ardupilot/ArduPlane/Parameters.pde

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

/*
 *  ArduPlane parameter definitions
 *
 *  This firmware is free software; you can redistribute it and/or
 *  modify it under the terms of the GNU Lesser General Public
 *  License as published by the Free Software Foundation; either
 *  version 2.1 of the License, or (at your option) any later version.
 */

#define GSCALAR(v, name, def) { g.v.vtype, name, Parameters::k_param_ ## v, &g.v, {def_value : def} }
#define ASCALAR(v, name, def) { aparm.v.vtype, name, Parameters::k_param_ ## v, &aparm.v, {def_value : def} }
#define GGROUP(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &g.v, {group_info : class::var_info} }
#define GOBJECT(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &v, {group_info : class::var_info} }

const AP_Param::Info var_info[] PROGMEM = {
    GSCALAR(format_version,         "FORMAT_VERSION", 0),
    GSCALAR(software_type,          "SYSID_SW_TYPE",  Parameters::k_software_type),

    // @Param: SYSID_THISMAV
    // @DisplayName: MAVLink system ID
    // @Description: The identifier of this device in the MAVLink protocol
    // @Range: 1 255
    // @User: Advanced
    GSCALAR(sysid_this_mav,         "SYSID_THISMAV",  MAV_SYSTEM_ID),

    // @Param: SYSID_MYGCS
    // @DisplayName: Ground station MAVLink system ID
    // @Description: The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match.
    // @Range: 1 255
    // @User: Advanced
    GSCALAR(sysid_my_gcs,           "SYSID_MYGCS",    255),

    // @Param: SERIAL0_BAUD
    // @DisplayName: USB Console Baud Rate
    // @Description: The baud rate used on the main uart
    // @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200
    // @User: Standard
    GSCALAR(serial0_baud,           "SERIAL0_BAUD",   SERIAL0_BAUD/1000),

    // @Param: SERIAL3_BAUD
    // @DisplayName: Telemetry Baud Rate
    // @Description: The baud rate used on the telemetry port
    // @Values: 1:1200,2:2400,4:4800,9:9600,19:19200,38:38400,57:57600,111:111100,115:115200
    // @User: Standard
    GSCALAR(serial3_baud,           "SERIAL3_BAUD",   SERIAL3_BAUD/1000),

    // @Param: TELEM_DELAY
    // @DisplayName: Telemetry startup delay 
    // @Description: The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up
    // @User: Standard
    // @Units: seconds
    // @Range: 0 10
    // @Increment: 1
    GSCALAR(telem_delay,            "TELEM_DELAY",     0),

    // @Param: KFF_RDDRMIX
    // @DisplayName: Rudder Mix
    // @Description: The amount of rudder mix to apply during aileron movement 0 = 0 %, 1 = 100%
    // @Range: 0 1
    // @Increment: 0.01
    // @User: Standard
    GSCALAR(kff_rudder_mix,         "KFF_RDDRMIX",    RUDDER_MIX),

    // @Param: KFF_PTCH2THR
    // @DisplayName: Pitch to Throttle Mix
    // @Description: Pitch to throttle feed-forward gain.
    // @Range: 0 5
    // @Increment: 0.01
    // @User: Advanced
    GSCALAR(kff_pitch_to_throttle,  "KFF_PTCH2THR",   0),

    // @Param: KFF_THR2PTCH
    // @DisplayName: Throttle to Pitch Mix
    // @Description: Throttle to pitch feed-forward gain.
    // @Range: 0 5
    // @Increment: 0.01
    // @User: Advanced
    GSCALAR(kff_throttle_to_pitch,  "KFF_THR2PTCH",   0),

    // @Param: STICK_MIXING
    // @DisplayName: Stick Mixing
    // @Description: When enabled, this adds user stick input to the control surfaces in auto modes, allowing the user to have some degree of flight control without changing modes.  There are two types of stick mixing available. If you set STICK_MIXING to 1 then it will use "fly by wire" mixing, which controls the roll and pitch in the same way that the FBWA mode does. This is the safest option if you usually fly ArduPlane in FBWA or FBWB mode. If you set STICK_MIXING to 2 then it will enable direct mixing mode, which is what the STABILIZE mode uses. That will allow for much more extreme maneuvers while in AUTO mode.
    // @Values: 0:Disabled,1:FBWMixing,2:DirectMixing
    // @User: Advanced
    GSCALAR(stick_mixing,           "STICK_MIXING",   STICK_MIXING_FBW),

    // @Param: TKOFF_THR_MINSPD
    // @DisplayName: Takeoff throttle min speed
    // @Description: Minimum GPS ground speed in m/s used by the speed check that un-suppresses throttle in auto-takeoff. This can be be used for catapult launches where you want the motor to engage only after the plane leaves the catapult, but it is preferable to use the TKOFF_THR_MINACC and TKOFF_THR_DELAY parameters for cvatapult launches due to the errors associated with GPS measurements. For hand launches with a pusher prop it is strongly advised that this parameter be set to a value no less than 4 m/s to provide additional protection against premature motor start. Note that the GPS velocity will lag the real velocity by about 0.5 seconds. The ground speed check is delayed by the TKOFF_THR_DELAY parameter.
    // @Units: m/s
    // @Range: 0 30
    // @Increment: 0.1
    // @User: User
    GSCALAR(takeoff_throttle_min_speed,     "TKOFF_THR_MINSPD",  0),

    // @Param: TKOFF_THR_MINACC
    // @DisplayName: Takeoff throttle min acceleration
    // @Description: Minimum forward acceleration in m/s/s before arming the ground speed check in auto-takeoff. This is meant to be used for hand launches. Setting this value to 0 disables the acceleration test which means the ground speed check will always be armed which could allow GPS velocity jumps to start the engine. For hand launches this should be set to 15.
    // @Units: m/s/s
    // @Range: 0 30
    // @Increment: 0.1
    // @User: User
    GSCALAR(takeoff_throttle_min_accel,     "TKOFF_THR_MINACC",  0),

    // @Param: TKOFF_THR_DELAY
    // @DisplayName: Takeoff throttle delay
    // @Description: This parameter sets the time delay (in 1/10ths of a second) that the ground speed check is delayed after the forward acceleration check controlled by TKOFF_THR_MINACC has passed. For hand launches with pusher propellers it is essential that this is set to a value of no less than 2 (0.2 seconds) to ensure that the aircraft is safely clear of the throwers arm before the motor can start. 
    // @Units: 0.1 seconds
    // @Range: 0 15
    // @Increment: 1
    // @User: User
    GSCALAR(takeoff_throttle_delay,     "TKOFF_THR_DELAY",  0),

    // @Param: LEVEL_ROLL_LIMIT
    // @DisplayName: Level flight roll limit
    // @Description: This controls the maximum bank angle in degrees during flight modes where level flight is desired, such as in the final stages of landing, and during auto takeoff. This should be a small angle (such as 5 degrees) to prevent a wing hitting the runway during takeoff or landing. Setting this to zero will completely disable heading hold on auto takeoff and final landing approach.
    // @Units: degrees
    // @Range: 0 45
    // @Increment: 1
    // @User: User
    GSCALAR(level_roll_limit,              "LEVEL_ROLL_LIMIT",   5),

    // @Param: land_pitch_cd
    // @DisplayName: Landing Pitch
    // @Description: Used in autoland for planes without airspeed sensors in hundredths of a degree
    // @Units: centi-Degrees
    // @User: Advanced
    GSCALAR(land_pitch_cd,          "LAND_PITCH_CD",  0),

    // @Param: land_flare_alt
    // @DisplayName: Landing flare altitude
    // @Description: Altitude in autoland at which to lock heading and flare to the LAND_PITCH_CD pitch
    // @Units: meters
    // @Increment: 0.1
    // @User: Advanced
    GSCALAR(land_flare_alt,          "LAND_FLARE_ALT",  3.0),

    // @Param: land_flare_sec
    // @DisplayName: Landing flare time
    // @Description: Time before landing point at which to lock heading and flare to the LAND_PITCH_CD pitch
    // @Units: seconds
    // @Increment: 0.1
    // @User: Advanced
    GSCALAR(land_flare_sec,          "LAND_FLARE_SEC",  2.0),

	// @Param: NAV_CONTROLLER
	// @DisplayName: Navigation controller selection
	// @Description: Which navigation controller to enable
	// @Values: 0:Legacy,1:L1Controller
	// @User: Standard
	GSCALAR(nav_controller,          "NAV_CONTROLLER",   AP_Navigation::CONTROLLER_L1),

    // @Param: ALT_MIX
    // @DisplayName: GPS to Baro Mix
    // @Description: The percent of mixing between GPS altitude and baro altitude. 0 = 100% gps, 1 = 100% baro. It is highly recommend that you not change this from the default of 1, as GPS altitude is notoriously unreliable. The only time I would recommend changing this is if you have a high altitude enabled GPS, and you are dropping a plane from a high altitude baloon many kilometers off the ground.
    // @Units: Percent
    // @Range: 0 1
    // @Increment: 0.1
    // @User: Advanced
    GSCALAR(altitude_mix,           "ALT_MIX",        ALTITUDE_MIX),

    // @Param: ALT_CTRL_ALG
    // @DisplayName: Altitude control algorithm
    // @Description: This sets what algorithm will be used for altitude control. The default is to select the algorithm based on whether airspeed is enabled. If you set it to 1, then the airspeed based algorithm won't be used for altitude control, but airspeed can be used for other flight control functions. Setting it to 2 selects the new 'TECS' (total energy control system) altitude control, which works both with and without airspeed
    // @Values: 0:Default Method,1:non-airspeed,2:TECS
    // @User: Advanced
    GSCALAR(alt_control_algorithm, "ALT_CTRL_ALG",    ALT_CONTROL_DEFAULT),

    // @Param: ALT_OFFSET
    // @DisplayName: Altitude offset
    // @Description: This is added to the target altitude in automatic flight. It can be used to add a global altitude offset to a mission, or to adjust for barometric pressure changes
    // @Units: Meters
    // @Range: -32767 32767
    // @Increment: 1
    // @User: Advanced
    GSCALAR(alt_offset, "ALT_OFFSET",                 0),

    // @Param: CMD_TOTAL
    // @DisplayName: Number of loaded mission items
    // @Description: The number of mission mission items that has been loaded by the ground station. Do not change this manually.
    // @Range: 1 255
    // @User: Advanced
    GSCALAR(command_total,          "CMD_TOTAL",      0),

    // @Param: CMD_INDEX
    // @DisplayName: Current mission command index
    // @Description: The index of the currently running mission item. Do not change this manually.
    // @Range: 1 255
    // @User: Advanced
    GSCALAR(command_index,          "CMD_INDEX",      0),

    // @Param: WP_RADIUS
    // @DisplayName: Waypoint Radius
    // @Description: Defines the distance from a waypoint, that when crossed indicates the wp has been hit.
    // @Units: Meters
    // @Range: 1 32767
    // @Increment: 1
    // @User: Standard
    GSCALAR(waypoint_radius,        "WP_RADIUS",      WP_RADIUS_DEFAULT),

    // @Param: WP_LOITER_RAD
    // @DisplayName: Waypoint Loiter Radius
    // @Description: Defines the distance from the waypoint center, the plane will maintain during a loiter. If you set this value to a negative number then the default loiter direction will be counter-clockwise instead of clockwise.
    // @Units: Meters
    // @Range: 1 32767
    // @Increment: 1
    // @User: Standard
    GSCALAR(loiter_radius,          "WP_LOITER_RAD",  LOITER_RADIUS_DEFAULT),

#if GEOFENCE_ENABLED == ENABLED
    // @Param: FENCE_ACTION
    // @DisplayName: Action on geofence breach
    // @Description: What to do on fence breach
    // @Values: 0:None,1:GuidedMode,2:ReportOnly
    // @User: Standard
    GSCALAR(fence_action,           "FENCE_ACTION",   0),

    // @Param: FENCE_TOTAL
    // @DisplayName: Fence Total
    // @Description: Number of geofence points currently loaded
    // @User: Standard
    GSCALAR(fence_total,            "FENCE_TOTAL",    0),

    // @Param: FENCE_CHANNEL
    // @DisplayName: Fence Channel
    // @Description: RC Channel to use to enable geofence. PWM input above 1750 enables the geofence
    // @User: Standard
    GSCALAR(fence_channel,          "FENCE_CHANNEL",  0),

    // @Param: FENCE_MINALT
    // @DisplayName: Fence Minimum Altitude
    // @Description: Minimum altitude allowed before geofence triggers
    // @Units: meters
    // @Range: 0 32767
    // @Increment: 1
    // @User: Standard
    GSCALAR(fence_minalt,           "FENCE_MINALT",   0),

    // @Param: FENCE_MAXALT
    // @DisplayName: Fence Maximum Altitude
    // @Description: Maximum altitude allowed before geofence triggers
    // @Units: meters
    // @Range: 0 32767
    // @Increment: 1
    // @User: Standard
    GSCALAR(fence_maxalt,           "FENCE_MAXALT",   0),
#endif

    // @Param: ARSPD_FBW_MIN
    // @DisplayName: Fly By Wire Minimum Airspeed
    // @Description: Airspeed corresponding to minimum throttle in Fly By Wire B mode.
    // @Units: m/s
    // @Range: 5 50
    // @Increment: 1
    // @User: Standard
    ASCALAR(flybywire_airspeed_min, "ARSPD_FBW_MIN",  AIRSPEED_FBW_MIN),

    // @Param: ARSPD_FBW_MAX
    // @DisplayName: Fly By Wire Maximum Airspeed
    // @Description: Airspeed corresponding to maximum throttle in Fly By Wire B mode.
    // @Units: m/s
    // @Range: 5 50
    // @Increment: 1
    // @User: Standard
    ASCALAR(flybywire_airspeed_max, "ARSPD_FBW_MAX",  AIRSPEED_FBW_MAX),

    // @Param: FBWB_ELEV_REV
    // @DisplayName: Fly By Wire elevator reverse
    // @Description: Reverse sense of elevator in FBWB. When set to 0 up elevator (pulling back on the stick) means to lower altitude. When set to 1, up elevator means to raise altitude.
    // @Values: 0:Disabled,1:Enabled
    // @User: Standard
    GSCALAR(flybywire_elev_reverse, "FBWB_ELEV_REV",  0),

    // @Param: FBWB_CLIMB_RATE
    // @DisplayName: Fly By Wire B altitude change rate
    // @Description: This sets the rate in m/s at which FBWB will change its target altitude for full elevator deflection. Note that the actual climb rate of the aircraft can be lower than this, depending on your airspeed and throttle control settings. If you have this parameter set to the default value of 2.0, then holding the elevator at maximum deflection for 10 seconds would change the target altitude by 20 meters.
    // @Range: 1-10
	// @Increment: 0.1
    // @User: Standard
    GSCALAR(flybywire_climb_rate, "FBWB_CLIMB_RATE",  2.0f),

    // @Param: THR_MIN
    // @DisplayName: Minimum Throttle
    // @Description: The minimum throttle setting to which the autopilot will apply.
    // @Units: Percent
    // @Range: 0 100
    // @Increment: 1
    // @User: Standard
    ASCALAR(throttle_min,           "THR_MIN",        THROTTLE_MIN),

    // @Param: THR_MAX
    // @DisplayName: Maximum Throttle
    // @Description: The maximum throttle setting to which the autopilot will apply.
    // @Units: Percent
    // @Range: 0 100
    // @Increment: 1
    // @User: Standard
    ASCALAR(throttle_max,           "THR_MAX",        THROTTLE_MAX),

    // @Param: THR_SLEWRATE
    // @DisplayName: Throttle slew rate
    // @Description: maximum percentage change in throttle per second. A setting of 10 means to not change the throttle by more than 10% of the full throttle range in one second
    // @Units: Percent
    // @Range: 0 100
    // @Increment: 1
    // @User: Standard
    ASCALAR(throttle_slewrate,      "THR_SLEWRATE",   THROTTLE_SLEW_LIMIT),

    // @Param: THR_SUPP_MAN
    // @DisplayName: Throttle suppress manual passthru
    // @Description: When throttle is supressed in auto mode it is normally forced to zero. If you enable this option, then while suppressed it will be manual throttle. This is useful on petrol engines to hold the idle throttle manually while waiting for takeoff
	// @Values: 0:Disabled,1:Enabled
    // @User: Advanced
    GSCALAR(throttle_suppress_manual,"THR_SUPP_MAN",   0),

    // @Param: THR_PASS_STAB
    // @DisplayName: Throttle passthru in stabilize
    // @Description: If this is set then when in STABILIZE or FBWA mode the throttle is a direct passthru from the transmitter. This means the THR_MIN and THR_MAX settings are not used in these modes. This is useful for petrol engines where you setup a throttle cut switch that suppresses the throttle below the normal minimum.
	// @Values: 0:Disabled,1:Enabled
    // @User: Advanced
    GSCALAR(throttle_passthru_stabilize,"THR_PASS_STAB",   0),

    // @Param: THR_FAILSAFE
    // @DisplayName: Throttle Failsafe Enable
    // @Description: The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel
    // @Values: 0:Disabled,1:Enabled
    // @User: Standard
    GSCALAR(throttle_fs_enabled,    "THR_FAILSAFE",   THROTTLE_FAILSAFE),


    // @Param: THR_FS_VALUE
    // @DisplayName: Throttle Failsafe Value
    // @Description: The PWM level on channel 3 below which throttle sailsafe triggers
    // @Range: 925 1100
    // @Increment: 1
    // @User: Standard
    GSCALAR(throttle_fs_value,      "THR_FS_VALUE",   THROTTLE_FS_VALUE),

    // @Param: TRIM_THROTTLE
    // @DisplayName: Throttle cruise percentage
    // @Description: The target percentage of throttle to apply for normal flight
    // @Units: Percent
    // @Range: 0 100
    // @Increment: 1
    // @User: Standard
    ASCALAR(throttle_cruise,        "TRIM_THROTTLE",  THROTTLE_CRUISE),

    // @Param: THROTTLE_NUDGE
    // @DisplayName: Throttle nudge enable
    // @Description: When enabled, this uses the throttle input in auto-throttle modes to 'nudge' the throttle to higher or lower values
    // @Values: 0:Disabled,1:Enabled
    // @User: Standard
    // @User: Standard
    GSCALAR(throttle_nudge,         "THROTTLE_NUDGE",  1),

    // @Param: FS_SHORT_ACTN
    // @DisplayName: Short failsafe action
    // @Description: The action to take on a short (1.5 seconds) failsafe event in AUTO, GUIDED or LOITER modes. A short failsafe event in stabilization modes will always cause a change to CIRCLE mode. In AUTO mode you can choose whether it will RTL (ReturnToLaunch) or continue with the mission. If FS_SHORT_ACTN is 0 then it will continue with the mission, if it is 1 then it will enter CIRCLE mode, and then enter RTL if the failsafe condition persists for 20 seconds.
    // @Values: 0:Continue,1:Circle/ReturnToLaunch
    // @User: Standard
    GSCALAR(short_fs_action,        "FS_SHORT_ACTN",  SHORT_FAILSAFE_ACTION),

    // @Param: FS_LONG_ACTN
    // @DisplayName: Long failsafe action
    // @Description: The action to take on a long (20 second) failsafe event in AUTO, GUIDED or LOITER modes. A long failsafe event in stabilization modes will always cause an RTL (ReturnToLaunch). In AUTO modes you can choose whether it will RTL or continue with the mission. If FS_LONG_ACTN is 0 then it will continue with the mission, if it is 1 then it will enter RTL mode. Note that if FS_SHORT_ACTN is 1, then the aircraft will enter CIRCLE mode after 1.5 seconds of failsafe, and will always enter RTL after 20 seconds of failsafe, regardless of the FS_LONG_ACTN setting.
    // @Values: 0:Continue,1:ReturnToLaunch
    // @User: Standard
    GSCALAR(long_fs_action,         "FS_LONG_ACTN",   LONG_FAILSAFE_ACTION),

    // @Param: FS_BATT_VOLTAGE
    // @DisplayName: Failsafe battery voltage
    // @Description: Battery voltage to trigger failsafe. Set to 0 to disable battery voltage failsafe. If the battery voltage drops below this voltage then the plane will RTL
    // @Units: Volts
    // @User: Standard
    GSCALAR(fs_batt_voltage,        "FS_BATT_VOLTAGE", 0),

    // @Param: FS_BATT_MAH
    // @DisplayName: Failsafe battery milliAmpHours
    // @Description: Battery capacity remaining to trigger failsafe. Set to 0 to disable battery remaining failsafe. If the battery remaining drops below this level then the plane will RTL
    // @Units: mAh
    // @User: Standard
    GSCALAR(fs_batt_mah,            "FS_BATT_MAH", 0),

    // @Param: FS_GCS_ENABL
    // @DisplayName: GCS failsafe enable
    // @Description: Enable ground control station telemetry failsafe. Failsafe will trigger after 20 seconds of no MAVLink heartbeat messages. WARNING: Enabling this option opens up the possibility of your plane going into failsafe mode and running the motor on the ground it it loses contact with your ground station. If this option is enabled on an electric plane then either use a separate motor arming switch or remove the propeller in any ground testing.
    // @Values: 0:Disabled,1:Enabled
    // @User: Standard
    GSCALAR(gcs_heartbeat_fs_enabled, "FS_GCS_ENABL", GCS_HEARTBEAT_FAILSAFE),

    // @Param: FLTMODE_CH
    // @DisplayName: Flightmode channel
    // @Description: RC Channel to use for flight mode control
    // @User: Advanced
    GSCALAR(flight_mode_channel,    "FLTMODE_CH",     FLIGHT_MODE_CHANNEL),

    // @Param: FLTMODE1
    // @DisplayName: FlightMode1
    // @Values: 0:Manual,1:CIRCLE,2:STABILIZE,3:TRAINING,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided
    // @User: Standard
    // @Description: Flight mode for switch position 1 (910 to 1230 and above 2049)
    GSCALAR(flight_mode1,           "FLTMODE1",       FLIGHT_MODE_1),

    // @Param: FLTMODE2
    // @DisplayName: FlightMode2
    // @Description: Flight mode for switch position 2 (1231 to 1360)
    // @Values: 0:Manual,1:CIRCLE,2:STABILIZE,3:TRAINING,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided
    // @User: Standard
    GSCALAR(flight_mode2,           "FLTMODE2",       FLIGHT_MODE_2),

    // @Param: FLTMODE3
    // @DisplayName: FlightMode3
    // @Description: Flight mode for switch position 3 (1361 to 1490)
    // @Values: 0:Manual,1:CIRCLE,2:STABILIZE,3:TRAINING,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided
    // @User: Standard
    GSCALAR(flight_mode3,           "FLTMODE3",       FLIGHT_MODE_3),

    // @Param: FLTMODE4
    // @DisplayName: FlightMode4
    // @Description: Flight mode for switch position 4 (1491 to 1620)
    // @Values: 0:Manual,1:CIRCLE,2:STABILIZE,3:TRAINING,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided
    // @User: Standard
    GSCALAR(flight_mode4,           "FLTMODE4",       FLIGHT_MODE_4),

    // @Param: FLTMODE5
    // @DisplayName: FlightMode5
    // @Description: Flight mode for switch position 5 (1621 to 1749)
    // @Values: 0:Manual,1:CIRCLE,2:STABILIZE,3:TRAINING,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided
    // @User: Standard
    GSCALAR(flight_mode5,           "FLTMODE5",       FLIGHT_MODE_5),

    // @Param: FLTMODE6
    // @DisplayName: FlightMode6
    // @Description: Flight mode for switch position 6 (1750 to 2049)
    // @Values: 0:Manual,1:CIRCLE,2:STABILIZE,3:TRAINING,5:FBWA,6:FBWB,10:Auto,11:RTL,12:Loiter,15:Guided
    // @User: Standard
    GSCALAR(flight_mode6,           "FLTMODE6",       FLIGHT_MODE_6),

    // @Param: LIM_ROLL_CD
    // @DisplayName: Maximum Bank Angle
    // @Description: The maximum commanded bank angle in either direction
    // @Units: centi-Degrees
    // @Range: 0 9000
    // @Increment: 1
    // @User: Standard
    GSCALAR(roll_limit_cd,          "LIM_ROLL_CD",    HEAD_MAX_CENTIDEGREE),

    // @Param: LIM_PITCH_MAX
    // @DisplayName: Maximum Pitch Angle
    // @Description: The maximum commanded pitch up angle
    // @Units: centi-Degrees
    // @Range: 0 9000
    // @Increment: 1
    // @User: Standard
    ASCALAR(pitch_limit_max_cd,     "LIM_PITCH_MAX",  PITCH_MAX_CENTIDEGREE),

    // @Param: LIM_PITCH_MIN
    // @DisplayName: Minimum Pitch Angle
    // @Description: The minimum commanded pitch down angle
    // @Units: centi-Degrees
    // @Range: -9000 0
    // @Increment: 1
    // @User: Standard
    ASCALAR(pitch_limit_min_cd,     "LIM_PITCH_MIN",  PITCH_MIN_CENTIDEGREE),

    // @Param: AUTO_TRIM
    // @DisplayName: Auto trim
    // @Description: Set RC trim PWM levels to current levels when switching away from manual mode
    // @Values: 0:Disabled,1:Enabled
    // @User: Standard
    GSCALAR(auto_trim,              "TRIM_AUTO",      AUTO_TRIM),

    // @Param: ELEVON_MIXING
    // @DisplayName: Elevon mixing
    // @Description: Enable elevon mixing  on both input and output. To enable just output mixing see the ELEVON_OUTPUT option.
    // @Values: 0:Disabled,1:Enabled
    // @User: User
    GSCALAR(mix_mode,               "ELEVON_MIXING",  ELEVON_MIXING),

    // @Param: ELEVON_REVERSE
    // @DisplayName: Elevon reverse
    // @Description: Reverse elevon mixing
    // @Values: 0:Disabled,1:Enabled
    // @User: User
    GSCALAR(reverse_elevons,        "ELEVON_REVERSE", ELEVON_REVERSE),


    // @Param: ELEVON_CH1_REV
    // @DisplayName: Elevon reverse
    // @Description: Reverse elevon channel 1
    // @Values: -1:Disabled,1:Enabled
    // @User: User
    GSCALAR(reverse_ch1_elevon,     "ELEVON_CH1_REV", ELEVON_CH1_REVERSE),

    // @Param: ELEVON_CH2_REV
    // @DisplayName: Elevon reverse
    // @Description: Reverse elevon channel 2
    // @Values: -1:Disabled,1:Enabled
    // @User: User
    GSCALAR(reverse_ch2_elevon,     "ELEVON_CH2_REV", ELEVON_CH2_REVERSE),

    // @Param: VTAIL_OUTPUT
    // @DisplayName: VTail output
    // @Description: Enable VTail output in software. If enabled then the APM will provide software VTail mixing on the elevator and rudder channels. There are 4 different mixing modes available, which refer to the 4 ways the elevator can be mapped to the two VTail servos. Note that you must not use VTail output mixing with hardware pass-through of RC values, such as with channel 8 manual control on an APM1. So if you use an APM1 then set FLTMODE_CH to something other than 8 before you enable VTAIL_OUTPUT. Please also see the MIXING_GAIN parameter for the output gain of the mixer.
    // @Values: 0:Disabled,1:UpUp,2:UpDown,3:DownUp,4:DownDown
    // @User: User
    GSCALAR(vtail_output,           "VTAIL_OUTPUT",  0),

    // @Param: ELEVON_OUTPUT
    // @DisplayName: Elevon output
    // @Description: Enable software elevon output mixer. If enabled then the APM will provide software elevon mixing on the aileron and elevator channels. There are 4 different mixing modes available, which refer to the 4 ways the elevator can be mapped to the two elevon servos. Note that you must not use elevon output mixing with hardware pass-through of RC values, such as with channel 8 manual control on an APM1. So if you use an APM1 then set FLTMODE_CH to something other than 8 before you enable ELEVON_OUTPUT. Please also see the MIXING_GAIN parameter for the output gain of the mixer.
    // @Values: 0:Disabled,1:UpUp,2:UpDown,3:DownUp,4:DownDown
    // @User: User
    GSCALAR(elevon_output,           "ELEVON_OUTPUT",  0),

    // @Param: MIXING_GAIN
    // @DisplayName: Mixing Gain
    // @Description: The gain for the Vtail and elevon output mixers. The default is 0.5, which ensures that the mixer doesn't saturate, allowing both input channels to go to extremes while retaining control over the output. Hardware mixers often have a 1.0 gain, which gives more servo throw, but can saturate. If you don't have enough throw on your servos with VTAIL_OUTPUT or ELEVON_OUTPUT enabled then you can raise the gain using MIXING_GAIN. The mixer allows outputs in the range 900 to 2100 microseconds.
    // @Range: 0.5 1.2
    // @User: User
    GSCALAR(mixing_gain,            "MIXING_GAIN",    0.5f),

    // @Param: SYS_NUM_RESETS
    // @DisplayName: Num Resets
    // @Description: Number of APM board resets
    // @User: Advanced
    GSCALAR(num_resets,             "SYS_NUM_RESETS", 0),

    // @Param: LOG_BITMASK
    // @DisplayName: Log bitmask
    // @Description: Two byte bitmap of log types to enable in dataflash
    // @Values: 0:Disabled,1902:Default,2030:Default+IMU
    // @User: Advanced
    GSCALAR(log_bitmask,            "LOG_BITMASK",    DEFAULT_LOG_BITMASK),

    // @Param: RST_SWITCH_CH
    // @DisplayName: Reset Switch Channel
    // @Description: RC channel to use to reset to last flight mode	after geofence takeover.
    // @User: Advanced
    GSCALAR(reset_switch_chan,      "RST_SWITCH_CH",  0),

    // @Param: RST_MISSION_CH
    // @DisplayName: Reset Mission Channel
    // @Description: RC channel to use to reset the mission to the first waypoint. When this channel goes above 1750 the mission is reset. Set RST_MISSION_CH to 0 to disable.
    // @User: Advanced
    GSCALAR(reset_mission_chan,      "RST_MISSION_CH",  0),

    // @Param: TRIM_ARSPD_CM
    // @DisplayName: Target airspeed
    // @Description: Airspeed in cm/s to aim for when airspeed is enabled in auto mode
    // @Units: cm/s
    // @User: User
    GSCALAR(airspeed_cruise_cm,     "TRIM_ARSPD_CM",  AIRSPEED_CRUISE_CM),

    // @Param: SCALING_SPEED
    // @DisplayName: speed used for speed scaling calculations
    // @Description: Airspeed in m/s to use when calculating surface speed scaling. Note that changing this value will affect all PID values
    // @Units: m/s
    // @User: Advanced
    GSCALAR(scaling_speed,        "SCALING_SPEED",    SCALING_SPEED),

    // @Param: MIN_GNDSPD_CM
    // @DisplayName: Minimum ground speed
    // @Description: Minimum ground speed in cm/s when under airspeed control
    // @Units: cm/s
    // @User: Advanced
    GSCALAR(min_gndspeed_cm,      "MIN_GNDSPD_CM",  MIN_GNDSPEED_CM),

    // @Param: TRIM_PITCH_CD
    // @DisplayName: Pitch angle offset
    // @Description: offset to add to pitch - used for in-flight pitch trimming. It is recommended that instead of using this parameter you level your plane correctly on the ground for good flight attitude.
    // @Units: centi-Degrees
    // @User: Advanced
    GSCALAR(pitch_trim_cd,        "TRIM_PITCH_CD",  0),

    // @Param: ALT_HOLD_RTL
    // @DisplayName: RTL altitude
    // @Description: Return to launch target altitude. This is the altitude the plane will aim for and loiter at when returning home. If this is negative (usually -1) then the plane will use the current altitude at the time of entering RTL.
    // @Units: centimeters
    // @User: User
    GSCALAR(RTL_altitude_cm,        "ALT_HOLD_RTL",   ALT_HOLD_HOME_CM),

    // @Param: ALT_HOLD_FBWCM
    // @DisplayName: Minimum altitude for FBWB mode
    // @Description: This is the minimum altitude in centimeters that FBWB will allow. If you attempt to descend below this altitude then the plane will level off. A value of zero means no limit.
    // @Units: centimeters
    // @User: User
    GSCALAR(FBWB_min_altitude_cm,   "ALT_HOLD_FBWCM", ALT_HOLD_FBW_CM),

    // @Param: MAG_ENABLE
    // @DisplayName: Enable Compass
    // @Description: Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1.
    // @Values: 0:Disabled,1:Enabled
    // @User: Standard
    GSCALAR(compass_enabled,        "MAG_ENABLE",     1),

    // @Param: FLAP_1_PERCNT
    // @DisplayName: Flap 1 percentage
    // @Description: The percentage change in flap position when FLAP_1_SPEED is reached. Use zero to disable flaps
    // @Range: 0 100
    // @Units: Percent
    // @User: Advanced
    GSCALAR(flap_1_percent,         "FLAP_1_PERCNT",  FLAP_1_PERCENT),

    // @Param: FLAP_1_SPEED
    // @DisplayName: Flap 1 speed
    // @Description: The speed in meters per second at which to engage FLAP_1_PERCENT of flaps. Note that FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED
    // @Range: 0 100
	// @Increment: 1
    // @Units: m/s
    // @User: Advanced
    GSCALAR(flap_1_speed,           "FLAP_1_SPEED",   FLAP_1_SPEED),

    // @Param: FLAP_2_PERCNT
    // @DisplayName: Flap 2 percentage
    // @Description: The percentage change in flap position when FLAP_2_SPEED is reached. Use zero to disable flaps
    // @Range: 0 100
	// @Units: Percent
    // @User: Advanced
    GSCALAR(flap_2_percent,         "FLAP_2_PERCNT",  FLAP_2_PERCENT),

    // @Param: FLAP_2_SPEED
    // @DisplayName: Flap 2 speed
    // @Description: The speed in meters per second at which to engage FLAP_2_PERCENT of flaps. Note that FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED
    // @Range: 0 100
	// @Units: m/s
	// @Increment: 1
    // @User: Advanced
    GSCALAR(flap_2_speed,           "FLAP_2_SPEED",   FLAP_2_SPEED),

    // @Param: BATT_MONITOR
    // @DisplayName: Battery monitoring
    // @Description: Controls enabling monitoring of the battery's voltage and current
    // @Values: 0:Disabled,3:Voltage Only,4:Voltage and Current
    // @User: Standard
    GSCALAR(battery_monitoring,     "BATT_MONITOR",   0),

    // @Param: VOLT_DIVIDER
    // @DisplayName: Voltage Divider
    // @Description: Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_DIVIDER). For the 3DR Power brick, this should be set to 10.1. For the PX4 using the PX4IO power supply this should be set to 1.
    // @User: Advanced
    GSCALAR(volt_div_ratio,         "VOLT_DIVIDER",   VOLT_DIV_RATIO),

    // @Param: APM_PER_VOLT
    // @DisplayName: Apms per volt
    // @Description: Number of amps that a 1V reading on the current sensor corresponds to
    // @Units: A/V
    // @User: Standard
    GSCALAR(curr_amp_per_volt,      "AMP_PER_VOLT",   CURR_AMP_PER_VOLT),

    // @Param: AMP_OFFSET
    // @DisplayName: AMP offset
    // @Description: Voltage offset at zero current on current sensor
    // @Units: Volts
    // @User: Standard
    GSCALAR(curr_amp_offset,        "AMP_OFFSET",     0),

    // @Param: BATT_CAPACITY
    // @DisplayName: Battery capacity
    // @Description: Capacity of the battery in mAh when full
    // @Units: mAh
    // @User: Standard
    GSCALAR(pack_capacity,          "BATT_CAPACITY",  1760),

    // @Param: BATT_VOLT_PIN
    // @DisplayName: Battery Voltage sensing pin
    // @Description: Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 13. On the PX4 it should be set to 100.
    // @Values: -1:Disabled, 0:A0, 1:A1, 13:A13, 100:PX4
    // @User: Standard
    GSCALAR(battery_volt_pin,    "BATT_VOLT_PIN",    BATTERY_VOLT_PIN),

    // @Param: BATT_CURR_PIN
    // @DisplayName: Battery Current sensing pin
    // @Description: Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 12. On the PX4 it should be set to 101. 
    // @Values: -1:Disabled, 1:A1, 2:A2, 12:A12, 101:PX4
    // @User: Standard
    GSCALAR(battery_curr_pin,    "BATT_CURR_PIN",    BATTERY_CURR_PIN),

    // @Param: RSSI_PIN
    // @DisplayName: Receiver RSSI sensing pin
    // @Description: This selects an analog pin for the receiver RSSI voltage. It assumes the voltage is 5V for max rssi, 0V for minimum
    // @Values: -1:Disabled, 0:A0, 1:A1, 13:A13
    // @User: Standard
    GSCALAR(rssi_pin,            "RSSI_PIN",         -1),

    // @Param: INVERTEDFLT_CH
    // @DisplayName: Inverted flight channel
    // @Description: A RC input channel number to enable inverted flight. If this is non-zero then the APM will monitor the correcponding RC input channel and will enable inverted flight when the channel goes above 1750.
    // @Values: 0:Disabled,1:Channel1,2:Channel2,3:Channel3,4:Channel4,5:Channel5,6:Channel6,7:Channel7,8:Channel8
    // @User: Standard
    GSCALAR(inverted_flight_ch,     "INVERTEDFLT_CH", 0),

#if HIL_MODE != HIL_MODE_DISABLED
    // @Param: HIL_SERVOS
    // @DisplayName: HIL Servos enable
    // @Description: This controls whether real servo controls are used in HIL mode. If you enable this then the APM will control the real servos in HIL mode. If disabled it will report servo values, but will not output to the real servos. Be careful that your motor and propeller are not connected if you enable this option.
    // @Values: 0:Disabled,1:Enabled
    // @User: Advanced
    GSCALAR(hil_servos,            "HIL_SERVOS",      0),
#endif

    // barometer ground calibration. The GND_ prefix is chosen for
    // compatibility with previous releases of ArduPlane
    // @Group: GND_
    // @Path: ../libraries/AP_Baro/AP_Baro.cpp
    GOBJECT(barometer, "GND_", AP_Baro),

#if CAMERA == ENABLED
    // @Group: CAM_
    // @Path: ../libraries/AP_Camera/AP_Camera.cpp
    GOBJECT(camera,                  "CAM_", AP_Camera),
#endif

    // @Group: RELAY_
    // @Path: ../libraries/AP_Relay/AP_Relay.cpp
    GOBJECT(relay,                  "RELAY_", AP_Relay),

    // RC channel
    //-----------
    // @Group: RC1_
    // @Path: ../libraries/RC_Channel/RC_Channel.cpp
    GGROUP(rc_1,                    "RC1_", RC_Channel),

    // @Group: RC2_
    // @Path: ../libraries/RC_Channel/RC_Channel.cpp
    GGROUP(rc_2,                    "RC2_", RC_Channel),

    // @Group: RC3_
    // @Path: ../libraries/RC_Channel/RC_Channel.cpp
    GGROUP(rc_3,                    "RC3_", RC_Channel),

    // @Group: RC4_
    // @Path: ../libraries/RC_Channel/RC_Channel.cpp
    GGROUP(rc_4,                    "RC4_", RC_Channel),

    // @Group: RC5_
    // @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
    GGROUP(rc_5,                    "RC5_", RC_Channel_aux),

    // @Group: RC6_
    // @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
    GGROUP(rc_6,                    "RC6_", RC_Channel_aux),

    // @Group: RC7_
    // @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
    GGROUP(rc_7,                    "RC7_", RC_Channel_aux),

    // @Group: RC8_
    // @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
    GGROUP(rc_8,                    "RC8_", RC_Channel_aux),

#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
    // @Group: RC9_
    // @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
    GGROUP(rc_9,                    "RC9_", RC_Channel_aux),
#endif

#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4
    // @Group: RC10_
    // @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
    GGROUP(rc_10,                    "RC10_", RC_Channel_aux),

    // @Group: RC11_
    // @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
    GGROUP(rc_11,                    "RC11_", RC_Channel_aux),
#endif

#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
    // @Group: RC12_
    // @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
    GGROUP(rc_12,                    "RC12_", RC_Channel_aux),
#endif

	GGROUP(pidNavPitchAirspeed,     "ARSP2PTCH_", PID),
	GGROUP(pidTeThrottle,           "ENRGY2THR_", PID),
	GGROUP(pidNavPitchAltitude,     "ALT2PTCH_",  PID),
	GGROUP(pidWheelSteer,           "WHEELSTEER_",PID),

    // @Group: RLL2SRV_
    // @Path: ../libraries/APM_Control/AP_RollController.cpp
	GGROUP(rollController,          "RLL2SRV_",   AP_RollController),

    // @Group: PTCH2SRV_
    // @Path: ../libraries/APM_Control/AP_PitchController.cpp
	GGROUP(pitchController,         "PTCH2SRV_",  AP_PitchController),

    // @Group: YAW2SRV_
    // @Path: ../libraries/APM_Control/AP_YawController.cpp
	GGROUP(yawController,           "YAW2SRV_",   AP_YawController),

	// variables not in the g class which contain EEPROM saved variables

    // @Group: COMPASS_
    // @Path: ../libraries/AP_Compass/Compass.cpp
    GOBJECT(compass,                "COMPASS_",     Compass),

    // @Group: SCHED_
    // @Path: ../libraries/AP_Scheduler/AP_Scheduler.cpp
    GOBJECT(scheduler, "SCHED_", AP_Scheduler),

    // @Group: RCMAP_
    // @Path: ../libraries/AP_RCMapper/AP_RCMapper.cpp
    GOBJECT(rcmap,                "RCMAP_",         RCMapper),

    GOBJECT(gcs0,                                   "SR0_",     GCS_MAVLINK),
    GOBJECT(gcs3,                                   "SR3_",     GCS_MAVLINK),

    // @Group: INS_
    // @Path: ../libraries/AP_InertialSensor/AP_InertialSensor.cpp
    GOBJECT(ins,                    "INS_", AP_InertialSensor),

    // @Group: AHRS_
    // @Path: ../libraries/AP_AHRS/AP_AHRS.cpp
    GOBJECT(ahrs,                   "AHRS_",    AP_AHRS),

    // @Group: ARSPD_
    // @Path: ../libraries/AP_Airspeed/AP_Airspeed.cpp
    GOBJECT(airspeed,                               "ARSPD_",   AP_Airspeed),

    // @Group: NAVL1_
    // @Path: ../libraries/AP_L1_Control/AP_L1_Control.cpp
    GOBJECT(L1_controller,         "NAVL1_",   AP_L1_Control),

    // @Group: TECS_
    // @Path: ../libraries/AP_TECS/AP_TECS.cpp
    GOBJECT(TECS_controller,         "TECS_",   AP_TECS),

#if MOUNT == ENABLED
    // @Group: MNT_
    // @Path: ../libraries/AP_Mount/AP_Mount.cpp
    GOBJECT(camera_mount,           "MNT_", AP_Mount),
#endif

#if MOUNT2 == ENABLED
    // @Group: MNT2_
    // @Path: ../libraries/AP_Mount/AP_Mount.cpp
    GOBJECT(camera_mount2,           "MNT2_",       AP_Mount),
#endif

#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
    // @Group: SIM_
    // @Path: ../libraries/SITL/SITL.cpp
    GOBJECT(sitl, "SIM_", SITL),
#endif

#if OBC_FAILSAFE == ENABLED
    GOBJECT(obc,  "FS_", APM_OBC),
#endif

    AP_VAREND
};

/*
  This is a conversion table from old parameter values to new
  parameter names. The startup code looks for saved values of the old
  parameters and will copy them across to the new parameters if the
  new parameter does not yet have a saved value. It then saves the new
  value.

  Note that this works even if the old parameter has been removed. It
  relies on the old k_param index not being removed

  The second column below is the index in the var_info[] table for the
  old object. This should be zero for top level parameters.
 */
const AP_Param::ConversionInfo conversion_table[] PROGMEM = {
    { Parameters::k_param_pidServoRoll, 0, AP_PARAM_FLOAT, "RLL2SRV_P" },
    { Parameters::k_param_pidServoRoll, 1, AP_PARAM_FLOAT, "RLL2SRV_I" },
    { Parameters::k_param_pidServoRoll, 2, AP_PARAM_FLOAT, "RLL2SRV_D" },
    { Parameters::k_param_pidServoRoll, 3, AP_PARAM_FLOAT, "RLL2SRV_IMAX" },

    { Parameters::k_param_pidServoPitch, 0, AP_PARAM_FLOAT, "PTCH2SRV_P" },
    { Parameters::k_param_pidServoPitch, 1, AP_PARAM_FLOAT, "PTCH2SRV_I" },
    { Parameters::k_param_pidServoPitch, 2, AP_PARAM_FLOAT, "PTCH2SRV_D" },
    { Parameters::k_param_pidServoPitch, 3, AP_PARAM_FLOAT, "PTCH2SRV_IMAX" },
};

static void load_parameters(void)
{
    if (!g.format_version.load() ||
        g.format_version != Parameters::k_format_version) {

        // erase all parameters
        cliSerial->printf_P(PSTR("Firmware change: erasing EEPROM...\n"));
        AP_Param::erase_all();

        // save the current format version
        g.format_version.set_and_save(Parameters::k_format_version);
        cliSerial->println_P(PSTR("done."));
    } else {
        uint32_t before = micros();
        // Load all auto-loaded EEPROM variables
        AP_Param::load_all();
        AP_Param::convert_old_parameters(&conversion_table[0], sizeof(conversion_table)/sizeof(conversion_table[0]));
        cliSerial->printf_P(PSTR("load_all took %luus\n"), micros() - before);
    }
}