mirror of https://github.com/ArduPilot/ardupilot
258 lines
6.9 KiB
Plaintext
258 lines
6.9 KiB
Plaintext
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#
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# Parameter database specification
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#
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# This file describes the global parameters used by the ArduPilot Mega software.
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# Definitions here are used to produce the param_table.h, param_table.c and
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# param_init.pde files.
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#
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# Process this file with "awk -f paramgen.awk paramgen.in"
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#
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#
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# Parameters are grouped by type, with the software expecting that the types
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# will be presented in the order float, uint8, uint16, int16, uint32.
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#
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# The following line formats are recognised
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#
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# type <type-name>
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#
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# Announces the start of the section of the file conatining parameters
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# of the type <type-name>.
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#
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# <parameter-name>
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#
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# Defines a parameter with the name <parameter-name>. This will result in
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# the generation of an enumeration named PARAM_<parameter-name>, and the
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# creation of an entry in the global param_nametab array indexed by the
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# enumeration, pointing to a PROGMEM string containing <parameter-name>.
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#
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# <parameter-name> <default-value>
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#
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# As above, but additionally an entry will be added to the param_init()
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# function that will reset the parameter to <default_value>.
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#
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#
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# ------------------------------------------------------------------
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#
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# !!! CHANGE THE FIRMWARE VERSION IF YOU MODIFY THIS FILE !!!
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#
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# If the firmware version in ROM and the firmware version
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# in this file do not match it is assumed that the EEProm is
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# in an unknown state and a factory reset is forced.
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# This is to prevent the user from reading EEProm values that
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# have been remapped to different locations in memory.
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#
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# ======================================================================
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type float
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# ------------------------------------------------------------------
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# Gains
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# ------------------------------------------------------------------
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# Roll Control
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# heading error from commnd to roll command deviation from trim
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# (bank to turn strategy)
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HDNG2RLL_P NAV_ROLL_P
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HDNG2RLL_I NAV_ROLL_I
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HDNG2RLL_D NAV_ROLL_D
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HDNG2RLL_IMAX NAV_ROLL_INT_MAX
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# roll error from command to roll servo deviation from trim
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# (tracks commanded bank angle)
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RLL2SRV_P SERVO_ROLL_P
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RLL2SRV_I SERVO_ROLL_I
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RLL2SRV_D SERVO_ROLL_D
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RLL2SRV_IMAX SERVO_ROLL_INT_MAX
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# ------------------------------------------------------------------
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# Pitch Control
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# pitch error from command to pitch servo deviation from trim
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# (front-side strategy)
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PTCH2SRV_P SERVO_PITCH_P
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PTCH2SRV_I SERVO_PITCH_I
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PTCH2SRV_D SERVO_PITCH_D
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PTCH2SRV_IMAX SERVO_PITCH_INT_MAX
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# airspeed error from commnd to pitch servo deviation from trim
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# (back-side strategy)
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ARSPD2PTCH_P NAV_PITCH_ASP_P
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ARSPD2PTCH_I NAV_PITCH_ASP_I
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ARSPD2PTCH_D NAV_PITCH_ASP_D
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ARSPD2PTCH_IMAX NAV_PITCH_ASP_INT_MAX
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# ------------------------------------------------------------------
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# Yaw Control
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# yaw rate error from commnd to yaw servo deviation from trim
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# (stabilizes dutch roll)
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YW2SRV_P SERVO_YAW_P
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YW2SRV_I SERVO_YAW_I
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YW2SRV_D SERVO_YAW_D
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YW2SRV_IMAX SERVO_YAW_INT_MAX
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# ------------------------------------------------------------------
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# Throttle Control
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# altitude error from commnd to throttle servo deviation from trim
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# (throttle back-side strategy)
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ALT2THR_P THROTTLE_ALT_P
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ALT2THR_I THROTTLE_ALT_I
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ALT2THR_D THROTTLE_ALT_D
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ALT2THR_IMAX THROTTLE_ALT_INT_MAX
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# total energy error from commnd to throttle servo deviation from trim
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# (throttle back-side strategy alternative)
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ENRGY2THR_P THROTTLE_TE_P
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ENRGY2THR_I THROTTLE_TE_I
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ENRGY2THR_D THROTTLE_TE_D
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ENRGY2THR_IMAX THROTTLE_TE_INT_MAX
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# altitude error from commnd to pitch servo deviation from trim
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# (throttle front-side strategy alternative)
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ALT2PTCH_P NAV_PITCH_ALT_P
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ALT2PTCH_I NAV_PITCH_ALT_I
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ALT2PTCH_D NAV_PITCH_ALT_D
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ALT2PTCH_IMAX NAV_PITCH_ALT_INT_MAX
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# feed forward gains
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KFF_PTCHCOMP PITCH_COMP
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KFF_RDDRMIX RUDDER_MIX
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KFF_PTCH2THR P_TO_T
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# misc
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GND_ALT 0
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TRIM_AIRSPEED AIRSPEED_CRUISE
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XTRACK_ANGLE XTRACK_ENTRY_ANGLE
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# limits
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LIM_ROLL HEAD_MAX
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LIM_PITCH_MAX PITCH_MAX
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LIM_PITCH_MIN PITCH_MIN
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# estimation
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ALT_MIX ALTITUDE_MIX
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ALT_HOLD_HOME 0
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ARSPD_RATIO AIRSPEED_RATIO
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# ------------------------------------------------------------------
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# IMU Calibration
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IMU_OFFSET_0 0
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IMU_OFFSET_1 0
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IMU_OFFSET_2 0
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IMU_OFFSET_3 0
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IMU_OFFSET_4 0
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IMU_OFFSET_5 0
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# ======================================================================
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type uint8
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# not used currently
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YAW_MODE 0
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# waypoints
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WP_MODE 0
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WP_TOTAL WP_SIZE
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WP_INDEX 0
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WP_RADIUS WP_RADIUS_DEFAULT
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LOITER_RADIUS LOITER_RADIUS_DEFAULT
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# fly by wire
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ARSPD_FBW_MIN AIRSPEED_FBW_MIN
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ARSPD_FBW_MAX AIRSPEED_FBW_MAX
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# throttle
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THR_MIN THROTTLE_MIN
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THR_MAX THROTTLE_MAX
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THR_FAILSAFE THROTTLE_FAILSAFE
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THR_FS_ACTION THROTTLE_FAILSAFE_ACTION
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TRIM_THROTTLE THROTTLE_CRUISE
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# misc
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CONFIG 0
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TRIM_AUTO AUTO_TRIM
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SWITCH_ENABLE REVERSE_SWITCH
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# flight modes
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FLIGHT_MODE_CH FLIGHT_MODE_CHANNEL
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FLIGHT_MODE_1 FLIGHT_MODE_1
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FLIGHT_MODE_2 FLIGHT_MODE_2
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FLIGHT_MODE_3 FLIGHT_MODE_3
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FLIGHT_MODE_4 FLIGHT_MODE_4
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FLIGHT_MODE_5 FLIGHT_MODE_5
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FLIGHT_MODE_6 FLIGHT_MODE_6
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# ======================================================================
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type uint16
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FIRMWARE_VER FIRMWARE_VERSION
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# ------------------------------------------------------------------
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# Radio Settings
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#
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# all radio settings are uint16_t and represent the period of the
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# pulse width modulated signal. Typically 1000 ms is the lower limit,
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# 1500 is neutral, and 2000 is the upper limit
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# trim (neutral setting)
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RADIOTRIM_CH1 1500
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RADIOTRIM_CH2 1500
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RADIOTRIM_CH3 1500
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RADIOTRIM_CH4 1500
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RADIOTRIM_CH5 1500
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RADIOTRIM_CH6 1500
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RADIOTRIM_CH7 1500
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RADIOTRIM_CH8 1500
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# min (maps to 0%)
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RADIOMIN_CH1 1000
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RADIOMIN_CH2 1000
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RADIOMIN_CH3 1000
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RADIOMIN_CH4 1000
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RADIOMIN_CH5 CH5_MIN
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RADIOMIN_CH6 CH6_MIN
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RADIOMIN_CH7 CH7_MIN
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RADIOMIN_CH8 CH8_MIN
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# max (maps to 100%)
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RADIOMAX_CH1 2000
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RADIOMAX_CH2 2000
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RADIOMAX_CH3 2000
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RADIOMAX_CH4 2000
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RADIOMAX_CH5 CH5_MAX
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RADIOMAX_CH6 CH6_MAX
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RADIOMAX_CH7 CH7_MAX
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RADIOMAX_CH8 CH8_MAX
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# ------------------------------------------------------------------
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# Misc
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LOG_BITMASK 0
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TRIM_ELEVON 1500
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THR_FS_VALUE THROTTLE_FS_VALUE
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# ======================================================================
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type int16
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# ------------------------------------------------------------------
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# Misc
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XTRACK_GAIN XTRACK_GAIN
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GND_TEMP 0
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AP_OFFSET 0
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TRIM_PITCH 0
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# ======================================================================
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type uint32
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# ------------------------------------------------------------------
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# Misc
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GND_ABS_PRESS 0
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