ardupilot/ArduPlane/Parameters.pde

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

/*
  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 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),
	GSCALAR(sysid_this_mav,         "SYSID_THISMAV",  MAV_SYSTEM_ID),
	GSCALAR(sysid_my_gcs,           "SYSID_MYGCS",    255),

    // @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: KFF_PTCHCOMP
	// @DisplayName: Pitch Compensation
	// @Description: Adds pitch input to compensate for the loss of lift due to roll control. 0 = 0 %, 1 = 100%
	// @Range: 0 1
	// @Increment: 0.01
	// @User: Advanced
	GSCALAR(kff_pitch_compensation, "KFF_PTCHCOMP",   PITCH_COMP),

    // @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",   P_TO_T),

    // @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",   T_TO_P),

    // @Param: MANUAL_LEVEL
	// @DisplayName: Manual Level
	// @Description: Setting this to Disabled(0) will enable autolevel on every boot. Setting it to Enabled(1) will do a calibration only when you tell it to
	// @Values: 0:Disabled,1:Enabled
	// @User: Advanced
	GSCALAR(manual_level,           "MANUAL_LEVEL",   MANUAL_LEVEL),

    // @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
	// @Values: 0:Disabled,1:Enabled
	// @User: Advanced
	GSCALAR(stick_mixing,           "STICK_MIXING",   1),

	// @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: XTRK_GAIN_SC
	// @DisplayName: Crosstrack Gain
	// @Description: The scale between distance off the line and angle to meet the line (in Degrees * 100)
	// @Range: 0 2000
	// @Increment: 1
	// @User: Standard
	GSCALAR(crosstrack_gain,        "XTRK_GAIN_SC",   XTRACK_GAIN_SCALED),

    // @Param: XTRK_ANGLE_CD
	// @DisplayName: Crosstrack Entry Angle
	// @Description: Maximum angle used to correct for track following.
	// @Units: centi-Degrees
	// @Range: 0 9000
	// @Increment: 1
	// @User: Standard
	GSCALAR(crosstrack_entry_angle, "XTRK_ANGLE_CD",  XTRACK_ENTRY_ANGLE_CENTIDEGREE),

    // @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
	// @Units: Percent
	// @Range: 0 1
	// @Increment: 0.1
	// @User: Advanced
	GSCALAR(altitude_mix,           "ALT_MIX",        ALTITUDE_MIX),

	GSCALAR(command_total,          "CMD_TOTAL",      0),
	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: 1 127
	// @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
	// @Units: Meters
	// @Range: 1 127
	// @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
	GSCALAR(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
	GSCALAR(flybywire_airspeed_max, "ARSPD_FBW_MAX",  AIRSPEED_FBW_MAX),

    // @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
	GSCALAR(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
	GSCALAR(throttle_max,           "THR_MAX",        THROTTLE_MAX),

	// @Param: THR_SLEWRATE
	// @DisplayName: Throttlw slew rate
	// @Description: maximum percentage change in throttle per second
	// @Units: Percent
	// @Range: 0 100
	// @Increment: 1
	// @User: Standard
	GSCALAR(throttle_slewrate,      "THR_SLEWRATE",   THROTTLE_SLEW_LIMIT),

    // @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
	// @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
	GSCALAR(throttle_cruise,        "TRIM_THROTTLE",  THROTTLE_CRUISE),

    // @Param: FS_SHORT_ACTN
	// @DisplayName: Short failsafe action
	// @Description: The action to take on a short (1 second) failsafe event
	// @Values: 0:None,1: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
	// @Values: 0:None,1:ReturnToLaunch
	// @User: Standard
	GSCALAR(long_fs_action,         "FS_LONG_ACTN",   LONG_FAILSAFE_ACTION),

    // @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
	// @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,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,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,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,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,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,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
	GSCALAR(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: 0 9000
	// @Increment: 1
	// @User: Standard
	GSCALAR(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: MIX_MODE
	// @DisplayName: Elevon mixing
	// @Description: Enable elevon mixing
	// @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: 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: bitmap of log fields to enable
	// @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 trimming tail draggers
	// @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
	// @Units: centimeters
	// @User: User
	GSCALAR(RTL_altitude_cm,        "ALT_HOLD_RTL",   ALT_HOLD_HOME_CM),

	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
	// @Values: 0:Disabled,1:Enabled
	// @User: Standard
	GSCALAR(compass_enabled,        "MAG_ENABLE",     MAGNETOMETER),

	GSCALAR(flap_1_percent,         "FLAP_1_PERCNT",  FLAP_1_PERCENT),
	GSCALAR(flap_1_speed,           "FLAP_1_SPEED",   FLAP_1_SPEED),
	GSCALAR(flap_2_percent,         "FLAP_2_PERCNT",  FLAP_2_PERCENT),
	GSCALAR(flap_2_speed,           "FLAP_2_SPEED",   FLAP_2_SPEED),


	GSCALAR(battery_monitoring,     "BATT_MONITOR",   0),
	GSCALAR(volt_div_ratio,         "VOLT_DIVIDER",   VOLT_DIV_RATIO),
	GSCALAR(curr_amp_per_volt,      "AMP_PER_VOLT",   CURR_AMP_PER_VOLT),
	GSCALAR(input_voltage,          "INPUT_VOLTS",    INPUT_VOLTAGE),
	GSCALAR(pack_capacity,          "BATT_CAPACITY",  HIGH_DISCHARGE),
	GSCALAR(inverted_flight_ch,     "INVERTEDFLT_CH", 0),

    // @Param: SONAR_ENABLE
	// @DisplayName: Enable Sonar
	// @Description: Setting this to Enabled(1) will enable the sonar. Setting this to Disabled(0) will disable the sonar
	// @Values: 0:Disabled,1:Enabled
	// @User: Standard
	GSCALAR(sonar_enabled,          "SONAR_ENABLE",   SONAR_ENABLED),

	// barometer ground calibration. The GND_ prefix is chosen for
	// compatibility with previous releases of ArduPlane
	GOBJECT(barometer, "GND_", AP_Baro),

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

	// RC channel
	//-----------
	// @Group: RC1_
	// @Path: ../libraries/RC_Channel/RC_Channel.cpp
	GGROUP(channel_roll,            "RC1_", RC_Channel),
	// @Group: RC2_
	// @Path: ../libraries/RC_Channel/RC_Channel.cpp
	GGROUP(channel_pitch,           "RC2_", RC_Channel),
	// @Group: RC3_
	// @Path: ../libraries/RC_Channel/RC_Channel.cpp
	GGROUP(channel_throttle,        "RC3_", RC_Channel),
	// @Group: RC4_
	// @Path: ../libraries/RC_Channel/RC_Channel.cpp
	GGROUP(channel_rudder,          "RC4_", RC_Channel),

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

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

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

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

#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
	// @Group: RC9_
	// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp, ../libraries/RC_Channel/RC_Channel.cpp
	GGROUP(rc_9,                    "RC9_", RC_Channel_aux),

	// @Group: RC10_
	// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp, ../libraries/RC_Channel/RC_Channel.cpp
	GGROUP(rc_10,                    "RC10_", RC_Channel_aux),

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

	GGROUP(pidNavRoll,              "HDNG2RLL_",  PID),
	GGROUP(pidServoRoll,            "RLL2SRV_",   PID),
	GGROUP(pidServoPitch,           "PTCH2SRV_",  PID),
	GGROUP(pidNavPitchAirspeed,     "ARSP2PTCH_", PID),
	GGROUP(pidServoRudder,          "YW2SRV_",    PID),
	GGROUP(pidTeThrottle,           "ENRGY2THR_", PID),
	GGROUP(pidNavPitchAltitude,     "ALT2PTCH_",  PID),
	GGROUP(pidWheelSteer,           "WHEELSTEER_",PID),

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

	// @Group: COMPASS_
	// @Path: ../libraries/AP_Compass/Compass.cpp
	GOBJECT(compass,                "COMPASS_",	Compass),
	GOBJECT(gcs0,					"SR0_",     GCS_MAVLINK),
	GOBJECT(gcs3,					"SR3_",     GCS_MAVLINK),

#if HIL_MODE == HIL_MODE_DISABLED && CONFIG_APM_HARDWARE == APM_HARDWARE_APM1
	// @Group: INS_
	// @Path: ../libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp
	GOBJECT(ins,        			"INS_", AP_InertialSensor_Oilpan),
#endif

	// @Group: IMU_
	// @Path: ../libraries/AP_IMU/IMU.cpp
	GOBJECT(imu,					"IMU_",     IMU),

	// @Group: AHRS_
	// @Path: ../libraries/AP_AHRS/AP_AHRS_DCM.cpp, ../libraries/AP_AHRS/AP_AHRS_Quaternion.cpp, ../libraries/AP_AHRS/AP_AHRS_MPU6000.cpp
	#if DMP_ENABLED == ENABLED && CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
	GOBJECT(ahrs,			"AHRS_",    AP_AHRS_MPU6000),
	#else
	GOBJECT(ahrs,			"AHRS_",    AP_AHRS_DCM),
	#endif

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

#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

#ifdef DESKTOP_BUILD
	// @Group: SIM_
    // @Path: ../libraries/SITL/SITL.cpp
	GOBJECT(sitl, "SIM_", SITL),
#endif

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

	AP_VAREND
};


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

		// erase all parameters
		Serial.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);
		Serial.println_P(PSTR("done."));
    } else {
	    unsigned long before = micros();
	    // Load all auto-loaded EEPROM variables
	    AP_Param::load_all();

	    Serial.printf_P(PSTR("load_all took %luus\n"), micros() - before);
	}
}