ardupilot/ArduCopter/Parameters.cpp

#include "Copter.h"

/*
   This program is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation, either version 3 of the License, or
   (at your option) any later version.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

/*
 *  ArduCopter parameter definitions
 *
 */

#define GSCALAR(v, name, def) { copter.g.v.vtype, name, Parameters::k_param_ ## v, &copter.g.v, {def_value : def} }
#define ASCALAR(v, name, def) { copter.aparm.v.vtype, name, Parameters::k_param_ ## v, (const void *)&copter.aparm.v, {def_value : def} }
#define GGROUP(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &copter.g.v, {group_info : class::var_info} }
#define GOBJECT(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, (const void *)&copter.v, {group_info : class::var_info} }
#define GOBJECTPTR(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, (const void *)&copter.v, {group_info : class::var_info}, AP_PARAM_FLAG_POINTER }
#define GOBJECTVARPTR(v, name, var_info_ptr) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, (const void *)&copter.v, {group_info_ptr : var_info_ptr}, AP_PARAM_FLAG_POINTER | AP_PARAM_FLAG_INFO_POINTER }
#define GOBJECTN(v, pname, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## pname, (const void *)&copter.v, {group_info : class::var_info} }

const AP_Param::Info Copter::var_info[] = {
    // @Param: SYSID_SW_MREV
    // @DisplayName: Eeprom format version number
    // @Description: This value is incremented when changes are made to the eeprom format
    // @User: Advanced
    // @ReadOnly: True
    GSCALAR(format_version, "SYSID_SW_MREV",   0),

    // @Param: SYSID_SW_TYPE
    // @DisplayName: Software Type
    // @Description: This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)
    // @Values: 0:ArduPlane,4:AntennaTracker,10:Copter,20:Rover,40:ArduSub
    // @User: Advanced
    // @ReadOnly: True
    GSCALAR(software_type,  "SYSID_SW_TYPE",   Parameters::k_software_type),

    // @Param: SYSID_THISMAV
    // @DisplayName: MAVLink system ID of this vehicle
    // @Description: Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network
    // @Range: 1 255
    // @User: Advanced
    GSCALAR(sysid_this_mav, "SYSID_THISMAV",   MAV_SYSTEM_ID),

    // @Param: SYSID_MYGCS
    // @DisplayName: My ground station number
    // @Description: Allows restricting radio overrides to only come from my ground station
    // @Values: 255:Mission Planner and DroidPlanner, 252: AP Planner 2
    // @User: Advanced
    GSCALAR(sysid_my_gcs,   "SYSID_MYGCS",     255),

    // @Param: PILOT_THR_FILT
    // @DisplayName: Throttle filter cutoff
    // @Description: Throttle filter cutoff (Hz) - active whenever altitude control is inactive - 0 to disable
    // @User: Advanced
    // @Units: Hz
    // @Range: 0 10
    // @Increment: .5
    GSCALAR(throttle_filt,  "PILOT_THR_FILT",     0),

    // @Param: PILOT_TKOFF_ALT
    // @DisplayName: Pilot takeoff altitude
    // @Description: Altitude that altitude control modes will climb to when a takeoff is triggered with the throttle stick.
    // @User: Standard
    // @Units: cm
    // @Range: 0.0 1000.0
    // @Increment: 10
    GSCALAR(pilot_takeoff_alt,  "PILOT_TKOFF_ALT",  PILOT_TKOFF_ALT_DEFAULT),

    // @Param: PILOT_TKOFF_DZ
    // @DisplayName: Takeoff trigger deadzone
    // @Description: Offset from mid stick at which takeoff is triggered
    // @User: Standard
    // @Range: 0 500
    // @Increment: 10
    GSCALAR(takeoff_trigger_dz, "PILOT_TKOFF_DZ", THR_DZ_DEFAULT),

    // @Param: PILOT_THR_BHV
    // @DisplayName: Throttle stick behavior
    // @Description: Bitmask containing various throttle stick options. Add up the values for options that you want.
    // @User: Standard
    // @Values: 0:None,1:Feedback from mid stick,2:High throttle cancels landing,4:Disarm on land detection
    // @Bitmask: 0:Feedback from mid stick,1:High throttle cancels landing,2:Disarm on land detection
    GSCALAR(throttle_behavior, "PILOT_THR_BHV", 0),

    // @Group: SERIAL
    // @Path: ../libraries/AP_SerialManager/AP_SerialManager.cpp
    GOBJECT(serial_manager, "SERIAL",   AP_SerialManager),

    // @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: Advanced
    // @Units: s
    // @Range: 0 30
    // @Increment: 1
    GSCALAR(telem_delay,            "TELEM_DELAY",     0),

    // @Param: GCS_PID_MASK
    // @DisplayName: GCS PID tuning mask
    // @Description: bitmask of PIDs to send MAVLink PID_TUNING messages for
    // @User: Advanced
    // @Values: 0:None,1:Roll,2:Pitch,4:Yaw
    // @Bitmask: 0:Roll,1:Pitch,2:Yaw
    GSCALAR(gcs_pid_mask,           "GCS_PID_MASK",     0),

    // @Param: RTL_ALT
    // @DisplayName: RTL Altitude
    // @Description: The minimum relative altitude the model will move to before Returning to Launch.  Set to zero to return at current altitude.
    // @Units: cm
    // @Range: 0 8000
    // @Increment: 1
    // @User: Standard
    GSCALAR(rtl_altitude,   "RTL_ALT",     RTL_ALT),

    // @Param: RTL_CONE_SLOPE
    // @DisplayName: RTL cone slope
    // @Description: Defines a cone above home which determines maximum climb
    // @Range: 0.5 10.0
    // @Increment: .1
    // @Values: 0:Disabled,1:Shallow,3:Steep
    // @User: Standard
    GSCALAR(rtl_cone_slope,   "RTL_CONE_SLOPE",     RTL_CONE_SLOPE_DEFAULT),

    // @Param: RTL_SPEED
    // @DisplayName: RTL speed
    // @Description: Defines the speed in cm/s which the aircraft will attempt to maintain horizontally while flying home. If this is set to zero, WPNAV_SPEED will be used instead.
    // @Units: cm/s
    // @Range: 0 2000
    // @Increment: 50
    // @User: Standard
    GSCALAR(rtl_speed_cms,   "RTL_SPEED",     0),

    // @Param: RNGFND_GAIN
    // @DisplayName: Rangefinder gain
    // @Description: Used to adjust the speed with which the target altitude is changed when objects are sensed below the copter
    // @Range: 0.01 2.0
    // @Increment: 0.01
    // @User: Standard
    GSCALAR(rangefinder_gain, "RNGFND_GAIN", RANGEFINDER_GAIN_DEFAULT),

    // @Param: FS_BATT_ENABLE
    // @DisplayName: Battery Failsafe Enable
    // @Description: Controls whether failsafe will be invoked when battery voltage or current runs low
    // @Values: 0:Disabled,1:Land,2:RTL,3:SmartRTL or RTL,4:SmartRTL or Land
    // @User: Standard
    GSCALAR(failsafe_battery_enabled, "FS_BATT_ENABLE", FS_BATT_DISABLED),

    // @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 copter will RTL
    // @Units: V
    // @Increment: 0.1
    // @User: Standard
    GSCALAR(fs_batt_voltage,        "FS_BATT_VOLTAGE", FS_BATT_VOLTAGE_DEFAULT),

    // @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 copter will RTL
    // @Units: mA.h
    // @Increment: 50
    // @User: Standard
    GSCALAR(fs_batt_mah,            "FS_BATT_MAH", FS_BATT_MAH_DEFAULT),

    // @Param: FS_GCS_ENABLE
    // @DisplayName: Ground Station Failsafe Enable
    // @Description: Controls whether failsafe will be invoked (and what action to take) when connection with Ground station is lost for at least 5 seconds. NB. The GCS Failsafe is only active when RC_OVERRIDE is being used to control the vehicle.
    // @Values: 0:Disabled,1:Enabled always RTL,2:Enabled Continue with Mission in Auto Mode,3:Enabled always SmartRTL or RTL,4:Enabled always SmartRTL or Land
    // @User: Standard
    GSCALAR(failsafe_gcs, "FS_GCS_ENABLE", FS_GCS_ENABLED_ALWAYS_RTL),

    // @Param: GPS_HDOP_GOOD
    // @DisplayName: GPS Hdop Good
    // @Description: GPS Hdop value at or below this value represent a good position.  Used for pre-arm checks
    // @Range: 100 900
    // @User: Advanced
    GSCALAR(gps_hdop_good, "GPS_HDOP_GOOD", GPS_HDOP_GOOD_DEFAULT),

    // @Param: MAG_ENABLE
    // @DisplayName: Compass enable/disable
    // @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),

    // @Param: SUPER_SIMPLE
    // @DisplayName: Super Simple Mode
    // @Description: Bitmask to enable Super Simple mode for some flight modes. Setting this to Disabled(0) will disable Super Simple Mode
    // @Values: 0:Disabled,1:Mode1,2:Mode2,3:Mode1+2,4:Mode3,5:Mode1+3,6:Mode2+3,7:Mode1+2+3,8:Mode4,9:Mode1+4,10:Mode2+4,11:Mode1+2+4,12:Mode3+4,13:Mode1+3+4,14:Mode2+3+4,15:Mode1+2+3+4,16:Mode5,17:Mode1+5,18:Mode2+5,19:Mode1+2+5,20:Mode3+5,21:Mode1+3+5,22:Mode2+3+5,23:Mode1+2+3+5,24:Mode4+5,25:Mode1+4+5,26:Mode2+4+5,27:Mode1+2+4+5,28:Mode3+4+5,29:Mode1+3+4+5,30:Mode2+3+4+5,31:Mode1+2+3+4+5,32:Mode6,33:Mode1+6,34:Mode2+6,35:Mode1+2+6,36:Mode3+6,37:Mode1+3+6,38:Mode2+3+6,39:Mode1+2+3+6,40:Mode4+6,41:Mode1+4+6,42:Mode2+4+6,43:Mode1+2+4+6,44:Mode3+4+6,45:Mode1+3+4+6,46:Mode2+3+4+6,47:Mode1+2+3+4+6,48:Mode5+6,49:Mode1+5+6,50:Mode2+5+6,51:Mode1+2+5+6,52:Mode3+5+6,53:Mode1+3+5+6,54:Mode2+3+5+6,55:Mode1+2+3+5+6,56:Mode4+5+6,57:Mode1+4+5+6,58:Mode2+4+5+6,59:Mode1+2+4+5+6,60:Mode3+4+5+6,61:Mode1+3+4+5+6,62:Mode2+3+4+5+6,63:Mode1+2+3+4+5+6
    // @User: Standard
    GSCALAR(super_simple,   "SUPER_SIMPLE",     0),

    // @Param: RTL_ALT_FINAL
    // @DisplayName: RTL Final Altitude
    // @Description: This is the altitude the vehicle will move to as the final stage of Returning to Launch or after completing a mission.  Set to zero to land.
    // @Units: cm
    // @Range: -1 1000
    // @Increment: 1
    // @User: Standard
    GSCALAR(rtl_alt_final,  "RTL_ALT_FINAL", RTL_ALT_FINAL),

    // @Param: RTL_CLIMB_MIN
    // @DisplayName: RTL minimum climb
    // @Description: The vehicle will climb this many cm during the initial climb portion of the RTL
    // @Units: cm
    // @Range: 0 3000
    // @Increment: 10
    // @User: Standard
    GSCALAR(rtl_climb_min,  "RTL_CLIMB_MIN",    RTL_CLIMB_MIN_DEFAULT),

    // @Param: WP_YAW_BEHAVIOR
    // @DisplayName: Yaw behaviour during missions
    // @Description: Determines how the autopilot controls the yaw during missions and RTL
    // @Values: 0:Never change yaw, 1:Face next waypoint, 2:Face next waypoint except RTL, 3:Face along GPS course
    // @User: Standard
    GSCALAR(wp_yaw_behavior,  "WP_YAW_BEHAVIOR",    WP_YAW_BEHAVIOR_DEFAULT),

    // @Param: RTL_LOIT_TIME
    // @DisplayName: RTL loiter time
    // @Description: Time (in milliseconds) to loiter above home before beginning final descent
    // @Units: ms
    // @Range: 0 60000
    // @Increment: 1000
    // @User: Standard
    GSCALAR(rtl_loiter_time,      "RTL_LOIT_TIME",    RTL_LOITER_TIME),

    // @Param: LAND_SPEED
    // @DisplayName: Land speed
    // @Description: The descent speed for the final stage of landing in cm/s
    // @Units: cm/s
    // @Range: 30 200
    // @Increment: 10
    // @User: Standard
    GSCALAR(land_speed,             "LAND_SPEED",   LAND_SPEED),

    // @Param: LAND_SPEED_HIGH
    // @DisplayName: Land speed high
    // @Description: The descent speed for the first stage of landing in cm/s. If this is zero then WPNAV_SPEED_DN is used
    // @Units: cm/s
    // @Range: 0 500
    // @Increment: 10
    // @User: Standard
    GSCALAR(land_speed_high,        "LAND_SPEED_HIGH",   0),
    
    // @Param: PILOT_SPEED_UP
    // @DisplayName: Pilot maximum vertical speed ascending
    // @Description: The maximum vertical ascending velocity the pilot may request in cm/s
    // @Units: cm/s
    // @Range: 50 500
    // @Increment: 10
    // @User: Standard
    GSCALAR(pilot_speed_up,     "PILOT_SPEED_UP",   PILOT_VELZ_MAX),

    // @Param: PILOT_ACCEL_Z
    // @DisplayName: Pilot vertical acceleration
    // @Description: The vertical acceleration used when pilot is controlling the altitude
    // @Units: cm/s/s
    // @Range: 50 500
    // @Increment: 10
    // @User: Standard
    GSCALAR(pilot_accel_z,  "PILOT_ACCEL_Z",    PILOT_ACCEL_Z_DEFAULT),

    // @Param: FS_THR_ENABLE
    // @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 always RTL,2:Enabled Continue with Mission in Auto Mode,3:Enabled always Land,4:Enabled always SmartRTL or RTL,5:Enabled always SmartRTL or Land
    // @User: Standard
    GSCALAR(failsafe_throttle,  "FS_THR_ENABLE",   FS_THR_ENABLED_ALWAYS_RTL),

    // @Param: FS_THR_VALUE
    // @DisplayName: Throttle Failsafe Value
    // @Description: The PWM level in microseconds on channel 3 below which throttle failsafe triggers
    // @Range: 925 1100
    // @Units: PWM
    // @Increment: 1
    // @User: Standard
    GSCALAR(failsafe_throttle_value, "FS_THR_VALUE",      FS_THR_VALUE_DEFAULT),

    // @Param: THR_DZ
    // @DisplayName: Throttle deadzone
    // @Description: The deadzone above and below mid throttle in PWM microseconds. Used in AltHold, Loiter, PosHold flight modes
    // @User: Standard
    // @Range: 0 300
    // @Units: PWM
    // @Increment: 1
    GSCALAR(throttle_deadzone,  "THR_DZ",    THR_DZ_DEFAULT),

    // @Param: FLTMODE1
    // @DisplayName: Flight Mode 1
    // @Description: Flight mode when Channel 5 pwm is <= 1230
    // @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB,20:Guided_NoGPS,21:Smart_RTL
    // @User: Standard
    GSCALAR(flight_mode1, "FLTMODE1",               FLIGHT_MODE_1),

    // @Param: FLTMODE2
    // @DisplayName: Flight Mode 2
    // @Description: Flight mode when Channel 5 pwm is >1230, <= 1360
    // @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB,20:Guided_NoGPS,21:Smart_RTL
    // @User: Standard
    GSCALAR(flight_mode2, "FLTMODE2",               FLIGHT_MODE_2),

    // @Param: FLTMODE3
    // @DisplayName: Flight Mode 3
    // @Description: Flight mode when Channel 5 pwm is >1360, <= 1490
    // @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB,20:Guided_NoGPS,21:Smart_RTL
    // @User: Standard
    GSCALAR(flight_mode3, "FLTMODE3",               FLIGHT_MODE_3),

    // @Param: FLTMODE4
    // @DisplayName: Flight Mode 4
    // @Description: Flight mode when Channel 5 pwm is >1490, <= 1620
    // @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB,20:Guided_NoGPS,21:Smart_RTL
    // @User: Standard
    GSCALAR(flight_mode4, "FLTMODE4",               FLIGHT_MODE_4),

    // @Param: FLTMODE5
    // @DisplayName: Flight Mode 5
    // @Description: Flight mode when Channel 5 pwm is >1620, <= 1749
    // @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB,20:Guided_NoGPS,21:Smart_RTL
    // @User: Standard
    GSCALAR(flight_mode5, "FLTMODE5",               FLIGHT_MODE_5),

    // @Param: FLTMODE6
    // @DisplayName: Flight Mode 6
    // @Description: Flight mode when Channel 5 pwm is >=1750
    // @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB,20:Guided_NoGPS,21:Smart_RTL
    // @User: Standard
    GSCALAR(flight_mode6, "FLTMODE6",               FLIGHT_MODE_6),

    // @Param: FLTMODE_CH
    // @DisplayName: Flightmode channel
    // @Description: RC Channel to use for flight mode control
    // @Values: 0:Disabled,5:Channel5,6:Channel6,7:Channel7,8:Channel8
    // @User: Advanced
    GSCALAR(flight_mode_chan, "FLTMODE_CH",         CH_MODE_DEFAULT),

    // @Param: SIMPLE
    // @DisplayName: Simple mode bitmask
    // @Description: Bitmask which holds which flight modes use simple heading mode (eg bit 0 = 1 means Flight Mode 0 uses simple mode)
    // @User: Advanced
    GSCALAR(simple_modes, "SIMPLE",                 0),

    // @Param: LOG_BITMASK
    // @DisplayName: Log bitmask
    // @Description: 4 byte bitmap of log types to enable
    // @Values: 830:Default,894:Default+RCIN,958:Default+IMU,1854:Default+Motors,-6146:NearlyAll-AC315,45054:NearlyAll,131071:All+FastATT,262142:All+MotBatt,393214:All+FastIMU,397310:All+FastIMU+PID,655358:All+FullIMU,0:Disabled
    // @Bitmask: 0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:RCIN,7:IMU,8:CMD,9:CURRENT,10:RCOUT,11:OPTFLOW,12:PID,13:COMPASS,14:INAV,15:CAMERA,17:MOTBATT,18:IMU_FAST,19:IMU_RAW
    // @User: Standard
    GSCALAR(log_bitmask,    "LOG_BITMASK",          DEFAULT_LOG_BITMASK),

    // @Param: ESC_CALIBRATION
    // @DisplayName: ESC Calibration
    // @Description: Controls whether ArduCopter will enter ESC calibration on the next restart.  Do not adjust this parameter manually.
    // @User: Advanced
    // @Values: 0:Normal Start-up, 1:Start-up in ESC Calibration mode if throttle high, 2:Start-up in ESC Calibration mode regardless of throttle, 3:Start-up and automatically calibrate ESCs, 9:Disabled
    GSCALAR(esc_calibrate, "ESC_CALIBRATION",       0),

    // @Param: TUNE
    // @DisplayName: Channel 6 Tuning
    // @Description: Controls which parameters (normally PID gains) are being tuned with transmitter's channel 6 knob
    // @User: Standard
    // @Values: 0:None,1:Stab Roll/Pitch kP,4:Rate Roll/Pitch kP,5:Rate Roll/Pitch kI,21:Rate Roll/Pitch kD,3:Stab Yaw kP,6:Rate Yaw kP,26:Rate Yaw kD,56:Rate Yaw Filter,55:Motor Yaw Headroom,14:AltHold kP,7:Throttle Rate kP,34:Throttle Accel kP,35:Throttle Accel kI,36:Throttle Accel kD,12:Loiter Pos kP,22:Velocity XY kP,28:Velocity XY kI,10:WP Speed,25:Acro RollPitch kP,40:Acro Yaw kP,45:RC Feel,13:Heli Ext Gyro,38:Declination,39:Circle Rate,41:RangeFinder Gain,46:Rate Pitch kP,47:Rate Pitch kI,48:Rate Pitch kD,49:Rate Roll kP,50:Rate Roll kI,51:Rate Roll kD,52:Rate Pitch FF,53:Rate Roll FF,54:Rate Yaw FF,57:Winch
    GSCALAR(radio_tuning, "TUNE",                   0),

    // @Param: TUNE_LOW
    // @DisplayName: Tuning minimum
    // @Description: The minimum value that will be applied to the parameter currently being tuned with the transmitter's channel 6 knob
    // @User: Standard
    // @Range: 0 32767
    GSCALAR(radio_tuning_low, "TUNE_LOW",           0),

    // @Param: TUNE_HIGH
    // @DisplayName: Tuning maximum
    // @Description: The maximum value that will be applied to the parameter currently being tuned with the transmitter's channel 6 knob
    // @User: Standard
    // @Range: 0 32767
    GSCALAR(radio_tuning_high, "TUNE_HIGH",         1000),

    // @Param: FRAME_TYPE
    // @DisplayName: Frame Type (+, X, V, etc)
    // @Description: Controls motor mixing for multicopters.  Not used for Tri or Traditional Helicopters.
    // @Values: 0:Plus, 1:X, 2:V, 3:H, 4:V-Tail, 5:A-Tail, 10:Y6B
    // @User: Standard
    // @RebootRequired: True
    GSCALAR(frame_type, "FRAME_TYPE", AP_Motors::MOTOR_FRAME_TYPE_X),

    // @Param: CH7_OPT
    // @DisplayName: Channel 7 option
    // @Description: Select which function is performed when CH7 is above 1800 pwm
    // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:ADSB-Avoidance, 39:PrecLoiter, 40:Object Avoidance, 41:ArmDisarm, 42:SmartRTL, 43:InvertedFlight, 44:Winch Enable, 45:WinchControl
    // @User: Standard
    GSCALAR(ch7_option, "CH7_OPT",                  AUXSW_DO_NOTHING),

    // @Param: CH8_OPT
    // @DisplayName: Channel 8 option
    // @Description: Select which function is performed when CH8 is above 1800 pwm
    // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:ADSB-Avoidance, 39:PrecLoiter, 40:Object Avoidance, 41:ArmDisarm, 42:SmartRTL, 43:InvertedFlight, 44:Winch Enable, 45:WinchControl
    // @User: Standard
    GSCALAR(ch8_option, "CH8_OPT",                  AUXSW_DO_NOTHING),

    // @Param: CH9_OPT
    // @DisplayName: Channel 9 option
    // @Description: Select which function is performed when CH9 is above 1800 pwm
    // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:ADSB-Avoidance, 39:PrecLoiter, 40:Object Avoidance, 41:ArmDisarm, 42:SmartRTL, 43:InvertedFlight, 44:Winch Enable, 45:WinchControl
    // @User: Standard
    GSCALAR(ch9_option, "CH9_OPT",                  AUXSW_DO_NOTHING),

    // @Param: CH10_OPT
    // @DisplayName: Channel 10 option
    // @Description: Select which function is performed when CH10 is above 1800 pwm
    // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:ADSB-Avoidance, 39:PrecLoiter, 40:Object Avoidance, 41:ArmDisarm, 42:SmartRTL, 43:InvertedFlight, 44:Winch Enable, 45:WinchControl
    // @User: Standard
    GSCALAR(ch10_option, "CH10_OPT",                AUXSW_DO_NOTHING),

    // @Param: CH11_OPT
    // @DisplayName: Channel 11 option
    // @Description: Select which function is performed when CH11 is above 1800 pwm
    // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:ADSB-Avoidance, 39:PrecLoiter, 40:Object Avoidance, 41:ArmDisarm, 42:SmartRTL, 43:InvertedFlight, 44:Winch Enable, 45:WinchControl
    // @User: Standard
    GSCALAR(ch11_option, "CH11_OPT",                AUXSW_DO_NOTHING),

    // @Param: CH12_OPT
    // @DisplayName: Channel 12 option
    // @Description: Select which function is performed when CH12 is above 1800 pwm
    // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:ADSB-Avoidance, 39:PrecLoiter, 40:Object Avoidance, 41:ArmDisarm, 42:SmartRTL, 43:InvertedFlight, 44:Winch Enable, 45:WinchControl
    // @User: Standard
    GSCALAR(ch12_option, "CH12_OPT",                AUXSW_DO_NOTHING),

    // @Group: ARMING_
    // @Path: ../libraries/AP_Arming/AP_Arming.cpp
    GOBJECT(arming,                 "ARMING_", AP_Arming_Copter),

    // @Param: DISARM_DELAY
    // @DisplayName: Disarm delay
    // @Description: Delay before automatic disarm in seconds. A value of zero disables auto disarm.
    // @Units: s
    // @Range: 0 127
    // @User: Advanced
    GSCALAR(disarm_delay, "DISARM_DELAY",           AUTO_DISARMING_DELAY),
    
    // @Param: ANGLE_MAX
    // @DisplayName: Angle Max
    // @Description: Maximum lean angle in all flight modes
    // @Units: cdeg
    // @Range: 1000 8000
    // @User: Advanced
    ASCALAR(angle_max, "ANGLE_MAX",                 DEFAULT_ANGLE_MAX),

    // @Param: RC_FEEL_RP
    // @DisplayName: RC Feel Roll/Pitch
    // @Description: RC feel for roll/pitch which controls vehicle response to user input with 0 being extremely soft and 100 being crisp
    // @Range: 0 100
    // @Increment: 10
    // @User: Standard
    // @Values: 0:Very Soft, 25:Soft, 50:Medium, 75:Crisp, 100:Very Crisp
    GSCALAR(rc_feel_rp, "RC_FEEL_RP",  RC_FEEL_RP_MEDIUM),

    // @Param: PHLD_BRAKE_RATE
    // @DisplayName: PosHold braking rate
    // @Description: PosHold flight mode's rotation rate during braking in deg/sec
    // @Units: deg/s
    // @Range: 4 12
    // @User: Advanced
    GSCALAR(poshold_brake_rate, "PHLD_BRAKE_RATE",  POSHOLD_BRAKE_RATE_DEFAULT),

    // @Param: PHLD_BRAKE_ANGLE
    // @DisplayName: PosHold braking angle max
    // @Description: PosHold flight mode's max lean angle during braking in centi-degrees
    // @Units: cdeg
    // @Range: 2000 4500
    // @User: Advanced
    GSCALAR(poshold_brake_angle_max, "PHLD_BRAKE_ANGLE",  POSHOLD_BRAKE_ANGLE_DEFAULT),

    // @Param: LAND_REPOSITION
    // @DisplayName: Land repositioning
    // @Description: Enables user input during LAND mode, the landing phase of RTL, and auto mode landings.
    // @Values: 0:No repositioning, 1:Repositioning
    // @User: Advanced
    GSCALAR(land_repositioning, "LAND_REPOSITION",     LAND_REPOSITION_DEFAULT),

    // @Param: FS_EKF_ACTION
    // @DisplayName: EKF Failsafe Action
    // @Description: Controls the action that will be taken when an EKF failsafe is invoked
    // @Values: 1:Land, 2:AltHold, 3:Land even in Stabilize
    // @User: Advanced
    GSCALAR(fs_ekf_action, "FS_EKF_ACTION",    FS_EKF_ACTION_DEFAULT),

    // @Param: FS_EKF_THRESH
    // @DisplayName: EKF failsafe variance threshold
    // @Description: Allows setting the maximum acceptable compass and velocity variance
    // @Values: 0.6:Strict, 0.8:Default, 1.0:Relaxed
    // @User: Advanced
    GSCALAR(fs_ekf_thresh, "FS_EKF_THRESH",    FS_EKF_THRESHOLD_DEFAULT),

    // @Param: FS_CRASH_CHECK
    // @DisplayName: Crash check enable
    // @Description: This enables automatic crash checking. When enabled the motors will disarm if a crash is detected.
    // @Values: 0:Disabled, 1:Enabled
    // @User: Advanced
    GSCALAR(fs_crash_check, "FS_CRASH_CHECK",    1),

    // @Param: RC_SPEED
    // @DisplayName: ESC Update Speed
    // @Description: This is the speed in Hertz that your ESCs will receive updates
    // @Units: Hz
    // @Range: 50 490
    // @Increment: 1
    // @User: Advanced
    GSCALAR(rc_speed, "RC_SPEED",              RC_FAST_SPEED),

    // @Param: ACRO_RP_P
    // @DisplayName: Acro Roll and Pitch P gain
    // @Description: Converts pilot roll and pitch into a desired rate of rotation in ACRO and SPORT mode.  Higher values mean faster rate of rotation.
    // @Range: 1 10
    // @User: Standard
    GSCALAR(acro_rp_p,                 "ACRO_RP_P",           ACRO_RP_P),

    // @Param: ACRO_YAW_P
    // @DisplayName: Acro Yaw P gain
    // @Description: Converts pilot yaw input into a desired rate of rotation in ACRO, Stabilize and SPORT modes.  Higher values mean faster rate of rotation.
    // @Range: 1 10
    // @User: Standard
    GSCALAR(acro_yaw_p,                 "ACRO_YAW_P",           ACRO_YAW_P),

    // @Param: ACRO_BAL_ROLL
    // @DisplayName: Acro Balance Roll
    // @Description: rate at which roll angle returns to level in acro mode.  A higher value causes the vehicle to return to level faster.
    // @Range: 0 3
    // @Increment: 0.1
    // @User: Advanced
    GSCALAR(acro_balance_roll,      "ACRO_BAL_ROLL",    ACRO_BALANCE_ROLL),

    // @Param: ACRO_BAL_PITCH
    // @DisplayName: Acro Balance Pitch
    // @Description: rate at which pitch angle returns to level in acro mode.  A higher value causes the vehicle to return to level faster.
    // @Range: 0 3
    // @Increment: 0.1
    // @User: Advanced
    GSCALAR(acro_balance_pitch,     "ACRO_BAL_PITCH",   ACRO_BALANCE_PITCH),

    // @Param: ACRO_TRAINER
    // @DisplayName: Acro Trainer
    // @Description: Type of trainer used in acro mode
    // @Values: 0:Disabled,1:Leveling,2:Leveling and Limited
    // @User: Advanced
    GSCALAR(acro_trainer,   "ACRO_TRAINER",     ACRO_TRAINER_LIMITED),

    // @Param: ACRO_RP_EXPO
    // @DisplayName: Acro Roll/Pitch Expo
    // @Description: Acro roll/pitch Expo to allow faster rotation when stick at edges
    // @Values: 0:Disabled,0.1:Very Low,0.2:Low,0.3:Medium,0.4:High,0.5:Very High
    // @Range: -0.5 1.0
    // @User: Advanced
    GSCALAR(acro_rp_expo,  "ACRO_RP_EXPO",    ACRO_RP_EXPO_DEFAULT),

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

#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),

#if PARACHUTE == ENABLED
	// @Group: CHUTE_
    // @Path: ../libraries/AP_Parachute/AP_Parachute.cpp
    GOBJECT(parachute,		"CHUTE_", AP_Parachute),
#endif

    // @Group: LGR_
    // @Path: ../libraries/AP_LandingGear/AP_LandingGear.cpp
    GOBJECT(landinggear,    "LGR_", AP_LandingGear),

#if FRAME_CONFIG == HELI_FRAME
    // @Group: IM_
    // @Path: ../libraries/AC_InputManager/AC_InputManager_Heli.cpp
    GOBJECT(input_manager, "IM_", AC_InputManager_Heli),
#endif

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

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

    // @Group: WPNAV_
    // @Path: ../libraries/AC_WPNav/AC_WPNav.cpp
    GOBJECTPTR(wp_nav, "WPNAV_",       AC_WPNav),

#if MODE_CIRCLE_ENABLED == ENABLED
    // @Group: CIRCLE_
    // @Path: ../libraries/AC_WPNav/AC_Circle.cpp
    GOBJECTPTR(circle_nav, "CIRCLE_",  AC_Circle),
#endif

    // @Group: ATC_
    // @Path: ../libraries/AC_AttitudeControl/AC_AttitudeControl.cpp,../libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp,../libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
#if FRAME_CONFIG == HELI_FRAME
    GOBJECTPTR(attitude_control, "ATC_", AC_AttitudeControl_Heli),
#else
    GOBJECTPTR(attitude_control, "ATC_", AC_AttitudeControl_Multi),
#endif

    // @Group: PSC
    // @Path: ../libraries/AC_AttitudeControl/AC_PosControl.cpp
    GOBJECTPTR(pos_control, "PSC", AC_PosControl),

    // @Group: SR0_
    // @Path: GCS_Mavlink.cpp
    GOBJECTN(_gcs._chan[0],  gcs0,       "SR0_",     GCS_MAVLINK),

    // @Group: SR1_
    // @Path: GCS_Mavlink.cpp
    GOBJECTN(_gcs._chan[1],  gcs1,       "SR1_",     GCS_MAVLINK),

    // @Group: SR2_
    // @Path: GCS_Mavlink.cpp
    GOBJECTN(_gcs._chan[2],  gcs2,       "SR2_",     GCS_MAVLINK),

    // @Group: SR3_
    // @Path: GCS_Mavlink.cpp
    GOBJECTN(_gcs._chan[3],  gcs3,       "SR3_",     GCS_MAVLINK),

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

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

    // @Group: LOG
    // @Path: ../libraries/DataFlash/DataFlash.cpp
    GOBJECT(DataFlash,           "LOG",  DataFlash_Class),

    // @Group: BATT
    // @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp
    GOBJECT(battery,                "BATT",         AP_BattMonitor),

    // @Group: BRD_
    // @Path: ../libraries/AP_BoardConfig/AP_BoardConfig.cpp
    GOBJECT(BoardConfig,            "BRD_",       AP_BoardConfig),

#if HAL_WITH_UAVCAN
    // @Group: CAN_
    // @Path: ../libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp
    GOBJECT(BoardConfig_CAN,        "CAN_",       AP_BoardConfig_CAN),
#endif

#if SPRAYER == ENABLED
    // @Group: SPRAY_
    // @Path: ../libraries/AC_Sprayer/AC_Sprayer.cpp
    GOBJECT(sprayer,                "SPRAY_",       AC_Sprayer),
#endif

#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
    GOBJECT(sitl, "SIM_", SITL::SITL),
#endif

    // @Group: GND_
    // @Path: ../libraries/AP_Baro/AP_Baro.cpp
    GOBJECT(barometer, "GND_", AP_Baro),

    // GPS driver
    // @Group: GPS_
    // @Path: ../libraries/AP_GPS/AP_GPS.cpp
    GOBJECT(gps, "GPS_", AP_GPS),

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

#if AC_FENCE == ENABLED
    // @Group: FENCE_
    // @Path: ../libraries/AC_Fence/AC_Fence.cpp
    GOBJECT(fence,      "FENCE_",   AC_Fence),
#endif

    // @Group: AVOID_
    // @Path: ../libraries/AC_Avoidance/AC_Avoid.cpp
#if AC_AVOID_ENABLED == ENABLED
    GOBJECT(avoid,      "AVOID_",   AC_Avoid),
#endif

#if AC_RALLY == ENABLED
    // @Group: RALLY_
    // @Path: AP_Rally.cpp,../libraries/AP_Rally/AP_Rally.cpp
    GOBJECT(rally,      "RALLY_",   AP_Rally_Copter),
#endif

#if FRAME_CONFIG == HELI_FRAME
    // @Group: H_
    // @Path: ../libraries/AP_Motors/AP_MotorsHeli_Single.cpp,../libraries/AP_Motors/AP_MotorsHeli_Dual.cpp,../libraries/AP_Motors/AP_MotorsHeli.cpp
    GOBJECTVARPTR(motors, "H_",        &copter.motors_var_info),
#else
    // @Group: MOT_
    // @Path: ../libraries/AP_Motors/AP_MotorsMulticopter.cpp
    GOBJECTVARPTR(motors, "MOT_",      &copter.motors_var_info),
#endif

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

    // @Group: EK2_
    // @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
    GOBJECTN(EKF2, NavEKF2, "EK2_", NavEKF2),
    
    // @Group: EK3_
    // @Path: ../libraries/AP_NavEKF3/AP_NavEKF3.cpp
    GOBJECTN(EKF3, NavEKF3, "EK3_", NavEKF3),

#if MODE_AUTO_ENABLED == ENABLED
    // @Group: MIS_
    // @Path: ../libraries/AP_Mission/AP_Mission.cpp
    GOBJECT(mission, "MIS_",       AP_Mission),
#endif

    // @Group: RSSI_
    // @Path: ../libraries/AP_RSSI/AP_RSSI.cpp
    GOBJECT(rssi, "RSSI_",  AP_RSSI),
    
#if RANGEFINDER_ENABLED == ENABLED
    // @Group: RNGFND
    // @Path: ../libraries/AP_RangeFinder/RangeFinder.cpp
    GOBJECT(rangefinder,   "RNGFND", RangeFinder),
#endif

#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
    // @Group: TERRAIN_
    // @Path: ../libraries/AP_Terrain/AP_Terrain.cpp
    GOBJECT(terrain,                "TERRAIN_", AP_Terrain),
#endif

#if OPTFLOW == ENABLED
    // @Group: FLOW
    // @Path: ../libraries/AP_OpticalFlow/OpticalFlow.cpp
    GOBJECT(optflow,   "FLOW", OpticalFlow),
#endif

#if PRECISION_LANDING == ENABLED
    // @Group: PLND_
    // @Path: ../libraries/AC_PrecLand/AC_PrecLand.cpp
    GOBJECT(precland, "PLND_", AC_PrecLand),
#endif

    // @Group: RPM
    // @Path: ../libraries/AP_RPM/AP_RPM.cpp
    GOBJECT(rpm_sensor, "RPM", AP_RPM),

#if ADSB_ENABLED == ENABLED
    // @Group: ADSB_
    // @Path: ../libraries/AP_ADSB/AP_ADSB.cpp
    GOBJECT(adsb,                "ADSB_", AP_ADSB),

    // @Group: AVD_
    // @Path: ../libraries/AP_Avoidance/AP_Avoidance.cpp
    GOBJECT(avoidance_adsb, "AVD_", AP_Avoidance_Copter),
#endif

    // @Param: AUTOTUNE_AXES
    // @DisplayName: Autotune axis bitmask
    // @Description: 1-byte bitmap of axes to autotune
    // @Values: 7:All,1:Roll Only,2:Pitch Only,4:Yaw Only,3:Roll and Pitch,5:Roll and Yaw,6:Pitch and Yaw
    // @Bitmask: 0:Roll,1:Pitch,2:Yaw
    // @User: Standard
    GSCALAR(autotune_axis_bitmask, "AUTOTUNE_AXES", 7),  // AUTOTUNE_AXIS_BITMASK_DEFAULT

    // @Param: AUTOTUNE_AGGR
    // @DisplayName: Autotune aggressiveness
    // @Description: Autotune aggressiveness. Defines the bounce back used to detect size of the D term.
    // @Range: 0.05 0.10
    // @User: Standard
    GSCALAR(autotune_aggressiveness, "AUTOTUNE_AGGR", 0.1f),

    // @Param: AUTOTUNE_MIN_D
    // @DisplayName: AutoTune minimum D
    // @Description: Defines the minimum D gain
    // @Range: 0.001 0.006
    // @User: Standard
    GSCALAR(autotune_min_d, "AUTOTUNE_MIN_D", 0.001f),

    // @Group: NTF_
    // @Path: ../libraries/AP_Notify/AP_Notify.cpp
    GOBJECT(notify, "NTF_",  AP_Notify),

    // @Param: THROW_MOT_START
    // @DisplayName: Start motors before throwing is detected
    // @Description: Used by THROW mode. Controls whether motors will run at the speed set by THR_MIN or will be stopped when armed and waiting for the throw.
    // @Values: 0:Stopped,1:Running
    // @User: Standard
    GSCALAR(throw_motor_start, "THROW_MOT_START", 0),

    // @Param: TERRAIN_FOLLOW
    // @DisplayName: Terrain Following use control
    // @Description: This enables terrain following for RTL and LAND flight modes. To use this option TERRAIN_ENABLE must be 1 and the GCS must  support sending terrain data to the aircraft.  In RTL the RTL_ALT will be considered a height above the terrain.  In LAND mode the vehicle will slow to LAND_SPEED 10m above terrain (instead of 10m above home).  This parameter does not affect AUTO and Guided which use a per-command flag to determine if the height is above-home, absolute or above-terrain.
    // @Values: 0:Do Not Use in RTL and Land,1:Use in RTL and Land
    // @User: Standard
    GSCALAR(terrain_follow, "TERRAIN_FOLLOW", 0),

    // @Group:
    // @Path: Parameters.cpp
    GOBJECT(g2, "",  ParametersG2),

    AP_VAREND
};

/*
  2nd group of parameters
 */
const AP_Param::GroupInfo ParametersG2::var_info[] = {

    // @Param: WP_NAVALT_MIN
    // @DisplayName: Minimum navigation altitude
    // @Description: This is the altitude in meters above which for navigation can begin. This applies in auto takeoff and auto landing.
    // @Range: 0 5
    // @User: Standard
    AP_GROUPINFO("WP_NAVALT_MIN", 1, ParametersG2, wp_navalt_min, 0),

    // @Group: BTN_
    // @Path: ../libraries/AP_Button/AP_Button.cpp
    AP_SUBGROUPINFO(button, "BTN_", 2, ParametersG2, AP_Button),

    // @Param: THROW_NEXTMODE
    // @DisplayName: Throw mode's follow up mode
    // @Description: Vehicle will switch to this mode after the throw is successfully completed.  Default is to stay in throw mode (18)
    // @Values: 3:Auto,4:Guided,5:LOITER,6:RTL,9:Land,17:Brake,18:Throw
    // @User: Standard
    AP_GROUPINFO("THROW_NEXTMODE", 3, ParametersG2, throw_nextmode, 18),

    // @Param: THROW_TYPE
    // @DisplayName: Type of Type
    // @Description: Used by THROW mode. Specifies whether Copter is thrown upward or dropped.
    // @Values: 0:Upward Throw,1:Drop
    // @User: Standard
    AP_GROUPINFO("THROW_TYPE", 4, ParametersG2, throw_type, ThrowType_Upward),

    // @Param: GND_EFFECT_COMP
    // @DisplayName: Ground Effect Compensation Enable/Disable
    // @Description: Ground Effect Compensation Enable/Disable
    // @Values: 0:Disabled,1:Enabled
    // @User: Advanced
    AP_GROUPINFO("GND_EFFECT_COMP", 5, ParametersG2, gndeffect_comp_enabled, 0),

#if ADVANCED_FAILSAFE == ENABLED
    // @Group: AFS_
    // @Path: ../libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp
    AP_SUBGROUPINFO(afs, "AFS_", 6, ParametersG2, AP_AdvancedFailsafe),
#endif

    // @Param: DEV_OPTIONS
    // @DisplayName: Development options
    // @Description: Bitmask of developer options. The meanings of the bit fields in this parameter may vary at any time. Developers should check the source code for current meaning
    // @Bitmask: 0:ADSBMavlinkProcessing
    // @User: Advanced
    AP_GROUPINFO("DEV_OPTIONS", 7, ParametersG2, dev_options, 0),

#if BEACON_ENABLED == ENABLED
    // @Group: BCN
    // @Path: ../libraries/AP_Beacon/AP_Beacon.cpp
    AP_SUBGROUPINFO(beacon, "BCN", 14, ParametersG2, AP_Beacon),
#endif

#if PROXIMITY_ENABLED == ENABLED
    // @Group: PRX
    // @Path: ../libraries/AP_Proximity/AP_Proximity.cpp
    AP_SUBGROUPINFO(proximity, "PRX", 8, ParametersG2, AP_Proximity),
#endif

    // @Param: ACRO_Y_EXPO
    // @DisplayName: Acro Yaw Expo
    // @Description: Acro yaw expo to allow faster rotation when stick at edges
    // @Values: 0:Disabled,0.1:Very Low,0.2:Low,0.3:Medium,0.4:High,0.5:Very High
    // @Range: -0.5 1.0
    // @User: Advanced
    AP_GROUPINFO("ACRO_Y_EXPO", 9, ParametersG2, acro_y_expo, ACRO_Y_EXPO_DEFAULT),

    // @Param: ACRO_THR_MID
    // @DisplayName: Acro Thr Mid
    // @Description: Acro Throttle Mid
    // @Range: 0 1
    // @User: Advanced
    AP_GROUPINFO("ACRO_THR_MID", 10, ParametersG2, acro_thr_mid, ACRO_THR_MID_DEFAULT),

    // @Param: SYSID_ENFORCE
    // @DisplayName: GCS sysid enforcement
    // @Description: This controls whether packets from other than the expected GCS system ID will be accepted
    // @Values: 0:NotEnforced,1:Enforced
    // @User: Advanced
    AP_GROUPINFO("SYSID_ENFORCE", 11, ParametersG2, sysid_enforce, 0),
#if STATS_ENABLED == ENABLED
    // @Group: STAT
    // @Path: ../libraries/AP_Stats/AP_Stats.cpp
    AP_SUBGROUPINFO(stats, "STAT", 12, ParametersG2, AP_Stats),
#endif
#if GRIPPER_ENABLED == ENABLED
	// @Group: GRIP_
    // @Path: ../libraries/AP_Gripper/AP_Gripper.cpp
    AP_SUBGROUPINFO(gripper, "GRIP_", 13, ParametersG2, AP_Gripper),
#endif

    // @Param: FRAME_CLASS
    // @DisplayName: Frame Class
    // @Description: Controls major frame class for multicopter component
    // @Values: 0:Undefined, 1:Quad, 2:Hexa, 3:Octa, 4:OctaQuad, 5:Y6, 6:Heli, 7:Tri, 8:SingleCopter, 9:CoaxCopter, 11:Heli_Dual, 12:DodecaHexa
    // @User: Standard
    // @RebootRequired: True
    AP_GROUPINFO("FRAME_CLASS", 15, ParametersG2, frame_class, 0),

    // @Group: SERVO
    // @Path: ../libraries/SRV_Channel/SRV_Channels.cpp
    AP_SUBGROUPINFO(servo_channels, "SERVO", 16, ParametersG2, SRV_Channels),

    // @Group: RC
    // @Path: ../libraries/RC_Channel/RC_Channels.cpp
    AP_SUBGROUPINFO(rc_channels, "RC", 17, ParametersG2, RC_Channels),

#if VISUAL_ODOMETRY_ENABLED == ENABLED
    // @Group: VISO
    // @Path: ../libraries/AP_VisualOdom/AP_VisualOdom.cpp
    AP_SUBGROUPINFO(visual_odom, "VISO", 18, ParametersG2, AP_VisualOdom),
#endif

    // @Group: TCAL
    // @Path: ../libraries/AP_TempCalibration/AP_TempCalibration.cpp
    AP_SUBGROUPINFO(temp_calibration, "TCAL", 19, ParametersG2, AP_TempCalibration),

#if TOY_MODE_ENABLED == ENABLED
    // @Group: TMODE
    // @Path: toy_mode.cpp
    AP_SUBGROUPINFO(toy_mode, "TMODE", 20, ParametersG2, ToyMode),
#endif

#if MODE_SMARTRTL_ENABLED == ENABLED
    // @Group: SRTL_
    // @Path: ../libraries/AP_SmartRTL/AP_SmartRTL.cpp
    AP_SUBGROUPINFO(smart_rtl, "SRTL_", 21, ParametersG2, AP_SmartRTL),
#endif

#if WINCH_ENABLED == ENABLED
    // @Group: WENC
    // @Path: ../libraries/AP_WheelEncoder/AP_WheelEncoder.cpp
    AP_SUBGROUPINFO(wheel_encoder, "WENC", 22, ParametersG2, AP_WheelEncoder),

    // @Group: WINCH_
    // @Path: ../libraries/AP_Winch/AP_Winch.cpp
    AP_SUBGROUPINFO(winch, "WINCH", 23, ParametersG2, AP_Winch),
#endif

    // @Param: PILOT_SPEED_DN
    // @DisplayName: Pilot maximum vertical speed descending
    // @Description: The maximum vertical descending velocity the pilot may request in cm/s
    // @Units: cm/s
    // @Range: 50 500
    // @Increment: 10
    // @User: Standard
    AP_GROUPINFO("PILOT_SPEED_DN", 24, ParametersG2, pilot_speed_dn, 0),

    // @Param: LAND_ALT_LOW
    // @DisplayName: Land alt low
    // @Description: Altitude during Landing at which vehicle slows to LAND_SPEED
    // @Units: cm
    // @Range: 100 10000
    // @Increment: 10
    // @User: Advanced
    AP_GROUPINFO("LAND_ALT_LOW", 25, ParametersG2, land_alt_low, 1000),

#if !HAL_MINIMIZE_FEATURES && OPTFLOW == ENABLED
    // @Group: FHLD
    // @Path: mode_flowhold.cpp
    AP_SUBGROUPPTR(mode_flowhold_ptr, "FHLD", 26, ParametersG2, Copter::ModeFlowHold),
#endif
    
    AP_GROUPEND
};


/*
  constructor for g2 object
 */
ParametersG2::ParametersG2(void)
    : temp_calibration(copter.barometer, copter.ins)
#if BEACON_ENABLED == ENABLED
    , beacon(copter.serial_manager)
#endif
#if PROXIMITY_ENABLED == ENABLED
    , proximity(copter.serial_manager)
#endif
#if ADVANCED_FAILSAFE == ENABLED
    ,afs(copter.mission, copter.barometer, copter.gps, copter.rcmap)
#endif
#if MODE_SMARTRTL_ENABLED == ENABLED
    ,smart_rtl(copter.ahrs)
#endif
#if !HAL_MINIMIZE_FEATURES && OPTFLOW == ENABLED
    ,mode_flowhold_ptr(&copter.mode_flowhold)
#endif
{
    AP_Param::setup_object_defaults(this, var_info);
}

/*
  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[] = {
    { Parameters::k_param_battery_monitoring, 0,      AP_PARAM_INT8,  "BATT_MONITOR" },
    { Parameters::k_param_battery_volt_pin,   0,      AP_PARAM_INT8,  "BATT_VOLT_PIN" },
    { Parameters::k_param_battery_curr_pin,   0,      AP_PARAM_INT8,  "BATT_CURR_PIN" },
    { Parameters::k_param_volt_div_ratio,     0,      AP_PARAM_FLOAT, "BATT_VOLT_MULT" },
    { Parameters::k_param_curr_amp_per_volt,  0,      AP_PARAM_FLOAT, "BATT_AMP_PERVOLT" },
    { Parameters::k_param_pack_capacity,      0,      AP_PARAM_INT32, "BATT_CAPACITY" },
    { Parameters::k_param_log_bitmask_old,    0,      AP_PARAM_INT16, "LOG_BITMASK" },
    { Parameters::k_param_serial0_baud,       0,      AP_PARAM_INT16, "SERIAL0_BAUD" },
    { Parameters::k_param_serial1_baud,       0,      AP_PARAM_INT16, "SERIAL1_BAUD" },
    { Parameters::k_param_serial2_baud,       0,      AP_PARAM_INT16, "SERIAL2_BAUD" },
    { Parameters::k_param_arming_check_old,   0,      AP_PARAM_INT8,  "ARMING_CHECK" },
};

void Copter::load_parameters(void)
{
    if (!AP_Param::check_var_info()) {
        hal.console->printf("Bad var table\n");
        AP_HAL::panic("Bad var table");
    }

    // disable centrifugal force correction, it will be enabled as part of the arming process
    ahrs.set_correct_centrifugal(false);
    hal.util->set_soft_armed(false);

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

        // erase all parameters
        hal.console->printf("Firmware change: erasing EEPROM...\n");
        AP_Param::erase_all();

        // save the current format version
        g.format_version.set_and_save(Parameters::k_format_version);
        hal.console->printf("done.\n");
    }

    uint32_t before = micros();
    // Load all auto-loaded EEPROM variables
    AP_Param::load_all(false);
    AP_Param::convert_old_parameters(&conversion_table[0], ARRAY_SIZE(conversion_table));
    hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));

    // setup AP_Param frame type flags
    AP_Param::set_frame_type_flags(AP_PARAM_FRAME_COPTER);
    
}

// handle conversion of PID gains from Copter-3.3 to Copter-3.4
void Copter::convert_pid_parameters(void)
{
    // conversion info
    const AP_Param::ConversionInfo pid_conversion_info[] = {
        { Parameters::k_param_pid_rate_roll, 0, AP_PARAM_FLOAT, "ATC_RAT_RLL_P" },
        { Parameters::k_param_pid_rate_roll, 1, AP_PARAM_FLOAT, "ATC_RAT_RLL_I" },
        { Parameters::k_param_pid_rate_roll, 2, AP_PARAM_FLOAT, "ATC_RAT_RLL_D" },
        { Parameters::k_param_pid_rate_pitch, 0, AP_PARAM_FLOAT, "ATC_RAT_PIT_P" },
        { Parameters::k_param_pid_rate_pitch, 1, AP_PARAM_FLOAT, "ATC_RAT_PIT_I" },
        { Parameters::k_param_pid_rate_pitch, 2, AP_PARAM_FLOAT, "ATC_RAT_PIT_D" },
        { Parameters::k_param_pid_rate_yaw, 0, AP_PARAM_FLOAT, "ATC_RAT_YAW_P" },
        { Parameters::k_param_pid_rate_yaw, 1, AP_PARAM_FLOAT, "ATC_RAT_YAW_I" },
        { Parameters::k_param_pid_rate_yaw, 2, AP_PARAM_FLOAT, "ATC_RAT_YAW_D" },
#if FRAME_CONFIG == HELI_FRAME
        { Parameters::k_param_pid_rate_roll,  4, AP_PARAM_FLOAT, "ATC_RAT_RLL_VFF" },
        { Parameters::k_param_pid_rate_pitch, 4, AP_PARAM_FLOAT, "ATC_RAT_PIT_VFF" },
        { Parameters::k_param_pid_rate_yaw  , 4, AP_PARAM_FLOAT, "ATC_RAT_YAW_VFF" },
#endif
    };
    const AP_Param::ConversionInfo imax_conversion_info[] = {
        { Parameters::k_param_pid_rate_roll,  5, AP_PARAM_FLOAT, "ATC_RAT_RLL_IMAX" },
        { Parameters::k_param_pid_rate_pitch, 5, AP_PARAM_FLOAT, "ATC_RAT_PIT_IMAX" },
        { Parameters::k_param_pid_rate_yaw,   5, AP_PARAM_FLOAT, "ATC_RAT_YAW_IMAX" },
#if FRAME_CONFIG == HELI_FRAME
        { Parameters::k_param_pid_rate_roll,  7, AP_PARAM_FLOAT, "ATC_RAT_RLL_ILMI" },
        { Parameters::k_param_pid_rate_pitch, 7, AP_PARAM_FLOAT, "ATC_RAT_PIT_ILMI" },
        { Parameters::k_param_pid_rate_yaw,   7, AP_PARAM_FLOAT, "ATC_RAT_YAW_ILMI" },
#endif
    };
    const AP_Param::ConversionInfo angle_and_filt_conversion_info[] = {
        { Parameters::k_param_p_stabilize_roll, 0, AP_PARAM_FLOAT, "ATC_ANG_RLL_P" },
        { Parameters::k_param_p_stabilize_pitch, 0, AP_PARAM_FLOAT, "ATC_ANG_PIT_P" },
        { Parameters::k_param_p_stabilize_yaw, 0, AP_PARAM_FLOAT, "ATC_ANG_YAW_P" },
        { Parameters::k_param_pid_rate_roll, 6, AP_PARAM_FLOAT, "ATC_RAT_RLL_FILT" },
        { Parameters::k_param_pid_rate_pitch, 6, AP_PARAM_FLOAT, "ATC_RAT_PIT_FILT" },
        { Parameters::k_param_pid_rate_yaw, 6, AP_PARAM_FLOAT, "ATC_RAT_YAW_FILT" },
        { Parameters::k_param_pi_vel_xy, 0, AP_PARAM_FLOAT, "PSC_VELXY_P" },
        { Parameters::k_param_pi_vel_xy, 1, AP_PARAM_FLOAT, "PSC_VELXY_I" },
        { Parameters::k_param_pi_vel_xy, 2, AP_PARAM_FLOAT, "PSC_VELXY_IMAX" },
        { Parameters::k_param_pi_vel_xy, 3, AP_PARAM_FLOAT, "PSC_VELXY_FILT" },
        { Parameters::k_param_p_vel_z, 0, AP_PARAM_FLOAT, "PSC_VELZ_P" },
        { Parameters::k_param_pid_accel_z, 0, AP_PARAM_FLOAT, "PSC_ACCZ_P" },
        { Parameters::k_param_pid_accel_z, 1, AP_PARAM_FLOAT, "PSC_ACCZ_I" },
        { Parameters::k_param_pid_accel_z, 2, AP_PARAM_FLOAT, "PSC_ACCZ_D" },
        { Parameters::k_param_pid_accel_z, 5, AP_PARAM_FLOAT, "PSC_ACCZ_IMAX" },
        { Parameters::k_param_pid_accel_z, 6, AP_PARAM_FLOAT, "PSC_ACCZ_FILT" },
        { Parameters::k_param_p_alt_hold, 0, AP_PARAM_FLOAT, "PSC_POSZ_P" },
        { Parameters::k_param_p_pos_xy, 0, AP_PARAM_FLOAT, "PSC_POSXY_P" },
    };
    const AP_Param::ConversionInfo throttle_conversion_info[] = {
        { Parameters::k_param_throttle_min, 0, AP_PARAM_FLOAT, "MOT_SPIN_MIN" },
        { Parameters::k_param_throttle_mid, 0, AP_PARAM_FLOAT, "MOT_THST_HOVER" }
    };

    // gains increase by 27% due to attitude controller's switch to use radians instead of centi-degrees
    // and motor libraries switch to accept inputs in -1 to +1 range instead of -4500 ~ +4500
    float pid_scaler = 1.27f;

#if FRAME_CONFIG != HELI_FRAME
    // Multicopter x-frame gains are 40% lower because -1 or +1 input to motors now results in maximum rotation
    if (g.frame_type == AP_Motors::MOTOR_FRAME_TYPE_X || g.frame_type == AP_Motors::MOTOR_FRAME_TYPE_V || g.frame_type == AP_Motors::MOTOR_FRAME_TYPE_H) {
        pid_scaler = 0.9f;
    }
#endif

    // scale PID gains
    uint8_t table_size = ARRAY_SIZE(pid_conversion_info);
    for (uint8_t i=0; i<table_size; i++) {
        AP_Param::convert_old_parameter(&pid_conversion_info[i], pid_scaler);
    }
    // reduce IMAX into -1 ~ +1 range
    table_size = ARRAY_SIZE(imax_conversion_info);
    for (uint8_t i=0; i<table_size; i++) {
        AP_Param::convert_old_parameter(&imax_conversion_info[i], 1.0f/4500.0f);
    }
    // convert angle controller gain and filter without scaling
    table_size = ARRAY_SIZE(angle_and_filt_conversion_info);
    for (uint8_t i=0; i<table_size; i++) {
        AP_Param::convert_old_parameter(&angle_and_filt_conversion_info[i], 1.0f);
    }
    // convert throttle parameters (multicopter only)
    table_size = ARRAY_SIZE(throttle_conversion_info);
    for (uint8_t i=0; i<table_size; i++) {
        AP_Param::convert_old_parameter(&throttle_conversion_info[i], 0.001f);
    }

    const uint8_t old_rc_keys[14] = { Parameters::k_param_rc_1_old,  Parameters::k_param_rc_2_old,
                                      Parameters::k_param_rc_3_old,  Parameters::k_param_rc_4_old,
                                      Parameters::k_param_rc_5_old,  Parameters::k_param_rc_6_old,
                                      Parameters::k_param_rc_7_old,  Parameters::k_param_rc_8_old,
                                      Parameters::k_param_rc_9_old,  Parameters::k_param_rc_10_old,
                                      Parameters::k_param_rc_11_old, Parameters::k_param_rc_12_old,
                                      Parameters::k_param_rc_13_old, Parameters::k_param_rc_14_old };
    const uint16_t old_aux_chan_mask = 0x3FF0;
    // note that we don't pass in rcmap as we don't want output channel functions changed based on rcmap
    if (SRV_Channels::upgrade_parameters(old_rc_keys, old_aux_chan_mask, nullptr)) {
        // the rest needs to be done after motors allocation
        upgrading_frame_params = true;
    }
}