <source>Delay before landing (after initial descent) in Return mode. If set to -1 the system will not land but loiter at RTL_DESCEND_ALT.</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RTL_LOITER_RAD/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/203/description</name>
   <message>
-  <source>Loiter radius for rtl descend</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RTL_LOITER_RAD/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/204/description</name>
   <message>
-  <source>Set the radius for loitering to a safe altitude for VTOL transition.</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RTL_MIN_DIST/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/205/description</name>
   <message>
-  <source>Horizontal radius from return point within which special rules for return mode apply</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RTL_MIN_DIST/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/206/description</name>
   <message>
-  <source>The return altitude will be calculated based on RTL_CONE_ANG parameter. The yaw setpoint will switch to the one defined by corresponding waypoint.</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RTL_PLD_MD/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/207/description</name>
   <message>
-  <source>RTL precision land mode</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RTL_PLD_MD/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/208/description</name>
   <message>
-  <source>Use precision landing when doing an RTL landing phase.</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RTL_PLD_MD/values/0/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/301/description</name>
   <message>
-  <source>No precision landing</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RTL_PLD_MD/values/1/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/302/description</name>
   <message>
-  <source>Opportunistic precision landing</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RTL_PLD_MD/values/2/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/303/description</name>
   <message>
-  <source>Required precision landing</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RTL_RETURN_ALT/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/304/description</name>
   <message>
-  <source>Return mode return altitude</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RTL_RETURN_ALT/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/305/description</name>
   <message>
-  <source>Default minimum altitude above destination (e.g. home, safe point, landing pattern) for return flight. The vehicle will climb to this altitude when Return mode is enganged, unless it currently is flying higher already. This is affected by RTL_MIN_DIST and RTL_CONE_ANG.</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RTL_TYPE/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/306/description</name>
   <message>
-  <source>Return type</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RTL_TYPE/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/400/description</name>
   <message>
-  <source>Return mode destination and flight path (home location, rally point, mission landing pattern, reverse mission)</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RTL_TYPE/values/0/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/401/description</name>
   <message>
-  <source>Return to closest safe point (home or rally point) via direct path.</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RTL_TYPE/values/1/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/402/description</name>
   <message>
-  <source>Return to closest safe point other than home (mission landing pattern or rally point), via direct path. If no mission landing or rally points are defined return home via direct path. Always chose closest safe landing point if vehicle is a VTOL in hover mode.</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RTL_TYPE/values/2/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/403/description</name>
   <message>
-  <source>Return to a planned mission landing, if available, using the mission path, else return to home via the reverse mission path. Do not consider rally points.</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RTL_TYPE/values/3/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/404/description</name>
   <message>
-  <source>Return via direct path to closest destination: home, start of mission landing pattern or safe point. If the destination is a mission landing pattern, follow the pattern to land.</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RTL_APPR_FORCE/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/405/description</name>
   <message>
-  <source>RTL force approach landing</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RTL_APPR_FORCE/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/406/description</name>
   <message>
-  <source>Only consider RTL point, if it has an approach defined.</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RTL_APPR_FORCE/values/0/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/407/description</name>
   <message>
-  <source>Disabled</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RTL_APPR_FORCE/values/1/description</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/408/description</name>
   <message>
-  <source>Enabled</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RTL_TIME_FACTOR/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/409/description</name>
   <message>
-  <source>RTL time estimate safety margin factor</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RTL_TIME_FACTOR/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/410/description</name>
   <message>
-  <source>Safety factor that is used to scale the actual RTL time estimate. Time with margin = RTL_TIME_FACTOR * time + RTL_TIME_MARGIN</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RTL_TIME_MARGIN/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/411/description</name>
   <message>
-  <source>RTL time estimate safety margin offset</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RTL_TIME_MARGIN/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/412/description</name>
   <message>
-  <source>Margin that is added to the time estimate, after it has already been scaled Time with margin = RTL_TIME_FACTOR * time + RTL_TIME_MARGIN</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RA_ACC_RAD_GAIN/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/420/description</name>
   <message>
-  <source>Tuning parameter for corner cutting</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RA_ACC_RAD_GAIN/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/421/description</name>
   <message>
-  <source>The geometric ideal acceptance radius is multiplied by this factor to account for kinematic and dynamic effects. Higher value -&gt; The rover starts to cut the corner earlier.</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RA_ACC_RAD_MAX/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/422/description</name>
   <message>
-  <source>Maximum acceptance radius for the waypoints</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RA_ACC_RAD_MAX/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/430/description</name>
   <message>
-  <source>The controller scales the acceptance radius based on the angle between the previous, current and next waypoint. Higher value -&gt; smoother trajectory at the cost of how close the rover gets to the waypoint (Set to -1 to disable corner cutting).</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RA_LAT_ACCEL_I/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC7/values/440/description</name>
   <message>
-  <source>Integral gain for lateral acceleration controller</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RA_LAT_ACCEL_P/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/shortDesc</name>
   <message>
-  <source>Proportional gain for lateral acceleration controller</source>
+  <source>UAVCAN Servo 8 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RA_MAX_ACCEL/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/longDesc</name>
   <message>
-  <source>Maximum acceleration for the rover</source>
+  <source>Select what should be output on UAVCAN Servo 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RA_MAX_ACCEL/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/0/description</name>
   <message>
-  <source>This is used for the acceleration slew rate.</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RA_MAX_DECEL/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/1/description</name>
   <message>
-  <source>Maximum deceleration for the rover</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RA_MAX_DECEL/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/2/description</name>
   <message>
-  <source>This is used for the deceleration slew rate, the feed-forward term for the speed controller during missions and the corner slow down effect. Note: For the corner slow down effect RA_MAX_JERK also has to be set.</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RA_MAX_JERK/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/101/description</name>
   <message>
-  <source>Maximum jerk</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RA_MAX_JERK/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/102/description</name>
   <message>
-  <source>Limit for forwards acc/deceleration change. This is used for the corner slow down effect. Note: RA_MAX_DECEL also has to be set for this to be enabled.</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RA_MAX_LAT_ACCEL/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/103/description</name>
   <message>
-  <source>Maximum allowed lateral acceleration</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RA_MAX_LAT_ACCEL/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/104/description</name>
   <message>
-  <source>This parameter is used to cap the lateral acceleration and map controller inputs to desired lateral acceleration in Acro, Stabilized and Position mode.</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RA_MAX_SPEED/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/105/description</name>
   <message>
-  <source>Maximum allowed speed</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RA_MAX_SPEED/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/106/description</name>
   <message>
-  <source>This is the maximum allowed speed setpoint when driving in a mode that uses closed loop speed control.</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RA_MAX_STR_ANG/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/107/description</name>
   <message>
-  <source>Maximum steering angle</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RA_MAX_STR_ANG/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/108/description</name>
   <message>
-  <source>The maximum angle that the rover can steer</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RA_MAX_STR_RATE/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/109/description</name>
   <message>
-  <source>Maximum steering rate for the rover</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RA_MAX_THR_SPEED/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/110/description</name>
   <message>
-  <source>Speed the rover drives at maximum throttle</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RA_MAX_THR_SPEED/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/111/description</name>
   <message>
-  <source>This parameter is used to calculate the feedforward term of the closed loop speed control which linearly maps desired speeds to normalized motor commands [-1. 1]. A good starting point is the observed ground speed when the rover drives at maximum throttle in manual mode. Increase this parameter if the rover is faster than the setpoint, and decrease if the rover is slower.</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RA_SPEED_I/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/112/description</name>
   <message>
-  <source>Integral gain for ground speed controller</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RA_SPEED_P/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/201/description</name>
   <message>
-  <source>Proportional gain for ground speed controller</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RA_WHEEL_BASE/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/202/description</name>
   <message>
-  <source>Wheel base</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RA_WHEEL_BASE/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/203/description</name>
   <message>
-  <source>Distance from the front to the rear axle</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RD_MAX_ACCEL/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/204/description</name>
   <message>
-  <source>Maximum acceleration</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RD_MAX_ACCEL/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/205/description</name>
   <message>
-  <source>Maximum acceleration is used to limit the acceleration of the rover</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RD_MAX_DECEL/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/206/description</name>
   <message>
-  <source>Maximum deceleration</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RD_MAX_DECEL/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/207/description</name>
   <message>
-  <source>Maximum decelaration is used to limit the deceleration of the rover. Set to -1 to disable, causing the rover to decelerate as fast as possible. Caution: This disables the slow down effect in auto modes.</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RD_MAX_JERK/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/208/description</name>
   <message>
-  <source>Maximum jerk</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RD_MAX_JERK/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/301/description</name>
   <message>
-  <source>Limit for forwards acc/deceleration change.</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RD_MAX_SPEED/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/302/description</name>
   <message>
-  <source>Maximum speed setpoint</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RD_MAX_SPEED/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/303/description</name>
   <message>
-  <source>This parameter is used to cap desired forward speed and map controller inputs to desired speeds in Position mode.</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RD_MAX_THR_SPD/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/304/description</name>
   <message>
-  <source>Speed the rover drives at maximum throttle</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RD_MAX_THR_SPD/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/305/description</name>
   <message>
-  <source>This parameter is used to calculate the feedforward term of the closed loop speed control which linearly maps desired speeds to normalized motor commands [-1. 1]. A good starting point is the observed ground speed when the rover drives at maximum throttle in manual mode. Increase this parameter if the rover is faster than the setpoint, and decrease if the rover is slower.</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RD_MAX_THR_YAW_R/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/306/description</name>
   <message>
-  <source>Yaw rate turning left/right wheels at max speed in opposite directions</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RD_MAX_THR_YAW_R/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/400/description</name>
   <message>
-  <source>This parameter is used to calculate the feedforward term of the closed loop yaw rate control. The controller first calculates the required speed difference between the left and right motor to achieve the desired yaw rate. This desired speed difference is then linearly mapped to normalized motor commands. A good starting point is twice the speed the rover drives at maximum throttle (RD_MAX_THR_SPD)). Increase this parameter if the rover turns faster than the setpoint, and decrease if the rover turns slower.</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RD_MAX_YAW_ACCEL/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/401/description</name>
   <message>
-  <source>Maximum allowed yaw acceleration for the rover</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RD_MAX_YAW_ACCEL/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/402/description</name>
   <message>
-  <source>This parameter is used to cap desired yaw acceleration. This is used to adjust incoming yaw rate setpoints to a feasible yaw rate setpoint based on the physical limitation on how fast the yaw rate can change. This leads to a smooth setpoint trajectory for the closed loop yaw rate controller to track. Set to -1 to disable.</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RD_MAX_YAW_RATE/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/403/description</name>
   <message>
-  <source>Maximum allowed yaw rate for the rover</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RD_MAX_YAW_RATE/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/404/description</name>
   <message>
-  <source>This parameter is used to cap desired yaw rates and map controller inputs to desired yaw rates in Acro,Stabilized and Position mode.</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RD_MISS_SPD_DEF/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/405/description</name>
   <message>
-  <source>Default forward speed for the rover during auto modes</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RD_SPEED_I/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/406/description</name>
   <message>
-  <source>Integral gain for closed loop forward speed controller</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RD_SPEED_P/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/407/description</name>
   <message>
-  <source>Proportional gain for closed loop forward speed controller</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RD_TRANS_DRV_TRN/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/408/description</name>
   <message>
-  <source>Yaw error threshhold to switch from driving to spot turning</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RD_TRANS_DRV_TRN/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/409/description</name>
   <message>
-  <source>This threshold is used for the state machine to switch from driving to turning based on the error between the desired and actual yaw. It is also used as the threshold whether the rover should come to a smooth stop at the next waypoint. This slow down effect is active if the angle between the line segments from prevWP-currWP and currWP-nextWP is smaller then 180 - RD_TRANS_DRV_TRN.</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RD_TRANS_TRN_DRV/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/410/description</name>
   <message>
-  <source>Yaw error threshhold to switch from spot turning to driving</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RD_WHEEL_TRACK/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/411/description</name>
   <message>
-  <source>Wheel track</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RD_WHEEL_TRACK/longDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/412/description</name>
   <message>
-  <source>Distance from the center of the right wheel to the center of the left wheel</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RD_YAW_I/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/420/description</name>
   <message>
-  <source>Integral gain for closed loop yaw controller</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RD_YAW_P/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/421/description</name>
   <message>
-  <source>Proportional gain for closed loop yaw controller</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RD_YAW_RATE_I/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/422/description</name>
   <message>
-  <source>Integral gain for closed loop yaw rate controller</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RD_YAW_RATE_P/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/430/description</name>
   <message>
-  <source>Proportional gain for closed loop yaw rate controller</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RM_MAN_YAW_SCALE/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_FUNC8/values/440/description</name>
   <message>
-  <source>Manual yaw rate scale</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RM_MAN_YAW_SCALE/longDesc</name>
+  <name>/parameters/UAVCAN_SV_MAX1/shortDesc</name>
   <message>
-  <source>In Manual mode the setpoint for the yaw rate received from the control stick is scaled by this value.</source>
+  <source>UAVCAN Servo 1 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RM_MAX_ACCEL/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_MAX1/longDesc</name>
   <message>
-  <source>Maximum acceleration</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RM_MAX_ACCEL/longDesc</name>
+  <name>/parameters/UAVCAN_SV_MAX2/shortDesc</name>
   <message>
-  <source>Maximum acceleration is used to limit the acceleration of the rover</source>
+  <source>UAVCAN Servo 2 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RM_MAX_JERK/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_MAX2/longDesc</name>
   <message>
-  <source>Maximum jerk</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RM_MAX_JERK/longDesc</name>
+  <name>/parameters/UAVCAN_SV_MAX3/shortDesc</name>
   <message>
-  <source>Limit for forwards acc/deceleration change.</source>
+  <source>UAVCAN Servo 3 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RM_MAX_SPEED/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_MAX3/longDesc</name>
   <message>
-  <source>Maximum speed the rover is allowed to drive</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RM_MAX_SPEED/longDesc</name>
+  <name>/parameters/UAVCAN_SV_MAX4/shortDesc</name>
   <message>
-  <source>This parameter is used cap the maximum speed the rover is allowed to drive and to map stick inputs to desired speeds in position mode.</source>
+  <source>UAVCAN Servo 4 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RM_MAX_THR_SPD/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_MAX4/longDesc</name>
   <message>
-  <source>Speed the rover drives at maximum throttle</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RM_MAX_THR_SPD/longDesc</name>
+  <name>/parameters/UAVCAN_SV_MAX5/shortDesc</name>
   <message>
-  <source>This parameter is used to calculate the feedforward term of the closed loop speed control which linearly maps desired speeds to normalized motor commands [-1. 1]. A good starting point is the observed ground speed when the rover drives at maximum throttle in manual mode. Increase this parameter if the rover is faster than the setpoint, and decrease if the rover is slower.</source>
+  <source>UAVCAN Servo 5 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RM_MAX_THR_YAW_R/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_MAX5/longDesc</name>
   <message>
-  <source>Yaw rate turning left/right wheels at max speed in opposite directions</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RM_MAX_THR_YAW_R/longDesc</name>
+  <name>/parameters/UAVCAN_SV_MAX6/shortDesc</name>
   <message>
-  <source>This parameter is used to calculate the feedforward term of the closed loop yaw rate control. The controller first calculates the required speed difference between the left and right motor to achieve the desired yaw rate. This desired speed difference is then linearly mapped to normalized motor commands. A good starting point is twice the speed the rover drives at maximum throttle (RM_MAX_THRTL_SPD)). Increase this parameter if the rover turns faster than the setpoint, and decrease if the rover turns slower.</source>
+  <source>UAVCAN Servo 6 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RM_MAX_YAW_RATE/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_MAX6/longDesc</name>
   <message>
-  <source>Maximum allowed yaw rate for the rover</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RM_MAX_YAW_RATE/longDesc</name>
+  <name>/parameters/UAVCAN_SV_MAX7/shortDesc</name>
   <message>
-  <source>This parameter is used to cap desired yaw rates and map controller inputs to desired yaw rates in acro mode.</source>
+  <source>UAVCAN Servo 7 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RM_MISS_SPD_DEF/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_MAX7/longDesc</name>
   <message>
-  <source>Default rover speed during a mission</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RM_MISS_VEL_GAIN/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_MAX8/shortDesc</name>
   <message>
-  <source>Tuning parameter for the velocity reduction during waypoint transition</source>
+  <source>UAVCAN Servo 8 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RM_MISS_VEL_GAIN/longDesc</name>
+  <name>/parameters/UAVCAN_SV_MAX8/longDesc</name>
   <message>
-  <source>The waypoint transition speed is calculated as: Transition_speed = Maximum_speed * (1 - normalized_transition_angle * RM_MISS_VEL_GAIN) The normalized transition angle is the angle between the line segment from prev-curr WP and curr-next WP interpolated from [0, 180] -&gt; [0, 1]. Higher value -&gt; More velocity reduction during cornering.</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RM_SPEED_I/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_MIN1/shortDesc</name>
   <message>
-  <source>Integral gain for ground speed controller</source>
+  <source>UAVCAN Servo 1 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RM_SPEED_P/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_MIN1/longDesc</name>
   <message>
-  <source>Proportional gain for speed controller</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RM_WHEEL_TRACK/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_MIN2/shortDesc</name>
   <message>
-  <source>Wheel track</source>
+  <source>UAVCAN Servo 2 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RM_WHEEL_TRACK/longDesc</name>
+  <name>/parameters/UAVCAN_SV_MIN2/longDesc</name>
   <message>
-  <source>Distance from the center of the right wheels to the center of the left wheels.</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RM_YAW_I/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_MIN3/shortDesc</name>
   <message>
-  <source>Integral gain for closed loop yaw controller</source>
+  <source>UAVCAN Servo 3 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RM_YAW_P/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_MIN3/longDesc</name>
   <message>
-  <source>Proportional gain for closed loop yaw controller</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RM_YAW_RATE_I/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_MIN4/shortDesc</name>
   <message>
-  <source>Integral gain for the closed-loop yaw rate controller</source>
+  <source>UAVCAN Servo 4 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RM_YAW_RATE_P/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_MIN4/longDesc</name>
   <message>
-  <source>Proportional gain for the closed-loop yaw rate controller</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GND_L1_DAMPING/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_MIN5/shortDesc</name>
   <message>
-  <source>L1 damping</source>
+  <source>UAVCAN Servo 5 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GND_L1_DAMPING/longDesc</name>
+  <name>/parameters/UAVCAN_SV_MIN5/longDesc</name>
   <message>
-  <source>Damping factor for L1 control.</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GND_L1_DIST/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_MIN6/shortDesc</name>
   <message>
-  <source>L1 distance</source>
+  <source>UAVCAN Servo 6 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GND_L1_DIST/longDesc</name>
+  <name>/parameters/UAVCAN_SV_MIN6/longDesc</name>
   <message>
-  <source>This is the distance at which the next waypoint is activated. This should be set to about 2-4x of GND_WHEEL_BASE and not smaller than one meter (due to GPS accuracy).</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GND_L1_PERIOD/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_MIN7/shortDesc</name>
   <message>
-  <source>L1 period</source>
+  <source>UAVCAN Servo 7 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GND_L1_PERIOD/longDesc</name>
+  <name>/parameters/UAVCAN_SV_MIN7/longDesc</name>
   <message>
-  <source>This is the L1 distance and defines the tracking point ahead of the rover it's following. Use values around 2-5m for a 0.3m wheel base. Tuning instructions: Shorten slowly during tuning until response is sharp without oscillation.</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GND_MAN_Y_MAX/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_MIN8/shortDesc</name>
   <message>
-  <source>Max manual yaw rate</source>
+  <source>UAVCAN Servo 8 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GND_MAX_ANG/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_MIN8/longDesc</name>
   <message>
-  <source>Maximum turn angle for Ackerman steering</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GND_MAX_ANG/longDesc</name>
+  <name>/parameters/UAVCAN_SV_REV/shortDesc</name>
   <message>
-  <source>At a control output of 0, the steering wheels are at 0 radians. At a control output of 1, the steering wheels are at GND_MAX_ANG radians.</source>
+  <source>Reverse Output Range for UAVCAN</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GND_SPEED_D/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_REV/longDesc</name>
   <message>
-  <source>Speed proportional gain</source>
+  <source>Allows to reverse the output range for each channel. Note: this is only useful for servos.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GND_SPEED_D/longDesc</name>
+  <name>/parameters/UAVCAN_SV_REV/bitmask/0/description</name>
   <message>
-  <source>This is the derivative gain for the speed closed loop controller</source>
+  <source>UAVCAN Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GND_SPEED_I/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_REV/bitmask/1/description</name>
   <message>
-  <source>Speed Integral gain</source>
+  <source>UAVCAN Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GND_SPEED_I/longDesc</name>
+  <name>/parameters/UAVCAN_SV_REV/bitmask/2/description</name>
   <message>
-  <source>This is the integral gain for the speed closed loop controller</source>
+  <source>UAVCAN Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GND_SPEED_IMAX/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_REV/bitmask/3/description</name>
   <message>
-  <source>Speed integral maximum value</source>
+  <source>UAVCAN Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GND_SPEED_IMAX/longDesc</name>
+  <name>/parameters/UAVCAN_SV_REV/bitmask/4/description</name>
   <message>
-  <source>This is the maxim value the integral can reach to prevent wind-up.</source>
+  <source>UAVCAN Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GND_SPEED_MAX/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_REV/bitmask/5/description</name>
   <message>
-  <source>Maximum ground speed</source>
+  <source>UAVCAN Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GND_SPEED_P/shortDesc</name>
+  <name>/parameters/UAVCAN_SV_REV/bitmask/6/description</name>
   <message>
-  <source>Speed proportional gain</source>
+  <source>UAVCAN Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GND_SPEED_P/longDesc</name>
+  <name>/parameters/UAVCAN_SV_REV/bitmask/7/description</name>
   <message>
-  <source>This is the proportional gain for the speed closed loop controller</source>
+  <source>UAVCAN Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GND_SPEED_THR_SC/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FAIL1/shortDesc</name>
   <message>
-  <source>Speed to throttle scaler</source>
+  <source>UAVCANv1 ESC 1 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GND_SPEED_THR_SC/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FAIL1/longDesc</name>
   <message>
-  <source>This is a gain to map the speed control output to the throttle linearly.</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC1).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GND_SPEED_TRIM/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FAIL10/shortDesc</name>
   <message>
-  <source>Trim ground speed</source>
+  <source>UAVCANv1 ESC 10 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GND_SP_CTRL_MODE/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FAIL10/longDesc</name>
   <message>
-  <source>Control mode for speed</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC10).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GND_SP_CTRL_MODE/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FAIL11/shortDesc</name>
   <message>
-  <source>This allows the user to choose between closed loop gps speed or open loop cruise throttle speed</source>
+  <source>UAVCANv1 ESC 11 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GND_SP_CTRL_MODE/values/0/description</name>
+  <name>/parameters/UCAN1_ESC_FAIL11/longDesc</name>
   <message>
-  <source>open loop control</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC11).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GND_SP_CTRL_MODE/values/1/description</name>
+  <name>/parameters/UCAN1_ESC_FAIL12/shortDesc</name>
   <message>
-  <source>close the loop with gps speed</source>
+  <source>UAVCANv1 ESC 12 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GND_THR_CRUISE/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FAIL12/longDesc</name>
   <message>
-  <source>Cruise throttle</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC12).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GND_THR_CRUISE/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FAIL13/shortDesc</name>
   <message>
-  <source>This is the throttle setting required to achieve the desired cruise speed. 10% is ok for a traxxas stampede vxl with ESC set to training mode</source>
+  <source>UAVCANv1 ESC 13 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GND_THR_MAX/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FAIL13/longDesc</name>
   <message>
-  <source>Throttle limit max</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC13).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GND_THR_MAX/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FAIL14/shortDesc</name>
   <message>
-  <source>This is the maximum throttle % that can be used by the controller. For a Traxxas stampede vxl with the ESC set to training, 30 % is enough</source>
+  <source>UAVCANv1 ESC 14 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GND_THR_MIN/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FAIL14/longDesc</name>
   <message>
-  <source>Throttle limit min</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC14).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GND_THR_MIN/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FAIL15/shortDesc</name>
   <message>
-  <source>This is the minimum throttle % that can be used by the controller. Set to 0 for rover</source>
+  <source>UAVCANv1 ESC 15 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GND_WHEEL_BASE/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FAIL15/longDesc</name>
   <message>
-  <source>Distance from front axle to rear axle</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC15).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/GND_WHEEL_BASE/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FAIL16/shortDesc</name>
   <message>
-  <source>A value of 0.31 is typical for 1/10 RC cars.</source>
+  <source>UAVCANv1 ESC 16 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RWTO_HDG/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FAIL16/longDesc</name>
   <message>
-  <source>Specifies which heading should be held during the runway takeoff ground roll</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC16).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RWTO_HDG/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FAIL2/shortDesc</name>
   <message>
-  <source>0: airframe heading when takeoff is initiated 1: position control along runway direction (bearing defined from vehicle position on takeoff initiation to MAV_CMD_TAKEOFF position defined by operator)</source>
+  <source>UAVCANv1 ESC 2 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RWTO_HDG/values/0/description</name>
+  <name>/parameters/UCAN1_ESC_FAIL2/longDesc</name>
   <message>
-  <source>Airframe</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC2).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RWTO_HDG/values/1/description</name>
+  <name>/parameters/UCAN1_ESC_FAIL3/shortDesc</name>
   <message>
-  <source>Runway</source>
+  <source>UAVCANv1 ESC 3 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RWTO_MAX_THR/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FAIL3/longDesc</name>
   <message>
-  <source>Max throttle during runway takeoff</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC3).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RWTO_NPFG_PERIOD/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FAIL4/shortDesc</name>
   <message>
-  <source>NPFG period while steering on runway</source>
+  <source>UAVCANv1 ESC 4 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RWTO_NUDGE/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FAIL4/longDesc</name>
   <message>
-  <source>Enable use of yaw stick for nudging the wheel during runway ground roll</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC4).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RWTO_NUDGE/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FAIL5/shortDesc</name>
   <message>
-  <source>This is useful when map, GNSS, or yaw errors on ground are misaligned with what the operator intends for takeoff course. Particularly useful for skinny runways or if the wheel servo is a bit off trim.</source>
+  <source>UAVCANv1 ESC 5 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RWTO_NUDGE/values/0/description</name>
+  <name>/parameters/UCAN1_ESC_FAIL5/longDesc</name>
   <message>
-  <source>Disabled</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC5).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RWTO_NUDGE/values/1/description</name>
+  <name>/parameters/UCAN1_ESC_FAIL6/shortDesc</name>
   <message>
-  <source>Enabled</source>
+  <source>UAVCANv1 ESC 6 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RWTO_PSP/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FAIL6/longDesc</name>
   <message>
-  <source>Pitch setpoint during taxi / before takeoff rotation airspeed is reached</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC6).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RWTO_PSP/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FAIL7/shortDesc</name>
   <message>
-  <source>A taildragger with steerable wheel might need to pitch up a little to keep its wheel on the ground before airspeed to takeoff is reached.</source>
+  <source>UAVCANv1 ESC 7 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RWTO_RAMP_TIME/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FAIL7/longDesc</name>
   <message>
-  <source>Throttle ramp up time for runway takeoff</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC7).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RWTO_ROT_AIRSPD/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FAIL8/shortDesc</name>
   <message>
-  <source>Takeoff rotation airspeed</source>
+  <source>UAVCANv1 ESC 8 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RWTO_ROT_AIRSPD/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FAIL8/longDesc</name>
   <message>
-  <source>The calibrated airspeed threshold during the takeoff ground roll when the plane should start rotating (pitching up). Must be less than the takeoff airspeed, will otherwise be capped at the takeoff airpeed (see FW_TKO_AIRSPD). If set &lt;= 0.0, defaults to 0.9 * takeoff airspeed (see FW_TKO_AIRSPD)</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC8).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RWTO_ROT_TIME/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FAIL9/shortDesc</name>
   <message>
-  <source>Takeoff rotation time</source>
+  <source>UAVCANv1 ESC 9 Failsafe Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RWTO_ROT_TIME/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FAIL9/longDesc</name>
   <message>
-  <source>This is the time desired to linearly ramp in takeoff pitch constraints during the takeoff rotation</source>
+  <source>This is the output value that is set when in failsafe mode. When set to -1 (default), the value depends on the function (see UCAN1_ESC_FUNC9).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RWTO_TKOFF/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/shortDesc</name>
   <message>
-  <source>Runway takeoff with landing gear</source>
+  <source>UAVCANv1 ESC 1 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RWTO_TKOFF/values/0/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/longDesc</name>
   <message>
-  <source>Disabled</source>
+  <source>Select what should be output on UAVCANv1 ESC 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/RWTO_TKOFF/values/1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/0/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_ALGORITHM/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/1/description</name>
   <message>
-  <source>Logfile Encryption algorithm</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_ALGORITHM/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/2/description</name>
   <message>
-  <source>Selects the algorithm used for logfile encryption</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_ALGORITHM/values/0/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/101/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_ALGORITHM/values/2/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/102/description</name>
   <message>
-  <source>XChaCha20</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_BOOT_BAT/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/103/description</name>
   <message>
-  <source>Battery-only Logging</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_BOOT_BAT/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/104/description</name>
   <message>
-  <source>When enabled, logging will not start from boot if battery power is not detected (e.g. powered via USB on a test bench). This prevents extraneous flight logs from being created during bench testing. Note that this only applies to log-from-boot modes. This has no effect on arm-based modes.</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_BOOT_BAT/values/0/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/105/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_BOOT_BAT/values/1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/106/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_DIRS_MAX/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/107/description</name>
   <message>
-  <source>Maximum number of log directories to keep</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_DIRS_MAX/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/108/description</name>
   <message>
-  <source>If there are more log directories than this value, the system will delete the oldest directories during startup. In addition, the system will delete old logs if there is not enough free space left. The minimum amount is 300 MB. If this is set to 0, old directories will only be removed if the free space falls below the minimum. Note: this does not apply to mission log files.</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_EXCH_KEY/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/109/description</name>
   <message>
-  <source>Logfile Encryption key exchange key</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_EXCH_KEY/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/110/description</name>
   <message>
-  <source>If the logfile is encrypted using a symmetric key algorithm, the used encryption key is generated at logging start and stored on the sdcard RSA2048 encrypted using this key.</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_KEY/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/111/description</name>
   <message>
-  <source>Logfile Encryption key index</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_KEY/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/112/description</name>
   <message>
-  <source>Selects the key in keystore, used for encrypting the log. When using a symmetric encryption algorithm, the key is generated at logging start and kept stored in this index. For symmetric algorithms, the key is volatile and valid only for the duration of logging. The key is stored in encrypted format on the sdcard alongside the logfile, using an RSA2048 key defined by the SDLOG_EXCHANGE_KEY</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_MISSION/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/201/description</name>
   <message>
-  <source>Mission Log</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_MISSION/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/202/description</name>
   <message>
-  <source>If enabled, a small additional "mission" log file will be written to the SD card. The log contains just those messages that are useful for tasks like generating flight statistics and geotagging. The different modes can be used to further reduce the logged data (and thus the log file size). For example, choose geotagging mode to only log data required for geotagging. Note that the normal/full log is still created, and contains all the data in the mission log (and more).</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_MISSION/values/0/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/203/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_MISSION/values/1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/204/description</name>
   <message>
-  <source>All mission messages</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_MISSION/values/2/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/205/description</name>
   <message>
-  <source>Geotagging messages</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_MODE/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/206/description</name>
   <message>
-  <source>Logging Mode</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_MODE/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/207/description</name>
   <message>
-  <source>Determines when to start and stop logging. By default, logging is started when arming the system, and stopped when disarming.</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_MODE/values/-1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/208/description</name>
   <message>
-  <source>disabled</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_MODE/values/0/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/301/description</name>
   <message>
-  <source>when armed until disarm (default)</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_MODE/values/1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/302/description</name>
   <message>
-  <source>from boot until disarm</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_MODE/values/2/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/303/description</name>
   <message>
-  <source>from boot until shutdown</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_MODE/values/3/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/304/description</name>
   <message>
-  <source>while manual input AUX1 &gt;30%</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_MODE/values/4/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/305/description</name>
   <message>
-  <source>from 1st armed until shutdown</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_PROFILE/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/306/description</name>
   <message>
-  <source>Logging topic profile (integer bitmask)</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_PROFILE/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/400/description</name>
   <message>
-  <source>This integer bitmask controls the set and rates of logged topics. The default allows for general log analysis while keeping the log file size reasonably small. Enabling multiple sets leads to higher bandwidth requirements and larger log files. Set bits true to enable: 0 : Default set (used for general log analysis) 1 : Full rate estimator (EKF2) replay topics 2 : Topics for thermal calibration (high rate raw IMU and Baro sensor data) 3 : Topics for system identification (high rate actuator control and IMU data) 4 : Full rates for analysis of fast maneuvers (RC, attitude, rates and actuators) 5 : Debugging topics (debug_*.msg topics, for custom code) 6 : Topics for sensor comparison (low rate raw IMU, Baro and magnetometer data) 7 : Topics for computer vision and collision avoidance 8 : Raw FIFO high-rate IMU (Gyro) 9 : Raw FIFO high-rate IMU (Accel) 10: Logging of mavlink tunnel message (useful for payload communication debugging)</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_PROFILE/bitmask/0/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/401/description</name>
   <message>
-  <source>Default set (general log analysis)</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_PROFILE/bitmask/1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/402/description</name>
   <message>
-  <source>Estimator replay (EKF2)</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_PROFILE/bitmask/2/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/403/description</name>
   <message>
-  <source>Thermal calibration</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_PROFILE/bitmask/3/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/404/description</name>
   <message>
-  <source>System identification</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_PROFILE/bitmask/4/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/405/description</name>
   <message>
-  <source>High rate</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_PROFILE/bitmask/5/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/406/description</name>
   <message>
-  <source>Debug</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_PROFILE/bitmask/6/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/407/description</name>
   <message>
-  <source>Sensor comparison</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_PROFILE/bitmask/7/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/408/description</name>
   <message>
-  <source>Computer Vision and Avoidance</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_PROFILE/bitmask/8/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/409/description</name>
   <message>
-  <source>Raw FIFO high-rate IMU (Gyro)</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_PROFILE/bitmask/9/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/410/description</name>
   <message>
-  <source>Raw FIFO high-rate IMU (Accel)</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_PROFILE/bitmask/10/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/411/description</name>
   <message>
-  <source>Mavlink tunnel message logging</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_UTC_OFFSET/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/412/description</name>
   <message>
-  <source>UTC offset (unit: min)</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_UTC_OFFSET/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/420/description</name>
   <message>
-  <source>the difference in hours and minutes from Coordinated Universal Time (UTC) for a your place and date. for example, In case of South Korea(UTC+09:00), UTC offset is 540 min (9*60) refer to https://en.wikipedia.org/wiki/List_of_UTC_time_offsets</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_UUID/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/421/description</name>
   <message>
-  <source>Log UUID</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_UUID/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/422/description</name>
   <message>
-  <source>If set to 1, add an ID to the log, which uniquely identifies the vehicle</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_UUID/values/0/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/430/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SDLOG_UUID/values/1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC1/values/440/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIM_BAT_DRAIN/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/shortDesc</name>
   <message>
-  <source>Simulator Battery drain interval</source>
+  <source>UAVCANv1 ESC 10 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIM_BAT_ENABLE/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/longDesc</name>
   <message>
-  <source>Simulator Battery enabled</source>
+  <source>Select what should be output on UAVCANv1 ESC 10. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIM_BAT_ENABLE/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/0/description</name>
   <message>
-  <source>Enable or disable the internal battery simulation. This is useful when the battery is simulated externally and interfaced with PX4 through MAVLink for example.</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIM_BAT_ENABLE/values/0/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/1/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIM_BAT_ENABLE/values/1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/2/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIM_BAT_MIN_PCT/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/101/description</name>
   <message>
-  <source>Simulator Battery minimal percentage</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIM_BAT_MIN_PCT/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/102/description</name>
   <message>
-  <source>Can be used to alter the battery level during SITL- or HITL-simulation on the fly. Particularly useful for testing different low-battery behaviour.</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ID/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/103/description</name>
   <message>
-  <source>Accelerometer 0 calibration device ID</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ID/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/104/description</name>
   <message>
-  <source>Device ID of the accelerometer this calibration applies to.</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_PRIO/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/105/description</name>
   <message>
-  <source>Accelerometer 0 priority</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_PRIO/values/-1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/106/description</name>
   <message>
-  <source>Uninitialized</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_PRIO/values/0/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/107/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_PRIO/values/1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/108/description</name>
   <message>
-  <source>Min</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_PRIO/values/25/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/109/description</name>
   <message>
-  <source>Low</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_PRIO/values/50/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/110/description</name>
   <message>
-  <source>Medium (Default)</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_PRIO/values/75/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/111/description</name>
   <message>
-  <source>High</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_PRIO/values/100/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/112/description</name>
   <message>
-  <source>Max</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ROT/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/201/description</name>
   <message>
-  <source>Accelerometer 0 rotation relative to airframe</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ROT/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/202/description</name>
   <message>
-  <source>An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ROT/values/-1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/203/description</name>
   <message>
-  <source>Internal</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ROT/values/0/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/204/description</name>
   <message>
-  <source>No rotation</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ROT/values/1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/205/description</name>
   <message>
-  <source>Yaw 45°</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ROT/values/2/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/206/description</name>
   <message>
-  <source>Yaw 90°</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ROT/values/3/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/207/description</name>
   <message>
-  <source>Yaw 135°</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ROT/values/4/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/208/description</name>
   <message>
-  <source>Yaw 180°</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ROT/values/5/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/301/description</name>
   <message>
-  <source>Yaw 225°</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ROT/values/6/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/302/description</name>
   <message>
-  <source>Yaw 270°</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ROT/values/7/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/303/description</name>
   <message>
-  <source>Yaw 315°</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ROT/values/8/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/304/description</name>
   <message>
-  <source>Roll 180°</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ROT/values/9/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/305/description</name>
   <message>
-  <source>Roll 180°, Yaw 45°</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ROT/values/10/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/306/description</name>
   <message>
-  <source>Roll 180°, Yaw 90°</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ROT/values/11/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/400/description</name>
   <message>
-  <source>Roll 180°, Yaw 135°</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ROT/values/12/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/401/description</name>
   <message>
-  <source>Pitch 180°</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ROT/values/13/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/402/description</name>
   <message>
-  <source>Roll 180°, Yaw 225°</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ROT/values/14/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/403/description</name>
   <message>
-  <source>Roll 180°, Yaw 270°</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ROT/values/15/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/404/description</name>
   <message>
-  <source>Roll 180°, Yaw 315°</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ROT/values/16/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/405/description</name>
   <message>
-  <source>Roll 90°</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ROT/values/17/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/406/description</name>
   <message>
-  <source>Roll 90°, Yaw 45°</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ROT/values/18/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/407/description</name>
   <message>
-  <source>Roll 90°, Yaw 90°</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ROT/values/19/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/408/description</name>
   <message>
-  <source>Roll 90°, Yaw 135°</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ROT/values/20/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/409/description</name>
   <message>
-  <source>Roll 270°</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ROT/values/21/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/410/description</name>
   <message>
-  <source>Roll 270°, Yaw 45°</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ROT/values/22/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/411/description</name>
   <message>
-  <source>Roll 270°, Yaw 90°</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ROT/values/23/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/412/description</name>
   <message>
-  <source>Roll 270°, Yaw 135°</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ROT/values/24/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/420/description</name>
   <message>
-  <source>Pitch 90°</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ROT/values/25/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/421/description</name>
   <message>
-  <source>Pitch 270°</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ROT/values/26/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/422/description</name>
   <message>
-  <source>Pitch 180°, Yaw 90°</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ROT/values/27/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/430/description</name>
   <message>
-  <source>Pitch 180°, Yaw 270°</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ROT/values/28/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC10/values/440/description</name>
   <message>
-  <source>Roll 90°, Pitch 90°</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ROT/values/29/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/shortDesc</name>
   <message>
-  <source>Roll 180°, Pitch 90°</source>
+  <source>UAVCANv1 ESC 11 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ROT/values/30/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/longDesc</name>
   <message>
-  <source>Roll 270°, Pitch 90°</source>
+  <source>Select what should be output on UAVCANv1 ESC 11. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ROT/values/31/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/0/description</name>
   <message>
-  <source>Roll 90°, Pitch 180°</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ROT/values/32/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/1/description</name>
   <message>
-  <source>Roll 270°, Pitch 180°</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ROT/values/33/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/2/description</name>
   <message>
-  <source>Roll 90°, Pitch 270°</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ROT/values/34/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/101/description</name>
   <message>
-  <source>Roll 180°, Pitch 270°</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ROT/values/35/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/102/description</name>
   <message>
-  <source>Roll 270°, Pitch 270°</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ROT/values/36/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/103/description</name>
   <message>
-  <source>Roll 90°, Pitch 180°, Yaw 90°</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ROT/values/37/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/104/description</name>
   <message>
-  <source>Roll 90°, Yaw 270°</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ROT/values/38/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/105/description</name>
   <message>
-  <source>Roll 90°, Pitch 68°, Yaw 293°</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ROT/values/39/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/106/description</name>
   <message>
-  <source>Pitch 315°</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ROT/values/40/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/107/description</name>
   <message>
-  <source>Roll 90°, Pitch 315°</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_XOFF/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/108/description</name>
   <message>
-  <source>Accelerometer 0 X-axis offset</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_XSCALE/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/109/description</name>
   <message>
-  <source>Accelerometer 0 X-axis scaling factor</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_YOFF/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/110/description</name>
   <message>
-  <source>Accelerometer 0 Y-axis offset</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_YSCALE/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/111/description</name>
   <message>
-  <source>Accelerometer 0 Y-axis scaling factor</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ZOFF/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/112/description</name>
   <message>
-  <source>Accelerometer 0 Z-axis offset</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC0_ZSCALE/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/201/description</name>
   <message>
-  <source>Accelerometer 0 Z-axis scaling factor</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ID/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/202/description</name>
   <message>
-  <source>Accelerometer 1 calibration device ID</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ID/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/203/description</name>
   <message>
-  <source>Device ID of the accelerometer this calibration applies to.</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_PRIO/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/204/description</name>
   <message>
-  <source>Accelerometer 1 priority</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_PRIO/values/-1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/205/description</name>
   <message>
-  <source>Uninitialized</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_PRIO/values/0/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/206/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_PRIO/values/1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/207/description</name>
   <message>
-  <source>Min</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_PRIO/values/25/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/208/description</name>
   <message>
-  <source>Low</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_PRIO/values/50/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/301/description</name>
   <message>
-  <source>Medium (Default)</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_PRIO/values/75/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/302/description</name>
   <message>
-  <source>High</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_PRIO/values/100/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/303/description</name>
   <message>
-  <source>Max</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ROT/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/304/description</name>
   <message>
-  <source>Accelerometer 1 rotation relative to airframe</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ROT/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/305/description</name>
   <message>
-  <source>An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ROT/values/-1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/306/description</name>
   <message>
-  <source>Internal</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ROT/values/0/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/400/description</name>
   <message>
-  <source>No rotation</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ROT/values/1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/401/description</name>
   <message>
-  <source>Yaw 45°</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ROT/values/2/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/402/description</name>
   <message>
-  <source>Yaw 90°</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ROT/values/3/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/403/description</name>
   <message>
-  <source>Yaw 135°</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ROT/values/4/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/404/description</name>
   <message>
-  <source>Yaw 180°</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ROT/values/5/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/405/description</name>
   <message>
-  <source>Yaw 225°</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ROT/values/6/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/406/description</name>
   <message>
-  <source>Yaw 270°</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ROT/values/7/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/407/description</name>
   <message>
-  <source>Yaw 315°</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ROT/values/8/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/408/description</name>
   <message>
-  <source>Roll 180°</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ROT/values/9/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/409/description</name>
   <message>
-  <source>Roll 180°, Yaw 45°</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ROT/values/10/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/410/description</name>
   <message>
-  <source>Roll 180°, Yaw 90°</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ROT/values/11/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/411/description</name>
   <message>
-  <source>Roll 180°, Yaw 135°</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ROT/values/12/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/412/description</name>
   <message>
-  <source>Pitch 180°</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ROT/values/13/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/420/description</name>
   <message>
-  <source>Roll 180°, Yaw 225°</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ROT/values/14/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/421/description</name>
   <message>
-  <source>Roll 180°, Yaw 270°</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ROT/values/15/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/422/description</name>
   <message>
-  <source>Roll 180°, Yaw 315°</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ROT/values/16/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/430/description</name>
   <message>
-  <source>Roll 90°</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ROT/values/17/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC11/values/440/description</name>
   <message>
-  <source>Roll 90°, Yaw 45°</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ROT/values/18/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/shortDesc</name>
   <message>
-  <source>Roll 90°, Yaw 90°</source>
+  <source>UAVCANv1 ESC 12 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ROT/values/19/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/longDesc</name>
   <message>
-  <source>Roll 90°, Yaw 135°</source>
+  <source>Select what should be output on UAVCANv1 ESC 12. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ROT/values/20/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/0/description</name>
   <message>
-  <source>Roll 270°</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ROT/values/21/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/1/description</name>
   <message>
-  <source>Roll 270°, Yaw 45°</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ROT/values/22/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/2/description</name>
   <message>
-  <source>Roll 270°, Yaw 90°</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ROT/values/23/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/101/description</name>
   <message>
-  <source>Roll 270°, Yaw 135°</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ROT/values/24/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/102/description</name>
   <message>
-  <source>Pitch 90°</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ROT/values/25/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/103/description</name>
   <message>
-  <source>Pitch 270°</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ROT/values/26/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/104/description</name>
   <message>
-  <source>Pitch 180°, Yaw 90°</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ROT/values/27/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/105/description</name>
   <message>
-  <source>Pitch 180°, Yaw 270°</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ROT/values/28/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/106/description</name>
   <message>
-  <source>Roll 90°, Pitch 90°</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ROT/values/29/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/107/description</name>
   <message>
-  <source>Roll 180°, Pitch 90°</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ROT/values/30/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/108/description</name>
   <message>
-  <source>Roll 270°, Pitch 90°</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ROT/values/31/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/109/description</name>
   <message>
-  <source>Roll 90°, Pitch 180°</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ROT/values/32/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/110/description</name>
   <message>
-  <source>Roll 270°, Pitch 180°</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ROT/values/33/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/111/description</name>
   <message>
-  <source>Roll 90°, Pitch 270°</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ROT/values/34/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/112/description</name>
   <message>
-  <source>Roll 180°, Pitch 270°</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ROT/values/35/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/201/description</name>
   <message>
-  <source>Roll 270°, Pitch 270°</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ROT/values/36/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/202/description</name>
   <message>
-  <source>Roll 90°, Pitch 180°, Yaw 90°</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ROT/values/37/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/203/description</name>
   <message>
-  <source>Roll 90°, Yaw 270°</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ROT/values/38/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/204/description</name>
   <message>
-  <source>Roll 90°, Pitch 68°, Yaw 293°</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ROT/values/39/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/205/description</name>
   <message>
-  <source>Pitch 315°</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ROT/values/40/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/206/description</name>
   <message>
-  <source>Roll 90°, Pitch 315°</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_XOFF/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/207/description</name>
   <message>
-  <source>Accelerometer 1 X-axis offset</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_XSCALE/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/208/description</name>
   <message>
-  <source>Accelerometer 1 X-axis scaling factor</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_YOFF/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/301/description</name>
   <message>
-  <source>Accelerometer 1 Y-axis offset</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_YSCALE/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/302/description</name>
   <message>
-  <source>Accelerometer 1 Y-axis scaling factor</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ZOFF/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/303/description</name>
   <message>
-  <source>Accelerometer 1 Z-axis offset</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC1_ZSCALE/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/304/description</name>
   <message>
-  <source>Accelerometer 1 Z-axis scaling factor</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ID/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/305/description</name>
   <message>
-  <source>Accelerometer 2 calibration device ID</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ID/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/306/description</name>
   <message>
-  <source>Device ID of the accelerometer this calibration applies to.</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_PRIO/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/400/description</name>
   <message>
-  <source>Accelerometer 2 priority</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_PRIO/values/-1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/401/description</name>
   <message>
-  <source>Uninitialized</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_PRIO/values/0/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/402/description</name>
   <message>
-  <source>Disabled</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_PRIO/values/1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/403/description</name>
   <message>
-  <source>Min</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_PRIO/values/25/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/404/description</name>
   <message>
-  <source>Low</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_PRIO/values/50/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/405/description</name>
   <message>
-  <source>Medium (Default)</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_PRIO/values/75/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/406/description</name>
   <message>
-  <source>High</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_PRIO/values/100/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/407/description</name>
   <message>
-  <source>Max</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ROT/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/408/description</name>
   <message>
-  <source>Accelerometer 2 rotation relative to airframe</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ROT/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/409/description</name>
   <message>
-  <source>An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ROT/values/-1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/410/description</name>
   <message>
-  <source>Internal</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ROT/values/0/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/411/description</name>
   <message>
-  <source>No rotation</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ROT/values/1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/412/description</name>
   <message>
-  <source>Yaw 45°</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ROT/values/2/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/420/description</name>
   <message>
-  <source>Yaw 90°</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ROT/values/3/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/421/description</name>
   <message>
-  <source>Yaw 135°</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ROT/values/4/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/422/description</name>
   <message>
-  <source>Yaw 180°</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ROT/values/5/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/430/description</name>
   <message>
-  <source>Yaw 225°</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ROT/values/6/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC12/values/440/description</name>
   <message>
-  <source>Yaw 270°</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ROT/values/7/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/shortDesc</name>
   <message>
-  <source>Yaw 315°</source>
+  <source>UAVCANv1 ESC 13 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ROT/values/8/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/longDesc</name>
   <message>
-  <source>Roll 180°</source>
+  <source>Select what should be output on UAVCANv1 ESC 13. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ROT/values/9/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/0/description</name>
   <message>
-  <source>Roll 180°, Yaw 45°</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ROT/values/10/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/1/description</name>
   <message>
-  <source>Roll 180°, Yaw 90°</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ROT/values/11/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/2/description</name>
   <message>
-  <source>Roll 180°, Yaw 135°</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ROT/values/12/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/101/description</name>
   <message>
-  <source>Pitch 180°</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ROT/values/13/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/102/description</name>
   <message>
-  <source>Roll 180°, Yaw 225°</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ROT/values/14/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/103/description</name>
   <message>
-  <source>Roll 180°, Yaw 270°</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ROT/values/15/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/104/description</name>
   <message>
-  <source>Roll 180°, Yaw 315°</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ROT/values/16/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/105/description</name>
   <message>
-  <source>Roll 90°</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ROT/values/17/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/106/description</name>
   <message>
-  <source>Roll 90°, Yaw 45°</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ROT/values/18/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/107/description</name>
   <message>
-  <source>Roll 90°, Yaw 90°</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ROT/values/19/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/108/description</name>
   <message>
-  <source>Roll 90°, Yaw 135°</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ROT/values/20/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/109/description</name>
   <message>
-  <source>Roll 270°</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ROT/values/21/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/110/description</name>
   <message>
-  <source>Roll 270°, Yaw 45°</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ROT/values/22/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/111/description</name>
   <message>
-  <source>Roll 270°, Yaw 90°</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ROT/values/23/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/112/description</name>
   <message>
-  <source>Roll 270°, Yaw 135°</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ROT/values/24/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/201/description</name>
   <message>
-  <source>Pitch 90°</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ROT/values/25/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/202/description</name>
   <message>
-  <source>Pitch 270°</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ROT/values/26/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/203/description</name>
   <message>
-  <source>Pitch 180°, Yaw 90°</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ROT/values/27/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/204/description</name>
   <message>
-  <source>Pitch 180°, Yaw 270°</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ROT/values/28/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/205/description</name>
   <message>
-  <source>Roll 90°, Pitch 90°</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ROT/values/29/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/206/description</name>
   <message>
-  <source>Roll 180°, Pitch 90°</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ROT/values/30/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/207/description</name>
   <message>
-  <source>Roll 270°, Pitch 90°</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ROT/values/31/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/208/description</name>
   <message>
-  <source>Roll 90°, Pitch 180°</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ROT/values/32/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/301/description</name>
   <message>
-  <source>Roll 270°, Pitch 180°</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ROT/values/33/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/302/description</name>
   <message>
-  <source>Roll 90°, Pitch 270°</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ROT/values/34/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/303/description</name>
   <message>
-  <source>Roll 180°, Pitch 270°</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ROT/values/35/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/304/description</name>
   <message>
-  <source>Roll 270°, Pitch 270°</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ROT/values/36/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/305/description</name>
   <message>
-  <source>Roll 90°, Pitch 180°, Yaw 90°</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ROT/values/37/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/306/description</name>
   <message>
-  <source>Roll 90°, Yaw 270°</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ROT/values/38/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/400/description</name>
   <message>
-  <source>Roll 90°, Pitch 68°, Yaw 293°</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ROT/values/39/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/401/description</name>
   <message>
-  <source>Pitch 315°</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ROT/values/40/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/402/description</name>
   <message>
-  <source>Roll 90°, Pitch 315°</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_XOFF/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/403/description</name>
   <message>
-  <source>Accelerometer 2 X-axis offset</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_XSCALE/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/404/description</name>
   <message>
-  <source>Accelerometer 2 X-axis scaling factor</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_YOFF/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/405/description</name>
   <message>
-  <source>Accelerometer 2 Y-axis offset</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_YSCALE/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/406/description</name>
   <message>
-  <source>Accelerometer 2 Y-axis scaling factor</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ZOFF/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/407/description</name>
   <message>
-  <source>Accelerometer 2 Z-axis offset</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC2_ZSCALE/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/408/description</name>
   <message>
-  <source>Accelerometer 2 Z-axis scaling factor</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ID/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/409/description</name>
   <message>
-  <source>Accelerometer 3 calibration device ID</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ID/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/410/description</name>
   <message>
-  <source>Device ID of the accelerometer this calibration applies to.</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_PRIO/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/411/description</name>
   <message>
-  <source>Accelerometer 3 priority</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_PRIO/values/-1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/412/description</name>
   <message>
-  <source>Uninitialized</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_PRIO/values/0/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/420/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_PRIO/values/1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/421/description</name>
   <message>
-  <source>Min</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_PRIO/values/25/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/422/description</name>
   <message>
-  <source>Low</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_PRIO/values/50/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/430/description</name>
   <message>
-  <source>Medium (Default)</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_PRIO/values/75/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC13/values/440/description</name>
   <message>
-  <source>High</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_PRIO/values/100/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/shortDesc</name>
   <message>
-  <source>Max</source>
+  <source>UAVCANv1 ESC 14 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ROT/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/longDesc</name>
   <message>
-  <source>Accelerometer 3 rotation relative to airframe</source>
+  <source>Select what should be output on UAVCANv1 ESC 14. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ROT/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/0/description</name>
   <message>
-  <source>An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ROT/values/-1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/1/description</name>
   <message>
-  <source>Internal</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ROT/values/0/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/2/description</name>
   <message>
-  <source>No rotation</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ROT/values/1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/101/description</name>
   <message>
-  <source>Yaw 45°</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ROT/values/2/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/102/description</name>
   <message>
-  <source>Yaw 90°</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ROT/values/3/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/103/description</name>
   <message>
-  <source>Yaw 135°</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ROT/values/4/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/104/description</name>
   <message>
-  <source>Yaw 180°</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ROT/values/5/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/105/description</name>
   <message>
-  <source>Yaw 225°</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ROT/values/6/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/106/description</name>
   <message>
-  <source>Yaw 270°</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ROT/values/7/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/107/description</name>
   <message>
-  <source>Yaw 315°</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ROT/values/8/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/108/description</name>
   <message>
-  <source>Roll 180°</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ROT/values/9/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/109/description</name>
   <message>
-  <source>Roll 180°, Yaw 45°</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ROT/values/10/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/110/description</name>
   <message>
-  <source>Roll 180°, Yaw 90°</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ROT/values/11/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/111/description</name>
   <message>
-  <source>Roll 180°, Yaw 135°</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ROT/values/12/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/112/description</name>
   <message>
-  <source>Pitch 180°</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ROT/values/13/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/201/description</name>
   <message>
-  <source>Roll 180°, Yaw 225°</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ROT/values/14/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/202/description</name>
   <message>
-  <source>Roll 180°, Yaw 270°</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ROT/values/15/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/203/description</name>
   <message>
-  <source>Roll 180°, Yaw 315°</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ROT/values/16/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/204/description</name>
   <message>
-  <source>Roll 90°</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ROT/values/17/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/205/description</name>
   <message>
-  <source>Roll 90°, Yaw 45°</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ROT/values/18/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/206/description</name>
   <message>
-  <source>Roll 90°, Yaw 90°</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ROT/values/19/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/207/description</name>
   <message>
-  <source>Roll 90°, Yaw 135°</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ROT/values/20/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/208/description</name>
   <message>
-  <source>Roll 270°</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ROT/values/21/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/301/description</name>
   <message>
-  <source>Roll 270°, Yaw 45°</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ROT/values/22/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/302/description</name>
   <message>
-  <source>Roll 270°, Yaw 90°</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ROT/values/23/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/303/description</name>
   <message>
-  <source>Roll 270°, Yaw 135°</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ROT/values/24/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/304/description</name>
   <message>
-  <source>Pitch 90°</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ROT/values/25/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/305/description</name>
   <message>
-  <source>Pitch 270°</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ROT/values/26/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/306/description</name>
   <message>
-  <source>Pitch 180°, Yaw 90°</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ROT/values/27/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/400/description</name>
   <message>
-  <source>Pitch 180°, Yaw 270°</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ROT/values/28/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/401/description</name>
   <message>
-  <source>Roll 90°, Pitch 90°</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ROT/values/29/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/402/description</name>
   <message>
-  <source>Roll 180°, Pitch 90°</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ROT/values/30/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/403/description</name>
   <message>
-  <source>Roll 270°, Pitch 90°</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ROT/values/31/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/404/description</name>
   <message>
-  <source>Roll 90°, Pitch 180°</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ROT/values/32/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/405/description</name>
   <message>
-  <source>Roll 270°, Pitch 180°</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ROT/values/33/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/406/description</name>
   <message>
-  <source>Roll 90°, Pitch 270°</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ROT/values/34/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/407/description</name>
   <message>
-  <source>Roll 180°, Pitch 270°</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ROT/values/35/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/408/description</name>
   <message>
-  <source>Roll 270°, Pitch 270°</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ROT/values/36/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/409/description</name>
   <message>
-  <source>Roll 90°, Pitch 180°, Yaw 90°</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ROT/values/37/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/410/description</name>
   <message>
-  <source>Roll 90°, Yaw 270°</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ROT/values/38/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/411/description</name>
   <message>
-  <source>Roll 90°, Pitch 68°, Yaw 293°</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ROT/values/39/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/412/description</name>
   <message>
-  <source>Pitch 315°</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ROT/values/40/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/420/description</name>
   <message>
-  <source>Roll 90°, Pitch 315°</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_XOFF/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/421/description</name>
   <message>
-  <source>Accelerometer 3 X-axis offset</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_XSCALE/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/422/description</name>
   <message>
-  <source>Accelerometer 3 X-axis scaling factor</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_YOFF/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/430/description</name>
   <message>
-  <source>Accelerometer 3 Y-axis offset</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_YSCALE/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC14/values/440/description</name>
   <message>
-  <source>Accelerometer 3 Y-axis scaling factor</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ZOFF/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/shortDesc</name>
   <message>
-  <source>Accelerometer 3 Z-axis offset</source>
+  <source>UAVCANv1 ESC 15 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_ACC3_ZSCALE/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/longDesc</name>
   <message>
-  <source>Accelerometer 3 Z-axis scaling factor</source>
+  <source>Select what should be output on UAVCANv1 ESC 15. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_BARO0_ID/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/0/description</name>
   <message>
-  <source>Barometer 0 calibration device ID</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_BARO0_ID/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/1/description</name>
   <message>
-  <source>Device ID of the barometer this calibration applies to.</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_BARO0_OFF/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/2/description</name>
   <message>
-  <source>Barometer 0 offset</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_BARO0_PRIO/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/101/description</name>
   <message>
-  <source>Barometer 0 priority</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_BARO0_PRIO/values/-1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/102/description</name>
   <message>
-  <source>Uninitialized</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_BARO0_PRIO/values/0/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/103/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_BARO0_PRIO/values/1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/104/description</name>
   <message>
-  <source>Min</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_BARO0_PRIO/values/25/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/105/description</name>
   <message>
-  <source>Low</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_BARO0_PRIO/values/50/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/106/description</name>
   <message>
-  <source>Medium (Default)</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_BARO0_PRIO/values/75/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/107/description</name>
   <message>
-  <source>High</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_BARO0_PRIO/values/100/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/108/description</name>
   <message>
-  <source>Max</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_BARO1_ID/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/109/description</name>
   <message>
-  <source>Barometer 1 calibration device ID</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_BARO1_ID/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/110/description</name>
   <message>
-  <source>Device ID of the barometer this calibration applies to.</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_BARO1_OFF/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/111/description</name>
   <message>
-  <source>Barometer 1 offset</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_BARO1_PRIO/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/112/description</name>
   <message>
-  <source>Barometer 1 priority</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_BARO1_PRIO/values/-1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/201/description</name>
   <message>
-  <source>Uninitialized</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_BARO1_PRIO/values/0/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/202/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_BARO1_PRIO/values/1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/203/description</name>
   <message>
-  <source>Min</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_BARO1_PRIO/values/25/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/204/description</name>
   <message>
-  <source>Low</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_BARO1_PRIO/values/50/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/205/description</name>
   <message>
-  <source>Medium (Default)</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_BARO1_PRIO/values/75/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/206/description</name>
   <message>
-  <source>High</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_BARO1_PRIO/values/100/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/207/description</name>
   <message>
-  <source>Max</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_BARO2_ID/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/208/description</name>
   <message>
-  <source>Barometer 2 calibration device ID</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_BARO2_ID/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/301/description</name>
   <message>
-  <source>Device ID of the barometer this calibration applies to.</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_BARO2_OFF/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/302/description</name>
   <message>
-  <source>Barometer 2 offset</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_BARO2_PRIO/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/303/description</name>
   <message>
-  <source>Barometer 2 priority</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_BARO2_PRIO/values/-1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/304/description</name>
   <message>
-  <source>Uninitialized</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_BARO2_PRIO/values/0/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/305/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_BARO2_PRIO/values/1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/306/description</name>
   <message>
-  <source>Min</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_BARO2_PRIO/values/25/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/400/description</name>
   <message>
-  <source>Low</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_BARO2_PRIO/values/50/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/401/description</name>
   <message>
-  <source>Medium (Default)</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_BARO2_PRIO/values/75/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/402/description</name>
   <message>
-  <source>High</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_BARO2_PRIO/values/100/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/403/description</name>
   <message>
-  <source>Max</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_BARO3_ID/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/404/description</name>
   <message>
-  <source>Barometer 3 calibration device ID</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_BARO3_ID/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/405/description</name>
   <message>
-  <source>Device ID of the barometer this calibration applies to.</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_BARO3_OFF/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/406/description</name>
   <message>
-  <source>Barometer 3 offset</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_BARO3_PRIO/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/407/description</name>
   <message>
-  <source>Barometer 3 priority</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_BARO3_PRIO/values/-1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/408/description</name>
   <message>
-  <source>Uninitialized</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_BARO3_PRIO/values/0/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/409/description</name>
   <message>
-  <source>Disabled</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_BARO3_PRIO/values/1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/410/description</name>
   <message>
-  <source>Min</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_BARO3_PRIO/values/25/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/411/description</name>
   <message>
-  <source>Low</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_BARO3_PRIO/values/50/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/412/description</name>
   <message>
-  <source>Medium (Default)</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_BARO3_PRIO/values/75/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/420/description</name>
   <message>
-  <source>High</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_BARO3_PRIO/values/100/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/421/description</name>
   <message>
-  <source>Max</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ID/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/422/description</name>
   <message>
-  <source>Gyroscope 0 calibration device ID</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ID/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/430/description</name>
   <message>
-  <source>Device ID of the gyroscope this calibration applies to.</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_PRIO/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC15/values/440/description</name>
   <message>
-  <source>Gyroscope 0 priority</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_PRIO/values/-1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/shortDesc</name>
   <message>
-  <source>Uninitialized</source>
+  <source>UAVCANv1 ESC 16 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_PRIO/values/0/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/longDesc</name>
   <message>
-  <source>Disabled</source>
+  <source>Select what should be output on UAVCANv1 ESC 16. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_PRIO/values/1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/0/description</name>
   <message>
-  <source>Min</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_PRIO/values/25/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/1/description</name>
   <message>
-  <source>Low</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_PRIO/values/50/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/2/description</name>
   <message>
-  <source>Medium (Default)</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_PRIO/values/75/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/101/description</name>
   <message>
-  <source>High</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_PRIO/values/100/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/102/description</name>
   <message>
-  <source>Max</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ROT/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/103/description</name>
   <message>
-  <source>Gyroscope 0 rotation relative to airframe</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ROT/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/104/description</name>
   <message>
-  <source>An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ROT/values/-1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/105/description</name>
   <message>
-  <source>Internal</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ROT/values/0/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/106/description</name>
   <message>
-  <source>No rotation</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ROT/values/1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/107/description</name>
   <message>
-  <source>Yaw 45°</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ROT/values/2/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/108/description</name>
   <message>
-  <source>Yaw 90°</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ROT/values/3/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/109/description</name>
   <message>
-  <source>Yaw 135°</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ROT/values/4/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/110/description</name>
   <message>
-  <source>Yaw 180°</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ROT/values/5/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/111/description</name>
   <message>
-  <source>Yaw 225°</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ROT/values/6/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/112/description</name>
   <message>
-  <source>Yaw 270°</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ROT/values/7/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/201/description</name>
   <message>
-  <source>Yaw 315°</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ROT/values/8/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/202/description</name>
   <message>
-  <source>Roll 180°</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ROT/values/9/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/203/description</name>
   <message>
-  <source>Roll 180°, Yaw 45°</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ROT/values/10/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/204/description</name>
   <message>
-  <source>Roll 180°, Yaw 90°</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ROT/values/11/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/205/description</name>
   <message>
-  <source>Roll 180°, Yaw 135°</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ROT/values/12/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/206/description</name>
   <message>
-  <source>Pitch 180°</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ROT/values/13/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/207/description</name>
   <message>
-  <source>Roll 180°, Yaw 225°</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ROT/values/14/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/208/description</name>
   <message>
-  <source>Roll 180°, Yaw 270°</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ROT/values/15/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/301/description</name>
   <message>
-  <source>Roll 180°, Yaw 315°</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ROT/values/16/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/302/description</name>
   <message>
-  <source>Roll 90°</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ROT/values/17/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/303/description</name>
   <message>
-  <source>Roll 90°, Yaw 45°</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ROT/values/18/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/304/description</name>
   <message>
-  <source>Roll 90°, Yaw 90°</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ROT/values/19/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/305/description</name>
   <message>
-  <source>Roll 90°, Yaw 135°</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ROT/values/20/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/306/description</name>
   <message>
-  <source>Roll 270°</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ROT/values/21/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/400/description</name>
   <message>
-  <source>Roll 270°, Yaw 45°</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ROT/values/22/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/401/description</name>
   <message>
-  <source>Roll 270°, Yaw 90°</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ROT/values/23/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/402/description</name>
   <message>
-  <source>Roll 270°, Yaw 135°</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ROT/values/24/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/403/description</name>
   <message>
-  <source>Pitch 90°</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ROT/values/25/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/404/description</name>
   <message>
-  <source>Pitch 270°</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ROT/values/26/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/405/description</name>
   <message>
-  <source>Pitch 180°, Yaw 90°</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ROT/values/27/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/406/description</name>
   <message>
-  <source>Pitch 180°, Yaw 270°</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ROT/values/28/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/407/description</name>
   <message>
-  <source>Roll 90°, Pitch 90°</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ROT/values/29/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/408/description</name>
   <message>
-  <source>Roll 180°, Pitch 90°</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ROT/values/30/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/409/description</name>
   <message>
-  <source>Roll 270°, Pitch 90°</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ROT/values/31/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/410/description</name>
   <message>
-  <source>Roll 90°, Pitch 180°</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ROT/values/32/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/411/description</name>
   <message>
-  <source>Roll 270°, Pitch 180°</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ROT/values/33/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/412/description</name>
   <message>
-  <source>Roll 90°, Pitch 270°</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ROT/values/34/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/420/description</name>
   <message>
-  <source>Roll 180°, Pitch 270°</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ROT/values/35/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/421/description</name>
   <message>
-  <source>Roll 270°, Pitch 270°</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ROT/values/36/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/422/description</name>
   <message>
-  <source>Roll 90°, Pitch 180°, Yaw 90°</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ROT/values/37/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/430/description</name>
   <message>
-  <source>Roll 90°, Yaw 270°</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ROT/values/38/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC16/values/440/description</name>
   <message>
-  <source>Roll 90°, Pitch 68°, Yaw 293°</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ROT/values/39/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/shortDesc</name>
   <message>
-  <source>Pitch 315°</source>
+  <source>UAVCANv1 ESC 2 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ROT/values/40/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/longDesc</name>
   <message>
-  <source>Roll 90°, Pitch 315°</source>
+  <source>Select what should be output on UAVCANv1 ESC 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_XOFF/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/0/description</name>
   <message>
-  <source>Gyroscope 0 X-axis offset</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_YOFF/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/1/description</name>
   <message>
-  <source>Gyroscope 0 Y-axis offset</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO0_ZOFF/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/2/description</name>
   <message>
-  <source>Gyroscope 0 Z-axis offset</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ID/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/101/description</name>
   <message>
-  <source>Gyroscope 1 calibration device ID</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ID/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/102/description</name>
   <message>
-  <source>Device ID of the gyroscope this calibration applies to.</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_PRIO/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/103/description</name>
   <message>
-  <source>Gyroscope 1 priority</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_PRIO/values/-1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/104/description</name>
   <message>
-  <source>Uninitialized</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_PRIO/values/0/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/105/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_PRIO/values/1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/106/description</name>
   <message>
-  <source>Min</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_PRIO/values/25/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/107/description</name>
   <message>
-  <source>Low</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_PRIO/values/50/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/108/description</name>
   <message>
-  <source>Medium (Default)</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_PRIO/values/75/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/109/description</name>
   <message>
-  <source>High</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_PRIO/values/100/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/110/description</name>
   <message>
-  <source>Max</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ROT/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/111/description</name>
   <message>
-  <source>Gyroscope 1 rotation relative to airframe</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ROT/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/112/description</name>
   <message>
-  <source>An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ROT/values/-1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/201/description</name>
   <message>
-  <source>Internal</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ROT/values/0/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/202/description</name>
   <message>
-  <source>No rotation</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ROT/values/1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/203/description</name>
   <message>
-  <source>Yaw 45°</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ROT/values/2/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/204/description</name>
   <message>
-  <source>Yaw 90°</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ROT/values/3/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/205/description</name>
   <message>
-  <source>Yaw 135°</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ROT/values/4/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/206/description</name>
   <message>
-  <source>Yaw 180°</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ROT/values/5/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/207/description</name>
   <message>
-  <source>Yaw 225°</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ROT/values/6/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/208/description</name>
   <message>
-  <source>Yaw 270°</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ROT/values/7/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/301/description</name>
   <message>
-  <source>Yaw 315°</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ROT/values/8/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/302/description</name>
   <message>
-  <source>Roll 180°</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ROT/values/9/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/303/description</name>
   <message>
-  <source>Roll 180°, Yaw 45°</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ROT/values/10/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/304/description</name>
   <message>
-  <source>Roll 180°, Yaw 90°</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ROT/values/11/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/305/description</name>
   <message>
-  <source>Roll 180°, Yaw 135°</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ROT/values/12/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/306/description</name>
   <message>
-  <source>Pitch 180°</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ROT/values/13/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/400/description</name>
   <message>
-  <source>Roll 180°, Yaw 225°</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ROT/values/14/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/401/description</name>
   <message>
-  <source>Roll 180°, Yaw 270°</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ROT/values/15/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/402/description</name>
   <message>
-  <source>Roll 180°, Yaw 315°</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ROT/values/16/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/403/description</name>
   <message>
-  <source>Roll 90°</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ROT/values/17/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/404/description</name>
   <message>
-  <source>Roll 90°, Yaw 45°</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ROT/values/18/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/405/description</name>
   <message>
-  <source>Roll 90°, Yaw 90°</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ROT/values/19/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/406/description</name>
   <message>
-  <source>Roll 90°, Yaw 135°</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ROT/values/20/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/407/description</name>
   <message>
-  <source>Roll 270°</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ROT/values/21/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/408/description</name>
   <message>
-  <source>Roll 270°, Yaw 45°</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ROT/values/22/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/409/description</name>
   <message>
-  <source>Roll 270°, Yaw 90°</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ROT/values/23/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/410/description</name>
   <message>
-  <source>Roll 270°, Yaw 135°</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ROT/values/24/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/411/description</name>
   <message>
-  <source>Pitch 90°</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ROT/values/25/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/412/description</name>
   <message>
-  <source>Pitch 270°</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ROT/values/26/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/420/description</name>
   <message>
-  <source>Pitch 180°, Yaw 90°</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ROT/values/27/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/421/description</name>
   <message>
-  <source>Pitch 180°, Yaw 270°</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ROT/values/28/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/422/description</name>
   <message>
-  <source>Roll 90°, Pitch 90°</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ROT/values/29/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/430/description</name>
   <message>
-  <source>Roll 180°, Pitch 90°</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ROT/values/30/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC2/values/440/description</name>
   <message>
-  <source>Roll 270°, Pitch 90°</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ROT/values/31/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/shortDesc</name>
   <message>
-  <source>Roll 90°, Pitch 180°</source>
+  <source>UAVCANv1 ESC 3 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ROT/values/32/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/longDesc</name>
   <message>
-  <source>Roll 270°, Pitch 180°</source>
+  <source>Select what should be output on UAVCANv1 ESC 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ROT/values/33/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/0/description</name>
   <message>
-  <source>Roll 90°, Pitch 270°</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ROT/values/34/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/1/description</name>
   <message>
-  <source>Roll 180°, Pitch 270°</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ROT/values/35/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/2/description</name>
   <message>
-  <source>Roll 270°, Pitch 270°</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ROT/values/36/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/101/description</name>
   <message>
-  <source>Roll 90°, Pitch 180°, Yaw 90°</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ROT/values/37/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/102/description</name>
   <message>
-  <source>Roll 90°, Yaw 270°</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ROT/values/38/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/103/description</name>
   <message>
-  <source>Roll 90°, Pitch 68°, Yaw 293°</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ROT/values/39/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/104/description</name>
   <message>
-  <source>Pitch 315°</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ROT/values/40/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/105/description</name>
   <message>
-  <source>Roll 90°, Pitch 315°</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_XOFF/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/106/description</name>
   <message>
-  <source>Gyroscope 1 X-axis offset</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_YOFF/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/107/description</name>
   <message>
-  <source>Gyroscope 1 Y-axis offset</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO1_ZOFF/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/108/description</name>
   <message>
-  <source>Gyroscope 1 Z-axis offset</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ID/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/109/description</name>
   <message>
-  <source>Gyroscope 2 calibration device ID</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ID/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/110/description</name>
   <message>
-  <source>Device ID of the gyroscope this calibration applies to.</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_PRIO/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/111/description</name>
   <message>
-  <source>Gyroscope 2 priority</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_PRIO/values/-1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/112/description</name>
   <message>
-  <source>Uninitialized</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_PRIO/values/0/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/201/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_PRIO/values/1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/202/description</name>
   <message>
-  <source>Min</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_PRIO/values/25/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/203/description</name>
   <message>
-  <source>Low</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_PRIO/values/50/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/204/description</name>
   <message>
-  <source>Medium (Default)</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_PRIO/values/75/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/205/description</name>
   <message>
-  <source>High</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_PRIO/values/100/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/206/description</name>
   <message>
-  <source>Max</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ROT/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/207/description</name>
   <message>
-  <source>Gyroscope 2 rotation relative to airframe</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ROT/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/208/description</name>
   <message>
-  <source>An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ROT/values/-1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/301/description</name>
   <message>
-  <source>Internal</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ROT/values/0/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/302/description</name>
   <message>
-  <source>No rotation</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ROT/values/1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/303/description</name>
   <message>
-  <source>Yaw 45°</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ROT/values/2/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/304/description</name>
   <message>
-  <source>Yaw 90°</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ROT/values/3/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/305/description</name>
   <message>
-  <source>Yaw 135°</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ROT/values/4/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/306/description</name>
   <message>
-  <source>Yaw 180°</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ROT/values/5/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/400/description</name>
   <message>
-  <source>Yaw 225°</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ROT/values/6/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/401/description</name>
   <message>
-  <source>Yaw 270°</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ROT/values/7/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/402/description</name>
   <message>
-  <source>Yaw 315°</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ROT/values/8/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/403/description</name>
   <message>
-  <source>Roll 180°</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ROT/values/9/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/404/description</name>
   <message>
-  <source>Roll 180°, Yaw 45°</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ROT/values/10/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/405/description</name>
   <message>
-  <source>Roll 180°, Yaw 90°</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ROT/values/11/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/406/description</name>
   <message>
-  <source>Roll 180°, Yaw 135°</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ROT/values/12/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/407/description</name>
   <message>
-  <source>Pitch 180°</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ROT/values/13/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/408/description</name>
   <message>
-  <source>Roll 180°, Yaw 225°</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ROT/values/14/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/409/description</name>
   <message>
-  <source>Roll 180°, Yaw 270°</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ROT/values/15/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/410/description</name>
   <message>
-  <source>Roll 180°, Yaw 315°</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ROT/values/16/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/411/description</name>
   <message>
-  <source>Roll 90°</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ROT/values/17/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/412/description</name>
   <message>
-  <source>Roll 90°, Yaw 45°</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ROT/values/18/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/420/description</name>
   <message>
-  <source>Roll 90°, Yaw 90°</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ROT/values/19/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/421/description</name>
   <message>
-  <source>Roll 90°, Yaw 135°</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ROT/values/20/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/422/description</name>
   <message>
-  <source>Roll 270°</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ROT/values/21/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/430/description</name>
   <message>
-  <source>Roll 270°, Yaw 45°</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ROT/values/22/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC3/values/440/description</name>
   <message>
-  <source>Roll 270°, Yaw 90°</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ROT/values/23/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/shortDesc</name>
   <message>
-  <source>Roll 270°, Yaw 135°</source>
+  <source>UAVCANv1 ESC 4 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ROT/values/24/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/longDesc</name>
   <message>
-  <source>Pitch 90°</source>
+  <source>Select what should be output on UAVCANv1 ESC 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ROT/values/25/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/0/description</name>
   <message>
-  <source>Pitch 270°</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ROT/values/26/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/1/description</name>
   <message>
-  <source>Pitch 180°, Yaw 90°</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ROT/values/27/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/2/description</name>
   <message>
-  <source>Pitch 180°, Yaw 270°</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ROT/values/28/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/101/description</name>
   <message>
-  <source>Roll 90°, Pitch 90°</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ROT/values/29/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/102/description</name>
   <message>
-  <source>Roll 180°, Pitch 90°</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ROT/values/30/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/103/description</name>
   <message>
-  <source>Roll 270°, Pitch 90°</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ROT/values/31/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/104/description</name>
   <message>
-  <source>Roll 90°, Pitch 180°</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ROT/values/32/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/105/description</name>
   <message>
-  <source>Roll 270°, Pitch 180°</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ROT/values/33/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/106/description</name>
   <message>
-  <source>Roll 90°, Pitch 270°</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ROT/values/34/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/107/description</name>
   <message>
-  <source>Roll 180°, Pitch 270°</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ROT/values/35/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/108/description</name>
   <message>
-  <source>Roll 270°, Pitch 270°</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ROT/values/36/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/109/description</name>
   <message>
-  <source>Roll 90°, Pitch 180°, Yaw 90°</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ROT/values/37/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/110/description</name>
   <message>
-  <source>Roll 90°, Yaw 270°</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ROT/values/38/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/111/description</name>
   <message>
-  <source>Roll 90°, Pitch 68°, Yaw 293°</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ROT/values/39/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/112/description</name>
   <message>
-  <source>Pitch 315°</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ROT/values/40/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/201/description</name>
   <message>
-  <source>Roll 90°, Pitch 315°</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_XOFF/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/202/description</name>
   <message>
-  <source>Gyroscope 2 X-axis offset</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_YOFF/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/203/description</name>
   <message>
-  <source>Gyroscope 2 Y-axis offset</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO2_ZOFF/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/204/description</name>
   <message>
-  <source>Gyroscope 2 Z-axis offset</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ID/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/205/description</name>
   <message>
-  <source>Gyroscope 3 calibration device ID</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ID/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/206/description</name>
   <message>
-  <source>Device ID of the gyroscope this calibration applies to.</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_PRIO/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/207/description</name>
   <message>
-  <source>Gyroscope 3 priority</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_PRIO/values/-1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/208/description</name>
   <message>
-  <source>Uninitialized</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_PRIO/values/0/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/301/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_PRIO/values/1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/302/description</name>
   <message>
-  <source>Min</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_PRIO/values/25/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/303/description</name>
   <message>
-  <source>Low</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_PRIO/values/50/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/304/description</name>
   <message>
-  <source>Medium (Default)</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_PRIO/values/75/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/305/description</name>
   <message>
-  <source>High</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_PRIO/values/100/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/306/description</name>
   <message>
-  <source>Max</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ROT/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/400/description</name>
   <message>
-  <source>Gyroscope 3 rotation relative to airframe</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ROT/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/401/description</name>
   <message>
-  <source>An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ROT/values/-1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/402/description</name>
   <message>
-  <source>Internal</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ROT/values/0/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/403/description</name>
   <message>
-  <source>No rotation</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ROT/values/1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/404/description</name>
   <message>
-  <source>Yaw 45°</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ROT/values/2/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/405/description</name>
   <message>
-  <source>Yaw 90°</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ROT/values/3/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/406/description</name>
   <message>
-  <source>Yaw 135°</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ROT/values/4/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/407/description</name>
   <message>
-  <source>Yaw 180°</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ROT/values/5/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/408/description</name>
   <message>
-  <source>Yaw 225°</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ROT/values/6/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/409/description</name>
   <message>
-  <source>Yaw 270°</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ROT/values/7/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/410/description</name>
   <message>
-  <source>Yaw 315°</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ROT/values/8/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/411/description</name>
   <message>
-  <source>Roll 180°</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ROT/values/9/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/412/description</name>
   <message>
-  <source>Roll 180°, Yaw 45°</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ROT/values/10/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/420/description</name>
   <message>
-  <source>Roll 180°, Yaw 90°</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ROT/values/11/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/421/description</name>
   <message>
-  <source>Roll 180°, Yaw 135°</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ROT/values/12/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/422/description</name>
   <message>
-  <source>Pitch 180°</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ROT/values/13/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/430/description</name>
   <message>
-  <source>Roll 180°, Yaw 225°</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ROT/values/14/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC4/values/440/description</name>
   <message>
-  <source>Roll 180°, Yaw 270°</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ROT/values/15/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/shortDesc</name>
   <message>
-  <source>Roll 180°, Yaw 315°</source>
+  <source>UAVCANv1 ESC 5 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ROT/values/16/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/longDesc</name>
   <message>
-  <source>Roll 90°</source>
+  <source>Select what should be output on UAVCANv1 ESC 5. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ROT/values/17/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/0/description</name>
   <message>
-  <source>Roll 90°, Yaw 45°</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ROT/values/18/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/1/description</name>
   <message>
-  <source>Roll 90°, Yaw 90°</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ROT/values/19/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/2/description</name>
   <message>
-  <source>Roll 90°, Yaw 135°</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ROT/values/20/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/101/description</name>
   <message>
-  <source>Roll 270°</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ROT/values/21/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/102/description</name>
   <message>
-  <source>Roll 270°, Yaw 45°</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ROT/values/22/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/103/description</name>
   <message>
-  <source>Roll 270°, Yaw 90°</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ROT/values/23/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/104/description</name>
   <message>
-  <source>Roll 270°, Yaw 135°</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ROT/values/24/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/105/description</name>
   <message>
-  <source>Pitch 90°</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ROT/values/25/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/106/description</name>
   <message>
-  <source>Pitch 270°</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ROT/values/26/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/107/description</name>
   <message>
-  <source>Pitch 180°, Yaw 90°</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ROT/values/27/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/108/description</name>
   <message>
-  <source>Pitch 180°, Yaw 270°</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ROT/values/28/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/109/description</name>
   <message>
-  <source>Roll 90°, Pitch 90°</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ROT/values/29/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/110/description</name>
   <message>
-  <source>Roll 180°, Pitch 90°</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ROT/values/30/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/111/description</name>
   <message>
-  <source>Roll 270°, Pitch 90°</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ROT/values/31/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/112/description</name>
   <message>
-  <source>Roll 90°, Pitch 180°</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ROT/values/32/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/201/description</name>
   <message>
-  <source>Roll 270°, Pitch 180°</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ROT/values/33/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/202/description</name>
   <message>
-  <source>Roll 90°, Pitch 270°</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ROT/values/34/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/203/description</name>
   <message>
-  <source>Roll 180°, Pitch 270°</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ROT/values/35/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/204/description</name>
   <message>
-  <source>Roll 270°, Pitch 270°</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ROT/values/36/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/205/description</name>
   <message>
-  <source>Roll 90°, Pitch 180°, Yaw 90°</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ROT/values/37/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/206/description</name>
   <message>
-  <source>Roll 90°, Yaw 270°</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ROT/values/38/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/207/description</name>
   <message>
-  <source>Roll 90°, Pitch 68°, Yaw 293°</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ROT/values/39/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/208/description</name>
   <message>
-  <source>Pitch 315°</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ROT/values/40/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/301/description</name>
   <message>
-  <source>Roll 90°, Pitch 315°</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_XOFF/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/302/description</name>
   <message>
-  <source>Gyroscope 3 X-axis offset</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_YOFF/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/303/description</name>
   <message>
-  <source>Gyroscope 3 Y-axis offset</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_GYRO3_ZOFF/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/304/description</name>
   <message>
-  <source>Gyroscope 3 Z-axis offset</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ID/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/305/description</name>
   <message>
-  <source>Magnetometer 0 calibration device ID</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ID/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/306/description</name>
   <message>
-  <source>Device ID of the magnetometer this calibration applies to.</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_PITCH/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/400/description</name>
   <message>
-  <source>Magnetometer 0 Custom Euler Pitch Angle</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_PITCH/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/401/description</name>
   <message>
-  <source>Setting this parameter changes CAL_MAG0_ROT to "Custom Euler Angle"</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_PRIO/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/402/description</name>
   <message>
-  <source>Magnetometer 0 priority</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_PRIO/values/-1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/403/description</name>
   <message>
-  <source>Uninitialized</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_PRIO/values/0/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/404/description</name>
   <message>
-  <source>Disabled</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_PRIO/values/1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/405/description</name>
   <message>
-  <source>Min</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_PRIO/values/25/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/406/description</name>
   <message>
-  <source>Low</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_PRIO/values/50/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/407/description</name>
   <message>
-  <source>Medium (Default)</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_PRIO/values/75/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/408/description</name>
   <message>
-  <source>High</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_PRIO/values/100/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/409/description</name>
   <message>
-  <source>Max</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROLL/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/410/description</name>
   <message>
-  <source>Magnetometer 0 Custom Euler Roll Angle</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROLL/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/411/description</name>
   <message>
-  <source>Setting this parameter changes CAL_MAG0_ROT to "Custom Euler Angle"</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROT/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/412/description</name>
   <message>
-  <source>Magnetometer 0 rotation relative to airframe</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROT/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/420/description</name>
   <message>
-  <source>An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero. Set to "Custom Euler Angle" to define the rotation using CAL_MAG0_ROLL, CAL_MAG0_PITCH and CAL_MAG0_YAW.</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROT/values/-1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/421/description</name>
   <message>
-  <source>Internal</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROT/values/0/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/422/description</name>
   <message>
-  <source>No rotation</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROT/values/1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/430/description</name>
   <message>
-  <source>Yaw 45°</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROT/values/2/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC5/values/440/description</name>
   <message>
-  <source>Yaw 90°</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROT/values/3/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/shortDesc</name>
   <message>
-  <source>Yaw 135°</source>
+  <source>UAVCANv1 ESC 6 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROT/values/4/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/longDesc</name>
   <message>
-  <source>Yaw 180°</source>
+  <source>Select what should be output on UAVCANv1 ESC 6. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROT/values/5/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/0/description</name>
   <message>
-  <source>Yaw 225°</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROT/values/6/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/1/description</name>
   <message>
-  <source>Yaw 270°</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROT/values/7/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/2/description</name>
   <message>
-  <source>Yaw 315°</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROT/values/8/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/101/description</name>
   <message>
-  <source>Roll 180°</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROT/values/9/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/102/description</name>
   <message>
-  <source>Roll 180°, Yaw 45°</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROT/values/10/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/103/description</name>
   <message>
-  <source>Roll 180°, Yaw 90°</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROT/values/11/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/104/description</name>
   <message>
-  <source>Roll 180°, Yaw 135°</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROT/values/12/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/105/description</name>
   <message>
-  <source>Pitch 180°</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROT/values/13/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/106/description</name>
   <message>
-  <source>Roll 180°, Yaw 225°</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROT/values/14/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/107/description</name>
   <message>
-  <source>Roll 180°, Yaw 270°</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROT/values/15/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/108/description</name>
   <message>
-  <source>Roll 180°, Yaw 315°</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROT/values/16/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/109/description</name>
   <message>
-  <source>Roll 90°</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROT/values/17/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/110/description</name>
   <message>
-  <source>Roll 90°, Yaw 45°</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROT/values/18/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/111/description</name>
   <message>
-  <source>Roll 90°, Yaw 90°</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROT/values/19/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/112/description</name>
   <message>
-  <source>Roll 90°, Yaw 135°</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROT/values/20/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/201/description</name>
   <message>
-  <source>Roll 270°</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROT/values/21/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/202/description</name>
   <message>
-  <source>Roll 270°, Yaw 45°</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROT/values/22/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/203/description</name>
   <message>
-  <source>Roll 270°, Yaw 90°</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROT/values/23/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/204/description</name>
   <message>
-  <source>Roll 270°, Yaw 135°</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROT/values/24/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/205/description</name>
   <message>
-  <source>Pitch 90°</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROT/values/25/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/206/description</name>
   <message>
-  <source>Pitch 270°</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROT/values/26/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/207/description</name>
   <message>
-  <source>Pitch 180°, Yaw 90°</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROT/values/27/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/208/description</name>
   <message>
-  <source>Pitch 180°, Yaw 270°</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROT/values/28/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/301/description</name>
   <message>
-  <source>Roll 90°, Pitch 90°</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROT/values/29/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/302/description</name>
   <message>
-  <source>Roll 180°, Pitch 90°</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROT/values/30/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/303/description</name>
   <message>
-  <source>Roll 270°, Pitch 90°</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROT/values/31/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/304/description</name>
   <message>
-  <source>Roll 90°, Pitch 180°</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROT/values/32/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/305/description</name>
   <message>
-  <source>Roll 270°, Pitch 180°</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROT/values/33/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/306/description</name>
   <message>
-  <source>Roll 90°, Pitch 270°</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROT/values/34/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/400/description</name>
   <message>
-  <source>Roll 180°, Pitch 270°</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROT/values/35/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/401/description</name>
   <message>
-  <source>Roll 270°, Pitch 270°</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROT/values/36/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/402/description</name>
   <message>
-  <source>Roll 90°, Pitch 180°, Yaw 90°</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROT/values/37/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/403/description</name>
   <message>
-  <source>Roll 90°, Yaw 270°</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROT/values/38/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/404/description</name>
   <message>
-  <source>Roll 90°, Pitch 68°, Yaw 293°</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROT/values/39/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/405/description</name>
   <message>
-  <source>Pitch 315°</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROT/values/40/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/406/description</name>
   <message>
-  <source>Roll 90°, Pitch 315°</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ROT/values/100/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/407/description</name>
   <message>
-  <source>Custom Euler Angle</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_XCOMP/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/408/description</name>
   <message>
-  <source>Magnetometer 0 X Axis throttle compensation</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_XCOMP/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/409/description</name>
   <message>
-  <source>Coefficient describing linear relationship between X component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_XODIAG/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/410/description</name>
   <message>
-  <source>Magnetometer 0 X-axis off diagonal scale factor</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_XOFF/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/411/description</name>
   <message>
-  <source>Magnetometer 0 X-axis offset</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_XSCALE/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/412/description</name>
   <message>
-  <source>Magnetometer 0 X-axis scaling factor</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_YAW/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/420/description</name>
   <message>
-  <source>Magnetometer 0 Custom Euler Yaw Angle</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_YAW/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/421/description</name>
   <message>
-  <source>Setting this parameter changes CAL_MAG0_ROT to "Custom Euler Angle"</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_YCOMP/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/422/description</name>
   <message>
-  <source>Magnetometer 0 Y Axis throttle compensation</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_YCOMP/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/430/description</name>
   <message>
-  <source>Coefficient describing linear relationship between Y component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_YODIAG/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC6/values/440/description</name>
   <message>
-  <source>Magnetometer 0 Y-axis off diagonal scale factor</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_YOFF/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/shortDesc</name>
   <message>
-  <source>Magnetometer 0 Y-axis offset</source>
+  <source>UAVCANv1 ESC 7 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_YSCALE/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/longDesc</name>
   <message>
-  <source>Magnetometer 0 Y-axis scaling factor</source>
+  <source>Select what should be output on UAVCANv1 ESC 7. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ZCOMP/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/0/description</name>
   <message>
-  <source>Magnetometer 0 Z Axis throttle compensation</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ZCOMP/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/1/description</name>
   <message>
-  <source>Coefficient describing linear relationship between Z component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ZODIAG/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/2/description</name>
   <message>
-  <source>Magnetometer 0 Z-axis off diagonal scale factor</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ZOFF/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/101/description</name>
   <message>
-  <source>Magnetometer 0 Z-axis offset</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG0_ZSCALE/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/102/description</name>
   <message>
-  <source>Magnetometer 0 Z-axis scaling factor</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ID/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/103/description</name>
   <message>
-  <source>Magnetometer 1 calibration device ID</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ID/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/104/description</name>
   <message>
-  <source>Device ID of the magnetometer this calibration applies to.</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_PITCH/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/105/description</name>
   <message>
-  <source>Magnetometer 1 Custom Euler Pitch Angle</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_PITCH/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/106/description</name>
   <message>
-  <source>Setting this parameter changes CAL_MAG1_ROT to "Custom Euler Angle"</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_PRIO/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/107/description</name>
   <message>
-  <source>Magnetometer 1 priority</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_PRIO/values/-1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/108/description</name>
   <message>
-  <source>Uninitialized</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_PRIO/values/0/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/109/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_PRIO/values/1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/110/description</name>
   <message>
-  <source>Min</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_PRIO/values/25/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/111/description</name>
   <message>
-  <source>Low</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_PRIO/values/50/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/112/description</name>
   <message>
-  <source>Medium (Default)</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_PRIO/values/75/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/201/description</name>
   <message>
-  <source>High</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_PRIO/values/100/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/202/description</name>
   <message>
-  <source>Max</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROLL/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/203/description</name>
   <message>
-  <source>Magnetometer 1 Custom Euler Roll Angle</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROLL/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/204/description</name>
   <message>
-  <source>Setting this parameter changes CAL_MAG1_ROT to "Custom Euler Angle"</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROT/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/205/description</name>
   <message>
-  <source>Magnetometer 1 rotation relative to airframe</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROT/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/206/description</name>
   <message>
-  <source>An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero. Set to "Custom Euler Angle" to define the rotation using CAL_MAG1_ROLL, CAL_MAG1_PITCH and CAL_MAG1_YAW.</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROT/values/-1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/207/description</name>
   <message>
-  <source>Internal</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROT/values/0/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/208/description</name>
   <message>
-  <source>No rotation</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROT/values/1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/301/description</name>
   <message>
-  <source>Yaw 45°</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROT/values/2/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/302/description</name>
   <message>
-  <source>Yaw 90°</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROT/values/3/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/303/description</name>
   <message>
-  <source>Yaw 135°</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROT/values/4/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/304/description</name>
   <message>
-  <source>Yaw 180°</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROT/values/5/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/305/description</name>
   <message>
-  <source>Yaw 225°</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROT/values/6/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/306/description</name>
   <message>
-  <source>Yaw 270°</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROT/values/7/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/400/description</name>
   <message>
-  <source>Yaw 315°</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROT/values/8/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/401/description</name>
   <message>
-  <source>Roll 180°</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROT/values/9/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/402/description</name>
   <message>
-  <source>Roll 180°, Yaw 45°</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROT/values/10/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/403/description</name>
   <message>
-  <source>Roll 180°, Yaw 90°</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROT/values/11/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/404/description</name>
   <message>
-  <source>Roll 180°, Yaw 135°</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROT/values/12/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/405/description</name>
   <message>
-  <source>Pitch 180°</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROT/values/13/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/406/description</name>
   <message>
-  <source>Roll 180°, Yaw 225°</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROT/values/14/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/407/description</name>
   <message>
-  <source>Roll 180°, Yaw 270°</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROT/values/15/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/408/description</name>
   <message>
-  <source>Roll 180°, Yaw 315°</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROT/values/16/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/409/description</name>
   <message>
-  <source>Roll 90°</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROT/values/17/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/410/description</name>
   <message>
-  <source>Roll 90°, Yaw 45°</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROT/values/18/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/411/description</name>
   <message>
-  <source>Roll 90°, Yaw 90°</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROT/values/19/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/412/description</name>
   <message>
-  <source>Roll 90°, Yaw 135°</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROT/values/20/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/420/description</name>
   <message>
-  <source>Roll 270°</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROT/values/21/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/421/description</name>
   <message>
-  <source>Roll 270°, Yaw 45°</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROT/values/22/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/422/description</name>
   <message>
-  <source>Roll 270°, Yaw 90°</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROT/values/23/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/430/description</name>
   <message>
-  <source>Roll 270°, Yaw 135°</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROT/values/24/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC7/values/440/description</name>
   <message>
-  <source>Pitch 90°</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROT/values/25/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/shortDesc</name>
   <message>
-  <source>Pitch 270°</source>
+  <source>UAVCANv1 ESC 8 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROT/values/26/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/longDesc</name>
   <message>
-  <source>Pitch 180°, Yaw 90°</source>
+  <source>Select what should be output on UAVCANv1 ESC 8. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROT/values/27/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/0/description</name>
   <message>
-  <source>Pitch 180°, Yaw 270°</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROT/values/28/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/1/description</name>
   <message>
-  <source>Roll 90°, Pitch 90°</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROT/values/29/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/2/description</name>
   <message>
-  <source>Roll 180°, Pitch 90°</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROT/values/30/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/101/description</name>
   <message>
-  <source>Roll 270°, Pitch 90°</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROT/values/31/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/102/description</name>
   <message>
-  <source>Roll 90°, Pitch 180°</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROT/values/32/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/103/description</name>
   <message>
-  <source>Roll 270°, Pitch 180°</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROT/values/33/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/104/description</name>
   <message>
-  <source>Roll 90°, Pitch 270°</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROT/values/34/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/105/description</name>
   <message>
-  <source>Roll 180°, Pitch 270°</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROT/values/35/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/106/description</name>
   <message>
-  <source>Roll 270°, Pitch 270°</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROT/values/36/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/107/description</name>
   <message>
-  <source>Roll 90°, Pitch 180°, Yaw 90°</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROT/values/37/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/108/description</name>
   <message>
-  <source>Roll 90°, Yaw 270°</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROT/values/38/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/109/description</name>
   <message>
-  <source>Roll 90°, Pitch 68°, Yaw 293°</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROT/values/39/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/110/description</name>
   <message>
-  <source>Pitch 315°</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROT/values/40/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/111/description</name>
   <message>
-  <source>Roll 90°, Pitch 315°</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ROT/values/100/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/112/description</name>
   <message>
-  <source>Custom Euler Angle</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_XCOMP/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/201/description</name>
   <message>
-  <source>Magnetometer 1 X Axis throttle compensation</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_XCOMP/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/202/description</name>
   <message>
-  <source>Coefficient describing linear relationship between X component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_XODIAG/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/203/description</name>
   <message>
-  <source>Magnetometer 1 X-axis off diagonal scale factor</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_XOFF/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/204/description</name>
   <message>
-  <source>Magnetometer 1 X-axis offset</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_XSCALE/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/205/description</name>
   <message>
-  <source>Magnetometer 1 X-axis scaling factor</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_YAW/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/206/description</name>
   <message>
-  <source>Magnetometer 1 Custom Euler Yaw Angle</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_YAW/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/207/description</name>
   <message>
-  <source>Setting this parameter changes CAL_MAG1_ROT to "Custom Euler Angle"</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_YCOMP/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/208/description</name>
   <message>
-  <source>Magnetometer 1 Y Axis throttle compensation</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_YCOMP/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/301/description</name>
   <message>
-  <source>Coefficient describing linear relationship between Y component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_YODIAG/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/302/description</name>
   <message>
-  <source>Magnetometer 1 Y-axis off diagonal scale factor</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_YOFF/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/303/description</name>
   <message>
-  <source>Magnetometer 1 Y-axis offset</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_YSCALE/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/304/description</name>
   <message>
-  <source>Magnetometer 1 Y-axis scaling factor</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ZCOMP/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/305/description</name>
   <message>
-  <source>Magnetometer 1 Z Axis throttle compensation</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ZCOMP/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/306/description</name>
   <message>
-  <source>Coefficient describing linear relationship between Z component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ZODIAG/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/400/description</name>
   <message>
-  <source>Magnetometer 1 Z-axis off diagonal scale factor</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ZOFF/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/401/description</name>
   <message>
-  <source>Magnetometer 1 Z-axis offset</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG1_ZSCALE/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/402/description</name>
   <message>
-  <source>Magnetometer 1 Z-axis scaling factor</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ID/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/403/description</name>
   <message>
-  <source>Magnetometer 2 calibration device ID</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ID/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/404/description</name>
   <message>
-  <source>Device ID of the magnetometer this calibration applies to.</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_PITCH/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/405/description</name>
   <message>
-  <source>Magnetometer 2 Custom Euler Pitch Angle</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_PITCH/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/406/description</name>
   <message>
-  <source>Setting this parameter changes CAL_MAG2_ROT to "Custom Euler Angle"</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_PRIO/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/407/description</name>
   <message>
-  <source>Magnetometer 2 priority</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_PRIO/values/-1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/408/description</name>
   <message>
-  <source>Uninitialized</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_PRIO/values/0/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/409/description</name>
   <message>
-  <source>Disabled</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_PRIO/values/1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/410/description</name>
   <message>
-  <source>Min</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_PRIO/values/25/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/411/description</name>
   <message>
-  <source>Low</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_PRIO/values/50/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/412/description</name>
   <message>
-  <source>Medium (Default)</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_PRIO/values/75/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/420/description</name>
   <message>
-  <source>High</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_PRIO/values/100/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/421/description</name>
   <message>
-  <source>Max</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROLL/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/422/description</name>
   <message>
-  <source>Magnetometer 2 Custom Euler Roll Angle</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROLL/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/430/description</name>
   <message>
-  <source>Setting this parameter changes CAL_MAG2_ROT to "Custom Euler Angle"</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROT/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC8/values/440/description</name>
   <message>
-  <source>Magnetometer 2 rotation relative to airframe</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROT/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/shortDesc</name>
   <message>
-  <source>An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero. Set to "Custom Euler Angle" to define the rotation using CAL_MAG2_ROLL, CAL_MAG2_PITCH and CAL_MAG2_YAW.</source>
+  <source>UAVCANv1 ESC 9 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROT/values/-1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/longDesc</name>
   <message>
-  <source>Internal</source>
+  <source>Select what should be output on UAVCANv1 ESC 9. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROT/values/0/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/0/description</name>
   <message>
-  <source>No rotation</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROT/values/1/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/1/description</name>
   <message>
-  <source>Yaw 45°</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROT/values/2/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/2/description</name>
   <message>
-  <source>Yaw 90°</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROT/values/3/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/101/description</name>
   <message>
-  <source>Yaw 135°</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROT/values/4/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/102/description</name>
   <message>
-  <source>Yaw 180°</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROT/values/5/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/103/description</name>
   <message>
-  <source>Yaw 225°</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROT/values/6/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/104/description</name>
   <message>
-  <source>Yaw 270°</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROT/values/7/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/105/description</name>
   <message>
-  <source>Yaw 315°</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROT/values/8/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/106/description</name>
   <message>
-  <source>Roll 180°</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROT/values/9/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/107/description</name>
   <message>
-  <source>Roll 180°, Yaw 45°</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROT/values/10/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/108/description</name>
   <message>
-  <source>Roll 180°, Yaw 90°</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROT/values/11/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/109/description</name>
   <message>
-  <source>Roll 180°, Yaw 135°</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROT/values/12/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/110/description</name>
   <message>
-  <source>Pitch 180°</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROT/values/13/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/111/description</name>
   <message>
-  <source>Roll 180°, Yaw 225°</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROT/values/14/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/112/description</name>
   <message>
-  <source>Roll 180°, Yaw 270°</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROT/values/15/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/201/description</name>
   <message>
-  <source>Roll 180°, Yaw 315°</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROT/values/16/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/202/description</name>
   <message>
-  <source>Roll 90°</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROT/values/17/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/203/description</name>
   <message>
-  <source>Roll 90°, Yaw 45°</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROT/values/18/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/204/description</name>
   <message>
-  <source>Roll 90°, Yaw 90°</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROT/values/19/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/205/description</name>
   <message>
-  <source>Roll 90°, Yaw 135°</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROT/values/20/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/206/description</name>
   <message>
-  <source>Roll 270°</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROT/values/21/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/207/description</name>
   <message>
-  <source>Roll 270°, Yaw 45°</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROT/values/22/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/208/description</name>
   <message>
-  <source>Roll 270°, Yaw 90°</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROT/values/23/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/301/description</name>
   <message>
-  <source>Roll 270°, Yaw 135°</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROT/values/24/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/302/description</name>
   <message>
-  <source>Pitch 90°</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROT/values/25/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/303/description</name>
   <message>
-  <source>Pitch 270°</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROT/values/26/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/304/description</name>
   <message>
-  <source>Pitch 180°, Yaw 90°</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROT/values/27/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/305/description</name>
   <message>
-  <source>Pitch 180°, Yaw 270°</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROT/values/28/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/306/description</name>
   <message>
-  <source>Roll 90°, Pitch 90°</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROT/values/29/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/400/description</name>
   <message>
-  <source>Roll 180°, Pitch 90°</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROT/values/30/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/401/description</name>
   <message>
-  <source>Roll 270°, Pitch 90°</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROT/values/31/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/402/description</name>
   <message>
-  <source>Roll 90°, Pitch 180°</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROT/values/32/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/403/description</name>
   <message>
-  <source>Roll 270°, Pitch 180°</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROT/values/33/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/404/description</name>
   <message>
-  <source>Roll 90°, Pitch 270°</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROT/values/34/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/405/description</name>
   <message>
-  <source>Roll 180°, Pitch 270°</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROT/values/35/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/406/description</name>
   <message>
-  <source>Roll 270°, Pitch 270°</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROT/values/36/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/407/description</name>
   <message>
-  <source>Roll 90°, Pitch 180°, Yaw 90°</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROT/values/37/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/408/description</name>
   <message>
-  <source>Roll 90°, Yaw 270°</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROT/values/38/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/409/description</name>
   <message>
-  <source>Roll 90°, Pitch 68°, Yaw 293°</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROT/values/39/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/410/description</name>
   <message>
-  <source>Pitch 315°</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROT/values/40/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/411/description</name>
   <message>
-  <source>Roll 90°, Pitch 315°</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ROT/values/100/description</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/412/description</name>
   <message>
-  <source>Custom Euler Angle</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_XCOMP/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/420/description</name>
   <message>
-  <source>Magnetometer 2 X Axis throttle compensation</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_XCOMP/longDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/421/description</name>
   <message>
-  <source>Coefficient describing linear relationship between X component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_XODIAG/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/422/description</name>
   <message>
-  <source>Magnetometer 2 X-axis off diagonal scale factor</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_XOFF/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/430/description</name>
   <message>
-  <source>Magnetometer 2 X-axis offset</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_XSCALE/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_FUNC9/values/440/description</name>
   <message>
-  <source>Magnetometer 2 X-axis scaling factor</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_YAW/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_MAX1/shortDesc</name>
   <message>
-  <source>Magnetometer 2 Custom Euler Yaw Angle</source>
+  <source>UAVCANv1 ESC 1 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_YAW/longDesc</name>
+  <name>/parameters/UCAN1_ESC_MAX1/longDesc</name>
   <message>
-  <source>Setting this parameter changes CAL_MAG2_ROT to "Custom Euler Angle"</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_YCOMP/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_MAX10/shortDesc</name>
   <message>
-  <source>Magnetometer 2 Y Axis throttle compensation</source>
+  <source>UAVCANv1 ESC 10 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_YCOMP/longDesc</name>
+  <name>/parameters/UCAN1_ESC_MAX10/longDesc</name>
   <message>
-  <source>Coefficient describing linear relationship between Y component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_YODIAG/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_MAX11/shortDesc</name>
   <message>
-  <source>Magnetometer 2 Y-axis off diagonal scale factor</source>
+  <source>UAVCANv1 ESC 11 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_YOFF/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_MAX11/longDesc</name>
   <message>
-  <source>Magnetometer 2 Y-axis offset</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_YSCALE/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_MAX12/shortDesc</name>
   <message>
-  <source>Magnetometer 2 Y-axis scaling factor</source>
+  <source>UAVCANv1 ESC 12 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ZCOMP/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_MAX12/longDesc</name>
   <message>
-  <source>Magnetometer 2 Z Axis throttle compensation</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ZCOMP/longDesc</name>
+  <name>/parameters/UCAN1_ESC_MAX13/shortDesc</name>
   <message>
-  <source>Coefficient describing linear relationship between Z component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</source>
+  <source>UAVCANv1 ESC 13 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ZODIAG/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_MAX13/longDesc</name>
   <message>
-  <source>Magnetometer 2 Z-axis off diagonal scale factor</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ZOFF/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_MAX14/shortDesc</name>
   <message>
-  <source>Magnetometer 2 Z-axis offset</source>
+  <source>UAVCANv1 ESC 14 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG2_ZSCALE/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_MAX14/longDesc</name>
   <message>
-  <source>Magnetometer 2 Z-axis scaling factor</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ID/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_MAX15/shortDesc</name>
   <message>
-  <source>Magnetometer 3 calibration device ID</source>
+  <source>UAVCANv1 ESC 15 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ID/longDesc</name>
+  <name>/parameters/UCAN1_ESC_MAX15/longDesc</name>
   <message>
-  <source>Device ID of the magnetometer this calibration applies to.</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_PITCH/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_MAX16/shortDesc</name>
   <message>
-  <source>Magnetometer 3 Custom Euler Pitch Angle</source>
+  <source>UAVCANv1 ESC 16 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_PITCH/longDesc</name>
+  <name>/parameters/UCAN1_ESC_MAX16/longDesc</name>
   <message>
-  <source>Setting this parameter changes CAL_MAG3_ROT to "Custom Euler Angle"</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_PRIO/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_MAX2/shortDesc</name>
   <message>
-  <source>Magnetometer 3 priority</source>
+  <source>UAVCANv1 ESC 2 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_PRIO/values/-1/description</name>
+  <name>/parameters/UCAN1_ESC_MAX2/longDesc</name>
   <message>
-  <source>Uninitialized</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_PRIO/values/0/description</name>
+  <name>/parameters/UCAN1_ESC_MAX3/shortDesc</name>
   <message>
-  <source>Disabled</source>
+  <source>UAVCANv1 ESC 3 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_PRIO/values/1/description</name>
+  <name>/parameters/UCAN1_ESC_MAX3/longDesc</name>
   <message>
-  <source>Min</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_PRIO/values/25/description</name>
+  <name>/parameters/UCAN1_ESC_MAX4/shortDesc</name>
   <message>
-  <source>Low</source>
+  <source>UAVCANv1 ESC 4 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_PRIO/values/50/description</name>
+  <name>/parameters/UCAN1_ESC_MAX4/longDesc</name>
   <message>
-  <source>Medium (Default)</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_PRIO/values/75/description</name>
+  <name>/parameters/UCAN1_ESC_MAX5/shortDesc</name>
   <message>
-  <source>High</source>
+  <source>UAVCANv1 ESC 5 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_PRIO/values/100/description</name>
+  <name>/parameters/UCAN1_ESC_MAX5/longDesc</name>
   <message>
-  <source>Max</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROLL/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_MAX6/shortDesc</name>
   <message>
-  <source>Magnetometer 3 Custom Euler Roll Angle</source>
+  <source>UAVCANv1 ESC 6 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROLL/longDesc</name>
+  <name>/parameters/UCAN1_ESC_MAX6/longDesc</name>
   <message>
-  <source>Setting this parameter changes CAL_MAG3_ROT to "Custom Euler Angle"</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROT/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_MAX7/shortDesc</name>
   <message>
-  <source>Magnetometer 3 rotation relative to airframe</source>
+  <source>UAVCANv1 ESC 7 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROT/longDesc</name>
+  <name>/parameters/UCAN1_ESC_MAX7/longDesc</name>
   <message>
-  <source>An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero. Set to "Custom Euler Angle" to define the rotation using CAL_MAG3_ROLL, CAL_MAG3_PITCH and CAL_MAG3_YAW.</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROT/values/-1/description</name>
+  <name>/parameters/UCAN1_ESC_MAX8/shortDesc</name>
   <message>
-  <source>Internal</source>
+  <source>UAVCANv1 ESC 8 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROT/values/0/description</name>
+  <name>/parameters/UCAN1_ESC_MAX8/longDesc</name>
   <message>
-  <source>No rotation</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROT/values/1/description</name>
+  <name>/parameters/UCAN1_ESC_MAX9/shortDesc</name>
   <message>
-  <source>Yaw 45°</source>
+  <source>UAVCANv1 ESC 9 Maximum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROT/values/2/description</name>
+  <name>/parameters/UCAN1_ESC_MAX9/longDesc</name>
   <message>
-  <source>Yaw 90°</source>
+  <source>Maxmimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROT/values/3/description</name>
+  <name>/parameters/UCAN1_ESC_MIN1/shortDesc</name>
   <message>
-  <source>Yaw 135°</source>
+  <source>UAVCANv1 ESC 1 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROT/values/4/description</name>
+  <name>/parameters/UCAN1_ESC_MIN1/longDesc</name>
   <message>
-  <source>Yaw 180°</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROT/values/5/description</name>
+  <name>/parameters/UCAN1_ESC_MIN10/shortDesc</name>
   <message>
-  <source>Yaw 225°</source>
+  <source>UAVCANv1 ESC 10 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROT/values/6/description</name>
+  <name>/parameters/UCAN1_ESC_MIN10/longDesc</name>
   <message>
-  <source>Yaw 270°</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROT/values/7/description</name>
+  <name>/parameters/UCAN1_ESC_MIN11/shortDesc</name>
   <message>
-  <source>Yaw 315°</source>
+  <source>UAVCANv1 ESC 11 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROT/values/8/description</name>
+  <name>/parameters/UCAN1_ESC_MIN11/longDesc</name>
   <message>
-  <source>Roll 180°</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROT/values/9/description</name>
+  <name>/parameters/UCAN1_ESC_MIN12/shortDesc</name>
   <message>
-  <source>Roll 180°, Yaw 45°</source>
+  <source>UAVCANv1 ESC 12 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROT/values/10/description</name>
+  <name>/parameters/UCAN1_ESC_MIN12/longDesc</name>
   <message>
-  <source>Roll 180°, Yaw 90°</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROT/values/11/description</name>
+  <name>/parameters/UCAN1_ESC_MIN13/shortDesc</name>
   <message>
-  <source>Roll 180°, Yaw 135°</source>
+  <source>UAVCANv1 ESC 13 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROT/values/12/description</name>
+  <name>/parameters/UCAN1_ESC_MIN13/longDesc</name>
   <message>
-  <source>Pitch 180°</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROT/values/13/description</name>
+  <name>/parameters/UCAN1_ESC_MIN14/shortDesc</name>
   <message>
-  <source>Roll 180°, Yaw 225°</source>
+  <source>UAVCANv1 ESC 14 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROT/values/14/description</name>
+  <name>/parameters/UCAN1_ESC_MIN14/longDesc</name>
   <message>
-  <source>Roll 180°, Yaw 270°</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROT/values/15/description</name>
+  <name>/parameters/UCAN1_ESC_MIN15/shortDesc</name>
   <message>
-  <source>Roll 180°, Yaw 315°</source>
+  <source>UAVCANv1 ESC 15 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROT/values/16/description</name>
+  <name>/parameters/UCAN1_ESC_MIN15/longDesc</name>
   <message>
-  <source>Roll 90°</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROT/values/17/description</name>
+  <name>/parameters/UCAN1_ESC_MIN16/shortDesc</name>
   <message>
-  <source>Roll 90°, Yaw 45°</source>
+  <source>UAVCANv1 ESC 16 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROT/values/18/description</name>
+  <name>/parameters/UCAN1_ESC_MIN16/longDesc</name>
   <message>
-  <source>Roll 90°, Yaw 90°</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROT/values/19/description</name>
+  <name>/parameters/UCAN1_ESC_MIN2/shortDesc</name>
   <message>
-  <source>Roll 90°, Yaw 135°</source>
+  <source>UAVCANv1 ESC 2 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROT/values/20/description</name>
+  <name>/parameters/UCAN1_ESC_MIN2/longDesc</name>
   <message>
-  <source>Roll 270°</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROT/values/21/description</name>
+  <name>/parameters/UCAN1_ESC_MIN3/shortDesc</name>
   <message>
-  <source>Roll 270°, Yaw 45°</source>
+  <source>UAVCANv1 ESC 3 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROT/values/22/description</name>
+  <name>/parameters/UCAN1_ESC_MIN3/longDesc</name>
   <message>
-  <source>Roll 270°, Yaw 90°</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROT/values/23/description</name>
+  <name>/parameters/UCAN1_ESC_MIN4/shortDesc</name>
   <message>
-  <source>Roll 270°, Yaw 135°</source>
+  <source>UAVCANv1 ESC 4 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROT/values/24/description</name>
+  <name>/parameters/UCAN1_ESC_MIN4/longDesc</name>
   <message>
-  <source>Pitch 90°</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROT/values/25/description</name>
+  <name>/parameters/UCAN1_ESC_MIN5/shortDesc</name>
   <message>
-  <source>Pitch 270°</source>
+  <source>UAVCANv1 ESC 5 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROT/values/26/description</name>
+  <name>/parameters/UCAN1_ESC_MIN5/longDesc</name>
   <message>
-  <source>Pitch 180°, Yaw 90°</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROT/values/27/description</name>
+  <name>/parameters/UCAN1_ESC_MIN6/shortDesc</name>
   <message>
-  <source>Pitch 180°, Yaw 270°</source>
+  <source>UAVCANv1 ESC 6 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROT/values/28/description</name>
+  <name>/parameters/UCAN1_ESC_MIN6/longDesc</name>
   <message>
-  <source>Roll 90°, Pitch 90°</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROT/values/29/description</name>
+  <name>/parameters/UCAN1_ESC_MIN7/shortDesc</name>
   <message>
-  <source>Roll 180°, Pitch 90°</source>
+  <source>UAVCANv1 ESC 7 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROT/values/30/description</name>
+  <name>/parameters/UCAN1_ESC_MIN7/longDesc</name>
   <message>
-  <source>Roll 270°, Pitch 90°</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROT/values/31/description</name>
+  <name>/parameters/UCAN1_ESC_MIN8/shortDesc</name>
   <message>
-  <source>Roll 90°, Pitch 180°</source>
+  <source>UAVCANv1 ESC 8 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROT/values/32/description</name>
+  <name>/parameters/UCAN1_ESC_MIN8/longDesc</name>
   <message>
-  <source>Roll 270°, Pitch 180°</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROT/values/33/description</name>
+  <name>/parameters/UCAN1_ESC_MIN9/shortDesc</name>
   <message>
-  <source>Roll 90°, Pitch 270°</source>
+  <source>UAVCANv1 ESC 9 Minimum Value</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROT/values/34/description</name>
+  <name>/parameters/UCAN1_ESC_MIN9/longDesc</name>
   <message>
-  <source>Roll 180°, Pitch 270°</source>
+  <source>Minimum output value (when not disarmed).</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROT/values/35/description</name>
+  <name>/parameters/UCAN1_ESC_REV/shortDesc</name>
   <message>
-  <source>Roll 270°, Pitch 270°</source>
+  <source>Reverse Output Range for UAVCANv1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROT/values/36/description</name>
+  <name>/parameters/UCAN1_ESC_REV/longDesc</name>
   <message>
-  <source>Roll 90°, Pitch 180°, Yaw 90°</source>
+  <source>Allows to reverse the output range for each channel. Note: this is only useful for servos.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROT/values/37/description</name>
+  <name>/parameters/UCAN1_ESC_REV/bitmask/0/description</name>
   <message>
-  <source>Roll 90°, Yaw 270°</source>
+  <source>UAVCANv1 ESC 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROT/values/38/description</name>
+  <name>/parameters/UCAN1_ESC_REV/bitmask/1/description</name>
   <message>
-  <source>Roll 90°, Pitch 68°, Yaw 293°</source>
+  <source>UAVCANv1 ESC 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROT/values/39/description</name>
+  <name>/parameters/UCAN1_ESC_REV/bitmask/2/description</name>
   <message>
-  <source>Pitch 315°</source>
+  <source>UAVCANv1 ESC 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROT/values/40/description</name>
+  <name>/parameters/UCAN1_ESC_REV/bitmask/3/description</name>
   <message>
-  <source>Roll 90°, Pitch 315°</source>
+  <source>UAVCANv1 ESC 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ROT/values/100/description</name>
+  <name>/parameters/UCAN1_ESC_REV/bitmask/4/description</name>
   <message>
-  <source>Custom Euler Angle</source>
+  <source>UAVCANv1 ESC 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_XCOMP/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_REV/bitmask/5/description</name>
   <message>
-  <source>Magnetometer 3 X Axis throttle compensation</source>
+  <source>UAVCANv1 ESC 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_XCOMP/longDesc</name>
+  <name>/parameters/UCAN1_ESC_REV/bitmask/6/description</name>
   <message>
-  <source>Coefficient describing linear relationship between X component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</source>
+  <source>UAVCANv1 ESC 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_XODIAG/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_REV/bitmask/7/description</name>
   <message>
-  <source>Magnetometer 3 X-axis off diagonal scale factor</source>
+  <source>UAVCANv1 ESC 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_XOFF/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_REV/bitmask/8/description</name>
   <message>
-  <source>Magnetometer 3 X-axis offset</source>
+  <source>UAVCANv1 ESC 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_XSCALE/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_REV/bitmask/9/description</name>
   <message>
-  <source>Magnetometer 3 X-axis scaling factor</source>
+  <source>UAVCANv1 ESC 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_YAW/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_REV/bitmask/10/description</name>
   <message>
-  <source>Magnetometer 3 Custom Euler Yaw Angle</source>
+  <source>UAVCANv1 ESC 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_YAW/longDesc</name>
+  <name>/parameters/UCAN1_ESC_REV/bitmask/11/description</name>
   <message>
-  <source>Setting this parameter changes CAL_MAG3_ROT to "Custom Euler Angle"</source>
+  <source>UAVCANv1 ESC 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_YCOMP/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_REV/bitmask/12/description</name>
   <message>
-  <source>Magnetometer 3 Y Axis throttle compensation</source>
+  <source>UAVCANv1 ESC 13</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_YCOMP/longDesc</name>
+  <name>/parameters/UCAN1_ESC_REV/bitmask/13/description</name>
   <message>
-  <source>Coefficient describing linear relationship between Y component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</source>
+  <source>UAVCANv1 ESC 14</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_YODIAG/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_REV/bitmask/14/description</name>
   <message>
-  <source>Magnetometer 3 Y-axis off diagonal scale factor</source>
+  <source>UAVCANv1 ESC 15</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_YOFF/shortDesc</name>
+  <name>/parameters/UCAN1_ESC_REV/bitmask/15/description</name>
   <message>
-  <source>Magnetometer 3 Y-axis offset</source>
+  <source>UAVCANv1 ESC 16</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_YSCALE/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC1/shortDesc</name>
   <message>
-  <source>Magnetometer 3 Y-axis scaling factor</source>
+  <source>VOXL2 IO Output PWM Channel 1 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ZCOMP/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC1/longDesc</name>
   <message>
-  <source>Magnetometer 3 Z Axis throttle compensation</source>
+  <source>Select what should be output on VOXL2 IO Output PWM Channel 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ZCOMP/longDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/0/description</name>
   <message>
-  <source>Coefficient describing linear relationship between Z component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ZODIAG/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/1/description</name>
   <message>
-  <source>Magnetometer 3 Z-axis off diagonal scale factor</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ZOFF/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/2/description</name>
   <message>
-  <source>Magnetometer 3 Z-axis offset</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG3_ZSCALE/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/101/description</name>
   <message>
-  <source>Magnetometer 3 Z-axis scaling factor</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG_COMP_TYP/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/102/description</name>
   <message>
-  <source>Type of magnetometer compensation</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG_COMP_TYP/values/0/description</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/103/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG_COMP_TYP/values/1/description</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/104/description</name>
   <message>
-  <source>Throttle-based compensation</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG_COMP_TYP/values/2/description</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/105/description</name>
   <message>
-  <source>Current-based compensation (battery_status instance 0)</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG_COMP_TYP/values/3/description</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/106/description</name>
   <message>
-  <source>Current-based compensation (battery_status instance 1)</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_DPRES_ANSC/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/107/description</name>
   <message>
-  <source>Differential pressure sensor analog scaling</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_DPRES_ANSC/longDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/108/description</name>
   <message>
-  <source>Pick the appropriate scaling from the datasheet. this number defines the (linear) conversion from voltage to Pascal (pa). For the MPXV7002DP this is 1000. NOTE: If the sensor always registers zero, try switching the static and dynamic tubes.</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_DPRES_OFF/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/109/description</name>
   <message>
-  <source>Differential pressure sensor offset</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_DPRES_OFF/longDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/110/description</name>
   <message>
-  <source>The offset (zero-reading) in Pascal</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_FLOW_MAXHGT/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/111/description</name>
   <message>
-  <source>Maximum height above ground when reliant on optical flow</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_FLOW_MAXHGT/longDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/112/description</name>
   <message>
-  <source>This parameter defines the maximum distance from ground at which the optical flow sensor operates reliably. The height setpoint will be limited to be no greater than this value when the navigation system is completely reliant on optical flow data and the height above ground estimate is valid. The sensor may be usable above this height, but accuracy will progressively degrade.</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_FLOW_MAXR/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/201/description</name>
   <message>
-  <source>Magnitude of maximum angular flow rate reliably measurable by the optical flow sensor</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_FLOW_MAXR/longDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/202/description</name>
   <message>
-  <source>Optical flow data will not fused by the estimators if the magnitude of the flow rate exceeds this value and control loops will be instructed to limit ground speed such that the flow rate produced by movement over ground is less than 50% of this value.</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_FLOW_MINHGT/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/203/description</name>
   <message>
-  <source>Minimum height above ground when reliant on optical flow</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_FLOW_MINHGT/longDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/204/description</name>
   <message>
-  <source>This parameter defines the minimum distance from ground at which the optical flow sensor operates reliably. The sensor may be usable below this height, but accuracy will progressively reduce to loss of focus.</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_AIR_CMODEL/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/205/description</name>
   <message>
-  <source>Airspeed sensor compensation model for the SDP3x</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_AIR_CMODEL/longDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/206/description</name>
   <message>
-  <source>Model with Pitot CAL_AIR_TUBED_MM: Not used, 1.5 mm tubes assumed. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor. Model without Pitot (1.5 mm tubes) CAL_AIR_TUBED_MM: Not used, 1.5 mm tubes assumed. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor. Tube Pressure Drop CAL_AIR_TUBED_MM: Diameter in mm of the pitot and tubes, must have the same diameter. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor and the static + dynamic port length of the pitot.</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_AIR_CMODEL/values/0/description</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/207/description</name>
   <message>
-  <source>Model with Pitot</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_AIR_CMODEL/values/1/description</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/208/description</name>
   <message>
-  <source>Model without Pitot (1.5 mm tubes)</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_AIR_CMODEL/values/2/description</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/301/description</name>
   <message>
-  <source>Tube Pressure Drop</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_AIR_TUBED_MM/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/302/description</name>
   <message>
-  <source>Airspeed sensor tube diameter. Only used for the Tube Pressure Drop Compensation</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_AIR_TUBELEN/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/303/description</name>
   <message>
-  <source>Airspeed sensor tube length</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_AIR_TUBELEN/longDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/304/description</name>
   <message>
-  <source>See the CAL_AIR_CMODEL explanation on how this parameter should be set.</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG_SIDES/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/305/description</name>
   <message>
-  <source>For legacy QGC support only</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/CAL_MAG_SIDES/longDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/306/description</name>
   <message>
-  <source>Use SENS_MAG_SIDES instead</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_ACCEL_CUTOFF/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/400/description</name>
   <message>
-  <source>Low pass filter cutoff frequency for accel</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_ACCEL_CUTOFF/longDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/401/description</name>
   <message>
-  <source>The cutoff frequency for the 2nd order butterworth filter on the primary accelerometer. This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_DGYRO_CUTOFF/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/402/description</name>
   <message>
-  <source>Cutoff frequency for angular acceleration (D-Term filter)</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_DGYRO_CUTOFF/longDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/403/description</name>
   <message>
-  <source>The cutoff frequency for the 2nd order butterworth filter used on the time derivative of the measured angular velocity, also known as the D-term filter in the rate controller. The D-term uses the derivative of the rate and thus is the most susceptible to noise. Therefore, using a D-term filter allows to increase IMU_GYRO_CUTOFF, which leads to reduced control latency and permits to increase the P gains. A value of 0 disables the filter.</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_GYRO_CAL_EN/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/404/description</name>
   <message>
-  <source>IMU gyro auto calibration enable</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_GYRO_CAL_EN/values/0/description</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/405/description</name>
   <message>
-  <source>Disabled</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_GYRO_CAL_EN/values/1/description</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/406/description</name>
   <message>
-  <source>Enabled</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_GYRO_CUTOFF/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/407/description</name>
   <message>
-  <source>Low pass filter cutoff frequency for gyro</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_GYRO_CUTOFF/longDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/408/description</name>
   <message>
-  <source>The cutoff frequency for the 2nd order butterworth filter on the primary gyro. This only affects the angular velocity sent to the controllers, not the estimators. It applies also to the angular acceleration (D-Term filter), see IMU_DGYRO_CUTOFF. A value of 0 disables the filter.</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_GYRO_DNF_BW/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/409/description</name>
   <message>
-  <source>IMU gyro ESC notch filter bandwidth</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_GYRO_DNF_BW/longDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/410/description</name>
   <message>
-  <source>Bandwidth per notch filter when using dynamic notch filtering with ESC RPM.</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_GYRO_DNF_EN/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/411/description</name>
   <message>
-  <source>IMU gyro dynamic notch filtering</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_GYRO_DNF_EN/longDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/412/description</name>
   <message>
-  <source>Enable bank of dynamically updating notch filters. Requires ESC RPM feedback or onboard FFT (IMU_GYRO_FFT_EN).</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_GYRO_DNF_EN/bitmask/0/description</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/420/description</name>
   <message>
-  <source>ESC RPM</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_GYRO_DNF_EN/bitmask/1/description</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/421/description</name>
   <message>
-  <source>FFT</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_GYRO_DNF_HMC/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/422/description</name>
   <message>
-  <source>IMU gyro dynamic notch filter harmonics</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_GYRO_DNF_HMC/longDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/430/description</name>
   <message>
-  <source>ESC RPM number of harmonics (multiples of RPM) for ESC RPM dynamic notch filtering.</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_GYRO_DNF_MIN/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC1/values/440/description</name>
   <message>
-  <source>IMU gyro dynamic notch filter minimum frequency</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_GYRO_DNF_MIN/longDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC2/shortDesc</name>
   <message>
-  <source>Minimum notch filter frequency in Hz.</source>
+  <source>VOXL2 IO Output PWM Channel 2 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_GYRO_FFT_EN/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC2/longDesc</name>
   <message>
-  <source>IMU gyro FFT enable</source>
+  <source>Select what should be output on VOXL2 IO Output PWM Channel 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_GYRO_FFT_EN/values/0/description</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/0/description</name>
   <message>
   <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_GYRO_FFT_EN/values/1/description</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/1/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_GYRO_FFT_LEN/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/2/description</name>
   <message>
-  <source>IMU gyro FFT length</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_GYRO_FFT_LEN/values/256/description</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/101/description</name>
   <message>
-  <source>256</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_GYRO_FFT_LEN/values/512/description</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/102/description</name>
   <message>
-  <source>512</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_GYRO_FFT_LEN/values/1024/description</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/103/description</name>
   <message>
-  <source>1024</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_GYRO_FFT_LEN/values/4096/description</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/104/description</name>
   <message>
-  <source>4096</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_GYRO_FFT_MAX/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/105/description</name>
   <message>
-  <source>IMU gyro FFT maximum frequency</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_GYRO_FFT_MIN/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/106/description</name>
   <message>
-  <source>IMU gyro FFT minimum frequency</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_GYRO_FFT_SNR/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/107/description</name>
   <message>
-  <source>IMU gyro FFT SNR</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_GYRO_NF0_BW/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/108/description</name>
   <message>
-  <source>Notch filter bandwidth for gyro</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_GYRO_NF0_BW/longDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/109/description</name>
   <message>
-  <source>The frequency width of the stop band for the 2nd order notch filter on the primary gyro. See "IMU_GYRO_NF0_FRQ" to activate the filter and to set the notch frequency. Applies to both angular velocity and angular acceleration sent to the controllers.</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_GYRO_NF0_FRQ/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/110/description</name>
   <message>
-  <source>Notch filter frequency for gyro</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_GYRO_NF0_FRQ/longDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/111/description</name>
   <message>
-  <source>The center frequency for the 2nd order notch filter on the primary gyro. This filter can be enabled to avoid feedback amplification of structural resonances at a specific frequency. This only affects the signal sent to the controllers, not the estimators. Applies to both angular velocity and angular acceleration sent to the controllers. See "IMU_GYRO_NF0_BW" to set the bandwidth of the filter. A value of 0 disables the filter.</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_GYRO_NF1_BW/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/112/description</name>
   <message>
-  <source>Notch filter 1 bandwidth for gyro</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_GYRO_NF1_BW/longDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/201/description</name>
   <message>
-  <source>The frequency width of the stop band for the 2nd order notch filter on the primary gyro. See "IMU_GYRO_NF1_FRQ" to activate the filter and to set the notch frequency. Applies to both angular velocity and angular acceleration sent to the controllers.</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_GYRO_NF1_FRQ/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/202/description</name>
   <message>
-  <source>Notch filter 2 frequency for gyro</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_GYRO_NF1_FRQ/longDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/203/description</name>
   <message>
-  <source>The center frequency for the 2nd order notch filter on the primary gyro. This filter can be enabled to avoid feedback amplification of structural resonances at a specific frequency. This only affects the signal sent to the controllers, not the estimators. Applies to both angular velocity and angular acceleration sent to the controllers. See "IMU_GYRO_NF1_BW" to set the bandwidth of the filter. A value of 0 disables the filter.</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_GYRO_RATEMAX/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/204/description</name>
   <message>
-  <source>Gyro control data maximum publication rate (inner loop rate)</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_GYRO_RATEMAX/longDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/205/description</name>
   <message>
-  <source>The maximum rate the gyro control data (vehicle_angular_velocity) will be allowed to publish at. This is the loop rate for the rate controller and outputs. Note: sensor data is always read and filtered at the full raw rate (eg commonly 8 kHz) regardless of this setting.</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_GYRO_RATEMAX/values/100/description</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/206/description</name>
   <message>
-  <source>100 Hz</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_GYRO_RATEMAX/values/250/description</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/207/description</name>
   <message>
-  <source>250 Hz</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_GYRO_RATEMAX/values/400/description</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/208/description</name>
   <message>
-  <source>400 Hz</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_GYRO_RATEMAX/values/800/description</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/301/description</name>
   <message>
-  <source>800 Hz</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_GYRO_RATEMAX/values/1000/description</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/302/description</name>
   <message>
-  <source>1000 Hz</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_GYRO_RATEMAX/values/2000/description</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/303/description</name>
   <message>
-  <source>2000 Hz</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_INTEG_RATE/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/304/description</name>
   <message>
-  <source>IMU integration rate</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_INTEG_RATE/longDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/305/description</name>
   <message>
-  <source>The rate at which raw IMU data is integrated to produce delta angles and delta velocities. Recommended to set this to a multiple of the estimator update period (currently 10 ms for ekf2).</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_INTEG_RATE/values/100/description</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/306/description</name>
   <message>
-  <source>100 Hz</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_INTEG_RATE/values/200/description</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/400/description</name>
   <message>
-  <source>200 Hz</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_INTEG_RATE/values/250/description</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/401/description</name>
   <message>
-  <source>250 Hz</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/IMU_INTEG_RATE/values/400/description</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/402/description</name>
   <message>
-  <source>400 Hz</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BARO_QNH/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/403/description</name>
   <message>
-  <source>QNH for barometer</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BARO_RATE/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/404/description</name>
   <message>
-  <source>Baro max rate</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BARO_RATE/longDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/405/description</name>
   <message>
-  <source>Barometric air data maximum publication rate. This is an upper bound, actual barometric data rate is still dependent on the sensor.</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_ROT/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/406/description</name>
   <message>
-  <source>Board rotation</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_ROT/longDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/407/description</name>
   <message>
-  <source>This parameter defines the rotation of the FMU board relative to the platform.</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_ROT/values/0/description</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/408/description</name>
   <message>
-  <source>No rotation</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_ROT/values/1/description</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/409/description</name>
   <message>
-  <source>Yaw 45°</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_ROT/values/2/description</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/410/description</name>
   <message>
-  <source>Yaw 90°</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_ROT/values/3/description</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/411/description</name>
   <message>
-  <source>Yaw 135°</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_ROT/values/4/description</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/412/description</name>
   <message>
-  <source>Yaw 180°</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_ROT/values/5/description</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/420/description</name>
   <message>
-  <source>Yaw 225°</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_ROT/values/6/description</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/421/description</name>
   <message>
-  <source>Yaw 270°</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_ROT/values/7/description</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/422/description</name>
   <message>
-  <source>Yaw 315°</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_ROT/values/8/description</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/430/description</name>
   <message>
-  <source>Roll 180°</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_ROT/values/9/description</name>
+  <name>/parameters/VOXL2_IO_FUNC2/values/440/description</name>
   <message>
-  <source>Roll 180°, Yaw 45°</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_ROT/values/10/description</name>
+  <name>/parameters/VOXL2_IO_FUNC3/shortDesc</name>
   <message>
-  <source>Roll 180°, Yaw 90°</source>
+  <source>VOXL2 IO Output PWM Channel 3 Output Function</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_ROT/values/11/description</name>
+  <name>/parameters/VOXL2_IO_FUNC3/longDesc</name>
   <message>
-  <source>Roll 180°, Yaw 135°</source>
+  <source>Select what should be output on VOXL2 IO Output PWM Channel 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_ROT/values/12/description</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/0/description</name>
   <message>
-  <source>Pitch 180°</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_ROT/values/13/description</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/1/description</name>
   <message>
-  <source>Roll 180°, Yaw 225°</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_ROT/values/14/description</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/2/description</name>
   <message>
-  <source>Roll 180°, Yaw 270°</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_ROT/values/15/description</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/101/description</name>
   <message>
-  <source>Roll 180°, Yaw 315°</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_ROT/values/16/description</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/102/description</name>
   <message>
-  <source>Roll 90°</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_ROT/values/17/description</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/103/description</name>
   <message>
-  <source>Roll 90°, Yaw 45°</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_ROT/values/18/description</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/104/description</name>
   <message>
-  <source>Roll 90°, Yaw 90°</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_ROT/values/19/description</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/105/description</name>
   <message>
-  <source>Roll 90°, Yaw 135°</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_ROT/values/20/description</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/106/description</name>
   <message>
-  <source>Roll 270°</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_ROT/values/21/description</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/107/description</name>
   <message>
-  <source>Roll 270°, Yaw 45°</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_ROT/values/22/description</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/108/description</name>
   <message>
-  <source>Roll 270°, Yaw 90°</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_ROT/values/23/description</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/109/description</name>
   <message>
-  <source>Roll 270°, Yaw 135°</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_ROT/values/24/description</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/110/description</name>
   <message>
-  <source>Pitch 90°</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_ROT/values/25/description</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/111/description</name>
   <message>
-  <source>Pitch 270°</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_ROT/values/26/description</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/112/description</name>
   <message>
-  <source>Pitch 180°, Yaw 90°</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_ROT/values/27/description</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/201/description</name>
   <message>
-  <source>Pitch 180°, Yaw 270°</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_ROT/values/28/description</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/202/description</name>
   <message>
-  <source>Roll 90°, Pitch 90°</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_ROT/values/29/description</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/203/description</name>
   <message>
-  <source>Roll 180°, Pitch 90°</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_ROT/values/30/description</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/204/description</name>
   <message>
-  <source>Roll 270°, Pitch 90°</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_ROT/values/31/description</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/205/description</name>
   <message>
-  <source>Roll 90°, Pitch 180°</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_ROT/values/32/description</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/206/description</name>
   <message>
-  <source>Roll 270°, Pitch 180°</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_ROT/values/33/description</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/207/description</name>
   <message>
-  <source>Roll 90°, Pitch 270°</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_ROT/values/34/description</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/208/description</name>
   <message>
-  <source>Roll 180°, Pitch 270°</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_ROT/values/35/description</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/301/description</name>
   <message>
-  <source>Roll 270°, Pitch 270°</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_ROT/values/36/description</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/302/description</name>
   <message>
-  <source>Roll 90°, Pitch 180°, Yaw 90°</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_ROT/values/37/description</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/303/description</name>
   <message>
-  <source>Roll 90°, Yaw 270°</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_ROT/values/38/description</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/304/description</name>
   <message>
-  <source>Roll 90°, Pitch 68°, Yaw 293°</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_ROT/values/39/description</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/305/description</name>
   <message>
-  <source>Pitch 315°</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_ROT/values/40/description</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/306/description</name>
   <message>
-  <source>Roll 90°, Pitch 315°</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_X_OFF/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/400/description</name>
   <message>
-  <source>Board rotation X (Roll) offset</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_X_OFF/longDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/401/description</name>
   <message>
-  <source>This parameter defines a rotational offset in degrees around the X (Roll) axis It allows the user to fine tune the board offset in the event of misalignment.</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_Y_OFF/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/402/description</name>
   <message>
-  <source>Board rotation Y (Pitch) offset</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_Y_OFF/longDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/403/description</name>
   <message>
-  <source>This parameter defines a rotational offset in degrees around the Y (Pitch) axis. It allows the user to fine tune the board offset in the event of misalignment.</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_Z_OFF/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/404/description</name>
   <message>
-  <source>Board rotation Z (YAW) offset</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_BOARD_Z_OFF/longDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/405/description</name>
   <message>
-  <source>This parameter defines a rotational offset in degrees around the Z (Yaw) axis. It allows the user to fine tune the board offset in the event of misalignment.</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_EN_ARSPDSIM/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/406/description</name>
   <message>
-  <source>Enable simulated airspeed sensor instance</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_EN_ARSPDSIM/values/0/description</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/407/description</name>
   <message>
-  <source>Disabled</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_EN_ARSPDSIM/values/1/description</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/408/description</name>
   <message>
-  <source>Enabled</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_EN_BAROSIM/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/409/description</name>
   <message>
-  <source>Enable simulated barometer sensor instance</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_EN_BAROSIM/values/0/description</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/410/description</name>
   <message>
-  <source>Disabled</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_EN_BAROSIM/values/1/description</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/411/description</name>
   <message>
-  <source>Enabled</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_EN_GPSSIM/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/412/description</name>
   <message>
-  <source>Enable simulated GPS sinstance</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_EN_GPSSIM/values/0/description</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/420/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_EN_GPSSIM/values/1/description</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/421/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_EN_MAGSIM/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/422/description</name>
   <message>
-  <source>Enable simulated magnetometer sensor instance</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_EN_MAGSIM/values/0/description</name>
+  <name>/parameters/VOXL2_IO_FUNC3/values/430/description</name>
+  <message>
+  <source>Gripper</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL2_IO_FUNC3/values/440/description</name>
+  <message>
+  <source>Landing Gear Wheel</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL2_IO_FUNC4/shortDesc</name>
+  <message>
+  <source>VOXL2 IO Output PWM Channel 4 Output Function</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL2_IO_FUNC4/longDesc</name>
+  <message>
+  <source>Select what should be output on VOXL2 IO Output PWM Channel 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL2_IO_FUNC4/values/0/description</name>
   <message>
   <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_EN_MAGSIM/values/1/description</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/1/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_EN_THERMAL/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/2/description</name>
   <message>
-  <source>Thermal control of sensor temperature</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_EN_THERMAL/values/-1/description</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/101/description</name>
   <message>
-  <source>Thermal control unavailable</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_EN_THERMAL/values/0/description</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/102/description</name>
   <message>
-  <source>Thermal control off</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_EN_THERMAL/values/1/description</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/103/description</name>
   <message>
-  <source>Thermal control enabled</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_EXT_I2C_PRB/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/104/description</name>
   <message>
-  <source>External I2C probe</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_EXT_I2C_PRB/longDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/105/description</name>
   <message>
-  <source>Probe for optional external I2C devices.</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_EXT_I2C_PRB/values/0/description</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/106/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_EXT_I2C_PRB/values/1/description</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/107/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_FLOW_RATE/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/108/description</name>
   <message>
-  <source>Optical flow max rate</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_FLOW_RATE/longDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/109/description</name>
   <message>
-  <source>Optical flow data maximum publication rate. This is an upper bound, actual optical flow data rate is still dependent on the sensor.</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_FLOW_ROT/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/110/description</name>
   <message>
-  <source>Optical flow rotation</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_FLOW_ROT/longDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/111/description</name>
   <message>
-  <source>This parameter defines the yaw rotation of the optical flow relative to the vehicle body frame. Zero rotation is defined as X on flow board pointing towards front of vehicle.</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_FLOW_ROT/values/0/description</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/112/description</name>
   <message>
-  <source>No rotation</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_FLOW_ROT/values/1/description</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/201/description</name>
   <message>
-  <source>Yaw 45°</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_FLOW_ROT/values/2/description</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/202/description</name>
   <message>
-  <source>Yaw 90°</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_FLOW_ROT/values/3/description</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/203/description</name>
   <message>
-  <source>Yaw 135°</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_FLOW_ROT/values/4/description</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/204/description</name>
   <message>
-  <source>Yaw 180°</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_FLOW_ROT/values/5/description</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/205/description</name>
   <message>
-  <source>Yaw 225°</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_FLOW_ROT/values/6/description</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/206/description</name>
   <message>
-  <source>Yaw 270°</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_FLOW_ROT/values/7/description</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/207/description</name>
   <message>
-  <source>Yaw 315°</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_FLOW_SCALE/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/208/description</name>
   <message>
-  <source>Optical flow scale factor</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_GPS_MASK/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/301/description</name>
   <message>
-  <source>Multi GPS Blending Control Mask</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_GPS_MASK/longDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/302/description</name>
   <message>
-  <source>Set bits in the following positions to set which GPS accuracy metrics will be used to calculate the blending weight. Set to zero to disable and always used first GPS instance. 0 : Set to true to use speed accuracy 1 : Set to true to use horizontal position accuracy 2 : Set to true to use vertical position accuracy</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_GPS_MASK/bitmask/0/description</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/303/description</name>
   <message>
-  <source>use speed accuracy</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_GPS_MASK/bitmask/1/description</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/304/description</name>
   <message>
-  <source>use hpos accuracy</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_GPS_MASK/bitmask/2/description</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/305/description</name>
   <message>
-  <source>use vpos accuracy</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_GPS_PRIME/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/306/description</name>
   <message>
-  <source>Multi GPS primary instance</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_GPS_PRIME/longDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/400/description</name>
   <message>
-  <source>When no blending is active, this defines the preferred GPS receiver instance. The GPS selection logic waits until the primary receiver is available to send data to the EKF even if a secondary instance is already available. The secondary instance is then only used if the primary one times out. To have an equal priority of all the instances, set this parameter to -1 and the best receiver will be used. This parameter has no effect if blending is active.</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_GPS_TAU/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/401/description</name>
   <message>
-  <source>Multi GPS Blending Time Constant</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_GPS_TAU/longDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/402/description</name>
   <message>
-  <source>Sets the longest time constant that will be applied to the calculation of GPS position and height offsets used to correct data from multiple GPS data for steady state position differences.</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_IMU_AUTOCAL/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/403/description</name>
   <message>
-  <source>IMU auto calibration</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_IMU_AUTOCAL/longDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/404/description</name>
   <message>
-  <source>Automatically initialize IMU (accel/gyro) calibration from bias estimates if available.</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_IMU_AUTOCAL/values/0/description</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/405/description</name>
   <message>
-  <source>Disabled</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_IMU_AUTOCAL/values/1/description</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/406/description</name>
   <message>
-  <source>Enabled</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_IMU_CLPNOTI/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/407/description</name>
   <message>
-  <source>IMU notify clipping</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_IMU_CLPNOTI/longDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/408/description</name>
   <message>
-  <source>Notify the user if the IMU is clipping</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_IMU_CLPNOTI/values/0/description</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/409/description</name>
   <message>
-  <source>Disabled</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_IMU_CLPNOTI/values/1/description</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/410/description</name>
   <message>
-  <source>Enabled</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_IMU_MODE/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/411/description</name>
   <message>
-  <source>Sensors hub IMU mode</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_IMU_MODE/values/0/description</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/412/description</name>
   <message>
-  <source>Disabled</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_IMU_MODE/values/1/description</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/420/description</name>
   <message>
-  <source>Publish primary IMU selection</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_INT_BARO_EN/shortDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/421/description</name>
   <message>
-  <source>Enable internal barometers</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_INT_BARO_EN/longDesc</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/422/description</name>
   <message>
-  <source>For systems with an external barometer, this should be set to false to make sure that the external is used.</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_INT_BARO_EN/values/0/description</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/430/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Gripper</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_INT_BARO_EN/values/1/description</name>
+  <name>/parameters/VOXL2_IO_FUNC4/values/440/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Landing Gear Wheel</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_MAG_AUTOCAL/shortDesc</name>
+  <name>/parameters/VOXL2_IO_REV/shortDesc</name>
   <message>
-  <source>Magnetometer auto calibration</source>
+  <source>Reverse Output Range for VOXL2 IO Output</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_MAG_AUTOCAL/longDesc</name>
+  <name>/parameters/VOXL2_IO_REV/longDesc</name>
   <message>
-  <source>Automatically initialize magnetometer calibration from bias estimate if available.</source>
+  <source>Allows to reverse the output range for each channel. Note: this is only useful for servos.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_MAG_AUTOCAL/values/0/description</name>
+  <name>/parameters/VOXL2_IO_REV/bitmask/0/description</name>
   <message>
-  <source>Disabled</source>
+  <source>VOXL2 IO Output PWM Channel 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_MAG_AUTOCAL/values/1/description</name>
+  <name>/parameters/VOXL2_IO_REV/bitmask/1/description</name>
   <message>
-  <source>Enabled</source>
+  <source>VOXL2 IO Output PWM Channel 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_MAG_AUTOROT/shortDesc</name>
+  <name>/parameters/VOXL2_IO_REV/bitmask/2/description</name>
   <message>
-  <source>Automatically set external rotations</source>
+  <source>VOXL2 IO Output PWM Channel 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_MAG_AUTOROT/longDesc</name>
+  <name>/parameters/VOXL2_IO_REV/bitmask/3/description</name>
   <message>
-  <source>During calibration attempt to automatically determine the rotation of external magnetometers.</source>
+  <source>VOXL2 IO Output PWM Channel 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_MAG_AUTOROT/values/0/description</name>
+  <name>/parameters/VOXL_ESC_FUNC1/shortDesc</name>
+  <message>
+  <source>VOXL ESC Output ESC 1 Output Function</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC1/longDesc</name>
+  <message>
+  <source>Select what should be output on VOXL ESC Output ESC 1. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC1/values/0/description</name>
   <message>
   <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_MAG_AUTOROT/values/1/description</name>
+  <name>/parameters/VOXL_ESC_FUNC1/values/1/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Constant Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_MAG_MODE/shortDesc</name>
+  <name>/parameters/VOXL_ESC_FUNC1/values/2/description</name>
   <message>
-  <source>Sensors hub mag mode</source>
+  <source>Constant Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_MAG_MODE/values/0/description</name>
+  <name>/parameters/VOXL_ESC_FUNC1/values/101/description</name>
   <message>
-  <source>Publish all magnetometers</source>
+  <source>Motor 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_MAG_MODE/values/1/description</name>
+  <name>/parameters/VOXL_ESC_FUNC1/values/102/description</name>
   <message>
-  <source>Publish primary magnetometer</source>
+  <source>Motor 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_MAG_RATE/shortDesc</name>
+  <name>/parameters/VOXL_ESC_FUNC1/values/103/description</name>
   <message>
-  <source>Magnetometer max rate</source>
+  <source>Motor 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_MAG_RATE/longDesc</name>
+  <name>/parameters/VOXL_ESC_FUNC1/values/104/description</name>
   <message>
-  <source>Magnetometer data maximum publication rate. This is an upper bound, actual magnetometer data rate is still dependent on the sensor.</source>
+  <source>Motor 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_MAG_SIDES/shortDesc</name>
+  <name>/parameters/VOXL_ESC_FUNC1/values/105/description</name>
   <message>
-  <source>Bitfield selecting mag sides for calibration</source>
+  <source>Motor 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_MAG_SIDES/longDesc</name>
+  <name>/parameters/VOXL_ESC_FUNC1/values/106/description</name>
   <message>
-  <source>If set to two side calibration, only the offsets are estimated, the scale calibration is left unchanged. Thus an initial six side calibration is recommended. Bits: ORIENTATION_TAIL_DOWN = 1 ORIENTATION_NOSE_DOWN = 2 ORIENTATION_LEFT = 4 ORIENTATION_RIGHT = 8 ORIENTATION_UPSIDE_DOWN = 16 ORIENTATION_RIGHTSIDE_UP = 32</source>
+  <source>Motor 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_MAG_SIDES/values/34/description</name>
+  <name>/parameters/VOXL_ESC_FUNC1/values/107/description</name>
   <message>
-  <source>Two side calibration</source>
+  <source>Motor 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_MAG_SIDES/values/38/description</name>
+  <name>/parameters/VOXL_ESC_FUNC1/values/108/description</name>
   <message>
-  <source>Three side calibration</source>
+  <source>Motor 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SENS_MAG_SIDES/values/63/description</name>
+  <name>/parameters/VOXL_ESC_FUNC1/values/109/description</name>
   <message>
-  <source>Six side calibration</source>
+  <source>Motor 9</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIM_ARSPD_FAIL/shortDesc</name>
+  <name>/parameters/VOXL_ESC_FUNC1/values/110/description</name>
   <message>
-  <source>Dynamically simulate failure of airspeed sensor instance</source>
+  <source>Motor 10</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIM_ARSPD_FAIL/values/0/description</name>
+  <name>/parameters/VOXL_ESC_FUNC1/values/111/description</name>
   <message>
-  <source>Disabled</source>
+  <source>Motor 11</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIM_ARSPD_FAIL/values/1/description</name>
+  <name>/parameters/VOXL_ESC_FUNC1/values/112/description</name>
   <message>
-  <source>Enabled</source>
+  <source>Motor 12</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIH_DISTSNSR_MAX/shortDesc</name>
+  <name>/parameters/VOXL_ESC_FUNC1/values/201/description</name>
   <message>
-  <source>distance sensor maximum range</source>
+  <source>Servo 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIH_DISTSNSR_MIN/shortDesc</name>
+  <name>/parameters/VOXL_ESC_FUNC1/values/202/description</name>
   <message>
-  <source>distance sensor minimum range</source>
+  <source>Servo 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIH_DISTSNSR_OVR/shortDesc</name>
+  <name>/parameters/VOXL_ESC_FUNC1/values/203/description</name>
   <message>
-  <source>if &gt;= 0 the distance sensor measures will be overridden by this value</source>
+  <source>Servo 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIH_DISTSNSR_OVR/longDesc</name>
+  <name>/parameters/VOXL_ESC_FUNC1/values/204/description</name>
   <message>
-  <source>Absolute value superior to 10000 will disable distance sensor</source>
+  <source>Servo 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIH_IXX/shortDesc</name>
+  <name>/parameters/VOXL_ESC_FUNC1/values/205/description</name>
   <message>
-  <source>Vehicle inertia about X axis</source>
+  <source>Servo 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIH_IXX/longDesc</name>
+  <name>/parameters/VOXL_ESC_FUNC1/values/206/description</name>
   <message>
-  <source>The inertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.</source>
+  <source>Servo 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIH_IXY/shortDesc</name>
+  <name>/parameters/VOXL_ESC_FUNC1/values/207/description</name>
   <message>
-  <source>Vehicle cross term inertia xy</source>
+  <source>Servo 7</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIH_IXY/longDesc</name>
+  <name>/parameters/VOXL_ESC_FUNC1/values/208/description</name>
   <message>
-  <source>The inertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass.</source>
+  <source>Servo 8</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIH_IXZ/shortDesc</name>
+  <name>/parameters/VOXL_ESC_FUNC1/values/301/description</name>
   <message>
-  <source>Vehicle cross term inertia xz</source>
+  <source>Peripheral via Actuator Set 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIH_IXZ/longDesc</name>
+  <name>/parameters/VOXL_ESC_FUNC1/values/302/description</name>
   <message>
-  <source>The inertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass.</source>
+  <source>Peripheral via Actuator Set 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIH_IYY/shortDesc</name>
+  <name>/parameters/VOXL_ESC_FUNC1/values/303/description</name>
   <message>
-  <source>Vehicle inertia about Y axis</source>
+  <source>Peripheral via Actuator Set 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIH_IYY/longDesc</name>
+  <name>/parameters/VOXL_ESC_FUNC1/values/304/description</name>
   <message>
-  <source>The inertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.</source>
+  <source>Peripheral via Actuator Set 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIH_IYZ/shortDesc</name>
+  <name>/parameters/VOXL_ESC_FUNC1/values/305/description</name>
   <message>
-  <source>Vehicle cross term inertia yz</source>
+  <source>Peripheral via Actuator Set 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIH_IYZ/longDesc</name>
+  <name>/parameters/VOXL_ESC_FUNC1/values/306/description</name>
   <message>
-  <source>The inertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass.</source>
+  <source>Peripheral via Actuator Set 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIH_IZZ/shortDesc</name>
+  <name>/parameters/VOXL_ESC_FUNC1/values/400/description</name>
   <message>
-  <source>Vehicle inertia about Z axis</source>
+  <source>Landing Gear</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIH_IZZ/longDesc</name>
+  <name>/parameters/VOXL_ESC_FUNC1/values/401/description</name>
   <message>
-  <source>The inertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.</source>
+  <source>Parachute</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIH_KDV/shortDesc</name>
+  <name>/parameters/VOXL_ESC_FUNC1/values/402/description</name>
   <message>
-  <source>First order drag coefficient</source>
+  <source>RC Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIH_KDV/longDesc</name>
+  <name>/parameters/VOXL_ESC_FUNC1/values/403/description</name>
   <message>
-  <source>Physical coefficient representing the friction with air particules. The greater this value, the slower the quad will move. Drag force function of velocity: D=-KDV*V. The maximum freefall velocity can be computed as V=10*MASS/KDV [m/s]</source>
+  <source>RC Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIH_KDW/shortDesc</name>
+  <name>/parameters/VOXL_ESC_FUNC1/values/404/description</name>
   <message>
-  <source>First order angular damper coefficient</source>
+  <source>RC Throttle</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIH_KDW/longDesc</name>
+  <name>/parameters/VOXL_ESC_FUNC1/values/405/description</name>
   <message>
-  <source>Physical coefficient representing the friction with air particules during rotations. The greater this value, the slower the quad will rotate. Aerodynamic moment function of body rate: Ma=-KDW*W_B. This value can be set to 0 if unknown.</source>
+  <source>RC Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIH_LOC_H0/shortDesc</name>
+  <name>/parameters/VOXL_ESC_FUNC1/values/406/description</name>
   <message>
-  <source>Initial AMSL ground altitude</source>
+  <source>RC Flaps</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIH_LOC_H0/longDesc</name>
+  <name>/parameters/VOXL_ESC_FUNC1/values/407/description</name>
   <message>
-  <source>This value represents the Above Mean Sea Level (AMSL) altitude where the simulation begins. If using FlightGear as a visual animation, this value can be tweaked such that the vehicle lies on the ground at takeoff. LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.</source>
+  <source>RC AUX 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIH_LOC_LAT0/shortDesc</name>
+  <name>/parameters/VOXL_ESC_FUNC1/values/408/description</name>
   <message>
-  <source>Initial geodetic latitude</source>
+  <source>RC AUX 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIH_LOC_LAT0/longDesc</name>
+  <name>/parameters/VOXL_ESC_FUNC1/values/409/description</name>
   <message>
-  <source>This value represents the North-South location on Earth where the simulation begins. LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.</source>
+  <source>RC AUX 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIH_LOC_LON0/shortDesc</name>
+  <name>/parameters/VOXL_ESC_FUNC1/values/410/description</name>
   <message>
-  <source>Initial geodetic longitude</source>
+  <source>RC AUX 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIH_LOC_LON0/longDesc</name>
+  <name>/parameters/VOXL_ESC_FUNC1/values/411/description</name>
   <message>
-  <source>This value represents the East-West location on Earth where the simulation begins. LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.</source>
+  <source>RC AUX 5</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIH_L_PITCH/shortDesc</name>
+  <name>/parameters/VOXL_ESC_FUNC1/values/412/description</name>
   <message>
-  <source>Pitch arm length</source>
+  <source>RC AUX 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIH_L_PITCH/longDesc</name>
+  <name>/parameters/VOXL_ESC_FUNC1/values/420/description</name>
   <message>
-  <source>This is the arm length generating the pitching moment This value can be measured with a ruler. This corresponds to half the distance between the front and rear motors.</source>
+  <source>Gimbal Roll</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIH_L_ROLL/shortDesc</name>
+  <name>/parameters/VOXL_ESC_FUNC1/values/421/description</name>
   <message>
-  <source>Roll arm length</source>
+  <source>Gimbal Pitch</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIH_L_ROLL/longDesc</name>
+  <name>/parameters/VOXL_ESC_FUNC1/values/422/description</name>
   <message>
-  <source>This is the arm length generating the rolling moment This value can be measured with a ruler. This corresponds to half the distance between the left and right motors.</source>
+  <source>Gimbal Yaw</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIH_MASS/shortDesc</name>
+  <name>/parameters/VOXL_ESC_FUNC1/values/430/description</name>
+  <message>
+  <source>Gripper</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC1/values/440/description</name>
+  <message>
+  <source>Landing Gear Wheel</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/shortDesc</name>
+  <message>
+  <source>VOXL ESC Output ESC 2 Output Function</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/longDesc</name>
+  <message>
+  <source>Select what should be output on VOXL ESC Output ESC 2. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/1/description</name>
+  <message>
+  <source>Constant Min</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/2/description</name>
+  <message>
+  <source>Constant Max</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/101/description</name>
+  <message>
+  <source>Motor 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/102/description</name>
+  <message>
+  <source>Motor 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/103/description</name>
+  <message>
+  <source>Motor 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/104/description</name>
+  <message>
+  <source>Motor 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/105/description</name>
+  <message>
+  <source>Motor 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/106/description</name>
+  <message>
+  <source>Motor 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/107/description</name>
+  <message>
+  <source>Motor 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/108/description</name>
+  <message>
+  <source>Motor 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/109/description</name>
+  <message>
+  <source>Motor 9</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/110/description</name>
+  <message>
+  <source>Motor 10</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/111/description</name>
+  <message>
+  <source>Motor 11</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/112/description</name>
+  <message>
+  <source>Motor 12</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/201/description</name>
+  <message>
+  <source>Servo 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/202/description</name>
+  <message>
+  <source>Servo 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/203/description</name>
+  <message>
+  <source>Servo 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/204/description</name>
+  <message>
+  <source>Servo 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/205/description</name>
+  <message>
+  <source>Servo 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/206/description</name>
+  <message>
+  <source>Servo 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/207/description</name>
+  <message>
+  <source>Servo 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/208/description</name>
+  <message>
+  <source>Servo 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/301/description</name>
+  <message>
+  <source>Peripheral via Actuator Set 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/302/description</name>
+  <message>
+  <source>Peripheral via Actuator Set 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/303/description</name>
+  <message>
+  <source>Peripheral via Actuator Set 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/304/description</name>
+  <message>
+  <source>Peripheral via Actuator Set 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/305/description</name>
+  <message>
+  <source>Peripheral via Actuator Set 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/306/description</name>
+  <message>
+  <source>Peripheral via Actuator Set 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/400/description</name>
+  <message>
+  <source>Landing Gear</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/401/description</name>
+  <message>
+  <source>Parachute</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/402/description</name>
+  <message>
+  <source>RC Roll</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/403/description</name>
+  <message>
+  <source>RC Pitch</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/404/description</name>
+  <message>
+  <source>RC Throttle</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/405/description</name>
+  <message>
+  <source>RC Yaw</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/406/description</name>
+  <message>
+  <source>RC Flaps</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/407/description</name>
+  <message>
+  <source>RC AUX 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/408/description</name>
+  <message>
+  <source>RC AUX 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/409/description</name>
+  <message>
+  <source>RC AUX 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/410/description</name>
+  <message>
+  <source>RC AUX 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/411/description</name>
+  <message>
+  <source>RC AUX 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/412/description</name>
+  <message>
+  <source>RC AUX 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/420/description</name>
+  <message>
+  <source>Gimbal Roll</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/421/description</name>
+  <message>
+  <source>Gimbal Pitch</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/422/description</name>
+  <message>
+  <source>Gimbal Yaw</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/430/description</name>
+  <message>
+  <source>Gripper</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC2/values/440/description</name>
+  <message>
+  <source>Landing Gear Wheel</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/shortDesc</name>
+  <message>
+  <source>VOXL ESC Output ESC 3 Output Function</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/longDesc</name>
+  <message>
+  <source>Select what should be output on VOXL ESC Output ESC 3. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/1/description</name>
+  <message>
+  <source>Constant Min</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/2/description</name>
+  <message>
+  <source>Constant Max</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/101/description</name>
+  <message>
+  <source>Motor 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/102/description</name>
+  <message>
+  <source>Motor 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/103/description</name>
+  <message>
+  <source>Motor 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/104/description</name>
+  <message>
+  <source>Motor 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/105/description</name>
+  <message>
+  <source>Motor 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/106/description</name>
+  <message>
+  <source>Motor 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/107/description</name>
+  <message>
+  <source>Motor 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/108/description</name>
+  <message>
+  <source>Motor 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/109/description</name>
+  <message>
+  <source>Motor 9</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/110/description</name>
+  <message>
+  <source>Motor 10</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/111/description</name>
+  <message>
+  <source>Motor 11</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/112/description</name>
+  <message>
+  <source>Motor 12</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/201/description</name>
+  <message>
+  <source>Servo 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/202/description</name>
+  <message>
+  <source>Servo 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/203/description</name>
+  <message>
+  <source>Servo 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/204/description</name>
+  <message>
+  <source>Servo 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/205/description</name>
+  <message>
+  <source>Servo 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/206/description</name>
+  <message>
+  <source>Servo 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/207/description</name>
+  <message>
+  <source>Servo 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/208/description</name>
+  <message>
+  <source>Servo 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/301/description</name>
+  <message>
+  <source>Peripheral via Actuator Set 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/302/description</name>
+  <message>
+  <source>Peripheral via Actuator Set 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/303/description</name>
+  <message>
+  <source>Peripheral via Actuator Set 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/304/description</name>
+  <message>
+  <source>Peripheral via Actuator Set 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/305/description</name>
+  <message>
+  <source>Peripheral via Actuator Set 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/306/description</name>
+  <message>
+  <source>Peripheral via Actuator Set 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/400/description</name>
+  <message>
+  <source>Landing Gear</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/401/description</name>
+  <message>
+  <source>Parachute</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/402/description</name>
+  <message>
+  <source>RC Roll</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/403/description</name>
+  <message>
+  <source>RC Pitch</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/404/description</name>
+  <message>
+  <source>RC Throttle</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/405/description</name>
+  <message>
+  <source>RC Yaw</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/406/description</name>
+  <message>
+  <source>RC Flaps</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/407/description</name>
+  <message>
+  <source>RC AUX 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/408/description</name>
+  <message>
+  <source>RC AUX 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/409/description</name>
+  <message>
+  <source>RC AUX 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/410/description</name>
+  <message>
+  <source>RC AUX 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/411/description</name>
+  <message>
+  <source>RC AUX 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/412/description</name>
+  <message>
+  <source>RC AUX 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/420/description</name>
+  <message>
+  <source>Gimbal Roll</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/421/description</name>
+  <message>
+  <source>Gimbal Pitch</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/422/description</name>
+  <message>
+  <source>Gimbal Yaw</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/430/description</name>
+  <message>
+  <source>Gripper</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC3/values/440/description</name>
+  <message>
+  <source>Landing Gear Wheel</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/shortDesc</name>
+  <message>
+  <source>VOXL ESC Output ESC 4 Output Function</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/longDesc</name>
+  <message>
+  <source>Select what should be output on VOXL ESC Output ESC 4. The default failsafe value is set according to the selected function: - 'Min' for ConstantMin - 'Max' for ConstantMax - 'Max' for Parachute - ('Max'+'Min')/2 for Servos - 'Disarmed' for the rest</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/1/description</name>
+  <message>
+  <source>Constant Min</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/2/description</name>
+  <message>
+  <source>Constant Max</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/101/description</name>
+  <message>
+  <source>Motor 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/102/description</name>
+  <message>
+  <source>Motor 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/103/description</name>
+  <message>
+  <source>Motor 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/104/description</name>
+  <message>
+  <source>Motor 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/105/description</name>
+  <message>
+  <source>Motor 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/106/description</name>
+  <message>
+  <source>Motor 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/107/description</name>
+  <message>
+  <source>Motor 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/108/description</name>
+  <message>
+  <source>Motor 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/109/description</name>
+  <message>
+  <source>Motor 9</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/110/description</name>
+  <message>
+  <source>Motor 10</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/111/description</name>
+  <message>
+  <source>Motor 11</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/112/description</name>
+  <message>
+  <source>Motor 12</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/201/description</name>
+  <message>
+  <source>Servo 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/202/description</name>
+  <message>
+  <source>Servo 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/203/description</name>
+  <message>
+  <source>Servo 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/204/description</name>
+  <message>
+  <source>Servo 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/205/description</name>
+  <message>
+  <source>Servo 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/206/description</name>
+  <message>
+  <source>Servo 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/207/description</name>
+  <message>
+  <source>Servo 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/208/description</name>
+  <message>
+  <source>Servo 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/301/description</name>
+  <message>
+  <source>Peripheral via Actuator Set 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/302/description</name>
+  <message>
+  <source>Peripheral via Actuator Set 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/303/description</name>
+  <message>
+  <source>Peripheral via Actuator Set 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/304/description</name>
+  <message>
+  <source>Peripheral via Actuator Set 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/305/description</name>
+  <message>
+  <source>Peripheral via Actuator Set 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/306/description</name>
+  <message>
+  <source>Peripheral via Actuator Set 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/400/description</name>
+  <message>
+  <source>Landing Gear</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/401/description</name>
+  <message>
+  <source>Parachute</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/402/description</name>
+  <message>
+  <source>RC Roll</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/403/description</name>
+  <message>
+  <source>RC Pitch</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/404/description</name>
+  <message>
+  <source>RC Throttle</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/405/description</name>
+  <message>
+  <source>RC Yaw</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/406/description</name>
+  <message>
+  <source>RC Flaps</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/407/description</name>
+  <message>
+  <source>RC AUX 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/408/description</name>
+  <message>
+  <source>RC AUX 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/409/description</name>
+  <message>
+  <source>RC AUX 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/410/description</name>
+  <message>
+  <source>RC AUX 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/411/description</name>
+  <message>
+  <source>RC AUX 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/412/description</name>
+  <message>
+  <source>RC AUX 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/420/description</name>
+  <message>
+  <source>Gimbal Roll</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/421/description</name>
+  <message>
+  <source>Gimbal Pitch</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/422/description</name>
+  <message>
+  <source>Gimbal Yaw</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/430/description</name>
+  <message>
+  <source>Gripper</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_FUNC4/values/440/description</name>
+  <message>
+  <source>Landing Gear Wheel</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_REV/shortDesc</name>
+  <message>
+  <source>Reverse Output Range for VOXL ESC Output</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_REV/longDesc</name>
+  <message>
+  <source>Allows to reverse the output range for each channel. Note: this is only useful for servos.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_REV/bitmask/0/description</name>
+  <message>
+  <source>VOXL ESC Output ESC 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_REV/bitmask/1/description</name>
+  <message>
+  <source>VOXL ESC Output ESC 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_REV/bitmask/2/description</name>
+  <message>
+  <source>VOXL ESC Output ESC 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXL_ESC_REV/bitmask/3/description</name>
+  <message>
+  <source>VOXL ESC Output ESC 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_BETA_GATE/shortDesc</name>
+  <message>
+  <source>Gate size for sideslip angle fusion</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_BETA_GATE/longDesc</name>
+  <message>
+  <source>Sets the number of standard deviations used by the innovation consistency test.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_BETA_NOISE/shortDesc</name>
+  <message>
+  <source>Wind estimator sideslip measurement noise</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_BETA_NOISE/longDesc</name>
+  <message>
+  <source>Sideslip measurement noise of the internal wind estimator(s) of the airspeed selector.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_DO_CHECKS/shortDesc</name>
+  <message>
+  <source>Enable checks on airspeed sensors</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_DO_CHECKS/longDesc</name>
+  <message>
+  <source>Controls which checks are run to check airspeed data for validity. Only applied if ASPD_PRIMARY &gt; 0.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_DO_CHECKS/bitmask/0/description</name>
+  <message>
+  <source>Only data missing check (triggers if more than 1s no data)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_DO_CHECKS/bitmask/1/description</name>
+  <message>
+  <source>Data stuck (triggers if data is exactly constant for 2s in FW mode)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_DO_CHECKS/bitmask/2/description</name>
+  <message>
+  <source>Innovation check (see ASPD_FS_INNOV)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_DO_CHECKS/bitmask/3/description</name>
+  <message>
+  <source>Load factor check (triggers if measurement is below stall speed)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_FALLBACK_GW/shortDesc</name>
+  <message>
+  <source>Enable fallback to sensor-less airspeed estimation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_FALLBACK_GW/longDesc</name>
+  <message>
+  <source>If set to true and airspeed checks are enabled, it will use a sensor-less airspeed estimation based on groundspeed minus windspeed if no other airspeed sensor available to fall back to.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_FALLBACK_GW/values/0/description</name>
+  <message>
+  <source>Disable fallback to sensor-less estimation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_FALLBACK_GW/values/1/description</name>
+  <message>
+  <source>Enable fallback to sensor-less estimation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_FS_INNOV/shortDesc</name>
+  <message>
+  <source>Airspeed failure innovation threshold</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_FS_INNOV/longDesc</name>
+  <message>
+  <source>This specifies the minimum airspeed innovation required to trigger a failsafe. Larger values make the check less sensitive, smaller values make it more sensitive. Large innovations indicate an inconsistency between predicted (groundspeed - windspeeed) and measured airspeed. The time required to detect a fault when the threshold is exceeded depends on the size of the exceedance and is controlled by the ASPD_FS_INTEG parameter.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_FS_INTEG/shortDesc</name>
+  <message>
+  <source>Airspeed failure innovation integral threshold</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_FS_INTEG/longDesc</name>
+  <message>
+  <source>This sets the time integral of airspeed innovation exceedance above ASPD_FS_INNOV required to trigger a failsafe. Larger values make the check less sensitive, smaller positive values make it more sensitive.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_FS_T_START/shortDesc</name>
+  <message>
+  <source>Airspeed failsafe start delay</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_FS_T_START/longDesc</name>
+  <message>
+  <source>Delay before switching back to using airspeed sensor if checks indicate sensor is good. Set to a negative value to disable the re-enabling in flight.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_FS_T_STOP/shortDesc</name>
+  <message>
+  <source>Airspeed failsafe stop delay</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_FS_T_STOP/longDesc</name>
+  <message>
+  <source>Delay before stopping use of airspeed sensor if checks indicate sensor is bad.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_PRIMARY/shortDesc</name>
+  <message>
+  <source>Index or primary airspeed measurement source</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_PRIMARY/values/0/description</name>
+  <message>
+  <source>Groundspeed minus windspeed</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_PRIMARY/values/1/description</name>
+  <message>
+  <source>First airspeed sensor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_PRIMARY/values/2/description</name>
+  <message>
+  <source>Second airspeed sensor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_PRIMARY/values/3/description</name>
+  <message>
+  <source>Third airspeed sensor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_SCALE_1/shortDesc</name>
+  <message>
+  <source>Scale of airspeed sensor 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_SCALE_1/longDesc</name>
+  <message>
+  <source>This is the scale IAS --&gt; CAS of the first airspeed sensor instance</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_SCALE_2/shortDesc</name>
+  <message>
+  <source>Scale of airspeed sensor 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_SCALE_2/longDesc</name>
+  <message>
+  <source>This is the scale IAS --&gt; CAS of the second airspeed sensor instance</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_SCALE_3/shortDesc</name>
+  <message>
+  <source>Scale of airspeed sensor 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_SCALE_3/longDesc</name>
+  <message>
+  <source>This is the scale IAS --&gt; CAS of the third airspeed sensor instance</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_SCALE_APPLY/shortDesc</name>
+  <message>
+  <source>Controls when to apply the new estimated airspeed scale(s)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_SCALE_APPLY/values/0/description</name>
+  <message>
+  <source>Do not automatically apply the estimated scale</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_SCALE_APPLY/values/1/description</name>
+  <message>
+  <source>Apply the estimated scale after disarm</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_SCALE_APPLY/values/2/description</name>
+  <message>
+  <source>Apply the estimated scale in air</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_SCALE_NSD/shortDesc</name>
+  <message>
+  <source>Wind estimator true airspeed scale process noise spectral density</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_SCALE_NSD/longDesc</name>
+  <message>
+  <source>Airspeed scale process noise of the internal wind estimator(s) of the airspeed selector. When unaided, the scale uncertainty (1-sigma, unitless) increases by this amount every second.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_TAS_GATE/shortDesc</name>
+  <message>
+  <source>Gate size for true airspeed fusion</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_TAS_GATE/longDesc</name>
+  <message>
+  <source>Sets the number of standard deviations used by the innovation consistency test.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_TAS_NOISE/shortDesc</name>
+  <message>
+  <source>Wind estimator true airspeed measurement noise</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_TAS_NOISE/longDesc</name>
+  <message>
+  <source>True airspeed measurement noise of the internal wind estimator(s) of the airspeed selector.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_WERR_THR/shortDesc</name>
+  <message>
+  <source>Horizontal wind uncertainty threshold for synthetic airspeed</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_WERR_THR/longDesc</name>
+  <message>
+  <source>The synthetic airspeed estimate (from groundspeed and heading) will be declared valid as soon and as long the horizontal wind uncertainty is below this value.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_WIND_NSD/shortDesc</name>
+  <message>
+  <source>Wind estimator wind process noise spectral density</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ASPD_WIND_NSD/longDesc</name>
+  <message>
+  <source>Wind process noise of the internal wind estimator(s) of the airspeed selector. When unaided, the wind estimate uncertainty (1-sigma, in m/s) increases by this amount every second.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ATT_ACC_COMP/shortDesc</name>
+  <message>
+  <source>Acceleration compensation based on GPS velocity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ATT_ACC_COMP/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ATT_ACC_COMP/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ATT_BIAS_MAX/shortDesc</name>
+  <message>
+  <source>Gyro bias limit</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ATT_EN/shortDesc</name>
+  <message>
+  <source>standalone attitude estimator enable (unsupported)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ATT_EN/longDesc</name>
+  <message>
+  <source>Enable standalone quaternion based attitude estimator.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ATT_EN/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ATT_EN/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ATT_EXT_HDG_M/shortDesc</name>
+  <message>
+  <source>External heading usage mode (from Motion capture/Vision)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ATT_EXT_HDG_M/longDesc</name>
+  <message>
+  <source>Set to 1 to use heading estimate from vision. Set to 2 to use heading from motion capture.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ATT_EXT_HDG_M/values/0/description</name>
+  <message>
+  <source>None</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ATT_EXT_HDG_M/values/1/description</name>
+  <message>
+  <source>Vision</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ATT_EXT_HDG_M/values/2/description</name>
+  <message>
+  <source>Motion Capture</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ATT_MAG_DECL/shortDesc</name>
+  <message>
+  <source>Magnetic declination, in degrees</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ATT_MAG_DECL/longDesc</name>
+  <message>
+  <source>This parameter is not used in normal operation, as the declination is looked up based on the GPS coordinates of the vehicle.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ATT_MAG_DECL_A/shortDesc</name>
+  <message>
+  <source>Automatic GPS based declination compensation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ATT_MAG_DECL_A/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ATT_MAG_DECL_A/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ATT_W_ACC/shortDesc</name>
+  <message>
+  <source>Complimentary filter accelerometer weight</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ATT_W_EXT_HDG/shortDesc</name>
+  <message>
+  <source>Complimentary filter external heading weight</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ATT_W_GYRO_BIAS/shortDesc</name>
+  <message>
+  <source>Complimentary filter gyroscope bias weight</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ATT_W_MAG/shortDesc</name>
+  <message>
+  <source>Complimentary filter magnetometer weight</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ATT_W_MAG/longDesc</name>
+  <message>
+  <source>Set to 0 to avoid using the magnetometer.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_AT_APPLY/shortDesc</name>
+  <message>
+  <source>Controls when to apply the new gains</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_AT_APPLY/longDesc</name>
+  <message>
+  <source>After the auto-tuning sequence is completed, a new set of gains is available and can be applied immediately or after landing.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_AT_APPLY/values/0/description</name>
+  <message>
+  <source>Do not apply the new gains (logging only)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_AT_APPLY/values/1/description</name>
+  <message>
+  <source>Apply the new gains after disarm</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_AT_APPLY/values/2/description</name>
+  <message>
+  <source>Apply the new gains in air</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_AT_AXES/shortDesc</name>
+  <message>
+  <source>Tuning axes selection</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_AT_AXES/longDesc</name>
+  <message>
+  <source>Defines which axes will be tuned during the auto-tuning sequence Set bits in the following positions to enable: 0 : Roll 1 : Pitch 2 : Yaw</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_AT_AXES/bitmask/0/description</name>
+  <message>
+  <source>roll</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_AT_AXES/bitmask/1/description</name>
+  <message>
+  <source>pitch</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_AT_AXES/bitmask/2/description</name>
+  <message>
+  <source>yaw</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_AT_MAN_AUX/shortDesc</name>
+  <message>
+  <source>Enable/disable auto tuning using an RC AUX input</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_AT_MAN_AUX/longDesc</name>
+  <message>
+  <source>Defines which RC_MAP_AUXn parameter maps the RC channel used to enable/disable auto tuning.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_AT_MAN_AUX/values/0/description</name>
+  <message>
+  <source>Disable</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_AT_MAN_AUX/values/1/description</name>
+  <message>
+  <source>Aux1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_AT_MAN_AUX/values/2/description</name>
+  <message>
+  <source>Aux2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_AT_MAN_AUX/values/3/description</name>
+  <message>
+  <source>Aux3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_AT_MAN_AUX/values/4/description</name>
+  <message>
+  <source>Aux4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_AT_MAN_AUX/values/5/description</name>
+  <message>
+  <source>Aux5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_AT_MAN_AUX/values/6/description</name>
+  <message>
+  <source>Aux6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_AT_START/shortDesc</name>
+  <message>
+  <source>Start the autotuning sequence</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_AT_START/longDesc</name>
+  <message>
+  <source>WARNING: this will inject steps to the rate controller and can be dangerous. Only activate if you know what you are doing, and in a safe environment. Any motion of the remote stick will abort the signal injection and reset this parameter Best is to perform the identification in position or hold mode. Increase the amplitude of the injected signal using FW_AT_SYSID_AMP for more signal/noise ratio</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_AT_START/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_AT_START/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_AT_SYSID_AMP/shortDesc</name>
+  <message>
+  <source>Amplitude of the injected signal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_AT_SYSID_AMP/longDesc</name>
+  <message>
+  <source>This parameter scales the signal sent to the rate controller during system identification.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_AT_SYSID_F0/shortDesc</name>
+  <message>
+  <source>Start frequency of the injected signal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_AT_SYSID_F0/longDesc</name>
+  <message>
+  <source>Can be set lower or higher than the end frequency</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_AT_SYSID_F1/shortDesc</name>
+  <message>
+  <source>End frequency of the injected signal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_AT_SYSID_F1/longDesc</name>
+  <message>
+  <source>Can be set lower or higher than the start frequency</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_AT_SYSID_TIME/shortDesc</name>
+  <message>
+  <source>Maneuver time for each axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_AT_SYSID_TIME/longDesc</name>
+  <message>
+  <source>Duration of the input signal sent on each axis during system identification</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_AT_SYSID_TYPE/shortDesc</name>
+  <message>
+  <source>Input signal type</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_AT_SYSID_TYPE/longDesc</name>
+  <message>
+  <source>Type of signal used during system identification to excite the system.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_AT_SYSID_TYPE/values/0/description</name>
+  <message>
+  <source>Step</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_AT_SYSID_TYPE/values/1/description</name>
+  <message>
+  <source>Linear sine sweep</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_AT_SYSID_TYPE/values/2/description</name>
+  <message>
+  <source>Logarithmic sine sweep</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_AT_APPLY/shortDesc</name>
+  <message>
+  <source>Controls when to apply the new gains</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_AT_APPLY/longDesc</name>
+  <message>
+  <source>After the auto-tuning sequence is completed, a new set of gains is available and can be applied immediately or after landing. WARNING Applying the gains in air is dangerous as there is no guarantee that those new gains will be able to stabilize the drone properly.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_AT_APPLY/values/0/description</name>
+  <message>
+  <source>Do not apply the new gains (logging only)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_AT_APPLY/values/1/description</name>
+  <message>
+  <source>Apply the new gains after disarm</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_AT_APPLY/values/2/description</name>
+  <message>
+  <source>WARNING Apply the new gains in air</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_AT_EN/shortDesc</name>
+  <message>
+  <source>Multicopter autotune module enable</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_AT_EN/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_AT_EN/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_AT_RISE_TIME/shortDesc</name>
+  <message>
+  <source>Desired angular rate closed-loop rise time</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_AT_START/shortDesc</name>
+  <message>
+  <source>Start the autotuning sequence</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_AT_START/longDesc</name>
+  <message>
+  <source>WARNING: this will inject steps to the rate controller and can be dangerous. Only activate if you know what you are doing, and in a safe environment. Any motion of the remote stick will abort the signal injection and reset this parameter Best is to perform the identification in position or hold mode. Increase the amplitude of the injected signal using MC_AT_SYSID_AMP for more signal/noise ratio</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_AT_START/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_AT_START/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_AT_SYSID_AMP/shortDesc</name>
+  <message>
+  <source>Amplitude of the injected signal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_A_PER_V/shortDesc</name>
+  <message>
+  <source>Battery 1 current per volt (A/V)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_A_PER_V/longDesc</name>
+  <message>
+  <source>The voltage seen by the ADC multiplied by this factor will determine the battery current. A value of -1 means to use the board default.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_CAPACITY/shortDesc</name>
+  <message>
+  <source>Battery 1 capacity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_CAPACITY/longDesc</name>
+  <message>
+  <source>Defines the capacity of battery 1 in mAh.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_I_CHANNEL/shortDesc</name>
+  <message>
+  <source>Battery 1 Current ADC Channel</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_I_CHANNEL/longDesc</name>
+  <message>
+  <source>This parameter specifies the ADC channel used to monitor current of main power battery. A value of -1 means to use the board default.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_N_CELLS/shortDesc</name>
+  <message>
+  <source>Number of cells for battery 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_N_CELLS/longDesc</name>
+  <message>
+  <source>Defines the number of cells the attached battery consists of.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_N_CELLS/values/0/description</name>
+  <message>
+  <source>Unknown</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_N_CELLS/values/1/description</name>
+  <message>
+  <source>1S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_N_CELLS/values/2/description</name>
+  <message>
+  <source>2S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_N_CELLS/values/3/description</name>
+  <message>
+  <source>3S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_N_CELLS/values/4/description</name>
+  <message>
+  <source>4S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_N_CELLS/values/5/description</name>
+  <message>
+  <source>5S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_N_CELLS/values/6/description</name>
+  <message>
+  <source>6S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_N_CELLS/values/7/description</name>
+  <message>
+  <source>7S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_N_CELLS/values/8/description</name>
+  <message>
+  <source>8S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_N_CELLS/values/9/description</name>
+  <message>
+  <source>9S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_N_CELLS/values/10/description</name>
+  <message>
+  <source>10S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_N_CELLS/values/11/description</name>
+  <message>
+  <source>11S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_N_CELLS/values/12/description</name>
+  <message>
+  <source>12S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_N_CELLS/values/13/description</name>
+  <message>
+  <source>13S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_N_CELLS/values/14/description</name>
+  <message>
+  <source>14S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_N_CELLS/values/15/description</name>
+  <message>
+  <source>15S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_N_CELLS/values/16/description</name>
+  <message>
+  <source>16S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_R_INTERNAL/shortDesc</name>
+  <message>
+  <source>Explicitly defines the per cell internal resistance for battery 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_R_INTERNAL/longDesc</name>
+  <message>
+  <source>If non-negative, then this will be used in place of BAT1_V_LOAD_DROP for all calculations.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_SOURCE/shortDesc</name>
+  <message>
+  <source>Battery 1 monitoring source</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_SOURCE/longDesc</name>
+  <message>
+  <source>This parameter controls the source of battery data. The value 'Power Module' means that measurements are expected to come from a power module. If the value is set to 'External' then the system expects to receive mavlink battery status messages. If the value is set to 'ESCs', the battery information are taken from the esc_status message. This requires the ESC to provide both voltage as well as current.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_SOURCE/values/-1/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_SOURCE/values/0/description</name>
+  <message>
+  <source>Power Module</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_SOURCE/values/1/description</name>
+  <message>
+  <source>External</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_SOURCE/values/2/description</name>
+  <message>
+  <source>ESCs</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_V_CHANNEL/shortDesc</name>
+  <message>
+  <source>Battery 1 Voltage ADC Channel</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_V_CHANNEL/longDesc</name>
+  <message>
+  <source>This parameter specifies the ADC channel used to monitor voltage of main power battery. A value of -1 means to use the board default.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_V_CHARGED/shortDesc</name>
+  <message>
+  <source>Full cell voltage</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_V_CHARGED/longDesc</name>
+  <message>
+  <source>Defines the voltage where a single cell of the battery is considered full. For a more accurate estimate set this below the nominal voltage of e.g. 4.2V</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_V_DIV/shortDesc</name>
+  <message>
+  <source>Battery 1 voltage divider (V divider)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_V_DIV/longDesc</name>
+  <message>
+  <source>This is the divider from battery 1 voltage to ADC voltage. If using e.g. Mauch power modules the value from the datasheet can be applied straight here. A value of -1 means to use the board default.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_V_EMPTY/shortDesc</name>
+  <message>
+  <source>Empty cell voltage</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_V_EMPTY/longDesc</name>
+  <message>
+  <source>Defines the voltage where a single cell of the battery is considered empty. The voltage should be chosen above the steep dropoff at 3.5V. A typical lithium battery can only be discharged under high load down to 10% before it drops off to a voltage level damaging the cells.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_V_LOAD_DROP/shortDesc</name>
+  <message>
+  <source>Voltage drop per cell on full throttle</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_V_LOAD_DROP/longDesc</name>
+  <message>
+  <source>This implicitly defines the internal resistance to maximum current ratio for the battery and assumes linearity. A good value to use is the difference between the 5C and 20-25C load. Not used if BAT1_R_INTERNAL is set.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT2_A_PER_V/shortDesc</name>
+  <message>
+  <source>Battery 2 current per volt (A/V)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT2_A_PER_V/longDesc</name>
+  <message>
+  <source>The voltage seen by the ADC multiplied by this factor will determine the battery current. A value of -1 means to use the board default.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT2_CAPACITY/shortDesc</name>
+  <message>
+  <source>Battery 2 capacity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT2_CAPACITY/longDesc</name>
+  <message>
+  <source>Defines the capacity of battery 2 in mAh.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT2_I_CHANNEL/shortDesc</name>
+  <message>
+  <source>Battery 2 Current ADC Channel</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT2_I_CHANNEL/longDesc</name>
+  <message>
+  <source>This parameter specifies the ADC channel used to monitor current of main power battery. A value of -1 means to use the board default.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT2_N_CELLS/shortDesc</name>
+  <message>
+  <source>Number of cells for battery 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT2_N_CELLS/longDesc</name>
+  <message>
+  <source>Defines the number of cells the attached battery consists of.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT2_N_CELLS/values/0/description</name>
+  <message>
+  <source>Unknown</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT2_N_CELLS/values/1/description</name>
+  <message>
+  <source>1S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT2_N_CELLS/values/2/description</name>
+  <message>
+  <source>2S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT2_N_CELLS/values/3/description</name>
+  <message>
+  <source>3S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT2_N_CELLS/values/4/description</name>
+  <message>
+  <source>4S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT2_N_CELLS/values/5/description</name>
+  <message>
+  <source>5S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT2_N_CELLS/values/6/description</name>
+  <message>
+  <source>6S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT2_N_CELLS/values/7/description</name>
+  <message>
+  <source>7S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT2_N_CELLS/values/8/description</name>
+  <message>
+  <source>8S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT2_N_CELLS/values/9/description</name>
+  <message>
+  <source>9S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT2_N_CELLS/values/10/description</name>
+  <message>
+  <source>10S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT2_N_CELLS/values/11/description</name>
+  <message>
+  <source>11S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT2_N_CELLS/values/12/description</name>
+  <message>
+  <source>12S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT2_N_CELLS/values/13/description</name>
+  <message>
+  <source>13S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT2_N_CELLS/values/14/description</name>
+  <message>
+  <source>14S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT2_N_CELLS/values/15/description</name>
+  <message>
+  <source>15S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT2_N_CELLS/values/16/description</name>
+  <message>
+  <source>16S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT2_R_INTERNAL/shortDesc</name>
+  <message>
+  <source>Explicitly defines the per cell internal resistance for battery 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT2_R_INTERNAL/longDesc</name>
+  <message>
+  <source>If non-negative, then this will be used in place of BAT2_V_LOAD_DROP for all calculations.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT2_SOURCE/shortDesc</name>
+  <message>
+  <source>Battery 2 monitoring source</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT2_SOURCE/longDesc</name>
+  <message>
+  <source>This parameter controls the source of battery data. The value 'Power Module' means that measurements are expected to come from a power module. If the value is set to 'External' then the system expects to receive mavlink battery status messages. If the value is set to 'ESCs', the battery information are taken from the esc_status message. This requires the ESC to provide both voltage as well as current.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT2_SOURCE/values/-1/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT2_SOURCE/values/0/description</name>
+  <message>
+  <source>Power Module</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT2_SOURCE/values/1/description</name>
+  <message>
+  <source>External</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT2_SOURCE/values/2/description</name>
+  <message>
+  <source>ESCs</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT2_V_CHANNEL/shortDesc</name>
+  <message>
+  <source>Battery 2 Voltage ADC Channel</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT2_V_CHANNEL/longDesc</name>
+  <message>
+  <source>This parameter specifies the ADC channel used to monitor voltage of main power battery. A value of -1 means to use the board default.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT2_V_CHARGED/shortDesc</name>
+  <message>
+  <source>Full cell voltage</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT2_V_CHARGED/longDesc</name>
+  <message>
+  <source>Defines the voltage where a single cell of the battery is considered full. For a more accurate estimate set this below the nominal voltage of e.g. 4.2V</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT2_V_DIV/shortDesc</name>
+  <message>
+  <source>Battery 2 voltage divider (V divider)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT2_V_DIV/longDesc</name>
+  <message>
+  <source>This is the divider from battery 2 voltage to ADC voltage. If using e.g. Mauch power modules the value from the datasheet can be applied straight here. A value of -1 means to use the board default.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT2_V_EMPTY/shortDesc</name>
+  <message>
+  <source>Empty cell voltage</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT2_V_EMPTY/longDesc</name>
+  <message>
+  <source>Defines the voltage where a single cell of the battery is considered empty. The voltage should be chosen above the steep dropoff at 3.5V. A typical lithium battery can only be discharged under high load down to 10% before it drops off to a voltage level damaging the cells.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT2_V_LOAD_DROP/shortDesc</name>
+  <message>
+  <source>Voltage drop per cell on full throttle</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT2_V_LOAD_DROP/longDesc</name>
+  <message>
+  <source>This implicitly defines the internal resistance to maximum current ratio for the battery and assumes linearity. A good value to use is the difference between the 5C and 20-25C load. Not used if BAT2_R_INTERNAL is set.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT3_CAPACITY/shortDesc</name>
+  <message>
+  <source>Battery 3 capacity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT3_CAPACITY/longDesc</name>
+  <message>
+  <source>Defines the capacity of battery 3 in mAh.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT3_N_CELLS/shortDesc</name>
+  <message>
+  <source>Number of cells for battery 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT3_N_CELLS/longDesc</name>
+  <message>
+  <source>Defines the number of cells the attached battery consists of.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT3_N_CELLS/values/0/description</name>
+  <message>
+  <source>Unknown</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT3_N_CELLS/values/1/description</name>
+  <message>
+  <source>1S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT3_N_CELLS/values/2/description</name>
+  <message>
+  <source>2S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT3_N_CELLS/values/3/description</name>
+  <message>
+  <source>3S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT3_N_CELLS/values/4/description</name>
+  <message>
+  <source>4S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT3_N_CELLS/values/5/description</name>
+  <message>
+  <source>5S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT3_N_CELLS/values/6/description</name>
+  <message>
+  <source>6S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT3_N_CELLS/values/7/description</name>
+  <message>
+  <source>7S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT3_N_CELLS/values/8/description</name>
+  <message>
+  <source>8S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT3_N_CELLS/values/9/description</name>
+  <message>
+  <source>9S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT3_N_CELLS/values/10/description</name>
+  <message>
+  <source>10S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT3_N_CELLS/values/11/description</name>
+  <message>
+  <source>11S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT3_N_CELLS/values/12/description</name>
+  <message>
+  <source>12S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT3_N_CELLS/values/13/description</name>
+  <message>
+  <source>13S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT3_N_CELLS/values/14/description</name>
+  <message>
+  <source>14S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT3_N_CELLS/values/15/description</name>
+  <message>
+  <source>15S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT3_N_CELLS/values/16/description</name>
+  <message>
+  <source>16S Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT3_R_INTERNAL/shortDesc</name>
+  <message>
+  <source>Explicitly defines the per cell internal resistance for battery 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT3_R_INTERNAL/longDesc</name>
+  <message>
+  <source>If non-negative, then this will be used in place of BAT3_V_LOAD_DROP for all calculations.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT3_SOURCE/shortDesc</name>
+  <message>
+  <source>Battery 3 monitoring source</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT3_SOURCE/longDesc</name>
+  <message>
+  <source>This parameter controls the source of battery data. The value 'Power Module' means that measurements are expected to come from a power module. If the value is set to 'External' then the system expects to receive mavlink battery status messages. If the value is set to 'ESCs', the battery information are taken from the esc_status message. This requires the ESC to provide both voltage as well as current.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT3_SOURCE/values/-1/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT3_SOURCE/values/0/description</name>
+  <message>
+  <source>Power Module</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT3_SOURCE/values/1/description</name>
+  <message>
+  <source>External</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT3_SOURCE/values/2/description</name>
+  <message>
+  <source>ESCs</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT3_V_CHARGED/shortDesc</name>
+  <message>
+  <source>Full cell voltage</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT3_V_CHARGED/longDesc</name>
+  <message>
+  <source>Defines the voltage where a single cell of the battery is considered full. For a more accurate estimate set this below the nominal voltage of e.g. 4.2V</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT3_V_EMPTY/shortDesc</name>
+  <message>
+  <source>Empty cell voltage</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT3_V_EMPTY/longDesc</name>
+  <message>
+  <source>Defines the voltage where a single cell of the battery is considered empty. The voltage should be chosen above the steep dropoff at 3.5V. A typical lithium battery can only be discharged under high load down to 10% before it drops off to a voltage level damaging the cells.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT3_V_LOAD_DROP/shortDesc</name>
+  <message>
+  <source>Voltage drop per cell on full throttle</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT3_V_LOAD_DROP/longDesc</name>
+  <message>
+  <source>This implicitly defines the internal resistance to maximum current ratio for the battery and assumes linearity. A good value to use is the difference between the 5C and 20-25C load. Not used if BAT3_R_INTERNAL is set.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT_ADC_CHANNEL/shortDesc</name>
+  <message>
+  <source>This parameter is deprecated. Please use BAT1_I_CHANNEL</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT_AVRG_CURRENT/shortDesc</name>
+  <message>
+  <source>Expected battery current in flight</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT_AVRG_CURRENT/longDesc</name>
+  <message>
+  <source>This value is used to initialize the in-flight average current estimation, which in turn is used for estimating remaining flight time and RTL triggering.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT_CRIT_THR/shortDesc</name>
+  <message>
+  <source>Critical threshold</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT_CRIT_THR/longDesc</name>
+  <message>
+  <source>Sets the threshold when the battery will be reported as critically low. This has to be lower than the low threshold. This threshold commonly will trigger RTL.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT_EMERGEN_THR/shortDesc</name>
+  <message>
+  <source>Emergency threshold</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT_EMERGEN_THR/longDesc</name>
+  <message>
+  <source>Sets the threshold when the battery will be reported as dangerously low. This has to be lower than the critical threshold. This threshold commonly will trigger landing.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT_LOW_THR/shortDesc</name>
+  <message>
+  <source>Low threshold</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT_LOW_THR/longDesc</name>
+  <message>
+  <source>Sets the threshold when the battery will be reported as low. This has to be higher than the critical threshold.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT_N_CELLS/shortDesc</name>
+  <message>
+  <source>This parameter is deprecated. Please use BAT1_N_CELLS instead</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT_V_CHARGED/shortDesc</name>
+  <message>
+  <source>This parameter is deprecated. Please use BAT1_V_CHARGED instead</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT_V_EMPTY/shortDesc</name>
+  <message>
+  <source>This parameter is deprecated. Please use BAT1_V_EMPTY instead</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT_V_LOAD_DROP/shortDesc</name>
+  <message>
+  <source>This parameter is deprecated. Please use BAT1_V_LOAD_DROP instead</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT_V_OFFS_CURR/shortDesc</name>
+  <message>
+  <source>Offset in volt as seen by the ADC input of the current sensor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT_V_OFFS_CURR/longDesc</name>
+  <message>
+  <source>This offset will be subtracted before calculating the battery current based on the voltage.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_USB_AUTO/shortDesc</name>
+  <message>
+  <source>Enable USB autostart</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_USB_AUTO/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_USB_AUTO/values/1/description</name>
+  <message>
+  <source>Auto-detect</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_USB_AUTO/values/2/description</name>
+  <message>
+  <source>MAVLink</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/USB_MAV_MODE/shortDesc</name>
+  <message>
+  <source>Specify USB MAVLink mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/USB_MAV_MODE/values/0/description</name>
+  <message>
+  <source>normal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/USB_MAV_MODE/values/1/description</name>
+  <message>
+  <source>custom</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/USB_MAV_MODE/values/2/description</name>
+  <message>
+  <source>onboard</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/USB_MAV_MODE/values/3/description</name>
+  <message>
+  <source>osd</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/USB_MAV_MODE/values/4/description</name>
+  <message>
+  <source>magic</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/USB_MAV_MODE/values/5/description</name>
+  <message>
+  <source>config</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/USB_MAV_MODE/values/6/description</name>
+  <message>
+  <source>iridium</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/USB_MAV_MODE/values/7/description</name>
+  <message>
+  <source>minimal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/USB_MAV_MODE/values/8/description</name>
+  <message>
+  <source>extvision</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/USB_MAV_MODE/values/9/description</name>
+  <message>
+  <source>extvisionmin</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/USB_MAV_MODE/values/10/description</name>
+  <message>
+  <source>gimbal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/USB_MAV_MODE/values/11/description</name>
+  <message>
+  <source>onboard_low_bandwidth</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/USB_MAV_MODE/values/12/description</name>
+  <message>
+  <source>uavionix</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAM_CAP_DELAY/shortDesc</name>
+  <message>
+  <source>Camera strobe delay</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAM_CAP_DELAY/longDesc</name>
+  <message>
+  <source>This parameter sets the delay between image integration start and strobe firing</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAM_CAP_EDGE/shortDesc</name>
+  <message>
+  <source>Camera capture edge</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAM_CAP_EDGE/values/0/description</name>
+  <message>
+  <source>Falling edge</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAM_CAP_EDGE/values/1/description</name>
+  <message>
+  <source>Rising edge</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAM_CAP_FBACK/shortDesc</name>
+  <message>
+  <source>Camera capture feedback</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAM_CAP_FBACK/longDesc</name>
+  <message>
+  <source>Enables camera capture feedback</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAM_CAP_FBACK/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAM_CAP_FBACK/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAM_CAP_MODE/shortDesc</name>
+  <message>
+  <source>Camera capture timestamping mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAM_CAP_MODE/longDesc</name>
+  <message>
+  <source>Change time measurement</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAM_CAP_MODE/values/0/description</name>
+  <message>
+  <source>Get absolute timestamp</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAM_CAP_MODE/values/1/description</name>
+  <message>
+  <source>Get timestamp of mid exposure (active high)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAM_CAP_MODE/values/2/description</name>
+  <message>
+  <source>Get timestamp of mid exposure (active low)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TRIG_ACT_TIME/shortDesc</name>
+  <message>
+  <source>Camera trigger activation time</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TRIG_ACT_TIME/longDesc</name>
+  <message>
+  <source>This parameter sets the time the trigger needs to pulled high or low.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TRIG_DISTANCE/shortDesc</name>
+  <message>
+  <source>Camera trigger distance</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TRIG_DISTANCE/longDesc</name>
+  <message>
+  <source>Sets the distance at which to trigger the camera.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TRIG_INTERFACE/shortDesc</name>
+  <message>
+  <source>Camera trigger Interface</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TRIG_INTERFACE/longDesc</name>
+  <message>
+  <source>Selects the trigger interface</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TRIG_INTERFACE/values/1/description</name>
+  <message>
+  <source>GPIO</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TRIG_INTERFACE/values/2/description</name>
+  <message>
+  <source>Seagull MAP2 (over PWM)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TRIG_INTERFACE/values/3/description</name>
+  <message>
+  <source>MAVLink (forward via MAV_CMD_IMAGE_START_CAPTURE)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TRIG_INTERFACE/values/4/description</name>
+  <message>
+  <source>Generic PWM (IR trigger, servo)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TRIG_INTERVAL/shortDesc</name>
+  <message>
+  <source>Camera trigger interval</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TRIG_INTERVAL/longDesc</name>
+  <message>
+  <source>This parameter sets the time between two consecutive trigger events</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TRIG_MIN_INTERVA/shortDesc</name>
+  <message>
+  <source>Minimum camera trigger interval</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TRIG_MIN_INTERVA/longDesc</name>
+  <message>
+  <source>This parameter sets the minimum time between two consecutive trigger events the specific camera setup is supporting.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TRIG_MODE/shortDesc</name>
+  <message>
+  <source>Camera trigger mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TRIG_MODE/values/0/description</name>
+  <message>
+  <source>Disable</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TRIG_MODE/values/1/description</name>
+  <message>
+  <source>Time based, on command</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TRIG_MODE/values/2/description</name>
+  <message>
+  <source>Time based, always on</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TRIG_MODE/values/3/description</name>
+  <message>
+  <source>Distance based, always on</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TRIG_MODE/values/4/description</name>
+  <message>
+  <source>Distance based, on command (Survey mode)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TRIG_POLARITY/shortDesc</name>
+  <message>
+  <source>Camera trigger polarity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TRIG_POLARITY/longDesc</name>
+  <message>
+  <source>This parameter sets the polarity of the trigger (0 = active low, 1 = active high )</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TRIG_POLARITY/values/0/description</name>
+  <message>
+  <source>Active low</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TRIG_POLARITY/values/1/description</name>
+  <message>
+  <source>Active high</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TRIG_PWM_NEUTRAL/shortDesc</name>
+  <message>
+  <source>PWM neutral output on trigger pin</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TRIG_PWM_SHOOT/shortDesc</name>
+  <message>
+  <source>PWM output to trigger shot</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CBRK_BUZZER/shortDesc</name>
+  <message>
+  <source>Circuit breaker for disabling buzzer</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CBRK_BUZZER/longDesc</name>
+  <message>
+  <source>Setting this parameter to 782097 will disable the buzzer audio notification. Setting this parameter to 782090 will disable the startup tune, while keeping all others enabled.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CBRK_FLIGHTTERM/shortDesc</name>
+  <message>
+  <source>Circuit breaker for flight termination</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CBRK_FLIGHTTERM/longDesc</name>
+  <message>
+  <source>Setting this parameter to 121212 will disable the flight termination action if triggered by the FailureDetector logic or if FMU is lost. This circuit breaker does not affect the RC loss, data link loss, geofence, and takeoff failure detection safety logic.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CBRK_IO_SAFETY/shortDesc</name>
+  <message>
+  <source>Circuit breaker for IO safety</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CBRK_IO_SAFETY/longDesc</name>
+  <message>
+  <source>Setting this parameter to 22027 will disable IO safety. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CBRK_SUPPLY_CHK/shortDesc</name>
+  <message>
+  <source>Circuit breaker for power supply check</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CBRK_SUPPLY_CHK/longDesc</name>
+  <message>
+  <source>Setting this parameter to 894281 will disable the power valid checks in the commander. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CBRK_USB_CHK/shortDesc</name>
+  <message>
+  <source>Circuit breaker for USB link check</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CBRK_USB_CHK/longDesc</name>
+  <message>
+  <source>Setting this parameter to 197848 will disable the USB connected checks in the commander, setting it to 0 keeps them enabled (recommended). We are generally recommending to not fly with the USB link connected and production vehicles should set this parameter to zero to prevent users from flying USB powered. However, for R&amp;D purposes it has proven over the years to work just fine.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CBRK_VTOLARMING/shortDesc</name>
+  <message>
+  <source>Circuit breaker for arming in fixed-wing mode check</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CBRK_VTOLARMING/longDesc</name>
+  <message>
+  <source>Setting this parameter to 159753 will enable arming in fixed-wing mode for VTOLs. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ACT_FAIL_ACT/shortDesc</name>
+  <message>
+  <source>Set the actuator failure failsafe mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ACT_FAIL_ACT/longDesc</name>
+  <message>
+  <source>Note: actuator failure needs to be enabled and configured via FD_ACT_* parameters.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ACT_FAIL_ACT/values/0/description</name>
+  <message>
+  <source>Warning only</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ACT_FAIL_ACT/values/1/description</name>
+  <message>
+  <source>Hold mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ACT_FAIL_ACT/values/2/description</name>
+  <message>
+  <source>Land mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ACT_FAIL_ACT/values/3/description</name>
+  <message>
+  <source>Return mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ACT_FAIL_ACT/values/4/description</name>
+  <message>
+  <source>Terminate</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARMABLE/shortDesc</name>
+  <message>
+  <source>Flag to allow arming</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARMABLE/longDesc</name>
+  <message>
+  <source>Set 0 to prevent accidental use of the vehicle e.g. for safety or maintenance reasons.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARMABLE/values/0/description</name>
+  <message>
+  <source>Disallow arming</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARMABLE/values/1/description</name>
+  <message>
+  <source>Allow arming</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_AUTH_ID/shortDesc</name>
+  <message>
+  <source>Arm authorizer system id</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_AUTH_ID/longDesc</name>
+  <message>
+  <source>Used if arm authorization is requested by COM_ARM_AUTH_REQ.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_AUTH_MET/shortDesc</name>
+  <message>
+  <source>Arm authorization method</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_AUTH_MET/longDesc</name>
+  <message>
+  <source>Methods: - one arm: request authorization and arm when authorization is received - two step arm: 1st arm command request an authorization and 2nd arm command arm the drone if authorized Used if arm authorization is requested by COM_ARM_AUTH_REQ.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_AUTH_MET/values/0/description</name>
+  <message>
+  <source>one arm</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_AUTH_MET/values/1/description</name>
+  <message>
+  <source>two step arm</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_AUTH_REQ/shortDesc</name>
+  <message>
+  <source>Require arm authorization to arm</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_AUTH_REQ/longDesc</name>
+  <message>
+  <source>By default off. The default allows to arm the vehicle without a arm authorization.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_AUTH_REQ/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_AUTH_REQ/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_AUTH_TO/shortDesc</name>
+  <message>
+  <source>Arm authorization timeout</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_AUTH_TO/longDesc</name>
+  <message>
+  <source>Timeout for authorizer answer. Used if arm authorization is requested by COM_ARM_AUTH_REQ.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_BAT_MIN/shortDesc</name>
+  <message>
+  <source>Minimum battery level for arming</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_BAT_MIN/longDesc</name>
+  <message>
+  <source>Additional battery level check that only allows arming if the state of charge of the emptiest connected battery is above this value. A value of 0 disables the check.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_CHK_ESCS/shortDesc</name>
+  <message>
+  <source>Enable checks on ESCs that report telemetry</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_CHK_ESCS/longDesc</name>
+  <message>
+  <source>If this parameter is set, the system will check ESC's online status and failures. This param is specific for ESCs reporting status. It shall be used only if ESCs support telemetry.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_CHK_ESCS/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_CHK_ESCS/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_EKF_HGT/shortDesc</name>
+  <message>
+  <source>Maximum EKF height innovation test ratio that will allow arming</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_EKF_POS/shortDesc</name>
+  <message>
+  <source>Maximum EKF position innovation test ratio that will allow arming</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_EKF_VEL/shortDesc</name>
+  <message>
+  <source>Maximum EKF velocity innovation test ratio that will allow arming</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_EKF_YAW/shortDesc</name>
+  <message>
+  <source>Maximum EKF yaw innovation test ratio that will allow arming</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_HFLT_CHK/shortDesc</name>
+  <message>
+  <source>Enable FMU SD card hardfault detection check</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_HFLT_CHK/longDesc</name>
+  <message>
+  <source>This check detects if there are hardfault files present on the SD card. If so, and the parameter is enabled, arming is prevented.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_HFLT_CHK/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_HFLT_CHK/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_IMU_ACC/shortDesc</name>
+  <message>
+  <source>Maximum accelerometer inconsistency between IMU units that will allow arming</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_IMU_GYR/shortDesc</name>
+  <message>
+  <source>Maximum rate gyro inconsistency between IMU units that will allow arming</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_MAG_ANG/shortDesc</name>
+  <message>
+  <source>Maximum magnetic field inconsistency between units that will allow arming</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_MAG_ANG/longDesc</name>
+  <message>
+  <source>Set -1 to disable the check.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_MAG_STR/shortDesc</name>
+  <message>
+  <source>Enable mag strength preflight check</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_MAG_STR/longDesc</name>
+  <message>
+  <source>Check if the estimator detects a strong magnetic disturbance (check enabled by EKF2_MAG_CHECK)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_MAG_STR/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_MAG_STR/values/1/description</name>
+  <message>
+  <source>Deny arming</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_MAG_STR/values/2/description</name>
+  <message>
+  <source>Warning only</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_MIS_REQ/shortDesc</name>
+  <message>
+  <source>Require valid mission to arm</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_MIS_REQ/longDesc</name>
+  <message>
+  <source>The default allows to arm the vehicle without a valid mission.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_MIS_REQ/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_MIS_REQ/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_ODID/shortDesc</name>
+  <message>
+  <source>Enable Drone ID system detection and health check</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_ODID/longDesc</name>
+  <message>
+  <source>This check detects if the Open Drone ID system is missing. Depending on the value of the parameter, the check can be disabled, warn only or deny arming.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_ODID/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_ODID/values/1/description</name>
+  <message>
+  <source>Warning only</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_ODID/values/2/description</name>
+  <message>
+  <source>Enforce Open Drone ID system presence</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_SDCARD/shortDesc</name>
+  <message>
+  <source>Enable FMU SD card detection check</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_SDCARD/longDesc</name>
+  <message>
+  <source>This check detects if the FMU SD card is missing. Depending on the value of the parameter, the check can be disabled, warn only or deny arming.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_SDCARD/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_SDCARD/values/1/description</name>
+  <message>
+  <source>Warning only</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_SDCARD/values/2/description</name>
+  <message>
+  <source>Enforce SD card presence</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_SWISBTN/shortDesc</name>
+  <message>
+  <source>Arm switch is a momentary button</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_SWISBTN/longDesc</name>
+  <message>
+  <source>0: Arming/disarming triggers on switch transition. 1: Arming/disarming triggers when holding the momentary button down for COM_RC_ARM_HYST like the stick gesture.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_SWISBTN/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_SWISBTN/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_WO_GPS/shortDesc</name>
+  <message>
+  <source>Allow arming without GPS</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_WO_GPS/values/0/description</name>
+  <message>
+  <source>Require GPS lock to arm</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_ARM_WO_GPS/values/1/description</name>
+  <message>
+  <source>Allow arming without GPS</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_CPU_MAX/shortDesc</name>
+  <message>
+  <source>Maximum allowed CPU load to still arm</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_CPU_MAX/longDesc</name>
+  <message>
+  <source>The check fails if the CPU load is above this threshold for 2s. A negative value disables the check.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_DISARM_LAND/shortDesc</name>
+  <message>
+  <source>Time-out for auto disarm after landing</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_DISARM_LAND/longDesc</name>
+  <message>
+  <source>A non-zero, positive value specifies the time-out period in seconds after which the vehicle will be automatically disarmed in case a landing situation has been detected during this period. A zero or negative value means that automatic disarming triggered by landing detection is disabled.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_DISARM_MAN/shortDesc</name>
+  <message>
+  <source>Allow disarming via switch/stick/button on multicopters in manual thrust modes</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_DISARM_MAN/longDesc</name>
+  <message>
+  <source>0: Disallow disarming when not landed 1: Allow disarming in multicopter flight in modes where the thrust is directly controlled by thr throttle stick e.g. Stabilized, Acro</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_DISARM_MAN/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_DISARM_MAN/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_DISARM_PRFLT/shortDesc</name>
+  <message>
+  <source>Time-out for auto disarm if not taking off</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_DISARM_PRFLT/longDesc</name>
+  <message>
+  <source>A non-zero, positive value specifies the time in seconds, within which the vehicle is expected to take off after arming. In case the vehicle didn't takeoff within the timeout it disarms again. A negative value disables autmoatic disarming triggered by a pre-takeoff timeout.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_DL_LOSS_T/shortDesc</name>
+  <message>
+  <source>GCS connection loss time threshold</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_DL_LOSS_T/longDesc</name>
+  <message>
+  <source>After this amount of seconds without datalink, the GCS connection lost mode triggers</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FAIL_ACT_T/shortDesc</name>
+  <message>
+  <source>Delay between failsafe condition triggered and failsafe reaction</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FAIL_ACT_T/longDesc</name>
+  <message>
+  <source>Before entering failsafe (RTL, Land, Hold), wait COM_FAIL_ACT_T seconds in Hold mode for the user to realize. During that time the user cannot take over control via the stick override feature (see COM_RC_OVERRIDE). Afterwards the configured failsafe action is triggered and the user may use stick override. A zero value disables the delay and the user cannot take over via stick movements (switching modes is still allowed).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLIGHT_UUID/shortDesc</name>
+  <message>
+  <source>Next flight UUID</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLIGHT_UUID/longDesc</name>
+  <message>
+  <source>This number is incremented automatically after every flight on disarming in order to remember the next flight UUID. The first flight is 0.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE1/shortDesc</name>
+  <message>
+  <source>Mode slot 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE1/longDesc</name>
+  <message>
+  <source>If the main switch channel is in this range the selected flight mode will be applied.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE1/values/-1/description</name>
+  <message>
+  <source>Unassigned</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE1/values/0/description</name>
+  <message>
+  <source>Manual</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE1/values/1/description</name>
+  <message>
+  <source>Altitude</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE1/values/2/description</name>
+  <message>
+  <source>Position</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE1/values/3/description</name>
+  <message>
+  <source>Mission</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE1/values/4/description</name>
+  <message>
+  <source>Hold</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE1/values/5/description</name>
+  <message>
+  <source>Return</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE1/values/6/description</name>
+  <message>
+  <source>Acro</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE1/values/7/description</name>
+  <message>
+  <source>Offboard</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE1/values/8/description</name>
+  <message>
+  <source>Stabilized</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE1/values/9/description</name>
+  <message>
+  <source>Position Slow</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE1/values/10/description</name>
+  <message>
+  <source>Takeoff</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE1/values/11/description</name>
+  <message>
+  <source>Land</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE1/values/12/description</name>
+  <message>
+  <source>Follow Me</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE1/values/13/description</name>
+  <message>
+  <source>Precision Land</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE1/values/100/description</name>
+  <message>
+  <source>External Mode 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE1/values/101/description</name>
+  <message>
+  <source>External Mode 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE1/values/102/description</name>
+  <message>
+  <source>External Mode 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE1/values/103/description</name>
+  <message>
+  <source>External Mode 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE1/values/104/description</name>
+  <message>
+  <source>External Mode 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE1/values/105/description</name>
+  <message>
+  <source>External Mode 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE1/values/106/description</name>
+  <message>
+  <source>External Mode 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE1/values/107/description</name>
+  <message>
+  <source>External Mode 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE2/shortDesc</name>
+  <message>
+  <source>Mode slot 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE2/longDesc</name>
+  <message>
+  <source>If the main switch channel is in this range the selected flight mode will be applied.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE2/values/-1/description</name>
+  <message>
+  <source>Unassigned</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE2/values/0/description</name>
+  <message>
+  <source>Manual</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE2/values/1/description</name>
+  <message>
+  <source>Altitude</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE2/values/2/description</name>
+  <message>
+  <source>Position</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE2/values/3/description</name>
+  <message>
+  <source>Mission</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE2/values/4/description</name>
+  <message>
+  <source>Hold</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE2/values/5/description</name>
+  <message>
+  <source>Return</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE2/values/6/description</name>
+  <message>
+  <source>Acro</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE2/values/7/description</name>
+  <message>
+  <source>Offboard</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE2/values/8/description</name>
+  <message>
+  <source>Stabilized</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE2/values/9/description</name>
+  <message>
+  <source>Position Slow</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE2/values/10/description</name>
+  <message>
+  <source>Takeoff</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE2/values/11/description</name>
+  <message>
+  <source>Land</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE2/values/12/description</name>
+  <message>
+  <source>Follow Me</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE2/values/13/description</name>
+  <message>
+  <source>Precision Land</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE2/values/100/description</name>
+  <message>
+  <source>External Mode 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE2/values/101/description</name>
+  <message>
+  <source>External Mode 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE2/values/102/description</name>
+  <message>
+  <source>External Mode 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE2/values/103/description</name>
+  <message>
+  <source>External Mode 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE2/values/104/description</name>
+  <message>
+  <source>External Mode 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE2/values/105/description</name>
+  <message>
+  <source>External Mode 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE2/values/106/description</name>
+  <message>
+  <source>External Mode 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE2/values/107/description</name>
+  <message>
+  <source>External Mode 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE3/shortDesc</name>
+  <message>
+  <source>Mode slot 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE3/longDesc</name>
+  <message>
+  <source>If the main switch channel is in this range the selected flight mode will be applied.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE3/values/-1/description</name>
+  <message>
+  <source>Unassigned</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE3/values/0/description</name>
+  <message>
+  <source>Manual</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE3/values/1/description</name>
+  <message>
+  <source>Altitude</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE3/values/2/description</name>
+  <message>
+  <source>Position</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE3/values/3/description</name>
+  <message>
+  <source>Mission</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE3/values/4/description</name>
+  <message>
+  <source>Hold</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE3/values/5/description</name>
+  <message>
+  <source>Return</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE3/values/6/description</name>
+  <message>
+  <source>Acro</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE3/values/7/description</name>
+  <message>
+  <source>Offboard</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE3/values/8/description</name>
+  <message>
+  <source>Stabilized</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE3/values/9/description</name>
+  <message>
+  <source>Position Slow</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE3/values/10/description</name>
+  <message>
+  <source>Takeoff</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE3/values/11/description</name>
+  <message>
+  <source>Land</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE3/values/12/description</name>
+  <message>
+  <source>Follow Me</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE3/values/13/description</name>
+  <message>
+  <source>Precision Land</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE3/values/100/description</name>
+  <message>
+  <source>External Mode 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE3/values/101/description</name>
+  <message>
+  <source>External Mode 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE3/values/102/description</name>
+  <message>
+  <source>External Mode 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE3/values/103/description</name>
+  <message>
+  <source>External Mode 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE3/values/104/description</name>
+  <message>
+  <source>External Mode 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE3/values/105/description</name>
+  <message>
+  <source>External Mode 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE3/values/106/description</name>
+  <message>
+  <source>External Mode 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE3/values/107/description</name>
+  <message>
+  <source>External Mode 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE4/shortDesc</name>
+  <message>
+  <source>Mode slot 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE4/longDesc</name>
+  <message>
+  <source>If the main switch channel is in this range the selected flight mode will be applied.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE4/values/-1/description</name>
+  <message>
+  <source>Unassigned</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE4/values/0/description</name>
+  <message>
+  <source>Manual</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE4/values/1/description</name>
+  <message>
+  <source>Altitude</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE4/values/2/description</name>
+  <message>
+  <source>Position</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE4/values/3/description</name>
+  <message>
+  <source>Mission</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE4/values/4/description</name>
+  <message>
+  <source>Hold</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE4/values/5/description</name>
+  <message>
+  <source>Return</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE4/values/6/description</name>
+  <message>
+  <source>Acro</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE4/values/7/description</name>
+  <message>
+  <source>Offboard</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE4/values/8/description</name>
+  <message>
+  <source>Stabilized</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE4/values/9/description</name>
+  <message>
+  <source>Position Slow</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE4/values/10/description</name>
+  <message>
+  <source>Takeoff</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE4/values/11/description</name>
+  <message>
+  <source>Land</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE4/values/12/description</name>
+  <message>
+  <source>Follow Me</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE4/values/13/description</name>
+  <message>
+  <source>Precision Land</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE4/values/100/description</name>
+  <message>
+  <source>External Mode 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE4/values/101/description</name>
+  <message>
+  <source>External Mode 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE4/values/102/description</name>
+  <message>
+  <source>External Mode 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE4/values/103/description</name>
+  <message>
+  <source>External Mode 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE4/values/104/description</name>
+  <message>
+  <source>External Mode 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE4/values/105/description</name>
+  <message>
+  <source>External Mode 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE4/values/106/description</name>
+  <message>
+  <source>External Mode 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE4/values/107/description</name>
+  <message>
+  <source>External Mode 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE5/shortDesc</name>
+  <message>
+  <source>Mode slot 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE5/longDesc</name>
+  <message>
+  <source>If the main switch channel is in this range the selected flight mode will be applied.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE5/values/-1/description</name>
+  <message>
+  <source>Unassigned</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE5/values/0/description</name>
+  <message>
+  <source>Manual</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE5/values/1/description</name>
+  <message>
+  <source>Altitude</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE5/values/2/description</name>
+  <message>
+  <source>Position</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE5/values/3/description</name>
+  <message>
+  <source>Mission</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE5/values/4/description</name>
+  <message>
+  <source>Hold</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE5/values/5/description</name>
+  <message>
+  <source>Return</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE5/values/6/description</name>
+  <message>
+  <source>Acro</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE5/values/7/description</name>
+  <message>
+  <source>Offboard</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE5/values/8/description</name>
+  <message>
+  <source>Stabilized</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE5/values/9/description</name>
+  <message>
+  <source>Position Slow</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE5/values/10/description</name>
+  <message>
+  <source>Takeoff</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE5/values/11/description</name>
+  <message>
+  <source>Land</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE5/values/12/description</name>
+  <message>
+  <source>Follow Me</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE5/values/13/description</name>
+  <message>
+  <source>Precision Land</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE5/values/100/description</name>
+  <message>
+  <source>External Mode 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE5/values/101/description</name>
+  <message>
+  <source>External Mode 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE5/values/102/description</name>
+  <message>
+  <source>External Mode 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE5/values/103/description</name>
+  <message>
+  <source>External Mode 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE5/values/104/description</name>
+  <message>
+  <source>External Mode 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE5/values/105/description</name>
+  <message>
+  <source>External Mode 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE5/values/106/description</name>
+  <message>
+  <source>External Mode 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE5/values/107/description</name>
+  <message>
+  <source>External Mode 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE6/shortDesc</name>
+  <message>
+  <source>Mode slot 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE6/longDesc</name>
+  <message>
+  <source>If the main switch channel is in this range the selected flight mode will be applied.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE6/values/-1/description</name>
+  <message>
+  <source>Unassigned</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE6/values/0/description</name>
+  <message>
+  <source>Manual</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE6/values/1/description</name>
+  <message>
+  <source>Altitude</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE6/values/2/description</name>
+  <message>
+  <source>Position</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE6/values/3/description</name>
+  <message>
+  <source>Mission</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE6/values/4/description</name>
+  <message>
+  <source>Hold</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE6/values/5/description</name>
+  <message>
+  <source>Return</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE6/values/6/description</name>
+  <message>
+  <source>Acro</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE6/values/7/description</name>
+  <message>
+  <source>Offboard</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE6/values/8/description</name>
+  <message>
+  <source>Stabilized</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE6/values/9/description</name>
+  <message>
+  <source>Position Slow</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE6/values/10/description</name>
+  <message>
+  <source>Takeoff</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE6/values/11/description</name>
+  <message>
+  <source>Land</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE6/values/12/description</name>
+  <message>
+  <source>Follow Me</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE6/values/13/description</name>
+  <message>
+  <source>Precision Land</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE6/values/100/description</name>
+  <message>
+  <source>External Mode 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE6/values/101/description</name>
+  <message>
+  <source>External Mode 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE6/values/102/description</name>
+  <message>
+  <source>External Mode 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE6/values/103/description</name>
+  <message>
+  <source>External Mode 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE6/values/104/description</name>
+  <message>
+  <source>External Mode 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE6/values/105/description</name>
+  <message>
+  <source>External Mode 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE6/values/106/description</name>
+  <message>
+  <source>External Mode 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTMODE6/values/107/description</name>
+  <message>
+  <source>External Mode 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTT_LOW_ACT/shortDesc</name>
+  <message>
+  <source>Remaining flight time low failsafe</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTT_LOW_ACT/longDesc</name>
+  <message>
+  <source>Action the system takes when the remaining flight time is below the estimated time it takes to reach the RTL destination.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTT_LOW_ACT/values/0/description</name>
+  <message>
+  <source>None</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTT_LOW_ACT/values/1/description</name>
+  <message>
+  <source>Warning</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLTT_LOW_ACT/values/3/description</name>
+  <message>
+  <source>Return</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLT_PROFILE/shortDesc</name>
+  <message>
+  <source>User Flight Profile</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLT_PROFILE/longDesc</name>
+  <message>
+  <source>Describes the intended use of the vehicle. Can be used by ground control software or log post processing. This param does not influence the behavior within the firmware. This means for example the control logic is independent of the setting of this param (but depends on other params).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLT_PROFILE/values/0/description</name>
+  <message>
+  <source>Default</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLT_PROFILE/values/100/description</name>
+  <message>
+  <source>Pro User</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLT_PROFILE/values/200/description</name>
+  <message>
+  <source>Flight Tester</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLT_PROFILE/values/300/description</name>
+  <message>
+  <source>Developer</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLT_TIME_MAX/shortDesc</name>
+  <message>
+  <source>Maximum allowed flight time</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FLT_TIME_MAX/longDesc</name>
+  <message>
+  <source>The vehicle aborts the current operation and returns to launch when the time since takeoff is above this value. It is not possible to resume the mission or switch to any auto mode other than RTL or Land. Taking over in any manual mode is still possible. Starting from 90% of the maximum flight time, a warning message will be sent every 1 minute with the remaining time until automatic RTL. Set to -1 to disable.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FORCE_SAFETY/shortDesc</name>
+  <message>
+  <source>Enable force safety</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FORCE_SAFETY/longDesc</name>
+  <message>
+  <source>Force safety when the vehicle disarms</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FORCE_SAFETY/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_FORCE_SAFETY/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_HLDL_LOSS_T/shortDesc</name>
+  <message>
+  <source>High Latency Datalink loss time threshold</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_HLDL_LOSS_T/longDesc</name>
+  <message>
+  <source>After this amount of seconds without datalink the data link lost mode triggers</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_HLDL_REG_T/shortDesc</name>
+  <message>
+  <source>High Latency Datalink regain time threshold</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_HLDL_REG_T/longDesc</name>
+  <message>
+  <source>After a data link loss: after this number of seconds with a healthy datalink the 'datalink loss' flag is set back to false</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_HOME_EN/shortDesc</name>
+  <message>
+  <source>Home position enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_HOME_EN/longDesc</name>
+  <message>
+  <source>Set home position automatically if possible.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_HOME_EN/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_HOME_EN/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_HOME_IN_AIR/shortDesc</name>
+  <message>
+  <source>Allows setting the home position after takeoff</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_HOME_IN_AIR/longDesc</name>
+  <message>
+  <source>If set to true, the autopilot is allowed to set its home position after takeoff The true home position is back-computed if a local position is estimate if available. If no local position is available, home is set to the current position.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_HOME_IN_AIR/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_HOME_IN_AIR/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_IMB_PROP_ACT/shortDesc</name>
+  <message>
+  <source>Imbalanced propeller failsafe mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_IMB_PROP_ACT/longDesc</name>
+  <message>
+  <source>Action the system takes when an imbalanced propeller is detected by the failure detector. See also FD_IMB_PROP_THR to set the failure threshold.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_IMB_PROP_ACT/values/-1/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_IMB_PROP_ACT/values/0/description</name>
+  <message>
+  <source>Warning</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_IMB_PROP_ACT/values/1/description</name>
+  <message>
+  <source>Return</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_IMB_PROP_ACT/values/2/description</name>
+  <message>
+  <source>Land</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_KILL_DISARM/shortDesc</name>
+  <message>
+  <source>Timeout value for disarming when kill switch is engaged</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_LKDOWN_TKO/shortDesc</name>
+  <message>
+  <source>Timeout for detecting a failure after takeoff</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_LKDOWN_TKO/longDesc</name>
+  <message>
+  <source>A non-zero, positive value specifies the timeframe in seconds within failure detector is allowed to disarm the vehicle if attitude exceeds the limits defined in FD_FAIL_P and FD_FAIL_R. The check is not executed for flight modes that do support acrobatic maneuvers, e.g: Acro (MC/FW) and Manual (FW). A zero or negative value means that the check is disabled.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_LOW_BAT_ACT/shortDesc</name>
+  <message>
+  <source>Battery failsafe mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_LOW_BAT_ACT/longDesc</name>
+  <message>
+  <source>Action the system takes at critical battery. See also BAT_CRIT_THR and BAT_EMERGEN_THR for definition of battery states.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_LOW_BAT_ACT/values/0/description</name>
+  <message>
+  <source>Warning</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_LOW_BAT_ACT/values/2/description</name>
+  <message>
+  <source>Land mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_LOW_BAT_ACT/values/3/description</name>
+  <message>
+  <source>Return at critical level, land at emergency level</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_MODE0_HASH/shortDesc</name>
+  <message>
+  <source>External mode identifier 0</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_MODE0_HASH/longDesc</name>
+  <message>
+  <source>This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_MODE1_HASH/shortDesc</name>
+  <message>
+  <source>External mode identifier 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_MODE1_HASH/longDesc</name>
+  <message>
+  <source>This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_MODE2_HASH/shortDesc</name>
+  <message>
+  <source>External mode identifier 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_MODE2_HASH/longDesc</name>
+  <message>
+  <source>This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_MODE3_HASH/shortDesc</name>
+  <message>
+  <source>External mode identifier 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_MODE3_HASH/longDesc</name>
+  <message>
+  <source>This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_MODE4_HASH/shortDesc</name>
+  <message>
+  <source>External mode identifier 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_MODE4_HASH/longDesc</name>
+  <message>
+  <source>This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_MODE5_HASH/shortDesc</name>
+  <message>
+  <source>External mode identifier 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_MODE5_HASH/longDesc</name>
+  <message>
+  <source>This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_MODE6_HASH/shortDesc</name>
+  <message>
+  <source>External mode identifier 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_MODE6_HASH/longDesc</name>
+  <message>
+  <source>This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_MODE7_HASH/shortDesc</name>
+  <message>
+  <source>External mode identifier 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_MODE7_HASH/longDesc</name>
+  <message>
+  <source>This parameter is automatically set to identify external modes. It ensures that modes get assigned to the same index independent from their startup order, which is required when mapping an external mode to an RC switch.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_MOT_TEST_EN/shortDesc</name>
+  <message>
+  <source>Enable Actuator Testing</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_MOT_TEST_EN/longDesc</name>
+  <message>
+  <source>If set, enables the actuator test interface via MAVLink (ACTUATOR_TEST), that allows spinning the motors and moving the servos for testing purposes.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_MOT_TEST_EN/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_MOT_TEST_EN/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_OBC_LOSS_T/shortDesc</name>
+  <message>
+  <source>Time-out to wait when onboard computer connection is lost before warning about loss connection</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_OBL_RC_ACT/shortDesc</name>
+  <message>
+  <source>Set offboard loss failsafe mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_OBL_RC_ACT/longDesc</name>
+  <message>
+  <source>The offboard loss failsafe will only be entered after a timeout, set by COM_OF_LOSS_T in seconds.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_OBL_RC_ACT/values/0/description</name>
+  <message>
+  <source>Position mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_OBL_RC_ACT/values/1/description</name>
+  <message>
+  <source>Altitude mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_OBL_RC_ACT/values/2/description</name>
+  <message>
+  <source>Manual</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_OBL_RC_ACT/values/3/description</name>
+  <message>
+  <source>Return mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_OBL_RC_ACT/values/4/description</name>
+  <message>
+  <source>Land mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_OBL_RC_ACT/values/5/description</name>
+  <message>
+  <source>Hold mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_OBL_RC_ACT/values/6/description</name>
+  <message>
+  <source>Terminate</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_OBL_RC_ACT/values/7/description</name>
+  <message>
+  <source>Disarm</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_OBS_AVOID/shortDesc</name>
+  <message>
+  <source>Flag to enable obstacle avoidance</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_OBS_AVOID/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_OBS_AVOID/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_OF_LOSS_T/shortDesc</name>
+  <message>
+  <source>Time-out to wait when offboard connection is lost before triggering offboard lost action</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_OF_LOSS_T/longDesc</name>
+  <message>
+  <source>See COM_OBL_RC_ACT to configure action.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_PARACHUTE/shortDesc</name>
+  <message>
+  <source>Expect and require a healthy MAVLink parachute system</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_PARACHUTE/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_PARACHUTE/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_POSCTL_NAVL/shortDesc</name>
+  <message>
+  <source>Position control navigation loss response</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_POSCTL_NAVL/longDesc</name>
+  <message>
+  <source>This sets the flight mode that will be used if navigation accuracy is no longer adequate for position control. If Altitude/Manual is selected: assume use of remote control after fallback. Switch to Altitude mode if a height estimate is available, else switch to MANUAL. If Land/Descend is selected: assume no use of remote control after fallback. Switch to Land mode if a height estimate is available, else switch to Descend.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_POSCTL_NAVL/values/0/description</name>
+  <message>
+  <source>Altitude/Manual</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_POSCTL_NAVL/values/1/description</name>
+  <message>
+  <source>Land/Descend</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_POS_FS_DELAY/shortDesc</name>
+  <message>
+  <source>Loss of position failsafe activation delay</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_POS_FS_DELAY/longDesc</name>
+  <message>
+  <source>This sets number of seconds that the position checks need to be failed before the failsafe will activate. The default value has been optimised for rotary wing applications. For fixed wing applications, a larger value between 5 and 10 should be used.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_POS_FS_EPH/shortDesc</name>
+  <message>
+  <source>Horizontal position error threshold</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_POS_FS_EPH/longDesc</name>
+  <message>
+  <source>This is the horizontal position error (EPH) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing. If the previous position error was below this threshold, there is an additional factor of 2.5 applied (threshold for invalidation 2.5 times the one for validation). Set to -1 to disable.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_POS_LOW_EPH/shortDesc</name>
+  <message>
+  <source>EPH threshold for RTL</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_POS_LOW_EPH/longDesc</name>
+  <message>
+  <source>Specify the threshold for triggering a warning for low local position accuracy. Additionally triggers a RTL if currently in Mission or Loiter mode. Local position has to be still declared valid, which is most of all depending on COM_POS_FS_EPH. Use this feature on systems with dead-reckoning capabilites (e.g. fixed-wing vehicles with airspeed sensor) to improve the user notification and failure mitigation when flying in GNSS-denied areas. Set to -1 to disable.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_POWER_COUNT/shortDesc</name>
+  <message>
+  <source>Required number of redundant power modules</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_POWER_COUNT/longDesc</name>
+  <message>
+  <source>This configures a check to verify the expected number of 5V rail power supplies are present. By default only one is expected. Note: CBRK_SUPPLY_CHK disables all power checks including this one.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_PREARM_MODE/shortDesc</name>
+  <message>
+  <source>Condition to enter prearmed mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_PREARM_MODE/longDesc</name>
+  <message>
+  <source>Condition to enter the prearmed state, an intermediate state between disarmed and armed in which non-throttling actuators are active.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_PREARM_MODE/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_PREARM_MODE/values/1/description</name>
+  <message>
+  <source>Safety button</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_PREARM_MODE/values/2/description</name>
+  <message>
+  <source>Always</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_QC_ACT/shortDesc</name>
+  <message>
+  <source>Set command after a quadchute</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_QC_ACT/values/-1/description</name>
+  <message>
+  <source>Warning only</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_QC_ACT/values/0/description</name>
+  <message>
+  <source>Return mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_QC_ACT/values/1/description</name>
+  <message>
+  <source>Land mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_QC_ACT/values/2/description</name>
+  <message>
+  <source>Hold mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_RCL_EXCEPT/shortDesc</name>
+  <message>
+  <source>RC loss exceptions</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_RCL_EXCEPT/longDesc</name>
+  <message>
+  <source>Specify modes in which RC loss is ignored and the failsafe action not triggered.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_RCL_EXCEPT/bitmask/0/description</name>
+  <message>
+  <source>Mission</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_RCL_EXCEPT/bitmask/1/description</name>
+  <message>
+  <source>Hold</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_RCL_EXCEPT/bitmask/2/description</name>
+  <message>
+  <source>Offboard</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_RC_ARM_HYST/shortDesc</name>
+  <message>
+  <source>RC input arm/disarm command duration</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_RC_ARM_HYST/longDesc</name>
+  <message>
+  <source>The default value of 1000 requires the stick to be held in the arm or disarm position for 1 second.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_RC_IN_MODE/shortDesc</name>
+  <message>
+  <source>RC control input mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_RC_IN_MODE/longDesc</name>
+  <message>
+  <source>A value of 0 enables RC transmitter control (only). A valid RC transmitter calibration is required. A value of 1 allows joystick control only. RC input handling and the associated checks are disabled. A value of 2 allows either RC Transmitter or Joystick input. The first valid input is used, will fallback to other sources if the input stream becomes invalid. A value of 3 allows either input from RC or joystick. The first available source is selected and used until reboot. A value of 4 ignores any stick input.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_RC_IN_MODE/values/0/description</name>
+  <message>
+  <source>RC Transmitter only</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_RC_IN_MODE/values/1/description</name>
+  <message>
+  <source>Joystick only</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_RC_IN_MODE/values/2/description</name>
+  <message>
+  <source>RC and Joystick with fallback</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_RC_IN_MODE/values/3/description</name>
+  <message>
+  <source>RC or Joystick keep first</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_RC_IN_MODE/values/4/description</name>
+  <message>
+  <source>Stick input disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_RC_LOSS_T/shortDesc</name>
+  <message>
+  <source>Manual control loss timeout</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_RC_LOSS_T/longDesc</name>
+  <message>
+  <source>The time in seconds without a new setpoint from RC or Joystick, after which the connection is considered lost. This must be kept short as the vehicle will use the last supplied setpoint until the timeout triggers.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_RC_OVERRIDE/shortDesc</name>
+  <message>
+  <source>Enable RC stick override of auto and/or offboard modes</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_RC_OVERRIDE/longDesc</name>
+  <message>
+  <source>When RC stick override is enabled, moving the RC sticks more than COM_RC_STICK_OV immediately gives control back to the pilot by switching to Position mode and if position is unavailable Altitude mode. Note: Only has an effect on multicopters, and VTOLs in multicopter mode.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_RC_OVERRIDE/bitmask/0/description</name>
+  <message>
+  <source>Enable override during auto modes (except for in critical battery reaction)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_RC_OVERRIDE/bitmask/1/description</name>
+  <message>
+  <source>Enable override during offboard mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_RC_STICK_OV/shortDesc</name>
+  <message>
+  <source>RC stick override threshold</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_RC_STICK_OV/longDesc</name>
+  <message>
+  <source>If COM_RC_OVERRIDE is enabled and the joystick input is moved more than this threshold the autopilot the pilot takes over control.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_SPOOLUP_TIME/shortDesc</name>
+  <message>
+  <source>Enforced delay between arming and further navigation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_SPOOLUP_TIME/longDesc</name>
+  <message>
+  <source>The minimal time from arming the motors until moving the vehicle is possible is COM_SPOOLUP_TIME seconds. Goal: - Motors and propellers spool up to idle speed before getting commanded to spin faster - Timeout for ESCs and smart batteries to successfulyy do failure checks e.g. for stuck rotors before the vehicle is off the ground</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_TAKEOFF_ACT/shortDesc</name>
+  <message>
+  <source>Action after TAKEOFF has been accepted</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_TAKEOFF_ACT/longDesc</name>
+  <message>
+  <source>The mode transition after TAKEOFF has completed successfully.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_TAKEOFF_ACT/values/0/description</name>
+  <message>
+  <source>Hold</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_TAKEOFF_ACT/values/1/description</name>
+  <message>
+  <source>Mission (if valid)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_THROW_EN/shortDesc</name>
+  <message>
+  <source>Enable throw-start</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_THROW_EN/longDesc</name>
+  <message>
+  <source>Allows to start the vehicle by throwing it into the air.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_THROW_EN/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_THROW_EN/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_THROW_SPEED/shortDesc</name>
+  <message>
+  <source>Minimum speed for the throw start</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_THROW_SPEED/longDesc</name>
+  <message>
+  <source>When the throw launch is enabled, the drone will only arm after this speed is exceeded before detecting the freefall. This is a safety feature to ensure the drone does not turn on after accidental drop or a rapid movement before the throw. Set to 0 to disable.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_VEL_FS_EVH/shortDesc</name>
+  <message>
+  <source>Horizontal velocity error threshold</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_VEL_FS_EVH/longDesc</name>
+  <message>
+  <source>This is the horizontal velocity error (EVH) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing. If the previous velocity error was below this threshold, there is an additional factor of 2.5 applied (threshold for invalidation 2.5 times the one for validation).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_WIND_MAX/shortDesc</name>
+  <message>
+  <source>High wind speed failsafe threshold</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_WIND_MAX/longDesc</name>
+  <message>
+  <source>Wind speed threshold above which an automatic failsafe action is triggered. Failsafe action can be specified with COM_WIND_MAX_ACT.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_WIND_MAX_ACT/shortDesc</name>
+  <message>
+  <source>High wind failsafe mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_WIND_MAX_ACT/longDesc</name>
+  <message>
+  <source>Action the system takes when a wind speed above the specified threshold is detected. See COM_WIND_MAX to set the failsafe threshold. If enabled, it is not possible to resume the mission or switch to any auto mode other than RTL or Land if this threshold is exceeded. Taking over in any manual mode is still possible.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_WIND_MAX_ACT/values/0/description</name>
+  <message>
+  <source>None</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_WIND_MAX_ACT/values/1/description</name>
+  <message>
+  <source>Warning</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_WIND_MAX_ACT/values/2/description</name>
+  <message>
+  <source>Hold</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_WIND_MAX_ACT/values/3/description</name>
+  <message>
+  <source>Return</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_WIND_MAX_ACT/values/4/description</name>
+  <message>
+  <source>Terminate</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_WIND_MAX_ACT/values/5/description</name>
+  <message>
+  <source>Land</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_WIND_WARN/shortDesc</name>
+  <message>
+  <source>Wind speed warning threshold</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/COM_WIND_WARN/longDesc</name>
+  <message>
+  <source>A warning is triggered if the currently estimated wind speed is above this value. Warning is sent periodically (every 1 minute). Set to -1 to disable.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NAV_DLL_ACT/shortDesc</name>
+  <message>
+  <source>Set GCS connection loss failsafe mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NAV_DLL_ACT/longDesc</name>
+  <message>
+  <source>The GCS connection loss failsafe will only be entered after a timeout, set by COM_DL_LOSS_T in seconds. Once the timeout occurs the selected action will be executed.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NAV_DLL_ACT/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NAV_DLL_ACT/values/1/description</name>
+  <message>
+  <source>Hold mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NAV_DLL_ACT/values/2/description</name>
+  <message>
+  <source>Return mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NAV_DLL_ACT/values/3/description</name>
+  <message>
+  <source>Land mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NAV_DLL_ACT/values/5/description</name>
+  <message>
+  <source>Terminate</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NAV_DLL_ACT/values/6/description</name>
+  <message>
+  <source>Disarm</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NAV_RCL_ACT/shortDesc</name>
+  <message>
+  <source>Set RC loss failsafe mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NAV_RCL_ACT/longDesc</name>
+  <message>
+  <source>The RC loss failsafe will only be entered after a timeout, set by COM_RC_LOSS_T in seconds. If RC input checks have been disabled by setting the COM_RC_IN_MODE param it will not be triggered.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NAV_RCL_ACT/values/1/description</name>
+  <message>
+  <source>Hold mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NAV_RCL_ACT/values/2/description</name>
+  <message>
+  <source>Return mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NAV_RCL_ACT/values/3/description</name>
+  <message>
+  <source>Land mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NAV_RCL_ACT/values/5/description</name>
+  <message>
+  <source>Terminate</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NAV_RCL_ACT/values/6/description</name>
+  <message>
+  <source>Disarm</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CYPHAL_BAUD/shortDesc</name>
+  <message>
+  <source>UAVCAN/CAN v1 bus bitrate</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CYPHAL_ENABLE/shortDesc</name>
+  <message>
+  <source>Cyphal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CYPHAL_ENABLE/longDesc</name>
+  <message>
+  <source>0 - Cyphal disabled. 1 - Enables Cyphal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CYPHAL_ENABLE/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CYPHAL_ENABLE/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CYPHAL_ID/shortDesc</name>
+  <message>
+  <source>Cyphal Node ID</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CYPHAL_ID/longDesc</name>
+  <message>
+  <source>Read the specs at http://uavcan.org to learn more about Node ID.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/UCAN1_ACTR_PUB/shortDesc</name>
+  <message>
+  <source>actuator_outputs uORB over Cyphal publication port ID</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/UCAN1_BMS_BP_SUB/shortDesc</name>
+  <message>
+  <source>UDRAL battery parameters subscription  port ID</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/UCAN1_BMS_BS_SUB/shortDesc</name>
+  <message>
+  <source>UDRAL battery status subscription port ID</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/UCAN1_BMS_ES_SUB/shortDesc</name>
+  <message>
+  <source>UDRAL battery energy source subscription port ID</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/UCAN1_ESC0_SUB/shortDesc</name>
+  <message>
+  <source>ESC 0 subscription port ID</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/UCAN1_ESC_PUB/shortDesc</name>
+  <message>
+  <source>Cyphal ESC publication port ID</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/UCAN1_GPS0_SUB/shortDesc</name>
+  <message>
+  <source>GPS 0 subscription port ID</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/UCAN1_GPS1_SUB/shortDesc</name>
+  <message>
+  <source>GPS 1 subscription port ID</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/UCAN1_GPS_PUB/shortDesc</name>
+  <message>
+  <source>Cyphal GPS publication port ID</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/UCAN1_LG_BMS_SUB/shortDesc</name>
+  <message>
+  <source>Cyphal legacy battery port ID</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/UCAN1_SERVO_PUB/shortDesc</name>
+  <message>
+  <source>Cyphal Servo publication port ID</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/UCAN1_UORB_GPS/shortDesc</name>
+  <message>
+  <source>sensor_gps uORB over Cyphal subscription port ID</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/UCAN1_UORB_GPS_P/shortDesc</name>
+  <message>
+  <source>sensor_gps uORB over Cyphal publication port ID</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/DSHOT_3D_DEAD_H/shortDesc</name>
+  <message>
+  <source>DSHOT 3D deadband high</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/DSHOT_3D_DEAD_H/longDesc</name>
+  <message>
+  <source>When the actuator_output is between DSHOT_3D_DEAD_L and DSHOT_3D_DEAD_H, motor will not spin. This value is with respect to the mixer_module range (0-1999), not the DSHOT values.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/DSHOT_3D_DEAD_L/shortDesc</name>
+  <message>
+  <source>DSHOT 3D deadband low</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/DSHOT_3D_DEAD_L/longDesc</name>
+  <message>
+  <source>When the actuator_output is between DSHOT_3D_DEAD_L and DSHOT_3D_DEAD_H, motor will not spin. This value is with respect to the mixer_module range (0-1999), not the DSHOT values.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/DSHOT_3D_ENABLE/shortDesc</name>
+  <message>
+  <source>Allows for 3d mode when using DShot and suitable mixer</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/DSHOT_3D_ENABLE/longDesc</name>
+  <message>
+  <source>WARNING: ESC must be configured for 3D mode, and DSHOT_MIN set to 0. This splits the throttle ranges in two. Direction 1) 48 is the slowest, 1047 is the fastest. Direction 2) 1049 is the slowest, 2047 is the fastest. When mixer outputs 1000 or value inside DSHOT 3D deadband, DShot 0 is sent.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/DSHOT_3D_ENABLE/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/DSHOT_3D_ENABLE/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/DSHOT_MIN/shortDesc</name>
+  <message>
+  <source>Minimum DShot Motor Output</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/DSHOT_MIN/longDesc</name>
+  <message>
+  <source>Minimum Output Value for DShot in percent. The value depends on the ESC. Make sure to set this high enough so that the motors are always spinning while armed.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/DSHOT_TEL_CFG/shortDesc</name>
+  <message>
+  <source>Serial Configuration for DShot Driver</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/DSHOT_TEL_CFG/longDesc</name>
+  <message>
+  <source>Configure on which serial port to run DShot Driver.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/DSHOT_TEL_CFG/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/DSHOT_TEL_CFG/values/6/description</name>
+  <message>
+  <source>UART 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/DSHOT_TEL_CFG/values/101/description</name>
+  <message>
+  <source>TELEM 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/DSHOT_TEL_CFG/values/102/description</name>
+  <message>
+  <source>TELEM 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/DSHOT_TEL_CFG/values/103/description</name>
+  <message>
+  <source>TELEM 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/DSHOT_TEL_CFG/values/104/description</name>
+  <message>
+  <source>TELEM/SERIAL 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/DSHOT_TEL_CFG/values/201/description</name>
+  <message>
+  <source>GPS 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/DSHOT_TEL_CFG/values/202/description</name>
+  <message>
+  <source>GPS 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/DSHOT_TEL_CFG/values/203/description</name>
+  <message>
+  <source>GPS 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/DSHOT_TEL_CFG/values/300/description</name>
+  <message>
+  <source>Radio Controller</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/DSHOT_TEL_CFG/values/301/description</name>
+  <message>
+  <source>Wifi Port</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/DSHOT_TEL_CFG/values/401/description</name>
+  <message>
+  <source>EXT2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MOT_POLE_COUNT/shortDesc</name>
+  <message>
+  <source>Number of magnetic poles of the motors</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MOT_POLE_COUNT/longDesc</name>
+  <message>
+  <source>Specify the number of magnetic poles of the motors. It is required to compute the RPM value from the eRPM returned with the ESC telemetry. Either get the number from the motor spec sheet or count the magnets on the bell of the motor (not the stator magnets). Typical motors for 5 inch props have 14 poles.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_ABIAS_INIT/shortDesc</name>
+  <message>
+  <source>1-sigma IMU accelerometer switch-on bias</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_ABL_ACCLIM/shortDesc</name>
+  <message>
+  <source>Maximum IMU accel magnitude that allows IMU bias learning</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_ABL_ACCLIM/longDesc</name>
+  <message>
+  <source>If the magnitude of the IMU accelerometer vector exceeds this value, the EKF accel bias state estimation will be inhibited. This reduces the adverse effect of high manoeuvre accelerations and IMU nonlinerity and scale factor errors on the accel bias estimates.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_ABL_GYRLIM/shortDesc</name>
+  <message>
+  <source>Maximum IMU gyro angular rate magnitude that allows IMU bias learning</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_ABL_GYRLIM/longDesc</name>
+  <message>
+  <source>If the magnitude of the IMU angular rate vector exceeds this value, the EKF accel bias state estimation will be inhibited. This reduces the adverse effect of rapid rotation rates and associated errors on the accel bias estimates.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_ABL_LIM/shortDesc</name>
+  <message>
+  <source>Accelerometer bias learning limit</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_ABL_LIM/longDesc</name>
+  <message>
+  <source>The ekf accel bias states will be limited to within a range equivalent to +- of this value.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_ABL_TAU/shortDesc</name>
+  <message>
+  <source>Time constant used by acceleration and angular rate magnitude checks used to inhibit accel bias learning</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_ABL_TAU/longDesc</name>
+  <message>
+  <source>The vector magnitude of angular rate and acceleration used to check if learning should be inhibited has a peak hold filter applied to it with an exponential decay. This parameter controls the time constant of the decay.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_ACC_B_NOISE/shortDesc</name>
+  <message>
+  <source>Process noise for IMU accelerometer bias prediction</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_ACC_NOISE/shortDesc</name>
+  <message>
+  <source>Accelerometer noise for covariance prediction</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_AGP_CTRL/shortDesc</name>
+  <message>
+  <source>Aux global position (AGP) sensor aiding</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_AGP_CTRL/longDesc</name>
+  <message>
+  <source>Set bits in the following positions to enable: 0 : Horizontal position fusion 1 : Vertical position fusion</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_AGP_CTRL/bitmask/0/description</name>
+  <message>
+  <source>Horizontal position</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_AGP_CTRL/bitmask/1/description</name>
+  <message>
+  <source>Vertical position</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_AGP_DELAY/shortDesc</name>
+  <message>
+  <source>Aux global position estimator delay relative to IMU measurements</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_AGP_GATE/shortDesc</name>
+  <message>
+  <source>Gate size for aux global position fusion</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_AGP_GATE/longDesc</name>
+  <message>
+  <source>Sets the number of standard deviations used by the innovation consistency test.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_AGP_NOISE/shortDesc</name>
+  <message>
+  <source>Measurement noise for aux global position observations used to lower bound or replace the uncertainty included in the message</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_ANGERR_INIT/shortDesc</name>
+  <message>
+  <source>1-sigma tilt angle uncertainty after gravity vector alignment</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_ARSP_THR/shortDesc</name>
+  <message>
+  <source>Airspeed fusion threshold</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_ARSP_THR/longDesc</name>
+  <message>
+  <source>Airspeed data is fused for wind estimation if above this threshold. Set to 0 to disable airspeed fusion. For reliable wind estimation both sideslip (see EKF2_FUSE_BETA) and airspeed fusion should be enabled. Only applies to fixed-wing vehicles (or VTOLs in fixed-wing mode).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_ASPD_MAX/shortDesc</name>
+  <message>
+  <source>Upper limit on airspeed along individual axes used to correct baro for position error effects</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_ASP_DELAY/shortDesc</name>
+  <message>
+  <source>Airspeed measurement delay relative to IMU measurements</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_AVEL_DELAY/shortDesc</name>
+  <message>
+  <source>Auxiliary Velocity Estimate (e.g from a landing target) delay relative to IMU measurements</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_BARO_CTRL/shortDesc</name>
+  <message>
+  <source>Barometric sensor height aiding</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_BARO_CTRL/longDesc</name>
+  <message>
+  <source>If this parameter is enabled then the estimator will make use of the barometric height measurements to estimate its height in addition to other height sources (if activated).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_BARO_CTRL/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_BARO_CTRL/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_BARO_DELAY/shortDesc</name>
+  <message>
+  <source>Barometer measurement delay relative to IMU measurements</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_BARO_GATE/shortDesc</name>
+  <message>
+  <source>Gate size for barometric and GPS height fusion</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_BARO_GATE/longDesc</name>
+  <message>
+  <source>Sets the number of standard deviations used by the innovation consistency test.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_BARO_NOISE/shortDesc</name>
+  <message>
+  <source>Measurement noise for barometric altitude</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_BCOEF_X/shortDesc</name>
+  <message>
+  <source>X-axis ballistic coefficient used for multi-rotor wind estimation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_BCOEF_X/longDesc</name>
+  <message>
+  <source>This parameter controls the prediction of drag produced by bluff body drag along the forward/reverse axis when flying a multi-copter which enables estimation of wind drift when enabled by the EKF2_DRAG_CTRL parameter. The drag produced by this effect scales with speed squared. The predicted drag from the rotors is specified separately by the EKF2_MCOEF parameter. Set this parameter to zero to turn off the bluff body drag model for this axis.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_BCOEF_Y/shortDesc</name>
+  <message>
+  <source>Y-axis ballistic coefficient used for multi-rotor wind estimation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_BCOEF_Y/longDesc</name>
+  <message>
+  <source>This parameter controls the prediction of drag produced by bluff body drag along the right/left axis when flying a multi-copter, which enables estimation of wind drift when enabled by the EKF2_DRAG_CTRL parameter. The drag produced by this effect scales with speed squared. The predicted drag from the rotors is specified separately by the EKF2_MCOEF parameter. Set this parameter to zero to turn off the bluff body drag model for this axis.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_BETA_GATE/shortDesc</name>
+  <message>
+  <source>Gate size for synthetic sideslip fusion</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_BETA_GATE/longDesc</name>
+  <message>
+  <source>Sets the number of standard deviations used by the innovation consistency test.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_BETA_NOISE/shortDesc</name>
+  <message>
+  <source>Noise for synthetic sideslip fusion</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_DECL_TYPE/shortDesc</name>
+  <message>
+  <source>Integer bitmask controlling handling of magnetic declination</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_DECL_TYPE/longDesc</name>
+  <message>
+  <source>Set bits in the following positions to enable functions. 0 : Set to true to use the declination from the geo_lookup library when the GPS position becomes available, set to false to always use the EKF2_MAG_DECL value. 1 : Set to true to save the EKF2_MAG_DECL parameter to the value returned by the EKF when the vehicle disarms.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_DECL_TYPE/bitmask/0/description</name>
+  <message>
+  <source>use geo_lookup declination</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_DECL_TYPE/bitmask/1/description</name>
+  <message>
+  <source>save EKF2_MAG_DECL on disarm</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_DELAY_MAX/shortDesc</name>
+  <message>
+  <source>Maximum delay of all the aiding sensors</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_DELAY_MAX/longDesc</name>
+  <message>
+  <source>Defines the delay between the current time and the delayed-time horizon. This value should be at least as large as the largest EKF2_XXX_DELAY parameter.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_DRAG_CTRL/shortDesc</name>
+  <message>
+  <source>Multirotor wind estimation selection</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_DRAG_CTRL/longDesc</name>
+  <message>
+  <source>Activate wind speed estimation using specific-force measurements and a drag model defined by EKF2_BCOEF_[XY] and EKF2_MCOEF. Only use on vehicles that have their thrust aligned with the Z axis and no thrust in the XY plane.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_DRAG_CTRL/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_DRAG_CTRL/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_DRAG_NOISE/shortDesc</name>
+  <message>
+  <source>Specific drag force observation noise variance used by the multi-rotor specific drag force model</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_DRAG_NOISE/longDesc</name>
+  <message>
+  <source>Increasing this makes the multi-rotor wind estimates adjust more slowly.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_EAS_NOISE/shortDesc</name>
+  <message>
+  <source>Measurement noise for airspeed fusion</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_EN/shortDesc</name>
+  <message>
+  <source>EKF2 enable</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_EN/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_EN/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_EVA_NOISE/shortDesc</name>
+  <message>
+  <source>Measurement noise for vision angle observations used to lower bound or replace the uncertainty included in the message</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_EVP_GATE/shortDesc</name>
+  <message>
+  <source>Gate size for vision position fusion</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_EVP_GATE/longDesc</name>
+  <message>
+  <source>Sets the number of standard deviations used by the innovation consistency test.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_EVP_NOISE/shortDesc</name>
+  <message>
+  <source>Measurement noise for vision position observations used to lower bound or replace the uncertainty included in the message</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_EVV_GATE/shortDesc</name>
+  <message>
+  <source>Gate size for vision velocity estimate fusion</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_EVV_GATE/longDesc</name>
+  <message>
+  <source>Sets the number of standard deviations used by the innovation consistency test.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_EVV_NOISE/shortDesc</name>
+  <message>
+  <source>Measurement noise for vision velocity observations used to lower bound or replace the uncertainty included in the message</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_EV_CTRL/shortDesc</name>
+  <message>
+  <source>External vision (EV) sensor aiding</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_EV_CTRL/longDesc</name>
+  <message>
+  <source>Set bits in the following positions to enable: 0 : Horizontal position fusion 1 : Vertical position fusion 2 : 3D velocity fusion 3 : Yaw</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_EV_CTRL/bitmask/0/description</name>
+  <message>
+  <source>Horizontal position</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_EV_CTRL/bitmask/1/description</name>
+  <message>
+  <source>Vertical position</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_EV_CTRL/bitmask/2/description</name>
+  <message>
+  <source>3D velocity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_EV_CTRL/bitmask/3/description</name>
+  <message>
+  <source>Yaw</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_EV_DELAY/shortDesc</name>
+  <message>
+  <source>Vision Position Estimator delay relative to IMU measurements</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_EV_NOISE_MD/shortDesc</name>
+  <message>
+  <source>External vision (EV) noise mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_EV_NOISE_MD/longDesc</name>
+  <message>
+  <source>If set to 0 (default) the measurement noise is taken from the vision message and the EV noise parameters are used as a lower bound. If set to 1 the observation noise is set from the parameters directly,</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_EV_NOISE_MD/values/0/description</name>
+  <message>
+  <source>EV reported variance (parameter lower bound)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_EV_NOISE_MD/values/1/description</name>
+  <message>
+  <source>EV noise parameters</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_EV_POS_X/shortDesc</name>
+  <message>
+  <source>X position of VI sensor focal point in body frame (forward axis with origin relative to vehicle centre of gravity)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_EV_POS_Y/shortDesc</name>
+  <message>
+  <source>Y position of VI sensor focal point in body frame (right axis with origin relative to vehicle centre of gravity)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_EV_POS_Z/shortDesc</name>
+  <message>
+  <source>Z position of VI sensor focal point in body frame (down axis with origin relative to vehicle centre of gravity)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_EV_QMIN/shortDesc</name>
+  <message>
+  <source>External vision (EV) minimum quality (optional)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_EV_QMIN/longDesc</name>
+  <message>
+  <source>External vision will only be started and fused if the quality metric is above this threshold. The quality metric is a completely optional field provided by some VIO systems.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_FUSE_BETA/shortDesc</name>
+  <message>
+  <source>Enable synthetic sideslip fusion</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_FUSE_BETA/longDesc</name>
+  <message>
+  <source>For reliable wind estimation both sideslip and airspeed fusion (see EKF2_ARSP_THR) should be enabled. Only applies to fixed-wing vehicles (or VTOLs in fixed-wing mode). Note: side slip fusion is currently not supported for tailsitters.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_FUSE_BETA/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_FUSE_BETA/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_GBIAS_INIT/shortDesc</name>
+  <message>
+  <source>1-sigma IMU gyro switch-on bias</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_GND_EFF_DZ/shortDesc</name>
+  <message>
+  <source>Baro deadzone range for height fusion</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_GND_EFF_DZ/longDesc</name>
+  <message>
+  <source>Sets the value of deadzone applied to negative baro innovations. Deadzone is enabled when EKF2_GND_EFF_DZ &gt; 0.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_GND_MAX_HGT/shortDesc</name>
+  <message>
+  <source>Height above ground level for ground effect zone</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_GND_MAX_HGT/longDesc</name>
+  <message>
+  <source>Sets the maximum distance to the ground level where negative baro innovations are expected.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_GPS_CHECK/shortDesc</name>
+  <message>
+  <source>Integer bitmask controlling GPS checks</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_GPS_CHECK/longDesc</name>
+  <message>
+  <source>Set bits to 1 to enable checks. Checks enabled by the following bit positions 0 : Minimum required sat count set by EKF2_REQ_NSATS 1 : Maximum allowed PDOP set by EKF2_REQ_PDOP 2 : Maximum allowed horizontal position error set by EKF2_REQ_EPH 3 : Maximum allowed vertical position error set by EKF2_REQ_EPV 4 : Maximum allowed speed error set by EKF2_REQ_SACC 5 : Maximum allowed horizontal position rate set by EKF2_REQ_HDRIFT. This check will only run when the vehicle is on ground and stationary. 6 : Maximum allowed vertical position rate set by EKF2_REQ_VDRIFT. This check will only run when the vehicle is on ground and stationary. 7 : Maximum allowed horizontal speed set by EKF2_REQ_HDRIFT. This check will only run when the vehicle is on ground and stationary. 8 : Maximum allowed vertical velocity discrepancy set by EKF2_REQ_VDRIFT</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_GPS_CHECK/bitmask/0/description</name>
+  <message>
+  <source>Min sat count (EKF2_REQ_NSATS)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_GPS_CHECK/bitmask/1/description</name>
+  <message>
+  <source>Max PDOP (EKF2_REQ_PDOP)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_GPS_CHECK/bitmask/2/description</name>
+  <message>
+  <source>Max horizontal position error (EKF2_REQ_EPH)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_GPS_CHECK/bitmask/3/description</name>
+  <message>
+  <source>Max vertical position error (EKF2_REQ_EPV)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_GPS_CHECK/bitmask/4/description</name>
+  <message>
+  <source>Max speed error (EKF2_REQ_SACC)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_GPS_CHECK/bitmask/5/description</name>
+  <message>
+  <source>Max horizontal position rate (EKF2_REQ_HDRIFT)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_GPS_CHECK/bitmask/6/description</name>
+  <message>
+  <source>Max vertical position rate (EKF2_REQ_VDRIFT)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_GPS_CHECK/bitmask/7/description</name>
+  <message>
+  <source>Max horizontal speed (EKF2_REQ_HDRIFT)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_GPS_CHECK/bitmask/8/description</name>
+  <message>
+  <source>Max vertical velocity discrepancy (EKF2_REQ_VDRIFT)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_GPS_CTRL/shortDesc</name>
+  <message>
+  <source>GNSS sensor aiding</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_GPS_CTRL/longDesc</name>
+  <message>
+  <source>Set bits in the following positions to enable: 0 : Longitude and latitude fusion 1 : Altitude fusion 2 : 3D velocity fusion 3 : Dual antenna heading fusion</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_GPS_CTRL/bitmask/0/description</name>
+  <message>
+  <source>Lon/lat</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_GPS_CTRL/bitmask/1/description</name>
+  <message>
+  <source>Altitude</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_GPS_CTRL/bitmask/2/description</name>
+  <message>
+  <source>3D velocity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_GPS_CTRL/bitmask/3/description</name>
+  <message>
+  <source>Dual antenna heading</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_GPS_DELAY/shortDesc</name>
+  <message>
+  <source>GPS measurement delay relative to IMU measurements</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_GPS_POS_X/shortDesc</name>
+  <message>
+  <source>X position of GPS antenna in body frame (forward axis with origin relative to vehicle centre of gravity)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_GPS_POS_Y/shortDesc</name>
+  <message>
+  <source>Y position of GPS antenna in body frame (right axis with origin relative to vehicle centre of gravity)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_GPS_POS_Z/shortDesc</name>
+  <message>
+  <source>Z position of GPS antenna in body frame (down axis with origin relative to vehicle centre of gravity)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_GPS_P_GATE/shortDesc</name>
+  <message>
+  <source>Gate size for GNSS position fusion</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_GPS_P_GATE/longDesc</name>
+  <message>
+  <source>Sets the number of standard deviations used by the innovation consistency test.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_GPS_P_NOISE/shortDesc</name>
+  <message>
+  <source>Measurement noise for GNSS position</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_GPS_V_GATE/shortDesc</name>
+  <message>
+  <source>Gate size for GNSS velocity fusion</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_GPS_V_GATE/longDesc</name>
+  <message>
+  <source>Sets the number of standard deviations used by the innovation consistency test.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_GPS_V_NOISE/shortDesc</name>
+  <message>
+  <source>Measurement noise for GNSS velocity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_GRAV_NOISE/shortDesc</name>
+  <message>
+  <source>Accelerometer measurement noise for gravity based observations</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_GSF_TAS/shortDesc</name>
+  <message>
+  <source>Default value of true airspeed used in EKF-GSF AHRS calculation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_GSF_TAS/longDesc</name>
+  <message>
+  <source>If no airspeed measurements are available, the EKF-GSF AHRS calculation will assume this value of true airspeed when compensating for centripetal acceleration during turns. Set to zero to disable centripetal acceleration compensation during fixed wing flight modes.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_GYR_B_LIM/shortDesc</name>
+  <message>
+  <source>Gyro bias learning limit</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_GYR_B_LIM/longDesc</name>
+  <message>
+  <source>The ekf gyro bias states will be limited to within a range equivalent to +- of this value.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_GYR_B_NOISE/shortDesc</name>
+  <message>
+  <source>Process noise for IMU rate gyro bias prediction</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_GYR_NOISE/shortDesc</name>
+  <message>
+  <source>Rate gyro noise for covariance prediction</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_HDG_GATE/shortDesc</name>
+  <message>
+  <source>Gate size for heading fusion</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_HDG_GATE/longDesc</name>
+  <message>
+  <source>Sets the number of standard deviations used by the innovation consistency test.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_HEAD_NOISE/shortDesc</name>
+  <message>
+  <source>Measurement noise for magnetic heading fusion</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_HGT_REF/shortDesc</name>
+  <message>
+  <source>Determines the reference source of height data used by the EKF</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_HGT_REF/longDesc</name>
+  <message>
+  <source>When multiple height sources are enabled at the same time, the height estimate will always converge towards the reference height source selected by this parameter. The range sensor and vision options should only be used when for operation over a flat surface as the local NED origin will move up and down with ground level.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_HGT_REF/values/0/description</name>
+  <message>
+  <source>Barometric pressure</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_HGT_REF/values/1/description</name>
+  <message>
+  <source>GPS</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_HGT_REF/values/2/description</name>
+  <message>
+  <source>Range sensor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_HGT_REF/values/3/description</name>
+  <message>
+  <source>Vision</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_IMU_CTRL/shortDesc</name>
+  <message>
+  <source>IMU control</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_IMU_CTRL/bitmask/0/description</name>
+  <message>
+  <source>Gyro Bias</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_IMU_CTRL/bitmask/1/description</name>
+  <message>
+  <source>Accel Bias</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_IMU_CTRL/bitmask/2/description</name>
+  <message>
+  <source>Gravity vector fusion</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_IMU_POS_X/shortDesc</name>
+  <message>
+  <source>X position of IMU in body frame (forward axis with origin relative to vehicle centre of gravity)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_IMU_POS_Y/shortDesc</name>
+  <message>
+  <source>Y position of IMU in body frame (right axis with origin relative to vehicle centre of gravity)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_IMU_POS_Z/shortDesc</name>
+  <message>
+  <source>Z position of IMU in body frame (down axis with origin relative to vehicle centre of gravity)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_MAG_ACCLIM/shortDesc</name>
+  <message>
+  <source>Horizontal acceleration threshold used for heading observability check</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_MAG_ACCLIM/longDesc</name>
+  <message>
+  <source>The heading is assumed to be observable when the body acceleration is greater than this parameter when a global position/velocity aiding source is active.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_MAG_B_NOISE/shortDesc</name>
+  <message>
+  <source>Process noise for body magnetic field prediction</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_MAG_CHECK/shortDesc</name>
+  <message>
+  <source>Magnetic field strength test selection</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_MAG_CHECK/longDesc</name>
+  <message>
+  <source>Bitmask to set which check is used to decide whether the magnetometer data is valid. If GNSS data is received, the magnetic field is compared to a World Magnetic Model (WMM), otherwise an average value is used. This check is useful to reject occasional hard iron disturbance. Set bits to 1 to enable checks. Checks enabled by the following bit positions 0 : Magnetic field strength. Set tolerance using EKF2_MAG_CHK_STR 1 : Magnetic field inclination. Set tolerance using EKF2_MAG_CHK_INC 2 : Wait for GNSS to find the theoretical strength and inclination using the WMM</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_MAG_CHECK/bitmask/0/description</name>
+  <message>
+  <source>Strength (EKF2_MAG_CHK_STR)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_MAG_CHECK/bitmask/1/description</name>
+  <message>
+  <source>Inclination (EKF2_MAG_CHK_INC)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_MAG_CHECK/bitmask/2/description</name>
+  <message>
+  <source>Wait for WMM</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_MAG_CHK_INC/shortDesc</name>
+  <message>
+  <source>Magnetic field inclination check tolerance</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_MAG_CHK_INC/longDesc</name>
+  <message>
+  <source>Maximum allowed deviation from the expected magnetic field inclination to pass the check.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_MAG_CHK_STR/shortDesc</name>
+  <message>
+  <source>Magnetic field strength check tolerance</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_MAG_CHK_STR/longDesc</name>
+  <message>
+  <source>Maximum allowed deviation from the expected magnetic field strength to pass the check.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_MAG_DECL/shortDesc</name>
+  <message>
+  <source>Magnetic declination</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_MAG_DELAY/shortDesc</name>
+  <message>
+  <source>Magnetometer measurement delay relative to IMU measurements</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_MAG_E_NOISE/shortDesc</name>
+  <message>
+  <source>Process noise for earth magnetic field prediction</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_MAG_GATE/shortDesc</name>
+  <message>
+  <source>Gate size for magnetometer XYZ component fusion</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_MAG_GATE/longDesc</name>
+  <message>
+  <source>Sets the number of standard deviations used by the innovation consistency test.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_MAG_NOISE/shortDesc</name>
+  <message>
+  <source>Measurement noise for magnetometer 3-axis fusion</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_MAG_TYPE/shortDesc</name>
+  <message>
+  <source>Type of magnetometer fusion</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_MAG_TYPE/longDesc</name>
+  <message>
+  <source>Integer controlling the type of magnetometer fusion used - magnetic heading or 3-component vector. The fusion of magnetometer data as a three component vector enables vehicle body fixed hard iron errors to be learned, but requires a stable earth field. If set to 'Automatic' magnetic heading fusion is used when on-ground and 3-axis magnetic field fusion in-flight with fallback to magnetic heading fusion if there is insufficient motion to make yaw or magnetic field states observable. If set to 'Magnetic heading' magnetic heading fusion is used at all times. If set to 'None' the magnetometer will not be used under any circumstance. If no external source of yaw is available, it is possible to use post-takeoff horizontal movement combined with GPS velocity measurements to align the yaw angle with the timer required (depending on the amount of movement and GPS data quality).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_MAG_TYPE/values/0/description</name>
+  <message>
+  <source>Automatic</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_MAG_TYPE/values/1/description</name>
+  <message>
+  <source>Magnetic heading</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_MAG_TYPE/values/5/description</name>
+  <message>
+  <source>None</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_MCOEF/shortDesc</name>
+  <message>
+  <source>Propeller momentum drag coefficient used for multi-rotor wind estimation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_MCOEF/longDesc</name>
+  <message>
+  <source>This parameter controls the prediction of drag produced by the propellers when flying a multi-copter, which enables estimation of wind drift when enabled by the EKF2_DRAG_CTRL parameter. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the propeller axis of rotation is lost when passing through the rotor disc. This  changes the momentum of the flow which creates a drag reaction force. When comparing un-ducted propellers of the same diameter, the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with propeller selection. Momentum drag is significantly higher for ducted rotors. To account for the drag produced by the body which scales with speed squared, see documentation for the EKF2_BCOEF_X and EKF2_BCOEF_Y parameters. Set this parameter to zero to turn off the momentum drag model for both axis.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_MIN_RNG/shortDesc</name>
+  <message>
+  <source>Expected range finder reading when on ground</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_MIN_RNG/longDesc</name>
+  <message>
+  <source>If the vehicle is on ground, is not moving as determined by the motion test and the range finder is returning invalid or no data, then an assumed range value of EKF2_MIN_RNG will be used by the terrain estimator so that a terrain height estimate is available at the start of flight in situations where the range finder may be inside its minimum measurements distance when on ground.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_MULTI_IMU/shortDesc</name>
+  <message>
+  <source>Multi-EKF IMUs</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_MULTI_IMU/longDesc</name>
+  <message>
+  <source>Maximum number of IMUs to use for Multi-EKF. Set 0 to disable. Requires SENS_IMU_MODE 0.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_MULTI_MAG/shortDesc</name>
+  <message>
+  <source>Multi-EKF Magnetometers</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_MULTI_MAG/longDesc</name>
+  <message>
+  <source>Maximum number of magnetometers to use for Multi-EKF. Set 0 to disable. Requires SENS_MAG_MODE 0.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_NOAID_NOISE/shortDesc</name>
+  <message>
+  <source>Measurement noise for non-aiding position hold</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_NOAID_TOUT/shortDesc</name>
+  <message>
+  <source>Maximum lapsed time from last fusion of measurements that constrain velocity drift before the EKF will report the horizontal nav solution as invalid</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_OF_CTRL/shortDesc</name>
+  <message>
+  <source>Optical flow aiding</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_OF_CTRL/longDesc</name>
+  <message>
+  <source>Enable optical flow fusion.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_OF_CTRL/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_OF_CTRL/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_OF_DELAY/shortDesc</name>
+  <message>
+  <source>Optical flow measurement delay relative to IMU measurements</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_OF_DELAY/longDesc</name>
+  <message>
+  <source>Assumes measurement is timestamped at trailing edge of integration period</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_OF_GATE/shortDesc</name>
+  <message>
+  <source>Gate size for optical flow fusion</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_OF_GATE/longDesc</name>
+  <message>
+  <source>Sets the number of standard deviations used by the innovation consistency test.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_OF_N_MAX/shortDesc</name>
+  <message>
+  <source>Measurement noise for the optical flow sensor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_OF_N_MAX/longDesc</name>
+  <message>
+  <source>(when it's reported quality metric is at the minimum set by EKF2_OF_QMIN). The following condition must be met: EKF2_OF_N_MAXN &gt;= EKF2_OF_N_MIN</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_OF_N_MIN/shortDesc</name>
+  <message>
+  <source>Measurement noise for the optical flow sensor when it's reported quality metric is at the maximum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_OF_POS_X/shortDesc</name>
+  <message>
+  <source>X position of optical flow focal point in body frame (forward axis with origin relative to vehicle centre of gravity)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_OF_POS_Y/shortDesc</name>
+  <message>
+  <source>Y position of optical flow focal point in body frame (right axis with origin relative to vehicle centre of gravity)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_OF_POS_Z/shortDesc</name>
+  <message>
+  <source>Z position of optical flow focal point in body frame (down axis with origin relative to vehicle centre of gravity)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_OF_QMIN/shortDesc</name>
+  <message>
+  <source>Optical Flow data will only be used in air if the sensor reports a quality metric &gt;= EKF2_OF_QMIN</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_OF_QMIN_GND/shortDesc</name>
+  <message>
+  <source>Optical Flow data will only be used on the ground if the sensor reports a quality metric &gt;= EKF2_OF_QMIN_GND</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_PCOEF_XN/shortDesc</name>
+  <message>
+  <source>Static pressure position error coefficient for the negative X axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_PCOEF_XN/longDesc</name>
+  <message>
+  <source>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.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_PCOEF_XP/shortDesc</name>
+  <message>
+  <source>Static pressure position error coefficient for the positive X axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_PCOEF_XP/longDesc</name>
+  <message>
+  <source>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 forward flight, then this will be a negative number.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_PCOEF_YN/shortDesc</name>
+  <message>
+  <source>Pressure position error coefficient for the negative Y axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_PCOEF_YN/longDesc</name>
+  <message>
+  <source>This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the negative Y (LH) body axis. If the baro height estimate rises during sideways flight to the left, then this will be a negative number.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_PCOEF_YP/shortDesc</name>
+  <message>
+  <source>Pressure position error coefficient for the positive Y axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_PCOEF_YP/longDesc</name>
+  <message>
+  <source>This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the positive Y (RH) body axis. If the baro height estimate rises during sideways flight to the right, then this will be a negative number.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_PCOEF_Z/shortDesc</name>
+  <message>
+  <source>Static pressure position error coefficient for the Z axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_PCOEF_Z/longDesc</name>
+  <message>
+  <source>This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the Z body axis.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_PREDICT_US/shortDesc</name>
+  <message>
+  <source>EKF prediction period</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_PREDICT_US/longDesc</name>
+  <message>
+  <source>EKF prediction period in microseconds. This should ideally be an integer multiple of the IMU time delta. Actual filter update will be an integer multiple of IMU update.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_REQ_EPH/shortDesc</name>
+  <message>
+  <source>Required EPH to use GPS</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_REQ_EPV/shortDesc</name>
+  <message>
+  <source>Required EPV to use GPS</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_REQ_GPS_H/shortDesc</name>
+  <message>
+  <source>Required GPS health time on startup</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_REQ_GPS_H/longDesc</name>
+  <message>
+  <source>Minimum continuous period without GPS failure required to mark a healthy GPS status. It can be reduced to speed up initialization, but it's recommended to keep this unchanged for a vehicle.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_REQ_HDRIFT/shortDesc</name>
+  <message>
+  <source>Maximum horizontal drift speed to use GPS</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_REQ_NSATS/shortDesc</name>
+  <message>
+  <source>Required satellite count to use GPS</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_REQ_PDOP/shortDesc</name>
+  <message>
+  <source>Maximum PDOP to use GPS</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_REQ_SACC/shortDesc</name>
+  <message>
+  <source>Required speed accuracy to use GPS</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_REQ_VDRIFT/shortDesc</name>
+  <message>
+  <source>Maximum vertical drift speed to use GPS</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_RNG_A_HMAX/shortDesc</name>
+  <message>
+  <source>Maximum absolute altitude (height above ground level) allowed for conditional range aid mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_RNG_A_HMAX/longDesc</name>
+  <message>
+  <source>If the vehicle absolute altitude exceeds this value then the estimator will not fuse range measurements to estimate its height. This only applies when conditional range aid mode is activated (EKF2_RNG_CTRL = 1).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_RNG_A_IGATE/shortDesc</name>
+  <message>
+  <source>Gate size used for innovation consistency checks for range aid fusion</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_RNG_A_IGATE/longDesc</name>
+  <message>
+  <source>A lower value means HAGL needs to be more stable in order to use range finder for height estimation in range aid mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_RNG_A_VMAX/shortDesc</name>
+  <message>
+  <source>Maximum horizontal velocity allowed for conditional range aid mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_RNG_A_VMAX/longDesc</name>
+  <message>
+  <source>If the vehicle horizontal speed exceeds this value then the estimator will not fuse range measurements to estimate its height. This only applies when conditional range aid mode is activated (EKF2_RNG_CTRL = 1).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_RNG_CTRL/shortDesc</name>
+  <message>
+  <source>Range sensor height aiding</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_RNG_CTRL/longDesc</name>
+  <message>
+  <source>WARNING: Range finder measurements are less reliable and can experience unexpected errors. For these reasons, if accurate control of height relative to ground is required, it is recommended to use the MPC_ALT_MODE parameter instead, unless baro errors are severe enough to cause problems with landing and takeoff. To en-/disable range finder for terrain height estimation, use EKF2_TERR_MASK instead. If this parameter is enabled then the estimator will make use of the range finder measurements to estimate its height in addition to other height sources (if activated). Range sensor aiding can be enabled (i.e.: always use) or set in "conditional" mode. Conditional mode: This enables the range finder to be used during low speed (&lt; EKF2_RNG_A_VMAX) and low altitude (&lt; EKF2_RNG_A_HMAX) operation, eg takeoff and landing, where baro interference from rotor wash is excessive and can corrupt EKF state estimates. It is intended to be used where a vertical takeoff and landing is performed, and horizontal flight does not occur until above EKF2_RNG_A_HMAX.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_RNG_CTRL/values/0/description</name>
+  <message>
+  <source>Disable range fusion</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_RNG_CTRL/values/1/description</name>
+  <message>
+  <source>Enabled (conditional mode)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_RNG_CTRL/values/2/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_RNG_DELAY/shortDesc</name>
+  <message>
+  <source>Range finder measurement delay relative to IMU measurements</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_RNG_GATE/shortDesc</name>
+  <message>
+  <source>Gate size for range finder fusion</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_RNG_GATE/longDesc</name>
+  <message>
+  <source>Sets the number of standard deviations used by the innovation consistency test.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_RNG_K_GATE/shortDesc</name>
+  <message>
+  <source>Gate size used for range finder kinematic consistency check</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_RNG_K_GATE/longDesc</name>
+  <message>
+  <source>To be used, the time derivative of the distance sensor measurements projected on the vertical axis needs to be statistically consistent with the estimated vertical velocity of the drone. Decrease this value to make the filter more robust against range finder faulty data (stuck, reflections, ...). Note: tune the range finder noise parameters (EKF2_RNG_NOISE and EKF2_RNG_SFE) before tuning this gate.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_RNG_NOISE/shortDesc</name>
+  <message>
+  <source>Measurement noise for range finder fusion</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_RNG_PITCH/shortDesc</name>
+  <message>
+  <source>Range sensor pitch offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_RNG_POS_X/shortDesc</name>
+  <message>
+  <source>X position of range finder origin in body frame (forward axis with origin relative to vehicle centre of gravity)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_RNG_POS_Y/shortDesc</name>
+  <message>
+  <source>Y position of range finder origin in body frame (right axis with origin relative to vehicle centre of gravity)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_RNG_POS_Z/shortDesc</name>
+  <message>
+  <source>Z position of range finder origin in body frame (down axis with origin relative to vehicle centre of gravity)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_RNG_QLTY_T/shortDesc</name>
+  <message>
+  <source>Minimum duration during which the reported range finder signal quality needs to be non-zero in order to be declared valid (s)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_RNG_SFE/shortDesc</name>
+  <message>
+  <source>Range finder range dependent noise scaler</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_RNG_SFE/longDesc</name>
+  <message>
+  <source>Specifies the increase in range finder noise with range.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_SEL_ERR_RED/shortDesc</name>
+  <message>
+  <source>Selector error reduce threshold</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_SEL_ERR_RED/longDesc</name>
+  <message>
+  <source>EKF2 instances have to be better than the selected by at least this amount before their relative score can be reduced.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_SEL_IMU_ACC/shortDesc</name>
+  <message>
+  <source>Selector acceleration threshold</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_SEL_IMU_ACC/longDesc</name>
+  <message>
+  <source>EKF2 selector acceleration error threshold for comparing accelerometers. Acceleration vector differences larger than this will result in accumulated velocity error.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_SEL_IMU_ANG/shortDesc</name>
+  <message>
+  <source>Selector angular threshold</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_SEL_IMU_ANG/longDesc</name>
+  <message>
+  <source>EKF2 selector maximum accumulated angular error threshold for comparing gyros. Accumulated angular error larger than this will result in the sensor being declared faulty.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_SEL_IMU_RAT/shortDesc</name>
+  <message>
+  <source>Selector angular rate threshold</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_SEL_IMU_RAT/longDesc</name>
+  <message>
+  <source>EKF2 selector angular rate error threshold for comparing gyros. Angular rate vector differences larger than this will result in accumulated angular error.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_SEL_IMU_VEL/shortDesc</name>
+  <message>
+  <source>Selector angular threshold</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_SEL_IMU_VEL/longDesc</name>
+  <message>
+  <source>EKF2 selector maximum accumulated velocity threshold for comparing accelerometers. Accumulated velocity error larger than this will result in the sensor being declared faulty.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_SYNT_MAG_Z/shortDesc</name>
+  <message>
+  <source>Enable synthetic magnetometer Z component measurement</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_SYNT_MAG_Z/longDesc</name>
+  <message>
+  <source>Use for vehicles where the measured body Z magnetic field is subject to strong magnetic interference. For magnetic heading fusion the magnetometer Z measurement will be replaced by a synthetic value calculated using the knowledge of the 3D magnetic field vector at the location of the drone. Therefore, this parameter will only have an effect if the global position of the drone is known. For 3D mag fusion the magnetometer Z measurement will simply be ignored instead of fusing the synthetic value.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_SYNT_MAG_Z/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_SYNT_MAG_Z/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_TAS_GATE/shortDesc</name>
+  <message>
+  <source>Gate size for TAS fusion</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_TAS_GATE/longDesc</name>
+  <message>
+  <source>Sets the number of standard deviations used by the innovation consistency test.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_TAU_POS/shortDesc</name>
+  <message>
+  <source>Time constant of the position output prediction and smoothing filter. Controls how tightly the output track the EKF states</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_TAU_VEL/shortDesc</name>
+  <message>
+  <source>Time constant of the velocity output prediction and smoothing filter</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_TERR_GRAD/shortDesc</name>
+  <message>
+  <source>Magnitude of terrain gradient</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_TERR_MASK/shortDesc</name>
+  <message>
+  <source>Integer bitmask controlling fusion sources of the terrain estimator</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_TERR_MASK/longDesc</name>
+  <message>
+  <source>Set bits in the following positions to enable: 0 : Set to true to use range finder data if available 1 : Set to true to use optical flow data if available</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_TERR_MASK/bitmask/0/description</name>
+  <message>
+  <source>use range finder</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_TERR_MASK/bitmask/1/description</name>
+  <message>
+  <source>use optical flow</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_TERR_NOISE/shortDesc</name>
+  <message>
+  <source>Terrain altitude process noise - accounts for instability in vehicle height estimate</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_WIND_NSD/shortDesc</name>
+  <message>
+  <source>Process noise spectral density for wind velocity prediction</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EKF2_WIND_NSD/longDesc</name>
+  <message>
+  <source>When unaided, the wind estimate uncertainty (1-sigma, in m/s) increases by this amount every second.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ESC_BL_VER/shortDesc</name>
+  <message>
+  <source>Required esc bootloader version</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ESC_FW_VER/shortDesc</name>
+  <message>
+  <source>Required esc firmware version</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ESC_HW_VER/shortDesc</name>
+  <message>
+  <source>Required esc hardware version</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EV_TSK_RC_LOSS/shortDesc</name>
+  <message>
+  <source>RC Loss Alarm</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EV_TSK_RC_LOSS/longDesc</name>
+  <message>
+  <source>Enable/disable event task for RC Loss. When enabled, an alarm tune will be played via buzzer or ESCs, if supported. The alarm will sound after a disarm, if the vehicle was previously armed and only if the vehicle had RC signal at some point. Particularly useful for locating crashed drones without a GPS sensor.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EV_TSK_RC_LOSS/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EV_TSK_RC_LOSS/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EV_TSK_STAT_DIS/shortDesc</name>
+  <message>
+  <source>Status Display</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EV_TSK_STAT_DIS/longDesc</name>
+  <message>
+  <source>Enable/disable event task for displaying the vehicle status using arm-mounted LEDs. When enabled and if the vehicle supports it, LEDs will flash indicating various vehicle status changes. Currently PX4 has not implemented any specific status events. -</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EV_TSK_STAT_DIS/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/EV_TSK_STAT_DIS/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_MAN_P_MAX/shortDesc</name>
+  <message>
+  <source>Maximum manual pitch angle</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_MAN_P_MAX/longDesc</name>
+  <message>
+  <source>Applies to both directions in all manual modes with attitude stabilization but without altitude control</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_MAN_R_MAX/shortDesc</name>
+  <message>
+  <source>Maximum manual roll angle</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_MAN_R_MAX/longDesc</name>
+  <message>
+  <source>Applies to both directions in all manual modes with attitude stabilization</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_MAN_YR_MAX/shortDesc</name>
+  <message>
+  <source>Maximum manually added yaw rate</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_MAN_YR_MAX/longDesc</name>
+  <message>
+  <source>This is the maximally added yaw rate setpoint from the yaw stick in any attitude controlled flight mode. It is added to the yaw rate setpoint generated by the controller for turn coordination.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_PSP_OFF/shortDesc</name>
+  <message>
+  <source>Pitch setpoint offset (pitch at level flight)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_PSP_OFF/longDesc</name>
+  <message>
+  <source>An airframe specific offset of the pitch setpoint in degrees, the value is added to the pitch setpoint and should correspond to the pitch at typical cruise speed of the airframe.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_P_RMAX_NEG/shortDesc</name>
+  <message>
+  <source>Maximum negative / down pitch rate setpoint</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_P_RMAX_POS/shortDesc</name>
+  <message>
+  <source>Maximum positive / up pitch rate setpoint</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_P_TC/shortDesc</name>
+  <message>
+  <source>Attitude pitch time constant</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_P_TC/longDesc</name>
+  <message>
+  <source>This defines the latency between a pitch step input and the achieved setpoint (inverse to a P gain). Smaller systems may require smaller values.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_R_RMAX/shortDesc</name>
+  <message>
+  <source>Maximum roll rate setpoint</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_R_TC/shortDesc</name>
+  <message>
+  <source>Attitude Roll Time Constant</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_R_TC/longDesc</name>
+  <message>
+  <source>This defines the latency between a roll step input and the achieved setpoint (inverse to a P gain). Smaller systems may require smaller values.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_SPOILERS_DESC/shortDesc</name>
+  <message>
+  <source>Spoiler descend setting</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_SPOILERS_LND/shortDesc</name>
+  <message>
+  <source>Spoiler landing setting</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_WR_FF/shortDesc</name>
+  <message>
+  <source>Wheel steering rate feed forward</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_WR_I/shortDesc</name>
+  <message>
+  <source>Wheel steering rate integrator gain</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_WR_I/longDesc</name>
+  <message>
+  <source>This gain defines how much control response will result out of a steady state error. It trims any constant error.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_WR_IMAX/shortDesc</name>
+  <message>
+  <source>Wheel steering rate integrator limit</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_WR_P/shortDesc</name>
+  <message>
+  <source>Wheel steering rate proportional gain</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_WR_P/longDesc</name>
+  <message>
+  <source>This defines how much the wheel steering input will be commanded depending on the current body angular rate error.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_W_EN/shortDesc</name>
+  <message>
+  <source>Enable wheel steering controller</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_W_EN/longDesc</name>
+  <message>
+  <source>Only enabled during automatic runway takeoff and landing. In all manual modes the wheel is directly controlled with yaw stick.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_W_EN/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_W_EN/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_W_RMAX/shortDesc</name>
+  <message>
+  <source>Maximum wheel steering rate</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_W_RMAX/longDesc</name>
+  <message>
+  <source>This limits the maximum wheel steering rate the controller will output (in degrees per second).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_Y_RMAX/shortDesc</name>
+  <message>
+  <source>Maximum yaw rate setpoint</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LND_ABORT/shortDesc</name>
+  <message>
+  <source>Bit mask to set the automatic landing abort conditions</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LND_ABORT/longDesc</name>
+  <message>
+  <source>Terrain estimation: bit 0: Abort if terrain is not found bit 1: Abort if terrain times out (after a first successful measurement) The last estimate is always used as ground, whether the last valid measurement or the land waypoint, depending on the selected abort criteria, until an abort condition is entered. If FW_LND_USETER == 0, these bits are ignored. TODO: Extend automatic abort conditions e.g. glide slope tracking error (horizontal and vertical)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LND_ABORT/bitmask/0/description</name>
+  <message>
+  <source>Abort if terrain is not found (only applies to mission landings)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LND_ABORT/bitmask/1/description</name>
+  <message>
+  <source>Abort if terrain times out (after a first successful measurement)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LND_AIRSPD/shortDesc</name>
+  <message>
+  <source>Landing airspeed</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LND_AIRSPD/longDesc</name>
+  <message>
+  <source>The calibrated airspeed setpoint during landing. If set &lt;= 0.0, landing airspeed = FW_AIRSPD_MIN by default.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LND_ANG/shortDesc</name>
+  <message>
+  <source>Maximum landing slope angle</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LND_ANG/longDesc</name>
+  <message>
+  <source>Typically the desired landing slope angle when landing configuration (flaps, airspeed) is enabled. Set this value within the vehicle's performance limits.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LND_EARLYCFG/shortDesc</name>
+  <message>
+  <source>Early landing configuration deployment</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LND_EARLYCFG/longDesc</name>
+  <message>
+  <source>When disabled, the landing configuration (flaps, landing airspeed, etc.) is only activated on the final approach to landing. When enabled, it is already activated when entering the final loiter-down (loiter-to-alt) waypoint before the landing approach.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LND_EARLYCFG/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LND_EARLYCFG/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LND_FLALT/shortDesc</name>
+  <message>
+  <source>Landing flare altitude (relative to landing altitude)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LND_FLALT/longDesc</name>
+  <message>
+  <source>NOTE: max(FW_LND_FLALT, FW_LND_FL_TIME * |z-velocity|) is taken as the flare altitude</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LND_FL_PMAX/shortDesc</name>
+  <message>
+  <source>Flare, maximum pitch</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LND_FL_PMAX/longDesc</name>
+  <message>
+  <source>Maximum pitch during flare, a positive sign means nose up Applied once flaring is triggered</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LND_FL_PMIN/shortDesc</name>
+  <message>
+  <source>Flare, minimum pitch</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LND_FL_PMIN/longDesc</name>
+  <message>
+  <source>Minimum pitch during flare, a positive sign means nose up Applied once flaring is triggered</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LND_FL_SINK/shortDesc</name>
+  <message>
+  <source>Landing flare sink rate</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LND_FL_SINK/longDesc</name>
+  <message>
+  <source>TECS will attempt to control the aircraft to this sink rate via pitch angle (throttle killed during flare)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LND_FL_TIME/shortDesc</name>
+  <message>
+  <source>Landing flare time</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LND_FL_TIME/longDesc</name>
+  <message>
+  <source>Multiplied by the descent rate to calculate a dynamic altitude at which to trigger the flare. NOTE: max(FW_LND_FLALT, FW_LND_FL_TIME * descent rate) is taken as the flare altitude</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LND_NUDGE/shortDesc</name>
+  <message>
+  <source>Landing touchdown nudging option</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LND_NUDGE/longDesc</name>
+  <message>
+  <source>Approach angle nudging: shifts the touchdown point laterally while keeping the approach entrance point constant Approach path nudging: shifts the touchdown point laterally along with the entire approach path This is useful for manually adjusting the landing point in real time when map or GNSS errors cause an offset from the desired landing vector. Nuding is done with yaw stick, constrained to FW_LND_TD_OFF (in meters) and the direction is relative to the vehicle heading (stick deflection to the right = land point moves to the right as seen by the vehicle).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LND_NUDGE/values/0/description</name>
+  <message>
+  <source>Disable nudging</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LND_NUDGE/values/1/description</name>
+  <message>
+  <source>Nudge approach angle</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LND_NUDGE/values/2/description</name>
+  <message>
+  <source>Nudge approach path</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LND_TD_OFF/shortDesc</name>
+  <message>
+  <source>Maximum lateral position offset for the touchdown point</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LND_TD_TIME/shortDesc</name>
+  <message>
+  <source>Landing touchdown time (since flare start)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LND_TD_TIME/longDesc</name>
+  <message>
+  <source>This is the time after the start of flaring that we expect the vehicle to touch the runway. At this time, a 0.5s clamp down ramp will engage, constraining the pitch setpoint to RWTO_PSP. If enabled, ensure that RWTO_PSP is configured appropriately for full gear contact on ground roll. Set to -1.0 to disable touchdown clamping. E.g. it may not be desirable to clamp on belly landings. The touchdown time will be constrained to be greater than or equal to the flare time (FW_LND_FL_TIME).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LND_THRTC_SC/shortDesc</name>
+  <message>
+  <source>Altitude time constant factor for landing</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LND_THRTC_SC/longDesc</name>
+  <message>
+  <source>Set this parameter to less than 1.0 to make TECS react faster to altitude errors during landing than during normal flight. During landing, the TECS altitude time constant (FW_T_ALT_TC) is multiplied by this value.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LND_USETER/shortDesc</name>
+  <message>
+  <source>Use terrain estimation during landing. This is critical for detecting when to flare, and should be enabled if possible</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LND_USETER/longDesc</name>
+  <message>
+  <source>NOTE: terrain estimate is currently solely derived from a distance sensor. If enabled and no measurement is found within a given timeout, the landing waypoint altitude will be used OR the landing will be aborted, depending on the criteria set in FW_LND_ABORT. If disabled, FW_LND_ABORT terrain based criteria are ignored.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LND_USETER/values/0/description</name>
+  <message>
+  <source>Disable the terrain estimate</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LND_USETER/values/1/description</name>
+  <message>
+  <source>Use the terrain estimate to trigger the flare (only)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LND_USETER/values/2/description</name>
+  <message>
+  <source>Calculate landing glide slope relative to the terrain estimate</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_WING_HEIGHT/shortDesc</name>
+  <message>
+  <source>Height (AGL) of the wings when the aircraft is on the ground</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_WING_HEIGHT/longDesc</name>
+  <message>
+  <source>This is used to constrain a minimum altitude below which we keep wings level to avoid wing tip strike. It's safer to give a slight margin here (&gt; 0m)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_WING_SPAN/shortDesc</name>
+  <message>
+  <source>The aircraft's wing span (length from tip to tip)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_WING_SPAN/longDesc</name>
+  <message>
+  <source>This is used for limiting the roll setpoint near the ground. (if multiple wings, take the longest span)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LAUN_AC_T/shortDesc</name>
+  <message>
+  <source>Trigger time</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LAUN_AC_T/longDesc</name>
+  <message>
+  <source>Launch is detected when acceleration in body forward direction is above FW_LAUN_AC_THLD for FW_LAUN_AC_T seconds.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LAUN_AC_THLD/shortDesc</name>
+  <message>
+  <source>Trigger acceleration threshold</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LAUN_AC_THLD/longDesc</name>
+  <message>
+  <source>Launch is detected when acceleration in body forward direction is above FW_LAUN_AC_THLD for FW_LAUN_AC_T seconds.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LAUN_DETCN_ON/shortDesc</name>
+  <message>
+  <source>Fixed-wing launch detection</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LAUN_DETCN_ON/longDesc</name>
+  <message>
+  <source>Enables automatic launch detection based on measured acceleration. Use for hand- or catapult-launched vehicles. Not compatible with runway takeoff.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LAUN_DETCN_ON/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LAUN_DETCN_ON/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LAUN_MOT_DEL/shortDesc</name>
+  <message>
+  <source>Motor delay</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_LAUN_MOT_DEL/longDesc</name>
+  <message>
+  <source>Start the motor(s) this amount of seconds after launch is detected.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NPFG_DAMPING/shortDesc</name>
+  <message>
+  <source>NPFG damping ratio</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NPFG_DAMPING/longDesc</name>
+  <message>
+  <source>Damping ratio of the NPFG control law.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NPFG_EN_MIN_GSP/shortDesc</name>
+  <message>
+  <source>Enable minimum forward ground speed maintaining excess wind handling logic</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NPFG_EN_MIN_GSP/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NPFG_EN_MIN_GSP/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NPFG_GSP_MAX_TK/shortDesc</name>
+  <message>
+  <source>Maximum, minimum forward ground speed for track keeping in excess wind</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NPFG_GSP_MAX_TK/longDesc</name>
+  <message>
+  <source>The maximum value of the minimum forward ground speed that may be commanded by the track keeping excess wind handling logic. Commanded in full at the normalized track error fraction of the track error boundary and reduced to zero on track.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NPFG_LB_PERIOD/shortDesc</name>
+  <message>
+  <source>Enable automatic lower bound on the NPFG period</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NPFG_LB_PERIOD/longDesc</name>
+  <message>
+  <source>Avoids limit cycling from a too aggressively tuned period/damping combination. If set to false, also disables the upper bound NPFG_PERIOD_UB.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NPFG_LB_PERIOD/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NPFG_LB_PERIOD/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NPFG_PERIOD/shortDesc</name>
+  <message>
+  <source>NPFG period</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NPFG_PERIOD/longDesc</name>
+  <message>
+  <source>Period of the NPFG control law.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NPFG_PERIOD_SF/shortDesc</name>
+  <message>
+  <source>Period safety factor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NPFG_PERIOD_SF/longDesc</name>
+  <message>
+  <source>Multiplied by period for conservative minimum period bounding (when period lower bounding is enabled). 1.0 bounds at marginal stability.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NPFG_ROLL_TC/shortDesc</name>
+  <message>
+  <source>Roll time constant</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NPFG_ROLL_TC/longDesc</name>
+  <message>
+  <source>Time constant of roll controller command / response, modeled as first order delay. Used to determine lower period bound. Setting zero disables automatic period bounding.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NPFG_SW_DST_MLT/shortDesc</name>
+  <message>
+  <source>NPFG switch distance multiplier</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NPFG_SW_DST_MLT/longDesc</name>
+  <message>
+  <source>Multiplied by the track error boundary to determine when the aircraft switches to the next waypoint and/or path segment. Should be less than 1.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NPFG_TRACK_KEEP/shortDesc</name>
+  <message>
+  <source>Enable track keeping excess wind handling logic</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NPFG_TRACK_KEEP/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NPFG_TRACK_KEEP/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NPFG_UB_PERIOD/shortDesc</name>
+  <message>
+  <source>Enable automatic upper bound on the NPFG period</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NPFG_UB_PERIOD/longDesc</name>
+  <message>
+  <source>Adapts period to maintain track keeping in variable winds and path curvature.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NPFG_UB_PERIOD/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NPFG_UB_PERIOD/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NPFG_WIND_REG/shortDesc</name>
+  <message>
+  <source>Enable wind excess regulation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NPFG_WIND_REG/longDesc</name>
+  <message>
+  <source>Disabling this parameter further disables all other airspeed incrementation options.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NPFG_WIND_REG/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NPFG_WIND_REG/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_PN_R_SLEW_MAX/shortDesc</name>
+  <message>
+  <source>Path navigation roll slew rate limit</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_PN_R_SLEW_MAX/longDesc</name>
+  <message>
+  <source>The maximum change in roll angle setpoint per second.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_POS_STK_CONF/shortDesc</name>
+  <message>
+  <source>RC stick configuration fixed-wing</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_POS_STK_CONF/longDesc</name>
+  <message>
+  <source>Set RC/joystick configuration for fixed-wing manual position and altitude controlled flight.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_POS_STK_CONF/bitmask/0/description</name>
+  <message>
+  <source>Alternative stick configuration (height rate on throttle stick, airspeed on pitch stick)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_POS_STK_CONF/bitmask/1/description</name>
+  <message>
+  <source>Enable airspeed setpoint via sticks in altitude and position flight mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_R_LIM/shortDesc</name>
+  <message>
+  <source>Maximum roll angle</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_R_LIM/longDesc</name>
+  <message>
+  <source>The maximum roll angle setpoint for setpoint for a height-rate or altitude controlled mode.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_TKO_PITCH_MIN/shortDesc</name>
+  <message>
+  <source>Minimum pitch during takeoff</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_AIRSPD_MAX/shortDesc</name>
+  <message>
+  <source>Maximum Airspeed (CAS)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_AIRSPD_MAX/longDesc</name>
+  <message>
+  <source>The maximal airspeed (calibrated airspeed) the user is able to command.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_AIRSPD_MIN/shortDesc</name>
+  <message>
+  <source>Minimum Airspeed (CAS)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_AIRSPD_MIN/longDesc</name>
+  <message>
+  <source>The minimal airspeed (calibrated airspeed) the user is able to command. Further, if the airspeed falls below this value, the TECS controller will try to increase airspeed more aggressively. Has to be set according to the vehicle's stall speed (which should be set in FW_AIRSPD_STALL), with some margin between the stall speed and minimum airspeed. This value corresponds to the desired minimum speed with the default load factor (level flight, default weight), and is automatically adpated to the current load factor (calculated from roll setpoint and WEIGHT_GROSS/WEIGHT_BASE).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_AIRSPD_STALL/shortDesc</name>
+  <message>
+  <source>Stall Airspeed (CAS)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_AIRSPD_STALL/longDesc</name>
+  <message>
+  <source>The stall airspeed (calibrated airspeed) of the vehicle. It is used for airspeed sensor failure detection and for the control surface scaling airspeed limits.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_AIRSPD_TRIM/shortDesc</name>
+  <message>
+  <source>Trim (Cruise) Airspeed</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_AIRSPD_TRIM/longDesc</name>
+  <message>
+  <source>The trim CAS (calibrated airspeed) of the vehicle. If an airspeed controller is active, this is the default airspeed setpoint that the controller will try to achieve. This value corresponds to the trim airspeed with the default load factor (level flight, default weight).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_SERVICE_CEIL/shortDesc</name>
+  <message>
+  <source>Service ceiling</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_SERVICE_CEIL/longDesc</name>
+  <message>
+  <source>Altitude in standard atmosphere at which the vehicle in normal configuration (WEIGHT_BASE) is still able to achieve a maximum climb rate of 0.5m/s at maximum throttle (FW_THR_MAX). Used to compensate for air density in FW_T_CLMB_MAX. Set negative to disable.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_THR_ASPD_MAX/shortDesc</name>
+  <message>
+  <source>Throttle at max airspeed</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_THR_ASPD_MAX/longDesc</name>
+  <message>
+  <source>Required throttle (at sea level, standard atmosphere) for level flight at maximum airspeed FW_AIRSPD_MAX Set to 0 to disable mapping of airspeed to trim throttle.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_THR_ASPD_MIN/shortDesc</name>
+  <message>
+  <source>Throttle at min airspeed</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_THR_ASPD_MIN/longDesc</name>
+  <message>
+  <source>Required throttle (at sea level, standard atmosphere) for level flight at minimum airspeed FW_AIRSPD_MIN Set to 0 to disable mapping of airspeed to trim throttle below FW_AIRSPD_TRIM.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_THR_TRIM/shortDesc</name>
+  <message>
+  <source>Trim throttle</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_THR_TRIM/longDesc</name>
+  <message>
+  <source>Required throttle (at sea level, standard atmosphere) for level flight at FW_AIRSPD_TRIM</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_T_CLMB_MAX/shortDesc</name>
+  <message>
+  <source>Maximum climb rate</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_T_CLMB_MAX/longDesc</name>
+  <message>
+  <source>This is the maximum calibrated climb rate that the aircraft can achieve with the throttle set to FW_THR_MAX and the airspeed set to the trim value. For electric aircraft make sure this number can be achieved towards the end of flight when the battery voltage has reduced.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_T_SINK_MIN/shortDesc</name>
+  <message>
+  <source>Minimum descent rate</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_T_SINK_MIN/longDesc</name>
+  <message>
+  <source>This is the minimum calibrated sink rate of the aircraft with the throttle set to THR_MIN and flown at the same airspeed as used to measure FW_T_CLMB_MAX.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/WEIGHT_BASE/shortDesc</name>
+  <message>
+  <source>Vehicle base weight</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/WEIGHT_BASE/longDesc</name>
+  <message>
+  <source>This is the weight of the vehicle at which it's performance limits were derived. A zero or negative value disables trim throttle and minimum airspeed compensation based on weight.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/WEIGHT_GROSS/shortDesc</name>
+  <message>
+  <source>Vehicle gross weight</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/WEIGHT_GROSS/longDesc</name>
+  <message>
+  <source>This is the actual weight of the vehicle at any time. This value will differ from WEIGHT_BASE in case weight was added or removed from the base weight. Examples are the addition of payloads or larger batteries. A zero or negative value disables trim throttle and minimum airspeed compensation based on weight.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_ACRO_X_MAX/shortDesc</name>
+  <message>
+  <source>Acro body roll max rate setpoint</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_ACRO_YAW_EN/shortDesc</name>
+  <message>
+  <source>Enable yaw rate controller in Acro</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_ACRO_YAW_EN/longDesc</name>
+  <message>
+  <source>If this parameter is set to 1, the yaw rate controller is enabled in Fixed-wing Acro mode. Otherwise the pilot commands directly the yaw actuator. It is disabled by default because an active yaw rate controller will fight against the natural turn coordination of the plane.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_ACRO_YAW_EN/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_ACRO_YAW_EN/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_ACRO_Y_MAX/shortDesc</name>
+  <message>
+  <source>Acro body pitch max rate setpoint</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_ACRO_Z_MAX/shortDesc</name>
+  <message>
+  <source>Acro body yaw max rate setpoint</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_ARSP_SCALE_EN/shortDesc</name>
+  <message>
+  <source>Enable airspeed scaling</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_ARSP_SCALE_EN/longDesc</name>
+  <message>
+  <source>This enables a logic that automatically adjusts the output of the rate controller to take into account the real torque produced by an aerodynamic control surface given the current deviation from the trim airspeed (FW_AIRSPD_TRIM). Enable when using aerodynamic control surfaces (e.g.: plane) Disable when using rotor wings (e.g.: autogyro)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_ARSP_SCALE_EN/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_ARSP_SCALE_EN/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_BAT_SCALE_EN/shortDesc</name>
+  <message>
+  <source>Enable throttle scale by battery level</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_BAT_SCALE_EN/longDesc</name>
+  <message>
+  <source>This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_BAT_SCALE_EN/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_BAT_SCALE_EN/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_DTRIM_P_VMAX/shortDesc</name>
+  <message>
+  <source>Pitch trim increment at maximum airspeed</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_DTRIM_P_VMAX/longDesc</name>
+  <message>
+  <source>This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MAX.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_DTRIM_P_VMIN/shortDesc</name>
+  <message>
+  <source>Pitch trim increment at minimum airspeed</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_DTRIM_P_VMIN/longDesc</name>
+  <message>
+  <source>This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MIN.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_DTRIM_R_VMAX/shortDesc</name>
+  <message>
+  <source>Roll trim increment at maximum airspeed</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_DTRIM_R_VMAX/longDesc</name>
+  <message>
+  <source>This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MAX.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_DTRIM_R_VMIN/shortDesc</name>
+  <message>
+  <source>Roll trim increment at minimum airspeed</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_DTRIM_R_VMIN/longDesc</name>
+  <message>
+  <source>This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MIN.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_DTRIM_Y_VMAX/shortDesc</name>
+  <message>
+  <source>Yaw trim increment at maximum airspeed</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_DTRIM_Y_VMAX/longDesc</name>
+  <message>
+  <source>This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MAX.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_DTRIM_Y_VMIN/shortDesc</name>
+  <message>
+  <source>Yaw trim increment at minimum airspeed</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_DTRIM_Y_VMIN/longDesc</name>
+  <message>
+  <source>This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MIN.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_FLAPS_LND_SCL/shortDesc</name>
+  <message>
+  <source>Flaps setting during landing</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_FLAPS_LND_SCL/longDesc</name>
+  <message>
+  <source>Sets a fraction of full flaps during landing. Also applies to flaperons if enabled in the mixer/allocation.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_FLAPS_TO_SCL/shortDesc</name>
+  <message>
+  <source>Flaps setting during take-off</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_FLAPS_TO_SCL/longDesc</name>
+  <message>
+  <source>Sets a fraction of full flaps during take-off. Also applies to flaperons if enabled in the mixer/allocation.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_MAN_P_SC/shortDesc</name>
+  <message>
+  <source>Manual pitch scale</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_MAN_P_SC/longDesc</name>
+  <message>
+  <source>Scale factor applied to the desired pitch actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_MAN_R_SC/shortDesc</name>
+  <message>
+  <source>Manual roll scale</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_MAN_R_SC/longDesc</name>
+  <message>
+  <source>Scale factor applied to the desired roll actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_MAN_Y_SC/shortDesc</name>
+  <message>
+  <source>Manual yaw scale</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_MAN_Y_SC/longDesc</name>
+  <message>
+  <source>Scale factor applied to the desired yaw actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_PR_D/shortDesc</name>
+  <message>
+  <source>Pitch rate derivative gain</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_PR_D/longDesc</name>
+  <message>
+  <source>Pitch rate differential gain.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_PR_FF/shortDesc</name>
+  <message>
+  <source>Pitch rate feed forward</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_PR_FF/longDesc</name>
+  <message>
+  <source>Direct feed forward from rate setpoint to control surface output</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_PR_I/shortDesc</name>
+  <message>
+  <source>Pitch rate integrator gain</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_PR_IMAX/shortDesc</name>
+  <message>
+  <source>Pitch rate integrator limit</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_PR_P/shortDesc</name>
+  <message>
+  <source>Pitch rate proportional gain</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_RLL_TO_YAW_FF/shortDesc</name>
+  <message>
+  <source>Roll control to yaw control feedforward gain</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_RLL_TO_YAW_FF/longDesc</name>
+  <message>
+  <source>This gain can be used to counteract the "adverse yaw" effect for fixed wings. When the plane enters a roll it will tend to yaw the nose out of the turn. This gain enables the use of a yaw actuator to counteract this effect.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_RR_D/shortDesc</name>
+  <message>
+  <source>Roll rate derivative gain</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_RR_FF/shortDesc</name>
+  <message>
+  <source>Roll rate feed forward</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_RR_FF/longDesc</name>
+  <message>
+  <source>Direct feed forward from rate setpoint to control surface output.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_RR_I/shortDesc</name>
+  <message>
+  <source>Roll rate integrator gain</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_RR_IMAX/shortDesc</name>
+  <message>
+  <source>Roll integrator limit</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_RR_P/shortDesc</name>
+  <message>
+  <source>Roll rate proportional gain</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_SPOILERS_MAN/shortDesc</name>
+  <message>
+  <source>Spoiler input in manual flight</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_SPOILERS_MAN/longDesc</name>
+  <message>
+  <source>Chose source for manual setting of spoilers in manual flight modes.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_SPOILERS_MAN/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_SPOILERS_MAN/values/1/description</name>
+  <message>
+  <source>Flaps channel</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_SPOILERS_MAN/values/2/description</name>
+  <message>
+  <source>Aux1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_USE_AIRSPD/shortDesc</name>
+  <message>
+  <source>Use airspeed for control</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_USE_AIRSPD/longDesc</name>
+  <message>
+  <source>If set to 1, the airspeed measurement data, if valid, is used in the following controllers: - Rate controller: output scaling - Attitude controller: coordinated turn controller - Position controller: airspeed setpoint tracking, takeoff logic - VTOL: transition logic</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_USE_AIRSPD/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_USE_AIRSPD/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_YR_D/shortDesc</name>
+  <message>
+  <source>Yaw rate derivative gain</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_YR_FF/shortDesc</name>
+  <message>
+  <source>Yaw rate feed forward</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_YR_FF/longDesc</name>
+  <message>
+  <source>Direct feed forward from rate setpoint to control surface output</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_YR_I/shortDesc</name>
+  <message>
+  <source>Yaw rate integrator gain</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_YR_IMAX/shortDesc</name>
+  <message>
+  <source>Yaw rate integrator limit</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_YR_P/shortDesc</name>
+  <message>
+  <source>Yaw rate proportional gain</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_GND_SPD_MIN/shortDesc</name>
+  <message>
+  <source>Minimum groundspeed</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_GND_SPD_MIN/longDesc</name>
+  <message>
+  <source>The controller will increase the commanded airspeed to maintain this minimum groundspeed to the next waypoint.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_P_LIM_MAX/shortDesc</name>
+  <message>
+  <source>Maximum pitch angle</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_P_LIM_MAX/longDesc</name>
+  <message>
+  <source>The maximum pitch angle setpoint setpoint for a height-rate or altitude controlled mode.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_P_LIM_MIN/shortDesc</name>
+  <message>
+  <source>Minimum pitch angle</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_P_LIM_MIN/longDesc</name>
+  <message>
+  <source>The minimum pitch angle setpoint for a height-rate or altitude controlled mode.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_THR_IDLE/shortDesc</name>
+  <message>
+  <source>Idle throttle</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_THR_IDLE/longDesc</name>
+  <message>
+  <source>This is the minimum throttle while on the ground For aircraft with internal combustion engines, this parameter should be set above the desired idle rpm. For electric motors, idle should typically be set to zero. Note that in automatic modes, "landed" conditions will engage idle throttle.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_THR_MAX/shortDesc</name>
+  <message>
+  <source>Throttle limit max</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_THR_MAX/longDesc</name>
+  <message>
+  <source>Maximum throttle limit in altitude controlled modes. Should be set accordingly to achieve FW_T_CLMB_MAX.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_THR_MIN/shortDesc</name>
+  <message>
+  <source>Throttle limit min</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_THR_MIN/longDesc</name>
+  <message>
+  <source>Minimum throttle limit in altitude controlled modes. Usually set to 0 but can be increased to prevent the motor from stopping when descending, which can increase achievable descent rates. For aircraft with internal combustion engine this parameter should be set for desired idle rpm.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_THR_SLEW_MAX/shortDesc</name>
+  <message>
+  <source>Throttle max slew rate</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_THR_SLEW_MAX/longDesc</name>
+  <message>
+  <source>Maximum slew rate for the commanded throttle</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_TKO_AIRSPD/shortDesc</name>
+  <message>
+  <source>Takeoff Airspeed</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_TKO_AIRSPD/longDesc</name>
+  <message>
+  <source>The calibrated airspeed setpoint TECS will stabilize to during the takeoff climbout. If set &lt;= 0.0, FW_AIRSPD_MIN will be set by default.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_T_ALT_TC/shortDesc</name>
+  <message>
+  <source>Altitude error time constant</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_T_CLMB_R_SP/shortDesc</name>
+  <message>
+  <source>Default target climbrate</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_T_CLMB_R_SP/longDesc</name>
+  <message>
+  <source>The default rate at which the vehicle will climb in autonomous modes to achieve altitude setpoints. In manual modes this defines the maximum rate at which the altitude setpoint can be increased.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_T_HRATE_FF/shortDesc</name>
+  <message>
+  <source>Height rate feed forward</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_T_I_GAIN_PIT/shortDesc</name>
+  <message>
+  <source>Integrator gain pitch</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_T_I_GAIN_PIT/longDesc</name>
+  <message>
+  <source>Integrator gain on the pitch part of the control loop. Increase it to trim out speed and height offsets faster, with the downside of possible overshoots and oscillations.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_T_PTCH_DAMP/shortDesc</name>
+  <message>
+  <source>Pitch damping factor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_T_PTCH_DAMP/longDesc</name>
+  <message>
+  <source>This is the damping gain for the pitch demand loop. Increase to add damping to correct for oscillations in height. The default value of 0.0 will work well provided the pitch to servo controller has been tuned properly.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_T_RLL2THR/shortDesc</name>
+  <message>
+  <source>Roll -&gt; Throttle feedforward</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_T_RLL2THR/longDesc</name>
+  <message>
+  <source>Increasing this gain turn increases the amount of throttle that will be used to compensate for the additional drag created by turning. Ideally this should be set to  approximately 10 x the extra sink rate in m/s created by a 45 degree bank turn. Increase this gain if the aircraft initially loses energy in turns and reduce if the aircraft initially gains energy in turns. Efficient high aspect-ratio aircraft (eg powered sailplanes) can use a lower value, whereas inefficient low aspect-ratio models (eg delta wings) can use a higher value.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_T_SEB_R_FF/shortDesc</name>
+  <message>
+  <source>Specific total energy balance rate feedforward gain</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_T_SINK_MAX/shortDesc</name>
+  <message>
+  <source>Maximum descent rate</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_T_SINK_MAX/longDesc</name>
+  <message>
+  <source>This sets the maximum descent rate that the controller will use. If this value is too large, the aircraft can over-speed on descent. This should be set to a value that can be achieved without exceeding the lower pitch angle limit and without over-speeding the aircraft.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_T_SINK_R_SP/shortDesc</name>
+  <message>
+  <source>Default target sinkrate</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_T_SINK_R_SP/longDesc</name>
+  <message>
+  <source>The default rate at which the vehicle will sink in autonomous modes to achieve altitude setpoints. In manual modes this defines the maximum rate at which the altitude setpoint can be decreased.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_T_SPDWEIGHT/shortDesc</name>
+  <message>
+  <source>Speed &lt;--&gt; Altitude priority</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_T_SPDWEIGHT/longDesc</name>
+  <message>
+  <source>This parameter adjusts the amount of weighting that the pitch control applies to speed vs height errors. Setting it to 0.0 will cause the pitch control to control height and ignore speed errors. This will normally improve height accuracy but give larger airspeed errors. Setting it to 2.0 will cause the pitch control loop to control speed and ignore height errors. This will normally reduce airspeed errors, but give larger height errors. The default value of 1.0 allows the pitch control to simultaneously control height and speed. Set to 2 for gliders.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_T_SPD_DEV_STD/shortDesc</name>
+  <message>
+  <source>Airspeed rate measurement standard deviation for airspeed filter</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_T_SPD_DEV_STD/longDesc</name>
+  <message>
+  <source>This is the measurement standard deviation for the airspeed rate used in the airspeed filter in TECS.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_T_SPD_PRC_STD/shortDesc</name>
+  <message>
+  <source>Process noise standard deviation for the airspeed rate in the airspeed filter</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_T_SPD_PRC_STD/longDesc</name>
+  <message>
+  <source>This is the process noise standard deviation in the airspeed filter filter defining the noise in the airspeed rate for the constant airspeed rate model. This is used to define how much the airspeed and the airspeed rate are filtered. The smaller the value the more the measurements are smoothed with the drawback for delays.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_T_SPD_STD/shortDesc</name>
+  <message>
+  <source>Airspeed measurement standard deviation for airspeed filter</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_T_SPD_STD/longDesc</name>
+  <message>
+  <source>This is the measurement standard deviation for the airspeed used in the airspeed filter in TECS.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_T_STE_R_TC/shortDesc</name>
+  <message>
+  <source>Specific total energy rate first order filter time constant</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_T_STE_R_TC/longDesc</name>
+  <message>
+  <source>This filter is applied to the specific total energy rate used for throttle damping.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_T_TAS_TC/shortDesc</name>
+  <message>
+  <source>True airspeed error time constant</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_T_THR_DAMPING/shortDesc</name>
+  <message>
+  <source>Throttle damping factor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_T_THR_DAMPING/longDesc</name>
+  <message>
+  <source>This is the damping gain for the throttle demand loop. Increase to add damping to correct for oscillations in speed and height.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_T_THR_INTEG/shortDesc</name>
+  <message>
+  <source>Integrator gain throttle</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_T_THR_INTEG/longDesc</name>
+  <message>
+  <source>Integrator gain on the throttle part of the control loop. Increase it to trim out speed and height offsets faster, with the downside of possible overshoots and oscillations.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_T_VERT_ACC/shortDesc</name>
+  <message>
+  <source>Maximum vertical acceleration</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_T_VERT_ACC/longDesc</name>
+  <message>
+  <source>This is the maximum vertical acceleration (in m/s/s) either up or down that the controller will use to correct speed or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g) allows for reasonably aggressive pitch changes if required to recover from under-speed conditions.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_WIND_ARSP_SC/shortDesc</name>
+  <message>
+  <source>Wind-based airspeed scaling factor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_WIND_ARSP_SC/longDesc</name>
+  <message>
+  <source>Multiplying this factor with the current absolute wind estimate gives the airspeed offset added to the minimum airspeed setpoint limit. This helps to make the system more robust against disturbances (turbulence) in high wind. Only applies to AUTO flight mode.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FD_ACT_EN/shortDesc</name>
+  <message>
+  <source>Enable Actuator Failure check</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FD_ACT_EN/longDesc</name>
+  <message>
+  <source>If enabled, failure detector will verify that for motors, a minimum amount of ESC current per throttle level is being consumed. Otherwise this indicates an motor failure.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FD_ACT_EN/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FD_ACT_EN/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FD_ACT_MOT_C2T/shortDesc</name>
+  <message>
+  <source>Motor Failure Current/Throttle Threshold</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FD_ACT_MOT_C2T/longDesc</name>
+  <message>
+  <source>Motor failure triggers only below this current value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FD_ACT_MOT_THR/shortDesc</name>
+  <message>
+  <source>Motor Failure Throttle Threshold</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FD_ACT_MOT_THR/longDesc</name>
+  <message>
+  <source>Motor failure triggers only above this throttle value.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FD_ACT_MOT_TOUT/shortDesc</name>
+  <message>
+  <source>Motor Failure Time Threshold</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FD_ACT_MOT_TOUT/longDesc</name>
+  <message>
+  <source>Motor failure triggers only if the throttle threshold and the current to throttle threshold are violated for this time.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FD_ESCS_EN/shortDesc</name>
+  <message>
+  <source>Enable checks on ESCs that report their arming state</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FD_ESCS_EN/longDesc</name>
+  <message>
+  <source>If enabled, failure detector will verify that all the ESCs have successfully armed when the vehicle has transitioned to the armed state. Timeout for receiving an acknowledgement from the ESCs is 0.3s, if no feedback is received the failure detector will auto disarm the vehicle.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FD_ESCS_EN/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FD_ESCS_EN/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FD_EXT_ATS_EN/shortDesc</name>
+  <message>
+  <source>Enable PWM input on for engaging failsafe from an external automatic trigger system (ATS)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FD_EXT_ATS_EN/longDesc</name>
+  <message>
+  <source>Enabled on either AUX5 or MAIN5 depending on board. External ATS is required by ASTM F3322-18.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FD_EXT_ATS_EN/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FD_EXT_ATS_EN/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FD_EXT_ATS_TRIG/shortDesc</name>
+  <message>
+  <source>The PWM threshold from external automatic trigger system for engaging failsafe</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FD_EXT_ATS_TRIG/longDesc</name>
+  <message>
+  <source>External ATS is required by ASTM F3322-18.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FD_FAIL_P/shortDesc</name>
+  <message>
+  <source>FailureDetector Max Pitch</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FD_FAIL_P/longDesc</name>
+  <message>
+  <source>Maximum pitch angle before FailureDetector triggers the attitude_failure flag. The flag triggers flight termination (if @CBRK_FLIGHTTERM = 0), which sets outputs to their failsafe values. On takeoff the flag triggers lockdown (irrespective of @CBRK_FLIGHTTERM), which disarms motors but does not set outputs to failsafe values. Setting this parameter to 0 disables the check</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FD_FAIL_P_TTRI/shortDesc</name>
+  <message>
+  <source>Pitch failure trigger time</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FD_FAIL_P_TTRI/longDesc</name>
+  <message>
+  <source>Seconds (decimal) that pitch has to exceed FD_FAIL_P before being considered as a failure.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FD_FAIL_R/shortDesc</name>
+  <message>
+  <source>FailureDetector Max Roll</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FD_FAIL_R/longDesc</name>
+  <message>
+  <source>Maximum roll angle before FailureDetector triggers the attitude_failure flag. The flag triggers flight termination (if @CBRK_FLIGHTTERM = 0), which sets outputs to their failsafe values. On takeoff the flag triggers lockdown (irrespective of @CBRK_FLIGHTTERM), which disarms motors but does not set outputs to failsafe values. Setting this parameter to 0 disables the check</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FD_FAIL_R_TTRI/shortDesc</name>
+  <message>
+  <source>Roll failure trigger time</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FD_FAIL_R_TTRI/longDesc</name>
+  <message>
+  <source>Seconds (decimal) that roll has to exceed FD_FAIL_R before being considered as a failure.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FD_IMB_PROP_THR/shortDesc</name>
+  <message>
+  <source>Imbalanced propeller check threshold</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FD_IMB_PROP_THR/longDesc</name>
+  <message>
+  <source>Value at which the imbalanced propeller metric (based on horizontal and vertical acceleration variance) triggers a failure Setting this value to 0 disables the feature.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_ORBIT_RAD_MAX/shortDesc</name>
+  <message>
+  <source>Maximum radius of orbit</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FLW_TGT_ALT_M/shortDesc</name>
+  <message>
+  <source>Altitude control mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FLW_TGT_ALT_M/longDesc</name>
+  <message>
+  <source>Maintain altitude or track target's altitude. When maintaining the altitude, the drone can crash into terrain when the target moves uphill. When tracking the target's altitude, the follow altitude FLW_TGT_HT should be high enough to prevent terrain collisions due to GPS inaccuracies of the target.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FLW_TGT_ALT_M/values/0/description</name>
+  <message>
+  <source>2D Tracking: Maintain constant altitude relative to home and track XY position only</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FLW_TGT_ALT_M/values/1/description</name>
+  <message>
+  <source>2D + Terrain: Maintain constant altitude relative to terrain below and track XY position</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FLW_TGT_ALT_M/values/2/description</name>
+  <message>
+  <source>3D Tracking: Track target's altitude (be aware that GPS altitude bias usually makes this useless)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FLW_TGT_DST/shortDesc</name>
+  <message>
+  <source>Distance to follow target from</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FLW_TGT_DST/longDesc</name>
+  <message>
+  <source>The distance in meters to follow the target at</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FLW_TGT_FA/shortDesc</name>
+  <message>
+  <source>Follow Angle setting in degrees</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FLW_TGT_FA/longDesc</name>
+  <message>
+  <source>Angle to follow the target from. 0.0 Equals straight in front of the target's course (direction of motion) and the angle increases in clockwise direction, meaning Right-side would be 90.0 degrees while Left-side is -90.0 degrees Note: When the user force sets the angle out of the min/max range, it will be wrapped (e.g. 480 -&gt; 120) in the range to gracefully handle the out of range.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FLW_TGT_HT/shortDesc</name>
+  <message>
+  <source>Follow target height</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FLW_TGT_HT/longDesc</name>
+  <message>
+  <source>Following height above the target</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FLW_TGT_MAX_VEL/shortDesc</name>
+  <message>
+  <source>Maximum tangential velocity setting for generating the follow orbit trajectory</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FLW_TGT_MAX_VEL/longDesc</name>
+  <message>
+  <source>This is the maximum tangential velocity the drone will circle around the target whenever an orbit angle setpoint changes. Higher value means more aggressive follow behavior.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FLW_TGT_RS/shortDesc</name>
+  <message>
+  <source>Responsiveness to target movement in Target Estimator</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FLW_TGT_RS/longDesc</name>
+  <message>
+  <source>lower values increase the responsiveness to changing position, but also ignore less noise</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_1_CONFIG/shortDesc</name>
+  <message>
+  <source>Serial Configuration for Main GPS</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_1_CONFIG/longDesc</name>
+  <message>
+  <source>Configure on which serial port to run Main GPS.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_1_CONFIG/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_1_CONFIG/values/6/description</name>
+  <message>
+  <source>UART 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_1_CONFIG/values/101/description</name>
+  <message>
+  <source>TELEM 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_1_CONFIG/values/102/description</name>
+  <message>
+  <source>TELEM 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_1_CONFIG/values/103/description</name>
+  <message>
+  <source>TELEM 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_1_CONFIG/values/104/description</name>
+  <message>
+  <source>TELEM/SERIAL 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_1_CONFIG/values/201/description</name>
+  <message>
+  <source>GPS 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_1_CONFIG/values/202/description</name>
+  <message>
+  <source>GPS 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_1_CONFIG/values/203/description</name>
+  <message>
+  <source>GPS 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_1_CONFIG/values/300/description</name>
+  <message>
+  <source>Radio Controller</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_1_CONFIG/values/301/description</name>
+  <message>
+  <source>Wifi Port</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_1_CONFIG/values/401/description</name>
+  <message>
+  <source>EXT2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_1_GNSS/shortDesc</name>
+  <message>
+  <source>GNSS Systems for Primary GPS (integer bitmask)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_1_GNSS/longDesc</name>
+  <message>
+  <source>This integer bitmask controls the set of GNSS systems used by the receiver. Check your receiver's documentation on how many systems are supported to be used in parallel. Currently this functionality is just implemented for u-blox receivers. When no bits are set, the receiver's default configuration should be used. Set bits true to enable: 0 : Use GPS (with QZSS) 1 : Use SBAS (multiple GPS augmentation systems) 2 : Use Galileo 3 : Use BeiDou 4 : Use GLONASS 5 : Use NAVIC</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_1_GNSS/bitmask/0/description</name>
+  <message>
+  <source>GPS (with QZSS)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_1_GNSS/bitmask/1/description</name>
+  <message>
+  <source>SBAS</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_1_GNSS/bitmask/2/description</name>
+  <message>
+  <source>Galileo</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_1_GNSS/bitmask/3/description</name>
+  <message>
+  <source>BeiDou</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_1_GNSS/bitmask/4/description</name>
+  <message>
+  <source>GLONASS</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_1_GNSS/bitmask/5/description</name>
+  <message>
+  <source>NAVIC</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_1_PROTOCOL/shortDesc</name>
+  <message>
+  <source>Protocol for Main GPS</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_1_PROTOCOL/longDesc</name>
+  <message>
+  <source>Select the GPS protocol over serial. Auto-detection will probe all protocols, and thus is a bit slower.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_1_PROTOCOL/values/0/description</name>
+  <message>
+  <source>Auto detect</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_1_PROTOCOL/values/1/description</name>
+  <message>
+  <source>u-blox</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_1_PROTOCOL/values/2/description</name>
+  <message>
+  <source>MTK</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_1_PROTOCOL/values/3/description</name>
+  <message>
+  <source>Ashtech / Trimble</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_1_PROTOCOL/values/4/description</name>
+  <message>
+  <source>Emlid Reach</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_1_PROTOCOL/values/5/description</name>
+  <message>
+  <source>Femtomes</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_1_PROTOCOL/values/6/description</name>
+  <message>
+  <source>NMEA (generic)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_2_CONFIG/shortDesc</name>
+  <message>
+  <source>Serial Configuration for Secondary GPS</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_2_CONFIG/longDesc</name>
+  <message>
+  <source>Configure on which serial port to run Secondary GPS.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_2_CONFIG/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_2_CONFIG/values/6/description</name>
+  <message>
+  <source>UART 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_2_CONFIG/values/101/description</name>
+  <message>
+  <source>TELEM 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_2_CONFIG/values/102/description</name>
+  <message>
+  <source>TELEM 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_2_CONFIG/values/103/description</name>
+  <message>
+  <source>TELEM 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_2_CONFIG/values/104/description</name>
+  <message>
+  <source>TELEM/SERIAL 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_2_CONFIG/values/201/description</name>
+  <message>
+  <source>GPS 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_2_CONFIG/values/202/description</name>
+  <message>
+  <source>GPS 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_2_CONFIG/values/203/description</name>
+  <message>
+  <source>GPS 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_2_CONFIG/values/300/description</name>
+  <message>
+  <source>Radio Controller</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_2_CONFIG/values/301/description</name>
+  <message>
+  <source>Wifi Port</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_2_CONFIG/values/401/description</name>
+  <message>
+  <source>EXT2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_2_GNSS/shortDesc</name>
+  <message>
+  <source>GNSS Systems for Secondary GPS (integer bitmask)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_2_GNSS/longDesc</name>
+  <message>
+  <source>This integer bitmask controls the set of GNSS systems used by the receiver. Check your receiver's documentation on how many systems are supported to be used in parallel. Currently this functionality is just implemented for u-blox receivers. When no bits are set, the receiver's default configuration should be used. Set bits true to enable: 0 : Use GPS (with QZSS) 1 : Use SBAS (multiple GPS augmentation systems) 2 : Use Galileo 3 : Use BeiDou 4 : Use GLONASS 5 : Use NAVIC</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_2_GNSS/bitmask/0/description</name>
+  <message>
+  <source>GPS (with QZSS)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_2_GNSS/bitmask/1/description</name>
+  <message>
+  <source>SBAS</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_2_GNSS/bitmask/2/description</name>
+  <message>
+  <source>Galileo</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_2_GNSS/bitmask/3/description</name>
+  <message>
+  <source>BeiDou</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_2_GNSS/bitmask/4/description</name>
+  <message>
+  <source>GLONASS</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_2_GNSS/bitmask/5/description</name>
+  <message>
+  <source>NAVIC</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_2_PROTOCOL/shortDesc</name>
+  <message>
+  <source>Protocol for Secondary GPS</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_2_PROTOCOL/longDesc</name>
+  <message>
+  <source>Select the GPS protocol over serial. Auto-detection will probe all protocols, and thus is a bit slower.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_2_PROTOCOL/values/0/description</name>
+  <message>
+  <source>Auto detect</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_2_PROTOCOL/values/1/description</name>
+  <message>
+  <source>u-blox</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_2_PROTOCOL/values/2/description</name>
+  <message>
+  <source>MTK</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_2_PROTOCOL/values/3/description</name>
+  <message>
+  <source>Ashtech / Trimble</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_2_PROTOCOL/values/4/description</name>
+  <message>
+  <source>Emlid Reach</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_2_PROTOCOL/values/5/description</name>
+  <message>
+  <source>Femtomes</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_2_PROTOCOL/values/6/description</name>
+  <message>
+  <source>NMEA (generic)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_DUMP_COMM/shortDesc</name>
+  <message>
+  <source>Log GPS communication data</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_DUMP_COMM/longDesc</name>
+  <message>
+  <source>If this is set to 1, all GPS communication data will be published via uORB, and written to the log file as gps_dump message. If this is set to 2, the main GPS is configured to output RTCM data, which is then logged as gps_dump and can be used for PPK.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_DUMP_COMM/values/0/description</name>
+  <message>
+  <source>Disable</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_DUMP_COMM/values/1/description</name>
+  <message>
+  <source>Full communication</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_DUMP_COMM/values/2/description</name>
+  <message>
+  <source>RTCM output (PPK)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_SAT_INFO/shortDesc</name>
+  <message>
+  <source>Enable sat info (if available)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_SAT_INFO/longDesc</name>
+  <message>
+  <source>Enable publication of satellite info (ORB_ID(satellite_info)) if possible. Not available on MTK.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_SAT_INFO/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_SAT_INFO/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_UBX_BAUD2/shortDesc</name>
+  <message>
+  <source>u-blox F9P UART2 Baudrate</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_UBX_BAUD2/longDesc</name>
+  <message>
+  <source>Select a baudrate for the F9P's UART2 port. In GPS_UBX_MODE 1, 2, and 3, the F9P's UART2 port is configured to send/receive RTCM corrections. Set this to 57600 if you want to attach a telemetry radio on UART2.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_UBX_CFG_INTF/shortDesc</name>
+  <message>
+  <source>u-blox protocol configuration for interfaces</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_UBX_CFG_INTF/bitmask/0/description</name>
+  <message>
+  <source>Enable I2C input protocol UBX</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_UBX_CFG_INTF/bitmask/1/description</name>
+  <message>
+  <source>Enable I2C input protocol NMEA</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_UBX_CFG_INTF/bitmask/2/description</name>
+  <message>
+  <source>Enable I2C input protocol RTCM3X</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_UBX_CFG_INTF/bitmask/3/description</name>
+  <message>
+  <source>Enable I2C output protocol UBX</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_UBX_CFG_INTF/bitmask/4/description</name>
+  <message>
+  <source>Enable I2C output protocol NMEA</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_UBX_CFG_INTF/bitmask/5/description</name>
+  <message>
+  <source>Enable I2C output protocol RTCM3X</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_UBX_DYNMODEL/shortDesc</name>
+  <message>
+  <source>u-blox GPS dynamic platform model</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_UBX_DYNMODEL/longDesc</name>
+  <message>
+  <source>u-blox receivers support different dynamic platform models to adjust the navigation engine to the expected application environment.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_UBX_DYNMODEL/values/2/description</name>
+  <message>
+  <source>stationary</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_UBX_DYNMODEL/values/4/description</name>
+  <message>
+  <source>automotive</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_UBX_DYNMODEL/values/6/description</name>
+  <message>
+  <source>airborne with &lt;1g acceleration</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_UBX_DYNMODEL/values/7/description</name>
+  <message>
+  <source>airborne with &lt;2g acceleration</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_UBX_DYNMODEL/values/8/description</name>
+  <message>
+  <source>airborne with &lt;4g acceleration</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_UBX_MODE/shortDesc</name>
+  <message>
+  <source>u-blox GPS Mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_UBX_MODE/longDesc</name>
+  <message>
+  <source>Select the u-blox configuration setup. Most setups will use the default, including RTK and dual GPS without heading. If rover has RTCM corrections from a static base (or other static correction source) coming in on UART2, then select Mode 5. The Heading mode requires 2 F9P devices to be attached. The main GPS will act as rover and output heading information, whereas the secondary will act as moving base. Modes 1 and 2 require each F9P UART1 to be connected to the Autopilot. In addition, UART2 on the F9P units are connected to each other. Modes 3 and 4 only require UART1 on each F9P connected to the Autopilot or Can Node. UART RX DMA is required. RTK is still possible with this setup.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_UBX_MODE/values/0/description</name>
+  <message>
+  <source>Default</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_UBX_MODE/values/1/description</name>
+  <message>
+  <source>Heading (Rover With Moving Base UART1 Connected To Autopilot, UART2 Connected To Moving Base)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_UBX_MODE/values/2/description</name>
+  <message>
+  <source>Moving Base (UART1 Connected To Autopilot, UART2 Connected To Rover)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_UBX_MODE/values/3/description</name>
+  <message>
+  <source>Heading (Rover With Moving Base UART1 Connected to Autopilot Or Can Node At 921600)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_UBX_MODE/values/4/description</name>
+  <message>
+  <source>Moving Base (Moving Base UART1 Connected to Autopilot Or Can Node At 921600)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_UBX_MODE/values/5/description</name>
+  <message>
+  <source>Rover with Static Base on UART2 (similar to Default, except coming in on UART2)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_YAW_OFFSET/shortDesc</name>
+  <message>
+  <source>Heading/Yaw offset for dual antenna GPS</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GPS_YAW_OFFSET/longDesc</name>
+  <message>
+  <source>Heading offset angle for dual antenna GPS setups that support heading estimation. Set this to 0 if the antennas are parallel to the forward-facing direction of the vehicle and the rover (or Unicore primary) antenna is in front. The offset angle increases clockwise. Set this to 90 if the rover (or Unicore primary, or Septentrio Mosaic Aux) antenna is placed on the right side of the vehicle and the moving base antenna is on the left side. (Note: the Unicore primary antenna is the one connected on the right as seen from the top).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PPS_CAP_ENABLE/shortDesc</name>
+  <message>
+  <source>PPS Capture Enable</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PPS_CAP_ENABLE/longDesc</name>
+  <message>
+  <source>Enables the PPS capture module. This switches mode of FMU channel 7 to be the PPS input channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PPS_CAP_ENABLE/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PPS_CAP_ENABLE/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GF_ACTION/shortDesc</name>
+  <message>
+  <source>Geofence violation action</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GF_ACTION/longDesc</name>
+  <message>
+  <source>Note: Setting this value to 4 enables flight termination, which will kill the vehicle on violation of the fence.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GF_ACTION/values/0/description</name>
+  <message>
+  <source>None</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GF_ACTION/values/1/description</name>
+  <message>
+  <source>Warning</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GF_ACTION/values/2/description</name>
+  <message>
+  <source>Hold mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GF_ACTION/values/3/description</name>
+  <message>
+  <source>Return mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GF_ACTION/values/4/description</name>
+  <message>
+  <source>Terminate</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GF_ACTION/values/5/description</name>
+  <message>
+  <source>Land mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GF_MAX_HOR_DIST/shortDesc</name>
+  <message>
+  <source>Max horizontal distance from Home</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GF_MAX_HOR_DIST/longDesc</name>
+  <message>
+  <source>Maximum horizontal distance in meters the vehicle can be from Home before triggering a geofence action. Disabled if 0.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GF_MAX_VER_DIST/shortDesc</name>
+  <message>
+  <source>Max vertical distance from Home</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GF_MAX_VER_DIST/longDesc</name>
+  <message>
+  <source>Maximum vertical distance in meters the vehicle can be from Home before triggering a geofence action. Disabled if 0.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GF_PREDICT/shortDesc</name>
+  <message>
+  <source>[EXPERIMENTAL] Use Pre-emptive geofence triggering</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GF_PREDICT/longDesc</name>
+  <message>
+  <source>WARNING: This experimental feature may cause flyaways. Use at your own risk. Predict the motion of the vehicle and trigger the breach if it is determined that the current trajectory would result in a breach happening before the vehicle can make evasive maneuvers. The vehicle is then re-routed to a safe hold position (stop for multirotor, loiter for fixed wing).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GF_PREDICT/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GF_PREDICT/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GF_SOURCE/shortDesc</name>
+  <message>
+  <source>Geofence source</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GF_SOURCE/longDesc</name>
+  <message>
+  <source>Select which position source should be used. Selecting GPS instead of global position makes sure that there is no dependence on the position estimator 0 = global position, 1 = GPS</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GF_SOURCE/values/0/description</name>
+  <message>
+  <source>GPOS</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GF_SOURCE/values/1/description</name>
+  <message>
+  <source>GPS</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_AIRFRAME/shortDesc</name>
+  <message>
+  <source>Airframe selection</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_AIRFRAME/longDesc</name>
+  <message>
+  <source>Defines which mixer implementation to use. Some are generic, while others are specifically fit to a certain vehicle with a fixed set of actuators. 'Custom' should only be used if noting else can be used.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_AIRFRAME/values/0/description</name>
+  <message>
+  <source>Multirotor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_AIRFRAME/values/1/description</name>
+  <message>
+  <source>Fixed-wing</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_AIRFRAME/values/2/description</name>
+  <message>
+  <source>Standard VTOL</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_AIRFRAME/values/3/description</name>
+  <message>
+  <source>Tiltrotor VTOL</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_AIRFRAME/values/4/description</name>
+  <message>
+  <source>Tailsitter VTOL</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_AIRFRAME/values/5/description</name>
+  <message>
+  <source>Rover (Ackermann)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_AIRFRAME/values/6/description</name>
+  <message>
+  <source>Rover (Differential)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_AIRFRAME/values/7/description</name>
+  <message>
+  <source>Motors (6DOF)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_AIRFRAME/values/8/description</name>
+  <message>
+  <source>Multirotor with Tilt</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_AIRFRAME/values/9/description</name>
+  <message>
+  <source>Custom</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_AIRFRAME/values/10/description</name>
+  <message>
+  <source>Helicopter (tail ESC)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_AIRFRAME/values/11/description</name>
+  <message>
+  <source>Helicopter (tail Servo)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_AIRFRAME/values/12/description</name>
+  <message>
+  <source>Helicopter (Coaxial)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_FAILURE_MODE/shortDesc</name>
+  <message>
+  <source>Motor failure handling mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_FAILURE_MODE/longDesc</name>
+  <message>
+  <source>This is used to specify how to handle motor failures reported by failure detector.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_FAILURE_MODE/values/0/description</name>
+  <message>
+  <source>Ignore</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_FAILURE_MODE/values/1/description</name>
+  <message>
+  <source>Remove first failed motor from effectiveness</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_HELI_PITCH_C0/shortDesc</name>
+  <message>
+  <source>Collective pitch curve at position 0</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_HELI_PITCH_C0/longDesc</name>
+  <message>
+  <source>Defines the collective pitch at the interval position 0 for a given thrust setpoint. Use negative values if the swash plate needs to move down to provide upwards thrust.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_HELI_PITCH_C1/shortDesc</name>
+  <message>
+  <source>Collective pitch curve at position 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_HELI_PITCH_C1/longDesc</name>
+  <message>
+  <source>Defines the collective pitch at the interval position 1 for a given thrust setpoint. Use negative values if the swash plate needs to move down to provide upwards thrust.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_HELI_PITCH_C2/shortDesc</name>
+  <message>
+  <source>Collective pitch curve at position 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_HELI_PITCH_C2/longDesc</name>
+  <message>
+  <source>Defines the collective pitch at the interval position 2 for a given thrust setpoint. Use negative values if the swash plate needs to move down to provide upwards thrust.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_HELI_PITCH_C3/shortDesc</name>
+  <message>
+  <source>Collective pitch curve at position 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_HELI_PITCH_C3/longDesc</name>
+  <message>
+  <source>Defines the collective pitch at the interval position 3 for a given thrust setpoint. Use negative values if the swash plate needs to move down to provide upwards thrust.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_HELI_PITCH_C4/shortDesc</name>
+  <message>
+  <source>Collective pitch curve at position 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_HELI_PITCH_C4/longDesc</name>
+  <message>
+  <source>Defines the collective pitch at the interval position 4 for a given thrust setpoint. Use negative values if the swash plate needs to move down to provide upwards thrust.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_HELI_THR_C0/shortDesc</name>
+  <message>
+  <source>Throttle curve at position 0</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_HELI_THR_C0/longDesc</name>
+  <message>
+  <source>Defines the output throttle at the interval position 0.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_HELI_THR_C1/shortDesc</name>
+  <message>
+  <source>Throttle curve at position 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_HELI_THR_C1/longDesc</name>
+  <message>
+  <source>Defines the output throttle at the interval position 1.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_HELI_THR_C2/shortDesc</name>
+  <message>
+  <source>Throttle curve at position 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_HELI_THR_C2/longDesc</name>
+  <message>
+  <source>Defines the output throttle at the interval position 2.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_HELI_THR_C3/shortDesc</name>
+  <message>
+  <source>Throttle curve at position 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_HELI_THR_C3/longDesc</name>
+  <message>
+  <source>Defines the output throttle at the interval position 3.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_HELI_THR_C4/shortDesc</name>
+  <message>
+  <source>Throttle curve at position 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_HELI_THR_C4/longDesc</name>
+  <message>
+  <source>Defines the output throttle at the interval position 4.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_HELI_YAW_CCW/shortDesc</name>
+  <message>
+  <source>Main rotor turns counter-clockwise</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_HELI_YAW_CCW/longDesc</name>
+  <message>
+  <source>Default configuration is for a clockwise turning main rotor and positive thrust of the tail rotor is expected to rotate the vehicle clockwise. Set this parameter to true if the tail rotor provides thrust in counter-clockwise direction which is mostly the case when the main rotor turns counter-clockwise.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_HELI_YAW_CCW/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_HELI_YAW_CCW/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_HELI_YAW_CP_O/shortDesc</name>
+  <message>
+  <source>Offset for yaw compensation based on collective pitch</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_HELI_YAW_CP_O/longDesc</name>
+  <message>
+  <source>This allows to specify which collective pitch command results in the least amount of rotor drag. This is used to increase the accuracy of the yaw drag torque compensation based on collective pitch by aligning the lowest rotor drag with zero compensation. For symmetric profile blades this is the command that results in exactly 0° collective blade angle. For lift profile blades this is typically a command resulting in slightly negative collective blade angle. tail_output += CA_HELI_YAW_CP_S * abs(collective_pitch - CA_HELI_YAW_CP_O)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_HELI_YAW_CP_S/shortDesc</name>
+  <message>
+  <source>Scale for yaw compensation based on collective pitch</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_HELI_YAW_CP_S/longDesc</name>
+  <message>
+  <source>This allows to add a proportional factor of the collective pitch command to the yaw command. A negative value is needed when positive thrust of the tail rotor rotates the vehicle opposite to the main rotor turn direction. tail_output += CA_HELI_YAW_CP_S * abs(collective_pitch - CA_HELI_YAW_CP_O)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_HELI_YAW_TH_S/shortDesc</name>
+  <message>
+  <source>Scale for yaw compensation based on throttle</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_HELI_YAW_TH_S/longDesc</name>
+  <message>
+  <source>This allows to add a proportional factor of the throttle command to the yaw command. A negative value is needed when positive thrust of the tail rotor rotates the vehicle opposite to the main rotor turn direction. tail_output += CA_HELI_YAW_TH_S * throttle</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_METHOD/shortDesc</name>
+  <message>
+  <source>Control allocation method</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_METHOD/longDesc</name>
+  <message>
+  <source>Selects the algorithm and desaturation method. If set to Automtic, the selection is based on the airframe (CA_AIRFRAME).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_METHOD/values/0/description</name>
+  <message>
+  <source>Pseudo-inverse with output clipping</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_METHOD/values/1/description</name>
+  <message>
+  <source>Pseudo-inverse with sequential desaturation technique</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_METHOD/values/2/description</name>
+  <message>
+  <source>Automatic</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_R0_SLEW/shortDesc</name>
+  <message>
+  <source>Motor 0 slew rate limit</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_R0_SLEW/longDesc</name>
+  <message>
+  <source>Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_R10_SLEW/shortDesc</name>
+  <message>
+  <source>Motor 10 slew rate limit</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_R10_SLEW/longDesc</name>
+  <message>
+  <source>Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_R11_SLEW/shortDesc</name>
+  <message>
+  <source>Motor 11 slew rate limit</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_R11_SLEW/longDesc</name>
+  <message>
+  <source>Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_R1_SLEW/shortDesc</name>
+  <message>
+  <source>Motor 1 slew rate limit</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_R1_SLEW/longDesc</name>
+  <message>
+  <source>Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_R2_SLEW/shortDesc</name>
+  <message>
+  <source>Motor 2 slew rate limit</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_R2_SLEW/longDesc</name>
+  <message>
+  <source>Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_R3_SLEW/shortDesc</name>
+  <message>
+  <source>Motor 3 slew rate limit</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_R3_SLEW/longDesc</name>
+  <message>
+  <source>Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_R4_SLEW/shortDesc</name>
+  <message>
+  <source>Motor 4 slew rate limit</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_R4_SLEW/longDesc</name>
+  <message>
+  <source>Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_R5_SLEW/shortDesc</name>
+  <message>
+  <source>Motor 5 slew rate limit</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_R5_SLEW/longDesc</name>
+  <message>
+  <source>Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_R6_SLEW/shortDesc</name>
+  <message>
+  <source>Motor 6 slew rate limit</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_R6_SLEW/longDesc</name>
+  <message>
+  <source>Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_R7_SLEW/shortDesc</name>
+  <message>
+  <source>Motor 7 slew rate limit</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_R7_SLEW/longDesc</name>
+  <message>
+  <source>Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_R8_SLEW/shortDesc</name>
+  <message>
+  <source>Motor 8 slew rate limit</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_R8_SLEW/longDesc</name>
+  <message>
+  <source>Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_R9_SLEW/shortDesc</name>
+  <message>
+  <source>Motor 9 slew rate limit</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_R9_SLEW/longDesc</name>
+  <message>
+  <source>Minimum time allowed for the motor input signal to pass through the full output range. A value x means that the motor signal can only go from 0 to 1 in minimum x seconds (in case of reversible motors, the range is -1 to 1). Zero means that slew rate limiting is disabled.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR0_AX/shortDesc</name>
+  <message>
+  <source>Axis of rotor 0 thrust vector, X body axis component</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR0_AX/longDesc</name>
+  <message>
+  <source>Only the direction is considered (the vector is normalized).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR0_AY/shortDesc</name>
+  <message>
+  <source>Axis of rotor 0 thrust vector, Y body axis component</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR0_AY/longDesc</name>
+  <message>
+  <source>Only the direction is considered (the vector is normalized).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR0_AZ/shortDesc</name>
+  <message>
+  <source>Axis of rotor 0 thrust vector, Z body axis component</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR0_AZ/longDesc</name>
+  <message>
+  <source>Only the direction is considered (the vector is normalized).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR0_CT/shortDesc</name>
+  <message>
+  <source>Thrust coefficient of rotor 0</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR0_CT/longDesc</name>
+  <message>
+  <source>The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR0_KM/shortDesc</name>
+  <message>
+  <source>Moment coefficient of rotor 0</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR0_KM/longDesc</name>
+  <message>
+  <source>The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR0_PX/shortDesc</name>
+  <message>
+  <source>Position of rotor 0 along X body axis relative to center of gravity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR0_PY/shortDesc</name>
+  <message>
+  <source>Position of rotor 0 along Y body axis relative to center of gravity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR0_PZ/shortDesc</name>
+  <message>
+  <source>Position of rotor 0 along Z body axis relative to center of gravity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR0_TILT/shortDesc</name>
+  <message>
+  <source>Rotor 0 tilt assignment</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR0_TILT/longDesc</name>
+  <message>
+  <source>If not set to None, this motor is tilted by the configured tilt servo.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR0_TILT/values/0/description</name>
+  <message>
+  <source>None</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR0_TILT/values/1/description</name>
+  <message>
+  <source>Tilt 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR0_TILT/values/2/description</name>
+  <message>
+  <source>Tilt 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR0_TILT/values/3/description</name>
+  <message>
+  <source>Tilt 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR0_TILT/values/4/description</name>
+  <message>
+  <source>Tilt 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR10_AX/shortDesc</name>
+  <message>
+  <source>Axis of rotor 10 thrust vector, X body axis component</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR10_AX/longDesc</name>
+  <message>
+  <source>Only the direction is considered (the vector is normalized).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR10_AY/shortDesc</name>
+  <message>
+  <source>Axis of rotor 10 thrust vector, Y body axis component</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR10_AY/longDesc</name>
+  <message>
+  <source>Only the direction is considered (the vector is normalized).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR10_AZ/shortDesc</name>
+  <message>
+  <source>Axis of rotor 10 thrust vector, Z body axis component</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR10_AZ/longDesc</name>
+  <message>
+  <source>Only the direction is considered (the vector is normalized).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR10_CT/shortDesc</name>
+  <message>
+  <source>Thrust coefficient of rotor 10</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR10_CT/longDesc</name>
+  <message>
+  <source>The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR10_KM/shortDesc</name>
+  <message>
+  <source>Moment coefficient of rotor 10</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR10_KM/longDesc</name>
+  <message>
+  <source>The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR10_PX/shortDesc</name>
+  <message>
+  <source>Position of rotor 10 along X body axis relative to center of gravity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR10_PY/shortDesc</name>
+  <message>
+  <source>Position of rotor 10 along Y body axis relative to center of gravity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR10_PZ/shortDesc</name>
+  <message>
+  <source>Position of rotor 10 along Z body axis relative to center of gravity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR10_TILT/shortDesc</name>
+  <message>
+  <source>Rotor 10 tilt assignment</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR10_TILT/longDesc</name>
+  <message>
+  <source>If not set to None, this motor is tilted by the configured tilt servo.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR10_TILT/values/0/description</name>
+  <message>
+  <source>None</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR10_TILT/values/1/description</name>
+  <message>
+  <source>Tilt 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR10_TILT/values/2/description</name>
+  <message>
+  <source>Tilt 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR10_TILT/values/3/description</name>
+  <message>
+  <source>Tilt 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR10_TILT/values/4/description</name>
+  <message>
+  <source>Tilt 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR11_AX/shortDesc</name>
+  <message>
+  <source>Axis of rotor 11 thrust vector, X body axis component</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR11_AX/longDesc</name>
+  <message>
+  <source>Only the direction is considered (the vector is normalized).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR11_AY/shortDesc</name>
+  <message>
+  <source>Axis of rotor 11 thrust vector, Y body axis component</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR11_AY/longDesc</name>
+  <message>
+  <source>Only the direction is considered (the vector is normalized).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR11_AZ/shortDesc</name>
+  <message>
+  <source>Axis of rotor 11 thrust vector, Z body axis component</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR11_AZ/longDesc</name>
+  <message>
+  <source>Only the direction is considered (the vector is normalized).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR11_CT/shortDesc</name>
+  <message>
+  <source>Thrust coefficient of rotor 11</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR11_CT/longDesc</name>
+  <message>
+  <source>The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR11_KM/shortDesc</name>
+  <message>
+  <source>Moment coefficient of rotor 11</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR11_KM/longDesc</name>
+  <message>
+  <source>The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR11_PX/shortDesc</name>
+  <message>
+  <source>Position of rotor 11 along X body axis relative to center of gravity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR11_PY/shortDesc</name>
+  <message>
+  <source>Position of rotor 11 along Y body axis relative to center of gravity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR11_PZ/shortDesc</name>
+  <message>
+  <source>Position of rotor 11 along Z body axis relative to center of gravity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR11_TILT/shortDesc</name>
+  <message>
+  <source>Rotor 11 tilt assignment</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR11_TILT/longDesc</name>
+  <message>
+  <source>If not set to None, this motor is tilted by the configured tilt servo.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR11_TILT/values/0/description</name>
+  <message>
+  <source>None</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR11_TILT/values/1/description</name>
+  <message>
+  <source>Tilt 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR11_TILT/values/2/description</name>
+  <message>
+  <source>Tilt 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR11_TILT/values/3/description</name>
+  <message>
+  <source>Tilt 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR11_TILT/values/4/description</name>
+  <message>
+  <source>Tilt 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR1_AX/shortDesc</name>
+  <message>
+  <source>Axis of rotor 1 thrust vector, X body axis component</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR1_AX/longDesc</name>
+  <message>
+  <source>Only the direction is considered (the vector is normalized).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR1_AY/shortDesc</name>
+  <message>
+  <source>Axis of rotor 1 thrust vector, Y body axis component</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR1_AY/longDesc</name>
+  <message>
+  <source>Only the direction is considered (the vector is normalized).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR1_AZ/shortDesc</name>
+  <message>
+  <source>Axis of rotor 1 thrust vector, Z body axis component</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR1_AZ/longDesc</name>
+  <message>
+  <source>Only the direction is considered (the vector is normalized).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR1_CT/shortDesc</name>
+  <message>
+  <source>Thrust coefficient of rotor 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR1_CT/longDesc</name>
+  <message>
+  <source>The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR1_KM/shortDesc</name>
+  <message>
+  <source>Moment coefficient of rotor 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR1_KM/longDesc</name>
+  <message>
+  <source>The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR1_PX/shortDesc</name>
+  <message>
+  <source>Position of rotor 1 along X body axis relative to center of gravity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR1_PY/shortDesc</name>
+  <message>
+  <source>Position of rotor 1 along Y body axis relative to center of gravity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR1_PZ/shortDesc</name>
+  <message>
+  <source>Position of rotor 1 along Z body axis relative to center of gravity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR1_TILT/shortDesc</name>
+  <message>
+  <source>Rotor 1 tilt assignment</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR1_TILT/longDesc</name>
+  <message>
+  <source>If not set to None, this motor is tilted by the configured tilt servo.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR1_TILT/values/0/description</name>
+  <message>
+  <source>None</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR1_TILT/values/1/description</name>
+  <message>
+  <source>Tilt 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR1_TILT/values/2/description</name>
+  <message>
+  <source>Tilt 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR1_TILT/values/3/description</name>
+  <message>
+  <source>Tilt 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR1_TILT/values/4/description</name>
+  <message>
+  <source>Tilt 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR2_AX/shortDesc</name>
+  <message>
+  <source>Axis of rotor 2 thrust vector, X body axis component</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR2_AX/longDesc</name>
+  <message>
+  <source>Only the direction is considered (the vector is normalized).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR2_AY/shortDesc</name>
+  <message>
+  <source>Axis of rotor 2 thrust vector, Y body axis component</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR2_AY/longDesc</name>
+  <message>
+  <source>Only the direction is considered (the vector is normalized).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR2_AZ/shortDesc</name>
+  <message>
+  <source>Axis of rotor 2 thrust vector, Z body axis component</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR2_AZ/longDesc</name>
+  <message>
+  <source>Only the direction is considered (the vector is normalized).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR2_CT/shortDesc</name>
+  <message>
+  <source>Thrust coefficient of rotor 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR2_CT/longDesc</name>
+  <message>
+  <source>The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR2_KM/shortDesc</name>
+  <message>
+  <source>Moment coefficient of rotor 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR2_KM/longDesc</name>
+  <message>
+  <source>The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR2_PX/shortDesc</name>
+  <message>
+  <source>Position of rotor 2 along X body axis relative to center of gravity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR2_PY/shortDesc</name>
+  <message>
+  <source>Position of rotor 2 along Y body axis relative to center of gravity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR2_PZ/shortDesc</name>
+  <message>
+  <source>Position of rotor 2 along Z body axis relative to center of gravity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR2_TILT/shortDesc</name>
+  <message>
+  <source>Rotor 2 tilt assignment</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR2_TILT/longDesc</name>
+  <message>
+  <source>If not set to None, this motor is tilted by the configured tilt servo.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR2_TILT/values/0/description</name>
+  <message>
+  <source>None</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR2_TILT/values/1/description</name>
+  <message>
+  <source>Tilt 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR2_TILT/values/2/description</name>
+  <message>
+  <source>Tilt 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR2_TILT/values/3/description</name>
+  <message>
+  <source>Tilt 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR2_TILT/values/4/description</name>
+  <message>
+  <source>Tilt 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR3_AX/shortDesc</name>
+  <message>
+  <source>Axis of rotor 3 thrust vector, X body axis component</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR3_AX/longDesc</name>
+  <message>
+  <source>Only the direction is considered (the vector is normalized).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR3_AY/shortDesc</name>
+  <message>
+  <source>Axis of rotor 3 thrust vector, Y body axis component</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR3_AY/longDesc</name>
+  <message>
+  <source>Only the direction is considered (the vector is normalized).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR3_AZ/shortDesc</name>
+  <message>
+  <source>Axis of rotor 3 thrust vector, Z body axis component</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR3_AZ/longDesc</name>
+  <message>
+  <source>Only the direction is considered (the vector is normalized).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR3_CT/shortDesc</name>
+  <message>
+  <source>Thrust coefficient of rotor 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR3_CT/longDesc</name>
+  <message>
+  <source>The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR3_KM/shortDesc</name>
+  <message>
+  <source>Moment coefficient of rotor 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR3_KM/longDesc</name>
+  <message>
+  <source>The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR3_PX/shortDesc</name>
+  <message>
+  <source>Position of rotor 3 along X body axis relative to center of gravity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR3_PY/shortDesc</name>
+  <message>
+  <source>Position of rotor 3 along Y body axis relative to center of gravity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR3_PZ/shortDesc</name>
+  <message>
+  <source>Position of rotor 3 along Z body axis relative to center of gravity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR3_TILT/shortDesc</name>
+  <message>
+  <source>Rotor 3 tilt assignment</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR3_TILT/longDesc</name>
+  <message>
+  <source>If not set to None, this motor is tilted by the configured tilt servo.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR3_TILT/values/0/description</name>
+  <message>
+  <source>None</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR3_TILT/values/1/description</name>
+  <message>
+  <source>Tilt 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR3_TILT/values/2/description</name>
+  <message>
+  <source>Tilt 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR3_TILT/values/3/description</name>
+  <message>
+  <source>Tilt 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR3_TILT/values/4/description</name>
+  <message>
+  <source>Tilt 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR4_AX/shortDesc</name>
+  <message>
+  <source>Axis of rotor 4 thrust vector, X body axis component</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR4_AX/longDesc</name>
+  <message>
+  <source>Only the direction is considered (the vector is normalized).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR4_AY/shortDesc</name>
+  <message>
+  <source>Axis of rotor 4 thrust vector, Y body axis component</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR4_AY/longDesc</name>
+  <message>
+  <source>Only the direction is considered (the vector is normalized).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR4_AZ/shortDesc</name>
+  <message>
+  <source>Axis of rotor 4 thrust vector, Z body axis component</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR4_AZ/longDesc</name>
+  <message>
+  <source>Only the direction is considered (the vector is normalized).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR4_CT/shortDesc</name>
+  <message>
+  <source>Thrust coefficient of rotor 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR4_CT/longDesc</name>
+  <message>
+  <source>The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR4_KM/shortDesc</name>
+  <message>
+  <source>Moment coefficient of rotor 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR4_KM/longDesc</name>
+  <message>
+  <source>The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR4_PX/shortDesc</name>
+  <message>
+  <source>Position of rotor 4 along X body axis relative to center of gravity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR4_PY/shortDesc</name>
+  <message>
+  <source>Position of rotor 4 along Y body axis relative to center of gravity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR4_PZ/shortDesc</name>
+  <message>
+  <source>Position of rotor 4 along Z body axis relative to center of gravity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR4_TILT/shortDesc</name>
+  <message>
+  <source>Rotor 4 tilt assignment</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR4_TILT/longDesc</name>
+  <message>
+  <source>If not set to None, this motor is tilted by the configured tilt servo.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR4_TILT/values/0/description</name>
+  <message>
+  <source>None</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR4_TILT/values/1/description</name>
+  <message>
+  <source>Tilt 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR4_TILT/values/2/description</name>
+  <message>
+  <source>Tilt 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR4_TILT/values/3/description</name>
+  <message>
+  <source>Tilt 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR4_TILT/values/4/description</name>
+  <message>
+  <source>Tilt 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR5_AX/shortDesc</name>
+  <message>
+  <source>Axis of rotor 5 thrust vector, X body axis component</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR5_AX/longDesc</name>
+  <message>
+  <source>Only the direction is considered (the vector is normalized).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR5_AY/shortDesc</name>
+  <message>
+  <source>Axis of rotor 5 thrust vector, Y body axis component</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR5_AY/longDesc</name>
+  <message>
+  <source>Only the direction is considered (the vector is normalized).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR5_AZ/shortDesc</name>
+  <message>
+  <source>Axis of rotor 5 thrust vector, Z body axis component</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR5_AZ/longDesc</name>
+  <message>
+  <source>Only the direction is considered (the vector is normalized).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR5_CT/shortDesc</name>
+  <message>
+  <source>Thrust coefficient of rotor 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR5_CT/longDesc</name>
+  <message>
+  <source>The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR5_KM/shortDesc</name>
+  <message>
+  <source>Moment coefficient of rotor 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR5_KM/longDesc</name>
+  <message>
+  <source>The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR5_PX/shortDesc</name>
+  <message>
+  <source>Position of rotor 5 along X body axis relative to center of gravity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR5_PY/shortDesc</name>
+  <message>
+  <source>Position of rotor 5 along Y body axis relative to center of gravity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR5_PZ/shortDesc</name>
+  <message>
+  <source>Position of rotor 5 along Z body axis relative to center of gravity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR5_TILT/shortDesc</name>
+  <message>
+  <source>Rotor 5 tilt assignment</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR5_TILT/longDesc</name>
+  <message>
+  <source>If not set to None, this motor is tilted by the configured tilt servo.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR5_TILT/values/0/description</name>
+  <message>
+  <source>None</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR5_TILT/values/1/description</name>
+  <message>
+  <source>Tilt 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR5_TILT/values/2/description</name>
+  <message>
+  <source>Tilt 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR5_TILT/values/3/description</name>
+  <message>
+  <source>Tilt 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR5_TILT/values/4/description</name>
+  <message>
+  <source>Tilt 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR6_AX/shortDesc</name>
+  <message>
+  <source>Axis of rotor 6 thrust vector, X body axis component</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR6_AX/longDesc</name>
+  <message>
+  <source>Only the direction is considered (the vector is normalized).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR6_AY/shortDesc</name>
+  <message>
+  <source>Axis of rotor 6 thrust vector, Y body axis component</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR6_AY/longDesc</name>
+  <message>
+  <source>Only the direction is considered (the vector is normalized).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR6_AZ/shortDesc</name>
+  <message>
+  <source>Axis of rotor 6 thrust vector, Z body axis component</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR6_AZ/longDesc</name>
+  <message>
+  <source>Only the direction is considered (the vector is normalized).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR6_CT/shortDesc</name>
+  <message>
+  <source>Thrust coefficient of rotor 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR6_CT/longDesc</name>
+  <message>
+  <source>The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR6_KM/shortDesc</name>
+  <message>
+  <source>Moment coefficient of rotor 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR6_KM/longDesc</name>
+  <message>
+  <source>The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR6_PX/shortDesc</name>
+  <message>
+  <source>Position of rotor 6 along X body axis relative to center of gravity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR6_PY/shortDesc</name>
+  <message>
+  <source>Position of rotor 6 along Y body axis relative to center of gravity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR6_PZ/shortDesc</name>
+  <message>
+  <source>Position of rotor 6 along Z body axis relative to center of gravity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR6_TILT/shortDesc</name>
+  <message>
+  <source>Rotor 6 tilt assignment</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR6_TILT/longDesc</name>
+  <message>
+  <source>If not set to None, this motor is tilted by the configured tilt servo.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR6_TILT/values/0/description</name>
+  <message>
+  <source>None</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR6_TILT/values/1/description</name>
+  <message>
+  <source>Tilt 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR6_TILT/values/2/description</name>
+  <message>
+  <source>Tilt 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR6_TILT/values/3/description</name>
+  <message>
+  <source>Tilt 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR6_TILT/values/4/description</name>
+  <message>
+  <source>Tilt 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR7_AX/shortDesc</name>
+  <message>
+  <source>Axis of rotor 7 thrust vector, X body axis component</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR7_AX/longDesc</name>
+  <message>
+  <source>Only the direction is considered (the vector is normalized).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR7_AY/shortDesc</name>
+  <message>
+  <source>Axis of rotor 7 thrust vector, Y body axis component</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR7_AY/longDesc</name>
+  <message>
+  <source>Only the direction is considered (the vector is normalized).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR7_AZ/shortDesc</name>
+  <message>
+  <source>Axis of rotor 7 thrust vector, Z body axis component</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR7_AZ/longDesc</name>
+  <message>
+  <source>Only the direction is considered (the vector is normalized).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR7_CT/shortDesc</name>
+  <message>
+  <source>Thrust coefficient of rotor 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR7_CT/longDesc</name>
+  <message>
+  <source>The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR7_KM/shortDesc</name>
+  <message>
+  <source>Moment coefficient of rotor 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR7_KM/longDesc</name>
+  <message>
+  <source>The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR7_PX/shortDesc</name>
+  <message>
+  <source>Position of rotor 7 along X body axis relative to center of gravity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR7_PY/shortDesc</name>
+  <message>
+  <source>Position of rotor 7 along Y body axis relative to center of gravity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR7_PZ/shortDesc</name>
+  <message>
+  <source>Position of rotor 7 along Z body axis relative to center of gravity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR7_TILT/shortDesc</name>
+  <message>
+  <source>Rotor 7 tilt assignment</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR7_TILT/longDesc</name>
+  <message>
+  <source>If not set to None, this motor is tilted by the configured tilt servo.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR7_TILT/values/0/description</name>
+  <message>
+  <source>None</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR7_TILT/values/1/description</name>
+  <message>
+  <source>Tilt 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR7_TILT/values/2/description</name>
+  <message>
+  <source>Tilt 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR7_TILT/values/3/description</name>
+  <message>
+  <source>Tilt 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR7_TILT/values/4/description</name>
+  <message>
+  <source>Tilt 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR8_AX/shortDesc</name>
+  <message>
+  <source>Axis of rotor 8 thrust vector, X body axis component</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR8_AX/longDesc</name>
+  <message>
+  <source>Only the direction is considered (the vector is normalized).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR8_AY/shortDesc</name>
+  <message>
+  <source>Axis of rotor 8 thrust vector, Y body axis component</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR8_AY/longDesc</name>
+  <message>
+  <source>Only the direction is considered (the vector is normalized).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR8_AZ/shortDesc</name>
+  <message>
+  <source>Axis of rotor 8 thrust vector, Z body axis component</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR8_AZ/longDesc</name>
+  <message>
+  <source>Only the direction is considered (the vector is normalized).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR8_CT/shortDesc</name>
+  <message>
+  <source>Thrust coefficient of rotor 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR8_CT/longDesc</name>
+  <message>
+  <source>The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR8_KM/shortDesc</name>
+  <message>
+  <source>Moment coefficient of rotor 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR8_KM/longDesc</name>
+  <message>
+  <source>The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR8_PX/shortDesc</name>
+  <message>
+  <source>Position of rotor 8 along X body axis relative to center of gravity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR8_PY/shortDesc</name>
+  <message>
+  <source>Position of rotor 8 along Y body axis relative to center of gravity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR8_PZ/shortDesc</name>
+  <message>
+  <source>Position of rotor 8 along Z body axis relative to center of gravity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR8_TILT/shortDesc</name>
+  <message>
+  <source>Rotor 8 tilt assignment</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR8_TILT/longDesc</name>
+  <message>
+  <source>If not set to None, this motor is tilted by the configured tilt servo.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR8_TILT/values/0/description</name>
+  <message>
+  <source>None</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR8_TILT/values/1/description</name>
+  <message>
+  <source>Tilt 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR8_TILT/values/2/description</name>
+  <message>
+  <source>Tilt 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR8_TILT/values/3/description</name>
+  <message>
+  <source>Tilt 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR8_TILT/values/4/description</name>
+  <message>
+  <source>Tilt 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR9_AX/shortDesc</name>
+  <message>
+  <source>Axis of rotor 9 thrust vector, X body axis component</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR9_AX/longDesc</name>
+  <message>
+  <source>Only the direction is considered (the vector is normalized).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR9_AY/shortDesc</name>
+  <message>
+  <source>Axis of rotor 9 thrust vector, Y body axis component</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR9_AY/longDesc</name>
+  <message>
+  <source>Only the direction is considered (the vector is normalized).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR9_AZ/shortDesc</name>
+  <message>
+  <source>Axis of rotor 9 thrust vector, Z body axis component</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR9_AZ/longDesc</name>
+  <message>
+  <source>Only the direction is considered (the vector is normalized).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR9_CT/shortDesc</name>
+  <message>
+  <source>Thrust coefficient of rotor 9</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR9_CT/longDesc</name>
+  <message>
+  <source>The thrust coefficient if defined as Thrust = CT * u^2, where u (with value between actuator minimum and maximum) is the output signal sent to the motor controller.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR9_KM/shortDesc</name>
+  <message>
+  <source>Moment coefficient of rotor 9</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR9_KM/longDesc</name>
+  <message>
+  <source>The moment coefficient if defined as Torque = KM * Thrust. Use a positive value for a rotor with CCW rotation. Use a negative value for a rotor with CW rotation.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR9_PX/shortDesc</name>
+  <message>
+  <source>Position of rotor 9 along X body axis relative to center of gravity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR9_PY/shortDesc</name>
+  <message>
+  <source>Position of rotor 9 along Y body axis relative to center of gravity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR9_PZ/shortDesc</name>
+  <message>
+  <source>Position of rotor 9 along Z body axis relative to center of gravity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR9_TILT/shortDesc</name>
+  <message>
+  <source>Rotor 9 tilt assignment</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR9_TILT/longDesc</name>
+  <message>
+  <source>If not set to None, this motor is tilted by the configured tilt servo.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR9_TILT/values/0/description</name>
+  <message>
+  <source>None</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR9_TILT/values/1/description</name>
+  <message>
+  <source>Tilt 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR9_TILT/values/2/description</name>
+  <message>
+  <source>Tilt 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR9_TILT/values/3/description</name>
+  <message>
+  <source>Tilt 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR9_TILT/values/4/description</name>
+  <message>
+  <source>Tilt 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR_COUNT/shortDesc</name>
+  <message>
+  <source>Total number of rotors</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR_COUNT/values/0/description</name>
+  <message>
+  <source>0</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR_COUNT/values/1/description</name>
+  <message>
+  <source>1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR_COUNT/values/2/description</name>
+  <message>
+  <source>2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR_COUNT/values/3/description</name>
+  <message>
+  <source>3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR_COUNT/values/4/description</name>
+  <message>
+  <source>4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR_COUNT/values/5/description</name>
+  <message>
+  <source>5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR_COUNT/values/6/description</name>
+  <message>
+  <source>6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR_COUNT/values/7/description</name>
+  <message>
+  <source>7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR_COUNT/values/8/description</name>
+  <message>
+  <source>8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR_COUNT/values/9/description</name>
+  <message>
+  <source>9</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR_COUNT/values/10/description</name>
+  <message>
+  <source>10</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR_COUNT/values/11/description</name>
+  <message>
+  <source>11</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_ROTOR_COUNT/values/12/description</name>
+  <message>
+  <source>12</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_R_REV/shortDesc</name>
+  <message>
+  <source>Bidirectional/Reversible motors</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_R_REV/longDesc</name>
+  <message>
+  <source>Configure motors to be bidirectional/reversible. Note that the output driver needs to support this as well.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_R_REV/bitmask/0/description</name>
+  <message>
+  <source>Motor 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_R_REV/bitmask/1/description</name>
+  <message>
+  <source>Motor 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_R_REV/bitmask/2/description</name>
+  <message>
+  <source>Motor 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_R_REV/bitmask/3/description</name>
+  <message>
+  <source>Motor 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_R_REV/bitmask/4/description</name>
+  <message>
+  <source>Motor 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_R_REV/bitmask/5/description</name>
+  <message>
+  <source>Motor 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_R_REV/bitmask/6/description</name>
+  <message>
+  <source>Motor 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_R_REV/bitmask/7/description</name>
+  <message>
+  <source>Motor 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_R_REV/bitmask/8/description</name>
+  <message>
+  <source>Motor 9</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_R_REV/bitmask/9/description</name>
+  <message>
+  <source>Motor 10</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_R_REV/bitmask/10/description</name>
+  <message>
+  <source>Motor 11</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_R_REV/bitmask/11/description</name>
+  <message>
+  <source>Motor 12</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SP0_ANG0/shortDesc</name>
+  <message>
+  <source>Angle for swash plate servo 0</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SP0_ANG0/longDesc</name>
+  <message>
+  <source>The angle is measured clockwise (as seen from top), with 0 pointing forwards (X axis).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SP0_ANG1/shortDesc</name>
+  <message>
+  <source>Angle for swash plate servo 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SP0_ANG1/longDesc</name>
+  <message>
+  <source>The angle is measured clockwise (as seen from top), with 0 pointing forwards (X axis).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SP0_ANG2/shortDesc</name>
+  <message>
+  <source>Angle for swash plate servo 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SP0_ANG2/longDesc</name>
+  <message>
+  <source>The angle is measured clockwise (as seen from top), with 0 pointing forwards (X axis).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SP0_ANG3/shortDesc</name>
+  <message>
+  <source>Angle for swash plate servo 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SP0_ANG3/longDesc</name>
+  <message>
+  <source>The angle is measured clockwise (as seen from top), with 0 pointing forwards (X axis).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SP0_ARM_L0/shortDesc</name>
+  <message>
+  <source>Arm length for swash plate servo 0</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SP0_ARM_L0/longDesc</name>
+  <message>
+  <source>This is relative to the other arm lengths.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SP0_ARM_L1/shortDesc</name>
+  <message>
+  <source>Arm length for swash plate servo 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SP0_ARM_L1/longDesc</name>
+  <message>
+  <source>This is relative to the other arm lengths.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SP0_ARM_L2/shortDesc</name>
+  <message>
+  <source>Arm length for swash plate servo 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SP0_ARM_L2/longDesc</name>
+  <message>
+  <source>This is relative to the other arm lengths.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SP0_ARM_L3/shortDesc</name>
+  <message>
+  <source>Arm length for swash plate servo 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SP0_ARM_L3/longDesc</name>
+  <message>
+  <source>This is relative to the other arm lengths.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SP0_COUNT/shortDesc</name>
+  <message>
+  <source>Number of swash plates servos</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SP0_COUNT/values/2/description</name>
+  <message>
+  <source>2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SP0_COUNT/values/3/description</name>
+  <message>
+  <source>3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SP0_COUNT/values/4/description</name>
+  <message>
+  <source>4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV0_SLEW/shortDesc</name>
+  <message>
+  <source>Servo 0 slew rate limit</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV0_SLEW/longDesc</name>
+  <message>
+  <source>Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV1_SLEW/shortDesc</name>
+  <message>
+  <source>Servo 1 slew rate limit</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV1_SLEW/longDesc</name>
+  <message>
+  <source>Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV2_SLEW/shortDesc</name>
+  <message>
+  <source>Servo 2 slew rate limit</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV2_SLEW/longDesc</name>
+  <message>
+  <source>Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV3_SLEW/shortDesc</name>
+  <message>
+  <source>Servo 3 slew rate limit</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV3_SLEW/longDesc</name>
+  <message>
+  <source>Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV4_SLEW/shortDesc</name>
+  <message>
+  <source>Servo 4 slew rate limit</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV4_SLEW/longDesc</name>
+  <message>
+  <source>Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV5_SLEW/shortDesc</name>
+  <message>
+  <source>Servo 5 slew rate limit</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV5_SLEW/longDesc</name>
+  <message>
+  <source>Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV6_SLEW/shortDesc</name>
+  <message>
+  <source>Servo 6 slew rate limit</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV6_SLEW/longDesc</name>
+  <message>
+  <source>Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV7_SLEW/shortDesc</name>
+  <message>
+  <source>Servo 7 slew rate limit</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV7_SLEW/longDesc</name>
+  <message>
+  <source>Minimum time allowed for the servo input signal to pass through the full output range. A value x means that the servo signal can only go from -1 to 1 in minimum x seconds. Zero means that slew rate limiting is disabled.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS0_FLAP/shortDesc</name>
+  <message>
+  <source>Control Surface 0 configuration as flap</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS0_SPOIL/shortDesc</name>
+  <message>
+  <source>Control Surface 0 configuration as spoiler</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS0_TRIM/shortDesc</name>
+  <message>
+  <source>Control Surface 0 trim</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS0_TRIM/longDesc</name>
+  <message>
+  <source>Can be used to add an offset to the servo control.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS0_TRQ_P/shortDesc</name>
+  <message>
+  <source>Control Surface 0 pitch torque scaling</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS0_TRQ_R/shortDesc</name>
+  <message>
+  <source>Control Surface 0 roll torque scaling</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS0_TRQ_Y/shortDesc</name>
+  <message>
+  <source>Control Surface 0 yaw torque scaling</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS0_TYPE/shortDesc</name>
+  <message>
+  <source>Control Surface 0 type</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS0_TYPE/values/0/description</name>
+  <message>
+  <source>(Not set)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS0_TYPE/values/1/description</name>
+  <message>
+  <source>Left Aileron</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS0_TYPE/values/2/description</name>
+  <message>
+  <source>Right Aileron</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS0_TYPE/values/3/description</name>
+  <message>
+  <source>Elevator</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS0_TYPE/values/4/description</name>
+  <message>
+  <source>Rudder</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS0_TYPE/values/5/description</name>
+  <message>
+  <source>Left Elevon</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS0_TYPE/values/6/description</name>
+  <message>
+  <source>Right Elevon</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS0_TYPE/values/7/description</name>
+  <message>
+  <source>Left V-Tail</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS0_TYPE/values/8/description</name>
+  <message>
+  <source>Right V-Tail</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS0_TYPE/values/9/description</name>
+  <message>
+  <source>Left Flap</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS0_TYPE/values/10/description</name>
+  <message>
+  <source>Right Flap</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS0_TYPE/values/11/description</name>
+  <message>
+  <source>Airbrake</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS0_TYPE/values/12/description</name>
+  <message>
+  <source>Custom</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS0_TYPE/values/13/description</name>
+  <message>
+  <source>Left A-tail</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS0_TYPE/values/14/description</name>
+  <message>
+  <source>Right A-tail</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS0_TYPE/values/15/description</name>
+  <message>
+  <source>Single Channel Aileron</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS0_TYPE/values/16/description</name>
+  <message>
+  <source>Steering Wheel</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS0_TYPE/values/17/description</name>
+  <message>
+  <source>Left Spoiler</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS0_TYPE/values/18/description</name>
+  <message>
+  <source>Right Spoiler</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS1_FLAP/shortDesc</name>
+  <message>
+  <source>Control Surface 1 configuration as flap</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS1_SPOIL/shortDesc</name>
+  <message>
+  <source>Control Surface 1 configuration as spoiler</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS1_TRIM/shortDesc</name>
+  <message>
+  <source>Control Surface 1 trim</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS1_TRIM/longDesc</name>
+  <message>
+  <source>Can be used to add an offset to the servo control.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS1_TRQ_P/shortDesc</name>
+  <message>
+  <source>Control Surface 1 pitch torque scaling</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS1_TRQ_R/shortDesc</name>
+  <message>
+  <source>Control Surface 1 roll torque scaling</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS1_TRQ_Y/shortDesc</name>
+  <message>
+  <source>Control Surface 1 yaw torque scaling</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS1_TYPE/shortDesc</name>
+  <message>
+  <source>Control Surface 1 type</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS1_TYPE/values/0/description</name>
+  <message>
+  <source>(Not set)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS1_TYPE/values/1/description</name>
+  <message>
+  <source>Left Aileron</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS1_TYPE/values/2/description</name>
+  <message>
+  <source>Right Aileron</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS1_TYPE/values/3/description</name>
+  <message>
+  <source>Elevator</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS1_TYPE/values/4/description</name>
+  <message>
+  <source>Rudder</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS1_TYPE/values/5/description</name>
+  <message>
+  <source>Left Elevon</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS1_TYPE/values/6/description</name>
+  <message>
+  <source>Right Elevon</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS1_TYPE/values/7/description</name>
+  <message>
+  <source>Left V-Tail</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS1_TYPE/values/8/description</name>
+  <message>
+  <source>Right V-Tail</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS1_TYPE/values/9/description</name>
+  <message>
+  <source>Left Flap</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS1_TYPE/values/10/description</name>
+  <message>
+  <source>Right Flap</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS1_TYPE/values/11/description</name>
+  <message>
+  <source>Airbrake</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS1_TYPE/values/12/description</name>
+  <message>
+  <source>Custom</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS1_TYPE/values/13/description</name>
+  <message>
+  <source>Left A-tail</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS1_TYPE/values/14/description</name>
+  <message>
+  <source>Right A-tail</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS1_TYPE/values/15/description</name>
+  <message>
+  <source>Single Channel Aileron</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS1_TYPE/values/16/description</name>
+  <message>
+  <source>Steering Wheel</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS1_TYPE/values/17/description</name>
+  <message>
+  <source>Left Spoiler</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS1_TYPE/values/18/description</name>
+  <message>
+  <source>Right Spoiler</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS2_FLAP/shortDesc</name>
+  <message>
+  <source>Control Surface 2 configuration as flap</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS2_SPOIL/shortDesc</name>
+  <message>
+  <source>Control Surface 2 configuration as spoiler</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS2_TRIM/shortDesc</name>
+  <message>
+  <source>Control Surface 2 trim</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS2_TRIM/longDesc</name>
+  <message>
+  <source>Can be used to add an offset to the servo control.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS2_TRQ_P/shortDesc</name>
+  <message>
+  <source>Control Surface 2 pitch torque scaling</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS2_TRQ_R/shortDesc</name>
+  <message>
+  <source>Control Surface 2 roll torque scaling</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS2_TRQ_Y/shortDesc</name>
+  <message>
+  <source>Control Surface 2 yaw torque scaling</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS2_TYPE/shortDesc</name>
+  <message>
+  <source>Control Surface 2 type</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS2_TYPE/values/0/description</name>
+  <message>
+  <source>(Not set)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS2_TYPE/values/1/description</name>
+  <message>
+  <source>Left Aileron</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS2_TYPE/values/2/description</name>
+  <message>
+  <source>Right Aileron</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS2_TYPE/values/3/description</name>
+  <message>
+  <source>Elevator</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS2_TYPE/values/4/description</name>
+  <message>
+  <source>Rudder</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS2_TYPE/values/5/description</name>
+  <message>
+  <source>Left Elevon</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS2_TYPE/values/6/description</name>
+  <message>
+  <source>Right Elevon</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS2_TYPE/values/7/description</name>
+  <message>
+  <source>Left V-Tail</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS2_TYPE/values/8/description</name>
+  <message>
+  <source>Right V-Tail</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS2_TYPE/values/9/description</name>
+  <message>
+  <source>Left Flap</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS2_TYPE/values/10/description</name>
+  <message>
+  <source>Right Flap</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS2_TYPE/values/11/description</name>
+  <message>
+  <source>Airbrake</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS2_TYPE/values/12/description</name>
+  <message>
+  <source>Custom</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS2_TYPE/values/13/description</name>
+  <message>
+  <source>Left A-tail</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS2_TYPE/values/14/description</name>
+  <message>
+  <source>Right A-tail</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS2_TYPE/values/15/description</name>
+  <message>
+  <source>Single Channel Aileron</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS2_TYPE/values/16/description</name>
+  <message>
+  <source>Steering Wheel</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS2_TYPE/values/17/description</name>
+  <message>
+  <source>Left Spoiler</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS2_TYPE/values/18/description</name>
+  <message>
+  <source>Right Spoiler</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS3_FLAP/shortDesc</name>
+  <message>
+  <source>Control Surface 3 configuration as flap</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS3_SPOIL/shortDesc</name>
+  <message>
+  <source>Control Surface 3 configuration as spoiler</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS3_TRIM/shortDesc</name>
+  <message>
+  <source>Control Surface 3 trim</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS3_TRIM/longDesc</name>
+  <message>
+  <source>Can be used to add an offset to the servo control.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS3_TRQ_P/shortDesc</name>
+  <message>
+  <source>Control Surface 3 pitch torque scaling</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS3_TRQ_R/shortDesc</name>
+  <message>
+  <source>Control Surface 3 roll torque scaling</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS3_TRQ_Y/shortDesc</name>
+  <message>
+  <source>Control Surface 3 yaw torque scaling</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS3_TYPE/shortDesc</name>
+  <message>
+  <source>Control Surface 3 type</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS3_TYPE/values/0/description</name>
+  <message>
+  <source>(Not set)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS3_TYPE/values/1/description</name>
+  <message>
+  <source>Left Aileron</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS3_TYPE/values/2/description</name>
+  <message>
+  <source>Right Aileron</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS3_TYPE/values/3/description</name>
+  <message>
+  <source>Elevator</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS3_TYPE/values/4/description</name>
+  <message>
+  <source>Rudder</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS3_TYPE/values/5/description</name>
+  <message>
+  <source>Left Elevon</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS3_TYPE/values/6/description</name>
+  <message>
+  <source>Right Elevon</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS3_TYPE/values/7/description</name>
+  <message>
+  <source>Left V-Tail</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS3_TYPE/values/8/description</name>
+  <message>
+  <source>Right V-Tail</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS3_TYPE/values/9/description</name>
+  <message>
+  <source>Left Flap</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS3_TYPE/values/10/description</name>
+  <message>
+  <source>Right Flap</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS3_TYPE/values/11/description</name>
+  <message>
+  <source>Airbrake</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS3_TYPE/values/12/description</name>
+  <message>
+  <source>Custom</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS3_TYPE/values/13/description</name>
+  <message>
+  <source>Left A-tail</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS3_TYPE/values/14/description</name>
+  <message>
+  <source>Right A-tail</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS3_TYPE/values/15/description</name>
+  <message>
+  <source>Single Channel Aileron</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS3_TYPE/values/16/description</name>
+  <message>
+  <source>Steering Wheel</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS3_TYPE/values/17/description</name>
+  <message>
+  <source>Left Spoiler</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS3_TYPE/values/18/description</name>
+  <message>
+  <source>Right Spoiler</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS4_FLAP/shortDesc</name>
+  <message>
+  <source>Control Surface 4 configuration as flap</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS4_SPOIL/shortDesc</name>
+  <message>
+  <source>Control Surface 4 configuration as spoiler</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS4_TRIM/shortDesc</name>
+  <message>
+  <source>Control Surface 4 trim</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS4_TRIM/longDesc</name>
+  <message>
+  <source>Can be used to add an offset to the servo control.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS4_TRQ_P/shortDesc</name>
+  <message>
+  <source>Control Surface 4 pitch torque scaling</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS4_TRQ_R/shortDesc</name>
+  <message>
+  <source>Control Surface 4 roll torque scaling</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS4_TRQ_Y/shortDesc</name>
+  <message>
+  <source>Control Surface 4 yaw torque scaling</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS4_TYPE/shortDesc</name>
+  <message>
+  <source>Control Surface 4 type</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS4_TYPE/values/0/description</name>
+  <message>
+  <source>(Not set)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS4_TYPE/values/1/description</name>
+  <message>
+  <source>Left Aileron</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS4_TYPE/values/2/description</name>
+  <message>
+  <source>Right Aileron</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS4_TYPE/values/3/description</name>
+  <message>
+  <source>Elevator</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS4_TYPE/values/4/description</name>
+  <message>
+  <source>Rudder</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS4_TYPE/values/5/description</name>
+  <message>
+  <source>Left Elevon</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS4_TYPE/values/6/description</name>
+  <message>
+  <source>Right Elevon</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS4_TYPE/values/7/description</name>
+  <message>
+  <source>Left V-Tail</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS4_TYPE/values/8/description</name>
+  <message>
+  <source>Right V-Tail</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS4_TYPE/values/9/description</name>
+  <message>
+  <source>Left Flap</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS4_TYPE/values/10/description</name>
+  <message>
+  <source>Right Flap</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS4_TYPE/values/11/description</name>
+  <message>
+  <source>Airbrake</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS4_TYPE/values/12/description</name>
+  <message>
+  <source>Custom</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS4_TYPE/values/13/description</name>
+  <message>
+  <source>Left A-tail</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS4_TYPE/values/14/description</name>
+  <message>
+  <source>Right A-tail</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS4_TYPE/values/15/description</name>
+  <message>
+  <source>Single Channel Aileron</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS4_TYPE/values/16/description</name>
+  <message>
+  <source>Steering Wheel</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS4_TYPE/values/17/description</name>
+  <message>
+  <source>Left Spoiler</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS4_TYPE/values/18/description</name>
+  <message>
+  <source>Right Spoiler</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS5_FLAP/shortDesc</name>
+  <message>
+  <source>Control Surface 5 configuration as flap</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS5_SPOIL/shortDesc</name>
+  <message>
+  <source>Control Surface 5 configuration as spoiler</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS5_TRIM/shortDesc</name>
+  <message>
+  <source>Control Surface 5 trim</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS5_TRIM/longDesc</name>
+  <message>
+  <source>Can be used to add an offset to the servo control.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS5_TRQ_P/shortDesc</name>
+  <message>
+  <source>Control Surface 5 pitch torque scaling</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS5_TRQ_R/shortDesc</name>
+  <message>
+  <source>Control Surface 5 roll torque scaling</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS5_TRQ_Y/shortDesc</name>
+  <message>
+  <source>Control Surface 5 yaw torque scaling</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS5_TYPE/shortDesc</name>
+  <message>
+  <source>Control Surface 5 type</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS5_TYPE/values/0/description</name>
+  <message>
+  <source>(Not set)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS5_TYPE/values/1/description</name>
+  <message>
+  <source>Left Aileron</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS5_TYPE/values/2/description</name>
+  <message>
+  <source>Right Aileron</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS5_TYPE/values/3/description</name>
+  <message>
+  <source>Elevator</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS5_TYPE/values/4/description</name>
+  <message>
+  <source>Rudder</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS5_TYPE/values/5/description</name>
+  <message>
+  <source>Left Elevon</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS5_TYPE/values/6/description</name>
+  <message>
+  <source>Right Elevon</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS5_TYPE/values/7/description</name>
+  <message>
+  <source>Left V-Tail</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS5_TYPE/values/8/description</name>
+  <message>
+  <source>Right V-Tail</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS5_TYPE/values/9/description</name>
+  <message>
+  <source>Left Flap</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS5_TYPE/values/10/description</name>
+  <message>
+  <source>Right Flap</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS5_TYPE/values/11/description</name>
+  <message>
+  <source>Airbrake</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS5_TYPE/values/12/description</name>
+  <message>
+  <source>Custom</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS5_TYPE/values/13/description</name>
+  <message>
+  <source>Left A-tail</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS5_TYPE/values/14/description</name>
+  <message>
+  <source>Right A-tail</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS5_TYPE/values/15/description</name>
+  <message>
+  <source>Single Channel Aileron</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS5_TYPE/values/16/description</name>
+  <message>
+  <source>Steering Wheel</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS5_TYPE/values/17/description</name>
+  <message>
+  <source>Left Spoiler</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS5_TYPE/values/18/description</name>
+  <message>
+  <source>Right Spoiler</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS6_FLAP/shortDesc</name>
+  <message>
+  <source>Control Surface 6 configuration as flap</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS6_SPOIL/shortDesc</name>
+  <message>
+  <source>Control Surface 6 configuration as spoiler</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS6_TRIM/shortDesc</name>
+  <message>
+  <source>Control Surface 6 trim</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS6_TRIM/longDesc</name>
+  <message>
+  <source>Can be used to add an offset to the servo control.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS6_TRQ_P/shortDesc</name>
+  <message>
+  <source>Control Surface 6 pitch torque scaling</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS6_TRQ_R/shortDesc</name>
+  <message>
+  <source>Control Surface 6 roll torque scaling</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS6_TRQ_Y/shortDesc</name>
+  <message>
+  <source>Control Surface 6 yaw torque scaling</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS6_TYPE/shortDesc</name>
+  <message>
+  <source>Control Surface 6 type</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS6_TYPE/values/0/description</name>
+  <message>
+  <source>(Not set)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS6_TYPE/values/1/description</name>
+  <message>
+  <source>Left Aileron</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS6_TYPE/values/2/description</name>
+  <message>
+  <source>Right Aileron</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS6_TYPE/values/3/description</name>
+  <message>
+  <source>Elevator</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS6_TYPE/values/4/description</name>
+  <message>
+  <source>Rudder</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS6_TYPE/values/5/description</name>
+  <message>
+  <source>Left Elevon</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS6_TYPE/values/6/description</name>
+  <message>
+  <source>Right Elevon</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS6_TYPE/values/7/description</name>
+  <message>
+  <source>Left V-Tail</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS6_TYPE/values/8/description</name>
+  <message>
+  <source>Right V-Tail</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS6_TYPE/values/9/description</name>
+  <message>
+  <source>Left Flap</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS6_TYPE/values/10/description</name>
+  <message>
+  <source>Right Flap</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS6_TYPE/values/11/description</name>
+  <message>
+  <source>Airbrake</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS6_TYPE/values/12/description</name>
+  <message>
+  <source>Custom</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS6_TYPE/values/13/description</name>
+  <message>
+  <source>Left A-tail</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS6_TYPE/values/14/description</name>
+  <message>
+  <source>Right A-tail</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS6_TYPE/values/15/description</name>
+  <message>
+  <source>Single Channel Aileron</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS6_TYPE/values/16/description</name>
+  <message>
+  <source>Steering Wheel</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS6_TYPE/values/17/description</name>
+  <message>
+  <source>Left Spoiler</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS6_TYPE/values/18/description</name>
+  <message>
+  <source>Right Spoiler</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS7_FLAP/shortDesc</name>
+  <message>
+  <source>Control Surface 7 configuration as flap</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS7_SPOIL/shortDesc</name>
+  <message>
+  <source>Control Surface 7 configuration as spoiler</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS7_TRIM/shortDesc</name>
+  <message>
+  <source>Control Surface 7 trim</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS7_TRIM/longDesc</name>
+  <message>
+  <source>Can be used to add an offset to the servo control.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS7_TRQ_P/shortDesc</name>
+  <message>
+  <source>Control Surface 7 pitch torque scaling</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS7_TRQ_R/shortDesc</name>
+  <message>
+  <source>Control Surface 7 roll torque scaling</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS7_TRQ_Y/shortDesc</name>
+  <message>
+  <source>Control Surface 7 yaw torque scaling</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS7_TYPE/shortDesc</name>
+  <message>
+  <source>Control Surface 7 type</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS7_TYPE/values/0/description</name>
+  <message>
+  <source>(Not set)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS7_TYPE/values/1/description</name>
+  <message>
+  <source>Left Aileron</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS7_TYPE/values/2/description</name>
+  <message>
+  <source>Right Aileron</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS7_TYPE/values/3/description</name>
+  <message>
+  <source>Elevator</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS7_TYPE/values/4/description</name>
+  <message>
+  <source>Rudder</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS7_TYPE/values/5/description</name>
+  <message>
+  <source>Left Elevon</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS7_TYPE/values/6/description</name>
+  <message>
+  <source>Right Elevon</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS7_TYPE/values/7/description</name>
+  <message>
+  <source>Left V-Tail</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS7_TYPE/values/8/description</name>
+  <message>
+  <source>Right V-Tail</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS7_TYPE/values/9/description</name>
+  <message>
+  <source>Left Flap</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS7_TYPE/values/10/description</name>
+  <message>
+  <source>Right Flap</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS7_TYPE/values/11/description</name>
+  <message>
+  <source>Airbrake</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS7_TYPE/values/12/description</name>
+  <message>
+  <source>Custom</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS7_TYPE/values/13/description</name>
+  <message>
+  <source>Left A-tail</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS7_TYPE/values/14/description</name>
+  <message>
+  <source>Right A-tail</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS7_TYPE/values/15/description</name>
+  <message>
+  <source>Single Channel Aileron</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS7_TYPE/values/16/description</name>
+  <message>
+  <source>Steering Wheel</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS7_TYPE/values/17/description</name>
+  <message>
+  <source>Left Spoiler</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS7_TYPE/values/18/description</name>
+  <message>
+  <source>Right Spoiler</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS_COUNT/shortDesc</name>
+  <message>
+  <source>Total number of Control Surfaces</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS_COUNT/values/0/description</name>
+  <message>
+  <source>0</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS_COUNT/values/1/description</name>
+  <message>
+  <source>1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS_COUNT/values/2/description</name>
+  <message>
+  <source>2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS_COUNT/values/3/description</name>
+  <message>
+  <source>3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS_COUNT/values/4/description</name>
+  <message>
+  <source>4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS_COUNT/values/5/description</name>
+  <message>
+  <source>5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS_COUNT/values/6/description</name>
+  <message>
+  <source>6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS_COUNT/values/7/description</name>
+  <message>
+  <source>7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_CS_COUNT/values/8/description</name>
+  <message>
+  <source>8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL0_CT/shortDesc</name>
+  <message>
+  <source>Tilt 0 is used for control</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL0_CT/longDesc</name>
+  <message>
+  <source>Define if this servo is used for additional control.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL0_CT/values/0/description</name>
+  <message>
+  <source>None</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL0_CT/values/1/description</name>
+  <message>
+  <source>Yaw</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL0_CT/values/2/description</name>
+  <message>
+  <source>Pitch</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL0_CT/values/3/description</name>
+  <message>
+  <source>Yaw and Pitch</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL0_MAXA/shortDesc</name>
+  <message>
+  <source>Tilt Servo 0 Tilt Angle at Maximum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL0_MAXA/longDesc</name>
+  <message>
+  <source>Defines the tilt angle when the servo is at the maximum. An angle of zero means upwards.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL0_MINA/shortDesc</name>
+  <message>
+  <source>Tilt Servo 0 Tilt Angle at Minimum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL0_MINA/longDesc</name>
+  <message>
+  <source>Defines the tilt angle when the servo is at the minimum. An angle of zero means upwards.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL0_TD/shortDesc</name>
+  <message>
+  <source>Tilt Servo 0 Tilt Direction</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL0_TD/longDesc</name>
+  <message>
+  <source>Defines the direction the servo tilts towards when moving towards the maximum tilt angle. For example if the minimum tilt angle is -90, the maximum 90, and the direction 'Towards Front', the motor axis aligns with the XZ-plane, points towards -X at the minimum and +X at the maximum tilt.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL0_TD/values/0/description</name>
+  <message>
+  <source>Towards Front</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL0_TD/values/90/description</name>
+  <message>
+  <source>Towards Right</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL1_CT/shortDesc</name>
+  <message>
+  <source>Tilt 1 is used for control</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL1_CT/longDesc</name>
+  <message>
+  <source>Define if this servo is used for additional control.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL1_CT/values/0/description</name>
+  <message>
+  <source>None</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL1_CT/values/1/description</name>
+  <message>
+  <source>Yaw</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL1_CT/values/2/description</name>
+  <message>
+  <source>Pitch</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL1_CT/values/3/description</name>
+  <message>
+  <source>Yaw and Pitch</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL1_MAXA/shortDesc</name>
+  <message>
+  <source>Tilt Servo 1 Tilt Angle at Maximum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL1_MAXA/longDesc</name>
+  <message>
+  <source>Defines the tilt angle when the servo is at the maximum. An angle of zero means upwards.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL1_MINA/shortDesc</name>
+  <message>
+  <source>Tilt Servo 1 Tilt Angle at Minimum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL1_MINA/longDesc</name>
+  <message>
+  <source>Defines the tilt angle when the servo is at the minimum. An angle of zero means upwards.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL1_TD/shortDesc</name>
+  <message>
+  <source>Tilt Servo 1 Tilt Direction</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL1_TD/longDesc</name>
+  <message>
+  <source>Defines the direction the servo tilts towards when moving towards the maximum tilt angle. For example if the minimum tilt angle is -90, the maximum 90, and the direction 'Towards Front', the motor axis aligns with the XZ-plane, points towards -X at the minimum and +X at the maximum tilt.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL1_TD/values/0/description</name>
+  <message>
+  <source>Towards Front</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL1_TD/values/90/description</name>
+  <message>
+  <source>Towards Right</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL2_CT/shortDesc</name>
+  <message>
+  <source>Tilt 2 is used for control</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL2_CT/longDesc</name>
+  <message>
+  <source>Define if this servo is used for additional control.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL2_CT/values/0/description</name>
+  <message>
+  <source>None</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL2_CT/values/1/description</name>
+  <message>
+  <source>Yaw</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL2_CT/values/2/description</name>
+  <message>
+  <source>Pitch</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL2_CT/values/3/description</name>
+  <message>
+  <source>Yaw and Pitch</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL2_MAXA/shortDesc</name>
+  <message>
+  <source>Tilt Servo 2 Tilt Angle at Maximum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL2_MAXA/longDesc</name>
+  <message>
+  <source>Defines the tilt angle when the servo is at the maximum. An angle of zero means upwards.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL2_MINA/shortDesc</name>
+  <message>
+  <source>Tilt Servo 2 Tilt Angle at Minimum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL2_MINA/longDesc</name>
+  <message>
+  <source>Defines the tilt angle when the servo is at the minimum. An angle of zero means upwards.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL2_TD/shortDesc</name>
+  <message>
+  <source>Tilt Servo 2 Tilt Direction</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL2_TD/longDesc</name>
+  <message>
+  <source>Defines the direction the servo tilts towards when moving towards the maximum tilt angle. For example if the minimum tilt angle is -90, the maximum 90, and the direction 'Towards Front', the motor axis aligns with the XZ-plane, points towards -X at the minimum and +X at the maximum tilt.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL2_TD/values/0/description</name>
+  <message>
+  <source>Towards Front</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL2_TD/values/90/description</name>
+  <message>
+  <source>Towards Right</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL3_CT/shortDesc</name>
+  <message>
+  <source>Tilt 3 is used for control</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL3_CT/longDesc</name>
+  <message>
+  <source>Define if this servo is used for additional control.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL3_CT/values/0/description</name>
+  <message>
+  <source>None</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL3_CT/values/1/description</name>
+  <message>
+  <source>Yaw</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL3_CT/values/2/description</name>
+  <message>
+  <source>Pitch</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL3_CT/values/3/description</name>
+  <message>
+  <source>Yaw and Pitch</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL3_MAXA/shortDesc</name>
+  <message>
+  <source>Tilt Servo 3 Tilt Angle at Maximum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL3_MAXA/longDesc</name>
+  <message>
+  <source>Defines the tilt angle when the servo is at the maximum. An angle of zero means upwards.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL3_MINA/shortDesc</name>
+  <message>
+  <source>Tilt Servo 3 Tilt Angle at Minimum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL3_MINA/longDesc</name>
+  <message>
+  <source>Defines the tilt angle when the servo is at the minimum. An angle of zero means upwards.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL3_TD/shortDesc</name>
+  <message>
+  <source>Tilt Servo 3 Tilt Direction</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL3_TD/longDesc</name>
+  <message>
+  <source>Defines the direction the servo tilts towards when moving towards the maximum tilt angle. For example if the minimum tilt angle is -90, the maximum 90, and the direction 'Towards Front', the motor axis aligns with the XZ-plane, points towards -X at the minimum and +X at the maximum tilt.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL3_TD/values/0/description</name>
+  <message>
+  <source>Towards Front</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL3_TD/values/90/description</name>
+  <message>
+  <source>Towards Right</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL_COUNT/shortDesc</name>
+  <message>
+  <source>Total number of Tilt Servos</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL_COUNT/values/0/description</name>
+  <message>
+  <source>0</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL_COUNT/values/1/description</name>
+  <message>
+  <source>1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL_COUNT/values/2/description</name>
+  <message>
+  <source>2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL_COUNT/values/3/description</name>
+  <message>
+  <source>3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CA_SV_TL_COUNT/values/4/description</name>
+  <message>
+  <source>4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/HTE_ACC_GATE/shortDesc</name>
+  <message>
+  <source>Gate size for acceleration fusion</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/HTE_ACC_GATE/longDesc</name>
+  <message>
+  <source>Sets the number of standard deviations used by the innovation consistency test.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/HTE_HT_ERR_INIT/shortDesc</name>
+  <message>
+  <source>1-sigma initial hover thrust uncertainty</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/HTE_HT_ERR_INIT/longDesc</name>
+  <message>
+  <source>Sets the number of standard deviations used by the innovation consistency test.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/HTE_HT_NOISE/shortDesc</name>
+  <message>
+  <source>Hover thrust process noise</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/HTE_HT_NOISE/longDesc</name>
+  <message>
+  <source>Reduce to make the hover thrust estimate more stable, increase if the real hover thrust is expected to change quickly over time.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/HTE_THR_RANGE/shortDesc</name>
+  <message>
+  <source>Max deviation from MPC_THR_HOVER</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/HTE_THR_RANGE/longDesc</name>
+  <message>
+  <source>Defines the range of the hover thrust estimate around MPC_THR_HOVER. A value of 0.2 with MPC_THR_HOVER at 0.5 results in a range of [0.3, 0.7]. Set to a large value if the vehicle operates in varying physical conditions that affect the required hover thrust strongly (e.g. differently sized payloads).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/HTE_VXY_THR/shortDesc</name>
+  <message>
+  <source>Horizontal velocity threshold for sensitivity reduction</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/HTE_VXY_THR/longDesc</name>
+  <message>
+  <source>Above this speed, the measurement noise is linearly increased to reduce the sensitivity of the estimator from biased measurement. Set to a low value on vehicles with large lifting surfaces.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/HTE_VZ_THR/shortDesc</name>
+  <message>
+  <source>Vertical velocity threshold for sensitivity reduction</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/HTE_VZ_THR/longDesc</name>
+  <message>
+  <source>Above this speed, the measurement noise is linearly increased to reduce the sensitivity of the estimator from biased measurement. Set to a low value on vehicles affected by air drag when climbing or descending.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ISBD_CONFIG/shortDesc</name>
+  <message>
+  <source>Serial Configuration for Iridium (with MAVLink)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ISBD_CONFIG/longDesc</name>
+  <message>
+  <source>Configure on which serial port to run Iridium (with MAVLink).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ISBD_CONFIG/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ISBD_CONFIG/values/6/description</name>
+  <message>
+  <source>UART 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ISBD_CONFIG/values/101/description</name>
+  <message>
+  <source>TELEM 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ISBD_CONFIG/values/102/description</name>
+  <message>
+  <source>TELEM 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ISBD_CONFIG/values/103/description</name>
+  <message>
+  <source>TELEM 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ISBD_CONFIG/values/104/description</name>
+  <message>
+  <source>TELEM/SERIAL 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ISBD_CONFIG/values/201/description</name>
+  <message>
+  <source>GPS 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ISBD_CONFIG/values/202/description</name>
+  <message>
+  <source>GPS 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ISBD_CONFIG/values/203/description</name>
+  <message>
+  <source>GPS 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ISBD_CONFIG/values/300/description</name>
+  <message>
+  <source>Radio Controller</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ISBD_CONFIG/values/301/description</name>
+  <message>
+  <source>Wifi Port</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ISBD_CONFIG/values/401/description</name>
+  <message>
+  <source>EXT2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ISBD_READ_INT/shortDesc</name>
+  <message>
+  <source>Satellite radio read interval. Only required to be nonzero if data is not sent using a ring call</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ISBD_SBD_TIMEOUT/shortDesc</name>
+  <message>
+  <source>Iridium SBD session timeout</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ISBD_STACK_TIME/shortDesc</name>
+  <message>
+  <source>Time the Iridium driver will wait for additional mavlink messages to combine them into one SBD message</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ISBD_STACK_TIME/longDesc</name>
+  <message>
+  <source>Value 0 turns the functionality off</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LNDFW_AIRSPD_MAX/shortDesc</name>
+  <message>
+  <source>Fixed-wing land detector: Max airspeed</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LNDFW_AIRSPD_MAX/longDesc</name>
+  <message>
+  <source>Maximum airspeed allowed in the landed state</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LNDFW_TRIG_TIME/shortDesc</name>
+  <message>
+  <source>Fixed-wing land detection trigger time</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LNDFW_TRIG_TIME/longDesc</name>
+  <message>
+  <source>Time the land conditions (speeds and acceleration) have to be satisfied to detect a landing.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LNDFW_VEL_XY_MAX/shortDesc</name>
+  <message>
+  <source>Fixed-wing land detector: Max horizontal velocity threshold</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LNDFW_VEL_XY_MAX/longDesc</name>
+  <message>
+  <source>Maximum horizontal velocity allowed in the landed state. A factor of 0.7 is applied in case of airspeed-less flying (either because no sensor is present or sensor data got invalid in flight).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LNDFW_VEL_Z_MAX/shortDesc</name>
+  <message>
+  <source>Fixed-wing land detector: Max vertiacal velocity threshold</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LNDFW_VEL_Z_MAX/longDesc</name>
+  <message>
+  <source>Maximum vertical velocity allowed in the landed state.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LNDFW_XYACC_MAX/shortDesc</name>
+  <message>
+  <source>Fixed-wing land detector: Max horizontal acceleration</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LNDFW_XYACC_MAX/longDesc</name>
+  <message>
+  <source>Maximum horizontal (x,y body axes) acceleration allowed in the landed state</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LNDMC_ALT_GND/shortDesc</name>
+  <message>
+  <source>Ground effect altitude for multicopters</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LNDMC_ALT_GND/longDesc</name>
+  <message>
+  <source>The height above ground below which ground effect creates barometric altitude errors. A negative value indicates no ground effect.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LNDMC_ROT_MAX/shortDesc</name>
+  <message>
+  <source>Multicopter max rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LNDMC_ROT_MAX/longDesc</name>
+  <message>
+  <source>Maximum allowed angular velocity around each axis allowed in the landed state.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LNDMC_TRIG_TIME/shortDesc</name>
+  <message>
+  <source>Multicopter land detection trigger time</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LNDMC_TRIG_TIME/longDesc</name>
+  <message>
+  <source>Total time it takes to go through all three land detection stages: ground contact, maybe landed, landed when all necessary conditions are constantly met.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LNDMC_XY_VEL_MAX/shortDesc</name>
+  <message>
+  <source>Multicopter max horizontal velocity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LNDMC_XY_VEL_MAX/longDesc</name>
+  <message>
+  <source>Maximum horizontal velocity allowed in the landed state</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LNDMC_Z_VEL_MAX/shortDesc</name>
+  <message>
+  <source>Multicopter vertical velocity threshold</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LNDMC_Z_VEL_MAX/longDesc</name>
+  <message>
+  <source>Vertical velocity threshold to detect landing. Has to be set lower than the expected minimal speed for landing, which is either MPC_LAND_SPEED or MPC_LAND_CRWL. This is enforced by an automatic check.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LND_FLIGHT_T_HI/shortDesc</name>
+  <message>
+  <source>Total flight time in microseconds</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LND_FLIGHT_T_HI/longDesc</name>
+  <message>
+  <source>Total flight time of this autopilot. Higher 32 bits of the value. Flight time in microseconds = (LND_FLIGHT_T_HI &lt;&lt; 32) | LND_FLIGHT_T_LO.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LND_FLIGHT_T_LO/shortDesc</name>
+  <message>
+  <source>Total flight time in microseconds</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LND_FLIGHT_T_LO/longDesc</name>
+  <message>
+  <source>Total flight time of this autopilot. Lower 32 bits of the value. Flight time in microseconds = (LND_FLIGHT_T_HI &lt;&lt; 32) | LND_FLIGHT_T_LO.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LTEST_ACC_UNC/shortDesc</name>
+  <message>
+  <source>Acceleration uncertainty</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LTEST_ACC_UNC/longDesc</name>
+  <message>
+  <source>Variance of acceleration measurement used for landing target position prediction. Higher values results in tighter following of the measurements and more lenient outlier rejection</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LTEST_MEAS_UNC/shortDesc</name>
+  <message>
+  <source>Landing target measurement uncertainty</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LTEST_MEAS_UNC/longDesc</name>
+  <message>
+  <source>Variance of the landing target measurement from the driver. Higher values result in less aggressive following of the measurement and a smoother output as well as fewer rejected measurements.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LTEST_MODE/shortDesc</name>
+  <message>
+  <source>Landing target mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LTEST_MODE/longDesc</name>
+  <message>
+  <source>Configure the mode of the landing target. Depending on the mode, the landing target observations are used differently to aid position estimation. Mode Moving:     The landing target may be moving around while in the field of view of the vehicle. Landing target measurements are not used to aid positioning. Mode Stationary: The landing target is stationary. Measured velocity w.r.t. the landing target is used to aid velocity estimation.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LTEST_MODE/values/0/description</name>
+  <message>
+  <source>Moving</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LTEST_MODE/values/1/description</name>
+  <message>
+  <source>Stationary</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LTEST_POS_UNC_IN/shortDesc</name>
+  <message>
+  <source>Initial landing target position uncertainty</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LTEST_POS_UNC_IN/longDesc</name>
+  <message>
+  <source>Initial variance of the relative landing target position in x and y direction</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LTEST_SCALE_X/shortDesc</name>
+  <message>
+  <source>Scale factor for sensor measurements in sensor x axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LTEST_SCALE_X/longDesc</name>
+  <message>
+  <source>Landing target x measurements are scaled by this factor before being used</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LTEST_SCALE_Y/shortDesc</name>
+  <message>
+  <source>Scale factor for sensor measurements in sensor y axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LTEST_SCALE_Y/longDesc</name>
+  <message>
+  <source>Landing target y measurements are scaled by this factor before being used</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LTEST_SENS_POS_X/shortDesc</name>
+  <message>
+  <source>X Position of IRLOCK in body frame (forward)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LTEST_SENS_POS_Y/shortDesc</name>
+  <message>
+  <source>Y Position of IRLOCK in body frame (right)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LTEST_SENS_POS_Z/shortDesc</name>
+  <message>
+  <source>Z Position of IRLOCK in body frame (downward)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LTEST_SENS_ROT/shortDesc</name>
+  <message>
+  <source>Rotation of IRLOCK sensor relative to airframe</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LTEST_SENS_ROT/longDesc</name>
+  <message>
+  <source>Default orientation of Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LTEST_SENS_ROT/values/0/description</name>
+  <message>
+  <source>No rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LTEST_SENS_ROT/values/1/description</name>
+  <message>
+  <source>Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LTEST_SENS_ROT/values/2/description</name>
+  <message>
+  <source>Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LTEST_SENS_ROT/values/3/description</name>
+  <message>
+  <source>Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LTEST_SENS_ROT/values/4/description</name>
+  <message>
+  <source>Yaw 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LTEST_SENS_ROT/values/5/description</name>
+  <message>
+  <source>Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LTEST_SENS_ROT/values/6/description</name>
+  <message>
+  <source>Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LTEST_SENS_ROT/values/7/description</name>
+  <message>
+  <source>Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LTEST_VEL_UNC_IN/shortDesc</name>
+  <message>
+  <source>Initial landing target velocity uncertainty</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LTEST_VEL_UNC_IN/longDesc</name>
+  <message>
+  <source>Initial variance of the relative landing target velocity in x and y directions</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_ACC_XY/shortDesc</name>
+  <message>
+  <source>Accelerometer xy noise density</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_ACC_XY/longDesc</name>
+  <message>
+  <source>Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz) Larger than data sheet to account for tilt error.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_ACC_Z/shortDesc</name>
+  <message>
+  <source>Accelerometer z noise density</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_ACC_Z/longDesc</name>
+  <message>
+  <source>Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_BAR_Z/shortDesc</name>
+  <message>
+  <source>Barometric presssure altitude z standard deviation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_EN/shortDesc</name>
+  <message>
+  <source>Local position estimator enable (unsupported)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_EN/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_EN/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_EPH_MAX/shortDesc</name>
+  <message>
+  <source>Max EPH allowed for GPS initialization</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_EPV_MAX/shortDesc</name>
+  <message>
+  <source>Max EPV allowed for GPS initialization</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_FAKE_ORIGIN/shortDesc</name>
+  <message>
+  <source>Enable publishing of a fake global position (e.g for AUTO missions using Optical Flow)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_FAKE_ORIGIN/longDesc</name>
+  <message>
+  <source>By initializing the estimator to the LPE_LAT/LON parameters when global information is unavailable</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_FGYRO_HP/shortDesc</name>
+  <message>
+  <source>Flow gyro high pass filter cut off frequency</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_FLW_OFF_Z/shortDesc</name>
+  <message>
+  <source>Optical flow z offset from center</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_FLW_QMIN/shortDesc</name>
+  <message>
+  <source>Optical flow minimum quality threshold</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_FLW_R/shortDesc</name>
+  <message>
+  <source>Optical flow rotation (roll/pitch) noise gain</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_FLW_RR/shortDesc</name>
+  <message>
+  <source>Optical flow angular velocity noise gain</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_FLW_SCALE/shortDesc</name>
+  <message>
+  <source>Optical flow scale</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_FUSION/shortDesc</name>
+  <message>
+  <source>Integer bitmask controlling data fusion</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_FUSION/longDesc</name>
+  <message>
+  <source>Set bits in the following positions to enable: 0 : Set to true to fuse GPS data if available, also requires GPS for altitude init 1 : Set to true to fuse optical flow data if available 2 : Set to true to fuse vision position 3 : Set to true to enable landing target 4 : Set to true to fuse land detector 5 : Set to true to publish AGL as local position down component 6 : Set to true to enable flow gyro compensation 7 : Set to true to enable baro fusion default (145 - GPS, baro, land detector)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_FUSION/bitmask/0/description</name>
+  <message>
+  <source>fuse GPS, requires GPS for alt. init</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_FUSION/bitmask/1/description</name>
+  <message>
+  <source>fuse optical flow</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_FUSION/bitmask/2/description</name>
+  <message>
+  <source>fuse vision position</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_FUSION/bitmask/3/description</name>
+  <message>
+  <source>fuse landing target</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_FUSION/bitmask/4/description</name>
+  <message>
+  <source>fuse land detector</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_FUSION/bitmask/5/description</name>
+  <message>
+  <source>pub agl as lpos down</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_FUSION/bitmask/6/description</name>
+  <message>
+  <source>flow gyro compensation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_FUSION/bitmask/7/description</name>
+  <message>
+  <source>fuse baro</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_GPS_DELAY/shortDesc</name>
+  <message>
+  <source>GPS delay compensaton</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_GPS_VXY/shortDesc</name>
+  <message>
+  <source>GPS xy velocity standard deviation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_GPS_VXY/longDesc</name>
+  <message>
+  <source>EPV used if greater than this value.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_GPS_VZ/shortDesc</name>
+  <message>
+  <source>GPS z velocity standard deviation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_GPS_XY/shortDesc</name>
+  <message>
+  <source>Minimum GPS xy standard deviation, uses reported EPH if greater</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_GPS_Z/shortDesc</name>
+  <message>
+  <source>Minimum GPS z standard deviation, uses reported EPV if greater</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_LAND_VXY/shortDesc</name>
+  <message>
+  <source>Land detector xy velocity standard deviation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_LAND_Z/shortDesc</name>
+  <message>
+  <source>Land detector z standard deviation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_LAT/shortDesc</name>
+  <message>
+  <source>Local origin latitude for nav w/o GPS</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_LDR_OFF_Z/shortDesc</name>
+  <message>
+  <source>Lidar z offset from center of vehicle +down</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_LDR_Z/shortDesc</name>
+  <message>
+  <source>Lidar z standard deviation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_LON/shortDesc</name>
+  <message>
+  <source>Local origin longitude for nav w/o GPS</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_LT_COV/shortDesc</name>
+  <message>
+  <source>Minimum landing target standard covariance, uses reported covariance if greater</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_PN_B/shortDesc</name>
+  <message>
+  <source>Accel bias propagation noise density</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_PN_P/shortDesc</name>
+  <message>
+  <source>Position propagation noise density</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_PN_P/longDesc</name>
+  <message>
+  <source>Increase to trust measurements more. Decrease to trust model more.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_PN_T/shortDesc</name>
+  <message>
+  <source>Terrain random walk noise density, hilly/outdoor (0.1), flat/Indoor (0.001)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_PN_V/shortDesc</name>
+  <message>
+  <source>Velocity propagation noise density</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_PN_V/longDesc</name>
+  <message>
+  <source>Increase to trust measurements more. Decrease to trust model more.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_SNR_OFF_Z/shortDesc</name>
+  <message>
+  <source>Sonar z offset from center of vehicle +down</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_SNR_Z/shortDesc</name>
+  <message>
+  <source>Sonar z standard deviation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_T_MAX_GRADE/shortDesc</name>
+  <message>
+  <source>Terrain maximum percent grade, hilly/outdoor (100 = 45 deg), flat/Indoor (0 = 0 deg)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_T_MAX_GRADE/longDesc</name>
+  <message>
+  <source>Used to calculate increased terrain random walk nosie due to movement.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_VIC_P/shortDesc</name>
+  <message>
+  <source>Vicon position standard deviation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_VIS_DELAY/shortDesc</name>
+  <message>
+  <source>Vision delay compensation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_VIS_DELAY/longDesc</name>
+  <message>
+  <source>Set to zero to enable automatic compensation from measurement timestamps</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_VIS_XY/shortDesc</name>
+  <message>
+  <source>Vision xy standard deviation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_VIS_Z/shortDesc</name>
+  <message>
+  <source>Vision z standard deviation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_VXY_PUB/shortDesc</name>
+  <message>
+  <source>Required velocity xy standard deviation to publish position</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_X_LP/shortDesc</name>
+  <message>
+  <source>Cut frequency for state publication</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/LPE_Z_PUB/shortDesc</name>
+  <message>
+  <source>Required z standard deviation to publish altitude/ terrain</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_BROADCAST/shortDesc</name>
+  <message>
+  <source>Broadcast heartbeats on local network for MAVLink instance 0</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_BROADCAST/longDesc</name>
+  <message>
+  <source>This allows a ground control station to automatically find the drone on the local network.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_BROADCAST/values/0/description</name>
+  <message>
+  <source>Never broadcast</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_BROADCAST/values/1/description</name>
+  <message>
+  <source>Always broadcast</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_BROADCAST/values/2/description</name>
+  <message>
+  <source>Only multicast</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_CONFIG/shortDesc</name>
+  <message>
+  <source>Serial Configuration for MAVLink (instance 0)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_CONFIG/longDesc</name>
+  <message>
+  <source>Configure on which serial port to run MAVLink.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_CONFIG/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_CONFIG/values/6/description</name>
+  <message>
+  <source>UART 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_CONFIG/values/101/description</name>
+  <message>
+  <source>TELEM 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_CONFIG/values/102/description</name>
+  <message>
+  <source>TELEM 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_CONFIG/values/103/description</name>
+  <message>
+  <source>TELEM 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_CONFIG/values/104/description</name>
+  <message>
+  <source>TELEM/SERIAL 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_CONFIG/values/201/description</name>
+  <message>
+  <source>GPS 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_CONFIG/values/202/description</name>
+  <message>
+  <source>GPS 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_CONFIG/values/203/description</name>
+  <message>
+  <source>GPS 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_CONFIG/values/300/description</name>
+  <message>
+  <source>Radio Controller</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_CONFIG/values/301/description</name>
+  <message>
+  <source>Wifi Port</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_CONFIG/values/401/description</name>
+  <message>
+  <source>EXT2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_CONFIG/values/1000/description</name>
+  <message>
+  <source>Ethernet</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_FLOW_CTRL/shortDesc</name>
+  <message>
+  <source>Enable serial flow control for instance 0</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_FLOW_CTRL/longDesc</name>
+  <message>
+  <source>This is used to force flow control on or off for the the mavlink instance. By default it is auto detected. Use when auto detection fails.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_FLOW_CTRL/values/0/description</name>
+  <message>
+  <source>Force off</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_FLOW_CTRL/values/1/description</name>
+  <message>
+  <source>Force on</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_FLOW_CTRL/values/2/description</name>
+  <message>
+  <source>Auto-detected</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_FORWARD/shortDesc</name>
+  <message>
+  <source>Enable MAVLink Message forwarding for instance 0</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_FORWARD/longDesc</name>
+  <message>
+  <source>If enabled, forward incoming MAVLink messages to other MAVLink ports if the message is either broadcast or the target is not the autopilot. This allows for example a GCS to talk to a camera that is connected to the autopilot via MAVLink (on a different link than the GCS).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_FORWARD/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_FORWARD/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_MODE/shortDesc</name>
+  <message>
+  <source>MAVLink Mode for instance 0</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_MODE/longDesc</name>
+  <message>
+  <source>The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_MODE/values/0/description</name>
+  <message>
+  <source>Normal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_MODE/values/1/description</name>
+  <message>
+  <source>Custom</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_MODE/values/2/description</name>
+  <message>
+  <source>Onboard</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_MODE/values/3/description</name>
+  <message>
+  <source>OSD</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_MODE/values/4/description</name>
+  <message>
+  <source>Magic</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_MODE/values/5/description</name>
+  <message>
+  <source>Config</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_MODE/values/7/description</name>
+  <message>
+  <source>Minimal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_MODE/values/8/description</name>
+  <message>
+  <source>External Vision</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_MODE/values/10/description</name>
+  <message>
+  <source>Gimbal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_MODE/values/11/description</name>
+  <message>
+  <source>Onboard Low Bandwidth</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_MODE/values/12/description</name>
+  <message>
+  <source>uAvionix</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_RADIO_CTL/shortDesc</name>
+  <message>
+  <source>Enable software throttling of mavlink on instance 0</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_RADIO_CTL/longDesc</name>
+  <message>
+  <source>If enabled, MAVLink messages will be throttled according to `txbuf` field reported by radio_status. Requires a radio to send the mavlink message RADIO_STATUS.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_RADIO_CTL/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_RADIO_CTL/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_RATE/shortDesc</name>
+  <message>
+  <source>Maximum MAVLink sending rate for instance 0</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_RATE/longDesc</name>
+  <message>
+  <source>Configure the maximum sending rate for the MAVLink streams in Bytes/sec. If the configured streams exceed the maximum rate, the sending rate of each stream is automatically decreased. If this is set to 0 a value of half of the theoretical maximum bandwidth is used. This corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on 8N1-configured links).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_REMOTE_PRT/shortDesc</name>
+  <message>
+  <source>MAVLink Remote Port for instance 0</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_REMOTE_PRT/longDesc</name>
+  <message>
+  <source>If ethernet enabled and selected as configuration for MAVLink instance 0, selected remote port will be set and used in MAVLink instance 0.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_UDP_PRT/shortDesc</name>
+  <message>
+  <source>MAVLink Network Port for instance 0</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_0_UDP_PRT/longDesc</name>
+  <message>
+  <source>If ethernet enabled and selected as configuration for MAVLink instance 0, selected udp port will be set and used in MAVLink instance 0.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_BROADCAST/shortDesc</name>
+  <message>
+  <source>Broadcast heartbeats on local network for MAVLink instance 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_BROADCAST/longDesc</name>
+  <message>
+  <source>This allows a ground control station to automatically find the drone on the local network.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_BROADCAST/values/0/description</name>
+  <message>
+  <source>Never broadcast</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_BROADCAST/values/1/description</name>
+  <message>
+  <source>Always broadcast</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_BROADCAST/values/2/description</name>
+  <message>
+  <source>Only multicast</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_CONFIG/shortDesc</name>
+  <message>
+  <source>Serial Configuration for MAVLink (instance 1)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_CONFIG/longDesc</name>
+  <message>
+  <source>Configure on which serial port to run MAVLink.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_CONFIG/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_CONFIG/values/6/description</name>
+  <message>
+  <source>UART 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_CONFIG/values/101/description</name>
+  <message>
+  <source>TELEM 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_CONFIG/values/102/description</name>
+  <message>
+  <source>TELEM 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_CONFIG/values/103/description</name>
+  <message>
+  <source>TELEM 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_CONFIG/values/104/description</name>
+  <message>
+  <source>TELEM/SERIAL 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_CONFIG/values/201/description</name>
+  <message>
+  <source>GPS 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_CONFIG/values/202/description</name>
+  <message>
+  <source>GPS 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_CONFIG/values/203/description</name>
+  <message>
+  <source>GPS 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_CONFIG/values/300/description</name>
+  <message>
+  <source>Radio Controller</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_CONFIG/values/301/description</name>
+  <message>
+  <source>Wifi Port</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_CONFIG/values/401/description</name>
+  <message>
+  <source>EXT2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_CONFIG/values/1000/description</name>
+  <message>
+  <source>Ethernet</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_FLOW_CTRL/shortDesc</name>
+  <message>
+  <source>Enable serial flow control for instance 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_FLOW_CTRL/longDesc</name>
+  <message>
+  <source>This is used to force flow control on or off for the the mavlink instance. By default it is auto detected. Use when auto detection fails.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_FLOW_CTRL/values/0/description</name>
+  <message>
+  <source>Force off</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_FLOW_CTRL/values/1/description</name>
+  <message>
+  <source>Force on</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_FLOW_CTRL/values/2/description</name>
+  <message>
+  <source>Auto-detected</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_FORWARD/shortDesc</name>
+  <message>
+  <source>Enable MAVLink Message forwarding for instance 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_FORWARD/longDesc</name>
+  <message>
+  <source>If enabled, forward incoming MAVLink messages to other MAVLink ports if the message is either broadcast or the target is not the autopilot. This allows for example a GCS to talk to a camera that is connected to the autopilot via MAVLink (on a different link than the GCS).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_FORWARD/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_FORWARD/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_MODE/shortDesc</name>
+  <message>
+  <source>MAVLink Mode for instance 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_MODE/longDesc</name>
+  <message>
+  <source>The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_MODE/values/0/description</name>
+  <message>
+  <source>Normal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_MODE/values/1/description</name>
+  <message>
+  <source>Custom</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_MODE/values/2/description</name>
+  <message>
+  <source>Onboard</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_MODE/values/3/description</name>
+  <message>
+  <source>OSD</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_MODE/values/4/description</name>
+  <message>
+  <source>Magic</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_MODE/values/5/description</name>
+  <message>
+  <source>Config</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_MODE/values/7/description</name>
+  <message>
+  <source>Minimal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_MODE/values/8/description</name>
+  <message>
+  <source>External Vision</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_MODE/values/10/description</name>
+  <message>
+  <source>Gimbal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_MODE/values/11/description</name>
+  <message>
+  <source>Onboard Low Bandwidth</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_MODE/values/12/description</name>
+  <message>
+  <source>uAvionix</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_RADIO_CTL/shortDesc</name>
+  <message>
+  <source>Enable software throttling of mavlink on instance 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_RADIO_CTL/longDesc</name>
+  <message>
+  <source>If enabled, MAVLink messages will be throttled according to `txbuf` field reported by radio_status. Requires a radio to send the mavlink message RADIO_STATUS.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_RADIO_CTL/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_RADIO_CTL/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_RATE/shortDesc</name>
+  <message>
+  <source>Maximum MAVLink sending rate for instance 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_RATE/longDesc</name>
+  <message>
+  <source>Configure the maximum sending rate for the MAVLink streams in Bytes/sec. If the configured streams exceed the maximum rate, the sending rate of each stream is automatically decreased. If this is set to 0 a value of half of the theoretical maximum bandwidth is used. This corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on 8N1-configured links).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_REMOTE_PRT/shortDesc</name>
+  <message>
+  <source>MAVLink Remote Port for instance 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_REMOTE_PRT/longDesc</name>
+  <message>
+  <source>If ethernet enabled and selected as configuration for MAVLink instance 1, selected remote port will be set and used in MAVLink instance 1.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_UDP_PRT/shortDesc</name>
+  <message>
+  <source>MAVLink Network Port for instance 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_1_UDP_PRT/longDesc</name>
+  <message>
+  <source>If ethernet enabled and selected as configuration for MAVLink instance 1, selected udp port will be set and used in MAVLink instance 1.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_BROADCAST/shortDesc</name>
+  <message>
+  <source>Broadcast heartbeats on local network for MAVLink instance 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_BROADCAST/longDesc</name>
+  <message>
+  <source>This allows a ground control station to automatically find the drone on the local network.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_BROADCAST/values/0/description</name>
+  <message>
+  <source>Never broadcast</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_BROADCAST/values/1/description</name>
+  <message>
+  <source>Always broadcast</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_BROADCAST/values/2/description</name>
+  <message>
+  <source>Only multicast</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_CONFIG/shortDesc</name>
+  <message>
+  <source>Serial Configuration for MAVLink (instance 2)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_CONFIG/longDesc</name>
+  <message>
+  <source>Configure on which serial port to run MAVLink.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_CONFIG/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_CONFIG/values/6/description</name>
+  <message>
+  <source>UART 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_CONFIG/values/101/description</name>
+  <message>
+  <source>TELEM 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_CONFIG/values/102/description</name>
+  <message>
+  <source>TELEM 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_CONFIG/values/103/description</name>
+  <message>
+  <source>TELEM 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_CONFIG/values/104/description</name>
+  <message>
+  <source>TELEM/SERIAL 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_CONFIG/values/201/description</name>
+  <message>
+  <source>GPS 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_CONFIG/values/202/description</name>
+  <message>
+  <source>GPS 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_CONFIG/values/203/description</name>
+  <message>
+  <source>GPS 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_CONFIG/values/300/description</name>
+  <message>
+  <source>Radio Controller</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_CONFIG/values/301/description</name>
+  <message>
+  <source>Wifi Port</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_CONFIG/values/401/description</name>
+  <message>
+  <source>EXT2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_CONFIG/values/1000/description</name>
+  <message>
+  <source>Ethernet</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_FLOW_CTRL/shortDesc</name>
+  <message>
+  <source>Enable serial flow control for instance 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_FLOW_CTRL/longDesc</name>
+  <message>
+  <source>This is used to force flow control on or off for the the mavlink instance. By default it is auto detected. Use when auto detection fails.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_FLOW_CTRL/values/0/description</name>
+  <message>
+  <source>Force off</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_FLOW_CTRL/values/1/description</name>
+  <message>
+  <source>Force on</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_FLOW_CTRL/values/2/description</name>
+  <message>
+  <source>Auto-detected</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_FORWARD/shortDesc</name>
+  <message>
+  <source>Enable MAVLink Message forwarding for instance 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_FORWARD/longDesc</name>
+  <message>
+  <source>If enabled, forward incoming MAVLink messages to other MAVLink ports if the message is either broadcast or the target is not the autopilot. This allows for example a GCS to talk to a camera that is connected to the autopilot via MAVLink (on a different link than the GCS).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_FORWARD/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_FORWARD/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_MODE/shortDesc</name>
+  <message>
+  <source>MAVLink Mode for instance 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_MODE/longDesc</name>
+  <message>
+  <source>The MAVLink Mode defines the set of streamed messages (for example the vehicle's attitude) and their sending rates.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_MODE/values/0/description</name>
+  <message>
+  <source>Normal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_MODE/values/1/description</name>
+  <message>
+  <source>Custom</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_MODE/values/2/description</name>
+  <message>
+  <source>Onboard</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_MODE/values/3/description</name>
+  <message>
+  <source>OSD</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_MODE/values/4/description</name>
+  <message>
+  <source>Magic</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_MODE/values/5/description</name>
+  <message>
+  <source>Config</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_MODE/values/7/description</name>
+  <message>
+  <source>Minimal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_MODE/values/8/description</name>
+  <message>
+  <source>External Vision</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_MODE/values/10/description</name>
+  <message>
+  <source>Gimbal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_MODE/values/11/description</name>
+  <message>
+  <source>Onboard Low Bandwidth</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_MODE/values/12/description</name>
+  <message>
+  <source>uAvionix</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_RADIO_CTL/shortDesc</name>
+  <message>
+  <source>Enable software throttling of mavlink on instance 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_RADIO_CTL/longDesc</name>
+  <message>
+  <source>If enabled, MAVLink messages will be throttled according to `txbuf` field reported by radio_status. Requires a radio to send the mavlink message RADIO_STATUS.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_RADIO_CTL/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_RADIO_CTL/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_RATE/shortDesc</name>
+  <message>
+  <source>Maximum MAVLink sending rate for instance 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_RATE/longDesc</name>
+  <message>
+  <source>Configure the maximum sending rate for the MAVLink streams in Bytes/sec. If the configured streams exceed the maximum rate, the sending rate of each stream is automatically decreased. If this is set to 0 a value of half of the theoretical maximum bandwidth is used. This corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on 8N1-configured links).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_REMOTE_PRT/shortDesc</name>
+  <message>
+  <source>MAVLink Remote Port for instance 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_REMOTE_PRT/longDesc</name>
+  <message>
+  <source>If ethernet enabled and selected as configuration for MAVLink instance 2, selected remote port will be set and used in MAVLink instance 2.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_UDP_PRT/shortDesc</name>
+  <message>
+  <source>MAVLink Network Port for instance 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_2_UDP_PRT/longDesc</name>
+  <message>
+  <source>If ethernet enabled and selected as configuration for MAVLink instance 2, selected udp port will be set and used in MAVLink instance 2.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_COMP_ID/shortDesc</name>
+  <message>
+  <source>MAVLink component ID</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_FWDEXTSP/shortDesc</name>
+  <message>
+  <source>Forward external setpoint messages</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_FWDEXTSP/longDesc</name>
+  <message>
+  <source>If set to 1 incoming external setpoint messages will be directly forwarded to the controllers if in offboard control mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_FWDEXTSP/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_FWDEXTSP/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_HASH_CHK_EN/shortDesc</name>
+  <message>
+  <source>Parameter hash check</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_HASH_CHK_EN/longDesc</name>
+  <message>
+  <source>Disabling the parameter hash check functionality will make the mavlink instance stream parameters continuously.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_HASH_CHK_EN/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_HASH_CHK_EN/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_HB_FORW_EN/shortDesc</name>
+  <message>
+  <source>Heartbeat message forwarding</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_HB_FORW_EN/longDesc</name>
+  <message>
+  <source>The mavlink heartbeat message will not be forwarded if this parameter is set to 'disabled'. The main reason for disabling heartbeats to be forwarded is because they confuse dronekit.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_HB_FORW_EN/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_HB_FORW_EN/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_PROTO_VER/shortDesc</name>
+  <message>
+  <source>MAVLink protocol version</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_PROTO_VER/values/0/description</name>
+  <message>
+  <source>Default to 1, switch to 2 if GCS sends version 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_PROTO_VER/values/1/description</name>
+  <message>
+  <source>Always use version 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_PROTO_VER/values/2/description</name>
+  <message>
+  <source>Always use version 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_RADIO_TOUT/shortDesc</name>
+  <message>
+  <source>Timeout in seconds for the RADIO_STATUS reports coming in</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_RADIO_TOUT/longDesc</name>
+  <message>
+  <source>If the connected radio stops reporting RADIO_STATUS for a certain time, a warning is triggered and, if MAV_X_RADIO_CTL is enabled, the software-flow control is reset.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_SIK_RADIO_ID/shortDesc</name>
+  <message>
+  <source>MAVLink SiK Radio ID</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_SIK_RADIO_ID/longDesc</name>
+  <message>
+  <source>When non-zero the MAVLink app will attempt to configure the SiK radio to this ID and re-set the parameter to 0. If the value is negative it will reset the complete radio config to factory defaults. Only applies if this mavlink instance is going through a SiK radio</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_SYS_ID/shortDesc</name>
+  <message>
+  <source>MAVLink system ID</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_TYPE/shortDesc</name>
+  <message>
+  <source>MAVLink airframe type</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_TYPE/values/0/description</name>
+  <message>
+  <source>Generic micro air vehicle</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_TYPE/values/1/description</name>
+  <message>
+  <source>Fixed wing aircraft</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_TYPE/values/2/description</name>
+  <message>
+  <source>Quadrotor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_TYPE/values/3/description</name>
+  <message>
+  <source>Coaxial helicopter</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_TYPE/values/4/description</name>
+  <message>
+  <source>Normal helicopter with tail rotor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_TYPE/values/7/description</name>
+  <message>
+  <source>Airship, controlled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_TYPE/values/8/description</name>
+  <message>
+  <source>Free balloon, uncontrolled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_TYPE/values/10/description</name>
+  <message>
+  <source>Ground rover</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_TYPE/values/11/description</name>
+  <message>
+  <source>Surface vessel, boat, ship</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_TYPE/values/12/description</name>
+  <message>
+  <source>Submarine</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_TYPE/values/13/description</name>
+  <message>
+  <source>Hexarotor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_TYPE/values/14/description</name>
+  <message>
+  <source>Octorotor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_TYPE/values/15/description</name>
+  <message>
+  <source>Tricopter</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_TYPE/values/19/description</name>
+  <message>
+  <source>VTOL Two-rotor Tailsitter</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_TYPE/values/20/description</name>
+  <message>
+  <source>VTOL Quad-rotor Tailsitter</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_TYPE/values/21/description</name>
+  <message>
+  <source>VTOL Tiltrotor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_TYPE/values/22/description</name>
+  <message>
+  <source>VTOL Standard (separate fixed rotors for hover and cruise flight)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_TYPE/values/23/description</name>
+  <message>
+  <source>VTOL Tailsitter</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_USEHILGPS/shortDesc</name>
+  <message>
+  <source>Use/Accept HIL GPS message even if not in HIL mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_USEHILGPS/longDesc</name>
+  <message>
+  <source>If set to 1 incoming HIL GPS messages are parsed.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_USEHILGPS/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAV_USEHILGPS/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MBE_ENABLE/shortDesc</name>
+  <message>
+  <source>Enable online mag bias calibration</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MBE_ENABLE/longDesc</name>
+  <message>
+  <source>This enables continuous calibration of the magnetometers before takeoff using gyro data.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MBE_ENABLE/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MBE_ENABLE/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MBE_LEARN_GAIN/shortDesc</name>
+  <message>
+  <source>Mag bias estimator learning gain</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MBE_LEARN_GAIN/longDesc</name>
+  <message>
+  <source>Increase to make the estimator more responsive Decrease to make the estimator more robust to noise</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAN_ARM_GESTURE/shortDesc</name>
+  <message>
+  <source>Enable arm/disarm stick gesture</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAN_ARM_GESTURE/longDesc</name>
+  <message>
+  <source>This determines if moving the left stick to the lower right arms and to the lower left disarms the vehicle.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAN_ARM_GESTURE/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAN_ARM_GESTURE/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAN_KILL_GEST_T/shortDesc</name>
+  <message>
+  <source>Trigger time for kill stick gesture</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MAN_KILL_GEST_T/longDesc</name>
+  <message>
+  <source>The timeout for holding the left stick to the lower left and the right stick to the lower right at the same time until the gesture kills the actuators one-way. A negative value disables the feature.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_GPSF_LT/shortDesc</name>
+  <message>
+  <source>GPS failure loiter time</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_GPSF_LT/longDesc</name>
+  <message>
+  <source>The time in seconds the system should do open loop loiter and wait for GPS recovery before it starts descending. Set to 0 to disable. Roll angle is set to FW_GPSF_R. Does only apply for fixed-wing vehicles or VTOLs with NAV_FORCE_VT set to 0.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_GPSF_R/shortDesc</name>
+  <message>
+  <source>GPS failure fixed roll angle</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/FW_GPSF_R/longDesc</name>
+  <message>
+  <source>Roll in degrees during the loiter after the vehicle has lost GPS in an auto mode (e.g. mission or loiter).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MIS_DIST_1WP/shortDesc</name>
+  <message>
+  <source>Maximal horizontal distance from current position to first waypoint</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MIS_DIST_1WP/longDesc</name>
+  <message>
+  <source>Failsafe check to prevent running mission stored from previous flight at a new takeoff location. Set a value of zero or less to disable. The mission will not be started if the current waypoint is more distant than MIS_DIST_1WP from the current position.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MIS_LND_ABRT_ALT/shortDesc</name>
+  <message>
+  <source>Landing abort min altitude</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MIS_LND_ABRT_ALT/longDesc</name>
+  <message>
+  <source>Minimum altitude above landing point that the vehicle will climb to after an aborted landing. Then vehicle will loiter in this altitude until further command is received. Only applies to fixed-wing vehicles.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MIS_MNT_YAW_CTL/shortDesc</name>
+  <message>
+  <source>Enable yaw control of the mount. (Only affects multicopters and ROI mission items)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MIS_MNT_YAW_CTL/longDesc</name>
+  <message>
+  <source>If enabled, yaw commands will be sent to the mount and the vehicle will follow its heading towards the flight direction. If disabled, the vehicle will yaw towards the ROI.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MIS_MNT_YAW_CTL/values/0/description</name>
+  <message>
+  <source>Disable</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MIS_MNT_YAW_CTL/values/1/description</name>
+  <message>
+  <source>Enable</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MIS_PD_TO/shortDesc</name>
+  <message>
+  <source>Timeout for a successful payload deployment acknowledgement</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MIS_TAKEOFF_ALT/shortDesc</name>
+  <message>
+  <source>Default take-off altitude</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MIS_TAKEOFF_ALT/longDesc</name>
+  <message>
+  <source>This is the relative altitude the system will take off to if not otherwise specified.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MIS_TKO_LAND_REQ/shortDesc</name>
+  <message>
+  <source>Mission takeoff/landing required</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MIS_TKO_LAND_REQ/longDesc</name>
+  <message>
+  <source>Specifies if a mission has to contain a takeoff and/or mission landing. Validity of configured takeoffs/landings is checked independently of the setting here.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MIS_TKO_LAND_REQ/values/0/description</name>
+  <message>
+  <source>No requirements</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MIS_TKO_LAND_REQ/values/1/description</name>
+  <message>
+  <source>Require a takeoff</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MIS_TKO_LAND_REQ/values/2/description</name>
+  <message>
+  <source>Require a landing</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MIS_TKO_LAND_REQ/values/3/description</name>
+  <message>
+  <source>Require a takeoff and a landing</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MIS_TKO_LAND_REQ/values/4/description</name>
+  <message>
+  <source>Require both a takeoff and a landing, or neither</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MIS_TKO_LAND_REQ/values/5/description</name>
+  <message>
+  <source>Same as previous when landed, in-air require landing only if no valid VTOL approach is present</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MIS_YAW_ERR/shortDesc</name>
+  <message>
+  <source>Max yaw error in degrees needed for waypoint heading acceptance</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MIS_YAW_TMT/shortDesc</name>
+  <message>
+  <source>Time in seconds we wait on reaching target heading at a waypoint if it is forced</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MIS_YAW_TMT/longDesc</name>
+  <message>
+  <source>If set &gt; 0 it will ignore the target heading for normal waypoint acceptance. If the waypoint forces the heading the timeout will matter. For example on VTOL forwards transition. Mainly useful for VTOLs that have less yaw authority and might not reach target yaw in wind. Disabled by default.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_YAW_MODE/shortDesc</name>
+  <message>
+  <source>Heading behavior in autonomous modes</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_YAW_MODE/values/0/description</name>
+  <message>
+  <source>towards waypoint</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_YAW_MODE/values/1/description</name>
+  <message>
+  <source>towards home</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_YAW_MODE/values/2/description</name>
+  <message>
+  <source>away from home</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_YAW_MODE/values/3/description</name>
+  <message>
+  <source>along trajectory</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_YAW_MODE/values/4/description</name>
+  <message>
+  <source>towards waypoint (yaw first)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NAV_ACC_RAD/shortDesc</name>
+  <message>
+  <source>Acceptance Radius</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NAV_ACC_RAD/longDesc</name>
+  <message>
+  <source>Default acceptance radius, overridden by acceptance radius of waypoint if set. For fixed wing the npfg switch distance is used for horizontal acceptance.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NAV_FORCE_VT/shortDesc</name>
+  <message>
+  <source>Force VTOL mode takeoff and land</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NAV_FORCE_VT/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NAV_FORCE_VT/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NAV_FW_ALTL_RAD/shortDesc</name>
+  <message>
+  <source>FW Altitude Acceptance Radius before a landing</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NAV_FW_ALTL_RAD/longDesc</name>
+  <message>
+  <source>Altitude acceptance used for the last waypoint before a fixed-wing landing. This is usually smaller than the standard vertical acceptance because close to the ground higher accuracy is required.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NAV_FW_ALT_RAD/shortDesc</name>
+  <message>
+  <source>FW Altitude Acceptance Radius</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NAV_FW_ALT_RAD/longDesc</name>
+  <message>
+  <source>Acceptance radius for fixedwing altitude.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NAV_LOITER_RAD/shortDesc</name>
+  <message>
+  <source>Loiter radius (FW only)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NAV_LOITER_RAD/longDesc</name>
+  <message>
+  <source>Default value of loiter radius in FW mode (e.g. for Loiter mode).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NAV_MC_ALT_RAD/shortDesc</name>
+  <message>
+  <source>MC Altitude Acceptance Radius</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NAV_MC_ALT_RAD/longDesc</name>
+  <message>
+  <source>Acceptance radius for multicopter altitude.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NAV_MIN_LTR_ALT/shortDesc</name>
+  <message>
+  <source>Minimum Loiter altitude</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NAV_MIN_LTR_ALT/longDesc</name>
+  <message>
+  <source>This is the minimum altitude above Home the system will always obey in Loiter (Hold) mode if switched into this mode without specifying an altitude (e.g. through Loiter switch on RC). Doesn't affect Loiters that are part of Missions or that are entered through a reposition setpoint ("Go to"). Set to a negative value to disable.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NAV_TRAFF_AVOID/shortDesc</name>
+  <message>
+  <source>Set traffic avoidance mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NAV_TRAFF_AVOID/longDesc</name>
+  <message>
+  <source>Enabling this will allow the system to respond to transponder data from e.g. ADSB transponders</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NAV_TRAFF_AVOID/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NAV_TRAFF_AVOID/values/1/description</name>
+  <message>
+  <source>Warn only</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NAV_TRAFF_AVOID/values/2/description</name>
+  <message>
+  <source>Return mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NAV_TRAFF_AVOID/values/3/description</name>
+  <message>
+  <source>Land mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NAV_TRAFF_AVOID/values/4/description</name>
+  <message>
+  <source>Position Hold mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NAV_TRAFF_A_HOR/shortDesc</name>
+  <message>
+  <source>Set NAV TRAFFIC AVOID horizontal distance</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NAV_TRAFF_A_HOR/longDesc</name>
+  <message>
+  <source>Defines a crosstrack horizontal distance</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NAV_TRAFF_A_VER/shortDesc</name>
+  <message>
+  <source>Set NAV TRAFFIC AVOID vertical distance</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NAV_TRAFF_COLL_T/shortDesc</name>
+  <message>
+  <source>Estimated time until collision</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/NAV_TRAFF_COLL_T/longDesc</name>
+  <message>
+  <source>Minimum acceptable time until collsion. Assumes constant speed over 3d distance.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_AIRMODE/shortDesc</name>
+  <message>
+  <source>Multicopter air-mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_AIRMODE/longDesc</name>
+  <message>
+  <source>The air-mode enables the mixer to increase the total thrust of the multirotor in order to keep attitude and rate control even at low and high throttle. This function should be disabled during tuning as it will help the controller to diverge if the closed-loop is unstable (i.e. the vehicle is not tuned yet). Enabling air-mode for yaw requires the use of an arming switch.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_AIRMODE/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_AIRMODE/values/1/description</name>
+  <message>
+  <source>Roll/Pitch</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_AIRMODE/values/2/description</name>
+  <message>
+  <source>Roll/Pitch/Yaw</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MODALAI_CONFIG/shortDesc</name>
+  <message>
+  <source>Custom configuration for ModalAI drones</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MODALAI_CONFIG/longDesc</name>
+  <message>
+  <source>This can be set to indicate that drone behavior needs to be changed to match a custom setting</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_DO_STAB/shortDesc</name>
+  <message>
+  <source>Stabilize the mount</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_DO_STAB/longDesc</name>
+  <message>
+  <source>Set to true for servo gimbal, false for passthrough. This is required for a gimbal which is not capable of stabilizing itself and relies on the IMU's attitude estimation.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_DO_STAB/values/0/description</name>
+  <message>
+  <source>Disable</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_DO_STAB/values/1/description</name>
+  <message>
+  <source>Stabilize all axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_DO_STAB/values/2/description</name>
+  <message>
+  <source>Stabilize yaw for absolute/lock mode.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_LND_P_MAX/shortDesc</name>
+  <message>
+  <source>Pitch maximum when landed</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_LND_P_MIN/shortDesc</name>
+  <message>
+  <source>Pitch minimum when landed</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_MAN_PITCH/shortDesc</name>
+  <message>
+  <source>Auxiliary channel to control pitch (in AUX input or manual mode)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_MAN_PITCH/values/0/description</name>
+  <message>
+  <source>Disable</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_MAN_PITCH/values/1/description</name>
+  <message>
+  <source>AUX1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_MAN_PITCH/values/2/description</name>
+  <message>
+  <source>AUX2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_MAN_PITCH/values/3/description</name>
+  <message>
+  <source>AUX3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_MAN_PITCH/values/4/description</name>
+  <message>
+  <source>AUX4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_MAN_PITCH/values/5/description</name>
+  <message>
+  <source>AUX5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_MAN_PITCH/values/6/description</name>
+  <message>
+  <source>AUX6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_MAN_ROLL/shortDesc</name>
+  <message>
+  <source>Auxiliary channel to control roll (in AUX input or manual mode)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_MAN_ROLL/values/0/description</name>
+  <message>
+  <source>Disable</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_MAN_ROLL/values/1/description</name>
+  <message>
+  <source>AUX1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_MAN_ROLL/values/2/description</name>
+  <message>
+  <source>AUX2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_MAN_ROLL/values/3/description</name>
+  <message>
+  <source>AUX3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_MAN_ROLL/values/4/description</name>
+  <message>
+  <source>AUX4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_MAN_ROLL/values/5/description</name>
+  <message>
+  <source>AUX5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_MAN_ROLL/values/6/description</name>
+  <message>
+  <source>AUX6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_MAN_YAW/shortDesc</name>
+  <message>
+  <source>Auxiliary channel to control yaw (in AUX input or manual mode)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_MAN_YAW/values/0/description</name>
+  <message>
+  <source>Disable</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_MAN_YAW/values/1/description</name>
+  <message>
+  <source>AUX1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_MAN_YAW/values/2/description</name>
+  <message>
+  <source>AUX2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_MAN_YAW/values/3/description</name>
+  <message>
+  <source>AUX3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_MAN_YAW/values/4/description</name>
+  <message>
+  <source>AUX4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_MAN_YAW/values/5/description</name>
+  <message>
+  <source>AUX5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_MAN_YAW/values/6/description</name>
+  <message>
+  <source>AUX6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_MAV_COMPID/shortDesc</name>
+  <message>
+  <source>Mavlink Component ID of the mount</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_MAV_COMPID/longDesc</name>
+  <message>
+  <source>If MNT_MODE_OUT is MAVLink protocol v2, mount configure/control commands will be sent with this component ID.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_MAV_SYSID/shortDesc</name>
+  <message>
+  <source>Mavlink System ID of the mount</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_MAV_SYSID/longDesc</name>
+  <message>
+  <source>If MNT_MODE_OUT is MAVLink gimbal protocol v1, mount configure/control commands will be sent with this target ID.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_MODE_IN/shortDesc</name>
+  <message>
+  <source>Mount input mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_MODE_IN/longDesc</name>
+  <message>
+  <source>This is the protocol used between the ground station and the autopilot. Recommended is Auto, RC only or MAVLink gimbal protocol v2. The rest will be deprecated.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_MODE_IN/values/-1/description</name>
+  <message>
+  <source>DISABLED</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_MODE_IN/values/0/description</name>
+  <message>
+  <source>Auto (RC and MAVLink gimbal protocol v2)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_MODE_IN/values/1/description</name>
+  <message>
+  <source>RC</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_MODE_IN/values/2/description</name>
+  <message>
+  <source>MAVLINK_ROI (protocol v1, to be deprecated)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_MODE_IN/values/3/description</name>
+  <message>
+  <source>MAVLINK_DO_MOUNT (protocol v1, to be deprecated)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_MODE_IN/values/4/description</name>
+  <message>
+  <source>MAVlink gimbal protocol v2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_MODE_OUT/shortDesc</name>
+  <message>
+  <source>Mount output mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_MODE_OUT/longDesc</name>
+  <message>
+  <source>This is the protocol used between the autopilot and a connected gimbal. Recommended is the MAVLink gimbal protocol v2 if the gimbal supports it.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_MODE_OUT/values/0/description</name>
+  <message>
+  <source>AUX</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_MODE_OUT/values/1/description</name>
+  <message>
+  <source>MAVLink gimbal protocol v1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_MODE_OUT/values/2/description</name>
+  <message>
+  <source>MAVLink gimbal protocol v2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_OFF_PITCH/shortDesc</name>
+  <message>
+  <source>Offset for pitch channel output in degrees</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_OFF_ROLL/shortDesc</name>
+  <message>
+  <source>Offset for roll channel output in degrees</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_OFF_YAW/shortDesc</name>
+  <message>
+  <source>Offset for yaw channel output in degrees</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_RANGE_PITCH/shortDesc</name>
+  <message>
+  <source>Range of pitch channel output in degrees (only in AUX output mode)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_RANGE_ROLL/shortDesc</name>
+  <message>
+  <source>Range of roll channel output in degrees (only in AUX output mode)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_RANGE_YAW/shortDesc</name>
+  <message>
+  <source>Range of yaw channel output in degrees (only in AUX output mode)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_RATE_PITCH/shortDesc</name>
+  <message>
+  <source>Angular pitch rate for manual input in degrees/second</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_RATE_PITCH/longDesc</name>
+  <message>
+  <source>Full stick input [-1..1] translats to [-pitch rate..pitch rate].</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_RATE_YAW/shortDesc</name>
+  <message>
+  <source>Angular yaw rate for manual input in degrees/second</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_RATE_YAW/longDesc</name>
+  <message>
+  <source>Full stick input [-1..1] translats to [-yaw rate..yaw rate].</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_RC_IN_MODE/shortDesc</name>
+  <message>
+  <source>Input mode for RC gimbal input</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_RC_IN_MODE/values/0/description</name>
+  <message>
+  <source>Angle</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MNT_RC_IN_MODE/values/1/description</name>
+  <message>
+  <source>Angular rate</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_ACRO_EXPO/shortDesc</name>
+  <message>
+  <source>Acro mode roll, pitch expo factor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_ACRO_EXPO/longDesc</name>
+  <message>
+  <source>Exponential factor for tuning the input curve shape. 0 Purely linear input curve 1 Purely cubic input curve</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_ACRO_EXPO_Y/shortDesc</name>
+  <message>
+  <source>Acro mode yaw expo factor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_ACRO_EXPO_Y/longDesc</name>
+  <message>
+  <source>Exponential factor for tuning the input curve shape. 0 Purely linear input curve 1 Purely cubic input curve</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_ACRO_P_MAX/shortDesc</name>
+  <message>
+  <source>Acro mode maximum pitch rate</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_ACRO_P_MAX/longDesc</name>
+  <message>
+  <source>Full stick deflection leads to this rate.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_ACRO_R_MAX/shortDesc</name>
+  <message>
+  <source>Acro mode maximum roll rate</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_ACRO_R_MAX/longDesc</name>
+  <message>
+  <source>Full stick deflection leads to this rate.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_ACRO_SUPEXPO/shortDesc</name>
+  <message>
+  <source>Acro mode roll, pitch super expo factor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_ACRO_SUPEXPO/longDesc</name>
+  <message>
+  <source>"Superexponential" factor for refining the input curve shape tuned using MC_ACRO_EXPO. 0 Pure Expo function 0.7 reasonable shape enhancement for intuitive stick feel 0.95 very strong bent input curve only near maxima have effect</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_ACRO_SUPEXPOY/shortDesc</name>
+  <message>
+  <source>Acro mode yaw super expo factor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_ACRO_SUPEXPOY/longDesc</name>
+  <message>
+  <source>"Superexponential" factor for refining the input curve shape tuned using MC_ACRO_EXPO_Y. 0 Pure Expo function 0.7 reasonable shape enhancement for intuitive stick feel 0.95 very strong bent input curve only near maxima have effect</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_ACRO_Y_MAX/shortDesc</name>
+  <message>
+  <source>Acro mode maximum yaw rate</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_ACRO_Y_MAX/longDesc</name>
+  <message>
+  <source>Full stick deflection leads to this rate.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_PITCHRATE_MAX/shortDesc</name>
+  <message>
+  <source>Max pitch rate</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_PITCHRATE_MAX/longDesc</name>
+  <message>
+  <source>Limit for pitch rate in manual and auto modes (except acro). Has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. This is not only limited by the vehicle's properties, but also by the maximum measurement rate of the gyro.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_PITCH_P/shortDesc</name>
+  <message>
+  <source>Pitch P gain</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_PITCH_P/longDesc</name>
+  <message>
+  <source>Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_ROLLRATE_MAX/shortDesc</name>
+  <message>
+  <source>Max roll rate</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_ROLLRATE_MAX/longDesc</name>
+  <message>
+  <source>Limit for roll rate in manual and auto modes (except acro). Has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. This is not only limited by the vehicle's properties, but also by the maximum measurement rate of the gyro.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_ROLL_P/shortDesc</name>
+  <message>
+  <source>Roll P gain</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_ROLL_P/longDesc</name>
+  <message>
+  <source>Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_YAWRATE_MAX/shortDesc</name>
+  <message>
+  <source>Max yaw rate</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_YAW_P/shortDesc</name>
+  <message>
+  <source>Yaw P gain</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_YAW_P/longDesc</name>
+  <message>
+  <source>Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_YAW_WEIGHT/shortDesc</name>
+  <message>
+  <source>Yaw weight</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_YAW_WEIGHT/longDesc</name>
+  <message>
+  <source>A fraction [0,1] deprioritizing yaw compared to roll and pitch in non-linear attitude control. Deprioritizing yaw is necessary because multicopters have much less control authority in yaw compared to the other axes and it makes sense because yaw is not critical for stable hovering or 3D navigation. For yaw control tuning use MC_YAW_P. This ratio has no impact on the yaw gain.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_YAWRAUTO_ACC/shortDesc</name>
+  <message>
+  <source>Maximum yaw acceleration in autonomous modes</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_YAWRAUTO_ACC/longDesc</name>
+  <message>
+  <source>Limits the acceleration of the yaw setpoint to avoid large control output and mixer saturation.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_YAWRAUTO_MAX/shortDesc</name>
+  <message>
+  <source>Maximum yaw rate in autonomous modes</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_YAWRAUTO_MAX/longDesc</name>
+  <message>
+  <source>Limits the rate of change of the yaw setpoint to avoid large control output and mixer saturation.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CP_DELAY/shortDesc</name>
+  <message>
+  <source>Average delay of the range sensor message plus the tracking delay of the position controller in seconds</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CP_DELAY/longDesc</name>
+  <message>
+  <source>Only used in Position mode.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CP_DIST/shortDesc</name>
+  <message>
+  <source>Minimum distance the vehicle should keep to all obstacles</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CP_DIST/longDesc</name>
+  <message>
+  <source>Only used in Position mode. Collision avoidance is disabled by setting this parameter to a negative value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CP_GO_NO_DATA/shortDesc</name>
+  <message>
+  <source>Boolean to allow moving into directions where there is no sensor data (outside FOV)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CP_GO_NO_DATA/longDesc</name>
+  <message>
+  <source>Only used in Position mode.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CP_GO_NO_DATA/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CP_GO_NO_DATA/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CP_GUIDE_ANG/shortDesc</name>
+  <message>
+  <source>Angle left/right from the commanded setpoint by which the collision prevention algorithm can choose to change the setpoint direction</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CP_GUIDE_ANG/longDesc</name>
+  <message>
+  <source>Only used in Position mode.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_MAN_TILT_TAU/shortDesc</name>
+  <message>
+  <source>Manual tilt input filter time constant</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_MAN_TILT_TAU/longDesc</name>
+  <message>
+  <source>Setting this parameter to 0 disables the filter</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_ACC_DECOUPLE/shortDesc</name>
+  <message>
+  <source>Acceleration to tilt coupling</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_ACC_DECOUPLE/longDesc</name>
+  <message>
+  <source>Set to decouple tilt from vertical acceleration.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_ACC_DECOUPLE/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_ACC_DECOUPLE/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_ACC_DOWN_MAX/shortDesc</name>
+  <message>
+  <source>Maximum downwards acceleration in climb rate controlled modes</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_ACC_HOR/shortDesc</name>
+  <message>
+  <source>Acceleration for autonomous and for manual modes</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_ACC_HOR/longDesc</name>
+  <message>
+  <source>When piloting manually, this parameter is only used in MPC_POS_MODE 4.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_ACC_HOR_MAX/shortDesc</name>
+  <message>
+  <source>Maximum horizontal acceleration</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_ACC_HOR_MAX/longDesc</name>
+  <message>
+  <source>MPC_POS_MODE 1 just deceleration 3 acceleration and deceleration 4 not used, use MPC_ACC_HOR instead</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_ACC_UP_MAX/shortDesc</name>
+  <message>
+  <source>Maximum upwards acceleration in climb rate controlled modes</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_ALT_MODE/shortDesc</name>
+  <message>
+  <source>Altitude reference mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_ALT_MODE/longDesc</name>
+  <message>
+  <source>Set to 0 to control height relative to the earth frame origin. This origin may move up and down in flight due to sensor drift. Set to 1 to control height relative to estimated distance to ground. The vehicle will move up and down with terrain height variation. Requires a distance to ground sensor. The height controller will revert to using height above origin if the distance to ground estimate becomes invalid as indicated by the local_position.distance_bottom_valid message being false. Set to 2 to control height relative to ground (requires a distance sensor) when stationary and relative to earth frame origin when moving horizontally. The speed threshold is controlled by the MPC_HOLD_MAX_XY parameter.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_ALT_MODE/values/0/description</name>
+  <message>
+  <source>Altitude following</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_ALT_MODE/values/1/description</name>
+  <message>
+  <source>Terrain following</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_ALT_MODE/values/2/description</name>
+  <message>
+  <source>Terrain hold</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_HOLD_DZ/shortDesc</name>
+  <message>
+  <source>Deadzone for sticks in manual piloted modes</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_HOLD_DZ/longDesc</name>
+  <message>
+  <source>Does not apply to manual throttle and direct attitude piloting by stick.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_HOLD_MAX_XY/shortDesc</name>
+  <message>
+  <source>Maximum horizontal velocity for which position hold is enabled (use 0 to disable check)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_HOLD_MAX_XY/longDesc</name>
+  <message>
+  <source>Only used with MPC_POS_MODE 0 or MPC_ALT_MODE 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_HOLD_MAX_Z/shortDesc</name>
+  <message>
+  <source>Maximum vertical velocity for which position hold is enabled (use 0 to disable check)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_HOLD_MAX_Z/longDesc</name>
+  <message>
+  <source>Only used with MPC_ALT_MODE 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_JERK_AUTO/shortDesc</name>
+  <message>
+  <source>Jerk limit in autonomous modes</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_JERK_AUTO/longDesc</name>
+  <message>
+  <source>Limit the maximum jerk of the vehicle (how fast the acceleration can change). A lower value leads to smoother vehicle motions but also limited agility.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_JERK_MAX/shortDesc</name>
+  <message>
+  <source>Maximum horizontal and vertical jerk in Position/Altitude mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_JERK_MAX/longDesc</name>
+  <message>
+  <source>Limit the maximum jerk of the vehicle (how fast the acceleration can change). A lower value leads to smoother motions but limits agility (how fast it can change directions or break). Setting this to the maximum value essentially disables the limit. Only used with smooth MPC_POS_MODE 3 and 4.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_LAND_ALT1/shortDesc</name>
+  <message>
+  <source>Altitude for 1. step of slow landing (descend)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_LAND_ALT1/longDesc</name>
+  <message>
+  <source>Below this altitude descending velocity gets limited to a value between "MPC_Z_VEL_MAX_DN" (or "MPC_Z_V_AUTO_DN") and "MPC_LAND_SPEED" Value needs to be higher than "MPC_LAND_ALT2"</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_LAND_ALT2/shortDesc</name>
+  <message>
+  <source>Altitude for 2. step of slow landing (landing)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_LAND_ALT2/longDesc</name>
+  <message>
+  <source>Below this altitude descending velocity gets limited to "MPC_LAND_SPEED" Value needs to be lower than "MPC_LAND_ALT1"</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_LAND_ALT3/shortDesc</name>
+  <message>
+  <source>Altitude for 3. step of slow landing</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_LAND_ALT3/longDesc</name>
+  <message>
+  <source>Below this altitude descending velocity gets limited to "MPC_LAND_CRWL", if LIDAR available. No effect if LIDAR not available</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_LAND_CRWL/shortDesc</name>
+  <message>
+  <source>Land crawl descend rate</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_LAND_CRWL/longDesc</name>
+  <message>
+  <source>Used below MPC_LAND_ALT3 if distance sensor data is availabe.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_LAND_RADIUS/shortDesc</name>
+  <message>
+  <source>User assisted landing radius</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_LAND_RADIUS/longDesc</name>
+  <message>
+  <source>When nudging is enabled (see MPC_LAND_RC_HELP), this controls the maximum allowed horizontal displacement from the original landing point.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_LAND_RC_HELP/shortDesc</name>
+  <message>
+  <source>Enable nudging based on user input during autonomous land routine</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_LAND_RC_HELP/longDesc</name>
+  <message>
+  <source>Using stick input the vehicle can be moved horizontally and yawed. The descend speed is amended: stick full up - 0 stick centered - MPC_LAND_SPEED stick full down - 2 * MPC_LAND_SPEED Manual override during auto modes has to be disabled to use this feature (see COM_RC_OVERRIDE).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_LAND_RC_HELP/values/0/description</name>
+  <message>
+  <source>Nudging disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_LAND_RC_HELP/values/1/description</name>
+  <message>
+  <source>Nudging enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_LAND_SPEED/shortDesc</name>
+  <message>
+  <source>Landing descend rate</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_MANTHR_MIN/shortDesc</name>
+  <message>
+  <source>Minimum collective thrust in Stabilized mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_MANTHR_MIN/longDesc</name>
+  <message>
+  <source>The value is mapped to the lowest throttle stick position in Stabilized mode. Too low collective thrust leads to loss of roll/pitch/yaw torque control authority. Airmode is used to keep torque authority with zero thrust (see MC_AIRMODE).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_MAN_TILT_MAX/shortDesc</name>
+  <message>
+  <source>Maximal tilt angle in Stabilized or Altitude mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_MAN_Y_MAX/shortDesc</name>
+  <message>
+  <source>Max manual yaw rate for Stabilized, Altitude, Position mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_MAN_Y_TAU/shortDesc</name>
+  <message>
+  <source>Manual yaw rate input filter time constant</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_MAN_Y_TAU/longDesc</name>
+  <message>
+  <source>Not used in Stabilized mode Setting this parameter to 0 disables the filter</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_POS_MODE/shortDesc</name>
+  <message>
+  <source>Position/Altitude mode variant</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_POS_MODE/longDesc</name>
+  <message>
+  <source>The supported sub-modes are: 0 Sticks directly map to velocity setpoints without smoothing. Also applies to vertical direction and Altitude mode. Useful for velocity control tuning. 3 Sticks map to velocity but with maximum acceleration and jerk limits based on jerk optimized trajectory generator (different algorithm than 1). 4 Sticks map to acceleration and there's a virtual brake drag</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_POS_MODE/values/0/description</name>
+  <message>
+  <source>Direct velocity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_POS_MODE/values/3/description</name>
+  <message>
+  <source>Smoothed velocity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_POS_MODE/values/4/description</name>
+  <message>
+  <source>Acceleration based</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_THR_CURVE/shortDesc</name>
+  <message>
+  <source>Thrust curve mapping in Stabilized Mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_THR_CURVE/longDesc</name>
+  <message>
+  <source>This parameter defines how the throttle stick input is mapped to collective thrust in Stabilized mode. In case the default is used ('Rescale to hover thrust'), the stick input is linearly rescaled, such that a centered stick corresponds to the hover throttle (see MPC_THR_HOVER). Select 'No Rescale' to directly map the stick 1:1 to the output. This can be useful in case the hover thrust is very low and the default would lead to too much distortion (e.g. if hover thrust is set to 20%, then 80% of the upper thrust range is squeezed into the upper half of the stick range). Note: In case MPC_THR_HOVER is set to 50%, the modes 0 and 1 are the same.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_THR_CURVE/values/0/description</name>
+  <message>
+  <source>Rescale to hover thrust</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_THR_CURVE/values/1/description</name>
+  <message>
+  <source>No Rescale</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_THR_HOVER/shortDesc</name>
+  <message>
+  <source>Vertical thrust required to hover</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_THR_HOVER/longDesc</name>
+  <message>
+  <source>Mapped to center throttle stick in Stabilized mode (see MPC_THR_CURVE). Used for initialization of the hover thrust estimator (see MPC_USE_HTE). The estimated hover thrust is used as base for zero vertical acceleration in altitude control. The hover thrust is important for land detection to work correctly.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_THR_MAX/shortDesc</name>
+  <message>
+  <source>Maximum collective thrust in climb rate controlled modes</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_THR_MAX/longDesc</name>
+  <message>
+  <source>Limit allowed thrust e.g. for indoor test of overpowered vehicle.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_THR_MIN/shortDesc</name>
+  <message>
+  <source>Minimum collective thrust in climb rate controlled modes</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_THR_MIN/longDesc</name>
+  <message>
+  <source>Too low thrust leads to loss of roll/pitch/yaw torque control authority. With airmode enabled this parameters can be set to 0 while still keeping torque authority (see MC_AIRMODE).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_THR_XY_MARG/shortDesc</name>
+  <message>
+  <source>Horizontal thrust margin</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_THR_XY_MARG/longDesc</name>
+  <message>
+  <source>Margin that is kept for horizontal control when higher priority vertical thrust is saturated. To avoid completely starving horizontal control with high vertical error.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_TILTMAX_AIR/shortDesc</name>
+  <message>
+  <source>Maximum tilt angle in air</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_TILTMAX_AIR/longDesc</name>
+  <message>
+  <source>Absolute maximum for all velocity or acceleration controlled modes. Any higher value is truncated.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_TILTMAX_LND/shortDesc</name>
+  <message>
+  <source>Maximum tilt during inital takeoff ramp</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_TILTMAX_LND/longDesc</name>
+  <message>
+  <source>Tighter tilt limit during takeoff to avoid tip over.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_TKO_RAMP_T/shortDesc</name>
+  <message>
+  <source>Smooth takeoff ramp time constant</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_TKO_RAMP_T/longDesc</name>
+  <message>
+  <source>Increasing this value will make climb rate controlled takeoff slower. If it's too slow the drone might scratch the ground and tip over. A time constant of 0 disables the ramp</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_TKO_SPEED/shortDesc</name>
+  <message>
+  <source>Takeoff climb rate</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_USE_HTE/shortDesc</name>
+  <message>
+  <source>Hover thrust estimator</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_USE_HTE/longDesc</name>
+  <message>
+  <source>Disable to use the fixed parameter MPC_THR_HOVER Enable to use the hover thrust estimator</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_USE_HTE/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_USE_HTE/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_VELD_LP/shortDesc</name>
+  <message>
+  <source>Numerical velocity derivative low pass cutoff frequency</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_VEL_MANUAL/shortDesc</name>
+  <message>
+  <source>Maximum horizontal velocity setpoint in Position mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_VEL_MANUAL/longDesc</name>
+  <message>
+  <source>Must be smaller than MPC_XY_VEL_MAX. The maximum sideways and backward speed can be set differently using MPC_VEL_MAN_SIDE and MPC_VEL_MAN_BACK, respectively.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_VEL_MAN_BACK/shortDesc</name>
+  <message>
+  <source>Maximum backward velocity in Position mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_VEL_MAN_BACK/longDesc</name>
+  <message>
+  <source>If set to a negative value or larger than MPC_VEL_MANUAL then MPC_VEL_MANUAL is used.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_VEL_MAN_SIDE/shortDesc</name>
+  <message>
+  <source>Maximum sideways velocity in Position mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_VEL_MAN_SIDE/longDesc</name>
+  <message>
+  <source>If set to a negative value or larger than MPC_VEL_MANUAL then MPC_VEL_MANUAL is used.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_XY_CRUISE/shortDesc</name>
+  <message>
+  <source>Default horizontal velocity in autonomous modes</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_XY_CRUISE/longDesc</name>
+  <message>
+  <source>e.g. in Missions, RTL, Goto if the waypoint does not specify differently</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_XY_ERR_MAX/shortDesc</name>
+  <message>
+  <source>Maximum horizontal error allowed by the trajectory generator</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_XY_ERR_MAX/longDesc</name>
+  <message>
+  <source>The integration speed of the trajectory setpoint is linearly reduced with the horizontal position tracking error. When the error is above this parameter, the integration of the trajectory is stopped to wait for the drone. This value can be adjusted depending on the tracking capabilities of the vehicle.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_XY_MAN_EXPO/shortDesc</name>
+  <message>
+  <source>Manual position control stick exponential curve sensitivity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_XY_MAN_EXPO/longDesc</name>
+  <message>
+  <source>The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve 1 Purely cubic input curve</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_XY_P/shortDesc</name>
+  <message>
+  <source>Proportional gain for horizontal position error</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_XY_P/longDesc</name>
+  <message>
+  <source>Defined as corrective velocity in m/s per m position error</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_XY_TRAJ_P/shortDesc</name>
+  <message>
+  <source>Proportional gain for horizontal trajectory position error</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_XY_VEL_ALL/shortDesc</name>
+  <message>
+  <source>Overall Horizontal Velocity Limit</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_XY_VEL_ALL/longDesc</name>
+  <message>
+  <source>If set to a value greater than zero, other parameters are automatically set (such as MPC_XY_VEL_MAX or MPC_VEL_MANUAL). If set to a negative value, the existing individual parameters are used.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_XY_VEL_D_ACC/shortDesc</name>
+  <message>
+  <source>Differential gain for horizontal velocity error</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_XY_VEL_D_ACC/longDesc</name>
+  <message>
+  <source>Defined as corrective acceleration in m/s^2 per m/s^2 velocity derivative</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_XY_VEL_I_ACC/shortDesc</name>
+  <message>
+  <source>Integral gain for horizontal velocity error</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_XY_VEL_I_ACC/longDesc</name>
+  <message>
+  <source>Defined as correction acceleration in m/s^2 per m velocity integral Allows to eliminate steady state errors in disturbances like wind.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_XY_VEL_MAX/shortDesc</name>
+  <message>
+  <source>Maximum horizontal velocity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_XY_VEL_MAX/longDesc</name>
+  <message>
+  <source>Absolute maximum for all velocity controlled modes. Any higher value is truncated.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_XY_VEL_P_ACC/shortDesc</name>
+  <message>
+  <source>Proportional gain for horizontal velocity error</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_XY_VEL_P_ACC/longDesc</name>
+  <message>
+  <source>Defined as corrective acceleration in m/s^2 per m/s velocity error</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_YAW_EXPO/shortDesc</name>
+  <message>
+  <source>Manual control stick yaw rotation exponential curve</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_YAW_EXPO/longDesc</name>
+  <message>
+  <source>The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve 1 Purely cubic input curve</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_Z_MAN_EXPO/shortDesc</name>
+  <message>
+  <source>Manual control stick vertical exponential curve</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_Z_MAN_EXPO/longDesc</name>
+  <message>
+  <source>The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve 1 Purely cubic input curve</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_Z_P/shortDesc</name>
+  <message>
+  <source>Proportional gain for vertical position error</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_Z_P/longDesc</name>
+  <message>
+  <source>Defined as corrective velocity in m/s per m position error</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_Z_VEL_ALL/shortDesc</name>
+  <message>
+  <source>Overall Vertical Velocity Limit</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_Z_VEL_ALL/longDesc</name>
+  <message>
+  <source>If set to a value greater than zero, other parameters are automatically set (such as MPC_Z_VEL_MAX_UP or MPC_LAND_SPEED). If set to a negative value, the existing individual parameters are used.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_Z_VEL_D_ACC/shortDesc</name>
+  <message>
+  <source>Differential gain for vertical velocity error</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_Z_VEL_D_ACC/longDesc</name>
+  <message>
+  <source>Defined as corrective acceleration in m/s^2 per m/s^2 velocity derivative</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_Z_VEL_I_ACC/shortDesc</name>
+  <message>
+  <source>Integral gain for vertical velocity error</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_Z_VEL_I_ACC/longDesc</name>
+  <message>
+  <source>Defined as corrective acceleration in m/s^2 per m velocity integral</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_Z_VEL_MAX_DN/shortDesc</name>
+  <message>
+  <source>Maximum descent velocity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_Z_VEL_MAX_DN/longDesc</name>
+  <message>
+  <source>Absolute maximum for all climb rate controlled modes. In manually piloted modes full stick deflection commands this velocity. For default autonomous velocity see MPC_Z_V_AUTO_UP</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_Z_VEL_MAX_UP/shortDesc</name>
+  <message>
+  <source>Maximum ascent velocity</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_Z_VEL_MAX_UP/longDesc</name>
+  <message>
+  <source>Absolute maximum for all climb rate controlled modes. In manually piloted modes full stick deflection commands this velocity. For default autonomous velocity see MPC_Z_V_AUTO_UP</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_Z_VEL_P_ACC/shortDesc</name>
+  <message>
+  <source>Proportional gain for vertical velocity error</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_Z_VEL_P_ACC/longDesc</name>
+  <message>
+  <source>Defined as corrective acceleration in m/s^2 per m/s velocity error</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_Z_V_AUTO_DN/shortDesc</name>
+  <message>
+  <source>Descent velocity in autonomous modes</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_Z_V_AUTO_DN/longDesc</name>
+  <message>
+  <source>For manual modes and offboard, see MPC_Z_VEL_MAX_DN</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_Z_V_AUTO_UP/shortDesc</name>
+  <message>
+  <source>Ascent velocity in autonomous modes</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MPC_Z_V_AUTO_UP/longDesc</name>
+  <message>
+  <source>For manually controlled modes and offboard see MPC_Z_VEL_MAX_UP</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_VEHICLE_RESP/shortDesc</name>
+  <message>
+  <source>Responsiveness</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_VEHICLE_RESP/longDesc</name>
+  <message>
+  <source>Changes the overall responsiveness of the vehicle. The higher the value, the faster the vehicle will react. If set to a value greater than zero, other parameters are automatically set (such as the acceleration or jerk limits). If set to a negative value, the existing individual parameters are used.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/WV_EN/shortDesc</name>
+  <message>
+  <source>Enable weathervane</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/WV_EN/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/WV_EN/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/WV_ROLL_MIN/shortDesc</name>
+  <message>
+  <source>Minimum roll angle setpoint for weathervane controller to demand a yaw-rate</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/WV_YRATE_MAX/shortDesc</name>
+  <message>
+  <source>Maximum yawrate the weathervane controller is allowed to demand</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_SLOW_DEF_HVEL/shortDesc</name>
+  <message>
+  <source>Default horizontal velocity limit</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_SLOW_DEF_HVEL/longDesc</name>
+  <message>
+  <source>This value is used in slow mode if no aux channel is mapped and no limit is commanded through MAVLink.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_SLOW_DEF_VVEL/shortDesc</name>
+  <message>
+  <source>Default vertical velocity limit</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_SLOW_DEF_VVEL/longDesc</name>
+  <message>
+  <source>This value is used in slow mode if no aux channel is mapped and no limit is commanded through MAVLink.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_SLOW_DEF_YAWR/shortDesc</name>
+  <message>
+  <source>Default yaw rate limit</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_SLOW_DEF_YAWR/longDesc</name>
+  <message>
+  <source>This value is used in slow mode if no aux channel is mapped and no limit is commanded through MAVLink.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_SLOW_MAP_HVEL/shortDesc</name>
+  <message>
+  <source>Manual input mapped to scale horizontal velocity in position slow mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_SLOW_MAP_HVEL/values/0/description</name>
+  <message>
+  <source>No rescaling</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_SLOW_MAP_HVEL/values/1/description</name>
+  <message>
+  <source>AUX1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_SLOW_MAP_HVEL/values/2/description</name>
+  <message>
+  <source>AUX2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_SLOW_MAP_HVEL/values/3/description</name>
+  <message>
+  <source>AUX3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_SLOW_MAP_HVEL/values/4/description</name>
+  <message>
+  <source>AUX4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_SLOW_MAP_HVEL/values/5/description</name>
+  <message>
+  <source>AUX5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_SLOW_MAP_HVEL/values/6/description</name>
+  <message>
+  <source>AUX6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_SLOW_MAP_VVEL/shortDesc</name>
+  <message>
+  <source>Manual input mapped to scale vertical velocity in position slow mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_SLOW_MAP_VVEL/values/0/description</name>
+  <message>
+  <source>No rescaling</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_SLOW_MAP_VVEL/values/1/description</name>
+  <message>
+  <source>AUX1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_SLOW_MAP_VVEL/values/2/description</name>
+  <message>
+  <source>AUX2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_SLOW_MAP_VVEL/values/3/description</name>
+  <message>
+  <source>AUX3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_SLOW_MAP_VVEL/values/4/description</name>
+  <message>
+  <source>AUX4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_SLOW_MAP_VVEL/values/5/description</name>
+  <message>
+  <source>AUX5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_SLOW_MAP_VVEL/values/6/description</name>
+  <message>
+  <source>AUX6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_SLOW_MAP_YAWR/shortDesc</name>
+  <message>
+  <source>Manual input mapped to scale yaw rate in position slow mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_SLOW_MAP_YAWR/values/0/description</name>
+  <message>
+  <source>No rescaling</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_SLOW_MAP_YAWR/values/1/description</name>
+  <message>
+  <source>AUX1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_SLOW_MAP_YAWR/values/2/description</name>
+  <message>
+  <source>AUX2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_SLOW_MAP_YAWR/values/3/description</name>
+  <message>
+  <source>AUX3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_SLOW_MAP_YAWR/values/4/description</name>
+  <message>
+  <source>AUX4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_SLOW_MAP_YAWR/values/5/description</name>
+  <message>
+  <source>AUX5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_SLOW_MAP_YAWR/values/6/description</name>
+  <message>
+  <source>AUX6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_SLOW_MIN_HVEL/shortDesc</name>
+  <message>
+  <source>Horizontal velocity lower limit</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_SLOW_MIN_HVEL/longDesc</name>
+  <message>
+  <source>The lowest input maps and is clamped to this velocity.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_SLOW_MIN_VVEL/shortDesc</name>
+  <message>
+  <source>Vertical velocity lower limit</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_SLOW_MIN_VVEL/longDesc</name>
+  <message>
+  <source>The lowest input maps and is clamped to this velocity.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_SLOW_MIN_YAWR/shortDesc</name>
+  <message>
+  <source>Yaw rate lower limit</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_SLOW_MIN_YAWR/longDesc</name>
+  <message>
+  <source>The lowest input maps and is clamped to this rate.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_BAT_SCALE_EN/shortDesc</name>
+  <message>
+  <source>Battery power level scaler</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_BAT_SCALE_EN/longDesc</name>
+  <message>
+  <source>This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery. The copter should constantly behave as if it was fully charged with reduced max acceleration at lower battery percentages. i.e. if hover is at 0.5 throttle at 100% battery, it will still be 0.5 at 60% battery.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_BAT_SCALE_EN/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_BAT_SCALE_EN/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_PITCHRATE_D/shortDesc</name>
+  <message>
+  <source>Pitch rate D gain</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_PITCHRATE_D/longDesc</name>
+  <message>
+  <source>Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_PITCHRATE_FF/shortDesc</name>
+  <message>
+  <source>Pitch rate feedforward</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_PITCHRATE_FF/longDesc</name>
+  <message>
+  <source>Improves tracking performance.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_PITCHRATE_I/shortDesc</name>
+  <message>
+  <source>Pitch rate I gain</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_PITCHRATE_I/longDesc</name>
+  <message>
+  <source>Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_PITCHRATE_K/shortDesc</name>
+  <message>
+  <source>Pitch rate controller gain</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_PITCHRATE_K/longDesc</name>
+  <message>
+  <source>Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_PITCHRATE_K * (MC_PITCHRATE_P * error + MC_PITCHRATE_I * error_integral + MC_PITCHRATE_D * error_derivative) Set MC_PITCHRATE_P=1 to implement a PID in the ideal form. Set MC_PITCHRATE_K=1 to implement a PID in the parallel form.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_PITCHRATE_P/shortDesc</name>
+  <message>
+  <source>Pitch rate P gain</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_PITCHRATE_P/longDesc</name>
+  <message>
+  <source>Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_PR_INT_LIM/shortDesc</name>
+  <message>
+  <source>Pitch rate integrator limit</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_PR_INT_LIM/longDesc</name>
+  <message>
+  <source>Pitch rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large pitch moment trim changes.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_ROLLRATE_D/shortDesc</name>
+  <message>
+  <source>Roll rate D gain</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_ROLLRATE_D/longDesc</name>
+  <message>
+  <source>Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_ROLLRATE_FF/shortDesc</name>
+  <message>
+  <source>Roll rate feedforward</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_ROLLRATE_FF/longDesc</name>
+  <message>
+  <source>Improves tracking performance.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_ROLLRATE_I/shortDesc</name>
+  <message>
+  <source>Roll rate I gain</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_ROLLRATE_I/longDesc</name>
+  <message>
+  <source>Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_ROLLRATE_K/shortDesc</name>
+  <message>
+  <source>Roll rate controller gain</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_ROLLRATE_K/longDesc</name>
+  <message>
+  <source>Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_ROLLRATE_K * (MC_ROLLRATE_P * error + MC_ROLLRATE_I * error_integral + MC_ROLLRATE_D * error_derivative) Set MC_ROLLRATE_P=1 to implement a PID in the ideal form. Set MC_ROLLRATE_K=1 to implement a PID in the parallel form.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_ROLLRATE_P/shortDesc</name>
+  <message>
+  <source>Roll rate P gain</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_ROLLRATE_P/longDesc</name>
+  <message>
+  <source>Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_RR_INT_LIM/shortDesc</name>
+  <message>
+  <source>Roll rate integrator limit</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_RR_INT_LIM/longDesc</name>
+  <message>
+  <source>Roll rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large roll moment trim changes.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_YAWRATE_D/shortDesc</name>
+  <message>
+  <source>Yaw rate D gain</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_YAWRATE_D/longDesc</name>
+  <message>
+  <source>Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_YAWRATE_FF/shortDesc</name>
+  <message>
+  <source>Yaw rate feedforward</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_YAWRATE_FF/longDesc</name>
+  <message>
+  <source>Improves tracking performance.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_YAWRATE_I/shortDesc</name>
+  <message>
+  <source>Yaw rate I gain</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_YAWRATE_I/longDesc</name>
+  <message>
+  <source>Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_YAWRATE_K/shortDesc</name>
+  <message>
+  <source>Yaw rate controller gain</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_YAWRATE_K/longDesc</name>
+  <message>
+  <source>Global gain of the controller. This gain scales the P, I and D terms of the controller: output = MC_YAWRATE_K * (MC_YAWRATE_P * error + MC_YAWRATE_I * error_integral + MC_YAWRATE_D * error_derivative) Set MC_YAWRATE_P=1 to implement a PID in the ideal form. Set MC_YAWRATE_K=1 to implement a PID in the parallel form.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_YAWRATE_P/shortDesc</name>
+  <message>
+  <source>Yaw rate P gain</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_YAWRATE_P/longDesc</name>
+  <message>
+  <source>Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_YR_INT_LIM/shortDesc</name>
+  <message>
+  <source>Yaw rate integrator limit</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MC_YR_INT_LIM/longDesc</name>
+  <message>
+  <source>Yaw rate integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large yaw moment trim changes.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MSP_OSD_CONFIG/shortDesc</name>
+  <message>
+  <source>Serial Configuration for MSP OSD</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MSP_OSD_CONFIG/longDesc</name>
+  <message>
+  <source>Configure on which serial port to run MSP OSD.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MSP_OSD_CONFIG/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MSP_OSD_CONFIG/values/6/description</name>
+  <message>
+  <source>UART 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MSP_OSD_CONFIG/values/101/description</name>
+  <message>
+  <source>TELEM 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MSP_OSD_CONFIG/values/102/description</name>
+  <message>
+  <source>TELEM 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MSP_OSD_CONFIG/values/103/description</name>
+  <message>
+  <source>TELEM 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MSP_OSD_CONFIG/values/104/description</name>
+  <message>
+  <source>TELEM/SERIAL 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MSP_OSD_CONFIG/values/201/description</name>
+  <message>
+  <source>GPS 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MSP_OSD_CONFIG/values/202/description</name>
+  <message>
+  <source>GPS 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MSP_OSD_CONFIG/values/203/description</name>
+  <message>
+  <source>GPS 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MSP_OSD_CONFIG/values/300/description</name>
+  <message>
+  <source>Radio Controller</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MSP_OSD_CONFIG/values/301/description</name>
+  <message>
+  <source>Wifi Port</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MSP_OSD_CONFIG/values/401/description</name>
+  <message>
+  <source>EXT2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/OSD_ATXXXX_CFG/shortDesc</name>
+  <message>
+  <source>Enable/Disable the ATXXX OSD Chip</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/OSD_ATXXXX_CFG/longDesc</name>
+  <message>
+  <source>Configure the ATXXXX OSD Chip (mounted on the OmnibusF4SD board) and select the transmission standard.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/OSD_ATXXXX_CFG/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/OSD_ATXXXX_CFG/values/1/description</name>
+  <message>
+  <source>NTSC</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/OSD_ATXXXX_CFG/values/2/description</name>
+  <message>
+  <source>PAL</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/OSD_CH_HEIGHT/shortDesc</name>
+  <message>
+  <source>OSD Crosshairs Height</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/OSD_CH_HEIGHT/longDesc</name>
+  <message>
+  <source>Controls the vertical position of the crosshair display. Resolution is limited by OSD to 15 discrete values. Negative values will display the crosshairs below the horizon</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/OSD_DWELL_TIME/shortDesc</name>
+  <message>
+  <source>OSD Dwell Time (ms)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/OSD_DWELL_TIME/longDesc</name>
+  <message>
+  <source>Amount of time in milliseconds to dwell at the beginning of the display, when scrolling.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/OSD_LOG_LEVEL/shortDesc</name>
+  <message>
+  <source>OSD Warning Level</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/OSD_LOG_LEVEL/longDesc</name>
+  <message>
+  <source>Minimum security of log level to display on the OSD.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/OSD_SCROLL_RATE/shortDesc</name>
+  <message>
+  <source>OSD Scroll Rate (ms)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/OSD_SCROLL_RATE/longDesc</name>
+  <message>
+  <source>Scroll rate in milliseconds for OSD messages longer than available character width. This is lower-bounded by the nominal loop rate of this module.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/OSD_SYMBOLS/shortDesc</name>
+  <message>
+  <source>OSD Symbol Selection</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/OSD_SYMBOLS/longDesc</name>
+  <message>
+  <source>Configure / toggle support display options.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/OSD_SYMBOLS/bitmask/0/description</name>
+  <message>
+  <source>CRAFT_NAME</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/OSD_SYMBOLS/bitmask/1/description</name>
+  <message>
+  <source>DISARMED</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/OSD_SYMBOLS/bitmask/2/description</name>
+  <message>
+  <source>GPS_LAT</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/OSD_SYMBOLS/bitmask/3/description</name>
+  <message>
+  <source>GPS_LON</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/OSD_SYMBOLS/bitmask/4/description</name>
+  <message>
+  <source>GPS_SATS</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/OSD_SYMBOLS/bitmask/5/description</name>
+  <message>
+  <source>GPS_SPEED</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/OSD_SYMBOLS/bitmask/6/description</name>
+  <message>
+  <source>HOME_DIST</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/OSD_SYMBOLS/bitmask/7/description</name>
+  <message>
+  <source>HOME_DIR</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/OSD_SYMBOLS/bitmask/8/description</name>
+  <message>
+  <source>MAIN_BATT_VOLTAGE</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/OSD_SYMBOLS/bitmask/9/description</name>
+  <message>
+  <source>CURRENT_DRAW</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/OSD_SYMBOLS/bitmask/10/description</name>
+  <message>
+  <source>MAH_DRAWN</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/OSD_SYMBOLS/bitmask/11/description</name>
+  <message>
+  <source>RSSI_VALUE</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/OSD_SYMBOLS/bitmask/12/description</name>
+  <message>
+  <source>ALTITUDE</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/OSD_SYMBOLS/bitmask/13/description</name>
+  <message>
+  <source>NUMERICAL_VARIO</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/OSD_SYMBOLS/bitmask/14/description</name>
+  <message>
+  <source>(unused) FLYMODE</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/OSD_SYMBOLS/bitmask/15/description</name>
+  <message>
+  <source>(unused) ESC_TMP</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/OSD_SYMBOLS/bitmask/16/description</name>
+  <message>
+  <source>(unused) PITCH_ANGLE</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/OSD_SYMBOLS/bitmask/17/description</name>
+  <message>
+  <source>(unused) ROLL_ANGLE</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/OSD_SYMBOLS/bitmask/18/description</name>
+  <message>
+  <source>CROSSHAIRS</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/OSD_SYMBOLS/bitmask/19/description</name>
+  <message>
+  <source>AVG_CELL_VOLTAGE</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/OSD_SYMBOLS/bitmask/20/description</name>
+  <message>
+  <source>(unused) HORIZON_SIDEBARS</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/OSD_SYMBOLS/bitmask/21/description</name>
+  <message>
+  <source>POWER</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MOT_SLEW_MAX/shortDesc</name>
+  <message>
+  <source>Minimum motor rise time (slew rate limit)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/MOT_SLEW_MAX/longDesc</name>
+  <message>
+  <source>Minimum time allowed for the motor input signal to pass through a range of 1000 PWM units. A value x means that the motor signal can only go from 1000 to 2000 PWM in minimum x seconds. Zero means that slew rate limiting is disabled.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PWM_SBUS_MODE/shortDesc</name>
+  <message>
+  <source>S.BUS out</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PWM_SBUS_MODE/longDesc</name>
+  <message>
+  <source>Set to 1 to enable S.BUS version 1 output instead of RSSI.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PWM_SBUS_MODE/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PWM_SBUS_MODE/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/THR_MDL_FAC/shortDesc</name>
+  <message>
+  <source>Thrust to motor control signal model parameter</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/THR_MDL_FAC/longDesc</name>
+  <message>
+  <source>Parameter used to model the nonlinear relationship between motor control signal (e.g. PWM) and static thrust. The model is: rel_thrust = factor * rel_signal^2 + (1-factor) * rel_signal, where rel_thrust is the normalized thrust between 0 and 1, and rel_signal is the relative motor control signal between 0 and 1.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PD_GRIPPER_EN/shortDesc</name>
+  <message>
+  <source>Enable Gripper actuation in Payload Deliverer</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PD_GRIPPER_EN/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PD_GRIPPER_EN/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PD_GRIPPER_TO/shortDesc</name>
+  <message>
+  <source>Timeout for successful gripper actuation acknowledgement</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PD_GRIPPER_TO/longDesc</name>
+  <message>
+  <source>Maximum time Gripper will wait while the successful griper actuation isn't recognised. If the gripper has no feedback sensor, it will simply wait for this time before considering gripper actuation successful and publish a 'VehicleCommandAck' signaling successful gripper action</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PD_GRIPPER_TYPE/shortDesc</name>
+  <message>
+  <source>Type of Gripper (Servo, etc.)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PD_GRIPPER_TYPE/values/-1/description</name>
+  <message>
+  <source>Undefined</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PD_GRIPPER_TYPE/values/0/description</name>
+  <message>
+  <source>Servo</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PLD_BTOUT/shortDesc</name>
+  <message>
+  <source>Landing Target Timeout</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PLD_BTOUT/longDesc</name>
+  <message>
+  <source>Time after which the landing target is considered lost without any new measurements.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PLD_FAPPR_ALT/shortDesc</name>
+  <message>
+  <source>Final approach altitude</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PLD_FAPPR_ALT/longDesc</name>
+  <message>
+  <source>Allow final approach (without horizontal positioning) if losing landing target closer than this to the ground.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PLD_HACC_RAD/shortDesc</name>
+  <message>
+  <source>Horizontal acceptance radius</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PLD_HACC_RAD/longDesc</name>
+  <message>
+  <source>Start descending if closer above landing target than this.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PLD_MAX_SRCH/shortDesc</name>
+  <message>
+  <source>Maximum number of search attempts</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PLD_MAX_SRCH/longDesc</name>
+  <message>
+  <source>Maximum number of times to search for the landing target if it is lost during the precision landing.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PLD_SRCH_ALT/shortDesc</name>
+  <message>
+  <source>Search altitude</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PLD_SRCH_ALT/longDesc</name>
+  <message>
+  <source>Altitude above home to which to climb when searching for the landing target.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PLD_SRCH_TOUT/shortDesc</name>
+  <message>
+  <source>Search timeout</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PLD_SRCH_TOUT/longDesc</name>
+  <message>
+  <source>Time allowed to search for the landing target before falling back to normal landing.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_CRSF_TEL_EN/shortDesc</name>
+  <message>
+  <source>Crossfire RC telemetry enable</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_CRSF_TEL_EN/longDesc</name>
+  <message>
+  <source>Crossfire telemetry enable</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_CRSF_TEL_EN/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_CRSF_TEL_EN/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_INPUT_PROTO/shortDesc</name>
+  <message>
+  <source>RC input protocol</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_INPUT_PROTO/longDesc</name>
+  <message>
+  <source>Select your RC input protocol or auto to scan.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_INPUT_PROTO/values/-1/description</name>
+  <message>
+  <source>Auto</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_INPUT_PROTO/values/0/description</name>
+  <message>
+  <source>None</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_INPUT_PROTO/values/1/description</name>
+  <message>
+  <source>PPM</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_INPUT_PROTO/values/2/description</name>
+  <message>
+  <source>SBUS</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_INPUT_PROTO/values/3/description</name>
+  <message>
+  <source>DSM</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_INPUT_PROTO/values/4/description</name>
+  <message>
+  <source>ST24</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_INPUT_PROTO/values/5/description</name>
+  <message>
+  <source>SUMD</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_INPUT_PROTO/values/6/description</name>
+  <message>
+  <source>CRSF</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_INPUT_PROTO/values/7/description</name>
+  <message>
+  <source>GHST</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC10_DZ/shortDesc</name>
+  <message>
+  <source>RC channel 10 dead zone</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC10_DZ/longDesc</name>
+  <message>
+  <source>The +- range of this value around the trim value will be considered as zero.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC10_MAX/shortDesc</name>
+  <message>
+  <source>RC channel 10 maximum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC10_MAX/longDesc</name>
+  <message>
+  <source>Maximum value for this channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC10_MIN/shortDesc</name>
+  <message>
+  <source>RC channel 10 minimum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC10_MIN/longDesc</name>
+  <message>
+  <source>Minimum value for this channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC10_REV/shortDesc</name>
+  <message>
+  <source>RC channel 10 reverse</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC10_REV/longDesc</name>
+  <message>
+  <source>Set to -1 to reverse channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC10_REV/values/-1.0/description</name>
+  <message>
+  <source>Reverse</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC10_REV/values/1.0/description</name>
+  <message>
+  <source>Normal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC10_TRIM/shortDesc</name>
+  <message>
+  <source>RC channel 10 trim</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC10_TRIM/longDesc</name>
+  <message>
+  <source>Mid point value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC11_DZ/shortDesc</name>
+  <message>
+  <source>RC channel 11 dead zone</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC11_DZ/longDesc</name>
+  <message>
+  <source>The +- range of this value around the trim value will be considered as zero.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC11_MAX/shortDesc</name>
+  <message>
+  <source>RC channel 11 maximum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC11_MAX/longDesc</name>
+  <message>
+  <source>Maximum value for this channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC11_MIN/shortDesc</name>
+  <message>
+  <source>RC channel 11 minimum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC11_MIN/longDesc</name>
+  <message>
+  <source>Minimum value for this channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC11_REV/shortDesc</name>
+  <message>
+  <source>RC channel 11 reverse</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC11_REV/longDesc</name>
+  <message>
+  <source>Set to -1 to reverse channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC11_REV/values/-1.0/description</name>
+  <message>
+  <source>Reverse</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC11_REV/values/1.0/description</name>
+  <message>
+  <source>Normal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC11_TRIM/shortDesc</name>
+  <message>
+  <source>RC channel 11 trim</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC11_TRIM/longDesc</name>
+  <message>
+  <source>Mid point value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC12_DZ/shortDesc</name>
+  <message>
+  <source>RC channel 12 dead zone</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC12_DZ/longDesc</name>
+  <message>
+  <source>The +- range of this value around the trim value will be considered as zero.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC12_MAX/shortDesc</name>
+  <message>
+  <source>RC channel 12 maximum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC12_MAX/longDesc</name>
+  <message>
+  <source>Maximum value for this channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC12_MIN/shortDesc</name>
+  <message>
+  <source>RC channel 12 minimum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC12_MIN/longDesc</name>
+  <message>
+  <source>Minimum value for this channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC12_REV/shortDesc</name>
+  <message>
+  <source>RC channel 12 reverse</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC12_REV/longDesc</name>
+  <message>
+  <source>Set to -1 to reverse channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC12_REV/values/-1.0/description</name>
+  <message>
+  <source>Reverse</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC12_REV/values/1.0/description</name>
+  <message>
+  <source>Normal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC12_TRIM/shortDesc</name>
+  <message>
+  <source>RC channel 12 trim</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC12_TRIM/longDesc</name>
+  <message>
+  <source>Mid point value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC13_DZ/shortDesc</name>
+  <message>
+  <source>RC channel 13 dead zone</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC13_DZ/longDesc</name>
+  <message>
+  <source>The +- range of this value around the trim value will be considered as zero.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC13_MAX/shortDesc</name>
+  <message>
+  <source>RC channel 13 maximum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC13_MAX/longDesc</name>
+  <message>
+  <source>Maximum value for this channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC13_MIN/shortDesc</name>
+  <message>
+  <source>RC channel 13 minimum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC13_MIN/longDesc</name>
+  <message>
+  <source>Minimum value for this channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC13_REV/shortDesc</name>
+  <message>
+  <source>RC channel 13 reverse</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC13_REV/longDesc</name>
+  <message>
+  <source>Set to -1 to reverse channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC13_REV/values/-1.0/description</name>
+  <message>
+  <source>Reverse</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC13_REV/values/1.0/description</name>
+  <message>
+  <source>Normal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC13_TRIM/shortDesc</name>
+  <message>
+  <source>RC channel 13 trim</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC13_TRIM/longDesc</name>
+  <message>
+  <source>Mid point value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC14_DZ/shortDesc</name>
+  <message>
+  <source>RC channel 14 dead zone</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC14_DZ/longDesc</name>
+  <message>
+  <source>The +- range of this value around the trim value will be considered as zero.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC14_MAX/shortDesc</name>
+  <message>
+  <source>RC channel 14 maximum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC14_MAX/longDesc</name>
+  <message>
+  <source>Maximum value for this channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC14_MIN/shortDesc</name>
+  <message>
+  <source>RC channel 14 minimum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC14_MIN/longDesc</name>
+  <message>
+  <source>Minimum value for this channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC14_REV/shortDesc</name>
+  <message>
+  <source>RC channel 14 reverse</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC14_REV/longDesc</name>
+  <message>
+  <source>Set to -1 to reverse channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC14_REV/values/-1.0/description</name>
+  <message>
+  <source>Reverse</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC14_REV/values/1.0/description</name>
+  <message>
+  <source>Normal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC14_TRIM/shortDesc</name>
+  <message>
+  <source>RC channel 14 trim</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC14_TRIM/longDesc</name>
+  <message>
+  <source>Mid point value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC15_DZ/shortDesc</name>
+  <message>
+  <source>RC channel 15 dead zone</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC15_DZ/longDesc</name>
+  <message>
+  <source>The +- range of this value around the trim value will be considered as zero.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC15_MAX/shortDesc</name>
+  <message>
+  <source>RC channel 15 maximum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC15_MAX/longDesc</name>
+  <message>
+  <source>Maximum value for this channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC15_MIN/shortDesc</name>
+  <message>
+  <source>RC channel 15 minimum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC15_MIN/longDesc</name>
+  <message>
+  <source>Minimum value for this channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC15_REV/shortDesc</name>
+  <message>
+  <source>RC channel 15 reverse</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC15_REV/longDesc</name>
+  <message>
+  <source>Set to -1 to reverse channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC15_REV/values/-1.0/description</name>
+  <message>
+  <source>Reverse</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC15_REV/values/1.0/description</name>
+  <message>
+  <source>Normal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC15_TRIM/shortDesc</name>
+  <message>
+  <source>RC channel 15 trim</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC15_TRIM/longDesc</name>
+  <message>
+  <source>Mid point value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC16_DZ/shortDesc</name>
+  <message>
+  <source>RC channel 16 dead zone</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC16_DZ/longDesc</name>
+  <message>
+  <source>The +- range of this value around the trim value will be considered as zero.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC16_MAX/shortDesc</name>
+  <message>
+  <source>RC channel 16 maximum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC16_MAX/longDesc</name>
+  <message>
+  <source>Maximum value for this channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC16_MIN/shortDesc</name>
+  <message>
+  <source>RC channel 16 minimum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC16_MIN/longDesc</name>
+  <message>
+  <source>Minimum value for this channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC16_REV/shortDesc</name>
+  <message>
+  <source>RC channel 16 reverse</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC16_REV/longDesc</name>
+  <message>
+  <source>Set to -1 to reverse channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC16_REV/values/-1.0/description</name>
+  <message>
+  <source>Reverse</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC16_REV/values/1.0/description</name>
+  <message>
+  <source>Normal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC16_TRIM/shortDesc</name>
+  <message>
+  <source>RC channel 16 trim</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC16_TRIM/longDesc</name>
+  <message>
+  <source>Mid point value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC17_DZ/shortDesc</name>
+  <message>
+  <source>RC channel 17 dead zone</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC17_DZ/longDesc</name>
+  <message>
+  <source>The +- range of this value around the trim value will be considered as zero.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC17_MAX/shortDesc</name>
+  <message>
+  <source>RC channel 17 maximum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC17_MAX/longDesc</name>
+  <message>
+  <source>Maximum value for this channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC17_MIN/shortDesc</name>
+  <message>
+  <source>RC channel 17 minimum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC17_MIN/longDesc</name>
+  <message>
+  <source>Minimum value for this channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC17_REV/shortDesc</name>
+  <message>
+  <source>RC channel 17 reverse</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC17_REV/longDesc</name>
+  <message>
+  <source>Set to -1 to reverse channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC17_REV/values/-1.0/description</name>
+  <message>
+  <source>Reverse</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC17_REV/values/1.0/description</name>
+  <message>
+  <source>Normal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC17_TRIM/shortDesc</name>
+  <message>
+  <source>RC channel 17 trim</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC17_TRIM/longDesc</name>
+  <message>
+  <source>Mid point value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC18_DZ/shortDesc</name>
+  <message>
+  <source>RC channel 18 dead zone</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC18_DZ/longDesc</name>
+  <message>
+  <source>The +- range of this value around the trim value will be considered as zero.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC18_MAX/shortDesc</name>
+  <message>
+  <source>RC channel 18 maximum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC18_MAX/longDesc</name>
+  <message>
+  <source>Maximum value for this channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC18_MIN/shortDesc</name>
+  <message>
+  <source>RC channel 18 minimum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC18_MIN/longDesc</name>
+  <message>
+  <source>Minimum value for this channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC18_REV/shortDesc</name>
+  <message>
+  <source>RC channel 18 reverse</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC18_REV/longDesc</name>
+  <message>
+  <source>Set to -1 to reverse channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC18_REV/values/-1.0/description</name>
+  <message>
+  <source>Reverse</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC18_REV/values/1.0/description</name>
+  <message>
+  <source>Normal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC18_TRIM/shortDesc</name>
+  <message>
+  <source>RC channel 18 trim</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC18_TRIM/longDesc</name>
+  <message>
+  <source>Mid point value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC1_DZ/shortDesc</name>
+  <message>
+  <source>RC channel 1 dead zone</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC1_DZ/longDesc</name>
+  <message>
+  <source>The +- range of this value around the trim value will be considered as zero.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC1_MAX/shortDesc</name>
+  <message>
+  <source>RC channel 1 maximum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC1_MAX/longDesc</name>
+  <message>
+  <source>Maximum value for RC channel 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC1_MIN/shortDesc</name>
+  <message>
+  <source>RC channel 1 minimum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC1_MIN/longDesc</name>
+  <message>
+  <source>Minimum value for RC channel 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC1_REV/shortDesc</name>
+  <message>
+  <source>RC channel 1 reverse</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC1_REV/longDesc</name>
+  <message>
+  <source>Set to -1 to reverse channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC1_REV/values/-1.0/description</name>
+  <message>
+  <source>Reverse</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC1_REV/values/1.0/description</name>
+  <message>
+  <source>Normal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC1_TRIM/shortDesc</name>
+  <message>
+  <source>RC channel 1 trim</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC1_TRIM/longDesc</name>
+  <message>
+  <source>Mid point value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC2_DZ/shortDesc</name>
+  <message>
+  <source>RC channel 2 dead zone</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC2_DZ/longDesc</name>
+  <message>
+  <source>The +- range of this value around the trim value will be considered as zero.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC2_MAX/shortDesc</name>
+  <message>
+  <source>RC channel 2 maximum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC2_MAX/longDesc</name>
+  <message>
+  <source>Maximum value for this channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC2_MIN/shortDesc</name>
+  <message>
+  <source>RC channel 2 minimum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC2_MIN/longDesc</name>
+  <message>
+  <source>Minimum value for this channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC2_REV/shortDesc</name>
+  <message>
+  <source>RC channel 2 reverse</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC2_REV/longDesc</name>
+  <message>
+  <source>Set to -1 to reverse channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC2_REV/values/-1.0/description</name>
+  <message>
+  <source>Reverse</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC2_REV/values/1.0/description</name>
+  <message>
+  <source>Normal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC2_TRIM/shortDesc</name>
+  <message>
+  <source>RC channel 2 trim</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC2_TRIM/longDesc</name>
+  <message>
+  <source>Mid point value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC3_DZ/shortDesc</name>
+  <message>
+  <source>RC channel 3 dead zone</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC3_DZ/longDesc</name>
+  <message>
+  <source>The +- range of this value around the trim value will be considered as zero.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC3_MAX/shortDesc</name>
+  <message>
+  <source>RC channel 3 maximum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC3_MAX/longDesc</name>
+  <message>
+  <source>Maximum value for this channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC3_MIN/shortDesc</name>
+  <message>
+  <source>RC channel 3 minimum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC3_MIN/longDesc</name>
+  <message>
+  <source>Minimum value for this channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC3_REV/shortDesc</name>
+  <message>
+  <source>RC channel 3 reverse</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC3_REV/longDesc</name>
+  <message>
+  <source>Set to -1 to reverse channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC3_REV/values/-1.0/description</name>
+  <message>
+  <source>Reverse</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC3_REV/values/1.0/description</name>
+  <message>
+  <source>Normal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC3_TRIM/shortDesc</name>
+  <message>
+  <source>RC channel 3 trim</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC3_TRIM/longDesc</name>
+  <message>
+  <source>Mid point value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC4_DZ/shortDesc</name>
+  <message>
+  <source>RC channel 4 dead zone</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC4_DZ/longDesc</name>
+  <message>
+  <source>The +- range of this value around the trim value will be considered as zero.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC4_MAX/shortDesc</name>
+  <message>
+  <source>RC channel 4 maximum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC4_MAX/longDesc</name>
+  <message>
+  <source>Maximum value for this channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC4_MIN/shortDesc</name>
+  <message>
+  <source>RC channel 4 minimum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC4_MIN/longDesc</name>
+  <message>
+  <source>Minimum value for this channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC4_REV/shortDesc</name>
+  <message>
+  <source>RC channel 4 reverse</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC4_REV/longDesc</name>
+  <message>
+  <source>Set to -1 to reverse channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC4_REV/values/-1.0/description</name>
+  <message>
+  <source>Reverse</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC4_REV/values/1.0/description</name>
+  <message>
+  <source>Normal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC4_TRIM/shortDesc</name>
+  <message>
+  <source>RC channel 4 trim</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC4_TRIM/longDesc</name>
+  <message>
+  <source>Mid point value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC5_DZ/shortDesc</name>
+  <message>
+  <source>RC channel 5 dead zone</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC5_DZ/longDesc</name>
+  <message>
+  <source>The +- range of this value around the trim value will be considered as zero.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC5_MAX/shortDesc</name>
+  <message>
+  <source>RC channel 5 maximum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC5_MAX/longDesc</name>
+  <message>
+  <source>Maximum value for this channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC5_MIN/shortDesc</name>
+  <message>
+  <source>RC channel 5 minimum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC5_MIN/longDesc</name>
+  <message>
+  <source>Minimum value for this channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC5_REV/shortDesc</name>
+  <message>
+  <source>RC channel 5 reverse</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC5_REV/longDesc</name>
+  <message>
+  <source>Set to -1 to reverse channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC5_REV/values/-1.0/description</name>
+  <message>
+  <source>Reverse</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC5_REV/values/1.0/description</name>
+  <message>
+  <source>Normal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC5_TRIM/shortDesc</name>
+  <message>
+  <source>RC channel 5 trim</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC5_TRIM/longDesc</name>
+  <message>
+  <source>Mid point value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC6_DZ/shortDesc</name>
+  <message>
+  <source>RC channel 6 dead zone</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC6_DZ/longDesc</name>
+  <message>
+  <source>The +- range of this value around the trim value will be considered as zero.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC6_MAX/shortDesc</name>
+  <message>
+  <source>RC channel 6 maximum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC6_MAX/longDesc</name>
+  <message>
+  <source>Maximum value for this channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC6_MIN/shortDesc</name>
+  <message>
+  <source>RC channel 6 minimum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC6_MIN/longDesc</name>
+  <message>
+  <source>Minimum value for this channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC6_REV/shortDesc</name>
+  <message>
+  <source>RC channel 6 reverse</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC6_REV/longDesc</name>
+  <message>
+  <source>Set to -1 to reverse channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC6_REV/values/-1.0/description</name>
+  <message>
+  <source>Reverse</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC6_REV/values/1.0/description</name>
+  <message>
+  <source>Normal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC6_TRIM/shortDesc</name>
+  <message>
+  <source>RC channel 6 trim</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC6_TRIM/longDesc</name>
+  <message>
+  <source>Mid point value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC7_DZ/shortDesc</name>
+  <message>
+  <source>RC channel 7 dead zone</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC7_DZ/longDesc</name>
+  <message>
+  <source>The +- range of this value around the trim value will be considered as zero.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC7_MAX/shortDesc</name>
+  <message>
+  <source>RC channel 7 maximum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC7_MAX/longDesc</name>
+  <message>
+  <source>Maximum value for this channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC7_MIN/shortDesc</name>
+  <message>
+  <source>RC channel 7 minimum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC7_MIN/longDesc</name>
+  <message>
+  <source>Minimum value for this channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC7_REV/shortDesc</name>
+  <message>
+  <source>RC channel 7 reverse</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC7_REV/longDesc</name>
+  <message>
+  <source>Set to -1 to reverse channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC7_REV/values/-1.0/description</name>
+  <message>
+  <source>Reverse</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC7_REV/values/1.0/description</name>
+  <message>
+  <source>Normal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC7_TRIM/shortDesc</name>
+  <message>
+  <source>RC channel 7 trim</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC7_TRIM/longDesc</name>
+  <message>
+  <source>Mid point value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC8_DZ/shortDesc</name>
+  <message>
+  <source>RC channel 8 dead zone</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC8_DZ/longDesc</name>
+  <message>
+  <source>The +- range of this value around the trim value will be considered as zero.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC8_MAX/shortDesc</name>
+  <message>
+  <source>RC channel 8 maximum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC8_MAX/longDesc</name>
+  <message>
+  <source>Maximum value for this channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC8_MIN/shortDesc</name>
+  <message>
+  <source>RC channel 8 minimum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC8_MIN/longDesc</name>
+  <message>
+  <source>Minimum value for this channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC8_REV/shortDesc</name>
+  <message>
+  <source>RC channel 8 reverse</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC8_REV/longDesc</name>
+  <message>
+  <source>Set to -1 to reverse channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC8_REV/values/-1.0/description</name>
+  <message>
+  <source>Reverse</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC8_REV/values/1.0/description</name>
+  <message>
+  <source>Normal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC8_TRIM/shortDesc</name>
+  <message>
+  <source>RC channel 8 trim</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC8_TRIM/longDesc</name>
+  <message>
+  <source>Mid point value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC9_DZ/shortDesc</name>
+  <message>
+  <source>RC channel 9 dead zone</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC9_DZ/longDesc</name>
+  <message>
+  <source>The +- range of this value around the trim value will be considered as zero.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC9_MAX/shortDesc</name>
+  <message>
+  <source>RC channel 9 maximum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC9_MAX/longDesc</name>
+  <message>
+  <source>Maximum value for this channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC9_MIN/shortDesc</name>
+  <message>
+  <source>RC channel 9 minimum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC9_MIN/longDesc</name>
+  <message>
+  <source>Minimum value for this channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC9_REV/shortDesc</name>
+  <message>
+  <source>RC channel 9 reverse</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC9_REV/longDesc</name>
+  <message>
+  <source>Set to -1 to reverse channel.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC9_REV/values/-1.0/description</name>
+  <message>
+  <source>Reverse</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC9_REV/values/1.0/description</name>
+  <message>
+  <source>Normal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC9_TRIM/shortDesc</name>
+  <message>
+  <source>RC channel 9 trim</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC9_TRIM/longDesc</name>
+  <message>
+  <source>Mid point value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_CHAN_CNT/shortDesc</name>
+  <message>
+  <source>RC channel count</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_CHAN_CNT/longDesc</name>
+  <message>
+  <source>This parameter is used by Ground Station software to save the number of channels which were used during RC calibration. It is only meant for ground station use.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_FAILS_THR/shortDesc</name>
+  <message>
+  <source>Failsafe channel PWM threshold</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_FAILS_THR/longDesc</name>
+  <message>
+  <source>Use RC_MAP_FAILSAFE to specify which channel is used to indicate RC loss via this threshold. By default this is the throttle channel. Set to a PWM value slightly above the PWM value for the channel (e.g. throttle) in a failsafe event, but below the minimum PWM value for the channel during normal operation. Note: The default value of 0 disables the feature (it is below the expected range).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX1/shortDesc</name>
+  <message>
+  <source>AUX1 Passthrough RC channel</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX1/longDesc</name>
+  <message>
+  <source>Default function: Camera pitch</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX1/values/0/description</name>
+  <message>
+  <source>Unassigned</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX1/values/1/description</name>
+  <message>
+  <source>Channel 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX1/values/2/description</name>
+  <message>
+  <source>Channel 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX1/values/3/description</name>
+  <message>
+  <source>Channel 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX1/values/4/description</name>
+  <message>
+  <source>Channel 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX1/values/5/description</name>
+  <message>
+  <source>Channel 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX1/values/6/description</name>
+  <message>
+  <source>Channel 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX1/values/7/description</name>
+  <message>
+  <source>Channel 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX1/values/8/description</name>
+  <message>
+  <source>Channel 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX1/values/9/description</name>
+  <message>
+  <source>Channel 9</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX1/values/10/description</name>
+  <message>
+  <source>Channel 10</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX1/values/11/description</name>
+  <message>
+  <source>Channel 11</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX1/values/12/description</name>
+  <message>
+  <source>Channel 12</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX1/values/13/description</name>
+  <message>
+  <source>Channel 13</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX1/values/14/description</name>
+  <message>
+  <source>Channel 14</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX1/values/15/description</name>
+  <message>
+  <source>Channel 15</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX1/values/16/description</name>
+  <message>
+  <source>Channel 16</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX1/values/17/description</name>
+  <message>
+  <source>Channel 17</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX1/values/18/description</name>
+  <message>
+  <source>Channel 18</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX2/shortDesc</name>
+  <message>
+  <source>AUX2 Passthrough RC channel</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX2/longDesc</name>
+  <message>
+  <source>Default function: Camera roll</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX2/values/0/description</name>
+  <message>
+  <source>Unassigned</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX2/values/1/description</name>
+  <message>
+  <source>Channel 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX2/values/2/description</name>
+  <message>
+  <source>Channel 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX2/values/3/description</name>
+  <message>
+  <source>Channel 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX2/values/4/description</name>
+  <message>
+  <source>Channel 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX2/values/5/description</name>
+  <message>
+  <source>Channel 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX2/values/6/description</name>
+  <message>
+  <source>Channel 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX2/values/7/description</name>
+  <message>
+  <source>Channel 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX2/values/8/description</name>
+  <message>
+  <source>Channel 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX2/values/9/description</name>
+  <message>
+  <source>Channel 9</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX2/values/10/description</name>
+  <message>
+  <source>Channel 10</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX2/values/11/description</name>
+  <message>
+  <source>Channel 11</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX2/values/12/description</name>
+  <message>
+  <source>Channel 12</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX2/values/13/description</name>
+  <message>
+  <source>Channel 13</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX2/values/14/description</name>
+  <message>
+  <source>Channel 14</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX2/values/15/description</name>
+  <message>
+  <source>Channel 15</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX2/values/16/description</name>
+  <message>
+  <source>Channel 16</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX2/values/17/description</name>
+  <message>
+  <source>Channel 17</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX2/values/18/description</name>
+  <message>
+  <source>Channel 18</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX3/shortDesc</name>
+  <message>
+  <source>AUX3 Passthrough RC channel</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX3/longDesc</name>
+  <message>
+  <source>Default function: Camera azimuth / yaw</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX3/values/0/description</name>
+  <message>
+  <source>Unassigned</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX3/values/1/description</name>
+  <message>
+  <source>Channel 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX3/values/2/description</name>
+  <message>
+  <source>Channel 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX3/values/3/description</name>
+  <message>
+  <source>Channel 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX3/values/4/description</name>
+  <message>
+  <source>Channel 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX3/values/5/description</name>
+  <message>
+  <source>Channel 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX3/values/6/description</name>
+  <message>
+  <source>Channel 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX3/values/7/description</name>
+  <message>
+  <source>Channel 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX3/values/8/description</name>
+  <message>
+  <source>Channel 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX3/values/9/description</name>
+  <message>
+  <source>Channel 9</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX3/values/10/description</name>
+  <message>
+  <source>Channel 10</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX3/values/11/description</name>
+  <message>
+  <source>Channel 11</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX3/values/12/description</name>
+  <message>
+  <source>Channel 12</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX3/values/13/description</name>
+  <message>
+  <source>Channel 13</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX3/values/14/description</name>
+  <message>
+  <source>Channel 14</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX3/values/15/description</name>
+  <message>
+  <source>Channel 15</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX3/values/16/description</name>
+  <message>
+  <source>Channel 16</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX3/values/17/description</name>
+  <message>
+  <source>Channel 17</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX3/values/18/description</name>
+  <message>
+  <source>Channel 18</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX4/shortDesc</name>
+  <message>
+  <source>AUX4 Passthrough RC channel</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX4/values/0/description</name>
+  <message>
+  <source>Unassigned</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX4/values/1/description</name>
+  <message>
+  <source>Channel 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX4/values/2/description</name>
+  <message>
+  <source>Channel 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX4/values/3/description</name>
+  <message>
+  <source>Channel 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX4/values/4/description</name>
+  <message>
+  <source>Channel 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX4/values/5/description</name>
+  <message>
+  <source>Channel 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX4/values/6/description</name>
+  <message>
+  <source>Channel 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX4/values/7/description</name>
+  <message>
+  <source>Channel 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX4/values/8/description</name>
+  <message>
+  <source>Channel 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX4/values/9/description</name>
+  <message>
+  <source>Channel 9</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX4/values/10/description</name>
+  <message>
+  <source>Channel 10</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX4/values/11/description</name>
+  <message>
+  <source>Channel 11</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX4/values/12/description</name>
+  <message>
+  <source>Channel 12</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX4/values/13/description</name>
+  <message>
+  <source>Channel 13</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX4/values/14/description</name>
+  <message>
+  <source>Channel 14</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX4/values/15/description</name>
+  <message>
+  <source>Channel 15</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX4/values/16/description</name>
+  <message>
+  <source>Channel 16</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX4/values/17/description</name>
+  <message>
+  <source>Channel 17</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX4/values/18/description</name>
+  <message>
+  <source>Channel 18</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX5/shortDesc</name>
+  <message>
+  <source>AUX5 Passthrough RC channel</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX5/values/0/description</name>
+  <message>
+  <source>Unassigned</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX5/values/1/description</name>
+  <message>
+  <source>Channel 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX5/values/2/description</name>
+  <message>
+  <source>Channel 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX5/values/3/description</name>
+  <message>
+  <source>Channel 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX5/values/4/description</name>
+  <message>
+  <source>Channel 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX5/values/5/description</name>
+  <message>
+  <source>Channel 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX5/values/6/description</name>
+  <message>
+  <source>Channel 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX5/values/7/description</name>
+  <message>
+  <source>Channel 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX5/values/8/description</name>
+  <message>
+  <source>Channel 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX5/values/9/description</name>
+  <message>
+  <source>Channel 9</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX5/values/10/description</name>
+  <message>
+  <source>Channel 10</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX5/values/11/description</name>
+  <message>
+  <source>Channel 11</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX5/values/12/description</name>
+  <message>
+  <source>Channel 12</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX5/values/13/description</name>
+  <message>
+  <source>Channel 13</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX5/values/14/description</name>
+  <message>
+  <source>Channel 14</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX5/values/15/description</name>
+  <message>
+  <source>Channel 15</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX5/values/16/description</name>
+  <message>
+  <source>Channel 16</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX5/values/17/description</name>
+  <message>
+  <source>Channel 17</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX5/values/18/description</name>
+  <message>
+  <source>Channel 18</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX6/shortDesc</name>
+  <message>
+  <source>AUX6 Passthrough RC channel</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX6/values/0/description</name>
+  <message>
+  <source>Unassigned</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX6/values/1/description</name>
+  <message>
+  <source>Channel 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX6/values/2/description</name>
+  <message>
+  <source>Channel 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX6/values/3/description</name>
+  <message>
+  <source>Channel 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX6/values/4/description</name>
+  <message>
+  <source>Channel 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX6/values/5/description</name>
+  <message>
+  <source>Channel 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX6/values/6/description</name>
+  <message>
+  <source>Channel 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX6/values/7/description</name>
+  <message>
+  <source>Channel 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX6/values/8/description</name>
+  <message>
+  <source>Channel 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX6/values/9/description</name>
+  <message>
+  <source>Channel 9</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX6/values/10/description</name>
+  <message>
+  <source>Channel 10</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX6/values/11/description</name>
+  <message>
+  <source>Channel 11</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX6/values/12/description</name>
+  <message>
+  <source>Channel 12</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX6/values/13/description</name>
+  <message>
+  <source>Channel 13</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX6/values/14/description</name>
+  <message>
+  <source>Channel 14</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX6/values/15/description</name>
+  <message>
+  <source>Channel 15</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX6/values/16/description</name>
+  <message>
+  <source>Channel 16</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX6/values/17/description</name>
+  <message>
+  <source>Channel 17</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_AUX6/values/18/description</name>
+  <message>
+  <source>Channel 18</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ENG_MOT/shortDesc</name>
+  <message>
+  <source>RC channel to engage the main motor (for helicopters)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ENG_MOT/values/0/description</name>
+  <message>
+  <source>Unassigned</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ENG_MOT/values/1/description</name>
+  <message>
+  <source>Channel 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ENG_MOT/values/2/description</name>
+  <message>
+  <source>Channel 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ENG_MOT/values/3/description</name>
+  <message>
+  <source>Channel 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ENG_MOT/values/4/description</name>
+  <message>
+  <source>Channel 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ENG_MOT/values/5/description</name>
+  <message>
+  <source>Channel 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ENG_MOT/values/6/description</name>
+  <message>
+  <source>Channel 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ENG_MOT/values/7/description</name>
+  <message>
+  <source>Channel 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ENG_MOT/values/8/description</name>
+  <message>
+  <source>Channel 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ENG_MOT/values/9/description</name>
+  <message>
+  <source>Channel 9</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ENG_MOT/values/10/description</name>
+  <message>
+  <source>Channel 10</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ENG_MOT/values/11/description</name>
+  <message>
+  <source>Channel 11</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ENG_MOT/values/12/description</name>
+  <message>
+  <source>Channel 12</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ENG_MOT/values/13/description</name>
+  <message>
+  <source>Channel 13</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ENG_MOT/values/14/description</name>
+  <message>
+  <source>Channel 14</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ENG_MOT/values/15/description</name>
+  <message>
+  <source>Channel 15</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ENG_MOT/values/16/description</name>
+  <message>
+  <source>Channel 16</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ENG_MOT/values/17/description</name>
+  <message>
+  <source>Channel 17</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ENG_MOT/values/18/description</name>
+  <message>
+  <source>Channel 18</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FAILSAFE/shortDesc</name>
+  <message>
+  <source>Failsafe channel mapping</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FAILSAFE/longDesc</name>
+  <message>
+  <source>Configures which RC channel is used by the receiver to indicate the signal was lost (on receivers that use output a fixed signal value to report lost signal). If set to 0, the channel mapped to throttle is used. Use RC_FAILS_THR to set the threshold indicating lost signal. By default it's below the expected range and hence disabled.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FAILSAFE/values/0/description</name>
+  <message>
+  <source>Unassigned</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FAILSAFE/values/1/description</name>
+  <message>
+  <source>Channel 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FAILSAFE/values/2/description</name>
+  <message>
+  <source>Channel 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FAILSAFE/values/3/description</name>
+  <message>
+  <source>Channel 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FAILSAFE/values/4/description</name>
+  <message>
+  <source>Channel 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FAILSAFE/values/5/description</name>
+  <message>
+  <source>Channel 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FAILSAFE/values/6/description</name>
+  <message>
+  <source>Channel 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FAILSAFE/values/7/description</name>
+  <message>
+  <source>Channel 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FAILSAFE/values/8/description</name>
+  <message>
+  <source>Channel 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FAILSAFE/values/9/description</name>
+  <message>
+  <source>Channel 9</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FAILSAFE/values/10/description</name>
+  <message>
+  <source>Channel 10</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FAILSAFE/values/11/description</name>
+  <message>
+  <source>Channel 11</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FAILSAFE/values/12/description</name>
+  <message>
+  <source>Channel 12</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FAILSAFE/values/13/description</name>
+  <message>
+  <source>Channel 13</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FAILSAFE/values/14/description</name>
+  <message>
+  <source>Channel 14</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FAILSAFE/values/15/description</name>
+  <message>
+  <source>Channel 15</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FAILSAFE/values/16/description</name>
+  <message>
+  <source>Channel 16</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FAILSAFE/values/17/description</name>
+  <message>
+  <source>Channel 17</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FAILSAFE/values/18/description</name>
+  <message>
+  <source>Channel 18</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM1/shortDesc</name>
+  <message>
+  <source>PARAM1 tuning channel</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM1/longDesc</name>
+  <message>
+  <source>Can be used for parameter tuning with the RC. This one is further referenced as the 1st parameter channel. Set to 0 to deactivate *</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM1/values/0/description</name>
+  <message>
+  <source>Unassigned</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM1/values/1/description</name>
+  <message>
+  <source>Channel 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM1/values/2/description</name>
+  <message>
+  <source>Channel 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM1/values/3/description</name>
+  <message>
+  <source>Channel 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM1/values/4/description</name>
+  <message>
+  <source>Channel 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM1/values/5/description</name>
+  <message>
+  <source>Channel 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM1/values/6/description</name>
+  <message>
+  <source>Channel 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM1/values/7/description</name>
+  <message>
+  <source>Channel 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM1/values/8/description</name>
+  <message>
+  <source>Channel 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM1/values/9/description</name>
+  <message>
+  <source>Channel 9</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM1/values/10/description</name>
+  <message>
+  <source>Channel 10</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM1/values/11/description</name>
+  <message>
+  <source>Channel 11</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM1/values/12/description</name>
+  <message>
+  <source>Channel 12</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM1/values/13/description</name>
+  <message>
+  <source>Channel 13</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM1/values/14/description</name>
+  <message>
+  <source>Channel 14</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM1/values/15/description</name>
+  <message>
+  <source>Channel 15</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM1/values/16/description</name>
+  <message>
+  <source>Channel 16</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM1/values/17/description</name>
+  <message>
+  <source>Channel 17</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM1/values/18/description</name>
+  <message>
+  <source>Channel 18</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM2/shortDesc</name>
+  <message>
+  <source>PARAM2 tuning channel</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM2/longDesc</name>
+  <message>
+  <source>Can be used for parameter tuning with the RC. This one is further referenced as the 2nd parameter channel. Set to 0 to deactivate *</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM2/values/0/description</name>
+  <message>
+  <source>Unassigned</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM2/values/1/description</name>
+  <message>
+  <source>Channel 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM2/values/2/description</name>
+  <message>
+  <source>Channel 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM2/values/3/description</name>
+  <message>
+  <source>Channel 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM2/values/4/description</name>
+  <message>
+  <source>Channel 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM2/values/5/description</name>
+  <message>
+  <source>Channel 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM2/values/6/description</name>
+  <message>
+  <source>Channel 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM2/values/7/description</name>
+  <message>
+  <source>Channel 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM2/values/8/description</name>
+  <message>
+  <source>Channel 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM2/values/9/description</name>
+  <message>
+  <source>Channel 9</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM2/values/10/description</name>
+  <message>
+  <source>Channel 10</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM2/values/11/description</name>
+  <message>
+  <source>Channel 11</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM2/values/12/description</name>
+  <message>
+  <source>Channel 12</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM2/values/13/description</name>
+  <message>
+  <source>Channel 13</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM2/values/14/description</name>
+  <message>
+  <source>Channel 14</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM2/values/15/description</name>
+  <message>
+  <source>Channel 15</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM2/values/16/description</name>
+  <message>
+  <source>Channel 16</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM2/values/17/description</name>
+  <message>
+  <source>Channel 17</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM2/values/18/description</name>
+  <message>
+  <source>Channel 18</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM3/shortDesc</name>
+  <message>
+  <source>PARAM3 tuning channel</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM3/longDesc</name>
+  <message>
+  <source>Can be used for parameter tuning with the RC. This one is further referenced as the 3th parameter channel. Set to 0 to deactivate *</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM3/values/0/description</name>
+  <message>
+  <source>Unassigned</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM3/values/1/description</name>
+  <message>
+  <source>Channel 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM3/values/2/description</name>
+  <message>
+  <source>Channel 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM3/values/3/description</name>
+  <message>
+  <source>Channel 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM3/values/4/description</name>
+  <message>
+  <source>Channel 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM3/values/5/description</name>
+  <message>
+  <source>Channel 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM3/values/6/description</name>
+  <message>
+  <source>Channel 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM3/values/7/description</name>
+  <message>
+  <source>Channel 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM3/values/8/description</name>
+  <message>
+  <source>Channel 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM3/values/9/description</name>
+  <message>
+  <source>Channel 9</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM3/values/10/description</name>
+  <message>
+  <source>Channel 10</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM3/values/11/description</name>
+  <message>
+  <source>Channel 11</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM3/values/12/description</name>
+  <message>
+  <source>Channel 12</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM3/values/13/description</name>
+  <message>
+  <source>Channel 13</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM3/values/14/description</name>
+  <message>
+  <source>Channel 14</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM3/values/15/description</name>
+  <message>
+  <source>Channel 15</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM3/values/16/description</name>
+  <message>
+  <source>Channel 16</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM3/values/17/description</name>
+  <message>
+  <source>Channel 17</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PARAM3/values/18/description</name>
+  <message>
+  <source>Channel 18</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PITCH/shortDesc</name>
+  <message>
+  <source>Pitch control channel mapping</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PITCH/longDesc</name>
+  <message>
+  <source>The channel index (starting from 1 for channel 1) indicates which channel should be used for reading pitch inputs from. A value of zero indicates the switch is not assigned.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PITCH/values/0/description</name>
+  <message>
+  <source>Unassigned</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PITCH/values/1/description</name>
+  <message>
+  <source>Channel 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PITCH/values/2/description</name>
+  <message>
+  <source>Channel 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PITCH/values/3/description</name>
+  <message>
+  <source>Channel 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PITCH/values/4/description</name>
+  <message>
+  <source>Channel 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PITCH/values/5/description</name>
+  <message>
+  <source>Channel 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PITCH/values/6/description</name>
+  <message>
+  <source>Channel 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PITCH/values/7/description</name>
+  <message>
+  <source>Channel 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PITCH/values/8/description</name>
+  <message>
+  <source>Channel 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PITCH/values/9/description</name>
+  <message>
+  <source>Channel 9</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PITCH/values/10/description</name>
+  <message>
+  <source>Channel 10</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PITCH/values/11/description</name>
+  <message>
+  <source>Channel 11</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PITCH/values/12/description</name>
+  <message>
+  <source>Channel 12</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PITCH/values/13/description</name>
+  <message>
+  <source>Channel 13</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PITCH/values/14/description</name>
+  <message>
+  <source>Channel 14</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PITCH/values/15/description</name>
+  <message>
+  <source>Channel 15</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PITCH/values/16/description</name>
+  <message>
+  <source>Channel 16</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PITCH/values/17/description</name>
+  <message>
+  <source>Channel 17</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PITCH/values/18/description</name>
+  <message>
+  <source>Channel 18</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ROLL/shortDesc</name>
+  <message>
+  <source>Roll control channel mapping</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ROLL/longDesc</name>
+  <message>
+  <source>The channel index (starting from 1 for channel 1) indicates which channel should be used for reading roll inputs from. A value of zero indicates the switch is not assigned.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ROLL/values/0/description</name>
+  <message>
+  <source>Unassigned</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ROLL/values/1/description</name>
+  <message>
+  <source>Channel 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ROLL/values/2/description</name>
+  <message>
+  <source>Channel 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ROLL/values/3/description</name>
+  <message>
+  <source>Channel 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ROLL/values/4/description</name>
+  <message>
+  <source>Channel 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ROLL/values/5/description</name>
+  <message>
+  <source>Channel 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ROLL/values/6/description</name>
+  <message>
+  <source>Channel 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ROLL/values/7/description</name>
+  <message>
+  <source>Channel 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ROLL/values/8/description</name>
+  <message>
+  <source>Channel 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ROLL/values/9/description</name>
+  <message>
+  <source>Channel 9</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ROLL/values/10/description</name>
+  <message>
+  <source>Channel 10</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ROLL/values/11/description</name>
+  <message>
+  <source>Channel 11</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ROLL/values/12/description</name>
+  <message>
+  <source>Channel 12</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ROLL/values/13/description</name>
+  <message>
+  <source>Channel 13</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ROLL/values/14/description</name>
+  <message>
+  <source>Channel 14</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ROLL/values/15/description</name>
+  <message>
+  <source>Channel 15</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ROLL/values/16/description</name>
+  <message>
+  <source>Channel 16</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ROLL/values/17/description</name>
+  <message>
+  <source>Channel 17</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ROLL/values/18/description</name>
+  <message>
+  <source>Channel 18</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_THROTTLE/shortDesc</name>
+  <message>
+  <source>Throttle control channel mapping</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_THROTTLE/longDesc</name>
+  <message>
+  <source>The channel index (starting from 1 for channel 1) indicates which channel should be used for reading throttle inputs from. A value of zero indicates the switch is not assigned.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_THROTTLE/values/0/description</name>
+  <message>
+  <source>Unassigned</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_THROTTLE/values/1/description</name>
+  <message>
+  <source>Channel 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_THROTTLE/values/2/description</name>
+  <message>
+  <source>Channel 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_THROTTLE/values/3/description</name>
+  <message>
+  <source>Channel 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_THROTTLE/values/4/description</name>
+  <message>
+  <source>Channel 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_THROTTLE/values/5/description</name>
+  <message>
+  <source>Channel 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_THROTTLE/values/6/description</name>
+  <message>
+  <source>Channel 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_THROTTLE/values/7/description</name>
+  <message>
+  <source>Channel 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_THROTTLE/values/8/description</name>
+  <message>
+  <source>Channel 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_THROTTLE/values/9/description</name>
+  <message>
+  <source>Channel 9</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_THROTTLE/values/10/description</name>
+  <message>
+  <source>Channel 10</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_THROTTLE/values/11/description</name>
+  <message>
+  <source>Channel 11</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_THROTTLE/values/12/description</name>
+  <message>
+  <source>Channel 12</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_THROTTLE/values/13/description</name>
+  <message>
+  <source>Channel 13</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_THROTTLE/values/14/description</name>
+  <message>
+  <source>Channel 14</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_THROTTLE/values/15/description</name>
+  <message>
+  <source>Channel 15</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_THROTTLE/values/16/description</name>
+  <message>
+  <source>Channel 16</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_THROTTLE/values/17/description</name>
+  <message>
+  <source>Channel 17</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_THROTTLE/values/18/description</name>
+  <message>
+  <source>Channel 18</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_YAW/shortDesc</name>
+  <message>
+  <source>Yaw control channel mapping</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_YAW/longDesc</name>
+  <message>
+  <source>The channel index (starting from 1 for channel 1) indicates which channel should be used for reading yaw inputs from. A value of zero indicates the switch is not assigned.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_YAW/values/0/description</name>
+  <message>
+  <source>Unassigned</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_YAW/values/1/description</name>
+  <message>
+  <source>Channel 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_YAW/values/2/description</name>
+  <message>
+  <source>Channel 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_YAW/values/3/description</name>
+  <message>
+  <source>Channel 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_YAW/values/4/description</name>
+  <message>
+  <source>Channel 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_YAW/values/5/description</name>
+  <message>
+  <source>Channel 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_YAW/values/6/description</name>
+  <message>
+  <source>Channel 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_YAW/values/7/description</name>
+  <message>
+  <source>Channel 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_YAW/values/8/description</name>
+  <message>
+  <source>Channel 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_YAW/values/9/description</name>
+  <message>
+  <source>Channel 9</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_YAW/values/10/description</name>
+  <message>
+  <source>Channel 10</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_YAW/values/11/description</name>
+  <message>
+  <source>Channel 11</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_YAW/values/12/description</name>
+  <message>
+  <source>Channel 12</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_YAW/values/13/description</name>
+  <message>
+  <source>Channel 13</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_YAW/values/14/description</name>
+  <message>
+  <source>Channel 14</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_YAW/values/15/description</name>
+  <message>
+  <source>Channel 15</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_YAW/values/16/description</name>
+  <message>
+  <source>Channel 16</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_YAW/values/17/description</name>
+  <message>
+  <source>Channel 17</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_YAW/values/18/description</name>
+  <message>
+  <source>Channel 18</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_RSSI_PWM_CHAN/shortDesc</name>
+  <message>
+  <source>PWM input channel that provides RSSI</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_RSSI_PWM_CHAN/longDesc</name>
+  <message>
+  <source>0: do not read RSSI from input channel 1-18: read RSSI from specified input channel Specify the range for RSSI input with RC_RSSI_PWM_MIN and RC_RSSI_PWM_MAX parameters.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_RSSI_PWM_CHAN/values/0/description</name>
+  <message>
+  <source>Unassigned</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_RSSI_PWM_CHAN/values/1/description</name>
+  <message>
+  <source>Channel 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_RSSI_PWM_CHAN/values/2/description</name>
+  <message>
+  <source>Channel 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_RSSI_PWM_CHAN/values/3/description</name>
+  <message>
+  <source>Channel 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_RSSI_PWM_CHAN/values/4/description</name>
+  <message>
+  <source>Channel 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_RSSI_PWM_CHAN/values/5/description</name>
+  <message>
+  <source>Channel 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_RSSI_PWM_CHAN/values/6/description</name>
+  <message>
+  <source>Channel 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_RSSI_PWM_CHAN/values/7/description</name>
+  <message>
+  <source>Channel 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_RSSI_PWM_CHAN/values/8/description</name>
+  <message>
+  <source>Channel 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_RSSI_PWM_CHAN/values/9/description</name>
+  <message>
+  <source>Channel 9</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_RSSI_PWM_CHAN/values/10/description</name>
+  <message>
+  <source>Channel 10</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_RSSI_PWM_CHAN/values/11/description</name>
+  <message>
+  <source>Channel 11</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_RSSI_PWM_CHAN/values/12/description</name>
+  <message>
+  <source>Channel 12</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_RSSI_PWM_CHAN/values/13/description</name>
+  <message>
+  <source>Channel 13</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_RSSI_PWM_CHAN/values/14/description</name>
+  <message>
+  <source>Channel 14</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_RSSI_PWM_CHAN/values/15/description</name>
+  <message>
+  <source>Channel 15</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_RSSI_PWM_CHAN/values/16/description</name>
+  <message>
+  <source>Channel 16</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_RSSI_PWM_CHAN/values/17/description</name>
+  <message>
+  <source>Channel 17</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_RSSI_PWM_CHAN/values/18/description</name>
+  <message>
+  <source>Channel 18</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_RSSI_PWM_MAX/shortDesc</name>
+  <message>
+  <source>Max input value for RSSI reading</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_RSSI_PWM_MAX/longDesc</name>
+  <message>
+  <source>Only used if RC_RSSI_PWM_CHAN &gt; 0</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_RSSI_PWM_MIN/shortDesc</name>
+  <message>
+  <source>Min input value for RSSI reading</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_RSSI_PWM_MIN/longDesc</name>
+  <message>
+  <source>Only used if RC_RSSI_PWM_CHAN &gt; 0</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TRIM_PITCH/shortDesc</name>
+  <message>
+  <source>Pitch trim</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TRIM_PITCH/longDesc</name>
+  <message>
+  <source>The trim value is the actuator control value the system needs for straight and level flight.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TRIM_ROLL/shortDesc</name>
+  <message>
+  <source>Roll trim</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TRIM_ROLL/longDesc</name>
+  <message>
+  <source>The trim value is the actuator control value the system needs for straight and level flight.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TRIM_YAW/shortDesc</name>
+  <message>
+  <source>Yaw trim</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TRIM_YAW/longDesc</name>
+  <message>
+  <source>The trim value is the actuator control value the system needs for straight and level flight.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_ARMSWITCH_TH/shortDesc</name>
+  <message>
+  <source>Threshold for the arm switch</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_ARMSWITCH_TH/longDesc</name>
+  <message>
+  <source>0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel&gt;th negative : true when channel&lt;th</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_ENG_MOT_TH/shortDesc</name>
+  <message>
+  <source>Threshold for selecting main motor engage</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_ENG_MOT_TH/longDesc</name>
+  <message>
+  <source>0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel&gt;th negative : true when channel&lt;th</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_GEAR_TH/shortDesc</name>
+  <message>
+  <source>Threshold for the landing gear switch</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_GEAR_TH/longDesc</name>
+  <message>
+  <source>0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel&gt;th negative : true when channel&lt;th</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_KILLSWITCH_TH/shortDesc</name>
+  <message>
+  <source>Threshold for the kill switch</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_KILLSWITCH_TH/longDesc</name>
+  <message>
+  <source>0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel&gt;th negative : true when channel&lt;th</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_LOITER_TH/shortDesc</name>
+  <message>
+  <source>Threshold for selecting loiter mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_LOITER_TH/longDesc</name>
+  <message>
+  <source>0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel&gt;th negative : true when channel&lt;th</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ACRO_SW/shortDesc</name>
+  <message>
+  <source>Acro switch channel (deprecated)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ACRO_SW/values/0/description</name>
+  <message>
+  <source>Unassigned</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ACRO_SW/values/1/description</name>
+  <message>
+  <source>Channel 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ACRO_SW/values/2/description</name>
+  <message>
+  <source>Channel 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ACRO_SW/values/3/description</name>
+  <message>
+  <source>Channel 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ACRO_SW/values/4/description</name>
+  <message>
+  <source>Channel 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ACRO_SW/values/5/description</name>
+  <message>
+  <source>Channel 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ACRO_SW/values/6/description</name>
+  <message>
+  <source>Channel 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ACRO_SW/values/7/description</name>
+  <message>
+  <source>Channel 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ACRO_SW/values/8/description</name>
+  <message>
+  <source>Channel 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ACRO_SW/values/9/description</name>
+  <message>
+  <source>Channel 9</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ACRO_SW/values/10/description</name>
+  <message>
+  <source>Channel 10</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ACRO_SW/values/11/description</name>
+  <message>
+  <source>Channel 11</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ACRO_SW/values/12/description</name>
+  <message>
+  <source>Channel 12</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ACRO_SW/values/13/description</name>
+  <message>
+  <source>Channel 13</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ACRO_SW/values/14/description</name>
+  <message>
+  <source>Channel 14</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ACRO_SW/values/15/description</name>
+  <message>
+  <source>Channel 15</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ACRO_SW/values/16/description</name>
+  <message>
+  <source>Channel 16</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ACRO_SW/values/17/description</name>
+  <message>
+  <source>Channel 17</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ACRO_SW/values/18/description</name>
+  <message>
+  <source>Channel 18</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ARM_SW/shortDesc</name>
+  <message>
+  <source>Arm switch channel</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ARM_SW/longDesc</name>
+  <message>
+  <source>Use it to arm/disarm via switch instead of default throttle stick. If this is assigned, arming and disarming via stick is disabled.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ARM_SW/values/0/description</name>
+  <message>
+  <source>Unassigned</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ARM_SW/values/1/description</name>
+  <message>
+  <source>Channel 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ARM_SW/values/2/description</name>
+  <message>
+  <source>Channel 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ARM_SW/values/3/description</name>
+  <message>
+  <source>Channel 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ARM_SW/values/4/description</name>
+  <message>
+  <source>Channel 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ARM_SW/values/5/description</name>
+  <message>
+  <source>Channel 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ARM_SW/values/6/description</name>
+  <message>
+  <source>Channel 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ARM_SW/values/7/description</name>
+  <message>
+  <source>Channel 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ARM_SW/values/8/description</name>
+  <message>
+  <source>Channel 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ARM_SW/values/9/description</name>
+  <message>
+  <source>Channel 9</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ARM_SW/values/10/description</name>
+  <message>
+  <source>Channel 10</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ARM_SW/values/11/description</name>
+  <message>
+  <source>Channel 11</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ARM_SW/values/12/description</name>
+  <message>
+  <source>Channel 12</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ARM_SW/values/13/description</name>
+  <message>
+  <source>Channel 13</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ARM_SW/values/14/description</name>
+  <message>
+  <source>Channel 14</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ARM_SW/values/15/description</name>
+  <message>
+  <source>Channel 15</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ARM_SW/values/16/description</name>
+  <message>
+  <source>Channel 16</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ARM_SW/values/17/description</name>
+  <message>
+  <source>Channel 17</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_ARM_SW/values/18/description</name>
+  <message>
+  <source>Channel 18</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLAPS/shortDesc</name>
+  <message>
+  <source>Flaps channel</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLAPS/values/0/description</name>
+  <message>
+  <source>Unassigned</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLAPS/values/1/description</name>
+  <message>
+  <source>Channel 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLAPS/values/2/description</name>
+  <message>
+  <source>Channel 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLAPS/values/3/description</name>
+  <message>
+  <source>Channel 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLAPS/values/4/description</name>
+  <message>
+  <source>Channel 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLAPS/values/5/description</name>
+  <message>
+  <source>Channel 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLAPS/values/6/description</name>
+  <message>
+  <source>Channel 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLAPS/values/7/description</name>
+  <message>
+  <source>Channel 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLAPS/values/8/description</name>
+  <message>
+  <source>Channel 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLAPS/values/9/description</name>
+  <message>
+  <source>Channel 9</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLAPS/values/10/description</name>
+  <message>
+  <source>Channel 10</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLAPS/values/11/description</name>
+  <message>
+  <source>Channel 11</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLAPS/values/12/description</name>
+  <message>
+  <source>Channel 12</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLAPS/values/13/description</name>
+  <message>
+  <source>Channel 13</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLAPS/values/14/description</name>
+  <message>
+  <source>Channel 14</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLAPS/values/15/description</name>
+  <message>
+  <source>Channel 15</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLAPS/values/16/description</name>
+  <message>
+  <source>Channel 16</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLAPS/values/17/description</name>
+  <message>
+  <source>Channel 17</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLAPS/values/18/description</name>
+  <message>
+  <source>Channel 18</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLTMODE/shortDesc</name>
+  <message>
+  <source>Single channel flight mode selection</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLTMODE/longDesc</name>
+  <message>
+  <source>If this parameter is non-zero, flight modes are only selected by this channel and are assigned to six slots.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLTMODE/values/0/description</name>
+  <message>
+  <source>Unassigned</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLTMODE/values/1/description</name>
+  <message>
+  <source>Channel 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLTMODE/values/2/description</name>
+  <message>
+  <source>Channel 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLTMODE/values/3/description</name>
+  <message>
+  <source>Channel 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLTMODE/values/4/description</name>
+  <message>
+  <source>Channel 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLTMODE/values/5/description</name>
+  <message>
+  <source>Channel 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLTMODE/values/6/description</name>
+  <message>
+  <source>Channel 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLTMODE/values/7/description</name>
+  <message>
+  <source>Channel 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLTMODE/values/8/description</name>
+  <message>
+  <source>Channel 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLTMODE/values/9/description</name>
+  <message>
+  <source>Channel 9</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLTMODE/values/10/description</name>
+  <message>
+  <source>Channel 10</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLTMODE/values/11/description</name>
+  <message>
+  <source>Channel 11</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLTMODE/values/12/description</name>
+  <message>
+  <source>Channel 12</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLTMODE/values/13/description</name>
+  <message>
+  <source>Channel 13</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLTMODE/values/14/description</name>
+  <message>
+  <source>Channel 14</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLTMODE/values/15/description</name>
+  <message>
+  <source>Channel 15</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLTMODE/values/16/description</name>
+  <message>
+  <source>Channel 16</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLTMODE/values/17/description</name>
+  <message>
+  <source>Channel 17</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLTMODE/values/18/description</name>
+  <message>
+  <source>Channel 18</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLTM_BTN/shortDesc</name>
+  <message>
+  <source>Button flight mode selection</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLTM_BTN/longDesc</name>
+  <message>
+  <source>This bitmask allows to specify multiple channels for changing flight modes using momentary buttons. Each channel is assigned to a mode slot ((lowest channel = slot 1). The resulting modes for each slot X is defined by the COM_FLTMODEX parameters. The functionality can be used only if RC_MAP_FLTMODE is disabled. The maximum number of available slots and hence bits set in the mask is 6.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLTM_BTN/bitmask/0/description</name>
+  <message>
+  <source>Mask Channel 1 as a mode button</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLTM_BTN/bitmask/1/description</name>
+  <message>
+  <source>Mask Channel 2 as a mode button</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLTM_BTN/bitmask/2/description</name>
+  <message>
+  <source>Mask Channel 3 as a mode button</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLTM_BTN/bitmask/3/description</name>
+  <message>
+  <source>Mask Channel 4 as a mode button</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLTM_BTN/bitmask/4/description</name>
+  <message>
+  <source>Mask Channel 5 as a mode button</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLTM_BTN/bitmask/5/description</name>
+  <message>
+  <source>Mask Channel 6 as a mode button</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLTM_BTN/bitmask/6/description</name>
+  <message>
+  <source>Mask Channel 7 as a mode button</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLTM_BTN/bitmask/7/description</name>
+  <message>
+  <source>Mask Channel 8 as a mode button</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLTM_BTN/bitmask/8/description</name>
+  <message>
+  <source>Mask Channel 9 as a mode button</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLTM_BTN/bitmask/9/description</name>
+  <message>
+  <source>Mask Channel 10 as a mode button</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLTM_BTN/bitmask/10/description</name>
+  <message>
+  <source>Mask Channel 11 as a mode button</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLTM_BTN/bitmask/11/description</name>
+  <message>
+  <source>Mask Channel 12 as a mode button</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLTM_BTN/bitmask/12/description</name>
+  <message>
+  <source>Mask Channel 13 as a mode button</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLTM_BTN/bitmask/13/description</name>
+  <message>
+  <source>Mask Channel 14 as a mode button</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLTM_BTN/bitmask/14/description</name>
+  <message>
+  <source>Mask Channel 15 as a mode button</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLTM_BTN/bitmask/15/description</name>
+  <message>
+  <source>Mask Channel 16 as a mode button</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLTM_BTN/bitmask/16/description</name>
+  <message>
+  <source>Mask Channel 17 as a mode button</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_FLTM_BTN/bitmask/17/description</name>
+  <message>
+  <source>Mask Channel 18 as a mode button</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_GEAR_SW/shortDesc</name>
+  <message>
+  <source>Landing gear switch channel</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_GEAR_SW/values/0/description</name>
+  <message>
+  <source>Unassigned</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_GEAR_SW/values/1/description</name>
+  <message>
+  <source>Channel 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_GEAR_SW/values/2/description</name>
+  <message>
+  <source>Channel 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_GEAR_SW/values/3/description</name>
+  <message>
+  <source>Channel 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_GEAR_SW/values/4/description</name>
+  <message>
+  <source>Channel 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_GEAR_SW/values/5/description</name>
+  <message>
+  <source>Channel 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_GEAR_SW/values/6/description</name>
+  <message>
+  <source>Channel 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_GEAR_SW/values/7/description</name>
+  <message>
+  <source>Channel 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_GEAR_SW/values/8/description</name>
+  <message>
+  <source>Channel 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_GEAR_SW/values/9/description</name>
+  <message>
+  <source>Channel 9</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_GEAR_SW/values/10/description</name>
+  <message>
+  <source>Channel 10</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_GEAR_SW/values/11/description</name>
+  <message>
+  <source>Channel 11</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_GEAR_SW/values/12/description</name>
+  <message>
+  <source>Channel 12</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_GEAR_SW/values/13/description</name>
+  <message>
+  <source>Channel 13</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_GEAR_SW/values/14/description</name>
+  <message>
+  <source>Channel 14</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_GEAR_SW/values/15/description</name>
+  <message>
+  <source>Channel 15</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_GEAR_SW/values/16/description</name>
+  <message>
+  <source>Channel 16</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_GEAR_SW/values/17/description</name>
+  <message>
+  <source>Channel 17</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_GEAR_SW/values/18/description</name>
+  <message>
+  <source>Channel 18</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_KILL_SW/shortDesc</name>
+  <message>
+  <source>Emergency Kill switch channel</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_KILL_SW/values/0/description</name>
+  <message>
+  <source>Unassigned</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_KILL_SW/values/1/description</name>
+  <message>
+  <source>Channel 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_KILL_SW/values/2/description</name>
+  <message>
+  <source>Channel 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_KILL_SW/values/3/description</name>
+  <message>
+  <source>Channel 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_KILL_SW/values/4/description</name>
+  <message>
+  <source>Channel 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_KILL_SW/values/5/description</name>
+  <message>
+  <source>Channel 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_KILL_SW/values/6/description</name>
+  <message>
+  <source>Channel 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_KILL_SW/values/7/description</name>
+  <message>
+  <source>Channel 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_KILL_SW/values/8/description</name>
+  <message>
+  <source>Channel 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_KILL_SW/values/9/description</name>
+  <message>
+  <source>Channel 9</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_KILL_SW/values/10/description</name>
+  <message>
+  <source>Channel 10</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_KILL_SW/values/11/description</name>
+  <message>
+  <source>Channel 11</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_KILL_SW/values/12/description</name>
+  <message>
+  <source>Channel 12</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_KILL_SW/values/13/description</name>
+  <message>
+  <source>Channel 13</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_KILL_SW/values/14/description</name>
+  <message>
+  <source>Channel 14</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_KILL_SW/values/15/description</name>
+  <message>
+  <source>Channel 15</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_KILL_SW/values/16/description</name>
+  <message>
+  <source>Channel 16</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_KILL_SW/values/17/description</name>
+  <message>
+  <source>Channel 17</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_KILL_SW/values/18/description</name>
+  <message>
+  <source>Channel 18</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_LOITER_SW/shortDesc</name>
+  <message>
+  <source>Loiter switch channel</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_LOITER_SW/values/0/description</name>
+  <message>
+  <source>Unassigned</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_LOITER_SW/values/1/description</name>
+  <message>
+  <source>Channel 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_LOITER_SW/values/2/description</name>
+  <message>
+  <source>Channel 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_LOITER_SW/values/3/description</name>
+  <message>
+  <source>Channel 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_LOITER_SW/values/4/description</name>
+  <message>
+  <source>Channel 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_LOITER_SW/values/5/description</name>
+  <message>
+  <source>Channel 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_LOITER_SW/values/6/description</name>
+  <message>
+  <source>Channel 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_LOITER_SW/values/7/description</name>
+  <message>
+  <source>Channel 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_LOITER_SW/values/8/description</name>
+  <message>
+  <source>Channel 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_LOITER_SW/values/9/description</name>
+  <message>
+  <source>Channel 9</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_LOITER_SW/values/10/description</name>
+  <message>
+  <source>Channel 10</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_LOITER_SW/values/11/description</name>
+  <message>
+  <source>Channel 11</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_LOITER_SW/values/12/description</name>
+  <message>
+  <source>Channel 12</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_LOITER_SW/values/13/description</name>
+  <message>
+  <source>Channel 13</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_LOITER_SW/values/14/description</name>
+  <message>
+  <source>Channel 14</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_LOITER_SW/values/15/description</name>
+  <message>
+  <source>Channel 15</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_LOITER_SW/values/16/description</name>
+  <message>
+  <source>Channel 16</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_LOITER_SW/values/17/description</name>
+  <message>
+  <source>Channel 17</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_LOITER_SW/values/18/description</name>
+  <message>
+  <source>Channel 18</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_MAN_SW/shortDesc</name>
+  <message>
+  <source>Manual switch channel mapping (deprecated)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_MAN_SW/values/0/description</name>
+  <message>
+  <source>Unassigned</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_MAN_SW/values/1/description</name>
+  <message>
+  <source>Channel 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_MAN_SW/values/2/description</name>
+  <message>
+  <source>Channel 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_MAN_SW/values/3/description</name>
+  <message>
+  <source>Channel 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_MAN_SW/values/4/description</name>
+  <message>
+  <source>Channel 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_MAN_SW/values/5/description</name>
+  <message>
+  <source>Channel 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_MAN_SW/values/6/description</name>
+  <message>
+  <source>Channel 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_MAN_SW/values/7/description</name>
+  <message>
+  <source>Channel 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_MAN_SW/values/8/description</name>
+  <message>
+  <source>Channel 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_MAN_SW/values/9/description</name>
+  <message>
+  <source>Channel 9</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_MAN_SW/values/10/description</name>
+  <message>
+  <source>Channel 10</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_MAN_SW/values/11/description</name>
+  <message>
+  <source>Channel 11</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_MAN_SW/values/12/description</name>
+  <message>
+  <source>Channel 12</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_MAN_SW/values/13/description</name>
+  <message>
+  <source>Channel 13</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_MAN_SW/values/14/description</name>
+  <message>
+  <source>Channel 14</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_MAN_SW/values/15/description</name>
+  <message>
+  <source>Channel 15</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_MAN_SW/values/16/description</name>
+  <message>
+  <source>Channel 16</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_MAN_SW/values/17/description</name>
+  <message>
+  <source>Channel 17</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_MAN_SW/values/18/description</name>
+  <message>
+  <source>Channel 18</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_MODE_SW/shortDesc</name>
+  <message>
+  <source>Mode switch channel mapping (deprecated)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_MODE_SW/longDesc</name>
+  <message>
+  <source>This is the main flight mode selector. The channel index (starting from 1 for channel 1) indicates which channel should be used for deciding about the main mode. A value of zero indicates the switch is not assigned.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_MODE_SW/values/0/description</name>
+  <message>
+  <source>Unassigned</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_MODE_SW/values/1/description</name>
+  <message>
+  <source>Channel 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_MODE_SW/values/2/description</name>
+  <message>
+  <source>Channel 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_MODE_SW/values/3/description</name>
+  <message>
+  <source>Channel 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_MODE_SW/values/4/description</name>
+  <message>
+  <source>Channel 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_MODE_SW/values/5/description</name>
+  <message>
+  <source>Channel 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_MODE_SW/values/6/description</name>
+  <message>
+  <source>Channel 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_MODE_SW/values/7/description</name>
+  <message>
+  <source>Channel 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_MODE_SW/values/8/description</name>
+  <message>
+  <source>Channel 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_MODE_SW/values/9/description</name>
+  <message>
+  <source>Channel 9</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_MODE_SW/values/10/description</name>
+  <message>
+  <source>Channel 10</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_MODE_SW/values/11/description</name>
+  <message>
+  <source>Channel 11</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_MODE_SW/values/12/description</name>
+  <message>
+  <source>Channel 12</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_MODE_SW/values/13/description</name>
+  <message>
+  <source>Channel 13</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_MODE_SW/values/14/description</name>
+  <message>
+  <source>Channel 14</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_MODE_SW/values/15/description</name>
+  <message>
+  <source>Channel 15</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_MODE_SW/values/16/description</name>
+  <message>
+  <source>Channel 16</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_MODE_SW/values/17/description</name>
+  <message>
+  <source>Channel 17</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_MODE_SW/values/18/description</name>
+  <message>
+  <source>Channel 18</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_OFFB_SW/shortDesc</name>
+  <message>
+  <source>Offboard switch channel</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_OFFB_SW/values/0/description</name>
+  <message>
+  <source>Unassigned</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_OFFB_SW/values/1/description</name>
+  <message>
+  <source>Channel 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_OFFB_SW/values/2/description</name>
+  <message>
+  <source>Channel 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_OFFB_SW/values/3/description</name>
+  <message>
+  <source>Channel 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_OFFB_SW/values/4/description</name>
+  <message>
+  <source>Channel 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_OFFB_SW/values/5/description</name>
+  <message>
+  <source>Channel 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_OFFB_SW/values/6/description</name>
+  <message>
+  <source>Channel 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_OFFB_SW/values/7/description</name>
+  <message>
+  <source>Channel 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_OFFB_SW/values/8/description</name>
+  <message>
+  <source>Channel 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_OFFB_SW/values/9/description</name>
+  <message>
+  <source>Channel 9</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_OFFB_SW/values/10/description</name>
+  <message>
+  <source>Channel 10</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_OFFB_SW/values/11/description</name>
+  <message>
+  <source>Channel 11</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_OFFB_SW/values/12/description</name>
+  <message>
+  <source>Channel 12</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_OFFB_SW/values/13/description</name>
+  <message>
+  <source>Channel 13</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_OFFB_SW/values/14/description</name>
+  <message>
+  <source>Channel 14</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_OFFB_SW/values/15/description</name>
+  <message>
+  <source>Channel 15</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_OFFB_SW/values/16/description</name>
+  <message>
+  <source>Channel 16</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_OFFB_SW/values/17/description</name>
+  <message>
+  <source>Channel 17</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_OFFB_SW/values/18/description</name>
+  <message>
+  <source>Channel 18</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PAY_SW/shortDesc</name>
+  <message>
+  <source>Payload Power Switch RC channel</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PAY_SW/values/0/description</name>
+  <message>
+  <source>Unassigned</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PAY_SW/values/1/description</name>
+  <message>
+  <source>Channel 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PAY_SW/values/2/description</name>
+  <message>
+  <source>Channel 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PAY_SW/values/3/description</name>
+  <message>
+  <source>Channel 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PAY_SW/values/4/description</name>
+  <message>
+  <source>Channel 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PAY_SW/values/5/description</name>
+  <message>
+  <source>Channel 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PAY_SW/values/6/description</name>
+  <message>
+  <source>Channel 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PAY_SW/values/7/description</name>
+  <message>
+  <source>Channel 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PAY_SW/values/8/description</name>
+  <message>
+  <source>Channel 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PAY_SW/values/9/description</name>
+  <message>
+  <source>Channel 9</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PAY_SW/values/10/description</name>
+  <message>
+  <source>Channel 10</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PAY_SW/values/11/description</name>
+  <message>
+  <source>Channel 11</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PAY_SW/values/12/description</name>
+  <message>
+  <source>Channel 12</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PAY_SW/values/13/description</name>
+  <message>
+  <source>Channel 13</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PAY_SW/values/14/description</name>
+  <message>
+  <source>Channel 14</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PAY_SW/values/15/description</name>
+  <message>
+  <source>Channel 15</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PAY_SW/values/16/description</name>
+  <message>
+  <source>Channel 16</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PAY_SW/values/17/description</name>
+  <message>
+  <source>Channel 17</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_PAY_SW/values/18/description</name>
+  <message>
+  <source>Channel 18</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_POSCTL_SW/shortDesc</name>
+  <message>
+  <source>Position Control switch channel (deprecated)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_POSCTL_SW/values/0/description</name>
+  <message>
+  <source>Unassigned</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_POSCTL_SW/values/1/description</name>
+  <message>
+  <source>Channel 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_POSCTL_SW/values/2/description</name>
+  <message>
+  <source>Channel 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_POSCTL_SW/values/3/description</name>
+  <message>
+  <source>Channel 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_POSCTL_SW/values/4/description</name>
+  <message>
+  <source>Channel 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_POSCTL_SW/values/5/description</name>
+  <message>
+  <source>Channel 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_POSCTL_SW/values/6/description</name>
+  <message>
+  <source>Channel 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_POSCTL_SW/values/7/description</name>
+  <message>
+  <source>Channel 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_POSCTL_SW/values/8/description</name>
+  <message>
+  <source>Channel 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_POSCTL_SW/values/9/description</name>
+  <message>
+  <source>Channel 9</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_POSCTL_SW/values/10/description</name>
+  <message>
+  <source>Channel 10</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_POSCTL_SW/values/11/description</name>
+  <message>
+  <source>Channel 11</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_POSCTL_SW/values/12/description</name>
+  <message>
+  <source>Channel 12</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_POSCTL_SW/values/13/description</name>
+  <message>
+  <source>Channel 13</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_POSCTL_SW/values/14/description</name>
+  <message>
+  <source>Channel 14</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_POSCTL_SW/values/15/description</name>
+  <message>
+  <source>Channel 15</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_POSCTL_SW/values/16/description</name>
+  <message>
+  <source>Channel 16</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_POSCTL_SW/values/17/description</name>
+  <message>
+  <source>Channel 17</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_POSCTL_SW/values/18/description</name>
+  <message>
+  <source>Channel 18</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_RATT_SW/shortDesc</name>
+  <message>
+  <source>Rattitude switch channel (deprecated)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_RATT_SW/values/0/description</name>
+  <message>
+  <source>Unassigned</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_RATT_SW/values/1/description</name>
+  <message>
+  <source>Channel 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_RATT_SW/values/2/description</name>
+  <message>
+  <source>Channel 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_RATT_SW/values/3/description</name>
+  <message>
+  <source>Channel 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_RATT_SW/values/4/description</name>
+  <message>
+  <source>Channel 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_RATT_SW/values/5/description</name>
+  <message>
+  <source>Channel 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_RATT_SW/values/6/description</name>
+  <message>
+  <source>Channel 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_RATT_SW/values/7/description</name>
+  <message>
+  <source>Channel 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_RATT_SW/values/8/description</name>
+  <message>
+  <source>Channel 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_RATT_SW/values/9/description</name>
+  <message>
+  <source>Channel 9</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_RATT_SW/values/10/description</name>
+  <message>
+  <source>Channel 10</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_RATT_SW/values/11/description</name>
+  <message>
+  <source>Channel 11</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_RATT_SW/values/12/description</name>
+  <message>
+  <source>Channel 12</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_RATT_SW/values/13/description</name>
+  <message>
+  <source>Channel 13</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_RATT_SW/values/14/description</name>
+  <message>
+  <source>Channel 14</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_RATT_SW/values/15/description</name>
+  <message>
+  <source>Channel 15</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_RATT_SW/values/16/description</name>
+  <message>
+  <source>Channel 16</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_RATT_SW/values/17/description</name>
+  <message>
+  <source>Channel 17</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_RATT_SW/values/18/description</name>
+  <message>
+  <source>Channel 18</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_RETURN_SW/shortDesc</name>
+  <message>
+  <source>Return switch channel</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_RETURN_SW/values/0/description</name>
+  <message>
+  <source>Unassigned</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_RETURN_SW/values/1/description</name>
+  <message>
+  <source>Channel 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_RETURN_SW/values/2/description</name>
+  <message>
+  <source>Channel 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_RETURN_SW/values/3/description</name>
+  <message>
+  <source>Channel 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_RETURN_SW/values/4/description</name>
+  <message>
+  <source>Channel 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_RETURN_SW/values/5/description</name>
+  <message>
+  <source>Channel 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_RETURN_SW/values/6/description</name>
+  <message>
+  <source>Channel 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_RETURN_SW/values/7/description</name>
+  <message>
+  <source>Channel 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_RETURN_SW/values/8/description</name>
+  <message>
+  <source>Channel 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_RETURN_SW/values/9/description</name>
+  <message>
+  <source>Channel 9</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_RETURN_SW/values/10/description</name>
+  <message>
+  <source>Channel 10</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_RETURN_SW/values/11/description</name>
+  <message>
+  <source>Channel 11</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_RETURN_SW/values/12/description</name>
+  <message>
+  <source>Channel 12</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_RETURN_SW/values/13/description</name>
+  <message>
+  <source>Channel 13</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_RETURN_SW/values/14/description</name>
+  <message>
+  <source>Channel 14</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_RETURN_SW/values/15/description</name>
+  <message>
+  <source>Channel 15</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_RETURN_SW/values/16/description</name>
+  <message>
+  <source>Channel 16</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_RETURN_SW/values/17/description</name>
+  <message>
+  <source>Channel 17</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_RETURN_SW/values/18/description</name>
+  <message>
+  <source>Channel 18</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_STAB_SW/shortDesc</name>
+  <message>
+  <source>Stabilize switch channel mapping  (deprecated)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_STAB_SW/values/0/description</name>
+  <message>
+  <source>Unassigned</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_STAB_SW/values/1/description</name>
+  <message>
+  <source>Channel 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_STAB_SW/values/2/description</name>
+  <message>
+  <source>Channel 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_STAB_SW/values/3/description</name>
+  <message>
+  <source>Channel 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_STAB_SW/values/4/description</name>
+  <message>
+  <source>Channel 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_STAB_SW/values/5/description</name>
+  <message>
+  <source>Channel 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_STAB_SW/values/6/description</name>
+  <message>
+  <source>Channel 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_STAB_SW/values/7/description</name>
+  <message>
+  <source>Channel 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_STAB_SW/values/8/description</name>
+  <message>
+  <source>Channel 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_STAB_SW/values/9/description</name>
+  <message>
+  <source>Channel 9</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_STAB_SW/values/10/description</name>
+  <message>
+  <source>Channel 10</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_STAB_SW/values/11/description</name>
+  <message>
+  <source>Channel 11</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_STAB_SW/values/12/description</name>
+  <message>
+  <source>Channel 12</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_STAB_SW/values/13/description</name>
+  <message>
+  <source>Channel 13</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_STAB_SW/values/14/description</name>
+  <message>
+  <source>Channel 14</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_STAB_SW/values/15/description</name>
+  <message>
+  <source>Channel 15</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_STAB_SW/values/16/description</name>
+  <message>
+  <source>Channel 16</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_STAB_SW/values/17/description</name>
+  <message>
+  <source>Channel 17</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_STAB_SW/values/18/description</name>
+  <message>
+  <source>Channel 18</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_TRANS_SW/shortDesc</name>
+  <message>
+  <source>VTOL transition switch channel mapping</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_TRANS_SW/values/0/description</name>
+  <message>
+  <source>Unassigned</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_TRANS_SW/values/1/description</name>
+  <message>
+  <source>Channel 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_TRANS_SW/values/2/description</name>
+  <message>
+  <source>Channel 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_TRANS_SW/values/3/description</name>
+  <message>
+  <source>Channel 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_TRANS_SW/values/4/description</name>
+  <message>
+  <source>Channel 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_TRANS_SW/values/5/description</name>
+  <message>
+  <source>Channel 5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_TRANS_SW/values/6/description</name>
+  <message>
+  <source>Channel 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_TRANS_SW/values/7/description</name>
+  <message>
+  <source>Channel 7</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_TRANS_SW/values/8/description</name>
+  <message>
+  <source>Channel 8</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_TRANS_SW/values/9/description</name>
+  <message>
+  <source>Channel 9</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_TRANS_SW/values/10/description</name>
+  <message>
+  <source>Channel 10</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_TRANS_SW/values/11/description</name>
+  <message>
+  <source>Channel 11</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_TRANS_SW/values/12/description</name>
+  <message>
+  <source>Channel 12</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_TRANS_SW/values/13/description</name>
+  <message>
+  <source>Channel 13</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_TRANS_SW/values/14/description</name>
+  <message>
+  <source>Channel 14</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_TRANS_SW/values/15/description</name>
+  <message>
+  <source>Channel 15</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_TRANS_SW/values/16/description</name>
+  <message>
+  <source>Channel 16</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_TRANS_SW/values/17/description</name>
+  <message>
+  <source>Channel 17</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_MAP_TRANS_SW/values/18/description</name>
+  <message>
+  <source>Channel 18</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_OFFB_TH/shortDesc</name>
+  <message>
+  <source>Threshold for selecting offboard mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_OFFB_TH/longDesc</name>
+  <message>
+  <source>0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel&gt;th negative : true when channel&lt;th</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_PAYLOAD_TH/shortDesc</name>
+  <message>
+  <source>Threshold for selecting payload power switch</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_PAYLOAD_TH/longDesc</name>
+  <message>
+  <source>0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel&gt;th negative : true when channel&lt;th</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_RETURN_TH/shortDesc</name>
+  <message>
+  <source>Threshold for selecting return to launch mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_RETURN_TH/longDesc</name>
+  <message>
+  <source>0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel&gt;th negative : true when channel&lt;th</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_TRANS_TH/shortDesc</name>
+  <message>
+  <source>Threshold for the VTOL transition switch</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_TRANS_TH/longDesc</name>
+  <message>
+  <source>0-1 indicate where in the full channel range the threshold sits 0 : min 1 : max sign indicates polarity of comparison positive : true when channel&gt;th negative : true when channel&lt;th</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RTL_CONE_ANG/shortDesc</name>
+  <message>
+  <source>Half-angle of the return mode altitude cone</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RTL_CONE_ANG/longDesc</name>
+  <message>
+  <source>Defines the half-angle of a cone centered around the destination position that affects the altitude at which the vehicle returns.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RTL_CONE_ANG/values/0/description</name>
+  <message>
+  <source>No cone, always climb to RTL_RETURN_ALT above destination.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RTL_CONE_ANG/values/25/description</name>
+  <message>
+  <source>25 degrees half cone angle.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RTL_CONE_ANG/values/45/description</name>
+  <message>
+  <source>45 degrees half cone angle.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RTL_CONE_ANG/values/65/description</name>
+  <message>
+  <source>65 degrees half cone angle.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RTL_CONE_ANG/values/80/description</name>
+  <message>
+  <source>80 degrees half cone angle.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RTL_CONE_ANG/values/90/description</name>
+  <message>
+  <source>Only climb to at least RTL_DESCEND_ALT above destination.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RTL_DESCEND_ALT/shortDesc</name>
+  <message>
+  <source>Return mode loiter altitude</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RTL_DESCEND_ALT/longDesc</name>
+  <message>
+  <source>Descend to this altitude (above destination position) after return, and wait for time defined in RTL_LAND_DELAY. Land (i.e. slowly descend) from this altitude if autolanding allowed. VTOLs do transition to hover in this altitdue above the landing point.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RTL_LAND_DELAY/shortDesc</name>
+  <message>
+  <source>Return mode delay</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RTL_LAND_DELAY/longDesc</name>
+  <message>
+  <source>Delay before landing (after initial descent) in Return mode. If set to -1 the system will not land but loiter at RTL_DESCEND_ALT.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RTL_LOITER_RAD/shortDesc</name>
+  <message>
+  <source>Loiter radius for rtl descend</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RTL_LOITER_RAD/longDesc</name>
+  <message>
+  <source>Set the radius for loitering to a safe altitude for VTOL transition.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RTL_MIN_DIST/shortDesc</name>
+  <message>
+  <source>Horizontal radius from return point within which special rules for return mode apply</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RTL_MIN_DIST/longDesc</name>
+  <message>
+  <source>The return altitude will be calculated based on RTL_CONE_ANG parameter. The yaw setpoint will switch to the one defined by corresponding waypoint.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RTL_PLD_MD/shortDesc</name>
+  <message>
+  <source>RTL precision land mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RTL_PLD_MD/longDesc</name>
+  <message>
+  <source>Use precision landing when doing an RTL landing phase.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RTL_PLD_MD/values/0/description</name>
+  <message>
+  <source>No precision landing</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RTL_PLD_MD/values/1/description</name>
+  <message>
+  <source>Opportunistic precision landing</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RTL_PLD_MD/values/2/description</name>
+  <message>
+  <source>Required precision landing</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RTL_RETURN_ALT/shortDesc</name>
+  <message>
+  <source>Return mode return altitude</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RTL_RETURN_ALT/longDesc</name>
+  <message>
+  <source>Default minimum altitude above destination (e.g. home, safe point, landing pattern) for return flight. The vehicle will climb to this altitude when Return mode is enganged, unless it currently is flying higher already. This is affected by RTL_MIN_DIST and RTL_CONE_ANG.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RTL_TYPE/shortDesc</name>
+  <message>
+  <source>Return type</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RTL_TYPE/longDesc</name>
+  <message>
+  <source>Return mode destination and flight path (home location, rally point, mission landing pattern, reverse mission)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RTL_TYPE/values/0/description</name>
+  <message>
+  <source>Return to closest safe point (home or rally point) via direct path.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RTL_TYPE/values/1/description</name>
+  <message>
+  <source>Return to closest safe point other than home (mission landing pattern or rally point), via direct path. If no mission landing or rally points are defined return home via direct path. Always chose closest safe landing point if vehicle is a VTOL in hover mode.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RTL_TYPE/values/2/description</name>
+  <message>
+  <source>Return to a planned mission landing, if available, using the mission path, else return to home via the reverse mission path. Do not consider rally points.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RTL_TYPE/values/3/description</name>
+  <message>
+  <source>Return via direct path to closest destination: home, start of mission landing pattern or safe point. If the destination is a mission landing pattern, follow the pattern to land.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RTL_APPR_FORCE/shortDesc</name>
+  <message>
+  <source>RTL force approach landing</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RTL_APPR_FORCE/longDesc</name>
+  <message>
+  <source>Only consider RTL point, if it has an approach defined.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RTL_APPR_FORCE/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RTL_APPR_FORCE/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RTL_TIME_FACTOR/shortDesc</name>
+  <message>
+  <source>RTL time estimate safety margin factor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RTL_TIME_FACTOR/longDesc</name>
+  <message>
+  <source>Safety factor that is used to scale the actual RTL time estimate. Time with margin = RTL_TIME_FACTOR * time + RTL_TIME_MARGIN</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RTL_TIME_MARGIN/shortDesc</name>
+  <message>
+  <source>RTL time estimate safety margin offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RTL_TIME_MARGIN/longDesc</name>
+  <message>
+  <source>Margin that is added to the time estimate, after it has already been scaled Time with margin = RTL_TIME_FACTOR * time + RTL_TIME_MARGIN</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RBCLW_SER_CFG/shortDesc</name>
+  <message>
+  <source>Serial Configuration for Roboclaw Driver</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RBCLW_SER_CFG/longDesc</name>
+  <message>
+  <source>Configure on which serial port to run Roboclaw Driver.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RBCLW_SER_CFG/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RBCLW_SER_CFG/values/6/description</name>
+  <message>
+  <source>UART 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RBCLW_SER_CFG/values/101/description</name>
+  <message>
+  <source>TELEM 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RBCLW_SER_CFG/values/102/description</name>
+  <message>
+  <source>TELEM 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RBCLW_SER_CFG/values/103/description</name>
+  <message>
+  <source>TELEM 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RBCLW_SER_CFG/values/104/description</name>
+  <message>
+  <source>TELEM/SERIAL 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RBCLW_SER_CFG/values/201/description</name>
+  <message>
+  <source>GPS 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RBCLW_SER_CFG/values/202/description</name>
+  <message>
+  <source>GPS 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RBCLW_SER_CFG/values/203/description</name>
+  <message>
+  <source>GPS 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RBCLW_SER_CFG/values/300/description</name>
+  <message>
+  <source>Radio Controller</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RBCLW_SER_CFG/values/301/description</name>
+  <message>
+  <source>Wifi Port</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RBCLW_SER_CFG/values/401/description</name>
+  <message>
+  <source>EXT2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RBCLW_ADDRESS/shortDesc</name>
+  <message>
+  <source>Address of the ESC on the bus</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RBCLW_ADDRESS/longDesc</name>
+  <message>
+  <source>The ESC has to be configured to have an address from 0x80 to 0x87. This parameter needs to match the configured value.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RBCLW_ADDRESS/values/128/description</name>
+  <message>
+  <source>0x80</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RBCLW_ADDRESS/values/129/description</name>
+  <message>
+  <source>0x81</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RBCLW_ADDRESS/values/130/description</name>
+  <message>
+  <source>0x82</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RBCLW_ADDRESS/values/131/description</name>
+  <message>
+  <source>0x83</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RBCLW_ADDRESS/values/132/description</name>
+  <message>
+  <source>0x84</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RBCLW_ADDRESS/values/133/description</name>
+  <message>
+  <source>0x85</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RBCLW_ADDRESS/values/134/description</name>
+  <message>
+  <source>0x86</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RBCLW_ADDRESS/values/135/description</name>
+  <message>
+  <source>0x87</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RBCLW_COUNTS_REV/shortDesc</name>
+  <message>
+  <source>Number of encoder counts for one wheel revolution</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RBCLW_COUNTS_REV/longDesc</name>
+  <message>
+  <source>The default value of 1200 corresponds to the default configuration of the Aion R1 rover.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RDD_ANG_SCALE/shortDesc</name>
+  <message>
+  <source>Manual angular velocity scale</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RDD_I_ANG_VEL/shortDesc</name>
+  <message>
+  <source>Integral gain for angular velocity controller</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RDD_I_SPEED/shortDesc</name>
+  <message>
+  <source>Integral gain for ground speed controller</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RDD_MAX_ACCEL/shortDesc</name>
+  <message>
+  <source>Maximum acceleration</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RDD_MAX_ACCEL/longDesc</name>
+  <message>
+  <source>Maximum acceleration is used to limit the acceleration of the rover</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RDD_MAX_JERK/shortDesc</name>
+  <message>
+  <source>Maximum jerk</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RDD_MAX_JERK/longDesc</name>
+  <message>
+  <source>Limit for forwards acc/deceleration change.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RDD_P_ANG_VEL/shortDesc</name>
+  <message>
+  <source>Proportional gain for angular velocity controller</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RDD_P_HEADING/shortDesc</name>
+  <message>
+  <source>Proportional gain for heading controller</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RDD_P_SPEED/shortDesc</name>
+  <message>
+  <source>Proportional gain for speed controller</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RDD_SPEED_SCALE/shortDesc</name>
+  <message>
+  <source>Manual speed scale</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RDD_WHEEL_BASE/shortDesc</name>
+  <message>
+  <source>Wheel base</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RDD_WHEEL_BASE/longDesc</name>
+  <message>
+  <source>Distance from the center of the right wheel to the center of the left wheel</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RDD_WHEEL_RADIUS/shortDesc</name>
+  <message>
+  <source>Wheel radius</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RDD_WHEEL_RADIUS/longDesc</name>
+  <message>
+  <source>Size of the wheel, half the diameter of the wheel</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RDD_WHEEL_SPEED/shortDesc</name>
+  <message>
+  <source>Maximum wheel speed</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GND_L1_DAMPING/shortDesc</name>
+  <message>
+  <source>L1 damping</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GND_L1_DAMPING/longDesc</name>
+  <message>
+  <source>Damping factor for L1 control.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GND_L1_DIST/shortDesc</name>
+  <message>
+  <source>L1 distance</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GND_L1_DIST/longDesc</name>
+  <message>
+  <source>This is the distance at which the next waypoint is activated. This should be set to about 2-4x of GND_WHEEL_BASE and not smaller than one meter (due to GPS accuracy).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GND_L1_PERIOD/shortDesc</name>
+  <message>
+  <source>L1 period</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GND_L1_PERIOD/longDesc</name>
+  <message>
+  <source>This is the L1 distance and defines the tracking point ahead of the rover it's following. Use values around 2-5m for a 0.3m wheel base. Tuning instructions: Shorten slowly during tuning until response is sharp without oscillation.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GND_MAN_Y_MAX/shortDesc</name>
+  <message>
+  <source>Max manual yaw rate</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GND_MAX_ANG/shortDesc</name>
+  <message>
+  <source>Maximum turn angle for Ackerman steering</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GND_MAX_ANG/longDesc</name>
+  <message>
+  <source>At a control output of 0, the steering wheels are at 0 radians. At a control output of 1, the steering wheels are at GND_MAX_ANG radians.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GND_SPEED_D/shortDesc</name>
+  <message>
+  <source>Speed proportional gain</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GND_SPEED_D/longDesc</name>
+  <message>
+  <source>This is the derivative gain for the speed closed loop controller</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GND_SPEED_I/shortDesc</name>
+  <message>
+  <source>Speed Integral gain</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GND_SPEED_I/longDesc</name>
+  <message>
+  <source>This is the integral gain for the speed closed loop controller</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GND_SPEED_IMAX/shortDesc</name>
+  <message>
+  <source>Speed integral maximum value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GND_SPEED_IMAX/longDesc</name>
+  <message>
+  <source>This is the maxim value the integral can reach to prevent wind-up.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GND_SPEED_MAX/shortDesc</name>
+  <message>
+  <source>Maximum ground speed</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GND_SPEED_P/shortDesc</name>
+  <message>
+  <source>Speed proportional gain</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GND_SPEED_P/longDesc</name>
+  <message>
+  <source>This is the proportional gain for the speed closed loop controller</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GND_SPEED_THR_SC/shortDesc</name>
+  <message>
+  <source>Speed to throttle scaler</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GND_SPEED_THR_SC/longDesc</name>
+  <message>
+  <source>This is a gain to map the speed control output to the throttle linearly.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GND_SPEED_TRIM/shortDesc</name>
+  <message>
+  <source>Trim ground speed</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GND_SP_CTRL_MODE/shortDesc</name>
+  <message>
+  <source>Control mode for speed</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GND_SP_CTRL_MODE/longDesc</name>
+  <message>
+  <source>This allows the user to choose between closed loop gps speed or open loop cruise throttle speed</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GND_SP_CTRL_MODE/values/0/description</name>
+  <message>
+  <source>open loop control</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GND_SP_CTRL_MODE/values/1/description</name>
+  <message>
+  <source>close the loop with gps speed</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GND_THR_CRUISE/shortDesc</name>
+  <message>
+  <source>Cruise throttle</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GND_THR_CRUISE/longDesc</name>
+  <message>
+  <source>This is the throttle setting required to achieve the desired cruise speed. 10% is ok for a traxxas stampede vxl with ESC set to training mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GND_THR_MAX/shortDesc</name>
+  <message>
+  <source>Throttle limit max</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GND_THR_MAX/longDesc</name>
+  <message>
+  <source>This is the maximum throttle % that can be used by the controller. For a Traxxas stampede vxl with the ESC set to training, 30 % is enough</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GND_THR_MIN/shortDesc</name>
+  <message>
+  <source>Throttle limit min</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GND_THR_MIN/longDesc</name>
+  <message>
+  <source>This is the minimum throttle % that can be used by the controller. Set to 0 for rover</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GND_WHEEL_BASE/shortDesc</name>
+  <message>
+  <source>Distance from front axle to rear axle</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/GND_WHEEL_BASE/longDesc</name>
+  <message>
+  <source>A value of 0.31 is typical for 1/10 RC cars.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RWTO_HDG/shortDesc</name>
+  <message>
+  <source>Specifies which heading should be held during the runway takeoff ground roll</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RWTO_HDG/longDesc</name>
+  <message>
+  <source>0: airframe heading when takeoff is initiated 1: position control along runway direction (bearing defined from vehicle position on takeoff initiation to MAV_CMD_TAKEOFF position defined by operator)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RWTO_HDG/values/0/description</name>
+  <message>
+  <source>Airframe</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RWTO_HDG/values/1/description</name>
+  <message>
+  <source>Runway</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RWTO_MAX_THR/shortDesc</name>
+  <message>
+  <source>Max throttle during runway takeoff</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RWTO_NPFG_PERIOD/shortDesc</name>
+  <message>
+  <source>NPFG period while steering on runway</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RWTO_NUDGE/shortDesc</name>
+  <message>
+  <source>Enable use of yaw stick for nudging the wheel during runway ground roll</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RWTO_NUDGE/longDesc</name>
+  <message>
+  <source>This is useful when map, GNSS, or yaw errors on ground are misaligned with what the operator intends for takeoff course. Particularly useful for skinny runways or if the wheel servo is a bit off trim.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RWTO_NUDGE/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RWTO_NUDGE/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RWTO_PSP/shortDesc</name>
+  <message>
+  <source>Pitch setpoint during taxi / before takeoff rotation airspeed is reached</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RWTO_PSP/longDesc</name>
+  <message>
+  <source>A taildragger with steerable wheel might need to pitch up a little to keep its wheel on the ground before airspeed to takeoff is reached.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RWTO_RAMP_TIME/shortDesc</name>
+  <message>
+  <source>Throttle ramp up time for runway takeoff</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RWTO_ROT_AIRSPD/shortDesc</name>
+  <message>
+  <source>Takeoff rotation airspeed</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RWTO_ROT_AIRSPD/longDesc</name>
+  <message>
+  <source>The calibrated airspeed threshold during the takeoff ground roll when the plane should start rotating (pitching up). Must be less than the takeoff airspeed, will otherwise be capped at the takeoff airpeed (see FW_TKO_AIRSPD). If set &lt;= 0.0, defaults to 0.9 * takeoff airspeed (see FW_TKO_AIRSPD)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RWTO_ROT_TIME/shortDesc</name>
+  <message>
+  <source>Takeoff rotation time</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RWTO_ROT_TIME/longDesc</name>
+  <message>
+  <source>This is the time desired to linearly ramp in takeoff pitch constraints during the takeoff rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RWTO_TKOFF/shortDesc</name>
+  <message>
+  <source>Runway takeoff with landing gear</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RWTO_TKOFF/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RWTO_TKOFF/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_ALGORITHM/shortDesc</name>
+  <message>
+  <source>Logfile Encryption algorithm</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_ALGORITHM/longDesc</name>
+  <message>
+  <source>Selects the algorithm used for logfile encryption</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_ALGORITHM/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_ALGORITHM/values/2/description</name>
+  <message>
+  <source>XChaCha20</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_ALGORITHM/values/3/description</name>
+  <message>
+  <source>AES</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_BOOT_BAT/shortDesc</name>
+  <message>
+  <source>Battery-only Logging</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_BOOT_BAT/longDesc</name>
+  <message>
+  <source>When enabled, logging will not start from boot if battery power is not detected (e.g. powered via USB on a test bench). This prevents extraneous flight logs from being created during bench testing. Note that this only applies to log-from-boot modes. This has no effect on arm-based modes.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_BOOT_BAT/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_BOOT_BAT/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_DIRS_MAX/shortDesc</name>
+  <message>
+  <source>Maximum number of log directories to keep</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_DIRS_MAX/longDesc</name>
+  <message>
+  <source>If there are more log directories than this value, the system will delete the oldest directories during startup. In addition, the system will delete old logs if there is not enough free space left. The minimum amount is 300 MB. If this is set to 0, old directories will only be removed if the free space falls below the minimum. Note: this does not apply to mission log files.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_EXCH_KEY/shortDesc</name>
+  <message>
+  <source>Logfile Encryption key exchange key</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_EXCH_KEY/longDesc</name>
+  <message>
+  <source>If the logfile is encrypted using a symmetric key algorithm, the used encryption key is generated at logging start and stored on the sdcard RSA2048 encrypted using this key.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_KEY/shortDesc</name>
+  <message>
+  <source>Logfile Encryption key index</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_KEY/longDesc</name>
+  <message>
+  <source>Selects the key in keystore, used for encrypting the log. When using a symmetric encryption algorithm, the key is generated at logging start and kept stored in this index. For symmetric algorithms, the key is volatile and valid only for the duration of logging. The key is stored in encrypted format on the sdcard alongside the logfile, using an RSA2048 key defined by the SDLOG_EXCHANGE_KEY</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_MISSION/shortDesc</name>
+  <message>
+  <source>Mission Log</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_MISSION/longDesc</name>
+  <message>
+  <source>If enabled, a small additional "mission" log file will be written to the SD card. The log contains just those messages that are useful for tasks like generating flight statistics and geotagging. The different modes can be used to further reduce the logged data (and thus the log file size). For example, choose geotagging mode to only log data required for geotagging. Note that the normal/full log is still created, and contains all the data in the mission log (and more).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_MISSION/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_MISSION/values/1/description</name>
+  <message>
+  <source>All mission messages</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_MISSION/values/2/description</name>
+  <message>
+  <source>Geotagging messages</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_MODE/shortDesc</name>
+  <message>
+  <source>Logging Mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_MODE/longDesc</name>
+  <message>
+  <source>Determines when to start and stop logging. By default, logging is started when arming the system, and stopped when disarming.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_MODE/values/-1/description</name>
+  <message>
+  <source>disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_MODE/values/0/description</name>
+  <message>
+  <source>when armed until disarm (default)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_MODE/values/1/description</name>
+  <message>
+  <source>from boot until disarm</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_MODE/values/2/description</name>
+  <message>
+  <source>from boot until shutdown</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_MODE/values/3/description</name>
+  <message>
+  <source>depending on AUX1 RC channel</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_MODE/values/4/description</name>
+  <message>
+  <source>from 1st armed until shutdown</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_PROFILE/shortDesc</name>
+  <message>
+  <source>Logging topic profile (integer bitmask)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_PROFILE/longDesc</name>
+  <message>
+  <source>This integer bitmask controls the set and rates of logged topics. The default allows for general log analysis while keeping the log file size reasonably small. Enabling multiple sets leads to higher bandwidth requirements and larger log files. Set bits true to enable: 0 : Default set (used for general log analysis) 1 : Full rate estimator (EKF2) replay topics 2 : Topics for thermal calibration (high rate raw IMU and Baro sensor data) 3 : Topics for system identification (high rate actuator control and IMU data) 4 : Full rates for analysis of fast maneuvers (RC, attitude, rates and actuators) 5 : Debugging topics (debug_*.msg topics, for custom code) 6 : Topics for sensor comparison (low rate raw IMU, Baro and magnetometer data) 7 : Topics for computer vision and collision avoidance 8 : Raw FIFO high-rate IMU (Gyro) 9 : Raw FIFO high-rate IMU (Accel) 10: Logging of mavlink tunnel message (useful for payload communication debugging)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_PROFILE/bitmask/0/description</name>
+  <message>
+  <source>Default set (general log analysis)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_PROFILE/bitmask/1/description</name>
+  <message>
+  <source>Estimator replay (EKF2)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_PROFILE/bitmask/2/description</name>
+  <message>
+  <source>Thermal calibration</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_PROFILE/bitmask/3/description</name>
+  <message>
+  <source>System identification</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_PROFILE/bitmask/4/description</name>
+  <message>
+  <source>High rate</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_PROFILE/bitmask/5/description</name>
+  <message>
+  <source>Debug</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_PROFILE/bitmask/6/description</name>
+  <message>
+  <source>Sensor comparison</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_PROFILE/bitmask/7/description</name>
+  <message>
+  <source>Computer Vision and Avoidance</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_PROFILE/bitmask/8/description</name>
+  <message>
+  <source>Raw FIFO high-rate IMU (Gyro)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_PROFILE/bitmask/9/description</name>
+  <message>
+  <source>Raw FIFO high-rate IMU (Accel)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_PROFILE/bitmask/10/description</name>
+  <message>
+  <source>Mavlink tunnel message logging</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_UTC_OFFSET/shortDesc</name>
+  <message>
+  <source>UTC offset (unit: min)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_UTC_OFFSET/longDesc</name>
+  <message>
+  <source>the difference in hours and minutes from Coordinated Universal Time (UTC) for a your place and date. for example, In case of South Korea(UTC+09:00), UTC offset is 540 min (9*60) refer to https://en.wikipedia.org/wiki/List_of_UTC_time_offsets</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_UUID/shortDesc</name>
+  <message>
+  <source>Log UUID</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_UUID/longDesc</name>
+  <message>
+  <source>If set to 1, add an ID to the log, which uniquely identifies the vehicle</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_UUID/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SDLOG_UUID/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIM_BAT_DRAIN/shortDesc</name>
+  <message>
+  <source>Simulator Battery drain interval</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIM_BAT_ENABLE/shortDesc</name>
+  <message>
+  <source>Simulator Battery enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIM_BAT_ENABLE/longDesc</name>
+  <message>
+  <source>Enable or disable the internal battery simulation. This is useful when the battery is simulated externally and interfaced with PX4 through MAVLink for example.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIM_BAT_ENABLE/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIM_BAT_ENABLE/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIM_BAT_MIN_PCT/shortDesc</name>
+  <message>
+  <source>Simulator Battery minimal percentage</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIM_BAT_MIN_PCT/longDesc</name>
+  <message>
+  <source>Can be used to alter the battery level during SITL- or HITL-simulation on the fly. Particularly useful for testing different low-battery behaviour.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ID/shortDesc</name>
+  <message>
+  <source>Accelerometer 0 calibration device ID</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ID/longDesc</name>
+  <message>
+  <source>Device ID of the accelerometer this calibration applies to.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_PRIO/shortDesc</name>
+  <message>
+  <source>Accelerometer 0 priority</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_PRIO/values/-1/description</name>
+  <message>
+  <source>Uninitialized</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_PRIO/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_PRIO/values/1/description</name>
+  <message>
+  <source>Min</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_PRIO/values/25/description</name>
+  <message>
+  <source>Low</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_PRIO/values/50/description</name>
+  <message>
+  <source>Medium (Default)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_PRIO/values/75/description</name>
+  <message>
+  <source>High</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_PRIO/values/100/description</name>
+  <message>
+  <source>Max</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ROT/shortDesc</name>
+  <message>
+  <source>Accelerometer 0 rotation relative to airframe</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ROT/longDesc</name>
+  <message>
+  <source>An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ROT/values/-1/description</name>
+  <message>
+  <source>Internal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ROT/values/0/description</name>
+  <message>
+  <source>No rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ROT/values/1/description</name>
+  <message>
+  <source>Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ROT/values/2/description</name>
+  <message>
+  <source>Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ROT/values/3/description</name>
+  <message>
+  <source>Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ROT/values/4/description</name>
+  <message>
+  <source>Yaw 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ROT/values/5/description</name>
+  <message>
+  <source>Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ROT/values/6/description</name>
+  <message>
+  <source>Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ROT/values/7/description</name>
+  <message>
+  <source>Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ROT/values/8/description</name>
+  <message>
+  <source>Roll 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ROT/values/9/description</name>
+  <message>
+  <source>Roll 180°, Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ROT/values/10/description</name>
+  <message>
+  <source>Roll 180°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ROT/values/11/description</name>
+  <message>
+  <source>Roll 180°, Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ROT/values/12/description</name>
+  <message>
+  <source>Pitch 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ROT/values/13/description</name>
+  <message>
+  <source>Roll 180°, Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ROT/values/14/description</name>
+  <message>
+  <source>Roll 180°, Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ROT/values/15/description</name>
+  <message>
+  <source>Roll 180°, Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ROT/values/16/description</name>
+  <message>
+  <source>Roll 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ROT/values/17/description</name>
+  <message>
+  <source>Roll 90°, Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ROT/values/18/description</name>
+  <message>
+  <source>Roll 90°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ROT/values/19/description</name>
+  <message>
+  <source>Roll 90°, Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ROT/values/20/description</name>
+  <message>
+  <source>Roll 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ROT/values/21/description</name>
+  <message>
+  <source>Roll 270°, Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ROT/values/22/description</name>
+  <message>
+  <source>Roll 270°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ROT/values/23/description</name>
+  <message>
+  <source>Roll 270°, Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ROT/values/24/description</name>
+  <message>
+  <source>Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ROT/values/25/description</name>
+  <message>
+  <source>Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ROT/values/26/description</name>
+  <message>
+  <source>Pitch 180°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ROT/values/27/description</name>
+  <message>
+  <source>Pitch 180°, Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ROT/values/28/description</name>
+  <message>
+  <source>Roll 90°, Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ROT/values/29/description</name>
+  <message>
+  <source>Roll 180°, Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ROT/values/30/description</name>
+  <message>
+  <source>Roll 270°, Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ROT/values/31/description</name>
+  <message>
+  <source>Roll 90°, Pitch 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ROT/values/32/description</name>
+  <message>
+  <source>Roll 270°, Pitch 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ROT/values/33/description</name>
+  <message>
+  <source>Roll 90°, Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ROT/values/34/description</name>
+  <message>
+  <source>Roll 180°, Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ROT/values/35/description</name>
+  <message>
+  <source>Roll 270°, Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ROT/values/36/description</name>
+  <message>
+  <source>Roll 90°, Pitch 180°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ROT/values/37/description</name>
+  <message>
+  <source>Roll 90°, Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ROT/values/38/description</name>
+  <message>
+  <source>Roll 90°, Pitch 68°, Yaw 293°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ROT/values/39/description</name>
+  <message>
+  <source>Pitch 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ROT/values/40/description</name>
+  <message>
+  <source>Roll 90°, Pitch 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_XOFF/shortDesc</name>
+  <message>
+  <source>Accelerometer 0 X-axis offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_XSCALE/shortDesc</name>
+  <message>
+  <source>Accelerometer 0 X-axis scaling factor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_YOFF/shortDesc</name>
+  <message>
+  <source>Accelerometer 0 Y-axis offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_YSCALE/shortDesc</name>
+  <message>
+  <source>Accelerometer 0 Y-axis scaling factor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ZOFF/shortDesc</name>
+  <message>
+  <source>Accelerometer 0 Z-axis offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC0_ZSCALE/shortDesc</name>
+  <message>
+  <source>Accelerometer 0 Z-axis scaling factor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ID/shortDesc</name>
+  <message>
+  <source>Accelerometer 1 calibration device ID</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ID/longDesc</name>
+  <message>
+  <source>Device ID of the accelerometer this calibration applies to.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_PRIO/shortDesc</name>
+  <message>
+  <source>Accelerometer 1 priority</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_PRIO/values/-1/description</name>
+  <message>
+  <source>Uninitialized</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_PRIO/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_PRIO/values/1/description</name>
+  <message>
+  <source>Min</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_PRIO/values/25/description</name>
+  <message>
+  <source>Low</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_PRIO/values/50/description</name>
+  <message>
+  <source>Medium (Default)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_PRIO/values/75/description</name>
+  <message>
+  <source>High</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_PRIO/values/100/description</name>
+  <message>
+  <source>Max</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ROT/shortDesc</name>
+  <message>
+  <source>Accelerometer 1 rotation relative to airframe</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ROT/longDesc</name>
+  <message>
+  <source>An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ROT/values/-1/description</name>
+  <message>
+  <source>Internal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ROT/values/0/description</name>
+  <message>
+  <source>No rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ROT/values/1/description</name>
+  <message>
+  <source>Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ROT/values/2/description</name>
+  <message>
+  <source>Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ROT/values/3/description</name>
+  <message>
+  <source>Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ROT/values/4/description</name>
+  <message>
+  <source>Yaw 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ROT/values/5/description</name>
+  <message>
+  <source>Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ROT/values/6/description</name>
+  <message>
+  <source>Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ROT/values/7/description</name>
+  <message>
+  <source>Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ROT/values/8/description</name>
+  <message>
+  <source>Roll 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ROT/values/9/description</name>
+  <message>
+  <source>Roll 180°, Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ROT/values/10/description</name>
+  <message>
+  <source>Roll 180°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ROT/values/11/description</name>
+  <message>
+  <source>Roll 180°, Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ROT/values/12/description</name>
+  <message>
+  <source>Pitch 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ROT/values/13/description</name>
+  <message>
+  <source>Roll 180°, Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ROT/values/14/description</name>
+  <message>
+  <source>Roll 180°, Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ROT/values/15/description</name>
+  <message>
+  <source>Roll 180°, Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ROT/values/16/description</name>
+  <message>
+  <source>Roll 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ROT/values/17/description</name>
+  <message>
+  <source>Roll 90°, Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ROT/values/18/description</name>
+  <message>
+  <source>Roll 90°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ROT/values/19/description</name>
+  <message>
+  <source>Roll 90°, Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ROT/values/20/description</name>
+  <message>
+  <source>Roll 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ROT/values/21/description</name>
+  <message>
+  <source>Roll 270°, Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ROT/values/22/description</name>
+  <message>
+  <source>Roll 270°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ROT/values/23/description</name>
+  <message>
+  <source>Roll 270°, Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ROT/values/24/description</name>
+  <message>
+  <source>Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ROT/values/25/description</name>
+  <message>
+  <source>Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ROT/values/26/description</name>
+  <message>
+  <source>Pitch 180°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ROT/values/27/description</name>
+  <message>
+  <source>Pitch 180°, Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ROT/values/28/description</name>
+  <message>
+  <source>Roll 90°, Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ROT/values/29/description</name>
+  <message>
+  <source>Roll 180°, Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ROT/values/30/description</name>
+  <message>
+  <source>Roll 270°, Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ROT/values/31/description</name>
+  <message>
+  <source>Roll 90°, Pitch 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ROT/values/32/description</name>
+  <message>
+  <source>Roll 270°, Pitch 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ROT/values/33/description</name>
+  <message>
+  <source>Roll 90°, Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ROT/values/34/description</name>
+  <message>
+  <source>Roll 180°, Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ROT/values/35/description</name>
+  <message>
+  <source>Roll 270°, Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ROT/values/36/description</name>
+  <message>
+  <source>Roll 90°, Pitch 180°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ROT/values/37/description</name>
+  <message>
+  <source>Roll 90°, Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ROT/values/38/description</name>
+  <message>
+  <source>Roll 90°, Pitch 68°, Yaw 293°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ROT/values/39/description</name>
+  <message>
+  <source>Pitch 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ROT/values/40/description</name>
+  <message>
+  <source>Roll 90°, Pitch 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_XOFF/shortDesc</name>
+  <message>
+  <source>Accelerometer 1 X-axis offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_XSCALE/shortDesc</name>
+  <message>
+  <source>Accelerometer 1 X-axis scaling factor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_YOFF/shortDesc</name>
+  <message>
+  <source>Accelerometer 1 Y-axis offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_YSCALE/shortDesc</name>
+  <message>
+  <source>Accelerometer 1 Y-axis scaling factor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ZOFF/shortDesc</name>
+  <message>
+  <source>Accelerometer 1 Z-axis offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC1_ZSCALE/shortDesc</name>
+  <message>
+  <source>Accelerometer 1 Z-axis scaling factor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ID/shortDesc</name>
+  <message>
+  <source>Accelerometer 2 calibration device ID</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ID/longDesc</name>
+  <message>
+  <source>Device ID of the accelerometer this calibration applies to.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_PRIO/shortDesc</name>
+  <message>
+  <source>Accelerometer 2 priority</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_PRIO/values/-1/description</name>
+  <message>
+  <source>Uninitialized</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_PRIO/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_PRIO/values/1/description</name>
+  <message>
+  <source>Min</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_PRIO/values/25/description</name>
+  <message>
+  <source>Low</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_PRIO/values/50/description</name>
+  <message>
+  <source>Medium (Default)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_PRIO/values/75/description</name>
+  <message>
+  <source>High</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_PRIO/values/100/description</name>
+  <message>
+  <source>Max</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ROT/shortDesc</name>
+  <message>
+  <source>Accelerometer 2 rotation relative to airframe</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ROT/longDesc</name>
+  <message>
+  <source>An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ROT/values/-1/description</name>
+  <message>
+  <source>Internal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ROT/values/0/description</name>
+  <message>
+  <source>No rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ROT/values/1/description</name>
+  <message>
+  <source>Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ROT/values/2/description</name>
+  <message>
+  <source>Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ROT/values/3/description</name>
+  <message>
+  <source>Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ROT/values/4/description</name>
+  <message>
+  <source>Yaw 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ROT/values/5/description</name>
+  <message>
+  <source>Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ROT/values/6/description</name>
+  <message>
+  <source>Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ROT/values/7/description</name>
+  <message>
+  <source>Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ROT/values/8/description</name>
+  <message>
+  <source>Roll 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ROT/values/9/description</name>
+  <message>
+  <source>Roll 180°, Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ROT/values/10/description</name>
+  <message>
+  <source>Roll 180°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ROT/values/11/description</name>
+  <message>
+  <source>Roll 180°, Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ROT/values/12/description</name>
+  <message>
+  <source>Pitch 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ROT/values/13/description</name>
+  <message>
+  <source>Roll 180°, Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ROT/values/14/description</name>
+  <message>
+  <source>Roll 180°, Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ROT/values/15/description</name>
+  <message>
+  <source>Roll 180°, Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ROT/values/16/description</name>
+  <message>
+  <source>Roll 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ROT/values/17/description</name>
+  <message>
+  <source>Roll 90°, Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ROT/values/18/description</name>
+  <message>
+  <source>Roll 90°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ROT/values/19/description</name>
+  <message>
+  <source>Roll 90°, Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ROT/values/20/description</name>
+  <message>
+  <source>Roll 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ROT/values/21/description</name>
+  <message>
+  <source>Roll 270°, Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ROT/values/22/description</name>
+  <message>
+  <source>Roll 270°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ROT/values/23/description</name>
+  <message>
+  <source>Roll 270°, Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ROT/values/24/description</name>
+  <message>
+  <source>Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ROT/values/25/description</name>
+  <message>
+  <source>Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ROT/values/26/description</name>
+  <message>
+  <source>Pitch 180°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ROT/values/27/description</name>
+  <message>
+  <source>Pitch 180°, Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ROT/values/28/description</name>
+  <message>
+  <source>Roll 90°, Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ROT/values/29/description</name>
+  <message>
+  <source>Roll 180°, Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ROT/values/30/description</name>
+  <message>
+  <source>Roll 270°, Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ROT/values/31/description</name>
+  <message>
+  <source>Roll 90°, Pitch 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ROT/values/32/description</name>
+  <message>
+  <source>Roll 270°, Pitch 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ROT/values/33/description</name>
+  <message>
+  <source>Roll 90°, Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ROT/values/34/description</name>
+  <message>
+  <source>Roll 180°, Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ROT/values/35/description</name>
+  <message>
+  <source>Roll 270°, Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ROT/values/36/description</name>
+  <message>
+  <source>Roll 90°, Pitch 180°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ROT/values/37/description</name>
+  <message>
+  <source>Roll 90°, Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ROT/values/38/description</name>
+  <message>
+  <source>Roll 90°, Pitch 68°, Yaw 293°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ROT/values/39/description</name>
+  <message>
+  <source>Pitch 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ROT/values/40/description</name>
+  <message>
+  <source>Roll 90°, Pitch 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_XOFF/shortDesc</name>
+  <message>
+  <source>Accelerometer 2 X-axis offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_XSCALE/shortDesc</name>
+  <message>
+  <source>Accelerometer 2 X-axis scaling factor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_YOFF/shortDesc</name>
+  <message>
+  <source>Accelerometer 2 Y-axis offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_YSCALE/shortDesc</name>
+  <message>
+  <source>Accelerometer 2 Y-axis scaling factor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ZOFF/shortDesc</name>
+  <message>
+  <source>Accelerometer 2 Z-axis offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC2_ZSCALE/shortDesc</name>
+  <message>
+  <source>Accelerometer 2 Z-axis scaling factor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ID/shortDesc</name>
+  <message>
+  <source>Accelerometer 3 calibration device ID</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ID/longDesc</name>
+  <message>
+  <source>Device ID of the accelerometer this calibration applies to.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_PRIO/shortDesc</name>
+  <message>
+  <source>Accelerometer 3 priority</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_PRIO/values/-1/description</name>
+  <message>
+  <source>Uninitialized</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_PRIO/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_PRIO/values/1/description</name>
+  <message>
+  <source>Min</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_PRIO/values/25/description</name>
+  <message>
+  <source>Low</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_PRIO/values/50/description</name>
+  <message>
+  <source>Medium (Default)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_PRIO/values/75/description</name>
+  <message>
+  <source>High</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_PRIO/values/100/description</name>
+  <message>
+  <source>Max</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ROT/shortDesc</name>
+  <message>
+  <source>Accelerometer 3 rotation relative to airframe</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ROT/longDesc</name>
+  <message>
+  <source>An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ROT/values/-1/description</name>
+  <message>
+  <source>Internal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ROT/values/0/description</name>
+  <message>
+  <source>No rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ROT/values/1/description</name>
+  <message>
+  <source>Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ROT/values/2/description</name>
+  <message>
+  <source>Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ROT/values/3/description</name>
+  <message>
+  <source>Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ROT/values/4/description</name>
+  <message>
+  <source>Yaw 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ROT/values/5/description</name>
+  <message>
+  <source>Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ROT/values/6/description</name>
+  <message>
+  <source>Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ROT/values/7/description</name>
+  <message>
+  <source>Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ROT/values/8/description</name>
+  <message>
+  <source>Roll 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ROT/values/9/description</name>
+  <message>
+  <source>Roll 180°, Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ROT/values/10/description</name>
+  <message>
+  <source>Roll 180°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ROT/values/11/description</name>
+  <message>
+  <source>Roll 180°, Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ROT/values/12/description</name>
+  <message>
+  <source>Pitch 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ROT/values/13/description</name>
+  <message>
+  <source>Roll 180°, Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ROT/values/14/description</name>
+  <message>
+  <source>Roll 180°, Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ROT/values/15/description</name>
+  <message>
+  <source>Roll 180°, Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ROT/values/16/description</name>
+  <message>
+  <source>Roll 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ROT/values/17/description</name>
+  <message>
+  <source>Roll 90°, Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ROT/values/18/description</name>
+  <message>
+  <source>Roll 90°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ROT/values/19/description</name>
+  <message>
+  <source>Roll 90°, Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ROT/values/20/description</name>
+  <message>
+  <source>Roll 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ROT/values/21/description</name>
+  <message>
+  <source>Roll 270°, Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ROT/values/22/description</name>
+  <message>
+  <source>Roll 270°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ROT/values/23/description</name>
+  <message>
+  <source>Roll 270°, Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ROT/values/24/description</name>
+  <message>
+  <source>Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ROT/values/25/description</name>
+  <message>
+  <source>Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ROT/values/26/description</name>
+  <message>
+  <source>Pitch 180°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ROT/values/27/description</name>
+  <message>
+  <source>Pitch 180°, Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ROT/values/28/description</name>
+  <message>
+  <source>Roll 90°, Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ROT/values/29/description</name>
+  <message>
+  <source>Roll 180°, Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ROT/values/30/description</name>
+  <message>
+  <source>Roll 270°, Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ROT/values/31/description</name>
+  <message>
+  <source>Roll 90°, Pitch 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ROT/values/32/description</name>
+  <message>
+  <source>Roll 270°, Pitch 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ROT/values/33/description</name>
+  <message>
+  <source>Roll 90°, Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ROT/values/34/description</name>
+  <message>
+  <source>Roll 180°, Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ROT/values/35/description</name>
+  <message>
+  <source>Roll 270°, Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ROT/values/36/description</name>
+  <message>
+  <source>Roll 90°, Pitch 180°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ROT/values/37/description</name>
+  <message>
+  <source>Roll 90°, Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ROT/values/38/description</name>
+  <message>
+  <source>Roll 90°, Pitch 68°, Yaw 293°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ROT/values/39/description</name>
+  <message>
+  <source>Pitch 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ROT/values/40/description</name>
+  <message>
+  <source>Roll 90°, Pitch 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_XOFF/shortDesc</name>
+  <message>
+  <source>Accelerometer 3 X-axis offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_XSCALE/shortDesc</name>
+  <message>
+  <source>Accelerometer 3 X-axis scaling factor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_YOFF/shortDesc</name>
+  <message>
+  <source>Accelerometer 3 Y-axis offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_YSCALE/shortDesc</name>
+  <message>
+  <source>Accelerometer 3 Y-axis scaling factor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ZOFF/shortDesc</name>
+  <message>
+  <source>Accelerometer 3 Z-axis offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_ACC3_ZSCALE/shortDesc</name>
+  <message>
+  <source>Accelerometer 3 Z-axis scaling factor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_BARO0_ID/shortDesc</name>
+  <message>
+  <source>Barometer 0 calibration device ID</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_BARO0_ID/longDesc</name>
+  <message>
+  <source>Device ID of the barometer this calibration applies to.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_BARO0_OFF/shortDesc</name>
+  <message>
+  <source>Barometer 0 offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_BARO0_PRIO/shortDesc</name>
+  <message>
+  <source>Barometer 0 priority</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_BARO0_PRIO/values/-1/description</name>
+  <message>
+  <source>Uninitialized</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_BARO0_PRIO/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_BARO0_PRIO/values/1/description</name>
+  <message>
+  <source>Min</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_BARO0_PRIO/values/25/description</name>
+  <message>
+  <source>Low</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_BARO0_PRIO/values/50/description</name>
+  <message>
+  <source>Medium (Default)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_BARO0_PRIO/values/75/description</name>
+  <message>
+  <source>High</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_BARO0_PRIO/values/100/description</name>
+  <message>
+  <source>Max</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_BARO1_ID/shortDesc</name>
+  <message>
+  <source>Barometer 1 calibration device ID</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_BARO1_ID/longDesc</name>
+  <message>
+  <source>Device ID of the barometer this calibration applies to.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_BARO1_OFF/shortDesc</name>
+  <message>
+  <source>Barometer 1 offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_BARO1_PRIO/shortDesc</name>
+  <message>
+  <source>Barometer 1 priority</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_BARO1_PRIO/values/-1/description</name>
+  <message>
+  <source>Uninitialized</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_BARO1_PRIO/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_BARO1_PRIO/values/1/description</name>
+  <message>
+  <source>Min</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_BARO1_PRIO/values/25/description</name>
+  <message>
+  <source>Low</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_BARO1_PRIO/values/50/description</name>
+  <message>
+  <source>Medium (Default)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_BARO1_PRIO/values/75/description</name>
+  <message>
+  <source>High</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_BARO1_PRIO/values/100/description</name>
+  <message>
+  <source>Max</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_BARO2_ID/shortDesc</name>
+  <message>
+  <source>Barometer 2 calibration device ID</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_BARO2_ID/longDesc</name>
+  <message>
+  <source>Device ID of the barometer this calibration applies to.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_BARO2_OFF/shortDesc</name>
+  <message>
+  <source>Barometer 2 offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_BARO2_PRIO/shortDesc</name>
+  <message>
+  <source>Barometer 2 priority</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_BARO2_PRIO/values/-1/description</name>
+  <message>
+  <source>Uninitialized</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_BARO2_PRIO/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_BARO2_PRIO/values/1/description</name>
+  <message>
+  <source>Min</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_BARO2_PRIO/values/25/description</name>
+  <message>
+  <source>Low</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_BARO2_PRIO/values/50/description</name>
+  <message>
+  <source>Medium (Default)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_BARO2_PRIO/values/75/description</name>
+  <message>
+  <source>High</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_BARO2_PRIO/values/100/description</name>
+  <message>
+  <source>Max</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_BARO3_ID/shortDesc</name>
+  <message>
+  <source>Barometer 3 calibration device ID</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_BARO3_ID/longDesc</name>
+  <message>
+  <source>Device ID of the barometer this calibration applies to.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_BARO3_OFF/shortDesc</name>
+  <message>
+  <source>Barometer 3 offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_BARO3_PRIO/shortDesc</name>
+  <message>
+  <source>Barometer 3 priority</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_BARO3_PRIO/values/-1/description</name>
+  <message>
+  <source>Uninitialized</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_BARO3_PRIO/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_BARO3_PRIO/values/1/description</name>
+  <message>
+  <source>Min</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_BARO3_PRIO/values/25/description</name>
+  <message>
+  <source>Low</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_BARO3_PRIO/values/50/description</name>
+  <message>
+  <source>Medium (Default)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_BARO3_PRIO/values/75/description</name>
+  <message>
+  <source>High</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_BARO3_PRIO/values/100/description</name>
+  <message>
+  <source>Max</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ID/shortDesc</name>
+  <message>
+  <source>Gyroscope 0 calibration device ID</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ID/longDesc</name>
+  <message>
+  <source>Device ID of the gyroscope this calibration applies to.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_PRIO/shortDesc</name>
+  <message>
+  <source>Gyroscope 0 priority</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_PRIO/values/-1/description</name>
+  <message>
+  <source>Uninitialized</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_PRIO/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_PRIO/values/1/description</name>
+  <message>
+  <source>Min</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_PRIO/values/25/description</name>
+  <message>
+  <source>Low</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_PRIO/values/50/description</name>
+  <message>
+  <source>Medium (Default)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_PRIO/values/75/description</name>
+  <message>
+  <source>High</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_PRIO/values/100/description</name>
+  <message>
+  <source>Max</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ROT/shortDesc</name>
+  <message>
+  <source>Gyroscope 0 rotation relative to airframe</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ROT/longDesc</name>
+  <message>
+  <source>An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ROT/values/-1/description</name>
+  <message>
+  <source>Internal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ROT/values/0/description</name>
+  <message>
+  <source>No rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ROT/values/1/description</name>
+  <message>
+  <source>Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ROT/values/2/description</name>
+  <message>
+  <source>Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ROT/values/3/description</name>
+  <message>
+  <source>Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ROT/values/4/description</name>
+  <message>
+  <source>Yaw 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ROT/values/5/description</name>
+  <message>
+  <source>Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ROT/values/6/description</name>
+  <message>
+  <source>Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ROT/values/7/description</name>
+  <message>
+  <source>Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ROT/values/8/description</name>
+  <message>
+  <source>Roll 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ROT/values/9/description</name>
+  <message>
+  <source>Roll 180°, Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ROT/values/10/description</name>
+  <message>
+  <source>Roll 180°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ROT/values/11/description</name>
+  <message>
+  <source>Roll 180°, Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ROT/values/12/description</name>
+  <message>
+  <source>Pitch 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ROT/values/13/description</name>
+  <message>
+  <source>Roll 180°, Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ROT/values/14/description</name>
+  <message>
+  <source>Roll 180°, Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ROT/values/15/description</name>
+  <message>
+  <source>Roll 180°, Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ROT/values/16/description</name>
+  <message>
+  <source>Roll 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ROT/values/17/description</name>
+  <message>
+  <source>Roll 90°, Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ROT/values/18/description</name>
+  <message>
+  <source>Roll 90°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ROT/values/19/description</name>
+  <message>
+  <source>Roll 90°, Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ROT/values/20/description</name>
+  <message>
+  <source>Roll 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ROT/values/21/description</name>
+  <message>
+  <source>Roll 270°, Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ROT/values/22/description</name>
+  <message>
+  <source>Roll 270°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ROT/values/23/description</name>
+  <message>
+  <source>Roll 270°, Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ROT/values/24/description</name>
+  <message>
+  <source>Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ROT/values/25/description</name>
+  <message>
+  <source>Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ROT/values/26/description</name>
+  <message>
+  <source>Pitch 180°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ROT/values/27/description</name>
+  <message>
+  <source>Pitch 180°, Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ROT/values/28/description</name>
+  <message>
+  <source>Roll 90°, Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ROT/values/29/description</name>
+  <message>
+  <source>Roll 180°, Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ROT/values/30/description</name>
+  <message>
+  <source>Roll 270°, Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ROT/values/31/description</name>
+  <message>
+  <source>Roll 90°, Pitch 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ROT/values/32/description</name>
+  <message>
+  <source>Roll 270°, Pitch 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ROT/values/33/description</name>
+  <message>
+  <source>Roll 90°, Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ROT/values/34/description</name>
+  <message>
+  <source>Roll 180°, Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ROT/values/35/description</name>
+  <message>
+  <source>Roll 270°, Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ROT/values/36/description</name>
+  <message>
+  <source>Roll 90°, Pitch 180°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ROT/values/37/description</name>
+  <message>
+  <source>Roll 90°, Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ROT/values/38/description</name>
+  <message>
+  <source>Roll 90°, Pitch 68°, Yaw 293°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ROT/values/39/description</name>
+  <message>
+  <source>Pitch 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ROT/values/40/description</name>
+  <message>
+  <source>Roll 90°, Pitch 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_XOFF/shortDesc</name>
+  <message>
+  <source>Gyroscope 0 X-axis offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_YOFF/shortDesc</name>
+  <message>
+  <source>Gyroscope 0 Y-axis offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO0_ZOFF/shortDesc</name>
+  <message>
+  <source>Gyroscope 0 Z-axis offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ID/shortDesc</name>
+  <message>
+  <source>Gyroscope 1 calibration device ID</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ID/longDesc</name>
+  <message>
+  <source>Device ID of the gyroscope this calibration applies to.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_PRIO/shortDesc</name>
+  <message>
+  <source>Gyroscope 1 priority</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_PRIO/values/-1/description</name>
+  <message>
+  <source>Uninitialized</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_PRIO/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_PRIO/values/1/description</name>
+  <message>
+  <source>Min</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_PRIO/values/25/description</name>
+  <message>
+  <source>Low</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_PRIO/values/50/description</name>
+  <message>
+  <source>Medium (Default)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_PRIO/values/75/description</name>
+  <message>
+  <source>High</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_PRIO/values/100/description</name>
+  <message>
+  <source>Max</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ROT/shortDesc</name>
+  <message>
+  <source>Gyroscope 1 rotation relative to airframe</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ROT/longDesc</name>
+  <message>
+  <source>An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ROT/values/-1/description</name>
+  <message>
+  <source>Internal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ROT/values/0/description</name>
+  <message>
+  <source>No rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ROT/values/1/description</name>
+  <message>
+  <source>Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ROT/values/2/description</name>
+  <message>
+  <source>Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ROT/values/3/description</name>
+  <message>
+  <source>Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ROT/values/4/description</name>
+  <message>
+  <source>Yaw 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ROT/values/5/description</name>
+  <message>
+  <source>Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ROT/values/6/description</name>
+  <message>
+  <source>Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ROT/values/7/description</name>
+  <message>
+  <source>Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ROT/values/8/description</name>
+  <message>
+  <source>Roll 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ROT/values/9/description</name>
+  <message>
+  <source>Roll 180°, Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ROT/values/10/description</name>
+  <message>
+  <source>Roll 180°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ROT/values/11/description</name>
+  <message>
+  <source>Roll 180°, Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ROT/values/12/description</name>
+  <message>
+  <source>Pitch 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ROT/values/13/description</name>
+  <message>
+  <source>Roll 180°, Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ROT/values/14/description</name>
+  <message>
+  <source>Roll 180°, Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ROT/values/15/description</name>
+  <message>
+  <source>Roll 180°, Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ROT/values/16/description</name>
+  <message>
+  <source>Roll 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ROT/values/17/description</name>
+  <message>
+  <source>Roll 90°, Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ROT/values/18/description</name>
+  <message>
+  <source>Roll 90°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ROT/values/19/description</name>
+  <message>
+  <source>Roll 90°, Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ROT/values/20/description</name>
+  <message>
+  <source>Roll 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ROT/values/21/description</name>
+  <message>
+  <source>Roll 270°, Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ROT/values/22/description</name>
+  <message>
+  <source>Roll 270°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ROT/values/23/description</name>
+  <message>
+  <source>Roll 270°, Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ROT/values/24/description</name>
+  <message>
+  <source>Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ROT/values/25/description</name>
+  <message>
+  <source>Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ROT/values/26/description</name>
+  <message>
+  <source>Pitch 180°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ROT/values/27/description</name>
+  <message>
+  <source>Pitch 180°, Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ROT/values/28/description</name>
+  <message>
+  <source>Roll 90°, Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ROT/values/29/description</name>
+  <message>
+  <source>Roll 180°, Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ROT/values/30/description</name>
+  <message>
+  <source>Roll 270°, Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ROT/values/31/description</name>
+  <message>
+  <source>Roll 90°, Pitch 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ROT/values/32/description</name>
+  <message>
+  <source>Roll 270°, Pitch 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ROT/values/33/description</name>
+  <message>
+  <source>Roll 90°, Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ROT/values/34/description</name>
+  <message>
+  <source>Roll 180°, Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ROT/values/35/description</name>
+  <message>
+  <source>Roll 270°, Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ROT/values/36/description</name>
+  <message>
+  <source>Roll 90°, Pitch 180°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ROT/values/37/description</name>
+  <message>
+  <source>Roll 90°, Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ROT/values/38/description</name>
+  <message>
+  <source>Roll 90°, Pitch 68°, Yaw 293°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ROT/values/39/description</name>
+  <message>
+  <source>Pitch 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ROT/values/40/description</name>
+  <message>
+  <source>Roll 90°, Pitch 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_XOFF/shortDesc</name>
+  <message>
+  <source>Gyroscope 1 X-axis offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_YOFF/shortDesc</name>
+  <message>
+  <source>Gyroscope 1 Y-axis offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO1_ZOFF/shortDesc</name>
+  <message>
+  <source>Gyroscope 1 Z-axis offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ID/shortDesc</name>
+  <message>
+  <source>Gyroscope 2 calibration device ID</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ID/longDesc</name>
+  <message>
+  <source>Device ID of the gyroscope this calibration applies to.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_PRIO/shortDesc</name>
+  <message>
+  <source>Gyroscope 2 priority</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_PRIO/values/-1/description</name>
+  <message>
+  <source>Uninitialized</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_PRIO/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_PRIO/values/1/description</name>
+  <message>
+  <source>Min</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_PRIO/values/25/description</name>
+  <message>
+  <source>Low</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_PRIO/values/50/description</name>
+  <message>
+  <source>Medium (Default)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_PRIO/values/75/description</name>
+  <message>
+  <source>High</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_PRIO/values/100/description</name>
+  <message>
+  <source>Max</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ROT/shortDesc</name>
+  <message>
+  <source>Gyroscope 2 rotation relative to airframe</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ROT/longDesc</name>
+  <message>
+  <source>An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ROT/values/-1/description</name>
+  <message>
+  <source>Internal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ROT/values/0/description</name>
+  <message>
+  <source>No rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ROT/values/1/description</name>
+  <message>
+  <source>Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ROT/values/2/description</name>
+  <message>
+  <source>Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ROT/values/3/description</name>
+  <message>
+  <source>Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ROT/values/4/description</name>
+  <message>
+  <source>Yaw 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ROT/values/5/description</name>
+  <message>
+  <source>Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ROT/values/6/description</name>
+  <message>
+  <source>Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ROT/values/7/description</name>
+  <message>
+  <source>Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ROT/values/8/description</name>
+  <message>
+  <source>Roll 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ROT/values/9/description</name>
+  <message>
+  <source>Roll 180°, Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ROT/values/10/description</name>
+  <message>
+  <source>Roll 180°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ROT/values/11/description</name>
+  <message>
+  <source>Roll 180°, Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ROT/values/12/description</name>
+  <message>
+  <source>Pitch 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ROT/values/13/description</name>
+  <message>
+  <source>Roll 180°, Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ROT/values/14/description</name>
+  <message>
+  <source>Roll 180°, Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ROT/values/15/description</name>
+  <message>
+  <source>Roll 180°, Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ROT/values/16/description</name>
+  <message>
+  <source>Roll 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ROT/values/17/description</name>
+  <message>
+  <source>Roll 90°, Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ROT/values/18/description</name>
+  <message>
+  <source>Roll 90°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ROT/values/19/description</name>
+  <message>
+  <source>Roll 90°, Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ROT/values/20/description</name>
+  <message>
+  <source>Roll 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ROT/values/21/description</name>
+  <message>
+  <source>Roll 270°, Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ROT/values/22/description</name>
+  <message>
+  <source>Roll 270°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ROT/values/23/description</name>
+  <message>
+  <source>Roll 270°, Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ROT/values/24/description</name>
+  <message>
+  <source>Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ROT/values/25/description</name>
+  <message>
+  <source>Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ROT/values/26/description</name>
+  <message>
+  <source>Pitch 180°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ROT/values/27/description</name>
+  <message>
+  <source>Pitch 180°, Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ROT/values/28/description</name>
+  <message>
+  <source>Roll 90°, Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ROT/values/29/description</name>
+  <message>
+  <source>Roll 180°, Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ROT/values/30/description</name>
+  <message>
+  <source>Roll 270°, Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ROT/values/31/description</name>
+  <message>
+  <source>Roll 90°, Pitch 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ROT/values/32/description</name>
+  <message>
+  <source>Roll 270°, Pitch 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ROT/values/33/description</name>
+  <message>
+  <source>Roll 90°, Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ROT/values/34/description</name>
+  <message>
+  <source>Roll 180°, Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ROT/values/35/description</name>
+  <message>
+  <source>Roll 270°, Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ROT/values/36/description</name>
+  <message>
+  <source>Roll 90°, Pitch 180°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ROT/values/37/description</name>
+  <message>
+  <source>Roll 90°, Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ROT/values/38/description</name>
+  <message>
+  <source>Roll 90°, Pitch 68°, Yaw 293°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ROT/values/39/description</name>
+  <message>
+  <source>Pitch 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ROT/values/40/description</name>
+  <message>
+  <source>Roll 90°, Pitch 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_XOFF/shortDesc</name>
+  <message>
+  <source>Gyroscope 2 X-axis offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_YOFF/shortDesc</name>
+  <message>
+  <source>Gyroscope 2 Y-axis offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO2_ZOFF/shortDesc</name>
+  <message>
+  <source>Gyroscope 2 Z-axis offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ID/shortDesc</name>
+  <message>
+  <source>Gyroscope 3 calibration device ID</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ID/longDesc</name>
+  <message>
+  <source>Device ID of the gyroscope this calibration applies to.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_PRIO/shortDesc</name>
+  <message>
+  <source>Gyroscope 3 priority</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_PRIO/values/-1/description</name>
+  <message>
+  <source>Uninitialized</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_PRIO/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_PRIO/values/1/description</name>
+  <message>
+  <source>Min</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_PRIO/values/25/description</name>
+  <message>
+  <source>Low</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_PRIO/values/50/description</name>
+  <message>
+  <source>Medium (Default)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_PRIO/values/75/description</name>
+  <message>
+  <source>High</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_PRIO/values/100/description</name>
+  <message>
+  <source>Max</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ROT/shortDesc</name>
+  <message>
+  <source>Gyroscope 3 rotation relative to airframe</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ROT/longDesc</name>
+  <message>
+  <source>An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ROT/values/-1/description</name>
+  <message>
+  <source>Internal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ROT/values/0/description</name>
+  <message>
+  <source>No rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ROT/values/1/description</name>
+  <message>
+  <source>Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ROT/values/2/description</name>
+  <message>
+  <source>Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ROT/values/3/description</name>
+  <message>
+  <source>Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ROT/values/4/description</name>
+  <message>
+  <source>Yaw 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ROT/values/5/description</name>
+  <message>
+  <source>Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ROT/values/6/description</name>
+  <message>
+  <source>Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ROT/values/7/description</name>
+  <message>
+  <source>Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ROT/values/8/description</name>
+  <message>
+  <source>Roll 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ROT/values/9/description</name>
+  <message>
+  <source>Roll 180°, Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ROT/values/10/description</name>
+  <message>
+  <source>Roll 180°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ROT/values/11/description</name>
+  <message>
+  <source>Roll 180°, Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ROT/values/12/description</name>
+  <message>
+  <source>Pitch 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ROT/values/13/description</name>
+  <message>
+  <source>Roll 180°, Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ROT/values/14/description</name>
+  <message>
+  <source>Roll 180°, Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ROT/values/15/description</name>
+  <message>
+  <source>Roll 180°, Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ROT/values/16/description</name>
+  <message>
+  <source>Roll 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ROT/values/17/description</name>
+  <message>
+  <source>Roll 90°, Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ROT/values/18/description</name>
+  <message>
+  <source>Roll 90°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ROT/values/19/description</name>
+  <message>
+  <source>Roll 90°, Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ROT/values/20/description</name>
+  <message>
+  <source>Roll 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ROT/values/21/description</name>
+  <message>
+  <source>Roll 270°, Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ROT/values/22/description</name>
+  <message>
+  <source>Roll 270°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ROT/values/23/description</name>
+  <message>
+  <source>Roll 270°, Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ROT/values/24/description</name>
+  <message>
+  <source>Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ROT/values/25/description</name>
+  <message>
+  <source>Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ROT/values/26/description</name>
+  <message>
+  <source>Pitch 180°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ROT/values/27/description</name>
+  <message>
+  <source>Pitch 180°, Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ROT/values/28/description</name>
+  <message>
+  <source>Roll 90°, Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ROT/values/29/description</name>
+  <message>
+  <source>Roll 180°, Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ROT/values/30/description</name>
+  <message>
+  <source>Roll 270°, Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ROT/values/31/description</name>
+  <message>
+  <source>Roll 90°, Pitch 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ROT/values/32/description</name>
+  <message>
+  <source>Roll 270°, Pitch 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ROT/values/33/description</name>
+  <message>
+  <source>Roll 90°, Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ROT/values/34/description</name>
+  <message>
+  <source>Roll 180°, Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ROT/values/35/description</name>
+  <message>
+  <source>Roll 270°, Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ROT/values/36/description</name>
+  <message>
+  <source>Roll 90°, Pitch 180°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ROT/values/37/description</name>
+  <message>
+  <source>Roll 90°, Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ROT/values/38/description</name>
+  <message>
+  <source>Roll 90°, Pitch 68°, Yaw 293°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ROT/values/39/description</name>
+  <message>
+  <source>Pitch 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ROT/values/40/description</name>
+  <message>
+  <source>Roll 90°, Pitch 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_XOFF/shortDesc</name>
+  <message>
+  <source>Gyroscope 3 X-axis offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_YOFF/shortDesc</name>
+  <message>
+  <source>Gyroscope 3 Y-axis offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_GYRO3_ZOFF/shortDesc</name>
+  <message>
+  <source>Gyroscope 3 Z-axis offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ID/shortDesc</name>
+  <message>
+  <source>Magnetometer 0 calibration device ID</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ID/longDesc</name>
+  <message>
+  <source>Device ID of the magnetometer this calibration applies to.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_PITCH/shortDesc</name>
+  <message>
+  <source>Magnetometer 0 Custom Euler Pitch Angle</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_PITCH/longDesc</name>
+  <message>
+  <source>Setting this parameter changes CAL_MAG0_ROT to "Custom Euler Angle"</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_PRIO/shortDesc</name>
+  <message>
+  <source>Magnetometer 0 priority</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_PRIO/values/-1/description</name>
+  <message>
+  <source>Uninitialized</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_PRIO/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_PRIO/values/1/description</name>
+  <message>
+  <source>Min</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_PRIO/values/25/description</name>
+  <message>
+  <source>Low</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_PRIO/values/50/description</name>
+  <message>
+  <source>Medium (Default)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_PRIO/values/75/description</name>
+  <message>
+  <source>High</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_PRIO/values/100/description</name>
+  <message>
+  <source>Max</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROLL/shortDesc</name>
+  <message>
+  <source>Magnetometer 0 Custom Euler Roll Angle</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROLL/longDesc</name>
+  <message>
+  <source>Setting this parameter changes CAL_MAG0_ROT to "Custom Euler Angle"</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROT/shortDesc</name>
+  <message>
+  <source>Magnetometer 0 rotation relative to airframe</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROT/longDesc</name>
+  <message>
+  <source>An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero. Set to "Custom Euler Angle" to define the rotation using CAL_MAG0_ROLL, CAL_MAG0_PITCH and CAL_MAG0_YAW.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROT/values/-1/description</name>
+  <message>
+  <source>Internal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROT/values/0/description</name>
+  <message>
+  <source>No rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROT/values/1/description</name>
+  <message>
+  <source>Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROT/values/2/description</name>
+  <message>
+  <source>Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROT/values/3/description</name>
+  <message>
+  <source>Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROT/values/4/description</name>
+  <message>
+  <source>Yaw 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROT/values/5/description</name>
+  <message>
+  <source>Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROT/values/6/description</name>
+  <message>
+  <source>Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROT/values/7/description</name>
+  <message>
+  <source>Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROT/values/8/description</name>
+  <message>
+  <source>Roll 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROT/values/9/description</name>
+  <message>
+  <source>Roll 180°, Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROT/values/10/description</name>
+  <message>
+  <source>Roll 180°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROT/values/11/description</name>
+  <message>
+  <source>Roll 180°, Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROT/values/12/description</name>
+  <message>
+  <source>Pitch 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROT/values/13/description</name>
+  <message>
+  <source>Roll 180°, Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROT/values/14/description</name>
+  <message>
+  <source>Roll 180°, Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROT/values/15/description</name>
+  <message>
+  <source>Roll 180°, Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROT/values/16/description</name>
+  <message>
+  <source>Roll 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROT/values/17/description</name>
+  <message>
+  <source>Roll 90°, Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROT/values/18/description</name>
+  <message>
+  <source>Roll 90°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROT/values/19/description</name>
+  <message>
+  <source>Roll 90°, Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROT/values/20/description</name>
+  <message>
+  <source>Roll 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROT/values/21/description</name>
+  <message>
+  <source>Roll 270°, Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROT/values/22/description</name>
+  <message>
+  <source>Roll 270°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROT/values/23/description</name>
+  <message>
+  <source>Roll 270°, Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROT/values/24/description</name>
+  <message>
+  <source>Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROT/values/25/description</name>
+  <message>
+  <source>Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROT/values/26/description</name>
+  <message>
+  <source>Pitch 180°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROT/values/27/description</name>
+  <message>
+  <source>Pitch 180°, Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROT/values/28/description</name>
+  <message>
+  <source>Roll 90°, Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROT/values/29/description</name>
+  <message>
+  <source>Roll 180°, Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROT/values/30/description</name>
+  <message>
+  <source>Roll 270°, Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROT/values/31/description</name>
+  <message>
+  <source>Roll 90°, Pitch 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROT/values/32/description</name>
+  <message>
+  <source>Roll 270°, Pitch 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROT/values/33/description</name>
+  <message>
+  <source>Roll 90°, Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROT/values/34/description</name>
+  <message>
+  <source>Roll 180°, Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROT/values/35/description</name>
+  <message>
+  <source>Roll 270°, Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROT/values/36/description</name>
+  <message>
+  <source>Roll 90°, Pitch 180°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROT/values/37/description</name>
+  <message>
+  <source>Roll 90°, Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROT/values/38/description</name>
+  <message>
+  <source>Roll 90°, Pitch 68°, Yaw 293°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROT/values/39/description</name>
+  <message>
+  <source>Pitch 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROT/values/40/description</name>
+  <message>
+  <source>Roll 90°, Pitch 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ROT/values/100/description</name>
+  <message>
+  <source>Custom Euler Angle</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_XCOMP/shortDesc</name>
+  <message>
+  <source>Magnetometer 0 X Axis throttle compensation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_XCOMP/longDesc</name>
+  <message>
+  <source>Coefficient describing linear relationship between X component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_XODIAG/shortDesc</name>
+  <message>
+  <source>Magnetometer 0 X-axis off diagonal scale factor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_XOFF/shortDesc</name>
+  <message>
+  <source>Magnetometer 0 X-axis offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_XSCALE/shortDesc</name>
+  <message>
+  <source>Magnetometer 0 X-axis scaling factor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_YAW/shortDesc</name>
+  <message>
+  <source>Magnetometer 0 Custom Euler Yaw Angle</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_YAW/longDesc</name>
+  <message>
+  <source>Setting this parameter changes CAL_MAG0_ROT to "Custom Euler Angle"</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_YCOMP/shortDesc</name>
+  <message>
+  <source>Magnetometer 0 Y Axis throttle compensation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_YCOMP/longDesc</name>
+  <message>
+  <source>Coefficient describing linear relationship between Y component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_YODIAG/shortDesc</name>
+  <message>
+  <source>Magnetometer 0 Y-axis off diagonal scale factor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_YOFF/shortDesc</name>
+  <message>
+  <source>Magnetometer 0 Y-axis offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_YSCALE/shortDesc</name>
+  <message>
+  <source>Magnetometer 0 Y-axis scaling factor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ZCOMP/shortDesc</name>
+  <message>
+  <source>Magnetometer 0 Z Axis throttle compensation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ZCOMP/longDesc</name>
+  <message>
+  <source>Coefficient describing linear relationship between Z component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ZODIAG/shortDesc</name>
+  <message>
+  <source>Magnetometer 0 Z-axis off diagonal scale factor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ZOFF/shortDesc</name>
+  <message>
+  <source>Magnetometer 0 Z-axis offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG0_ZSCALE/shortDesc</name>
+  <message>
+  <source>Magnetometer 0 Z-axis scaling factor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ID/shortDesc</name>
+  <message>
+  <source>Magnetometer 1 calibration device ID</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ID/longDesc</name>
+  <message>
+  <source>Device ID of the magnetometer this calibration applies to.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_PITCH/shortDesc</name>
+  <message>
+  <source>Magnetometer 1 Custom Euler Pitch Angle</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_PITCH/longDesc</name>
+  <message>
+  <source>Setting this parameter changes CAL_MAG1_ROT to "Custom Euler Angle"</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_PRIO/shortDesc</name>
+  <message>
+  <source>Magnetometer 1 priority</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_PRIO/values/-1/description</name>
+  <message>
+  <source>Uninitialized</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_PRIO/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_PRIO/values/1/description</name>
+  <message>
+  <source>Min</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_PRIO/values/25/description</name>
+  <message>
+  <source>Low</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_PRIO/values/50/description</name>
+  <message>
+  <source>Medium (Default)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_PRIO/values/75/description</name>
+  <message>
+  <source>High</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_PRIO/values/100/description</name>
+  <message>
+  <source>Max</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROLL/shortDesc</name>
+  <message>
+  <source>Magnetometer 1 Custom Euler Roll Angle</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROLL/longDesc</name>
+  <message>
+  <source>Setting this parameter changes CAL_MAG1_ROT to "Custom Euler Angle"</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROT/shortDesc</name>
+  <message>
+  <source>Magnetometer 1 rotation relative to airframe</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROT/longDesc</name>
+  <message>
+  <source>An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero. Set to "Custom Euler Angle" to define the rotation using CAL_MAG1_ROLL, CAL_MAG1_PITCH and CAL_MAG1_YAW.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROT/values/-1/description</name>
+  <message>
+  <source>Internal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROT/values/0/description</name>
+  <message>
+  <source>No rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROT/values/1/description</name>
+  <message>
+  <source>Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROT/values/2/description</name>
+  <message>
+  <source>Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROT/values/3/description</name>
+  <message>
+  <source>Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROT/values/4/description</name>
+  <message>
+  <source>Yaw 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROT/values/5/description</name>
+  <message>
+  <source>Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROT/values/6/description</name>
+  <message>
+  <source>Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROT/values/7/description</name>
+  <message>
+  <source>Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROT/values/8/description</name>
+  <message>
+  <source>Roll 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROT/values/9/description</name>
+  <message>
+  <source>Roll 180°, Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROT/values/10/description</name>
+  <message>
+  <source>Roll 180°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROT/values/11/description</name>
+  <message>
+  <source>Roll 180°, Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROT/values/12/description</name>
+  <message>
+  <source>Pitch 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROT/values/13/description</name>
+  <message>
+  <source>Roll 180°, Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROT/values/14/description</name>
+  <message>
+  <source>Roll 180°, Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROT/values/15/description</name>
+  <message>
+  <source>Roll 180°, Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROT/values/16/description</name>
+  <message>
+  <source>Roll 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROT/values/17/description</name>
+  <message>
+  <source>Roll 90°, Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROT/values/18/description</name>
+  <message>
+  <source>Roll 90°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROT/values/19/description</name>
+  <message>
+  <source>Roll 90°, Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROT/values/20/description</name>
+  <message>
+  <source>Roll 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROT/values/21/description</name>
+  <message>
+  <source>Roll 270°, Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROT/values/22/description</name>
+  <message>
+  <source>Roll 270°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROT/values/23/description</name>
+  <message>
+  <source>Roll 270°, Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROT/values/24/description</name>
+  <message>
+  <source>Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROT/values/25/description</name>
+  <message>
+  <source>Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROT/values/26/description</name>
+  <message>
+  <source>Pitch 180°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROT/values/27/description</name>
+  <message>
+  <source>Pitch 180°, Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROT/values/28/description</name>
+  <message>
+  <source>Roll 90°, Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROT/values/29/description</name>
+  <message>
+  <source>Roll 180°, Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROT/values/30/description</name>
+  <message>
+  <source>Roll 270°, Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROT/values/31/description</name>
+  <message>
+  <source>Roll 90°, Pitch 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROT/values/32/description</name>
+  <message>
+  <source>Roll 270°, Pitch 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROT/values/33/description</name>
+  <message>
+  <source>Roll 90°, Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROT/values/34/description</name>
+  <message>
+  <source>Roll 180°, Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROT/values/35/description</name>
+  <message>
+  <source>Roll 270°, Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROT/values/36/description</name>
+  <message>
+  <source>Roll 90°, Pitch 180°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROT/values/37/description</name>
+  <message>
+  <source>Roll 90°, Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROT/values/38/description</name>
+  <message>
+  <source>Roll 90°, Pitch 68°, Yaw 293°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROT/values/39/description</name>
+  <message>
+  <source>Pitch 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROT/values/40/description</name>
+  <message>
+  <source>Roll 90°, Pitch 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ROT/values/100/description</name>
+  <message>
+  <source>Custom Euler Angle</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_XCOMP/shortDesc</name>
+  <message>
+  <source>Magnetometer 1 X Axis throttle compensation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_XCOMP/longDesc</name>
+  <message>
+  <source>Coefficient describing linear relationship between X component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_XODIAG/shortDesc</name>
+  <message>
+  <source>Magnetometer 1 X-axis off diagonal scale factor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_XOFF/shortDesc</name>
+  <message>
+  <source>Magnetometer 1 X-axis offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_XSCALE/shortDesc</name>
+  <message>
+  <source>Magnetometer 1 X-axis scaling factor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_YAW/shortDesc</name>
+  <message>
+  <source>Magnetometer 1 Custom Euler Yaw Angle</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_YAW/longDesc</name>
+  <message>
+  <source>Setting this parameter changes CAL_MAG1_ROT to "Custom Euler Angle"</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_YCOMP/shortDesc</name>
+  <message>
+  <source>Magnetometer 1 Y Axis throttle compensation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_YCOMP/longDesc</name>
+  <message>
+  <source>Coefficient describing linear relationship between Y component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_YODIAG/shortDesc</name>
+  <message>
+  <source>Magnetometer 1 Y-axis off diagonal scale factor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_YOFF/shortDesc</name>
+  <message>
+  <source>Magnetometer 1 Y-axis offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_YSCALE/shortDesc</name>
+  <message>
+  <source>Magnetometer 1 Y-axis scaling factor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ZCOMP/shortDesc</name>
+  <message>
+  <source>Magnetometer 1 Z Axis throttle compensation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ZCOMP/longDesc</name>
+  <message>
+  <source>Coefficient describing linear relationship between Z component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ZODIAG/shortDesc</name>
+  <message>
+  <source>Magnetometer 1 Z-axis off diagonal scale factor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ZOFF/shortDesc</name>
+  <message>
+  <source>Magnetometer 1 Z-axis offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG1_ZSCALE/shortDesc</name>
+  <message>
+  <source>Magnetometer 1 Z-axis scaling factor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ID/shortDesc</name>
+  <message>
+  <source>Magnetometer 2 calibration device ID</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ID/longDesc</name>
+  <message>
+  <source>Device ID of the magnetometer this calibration applies to.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_PITCH/shortDesc</name>
+  <message>
+  <source>Magnetometer 2 Custom Euler Pitch Angle</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_PITCH/longDesc</name>
+  <message>
+  <source>Setting this parameter changes CAL_MAG2_ROT to "Custom Euler Angle"</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_PRIO/shortDesc</name>
+  <message>
+  <source>Magnetometer 2 priority</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_PRIO/values/-1/description</name>
+  <message>
+  <source>Uninitialized</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_PRIO/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_PRIO/values/1/description</name>
+  <message>
+  <source>Min</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_PRIO/values/25/description</name>
+  <message>
+  <source>Low</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_PRIO/values/50/description</name>
+  <message>
+  <source>Medium (Default)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_PRIO/values/75/description</name>
+  <message>
+  <source>High</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_PRIO/values/100/description</name>
+  <message>
+  <source>Max</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROLL/shortDesc</name>
+  <message>
+  <source>Magnetometer 2 Custom Euler Roll Angle</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROLL/longDesc</name>
+  <message>
+  <source>Setting this parameter changes CAL_MAG2_ROT to "Custom Euler Angle"</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROT/shortDesc</name>
+  <message>
+  <source>Magnetometer 2 rotation relative to airframe</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROT/longDesc</name>
+  <message>
+  <source>An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero. Set to "Custom Euler Angle" to define the rotation using CAL_MAG2_ROLL, CAL_MAG2_PITCH and CAL_MAG2_YAW.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROT/values/-1/description</name>
+  <message>
+  <source>Internal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROT/values/0/description</name>
+  <message>
+  <source>No rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROT/values/1/description</name>
+  <message>
+  <source>Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROT/values/2/description</name>
+  <message>
+  <source>Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROT/values/3/description</name>
+  <message>
+  <source>Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROT/values/4/description</name>
+  <message>
+  <source>Yaw 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROT/values/5/description</name>
+  <message>
+  <source>Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROT/values/6/description</name>
+  <message>
+  <source>Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROT/values/7/description</name>
+  <message>
+  <source>Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROT/values/8/description</name>
+  <message>
+  <source>Roll 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROT/values/9/description</name>
+  <message>
+  <source>Roll 180°, Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROT/values/10/description</name>
+  <message>
+  <source>Roll 180°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROT/values/11/description</name>
+  <message>
+  <source>Roll 180°, Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROT/values/12/description</name>
+  <message>
+  <source>Pitch 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROT/values/13/description</name>
+  <message>
+  <source>Roll 180°, Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROT/values/14/description</name>
+  <message>
+  <source>Roll 180°, Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROT/values/15/description</name>
+  <message>
+  <source>Roll 180°, Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROT/values/16/description</name>
+  <message>
+  <source>Roll 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROT/values/17/description</name>
+  <message>
+  <source>Roll 90°, Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROT/values/18/description</name>
+  <message>
+  <source>Roll 90°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROT/values/19/description</name>
+  <message>
+  <source>Roll 90°, Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROT/values/20/description</name>
+  <message>
+  <source>Roll 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROT/values/21/description</name>
+  <message>
+  <source>Roll 270°, Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROT/values/22/description</name>
+  <message>
+  <source>Roll 270°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROT/values/23/description</name>
+  <message>
+  <source>Roll 270°, Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROT/values/24/description</name>
+  <message>
+  <source>Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROT/values/25/description</name>
+  <message>
+  <source>Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROT/values/26/description</name>
+  <message>
+  <source>Pitch 180°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROT/values/27/description</name>
+  <message>
+  <source>Pitch 180°, Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROT/values/28/description</name>
+  <message>
+  <source>Roll 90°, Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROT/values/29/description</name>
+  <message>
+  <source>Roll 180°, Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROT/values/30/description</name>
+  <message>
+  <source>Roll 270°, Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROT/values/31/description</name>
+  <message>
+  <source>Roll 90°, Pitch 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROT/values/32/description</name>
+  <message>
+  <source>Roll 270°, Pitch 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROT/values/33/description</name>
+  <message>
+  <source>Roll 90°, Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROT/values/34/description</name>
+  <message>
+  <source>Roll 180°, Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROT/values/35/description</name>
+  <message>
+  <source>Roll 270°, Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROT/values/36/description</name>
+  <message>
+  <source>Roll 90°, Pitch 180°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROT/values/37/description</name>
+  <message>
+  <source>Roll 90°, Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROT/values/38/description</name>
+  <message>
+  <source>Roll 90°, Pitch 68°, Yaw 293°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROT/values/39/description</name>
+  <message>
+  <source>Pitch 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROT/values/40/description</name>
+  <message>
+  <source>Roll 90°, Pitch 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ROT/values/100/description</name>
+  <message>
+  <source>Custom Euler Angle</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_XCOMP/shortDesc</name>
+  <message>
+  <source>Magnetometer 2 X Axis throttle compensation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_XCOMP/longDesc</name>
+  <message>
+  <source>Coefficient describing linear relationship between X component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_XODIAG/shortDesc</name>
+  <message>
+  <source>Magnetometer 2 X-axis off diagonal scale factor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_XOFF/shortDesc</name>
+  <message>
+  <source>Magnetometer 2 X-axis offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_XSCALE/shortDesc</name>
+  <message>
+  <source>Magnetometer 2 X-axis scaling factor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_YAW/shortDesc</name>
+  <message>
+  <source>Magnetometer 2 Custom Euler Yaw Angle</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_YAW/longDesc</name>
+  <message>
+  <source>Setting this parameter changes CAL_MAG2_ROT to "Custom Euler Angle"</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_YCOMP/shortDesc</name>
+  <message>
+  <source>Magnetometer 2 Y Axis throttle compensation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_YCOMP/longDesc</name>
+  <message>
+  <source>Coefficient describing linear relationship between Y component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_YODIAG/shortDesc</name>
+  <message>
+  <source>Magnetometer 2 Y-axis off diagonal scale factor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_YOFF/shortDesc</name>
+  <message>
+  <source>Magnetometer 2 Y-axis offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_YSCALE/shortDesc</name>
+  <message>
+  <source>Magnetometer 2 Y-axis scaling factor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ZCOMP/shortDesc</name>
+  <message>
+  <source>Magnetometer 2 Z Axis throttle compensation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ZCOMP/longDesc</name>
+  <message>
+  <source>Coefficient describing linear relationship between Z component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ZODIAG/shortDesc</name>
+  <message>
+  <source>Magnetometer 2 Z-axis off diagonal scale factor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ZOFF/shortDesc</name>
+  <message>
+  <source>Magnetometer 2 Z-axis offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG2_ZSCALE/shortDesc</name>
+  <message>
+  <source>Magnetometer 2 Z-axis scaling factor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ID/shortDesc</name>
+  <message>
+  <source>Magnetometer 3 calibration device ID</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ID/longDesc</name>
+  <message>
+  <source>Device ID of the magnetometer this calibration applies to.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_PITCH/shortDesc</name>
+  <message>
+  <source>Magnetometer 3 Custom Euler Pitch Angle</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_PITCH/longDesc</name>
+  <message>
+  <source>Setting this parameter changes CAL_MAG3_ROT to "Custom Euler Angle"</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_PRIO/shortDesc</name>
+  <message>
+  <source>Magnetometer 3 priority</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_PRIO/values/-1/description</name>
+  <message>
+  <source>Uninitialized</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_PRIO/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_PRIO/values/1/description</name>
+  <message>
+  <source>Min</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_PRIO/values/25/description</name>
+  <message>
+  <source>Low</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_PRIO/values/50/description</name>
+  <message>
+  <source>Medium (Default)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_PRIO/values/75/description</name>
+  <message>
+  <source>High</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_PRIO/values/100/description</name>
+  <message>
+  <source>Max</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROLL/shortDesc</name>
+  <message>
+  <source>Magnetometer 3 Custom Euler Roll Angle</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROLL/longDesc</name>
+  <message>
+  <source>Setting this parameter changes CAL_MAG3_ROT to "Custom Euler Angle"</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROT/shortDesc</name>
+  <message>
+  <source>Magnetometer 3 rotation relative to airframe</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROT/longDesc</name>
+  <message>
+  <source>An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero. Set to "Custom Euler Angle" to define the rotation using CAL_MAG3_ROLL, CAL_MAG3_PITCH and CAL_MAG3_YAW.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROT/values/-1/description</name>
+  <message>
+  <source>Internal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROT/values/0/description</name>
+  <message>
+  <source>No rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROT/values/1/description</name>
+  <message>
+  <source>Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROT/values/2/description</name>
+  <message>
+  <source>Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROT/values/3/description</name>
+  <message>
+  <source>Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROT/values/4/description</name>
+  <message>
+  <source>Yaw 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROT/values/5/description</name>
+  <message>
+  <source>Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROT/values/6/description</name>
+  <message>
+  <source>Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROT/values/7/description</name>
+  <message>
+  <source>Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROT/values/8/description</name>
+  <message>
+  <source>Roll 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROT/values/9/description</name>
+  <message>
+  <source>Roll 180°, Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROT/values/10/description</name>
+  <message>
+  <source>Roll 180°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROT/values/11/description</name>
+  <message>
+  <source>Roll 180°, Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROT/values/12/description</name>
+  <message>
+  <source>Pitch 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROT/values/13/description</name>
+  <message>
+  <source>Roll 180°, Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROT/values/14/description</name>
+  <message>
+  <source>Roll 180°, Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROT/values/15/description</name>
+  <message>
+  <source>Roll 180°, Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROT/values/16/description</name>
+  <message>
+  <source>Roll 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROT/values/17/description</name>
+  <message>
+  <source>Roll 90°, Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROT/values/18/description</name>
+  <message>
+  <source>Roll 90°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROT/values/19/description</name>
+  <message>
+  <source>Roll 90°, Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROT/values/20/description</name>
+  <message>
+  <source>Roll 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROT/values/21/description</name>
+  <message>
+  <source>Roll 270°, Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROT/values/22/description</name>
+  <message>
+  <source>Roll 270°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROT/values/23/description</name>
+  <message>
+  <source>Roll 270°, Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROT/values/24/description</name>
+  <message>
+  <source>Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROT/values/25/description</name>
+  <message>
+  <source>Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROT/values/26/description</name>
+  <message>
+  <source>Pitch 180°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROT/values/27/description</name>
+  <message>
+  <source>Pitch 180°, Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROT/values/28/description</name>
+  <message>
+  <source>Roll 90°, Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROT/values/29/description</name>
+  <message>
+  <source>Roll 180°, Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROT/values/30/description</name>
+  <message>
+  <source>Roll 270°, Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROT/values/31/description</name>
+  <message>
+  <source>Roll 90°, Pitch 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROT/values/32/description</name>
+  <message>
+  <source>Roll 270°, Pitch 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROT/values/33/description</name>
+  <message>
+  <source>Roll 90°, Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROT/values/34/description</name>
+  <message>
+  <source>Roll 180°, Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROT/values/35/description</name>
+  <message>
+  <source>Roll 270°, Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROT/values/36/description</name>
+  <message>
+  <source>Roll 90°, Pitch 180°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROT/values/37/description</name>
+  <message>
+  <source>Roll 90°, Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROT/values/38/description</name>
+  <message>
+  <source>Roll 90°, Pitch 68°, Yaw 293°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROT/values/39/description</name>
+  <message>
+  <source>Pitch 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROT/values/40/description</name>
+  <message>
+  <source>Roll 90°, Pitch 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ROT/values/100/description</name>
+  <message>
+  <source>Custom Euler Angle</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_XCOMP/shortDesc</name>
+  <message>
+  <source>Magnetometer 3 X Axis throttle compensation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_XCOMP/longDesc</name>
+  <message>
+  <source>Coefficient describing linear relationship between X component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_XODIAG/shortDesc</name>
+  <message>
+  <source>Magnetometer 3 X-axis off diagonal scale factor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_XOFF/shortDesc</name>
+  <message>
+  <source>Magnetometer 3 X-axis offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_XSCALE/shortDesc</name>
+  <message>
+  <source>Magnetometer 3 X-axis scaling factor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_YAW/shortDesc</name>
+  <message>
+  <source>Magnetometer 3 Custom Euler Yaw Angle</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_YAW/longDesc</name>
+  <message>
+  <source>Setting this parameter changes CAL_MAG3_ROT to "Custom Euler Angle"</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_YCOMP/shortDesc</name>
+  <message>
+  <source>Magnetometer 3 Y Axis throttle compensation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_YCOMP/longDesc</name>
+  <message>
+  <source>Coefficient describing linear relationship between Y component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_YODIAG/shortDesc</name>
+  <message>
+  <source>Magnetometer 3 Y-axis off diagonal scale factor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_YOFF/shortDesc</name>
+  <message>
+  <source>Magnetometer 3 Y-axis offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_YSCALE/shortDesc</name>
+  <message>
+  <source>Magnetometer 3 Y-axis scaling factor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ZCOMP/shortDesc</name>
+  <message>
+  <source>Magnetometer 3 Z Axis throttle compensation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ZCOMP/longDesc</name>
+  <message>
+  <source>Coefficient describing linear relationship between Z component of magnetometer in body frame axis and either current or throttle depending on value of CAL_MAG_COMP_TYP. Unit for throttle-based compensation is [G] and for current-based compensation [G/kA]</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ZODIAG/shortDesc</name>
+  <message>
+  <source>Magnetometer 3 Z-axis off diagonal scale factor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ZOFF/shortDesc</name>
+  <message>
+  <source>Magnetometer 3 Z-axis offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG3_ZSCALE/shortDesc</name>
+  <message>
+  <source>Magnetometer 3 Z-axis scaling factor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG_COMP_TYP/shortDesc</name>
+  <message>
+  <source>Type of magnetometer compensation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG_COMP_TYP/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG_COMP_TYP/values/1/description</name>
+  <message>
+  <source>Throttle-based compensation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG_COMP_TYP/values/2/description</name>
+  <message>
+  <source>Current-based compensation (battery_status instance 0)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG_COMP_TYP/values/3/description</name>
+  <message>
+  <source>Current-based compensation (battery_status instance 1)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_DPRES_ANSC/shortDesc</name>
+  <message>
+  <source>Differential pressure sensor analog scaling</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_DPRES_ANSC/longDesc</name>
+  <message>
+  <source>Pick the appropriate scaling from the datasheet. this number defines the (linear) conversion from voltage to Pascal (pa). For the MPXV7002DP this is 1000. NOTE: If the sensor always registers zero, try switching the static and dynamic tubes.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_DPRES_OFF/shortDesc</name>
+  <message>
+  <source>Differential pressure sensor offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_DPRES_OFF/longDesc</name>
+  <message>
+  <source>The offset (zero-reading) in Pascal</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_FLOW_MAXHGT/shortDesc</name>
+  <message>
+  <source>Maximum height above ground when reliant on optical flow</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_FLOW_MAXHGT/longDesc</name>
+  <message>
+  <source>This parameter defines the maximum distance from ground at which the optical flow sensor operates reliably. The height setpoint will be limited to be no greater than this value when the navigation system is completely reliant on optical flow data and the height above ground estimate is valid. The sensor may be usable above this height, but accuracy will progressively degrade.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_FLOW_MAXR/shortDesc</name>
+  <message>
+  <source>Magnitude of maximum angular flow rate reliably measurable by the optical flow sensor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_FLOW_MAXR/longDesc</name>
+  <message>
+  <source>Optical flow data will not fused by the estimators if the magnitude of the flow rate exceeds this value and control loops will be instructed to limit ground speed such that the flow rate produced by movement over ground is less than 50% of this value.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_FLOW_MINHGT/shortDesc</name>
+  <message>
+  <source>Minimum height above ground when reliant on optical flow</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_FLOW_MINHGT/longDesc</name>
+  <message>
+  <source>This parameter defines the minimum distance from ground at which the optical flow sensor operates reliably. The sensor may be usable below this height, but accuracy will progressively reduce to loss of focus.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ADC_ADS1115_EN/shortDesc</name>
+  <message>
+  <source>Enable external ADS1115 ADC</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ADC_ADS1115_EN/longDesc</name>
+  <message>
+  <source>If enabled, the internal ADC is not used.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ADC_ADS1115_EN/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ADC_ADS1115_EN/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_C_MULT/shortDesc</name>
+  <message>
+  <source>Capacity/current multiplier for high-current capable SMBUS battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_SMBUS_MODEL/shortDesc</name>
+  <message>
+  <source>Battery device model</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_SMBUS_MODEL/values/0/description</name>
+  <message>
+  <source>AutoDetect</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_SMBUS_MODEL/values/1/description</name>
+  <message>
+  <source>BQ40Z50 based</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BAT1_SMBUS_MODEL/values/2/description</name>
+  <message>
+  <source>BQ40Z80 based</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BATMON_ADDR_DFLT/shortDesc</name>
+  <message>
+  <source>I2C address for BatMon battery 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BATMON_DRIVER_EN/shortDesc</name>
+  <message>
+  <source>Parameter to enable BatMon module</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BATMON_DRIVER_EN/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BATMON_DRIVER_EN/values/1/description</name>
+  <message>
+  <source>Start on default I2C addr(BATMON_ADDR_DFLT)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/BATMON_DRIVER_EN/values/2/description</name>
+  <message>
+  <source>Autodetect I2C address (TODO)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_AIR_CMODEL/shortDesc</name>
+  <message>
+  <source>Airspeed sensor compensation model for the SDP3x</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_AIR_CMODEL/longDesc</name>
+  <message>
+  <source>Model with Pitot CAL_AIR_TUBED_MM: Not used, 1.5 mm tubes assumed. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor. Model without Pitot (1.5 mm tubes) CAL_AIR_TUBED_MM: Not used, 1.5 mm tubes assumed. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor. Tube Pressure Drop CAL_AIR_TUBED_MM: Diameter in mm of the pitot and tubes, must have the same diameter. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor and the static + dynamic port length of the pitot.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_AIR_CMODEL/values/0/description</name>
+  <message>
+  <source>Model with Pitot</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_AIR_CMODEL/values/1/description</name>
+  <message>
+  <source>Model without Pitot (1.5 mm tubes)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_AIR_CMODEL/values/2/description</name>
+  <message>
+  <source>Tube Pressure Drop</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_AIR_TUBED_MM/shortDesc</name>
+  <message>
+  <source>Airspeed sensor tube diameter. Only used for the Tube Pressure Drop Compensation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_AIR_TUBELEN/shortDesc</name>
+  <message>
+  <source>Airspeed sensor tube length</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_AIR_TUBELEN/longDesc</name>
+  <message>
+  <source>See the CAL_AIR_CMODEL explanation on how this parameter should be set.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG_SIDES/shortDesc</name>
+  <message>
+  <source>For legacy QGC support only</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/CAL_MAG_SIDES/longDesc</name>
+  <message>
+  <source>Use SENS_MAG_SIDES instead</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_ACCEL_CUTOFF/shortDesc</name>
+  <message>
+  <source>Low pass filter cutoff frequency for accel</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_ACCEL_CUTOFF/longDesc</name>
+  <message>
+  <source>The cutoff frequency for the 2nd order butterworth filter on the primary accelerometer. This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_DGYRO_CUTOFF/shortDesc</name>
+  <message>
+  <source>Cutoff frequency for angular acceleration (D-Term filter)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_DGYRO_CUTOFF/longDesc</name>
+  <message>
+  <source>The cutoff frequency for the 2nd order butterworth filter used on the time derivative of the measured angular velocity, also known as the D-term filter in the rate controller. The D-term uses the derivative of the rate and thus is the most susceptible to noise. Therefore, using a D-term filter allows to increase IMU_GYRO_CUTOFF, which leads to reduced control latency and permits to increase the P gains. A value of 0 disables the filter.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_GYRO_CAL_EN/shortDesc</name>
+  <message>
+  <source>IMU gyro auto calibration enable</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_GYRO_CAL_EN/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_GYRO_CAL_EN/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_GYRO_CUTOFF/shortDesc</name>
+  <message>
+  <source>Low pass filter cutoff frequency for gyro</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_GYRO_CUTOFF/longDesc</name>
+  <message>
+  <source>The cutoff frequency for the 2nd order butterworth filter on the primary gyro. This only affects the angular velocity sent to the controllers, not the estimators. It applies also to the angular acceleration (D-Term filter), see IMU_DGYRO_CUTOFF. A value of 0 disables the filter.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_GYRO_DNF_BW/shortDesc</name>
+  <message>
+  <source>IMU gyro ESC notch filter bandwidth</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_GYRO_DNF_BW/longDesc</name>
+  <message>
+  <source>Bandwidth per notch filter when using dynamic notch filtering with ESC RPM.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_GYRO_DNF_EN/shortDesc</name>
+  <message>
+  <source>IMU gyro dynamic notch filtering</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_GYRO_DNF_EN/longDesc</name>
+  <message>
+  <source>Enable bank of dynamically updating notch filters. Requires ESC RPM feedback or onboard FFT (IMU_GYRO_FFT_EN).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_GYRO_DNF_EN/bitmask/0/description</name>
+  <message>
+  <source>ESC RPM</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_GYRO_DNF_EN/bitmask/1/description</name>
+  <message>
+  <source>FFT</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_GYRO_DNF_HMC/shortDesc</name>
+  <message>
+  <source>IMU gyro dynamic notch filter harmonics</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_GYRO_DNF_HMC/longDesc</name>
+  <message>
+  <source>ESC RPM number of harmonics (multiples of RPM) for ESC RPM dynamic notch filtering.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_GYRO_DNF_MIN/shortDesc</name>
+  <message>
+  <source>IMU gyro dynamic notch filter minimum frequency</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_GYRO_DNF_MIN/longDesc</name>
+  <message>
+  <source>Minimum notch filter frequency in Hz.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_GYRO_FFT_EN/shortDesc</name>
+  <message>
+  <source>IMU gyro FFT enable</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_GYRO_FFT_EN/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_GYRO_FFT_EN/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_GYRO_FFT_LEN/shortDesc</name>
+  <message>
+  <source>IMU gyro FFT length</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_GYRO_FFT_LEN/values/256/description</name>
+  <message>
+  <source>256</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_GYRO_FFT_LEN/values/512/description</name>
+  <message>
+  <source>512</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_GYRO_FFT_LEN/values/1024/description</name>
+  <message>
+  <source>1024</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_GYRO_FFT_LEN/values/4096/description</name>
+  <message>
+  <source>4096</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_GYRO_FFT_MAX/shortDesc</name>
+  <message>
+  <source>IMU gyro FFT maximum frequency</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_GYRO_FFT_MIN/shortDesc</name>
+  <message>
+  <source>IMU gyro FFT minimum frequency</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_GYRO_FFT_SNR/shortDesc</name>
+  <message>
+  <source>IMU gyro FFT SNR</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_GYRO_NF0_BW/shortDesc</name>
+  <message>
+  <source>Notch filter bandwidth for gyro</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_GYRO_NF0_BW/longDesc</name>
+  <message>
+  <source>The frequency width of the stop band for the 2nd order notch filter on the primary gyro. See "IMU_GYRO_NF0_FRQ" to activate the filter and to set the notch frequency. Applies to both angular velocity and angular acceleration sent to the controllers.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_GYRO_NF0_FRQ/shortDesc</name>
+  <message>
+  <source>Notch filter frequency for gyro</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_GYRO_NF0_FRQ/longDesc</name>
+  <message>
+  <source>The center frequency for the 2nd order notch filter on the primary gyro. This filter can be enabled to avoid feedback amplification of structural resonances at a specific frequency. This only affects the signal sent to the controllers, not the estimators. Applies to both angular velocity and angular acceleration sent to the controllers. See "IMU_GYRO_NF0_BW" to set the bandwidth of the filter. A value of 0 disables the filter.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_GYRO_NF1_BW/shortDesc</name>
+  <message>
+  <source>Notch filter 1 bandwidth for gyro</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_GYRO_NF1_BW/longDesc</name>
+  <message>
+  <source>The frequency width of the stop band for the 2nd order notch filter on the primary gyro. See "IMU_GYRO_NF1_FRQ" to activate the filter and to set the notch frequency. Applies to both angular velocity and angular acceleration sent to the controllers.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_GYRO_NF1_FRQ/shortDesc</name>
+  <message>
+  <source>Notch filter 2 frequency for gyro</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_GYRO_NF1_FRQ/longDesc</name>
+  <message>
+  <source>The center frequency for the 2nd order notch filter on the primary gyro. This filter can be enabled to avoid feedback amplification of structural resonances at a specific frequency. This only affects the signal sent to the controllers, not the estimators. Applies to both angular velocity and angular acceleration sent to the controllers. See "IMU_GYRO_NF1_BW" to set the bandwidth of the filter. A value of 0 disables the filter.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_GYRO_RATEMAX/shortDesc</name>
+  <message>
+  <source>Gyro control data maximum publication rate (inner loop rate)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_GYRO_RATEMAX/longDesc</name>
+  <message>
+  <source>The maximum rate the gyro control data (vehicle_angular_velocity) will be allowed to publish at. This is the loop rate for the rate controller and outputs. Note: sensor data is always read and filtered at the full raw rate (eg commonly 8 kHz) regardless of this setting.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_GYRO_RATEMAX/values/100/description</name>
+  <message>
+  <source>100 Hz</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_GYRO_RATEMAX/values/250/description</name>
+  <message>
+  <source>250 Hz</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_GYRO_RATEMAX/values/400/description</name>
+  <message>
+  <source>400 Hz</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_GYRO_RATEMAX/values/800/description</name>
+  <message>
+  <source>800 Hz</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_GYRO_RATEMAX/values/1000/description</name>
+  <message>
+  <source>1000 Hz</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_GYRO_RATEMAX/values/2000/description</name>
+  <message>
+  <source>2000 Hz</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_INTEG_RATE/shortDesc</name>
+  <message>
+  <source>IMU integration rate</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_INTEG_RATE/longDesc</name>
+  <message>
+  <source>The rate at which raw IMU data is integrated to produce delta angles and delta velocities. Recommended to set this to a multiple of the estimator update period (currently 10 ms for ekf2).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_INTEG_RATE/values/100/description</name>
+  <message>
+  <source>100 Hz</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_INTEG_RATE/values/200/description</name>
+  <message>
+  <source>200 Hz</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_INTEG_RATE/values/250/description</name>
+  <message>
+  <source>250 Hz</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/IMU_INTEG_RATE/values/400/description</name>
+  <message>
+  <source>400 Hz</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/INA220_CONFIG/shortDesc</name>
+  <message>
+  <source>INA220 Power Monitor Config</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/INA220_CUR_BAT/shortDesc</name>
+  <message>
+  <source>INA220 Power Monitor Battery Max Current</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/INA220_CUR_REG/shortDesc</name>
+  <message>
+  <source>INA220 Power Monitor Regulator Max Current</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/INA220_SHUNT_BAT/shortDesc</name>
+  <message>
+  <source>INA220 Power Monitor Battery Shunt</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/INA220_SHUNT_REG/shortDesc</name>
+  <message>
+  <source>INA220 Power Monitor Regulator Shunt</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/INA226_CONFIG/shortDesc</name>
+  <message>
+  <source>INA226 Power Monitor Config</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/INA226_CURRENT/shortDesc</name>
+  <message>
+  <source>INA226 Power Monitor Max Current</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/INA226_SHUNT/shortDesc</name>
+  <message>
+  <source>INA226 Power Monitor Shunt</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/INA228_CONFIG/shortDesc</name>
+  <message>
+  <source>INA228 Power Monitor Config</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/INA228_CURRENT/shortDesc</name>
+  <message>
+  <source>INA228 Power Monitor Max Current</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/INA228_SHUNT/shortDesc</name>
+  <message>
+  <source>INA228 Power Monitor Shunt</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/INA238_CURRENT/shortDesc</name>
+  <message>
+  <source>INA238 Power Monitor Max Current</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/INA238_SHUNT/shortDesc</name>
+  <message>
+  <source>INA238 Power Monitor Shunt</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCF8583_MAGNET/shortDesc</name>
+  <message>
+  <source>PCF8583 rotorfreq (i2c) pulse count</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCF8583_MAGNET/longDesc</name>
+  <message>
+  <source>Nmumber of signals per rotation of actuator</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCF8583_POOL/shortDesc</name>
+  <message>
+  <source>PCF8583 rotorfreq (i2c) pool interval</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCF8583_POOL/longDesc</name>
+  <message>
+  <source>Determines how often the sensor is read out.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCF8583_RESET/shortDesc</name>
+  <message>
+  <source>PCF8583 rotorfreq (i2c) pulse reset value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/PCF8583_RESET/longDesc</name>
+  <message>
+  <source>Internal device counter is reset to 0 when overrun this value, counter is able to store up to 6 digits reset of counter takes some time - measurement with reset has worse accuracy. 0 means reset counter after every measurement.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_AFBR_HYSTER/shortDesc</name>
+  <message>
+  <source>AFBR Rangefinder Short/Long Range Threshold Hysteresis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_AFBR_HYSTER/longDesc</name>
+  <message>
+  <source>This parameter defines the hysteresis for switching between short and long range mode.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_AFBR_L_RATE/shortDesc</name>
+  <message>
+  <source>AFBR Rangefinder Long Range Rate</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_AFBR_L_RATE/longDesc</name>
+  <message>
+  <source>This parameter defines measurement rate of the AFBR Rangefinder in long range mode.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_AFBR_MODE/shortDesc</name>
+  <message>
+  <source>AFBR Rangefinder Mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_AFBR_MODE/longDesc</name>
+  <message>
+  <source>This parameter defines the mode of the AFBR Rangefinder.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_AFBR_MODE/values/0/description</name>
+  <message>
+  <source>Short Range Mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_AFBR_MODE/values/1/description</name>
+  <message>
+  <source>Long Range Mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_AFBR_MODE/values/2/description</name>
+  <message>
+  <source>High Speed Short Range Mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_AFBR_MODE/values/3/description</name>
+  <message>
+  <source>High Speed Long Range Mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_AFBR_S_RATE/shortDesc</name>
+  <message>
+  <source>AFBR Rangefinder Short Range Rate</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_AFBR_S_RATE/longDesc</name>
+  <message>
+  <source>This parameter defines measurement rate of the AFBR Rangefinder in short range mode.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_AFBR_THRESH/shortDesc</name>
+  <message>
+  <source>AFBR Rangefinder Short/Long Range Threshold</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_AFBR_THRESH/longDesc</name>
+  <message>
+  <source>This parameter defines the threshold for switching between short and long range mode. The mode will switch from short to long range when the distance is greater than the threshold plus the hysteresis. The mode will switch from long to short range when the distance is less than the threshold minus the hysteresis.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BARO_QNH/shortDesc</name>
+  <message>
+  <source>QNH for barometer</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BARO_RATE/shortDesc</name>
+  <message>
+  <source>Baro max rate</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BARO_RATE/longDesc</name>
+  <message>
+  <source>Barometric air data maximum publication rate. This is an upper bound, actual barometric data rate is still dependent on the sensor.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_ROT/shortDesc</name>
+  <message>
+  <source>Board rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_ROT/longDesc</name>
+  <message>
+  <source>This parameter defines the rotation of the FMU board relative to the platform.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_ROT/values/0/description</name>
+  <message>
+  <source>No rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_ROT/values/1/description</name>
+  <message>
+  <source>Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_ROT/values/2/description</name>
+  <message>
+  <source>Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_ROT/values/3/description</name>
+  <message>
+  <source>Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_ROT/values/4/description</name>
+  <message>
+  <source>Yaw 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_ROT/values/5/description</name>
+  <message>
+  <source>Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_ROT/values/6/description</name>
+  <message>
+  <source>Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_ROT/values/7/description</name>
+  <message>
+  <source>Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_ROT/values/8/description</name>
+  <message>
+  <source>Roll 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_ROT/values/9/description</name>
+  <message>
+  <source>Roll 180°, Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_ROT/values/10/description</name>
+  <message>
+  <source>Roll 180°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_ROT/values/11/description</name>
+  <message>
+  <source>Roll 180°, Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_ROT/values/12/description</name>
+  <message>
+  <source>Pitch 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_ROT/values/13/description</name>
+  <message>
+  <source>Roll 180°, Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_ROT/values/14/description</name>
+  <message>
+  <source>Roll 180°, Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_ROT/values/15/description</name>
+  <message>
+  <source>Roll 180°, Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_ROT/values/16/description</name>
+  <message>
+  <source>Roll 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_ROT/values/17/description</name>
+  <message>
+  <source>Roll 90°, Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_ROT/values/18/description</name>
+  <message>
+  <source>Roll 90°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_ROT/values/19/description</name>
+  <message>
+  <source>Roll 90°, Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_ROT/values/20/description</name>
+  <message>
+  <source>Roll 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_ROT/values/21/description</name>
+  <message>
+  <source>Roll 270°, Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_ROT/values/22/description</name>
+  <message>
+  <source>Roll 270°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_ROT/values/23/description</name>
+  <message>
+  <source>Roll 270°, Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_ROT/values/24/description</name>
+  <message>
+  <source>Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_ROT/values/25/description</name>
+  <message>
+  <source>Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_ROT/values/26/description</name>
+  <message>
+  <source>Pitch 180°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_ROT/values/27/description</name>
+  <message>
+  <source>Pitch 180°, Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_ROT/values/28/description</name>
+  <message>
+  <source>Roll 90°, Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_ROT/values/29/description</name>
+  <message>
+  <source>Roll 180°, Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_ROT/values/30/description</name>
+  <message>
+  <source>Roll 270°, Pitch 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_ROT/values/31/description</name>
+  <message>
+  <source>Roll 90°, Pitch 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_ROT/values/32/description</name>
+  <message>
+  <source>Roll 270°, Pitch 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_ROT/values/33/description</name>
+  <message>
+  <source>Roll 90°, Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_ROT/values/34/description</name>
+  <message>
+  <source>Roll 180°, Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_ROT/values/35/description</name>
+  <message>
+  <source>Roll 270°, Pitch 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_ROT/values/36/description</name>
+  <message>
+  <source>Roll 90°, Pitch 180°, Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_ROT/values/37/description</name>
+  <message>
+  <source>Roll 90°, Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_ROT/values/38/description</name>
+  <message>
+  <source>Roll 90°, Pitch 68°, Yaw 293°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_ROT/values/39/description</name>
+  <message>
+  <source>Pitch 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_ROT/values/40/description</name>
+  <message>
+  <source>Roll 90°, Pitch 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_X_OFF/shortDesc</name>
+  <message>
+  <source>Board rotation X (Roll) offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_X_OFF/longDesc</name>
+  <message>
+  <source>This parameter defines a rotational offset in degrees around the X (Roll) axis It allows the user to fine tune the board offset in the event of misalignment.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_Y_OFF/shortDesc</name>
+  <message>
+  <source>Board rotation Y (Pitch) offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_Y_OFF/longDesc</name>
+  <message>
+  <source>This parameter defines a rotational offset in degrees around the Y (Pitch) axis. It allows the user to fine tune the board offset in the event of misalignment.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_Z_OFF/shortDesc</name>
+  <message>
+  <source>Board rotation Z (YAW) offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_BOARD_Z_OFF/longDesc</name>
+  <message>
+  <source>This parameter defines a rotational offset in degrees around the Z (Yaw) axis. It allows the user to fine tune the board offset in the event of misalignment.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_CM8JL65_CFG/shortDesc</name>
+  <message>
+  <source>Serial Configuration for Lanbao PSK-CM8JL65-CC5</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_CM8JL65_CFG/longDesc</name>
+  <message>
+  <source>Configure on which serial port to run Lanbao PSK-CM8JL65-CC5.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_CM8JL65_CFG/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_CM8JL65_CFG/values/6/description</name>
+  <message>
+  <source>UART 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_CM8JL65_CFG/values/101/description</name>
+  <message>
+  <source>TELEM 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_CM8JL65_CFG/values/102/description</name>
+  <message>
+  <source>TELEM 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_CM8JL65_CFG/values/103/description</name>
+  <message>
+  <source>TELEM 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_CM8JL65_CFG/values/104/description</name>
+  <message>
+  <source>TELEM/SERIAL 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_CM8JL65_CFG/values/201/description</name>
+  <message>
+  <source>GPS 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_CM8JL65_CFG/values/202/description</name>
+  <message>
+  <source>GPS 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_CM8JL65_CFG/values/203/description</name>
+  <message>
+  <source>GPS 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_CM8JL65_CFG/values/300/description</name>
+  <message>
+  <source>Radio Controller</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_CM8JL65_CFG/values/301/description</name>
+  <message>
+  <source>Wifi Port</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_CM8JL65_CFG/values/401/description</name>
+  <message>
+  <source>EXT2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_CM8JL65_R_0/shortDesc</name>
+  <message>
+  <source>Distance Sensor Rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_CM8JL65_R_0/longDesc</name>
+  <message>
+  <source>Distance Sensor Rotation as MAV_SENSOR_ORIENTATION enum</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_CM8JL65_R_0/values/0/description</name>
+  <message>
+  <source>ROTATION_FORWARD_FACING</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_CM8JL65_R_0/values/2/description</name>
+  <message>
+  <source>ROTATION_RIGHT_FACING</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_CM8JL65_R_0/values/6/description</name>
+  <message>
+  <source>ROTATION_LEFT_FACING</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_CM8JL65_R_0/values/12/description</name>
+  <message>
+  <source>ROTATION_BACKWARD_FACING</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_CM8JL65_R_0/values/24/description</name>
+  <message>
+  <source>ROTATION_UPWARD_FACING</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_CM8JL65_R_0/values/25/description</name>
+  <message>
+  <source>ROTATION_DOWNWARD_FACING</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_ADIS164X/shortDesc</name>
+  <message>
+  <source>Analog Devices ADIS16448 IMU (external SPI)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_ADIS164X/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_ADIS164X/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_ADIS165X/shortDesc</name>
+  <message>
+  <source>Analog Devices ADIS16507 IMU (external SPI)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_ADIS165X/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_ADIS165X/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_ARSPDSIM/shortDesc</name>
+  <message>
+  <source>Enable simulated airspeed sensor instance</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_ARSPDSIM/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_ARSPDSIM/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_ASP5033/shortDesc</name>
+  <message>
+  <source>ASP5033 differential pressure sensor (external I2C)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_ASP5033/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_ASP5033/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_BAROSIM/shortDesc</name>
+  <message>
+  <source>Enable simulated barometer sensor instance</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_BAROSIM/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_BAROSIM/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_BATT/shortDesc</name>
+  <message>
+  <source>SMBUS Smart battery driver BQ40Z50 and BQ40Z80</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_BATT/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_BATT/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_ETSASPD/shortDesc</name>
+  <message>
+  <source>Eagle Tree airspeed sensor (external I2C)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_ETSASPD/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_ETSASPD/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_GPSSIM/shortDesc</name>
+  <message>
+  <source>Enable simulated GPS sinstance</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_GPSSIM/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_GPSSIM/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_INA220/shortDesc</name>
+  <message>
+  <source>Enable INA220 Power Monitor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_INA220/longDesc</name>
+  <message>
+  <source>For systems a INA220 Power Monitor, this should be set to true</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_INA220/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_INA220/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_INA226/shortDesc</name>
+  <message>
+  <source>Enable INA226 Power Monitor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_INA226/longDesc</name>
+  <message>
+  <source>For systems a INA226 Power Monitor, this should be set to true</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_INA226/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_INA226/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_INA228/shortDesc</name>
+  <message>
+  <source>Enable INA228 Power Monitor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_INA228/longDesc</name>
+  <message>
+  <source>For systems a INA228 Power Monitor, this should be set to true</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_INA228/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_INA228/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_INA238/shortDesc</name>
+  <message>
+  <source>Enable INA238 Power Monitor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_INA238/longDesc</name>
+  <message>
+  <source>For systems a INA238 Power Monitor, this should be set to true</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_INA238/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_INA238/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_IRLOCK/shortDesc</name>
+  <message>
+  <source>IR-LOCK Sensor (external I2C)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_IRLOCK/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_IRLOCK/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_LL40LS/shortDesc</name>
+  <message>
+  <source>Lidar-Lite (LL40LS)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_LL40LS/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_LL40LS/values/1/description</name>
+  <message>
+  <source>PWM</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_LL40LS/values/2/description</name>
+  <message>
+  <source>I2C</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_MAGSIM/shortDesc</name>
+  <message>
+  <source>Enable simulated magnetometer sensor instance</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_MAGSIM/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_MAGSIM/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_MB12XX/shortDesc</name>
+  <message>
+  <source>Maxbotix Sonar (mb12xx)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_MB12XX/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_MB12XX/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_MPDT/shortDesc</name>
+  <message>
+  <source>Enable Mappydot rangefinder (i2c)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_MPDT/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_MPDT/values/1/description</name>
+  <message>
+  <source>Autodetect</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_MS4515/shortDesc</name>
+  <message>
+  <source>TE MS4515 differential pressure sensor (external I2C)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_MS4515/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_MS4515/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_MS4525DO/shortDesc</name>
+  <message>
+  <source>TE MS4525DO differential pressure sensor (external I2C)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_MS4525DO/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_MS4525DO/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_MS5525DS/shortDesc</name>
+  <message>
+  <source>TE MS5525DSO differential pressure sensor (external I2C)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_MS5525DS/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_MS5525DS/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_PAA3905/shortDesc</name>
+  <message>
+  <source>PAA3905 Optical Flow</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_PAA3905/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_PAA3905/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_PAW3902/shortDesc</name>
+  <message>
+  <source>PAW3902/PAW3903 Optical Flow</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_PAW3902/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_PAW3902/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_PCF8583/shortDesc</name>
+  <message>
+  <source>PCF8583 eneable driver</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_PCF8583/longDesc</name>
+  <message>
+  <source>Run PCF8583 driver automatically</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_PCF8583/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_PCF8583/values/1/description</name>
+  <message>
+  <source>Eneabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_PGA460/shortDesc</name>
+  <message>
+  <source>PGA460 Ultrasonic driver (PGA460)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_PGA460/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_PGA460/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_PMW3901/shortDesc</name>
+  <message>
+  <source>PMW3901 Optical Flow</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_PMW3901/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_PMW3901/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_PX4FLOW/shortDesc</name>
+  <message>
+  <source>PX4 Flow Optical Flow</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_PX4FLOW/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_PX4FLOW/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_SDP3X/shortDesc</name>
+  <message>
+  <source>Sensirion SDP3X differential pressure sensor (external I2C)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_SDP3X/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_SDP3X/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_SF0X/shortDesc</name>
+  <message>
+  <source>Lightware Laser Rangefinder hardware model (serial)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_SF0X/values/1/description</name>
+  <message>
+  <source>SF02</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_SF0X/values/2/description</name>
+  <message>
+  <source>SF10/a</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_SF0X/values/3/description</name>
+  <message>
+  <source>SF10/b</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_SF0X/values/4/description</name>
+  <message>
+  <source>SF10/c</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_SF0X/values/5/description</name>
+  <message>
+  <source>SF11/c</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_SF0X/values/6/description</name>
+  <message>
+  <source>SF30/b</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_SF0X/values/7/description</name>
+  <message>
+  <source>SF30/c</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_SF0X/values/8/description</name>
+  <message>
+  <source>LW20/c</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_SF1XX/shortDesc</name>
+  <message>
+  <source>Lightware SF1xx/SF20/LW20 laser rangefinder (i2c)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_SF1XX/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_SF1XX/values/1/description</name>
+  <message>
+  <source>SF10/a</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_SF1XX/values/2/description</name>
+  <message>
+  <source>SF10/b</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_SF1XX/values/3/description</name>
+  <message>
+  <source>SF10/c</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_SF1XX/values/4/description</name>
+  <message>
+  <source>SF11/c</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_SF1XX/values/5/description</name>
+  <message>
+  <source>SF/LW20/b</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_SF1XX/values/6/description</name>
+  <message>
+  <source>SF/LW20/c</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_SF1XX/values/7/description</name>
+  <message>
+  <source>SF/LW30/d</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_SF45_CFG/shortDesc</name>
+  <message>
+  <source>Serial Configuration for Lightware SF45 Rangefinder (serial)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_SF45_CFG/longDesc</name>
+  <message>
+  <source>Configure on which serial port to run Lightware SF45 Rangefinder (serial).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_SF45_CFG/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_SF45_CFG/values/6/description</name>
+  <message>
+  <source>UART 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_SF45_CFG/values/101/description</name>
+  <message>
+  <source>TELEM 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_SF45_CFG/values/102/description</name>
+  <message>
+  <source>TELEM 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_SF45_CFG/values/103/description</name>
+  <message>
+  <source>TELEM 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_SF45_CFG/values/104/description</name>
+  <message>
+  <source>TELEM/SERIAL 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_SF45_CFG/values/201/description</name>
+  <message>
+  <source>GPS 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_SF45_CFG/values/202/description</name>
+  <message>
+  <source>GPS 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_SF45_CFG/values/203/description</name>
+  <message>
+  <source>GPS 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_SF45_CFG/values/300/description</name>
+  <message>
+  <source>Radio Controller</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_SF45_CFG/values/301/description</name>
+  <message>
+  <source>Wifi Port</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_SF45_CFG/values/401/description</name>
+  <message>
+  <source>EXT2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_SHT3X/shortDesc</name>
+  <message>
+  <source>SHT3x temperature and hygrometer</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_SHT3X/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_SHT3X/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_SPL06/shortDesc</name>
+  <message>
+  <source>Goertek SPL06 Barometer (external I2C)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_SPL06/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_SPL06/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_SR05/shortDesc</name>
+  <message>
+  <source>HY-SRF05 / HC-SR05</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_SR05/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_SR05/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_TF02PRO/shortDesc</name>
+  <message>
+  <source>TF02 Pro Distance Sensor (i2c)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_TF02PRO/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_TF02PRO/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_THERMAL/shortDesc</name>
+  <message>
+  <source>Thermal control of sensor temperature</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_THERMAL/values/-1/description</name>
+  <message>
+  <source>Thermal control unavailable</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_THERMAL/values/0/description</name>
+  <message>
+  <source>Thermal control off</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_THERMAL/values/1/description</name>
+  <message>
+  <source>Thermal control enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_TRANGER/shortDesc</name>
+  <message>
+  <source>TeraRanger Rangefinder (i2c)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_TRANGER/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_TRANGER/values/1/description</name>
+  <message>
+  <source>Autodetect</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_TRANGER/values/2/description</name>
+  <message>
+  <source>TROne</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_TRANGER/values/3/description</name>
+  <message>
+  <source>TREvo60m</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_TRANGER/values/4/description</name>
+  <message>
+  <source>TREvo600Hz</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_TRANGER/values/5/description</name>
+  <message>
+  <source>TREvo3m</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_VL53L0X/shortDesc</name>
+  <message>
+  <source>VL53L0X Distance Sensor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_VL53L0X/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_VL53L0X/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_VL53L1X/shortDesc</name>
+  <message>
+  <source>VL53L1X Distance Sensor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_VL53L1X/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EN_VL53L1X/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EXT_I2C_PRB/shortDesc</name>
+  <message>
+  <source>External I2C probe</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EXT_I2C_PRB/longDesc</name>
+  <message>
+  <source>Probe for optional external I2C devices.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EXT_I2C_PRB/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_EXT_I2C_PRB/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_FLOW_RATE/shortDesc</name>
+  <message>
+  <source>Optical flow max rate</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_FLOW_RATE/longDesc</name>
+  <message>
+  <source>Optical flow data maximum publication rate. This is an upper bound, actual optical flow data rate is still dependent on the sensor.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_FLOW_ROT/shortDesc</name>
+  <message>
+  <source>Optical flow rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_FLOW_ROT/longDesc</name>
+  <message>
+  <source>This parameter defines the yaw rotation of the optical flow relative to the vehicle body frame. Zero rotation is defined as X on flow board pointing towards front of vehicle.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_FLOW_ROT/values/0/description</name>
+  <message>
+  <source>No rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_FLOW_ROT/values/1/description</name>
+  <message>
+  <source>Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_FLOW_ROT/values/2/description</name>
+  <message>
+  <source>Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_FLOW_ROT/values/3/description</name>
+  <message>
+  <source>Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_FLOW_ROT/values/4/description</name>
+  <message>
+  <source>Yaw 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_FLOW_ROT/values/5/description</name>
+  <message>
+  <source>Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_FLOW_ROT/values/6/description</name>
+  <message>
+  <source>Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_FLOW_ROT/values/7/description</name>
+  <message>
+  <source>Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_FTX_CFG/shortDesc</name>
+  <message>
+  <source>Serial Configuration for FT Technologies Digital Wind Sensor (serial)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_FTX_CFG/longDesc</name>
+  <message>
+  <source>Configure on which serial port to run FT Technologies Digital Wind Sensor (serial).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_FTX_CFG/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_FTX_CFG/values/6/description</name>
+  <message>
+  <source>UART 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_FTX_CFG/values/101/description</name>
+  <message>
+  <source>TELEM 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_FTX_CFG/values/102/description</name>
+  <message>
+  <source>TELEM 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_FTX_CFG/values/103/description</name>
+  <message>
+  <source>TELEM 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_FTX_CFG/values/104/description</name>
+  <message>
+  <source>TELEM/SERIAL 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_FTX_CFG/values/201/description</name>
+  <message>
+  <source>GPS 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_FTX_CFG/values/202/description</name>
+  <message>
+  <source>GPS 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_FTX_CFG/values/203/description</name>
+  <message>
+  <source>GPS 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_FTX_CFG/values/300/description</name>
+  <message>
+  <source>Radio Controller</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_FTX_CFG/values/301/description</name>
+  <message>
+  <source>Wifi Port</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_FTX_CFG/values/401/description</name>
+  <message>
+  <source>EXT2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_GPS_MASK/shortDesc</name>
+  <message>
+  <source>Multi GPS Blending Control Mask</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_GPS_MASK/longDesc</name>
+  <message>
+  <source>Set bits in the following positions to set which GPS accuracy metrics will be used to calculate the blending weight. Set to zero to disable and always used first GPS instance. 0 : Set to true to use speed accuracy 1 : Set to true to use horizontal position accuracy 2 : Set to true to use vertical position accuracy</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_GPS_MASK/bitmask/0/description</name>
+  <message>
+  <source>use speed accuracy</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_GPS_MASK/bitmask/1/description</name>
+  <message>
+  <source>use hpos accuracy</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_GPS_MASK/bitmask/2/description</name>
+  <message>
+  <source>use vpos accuracy</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_GPS_PRIME/shortDesc</name>
+  <message>
+  <source>Multi GPS primary instance</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_GPS_PRIME/longDesc</name>
+  <message>
+  <source>When no blending is active, this defines the preferred GPS receiver instance. The GPS selection logic waits until the primary receiver is available to send data to the EKF even if a secondary instance is already available. The secondary instance is then only used if the primary one times out. To have an equal priority of all the instances, set this parameter to -1 and the best receiver will be used. This parameter has no effect if blending is active.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_GPS_TAU/shortDesc</name>
+  <message>
+  <source>Multi GPS Blending Time Constant</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_GPS_TAU/longDesc</name>
+  <message>
+  <source>Sets the longest time constant that will be applied to the calculation of GPS position and height offsets used to correct data from multiple GPS data for steady state position differences.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_IMU_AUTOCAL/shortDesc</name>
+  <message>
+  <source>IMU auto calibration</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_IMU_AUTOCAL/longDesc</name>
+  <message>
+  <source>Automatically initialize IMU (accel/gyro) calibration from bias estimates if available.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_IMU_AUTOCAL/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_IMU_AUTOCAL/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_IMU_CLPNOTI/shortDesc</name>
+  <message>
+  <source>IMU notify clipping</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_IMU_CLPNOTI/longDesc</name>
+  <message>
+  <source>Notify the user if the IMU is clipping</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_IMU_CLPNOTI/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_IMU_CLPNOTI/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_IMU_MODE/shortDesc</name>
+  <message>
+  <source>Sensors hub IMU mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_IMU_MODE/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_IMU_MODE/values/1/description</name>
+  <message>
+  <source>Publish primary IMU selection</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_IMU_TEMP/shortDesc</name>
+  <message>
+  <source>Target IMU temperature</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_IMU_TEMP_FF/shortDesc</name>
+  <message>
+  <source>IMU heater controller feedforward value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_IMU_TEMP_I/shortDesc</name>
+  <message>
+  <source>IMU heater controller integrator gain value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_IMU_TEMP_P/shortDesc</name>
+  <message>
+  <source>IMU heater controller proportional gain value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_INT_BARO_EN/shortDesc</name>
+  <message>
+  <source>Enable internal barometers</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_INT_BARO_EN/longDesc</name>
+  <message>
+  <source>For systems with an external barometer, this should be set to false to make sure that the external is used.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_INT_BARO_EN/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_INT_BARO_EN/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_LEDDAR1_CFG/shortDesc</name>
+  <message>
+  <source>Serial Configuration for LeddarOne Rangefinder</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_LEDDAR1_CFG/longDesc</name>
+  <message>
+  <source>Configure on which serial port to run LeddarOne Rangefinder.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_LEDDAR1_CFG/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_LEDDAR1_CFG/values/6/description</name>
+  <message>
+  <source>UART 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_LEDDAR1_CFG/values/101/description</name>
+  <message>
+  <source>TELEM 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_LEDDAR1_CFG/values/102/description</name>
+  <message>
+  <source>TELEM 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_LEDDAR1_CFG/values/103/description</name>
+  <message>
+  <source>TELEM 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_LEDDAR1_CFG/values/104/description</name>
+  <message>
+  <source>TELEM/SERIAL 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_LEDDAR1_CFG/values/201/description</name>
+  <message>
+  <source>GPS 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_LEDDAR1_CFG/values/202/description</name>
+  <message>
+  <source>GPS 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_LEDDAR1_CFG/values/203/description</name>
+  <message>
+  <source>GPS 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_LEDDAR1_CFG/values/300/description</name>
+  <message>
+  <source>Radio Controller</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_LEDDAR1_CFG/values/301/description</name>
+  <message>
+  <source>Wifi Port</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_LEDDAR1_CFG/values/401/description</name>
+  <message>
+  <source>EXT2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MAG_AUTOCAL/shortDesc</name>
+  <message>
+  <source>Magnetometer auto calibration</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MAG_AUTOCAL/longDesc</name>
+  <message>
+  <source>Automatically initialize magnetometer calibration from bias estimate if available.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MAG_AUTOCAL/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MAG_AUTOCAL/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MAG_AUTOROT/shortDesc</name>
+  <message>
+  <source>Automatically set external rotations</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MAG_AUTOROT/longDesc</name>
+  <message>
+  <source>During calibration attempt to automatically determine the rotation of external magnetometers.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MAG_AUTOROT/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MAG_AUTOROT/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MAG_MODE/shortDesc</name>
+  <message>
+  <source>Sensors hub mag mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MAG_MODE/values/0/description</name>
+  <message>
+  <source>Publish all magnetometers</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MAG_MODE/values/1/description</name>
+  <message>
+  <source>Publish primary magnetometer</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MAG_RATE/shortDesc</name>
+  <message>
+  <source>Magnetometer max rate</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MAG_RATE/longDesc</name>
+  <message>
+  <source>Magnetometer data maximum publication rate. This is an upper bound, actual magnetometer data rate is still dependent on the sensor.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MAG_SIDES/shortDesc</name>
+  <message>
+  <source>Bitfield selecting mag sides for calibration</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MAG_SIDES/longDesc</name>
+  <message>
+  <source>If set to two side calibration, only the offsets are estimated, the scale calibration is left unchanged. Thus an initial six side calibration is recommended. Bits: ORIENTATION_TAIL_DOWN = 1 ORIENTATION_NOSE_DOWN = 2 ORIENTATION_LEFT = 4 ORIENTATION_RIGHT = 8 ORIENTATION_UPSIDE_DOWN = 16 ORIENTATION_RIGHTSIDE_UP = 32</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MAG_SIDES/values/34/description</name>
+  <message>
+  <source>Two side calibration</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MAG_SIDES/values/38/description</name>
+  <message>
+  <source>Three side calibration</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MAG_SIDES/values/63/description</name>
+  <message>
+  <source>Six side calibration</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_0_ROT/shortDesc</name>
+  <message>
+  <source>MaxBotix MB12XX Sensor 0 Rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_0_ROT/longDesc</name>
+  <message>
+  <source>This parameter defines the rotation of the sensor relative to the platform.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_0_ROT/values/0/description</name>
+  <message>
+  <source>No rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_0_ROT/values/1/description</name>
+  <message>
+  <source>Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_0_ROT/values/2/description</name>
+  <message>
+  <source>Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_0_ROT/values/3/description</name>
+  <message>
+  <source>Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_0_ROT/values/4/description</name>
+  <message>
+  <source>Yaw 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_0_ROT/values/5/description</name>
+  <message>
+  <source>Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_0_ROT/values/6/description</name>
+  <message>
+  <source>Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_0_ROT/values/7/description</name>
+  <message>
+  <source>Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_10_ROT/shortDesc</name>
+  <message>
+  <source>MaxBotix MB12XX Sensor 10 Rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_10_ROT/longDesc</name>
+  <message>
+  <source>This parameter defines the rotation of the sensor relative to the platform.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_10_ROT/values/0/description</name>
+  <message>
+  <source>No rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_10_ROT/values/1/description</name>
+  <message>
+  <source>Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_10_ROT/values/2/description</name>
+  <message>
+  <source>Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_10_ROT/values/3/description</name>
+  <message>
+  <source>Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_10_ROT/values/4/description</name>
+  <message>
+  <source>Yaw 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_10_ROT/values/5/description</name>
+  <message>
+  <source>Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_10_ROT/values/6/description</name>
+  <message>
+  <source>Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_10_ROT/values/7/description</name>
+  <message>
+  <source>Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_11_ROT/shortDesc</name>
+  <message>
+  <source>MaxBotix MB12XX Sensor 12 Rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_11_ROT/longDesc</name>
+  <message>
+  <source>This parameter defines the rotation of the sensor relative to the platform.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_11_ROT/values/0/description</name>
+  <message>
+  <source>No rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_11_ROT/values/1/description</name>
+  <message>
+  <source>Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_11_ROT/values/2/description</name>
+  <message>
+  <source>Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_11_ROT/values/3/description</name>
+  <message>
+  <source>Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_11_ROT/values/4/description</name>
+  <message>
+  <source>Yaw 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_11_ROT/values/5/description</name>
+  <message>
+  <source>Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_11_ROT/values/6/description</name>
+  <message>
+  <source>Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_11_ROT/values/7/description</name>
+  <message>
+  <source>Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_1_ROT/shortDesc</name>
+  <message>
+  <source>MaxBotix MB12XX Sensor 1 Rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_1_ROT/longDesc</name>
+  <message>
+  <source>This parameter defines the rotation of the sensor relative to the platform.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_1_ROT/values/0/description</name>
+  <message>
+  <source>No rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_1_ROT/values/1/description</name>
+  <message>
+  <source>Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_1_ROT/values/2/description</name>
+  <message>
+  <source>Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_1_ROT/values/3/description</name>
+  <message>
+  <source>Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_1_ROT/values/4/description</name>
+  <message>
+  <source>Yaw 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_1_ROT/values/5/description</name>
+  <message>
+  <source>Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_1_ROT/values/6/description</name>
+  <message>
+  <source>Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_1_ROT/values/7/description</name>
+  <message>
+  <source>Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_2_ROT/shortDesc</name>
+  <message>
+  <source>MaxBotix MB12XX Sensor 2 Rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_2_ROT/longDesc</name>
+  <message>
+  <source>This parameter defines the rotation of the sensor relative to the platform.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_2_ROT/values/0/description</name>
+  <message>
+  <source>No rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_2_ROT/values/1/description</name>
+  <message>
+  <source>Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_2_ROT/values/2/description</name>
+  <message>
+  <source>Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_2_ROT/values/3/description</name>
+  <message>
+  <source>Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_2_ROT/values/4/description</name>
+  <message>
+  <source>Yaw 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_2_ROT/values/5/description</name>
+  <message>
+  <source>Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_2_ROT/values/6/description</name>
+  <message>
+  <source>Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_2_ROT/values/7/description</name>
+  <message>
+  <source>Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_3_ROT/shortDesc</name>
+  <message>
+  <source>MaxBotix MB12XX Sensor 3 Rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_3_ROT/longDesc</name>
+  <message>
+  <source>This parameter defines the rotation of the sensor relative to the platform.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_3_ROT/values/0/description</name>
+  <message>
+  <source>No rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_3_ROT/values/1/description</name>
+  <message>
+  <source>Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_3_ROT/values/2/description</name>
+  <message>
+  <source>Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_3_ROT/values/3/description</name>
+  <message>
+  <source>Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_3_ROT/values/4/description</name>
+  <message>
+  <source>Yaw 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_3_ROT/values/5/description</name>
+  <message>
+  <source>Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_3_ROT/values/6/description</name>
+  <message>
+  <source>Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_3_ROT/values/7/description</name>
+  <message>
+  <source>Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_4_ROT/shortDesc</name>
+  <message>
+  <source>MaxBotix MB12XX Sensor 4 Rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_4_ROT/longDesc</name>
+  <message>
+  <source>This parameter defines the rotation of the sensor relative to the platform.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_4_ROT/values/0/description</name>
+  <message>
+  <source>No rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_4_ROT/values/1/description</name>
+  <message>
+  <source>Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_4_ROT/values/2/description</name>
+  <message>
+  <source>Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_4_ROT/values/3/description</name>
+  <message>
+  <source>Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_4_ROT/values/4/description</name>
+  <message>
+  <source>Yaw 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_4_ROT/values/5/description</name>
+  <message>
+  <source>Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_4_ROT/values/6/description</name>
+  <message>
+  <source>Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_4_ROT/values/7/description</name>
+  <message>
+  <source>Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_5_ROT/shortDesc</name>
+  <message>
+  <source>MaxBotix MB12XX Sensor 5 Rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_5_ROT/longDesc</name>
+  <message>
+  <source>This parameter defines the rotation of the sensor relative to the platform.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_5_ROT/values/0/description</name>
+  <message>
+  <source>No rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_5_ROT/values/1/description</name>
+  <message>
+  <source>Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_5_ROT/values/2/description</name>
+  <message>
+  <source>Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_5_ROT/values/3/description</name>
+  <message>
+  <source>Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_5_ROT/values/4/description</name>
+  <message>
+  <source>Yaw 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_5_ROT/values/5/description</name>
+  <message>
+  <source>Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_5_ROT/values/6/description</name>
+  <message>
+  <source>Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_5_ROT/values/7/description</name>
+  <message>
+  <source>Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_6_ROT/shortDesc</name>
+  <message>
+  <source>MaxBotix MB12XX Sensor 6 Rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_6_ROT/longDesc</name>
+  <message>
+  <source>This parameter defines the rotation of the sensor relative to the platform.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_6_ROT/values/0/description</name>
+  <message>
+  <source>No rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_6_ROT/values/1/description</name>
+  <message>
+  <source>Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_6_ROT/values/2/description</name>
+  <message>
+  <source>Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_6_ROT/values/3/description</name>
+  <message>
+  <source>Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_6_ROT/values/4/description</name>
+  <message>
+  <source>Yaw 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_6_ROT/values/5/description</name>
+  <message>
+  <source>Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_6_ROT/values/6/description</name>
+  <message>
+  <source>Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_6_ROT/values/7/description</name>
+  <message>
+  <source>Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_7_ROT/shortDesc</name>
+  <message>
+  <source>MaxBotix MB12XX Sensor 7 Rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_7_ROT/longDesc</name>
+  <message>
+  <source>This parameter defines the rotation of the sensor relative to the platform.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_7_ROT/values/0/description</name>
+  <message>
+  <source>No rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_7_ROT/values/1/description</name>
+  <message>
+  <source>Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_7_ROT/values/2/description</name>
+  <message>
+  <source>Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_7_ROT/values/3/description</name>
+  <message>
+  <source>Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_7_ROT/values/4/description</name>
+  <message>
+  <source>Yaw 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_7_ROT/values/5/description</name>
+  <message>
+  <source>Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_7_ROT/values/6/description</name>
+  <message>
+  <source>Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_7_ROT/values/7/description</name>
+  <message>
+  <source>Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_8_ROT/shortDesc</name>
+  <message>
+  <source>MaxBotix MB12XX Sensor 8 Rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_8_ROT/longDesc</name>
+  <message>
+  <source>This parameter defines the rotation of the sensor relative to the platform.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_8_ROT/values/0/description</name>
+  <message>
+  <source>No rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_8_ROT/values/1/description</name>
+  <message>
+  <source>Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_8_ROT/values/2/description</name>
+  <message>
+  <source>Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_8_ROT/values/3/description</name>
+  <message>
+  <source>Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_8_ROT/values/4/description</name>
+  <message>
+  <source>Yaw 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_8_ROT/values/5/description</name>
+  <message>
+  <source>Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_8_ROT/values/6/description</name>
+  <message>
+  <source>Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_8_ROT/values/7/description</name>
+  <message>
+  <source>Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_9_ROT/shortDesc</name>
+  <message>
+  <source>MaxBotix MB12XX Sensor 9 Rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_9_ROT/longDesc</name>
+  <message>
+  <source>This parameter defines the rotation of the sensor relative to the platform.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_9_ROT/values/0/description</name>
+  <message>
+  <source>No rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_9_ROT/values/1/description</name>
+  <message>
+  <source>Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_9_ROT/values/2/description</name>
+  <message>
+  <source>Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_9_ROT/values/3/description</name>
+  <message>
+  <source>Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_9_ROT/values/4/description</name>
+  <message>
+  <source>Yaw 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_9_ROT/values/5/description</name>
+  <message>
+  <source>Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_9_ROT/values/6/description</name>
+  <message>
+  <source>Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MB12_9_ROT/values/7/description</name>
+  <message>
+  <source>Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT0_ROT/shortDesc</name>
+  <message>
+  <source>MappyDot Sensor 0 Rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT0_ROT/longDesc</name>
+  <message>
+  <source>This parameter defines the rotation of the Mappydot sensor relative to the platform.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT0_ROT/values/0/description</name>
+  <message>
+  <source>No rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT0_ROT/values/1/description</name>
+  <message>
+  <source>Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT0_ROT/values/2/description</name>
+  <message>
+  <source>Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT0_ROT/values/3/description</name>
+  <message>
+  <source>Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT0_ROT/values/4/description</name>
+  <message>
+  <source>Yaw 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT0_ROT/values/5/description</name>
+  <message>
+  <source>Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT0_ROT/values/6/description</name>
+  <message>
+  <source>Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT0_ROT/values/7/description</name>
+  <message>
+  <source>Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT10_ROT/shortDesc</name>
+  <message>
+  <source>MappyDot Sensor 10 Rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT10_ROT/longDesc</name>
+  <message>
+  <source>This parameter defines the rotation of the Mappydot sensor relative to the platform.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT10_ROT/values/0/description</name>
+  <message>
+  <source>No rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT10_ROT/values/1/description</name>
+  <message>
+  <source>Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT10_ROT/values/2/description</name>
+  <message>
+  <source>Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT10_ROT/values/3/description</name>
+  <message>
+  <source>Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT10_ROT/values/4/description</name>
+  <message>
+  <source>Yaw 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT10_ROT/values/5/description</name>
+  <message>
+  <source>Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT10_ROT/values/6/description</name>
+  <message>
+  <source>Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT10_ROT/values/7/description</name>
+  <message>
+  <source>Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT11_ROT/shortDesc</name>
+  <message>
+  <source>MappyDot Sensor 12 Rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT11_ROT/longDesc</name>
+  <message>
+  <source>This parameter defines the rotation of the Mappydot sensor relative to the platform.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT11_ROT/values/0/description</name>
+  <message>
+  <source>No rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT11_ROT/values/1/description</name>
+  <message>
+  <source>Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT11_ROT/values/2/description</name>
+  <message>
+  <source>Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT11_ROT/values/3/description</name>
+  <message>
+  <source>Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT11_ROT/values/4/description</name>
+  <message>
+  <source>Yaw 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT11_ROT/values/5/description</name>
+  <message>
+  <source>Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT11_ROT/values/6/description</name>
+  <message>
+  <source>Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT11_ROT/values/7/description</name>
+  <message>
+  <source>Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT1_ROT/shortDesc</name>
+  <message>
+  <source>MappyDot Sensor 1 Rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT1_ROT/longDesc</name>
+  <message>
+  <source>This parameter defines the rotation of the Mappydot sensor relative to the platform.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT1_ROT/values/0/description</name>
+  <message>
+  <source>No rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT1_ROT/values/1/description</name>
+  <message>
+  <source>Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT1_ROT/values/2/description</name>
+  <message>
+  <source>Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT1_ROT/values/3/description</name>
+  <message>
+  <source>Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT1_ROT/values/4/description</name>
+  <message>
+  <source>Yaw 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT1_ROT/values/5/description</name>
+  <message>
+  <source>Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT1_ROT/values/6/description</name>
+  <message>
+  <source>Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT1_ROT/values/7/description</name>
+  <message>
+  <source>Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT2_ROT/shortDesc</name>
+  <message>
+  <source>MappyDot Sensor 2 Rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT2_ROT/longDesc</name>
+  <message>
+  <source>This parameter defines the rotation of the Mappydot sensor relative to the platform.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT2_ROT/values/0/description</name>
+  <message>
+  <source>No rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT2_ROT/values/1/description</name>
+  <message>
+  <source>Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT2_ROT/values/2/description</name>
+  <message>
+  <source>Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT2_ROT/values/3/description</name>
+  <message>
+  <source>Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT2_ROT/values/4/description</name>
+  <message>
+  <source>Yaw 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT2_ROT/values/5/description</name>
+  <message>
+  <source>Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT2_ROT/values/6/description</name>
+  <message>
+  <source>Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT2_ROT/values/7/description</name>
+  <message>
+  <source>Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT3_ROT/shortDesc</name>
+  <message>
+  <source>MappyDot Sensor 3 Rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT3_ROT/longDesc</name>
+  <message>
+  <source>This parameter defines the rotation of the Mappydot sensor relative to the platform.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT3_ROT/values/0/description</name>
+  <message>
+  <source>No rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT3_ROT/values/1/description</name>
+  <message>
+  <source>Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT3_ROT/values/2/description</name>
+  <message>
+  <source>Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT3_ROT/values/3/description</name>
+  <message>
+  <source>Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT3_ROT/values/4/description</name>
+  <message>
+  <source>Yaw 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT3_ROT/values/5/description</name>
+  <message>
+  <source>Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT3_ROT/values/6/description</name>
+  <message>
+  <source>Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT3_ROT/values/7/description</name>
+  <message>
+  <source>Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT4_ROT/shortDesc</name>
+  <message>
+  <source>MappyDot Sensor 4 Rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT4_ROT/longDesc</name>
+  <message>
+  <source>This parameter defines the rotation of the Mappydot sensor relative to the platform.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT4_ROT/values/0/description</name>
+  <message>
+  <source>No rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT4_ROT/values/1/description</name>
+  <message>
+  <source>Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT4_ROT/values/2/description</name>
+  <message>
+  <source>Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT4_ROT/values/3/description</name>
+  <message>
+  <source>Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT4_ROT/values/4/description</name>
+  <message>
+  <source>Yaw 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT4_ROT/values/5/description</name>
+  <message>
+  <source>Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT4_ROT/values/6/description</name>
+  <message>
+  <source>Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT4_ROT/values/7/description</name>
+  <message>
+  <source>Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT5_ROT/shortDesc</name>
+  <message>
+  <source>MappyDot Sensor 5 Rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT5_ROT/longDesc</name>
+  <message>
+  <source>This parameter defines the rotation of the Mappydot sensor relative to the platform.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT5_ROT/values/0/description</name>
+  <message>
+  <source>No rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT5_ROT/values/1/description</name>
+  <message>
+  <source>Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT5_ROT/values/2/description</name>
+  <message>
+  <source>Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT5_ROT/values/3/description</name>
+  <message>
+  <source>Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT5_ROT/values/4/description</name>
+  <message>
+  <source>Yaw 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT5_ROT/values/5/description</name>
+  <message>
+  <source>Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT5_ROT/values/6/description</name>
+  <message>
+  <source>Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT5_ROT/values/7/description</name>
+  <message>
+  <source>Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT6_ROT/shortDesc</name>
+  <message>
+  <source>MappyDot Sensor 6 Rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT6_ROT/longDesc</name>
+  <message>
+  <source>This parameter defines the rotation of the Mappydot sensor relative to the platform.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT6_ROT/values/0/description</name>
+  <message>
+  <source>No rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT6_ROT/values/1/description</name>
+  <message>
+  <source>Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT6_ROT/values/2/description</name>
+  <message>
+  <source>Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT6_ROT/values/3/description</name>
+  <message>
+  <source>Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT6_ROT/values/4/description</name>
+  <message>
+  <source>Yaw 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT6_ROT/values/5/description</name>
+  <message>
+  <source>Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT6_ROT/values/6/description</name>
+  <message>
+  <source>Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT6_ROT/values/7/description</name>
+  <message>
+  <source>Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT7_ROT/shortDesc</name>
+  <message>
+  <source>MappyDot Sensor 7 Rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT7_ROT/longDesc</name>
+  <message>
+  <source>This parameter defines the rotation of the Mappydot sensor relative to the platform.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT7_ROT/values/0/description</name>
+  <message>
+  <source>No rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT7_ROT/values/1/description</name>
+  <message>
+  <source>Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT7_ROT/values/2/description</name>
+  <message>
+  <source>Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT7_ROT/values/3/description</name>
+  <message>
+  <source>Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT7_ROT/values/4/description</name>
+  <message>
+  <source>Yaw 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT7_ROT/values/5/description</name>
+  <message>
+  <source>Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT7_ROT/values/6/description</name>
+  <message>
+  <source>Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT7_ROT/values/7/description</name>
+  <message>
+  <source>Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT8_ROT/shortDesc</name>
+  <message>
+  <source>MappyDot Sensor 8 Rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT8_ROT/longDesc</name>
+  <message>
+  <source>This parameter defines the rotation of the Mappydot sensor relative to the platform.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT8_ROT/values/0/description</name>
+  <message>
+  <source>No rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT8_ROT/values/1/description</name>
+  <message>
+  <source>Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT8_ROT/values/2/description</name>
+  <message>
+  <source>Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT8_ROT/values/3/description</name>
+  <message>
+  <source>Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT8_ROT/values/4/description</name>
+  <message>
+  <source>Yaw 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT8_ROT/values/5/description</name>
+  <message>
+  <source>Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT8_ROT/values/6/description</name>
+  <message>
+  <source>Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT8_ROT/values/7/description</name>
+  <message>
+  <source>Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT9_ROT/shortDesc</name>
+  <message>
+  <source>MappyDot Sensor 9 Rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT9_ROT/longDesc</name>
+  <message>
+  <source>This parameter defines the rotation of the Mappydot sensor relative to the platform.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT9_ROT/values/0/description</name>
+  <message>
+  <source>No rotation</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT9_ROT/values/1/description</name>
+  <message>
+  <source>Yaw 45°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT9_ROT/values/2/description</name>
+  <message>
+  <source>Yaw 90°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT9_ROT/values/3/description</name>
+  <message>
+  <source>Yaw 135°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT9_ROT/values/4/description</name>
+  <message>
+  <source>Yaw 180°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT9_ROT/values/5/description</name>
+  <message>
+  <source>Yaw 225°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT9_ROT/values/6/description</name>
+  <message>
+  <source>Yaw 270°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_MPDT9_ROT/values/7/description</name>
+  <message>
+  <source>Yaw 315°</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_OR_ADIS164X/shortDesc</name>
+  <message>
+  <source>Analog Devices ADIS16448 IMU Orientation(external SPI)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_OR_ADIS164X/values/0/description</name>
+  <message>
+  <source>ROTATION_NONE</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_OR_ADIS164X/values/4/description</name>
+  <message>
+  <source>ROTATION_YAW_180</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_SF0X_CFG/shortDesc</name>
+  <message>
+  <source>Serial Configuration for Lightware Laser Rangefinder (serial)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_SF0X_CFG/longDesc</name>
+  <message>
+  <source>Configure on which serial port to run Lightware Laser Rangefinder (serial).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_SF0X_CFG/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_SF0X_CFG/values/6/description</name>
+  <message>
+  <source>UART 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_SF0X_CFG/values/101/description</name>
+  <message>
+  <source>TELEM 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_SF0X_CFG/values/102/description</name>
+  <message>
+  <source>TELEM 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_SF0X_CFG/values/103/description</name>
+  <message>
+  <source>TELEM 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_SF0X_CFG/values/104/description</name>
+  <message>
+  <source>TELEM/SERIAL 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_SF0X_CFG/values/201/description</name>
+  <message>
+  <source>GPS 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_SF0X_CFG/values/202/description</name>
+  <message>
+  <source>GPS 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_SF0X_CFG/values/203/description</name>
+  <message>
+  <source>GPS 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_SF0X_CFG/values/300/description</name>
+  <message>
+  <source>Radio Controller</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_SF0X_CFG/values/301/description</name>
+  <message>
+  <source>Wifi Port</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_SF0X_CFG/values/401/description</name>
+  <message>
+  <source>EXT2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_TEMP_ID/shortDesc</name>
+  <message>
+  <source>Target IMU device ID to regulate temperature</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_TFLOW_CFG/shortDesc</name>
+  <message>
+  <source>Serial Configuration for ThoneFlow-3901U optical flow sensor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_TFLOW_CFG/longDesc</name>
+  <message>
+  <source>Configure on which serial port to run ThoneFlow-3901U optical flow sensor.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_TFLOW_CFG/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_TFLOW_CFG/values/6/description</name>
+  <message>
+  <source>UART 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_TFLOW_CFG/values/101/description</name>
+  <message>
+  <source>TELEM 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_TFLOW_CFG/values/102/description</name>
+  <message>
+  <source>TELEM 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_TFLOW_CFG/values/103/description</name>
+  <message>
+  <source>TELEM 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_TFLOW_CFG/values/104/description</name>
+  <message>
+  <source>TELEM/SERIAL 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_TFLOW_CFG/values/201/description</name>
+  <message>
+  <source>GPS 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_TFLOW_CFG/values/202/description</name>
+  <message>
+  <source>GPS 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_TFLOW_CFG/values/203/description</name>
+  <message>
+  <source>GPS 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_TFLOW_CFG/values/300/description</name>
+  <message>
+  <source>Radio Controller</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_TFLOW_CFG/values/301/description</name>
+  <message>
+  <source>Wifi Port</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_TFLOW_CFG/values/401/description</name>
+  <message>
+  <source>EXT2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_TFMINI_CFG/shortDesc</name>
+  <message>
+  <source>Serial Configuration for Benewake TFmini Rangefinder</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_TFMINI_CFG/longDesc</name>
+  <message>
+  <source>Configure on which serial port to run Benewake TFmini Rangefinder.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_TFMINI_CFG/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_TFMINI_CFG/values/6/description</name>
+  <message>
+  <source>UART 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_TFMINI_CFG/values/101/description</name>
+  <message>
+  <source>TELEM 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_TFMINI_CFG/values/102/description</name>
+  <message>
+  <source>TELEM 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_TFMINI_CFG/values/103/description</name>
+  <message>
+  <source>TELEM 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_TFMINI_CFG/values/104/description</name>
+  <message>
+  <source>TELEM/SERIAL 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_TFMINI_CFG/values/201/description</name>
+  <message>
+  <source>GPS 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_TFMINI_CFG/values/202/description</name>
+  <message>
+  <source>GPS 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_TFMINI_CFG/values/203/description</name>
+  <message>
+  <source>GPS 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_TFMINI_CFG/values/300/description</name>
+  <message>
+  <source>Radio Controller</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_TFMINI_CFG/values/301/description</name>
+  <message>
+  <source>Wifi Port</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_TFMINI_CFG/values/401/description</name>
+  <message>
+  <source>EXT2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_ULAND_CFG/shortDesc</name>
+  <message>
+  <source>Serial Configuration for uLanding Radar</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_ULAND_CFG/longDesc</name>
+  <message>
+  <source>Configure on which serial port to run uLanding Radar.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_ULAND_CFG/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_ULAND_CFG/values/6/description</name>
+  <message>
+  <source>UART 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_ULAND_CFG/values/101/description</name>
+  <message>
+  <source>TELEM 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_ULAND_CFG/values/102/description</name>
+  <message>
+  <source>TELEM 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_ULAND_CFG/values/103/description</name>
+  <message>
+  <source>TELEM 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_ULAND_CFG/values/104/description</name>
+  <message>
+  <source>TELEM/SERIAL 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_ULAND_CFG/values/201/description</name>
+  <message>
+  <source>GPS 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_ULAND_CFG/values/202/description</name>
+  <message>
+  <source>GPS 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_ULAND_CFG/values/203/description</name>
+  <message>
+  <source>GPS 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_ULAND_CFG/values/300/description</name>
+  <message>
+  <source>Radio Controller</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_ULAND_CFG/values/301/description</name>
+  <message>
+  <source>Wifi Port</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_ULAND_CFG/values/401/description</name>
+  <message>
+  <source>EXT2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_VN_CFG/shortDesc</name>
+  <message>
+  <source>Serial Configuration for VectorNav (VN-100, VN-200, VN-300)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_VN_CFG/longDesc</name>
+  <message>
+  <source>Configure on which serial port to run VectorNav (VN-100, VN-200, VN-300).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_VN_CFG/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_VN_CFG/values/6/description</name>
+  <message>
+  <source>UART 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_VN_CFG/values/101/description</name>
+  <message>
+  <source>TELEM 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_VN_CFG/values/102/description</name>
+  <message>
+  <source>TELEM 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_VN_CFG/values/103/description</name>
+  <message>
+  <source>TELEM 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_VN_CFG/values/104/description</name>
+  <message>
+  <source>TELEM/SERIAL 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_VN_CFG/values/201/description</name>
+  <message>
+  <source>GPS 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_VN_CFG/values/202/description</name>
+  <message>
+  <source>GPS 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_VN_CFG/values/203/description</name>
+  <message>
+  <source>GPS 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_VN_CFG/values/300/description</name>
+  <message>
+  <source>Radio Controller</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_VN_CFG/values/301/description</name>
+  <message>
+  <source>Wifi Port</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SENS_VN_CFG/values/401/description</name>
+  <message>
+  <source>EXT2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SF45_ORIENT_CFG/shortDesc</name>
+  <message>
+  <source>Orientation upright or facing downward</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SF45_ORIENT_CFG/longDesc</name>
+  <message>
+  <source>The SF45 mounted facing upward or downward on the frame</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SF45_ORIENT_CFG/values/0/description</name>
+  <message>
+  <source>Rotation upward</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SF45_ORIENT_CFG/values/1/description</name>
+  <message>
+  <source>Rotation downward</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SF45_UPDATE_CFG/shortDesc</name>
+  <message>
+  <source>Update rate in Hz</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SF45_UPDATE_CFG/longDesc</name>
+  <message>
+  <source>The SF45 sets the update rate in Hz to allow greater resolution</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SF45_UPDATE_CFG/values/1/description</name>
+  <message>
+  <source>50hz</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SF45_UPDATE_CFG/values/2/description</name>
+  <message>
+  <source>100hz</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SF45_UPDATE_CFG/values/3/description</name>
+  <message>
+  <source>200hz</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SF45_UPDATE_CFG/values/4/description</name>
+  <message>
+  <source>400hz</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SF45_UPDATE_CFG/values/5/description</name>
+  <message>
+  <source>500hz</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SF45_UPDATE_CFG/values/6/description</name>
+  <message>
+  <source>625hz</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SF45_UPDATE_CFG/values/7/description</name>
+  <message>
+  <source>1000hz</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SF45_UPDATE_CFG/values/8/description</name>
+  <message>
+  <source>1250hz</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SF45_UPDATE_CFG/values/9/description</name>
+  <message>
+  <source>1538hz</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SF45_UPDATE_CFG/values/10/description</name>
+  <message>
+  <source>2000hz</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SF45_UPDATE_CFG/values/11/description</name>
+  <message>
+  <source>2500hz</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SF45_UPDATE_CFG/values/12/description</name>
+  <message>
+  <source>5000hz</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SF45_YAW_CFG/shortDesc</name>
+  <message>
+  <source>Sensor facing forward or backward</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SF45_YAW_CFG/longDesc</name>
+  <message>
+  <source>The usb port on the sensor indicates 180deg, opposite usb is forward facing</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SF45_YAW_CFG/values/0/description</name>
+  <message>
+  <source>Rotation forward</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SF45_YAW_CFG/values/1/description</name>
+  <message>
+  <source>Rotation backward</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SF45_YAW_CFG/values/2/description</name>
+  <message>
+  <source>Rotation right</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SF45_YAW_CFG/values/3/description</name>
+  <message>
+  <source>Rotation left</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIM_ARSPD_FAIL/shortDesc</name>
+  <message>
+  <source>Dynamically simulate failure of airspeed sensor instance</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIM_ARSPD_FAIL/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIM_ARSPD_FAIL/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VN_MODE/shortDesc</name>
+  <message>
+  <source>VectorNav driver mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VN_MODE/longDesc</name>
+  <message>
+  <source>INS or sensors</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VN_MODE/values/0/description</name>
+  <message>
+  <source>Sensors Only (default)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VN_MODE/values/1/description</name>
+  <message>
+  <source>INS</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXLPM_SHUNT_BAT/shortDesc</name>
+  <message>
+  <source>VOXL Power Monitor Shunt, Battery</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/VOXLPM_SHUNT_REG/shortDesc</name>
+  <message>
+  <source>VOXL Power Monitor Shunt, Regulator</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_AUTO_CONFIG/shortDesc</name>
+  <message>
+  <source>Toggle automatic receiver configuration</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_AUTO_CONFIG/longDesc</name>
+  <message>
+  <source>By default, the receiver is automatically configured. Sometimes it may be used for multiple purposes. If the offered parameters aren't sufficient, this parameter can be disabled to have full control of the receiver configuration. A good way to use this is to enable automatic configuration, let the receiver be configured, and then disable it to make manual adjustments.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_AUTO_CONFIG/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_AUTO_CONFIG/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_CONST_USAGE/shortDesc</name>
+  <message>
+  <source>Usage of different constellations</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_CONST_USAGE/longDesc</name>
+  <message>
+  <source>Choice of which constellations the receiver should use for PVT computation. When this is 0, the constellation usage isn't changed.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_CONST_USAGE/bitmask/0/description</name>
+  <message>
+  <source>GPS</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_CONST_USAGE/bitmask/1/description</name>
+  <message>
+  <source>GLONASS</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_CONST_USAGE/bitmask/2/description</name>
+  <message>
+  <source>Galileo</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_CONST_USAGE/bitmask/3/description</name>
+  <message>
+  <source>SBAS</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_CONST_USAGE/bitmask/4/description</name>
+  <message>
+  <source>BeiDou</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_DUMP_COMM/shortDesc</name>
+  <message>
+  <source>Log GPS communication data</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_DUMP_COMM/longDesc</name>
+  <message>
+  <source>Log raw communication between the driver and connected receivers. For example, "To receiver" will log all commands and corrections sent by the driver to the receiver.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_DUMP_COMM/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_DUMP_COMM/values/1/description</name>
+  <message>
+  <source>From receiver</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_DUMP_COMM/values/2/description</name>
+  <message>
+  <source>To receiver</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_DUMP_COMM/values/3/description</name>
+  <message>
+  <source>Both</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_HARDW_SETUP/shortDesc</name>
+  <message>
+  <source>Setup and expected use of the hardware</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_HARDW_SETUP/longDesc</name>
+  <message>
+  <source>Setup and expected use of the hardware. - Default: Use two receivers as completely separate instances. - Moving base: Use two receivers in a rover &amp; moving base setup for heading.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_HARDW_SETUP/values/0/description</name>
+  <message>
+  <source>Default</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_HARDW_SETUP/values/1/description</name>
+  <message>
+  <source>Moving base</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_LOG_FORCE/shortDesc</name>
+  <message>
+  <source>Whether to overwrite or add to existing logging</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_LOG_FORCE/longDesc</name>
+  <message>
+  <source>When the receiver is already set up to log data, this decides whether extra logged data should be added or overwrite existing data.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_LOG_FORCE/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_LOG_FORCE/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_LOG_HZ/shortDesc</name>
+  <message>
+  <source>Logging frequency for the receiver</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_LOG_HZ/longDesc</name>
+  <message>
+  <source>Select the frequency at which the connected receiver should log data to its internal storage.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_LOG_HZ/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_LOG_HZ/values/1/description</name>
+  <message>
+  <source>0.1 Hz</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_LOG_HZ/values/2/description</name>
+  <message>
+  <source>0.2 Hz</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_LOG_HZ/values/3/description</name>
+  <message>
+  <source>0.5 Hz</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_LOG_HZ/values/4/description</name>
+  <message>
+  <source>1 Hz</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_LOG_HZ/values/5/description</name>
+  <message>
+  <source>2 Hz</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_LOG_HZ/values/6/description</name>
+  <message>
+  <source>5 Hz</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_LOG_HZ/values/7/description</name>
+  <message>
+  <source>10 Hz</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_LOG_HZ/values/8/description</name>
+  <message>
+  <source>20 Hz</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_LOG_HZ/values/9/description</name>
+  <message>
+  <source>25 Hz</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_LOG_HZ/values/10/description</name>
+  <message>
+  <source>50 Hz</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_LOG_LEVEL/shortDesc</name>
+  <message>
+  <source>Logging level for the receiver</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_LOG_LEVEL/longDesc</name>
+  <message>
+  <source>Select the level of detail that needs to be logged by the receiver.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_LOG_LEVEL/values/0/description</name>
+  <message>
+  <source>Lite</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_LOG_LEVEL/values/1/description</name>
+  <message>
+  <source>Basic</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_LOG_LEVEL/values/2/description</name>
+  <message>
+  <source>Default</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_LOG_LEVEL/values/3/description</name>
+  <message>
+  <source>Full</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_OUTP_HZ/shortDesc</name>
+  <message>
+  <source>Output frequency of main SBF blocks</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_OUTP_HZ/longDesc</name>
+  <message>
+  <source>The output frequency of the main SBF blocks needed for PVT information.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_OUTP_HZ/values/0/description</name>
+  <message>
+  <source>5 Hz</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_OUTP_HZ/values/1/description</name>
+  <message>
+  <source>10 Hz</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_OUTP_HZ/values/2/description</name>
+  <message>
+  <source>20 Hz</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_OUTP_HZ/values/3/description</name>
+  <message>
+  <source>25 Hz</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_PITCH_OFFS/shortDesc</name>
+  <message>
+  <source>Pitch offset for dual antenna GPS</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_PITCH_OFFS/longDesc</name>
+  <message>
+  <source>Vertical offsets can be compensated for by adjusting the Pitch offset. Note that this can be interpreted as the "roll" angle in case the antennas are aligned along the perpendicular axis. This occurs in situations where the two antenna ARPs may not be exactly at the same height in the vehicle reference frame. Since pitch is defined as the right-handed rotation about the vehicle Y axis, a situation where the main antenna is mounted lower than the aux antenna (assuming the default antenna setup) will result in a positive pitch.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_PORT1_CFG/shortDesc</name>
+  <message>
+  <source>Serial Configuration for GPS Port</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_PORT1_CFG/longDesc</name>
+  <message>
+  <source>Configure on which serial port to run GPS Port.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_PORT1_CFG/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_PORT1_CFG/values/6/description</name>
+  <message>
+  <source>UART 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_PORT1_CFG/values/101/description</name>
+  <message>
+  <source>TELEM 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_PORT1_CFG/values/102/description</name>
+  <message>
+  <source>TELEM 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_PORT1_CFG/values/103/description</name>
+  <message>
+  <source>TELEM 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_PORT1_CFG/values/104/description</name>
+  <message>
+  <source>TELEM/SERIAL 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_PORT1_CFG/values/201/description</name>
+  <message>
+  <source>GPS 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_PORT1_CFG/values/202/description</name>
+  <message>
+  <source>GPS 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_PORT1_CFG/values/203/description</name>
+  <message>
+  <source>GPS 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_PORT1_CFG/values/300/description</name>
+  <message>
+  <source>Radio Controller</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_PORT1_CFG/values/301/description</name>
+  <message>
+  <source>Wifi Port</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_PORT1_CFG/values/401/description</name>
+  <message>
+  <source>EXT2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_PORT2_CFG/shortDesc</name>
+  <message>
+  <source>Serial Configuration for Secondary GPS port</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_PORT2_CFG/longDesc</name>
+  <message>
+  <source>Configure on which serial port to run Secondary GPS port.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_PORT2_CFG/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_PORT2_CFG/values/6/description</name>
+  <message>
+  <source>UART 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_PORT2_CFG/values/101/description</name>
+  <message>
+  <source>TELEM 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_PORT2_CFG/values/102/description</name>
+  <message>
+  <source>TELEM 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_PORT2_CFG/values/103/description</name>
+  <message>
+  <source>TELEM 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_PORT2_CFG/values/104/description</name>
+  <message>
+  <source>TELEM/SERIAL 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_PORT2_CFG/values/201/description</name>
+  <message>
+  <source>GPS 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_PORT2_CFG/values/202/description</name>
+  <message>
+  <source>GPS 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_PORT2_CFG/values/203/description</name>
+  <message>
+  <source>GPS 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_PORT2_CFG/values/300/description</name>
+  <message>
+  <source>Radio Controller</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_PORT2_CFG/values/301/description</name>
+  <message>
+  <source>Wifi Port</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_PORT2_CFG/values/401/description</name>
+  <message>
+  <source>EXT2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_SAT_INFO/shortDesc</name>
+  <message>
+  <source>Enable sat info</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_SAT_INFO/longDesc</name>
+  <message>
+  <source>Enable publication of satellite info (ORB_ID(satellite_info)) if possible.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_SAT_INFO/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_SAT_INFO/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_STREAM_LOG/shortDesc</name>
+  <message>
+  <source>Logging stream used during automatic configuration</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_STREAM_LOG/longDesc</name>
+  <message>
+  <source>The stream the autopilot sets up on the receiver to output the logging data. Set this to another value if the default stream is already used for another purpose.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_STREAM_MAIN/shortDesc</name>
+  <message>
+  <source>Main stream used during automatic configuration</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_STREAM_MAIN/longDesc</name>
+  <message>
+  <source>The stream the autopilot sets up on the receiver to output the main data. Set this to another value if the default stream is already used for another purpose.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_YAW_OFFS/shortDesc</name>
+  <message>
+  <source>Heading/Yaw offset for dual antenna GPS</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SEP_YAW_OFFS/longDesc</name>
+  <message>
+  <source>Heading offset angle for dual antenna GPS setups that support heading estimation. Set this to 0 if the antennas are parallel to the forward-facing direction of the vehicle and the rover antenna is in front. The offset angle increases clockwise. Set this to 90 if the rover antenna is placed on the right side of the vehicle and the moving base antenna is on the left side.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_CRSF_PRT_CFG/shortDesc</name>
+  <message>
+  <source>Serial Configuration for CRSF RC Input Driver</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_CRSF_PRT_CFG/longDesc</name>
+  <message>
+  <source>Configure on which serial port to run CRSF RC Input Driver. Crossfire RC (CRSF) driver.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_CRSF_PRT_CFG/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_CRSF_PRT_CFG/values/6/description</name>
+  <message>
+  <source>UART 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_CRSF_PRT_CFG/values/101/description</name>
+  <message>
+  <source>TELEM 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_CRSF_PRT_CFG/values/102/description</name>
+  <message>
+  <source>TELEM 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_CRSF_PRT_CFG/values/103/description</name>
+  <message>
+  <source>TELEM 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_CRSF_PRT_CFG/values/104/description</name>
+  <message>
+  <source>TELEM/SERIAL 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_CRSF_PRT_CFG/values/201/description</name>
+  <message>
+  <source>GPS 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_CRSF_PRT_CFG/values/202/description</name>
+  <message>
+  <source>GPS 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_CRSF_PRT_CFG/values/203/description</name>
+  <message>
+  <source>GPS 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_CRSF_PRT_CFG/values/300/description</name>
+  <message>
+  <source>Radio Controller</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_CRSF_PRT_CFG/values/301/description</name>
+  <message>
+  <source>Wifi Port</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_CRSF_PRT_CFG/values/401/description</name>
+  <message>
+  <source>EXT2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_PORT_CONFIG/shortDesc</name>
+  <message>
+  <source>Serial Configuration for RC Input Driver</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_PORT_CONFIG/longDesc</name>
+  <message>
+  <source>Configure on which serial port to run RC Input Driver. Setting this to 'Disabled' will use a board-specific default port for RC input.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_PORT_CONFIG/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_PORT_CONFIG/values/6/description</name>
+  <message>
+  <source>UART 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_PORT_CONFIG/values/101/description</name>
+  <message>
+  <source>TELEM 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_PORT_CONFIG/values/102/description</name>
+  <message>
+  <source>TELEM 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_PORT_CONFIG/values/103/description</name>
+  <message>
+  <source>TELEM 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_PORT_CONFIG/values/104/description</name>
+  <message>
+  <source>TELEM/SERIAL 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_PORT_CONFIG/values/201/description</name>
+  <message>
+  <source>GPS 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_PORT_CONFIG/values/202/description</name>
+  <message>
+  <source>GPS 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_PORT_CONFIG/values/203/description</name>
+  <message>
+  <source>GPS 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_PORT_CONFIG/values/300/description</name>
+  <message>
+  <source>Radio Controller</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_PORT_CONFIG/values/301/description</name>
+  <message>
+  <source>Wifi Port</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/RC_PORT_CONFIG/values/401/description</name>
+  <message>
+  <source>EXT2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_EXT2_BAUD/shortDesc</name>
+  <message>
+  <source>Baudrate for the EXT2 Serial Port</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_EXT2_BAUD/longDesc</name>
+  <message>
+  <source>Configure the Baudrate for the EXT2 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_EXT2_BAUD/values/0/description</name>
+  <message>
+  <source>Auto</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_EXT2_BAUD/values/50/description</name>
+  <message>
+  <source>50 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_EXT2_BAUD/values/75/description</name>
+  <message>
+  <source>75 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_EXT2_BAUD/values/110/description</name>
+  <message>
+  <source>110 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_EXT2_BAUD/values/134/description</name>
+  <message>
+  <source>134 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_EXT2_BAUD/values/150/description</name>
+  <message>
+  <source>150 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_EXT2_BAUD/values/200/description</name>
+  <message>
+  <source>200 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_EXT2_BAUD/values/300/description</name>
+  <message>
+  <source>300 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_EXT2_BAUD/values/600/description</name>
+  <message>
+  <source>600 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_EXT2_BAUD/values/1200/description</name>
+  <message>
+  <source>1200 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_EXT2_BAUD/values/1800/description</name>
+  <message>
+  <source>1800 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_EXT2_BAUD/values/2400/description</name>
+  <message>
+  <source>2400 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_EXT2_BAUD/values/4800/description</name>
+  <message>
+  <source>4800 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_EXT2_BAUD/values/9600/description</name>
+  <message>
+  <source>9600 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_EXT2_BAUD/values/19200/description</name>
+  <message>
+  <source>19200 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_EXT2_BAUD/values/38400/description</name>
+  <message>
+  <source>38400 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_EXT2_BAUD/values/57600/description</name>
+  <message>
+  <source>57600 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_EXT2_BAUD/values/115200/description</name>
+  <message>
+  <source>115200 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_EXT2_BAUD/values/230400/description</name>
+  <message>
+  <source>230400 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_EXT2_BAUD/values/460800/description</name>
+  <message>
+  <source>460800 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_EXT2_BAUD/values/500000/description</name>
+  <message>
+  <source>500000 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_EXT2_BAUD/values/921600/description</name>
+  <message>
+  <source>921600 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_EXT2_BAUD/values/1000000/description</name>
+  <message>
+  <source>1000000 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_EXT2_BAUD/values/1500000/description</name>
+  <message>
+  <source>1500000 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_EXT2_BAUD/values/2000000/description</name>
+  <message>
+  <source>2000000 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_EXT2_BAUD/values/3000000/description</name>
+  <message>
+  <source>3000000 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS1_BAUD/shortDesc</name>
+  <message>
+  <source>Baudrate for the GPS 1 Serial Port</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS1_BAUD/longDesc</name>
+  <message>
+  <source>Configure the Baudrate for the GPS 1 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS1_BAUD/values/0/description</name>
+  <message>
+  <source>Auto</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS1_BAUD/values/50/description</name>
+  <message>
+  <source>50 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS1_BAUD/values/75/description</name>
+  <message>
+  <source>75 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS1_BAUD/values/110/description</name>
+  <message>
+  <source>110 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS1_BAUD/values/134/description</name>
+  <message>
+  <source>134 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS1_BAUD/values/150/description</name>
+  <message>
+  <source>150 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS1_BAUD/values/200/description</name>
+  <message>
+  <source>200 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS1_BAUD/values/300/description</name>
+  <message>
+  <source>300 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS1_BAUD/values/600/description</name>
+  <message>
+  <source>600 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS1_BAUD/values/1200/description</name>
+  <message>
+  <source>1200 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS1_BAUD/values/1800/description</name>
+  <message>
+  <source>1800 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS1_BAUD/values/2400/description</name>
+  <message>
+  <source>2400 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS1_BAUD/values/4800/description</name>
+  <message>
+  <source>4800 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS1_BAUD/values/9600/description</name>
+  <message>
+  <source>9600 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS1_BAUD/values/19200/description</name>
+  <message>
+  <source>19200 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS1_BAUD/values/38400/description</name>
+  <message>
+  <source>38400 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS1_BAUD/values/57600/description</name>
+  <message>
+  <source>57600 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS1_BAUD/values/115200/description</name>
+  <message>
+  <source>115200 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS1_BAUD/values/230400/description</name>
+  <message>
+  <source>230400 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS1_BAUD/values/460800/description</name>
+  <message>
+  <source>460800 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS1_BAUD/values/500000/description</name>
+  <message>
+  <source>500000 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS1_BAUD/values/921600/description</name>
+  <message>
+  <source>921600 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS1_BAUD/values/1000000/description</name>
+  <message>
+  <source>1000000 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS1_BAUD/values/1500000/description</name>
+  <message>
+  <source>1500000 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS1_BAUD/values/2000000/description</name>
+  <message>
+  <source>2000000 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS1_BAUD/values/3000000/description</name>
+  <message>
+  <source>3000000 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS2_BAUD/shortDesc</name>
+  <message>
+  <source>Baudrate for the GPS 2 Serial Port</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS2_BAUD/longDesc</name>
+  <message>
+  <source>Configure the Baudrate for the GPS 2 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS2_BAUD/values/0/description</name>
+  <message>
+  <source>Auto</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS2_BAUD/values/50/description</name>
+  <message>
+  <source>50 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS2_BAUD/values/75/description</name>
+  <message>
+  <source>75 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS2_BAUD/values/110/description</name>
+  <message>
+  <source>110 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS2_BAUD/values/134/description</name>
+  <message>
+  <source>134 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS2_BAUD/values/150/description</name>
+  <message>
+  <source>150 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS2_BAUD/values/200/description</name>
+  <message>
+  <source>200 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS2_BAUD/values/300/description</name>
+  <message>
+  <source>300 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS2_BAUD/values/600/description</name>
+  <message>
+  <source>600 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS2_BAUD/values/1200/description</name>
+  <message>
+  <source>1200 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS2_BAUD/values/1800/description</name>
+  <message>
+  <source>1800 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS2_BAUD/values/2400/description</name>
+  <message>
+  <source>2400 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS2_BAUD/values/4800/description</name>
+  <message>
+  <source>4800 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS2_BAUD/values/9600/description</name>
+  <message>
+  <source>9600 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS2_BAUD/values/19200/description</name>
+  <message>
+  <source>19200 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS2_BAUD/values/38400/description</name>
+  <message>
+  <source>38400 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS2_BAUD/values/57600/description</name>
+  <message>
+  <source>57600 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS2_BAUD/values/115200/description</name>
+  <message>
+  <source>115200 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS2_BAUD/values/230400/description</name>
+  <message>
+  <source>230400 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS2_BAUD/values/460800/description</name>
+  <message>
+  <source>460800 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS2_BAUD/values/500000/description</name>
+  <message>
+  <source>500000 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS2_BAUD/values/921600/description</name>
+  <message>
+  <source>921600 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS2_BAUD/values/1000000/description</name>
+  <message>
+  <source>1000000 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS2_BAUD/values/1500000/description</name>
+  <message>
+  <source>1500000 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS2_BAUD/values/2000000/description</name>
+  <message>
+  <source>2000000 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS2_BAUD/values/3000000/description</name>
+  <message>
+  <source>3000000 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS3_BAUD/shortDesc</name>
+  <message>
+  <source>Baudrate for the GPS 3 Serial Port</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS3_BAUD/longDesc</name>
+  <message>
+  <source>Configure the Baudrate for the GPS 3 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS3_BAUD/values/0/description</name>
+  <message>
+  <source>Auto</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS3_BAUD/values/50/description</name>
+  <message>
+  <source>50 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS3_BAUD/values/75/description</name>
+  <message>
+  <source>75 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS3_BAUD/values/110/description</name>
+  <message>
+  <source>110 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS3_BAUD/values/134/description</name>
+  <message>
+  <source>134 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS3_BAUD/values/150/description</name>
+  <message>
+  <source>150 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS3_BAUD/values/200/description</name>
+  <message>
+  <source>200 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS3_BAUD/values/300/description</name>
+  <message>
+  <source>300 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS3_BAUD/values/600/description</name>
+  <message>
+  <source>600 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS3_BAUD/values/1200/description</name>
+  <message>
+  <source>1200 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS3_BAUD/values/1800/description</name>
+  <message>
+  <source>1800 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS3_BAUD/values/2400/description</name>
+  <message>
+  <source>2400 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS3_BAUD/values/4800/description</name>
+  <message>
+  <source>4800 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS3_BAUD/values/9600/description</name>
+  <message>
+  <source>9600 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS3_BAUD/values/19200/description</name>
+  <message>
+  <source>19200 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS3_BAUD/values/38400/description</name>
+  <message>
+  <source>38400 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS3_BAUD/values/57600/description</name>
+  <message>
+  <source>57600 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS3_BAUD/values/115200/description</name>
+  <message>
+  <source>115200 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS3_BAUD/values/230400/description</name>
+  <message>
+  <source>230400 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS3_BAUD/values/460800/description</name>
+  <message>
+  <source>460800 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS3_BAUD/values/500000/description</name>
+  <message>
+  <source>500000 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS3_BAUD/values/921600/description</name>
+  <message>
+  <source>921600 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS3_BAUD/values/1000000/description</name>
+  <message>
+  <source>1000000 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS3_BAUD/values/1500000/description</name>
+  <message>
+  <source>1500000 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS3_BAUD/values/2000000/description</name>
+  <message>
+  <source>2000000 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_GPS3_BAUD/values/3000000/description</name>
+  <message>
+  <source>3000000 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_MXS_BAUD/shortDesc</name>
+  <message>
+  <source>MXS Serial Communication Baud rate</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_MXS_BAUD/longDesc</name>
+  <message>
+  <source>Baudrate for the Serial Port connected to the MXS Transponder</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_MXS_BAUD/values/0/description</name>
+  <message>
+  <source>38400</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_MXS_BAUD/values/1/description</name>
+  <message>
+  <source>600</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_MXS_BAUD/values/2/description</name>
+  <message>
+  <source>4800</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_MXS_BAUD/values/3/description</name>
+  <message>
+  <source>9600</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_MXS_BAUD/values/4/description</name>
+  <message>
+  <source>RESERVED</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_MXS_BAUD/values/5/description</name>
+  <message>
+  <source>57600</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_MXS_BAUD/values/6/description</name>
+  <message>
+  <source>115200</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_MXS_BAUD/values/7/description</name>
+  <message>
+  <source>230400</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_MXS_BAUD/values/8/description</name>
+  <message>
+  <source>19200</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_MXS_BAUD/values/9/description</name>
+  <message>
+  <source>460800</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_MXS_BAUD/values/10/description</name>
+  <message>
+  <source>921600</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_RC_BAUD/shortDesc</name>
+  <message>
+  <source>Baudrate for the Radio Controller Serial Port</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_RC_BAUD/longDesc</name>
+  <message>
+  <source>Configure the Baudrate for the Radio Controller Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_RC_BAUD/values/0/description</name>
+  <message>
+  <source>Auto</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_RC_BAUD/values/50/description</name>
+  <message>
+  <source>50 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_RC_BAUD/values/75/description</name>
+  <message>
+  <source>75 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_RC_BAUD/values/110/description</name>
+  <message>
+  <source>110 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_RC_BAUD/values/134/description</name>
+  <message>
+  <source>134 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_RC_BAUD/values/150/description</name>
+  <message>
+  <source>150 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_RC_BAUD/values/200/description</name>
+  <message>
+  <source>200 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_RC_BAUD/values/300/description</name>
+  <message>
+  <source>300 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_RC_BAUD/values/600/description</name>
+  <message>
+  <source>600 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_RC_BAUD/values/1200/description</name>
+  <message>
+  <source>1200 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_RC_BAUD/values/1800/description</name>
+  <message>
+  <source>1800 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_RC_BAUD/values/2400/description</name>
+  <message>
+  <source>2400 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_RC_BAUD/values/4800/description</name>
+  <message>
+  <source>4800 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_RC_BAUD/values/9600/description</name>
+  <message>
+  <source>9600 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_RC_BAUD/values/19200/description</name>
+  <message>
+  <source>19200 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_RC_BAUD/values/38400/description</name>
+  <message>
+  <source>38400 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_RC_BAUD/values/57600/description</name>
+  <message>
+  <source>57600 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_RC_BAUD/values/115200/description</name>
+  <message>
+  <source>115200 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_RC_BAUD/values/230400/description</name>
+  <message>
+  <source>230400 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_RC_BAUD/values/460800/description</name>
+  <message>
+  <source>460800 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_RC_BAUD/values/500000/description</name>
+  <message>
+  <source>500000 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_RC_BAUD/values/921600/description</name>
+  <message>
+  <source>921600 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_RC_BAUD/values/1000000/description</name>
+  <message>
+  <source>1000000 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_RC_BAUD/values/1500000/description</name>
+  <message>
+  <source>1500000 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_RC_BAUD/values/2000000/description</name>
+  <message>
+  <source>2000000 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_RC_BAUD/values/3000000/description</name>
+  <message>
+  <source>3000000 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_TEL1_BAUD/shortDesc</name>
+  <message>
+  <source>Baudrate for the TELEM 1 Serial Port</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_TEL1_BAUD/longDesc</name>
+  <message>
+  <source>Configure the Baudrate for the TELEM 1 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_TEL1_BAUD/values/0/description</name>
+  <message>
+  <source>Auto</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_TEL1_BAUD/values/50/description</name>
+  <message>
+  <source>50 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_TEL1_BAUD/values/75/description</name>
+  <message>
+  <source>75 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_TEL1_BAUD/values/110/description</name>
+  <message>
+  <source>110 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_TEL1_BAUD/values/134/description</name>
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+  <source>150 8N1</source>
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+<context>
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+  <source>200 8N1</source>
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+<context>
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+<context>
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+  <message>
+  <source>1200 8N1</source>
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+<context>
+  <name>/parameters/SER_TEL1_BAUD/values/1800/description</name>
+  <message>
+  <source>1800 8N1</source>
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+<context>
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+  <message>
+  <source>2400 8N1</source>
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+<context>
+  <name>/parameters/SER_TEL1_BAUD/values/4800/description</name>
+  <message>
+  <source>4800 8N1</source>
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+<context>
+  <name>/parameters/SER_TEL1_BAUD/values/9600/description</name>
+  <message>
+  <source>9600 8N1</source>
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+<context>
+  <name>/parameters/SER_TEL1_BAUD/values/19200/description</name>
+  <message>
+  <source>19200 8N1</source>
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+<context>
+  <name>/parameters/SER_TEL1_BAUD/values/38400/description</name>
+  <message>
+  <source>38400 8N1</source>
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+<context>
+  <name>/parameters/SER_TEL1_BAUD/values/57600/description</name>
+  <message>
+  <source>57600 8N1</source>
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+<context>
+  <name>/parameters/SER_TEL1_BAUD/values/115200/description</name>
+  <message>
+  <source>115200 8N1</source>
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+<context>
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+<context>
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+  <source>460800 8N1</source>
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+<context>
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+  <message>
+  <source>500000 8N1</source>
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+<context>
+  <name>/parameters/SER_TEL1_BAUD/values/921600/description</name>
+  <message>
+  <source>921600 8N1</source>
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+<context>
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+  <source>1000000 8N1</source>
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+<context>
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+<context>
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+  <source>2000000 8N1</source>
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+<context>
+  <name>/parameters/SER_TEL1_BAUD/values/3000000/description</name>
+  <message>
+  <source>3000000 8N1</source>
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+<context>
+  <name>/parameters/SER_TEL2_BAUD/shortDesc</name>
+  <message>
+  <source>Baudrate for the TELEM 2 Serial Port</source>
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+</context>
+<context>
+  <name>/parameters/SER_TEL2_BAUD/longDesc</name>
+  <message>
+  <source>Configure the Baudrate for the TELEM 2 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.</source>
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+</context>
+<context>
+  <name>/parameters/SER_TEL2_BAUD/values/0/description</name>
+  <message>
+  <source>Auto</source>
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+</context>
+<context>
+  <name>/parameters/SER_TEL2_BAUD/values/50/description</name>
+  <message>
+  <source>50 8N1</source>
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+</context>
+<context>
+  <name>/parameters/SER_TEL2_BAUD/values/75/description</name>
+  <message>
+  <source>75 8N1</source>
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+<context>
+  <name>/parameters/SER_TEL2_BAUD/values/110/description</name>
+  <message>
+  <source>110 8N1</source>
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+<context>
+  <name>/parameters/SER_TEL2_BAUD/values/134/description</name>
+  <message>
+  <source>134 8N1</source>
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+<context>
+  <name>/parameters/SER_TEL2_BAUD/values/150/description</name>
+  <message>
+  <source>150 8N1</source>
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+<context>
+  <name>/parameters/SER_TEL2_BAUD/values/200/description</name>
+  <message>
+  <source>200 8N1</source>
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+<context>
+  <name>/parameters/SER_TEL2_BAUD/values/300/description</name>
+  <message>
+  <source>300 8N1</source>
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+<context>
+  <name>/parameters/SER_TEL2_BAUD/values/600/description</name>
+  <message>
+  <source>600 8N1</source>
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+<context>
+  <name>/parameters/SER_TEL2_BAUD/values/1200/description</name>
+  <message>
+  <source>1200 8N1</source>
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+<context>
+  <name>/parameters/SER_TEL2_BAUD/values/1800/description</name>
+  <message>
+  <source>1800 8N1</source>
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+</context>
+<context>
+  <name>/parameters/SER_TEL2_BAUD/values/2400/description</name>
+  <message>
+  <source>2400 8N1</source>
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+</context>
+<context>
+  <name>/parameters/SER_TEL2_BAUD/values/4800/description</name>
+  <message>
+  <source>4800 8N1</source>
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+</context>
+<context>
+  <name>/parameters/SER_TEL2_BAUD/values/9600/description</name>
+  <message>
+  <source>9600 8N1</source>
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+</context>
+<context>
+  <name>/parameters/SER_TEL2_BAUD/values/19200/description</name>
+  <message>
+  <source>19200 8N1</source>
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+</context>
+<context>
+  <name>/parameters/SER_TEL2_BAUD/values/38400/description</name>
+  <message>
+  <source>38400 8N1</source>
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+</context>
+<context>
+  <name>/parameters/SER_TEL2_BAUD/values/57600/description</name>
+  <message>
+  <source>57600 8N1</source>
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+</context>
+<context>
+  <name>/parameters/SER_TEL2_BAUD/values/115200/description</name>
+  <message>
+  <source>115200 8N1</source>
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+</context>
+<context>
+  <name>/parameters/SER_TEL2_BAUD/values/230400/description</name>
+  <message>
+  <source>230400 8N1</source>
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+<context>
+  <name>/parameters/SER_TEL2_BAUD/values/460800/description</name>
+  <message>
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+<context>
+  <name>/parameters/SER_TEL2_BAUD/values/500000/description</name>
+  <message>
+  <source>500000 8N1</source>
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+<context>
+  <name>/parameters/SER_TEL2_BAUD/values/921600/description</name>
+  <message>
+  <source>921600 8N1</source>
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+<context>
+  <name>/parameters/SER_TEL2_BAUD/values/1000000/description</name>
+  <message>
+  <source>1000000 8N1</source>
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+<context>
+  <name>/parameters/SER_TEL2_BAUD/values/1500000/description</name>
+  <message>
+  <source>1500000 8N1</source>
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+</context>
+<context>
+  <name>/parameters/SER_TEL2_BAUD/values/2000000/description</name>
+  <message>
+  <source>2000000 8N1</source>
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+<context>
+  <name>/parameters/SER_TEL2_BAUD/values/3000000/description</name>
+  <message>
+  <source>3000000 8N1</source>
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+</context>
+<context>
+  <name>/parameters/SER_TEL3_BAUD/shortDesc</name>
+  <message>
+  <source>Baudrate for the TELEM 3 Serial Port</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_TEL3_BAUD/longDesc</name>
+  <message>
+  <source>Configure the Baudrate for the TELEM 3 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_TEL3_BAUD/values/0/description</name>
+  <message>
+  <source>Auto</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_TEL3_BAUD/values/50/description</name>
+  <message>
+  <source>50 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_TEL3_BAUD/values/75/description</name>
+  <message>
+  <source>75 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_TEL3_BAUD/values/110/description</name>
+  <message>
+  <source>110 8N1</source>
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+</context>
+<context>
+  <name>/parameters/SER_TEL3_BAUD/values/134/description</name>
+  <message>
+  <source>134 8N1</source>
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+</context>
+<context>
+  <name>/parameters/SER_TEL3_BAUD/values/150/description</name>
+  <message>
+  <source>150 8N1</source>
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+</context>
+<context>
+  <name>/parameters/SER_TEL3_BAUD/values/200/description</name>
+  <message>
+  <source>200 8N1</source>
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+</context>
+<context>
+  <name>/parameters/SER_TEL3_BAUD/values/300/description</name>
+  <message>
+  <source>300 8N1</source>
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+</context>
+<context>
+  <name>/parameters/SER_TEL3_BAUD/values/600/description</name>
+  <message>
+  <source>600 8N1</source>
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+</context>
+<context>
+  <name>/parameters/SER_TEL3_BAUD/values/1200/description</name>
+  <message>
+  <source>1200 8N1</source>
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+</context>
+<context>
+  <name>/parameters/SER_TEL3_BAUD/values/1800/description</name>
+  <message>
+  <source>1800 8N1</source>
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+</context>
+<context>
+  <name>/parameters/SER_TEL3_BAUD/values/2400/description</name>
+  <message>
+  <source>2400 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_TEL3_BAUD/values/4800/description</name>
+  <message>
+  <source>4800 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_TEL3_BAUD/values/9600/description</name>
+  <message>
+  <source>9600 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_TEL3_BAUD/values/19200/description</name>
+  <message>
+  <source>19200 8N1</source>
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+</context>
+<context>
+  <name>/parameters/SER_TEL3_BAUD/values/38400/description</name>
+  <message>
+  <source>38400 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_TEL3_BAUD/values/57600/description</name>
+  <message>
+  <source>57600 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_TEL3_BAUD/values/115200/description</name>
+  <message>
+  <source>115200 8N1</source>
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+</context>
+<context>
+  <name>/parameters/SER_TEL3_BAUD/values/230400/description</name>
+  <message>
+  <source>230400 8N1</source>
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+</context>
+<context>
+  <name>/parameters/SER_TEL3_BAUD/values/460800/description</name>
+  <message>
+  <source>460800 8N1</source>
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+</context>
+<context>
+  <name>/parameters/SER_TEL3_BAUD/values/500000/description</name>
+  <message>
+  <source>500000 8N1</source>
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+</context>
+<context>
+  <name>/parameters/SER_TEL3_BAUD/values/921600/description</name>
+  <message>
+  <source>921600 8N1</source>
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+</context>
+<context>
+  <name>/parameters/SER_TEL3_BAUD/values/1000000/description</name>
+  <message>
+  <source>1000000 8N1</source>
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+</context>
+<context>
+  <name>/parameters/SER_TEL3_BAUD/values/1500000/description</name>
+  <message>
+  <source>1500000 8N1</source>
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+</context>
+<context>
+  <name>/parameters/SER_TEL3_BAUD/values/2000000/description</name>
+  <message>
+  <source>2000000 8N1</source>
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+</context>
+<context>
+  <name>/parameters/SER_TEL3_BAUD/values/3000000/description</name>
+  <message>
+  <source>3000000 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_TEL4_BAUD/shortDesc</name>
+  <message>
+  <source>Baudrate for the TELEM/SERIAL 4 Serial Port</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_TEL4_BAUD/longDesc</name>
+  <message>
+  <source>Configure the Baudrate for the TELEM/SERIAL 4 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_TEL4_BAUD/values/0/description</name>
+  <message>
+  <source>Auto</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_TEL4_BAUD/values/50/description</name>
+  <message>
+  <source>50 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_TEL4_BAUD/values/75/description</name>
+  <message>
+  <source>75 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_TEL4_BAUD/values/110/description</name>
+  <message>
+  <source>110 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_TEL4_BAUD/values/134/description</name>
+  <message>
+  <source>134 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_TEL4_BAUD/values/150/description</name>
+  <message>
+  <source>150 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_TEL4_BAUD/values/200/description</name>
+  <message>
+  <source>200 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_TEL4_BAUD/values/300/description</name>
+  <message>
+  <source>300 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_TEL4_BAUD/values/600/description</name>
+  <message>
+  <source>600 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_TEL4_BAUD/values/1200/description</name>
+  <message>
+  <source>1200 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_TEL4_BAUD/values/1800/description</name>
+  <message>
+  <source>1800 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_TEL4_BAUD/values/2400/description</name>
+  <message>
+  <source>2400 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_TEL4_BAUD/values/4800/description</name>
+  <message>
+  <source>4800 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_TEL4_BAUD/values/9600/description</name>
+  <message>
+  <source>9600 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_TEL4_BAUD/values/19200/description</name>
+  <message>
+  <source>19200 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_TEL4_BAUD/values/38400/description</name>
+  <message>
+  <source>38400 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_TEL4_BAUD/values/57600/description</name>
+  <message>
+  <source>57600 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_TEL4_BAUD/values/115200/description</name>
+  <message>
+  <source>115200 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_TEL4_BAUD/values/230400/description</name>
+  <message>
+  <source>230400 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_TEL4_BAUD/values/460800/description</name>
+  <message>
+  <source>460800 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_TEL4_BAUD/values/500000/description</name>
+  <message>
+  <source>500000 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_TEL4_BAUD/values/921600/description</name>
+  <message>
+  <source>921600 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_TEL4_BAUD/values/1000000/description</name>
+  <message>
+  <source>1000000 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_TEL4_BAUD/values/1500000/description</name>
+  <message>
+  <source>1500000 8N1</source>
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+</context>
+<context>
+  <name>/parameters/SER_TEL4_BAUD/values/2000000/description</name>
+  <message>
+  <source>2000000 8N1</source>
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+</context>
+<context>
+  <name>/parameters/SER_TEL4_BAUD/values/3000000/description</name>
+  <message>
+  <source>3000000 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_URT6_BAUD/shortDesc</name>
+  <message>
+  <source>Baudrate for the UART 6 Serial Port</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_URT6_BAUD/longDesc</name>
+  <message>
+  <source>Configure the Baudrate for the UART 6 Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_URT6_BAUD/values/0/description</name>
+  <message>
+  <source>Auto</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_URT6_BAUD/values/50/description</name>
+  <message>
+  <source>50 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_URT6_BAUD/values/75/description</name>
+  <message>
+  <source>75 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_URT6_BAUD/values/110/description</name>
+  <message>
+  <source>110 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_URT6_BAUD/values/134/description</name>
+  <message>
+  <source>134 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_URT6_BAUD/values/150/description</name>
+  <message>
+  <source>150 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_URT6_BAUD/values/200/description</name>
+  <message>
+  <source>200 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_URT6_BAUD/values/300/description</name>
+  <message>
+  <source>300 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_URT6_BAUD/values/600/description</name>
+  <message>
+  <source>600 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_URT6_BAUD/values/1200/description</name>
+  <message>
+  <source>1200 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_URT6_BAUD/values/1800/description</name>
+  <message>
+  <source>1800 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_URT6_BAUD/values/2400/description</name>
+  <message>
+  <source>2400 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_URT6_BAUD/values/4800/description</name>
+  <message>
+  <source>4800 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_URT6_BAUD/values/9600/description</name>
+  <message>
+  <source>9600 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_URT6_BAUD/values/19200/description</name>
+  <message>
+  <source>19200 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_URT6_BAUD/values/38400/description</name>
+  <message>
+  <source>38400 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_URT6_BAUD/values/57600/description</name>
+  <message>
+  <source>57600 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_URT6_BAUD/values/115200/description</name>
+  <message>
+  <source>115200 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_URT6_BAUD/values/230400/description</name>
+  <message>
+  <source>230400 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_URT6_BAUD/values/460800/description</name>
+  <message>
+  <source>460800 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_URT6_BAUD/values/500000/description</name>
+  <message>
+  <source>500000 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_URT6_BAUD/values/921600/description</name>
+  <message>
+  <source>921600 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_URT6_BAUD/values/1000000/description</name>
+  <message>
+  <source>1000000 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_URT6_BAUD/values/1500000/description</name>
+  <message>
+  <source>1500000 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_URT6_BAUD/values/2000000/description</name>
+  <message>
+  <source>2000000 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_URT6_BAUD/values/3000000/description</name>
+  <message>
+  <source>3000000 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_WIFI_BAUD/shortDesc</name>
+  <message>
+  <source>Baudrate for the Wifi Port Serial Port</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_WIFI_BAUD/longDesc</name>
+  <message>
+  <source>Configure the Baudrate for the Wifi Port Serial Port. Note: certain drivers such as the GPS can determine the Baudrate automatically.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_WIFI_BAUD/values/0/description</name>
+  <message>
+  <source>Auto</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_WIFI_BAUD/values/50/description</name>
+  <message>
+  <source>50 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_WIFI_BAUD/values/75/description</name>
+  <message>
+  <source>75 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_WIFI_BAUD/values/110/description</name>
+  <message>
+  <source>110 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_WIFI_BAUD/values/134/description</name>
+  <message>
+  <source>134 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_WIFI_BAUD/values/150/description</name>
+  <message>
+  <source>150 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_WIFI_BAUD/values/200/description</name>
+  <message>
+  <source>200 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_WIFI_BAUD/values/300/description</name>
+  <message>
+  <source>300 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_WIFI_BAUD/values/600/description</name>
+  <message>
+  <source>600 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_WIFI_BAUD/values/1200/description</name>
+  <message>
+  <source>1200 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_WIFI_BAUD/values/1800/description</name>
+  <message>
+  <source>1800 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_WIFI_BAUD/values/2400/description</name>
+  <message>
+  <source>2400 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_WIFI_BAUD/values/4800/description</name>
+  <message>
+  <source>4800 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_WIFI_BAUD/values/9600/description</name>
+  <message>
+  <source>9600 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_WIFI_BAUD/values/19200/description</name>
+  <message>
+  <source>19200 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_WIFI_BAUD/values/38400/description</name>
+  <message>
+  <source>38400 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_WIFI_BAUD/values/57600/description</name>
+  <message>
+  <source>57600 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_WIFI_BAUD/values/115200/description</name>
+  <message>
+  <source>115200 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_WIFI_BAUD/values/230400/description</name>
+  <message>
+  <source>230400 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_WIFI_BAUD/values/460800/description</name>
+  <message>
+  <source>460800 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_WIFI_BAUD/values/500000/description</name>
+  <message>
+  <source>500000 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_WIFI_BAUD/values/921600/description</name>
+  <message>
+  <source>921600 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_WIFI_BAUD/values/1000000/description</name>
+  <message>
+  <source>1000000 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_WIFI_BAUD/values/1500000/description</name>
+  <message>
+  <source>1500000 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_WIFI_BAUD/values/2000000/description</name>
+  <message>
+  <source>2000000 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SER_WIFI_BAUD/values/3000000/description</name>
+  <message>
+  <source>3000000 8N1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIH_DISTSNSR_MAX/shortDesc</name>
+  <message>
+  <source>distance sensor maximum range</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIH_DISTSNSR_MIN/shortDesc</name>
+  <message>
+  <source>distance sensor minimum range</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIH_DISTSNSR_OVR/shortDesc</name>
+  <message>
+  <source>if &gt;= 0 the distance sensor measures will be overridden by this value</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIH_DISTSNSR_OVR/longDesc</name>
+  <message>
+  <source>Absolute value superior to 10000 will disable distance sensor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIH_IXX/shortDesc</name>
+  <message>
+  <source>Vehicle inertia about X axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIH_IXX/longDesc</name>
+  <message>
+  <source>The inertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIH_IXY/shortDesc</name>
+  <message>
+  <source>Vehicle cross term inertia xy</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIH_IXY/longDesc</name>
+  <message>
+  <source>The inertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIH_IXZ/shortDesc</name>
+  <message>
+  <source>Vehicle cross term inertia xz</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIH_IXZ/longDesc</name>
+  <message>
+  <source>The inertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIH_IYY/shortDesc</name>
+  <message>
+  <source>Vehicle inertia about Y axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIH_IYY/longDesc</name>
+  <message>
+  <source>The inertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIH_IYZ/shortDesc</name>
+  <message>
+  <source>Vehicle cross term inertia yz</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIH_IYZ/longDesc</name>
+  <message>
+  <source>The inertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIH_IZZ/shortDesc</name>
+  <message>
+  <source>Vehicle inertia about Z axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIH_IZZ/longDesc</name>
+  <message>
+  <source>The inertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIH_KDV/shortDesc</name>
+  <message>
+  <source>First order drag coefficient</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIH_KDV/longDesc</name>
+  <message>
+  <source>Physical coefficient representing the friction with air particules. The greater this value, the slower the quad will move. Drag force function of velocity: D=-KDV*V. The maximum freefall velocity can be computed as V=10*MASS/KDV [m/s]</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIH_KDW/shortDesc</name>
+  <message>
+  <source>First order angular damper coefficient</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIH_KDW/longDesc</name>
+  <message>
+  <source>Physical coefficient representing the friction with air particules during rotations. The greater this value, the slower the quad will rotate. Aerodynamic moment function of body rate: Ma=-KDW*W_B. This value can be set to 0 if unknown.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIH_LOC_H0/shortDesc</name>
+  <message>
+  <source>Initial AMSL ground altitude</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIH_LOC_H0/longDesc</name>
+  <message>
+  <source>This value represents the Above Mean Sea Level (AMSL) altitude where the simulation begins. If using FlightGear as a visual animation, this value can be tweaked such that the vehicle lies on the ground at takeoff. LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIH_LOC_LAT0/shortDesc</name>
+  <message>
+  <source>Initial geodetic latitude</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIH_LOC_LAT0/longDesc</name>
+  <message>
+  <source>This value represents the North-South location on Earth where the simulation begins. A value of 45 deg should be written 450000000. LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIH_LOC_LON0/shortDesc</name>
+  <message>
+  <source>Initial geodetic longitude</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIH_LOC_LON0/longDesc</name>
+  <message>
+  <source>This value represents the East-West location on Earth where the simulation begins. A value of 45 deg should be written 450000000. LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIH_L_PITCH/shortDesc</name>
+  <message>
+  <source>Pitch arm length</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIH_L_PITCH/longDesc</name>
+  <message>
+  <source>This is the arm length generating the pitching moment This value can be measured with a ruler. This corresponds to half the distance between the front and rear motors.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIH_L_ROLL/shortDesc</name>
+  <message>
+  <source>Roll arm length</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIH_L_ROLL/longDesc</name>
+  <message>
+  <source>This is the arm length generating the rolling moment This value can be measured with a ruler. This corresponds to half the distance between the left and right motors.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIH_MASS/shortDesc</name>
+  <message>
+  <source>Vehicle mass</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIH_MASS/longDesc</name>
+  <message>
+  <source>This value can be measured by weighting the quad on a scale.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIH_Q_MAX/shortDesc</name>
+  <message>
+  <source>Max propeller torque</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIH_Q_MAX/longDesc</name>
+  <message>
+  <source>This is the maximum torque delivered by one propeller when the motor is running at full speed. This value is usually about few percent of the maximum thrust force.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIH_T_MAX/shortDesc</name>
+  <message>
+  <source>Max propeller thrust force</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIH_T_MAX/longDesc</name>
+  <message>
+  <source>This is the maximum force delivered by one propeller when the motor is running at full speed. This value is usually about 5 times the mass of the quadrotor.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIH_T_TAU/shortDesc</name>
+  <message>
+  <source>thruster time constant tau</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIH_T_TAU/longDesc</name>
+  <message>
+  <source>the time taken for the thruster to step from 0 to 100% should be about 4 times tau</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIH_VEHICLE_TYPE/shortDesc</name>
+  <message>
+  <source>Vehicle type</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIH_VEHICLE_TYPE/values/0/description</name>
+  <message>
+  <source>Multicopter</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIH_VEHICLE_TYPE/values/1/description</name>
+  <message>
+  <source>Fixed-Wing</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIH_VEHICLE_TYPE/values/2/description</name>
+  <message>
+  <source>Tailsitter</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIM_BARO_OFF_P/shortDesc</name>
+  <message>
+  <source>simulated barometer pressure offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIM_BARO_OFF_T/shortDesc</name>
+  <message>
+  <source>simulated barometer temperature offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIM_GPS_USED/shortDesc</name>
+  <message>
+  <source>simulated GPS number of satellites used</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIM_MAG_OFFSET_X/shortDesc</name>
+  <message>
+  <source>simulated magnetometer X offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIM_MAG_OFFSET_Y/shortDesc</name>
+  <message>
+  <source>simulated magnetometer Y offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SIM_MAG_OFFSET_Z/shortDesc</name>
+  <message>
+  <source>simulated magnetometer Z offset</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_AUTOCONFIG/shortDesc</name>
+  <message>
+  <source>Automatically configure default values</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_AUTOCONFIG/longDesc</name>
+  <message>
+  <source>Set to 1 to reset parameters on next system startup (setting defaults). Platform-specific values are used if available. RC* parameters are preserved.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_AUTOCONFIG/values/0/description</name>
+  <message>
+  <source>Keep parameters</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_AUTOCONFIG/values/1/description</name>
+  <message>
+  <source>Reset parameters to airframe defaults</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_AUTOSTART/shortDesc</name>
+  <message>
+  <source>Auto-start script index</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_AUTOSTART/longDesc</name>
+  <message>
+  <source>CHANGING THIS VALUE REQUIRES A RESTART. Defines the auto-start script used to bootstrap the system.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_BL_UPDATE/shortDesc</name>
+  <message>
+  <source>Bootloader update</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_BL_UPDATE/longDesc</name>
+  <message>
+  <source>If enabled, update the bootloader on the next boot. WARNING: do not cut the power during an update process, otherwise you will have to recover using some alternative method (e.g. JTAG). Instructions: - Insert an SD card - Enable this parameter - Reboot the board (plug the power or send a reboot command) - Wait until the board comes back up (or at least 2 minutes) - If it does not come back, check the file bootlog.txt on the SD card</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_BL_UPDATE/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_BL_UPDATE/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_CAL_ACCEL/shortDesc</name>
+  <message>
+  <source>Enable auto start of accelerometer thermal calibration at the next power up</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_CAL_ACCEL/longDesc</name>
+  <message>
+  <source>0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the temperature calibration starts. default (0, no calibration)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_CAL_BARO/shortDesc</name>
+  <message>
+  <source>Enable auto start of barometer thermal calibration at the next power up</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_CAL_BARO/longDesc</name>
+  <message>
+  <source>0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the temperature calibration starts. default (0, no calibration)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_CAL_GYRO/shortDesc</name>
+  <message>
+  <source>Enable auto start of rate gyro thermal calibration at the next power up</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_CAL_GYRO/longDesc</name>
+  <message>
+  <source>0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the temperature calibration starts. default (0, no calibration)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_CAL_TDEL/shortDesc</name>
+  <message>
+  <source>Required temperature rise during thermal calibration</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_CAL_TDEL/longDesc</name>
+  <message>
+  <source>A temperature increase greater than this value is required during calibration. Calibration will complete for each sensor when the temperature increase above the starting temperature exceeds the value set by SYS_CAL_TDEL. If the temperature rise is insufficient, the calibration will continue indefinitely and the board will need to be repowered to exit.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_CAL_TMAX/shortDesc</name>
+  <message>
+  <source>Maximum starting temperature for thermal calibration</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_CAL_TMAX/longDesc</name>
+  <message>
+  <source>Temperature calibration will not start if the temperature of any sensor is higher than the value set by SYS_CAL_TMAX.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_CAL_TMIN/shortDesc</name>
+  <message>
+  <source>Minimum starting temperature for thermal calibration</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_CAL_TMIN/longDesc</name>
+  <message>
+  <source>Temperature calibration for each sensor will ignore data if the temperature is lower than the value set by SYS_CAL_TMIN.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_DM_BACKEND/shortDesc</name>
+  <message>
+  <source>Dataman storage backend</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_DM_BACKEND/values/-1/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_DM_BACKEND/values/0/description</name>
+  <message>
+  <source>default (SD card)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_DM_BACKEND/values/1/description</name>
+  <message>
+  <source>RAM (not persistent)</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_FAC_CAL_MODE/shortDesc</name>
+  <message>
+  <source>Enable factory calibration mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_FAC_CAL_MODE/longDesc</name>
+  <message>
+  <source>If enabled, future sensor calibrations will be stored to /fs/mtd_caldata. Note: this is only supported on boards with a separate calibration storage /fs/mtd_caldata.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_FAC_CAL_MODE/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_FAC_CAL_MODE/values/1/description</name>
+  <message>
+  <source>All sensors</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_FAC_CAL_MODE/values/2/description</name>
+  <message>
+  <source>All sensors except mag</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_FAILURE_EN/shortDesc</name>
+  <message>
+  <source>Enable failure injection</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_FAILURE_EN/longDesc</name>
+  <message>
+  <source>If enabled allows MAVLink INJECT_FAILURE commands. WARNING: the failures can easily cause crashes and are to be used with caution!</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_FAILURE_EN/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_FAILURE_EN/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_HAS_BARO/shortDesc</name>
+  <message>
+  <source>Control if the vehicle has a barometer</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_HAS_BARO/longDesc</name>
+  <message>
+  <source>Disable this if the board has no barometer, such as some of the Omnibus F4 SD variants. If disabled, the preflight checks will not check for the presence of a barometer.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_HAS_BARO/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_HAS_BARO/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_HAS_GPS/shortDesc</name>
+  <message>
+  <source>Control if the vehicle has a GPS</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_HAS_GPS/longDesc</name>
+  <message>
+  <source>Disable this if the system has no GPS. If disabled, the sensors hub will not process sensor_gps, and GPS will not be available for the rest of the system.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_HAS_GPS/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_HAS_GPS/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_HAS_MAG/shortDesc</name>
+  <message>
+  <source>Control if the vehicle has a magnetometer</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_HAS_MAG/longDesc</name>
+  <message>
+  <source>Set this to 0 if the board has no magnetometer. If set to 0, the preflight checks will not check for the presence of a magnetometer, otherwise N sensors are required.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_HAS_NUM_ASPD/shortDesc</name>
+  <message>
+  <source>Control if the vehicle has an airspeed sensor</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_HAS_NUM_ASPD/longDesc</name>
+  <message>
+  <source>Set this to 0 if the board has no airspeed sensor. If set to 0, the preflight checks will not check for the presence of an airspeed sensor.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_HAS_NUM_DIST/shortDesc</name>
+  <message>
+  <source>Number of distance sensors to check being available</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_HAS_NUM_DIST/longDesc</name>
+  <message>
+  <source>The preflight check will fail if fewer than this number of distance sensors with valid data is present. Disable the check with 0.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_HITL/shortDesc</name>
+  <message>
+  <source>Enable HITL/SIH mode on next boot</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_HITL/longDesc</name>
+  <message>
+  <source>While enabled the system will boot in Hardware-In-The-Loop (HITL) or Simulation-In-Hardware (SIH) mode and not enable all sensors and checks. When disabled the same vehicle can be flown normally. Set to 'external HITL', if the system should perform as if it were a real vehicle (the only difference to a real system is then only the parameter value, which can be used for log analysis).</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_HITL/values/-1/description</name>
+  <message>
+  <source>external HITL</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_HITL/values/0/description</name>
+  <message>
+  <source>HITL and SIH disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_HITL/values/1/description</name>
+  <message>
+  <source>HITL enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_HITL/values/2/description</name>
+  <message>
+  <source>SIH enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_RGB_MAXBRT/shortDesc</name>
+  <message>
+  <source>RGB Led brightness limit</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_RGB_MAXBRT/longDesc</name>
+  <message>
+  <source>Set to 0 to disable, 1 for maximum brightness</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_STCK_EN/shortDesc</name>
+  <message>
+  <source>Enable stack checking</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_STCK_EN/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SYS_STCK_EN/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEL_BST_EN/shortDesc</name>
+  <message>
+  <source>Blacksheep telemetry Enable</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEL_BST_EN/longDesc</name>
+  <message>
+  <source>If true, the FMU will try to connect to Blacksheep telemetry on start up</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEL_BST_EN/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEL_BST_EN/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEL_FRSKY_CONFIG/shortDesc</name>
+  <message>
+  <source>Serial Configuration for FrSky Telemetry</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEL_FRSKY_CONFIG/longDesc</name>
+  <message>
+  <source>Configure on which serial port to run FrSky Telemetry.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEL_FRSKY_CONFIG/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEL_FRSKY_CONFIG/values/6/description</name>
+  <message>
+  <source>UART 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEL_FRSKY_CONFIG/values/101/description</name>
+  <message>
+  <source>TELEM 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEL_FRSKY_CONFIG/values/102/description</name>
+  <message>
+  <source>TELEM 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEL_FRSKY_CONFIG/values/103/description</name>
+  <message>
+  <source>TELEM 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEL_FRSKY_CONFIG/values/104/description</name>
+  <message>
+  <source>TELEM/SERIAL 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEL_FRSKY_CONFIG/values/201/description</name>
+  <message>
+  <source>GPS 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEL_FRSKY_CONFIG/values/202/description</name>
+  <message>
+  <source>GPS 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEL_FRSKY_CONFIG/values/203/description</name>
+  <message>
+  <source>GPS 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEL_FRSKY_CONFIG/values/300/description</name>
+  <message>
+  <source>Radio Controller</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEL_FRSKY_CONFIG/values/301/description</name>
+  <message>
+  <source>Wifi Port</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEL_FRSKY_CONFIG/values/401/description</name>
+  <message>
+  <source>EXT2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEL_HOTT_CONFIG/shortDesc</name>
+  <message>
+  <source>Serial Configuration for HoTT Telemetry</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEL_HOTT_CONFIG/longDesc</name>
+  <message>
+  <source>Configure on which serial port to run HoTT Telemetry.</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEL_HOTT_CONFIG/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEL_HOTT_CONFIG/values/6/description</name>
+  <message>
+  <source>UART 6</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEL_HOTT_CONFIG/values/101/description</name>
+  <message>
+  <source>TELEM 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEL_HOTT_CONFIG/values/102/description</name>
+  <message>
+  <source>TELEM 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEL_HOTT_CONFIG/values/103/description</name>
+  <message>
+  <source>TELEM 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEL_HOTT_CONFIG/values/104/description</name>
+  <message>
+  <source>TELEM/SERIAL 4</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEL_HOTT_CONFIG/values/201/description</name>
+  <message>
+  <source>GPS 1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEL_HOTT_CONFIG/values/202/description</name>
+  <message>
+  <source>GPS 2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEL_HOTT_CONFIG/values/203/description</name>
+  <message>
+  <source>GPS 3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEL_HOTT_CONFIG/values/300/description</name>
+  <message>
+  <source>Radio Controller</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEL_HOTT_CONFIG/values/301/description</name>
+  <message>
+  <source>Wifi Port</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEL_HOTT_CONFIG/values/401/description</name>
+  <message>
+  <source>EXT2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEST_1/shortDesc</name>
+  <message>
+  <source>TEST_1</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEST_2/shortDesc</name>
+  <message>
+  <source>TEST_2</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEST_3/shortDesc</name>
+  <message>
+  <source>TEST_3</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEST_D/shortDesc</name>
+  <message>
+  <source>TEST_D</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEST_DEV/shortDesc</name>
+  <message>
+  <source>TEST_DEV</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEST_D_LP/shortDesc</name>
+  <message>
+  <source>TEST_D_LP</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEST_HP/shortDesc</name>
+  <message>
+  <source>TEST_HP</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEST_I/shortDesc</name>
+  <message>
+  <source>TEST_I</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEST_I_MAX/shortDesc</name>
+  <message>
+  <source>TEST_I_MAX</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEST_LP/shortDesc</name>
+  <message>
+  <source>TEST_LP</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEST_MAX/shortDesc</name>
+  <message>
+  <source>TEST_MAX</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEST_MEAN/shortDesc</name>
+  <message>
+  <source>TEST_MEAN</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEST_MIN/shortDesc</name>
+  <message>
+  <source>TEST_MIN</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEST_P/shortDesc</name>
+  <message>
+  <source>TEST_P</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEST_PARAMS/shortDesc</name>
+  <message>
+  <source>TEST_PARAMS</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEST_RC2_X/shortDesc</name>
+  <message>
+  <source>TEST_RC2_X</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEST_RC_X/shortDesc</name>
+  <message>
+  <source>TEST_RC_X</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TEST_TRIM/shortDesc</name>
+  <message>
+  <source>TEST_TRIM</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A0_ID/shortDesc</name>
+  <message>
+  <source>ID of Accelerometer that the calibration is for</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A0_TMAX/shortDesc</name>
+  <message>
+  <source>Accelerometer calibration maximum temperature</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A0_TMIN/shortDesc</name>
+  <message>
+  <source>Accelerometer calibration minimum temperature</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A0_TREF/shortDesc</name>
+  <message>
+  <source>Accelerometer calibration reference temperature</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A0_X0_0/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^0 polynomial coefficient - X axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A0_X0_1/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^0 polynomial coefficient - Y axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A0_X0_2/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^0 polynomial coefficient - Z axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A0_X1_0/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^1 polynomial coefficient - X axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A0_X1_1/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^1 polynomial coefficient - Y axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A0_X1_2/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^1 polynomial coefficient - Z axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A0_X2_0/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^2 polynomial coefficient - X axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A0_X2_1/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^2 polynomial coefficient - Y axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A0_X2_2/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^2 polynomial coefficient - Z axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A0_X3_0/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^3 polynomial coefficient - X axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A0_X3_1/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^3 polynomial coefficient - Y axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A0_X3_2/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^3 polynomial coefficient - Z axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A1_ID/shortDesc</name>
+  <message>
+  <source>ID of Accelerometer that the calibration is for</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A1_TMAX/shortDesc</name>
+  <message>
+  <source>Accelerometer calibration maximum temperature</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A1_TMIN/shortDesc</name>
+  <message>
+  <source>Accelerometer calibration minimum temperature</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A1_TREF/shortDesc</name>
+  <message>
+  <source>Accelerometer calibration reference temperature</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A1_X0_0/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^0 polynomial coefficient - X axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A1_X0_1/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^0 polynomial coefficient - Y axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A1_X0_2/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^0 polynomial coefficient - Z axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A1_X1_0/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^1 polynomial coefficient - X axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A1_X1_1/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^1 polynomial coefficient - Y axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A1_X1_2/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^1 polynomial coefficient - Z axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A1_X2_0/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^2 polynomial coefficient - X axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A1_X2_1/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^2 polynomial coefficient - Y axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A1_X2_2/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^2 polynomial coefficient - Z axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A1_X3_0/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^3 polynomial coefficient - X axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A1_X3_1/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^3 polynomial coefficient - Y axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A1_X3_2/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^3 polynomial coefficient - Z axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A2_ID/shortDesc</name>
+  <message>
+  <source>ID of Accelerometer that the calibration is for</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A2_TMAX/shortDesc</name>
+  <message>
+  <source>Accelerometer calibration maximum temperature</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A2_TMIN/shortDesc</name>
+  <message>
+  <source>Accelerometer calibration minimum temperature</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A2_TREF/shortDesc</name>
+  <message>
+  <source>Accelerometer calibration reference temperature</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A2_X0_0/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^0 polynomial coefficient - X axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A2_X0_1/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^0 polynomial coefficient - Y axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A2_X0_2/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^0 polynomial coefficient - Z axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A2_X1_0/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^1 polynomial coefficient - X axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A2_X1_1/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^1 polynomial coefficient - Y axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A2_X1_2/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^1 polynomial coefficient - Z axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A2_X2_0/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^2 polynomial coefficient - X axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A2_X2_1/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^2 polynomial coefficient - Y axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A2_X2_2/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^2 polynomial coefficient - Z axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A2_X3_0/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^3 polynomial coefficient - X axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A2_X3_1/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^3 polynomial coefficient - Y axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A2_X3_2/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^3 polynomial coefficient - Z axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A3_ID/shortDesc</name>
+  <message>
+  <source>ID of Accelerometer that the calibration is for</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A3_TMAX/shortDesc</name>
+  <message>
+  <source>Accelerometer calibration maximum temperature</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A3_TMIN/shortDesc</name>
+  <message>
+  <source>Accelerometer calibration minimum temperature</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A3_TREF/shortDesc</name>
+  <message>
+  <source>Accelerometer calibration reference temperature</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A3_X0_0/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^0 polynomial coefficient - X axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A3_X0_1/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^0 polynomial coefficient - Y axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A3_X0_2/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^0 polynomial coefficient - Z axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A3_X1_0/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^1 polynomial coefficient - X axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A3_X1_1/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^1 polynomial coefficient - Y axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A3_X1_2/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^1 polynomial coefficient - Z axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A3_X2_0/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^2 polynomial coefficient - X axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A3_X2_1/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^2 polynomial coefficient - Y axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A3_X2_2/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^2 polynomial coefficient - Z axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A3_X3_0/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^3 polynomial coefficient - X axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A3_X3_1/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^3 polynomial coefficient - Y axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A3_X3_2/shortDesc</name>
+  <message>
+  <source>Accelerometer offset temperature ^3 polynomial coefficient - Z axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A_ENABLE/shortDesc</name>
+  <message>
+  <source>Thermal compensation for accelerometer sensors</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A_ENABLE/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_A_ENABLE/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_B0_ID/shortDesc</name>
+  <message>
+  <source>ID of Barometer that the calibration is for</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_B0_TMAX/shortDesc</name>
+  <message>
+  <source>Barometer calibration maximum temperature</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_B0_TMIN/shortDesc</name>
+  <message>
+  <source>Barometer calibration minimum temperature</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_B0_TREF/shortDesc</name>
+  <message>
+  <source>Barometer calibration reference temperature</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_B0_X0/shortDesc</name>
+  <message>
+  <source>Barometer offset temperature ^0 polynomial coefficient</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_B0_X1/shortDesc</name>
+  <message>
+  <source>Barometer offset temperature ^1 polynomial coefficients</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_B0_X2/shortDesc</name>
+  <message>
+  <source>Barometer offset temperature ^2 polynomial coefficient</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_B0_X3/shortDesc</name>
+  <message>
+  <source>Barometer offset temperature ^3 polynomial coefficient</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_B0_X4/shortDesc</name>
+  <message>
+  <source>Barometer offset temperature ^4 polynomial coefficient</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_B0_X5/shortDesc</name>
+  <message>
+  <source>Barometer offset temperature ^5 polynomial coefficient</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_B1_ID/shortDesc</name>
+  <message>
+  <source>ID of Barometer that the calibration is for</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_B1_TMAX/shortDesc</name>
+  <message>
+  <source>Barometer calibration maximum temperature</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_B1_TMIN/shortDesc</name>
+  <message>
+  <source>Barometer calibration minimum temperature</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_B1_TREF/shortDesc</name>
+  <message>
+  <source>Barometer calibration reference temperature</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_B1_X0/shortDesc</name>
+  <message>
+  <source>Barometer offset temperature ^0 polynomial coefficient</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_B1_X1/shortDesc</name>
+  <message>
+  <source>Barometer offset temperature ^1 polynomial coefficients</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_B1_X2/shortDesc</name>
+  <message>
+  <source>Barometer offset temperature ^2 polynomial coefficient</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_B1_X3/shortDesc</name>
+  <message>
+  <source>Barometer offset temperature ^3 polynomial coefficient</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_B1_X4/shortDesc</name>
+  <message>
+  <source>Barometer offset temperature ^4 polynomial coefficient</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_B1_X5/shortDesc</name>
+  <message>
+  <source>Barometer offset temperature ^5 polynomial coefficient</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_B2_ID/shortDesc</name>
+  <message>
+  <source>ID of Barometer that the calibration is for</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_B2_TMAX/shortDesc</name>
+  <message>
+  <source>Barometer calibration maximum temperature</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_B2_TMIN/shortDesc</name>
+  <message>
+  <source>Barometer calibration minimum temperature</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_B2_TREF/shortDesc</name>
+  <message>
+  <source>Barometer calibration reference temperature</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_B2_X0/shortDesc</name>
+  <message>
+  <source>Barometer offset temperature ^0 polynomial coefficient</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_B2_X1/shortDesc</name>
+  <message>
+  <source>Barometer offset temperature ^1 polynomial coefficients</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_B2_X2/shortDesc</name>
+  <message>
+  <source>Barometer offset temperature ^2 polynomial coefficient</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_B2_X3/shortDesc</name>
+  <message>
+  <source>Barometer offset temperature ^3 polynomial coefficient</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_B2_X4/shortDesc</name>
+  <message>
+  <source>Barometer offset temperature ^4 polynomial coefficient</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_B2_X5/shortDesc</name>
+  <message>
+  <source>Barometer offset temperature ^5 polynomial coefficient</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_B3_ID/shortDesc</name>
+  <message>
+  <source>ID of Barometer that the calibration is for</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_B3_TMAX/shortDesc</name>
+  <message>
+  <source>Barometer calibration maximum temperature</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_B3_TMIN/shortDesc</name>
+  <message>
+  <source>Barometer calibration minimum temperature</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_B3_TREF/shortDesc</name>
+  <message>
+  <source>Barometer calibration reference temperature</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_B3_X0/shortDesc</name>
+  <message>
+  <source>Barometer offset temperature ^0 polynomial coefficient</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_B3_X1/shortDesc</name>
+  <message>
+  <source>Barometer offset temperature ^1 polynomial coefficients</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_B3_X2/shortDesc</name>
+  <message>
+  <source>Barometer offset temperature ^2 polynomial coefficient</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_B3_X3/shortDesc</name>
+  <message>
+  <source>Barometer offset temperature ^3 polynomial coefficient</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_B3_X4/shortDesc</name>
+  <message>
+  <source>Barometer offset temperature ^4 polynomial coefficient</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_B3_X5/shortDesc</name>
+  <message>
+  <source>Barometer offset temperature ^5 polynomial coefficient</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_B_ENABLE/shortDesc</name>
+  <message>
+  <source>Thermal compensation for barometric pressure sensors</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_B_ENABLE/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_B_ENABLE/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G0_ID/shortDesc</name>
+  <message>
+  <source>ID of Gyro that the calibration is for</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G0_TMAX/shortDesc</name>
+  <message>
+  <source>Gyro calibration maximum temperature</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G0_TMIN/shortDesc</name>
+  <message>
+  <source>Gyro calibration minimum temperature</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G0_TREF/shortDesc</name>
+  <message>
+  <source>Gyro calibration reference temperature</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G0_X0_0/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^0 polynomial coefficient - X axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G0_X0_1/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^0 polynomial coefficient - Y axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G0_X0_2/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^0 polynomial coefficient - Z axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G0_X1_0/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^1 polynomial coefficient - X axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G0_X1_1/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^1 polynomial coefficient - Y axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G0_X1_2/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^1 polynomial coefficient - Z axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G0_X2_0/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^2 polynomial coefficient - X axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G0_X2_1/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^2 polynomial coefficient - Y axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G0_X2_2/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^2 polynomial coefficient - Z axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G0_X3_0/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^3 polynomial coefficient - X axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G0_X3_1/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^3 polynomial coefficient - Y axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G0_X3_2/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^3 polynomial coefficient - Z axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G1_ID/shortDesc</name>
+  <message>
+  <source>ID of Gyro that the calibration is for</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G1_TMAX/shortDesc</name>
+  <message>
+  <source>Gyro calibration maximum temperature</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G1_TMIN/shortDesc</name>
+  <message>
+  <source>Gyro calibration minimum temperature</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G1_TREF/shortDesc</name>
+  <message>
+  <source>Gyro calibration reference temperature</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G1_X0_0/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^0 polynomial coefficient - X axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G1_X0_1/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^0 polynomial coefficient - Y axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G1_X0_2/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^0 polynomial coefficient - Z axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G1_X1_0/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^1 polynomial coefficient - X axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G1_X1_1/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^1 polynomial coefficient - Y axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G1_X1_2/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^1 polynomial coefficient - Z axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G1_X2_0/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^2 polynomial coefficient - X axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G1_X2_1/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^2 polynomial coefficient - Y axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G1_X2_2/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^2 polynomial coefficient - Z axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G1_X3_0/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^3 polynomial coefficient - X axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G1_X3_1/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^3 polynomial coefficient - Y axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G1_X3_2/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^3 polynomial coefficient - Z axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G2_ID/shortDesc</name>
+  <message>
+  <source>ID of Gyro that the calibration is for</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G2_TMAX/shortDesc</name>
+  <message>
+  <source>Gyro calibration maximum temperature</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G2_TMIN/shortDesc</name>
+  <message>
+  <source>Gyro calibration minimum temperature</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G2_TREF/shortDesc</name>
+  <message>
+  <source>Gyro calibration reference temperature</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G2_X0_0/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^0 polynomial coefficient - X axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G2_X0_1/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^0 polynomial coefficient - Y axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G2_X0_2/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^0 polynomial coefficient - Z axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G2_X1_0/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^1 polynomial coefficient - X axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G2_X1_1/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^1 polynomial coefficient - Y axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G2_X1_2/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^1 polynomial coefficient - Z axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G2_X2_0/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^2 polynomial coefficient - X axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G2_X2_1/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^2 polynomial coefficient - Y axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G2_X2_2/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^2 polynomial coefficient - Z axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G2_X3_0/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^3 polynomial coefficient - X axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G2_X3_1/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^3 polynomial coefficient - Y axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G2_X3_2/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^3 polynomial coefficient - Z axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G3_ID/shortDesc</name>
+  <message>
+  <source>ID of Gyro that the calibration is for</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G3_TMAX/shortDesc</name>
+  <message>
+  <source>Gyro calibration maximum temperature</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G3_TMIN/shortDesc</name>
+  <message>
+  <source>Gyro calibration minimum temperature</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G3_TREF/shortDesc</name>
+  <message>
+  <source>Gyro calibration reference temperature</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G3_X0_0/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^0 polynomial coefficient - X axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G3_X0_1/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^0 polynomial coefficient - Y axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G3_X0_2/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^0 polynomial coefficient - Z axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G3_X1_0/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^1 polynomial coefficient - X axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G3_X1_1/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^1 polynomial coefficient - Y axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G3_X1_2/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^1 polynomial coefficient - Z axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G3_X2_0/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^2 polynomial coefficient - X axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G3_X2_1/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^2 polynomial coefficient - Y axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G3_X2_2/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^2 polynomial coefficient - Z axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G3_X3_0/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^3 polynomial coefficient - X axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G3_X3_1/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^3 polynomial coefficient - Y axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G3_X3_2/shortDesc</name>
+  <message>
+  <source>Gyro rate offset temperature ^3 polynomial coefficient - Z axis</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G_ENABLE/shortDesc</name>
+  <message>
+  <source>Thermal compensation for rate gyro sensors</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G_ENABLE/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_G_ENABLE/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_M0_ID/shortDesc</name>
+  <message>
+  <source>ID of Magnetometer that the calibration is for</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_M0_TMAX/shortDesc</name>
+  <message>
+  <source>Magnetometer calibration maximum temperature</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/TC_M0_TMIN/shortDesc</name>
   <message>
-  <source>Vehicle mass</source>
+  <source>Magnetometer calibration minimum temperature</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIH_MASS/longDesc</name>
+  <name>/parameters/TC_M0_TREF/shortDesc</name>
   <message>
-  <source>This value can be measured by weighting the quad on a scale.</source>
+  <source>Magnetometer calibration reference temperature</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIH_Q_MAX/shortDesc</name>
+  <name>/parameters/TC_M0_X0_0/shortDesc</name>
   <message>
-  <source>Max propeller torque</source>
+  <source>Magnetometer offset temperature ^0 polynomial coefficient - X axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIH_Q_MAX/longDesc</name>
+  <name>/parameters/TC_M0_X0_1/shortDesc</name>
   <message>
-  <source>This is the maximum torque delivered by one propeller when the motor is running at full speed. This value is usually about few percent of the maximum thrust force.</source>
+  <source>Magnetometer offset temperature ^0 polynomial coefficient - Y axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIH_T_MAX/shortDesc</name>
+  <name>/parameters/TC_M0_X0_2/shortDesc</name>
   <message>
-  <source>Max propeller thrust force</source>
+  <source>Magnetometer offset temperature ^0 polynomial coefficient - Z axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIH_T_MAX/longDesc</name>
+  <name>/parameters/TC_M0_X1_0/shortDesc</name>
   <message>
-  <source>This is the maximum force delivered by one propeller when the motor is running at full speed. This value is usually about 5 times the mass of the quadrotor.</source>
+  <source>Magnetometer offset temperature ^1 polynomial coefficient - X axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIH_T_TAU/shortDesc</name>
+  <name>/parameters/TC_M0_X1_1/shortDesc</name>
   <message>
-  <source>thruster time constant tau</source>
+  <source>Magnetometer offset temperature ^1 polynomial coefficient - Y axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIH_T_TAU/longDesc</name>
+  <name>/parameters/TC_M0_X1_2/shortDesc</name>
   <message>
-  <source>the time taken for the thruster to step from 0 to 100% should be about 4 times tau</source>
+  <source>Magnetometer offset temperature ^1 polynomial coefficient - Z axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIH_VEHICLE_TYPE/shortDesc</name>
+  <name>/parameters/TC_M0_X2_0/shortDesc</name>
   <message>
-  <source>Vehicle type</source>
+  <source>Magnetometer offset temperature ^2 polynomial coefficient - X axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIH_VEHICLE_TYPE/values/0/description</name>
+  <name>/parameters/TC_M0_X2_1/shortDesc</name>
   <message>
-  <source>Multicopter</source>
+  <source>Magnetometer offset temperature ^2 polynomial coefficient - Y axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIH_VEHICLE_TYPE/values/1/description</name>
+  <name>/parameters/TC_M0_X2_2/shortDesc</name>
   <message>
-  <source>Fixed-Wing</source>
+  <source>Magnetometer offset temperature ^2 polynomial coefficient - Z axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIH_VEHICLE_TYPE/values/2/description</name>
+  <name>/parameters/TC_M0_X3_0/shortDesc</name>
   <message>
-  <source>Tailsitter</source>
+  <source>Magnetometer offset temperature ^3 polynomial coefficient - X axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIM_BARO_OFF_P/shortDesc</name>
+  <name>/parameters/TC_M0_X3_1/shortDesc</name>
   <message>
-  <source>simulated barometer pressure offset</source>
+  <source>Magnetometer offset temperature ^3 polynomial coefficient - Y axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIM_BARO_OFF_T/shortDesc</name>
+  <name>/parameters/TC_M0_X3_2/shortDesc</name>
   <message>
-  <source>simulated barometer temperature offset</source>
+  <source>Magnetometer offset temperature ^3 polynomial coefficient - Z axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIM_GPS_USED/shortDesc</name>
+  <name>/parameters/TC_M1_ID/shortDesc</name>
   <message>
-  <source>simulated GPS number of satellites used</source>
+  <source>ID of Magnetometer that the calibration is for</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIM_MAG_OFFSET_X/shortDesc</name>
+  <name>/parameters/TC_M1_TMAX/shortDesc</name>
   <message>
-  <source>simulated magnetometer X offset</source>
+  <source>Magnetometer calibration maximum temperature</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIM_MAG_OFFSET_Y/shortDesc</name>
+  <name>/parameters/TC_M1_TMIN/shortDesc</name>
   <message>
-  <source>simulated magnetometer Y offset</source>
+  <source>Magnetometer calibration minimum temperature</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SIM_MAG_OFFSET_Z/shortDesc</name>
+  <name>/parameters/TC_M1_TREF/shortDesc</name>
   <message>
-  <source>simulated magnetometer Z offset</source>
+  <source>Magnetometer calibration reference temperature</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_AUTOCONFIG/shortDesc</name>
+  <name>/parameters/TC_M1_X0_0/shortDesc</name>
   <message>
-  <source>Automatically configure default values</source>
+  <source>Magnetometer offset temperature ^0 polynomial coefficient - X axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_AUTOCONFIG/longDesc</name>
+  <name>/parameters/TC_M1_X0_1/shortDesc</name>
   <message>
-  <source>Set to 1 to reset parameters on next system startup (setting defaults). Platform-specific values are used if available. RC* parameters are preserved.</source>
+  <source>Magnetometer offset temperature ^0 polynomial coefficient - Y axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_AUTOCONFIG/values/0/description</name>
+  <name>/parameters/TC_M1_X0_2/shortDesc</name>
   <message>
-  <source>Keep parameters</source>
+  <source>Magnetometer offset temperature ^0 polynomial coefficient - Z axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_AUTOCONFIG/values/1/description</name>
+  <name>/parameters/TC_M1_X1_0/shortDesc</name>
   <message>
-  <source>Reset parameters to airframe defaults</source>
+  <source>Magnetometer offset temperature ^1 polynomial coefficient - X axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_AUTOSTART/shortDesc</name>
+  <name>/parameters/TC_M1_X1_1/shortDesc</name>
   <message>
-  <source>Auto-start script index</source>
+  <source>Magnetometer offset temperature ^1 polynomial coefficient - Y axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_AUTOSTART/longDesc</name>
+  <name>/parameters/TC_M1_X1_2/shortDesc</name>
   <message>
-  <source>CHANGING THIS VALUE REQUIRES A RESTART. Defines the auto-start script used to bootstrap the system.</source>
+  <source>Magnetometer offset temperature ^1 polynomial coefficient - Z axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_BL_UPDATE/shortDesc</name>
+  <name>/parameters/TC_M1_X2_0/shortDesc</name>
   <message>
-  <source>Bootloader update</source>
+  <source>Magnetometer offset temperature ^2 polynomial coefficient - X axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_BL_UPDATE/longDesc</name>
+  <name>/parameters/TC_M1_X2_1/shortDesc</name>
   <message>
-  <source>If enabled, update the bootloader on the next boot. WARNING: do not cut the power during an update process, otherwise you will have to recover using some alternative method (e.g. JTAG). Instructions: - Insert an SD card - Enable this parameter - Reboot the board (plug the power or send a reboot command) - Wait until the board comes back up (or at least 2 minutes) - If it does not come back, check the file bootlog.txt on the SD card</source>
+  <source>Magnetometer offset temperature ^2 polynomial coefficient - Y axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_BL_UPDATE/values/0/description</name>
+  <name>/parameters/TC_M1_X2_2/shortDesc</name>
   <message>
-  <source>Disabled</source>
+  <source>Magnetometer offset temperature ^2 polynomial coefficient - Z axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_BL_UPDATE/values/1/description</name>
+  <name>/parameters/TC_M1_X3_0/shortDesc</name>
   <message>
-  <source>Enabled</source>
+  <source>Magnetometer offset temperature ^3 polynomial coefficient - X axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_CAL_ACCEL/shortDesc</name>
+  <name>/parameters/TC_M1_X3_1/shortDesc</name>
   <message>
-  <source>Enable auto start of accelerometer thermal calibration at the next power up</source>
+  <source>Magnetometer offset temperature ^3 polynomial coefficient - Y axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_CAL_ACCEL/longDesc</name>
+  <name>/parameters/TC_M1_X3_2/shortDesc</name>
   <message>
-  <source>0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the temperature calibration starts. default (0, no calibration)</source>
+  <source>Magnetometer offset temperature ^3 polynomial coefficient - Z axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_CAL_BARO/shortDesc</name>
+  <name>/parameters/TC_M2_ID/shortDesc</name>
   <message>
-  <source>Enable auto start of barometer thermal calibration at the next power up</source>
+  <source>ID of Magnetometer that the calibration is for</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_CAL_BARO/longDesc</name>
+  <name>/parameters/TC_M2_TMAX/shortDesc</name>
   <message>
-  <source>0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the temperature calibration starts. default (0, no calibration)</source>
+  <source>Magnetometer calibration maximum temperature</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_CAL_GYRO/shortDesc</name>
+  <name>/parameters/TC_M2_TMIN/shortDesc</name>
   <message>
-  <source>Enable auto start of rate gyro thermal calibration at the next power up</source>
+  <source>Magnetometer calibration minimum temperature</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_CAL_GYRO/longDesc</name>
+  <name>/parameters/TC_M2_TREF/shortDesc</name>
   <message>
-  <source>0 : Set to 0 to do nothing 1 : Set to 1 to start a calibration at next boot This parameter is reset to zero when the temperature calibration starts. default (0, no calibration)</source>
+  <source>Magnetometer calibration reference temperature</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_CAL_TDEL/shortDesc</name>
+  <name>/parameters/TC_M2_X0_0/shortDesc</name>
   <message>
-  <source>Required temperature rise during thermal calibration</source>
+  <source>Magnetometer offset temperature ^0 polynomial coefficient - X axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_CAL_TDEL/longDesc</name>
+  <name>/parameters/TC_M2_X0_1/shortDesc</name>
   <message>
-  <source>A temperature increase greater than this value is required during calibration. Calibration will complete for each sensor when the temperature increase above the starting temperature exceeds the value set by SYS_CAL_TDEL. If the temperature rise is insufficient, the calibration will continue indefinitely and the board will need to be repowered to exit.</source>
+  <source>Magnetometer offset temperature ^0 polynomial coefficient - Y axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_CAL_TMAX/shortDesc</name>
+  <name>/parameters/TC_M2_X0_2/shortDesc</name>
   <message>
-  <source>Maximum starting temperature for thermal calibration</source>
+  <source>Magnetometer offset temperature ^0 polynomial coefficient - Z axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_CAL_TMAX/longDesc</name>
+  <name>/parameters/TC_M2_X1_0/shortDesc</name>
   <message>
-  <source>Temperature calibration will not start if the temperature of any sensor is higher than the value set by SYS_CAL_TMAX.</source>
+  <source>Magnetometer offset temperature ^1 polynomial coefficient - X axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_CAL_TMIN/shortDesc</name>
+  <name>/parameters/TC_M2_X1_1/shortDesc</name>
   <message>
-  <source>Minimum starting temperature for thermal calibration</source>
+  <source>Magnetometer offset temperature ^1 polynomial coefficient - Y axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_CAL_TMIN/longDesc</name>
+  <name>/parameters/TC_M2_X1_2/shortDesc</name>
   <message>
-  <source>Temperature calibration for each sensor will ignore data if the temperature is lower than the value set by SYS_CAL_TMIN.</source>
+  <source>Magnetometer offset temperature ^1 polynomial coefficient - Z axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_DM_BACKEND/shortDesc</name>
+  <name>/parameters/TC_M2_X2_0/shortDesc</name>
   <message>
-  <source>Dataman storage backend</source>
+  <source>Magnetometer offset temperature ^2 polynomial coefficient - X axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_DM_BACKEND/values/-1/description</name>
+  <name>/parameters/TC_M2_X2_1/shortDesc</name>
   <message>
-  <source>Disabled</source>
+  <source>Magnetometer offset temperature ^2 polynomial coefficient - Y axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_DM_BACKEND/values/0/description</name>
+  <name>/parameters/TC_M2_X2_2/shortDesc</name>
   <message>
-  <source>default (SD card)</source>
+  <source>Magnetometer offset temperature ^2 polynomial coefficient - Z axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_DM_BACKEND/values/1/description</name>
+  <name>/parameters/TC_M2_X3_0/shortDesc</name>
   <message>
-  <source>RAM (not persistent)</source>
+  <source>Magnetometer offset temperature ^3 polynomial coefficient - X axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_FAC_CAL_MODE/shortDesc</name>
+  <name>/parameters/TC_M2_X3_1/shortDesc</name>
   <message>
-  <source>Enable factory calibration mode</source>
+  <source>Magnetometer offset temperature ^3 polynomial coefficient - Y axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_FAC_CAL_MODE/longDesc</name>
+  <name>/parameters/TC_M2_X3_2/shortDesc</name>
   <message>
-  <source>If enabled, future sensor calibrations will be stored to /fs/mtd_caldata. Note: this is only supported on boards with a separate calibration storage /fs/mtd_caldata.</source>
+  <source>Magnetometer offset temperature ^3 polynomial coefficient - Z axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_FAC_CAL_MODE/values/0/description</name>
+  <name>/parameters/TC_M3_ID/shortDesc</name>
   <message>
-  <source>Disabled</source>
+  <source>ID of Magnetometer that the calibration is for</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_FAC_CAL_MODE/values/1/description</name>
+  <name>/parameters/TC_M3_TMAX/shortDesc</name>
   <message>
-  <source>All sensors</source>
+  <source>Magnetometer calibration maximum temperature</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_FAC_CAL_MODE/values/2/description</name>
+  <name>/parameters/TC_M3_TMIN/shortDesc</name>
   <message>
-  <source>All sensors except mag</source>
+  <source>Magnetometer calibration minimum temperature</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_FAILURE_EN/shortDesc</name>
+  <name>/parameters/TC_M3_TREF/shortDesc</name>
   <message>
-  <source>Enable failure injection</source>
+  <source>Magnetometer calibration reference temperature</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_FAILURE_EN/longDesc</name>
+  <name>/parameters/TC_M3_X0_0/shortDesc</name>
   <message>
-  <source>If enabled allows MAVLink INJECT_FAILURE commands. WARNING: the failures can easily cause crashes and are to be used with caution!</source>
+  <source>Magnetometer offset temperature ^0 polynomial coefficient - X axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_FAILURE_EN/values/0/description</name>
+  <name>/parameters/TC_M3_X0_1/shortDesc</name>
   <message>
-  <source>Disabled</source>
+  <source>Magnetometer offset temperature ^0 polynomial coefficient - Y axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_FAILURE_EN/values/1/description</name>
+  <name>/parameters/TC_M3_X0_2/shortDesc</name>
   <message>
-  <source>Enabled</source>
+  <source>Magnetometer offset temperature ^0 polynomial coefficient - Z axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_HAS_BARO/shortDesc</name>
+  <name>/parameters/TC_M3_X1_0/shortDesc</name>
   <message>
-  <source>Control if the vehicle has a barometer</source>
+  <source>Magnetometer offset temperature ^1 polynomial coefficient - X axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_HAS_BARO/longDesc</name>
+  <name>/parameters/TC_M3_X1_1/shortDesc</name>
   <message>
-  <source>Disable this if the board has no barometer, such as some of the Omnibus F4 SD variants. If disabled, the preflight checks will not check for the presence of a barometer.</source>
+  <source>Magnetometer offset temperature ^1 polynomial coefficient - Y axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_HAS_BARO/values/0/description</name>
+  <name>/parameters/TC_M3_X1_2/shortDesc</name>
   <message>
-  <source>Disabled</source>
+  <source>Magnetometer offset temperature ^1 polynomial coefficient - Z axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_HAS_BARO/values/1/description</name>
+  <name>/parameters/TC_M3_X2_0/shortDesc</name>
   <message>
-  <source>Enabled</source>
+  <source>Magnetometer offset temperature ^2 polynomial coefficient - X axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_HAS_GPS/shortDesc</name>
+  <name>/parameters/TC_M3_X2_1/shortDesc</name>
   <message>
-  <source>Control if the vehicle has a GPS</source>
+  <source>Magnetometer offset temperature ^2 polynomial coefficient - Y axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_HAS_GPS/longDesc</name>
+  <name>/parameters/TC_M3_X2_2/shortDesc</name>
   <message>
-  <source>Disable this if the system has no GPS. If disabled, the sensors hub will not process sensor_gps, and GPS will not be available for the rest of the system.</source>
+  <source>Magnetometer offset temperature ^2 polynomial coefficient - Z axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_HAS_GPS/values/0/description</name>
+  <name>/parameters/TC_M3_X3_0/shortDesc</name>
   <message>
-  <source>Disabled</source>
+  <source>Magnetometer offset temperature ^3 polynomial coefficient - X axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_HAS_GPS/values/1/description</name>
+  <name>/parameters/TC_M3_X3_1/shortDesc</name>
   <message>
-  <source>Enabled</source>
+  <source>Magnetometer offset temperature ^3 polynomial coefficient - Y axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_HAS_MAG/shortDesc</name>
+  <name>/parameters/TC_M3_X3_2/shortDesc</name>
   <message>
-  <source>Control if the vehicle has a magnetometer</source>
+  <source>Magnetometer offset temperature ^3 polynomial coefficient - Z axis</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_HAS_MAG/longDesc</name>
+  <name>/parameters/TC_M_ENABLE/shortDesc</name>
   <message>
-  <source>Set this to 0 if the board has no magnetometer. If set to 0, the preflight checks will not check for the presence of a magnetometer, otherwise N sensors are required.</source>
+  <source>Thermal compensation for magnetometer sensors</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_HAS_NUM_ASPD/shortDesc</name>
+  <name>/parameters/TC_M_ENABLE/values/0/description</name>
   <message>
-  <source>Control if the vehicle has an airspeed sensor</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_HAS_NUM_ASPD/longDesc</name>
+  <name>/parameters/TC_M_ENABLE/values/1/description</name>
   <message>
-  <source>Set this to 0 if the board has no airspeed sensor. If set to 0, the preflight checks will not check for the presence of an airspeed sensor.</source>
+  <source>Enabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_HAS_NUM_DIST/shortDesc</name>
+  <name>/parameters/MXS_EXT_CFG/shortDesc</name>
   <message>
-  <source>Number of distance sensors to check being available</source>
+  <source>Sagetech External Configuration Mode</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_HAS_NUM_DIST/longDesc</name>
+  <name>/parameters/MXS_EXT_CFG/longDesc</name>
   <message>
-  <source>The preflight check will fail if fewer than this number of distance sensors with valid data is present. Disable the check with 0.</source>
+  <source>Disables auto-configuration mode enabling MXS config through external software.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_HITL/shortDesc</name>
+  <name>/parameters/MXS_EXT_CFG/values/0/description</name>
   <message>
-  <source>Enable HITL/SIH mode on next boot</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_HITL/longDesc</name>
+  <name>/parameters/MXS_EXT_CFG/values/1/description</name>
   <message>
-  <source>While enabled the system will boot in Hardware-In-The-Loop (HITL) or Simulation-In-Hardware (SIH) mode and not enable all sensors and checks. When disabled the same vehicle can be flown normally. Set to 'external HITL', if the system should perform as if it were a real vehicle (the only difference to a real system is then only the parameter value, which can be used for log analysis).</source>
+  <source>Enabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_HITL/values/-1/description</name>
+  <name>/parameters/MXS_OP_MODE/shortDesc</name>
   <message>
-  <source>external HITL</source>
+  <source>Sagetech MXS mode configuration</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_HITL/values/0/description</name>
+  <name>/parameters/MXS_OP_MODE/longDesc</name>
   <message>
-  <source>HITL and SIH disabled</source>
+  <source>This parameter defines the operating mode of the MXS</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_HITL/values/1/description</name>
+  <name>/parameters/MXS_OP_MODE/values/0/description</name>
   <message>
-  <source>HITL enabled</source>
+  <source>Off</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_HITL/values/2/description</name>
+  <name>/parameters/MXS_OP_MODE/values/1/description</name>
   <message>
-  <source>SIH enabled</source>
+  <source>On</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_PARAM_VER/shortDesc</name>
+  <name>/parameters/MXS_OP_MODE/values/2/description</name>
   <message>
-  <source>Parameter version</source>
+  <source>Standby</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_PARAM_VER/longDesc</name>
+  <name>/parameters/MXS_OP_MODE/values/3/description</name>
   <message>
-  <source>This is used internally only: an airframe configuration might set an expected parameter version value via PARAM_DEFAULTS_VER. This is checked on bootup against SYS_PARAM_VER, and if they do not match, parameters are reset and reloaded from the airframe configuration.</source>
+  <source>Alt</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_RGB_MAXBRT/shortDesc</name>
+  <name>/parameters/MXS_SER_CFG/shortDesc</name>
   <message>
-  <source>RGB Led brightness limit</source>
+  <source>Serial Configuration for Sagetech MXS Serial Port</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_RGB_MAXBRT/longDesc</name>
+  <name>/parameters/MXS_SER_CFG/longDesc</name>
   <message>
-  <source>Set to 0 to disable, 1 for maximum brightness</source>
+  <source>Configure on which serial port to run Sagetech MXS Serial Port.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_STCK_EN/shortDesc</name>
+  <name>/parameters/MXS_SER_CFG/values/0/description</name>
   <message>
-  <source>Enable stack checking</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_STCK_EN/values/0/description</name>
+  <name>/parameters/MXS_SER_CFG/values/6/description</name>
   <message>
-  <source>Disabled</source>
+  <source>UART 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/SYS_STCK_EN/values/1/description</name>
+  <name>/parameters/MXS_SER_CFG/values/101/description</name>
   <message>
-  <source>Enabled</source>
+  <source>TELEM 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TEST_1/shortDesc</name>
+  <name>/parameters/MXS_SER_CFG/values/102/description</name>
   <message>
-  <source>TEST_1</source>
+  <source>TELEM 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TEST_2/shortDesc</name>
+  <name>/parameters/MXS_SER_CFG/values/103/description</name>
   <message>
-  <source>TEST_2</source>
+  <source>TELEM 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TEST_3/shortDesc</name>
+  <name>/parameters/MXS_SER_CFG/values/104/description</name>
   <message>
-  <source>TEST_3</source>
+  <source>TELEM/SERIAL 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TEST_D/shortDesc</name>
+  <name>/parameters/MXS_SER_CFG/values/201/description</name>
   <message>
-  <source>TEST_D</source>
+  <source>GPS 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TEST_DEV/shortDesc</name>
+  <name>/parameters/MXS_SER_CFG/values/202/description</name>
   <message>
-  <source>TEST_DEV</source>
+  <source>GPS 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TEST_D_LP/shortDesc</name>
+  <name>/parameters/MXS_SER_CFG/values/203/description</name>
   <message>
-  <source>TEST_D_LP</source>
+  <source>GPS 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TEST_HP/shortDesc</name>
+  <name>/parameters/MXS_SER_CFG/values/300/description</name>
   <message>
-  <source>TEST_HP</source>
+  <source>Radio Controller</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TEST_I/shortDesc</name>
+  <name>/parameters/MXS_SER_CFG/values/301/description</name>
   <message>
-  <source>TEST_I</source>
+  <source>Wifi Port</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TEST_I_MAX/shortDesc</name>
+  <name>/parameters/MXS_SER_CFG/values/401/description</name>
   <message>
-  <source>TEST_I_MAX</source>
+  <source>EXT2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TEST_LP/shortDesc</name>
+  <name>/parameters/MXS_TARG_PORT/shortDesc</name>
   <message>
-  <source>TEST_LP</source>
+  <source>Sagetech MXS Participant Configuration</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TEST_MAX/shortDesc</name>
+  <name>/parameters/MXS_TARG_PORT/longDesc</name>
   <message>
-  <source>TEST_MAX</source>
+  <source>The MXS communication port to receive Target data from</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TEST_MEAN/shortDesc</name>
+  <name>/parameters/MXS_TARG_PORT/values/0/description</name>
   <message>
-  <source>TEST_MEAN</source>
+  <source>Auto</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TEST_MIN/shortDesc</name>
+  <name>/parameters/MXS_TARG_PORT/values/1/description</name>
   <message>
-  <source>TEST_MIN</source>
+  <source>COM0</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TEST_P/shortDesc</name>
+  <name>/parameters/MXS_TARG_PORT/values/2/description</name>
   <message>
-  <source>TEST_P</source>
+  <source>COM1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TEST_PARAMS/shortDesc</name>
+  <name>/parameters/CANNODE_BITRATE/shortDesc</name>
   <message>
-  <source>TEST_PARAMS</source>
+  <source>UAVCAN CAN bus bitrate</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TEST_RC2_X/shortDesc</name>
+  <name>/parameters/CANNODE_PUB_MBD/shortDesc</name>
   <message>
-  <source>TEST_RC2_X</source>
+  <source>Enable MovingBaselineData publication</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TEST_RC_X/shortDesc</name>
+  <name>/parameters/CANNODE_PUB_MBD/values/0/description</name>
   <message>
-  <source>TEST_RC_X</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TEST_TRIM/shortDesc</name>
+  <name>/parameters/CANNODE_PUB_MBD/values/1/description</name>
   <message>
-  <source>TEST_TRIM</source>
+  <source>Enabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A0_ID/shortDesc</name>
+  <name>/parameters/CANNODE_SUB_MBD/shortDesc</name>
   <message>
-  <source>ID of Accelerometer that the calibration is for</source>
+  <source>Enable MovingBaselineData subscription</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A0_TMAX/shortDesc</name>
+  <name>/parameters/CANNODE_SUB_MBD/values/0/description</name>
   <message>
-  <source>Accelerometer calibration maximum temperature</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A0_TMIN/shortDesc</name>
+  <name>/parameters/CANNODE_SUB_MBD/values/1/description</name>
   <message>
-  <source>Accelerometer calibration minimum temperature</source>
+  <source>Enabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A0_TREF/shortDesc</name>
+  <name>/parameters/CANNODE_SUB_RTCM/shortDesc</name>
   <message>
-  <source>Accelerometer calibration reference temperature</source>
+  <source>Enable RTCM subscription</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A0_X0_0/shortDesc</name>
+  <name>/parameters/CANNODE_SUB_RTCM/values/0/description</name>
   <message>
-  <source>Accelerometer offset temperature ^0 polynomial coefficient - X axis</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A0_X0_1/shortDesc</name>
+  <name>/parameters/CANNODE_SUB_RTCM/values/1/description</name>
   <message>
-  <source>Accelerometer offset temperature ^0 polynomial coefficient - Y axis</source>
+  <source>Enabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A0_X0_2/shortDesc</name>
+  <name>/parameters/CANNODE_TERM/shortDesc</name>
   <message>
-  <source>Accelerometer offset temperature ^0 polynomial coefficient - Z axis</source>
+  <source>CAN built-in bus termination</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A0_X1_0/shortDesc</name>
+  <name>/parameters/CANNODE_TERM/values/0/description</name>
   <message>
-  <source>Accelerometer offset temperature ^1 polynomial coefficient - X axis</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A0_X1_1/shortDesc</name>
+  <name>/parameters/CANNODE_TERM/values/1/description</name>
   <message>
-  <source>Accelerometer offset temperature ^1 polynomial coefficient - Y axis</source>
+  <source>Enabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A0_X1_2/shortDesc</name>
+  <name>/parameters/SIM_GZ_EN/shortDesc</name>
   <message>
-  <source>Accelerometer offset temperature ^1 polynomial coefficient - Z axis</source>
+  <source>Simulator Gazebo bridge enable</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A0_X2_0/shortDesc</name>
+  <name>/parameters/SIM_GZ_EN/values/0/description</name>
   <message>
-  <source>Accelerometer offset temperature ^2 polynomial coefficient - X axis</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A0_X2_1/shortDesc</name>
+  <name>/parameters/SIM_GZ_EN/values/1/description</name>
   <message>
-  <source>Accelerometer offset temperature ^2 polynomial coefficient - Y axis</source>
+  <source>Enabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A0_X2_2/shortDesc</name>
+  <name>/parameters/UAVCAN_BITRATE/shortDesc</name>
   <message>
-  <source>Accelerometer offset temperature ^2 polynomial coefficient - Z axis</source>
+  <source>UAVCAN CAN bus bitrate</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A0_X3_0/shortDesc</name>
+  <name>/parameters/UAVCAN_ENABLE/shortDesc</name>
   <message>
-  <source>Accelerometer offset temperature ^3 polynomial coefficient - X axis</source>
+  <source>UAVCAN mode</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A0_X3_1/shortDesc</name>
+  <name>/parameters/UAVCAN_ENABLE/longDesc</name>
   <message>
-  <source>Accelerometer offset temperature ^3 polynomial coefficient - Y axis</source>
+  <source>0 - UAVCAN disabled. 1 - Enables support for UAVCAN sensors without dynamic node ID allocation and firmware update. 2 - Enables support for UAVCAN sensors with dynamic node ID allocation and firmware update. 3 - Enables support for UAVCAN sensors and actuators with dynamic node ID allocation and firmware update. Also sets the motor control outputs to UAVCAN.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A0_X3_2/shortDesc</name>
+  <name>/parameters/UAVCAN_ENABLE/values/0/description</name>
   <message>
-  <source>Accelerometer offset temperature ^3 polynomial coefficient - Z axis</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A1_ID/shortDesc</name>
+  <name>/parameters/UAVCAN_ENABLE/values/1/description</name>
   <message>
-  <source>ID of Accelerometer that the calibration is for</source>
+  <source>Sensors Manual Config</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A1_TMAX/shortDesc</name>
+  <name>/parameters/UAVCAN_ENABLE/values/2/description</name>
   <message>
-  <source>Accelerometer calibration maximum temperature</source>
+  <source>Sensors Automatic Config</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A1_TMIN/shortDesc</name>
+  <name>/parameters/UAVCAN_ENABLE/values/3/description</name>
   <message>
-  <source>Accelerometer calibration minimum temperature</source>
+  <source>Sensors and Actuators (ESCs) Automatic Config</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A1_TREF/shortDesc</name>
+  <name>/parameters/UAVCAN_LGT_ANTCL/shortDesc</name>
   <message>
-  <source>Accelerometer calibration reference temperature</source>
+  <source>UAVCAN ANTI_COLLISION light operating mode</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A1_X0_0/shortDesc</name>
+  <name>/parameters/UAVCAN_LGT_ANTCL/longDesc</name>
   <message>
-  <source>Accelerometer offset temperature ^0 polynomial coefficient - X axis</source>
+  <source>This parameter defines the minimum condition under which the system will command the ANTI_COLLISION lights on 0 - Always off 1 - When autopilot is armed 2 - When autopilot is prearmed 3 - Always on</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A1_X0_1/shortDesc</name>
+  <name>/parameters/UAVCAN_LGT_ANTCL/values/0/description</name>
   <message>
-  <source>Accelerometer offset temperature ^0 polynomial coefficient - Y axis</source>
+  <source>Always off</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A1_X0_2/shortDesc</name>
+  <name>/parameters/UAVCAN_LGT_ANTCL/values/1/description</name>
   <message>
-  <source>Accelerometer offset temperature ^0 polynomial coefficient - Z axis</source>
+  <source>When autopilot is armed</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A1_X1_0/shortDesc</name>
+  <name>/parameters/UAVCAN_LGT_ANTCL/values/2/description</name>
   <message>
-  <source>Accelerometer offset temperature ^1 polynomial coefficient - X axis</source>
+  <source>When autopilot is prearmed</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A1_X1_1/shortDesc</name>
+  <name>/parameters/UAVCAN_LGT_ANTCL/values/3/description</name>
   <message>
-  <source>Accelerometer offset temperature ^1 polynomial coefficient - Y axis</source>
+  <source>Always on</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A1_X1_2/shortDesc</name>
+  <name>/parameters/UAVCAN_LGT_LAND/shortDesc</name>
   <message>
-  <source>Accelerometer offset temperature ^1 polynomial coefficient - Z axis</source>
+  <source>UAVCAN LIGHT_ID_LANDING light operating mode</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A1_X2_0/shortDesc</name>
+  <name>/parameters/UAVCAN_LGT_LAND/longDesc</name>
   <message>
-  <source>Accelerometer offset temperature ^2 polynomial coefficient - X axis</source>
+  <source>This parameter defines the minimum condition under which the system will command the LIGHT_ID_LANDING lights on 0 - Always off 1 - When autopilot is armed 2 - When autopilot is prearmed 3 - Always on</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A1_X2_1/shortDesc</name>
+  <name>/parameters/UAVCAN_LGT_LAND/values/0/description</name>
   <message>
-  <source>Accelerometer offset temperature ^2 polynomial coefficient - Y axis</source>
+  <source>Always off</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A1_X2_2/shortDesc</name>
+  <name>/parameters/UAVCAN_LGT_LAND/values/1/description</name>
   <message>
-  <source>Accelerometer offset temperature ^2 polynomial coefficient - Z axis</source>
+  <source>When autopilot is armed</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A1_X3_0/shortDesc</name>
+  <name>/parameters/UAVCAN_LGT_LAND/values/2/description</name>
   <message>
-  <source>Accelerometer offset temperature ^3 polynomial coefficient - X axis</source>
+  <source>When autopilot is prearmed</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A1_X3_1/shortDesc</name>
+  <name>/parameters/UAVCAN_LGT_LAND/values/3/description</name>
   <message>
-  <source>Accelerometer offset temperature ^3 polynomial coefficient - Y axis</source>
+  <source>Always on</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A1_X3_2/shortDesc</name>
+  <name>/parameters/UAVCAN_LGT_NAV/shortDesc</name>
   <message>
-  <source>Accelerometer offset temperature ^3 polynomial coefficient - Z axis</source>
+  <source>UAVCAN RIGHT_OF_WAY light operating mode</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A2_ID/shortDesc</name>
+  <name>/parameters/UAVCAN_LGT_NAV/longDesc</name>
   <message>
-  <source>ID of Accelerometer that the calibration is for</source>
+  <source>This parameter defines the minimum condition under which the system will command the RIGHT_OF_WAY lights on 0 - Always off 1 - When autopilot is armed 2 - When autopilot is prearmed 3 - Always on</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A2_TMAX/shortDesc</name>
+  <name>/parameters/UAVCAN_LGT_NAV/values/0/description</name>
   <message>
-  <source>Accelerometer calibration maximum temperature</source>
+  <source>Always off</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A2_TMIN/shortDesc</name>
+  <name>/parameters/UAVCAN_LGT_NAV/values/1/description</name>
   <message>
-  <source>Accelerometer calibration minimum temperature</source>
+  <source>When autopilot is armed</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A2_TREF/shortDesc</name>
+  <name>/parameters/UAVCAN_LGT_NAV/values/2/description</name>
   <message>
-  <source>Accelerometer calibration reference temperature</source>
+  <source>When autopilot is prearmed</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A2_X0_0/shortDesc</name>
+  <name>/parameters/UAVCAN_LGT_NAV/values/3/description</name>
   <message>
-  <source>Accelerometer offset temperature ^0 polynomial coefficient - X axis</source>
+  <source>Always on</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A2_X0_1/shortDesc</name>
+  <name>/parameters/UAVCAN_LGT_STROB/shortDesc</name>
   <message>
-  <source>Accelerometer offset temperature ^0 polynomial coefficient - Y axis</source>
+  <source>UAVCAN STROBE light operating mode</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A2_X0_2/shortDesc</name>
+  <name>/parameters/UAVCAN_LGT_STROB/longDesc</name>
   <message>
-  <source>Accelerometer offset temperature ^0 polynomial coefficient - Z axis</source>
+  <source>This parameter defines the minimum condition under which the system will command the STROBE lights on 0 - Always off 1 - When autopilot is armed 2 - When autopilot is prearmed 3 - Always on</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A2_X1_0/shortDesc</name>
+  <name>/parameters/UAVCAN_LGT_STROB/values/0/description</name>
   <message>
-  <source>Accelerometer offset temperature ^1 polynomial coefficient - X axis</source>
+  <source>Always off</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A2_X1_1/shortDesc</name>
+  <name>/parameters/UAVCAN_LGT_STROB/values/1/description</name>
   <message>
-  <source>Accelerometer offset temperature ^1 polynomial coefficient - Y axis</source>
+  <source>When autopilot is armed</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A2_X1_2/shortDesc</name>
+  <name>/parameters/UAVCAN_LGT_STROB/values/2/description</name>
   <message>
-  <source>Accelerometer offset temperature ^1 polynomial coefficient - Z axis</source>
+  <source>When autopilot is prearmed</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A2_X2_0/shortDesc</name>
+  <name>/parameters/UAVCAN_LGT_STROB/values/3/description</name>
   <message>
-  <source>Accelerometer offset temperature ^2 polynomial coefficient - X axis</source>
+  <source>Always on</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A2_X2_1/shortDesc</name>
+  <name>/parameters/UAVCAN_NODE_ID/shortDesc</name>
   <message>
-  <source>Accelerometer offset temperature ^2 polynomial coefficient - Y axis</source>
+  <source>UAVCAN Node ID</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A2_X2_2/shortDesc</name>
+  <name>/parameters/UAVCAN_NODE_ID/longDesc</name>
   <message>
-  <source>Accelerometer offset temperature ^2 polynomial coefficient - Z axis</source>
+  <source>Read the specs at http://uavcan.org to learn more about Node ID.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A2_X3_0/shortDesc</name>
+  <name>/parameters/UAVCAN_PUB_ARM/shortDesc</name>
   <message>
-  <source>Accelerometer offset temperature ^3 polynomial coefficient - X axis</source>
+  <source>publish Arming Status stream</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A2_X3_1/shortDesc</name>
+  <name>/parameters/UAVCAN_PUB_ARM/longDesc</name>
   <message>
-  <source>Accelerometer offset temperature ^3 polynomial coefficient - Y axis</source>
+  <source>Enable UAVCAN Arming Status stream publication uavcan::equipment::safety::ArmingStatus</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A2_X3_2/shortDesc</name>
+  <name>/parameters/UAVCAN_PUB_ARM/values/0/description</name>
   <message>
-  <source>Accelerometer offset temperature ^3 polynomial coefficient - Z axis</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A3_ID/shortDesc</name>
+  <name>/parameters/UAVCAN_PUB_ARM/values/1/description</name>
   <message>
-  <source>ID of Accelerometer that the calibration is for</source>
+  <source>Enabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A3_TMAX/shortDesc</name>
+  <name>/parameters/UAVCAN_PUB_MBD/shortDesc</name>
   <message>
-  <source>Accelerometer calibration maximum temperature</source>
+  <source>publish moving baseline data RTCM stream</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A3_TMIN/shortDesc</name>
+  <name>/parameters/UAVCAN_PUB_MBD/longDesc</name>
   <message>
-  <source>Accelerometer calibration minimum temperature</source>
+  <source>Enable UAVCAN RTCM stream publication ardupilot::gnss::MovingBaselineData</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A3_TREF/shortDesc</name>
+  <name>/parameters/UAVCAN_PUB_MBD/values/0/description</name>
   <message>
-  <source>Accelerometer calibration reference temperature</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A3_X0_0/shortDesc</name>
+  <name>/parameters/UAVCAN_PUB_MBD/values/1/description</name>
   <message>
-  <source>Accelerometer offset temperature ^0 polynomial coefficient - X axis</source>
+  <source>Enabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A3_X0_1/shortDesc</name>
+  <name>/parameters/UAVCAN_PUB_RTCM/shortDesc</name>
   <message>
-  <source>Accelerometer offset temperature ^0 polynomial coefficient - Y axis</source>
+  <source>publish RTCM stream</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A3_X0_2/shortDesc</name>
+  <name>/parameters/UAVCAN_PUB_RTCM/longDesc</name>
   <message>
-  <source>Accelerometer offset temperature ^0 polynomial coefficient - Z axis</source>
+  <source>Enable UAVCAN RTCM stream publication uavcan::equipment::gnss::RTCMStream</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A3_X1_0/shortDesc</name>
+  <name>/parameters/UAVCAN_PUB_RTCM/values/0/description</name>
   <message>
-  <source>Accelerometer offset temperature ^1 polynomial coefficient - X axis</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A3_X1_1/shortDesc</name>
+  <name>/parameters/UAVCAN_PUB_RTCM/values/1/description</name>
   <message>
-  <source>Accelerometer offset temperature ^1 polynomial coefficient - Y axis</source>
+  <source>Enabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A3_X1_2/shortDesc</name>
+  <name>/parameters/UAVCAN_RNG_MAX/shortDesc</name>
   <message>
-  <source>Accelerometer offset temperature ^1 polynomial coefficient - Z axis</source>
+  <source>UAVCAN rangefinder maximum range</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A3_X2_0/shortDesc</name>
+  <name>/parameters/UAVCAN_RNG_MAX/longDesc</name>
   <message>
-  <source>Accelerometer offset temperature ^2 polynomial coefficient - X axis</source>
+  <source>This parameter defines the maximum valid range for a rangefinder connected via UAVCAN.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A3_X2_1/shortDesc</name>
+  <name>/parameters/UAVCAN_RNG_MIN/shortDesc</name>
   <message>
-  <source>Accelerometer offset temperature ^2 polynomial coefficient - Y axis</source>
+  <source>UAVCAN rangefinder minimum range</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A3_X2_2/shortDesc</name>
+  <name>/parameters/UAVCAN_RNG_MIN/longDesc</name>
   <message>
-  <source>Accelerometer offset temperature ^2 polynomial coefficient - Z axis</source>
+  <source>This parameter defines the minimum valid range for a rangefinder connected via UAVCAN.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A3_X3_0/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_ASPD/shortDesc</name>
   <message>
-  <source>Accelerometer offset temperature ^3 polynomial coefficient - X axis</source>
+  <source>subscription airspeed</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A3_X3_1/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_ASPD/longDesc</name>
   <message>
-  <source>Accelerometer offset temperature ^3 polynomial coefficient - Y axis</source>
+  <source>Enable UAVCAN airspeed subscriptions. uavcan::equipment::air_data::IndicatedAirspeed uavcan::equipment::air_data::TrueAirspeed uavcan::equipment::air_data::StaticTemperature</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A3_X3_2/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_ASPD/values/0/description</name>
   <message>
-  <source>Accelerometer offset temperature ^3 polynomial coefficient - Z axis</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A_ENABLE/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_ASPD/values/1/description</name>
   <message>
-  <source>Thermal compensation for accelerometer sensors</source>
+  <source>Enabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A_ENABLE/values/0/description</name>
+  <name>/parameters/UAVCAN_SUB_BARO/shortDesc</name>
   <message>
-  <source>Disabled</source>
+  <source>subscription barometer</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_A_ENABLE/values/1/description</name>
+  <name>/parameters/UAVCAN_SUB_BARO/longDesc</name>
   <message>
-  <source>Enabled</source>
+  <source>Enable UAVCAN barometer subscription. uavcan::equipment::air_data::StaticPressure uavcan::equipment::air_data::StaticTemperature</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_B0_ID/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_BARO/values/0/description</name>
   <message>
-  <source>ID of Barometer that the calibration is for</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_B0_TMAX/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_BARO/values/1/description</name>
   <message>
-  <source>Barometer calibration maximum temperature</source>
+  <source>Enabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_B0_TMIN/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_BAT/shortDesc</name>
   <message>
-  <source>Barometer calibration minimum temperature</source>
+  <source>subscription battery</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_B0_TREF/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_BAT/longDesc</name>
   <message>
-  <source>Barometer calibration reference temperature</source>
+  <source>Enable UAVCAN battery subscription. uavcan::equipment::power::BatteryInfo ardupilot::equipment::power::BatteryInfoAux 0 - Disable 1 - Use raw data. Recommended for Smart battery 2 - Filter the data with internal battery library</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_B0_X0/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_BAT/values/0/description</name>
   <message>
-  <source>Barometer offset temperature ^0 polynomial coefficient</source>
+  <source>Disable</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_B0_X1/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_BAT/values/1/description</name>
   <message>
-  <source>Barometer offset temperature ^1 polynomial coefficients</source>
+  <source>Raw data</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_B0_X2/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_BAT/values/2/description</name>
   <message>
-  <source>Barometer offset temperature ^2 polynomial coefficient</source>
+  <source>Filter data</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_B0_X3/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_BTN/shortDesc</name>
   <message>
-  <source>Barometer offset temperature ^3 polynomial coefficient</source>
+  <source>subscription button</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_B0_X4/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_BTN/longDesc</name>
   <message>
-  <source>Barometer offset temperature ^4 polynomial coefficient</source>
+  <source>Enable UAVCAN button subscription. ardupilot::indication::Button</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_B0_X5/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_BTN/values/0/description</name>
   <message>
-  <source>Barometer offset temperature ^5 polynomial coefficient</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_B1_ID/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_BTN/values/1/description</name>
   <message>
-  <source>ID of Barometer that the calibration is for</source>
+  <source>Enabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_B1_TMAX/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_DPRES/shortDesc</name>
   <message>
-  <source>Barometer calibration maximum temperature</source>
+  <source>subscription differential pressure</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_B1_TMIN/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_DPRES/longDesc</name>
   <message>
-  <source>Barometer calibration minimum temperature</source>
+  <source>Enable UAVCAN differential pressure subscription. uavcan::equipment::air_data::RawAirData</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_B1_TREF/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_DPRES/values/0/description</name>
   <message>
-  <source>Barometer calibration reference temperature</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_B1_X0/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_DPRES/values/1/description</name>
   <message>
-  <source>Barometer offset temperature ^0 polynomial coefficient</source>
+  <source>Enabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_B1_X1/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_FLOW/shortDesc</name>
   <message>
-  <source>Barometer offset temperature ^1 polynomial coefficients</source>
+  <source>subscription flow</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_B1_X2/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_FLOW/longDesc</name>
   <message>
-  <source>Barometer offset temperature ^2 polynomial coefficient</source>
+  <source>Enable UAVCAN optical flow subscription.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_B1_X3/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_FLOW/values/0/description</name>
   <message>
-  <source>Barometer offset temperature ^3 polynomial coefficient</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_B1_X4/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_FLOW/values/1/description</name>
   <message>
-  <source>Barometer offset temperature ^4 polynomial coefficient</source>
+  <source>Enabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_B1_X5/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_GPS/shortDesc</name>
   <message>
-  <source>Barometer offset temperature ^5 polynomial coefficient</source>
+  <source>subscription GPS</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_B2_ID/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_GPS/longDesc</name>
   <message>
-  <source>ID of Barometer that the calibration is for</source>
+  <source>Enable UAVCAN GPS subscriptions. uavcan::equipment::gnss::Fix uavcan::equipment::gnss::Fix2 uavcan::equipment::gnss::Auxiliary</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_B2_TMAX/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_GPS/values/0/description</name>
   <message>
-  <source>Barometer calibration maximum temperature</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_B2_TMIN/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_GPS/values/1/description</name>
   <message>
-  <source>Barometer calibration minimum temperature</source>
+  <source>Enabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_B2_TREF/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_GPS_R/shortDesc</name>
   <message>
-  <source>Barometer calibration reference temperature</source>
+  <source>subscription GPS Relative</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_B2_X0/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_GPS_R/longDesc</name>
   <message>
-  <source>Barometer offset temperature ^0 polynomial coefficient</source>
+  <source>Enable UAVCAN GPS Relative subscription. ardupilot::gnss::RelPosHeading</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_B2_X1/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_GPS_R/values/0/description</name>
   <message>
-  <source>Barometer offset temperature ^1 polynomial coefficients</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_B2_X2/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_GPS_R/values/1/description</name>
   <message>
-  <source>Barometer offset temperature ^2 polynomial coefficient</source>
+  <source>Enabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_B2_X3/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_HYGRO/shortDesc</name>
   <message>
-  <source>Barometer offset temperature ^3 polynomial coefficient</source>
+  <source>subscription hygrometer</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_B2_X4/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_HYGRO/longDesc</name>
   <message>
-  <source>Barometer offset temperature ^4 polynomial coefficient</source>
+  <source>Enable UAVCAN hygrometer subscriptions. dronecan::sensors::hygrometer::Hygrometer</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_B2_X5/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_HYGRO/values/0/description</name>
   <message>
-  <source>Barometer offset temperature ^5 polynomial coefficient</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_B3_ID/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_HYGRO/values/1/description</name>
   <message>
-  <source>ID of Barometer that the calibration is for</source>
+  <source>Enabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_B3_TMAX/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_ICE/shortDesc</name>
   <message>
-  <source>Barometer calibration maximum temperature</source>
+  <source>subscription ICE</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_B3_TMIN/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_ICE/longDesc</name>
   <message>
-  <source>Barometer calibration minimum temperature</source>
+  <source>Enable UAVCAN internal combustion engine (ICE) subscription. uavcan::equipment::ice::reciprocating::Status</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_B3_TREF/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_ICE/values/0/description</name>
   <message>
-  <source>Barometer calibration reference temperature</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_B3_X0/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_ICE/values/1/description</name>
   <message>
-  <source>Barometer offset temperature ^0 polynomial coefficient</source>
+  <source>Enabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_B3_X1/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_IMU/shortDesc</name>
   <message>
-  <source>Barometer offset temperature ^1 polynomial coefficients</source>
+  <source>subscription IMU</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_B3_X2/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_IMU/longDesc</name>
   <message>
-  <source>Barometer offset temperature ^2 polynomial coefficient</source>
+  <source>Enable UAVCAN IMU subscription. uavcan::equipment::ahrs::RawIMU</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_B3_X3/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_IMU/values/0/description</name>
   <message>
-  <source>Barometer offset temperature ^3 polynomial coefficient</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_B3_X4/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_IMU/values/1/description</name>
   <message>
-  <source>Barometer offset temperature ^4 polynomial coefficient</source>
+  <source>Enabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_B3_X5/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_MAG/shortDesc</name>
   <message>
-  <source>Barometer offset temperature ^5 polynomial coefficient</source>
+  <source>subscription magnetometer</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_B_ENABLE/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_MAG/longDesc</name>
   <message>
-  <source>Thermal compensation for barometric pressure sensors</source>
+  <source>Enable UAVCAN mag subscription. uavcan::equipment::ahrs::MagneticFieldStrength uavcan::equipment::ahrs::MagneticFieldStrength2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_B_ENABLE/values/0/description</name>
+  <name>/parameters/UAVCAN_SUB_MAG/values/0/description</name>
   <message>
   <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_B_ENABLE/values/1/description</name>
+  <name>/parameters/UAVCAN_SUB_MAG/values/1/description</name>
   <message>
   <source>Enabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G0_ID/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_RNG/shortDesc</name>
   <message>
-  <source>ID of Gyro that the calibration is for</source>
+  <source>subscription range finder</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G0_TMAX/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_RNG/longDesc</name>
   <message>
-  <source>Gyro calibration maximum temperature</source>
+  <source>Enable UAVCAN range finder subscription. uavcan::equipment::range_sensor::Measurement</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G0_TMIN/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_RNG/values/0/description</name>
   <message>
-  <source>Gyro calibration minimum temperature</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G0_TREF/shortDesc</name>
+  <name>/parameters/UAVCAN_SUB_RNG/values/1/description</name>
   <message>
-  <source>Gyro calibration reference temperature</source>
+  <source>Enabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G0_X0_0/shortDesc</name>
+  <name>/parameters/UUV_DIRCT_PITCH/shortDesc</name>
   <message>
-  <source>Gyro rate offset temperature ^0 polynomial coefficient - X axis</source>
+  <source>Direct pitch input</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G0_X0_1/shortDesc</name>
+  <name>/parameters/UUV_DIRCT_ROLL/shortDesc</name>
   <message>
-  <source>Gyro rate offset temperature ^0 polynomial coefficient - Y axis</source>
+  <source>Direct roll input</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G0_X0_2/shortDesc</name>
+  <name>/parameters/UUV_DIRCT_THRUST/shortDesc</name>
   <message>
-  <source>Gyro rate offset temperature ^0 polynomial coefficient - Z axis</source>
+  <source>Direct thrust input</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G0_X1_0/shortDesc</name>
+  <name>/parameters/UUV_DIRCT_YAW/shortDesc</name>
   <message>
-  <source>Gyro rate offset temperature ^1 polynomial coefficient - X axis</source>
+  <source>Direct yaw input</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G0_X1_1/shortDesc</name>
+  <name>/parameters/UUV_INPUT_MODE/shortDesc</name>
   <message>
-  <source>Gyro rate offset temperature ^1 polynomial coefficient - Y axis</source>
+  <source>Select Input Mode</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G0_X1_2/shortDesc</name>
+  <name>/parameters/UUV_INPUT_MODE/values/0/description</name>
   <message>
-  <source>Gyro rate offset temperature ^1 polynomial coefficient - Z axis</source>
+  <source>use Attitude Setpoints</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G0_X2_0/shortDesc</name>
+  <name>/parameters/UUV_INPUT_MODE/values/1/description</name>
   <message>
-  <source>Gyro rate offset temperature ^2 polynomial coefficient - X axis</source>
+  <source>Direct Feedthrough</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G0_X2_1/shortDesc</name>
+  <name>/parameters/UUV_PITCH_D/shortDesc</name>
   <message>
-  <source>Gyro rate offset temperature ^2 polynomial coefficient - Y axis</source>
+  <source>Pitch differential gain</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G0_X2_2/shortDesc</name>
+  <name>/parameters/UUV_PITCH_P/shortDesc</name>
   <message>
-  <source>Gyro rate offset temperature ^2 polynomial coefficient - Z axis</source>
+  <source>Pitch proportional gain</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G0_X3_0/shortDesc</name>
+  <name>/parameters/UUV_ROLL_D/shortDesc</name>
   <message>
-  <source>Gyro rate offset temperature ^3 polynomial coefficient - X axis</source>
+  <source>Roll differential gain</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G0_X3_1/shortDesc</name>
+  <name>/parameters/UUV_ROLL_P/shortDesc</name>
   <message>
-  <source>Gyro rate offset temperature ^3 polynomial coefficient - Y axis</source>
+  <source>Roll proportional gain</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G0_X3_2/shortDesc</name>
+  <name>/parameters/UUV_YAW_D/shortDesc</name>
   <message>
-  <source>Gyro rate offset temperature ^3 polynomial coefficient - Z axis</source>
+  <source>Yaw differential gain</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G1_ID/shortDesc</name>
+  <name>/parameters/UUV_YAW_P/shortDesc</name>
   <message>
-  <source>ID of Gyro that the calibration is for</source>
+  <source>Yawh proportional gain</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G1_TMAX/shortDesc</name>
+  <name>/parameters/UUV_GAIN_X_D/shortDesc</name>
   <message>
-  <source>Gyro calibration maximum temperature</source>
+  <source>Gain of D controller X</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G1_TMIN/shortDesc</name>
+  <name>/parameters/UUV_GAIN_X_P/shortDesc</name>
   <message>
-  <source>Gyro calibration minimum temperature</source>
+  <source>Gain of P controller X</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G1_TREF/shortDesc</name>
+  <name>/parameters/UUV_GAIN_Y_D/shortDesc</name>
   <message>
-  <source>Gyro calibration reference temperature</source>
+  <source>Gain of D controller Y</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G1_X0_0/shortDesc</name>
+  <name>/parameters/UUV_GAIN_Y_P/shortDesc</name>
   <message>
-  <source>Gyro rate offset temperature ^0 polynomial coefficient - X axis</source>
+  <source>Gain of P controller Y</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G1_X0_1/shortDesc</name>
+  <name>/parameters/UUV_GAIN_Z_D/shortDesc</name>
   <message>
-  <source>Gyro rate offset temperature ^0 polynomial coefficient - Y axis</source>
+  <source>Gain of D controller Z</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G1_X0_2/shortDesc</name>
+  <name>/parameters/UUV_GAIN_Z_P/shortDesc</name>
   <message>
-  <source>Gyro rate offset temperature ^0 polynomial coefficient - Z axis</source>
+  <source>Gain of P controller Z</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G1_X1_0/shortDesc</name>
+  <name>/parameters/UUV_STAB_MODE/shortDesc</name>
   <message>
-  <source>Gyro rate offset temperature ^1 polynomial coefficient - X axis</source>
+  <source>Stabilization mode(1) or Position Control(0)</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G1_X1_1/shortDesc</name>
+  <name>/parameters/UUV_STAB_MODE/values/0/description</name>
   <message>
-  <source>Gyro rate offset temperature ^1 polynomial coefficient - Y axis</source>
+  <source>Position Control</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G1_X1_2/shortDesc</name>
+  <name>/parameters/UUV_STAB_MODE/values/1/description</name>
   <message>
-  <source>Gyro rate offset temperature ^1 polynomial coefficient - Z axis</source>
+  <source>Stabilization Mode</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G1_X2_0/shortDesc</name>
+  <name>/parameters/UWB_INIT_OFF_X/shortDesc</name>
   <message>
-  <source>Gyro rate offset temperature ^2 polynomial coefficient - X axis</source>
+  <source>UWB sensor X offset in body frame</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G1_X2_1/shortDesc</name>
+  <name>/parameters/UWB_INIT_OFF_X/longDesc</name>
   <message>
-  <source>Gyro rate offset temperature ^2 polynomial coefficient - Y axis</source>
+  <source>UWB sensor positioning in relation to Drone in NED. X offset. A Positive offset results in a Position o</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G1_X2_2/shortDesc</name>
+  <name>/parameters/UWB_INIT_OFF_Y/shortDesc</name>
   <message>
-  <source>Gyro rate offset temperature ^2 polynomial coefficient - Z axis</source>
+  <source>UWB sensor Y offset in body frame</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G1_X3_0/shortDesc</name>
+  <name>/parameters/UWB_INIT_OFF_Y/longDesc</name>
   <message>
-  <source>Gyro rate offset temperature ^3 polynomial coefficient - X axis</source>
+  <source>UWB sensor positioning in relation to Drone in NED. Y offset.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G1_X3_1/shortDesc</name>
+  <name>/parameters/UWB_INIT_OFF_Z/shortDesc</name>
   <message>
-  <source>Gyro rate offset temperature ^3 polynomial coefficient - Y axis</source>
+  <source>UWB sensor Z offset in body frame</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G1_X3_2/shortDesc</name>
+  <name>/parameters/UWB_INIT_OFF_Z/longDesc</name>
   <message>
-  <source>Gyro rate offset temperature ^3 polynomial coefficient - Z axis</source>
+  <source>UWB sensor positioning in relation to Drone in NED. Z offset.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G2_ID/shortDesc</name>
+  <name>/parameters/UWB_PORT_CFG/shortDesc</name>
   <message>
-  <source>ID of Gyro that the calibration is for</source>
+  <source>Serial Configuration for Ultrawideband position sensor driver</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G2_TMAX/shortDesc</name>
+  <name>/parameters/UWB_PORT_CFG/longDesc</name>
   <message>
-  <source>Gyro calibration maximum temperature</source>
+  <source>Configure on which serial port to run Ultrawideband position sensor driver.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G2_TMIN/shortDesc</name>
+  <name>/parameters/UWB_PORT_CFG/values/0/description</name>
   <message>
-  <source>Gyro calibration minimum temperature</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G2_TREF/shortDesc</name>
+  <name>/parameters/UWB_PORT_CFG/values/6/description</name>
   <message>
-  <source>Gyro calibration reference temperature</source>
+  <source>UART 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G2_X0_0/shortDesc</name>
+  <name>/parameters/UWB_PORT_CFG/values/101/description</name>
   <message>
-  <source>Gyro rate offset temperature ^0 polynomial coefficient - X axis</source>
+  <source>TELEM 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G2_X0_1/shortDesc</name>
+  <name>/parameters/UWB_PORT_CFG/values/102/description</name>
   <message>
-  <source>Gyro rate offset temperature ^0 polynomial coefficient - Y axis</source>
+  <source>TELEM 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G2_X0_2/shortDesc</name>
+  <name>/parameters/UWB_PORT_CFG/values/103/description</name>
   <message>
-  <source>Gyro rate offset temperature ^0 polynomial coefficient - Z axis</source>
+  <source>TELEM 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G2_X1_0/shortDesc</name>
+  <name>/parameters/UWB_PORT_CFG/values/104/description</name>
   <message>
-  <source>Gyro rate offset temperature ^1 polynomial coefficient - X axis</source>
+  <source>TELEM/SERIAL 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G2_X1_1/shortDesc</name>
+  <name>/parameters/UWB_PORT_CFG/values/201/description</name>
   <message>
-  <source>Gyro rate offset temperature ^1 polynomial coefficient - Y axis</source>
+  <source>GPS 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G2_X1_2/shortDesc</name>
+  <name>/parameters/UWB_PORT_CFG/values/202/description</name>
   <message>
-  <source>Gyro rate offset temperature ^1 polynomial coefficient - Z axis</source>
+  <source>GPS 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G2_X2_0/shortDesc</name>
+  <name>/parameters/UWB_PORT_CFG/values/203/description</name>
   <message>
-  <source>Gyro rate offset temperature ^2 polynomial coefficient - X axis</source>
+  <source>GPS 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G2_X2_1/shortDesc</name>
+  <name>/parameters/UWB_PORT_CFG/values/300/description</name>
   <message>
-  <source>Gyro rate offset temperature ^2 polynomial coefficient - Y axis</source>
+  <source>Radio Controller</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G2_X2_2/shortDesc</name>
+  <name>/parameters/UWB_PORT_CFG/values/301/description</name>
   <message>
-  <source>Gyro rate offset temperature ^2 polynomial coefficient - Z axis</source>
+  <source>Wifi Port</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G2_X3_0/shortDesc</name>
+  <name>/parameters/UWB_PORT_CFG/values/401/description</name>
   <message>
-  <source>Gyro rate offset temperature ^3 polynomial coefficient - X axis</source>
+  <source>EXT2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G2_X3_1/shortDesc</name>
+  <name>/parameters/UWB_SENS_ROT/shortDesc</name>
   <message>
-  <source>Gyro rate offset temperature ^3 polynomial coefficient - Y axis</source>
+  <source>UWB sensor orientation</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G2_X3_2/shortDesc</name>
+  <name>/parameters/UWB_SENS_ROT/longDesc</name>
   <message>
-  <source>Gyro rate offset temperature ^3 polynomial coefficient - Z axis</source>
+  <source>The orientation of the sensor relative to the forward direction of the body frame. Look up table in src/lib/conversion/rotation.h Default position is the antannaes downward facing, UWB board parallel with body frame.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G3_ID/shortDesc</name>
+  <name>/parameters/UWB_SENS_ROT/values/0/description</name>
   <message>
-  <source>ID of Gyro that the calibration is for</source>
+  <source>ROTATION_NONE</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G3_TMAX/shortDesc</name>
+  <name>/parameters/UWB_SENS_ROT/values/1/description</name>
   <message>
-  <source>Gyro calibration maximum temperature</source>
+  <source>ROTATION_YAW_45</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G3_TMIN/shortDesc</name>
+  <name>/parameters/UWB_SENS_ROT/values/2/description</name>
   <message>
-  <source>Gyro calibration minimum temperature</source>
+  <source>ROTATION_YAW_90</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G3_TREF/shortDesc</name>
+  <name>/parameters/UWB_SENS_ROT/values/3/description</name>
   <message>
-  <source>Gyro calibration reference temperature</source>
+  <source>ROTATION_YAW_135</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G3_X0_0/shortDesc</name>
+  <name>/parameters/UWB_SENS_ROT/values/4/description</name>
   <message>
-  <source>Gyro rate offset temperature ^0 polynomial coefficient - X axis</source>
+  <source>ROTATION_YAW_180</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G3_X0_1/shortDesc</name>
+  <name>/parameters/UWB_SENS_ROT/values/5/description</name>
   <message>
-  <source>Gyro rate offset temperature ^0 polynomial coefficient - Y axis</source>
+  <source>ROTATION_YAW_225</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G3_X0_2/shortDesc</name>
+  <name>/parameters/UWB_SENS_ROT/values/6/description</name>
   <message>
-  <source>Gyro rate offset temperature ^0 polynomial coefficient - Z axis</source>
+  <source>ROTATION_YAW_270</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G3_X1_0/shortDesc</name>
+  <name>/parameters/UWB_SENS_ROT/values/7/description</name>
   <message>
-  <source>Gyro rate offset temperature ^1 polynomial coefficient - X axis</source>
+  <source>ROTATION_YAW_315</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G3_X1_1/shortDesc</name>
+  <name>/parameters/UWB_SENS_ROT/values/8/description</name>
   <message>
-  <source>Gyro rate offset temperature ^1 polynomial coefficient - Y axis</source>
+  <source>ROTATION_ROLL_180</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G3_X1_2/shortDesc</name>
+  <name>/parameters/UWB_SENS_ROT/values/9/description</name>
   <message>
-  <source>Gyro rate offset temperature ^1 polynomial coefficient - Z axis</source>
+  <source>ROTATION_ROLL_180_YAW_45</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G3_X2_0/shortDesc</name>
+  <name>/parameters/UWB_SENS_ROT/values/10/description</name>
   <message>
-  <source>Gyro rate offset temperature ^2 polynomial coefficient - X axis</source>
+  <source>ROTATION_ROLL_180_YAW_90</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G3_X2_1/shortDesc</name>
+  <name>/parameters/UWB_SENS_ROT/values/11/description</name>
   <message>
-  <source>Gyro rate offset temperature ^2 polynomial coefficient - Y axis</source>
+  <source>ROTATION_ROLL_180_YAW_135</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G3_X2_2/shortDesc</name>
+  <name>/parameters/UWB_SENS_ROT/values/12/description</name>
   <message>
-  <source>Gyro rate offset temperature ^2 polynomial coefficient - Z axis</source>
+  <source>ROTATION_PITCH_180</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G3_X3_0/shortDesc</name>
+  <name>/parameters/UWB_SENS_ROT/values/13/description</name>
   <message>
-  <source>Gyro rate offset temperature ^3 polynomial coefficient - X axis</source>
+  <source>ROTATION_ROLL_180_YAW_225</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G3_X3_1/shortDesc</name>
+  <name>/parameters/UWB_SENS_ROT/values/14/description</name>
   <message>
-  <source>Gyro rate offset temperature ^3 polynomial coefficient - Y axis</source>
+  <source>ROTATION_ROLL_180_YAW_270</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G3_X3_2/shortDesc</name>
+  <name>/parameters/UWB_SENS_ROT/values/15/description</name>
   <message>
-  <source>Gyro rate offset temperature ^3 polynomial coefficient - Z axis</source>
+  <source>ROTATION_ROLL_180_YAW_315</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G_ENABLE/shortDesc</name>
+  <name>/parameters/UWB_SENS_ROT/values/16/description</name>
   <message>
-  <source>Thermal compensation for rate gyro sensors</source>
+  <source>ROTATION_ROLL_90</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G_ENABLE/values/0/description</name>
+  <name>/parameters/UWB_SENS_ROT/values/17/description</name>
   <message>
-  <source>Disabled</source>
+  <source>ROTATION_ROLL_90_YAW_45</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_G_ENABLE/values/1/description</name>
+  <name>/parameters/UWB_SENS_ROT/values/18/description</name>
   <message>
-  <source>Enabled</source>
+  <source>ROTATION_ROLL_90_YAW_90</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M0_ID/shortDesc</name>
+  <name>/parameters/UWB_SENS_ROT/values/19/description</name>
   <message>
-  <source>ID of Magnetometer that the calibration is for</source>
+  <source>ROTATION_ROLL_90_YAW_135</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M0_TMAX/shortDesc</name>
+  <name>/parameters/UWB_SENS_ROT/values/20/description</name>
   <message>
-  <source>Magnetometer calibration maximum temperature</source>
+  <source>ROTATION_ROLL_270</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M0_TMIN/shortDesc</name>
+  <name>/parameters/UWB_SENS_ROT/values/21/description</name>
   <message>
-  <source>Magnetometer calibration minimum temperature</source>
+  <source>ROTATION_ROLL_270_YAW_45</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M0_TREF/shortDesc</name>
+  <name>/parameters/UWB_SENS_ROT/values/22/description</name>
   <message>
-  <source>Magnetometer calibration reference temperature</source>
+  <source>ROTATION_ROLL_270_YAW_90</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M0_X0_0/shortDesc</name>
+  <name>/parameters/UWB_SENS_ROT/values/23/description</name>
   <message>
-  <source>Magnetometer offset temperature ^0 polynomial coefficient - X axis</source>
+  <source>ROTATION_ROLL_270_YAW_135</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M0_X0_1/shortDesc</name>
+  <name>/parameters/UWB_SENS_ROT/values/24/description</name>
   <message>
-  <source>Magnetometer offset temperature ^0 polynomial coefficient - Y axis</source>
+  <source>ROTATION_PITCH_90</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M0_X0_2/shortDesc</name>
+  <name>/parameters/UWB_SENS_ROT/values/25/description</name>
   <message>
-  <source>Magnetometer offset temperature ^0 polynomial coefficient - Z axis</source>
+  <source>ROTATION_PITCH_270</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M0_X1_0/shortDesc</name>
+  <name>/parameters/UWB_SENS_ROT/values/26/description</name>
   <message>
-  <source>Magnetometer offset temperature ^1 polynomial coefficient - X axis</source>
+  <source>ROTATION_PITCH_180_YAW_90</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M0_X1_1/shortDesc</name>
+  <name>/parameters/UWB_SENS_ROT/values/27/description</name>
   <message>
-  <source>Magnetometer offset temperature ^1 polynomial coefficient - Y axis</source>
+  <source>ROTATION_PITCH_180_YAW_270</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M0_X1_2/shortDesc</name>
+  <name>/parameters/UWB_SENS_ROT/values/28/description</name>
   <message>
-  <source>Magnetometer offset temperature ^1 polynomial coefficient - Z axis</source>
+  <source>ROTATION_ROLL_90_PITCH_90</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M0_X2_0/shortDesc</name>
+  <name>/parameters/UWB_SENS_ROT/values/29/description</name>
   <message>
-  <source>Magnetometer offset temperature ^2 polynomial coefficient - X axis</source>
+  <source>ROTATION_ROLL_180_PITCH_90</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M0_X2_1/shortDesc</name>
+  <name>/parameters/UWB_SENS_ROT/values/30/description</name>
   <message>
-  <source>Magnetometer offset temperature ^2 polynomial coefficient - Y axis</source>
+  <source>ROTATION_ROLL_270_PITCH_90</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M0_X2_2/shortDesc</name>
+  <name>/parameters/UWB_SENS_ROT/values/31/description</name>
   <message>
-  <source>Magnetometer offset temperature ^2 polynomial coefficient - Z axis</source>
+  <source>ROTATION_ROLL_90_PITCH_180</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M0_X3_0/shortDesc</name>
+  <name>/parameters/UWB_SENS_ROT/values/32/description</name>
   <message>
-  <source>Magnetometer offset temperature ^3 polynomial coefficient - X axis</source>
+  <source>ROTATION_ROLL_270_PITCH_180</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M0_X3_1/shortDesc</name>
+  <name>/parameters/UWB_SENS_ROT/values/33/description</name>
   <message>
-  <source>Magnetometer offset temperature ^3 polynomial coefficient - Y axis</source>
+  <source>ROTATION_ROLL_90_PITCH_270</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M0_X3_2/shortDesc</name>
+  <name>/parameters/UWB_SENS_ROT/values/34/description</name>
   <message>
-  <source>Magnetometer offset temperature ^3 polynomial coefficient - Z axis</source>
+  <source>ROTATION_ROLL_180_PITCH_270</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M1_ID/shortDesc</name>
+  <name>/parameters/UWB_SENS_ROT/values/35/description</name>
   <message>
-  <source>ID of Magnetometer that the calibration is for</source>
+  <source>ROTATION_ROLL_270_PITCH_270</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M1_TMAX/shortDesc</name>
+  <name>/parameters/UWB_SENS_ROT/values/36/description</name>
   <message>
-  <source>Magnetometer calibration maximum temperature</source>
+  <source>ROTATION_ROLL_90_PITCH_180_YAW_90</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M1_TMIN/shortDesc</name>
+  <name>/parameters/UWB_SENS_ROT/values/37/description</name>
   <message>
-  <source>Magnetometer calibration minimum temperature</source>
+  <source>ROTATION_ROLL_90_YAW_270</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M1_TREF/shortDesc</name>
+  <name>/parameters/UWB_SENS_ROT/values/38/description</name>
   <message>
-  <source>Magnetometer calibration reference temperature</source>
+  <source>ROTATION_ROLL_90_PITCH_68_YAW_293</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M1_X0_0/shortDesc</name>
+  <name>/parameters/UWB_SENS_ROT/values/39/description</name>
   <message>
-  <source>Magnetometer offset temperature ^0 polynomial coefficient - X axis</source>
+  <source>ROTATION_PITCH_315</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M1_X0_1/shortDesc</name>
+  <name>/parameters/UWB_SENS_ROT/values/40/description</name>
   <message>
-  <source>Magnetometer offset temperature ^0 polynomial coefficient - Y axis</source>
+  <source>ROTATION_ROLL_90_PITCH_315</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M1_X0_2/shortDesc</name>
+  <name>/parameters/UXRCE_DDS_AG_IP/shortDesc</name>
   <message>
-  <source>Magnetometer offset temperature ^0 polynomial coefficient - Z axis</source>
+  <source>uXRCE-DDS Agent IP address</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M1_X1_0/shortDesc</name>
+  <name>/parameters/UXRCE_DDS_AG_IP/longDesc</name>
   <message>
-  <source>Magnetometer offset temperature ^1 polynomial coefficient - X axis</source>
+  <source>If ethernet is enabled and is the selected configuration for uXRCE-DDS, the selected Agent IP address will be set and used. Decimal dot notation is not supported. IP address must be provided in int32 format. For example, 192.168.1.2 is mapped to -1062731518; 127.0.0.1 is mapped to 2130706433.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M1_X1_1/shortDesc</name>
+  <name>/parameters/UXRCE_DDS_CFG/shortDesc</name>
   <message>
-  <source>Magnetometer offset temperature ^1 polynomial coefficient - Y axis</source>
+  <source>Serial Configuration for UXRCE-DDS Client</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M1_X1_2/shortDesc</name>
+  <name>/parameters/UXRCE_DDS_CFG/longDesc</name>
   <message>
-  <source>Magnetometer offset temperature ^1 polynomial coefficient - Z axis</source>
+  <source>Configure on which serial port to run UXRCE-DDS Client.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M1_X2_0/shortDesc</name>
+  <name>/parameters/UXRCE_DDS_CFG/values/0/description</name>
   <message>
-  <source>Magnetometer offset temperature ^2 polynomial coefficient - X axis</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M1_X2_1/shortDesc</name>
+  <name>/parameters/UXRCE_DDS_CFG/values/6/description</name>
   <message>
-  <source>Magnetometer offset temperature ^2 polynomial coefficient - Y axis</source>
+  <source>UART 6</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M1_X2_2/shortDesc</name>
+  <name>/parameters/UXRCE_DDS_CFG/values/101/description</name>
   <message>
-  <source>Magnetometer offset temperature ^2 polynomial coefficient - Z axis</source>
+  <source>TELEM 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M1_X3_0/shortDesc</name>
+  <name>/parameters/UXRCE_DDS_CFG/values/102/description</name>
   <message>
-  <source>Magnetometer offset temperature ^3 polynomial coefficient - X axis</source>
+  <source>TELEM 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M1_X3_1/shortDesc</name>
+  <name>/parameters/UXRCE_DDS_CFG/values/103/description</name>
   <message>
-  <source>Magnetometer offset temperature ^3 polynomial coefficient - Y axis</source>
+  <source>TELEM 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M1_X3_2/shortDesc</name>
+  <name>/parameters/UXRCE_DDS_CFG/values/104/description</name>
   <message>
-  <source>Magnetometer offset temperature ^3 polynomial coefficient - Z axis</source>
+  <source>TELEM/SERIAL 4</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M2_ID/shortDesc</name>
+  <name>/parameters/UXRCE_DDS_CFG/values/201/description</name>
   <message>
-  <source>ID of Magnetometer that the calibration is for</source>
+  <source>GPS 1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M2_TMAX/shortDesc</name>
+  <name>/parameters/UXRCE_DDS_CFG/values/202/description</name>
   <message>
-  <source>Magnetometer calibration maximum temperature</source>
+  <source>GPS 2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M2_TMIN/shortDesc</name>
+  <name>/parameters/UXRCE_DDS_CFG/values/203/description</name>
   <message>
-  <source>Magnetometer calibration minimum temperature</source>
+  <source>GPS 3</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M2_TREF/shortDesc</name>
+  <name>/parameters/UXRCE_DDS_CFG/values/300/description</name>
   <message>
-  <source>Magnetometer calibration reference temperature</source>
+  <source>Radio Controller</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M2_X0_0/shortDesc</name>
+  <name>/parameters/UXRCE_DDS_CFG/values/301/description</name>
   <message>
-  <source>Magnetometer offset temperature ^0 polynomial coefficient - X axis</source>
+  <source>Wifi Port</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M2_X0_1/shortDesc</name>
+  <name>/parameters/UXRCE_DDS_CFG/values/401/description</name>
   <message>
-  <source>Magnetometer offset temperature ^0 polynomial coefficient - Y axis</source>
+  <source>EXT2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M2_X0_2/shortDesc</name>
+  <name>/parameters/UXRCE_DDS_CFG/values/1000/description</name>
   <message>
-  <source>Magnetometer offset temperature ^0 polynomial coefficient - Z axis</source>
+  <source>Ethernet</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M2_X1_0/shortDesc</name>
+  <name>/parameters/UXRCE_DDS_DOM_ID/shortDesc</name>
   <message>
-  <source>Magnetometer offset temperature ^1 polynomial coefficient - X axis</source>
+  <source>uXRCE-DDS domain ID</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M2_X1_1/shortDesc</name>
+  <name>/parameters/UXRCE_DDS_DOM_ID/longDesc</name>
   <message>
-  <source>Magnetometer offset temperature ^1 polynomial coefficient - Y axis</source>
+  <source>uXRCE-DDS domain ID</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M2_X1_2/shortDesc</name>
+  <name>/parameters/UXRCE_DDS_KEY/shortDesc</name>
   <message>
-  <source>Magnetometer offset temperature ^1 polynomial coefficient - Z axis</source>
+  <source>uXRCE-DDS session key</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M2_X2_0/shortDesc</name>
+  <name>/parameters/UXRCE_DDS_KEY/longDesc</name>
   <message>
-  <source>Magnetometer offset temperature ^2 polynomial coefficient - X axis</source>
+  <source>uXRCE-DDS key, must be different from zero. In a single agent - multi client configuration, each client must have a unique session key.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M2_X2_1/shortDesc</name>
+  <name>/parameters/UXRCE_DDS_PRT/shortDesc</name>
   <message>
-  <source>Magnetometer offset temperature ^2 polynomial coefficient - Y axis</source>
+  <source>uXRCE-DDS UDP port</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M2_X2_2/shortDesc</name>
+  <name>/parameters/UXRCE_DDS_PRT/longDesc</name>
   <message>
-  <source>Magnetometer offset temperature ^2 polynomial coefficient - Z axis</source>
+  <source>If ethernet is enabled and is the selected configuration for uXRCE-DDS, the selected UDP port will be set and used.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M2_X3_0/shortDesc</name>
+  <name>/parameters/UXRCE_DDS_PTCFG/shortDesc</name>
   <message>
-  <source>Magnetometer offset temperature ^3 polynomial coefficient - X axis</source>
+  <source>uXRCE-DDS participant configuration</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M2_X3_1/shortDesc</name>
+  <name>/parameters/UXRCE_DDS_PTCFG/longDesc</name>
   <message>
-  <source>Magnetometer offset temperature ^3 polynomial coefficient - Y axis</source>
+  <source>Set the participant configuration on the Agent's system. 0: Use the default configuration. 1: Restrict messages to localhost (use in combination with ROS_LOCALHOST_ONLY=1). 2: Use a custom participant with the profile name "px4_participant".</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M2_X3_2/shortDesc</name>
+  <name>/parameters/UXRCE_DDS_PTCFG/values/0/description</name>
   <message>
-  <source>Magnetometer offset temperature ^3 polynomial coefficient - Z axis</source>
+  <source>Default</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M3_ID/shortDesc</name>
+  <name>/parameters/UXRCE_DDS_PTCFG/values/1/description</name>
   <message>
-  <source>ID of Magnetometer that the calibration is for</source>
+  <source>Localhost-only</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M3_TMAX/shortDesc</name>
+  <name>/parameters/UXRCE_DDS_PTCFG/values/2/description</name>
   <message>
-  <source>Magnetometer calibration maximum temperature</source>
+  <source>Custom participant</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M3_TMIN/shortDesc</name>
+  <name>/parameters/UXRCE_DDS_SYNCC/shortDesc</name>
   <message>
-  <source>Magnetometer calibration minimum temperature</source>
+  <source>Enable uXRCE-DDS system clock synchronization</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M3_TREF/shortDesc</name>
+  <name>/parameters/UXRCE_DDS_SYNCC/longDesc</name>
   <message>
-  <source>Magnetometer calibration reference temperature</source>
+  <source>When enabled along with UXRCE_DDS_SYNCT, uxrce_dds_client will set the system clock using the agents UTC timestamp.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M3_X0_0/shortDesc</name>
+  <name>/parameters/UXRCE_DDS_SYNCC/values/0/description</name>
   <message>
-  <source>Magnetometer offset temperature ^0 polynomial coefficient - X axis</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M3_X0_1/shortDesc</name>
+  <name>/parameters/UXRCE_DDS_SYNCC/values/1/description</name>
   <message>
-  <source>Magnetometer offset temperature ^0 polynomial coefficient - Y axis</source>
+  <source>Enabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M3_X0_2/shortDesc</name>
+  <name>/parameters/UXRCE_DDS_SYNCT/shortDesc</name>
   <message>
-  <source>Magnetometer offset temperature ^0 polynomial coefficient - Z axis</source>
+  <source>Enable uXRCE-DDS timestamp synchronization</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M3_X1_0/shortDesc</name>
+  <name>/parameters/UXRCE_DDS_SYNCT/longDesc</name>
   <message>
-  <source>Magnetometer offset temperature ^1 polynomial coefficient - X axis</source>
+  <source>When enabled, uxrce_dds_client will synchronize the timestamps of the incoming and outgoing messages measuring the offset between the Agent OS time and the PX4 time.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M3_X1_1/shortDesc</name>
+  <name>/parameters/UXRCE_DDS_SYNCT/values/0/description</name>
   <message>
-  <source>Magnetometer offset temperature ^1 polynomial coefficient - Y axis</source>
+  <source>Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M3_X1_2/shortDesc</name>
+  <name>/parameters/UXRCE_DDS_SYNCT/values/1/description</name>
   <message>
-  <source>Magnetometer offset temperature ^1 polynomial coefficient - Z axis</source>
+  <source>Enabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M3_X2_0/shortDesc</name>
+  <name>/parameters/VOXL_ESC_BAUD/shortDesc</name>
   <message>
-  <source>Magnetometer offset temperature ^2 polynomial coefficient - X axis</source>
+  <source>UART ESC baud rate</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M3_X2_1/shortDesc</name>
+  <name>/parameters/VOXL_ESC_BAUD/longDesc</name>
   <message>
-  <source>Magnetometer offset temperature ^2 polynomial coefficient - Y axis</source>
+  <source>Default rate is 250Kbps, which is used in off-the-shelf MoadalAI ESC products.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M3_X2_2/shortDesc</name>
+  <name>/parameters/VOXL_ESC_CONFIG/shortDesc</name>
   <message>
-  <source>Magnetometer offset temperature ^2 polynomial coefficient - Z axis</source>
+  <source>UART ESC configuration</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M3_X3_0/shortDesc</name>
+  <name>/parameters/VOXL_ESC_CONFIG/longDesc</name>
   <message>
-  <source>Magnetometer offset temperature ^3 polynomial coefficient - X axis</source>
+  <source>Selects what type of UART ESC, if any, is being used.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M3_X3_1/shortDesc</name>
+  <name>/parameters/VOXL_ESC_CONFIG/values/0/description</name>
   <message>
-  <source>Magnetometer offset temperature ^3 polynomial coefficient - Y axis</source>
+  <source>- Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M3_X3_2/shortDesc</name>
+  <name>/parameters/VOXL_ESC_CONFIG/values/1/description</name>
   <message>
-  <source>Magnetometer offset temperature ^3 polynomial coefficient - Z axis</source>
+  <source>- VOXL ESC</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M_ENABLE/shortDesc</name>
+  <name>/parameters/VOXL_ESC_MODE/shortDesc</name>
   <message>
-  <source>Thermal compensation for magnetometer sensors</source>
+  <source>UART ESC Mode</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M_ENABLE/values/0/description</name>
+  <name>/parameters/VOXL_ESC_MODE/longDesc</name>
   <message>
-  <source>Disabled</source>
+  <source>Selects what type of mode is enabled, if any</source>
   </message>
 </context>
 <context>
-  <name>/parameters/TC_M_ENABLE/values/1/description</name>
+  <name>/parameters/VOXL_ESC_MODE/values/0/description</name>
   <message>
-  <source>Enabled</source>
+  <source>- None</source>
   </message>
 </context>
 <context>
-  <name>/parameters/UUV_DIRCT_PITCH/shortDesc</name>
+  <name>/parameters/VOXL_ESC_MODE/values/1/description</name>
   <message>
-  <source>Direct pitch input</source>
+  <source>- Turtle Mode enabled via AUX1</source>
   </message>
 </context>
 <context>
-  <name>/parameters/UUV_DIRCT_ROLL/shortDesc</name>
+  <name>/parameters/VOXL_ESC_MODE/values/2/description</name>
   <message>
-  <source>Direct roll input</source>
+  <source>- Turtle Mode enabled via AUX2</source>
   </message>
 </context>
 <context>
-  <name>/parameters/UUV_DIRCT_THRUST/shortDesc</name>
+  <name>/parameters/VOXL_ESC_MODE/values/3/description</name>
   <message>
-  <source>Direct thrust input</source>
+  <source>- UART Passthrough Mode</source>
   </message>
 </context>
 <context>
-  <name>/parameters/UUV_DIRCT_YAW/shortDesc</name>
+  <name>/parameters/VOXL_ESC_PUB_BST/shortDesc</name>
   <message>
-  <source>Direct yaw input</source>
+  <source>UART ESC Enable publishing of battery status</source>
   </message>
 </context>
 <context>
-  <name>/parameters/UUV_INPUT_MODE/shortDesc</name>
+  <name>/parameters/VOXL_ESC_PUB_BST/longDesc</name>
   <message>
-  <source>Select Input Mode</source>
+  <source>Only applicable to ESCs that report total battery voltage and current</source>
   </message>
 </context>
 <context>
-  <name>/parameters/UUV_INPUT_MODE/values/0/description</name>
+  <name>/parameters/VOXL_ESC_PUB_BST/values/0/description</name>
   <message>
-  <source>use Attitude Setpoints</source>
+  <source>- Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/UUV_INPUT_MODE/values/1/description</name>
+  <name>/parameters/VOXL_ESC_PUB_BST/values/1/description</name>
   <message>
-  <source>Direct Feedthrough</source>
+  <source>- Enabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/UUV_PITCH_D/shortDesc</name>
+  <name>/parameters/VOXL_ESC_RPM_MAX/shortDesc</name>
   <message>
-  <source>Pitch differential gain</source>
+  <source>UART ESC RPM Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/UUV_PITCH_P/shortDesc</name>
+  <name>/parameters/VOXL_ESC_RPM_MAX/longDesc</name>
   <message>
-  <source>Pitch proportional gain</source>
+  <source>Maximum RPM for ESC</source>
   </message>
 </context>
 <context>
-  <name>/parameters/UUV_ROLL_D/shortDesc</name>
+  <name>/parameters/VOXL_ESC_RPM_MIN/shortDesc</name>
   <message>
-  <source>Roll differential gain</source>
+  <source>UART ESC RPM Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/UUV_ROLL_P/shortDesc</name>
+  <name>/parameters/VOXL_ESC_RPM_MIN/longDesc</name>
   <message>
-  <source>Roll proportional gain</source>
+  <source>Minimum RPM for ESC</source>
   </message>
 </context>
 <context>
-  <name>/parameters/UUV_YAW_D/shortDesc</name>
+  <name>/parameters/VOXL_ESC_SDIR1/shortDesc</name>
   <message>
-  <source>Yaw differential gain</source>
+  <source>UART ESC ID 1 Spin Direction Flag</source>
   </message>
 </context>
 <context>
-  <name>/parameters/UUV_YAW_P/shortDesc</name>
+  <name>/parameters/VOXL_ESC_SDIR1/values/0/description</name>
   <message>
-  <source>Yawh proportional gain</source>
+  <source>- Default</source>
   </message>
 </context>
 <context>
-  <name>/parameters/UUV_GAIN_X_D/shortDesc</name>
+  <name>/parameters/VOXL_ESC_SDIR1/values/1/description</name>
   <message>
-  <source>Gain of D controller X</source>
+  <source>- Reverse</source>
   </message>
 </context>
 <context>
-  <name>/parameters/UUV_GAIN_X_P/shortDesc</name>
+  <name>/parameters/VOXL_ESC_SDIR2/shortDesc</name>
   <message>
-  <source>Gain of P controller X</source>
+  <source>UART ESC ID 2 Spin Direction Flag</source>
   </message>
 </context>
 <context>
-  <name>/parameters/UUV_GAIN_Y_D/shortDesc</name>
+  <name>/parameters/VOXL_ESC_SDIR2/values/0/description</name>
   <message>
-  <source>Gain of D controller Y</source>
+  <source>- Default</source>
   </message>
 </context>
 <context>
-  <name>/parameters/UUV_GAIN_Y_P/shortDesc</name>
+  <name>/parameters/VOXL_ESC_SDIR2/values/1/description</name>
   <message>
-  <source>Gain of P controller Y</source>
+  <source>- Reverse</source>
   </message>
 </context>
 <context>
-  <name>/parameters/UUV_GAIN_Z_D/shortDesc</name>
+  <name>/parameters/VOXL_ESC_SDIR3/shortDesc</name>
   <message>
-  <source>Gain of D controller Z</source>
+  <source>UART ESC ID 3 Spin Direction Flag</source>
   </message>
 </context>
 <context>
-  <name>/parameters/UUV_GAIN_Z_P/shortDesc</name>
+  <name>/parameters/VOXL_ESC_SDIR3/values/0/description</name>
   <message>
-  <source>Gain of P controller Z</source>
+  <source>- Default</source>
   </message>
 </context>
 <context>
-  <name>/parameters/UUV_STAB_MODE/shortDesc</name>
+  <name>/parameters/VOXL_ESC_SDIR3/values/1/description</name>
   <message>
-  <source>Stabilization mode(1) or Position Control(0)</source>
+  <source>- Reverse</source>
   </message>
 </context>
 <context>
-  <name>/parameters/UUV_STAB_MODE/values/0/description</name>
+  <name>/parameters/VOXL_ESC_SDIR4/shortDesc</name>
   <message>
-  <source>Position Control</source>
+  <source>UART ESC ID 4 Spin Direction Flag</source>
   </message>
 </context>
 <context>
-  <name>/parameters/UUV_STAB_MODE/values/1/description</name>
+  <name>/parameters/VOXL_ESC_SDIR4/values/0/description</name>
   <message>
-  <source>Stabilization Mode</source>
+  <source>- Default</source>
   </message>
 </context>
 <context>
-  <name>/parameters/UXRCE_DDS_AG_IP/shortDesc</name>
+  <name>/parameters/VOXL_ESC_SDIR4/values/1/description</name>
   <message>
-  <source>uXRCE-DDS Agent IP address</source>
+  <source>- Reverse</source>
   </message>
 </context>
 <context>
-  <name>/parameters/UXRCE_DDS_AG_IP/longDesc</name>
+  <name>/parameters/VOXL_ESC_T_COSP/shortDesc</name>
   <message>
-  <source>If ethernet is enabled and is the selected configuration for uXRCE-DDS, the selected Agent IP address will be set and used. Decimal dot notation is not supported. IP address must be provided in int32 format. For example, 192.168.1.2 is mapped to -1062731518; 127.0.0.1 is mapped to 2130706433.</source>
+  <source>UART ESC Turtle Mode Cosphi</source>
   </message>
 </context>
 <context>
-  <name>/parameters/UXRCE_DDS_DOM_ID/shortDesc</name>
+  <name>/parameters/VOXL_ESC_T_DEAD/shortDesc</name>
   <message>
-  <source>uXRCE-DDS domain ID</source>
+  <source>UART ESC Turtle Mode Crash Flip Motor Deadband</source>
   </message>
 </context>
 <context>
-  <name>/parameters/UXRCE_DDS_DOM_ID/longDesc</name>
+  <name>/parameters/VOXL_ESC_T_EXPO/shortDesc</name>
   <message>
-  <source>uXRCE-DDS domain ID</source>
+  <source>UART ESC Turtle Mode Crash Flip Motor expo</source>
   </message>
 </context>
 <context>
-  <name>/parameters/UXRCE_DDS_KEY/shortDesc</name>
+  <name>/parameters/VOXL_ESC_T_MINF/shortDesc</name>
   <message>
-  <source>uXRCE-DDS session key</source>
+  <source>UART ESC Turtle Mode Crash Flip Motor STICK_MINF</source>
   </message>
 </context>
 <context>
-  <name>/parameters/UXRCE_DDS_KEY/longDesc</name>
+  <name>/parameters/VOXL_ESC_T_OVER/shortDesc</name>
   <message>
-  <source>uXRCE-DDS key, must be different from zero. In a single agent - multi client configuration, each client must have a unique session key.</source>
+  <source>UART ESC Over-Temperature Threshold (Degrees C)</source>
   </message>
 </context>
 <context>
-  <name>/parameters/UXRCE_DDS_PRT/shortDesc</name>
+  <name>/parameters/VOXL_ESC_T_OVER/longDesc</name>
   <message>
-  <source>uXRCE-DDS UDP port</source>
+  <source>Only applicable to ESCs that report temperature</source>
   </message>
 </context>
 <context>
-  <name>/parameters/UXRCE_DDS_PRT/longDesc</name>
+  <name>/parameters/VOXL_ESC_T_OVER/values/0/description</name>
   <message>
-  <source>If ethernet is enabled and is the selected configuration for uXRCE-DDS, the selected UDP port will be set and used.</source>
+  <source>- Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/UXRCE_DDS_PTCFG/shortDesc</name>
+  <name>/parameters/VOXL_ESC_T_PERC/shortDesc</name>
   <message>
-  <source>uXRCE-DDS participant configuration</source>
+  <source>UART ESC Turtle Mode Crash Flip Motor Percent</source>
   </message>
 </context>
 <context>
-  <name>/parameters/UXRCE_DDS_PTCFG/longDesc</name>
+  <name>/parameters/VOXL_ESC_T_WARN/shortDesc</name>
   <message>
-  <source>Set the participant configuration on the Agent's system. 0: Use the default configuration. 1: Restrict messages to localhost (use in combination with ROS_LOCALHOST_ONLY=1). 2: Use a custom participant with the profile name "px4_participant".</source>
+  <source>UART ESC Temperature Warning Threshold (Degrees C)</source>
   </message>
 </context>
 <context>
-  <name>/parameters/UXRCE_DDS_PTCFG/values/0/description</name>
+  <name>/parameters/VOXL_ESC_T_WARN/longDesc</name>
   <message>
-  <source>Default</source>
+  <source>Only applicable to ESCs that report temperature</source>
   </message>
 </context>
 <context>
-  <name>/parameters/UXRCE_DDS_PTCFG/values/1/description</name>
+  <name>/parameters/VOXL_ESC_T_WARN/values/0/description</name>
   <message>
-  <source>Localhost-only</source>
+  <source>- Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/UXRCE_DDS_PTCFG/values/2/description</name>
+  <name>/parameters/VOXL_ESC_VLOG/shortDesc</name>
   <message>
-  <source>Custom participant</source>
+  <source>UART ESC verbose logging</source>
   </message>
 </context>
 <context>
-  <name>/parameters/UXRCE_DDS_SYNCC/shortDesc</name>
+  <name>/parameters/VOXL_ESC_VLOG/values/0/description</name>
   <message>
-  <source>Enable uXRCE-DDS system clock synchronization</source>
+  <source>- Disabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/UXRCE_DDS_SYNCC/longDesc</name>
+  <name>/parameters/VOXL_ESC_VLOG/values/1/description</name>
   <message>
-  <source>When enabled along with UXRCE_DDS_SYNCT, uxrce_dds_client will set the system clock using the agents UTC timestamp.</source>
+  <source>- Enabled</source>
   </message>
 </context>
 <context>
-  <name>/parameters/UXRCE_DDS_SYNCC/values/0/description</name>
+  <name>/parameters/VOXL2_IO_BAUD/shortDesc</name>
   <message>
-  <source>Disabled</source>
+  <source>UART M0065 baud rate</source>
   </message>
 </context>
 <context>
-  <name>/parameters/UXRCE_DDS_SYNCC/values/1/description</name>
+  <name>/parameters/VOXL2_IO_BAUD/longDesc</name>
   <message>
-  <source>Enabled</source>
+  <source>Default rate is 921600, which is used for communicating with M0065.</source>
   </message>
 </context>
 <context>
-  <name>/parameters/UXRCE_DDS_SYNCT/shortDesc</name>
+  <name>/parameters/VOXL2_IO_MAX/shortDesc</name>
   <message>
-  <source>Enable uXRCE-DDS timestamp synchronization</source>
+  <source>M0065 PWM Max</source>
   </message>
 </context>
 <context>
-  <name>/parameters/UXRCE_DDS_SYNCT/longDesc</name>
+  <name>/parameters/VOXL2_IO_MAX/longDesc</name>
   <message>
-  <source>When enabled, uxrce_dds_client will synchronize the timestamps of the incoming and outgoing messages measuring the offset between the Agent OS time and the PX4 time.</source>
+  <source>Maximum duration (microseconds) for M0065 PWM</source>
   </message>
 </context>
 <context>
-  <name>/parameters/UXRCE_DDS_SYNCT/values/0/description</name>
+  <name>/parameters/VOXL2_IO_MIN/shortDesc</name>
   <message>
-  <source>Disabled</source>
+  <source>M0065 PWM Min</source>
   </message>
 </context>
 <context>
-  <name>/parameters/UXRCE_DDS_SYNCT/values/1/description</name>
+  <name>/parameters/VOXL2_IO_MIN/longDesc</name>
   <message>
-  <source>Enabled</source>
+  <source>Minimum duration (microseconds) for M0065 PWM</source>
   </message>
 </context>
 <context>
@@ -37796,6 +77936,42 @@
   <source>Altitude relative to home at which vehicle will loiter after front transition.</source>
   </message>
 </context>
+<context>
+  <name>/parameters/ZENOH_ENABLE/shortDesc</name>
+  <message>
+  <source>Zenoh Enable</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/ZENOH_ENABLE/longDesc</name>
+  <message>
+  <source>Zenoh</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SF1XX_MODE/shortDesc</name>
+  <message>
+  <source>Lightware SF1xx/SF20/LW20 Operation Mode</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SF1XX_MODE/values/0/description</name>
+  <message>
+  <source>Disabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SF1XX_MODE/values/1/description</name>
+  <message>
+  <source>Enabled</source>
+  </message>
+</context>
+<context>
+  <name>/parameters/SF1XX_MODE/values/2/description</name>
+  <message>
+  <source>Disabled during VTOL fast forward flight</source>
+  </message>
+</context>
 <context>
   <name>/parameters/UUV_SKIP_CTRL/shortDesc</name>
   <message>
@@ -37820,6 +77996,12 @@
   <source>Developer</source>
   </message>
 </context>
+<context>
+  <name>$globals/category/Standard</name>
+  <message>
+  <source>Standard</source>
+  </message>
+</context>
 <context>
   <name>$globals/category/System</name>
   <message>
@@ -37827,21 +78009,33 @@
   </message>
 </context>
 <context>
-  <name>$globals/category/Standard</name>
+  <name>$globals/group/VTOL Attitude Control</name>
   <message>
-  <source>Standard</source>
+  <source>VTOL Attitude Control</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/FW Rate Control</name>
+  <name>$globals/group/Attitude Q estimator</name>
   <message>
-  <source>FW Rate Control</source>
+  <source>Attitude Q estimator</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/FW Auto Landing</name>
+  <name>$globals/group/Geometry</name>
   <message>
-  <source>FW Auto Landing</source>
+  <source>Geometry</source>
+  </message>
+</context>
+<context>
+  <name>$globals/group/Return Mode</name>
+  <message>
+  <source>Return Mode</source>
+  </message>
+</context>
+<context>
+  <name>$globals/group/Camera Control</name>
+  <message>
+  <source>Camera Control</source>
   </message>
 </context>
 <context>
@@ -37851,45 +78045,51 @@
   </message>
 </context>
 <context>
-  <name>$globals/group/Geofence</name>
+  <name>$globals/group/Battery Calibration</name>
   <message>
-  <source>Geofence</source>
+  <source>Battery Calibration</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/PWM Outputs</name>
+  <name>$globals/group/UXRCE-DDS Client</name>
   <message>
-  <source>PWM Outputs</source>
+  <source>UXRCE-DDS Client</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/FW Launch detection</name>
+  <name>$globals/group/OSD</name>
   <message>
-  <source>FW Launch detection</source>
+  <source>OSD</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/Battery Calibration</name>
+  <name>$globals/group/RC</name>
   <message>
-  <source>Battery Calibration</source>
+  <source>RC</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/Return To Land</name>
+  <name>$globals/group/Magnetometer Bias Estimator</name>
   <message>
-  <source>Return To Land</source>
+  <source>Magnetometer Bias Estimator</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/Mount</name>
+  <name>$globals/group/Land Detector</name>
   <message>
-  <source>Mount</source>
+  <source>Land Detector</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/Sensors</name>
+  <name>$globals/group/Mission</name>
   <message>
-  <source>Sensors</source>
+  <source>Mission</source>
+  </message>
+</context>
+<context>
+  <name>$globals/group/Hover Thrust Estimator</name>
+  <message>
+  <source>Hover Thrust Estimator</source>
   </message>
 </context>
 <context>
@@ -37899,117 +78099,147 @@
   </message>
 </context>
 <context>
-  <name>$globals/group/UAVCAN GNSS</name>
+  <name>$globals/group/RC Input</name>
   <message>
-  <source>UAVCAN GNSS</source>
+  <source>RC Input</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/FW NPFG Control</name>
+  <name>$globals/group/Testing</name>
   <message>
-  <source>FW NPFG Control</source>
+  <source>Testing</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/Rover Position Control</name>
+  <name>$globals/group/Radio Calibration</name>
   <message>
-  <source>Rover Position Control</source>
+  <source>Radio Calibration</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/Manual Control</name>
+  <name>$globals/group/Septentrio</name>
   <message>
-  <source>Manual Control</source>
+  <source>Septentrio</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/FW Performance</name>
+  <name>$globals/group/Sensors</name>
   <message>
-  <source>FW Performance</source>
+  <source>Sensors</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/GPS</name>
+  <name>$globals/group/MAVLink</name>
   <message>
-  <source>GPS</source>
+  <source>MAVLink</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/Rover Differential</name>
+  <name>$globals/group/Failure Detector</name>
   <message>
-  <source>Rover Differential</source>
+  <source>Failure Detector</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/Rover Mecanum</name>
+  <name>$globals/group/ADSB</name>
   <message>
-  <source>Rover Mecanum</source>
+  <source>ADSB</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/Radio Switches</name>
+  <name>$globals/group/CDCACM</name>
   <message>
-  <source>Radio Switches</source>
+  <source>CDCACM</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/Runway Takeoff</name>
+  <name>$globals/group/Sensor Calibration</name>
   <message>
-  <source>Runway Takeoff</source>
+  <source>Sensor Calibration</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/Actuator Outputs</name>
+  <name>$globals/group/Rover Position Control</name>
   <message>
-  <source>Actuator Outputs</source>
+  <source>Rover Position Control</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/Airspeed Validator</name>
+  <name>$globals/group/Transponder</name>
   <message>
-  <source>Airspeed Validator</source>
+  <source>Transponder</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/FW Geometry</name>
+  <name>$globals/group/Commander</name>
   <message>
-  <source>FW Geometry</source>
+  <source>Commander</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/EKF2</name>
+  <name>$globals/group/FW TECS</name>
   <message>
-  <source>EKF2</source>
+  <source>FW TECS</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/OSD</name>
+  <name>$globals/group/Roboclaw</name>
   <message>
-  <source>OSD</source>
+  <source>Roboclaw</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/Magnetometer Bias Estimator</name>
+  <name>$globals/group/Simulator</name>
   <message>
-  <source>Magnetometer Bias Estimator</source>
+  <source>Simulator</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/Circuit Breaker</name>
+  <name>$globals/group/Payload Deliverer</name>
   <message>
-  <source>Circuit Breaker</source>
+  <source>Payload Deliverer</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/FW Path Control</name>
+  <name>$globals/group/Zenoh</name>
   <message>
-  <source>FW Path Control</source>
+  <source>Zenoh</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/Mixer Output</name>
+  <name>$globals/group/Multicopter Attitude Control</name>
   <message>
-  <source>Mixer Output</source>
+  <source>Multicopter Attitude Control</source>
+  </message>
+</context>
+<context>
+  <name>$globals/group/FW Auto Landing</name>
+  <message>
+  <source>FW Auto Landing</source>
+  </message>
+</context>
+<context>
+  <name>$globals/group/Follow target</name>
+  <message>
+  <source>Follow target</source>
+  </message>
+</context>
+<context>
+  <name>$globals/group/VOXL2 IO</name>
+  <message>
+  <source>VOXL2 IO</source>
+  </message>
+</context>
+<context>
+  <name>$globals/group/EKF2</name>
+  <message>
+  <source>EKF2</source>
+  </message>
+</context>
+<context>
+  <name>$globals/group/Iridium SBD</name>
+  <message>
+  <source>Iridium SBD</source>
   </message>
 </context>
 <context>
@@ -38019,33 +78249,33 @@
   </message>
 </context>
 <context>
-  <name>$globals/group/Rover Ackermann</name>
+  <name>$globals/group/Mixer Output</name>
   <message>
-  <source>Rover Ackermann</source>
+  <source>Mixer Output</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/Landing Target Estimator</name>
+  <name>$globals/group/UUV Attitude Control</name>
   <message>
-  <source>Landing Target Estimator</source>
+  <source>UUV Attitude Control</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/MAVLink</name>
+  <name>$globals/group/Events</name>
   <message>
-  <source>MAVLink</source>
+  <source>Events</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/Return Mode</name>
+  <name>$globals/group/Telemetry</name>
   <message>
-  <source>Return Mode</source>
+  <source>Telemetry</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/UAVCAN Motor Parameters</name>
+  <name>$globals/group/FW Geometry</name>
   <message>
-  <source>UAVCAN Motor Parameters</source>
+  <source>FW Geometry</source>
   </message>
 </context>
 <context>
@@ -38055,135 +78285,135 @@
   </message>
 </context>
 <context>
-  <name>$globals/group/Camera trigger</name>
+  <name>$globals/group/UAVCAN GNSS</name>
   <message>
-  <source>Camera trigger</source>
+  <source>UAVCAN GNSS</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/Simulation In Hardware</name>
+  <name>$globals/group/Return To Land</name>
   <message>
-  <source>Simulation In Hardware</source>
+  <source>Return To Land</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/Attitude Q estimator</name>
+  <name>$globals/group/FW Path Control</name>
   <message>
-  <source>Attitude Q estimator</source>
+  <source>FW Path Control</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/Follow target</name>
+  <name>$globals/group/Landing Target Estimator</name>
   <message>
-  <source>Follow target</source>
+  <source>Landing Target Estimator</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/UUV Attitude Control</name>
+  <name>$globals/group/Local Position Estimator</name>
   <message>
-  <source>UUV Attitude Control</source>
+  <source>Local Position Estimator</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/Flight Task Orbit</name>
+  <name>$globals/group/FW Rate Control</name>
   <message>
-  <source>Flight Task Orbit</source>
+  <source>FW Rate Control</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/Geometry</name>
+  <name>$globals/group/FlightTaskOrbit</name>
   <message>
-  <source>Geometry</source>
+  <source>FlightTaskOrbit</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/Simulator</name>
+  <name>$globals/group/Mount</name>
   <message>
-  <source>Simulator</source>
+  <source>Mount</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/Multicopter Attitude Control</name>
+  <name>$globals/group/ModalAI Custom Configuration</name>
   <message>
-  <source>Multicopter Attitude Control</source>
+  <source>ModalAI Custom Configuration</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/Mission</name>
+  <name>$globals/group/Airspeed Validator</name>
   <message>
-  <source>Mission</source>
+  <source>Airspeed Validator</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/Payload Deliverer</name>
+  <name>$globals/group/Serial</name>
   <message>
-  <source>Payload Deliverer</source>
+  <source>Serial</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/Precision Land</name>
+  <name>$globals/group/Multicopter Acro Mode</name>
   <message>
-  <source>Precision Land</source>
+  <source>Multicopter Acro Mode</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/VTOL Attitude Control</name>
+  <name>$globals/group/FW Attitude Control</name>
   <message>
-  <source>VTOL Attitude Control</source>
+  <source>FW Attitude Control</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/FW Attitude Control</name>
+  <name>$globals/group/VTOL Takeoff</name>
   <message>
-  <source>FW Attitude Control</source>
+  <source>VTOL Takeoff</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/Local Position Estimator</name>
+  <name>$globals/group/Rover Differential Drive</name>
   <message>
-  <source>Local Position Estimator</source>
+  <source>Rover Differential Drive</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/Radio Calibration</name>
+  <name>$globals/group/Radio Switches</name>
   <message>
-  <source>Radio Calibration</source>
+  <source>Radio Switches</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/Events</name>
+  <name>$globals/group/System</name>
   <message>
-  <source>Events</source>
+  <source>System</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/Sensor Calibration</name>
+  <name>$globals/group/Precision Land</name>
   <message>
-  <source>Sensor Calibration</source>
+  <source>Precision Land</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/UUV Position Control</name>
+  <name>$globals/group/Simulation In Hardware</name>
   <message>
-  <source>UUV Position Control</source>
+  <source>Simulation In Hardware</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/SITL</name>
+  <name>$globals/group/PWM Outputs</name>
   <message>
-  <source>SITL</source>
+  <source>PWM Outputs</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/UXRCE-DDS Client</name>
+  <name>$globals/group/UUV Position Control</name>
   <message>
-  <source>UXRCE-DDS Client</source>
+  <source>UUV Position Control</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/VTOL Takeoff</name>
+  <name>$globals/group/Runway Takeoff</name>
   <message>
-  <source>VTOL Takeoff</source>
+  <source>Runway Takeoff</source>
   </message>
 </context>
 <context>
@@ -38192,6 +78422,24 @@
   <source>Miscellaneous</source>
   </message>
 </context>
+<context>
+  <name>$globals/group/Roboclaw Driver</name>
+  <message>
+  <source>Roboclaw Driver</source>
+  </message>
+</context>
+<context>
+  <name>$globals/group/Cyphal</name>
+  <message>
+  <source>Cyphal</source>
+  </message>
+</context>
+<context>
+  <name>$globals/group/GPS</name>
+  <message>
+  <source>GPS</source>
+  </message>
+</context>
 <context>
   <name>$globals/group/SD Logging</name>
   <message>
@@ -38199,39 +78447,51 @@
   </message>
 </context>
 <context>
-  <name>$globals/group/Land Detector</name>
+  <name>$globals/group/Camera Capture</name>
   <message>
-  <source>Land Detector</source>
+  <source>Camera Capture</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/Multicopter Acro Mode</name>
+  <name>$globals/group/Geofence</name>
   <message>
-  <source>Multicopter Acro Mode</source>
+  <source>Geofence</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/Testing</name>
+  <name>$globals/group/UAVCAN</name>
   <message>
-  <source>Testing</source>
+  <source>UAVCAN</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/Failure Detector</name>
+  <name>$globals/group/DShot</name>
   <message>
-  <source>Failure Detector</source>
+  <source>DShot</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/Hover Thrust Estimator</name>
+  <name>$globals/group/FW Launch detection</name>
   <message>
-  <source>Hover Thrust Estimator</source>
+  <source>FW Launch detection</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/FW TECS</name>
+  <name>$globals/group/VOXL ESC</name>
   <message>
-  <source>FW TECS</source>
+  <source>VOXL ESC</source>
+  </message>
+</context>
+<context>
+  <name>$globals/group/Actuator Outputs</name>
+  <message>
+  <source>Actuator Outputs</source>
+  </message>
+</context>
+<context>
+  <name>$globals/group/UAVCAN Motor Parameters</name>
+  <message>
+  <source>UAVCAN Motor Parameters</source>
   </message>
 </context>
 <context>
@@ -38241,27 +78501,51 @@
   </message>
 </context>
 <context>
-  <name>$globals/group/System</name>
+  <name>$globals/group/SITL</name>
   <message>
-  <source>System</source>
+  <source>SITL</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/Pure Pursuit</name>
+  <name>$globals/group/Manual Control</name>
   <message>
-  <source>Pure Pursuit</source>
+  <source>Manual Control</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/ADSB</name>
+  <name>$globals/group/FW NPFG Control</name>
   <message>
-  <source>ADSB</source>
+  <source>FW NPFG Control</source>
   </message>
 </context>
 <context>
-  <name>$globals/group/Commander</name>
+  <name>$globals/group/FW Performance</name>
   <message>
-  <source>Commander</source>
+  <source>FW Performance</source>
+  </message>
+</context>
+<context>
+  <name>$globals/group/Circuit Breaker</name>
+  <message>
+  <source>Circuit Breaker</source>
+  </message>
+</context>
+<context>
+  <name>$globals/group/Camera trigger</name>
+  <message>
+  <source>Camera trigger</source>
+  </message>
+</context>
+<context>
+  <name>$globals/group/UWB</name>
+  <message>
+  <source>UWB</source>
+  </message>
+</context>
+<context>
+  <name>$globals/group/ESC</name>
+  <message>
+  <source>ESC</source>
   </message>
 </context>
 </TS>
diff --git a/translated/actuators_summary.json b/translated/actuators_summary.json
index 163303b..831bde5 100644
--- a/translated/actuators_summary.json
+++ b/translated/actuators_summary.json
@@ -1 +1 @@
-{"de_DE": {"url": "https://raw.githubusercontent.com/PX4/PX4-Metadata-Translations/main/translated/actuators_de_DE.ts.xz", "last-modified": "2024-11-19T06:23:09.986891+00:00"}, "uk_UA": {"url": "https://raw.githubusercontent.com/PX4/PX4-Metadata-Translations/main/translated/actuators_uk_UA.ts.xz", "last-modified": "2024-11-19T06:23:09.986891+00:00"}, "zh_CN": {"url": "https://raw.githubusercontent.com/PX4/PX4-Metadata-Translations/main/translated/actuators_zh_CN.ts.xz", "last-modified": "2024-11-19T06:23:09.986891+00:00"}, "ko_KR": {"url": "https://raw.githubusercontent.com/PX4/PX4-Metadata-Translations/main/translated/actuators_ko_KR.ts.xz", "last-modified": "2024-11-19T06:23:09.986891+00:00"}}
\ No newline at end of file
+{"de_DE": {"url": "https://raw.githubusercontent.com/PX4/PX4-Metadata-Translations/main/translated/actuators_de_DE.ts.xz", "last-modified": "2024-11-20T06:23:10.106827+00:00"}, "uk_UA": {"url": "https://raw.githubusercontent.com/PX4/PX4-Metadata-Translations/main/translated/actuators_uk_UA.ts.xz", "last-modified": "2024-11-20T06:23:10.106827+00:00"}, "zh_CN": {"url": "https://raw.githubusercontent.com/PX4/PX4-Metadata-Translations/main/translated/actuators_zh_CN.ts.xz", "last-modified": "2024-11-20T06:23:10.106827+00:00"}, "ko_KR": {"url": "https://raw.githubusercontent.com/PX4/PX4-Metadata-Translations/main/translated/actuators_ko_KR.ts.xz", "last-modified": "2024-11-20T06:23:10.106827+00:00"}}
\ No newline at end of file
diff --git a/translated/events_summary.json b/translated/events_summary.json
index b6a445b..6d4d93c 100644
--- a/translated/events_summary.json
+++ b/translated/events_summary.json
@@ -1 +1 @@
-{"de_DE": {"url": "https://raw.githubusercontent.com/PX4/PX4-Metadata-Translations/main/translated/events_de_DE.ts.xz", "last-modified": "2024-11-19T06:23:09.990891+00:00"}, "zh_CN": {"url": "https://raw.githubusercontent.com/PX4/PX4-Metadata-Translations/main/translated/events_zh_CN.ts.xz", "last-modified": "2024-11-19T06:23:09.990891+00:00"}, "ko_KR": {"url": "https://raw.githubusercontent.com/PX4/PX4-Metadata-Translations/main/translated/events_ko_KR.ts.xz", "last-modified": "2024-11-19T06:23:09.990891+00:00"}, "uk_UA": {"url": "https://raw.githubusercontent.com/PX4/PX4-Metadata-Translations/main/translated/events_uk_UA.ts.xz", "last-modified": "2024-11-19T06:23:09.990891+00:00"}}
\ No newline at end of file
+{"de_DE": {"url": "https://raw.githubusercontent.com/PX4/PX4-Metadata-Translations/main/translated/events_de_DE.ts.xz", "last-modified": "2024-11-20T06:23:10.106827+00:00"}, "zh_CN": {"url": "https://raw.githubusercontent.com/PX4/PX4-Metadata-Translations/main/translated/events_zh_CN.ts.xz", "last-modified": "2024-11-20T06:23:10.110827+00:00"}, "ko_KR": {"url": "https://raw.githubusercontent.com/PX4/PX4-Metadata-Translations/main/translated/events_ko_KR.ts.xz", "last-modified": "2024-11-20T06:23:10.110827+00:00"}, "uk_UA": {"url": "https://raw.githubusercontent.com/PX4/PX4-Metadata-Translations/main/translated/events_uk_UA.ts.xz", "last-modified": "2024-11-20T06:23:10.110827+00:00"}}
\ No newline at end of file
diff --git a/translated/parameters_summary.json b/translated/parameters_summary.json
index 551674f..504d0ba 100644
--- a/translated/parameters_summary.json
+++ b/translated/parameters_summary.json
@@ -1 +1 @@
-{"zh_CN": {"url": "https://raw.githubusercontent.com/PX4/PX4-Metadata-Translations/main/translated/parameters_zh_CN.ts.xz", "last-modified": "2024-11-19T06:23:10.034891+00:00"}, "uk_UA": {"url": "https://raw.githubusercontent.com/PX4/PX4-Metadata-Translations/main/translated/parameters_uk_UA.ts.xz", "last-modified": "2024-11-19T06:23:10.026891+00:00"}, "ko_KR": {"url": "https://raw.githubusercontent.com/PX4/PX4-Metadata-Translations/main/translated/parameters_ko_KR.ts.xz", "last-modified": "2024-11-19T06:23:10.018891+00:00"}, "fr_FR": {"url": "https://raw.githubusercontent.com/PX4/PX4-Metadata-Translations/main/translated/parameters_fr_FR.ts.xz", "last-modified": "2024-11-19T06:23:10.010891+00:00"}, "de_DE": {"url": "https://raw.githubusercontent.com/PX4/PX4-Metadata-Translations/main/translated/parameters_de_DE.ts.xz", "last-modified": "2024-11-19T06:23:09.998891+00:00"}}
\ No newline at end of file
+{"zh_CN": {"url": "https://raw.githubusercontent.com/PX4/PX4-Metadata-Translations/main/translated/parameters_zh_CN.ts.xz", "last-modified": "2024-11-20T06:23:10.154828+00:00"}, "uk_UA": {"url": "https://raw.githubusercontent.com/PX4/PX4-Metadata-Translations/main/translated/parameters_uk_UA.ts.xz", "last-modified": "2024-11-20T06:23:10.146827+00:00"}, "ko_KR": {"url": "https://raw.githubusercontent.com/PX4/PX4-Metadata-Translations/main/translated/parameters_ko_KR.ts.xz", "last-modified": "2024-11-20T06:23:10.138828+00:00"}, "fr_FR": {"url": "https://raw.githubusercontent.com/PX4/PX4-Metadata-Translations/main/translated/parameters_fr_FR.ts.xz", "last-modified": "2024-11-20T06:23:10.130827+00:00"}, "de_DE": {"url": "https://raw.githubusercontent.com/PX4/PX4-Metadata-Translations/main/translated/parameters_de_DE.ts.xz", "last-modified": "2024-11-20T06:23:10.118827+00:00"}}
\ No newline at end of file