Table of Contents¶

Introducing Copter
- Key features
- Getting started
- Learn more about Copter
AutoPilot Hardware Options
- Open hardware
- Closed hardware
- Firmware Limitations
  - Firmware Limitations
- Discontinued boards
First Time Setup
- Install Ground Station Software
- Autopilot System Assembly
- Loading Firmware to boards with existing ArduPilot firmware
- Loading Firmware to boards without existing ArduPilot firmware
- Connect Mission Planner to AutoPilot
- Configuration
First Flight
- Flight Modes
  - Overview
  - Recommended Flight Modes
  - GPS Dependency
  - Full list of flight modes
    - Acro
    - Altitude Hold
    - AirMode
    - Auto
    - Brake
    - Circle
    - Drift
    - Flip
    - FlowHold
    - Follow
    - Follow Me (GCS Enabled)
    - Guided
    - Heli_Autorotate
    - Land
    - Loiter
    - PosHold
    - Position
    - RTL
    - Simple and Super Simple
    - Smart RTL (Return-to-Launch)
    - Sport
    - Stabilize
    - System Identification
    - Throw
    - ZigZag
- Pre-arm Safety Check
- Arming and Disarming
  - Disarming the motors
- Getting Off the Ground – Tips for New Operators
- Tuning
- Measuring Vibration
- Setting Hover Throttle
- Save Trim & Auto Trim
- Pre-Flight Checklist
If A Problem Arises
- What to do if you have an issue
- Copter Common Problems
Flight Features
- Cylindrical Fence
- Inclusion and Exclusion Fences
- Object Avoidance
- Terrain Following (in Auto, Guided, etc)
- Surface Tracking
  - Setup and Configuration
  - How does it work?
- Motor Thrust Scaling
- Notch Filtering
- Boat Mode
  - Settings
  - Manually trigger gyro calibration
- Non-GPS Navigation
Advanced Configuration
- Autopilot Output Mapping
  - The SERVOn_FUNCTION parameters
  - Configuration
  - GENERIC FUNCTIONS
  - PLANE FUNCTIONS (Also applies to QuadPlanes)
  - COPTER / QUADPLANE FUNCTIONS
  - ROVER FUNCTIONS
  - ANTENNA TRACKER FUNCTIONS
    - Tracker Yaw/Pitch
  - CAMERA/GIMBAL FUNCTIONS
  - INTERNAL COMBUSTION ENGINE FUNCTIONS
    - Ignition/Starter/Choke
  - NEOPIXEL LED STRINGS
  - MISCELLANEOUS FUNCTIONS
    - Gripper
    - Sprayer Pump/Mixer
  - GENERAL PURPOSE LUA SCRIPTING OUTPUTS
  - INTERNAL CONTROLLER ACCESS
  - DEFAULT VALUES
- AutoTune
  - Setup before flying in AutoTune mode
  - How to invoke AutoTune
  - Invoke AutoTune with Position Hold
  - If AutoTune fails
  - Additional Notes
  - Common Problems
  - Dataflash logging
  - Ground Control Station Messages
- Auxiliary Function Switches
  - Configuring which transmitter channel is used
  - Assigning the Feature
  - Supported Features
  - Description of Features
    - Mode Switches
  - Check the channel range
- Auxiliary Function Switches (3.6 and earlier)
  - Configuration
  - Check Ch7 & Ch8 PWM values reach 1800
- Baro Temperature Compensation
  - How to Use
- Boat mode
  - Settings
  - Manually trigger gyro calibration
- Bootloader Update
  - Where can I download the latest bootloader?
  - Upgrading using Mission Planner
  - Upgrading using QGC
  - Upgrading with MAVProxy
  - Extra Information
- CAN Bus Setup
  - Overview
  - Configuration settings
- Compass Setup (Advanced)
  - Overview
  - Compass Settings
  - CompassMot — compensation for interference from the power wires, ESCs and motors
  - Automatic Offset Calibration
  - Compass error messages
- Current Limiting and Voltage Scaling
  - Current Limiting
  - Voltage scaling
- Brushless ESCs
  - ESC Protocol
  - PWM ESCs Frame Rates
  - DShot
  - Autopilot Output Capabilities
  - BLHeli32 Compatibility
- Extended Kalman Filter (EKF)
  - Should the EKF2 or EKF3 be used?
  - Choosing the EKF and number of cores
  - Commonly modified parameters
- Fence Failsafes
  - Cylindrical Fence Failsafe
  - Inclusion/Exclusion Fence Failsafe
- Flight Time Recorder
  - Parameter Details
  - When will counters be reset?
- FPort Setup
  - Connections
  - Configuration
  - Enhanced Configurations
- GeoFencing Failsafe
  - Cylindrical Fence Failsafe
  - Inclusion/Exclusion Fence Failsafe
- GPIOs
  - GPIO “PIN” NUMBER
- GPS for Yaw (aka Moving Baseline)
  - Hardware Setup
  - Configuration
  - Testing
  - Firmware Versions
- Ground Control Station Only Operation
  - Capability
  - Failsafes
  - Configuration
    - Plane and Rover
    - Copter
- Ground Effect Compensation
  - Setup
  - Video
- In-Flight FFT Configuration
  - Setup
- Independent Watchdog
  - Determining that a Watchdog Reset Occurred
- LUA Scripting
  - Getting Started
  - What Scripts Can Do
  - A Sample Script
  - Script Crashes and Errors
  - API Documentation
  - Examples
  - How to Add New Bindings
  - Further Information
- Magnetic Interference
  - Overview
  - Hardware changes to reduce magnetic interference on the compass
  - Maxwell’s Equations - The Magnetic Field on the Axis of a Current Loop
  - Natural and Artificial Magnetic Anomalies Warning
- MAVLink2 Packet Signing (Security)
  - Configuration
  - Use
- Motor Thrust Scaling
  - Thrust Curves
  - Thrust Stands
  - Parameter Calculation
- Non-GPS Navigation
  - Intel RealSense T265
  - MarvelMind Beacons
  - Optical Flow
  - OptiTrack motion capture system
  - Pozyx Beacons
  - ROS with Google Cartographer (Developers only)
  - Vicon Positioning System
  - Visual Odometry with OpenKai and ZED
- Notification Devices (LEDs,Buzzer,etc.)
  - LED and LED Display Configuration
    - OLED Displays
  - BUZZER
- Notch Filter Configuration
  - Setup
  - Traditional Helicopter Setup
  - Static Notch
- Object Avoidance
  - Avoidance Strategies
  - Avoidance Features
  - Hardware
- Optical Flow Sensor
  - Testing the sensor
  - Calibrating the sensor
  - Range Sensor Check
  - Pre-Arm checks
  - First Flight
  - Second Flight
  - Example Video (Copter-3.4)
- Parameter List (Full)
  - ArduCopter Parameters
    - FORMAT_VERSION: Eeprom format version number
    - SYSID_THISMAV: MAVLink system ID of this vehicle
    - SYSID_MYGCS: My ground station number
    - PILOT_THR_FILT: Throttle filter cutoff
    - PILOT_TKOFF_ALT: Pilot takeoff altitude
    - PILOT_THR_BHV: Throttle stick behavior
    - TELEM_DELAY: Telemetry startup delay
    - GCS_PID_MASK: GCS PID tuning mask
    - RTL_ALT: RTL Altitude
    - RTL_CONE_SLOPE: RTL cone slope
    - RTL_SPEED: RTL speed
    - RTL_ALT_FINAL: RTL Final Altitude
    - RTL_CLIMB_MIN: RTL minimum climb
    - RTL_LOIT_TIME: RTL loiter time
    - RNGFND_GAIN: Rangefinder gain
    - FS_GCS_ENABLE: Ground Station Failsafe Enable
    - GPS_HDOP_GOOD: GPS Hdop Good
    - SUPER_SIMPLE: Super Simple Mode
    - WP_YAW_BEHAVIOR: Yaw behaviour during missions
    - LAND_SPEED: Land speed
    - LAND_SPEED_HIGH: Land speed high
    - PILOT_SPEED_UP: Pilot maximum vertical speed ascending
    - PILOT_ACCEL_Z: Pilot vertical acceleration
    - FS_THR_ENABLE: Throttle Failsafe Enable
    - FS_THR_VALUE: Throttle Failsafe Value
    - THR_DZ: Throttle deadzone
    - FLTMODE1: Flight Mode 1
    - FLTMODE2: Flight Mode 2
    - FLTMODE3: Flight Mode 3
    - FLTMODE4: Flight Mode 4
    - FLTMODE5: Flight Mode 5
    - FLTMODE6: Flight Mode 6
    - FLTMODE_CH: Flightmode channel
    - SIMPLE: Simple mode bitmask
    - LOG_BITMASK: Log bitmask
    - ESC_CALIBRATION: ESC Calibration
    - TUNE: Channel 6 Tuning
    - FRAME_TYPE: Frame Type (+, X, V, etc)
    - DISARM_DELAY: Disarm delay
    - ANGLE_MAX: Angle Max
    - PHLD_BRAKE_RATE: PosHold braking rate
    - PHLD_BRAKE_ANGLE: PosHold braking angle max
    - LAND_REPOSITION: Land repositioning
    - FS_EKF_ACTION: EKF Failsafe Action
    - FS_EKF_THRESH: EKF failsafe variance threshold
    - FS_CRASH_CHECK: Crash check enable
    - RC_SPEED: ESC Update Speed
    - ACRO_RP_P: Acro Roll and Pitch P gain
    - ACRO_YAW_P: Acro Yaw P gain
    - ACRO_BAL_ROLL: Acro Balance Roll
    - ACRO_BAL_PITCH: Acro Balance Pitch
    - ACRO_TRAINER: Acro Trainer
    - ACRO_RP_EXPO: Acro Roll/Pitch Expo
    - THROW_MOT_START: Start motors before throwing is detected
    - RTL_ALT_TYPE: RTL mode altitude type
    - WP_NAVALT_MIN: Minimum navigation altitude
    - THROW_NEXTMODE: Throw mode’s follow up mode
    - THROW_TYPE: Type of Type
    - GND_EFFECT_COMP: Ground Effect Compensation Enable/Disable
    - DEV_OPTIONS: Development options
    - ACRO_Y_EXPO: Acro Yaw Expo
    - ACRO_THR_MID: Acro Thr Mid
    - SYSID_ENFORCE: GCS sysid enforcement
    - FRAME_CLASS: Frame Class
    - PILOT_SPEED_DN: Pilot maximum vertical speed descending
    - LAND_ALT_LOW: Land alt low
    - TUNE_MIN: Tuning minimum
    - TUNE_MAX: Tuning maximum
    - FS_VIBE_ENABLE: Vibration Failsafe enable
    - FS_OPTIONS: Failsafe options bitmask
    - ACRO_OPTIONS: Acro mode options
  - ADSB_ Parameters
    - ADSB_ENABLE: Enable ADSB
    - ADSB_LIST_MAX: ADSB vehicle list size
    - ADSB_LIST_RADIUS: ADSB vehicle list radius filter
    - ADSB_ICAO_ID: ICAO_ID vehicle identification number
    - ADSB_EMIT_TYPE: Emitter type
    - ADSB_LEN_WIDTH: Aircraft length and width
    - ADSB_OFFSET_LAT: GPS antenna lateral offset
    - ADSB_OFFSET_LON: GPS antenna longitudinal offset
    - ADSB_RF_SELECT: Transceiver RF selection
    - ADSB_SQUAWK: Squawk code
    - ADSB_RF_CAPABLE: RF capabilities
    - ADSB_LIST_ALT: ADSB vehicle list altitude filter
    - ADSB_ICAO_SPECL: ICAO_ID of special vehicle
    - ADSB_LOG: ADS-B logging
  - AFS_ Parameters
    - AFS_ENABLE: Enable Advanced Failsafe
    - AFS_MAN_PIN: Manual Pin
    - AFS_HB_PIN: Heartbeat Pin
    - AFS_WP_COMMS: Comms Waypoint
    - AFS_WP_GPS_LOSS: GPS Loss Waypoint
    - AFS_TERMINATE: Force Terminate
    - AFS_TERM_ACTION: Terminate action
    - AFS_TERM_PIN: Terminate Pin
    - AFS_AMSL_LIMIT: AMSL limit
    - AFS_AMSL_ERR_GPS: Error margin for GPS based AMSL limit
    - AFS_QNH_PRESSURE: QNH pressure
    - AFS_MAX_GPS_LOSS: Maximum number of GPS loss events
    - AFS_MAX_COM_LOSS: Maximum number of comms loss events
    - AFS_GEOFENCE: Enable geofence Advanced Failsafe
    - AFS_RC: Enable RC Advanced Failsafe
    - AFS_RC_MAN_ONLY: Enable RC Termination only in manual control modes
    - AFS_DUAL_LOSS: Enable dual loss terminate due to failure of both GCS and GPS simultaneously
    - AFS_RC_FAIL_TIME: RC failure time
    - AFS_MAX_RANGE: Max allowed range
  - AHRS_ Parameters
    - AHRS_GPS_GAIN: AHRS GPS gain
    - AHRS_GPS_USE: AHRS use GPS for navigation
    - AHRS_YAW_P: Yaw P
    - AHRS_RP_P: AHRS RP_P
    - AHRS_WIND_MAX: Maximum wind
    - AHRS_TRIM_X: AHRS Trim Roll
    - AHRS_TRIM_Y: AHRS Trim Pitch
    - AHRS_TRIM_Z: AHRS Trim Yaw
    - AHRS_ORIENTATION: Board Orientation
    - AHRS_COMP_BETA: AHRS Velocity Complementary Filter Beta Coefficient
    - AHRS_GPS_MINSATS: AHRS GPS Minimum satellites
    - AHRS_EKF_TYPE: Use NavEKF Kalman filter for attitude and position estimation
    - AHRS_CUSTOM_ROLL: Board orientation roll offset
    - AHRS_CUSTOM_PIT: Board orientation pitch offset
    - AHRS_CUSTOM_YAW: Board orientation yaw offset
  - ARMING_ Parameters
    - ARMING_ACCTHRESH: Accelerometer error threshold
    - ARMING_RUDDER: Arming with Rudder enable/disable
    - ARMING_MIS_ITEMS: Required mission items
    - ARMING_CHECK: Arm Checks to Perform (bitmask)
  - AROT_ Parameters
    - AROT_ENABLE: Enable settings for RSC Setpoint
    - AROT_HS_P: P gain for head spead controller
    - AROT_HS_SET_PT: Target Head Speed
    - AROT_TARG_SP: Target Glide Ground Speed
    - AROT_COL_FILT_E: Entry Phase Collective Filter
    - AROT_COL_FILT_G: Glide Phase Collective Filter
    - AROT_AS_ACC_MAX: Forward Acceleration Limit
    - AROT_BAIL_TIME: Bail Out Timer
    - AROT_HS_SENSOR: Main Rotor RPM Sensor
    - AROT_FW_V_P: Velocity (horizontal) P gain
    - AROT_FW_V_FF: Velocity (horizontal) feed forward
  - ATC_ Parameters
    - ATC_SLEW_YAW: Yaw target slew rate
    - ATC_ACCEL_Y_MAX: Acceleration Max for Yaw
    - ATC_RATE_FF_ENAB: Rate Feedforward Enable
    - ATC_ACCEL_R_MAX: Acceleration Max for Roll
    - ATC_ACCEL_P_MAX: Acceleration Max for Pitch
    - ATC_ANGLE_BOOST: Angle Boost
    - ATC_ANG_RLL_P: Roll axis angle controller P gain
    - ATC_ANG_PIT_P: Pitch axis angle controller P gain
    - ATC_ANG_YAW_P: Yaw axis angle controller P gain
    - ATC_ANG_LIM_TC: Angle Limit (to maintain altitude) Time Constant
    - ATC_RATE_R_MAX: Angular Velocity Max for Roll
    - ATC_RATE_P_MAX: Angular Velocity Max for Pitch
    - ATC_RATE_Y_MAX: Angular Velocity Max for Yaw
    - ATC_INPUT_TC: Attitude control input time constant
    - ATC_RAT_RLL_P (AC_AttitudeControl_Multi): Roll axis rate controller P gain
    - ATC_RAT_RLL_I (AC_AttitudeControl_Multi): Roll axis rate controller I gain
    - ATC_RAT_RLL_IMAX (AC_AttitudeControl_Multi): Roll axis rate controller I gain maximum
    - ATC_RAT_RLL_D (AC_AttitudeControl_Multi): Roll axis rate controller D gain
    - ATC_RAT_RLL_FF: Roll axis rate controller feed forward
    - ATC_RAT_RLL_FLTT (AC_AttitudeControl_Multi): Roll axis rate controller target frequency in Hz
    - ATC_RAT_RLL_FLTE (AC_AttitudeControl_Multi): Roll axis rate controller error frequency in Hz
    - ATC_RAT_RLL_FLTD (AC_AttitudeControl_Multi): Roll axis rate controller derivative frequency in Hz
    - ATC_RAT_PIT_P (AC_AttitudeControl_Multi): Pitch axis rate controller P gain
    - ATC_RAT_PIT_I (AC_AttitudeControl_Multi): Pitch axis rate controller I gain
    - ATC_RAT_PIT_IMAX (AC_AttitudeControl_Multi): Pitch axis rate controller I gain maximum
    - ATC_RAT_PIT_D (AC_AttitudeControl_Multi): Pitch axis rate controller D gain
    - ATC_RAT_PIT_FF: Pitch axis rate controller feed forward
    - ATC_RAT_PIT_FLTT (AC_AttitudeControl_Multi): Pitch axis rate controller target frequency in Hz
    - ATC_RAT_PIT_FLTE (AC_AttitudeControl_Multi): Pitch axis rate controller error frequency in Hz
    - ATC_RAT_PIT_FLTD (AC_AttitudeControl_Multi): Pitch axis rate controller derivative frequency in Hz
    - ATC_RAT_YAW_P (AC_AttitudeControl_Multi): Yaw axis rate controller P gain
    - ATC_RAT_YAW_I (AC_AttitudeControl_Multi): Yaw axis rate controller I gain
    - ATC_RAT_YAW_IMAX (AC_AttitudeControl_Multi): Yaw axis rate controller I gain maximum
    - ATC_RAT_YAW_D (AC_AttitudeControl_Multi): Yaw axis rate controller D gain
    - ATC_RAT_YAW_FF: Yaw axis rate controller feed forward
    - ATC_RAT_YAW_FLTT (AC_AttitudeControl_Multi): Yaw axis rate controller target frequency in Hz
    - ATC_RAT_YAW_FLTE (AC_AttitudeControl_Multi): Yaw axis rate controller error frequency in Hz
    - ATC_RAT_YAW_FLTD (AC_AttitudeControl_Multi): Yaw axis rate controller derivative frequency in Hz
    - ATC_THR_MIX_MIN: Throttle Mix Minimum
    - ATC_THR_MIX_MAX: Throttle Mix Maximum
    - ATC_THR_MIX_MAN: Throttle Mix Manual
    - ATC_HOVR_ROL_TRM: Hover Roll Trim
    - ATC_RAT_RLL_P (AC_AttitudeControl_Heli): Roll axis rate controller P gain
    - ATC_RAT_RLL_I (AC_AttitudeControl_Heli): Roll axis rate controller I gain
    - ATC_RAT_RLL_IMAX (AC_AttitudeControl_Heli): Roll axis rate controller I gain maximum
    - ATC_RAT_RLL_ILMI: Roll axis rate controller I-term leak minimum
    - ATC_RAT_RLL_D (AC_AttitudeControl_Heli): Roll axis rate controller D gain
    - ATC_RAT_RLL_VFF: Roll axis rate controller feed forward
    - ATC_RAT_RLL_FLTT (AC_AttitudeControl_Heli): Roll axis rate controller target frequency in Hz
    - ATC_RAT_RLL_FLTE (AC_AttitudeControl_Heli): Roll axis rate controller error frequency in Hz
    - ATC_RAT_RLL_FLTD (AC_AttitudeControl_Heli): Roll axis rate controller derivative frequency in Hz
    - ATC_RAT_PIT_P (AC_AttitudeControl_Heli): Pitch axis rate controller P gain
    - ATC_RAT_PIT_I (AC_AttitudeControl_Heli): Pitch axis rate controller I gain
    - ATC_RAT_PIT_IMAX (AC_AttitudeControl_Heli): Pitch axis rate controller I gain maximum
    - ATC_RAT_PIT_ILMI: Pitch axis rate controller I-term leak minimum
    - ATC_RAT_PIT_D (AC_AttitudeControl_Heli): Pitch axis rate controller D gain
    - ATC_RAT_PIT_VFF: Pitch axis rate controller feed forward
    - ATC_RAT_PIT_FLTT (AC_AttitudeControl_Heli): Pitch axis rate controller target frequency in Hz
    - ATC_RAT_PIT_FLTE (AC_AttitudeControl_Heli): Pitch axis rate controller error frequency in Hz
    - ATC_RAT_PIT_FLTD (AC_AttitudeControl_Heli): Pitch axis rate controller derivative frequency in Hz
    - ATC_RAT_YAW_P (AC_AttitudeControl_Heli): Yaw axis rate controller P gain
    - ATC_RAT_YAW_I (AC_AttitudeControl_Heli): Yaw axis rate controller I gain
    - ATC_RAT_YAW_IMAX (AC_AttitudeControl_Heli): Yaw axis rate controller I gain maximum
    - ATC_RAT_YAW_ILMI: Yaw axis rate controller I-term leak minimum
    - ATC_RAT_YAW_D (AC_AttitudeControl_Heli): Yaw axis rate controller D gain
    - ATC_RAT_YAW_VFF: Yaw axis rate controller feed forward
    - ATC_RAT_YAW_FLTT (AC_AttitudeControl_Heli): Yaw axis rate controller target frequency in Hz
    - ATC_RAT_YAW_FLTE (AC_AttitudeControl_Heli): Yaw axis rate controller error frequency in Hz
    - ATC_RAT_YAW_FLTD (AC_AttitudeControl_Heli): Yaw axis rate controller derivative frequency in Hz
    - ATC_PIRO_COMP: Piro Comp Enable
  - AUTOTUNE_ Parameters
    - AUTOTUNE_AXES: Autotune axis bitmask
    - AUTOTUNE_AGGR: Autotune aggressiveness
    - AUTOTUNE_MIN_D: AutoTune minimum D
  - AVD_ Parameters
    - AVD_ENABLE: Enable Avoidance using ADSB
    - AVD_F_ACTION: Collision Avoidance Behavior
    - AVD_W_ACTION: Collision Avoidance Behavior - Warn
    - AVD_F_RCVRY: Recovery behaviour after a fail event
    - AVD_OBS_MAX: Maximum number of obstacles to track
    - AVD_W_TIME: Time Horizon Warn
    - AVD_F_TIME: Time Horizon Fail
    - AVD_W_DIST_XY: Distance Warn XY
    - AVD_F_DIST_XY: Distance Fail XY
    - AVD_W_DIST_Z: Distance Warn Z
    - AVD_F_DIST_Z: Distance Fail Z
    - AVD_F_ALT_MIN: ADS-B avoidance minimum altitude
  - AVOID_ Parameters
    - AVOID_ENABLE: Avoidance control enable/disable
    - AVOID_ANGLE_MAX: Avoidance max lean angle in non-GPS flight modes
    - AVOID_DIST_MAX: Avoidance distance maximum in non-GPS flight modes
    - AVOID_MARGIN: Avoidance distance margin in GPS modes
    - AVOID_BEHAVE: Avoidance behaviour
  - BATT2_ Parameters
    - BATT2_MONITOR: Battery monitoring
    - BATT2_VOLT_PIN: Battery Voltage sensing pin
    - BATT2_CURR_PIN: Battery Current sensing pin
    - BATT2_VOLT_MULT: Voltage Multiplier
    - BATT2_AMP_PERVLT: Amps per volt
    - BATT2_AMP_OFFSET: AMP offset
    - BATT2_CAPACITY: Battery capacity
    - BATT2_SERIAL_NUM: Battery serial number
    - BATT2_LOW_TIMER: Low voltage timeout
    - BATT2_FS_VOLTSRC: Failsafe voltage source
    - BATT2_LOW_VOLT: Low battery voltage
    - BATT2_LOW_MAH: Low battery capacity
    - BATT2_CRT_VOLT: Critical battery voltage
    - BATT2_CRT_MAH: Battery critical capacity
    - BATT2_FS_LOW_ACT: Low battery failsafe action
    - BATT2_FS_CRT_ACT: Critical battery failsafe action
    - BATT2_ARM_VOLT: Required arming voltage
    - BATT2_ARM_MAH: Required arming remaining capacity
    - BATT2_BUS: Battery monitor I2C bus number
  - BATT3_ Parameters
    - BATT3_MONITOR: Battery monitoring
    - BATT3_VOLT_PIN: Battery Voltage sensing pin
    - BATT3_CURR_PIN: Battery Current sensing pin
    - BATT3_VOLT_MULT: Voltage Multiplier
    - BATT3_AMP_PERVLT: Amps per volt
    - BATT3_AMP_OFFSET: AMP offset
    - BATT3_CAPACITY: Battery capacity
    - BATT3_SERIAL_NUM: Battery serial number
    - BATT3_LOW_TIMER: Low voltage timeout
    - BATT3_FS_VOLTSRC: Failsafe voltage source
    - BATT3_LOW_VOLT: Low battery voltage
    - BATT3_LOW_MAH: Low battery capacity
    - BATT3_CRT_VOLT: Critical battery voltage
    - BATT3_CRT_MAH: Battery critical capacity
    - BATT3_FS_LOW_ACT: Low battery failsafe action
    - BATT3_FS_CRT_ACT: Critical battery failsafe action
    - BATT3_ARM_VOLT: Required arming voltage
    - BATT3_ARM_MAH: Required arming remaining capacity
    - BATT3_BUS: Battery monitor I2C bus number
  - BATT4_ Parameters
    - BATT4_MONITOR: Battery monitoring
    - BATT4_VOLT_PIN: Battery Voltage sensing pin
    - BATT4_CURR_PIN: Battery Current sensing pin
    - BATT4_VOLT_MULT: Voltage Multiplier
    - BATT4_AMP_PERVLT: Amps per volt
    - BATT4_AMP_OFFSET: AMP offset
    - BATT4_CAPACITY: Battery capacity
    - BATT4_SERIAL_NUM: Battery serial number
    - BATT4_LOW_TIMER: Low voltage timeout
    - BATT4_FS_VOLTSRC: Failsafe voltage source
    - BATT4_LOW_VOLT: Low battery voltage
    - BATT4_LOW_MAH: Low battery capacity
    - BATT4_CRT_VOLT: Critical battery voltage
    - BATT4_CRT_MAH: Battery critical capacity
    - BATT4_FS_LOW_ACT: Low battery failsafe action
    - BATT4_FS_CRT_ACT: Critical battery failsafe action
    - BATT4_ARM_VOLT: Required arming voltage
    - BATT4_ARM_MAH: Required arming remaining capacity
    - BATT4_BUS: Battery monitor I2C bus number
  - BATT5_ Parameters
    - BATT5_MONITOR: Battery monitoring
    - BATT5_VOLT_PIN: Battery Voltage sensing pin
    - BATT5_CURR_PIN: Battery Current sensing pin
    - BATT5_VOLT_MULT: Voltage Multiplier
    - BATT5_AMP_PERVLT: Amps per volt
    - BATT5_AMP_OFFSET: AMP offset
    - BATT5_CAPACITY: Battery capacity
    - BATT5_SERIAL_NUM: Battery serial number
    - BATT5_LOW_TIMER: Low voltage timeout
    - BATT5_FS_VOLTSRC: Failsafe voltage source
    - BATT5_LOW_VOLT: Low battery voltage
    - BATT5_LOW_MAH: Low battery capacity
    - BATT5_CRT_VOLT: Critical battery voltage
    - BATT5_CRT_MAH: Battery critical capacity
    - BATT5_FS_LOW_ACT: Low battery failsafe action
    - BATT5_FS_CRT_ACT: Critical battery failsafe action
    - BATT5_ARM_VOLT: Required arming voltage
    - BATT5_ARM_MAH: Required arming remaining capacity
    - BATT5_BUS: Battery monitor I2C bus number
  - BATT6_ Parameters
    - BATT6_MONITOR: Battery monitoring
    - BATT6_VOLT_PIN: Battery Voltage sensing pin
    - BATT6_CURR_PIN: Battery Current sensing pin
    - BATT6_VOLT_MULT: Voltage Multiplier
    - BATT6_AMP_PERVLT: Amps per volt
    - BATT6_AMP_OFFSET: AMP offset
    - BATT6_CAPACITY: Battery capacity
    - BATT6_SERIAL_NUM: Battery serial number
    - BATT6_LOW_TIMER: Low voltage timeout
    - BATT6_FS_VOLTSRC: Failsafe voltage source
    - BATT6_LOW_VOLT: Low battery voltage
    - BATT6_LOW_MAH: Low battery capacity
    - BATT6_CRT_VOLT: Critical battery voltage
    - BATT6_CRT_MAH: Battery critical capacity
    - BATT6_FS_LOW_ACT: Low battery failsafe action
    - BATT6_FS_CRT_ACT: Critical battery failsafe action
    - BATT6_ARM_VOLT: Required arming voltage
    - BATT6_ARM_MAH: Required arming remaining capacity
    - BATT6_BUS: Battery monitor I2C bus number
  - BATT7_ Parameters
    - BATT7_MONITOR: Battery monitoring
    - BATT7_VOLT_PIN: Battery Voltage sensing pin
    - BATT7_CURR_PIN: Battery Current sensing pin
    - BATT7_VOLT_MULT: Voltage Multiplier
    - BATT7_AMP_PERVLT: Amps per volt
    - BATT7_AMP_OFFSET: AMP offset
    - BATT7_CAPACITY: Battery capacity
    - BATT7_SERIAL_NUM: Battery serial number
    - BATT7_LOW_TIMER: Low voltage timeout
    - BATT7_FS_VOLTSRC: Failsafe voltage source
    - BATT7_LOW_VOLT: Low battery voltage
    - BATT7_LOW_MAH: Low battery capacity
    - BATT7_CRT_VOLT: Critical battery voltage
    - BATT7_CRT_MAH: Battery critical capacity
    - BATT7_FS_LOW_ACT: Low battery failsafe action
    - BATT7_FS_CRT_ACT: Critical battery failsafe action
    - BATT7_ARM_VOLT: Required arming voltage
    - BATT7_ARM_MAH: Required arming remaining capacity
    - BATT7_BUS: Battery monitor I2C bus number
  - BATT8_ Parameters
    - BATT8_MONITOR: Battery monitoring
    - BATT8_VOLT_PIN: Battery Voltage sensing pin
    - BATT8_CURR_PIN: Battery Current sensing pin
    - BATT8_VOLT_MULT: Voltage Multiplier
    - BATT8_AMP_PERVLT: Amps per volt
    - BATT8_AMP_OFFSET: AMP offset
    - BATT8_CAPACITY: Battery capacity
    - BATT8_SERIAL_NUM: Battery serial number
    - BATT8_LOW_TIMER: Low voltage timeout
    - BATT8_FS_VOLTSRC: Failsafe voltage source
    - BATT8_LOW_VOLT: Low battery voltage
    - BATT8_LOW_MAH: Low battery capacity
    - BATT8_CRT_VOLT: Critical battery voltage
    - BATT8_CRT_MAH: Battery critical capacity
    - BATT8_FS_LOW_ACT: Low battery failsafe action
    - BATT8_FS_CRT_ACT: Critical battery failsafe action
    - BATT8_ARM_VOLT: Required arming voltage
    - BATT8_ARM_MAH: Required arming remaining capacity
    - BATT8_BUS: Battery monitor I2C bus number
  - BATT9_ Parameters
    - BATT9_MONITOR: Battery monitoring
    - BATT9_VOLT_PIN: Battery Voltage sensing pin
    - BATT9_CURR_PIN: Battery Current sensing pin
    - BATT9_VOLT_MULT: Voltage Multiplier
    - BATT9_AMP_PERVLT: Amps per volt
    - BATT9_AMP_OFFSET: AMP offset
    - BATT9_CAPACITY: Battery capacity
    - BATT9_SERIAL_NUM: Battery serial number
    - BATT9_LOW_TIMER: Low voltage timeout
    - BATT9_FS_VOLTSRC: Failsafe voltage source
    - BATT9_LOW_VOLT: Low battery voltage
    - BATT9_LOW_MAH: Low battery capacity
    - BATT9_CRT_VOLT: Critical battery voltage
    - BATT9_CRT_MAH: Battery critical capacity
    - BATT9_FS_LOW_ACT: Low battery failsafe action
    - BATT9_FS_CRT_ACT: Critical battery failsafe action
    - BATT9_ARM_VOLT: Required arming voltage
    - BATT9_ARM_MAH: Required arming remaining capacity
    - BATT9_BUS: Battery monitor I2C bus number
  - BATT_ Parameters
    - BATT_MONITOR: Battery monitoring
    - BATT_VOLT_PIN: Battery Voltage sensing pin
    - BATT_CURR_PIN: Battery Current sensing pin
    - BATT_VOLT_MULT: Voltage Multiplier
    - BATT_AMP_PERVLT: Amps per volt
    - BATT_AMP_OFFSET: AMP offset
    - BATT_CAPACITY: Battery capacity
    - BATT_SERIAL_NUM: Battery serial number
    - BATT_LOW_TIMER: Low voltage timeout
    - BATT_FS_VOLTSRC: Failsafe voltage source
    - BATT_LOW_VOLT: Low battery voltage
    - BATT_LOW_MAH: Low battery capacity
    - BATT_CRT_VOLT: Critical battery voltage
    - BATT_CRT_MAH: Battery critical capacity
    - BATT_FS_LOW_ACT: Low battery failsafe action
    - BATT_FS_CRT_ACT: Critical battery failsafe action
    - BATT_ARM_VOLT: Required arming voltage
    - BATT_ARM_MAH: Required arming remaining capacity
    - BATT_BUS: Battery monitor I2C bus number
  - BCN Parameters
    - BCN_TYPE: Beacon based position estimation device type
    - BCN_LATITUDE: Beacon origin’s latitude
    - BCN_LONGITUDE: Beacon origin’s longitude
    - BCN_ALT: Beacon origin’s altitude above sealevel in meters
    - BCN_ORIENT_YAW: Beacon systems rotation from north in degrees
  - BRD_ Parameters
    - BRD_PWM_COUNT: Auxiliary pin config
    - BRD_SER1_RTSCTS: Serial 1 flow control
    - BRD_SER2_RTSCTS: Serial 2 flow control
    - BRD_SAFETYENABLE: Enable use of safety arming switch
    - BRD_SBUS_OUT: SBUS output rate
    - BRD_SERIAL_NUM: User-defined serial number
    - BRD_SAFETY_MASK: Outputs which ignore the safety switch state
    - BRD_IMU_TARGTEMP: Target IMU temperature
    - BRD_TYPE: Board type
    - BRD_IO_ENABLE: Enable IO co-processor
    - BRD_SAFETYOPTION: Options for safety button behavior
    - BRD_VBUS_MIN: Autopilot board voltage requirement
    - BRD_VSERVO_MIN: Servo voltage requirement
    - BRD_SD_SLOWDOWN: microSD slowdown
    - BRD_PWM_VOLT_SEL: Set PWM Out Voltage
    - BRD_OPTIONS: Board options
    - BRD_BOOT_DELAY: Boot delay
    - BRD_IMUHEAT_P: IMU Heater P gain
    - BRD_IMUHEAT_I: IMU Heater I gain
    - BRD_IMUHEAT_IMAX: IMU Heater IMAX
    - BRD_ALT_CONFIG: Alternative HW config
  - BRD_RADIO Parameters
    - BRD_RADIO_TYPE: Set type of direct attached radio
    - BRD_RADIO_PROT: protocol
    - BRD_RADIO_DEBUG: debug level
    - BRD_RADIO_DISCRC: disable receive CRC
    - BRD_RADIO_SIGCH: RSSI signal strength
    - BRD_RADIO_PPSCH: Packet rate channel
    - BRD_RADIO_TELEM: Enable telemetry
    - BRD_RADIO_TXPOW: Telemetry Transmit power
    - BRD_RADIO_FCCTST: Put radio into FCC test mode
    - BRD_RADIO_STKMD: Stick input mode
    - BRD_RADIO_TESTCH: Set radio to factory test channel
    - BRD_RADIO_TSIGCH: RSSI value channel for telemetry data on transmitter
    - BRD_RADIO_TPPSCH: Telemetry PPS channel
    - BRD_RADIO_TXMAX: Transmitter transmit power
    - BRD_RADIO_BZOFS: Transmitter buzzer adjustment
    - BRD_RADIO_ABTIME: Auto-bind time
    - BRD_RADIO_ABLVL: Auto-bind level
  - BRD_RTC Parameters
    - BRD_RTC_TYPES: Allowed sources of RTC time
    - BRD_RTC_TZ_MIN: Timezone offset from UTC
  - BTN_ Parameters
    - BTN_ENABLE: Enable button reporting
    - BTN_PIN1: First button Pin
    - BTN_PIN2: Second button Pin
    - BTN_PIN3: Third button Pin
    - BTN_PIN4: Fourth button Pin
    - BTN_REPORT_SEND: Report send time
  - CAM_ Parameters
    - CAM_TRIGG_TYPE: Camera shutter (trigger) type
    - CAM_DURATION: Duration that shutter is held open
    - CAM_SERVO_ON: Servo ON PWM value
    - CAM_SERVO_OFF: Servo OFF PWM value
    - CAM_TRIGG_DIST: Camera trigger distance
    - CAM_RELAY_ON: Relay ON value
    - CAM_MIN_INTERVAL: Minimum time between photos
    - CAM_MAX_ROLL: Maximum photo roll angle.
    - CAM_FEEDBACK_PIN: Camera feedback pin
    - CAM_FEEDBACK_POL: Camera feedback pin polarity
    - CAM_AUTO_ONLY: Distance-trigging in AUTO mode only
    - CAM_TYPE: Type of camera (0: None, 1: BMMCC)
  - CAM_RC_ Parameters
    - CAM_RC_TYPE: RunCam device type
    - CAM_RC_FEATURES: RunCam features available
    - CAM_RC_BT_DELAY: RunCam boot delay before allowing updates
    - CAM_RC_BTN_DELAY: RunCam button delay before allowing further button presses
    - CAM_RC_MDE_DELAY: RunCam mode delay before allowing further button presses
    - CAM_RC_CONTROL: RunCam control option
  - CAN_D1_ Parameters
    - CAN_D1_PROTOCOL: Enable use of specific protocol over virtual driver
  - CAN_D1_KDE_ Parameters
    - CAN_D1_KDE_NPOLE: Number of motor poles
  - CAN_D1_UC_ Parameters
    - CAN_D1_UC_NODE: UAVCAN node that is used for this network
    - CAN_D1_UC_SRV_BM: RC Out channels to be transmitted as servo over UAVCAN
    - CAN_D1_UC_ESC_BM: RC Out channels to be transmitted as ESC over UAVCAN
    - CAN_D1_UC_SRV_RT: Servo output rate
  - CAN_D2_ Parameters
    - CAN_D2_PROTOCOL: Enable use of specific protocol over virtual driver
  - CAN_D2_KDE_ Parameters
    - CAN_D2_KDE_NPOLE: Number of motor poles
  - CAN_D2_UC_ Parameters
    - CAN_D2_UC_NODE: UAVCAN node that is used for this network
    - CAN_D2_UC_SRV_BM: RC Out channels to be transmitted as servo over UAVCAN
    - CAN_D2_UC_ESC_BM: RC Out channels to be transmitted as ESC over UAVCAN
    - CAN_D2_UC_SRV_RT: Servo output rate
  - CAN_D3_ Parameters
    - CAN_D3_PROTOCOL: Enable use of specific protocol over virtual driver
  - CAN_D3_KDE_ Parameters
    - CAN_D3_KDE_NPOLE: Number of motor poles
  - CAN_D3_UC_ Parameters
    - CAN_D3_UC_NODE: UAVCAN node that is used for this network
    - CAN_D3_UC_SRV_BM: RC Out channels to be transmitted as servo over UAVCAN
    - CAN_D3_UC_ESC_BM: RC Out channels to be transmitted as ESC over UAVCAN
    - CAN_D3_UC_SRV_RT: Servo output rate
  - CAN_P1_ Parameters
    - CAN_P1_DRIVER: Index of virtual driver to be used with physical CAN interface
    - CAN_P1_BITRATE: Bitrate of CAN interface
    - CAN_P1_DEBUG: Level of debug for CAN devices
  - CAN_P2_ Parameters
    - CAN_P2_DRIVER: Index of virtual driver to be used with physical CAN interface
    - CAN_P2_BITRATE: Bitrate of CAN interface
    - CAN_P2_DEBUG: Level of debug for CAN devices
  - CAN_P3_ Parameters
    - CAN_P3_DRIVER: Index of virtual driver to be used with physical CAN interface
    - CAN_P3_BITRATE: Bitrate of CAN interface
    - CAN_P3_DEBUG: Level of debug for CAN devices
  - CAN_SLCAN_ Parameters
    - CAN_SLCAN_CPORT: SLCAN Route
    - CAN_SLCAN_SERNUM: SLCAN Serial Port
    - CAN_SLCAN_TIMOUT: SLCAN Timeout
  - CHUTE_ Parameters
    - CHUTE_ENABLED: Parachute release enabled or disabled
    - CHUTE_TYPE: Parachute release mechanism type (relay or servo)
    - CHUTE_SERVO_ON: Parachute Servo ON PWM value
    - CHUTE_SERVO_OFF: Servo OFF PWM value
    - CHUTE_ALT_MIN: Parachute min altitude in meters above home
    - CHUTE_DELAY_MS: Parachute release delay
    - CHUTE_CRT_SINK: Critical sink speed rate in m/s to trigger emergency parachute
  - CIRCLE_ Parameters
    - CIRCLE_RADIUS: Circle Radius
    - CIRCLE_RATE: Circle rate
    - CIRCLE_CONTROL: Circle control
  - COMPASS_ Parameters
    - COMPASS_OFS_X: Compass offsets in milligauss on the X axis
    - COMPASS_OFS_Y: Compass offsets in milligauss on the Y axis
    - COMPASS_OFS_Z: Compass offsets in milligauss on the Z axis
    - COMPASS_DEC: Compass declination
    - COMPASS_LEARN: Learn compass offsets automatically
    - COMPASS_USE: Use compass for yaw
    - COMPASS_AUTODEC: Auto Declination
    - COMPASS_MOTCT: Motor interference compensation type
    - COMPASS_MOT_X: Motor interference compensation for body frame X axis
    - COMPASS_MOT_Y: Motor interference compensation for body frame Y axis
    - COMPASS_MOT_Z: Motor interference compensation for body frame Z axis
    - COMPASS_ORIENT: Compass orientation
    - COMPASS_EXTERNAL: Compass is attached via an external cable
    - COMPASS_OFS2_X: Compass2 offsets in milligauss on the X axis
    - COMPASS_OFS2_Y: Compass2 offsets in milligauss on the Y axis
    - COMPASS_OFS2_Z: Compass2 offsets in milligauss on the Z axis
    - COMPASS_MOT2_X: Motor interference compensation to compass2 for body frame X axis
    - COMPASS_MOT2_Y: Motor interference compensation to compass2 for body frame Y axis
    - COMPASS_MOT2_Z: Motor interference compensation to compass2 for body frame Z axis
    - COMPASS_OFS3_X: Compass3 offsets in milligauss on the X axis
    - COMPASS_OFS3_Y: Compass3 offsets in milligauss on the Y axis
    - COMPASS_OFS3_Z: Compass3 offsets in milligauss on the Z axis
    - COMPASS_MOT3_X: Motor interference compensation to compass3 for body frame X axis
    - COMPASS_MOT3_Y: Motor interference compensation to compass3 for body frame Y axis
    - COMPASS_MOT3_Z: Motor interference compensation to compass3 for body frame Z axis
    - COMPASS_DEV_ID: Compass device id
    - COMPASS_DEV_ID2: Compass2 device id
    - COMPASS_DEV_ID3: Compass3 device id
    - COMPASS_USE2: Compass2 used for yaw
    - COMPASS_ORIENT2: Compass2 orientation
    - COMPASS_EXTERN2: Compass2 is attached via an external cable
    - COMPASS_USE3: Compass3 used for yaw
    - COMPASS_ORIENT3: Compass3 orientation
    - COMPASS_EXTERN3: Compass3 is attached via an external cable
    - COMPASS_DIA_X: Compass soft-iron diagonal X component
    - COMPASS_DIA_Y: Compass soft-iron diagonal Y component
    - COMPASS_DIA_Z: Compass soft-iron diagonal Z component
    - COMPASS_ODI_X: Compass soft-iron off-diagonal X component
    - COMPASS_ODI_Y: Compass soft-iron off-diagonal Y component
    - COMPASS_ODI_Z: Compass soft-iron off-diagonal Z component
    - COMPASS_DIA2_X: Compass2 soft-iron diagonal X component
    - COMPASS_DIA2_Y: Compass2 soft-iron diagonal Y component
    - COMPASS_DIA2_Z: Compass2 soft-iron diagonal Z component
    - COMPASS_ODI2_X: Compass2 soft-iron off-diagonal X component
    - COMPASS_ODI2_Y: Compass2 soft-iron off-diagonal Y component
    - COMPASS_ODI2_Z: Compass2 soft-iron off-diagonal Z component
    - COMPASS_DIA3_X: Compass3 soft-iron diagonal X component
    - COMPASS_DIA3_Y: Compass3 soft-iron diagonal Y component
    - COMPASS_DIA3_Z: Compass3 soft-iron diagonal Z component
    - COMPASS_ODI3_X: Compass3 soft-iron off-diagonal X component
    - COMPASS_ODI3_Y: Compass3 soft-iron off-diagonal Y component
    - COMPASS_ODI3_Z: Compass3 soft-iron off-diagonal Z component
    - COMPASS_CAL_FIT: Compass calibration fitness
    - COMPASS_OFFS_MAX: Compass maximum offset
    - COMPASS_TYPEMASK: Compass disable driver type mask
    - COMPASS_FLTR_RNG: Range in which sample is accepted
    - COMPASS_AUTO_ROT: Automatically check orientation
    - COMPASS_PRIO1_ID: Compass device id with 1st order priority
    - COMPASS_PRIO2_ID: Compass device id with 2nd order priority
    - COMPASS_PRIO3_ID: Compass device id with 3rd order priority
    - COMPASS_ENABLE: Enable Compass
    - COMPASS_SCALE: Compass1 scale factor
    - COMPASS_SCALE2: Compass2 scale factor
    - COMPASS_SCALE3: Compass3 scale factor
    - COMPASS_OPTIONS: Compass options
    - COMPASS_DEV_ID4: Compass4 device id
    - COMPASS_DEV_ID5: Compass5 device id
    - COMPASS_DEV_ID6: Compass6 device id
    - COMPASS_DEV_ID7: Compass7 device id
    - COMPASS_DEV_ID8: Compass8 device id
    - COMPASS_CUS_ROLL: Custom orientation roll offset
    - COMPASS_CUS_PIT: Custom orientation pitch offset
    - COMPASS_CUS_YAW: Custom orientation yaw offset
  - COMPASS_PMOT Parameters
    - COMPASS_PMOT_EN: per-motor compass correction enable
    - COMPASS_PMOT_EXP: per-motor exponential correction
    - COMPASS_PMOT1_X: Compass per-motor1 X
    - COMPASS_PMOT1_Y: Compass per-motor1 Y
    - COMPASS_PMOT1_Z: Compass per-motor1 Z
    - COMPASS_PMOT2_X: Compass per-motor2 X
    - COMPASS_PMOT2_Y: Compass per-motor2 Y
    - COMPASS_PMOT2_Z: Compass per-motor2 Z
    - COMPASS_PMOT3_X: Compass per-motor3 X
    - COMPASS_PMOT3_Y: Compass per-motor3 Y
    - COMPASS_PMOT3_Z: Compass per-motor3 Z
    - COMPASS_PMOT4_X: Compass per-motor4 X
    - COMPASS_PMOT4_Y: Compass per-motor4 Y
    - COMPASS_PMOT4_Z: Compass per-motor4 Z
  - EK2_ Parameters
    - EK2_ENABLE: Enable EKF2
    - EK2_GPS_TYPE: GPS mode control
    - EK2_VELNE_M_NSE: GPS horizontal velocity measurement noise (m/s)
    - EK2_VELD_M_NSE: GPS vertical velocity measurement noise (m/s)
    - EK2_VEL_I_GATE: GPS velocity innovation gate size
    - EK2_POSNE_M_NSE: GPS horizontal position measurement noise (m)
    - EK2_POS_I_GATE: GPS position measurement gate size
    - EK2_GLITCH_RAD: GPS glitch radius gate size (m)
    - EK2_ALT_SOURCE: Primary altitude sensor source
    - EK2_ALT_M_NSE: Altitude measurement noise (m)
    - EK2_HGT_I_GATE: Height measurement gate size
    - EK2_HGT_DELAY: Height measurement delay (msec)
    - EK2_MAG_M_NSE: Magnetometer measurement noise (Gauss)
    - EK2_MAG_CAL: Magnetometer default fusion mode
    - EK2_MAG_I_GATE: Magnetometer measurement gate size
    - EK2_EAS_M_NSE: Equivalent airspeed measurement noise (m/s)
    - EK2_EAS_I_GATE: Airspeed measurement gate size
    - EK2_RNG_M_NSE: Range finder measurement noise (m)
    - EK2_RNG_I_GATE: Range finder measurement gate size
    - EK2_MAX_FLOW: Maximum valid optical flow rate
    - EK2_FLOW_M_NSE: Optical flow measurement noise (rad/s)
    - EK2_FLOW_I_GATE: Optical Flow measurement gate size
    - EK2_FLOW_DELAY: Optical Flow measurement delay (msec)
    - EK2_GYRO_P_NSE: Rate gyro noise (rad/s)
    - EK2_ACC_P_NSE: Accelerometer noise (m/s^2)
    - EK2_GBIAS_P_NSE: Rate gyro bias stability (rad/s/s)
    - EK2_GSCL_P_NSE: Rate gyro scale factor stability (1/s)
    - EK2_ABIAS_P_NSE: Accelerometer bias stability (m/s^3)
    - EK2_WIND_P_NSE: Wind velocity process noise (m/s^2)
    - EK2_WIND_PSCALE: Height rate to wind process noise scaler
    - EK2_GPS_CHECK: GPS preflight check
    - EK2_IMU_MASK: Bitmask of active IMUs
    - EK2_CHECK_SCALE: GPS accuracy check scaler (%)
    - EK2_NOAID_M_NSE: Non-GPS operation position uncertainty (m)
    - EK2_LOG_MASK: EKF sensor logging IMU mask
    - EK2_YAW_M_NSE: Yaw measurement noise (rad)
    - EK2_YAW_I_GATE: Yaw measurement gate size
    - EK2_TAU_OUTPUT: Output complementary filter time constant (centi-sec)
    - EK2_MAGE_P_NSE: Earth magnetic field process noise (gauss/s)
    - EK2_MAGB_P_NSE: Body magnetic field process noise (gauss/s)
    - EK2_RNG_USE_HGT: Range finder switch height percentage
    - EK2_TERR_GRAD: Maximum terrain gradient
    - EK2_BCN_M_NSE: Range beacon measurement noise (m)
    - EK2_BCN_I_GTE: Range beacon measurement gate size
    - EK2_BCN_DELAY: Range beacon measurement delay (msec)
    - EK2_RNG_USE_SPD: Range finder max ground speed
    - EK2_MAG_MASK: Bitmask of active EKF cores that will always use heading fusion
    - EK2_OGN_HGT_MASK: Bitmask control of EKF reference height correction
    - EK2_FLOW_USE: Optical flow use bitmask
    - EK2_MAG_EF_LIM: EarthField error limit
    - EK2_HRT_FILT: Height rate filter crossover frequency
    - EK2_GSF_RUN_MASK: Bitmask of which EKF-GSF yaw estimators run
    - EK2_GSF_USE_MASK: Bitmask of which EKF-GSF yaw estimators are used
    - EK2_GSF_DELAY: Delay from loss of navigation to yaw reset
    - EK2_GSF_RST_MAX: Maximum number of resets to the EKF-GSF yaw estimate allowed
  - EK3_ Parameters
    - EK3_ENABLE: Enable EKF3
    - EK3_GPS_TYPE: GPS mode control
    - EK3_VELNE_M_NSE: GPS horizontal velocity measurement noise (m/s)
    - EK3_VELD_M_NSE: GPS vertical velocity measurement noise (m/s)
    - EK3_VEL_I_GATE: GPS velocity innovation gate size
    - EK3_POSNE_M_NSE: GPS horizontal position measurement noise (m)
    - EK3_POS_I_GATE: GPS position measurement gate size
    - EK3_GLITCH_RAD: GPS glitch radius gate size (m)
    - EK3_ALT_SOURCE: Primary altitude sensor source
    - EK3_ALT_M_NSE: Altitude measurement noise (m)
    - EK3_HGT_I_GATE: Height measurement gate size
    - EK3_HGT_DELAY: Height measurement delay (msec)
    - EK3_MAG_M_NSE: Magnetometer measurement noise (Gauss)
    - EK3_MAG_CAL: Magnetometer default fusion mode
    - EK3_MAG_I_GATE: Magnetometer measurement gate size
    - EK3_EAS_M_NSE: Equivalent airspeed measurement noise (m/s)
    - EK3_EAS_I_GATE: Airspeed measurement gate size
    - EK3_RNG_M_NSE: Range finder measurement noise (m)
    - EK3_RNG_I_GATE: Range finder measurement gate size
    - EK3_MAX_FLOW: Maximum valid optical flow rate
    - EK3_FLOW_M_NSE: Optical flow measurement noise (rad/s)
    - EK3_FLOW_I_GATE: Optical Flow measurement gate size
    - EK3_FLOW_DELAY: Optical Flow measurement delay (msec)
    - EK3_GYRO_P_NSE: Rate gyro noise (rad/s)
    - EK3_ACC_P_NSE: Accelerometer noise (m/s^2)
    - EK3_GBIAS_P_NSE: Rate gyro bias stability (rad/s/s)
    - EK3_ABIAS_P_NSE: Accelerometer bias stability (m/s^3)
    - EK3_WIND_P_NSE: Wind velocity process noise (m/s^2)
    - EK3_WIND_PSCALE: Height rate to wind process noise scaler
    - EK3_GPS_CHECK: GPS preflight check
    - EK3_IMU_MASK: Bitmask of active IMUs
    - EK3_CHECK_SCALE: GPS accuracy check scaler (%)
    - EK3_NOAID_M_NSE: Non-GPS operation position uncertainty (m)
    - EK3_LOG_MASK: EKF sensor logging IMU mask
    - EK3_YAW_M_NSE: Yaw measurement noise (rad)
    - EK3_YAW_I_GATE: Yaw measurement gate size
    - EK3_TAU_OUTPUT: Output complementary filter time constant (centi-sec)
    - EK3_MAGE_P_NSE: Earth magnetic field process noise (gauss/s)
    - EK3_MAGB_P_NSE: Body magnetic field process noise (gauss/s)
    - EK3_RNG_USE_HGT: Range finder switch height percentage
    - EK3_TERR_GRAD: Maximum terrain gradient
    - EK3_BCN_M_NSE: Range beacon measurement noise (m)
    - EK3_BCN_I_GTE: Range beacon measurement gate size
    - EK3_BCN_DELAY: Range beacon measurement delay (msec)
    - EK3_RNG_USE_SPD: Range finder max ground speed
    - EK3_ACC_BIAS_LIM: Accelerometer bias limit
    - EK3_MAG_MASK: Bitmask of active EKF cores that will always use heading fusion
    - EK3_OGN_HGT_MASK: Bitmask control of EKF reference height correction
    - EK3_VIS_VERR_MIN: Visual odometry minimum velocity error
    - EK3_VIS_VERR_MAX: Visual odometry maximum velocity error
    - EK3_WENC_VERR: Wheel odometry velocity error
    - EK3_FLOW_USE: Optical flow use bitmask
    - EK3_HRT_FILT: Height rate filter crossover frequency
    - EK3_MAG_EF_LIM: EarthField error limit
    - EK3_GSF_RUN_MASK: Bitmask of which EKF-GSF yaw estimators run
    - EK3_GSF_USE_MASK: Bitmask of which EKF-GSF yaw estimators are used
    - EK3_GSF_DELAY: Delay from loss of navigation to yaw reset
    - EK3_GSF_RST_MAX: Maximum number of resets to the EKF-GSF yaw estimate allowed
  - FENCE_ Parameters
    - FENCE_ENABLE: Fence enable/disable
    - FENCE_TYPE: Fence Type
    - FENCE_ACTION: Fence Action
    - FENCE_ALT_MAX: Fence Maximum Altitude
    - FENCE_RADIUS: Circular Fence Radius
    - FENCE_MARGIN: Fence Margin
    - FENCE_TOTAL: Fence polygon point total
    - FENCE_ALT_MIN: Fence Minimum Altitude
  - FFT_ Parameters
    - FFT_ENABLE: Enable
    - FFT_MINHZ: Minimum Frequency
    - FFT_MAXHZ: Maximum Frequency
    - FFT_SAMPLE_MODE: Sample Mode
    - FFT_WINDOW_SIZE: FFT window size
    - FFT_WINDOW_OLAP: FFT window overlap
    - FFT_FREQ_HOVER: FFT learned hover frequency
    - FFT_THR_REF: FFT learned thrust reference
    - FFT_SNR_REF: FFT SNR reference threshold
    - FFT_ATT_REF: FFT attenuation for bandwidth calculation
    - FFT_BW_HOVER: FFT learned bandwidth at hover
    - FFT_HMNC_FIT: FFT harmonic fit frequency threshold
    - FFT_HMNC_PEAK: FFT harmonic peak target
  - FHLD Parameters
    - FHLD_XY_P: FlowHold P gain
    - FHLD_XY_I: FlowHold I gain
    - FHLD_XY_IMAX: FlowHold Integrator Max
    - FHLD_XY_FILT_HZ: FlowHold filter on input to control
    - FHLD_FLOW_MAX: FlowHold Flow Rate Max
    - FHLD_FILT_HZ: FlowHold Filter Frequency
    - FHLD_QUAL_MIN: FlowHold Flow quality minimum
    - FHLD_BRAKE_RATE: FlowHold Braking rate
  - FLOW Parameters
    - FLOW_TYPE: Optical flow sensor type
    - FLOW_FXSCALER: X axis optical flow scale factor correction
    - FLOW_FYSCALER: Y axis optical flow scale factor correction
    - FLOW_ORIENT_YAW: Flow sensor yaw alignment
    - FLOW_POS_X: X position offset
    - FLOW_POS_Y: Y position offset
    - FLOW_POS_Z: Z position offset
    - FLOW_ADDR: Address on the bus
  - FOLL Parameters
    - FOLL_ENABLE: Follow enable/disable
    - FOLL_SYSID: Follow target’s mavlink system id
    - FOLL_DIST_MAX: Follow distance maximum
    - FOLL_OFS_TYPE: Follow offset type
    - FOLL_OFS_X: Follow offsets in meters north/forward
    - FOLL_OFS_Y: Follow offsets in meters east/right
    - FOLL_OFS_Z: Follow offsets in meters down
    - FOLL_YAW_BEHAVE: Follow yaw behaviour
    - FOLL_POS_P: Follow position error P gain
    - FOLL_ALT_TYPE: Follow altitude type
  - GND_ Parameters
    - GND_ABS_PRESS: Absolute Pressure
    - GND_TEMP: ground temperature
    - GND_ALT_OFFSET: altitude offset
    - GND_PRIMARY: Primary barometer
    - GND_EXT_BUS: External baro bus
    - GND_SPEC_GRAV: Specific Gravity (For water depth measurement)
    - GND_ABS_PRESS2: Absolute Pressure
    - GND_ABS_PRESS3: Absolute Pressure
    - GND_FLTR_RNG: Range in which sample is accepted
    - GND_PROBE_EXT: External barometers to probe
    - GND_BARO_ID: Baro ID
    - GND_BARO2_ID: Baro ID2
    - GND_BARO3_ID: Baro ID3
  - GPS_ Parameters
    - GPS_TYPE: GPS type
    - GPS_TYPE2: 2nd GPS type
    - GPS_NAVFILTER: Navigation filter setting
    - GPS_AUTO_SWITCH: Automatic Switchover Setting
    - GPS_MIN_DGPS: Minimum Lock Type Accepted for DGPS
    - GPS_SBAS_MODE: SBAS Mode
    - GPS_MIN_ELEV: Minimum elevation
    - GPS_INJECT_TO: Destination for GPS_INJECT_DATA MAVLink packets
    - GPS_SBP_LOGMASK: Swift Binary Protocol Logging Mask
    - GPS_RAW_DATA: Raw data logging
    - GPS_GNSS_MODE: GNSS system configuration
    - GPS_SAVE_CFG: Save GPS configuration
    - GPS_GNSS_MODE2: GNSS system configuration
    - GPS_AUTO_CONFIG: Automatic GPS configuration
    - GPS_RATE_MS: GPS update rate in milliseconds
    - GPS_RATE_MS2: GPS 2 update rate in milliseconds
    - GPS_POS1_X: Antenna X position offset
    - GPS_POS1_Y: Antenna Y position offset
    - GPS_POS1_Z: Antenna Z position offset
    - GPS_POS2_X: Antenna X position offset
    - GPS_POS2_Y: Antenna Y position offset
    - GPS_POS2_Z: Antenna Z position offset
    - GPS_DELAY_MS: GPS delay in milliseconds
    - GPS_DELAY_MS2: GPS 2 delay in milliseconds
    - GPS_BLEND_MASK: Multi GPS Blending Mask
    - GPS_BLEND_TC: Blending time constant
    - GPS_DRV_OPTIONS: driver options
  - GRIP_ Parameters
    - GRIP_ENABLE: Gripper Enable/Disable
    - GRIP_TYPE: Gripper Type
    - GRIP_GRAB: Gripper Grab PWM
    - GRIP_RELEASE: Gripper Release PWM
    - GRIP_NEUTRAL: Neutral PWM
    - GRIP_REGRAB: Gripper Regrab interval
    - GRIP_UAVCAN_ID: EPM UAVCAN Hardpoint ID
  - H_ Parameters
    - H_TAIL_TYPE: Tail Type
    - H_GYR_GAIN: External Gyro Gain
    - H_COLYAW: Collective-Yaw Mixing
    - H_FLYBAR_MODE: Flybar Mode Selector
    - H_TAIL_SPEED: DDVP Tail ESC speed
    - H_GYR_GAIN_ACRO: ACRO External Gyro Gain
    - H_SW_TYPE (AP_MotorsHeli_Single): Swashplate Type
    - H_SW_COL_DIR (AP_MotorsHeli_Single): Collective Direction
    - H_SW_LIN_SVO (AP_MotorsHeli_Single): Linearize Swash Servos
    - H_SW_H3_ENABLE (AP_MotorsHeli_Single): H3 Generic Enable
    - H_SW_H3_SV1_POS (AP_MotorsHeli_Single): H3 Generic Servo 1 Position
    - H_SW_H3_SV2_POS (AP_MotorsHeli_Single): H3 Generic Servo 2 Position
    - H_SW_H3_SV3_POS (AP_MotorsHeli_Single): H3 Generic Servo 3 Position
    - H_SW_H3_PHANG (AP_MotorsHeli_Single): H3 Generic Phase Angle Comp
    - H_DUAL_MODE: Dual Mode
    - H_DCP_SCALER: Differential-Collective-Pitch Scaler
    - H_DCP_YAW: Differential-Collective-Pitch Yaw Mixing
    - H_YAW_SCALER: Scaler for yaw mixing
    - H_COL2_MIN: Swash 2 Minimum Collective Pitch
    - H_COL2_MAX: Swash 2 Maximum Collective Pitch
    - H_COL2_MID: Swash 2 Zero-Thrust Collective Pitch
    - H_SW_TYPE (AP_MotorsHeli_Dual): Swash 1 Type
    - H_SW_COL_DIR (AP_MotorsHeli_Dual): Swash 1 Collective Direction
    - H_SW_LIN_SVO (AP_MotorsHeli_Dual): Linearize Swash 1 Servos
    - H_SW_H3_ENABLE (AP_MotorsHeli_Dual): Swash 1 H3 Generic Enable
    - H_SW_H3_SV1_POS (AP_MotorsHeli_Dual): Swash 1 H3 Generic Servo 1 Position
    - H_SW_H3_SV2_POS (AP_MotorsHeli_Dual): Swash 1 H3 Generic Servo 2 Position
    - H_SW_H3_SV3_POS (AP_MotorsHeli_Dual): Swash 1 H3 Generic Servo 3 Position
    - H_SW_H3_PHANG (AP_MotorsHeli_Dual): Swash 1 H3 Generic Phase Angle Comp
    - H_SW2_TYPE: Swash 2 Type
    - H_SW2_COL_DIR: Swash 2 Collective Direction
    - H_SW2_LIN_SVO: Linearize Swash 2 Servos
    - H_SW2_H3_ENABLE: Swash 2 H3 Generic Enable
    - H_SW2_H3_SV1_POS: Swash 2 H3 Generic Servo 1 Position
    - H_SW2_H3_SV2_POS: Swash 2 H3 Generic Servo 2 Position
    - H_SW2_H3_SV3_POS: Swash 2 H3 Generic Servo 3 Position
    - H_SW2_H3_PHANG: Swash 2 H3 Generic Phase Angle Comp
    - H_COL_MIN: Minimum Collective Pitch
    - H_COL_MAX: Maximum Collective Pitch
    - H_COL_MID: Zero-Thrust Collective Pitch
    - H_SV_MAN: Manual Servo Mode
    - H_CYC_MAX: Maximum Cyclic Pitch Angle
    - H_SV_TEST: Boot-up Servo Test Cycles
  - H_RSC_ Parameters
    - H_RSC_SETPOINT: External Motor Governor Setpoint
    - H_RSC_MODE: Rotor Speed Control Mode
    - H_RSC_RAMP_TIME: Throttle Ramp Time
    - H_RSC_RUNUP_TIME: Rotor Runup Time
    - H_RSC_CRITICAL: Critical Rotor Speed
    - H_RSC_IDLE: Throttle Output at Idle
    - H_RSC_SLEWRATE: Throttle Slew Rate
    - H_RSC_THRCRV_0: Throttle Curve at 0% Coll
    - H_RSC_THRCRV_25: Throttle Curve at 25% Coll
    - H_RSC_THRCRV_50: Throttle Curve at 50% Coll
    - H_RSC_THRCRV_75: Throttle Curve at 75% Coll
    - H_RSC_THRCRV_100: Throttle Curve at 100% Coll
    - H_RSC_GOV_SETPNT: Rotor Governor Setpoint
    - H_RSC_GOV_DISGAG: Governor Disengage Throttle
    - H_RSC_GOV_DROOP: Governor Droop Response
    - H_RSC_GOV_TCGAIN: Governor Throttle Curve Gain
    - H_RSC_GOV_RANGE: Governor Operational Range
    - H_RSC_AROT_PCT: Autorotation Throttle Percentage for External Governor
  - IM_ Parameters
    - IM_ACRO_COL_EXP: Acro Mode Collective Expo
    - IM_STB_COL_1: Stabilize Collective Low
    - IM_STB_COL_2: Stabilize Collective Mid-Low
    - IM_STB_COL_3: Stabilize Collective Mid-High
    - IM_STB_COL_4: Stabilize Collective High
  - INS_ Parameters
    - INS_GYROFFS_X: Gyro offsets of X axis
    - INS_GYROFFS_Y: Gyro offsets of Y axis
    - INS_GYROFFS_Z: Gyro offsets of Z axis
    - INS_GYR2OFFS_X: Gyro2 offsets of X axis
    - INS_GYR2OFFS_Y: Gyro2 offsets of Y axis
    - INS_GYR2OFFS_Z: Gyro2 offsets of Z axis
    - INS_GYR3OFFS_X: Gyro3 offsets of X axis
    - INS_GYR3OFFS_Y: Gyro3 offsets of Y axis
    - INS_GYR3OFFS_Z: Gyro3 offsets of Z axis
    - INS_ACCSCAL_X: Accelerometer scaling of X axis
    - INS_ACCSCAL_Y: Accelerometer scaling of Y axis
    - INS_ACCSCAL_Z: Accelerometer scaling of Z axis
    - INS_ACCOFFS_X: Accelerometer offsets of X axis
    - INS_ACCOFFS_Y: Accelerometer offsets of Y axis
    - INS_ACCOFFS_Z: Accelerometer offsets of Z axis
    - INS_ACC2SCAL_X: Accelerometer2 scaling of X axis
    - INS_ACC2SCAL_Y: Accelerometer2 scaling of Y axis
    - INS_ACC2SCAL_Z: Accelerometer2 scaling of Z axis
    - INS_ACC2OFFS_X: Accelerometer2 offsets of X axis
    - INS_ACC2OFFS_Y: Accelerometer2 offsets of Y axis
    - INS_ACC2OFFS_Z: Accelerometer2 offsets of Z axis
    - INS_ACC3SCAL_X: Accelerometer3 scaling of X axis
    - INS_ACC3SCAL_Y: Accelerometer3 scaling of Y axis
    - INS_ACC3SCAL_Z: Accelerometer3 scaling of Z axis
    - INS_ACC3OFFS_X: Accelerometer3 offsets of X axis
    - INS_ACC3OFFS_Y: Accelerometer3 offsets of Y axis
    - INS_ACC3OFFS_Z: Accelerometer3 offsets of Z axis
    - INS_GYRO_FILTER: Gyro filter cutoff frequency
    - INS_ACCEL_FILTER: Accel filter cutoff frequency
    - INS_USE: Use first IMU for attitude, velocity and position estimates
    - INS_USE2: Use second IMU for attitude, velocity and position estimates
    - INS_USE3: Use third IMU for attitude, velocity and position estimates
    - INS_STILL_THRESH: Stillness threshold for detecting if we are moving
    - INS_GYR_CAL: Gyro Calibration scheme
    - INS_TRIM_OPTION: Accel cal trim option
    - INS_ACC_BODYFIX: Body-fixed accelerometer
    - INS_POS1_X: IMU accelerometer X position
    - INS_POS1_Y: IMU accelerometer Y position
    - INS_POS1_Z: IMU accelerometer Z position
    - INS_POS2_X: IMU accelerometer X position
    - INS_POS2_Y: IMU accelerometer Y position
    - INS_POS2_Z: IMU accelerometer Z position
    - INS_POS3_X: IMU accelerometer X position
    - INS_POS3_Y: IMU accelerometer Y position
    - INS_POS3_Z: IMU accelerometer Z position
    - INS_GYR_ID: Gyro ID
    - INS_GYR2_ID: Gyro2 ID
    - INS_GYR3_ID: Gyro3 ID
    - INS_ACC_ID: Accelerometer ID
    - INS_ACC2_ID: Accelerometer2 ID
    - INS_ACC3_ID: Accelerometer3 ID
    - INS_FAST_SAMPLE: Fast sampling mask
    - INS_ENABLE_MASK: IMU enable mask
    - INS_GYRO_RATE: Gyro rate for IMUs with Fast Sampling enabled
  - INS_HNTCH_ Parameters
    - INS_HNTCH_ENABLE: Harmonic Notch Filter enable
    - INS_HNTCH_FREQ: Harmonic Notch Filter base frequency
    - INS_HNTCH_BW: Harmonic Notch Filter bandwidth
    - INS_HNTCH_ATT: Harmonic Notch Filter attenuation
    - INS_HNTCH_HMNCS: Harmonic Notch Filter harmonics
    - INS_HNTCH_REF: Harmonic Notch Filter reference value
    - INS_HNTCH_MODE: Harmonic Notch Filter dynamic frequency tracking mode
    - INS_HNTCH_OPTS: Harmonic Notch Filter options
  - INS_LOG_ Parameters
    - INS_LOG_BAT_CNT: sample count per batch
    - INS_LOG_BAT_MASK: Sensor Bitmask
    - INS_LOG_BAT_OPT: Batch Logging Options Mask
    - INS_LOG_BAT_LGIN: logging interval
    - INS_LOG_BAT_LGCT: logging count
  - INS_NOTCH_ Parameters
    - INS_NOTCH_ENABLE: Enable
    - INS_NOTCH_ATT: Attenuation
    - INS_NOTCH_FREQ: Frequency
    - INS_NOTCH_BW: Bandwidth
  - LGR_ Parameters
    - LGR_STARTUP: Landing Gear Startup position
    - LGR_DEPLOY_PIN: Chassis deployment feedback pin
    - LGR_DEPLOY_POL: Chassis deployment feedback pin polarity
    - LGR_WOW_PIN: Weight on wheels feedback pin
    - LGR_WOW_POL: Weight on wheels feedback pin polarity
    - LGR_DEPLOY_ALT: Landing gear deployment altitude
    - LGR_RETRACT_ALT: Landing gear retract altitude
    - LGR_OPTIONS: Landing gear auto retract/deploy options
  - LOG Parameters
    - LOG_BACKEND_TYPE: AP_Logger Backend Storage type
    - LOG_FILE_BUFSIZE: Maximum AP_Logger File Backend buffer size (in kilobytes)
    - LOG_DISARMED: Enable logging while disarmed
    - LOG_REPLAY: Enable logging of information needed for Replay
    - LOG_FILE_DSRMROT: Stop logging to current file on disarm
    - LOG_MAV_BUFSIZE: Maximum AP_Logger MAVLink Backend buffer size
    - LOG_FILE_TIMEOUT: Timeout before giving up on file writes
    - LOG_FILE_MB_FREE: Old logs on the SD card will be deleted to maintain this amount of free space
  - LOIT_ Parameters
    - LOIT_ANG_MAX: Loiter Angle Max
    - LOIT_SPEED: Loiter Horizontal Maximum Speed
    - LOIT_ACC_MAX: Loiter maximum correction acceleration
    - LOIT_BRK_ACCEL: Loiter braking acceleration
    - LOIT_BRK_JERK: Loiter braking jerk
    - LOIT_BRK_DELAY: Loiter brake start delay (in seconds)
  - MIS_ Parameters
    - MIS_TOTAL: Total mission commands
    - MIS_RESTART: Mission Restart when entering Auto mode
    - MIS_OPTIONS: Mission options bitmask
  - MNT Parameters
    - MNT_DEFLT_MODE: Mount default operating mode
    - MNT_RETRACT_X: Mount roll angle when in retracted position
    - MNT_RETRACT_Y: Mount tilt/pitch angle when in retracted position
    - MNT_RETRACT_Z: Mount yaw/pan angle when in retracted position
    - MNT_NEUTRAL_X: Mount roll angle when in neutral position
    - MNT_NEUTRAL_Y: Mount tilt/pitch angle when in neutral position
    - MNT_NEUTRAL_Z: Mount pan/yaw angle when in neutral position
    - MNT_STAB_ROLL: Stabilize mount’s roll angle
    - MNT_STAB_TILT: Stabilize mount’s pitch/tilt angle
    - MNT_STAB_PAN: Stabilize mount pan/yaw angle
    - MNT_RC_IN_ROLL: roll RC input channel
    - MNT_ANGMIN_ROL: Minimum roll angle
    - MNT_ANGMAX_ROL: Maximum roll angle
    - MNT_RC_IN_TILT: tilt (pitch) RC input channel
    - MNT_ANGMIN_TIL: Minimum tilt angle
    - MNT_ANGMAX_TIL: Maximum tilt angle
    - MNT_RC_IN_PAN: pan (yaw) RC input channel
    - MNT_ANGMIN_PAN: Minimum pan angle
    - MNT_ANGMAX_PAN: Maximum pan angle
    - MNT_JSTICK_SPD: mount joystick speed
    - MNT_LEAD_RLL: Roll stabilization lead time
    - MNT_LEAD_PTCH: Pitch stabilization lead time
    - MNT_TYPE: Mount Type
    - MNT2_DEFLT_MODE: Mount default operating mode
    - MNT2_RETRACT_X: Mount2 roll angle when in retracted position
    - MNT2_RETRACT_Y: Mount2 tilt/pitch angle when in retracted position
    - MNT2_RETRACT_Z: Mount2 yaw/pan angle when in retracted position
    - MNT2_NEUTRAL_X: Mount2 roll angle when in neutral position
    - MNT2_NEUTRAL_Y: Mount2 tilt/pitch angle when in neutral position
    - MNT2_NEUTRAL_Z: Mount2 pan/yaw angle when in neutral position
    - MNT2_STAB_ROLL: Stabilize Mount2’s roll angle
    - MNT2_STAB_TILT: Stabilize Mount2’s pitch/tilt angle
    - MNT2_STAB_PAN: Stabilize mount2 pan/yaw angle
    - MNT2_RC_IN_ROLL: Mount2’s roll RC input channel
    - MNT2_ANGMIN_ROL: Mount2’s minimum roll angle
    - MNT2_ANGMAX_ROL: Mount2’s maximum roll angle
    - MNT2_RC_IN_TILT: Mount2’s tilt (pitch) RC input channel
    - MNT2_ANGMIN_TIL: Mount2’s minimum tilt angle
    - MNT2_ANGMAX_TIL: Mount2’s maximum tilt angle
    - MNT2_RC_IN_PAN: Mount2’s pan (yaw) RC input channel
    - MNT2_ANGMIN_PAN: Mount2’s minimum pan angle
    - MNT2_ANGMAX_PAN: Mount2’s maximum pan angle
    - MNT2_LEAD_RLL: Mount2’s Roll stabilization lead time
    - MNT2_LEAD_PTCH: Mount2’s Pitch stabilization lead time
    - MNT2_TYPE: Mount2 Type
  - MOT_ Parameters
    - MOT_YAW_HEADROOM: Matrix Yaw Min
    - MOT_THST_EXPO: Thrust Curve Expo
    - MOT_SPIN_MAX: Motor Spin maximum
    - MOT_BAT_VOLT_MAX: Battery voltage compensation maximum voltage
    - MOT_BAT_VOLT_MIN: Battery voltage compensation minimum voltage
    - MOT_BAT_CURR_MAX: Motor Current Max
    - MOT_PWM_TYPE: Output PWM type
    - MOT_PWM_MIN: PWM output miniumum
    - MOT_PWM_MAX: PWM output maximum
    - MOT_SPIN_MIN: Motor Spin minimum
    - MOT_SPIN_ARM: Motor Spin armed
    - MOT_BAT_CURR_TC: Motor Current Max Time Constant
    - MOT_THST_HOVER: Thrust Hover Value
    - MOT_HOVER_LEARN: Hover Value Learning
    - MOT_SAFE_DISARM: Motor PWM output disabled when disarmed
    - MOT_YAW_SV_ANGLE: Yaw Servo Max Lean Angle
    - MOT_SPOOL_TIME: Spool up time
    - MOT_BOOST_SCALE: Motor boost scale
    - MOT_BAT_IDX: Battery compensation index
    - MOT_SLEW_UP_TIME: Output slew time for increasing throttle
    - MOT_SLEW_DN_TIME: Output slew time for decreasing throttle
    - MOT_SAFE_TIME: Time taken to disable and enable the motor PWM output when disarmed and armed.
  - NTF_ Parameters
    - NTF_LED_BRIGHT: LED Brightness
    - NTF_BUZZ_ENABLE: Buzzer enable
    - NTF_LED_OVERRIDE: Specifies colour source for the RGBLed
    - NTF_DISPLAY_TYPE: Type of on-board I2C display
    - NTF_OREO_THEME: OreoLED Theme
    - NTF_BUZZ_PIN: Buzzer pin
    - NTF_LED_TYPES: LED Driver Types
    - NTF_BUZZ_ON_LVL: Buzzer-on pin logic level
    - NTF_BUZZ_VOLUME: Buzzer volume
    - NTF_LED_LEN: Serial LED String Length
  - OA_ Parameters
    - OA_TYPE: Object Avoidance Path Planning algorithm to use
    - OA_MARGIN_MAX: Object Avoidance wide margin distance
    - OA_OPTIONS: Options while recovering from Object Avoidance
  - OA_BR_ Parameters
    - OA_BR_LOOKAHEAD: Object Avoidance look ahead distance maximum
    - OA_BR_CONT_RATIO: Obstacle Avoidance margin ratio for BendyRuler to change bearing significantly
    - OA_BR_CONT_ANGLE: BendyRuler’s bearing change resistance threshold angle
  - OA_DB_ Parameters
    - OA_DB_SIZE: OADatabase maximum number of points
    - OA_DB_EXPIRE: OADatabase item timeout
    - OA_DB_QUEUE_SIZE: OADatabase queue maximum number of points
    - OA_DB_OUTPUT: OADatabase output level
    - OA_DB_BEAM_WIDTH: OADatabase beam width
    - OA_DB_RADIUS_MIN: OADatabase Minimum radius
    - OA_DB_DIST_MAX: OADatabase Distance Maximum
  - OSD Parameters
    - OSD_TYPE: OSD type
    - OSD_CHAN: Screen switch transmitter channel
    - OSD_OPTIONS: OSD Options
    - OSD_FONT: OSD Font
    - OSD_V_OFFSET: OSD vertical offset
    - OSD_H_OFFSET: OSD horizontal offset
    - OSD_W_RSSI: RSSI warn level (in %)
    - OSD_W_NSAT: NSAT warn level
    - OSD_W_BATVOLT: BAT_VOLT warn level
    - OSD_UNITS: Display Units
    - OSD_MSG_TIME: Message display duration in seconds
    - OSD_ARM_SCR: Arm screen
    - OSD_DSARM_SCR: Disarm screen
    - OSD_FS_SCR: Failsafe screen
  - OSD1_ Parameters
    - OSD1_ENABLE: Enable screen
    - OSD1_CHAN_MIN: Transmitter switch screen minimum pwm
    - OSD1_CHAN_MAX: Transmitter switch screen maximum pwm
    - OSD1_ALTITUDE_EN: ALTITUDE_EN
    - OSD1_ALTITUDE_X: ALTITUDE_X
    - OSD1_ALTITUDE_Y: ALTITUDE_Y
    - OSD1_BATVOLT_EN: BATVOLT_EN
    - OSD1_BATVOLT_X: BATVOLT_X
    - OSD1_BATVOLT_Y: BATVOLT_Y
    - OSD1_RSSI_EN: RSSI_EN
    - OSD1_RSSI_X: RSSI_X
    - OSD1_RSSI_Y: RSSI_Y
    - OSD1_CURRENT_EN: CURRENT_EN
    - OSD1_CURRENT_X: CURRENT_X
    - OSD1_CURRENT_Y: CURRENT_Y
    - OSD1_BATUSED_EN: BATUSED_EN
    - OSD1_BATUSED_X: BATUSED_X
    - OSD1_BATUSED_Y: BATUSED_Y
    - OSD1_SATS_EN: SATS_EN
    - OSD1_SATS_X: SATS_X
    - OSD1_SATS_Y: SATS_Y
    - OSD1_FLTMODE_EN: FLTMODE_EN
    - OSD1_FLTMODE_X: FLTMODE_X
    - OSD1_FLTMODE_Y: FLTMODE_Y
    - OSD1_MESSAGE_EN: MESSAGE_EN
    - OSD1_MESSAGE_X: MESSAGE_X
    - OSD1_MESSAGE_Y: MESSAGE_Y
    - OSD1_GSPEED_EN: GSPEED_EN
    - OSD1_GSPEED_X: GSPEED_X
    - OSD1_GSPEED_Y: GSPEED_Y
    - OSD1_HORIZON_EN: HORIZON_EN
    - OSD1_HORIZON_X: HORIZON_X
    - OSD1_HORIZON_Y: HORIZON_Y
    - OSD1_HOME_EN: HOME_EN
    - OSD1_HOME_X: HOME_X
    - OSD1_HOME_Y: HOME_Y
    - OSD1_HEADING_EN: HEADING_EN
    - OSD1_HEADING_X: HEADING_X
    - OSD1_HEADING_Y: HEADING_Y
    - OSD1_THROTTLE_EN: THROTTLE_EN
    - OSD1_THROTTLE_X: THROTTLE_X
    - OSD1_THROTTLE_Y: THROTTLE_Y
    - OSD1_COMPASS_EN: COMPASS_EN
    - OSD1_COMPASS_X: COMPASS_X
    - OSD1_COMPASS_Y: COMPASS_Y
    - OSD1_WIND_EN: WIND_EN
    - OSD1_WIND_X: WIND_X
    - OSD1_WIND_Y: WIND_Y
    - OSD1_ASPEED_EN: ASPEED_EN
    - OSD1_ASPEED_X: ASPEED_X
    - OSD1_ASPEED_Y: ASPEED_Y
    - OSD1_VSPEED_EN: VSPEED_EN
    - OSD1_VSPEED_X: VSPEED_X
    - OSD1_VSPEED_Y: VSPEED_Y
    - OSD1_BLHTEMP_EN: BLHTEMP_EN
    - OSD1_BLHTEMP_X: BLHTEMP_X
    - OSD1_BLHTEMP_Y: BLHTEMP_Y
    - OSD1_BLHRPM_EN: BLHRPM_EN
    - OSD1_BLHRPM_X: BLHRPM_X
    - OSD1_BLHRPM_Y: BLHRPM_Y
    - OSD1_BLHAMPS_EN: BLHAMPS_EN
    - OSD1_BLHAMPS_X: BLHAMPS_X
    - OSD1_BLHAMPS_Y: BLHAMPS_Y
    - OSD1_GPSLAT_EN: GPSLAT_EN
    - OSD1_GPSLAT_X: GPSLAT_X
    - OSD1_GPSLAT_Y: GPSLAT_Y
    - OSD1_GPSLONG_EN: GPSLONG_EN
    - OSD1_GPSLONG_X: GPSLONG_X
    - OSD1_GPSLONG_Y: GPSLONG_Y
    - OSD1_ROLL_EN: ROLL_EN
    - OSD1_ROLL_X: ROLL_X
    - OSD1_ROLL_Y: ROLL_Y
    - OSD1_PITCH_EN: PITCH_EN
    - OSD1_PITCH_X: PITCH_X
    - OSD1_PITCH_Y: PITCH_Y
    - OSD1_TEMP_EN: TEMP_EN
    - OSD1_TEMP_X: TEMP_X
    - OSD1_TEMP_Y: TEMP_Y
    - OSD1_HDOP_EN: HDOP_EN
    - OSD1_HDOP_X: HDOP_X
    - OSD1_HDOP_Y: HDOP_Y
    - OSD1_WAYPOINT_EN: WAYPOINT_EN
    - OSD1_WAYPOINT_X: WAYPOINT_X
    - OSD1_WAYPOINT_Y: WAYPOINT_Y
    - OSD1_XTRACK_EN: XTRACK_EN
    - OSD1_XTRACK_X: XTRACK_X
    - OSD1_XTRACK_Y: XTRACK_Y
    - OSD1_DIST_EN: DIST_EN
    - OSD1_DIST_X: DIST_X
    - OSD1_DIST_Y: DIST_Y
    - OSD1_STATS_EN: STATS_EN
    - OSD1_STATS_X: STATS_X
    - OSD1_STATS_Y: STATS_Y
    - OSD1_FLTIME_EN: FLTIME_EN
    - OSD1_FLTIME_X: FLTIME_X
    - OSD1_FLTIME_Y: FLTIME_Y
    - OSD1_CLIMBEFF_EN: CLIMBEFF_EN
    - OSD1_CLIMBEFF_X: CLIMBEFF_X
    - OSD1_CLIMBEFF_Y: CLIMBEFF_Y
    - OSD1_EFF_EN: EFF_EN
    - OSD1_EFF_X: EFF_X
    - OSD1_EFF_Y: EFF_Y
    - OSD1_BTEMP_EN: BTEMP_EN
    - OSD1_BTEMP_X: BTEMP_X
    - OSD1_BTEMP_Y: BTEMP_Y
    - OSD1_ATEMP_EN: ATEMP_EN
    - OSD1_ATEMP_X: ATEMP_X
    - OSD1_ATEMP_Y: ATEMP_Y
    - OSD1_BAT2VLT_EN: BAT2VLT_EN
    - OSD1_BAT2VLT_X: BAT2VLT_X
    - OSD1_BAT2VLT_Y: BAT2VLT_Y
    - OSD1_BAT2USED_EN: BAT2USED_EN
    - OSD1_BAT2USED_X: BAT2USED_X
    - OSD1_BAT2USED_Y: BAT2USED_Y
    - OSD1_ASPD2_EN: ASPD2_EN
    - OSD1_ASPD2_X: ASPD2_X
    - OSD1_ASPD2_Y: ASPD2_Y
    - OSD1_ASPD1_EN: ASPD1_EN
    - OSD1_ASPD1_X: ASPD1_X
    - OSD1_ASPD1_Y: ASPD1_Y
    - OSD1_CLK_EN: CLK_EN
    - OSD1_CLK_X: CLK_X
    - OSD1_CLK_Y: CLK_Y
  - OSD2_ Parameters
    - OSD2_ENABLE: Enable screen
    - OSD2_CHAN_MIN: Transmitter switch screen minimum pwm
    - OSD2_CHAN_MAX: Transmitter switch screen maximum pwm
    - OSD2_ALTITUDE_EN: ALTITUDE_EN
    - OSD2_ALTITUDE_X: ALTITUDE_X
    - OSD2_ALTITUDE_Y: ALTITUDE_Y
    - OSD2_BATVOLT_EN: BATVOLT_EN
    - OSD2_BATVOLT_X: BATVOLT_X
    - OSD2_BATVOLT_Y: BATVOLT_Y
    - OSD2_RSSI_EN: RSSI_EN
    - OSD2_RSSI_X: RSSI_X
    - OSD2_RSSI_Y: RSSI_Y
    - OSD2_CURRENT_EN: CURRENT_EN
    - OSD2_CURRENT_X: CURRENT_X
    - OSD2_CURRENT_Y: CURRENT_Y
    - OSD2_BATUSED_EN: BATUSED_EN
    - OSD2_BATUSED_X: BATUSED_X
    - OSD2_BATUSED_Y: BATUSED_Y
    - OSD2_SATS_EN: SATS_EN
    - OSD2_SATS_X: SATS_X
    - OSD2_SATS_Y: SATS_Y
    - OSD2_FLTMODE_EN: FLTMODE_EN
    - OSD2_FLTMODE_X: FLTMODE_X
    - OSD2_FLTMODE_Y: FLTMODE_Y
    - OSD2_MESSAGE_EN: MESSAGE_EN
    - OSD2_MESSAGE_X: MESSAGE_X
    - OSD2_MESSAGE_Y: MESSAGE_Y
    - OSD2_GSPEED_EN: GSPEED_EN
    - OSD2_GSPEED_X: GSPEED_X
    - OSD2_GSPEED_Y: GSPEED_Y
    - OSD2_HORIZON_EN: HORIZON_EN
    - OSD2_HORIZON_X: HORIZON_X
    - OSD2_HORIZON_Y: HORIZON_Y
    - OSD2_HOME_EN: HOME_EN
    - OSD2_HOME_X: HOME_X
    - OSD2_HOME_Y: HOME_Y
    - OSD2_HEADING_EN: HEADING_EN
    - OSD2_HEADING_X: HEADING_X
    - OSD2_HEADING_Y: HEADING_Y
    - OSD2_THROTTLE_EN: THROTTLE_EN
    - OSD2_THROTTLE_X: THROTTLE_X
    - OSD2_THROTTLE_Y: THROTTLE_Y
    - OSD2_COMPASS_EN: COMPASS_EN
    - OSD2_COMPASS_X: COMPASS_X
    - OSD2_COMPASS_Y: COMPASS_Y
    - OSD2_WIND_EN: WIND_EN
    - OSD2_WIND_X: WIND_X
    - OSD2_WIND_Y: WIND_Y
    - OSD2_ASPEED_EN: ASPEED_EN
    - OSD2_ASPEED_X: ASPEED_X
    - OSD2_ASPEED_Y: ASPEED_Y
    - OSD2_VSPEED_EN: VSPEED_EN
    - OSD2_VSPEED_X: VSPEED_X
    - OSD2_VSPEED_Y: VSPEED_Y
    - OSD2_BLHTEMP_EN: BLHTEMP_EN
    - OSD2_BLHTEMP_X: BLHTEMP_X
    - OSD2_BLHTEMP_Y: BLHTEMP_Y
    - OSD2_BLHRPM_EN: BLHRPM_EN
    - OSD2_BLHRPM_X: BLHRPM_X
    - OSD2_BLHRPM_Y: BLHRPM_Y
    - OSD2_BLHAMPS_EN: BLHAMPS_EN
    - OSD2_BLHAMPS_X: BLHAMPS_X
    - OSD2_BLHAMPS_Y: BLHAMPS_Y
    - OSD2_GPSLAT_EN: GPSLAT_EN
    - OSD2_GPSLAT_X: GPSLAT_X
    - OSD2_GPSLAT_Y: GPSLAT_Y
    - OSD2_GPSLONG_EN: GPSLONG_EN
    - OSD2_GPSLONG_X: GPSLONG_X
    - OSD2_GPSLONG_Y: GPSLONG_Y
    - OSD2_ROLL_EN: ROLL_EN
    - OSD2_ROLL_X: ROLL_X
    - OSD2_ROLL_Y: ROLL_Y
    - OSD2_PITCH_EN: PITCH_EN
    - OSD2_PITCH_X: PITCH_X
    - OSD2_PITCH_Y: PITCH_Y
    - OSD2_TEMP_EN: TEMP_EN
    - OSD2_TEMP_X: TEMP_X
    - OSD2_TEMP_Y: TEMP_Y
    - OSD2_HDOP_EN: HDOP_EN
    - OSD2_HDOP_X: HDOP_X
    - OSD2_HDOP_Y: HDOP_Y
    - OSD2_WAYPOINT_EN: WAYPOINT_EN
    - OSD2_WAYPOINT_X: WAYPOINT_X
    - OSD2_WAYPOINT_Y: WAYPOINT_Y
    - OSD2_XTRACK_EN: XTRACK_EN
    - OSD2_XTRACK_X: XTRACK_X
    - OSD2_XTRACK_Y: XTRACK_Y
    - OSD2_DIST_EN: DIST_EN
    - OSD2_DIST_X: DIST_X
    - OSD2_DIST_Y: DIST_Y
    - OSD2_STATS_EN: STATS_EN
    - OSD2_STATS_X: STATS_X
    - OSD2_STATS_Y: STATS_Y
    - OSD2_FLTIME_EN: FLTIME_EN
    - OSD2_FLTIME_X: FLTIME_X
    - OSD2_FLTIME_Y: FLTIME_Y
    - OSD2_CLIMBEFF_EN: CLIMBEFF_EN
    - OSD2_CLIMBEFF_X: CLIMBEFF_X
    - OSD2_CLIMBEFF_Y: CLIMBEFF_Y
    - OSD2_EFF_EN: EFF_EN
    - OSD2_EFF_X: EFF_X
    - OSD2_EFF_Y: EFF_Y
    - OSD2_BTEMP_EN: BTEMP_EN
    - OSD2_BTEMP_X: BTEMP_X
    - OSD2_BTEMP_Y: BTEMP_Y
    - OSD2_ATEMP_EN: ATEMP_EN
    - OSD2_ATEMP_X: ATEMP_X
    - OSD2_ATEMP_Y: ATEMP_Y
    - OSD2_BAT2VLT_EN: BAT2VLT_EN
    - OSD2_BAT2VLT_X: BAT2VLT_X
    - OSD2_BAT2VLT_Y: BAT2VLT_Y
    - OSD2_BAT2USED_EN: BAT2USED_EN
    - OSD2_BAT2USED_X: BAT2USED_X
    - OSD2_BAT2USED_Y: BAT2USED_Y
    - OSD2_ASPD2_EN: ASPD2_EN
    - OSD2_ASPD2_X: ASPD2_X
    - OSD2_ASPD2_Y: ASPD2_Y
    - OSD2_ASPD1_EN: ASPD1_EN
    - OSD2_ASPD1_X: ASPD1_X
    - OSD2_ASPD1_Y: ASPD1_Y
    - OSD2_CLK_EN: CLK_EN
    - OSD2_CLK_X: CLK_X
    - OSD2_CLK_Y: CLK_Y
  - OSD3_ Parameters
    - OSD3_ENABLE: Enable screen
    - OSD3_CHAN_MIN: Transmitter switch screen minimum pwm
    - OSD3_CHAN_MAX: Transmitter switch screen maximum pwm
    - OSD3_ALTITUDE_EN: ALTITUDE_EN
    - OSD3_ALTITUDE_X: ALTITUDE_X
    - OSD3_ALTITUDE_Y: ALTITUDE_Y
    - OSD3_BATVOLT_EN: BATVOLT_EN
    - OSD3_BATVOLT_X: BATVOLT_X
    - OSD3_BATVOLT_Y: BATVOLT_Y
    - OSD3_RSSI_EN: RSSI_EN
    - OSD3_RSSI_X: RSSI_X
    - OSD3_RSSI_Y: RSSI_Y
    - OSD3_CURRENT_EN: CURRENT_EN
    - OSD3_CURRENT_X: CURRENT_X
    - OSD3_CURRENT_Y: CURRENT_Y
    - OSD3_BATUSED_EN: BATUSED_EN
    - OSD3_BATUSED_X: BATUSED_X
    - OSD3_BATUSED_Y: BATUSED_Y
    - OSD3_SATS_EN: SATS_EN
    - OSD3_SATS_X: SATS_X
    - OSD3_SATS_Y: SATS_Y
    - OSD3_FLTMODE_EN: FLTMODE_EN
    - OSD3_FLTMODE_X: FLTMODE_X
    - OSD3_FLTMODE_Y: FLTMODE_Y
    - OSD3_MESSAGE_EN: MESSAGE_EN
    - OSD3_MESSAGE_X: MESSAGE_X
    - OSD3_MESSAGE_Y: MESSAGE_Y
    - OSD3_GSPEED_EN: GSPEED_EN
    - OSD3_GSPEED_X: GSPEED_X
    - OSD3_GSPEED_Y: GSPEED_Y
    - OSD3_HORIZON_EN: HORIZON_EN
    - OSD3_HORIZON_X: HORIZON_X
    - OSD3_HORIZON_Y: HORIZON_Y
    - OSD3_HOME_EN: HOME_EN
    - OSD3_HOME_X: HOME_X
    - OSD3_HOME_Y: HOME_Y
    - OSD3_HEADING_EN: HEADING_EN
    - OSD3_HEADING_X: HEADING_X
    - OSD3_HEADING_Y: HEADING_Y
    - OSD3_THROTTLE_EN: THROTTLE_EN
    - OSD3_THROTTLE_X: THROTTLE_X
    - OSD3_THROTTLE_Y: THROTTLE_Y
    - OSD3_COMPASS_EN: COMPASS_EN
    - OSD3_COMPASS_X: COMPASS_X
    - OSD3_COMPASS_Y: COMPASS_Y
    - OSD3_WIND_EN: WIND_EN
    - OSD3_WIND_X: WIND_X
    - OSD3_WIND_Y: WIND_Y
    - OSD3_ASPEED_EN: ASPEED_EN
    - OSD3_ASPEED_X: ASPEED_X
    - OSD3_ASPEED_Y: ASPEED_Y
    - OSD3_VSPEED_EN: VSPEED_EN
    - OSD3_VSPEED_X: VSPEED_X
    - OSD3_VSPEED_Y: VSPEED_Y
    - OSD3_BLHTEMP_EN: BLHTEMP_EN
    - OSD3_BLHTEMP_X: BLHTEMP_X
    - OSD3_BLHTEMP_Y: BLHTEMP_Y
    - OSD3_BLHRPM_EN: BLHRPM_EN
    - OSD3_BLHRPM_X: BLHRPM_X
    - OSD3_BLHRPM_Y: BLHRPM_Y
    - OSD3_BLHAMPS_EN: BLHAMPS_EN
    - OSD3_BLHAMPS_X: BLHAMPS_X
    - OSD3_BLHAMPS_Y: BLHAMPS_Y
    - OSD3_GPSLAT_EN: GPSLAT_EN
    - OSD3_GPSLAT_X: GPSLAT_X
    - OSD3_GPSLAT_Y: GPSLAT_Y
    - OSD3_GPSLONG_EN: GPSLONG_EN
    - OSD3_GPSLONG_X: GPSLONG_X
    - OSD3_GPSLONG_Y: GPSLONG_Y
    - OSD3_ROLL_EN: ROLL_EN
    - OSD3_ROLL_X: ROLL_X
    - OSD3_ROLL_Y: ROLL_Y
    - OSD3_PITCH_EN: PITCH_EN
    - OSD3_PITCH_X: PITCH_X
    - OSD3_PITCH_Y: PITCH_Y
    - OSD3_TEMP_EN: TEMP_EN
    - OSD3_TEMP_X: TEMP_X
    - OSD3_TEMP_Y: TEMP_Y
    - OSD3_HDOP_EN: HDOP_EN
    - OSD3_HDOP_X: HDOP_X
    - OSD3_HDOP_Y: HDOP_Y
    - OSD3_WAYPOINT_EN: WAYPOINT_EN
    - OSD3_WAYPOINT_X: WAYPOINT_X
    - OSD3_WAYPOINT_Y: WAYPOINT_Y
    - OSD3_XTRACK_EN: XTRACK_EN
    - OSD3_XTRACK_X: XTRACK_X
    - OSD3_XTRACK_Y: XTRACK_Y
    - OSD3_DIST_EN: DIST_EN
    - OSD3_DIST_X: DIST_X
    - OSD3_DIST_Y: DIST_Y
    - OSD3_STATS_EN: STATS_EN
    - OSD3_STATS_X: STATS_X
    - OSD3_STATS_Y: STATS_Y
    - OSD3_FLTIME_EN: FLTIME_EN
    - OSD3_FLTIME_X: FLTIME_X
    - OSD3_FLTIME_Y: FLTIME_Y
    - OSD3_CLIMBEFF_EN: CLIMBEFF_EN
    - OSD3_CLIMBEFF_X: CLIMBEFF_X
    - OSD3_CLIMBEFF_Y: CLIMBEFF_Y
    - OSD3_EFF_EN: EFF_EN
    - OSD3_EFF_X: EFF_X
    - OSD3_EFF_Y: EFF_Y
    - OSD3_BTEMP_EN: BTEMP_EN
    - OSD3_BTEMP_X: BTEMP_X
    - OSD3_BTEMP_Y: BTEMP_Y
    - OSD3_ATEMP_EN: ATEMP_EN
    - OSD3_ATEMP_X: ATEMP_X
    - OSD3_ATEMP_Y: ATEMP_Y
    - OSD3_BAT2VLT_EN: BAT2VLT_EN
    - OSD3_BAT2VLT_X: BAT2VLT_X
    - OSD3_BAT2VLT_Y: BAT2VLT_Y
    - OSD3_BAT2USED_EN: BAT2USED_EN
    - OSD3_BAT2USED_X: BAT2USED_X
    - OSD3_BAT2USED_Y: BAT2USED_Y
    - OSD3_ASPD2_EN: ASPD2_EN
    - OSD3_ASPD2_X: ASPD2_X
    - OSD3_ASPD2_Y: ASPD2_Y
    - OSD3_ASPD1_EN: ASPD1_EN
    - OSD3_ASPD1_X: ASPD1_X
    - OSD3_ASPD1_Y: ASPD1_Y
    - OSD3_CLK_EN: CLK_EN
    - OSD3_CLK_X: CLK_X
    - OSD3_CLK_Y: CLK_Y
  - OSD4_ Parameters
    - OSD4_ENABLE: Enable screen
    - OSD4_CHAN_MIN: Transmitter switch screen minimum pwm
    - OSD4_CHAN_MAX: Transmitter switch screen maximum pwm
    - OSD4_ALTITUDE_EN: ALTITUDE_EN
    - OSD4_ALTITUDE_X: ALTITUDE_X
    - OSD4_ALTITUDE_Y: ALTITUDE_Y
    - OSD4_BATVOLT_EN: BATVOLT_EN
    - OSD4_BATVOLT_X: BATVOLT_X
    - OSD4_BATVOLT_Y: BATVOLT_Y
    - OSD4_RSSI_EN: RSSI_EN
    - OSD4_RSSI_X: RSSI_X
    - OSD4_RSSI_Y: RSSI_Y
    - OSD4_CURRENT_EN: CURRENT_EN
    - OSD4_CURRENT_X: CURRENT_X
    - OSD4_CURRENT_Y: CURRENT_Y
    - OSD4_BATUSED_EN: BATUSED_EN
    - OSD4_BATUSED_X: BATUSED_X
    - OSD4_BATUSED_Y: BATUSED_Y
    - OSD4_SATS_EN: SATS_EN
    - OSD4_SATS_X: SATS_X
    - OSD4_SATS_Y: SATS_Y
    - OSD4_FLTMODE_EN: FLTMODE_EN
    - OSD4_FLTMODE_X: FLTMODE_X
    - OSD4_FLTMODE_Y: FLTMODE_Y
    - OSD4_MESSAGE_EN: MESSAGE_EN
    - OSD4_MESSAGE_X: MESSAGE_X
    - OSD4_MESSAGE_Y: MESSAGE_Y
    - OSD4_GSPEED_EN: GSPEED_EN
    - OSD4_GSPEED_X: GSPEED_X
    - OSD4_GSPEED_Y: GSPEED_Y
    - OSD4_HORIZON_EN: HORIZON_EN
    - OSD4_HORIZON_X: HORIZON_X
    - OSD4_HORIZON_Y: HORIZON_Y
    - OSD4_HOME_EN: HOME_EN
    - OSD4_HOME_X: HOME_X
    - OSD4_HOME_Y: HOME_Y
    - OSD4_HEADING_EN: HEADING_EN
    - OSD4_HEADING_X: HEADING_X
    - OSD4_HEADING_Y: HEADING_Y
    - OSD4_THROTTLE_EN: THROTTLE_EN
    - OSD4_THROTTLE_X: THROTTLE_X
    - OSD4_THROTTLE_Y: THROTTLE_Y
    - OSD4_COMPASS_EN: COMPASS_EN
    - OSD4_COMPASS_X: COMPASS_X
    - OSD4_COMPASS_Y: COMPASS_Y
    - OSD4_WIND_EN: WIND_EN
    - OSD4_WIND_X: WIND_X
    - OSD4_WIND_Y: WIND_Y
    - OSD4_ASPEED_EN: ASPEED_EN
    - OSD4_ASPEED_X: ASPEED_X
    - OSD4_ASPEED_Y: ASPEED_Y
    - OSD4_VSPEED_EN: VSPEED_EN
    - OSD4_VSPEED_X: VSPEED_X
    - OSD4_VSPEED_Y: VSPEED_Y
    - OSD4_BLHTEMP_EN: BLHTEMP_EN
    - OSD4_BLHTEMP_X: BLHTEMP_X
    - OSD4_BLHTEMP_Y: BLHTEMP_Y
    - OSD4_BLHRPM_EN: BLHRPM_EN
    - OSD4_BLHRPM_X: BLHRPM_X
    - OSD4_BLHRPM_Y: BLHRPM_Y
    - OSD4_BLHAMPS_EN: BLHAMPS_EN
    - OSD4_BLHAMPS_X: BLHAMPS_X
    - OSD4_BLHAMPS_Y: BLHAMPS_Y
    - OSD4_GPSLAT_EN: GPSLAT_EN
    - OSD4_GPSLAT_X: GPSLAT_X
    - OSD4_GPSLAT_Y: GPSLAT_Y
    - OSD4_GPSLONG_EN: GPSLONG_EN
    - OSD4_GPSLONG_X: GPSLONG_X
    - OSD4_GPSLONG_Y: GPSLONG_Y
    - OSD4_ROLL_EN: ROLL_EN
    - OSD4_ROLL_X: ROLL_X
    - OSD4_ROLL_Y: ROLL_Y
    - OSD4_PITCH_EN: PITCH_EN
    - OSD4_PITCH_X: PITCH_X
    - OSD4_PITCH_Y: PITCH_Y
    - OSD4_TEMP_EN: TEMP_EN
    - OSD4_TEMP_X: TEMP_X
    - OSD4_TEMP_Y: TEMP_Y
    - OSD4_HDOP_EN: HDOP_EN
    - OSD4_HDOP_X: HDOP_X
    - OSD4_HDOP_Y: HDOP_Y
    - OSD4_WAYPOINT_EN: WAYPOINT_EN
    - OSD4_WAYPOINT_X: WAYPOINT_X
    - OSD4_WAYPOINT_Y: WAYPOINT_Y
    - OSD4_XTRACK_EN: XTRACK_EN
    - OSD4_XTRACK_X: XTRACK_X
    - OSD4_XTRACK_Y: XTRACK_Y
    - OSD4_DIST_EN: DIST_EN
    - OSD4_DIST_X: DIST_X
    - OSD4_DIST_Y: DIST_Y
    - OSD4_STATS_EN: STATS_EN
    - OSD4_STATS_X: STATS_X
    - OSD4_STATS_Y: STATS_Y
    - OSD4_FLTIME_EN: FLTIME_EN
    - OSD4_FLTIME_X: FLTIME_X
    - OSD4_FLTIME_Y: FLTIME_Y
    - OSD4_CLIMBEFF_EN: CLIMBEFF_EN
    - OSD4_CLIMBEFF_X: CLIMBEFF_X
    - OSD4_CLIMBEFF_Y: CLIMBEFF_Y
    - OSD4_EFF_EN: EFF_EN
    - OSD4_EFF_X: EFF_X
    - OSD4_EFF_Y: EFF_Y
    - OSD4_BTEMP_EN: BTEMP_EN
    - OSD4_BTEMP_X: BTEMP_X
    - OSD4_BTEMP_Y: BTEMP_Y
    - OSD4_ATEMP_EN: ATEMP_EN
    - OSD4_ATEMP_X: ATEMP_X
    - OSD4_ATEMP_Y: ATEMP_Y
    - OSD4_BAT2VLT_EN: BAT2VLT_EN
    - OSD4_BAT2VLT_X: BAT2VLT_X
    - OSD4_BAT2VLT_Y: BAT2VLT_Y
    - OSD4_BAT2USED_EN: BAT2USED_EN
    - OSD4_BAT2USED_X: BAT2USED_X
    - OSD4_BAT2USED_Y: BAT2USED_Y
    - OSD4_ASPD2_EN: ASPD2_EN
    - OSD4_ASPD2_X: ASPD2_X
    - OSD4_ASPD2_Y: ASPD2_Y
    - OSD4_ASPD1_EN: ASPD1_EN
    - OSD4_ASPD1_X: ASPD1_X
    - OSD4_ASPD1_Y: ASPD1_Y
    - OSD4_CLK_EN: CLK_EN
    - OSD4_CLK_X: CLK_X
    - OSD4_CLK_Y: CLK_Y
  - PLND_ Parameters
    - PLND_ENABLED: Precision Land enabled/disabled and behaviour
    - PLND_TYPE: Precision Land Type
    - PLND_YAW_ALIGN: Sensor yaw alignment
    - PLND_LAND_OFS_X: Land offset forward
    - PLND_LAND_OFS_Y: Land offset right
    - PLND_EST_TYPE: Precision Land Estimator Type
    - PLND_ACC_P_NSE: Kalman Filter Accelerometer Noise
    - PLND_CAM_POS_X: Camera X position offset
    - PLND_CAM_POS_Y: Camera Y position offset
    - PLND_CAM_POS_Z: Camera Z position offset
    - PLND_BUS: Sensor Bus
    - PLND_LAG: Precision Landing sensor lag
  - PRX Parameters
    - PRX_TYPE: Proximity type
    - PRX_ORIENT: Proximity sensor orientation
    - PRX_YAW_CORR: Proximity sensor yaw correction
    - PRX_IGN_ANG1: Proximity sensor ignore angle 1
    - PRX_IGN_WID1: Proximity sensor ignore width 1
    - PRX_IGN_ANG2: Proximity sensor ignore angle 2
    - PRX_IGN_WID2: Proximity sensor ignore width 2
    - PRX_IGN_ANG3: Proximity sensor ignore angle 3
    - PRX_IGN_WID3: Proximity sensor ignore width 3
    - PRX_IGN_ANG4: Proximity sensor ignore angle 4
    - PRX_IGN_WID4: Proximity sensor ignore width 4
    - PRX_IGN_ANG5: Proximity sensor ignore angle 5
    - PRX_IGN_WID5: Proximity sensor ignore width 5
    - PRX_IGN_ANG6: Proximity sensor ignore angle 6
    - PRX_IGN_WID6: Proximity sensor ignore width 6
    - PRX2_TYPE: Second Proximity type
    - PRX2_ORIENT: Second Proximity sensor orientation
    - PRX2_YAW_CORR: Second Proximity sensor yaw correction
  - PSC Parameters
    - PSC_ACC_XY_FILT: XY Acceleration filter cutoff frequency
    - PSC_POSZ_P: Position (vertical) controller P gain
    - PSC_VELZ_P: Velocity (vertical) controller P gain
    - PSC_ACCZ_P: Acceleration (vertical) controller P gain
    - PSC_ACCZ_I: Acceleration (vertical) controller I gain
    - PSC_ACCZ_IMAX: Acceleration (vertical) controller I gain maximum
    - PSC_ACCZ_D: Acceleration (vertical) controller D gain
    - PSC_ACCZ_FF: Acceleration (vertical) controller feed forward
    - PSC_ACCZ_FLTT: Acceleration (vertical) controller target frequency in Hz
    - PSC_ACCZ_FLTE: Acceleration (vertical) controller error frequency in Hz
    - PSC_ACCZ_FLTD: Acceleration (vertical) controller derivative frequency in Hz
    - PSC_POSXY_P: Position (horizonal) controller P gain
    - PSC_VELXY_P: Velocity (horizontal) P gain
    - PSC_VELXY_I: Velocity (horizontal) I gain
    - PSC_VELXY_D: Velocity (horizontal) D gain
    - PSC_VELXY_IMAX: Velocity (horizontal) integrator maximum
    - PSC_VELXY_FILT: Velocity (horizontal) input filter
    - PSC_VELXY_D_FILT: Velocity (horizontal) input filter
    - PSC_ANGLE_MAX: Position Control Angle Max
  - RALLY_ Parameters
    - RALLY_TOTAL: Rally Total
    - RALLY_LIMIT_KM: Rally Limit
    - RALLY_INCL_HOME: Rally Include Home
  - RC Parameters
    - RC_OVERRIDE_TIME: RC override timeout
    - RC_OPTIONS: RC options
  - RC10_ Parameters
    - RC10_MIN: RC min PWM
    - RC10_TRIM: RC trim PWM
    - RC10_MAX: RC max PWM
    - RC10_REVERSED: RC reversed
    - RC10_DZ: RC dead-zone
    - RC10_OPTION: RC input option
  - RC11_ Parameters
    - RC11_MIN: RC min PWM
    - RC11_TRIM: RC trim PWM
    - RC11_MAX: RC max PWM
    - RC11_REVERSED: RC reversed
    - RC11_DZ: RC dead-zone
    - RC11_OPTION: RC input option
  - RC12_ Parameters
    - RC12_MIN: RC min PWM
    - RC12_TRIM: RC trim PWM
    - RC12_MAX: RC max PWM
    - RC12_REVERSED: RC reversed
    - RC12_DZ: RC dead-zone
    - RC12_OPTION: RC input option
  - RC13_ Parameters
    - RC13_MIN: RC min PWM
    - RC13_TRIM: RC trim PWM
    - RC13_MAX: RC max PWM
    - RC13_REVERSED: RC reversed
    - RC13_DZ: RC dead-zone
    - RC13_OPTION: RC input option
  - RC14_ Parameters
    - RC14_MIN: RC min PWM
    - RC14_TRIM: RC trim PWM
    - RC14_MAX: RC max PWM
    - RC14_REVERSED: RC reversed
    - RC14_DZ: RC dead-zone
    - RC14_OPTION: RC input option
  - RC15_ Parameters
    - RC15_MIN: RC min PWM
    - RC15_TRIM: RC trim PWM
    - RC15_MAX: RC max PWM
    - RC15_REVERSED: RC reversed
    - RC15_DZ: RC dead-zone
    - RC15_OPTION: RC input option
  - RC16_ Parameters
    - RC16_MIN: RC min PWM
    - RC16_TRIM: RC trim PWM
    - RC16_MAX: RC max PWM
    - RC16_REVERSED: RC reversed
    - RC16_DZ: RC dead-zone
    - RC16_OPTION: RC input option
  - RC1_ Parameters
    - RC1_MIN: RC min PWM
    - RC1_TRIM: RC trim PWM
    - RC1_MAX: RC max PWM
    - RC1_REVERSED: RC reversed
    - RC1_DZ: RC dead-zone
    - RC1_OPTION: RC input option
  - RC2_ Parameters
    - RC2_MIN: RC min PWM
    - RC2_TRIM: RC trim PWM
    - RC2_MAX: RC max PWM
    - RC2_REVERSED: RC reversed
    - RC2_DZ: RC dead-zone
    - RC2_OPTION: RC input option
  - RC3_ Parameters
    - RC3_MIN: RC min PWM
    - RC3_TRIM: RC trim PWM
    - RC3_MAX: RC max PWM
    - RC3_REVERSED: RC reversed
    - RC3_DZ: RC dead-zone
    - RC3_OPTION: RC input option
  - RC4_ Parameters
    - RC4_MIN: RC min PWM
    - RC4_TRIM: RC trim PWM
    - RC4_MAX: RC max PWM
    - RC4_REVERSED: RC reversed
    - RC4_DZ: RC dead-zone
    - RC4_OPTION: RC input option
  - RC5_ Parameters
    - RC5_MIN: RC min PWM
    - RC5_TRIM: RC trim PWM
    - RC5_MAX: RC max PWM
    - RC5_REVERSED: RC reversed
    - RC5_DZ: RC dead-zone
    - RC5_OPTION: RC input option
  - RC6_ Parameters
    - RC6_MIN: RC min PWM
    - RC6_TRIM: RC trim PWM
    - RC6_MAX: RC max PWM
    - RC6_REVERSED: RC reversed
    - RC6_DZ: RC dead-zone
    - RC6_OPTION: RC input option
  - RC7_ Parameters
    - RC7_MIN: RC min PWM
    - RC7_TRIM: RC trim PWM
    - RC7_MAX: RC max PWM
    - RC7_REVERSED: RC reversed
    - RC7_DZ: RC dead-zone
    - RC7_OPTION: RC input option
  - RC8_ Parameters
    - RC8_MIN: RC min PWM
    - RC8_TRIM: RC trim PWM
    - RC8_MAX: RC max PWM
    - RC8_REVERSED: RC reversed
    - RC8_DZ: RC dead-zone
    - RC8_OPTION: RC input option
  - RC9_ Parameters
    - RC9_MIN: RC min PWM
    - RC9_TRIM: RC trim PWM
    - RC9_MAX: RC max PWM
    - RC9_REVERSED: RC reversed
    - RC9_DZ: RC dead-zone
    - RC9_OPTION: RC input option
  - RCMAP_ Parameters
    - RCMAP_ROLL: Roll channel
    - RCMAP_PITCH: Pitch channel
    - RCMAP_THROTTLE: Throttle channel
    - RCMAP_YAW: Yaw channel
    - RCMAP_FORWARD: Forward channel
    - RCMAP_LATERAL: Lateral channel
  - RELAY_ Parameters
    - RELAY_PIN: First Relay Pin
    - RELAY_PIN2: Second Relay Pin
    - RELAY_PIN3: Third Relay Pin
    - RELAY_PIN4: Fourth Relay Pin
    - RELAY_DEFAULT: Default relay state
    - RELAY_PIN5: Fifth Relay Pin
    - RELAY_PIN6: Sixth Relay Pin
  - RNGFND1_ Parameters
    - RNGFND1_TYPE: Rangefinder type
    - RNGFND1_PIN: Rangefinder pin
    - RNGFND1_SCALING: Rangefinder scaling
    - RNGFND1_OFFSET: rangefinder offset
    - RNGFND1_FUNCTION: Rangefinder function
    - RNGFND1_MIN_CM: Rangefinder minimum distance
    - RNGFND1_MAX_CM: Rangefinder maximum distance
    - RNGFND1_STOP_PIN: Rangefinder stop pin
    - RNGFND1_RMETRIC: Ratiometric
    - RNGFND1_PWRRNG: Powersave range
    - RNGFND1_GNDCLEAR: Distance (in cm) from the range finder to the ground
    - RNGFND1_ADDR: Bus address of sensor
    - RNGFND1_POS_X: X position offset
    - RNGFND1_POS_Y: Y position offset
    - RNGFND1_POS_Z: Z position offset
    - RNGFND1_ORIENT: Rangefinder orientation
    - RNGFND1_WSP_MAVG: Moving Average Range
    - RNGFND1_WSP_MEDF: Moving Median Filter
    - RNGFND1_WSP_FRQ: Frequency
    - RNGFND1_WSP_AVG: Multi-pulse averages
    - RNGFND1_WSP_THR: Sensitivity threshold
    - RNGFND1_WSP_BAUD: Baud rate
  - RNGFND2_ Parameters
    - RNGFND2_TYPE: Rangefinder type
    - RNGFND2_PIN: Rangefinder pin
    - RNGFND2_SCALING: Rangefinder scaling
    - RNGFND2_OFFSET: rangefinder offset
    - RNGFND2_FUNCTION: Rangefinder function
    - RNGFND2_MIN_CM: Rangefinder minimum distance
    - RNGFND2_MAX_CM: Rangefinder maximum distance
    - RNGFND2_STOP_PIN: Rangefinder stop pin
    - RNGFND2_RMETRIC: Ratiometric
    - RNGFND2_PWRRNG: Powersave range
    - RNGFND2_GNDCLEAR: Distance (in cm) from the range finder to the ground
    - RNGFND2_ADDR: Bus address of sensor
    - RNGFND2_POS_X: X position offset
    - RNGFND2_POS_Y: Y position offset
    - RNGFND2_POS_Z: Z position offset
    - RNGFND2_ORIENT: Rangefinder orientation
    - RNGFND2_WSP_MAVG: Moving Average Range
    - RNGFND2_WSP_MEDF: Moving Median Filter
    - RNGFND2_WSP_FRQ: Frequency
    - RNGFND2_WSP_AVG: Multi-pulse averages
    - RNGFND2_WSP_THR: Sensitivity threshold
    - RNGFND2_WSP_BAUD: Baud rate
  - RNGFND3_ Parameters
    - RNGFND3_TYPE: Rangefinder type
    - RNGFND3_PIN: Rangefinder pin
    - RNGFND3_SCALING: Rangefinder scaling
    - RNGFND3_OFFSET: rangefinder offset
    - RNGFND3_FUNCTION: Rangefinder function
    - RNGFND3_MIN_CM: Rangefinder minimum distance
    - RNGFND3_MAX_CM: Rangefinder maximum distance
    - RNGFND3_STOP_PIN: Rangefinder stop pin
    - RNGFND3_RMETRIC: Ratiometric
    - RNGFND3_PWRRNG: Powersave range
    - RNGFND3_GNDCLEAR: Distance (in cm) from the range finder to the ground
    - RNGFND3_ADDR: Bus address of sensor
    - RNGFND3_POS_X: X position offset
    - RNGFND3_POS_Y: Y position offset
    - RNGFND3_POS_Z: Z position offset
    - RNGFND3_ORIENT: Rangefinder orientation
    - RNGFND3_WSP_MAVG: Moving Average Range
    - RNGFND3_WSP_MEDF: Moving Median Filter
    - RNGFND3_WSP_FRQ: Frequency
    - RNGFND3_WSP_AVG: Multi-pulse averages
    - RNGFND3_WSP_THR: Sensitivity threshold
    - RNGFND3_WSP_BAUD: Baud rate
  - RNGFND4_ Parameters
    - RNGFND4_TYPE: Rangefinder type
    - RNGFND4_PIN: Rangefinder pin
    - RNGFND4_SCALING: Rangefinder scaling
    - RNGFND4_OFFSET: rangefinder offset
    - RNGFND4_FUNCTION: Rangefinder function
    - RNGFND4_MIN_CM: Rangefinder minimum distance
    - RNGFND4_MAX_CM: Rangefinder maximum distance
    - RNGFND4_STOP_PIN: Rangefinder stop pin
    - RNGFND4_RMETRIC: Ratiometric
    - RNGFND4_PWRRNG: Powersave range
    - RNGFND4_GNDCLEAR: Distance (in cm) from the range finder to the ground
    - RNGFND4_ADDR: Bus address of sensor
    - RNGFND4_POS_X: X position offset
    - RNGFND4_POS_Y: Y position offset
    - RNGFND4_POS_Z: Z position offset
    - RNGFND4_ORIENT: Rangefinder orientation
    - RNGFND4_WSP_MAVG: Moving Average Range
    - RNGFND4_WSP_MEDF: Moving Median Filter
    - RNGFND4_WSP_FRQ: Frequency
    - RNGFND4_WSP_AVG: Multi-pulse averages
    - RNGFND4_WSP_THR: Sensitivity threshold
    - RNGFND4_WSP_BAUD: Baud rate
  - RNGFND5_ Parameters
    - RNGFND5_TYPE: Rangefinder type
    - RNGFND5_PIN: Rangefinder pin
    - RNGFND5_SCALING: Rangefinder scaling
    - RNGFND5_OFFSET: rangefinder offset
    - RNGFND5_FUNCTION: Rangefinder function
    - RNGFND5_MIN_CM: Rangefinder minimum distance
    - RNGFND5_MAX_CM: Rangefinder maximum distance
    - RNGFND5_STOP_PIN: Rangefinder stop pin
    - RNGFND5_RMETRIC: Ratiometric
    - RNGFND5_PWRRNG: Powersave range
    - RNGFND5_GNDCLEAR: Distance (in cm) from the range finder to the ground
    - RNGFND5_ADDR: Bus address of sensor
    - RNGFND5_POS_X: X position offset
    - RNGFND5_POS_Y: Y position offset
    - RNGFND5_POS_Z: Z position offset
    - RNGFND5_ORIENT: Rangefinder orientation
    - RNGFND5_WSP_MAVG: Moving Average Range
    - RNGFND5_WSP_MEDF: Moving Median Filter
    - RNGFND5_WSP_FRQ: Frequency
    - RNGFND5_WSP_AVG: Multi-pulse averages
    - RNGFND5_WSP_THR: Sensitivity threshold
    - RNGFND5_WSP_BAUD: Baud rate
  - RNGFND6_ Parameters
    - RNGFND6_TYPE: Rangefinder type
    - RNGFND6_PIN: Rangefinder pin
    - RNGFND6_SCALING: Rangefinder scaling
    - RNGFND6_OFFSET: rangefinder offset
    - RNGFND6_FUNCTION: Rangefinder function
    - RNGFND6_MIN_CM: Rangefinder minimum distance
    - RNGFND6_MAX_CM: Rangefinder maximum distance
    - RNGFND6_STOP_PIN: Rangefinder stop pin
    - RNGFND6_RMETRIC: Ratiometric
    - RNGFND6_PWRRNG: Powersave range
    - RNGFND6_GNDCLEAR: Distance (in cm) from the range finder to the ground
    - RNGFND6_ADDR: Bus address of sensor
    - RNGFND6_POS_X: X position offset
    - RNGFND6_POS_Y: Y position offset
    - RNGFND6_POS_Z: Z position offset
    - RNGFND6_ORIENT: Rangefinder orientation
    - RNGFND6_WSP_MAVG: Moving Average Range
    - RNGFND6_WSP_MEDF: Moving Median Filter
    - RNGFND6_WSP_FRQ: Frequency
    - RNGFND6_WSP_AVG: Multi-pulse averages
    - RNGFND6_WSP_THR: Sensitivity threshold
    - RNGFND6_WSP_BAUD: Baud rate
  - RNGFND7_ Parameters
    - RNGFND7_TYPE: Rangefinder type
    - RNGFND7_PIN: Rangefinder pin
    - RNGFND7_SCALING: Rangefinder scaling
    - RNGFND7_OFFSET: rangefinder offset
    - RNGFND7_FUNCTION: Rangefinder function
    - RNGFND7_MIN_CM: Rangefinder minimum distance
    - RNGFND7_MAX_CM: Rangefinder maximum distance
    - RNGFND7_STOP_PIN: Rangefinder stop pin
    - RNGFND7_RMETRIC: Ratiometric
    - RNGFND7_PWRRNG: Powersave range
    - RNGFND7_GNDCLEAR: Distance (in cm) from the range finder to the ground
    - RNGFND7_ADDR: Bus address of sensor
    - RNGFND7_POS_X: X position offset
    - RNGFND7_POS_Y: Y position offset
    - RNGFND7_POS_Z: Z position offset
    - RNGFND7_ORIENT: Rangefinder orientation
    - RNGFND7_WSP_MAVG: Moving Average Range
    - RNGFND7_WSP_MEDF: Moving Median Filter
    - RNGFND7_WSP_FRQ: Frequency
    - RNGFND7_WSP_AVG: Multi-pulse averages
    - RNGFND7_WSP_THR: Sensitivity threshold
    - RNGFND7_WSP_BAUD: Baud rate
  - RNGFND8_ Parameters
    - RNGFND8_TYPE: Rangefinder type
    - RNGFND8_PIN: Rangefinder pin
    - RNGFND8_SCALING: Rangefinder scaling
    - RNGFND8_OFFSET: rangefinder offset
    - RNGFND8_FUNCTION: Rangefinder function
    - RNGFND8_MIN_CM: Rangefinder minimum distance
    - RNGFND8_MAX_CM: Rangefinder maximum distance
    - RNGFND8_STOP_PIN: Rangefinder stop pin
    - RNGFND8_RMETRIC: Ratiometric
    - RNGFND8_PWRRNG: Powersave range
    - RNGFND8_GNDCLEAR: Distance (in cm) from the range finder to the ground
    - RNGFND8_ADDR: Bus address of sensor
    - RNGFND8_POS_X: X position offset
    - RNGFND8_POS_Y: Y position offset
    - RNGFND8_POS_Z: Z position offset
    - RNGFND8_ORIENT: Rangefinder orientation
    - RNGFND8_WSP_MAVG: Moving Average Range
    - RNGFND8_WSP_MEDF: Moving Median Filter
    - RNGFND8_WSP_FRQ: Frequency
    - RNGFND8_WSP_AVG: Multi-pulse averages
    - RNGFND8_WSP_THR: Sensitivity threshold
    - RNGFND8_WSP_BAUD: Baud rate
  - RNGFND9_ Parameters
    - RNGFND9_TYPE: Rangefinder type
    - RNGFND9_PIN: Rangefinder pin
    - RNGFND9_SCALING: Rangefinder scaling
    - RNGFND9_OFFSET: rangefinder offset
    - RNGFND9_FUNCTION: Rangefinder function
    - RNGFND9_MIN_CM: Rangefinder minimum distance
    - RNGFND9_MAX_CM: Rangefinder maximum distance
    - RNGFND9_STOP_PIN: Rangefinder stop pin
    - RNGFND9_RMETRIC: Ratiometric
    - RNGFND9_PWRRNG: Powersave range
    - RNGFND9_GNDCLEAR: Distance (in cm) from the range finder to the ground
    - RNGFND9_ADDR: Bus address of sensor
    - RNGFND9_POS_X: X position offset
    - RNGFND9_POS_Y: Y position offset
    - RNGFND9_POS_Z: Z position offset
    - RNGFND9_ORIENT: Rangefinder orientation
    - RNGFND9_WSP_MAVG: Moving Average Range
    - RNGFND9_WSP_MEDF: Moving Median Filter
    - RNGFND9_WSP_FRQ: Frequency
    - RNGFND9_WSP_AVG: Multi-pulse averages
    - RNGFND9_WSP_THR: Sensitivity threshold
    - RNGFND9_WSP_BAUD: Baud rate
  - RNGFNDA_ Parameters
    - RNGFNDA_TYPE: Rangefinder type
    - RNGFNDA_PIN: Rangefinder pin
    - RNGFNDA_SCALING: Rangefinder scaling
    - RNGFNDA_OFFSET: rangefinder offset
    - RNGFNDA_FUNCTION: Rangefinder function
    - RNGFNDA_MIN_CM: Rangefinder minimum distance
    - RNGFNDA_MAX_CM: Rangefinder maximum distance
    - RNGFNDA_STOP_PIN: Rangefinder stop pin
    - RNGFNDA_RMETRIC: Ratiometric
    - RNGFNDA_PWRRNG: Powersave range
    - RNGFNDA_GNDCLEAR: Distance (in cm) from the range finder to the ground
    - RNGFNDA_ADDR: Bus address of sensor
    - RNGFNDA_POS_X: X position offset
    - RNGFNDA_POS_Y: Y position offset
    - RNGFNDA_POS_Z: Z position offset
    - RNGFNDA_ORIENT: Rangefinder orientation
    - RNGFNDA_WSP_MAVG: Moving Average Range
    - RNGFNDA_WSP_MEDF: Moving Median Filter
    - RNGFNDA_WSP_FRQ: Frequency
    - RNGFNDA_WSP_AVG: Multi-pulse averages
    - RNGFNDA_WSP_THR: Sensitivity threshold
    - RNGFNDA_WSP_BAUD: Baud rate
  - RPM Parameters
    - RPM_TYPE: RPM type
    - RPM_SCALING: RPM scaling
    - RPM_MAX: Maximum RPM
    - RPM_MIN: Minimum RPM
    - RPM_MIN_QUAL: Minimum Quality
    - RPM_PIN: Input pin number
    - RPM2_TYPE: Second RPM type
    - RPM2_SCALING: RPM scaling
    - RPM2_PIN: RPM2 input pin number
  - RSSI_ Parameters
    - RSSI_TYPE: RSSI Type
    - RSSI_ANA_PIN: Receiver RSSI sensing pin
    - RSSI_PIN_LOW: RSSI pin’s lowest voltage
    - RSSI_PIN_HIGH: RSSI pin’s highest voltage
    - RSSI_CHANNEL: Receiver RSSI channel number
    - RSSI_CHAN_LOW: RSSI PWM low value
    - RSSI_CHAN_HIGH: Receiver RSSI PWM high value
  - SCHED_ Parameters
    - SCHED_DEBUG: Scheduler debug level
    - SCHED_LOOP_RATE: Scheduling main loop rate
  - SCR_ Parameters
    - SCR_ENABLE: Enable Scripting
    - SCR_VM_I_COUNT: Scripting Virtual Machine Instruction Count
    - SCR_HEAP_SIZE: Scripting Heap Size
    - SCR_DEBUG_LVL: Scripting Debug Level
    - SCR_USER1: Scripting User Parameter1
    - SCR_USER2: Scripting User Parameter2
    - SCR_USER3: Scripting User Parameter3
    - SCR_USER4: Scripting User Parameter4
  - SERIAL Parameters
    - SERIAL0_BAUD: Serial0 baud rate
    - SERIAL0_PROTOCOL: Console protocol selection
    - SERIAL1_PROTOCOL: Telem1 protocol selection
    - SERIAL1_BAUD: Telem1 Baud Rate
    - SERIAL2_PROTOCOL: Telemetry 2 protocol selection
    - SERIAL2_BAUD: Telemetry 2 Baud Rate
    - SERIAL3_PROTOCOL: Serial 3 (GPS) protocol selection
    - SERIAL3_BAUD: Serial 3 (GPS) Baud Rate
    - SERIAL4_PROTOCOL: Serial4 protocol selection
    - SERIAL4_BAUD: Serial 4 Baud Rate
    - SERIAL5_PROTOCOL: Serial5 protocol selection
    - SERIAL5_BAUD: Serial 5 Baud Rate
    - SERIAL6_PROTOCOL: Serial6 protocol selection
    - SERIAL6_BAUD: Serial 6 Baud Rate
    - SERIAL1_OPTIONS: Telem1 options
    - SERIAL2_OPTIONS: Telem2 options
    - SERIAL3_OPTIONS: Serial3 options
    - SERIAL4_OPTIONS: Serial4 options
    - SERIAL5_OPTIONS: Serial5 options
    - SERIAL6_OPTIONS: Serial6 options
    - SERIAL_PASS1: Serial passthru first port
    - SERIAL_PASS2: Serial passthru second port
    - SERIAL_PASSTIMO: Serial passthru timeout
    - SERIAL7_PROTOCOL: Serial7 protocol selection
    - SERIAL7_BAUD: Serial 7 Baud Rate
    - SERIAL7_OPTIONS: Serial7 options
  - SERVO Parameters
    - SERVO_RATE: Servo default output rate
  - SERVO10_ Parameters
    - SERVO10_MIN: Minimum PWM
    - SERVO10_MAX: Maximum PWM
    - SERVO10_TRIM: Trim PWM
    - SERVO10_REVERSED: Servo reverse
    - SERVO10_FUNCTION: Servo output function
  - SERVO11_ Parameters
    - SERVO11_MIN: Minimum PWM
    - SERVO11_MAX: Maximum PWM
    - SERVO11_TRIM: Trim PWM
    - SERVO11_REVERSED: Servo reverse
    - SERVO11_FUNCTION: Servo output function
  - SERVO12_ Parameters
    - SERVO12_MIN: Minimum PWM
    - SERVO12_MAX: Maximum PWM
    - SERVO12_TRIM: Trim PWM
    - SERVO12_REVERSED: Servo reverse
    - SERVO12_FUNCTION: Servo output function
  - SERVO13_ Parameters
    - SERVO13_MIN: Minimum PWM
    - SERVO13_MAX: Maximum PWM
    - SERVO13_TRIM: Trim PWM
    - SERVO13_REVERSED: Servo reverse
    - SERVO13_FUNCTION: Servo output function
  - SERVO14_ Parameters
    - SERVO14_MIN: Minimum PWM
    - SERVO14_MAX: Maximum PWM
    - SERVO14_TRIM: Trim PWM
    - SERVO14_REVERSED: Servo reverse
    - SERVO14_FUNCTION: Servo output function
  - SERVO15_ Parameters
    - SERVO15_MIN: Minimum PWM
    - SERVO15_MAX: Maximum PWM
    - SERVO15_TRIM: Trim PWM
    - SERVO15_REVERSED: Servo reverse
    - SERVO15_FUNCTION: Servo output function
  - SERVO16_ Parameters
    - SERVO16_MIN: Minimum PWM
    - SERVO16_MAX: Maximum PWM
    - SERVO16_TRIM: Trim PWM
    - SERVO16_REVERSED: Servo reverse
    - SERVO16_FUNCTION: Servo output function
  - SERVO1_ Parameters
    - SERVO1_MIN: Minimum PWM
    - SERVO1_MAX: Maximum PWM
    - SERVO1_TRIM: Trim PWM
    - SERVO1_REVERSED: Servo reverse
    - SERVO1_FUNCTION: Servo output function
  - SERVO2_ Parameters
    - SERVO2_MIN: Minimum PWM
    - SERVO2_MAX: Maximum PWM
    - SERVO2_TRIM: Trim PWM
    - SERVO2_REVERSED: Servo reverse
    - SERVO2_FUNCTION: Servo output function
  - SERVO3_ Parameters
    - SERVO3_MIN: Minimum PWM
    - SERVO3_MAX: Maximum PWM
    - SERVO3_TRIM: Trim PWM
    - SERVO3_REVERSED: Servo reverse
    - SERVO3_FUNCTION: Servo output function
  - SERVO4_ Parameters
    - SERVO4_MIN: Minimum PWM
    - SERVO4_MAX: Maximum PWM
    - SERVO4_TRIM: Trim PWM
    - SERVO4_REVERSED: Servo reverse
    - SERVO4_FUNCTION: Servo output function
  - SERVO5_ Parameters
    - SERVO5_MIN: Minimum PWM
    - SERVO5_MAX: Maximum PWM
    - SERVO5_TRIM: Trim PWM
    - SERVO5_REVERSED: Servo reverse
    - SERVO5_FUNCTION: Servo output function
  - SERVO6_ Parameters
    - SERVO6_MIN: Minimum PWM
    - SERVO6_MAX: Maximum PWM
    - SERVO6_TRIM: Trim PWM
    - SERVO6_REVERSED: Servo reverse
    - SERVO6_FUNCTION: Servo output function
  - SERVO7_ Parameters
    - SERVO7_MIN: Minimum PWM
    - SERVO7_MAX: Maximum PWM
    - SERVO7_TRIM: Trim PWM
    - SERVO7_REVERSED: Servo reverse
    - SERVO7_FUNCTION: Servo output function
  - SERVO8_ Parameters
    - SERVO8_MIN: Minimum PWM
    - SERVO8_MAX: Maximum PWM
    - SERVO8_TRIM: Trim PWM
    - SERVO8_REVERSED: Servo reverse
    - SERVO8_FUNCTION: Servo output function
  - SERVO9_ Parameters
    - SERVO9_MIN: Minimum PWM
    - SERVO9_MAX: Maximum PWM
    - SERVO9_TRIM: Trim PWM
    - SERVO9_REVERSED: Servo reverse
    - SERVO9_FUNCTION: Servo output function
  - SERVO_BLH_ Parameters
    - SERVO_BLH_MASK: BLHeli Channel Bitmask
    - SERVO_BLH_AUTO: BLHeli auto-enable for multicopter motors
    - SERVO_BLH_TEST: BLHeli internal interface test
    - SERVO_BLH_TMOUT: BLHeli protocol timeout
    - SERVO_BLH_TRATE: BLHeli telemetry rate
    - SERVO_BLH_DEBUG: BLHeli debug level
    - SERVO_BLH_OTYPE: BLHeli output type override
    - SERVO_BLH_PORT: Control port
    - SERVO_BLH_POLES: BLHeli Motor Poles
    - SERVO_BLH_REMASK: BLHeli bitmask of reversible channels
  - SERVO_ROB_ Parameters
    - SERVO_ROB_POSMIN: Robotis servo position min
    - SERVO_ROB_POSMAX: Robotis servo position max
  - SERVO_SBUS_ Parameters
    - SERVO_SBUS_RATE: SBUS default output rate
  - SERVO_VOLZ_ Parameters
    - SERVO_VOLZ_MASK: Channel Bitmask
  - SID Parameters
    - SID_AXIS: System identification axis
    - SID_MAGNITUDE: System identification Chirp Magnitude
    - SID_F_START_HZ: System identification Start Frequency
    - SID_F_STOP_HZ: System identification Stop Frequency
    - SID_T_FADE_IN: System identification Fade in time
    - SID_T_REC: System identification Total Sweep length
    - SID_T_FADE_OUT: System identification Fade out time
  - SPRAY_ Parameters
    - SPRAY_ENABLE: Sprayer enable/disable
    - SPRAY_PUMP_RATE: Pump speed
    - SPRAY_SPINNER: Spinner rotation speed
    - SPRAY_SPEED_MIN: Speed minimum
    - SPRAY_PUMP_MIN: Pump speed minimum
  - SR0_ Parameters
    - SR0_RAW_SENS: Raw sensor stream rate
    - SR0_EXT_STAT: Extended status stream rate to ground station
    - SR0_RC_CHAN: RC Channel stream rate to ground station
    - SR0_RAW_CTRL: Raw Control stream rate to ground station
    - SR0_POSITION: Position stream rate to ground station
    - SR0_EXTRA1: Extra data type 1 stream rate to ground station
    - SR0_EXTRA2: Extra data type 2 stream rate to ground station
    - SR0_EXTRA3: Extra data type 3 stream rate to ground station
    - SR0_PARAMS: Parameter stream rate to ground station
    - SR0_ADSB: ADSB stream rate to ground station
  - SR1_ Parameters
    - SR1_RAW_SENS: Raw sensor stream rate
    - SR1_EXT_STAT: Extended status stream rate to ground station
    - SR1_RC_CHAN: RC Channel stream rate to ground station
    - SR1_RAW_CTRL: Raw Control stream rate to ground station
    - SR1_POSITION: Position stream rate to ground station
    - SR1_EXTRA1: Extra data type 1 stream rate to ground station
    - SR1_EXTRA2: Extra data type 2 stream rate to ground station
    - SR1_EXTRA3: Extra data type 3 stream rate to ground station
    - SR1_PARAMS: Parameter stream rate to ground station
    - SR1_ADSB: ADSB stream rate to ground station
  - SR2_ Parameters
    - SR2_RAW_SENS: Raw sensor stream rate
    - SR2_EXT_STAT: Extended status stream rate to ground station
    - SR2_RC_CHAN: RC Channel stream rate to ground station
    - SR2_RAW_CTRL: Raw Control stream rate to ground station
    - SR2_POSITION: Position stream rate to ground station
    - SR2_EXTRA1: Extra data type 1 stream rate to ground station
    - SR2_EXTRA2: Extra data type 2 stream rate to ground station
    - SR2_EXTRA3: Extra data type 3 stream rate to ground station
    - SR2_PARAMS: Parameter stream rate to ground station
    - SR2_ADSB: ADSB stream rate to ground station
  - SR3_ Parameters
    - SR3_RAW_SENS: Raw sensor stream rate
    - SR3_EXT_STAT: Extended status stream rate to ground station
    - SR3_RC_CHAN: RC Channel stream rate to ground station
    - SR3_RAW_CTRL: Raw Control stream rate to ground station
    - SR3_POSITION: Position stream rate to ground station
    - SR3_EXTRA1: Extra data type 1 stream rate to ground station
    - SR3_EXTRA2: Extra data type 2 stream rate to ground station
    - SR3_EXTRA3: Extra data type 3 stream rate to ground station
    - SR3_PARAMS: Parameter stream rate to ground station
    - SR3_ADSB: ADSB stream rate to ground station
  - SRTL_ Parameters
    - SRTL_ACCURACY: SmartRTL accuracy
    - SRTL_POINTS: SmartRTL maximum number of points on path
  - STAT Parameters
    - STAT_BOOTCNT: Boot Count
    - STAT_FLTTIME: Total FlightTime
    - STAT_RUNTIME: Total RunTime
    - STAT_RESET: Statistics Reset Time
  - TCAL Parameters
    - TCAL_ENABLED: Temperature calibration enable
    - TCAL_TEMP_MIN: Temperature calibration min learned temperature
    - TCAL_TEMP_MAX: Temperature calibration max learned temperature
    - TCAL_BARO_EXP: Temperature Calibration barometer exponent
  - TERRAIN_ Parameters
    - TERRAIN_ENABLE: Terrain data enable
    - TERRAIN_SPACING: Terrain grid spacing
    - TERRAIN_OPTIONS: Terrain options
  - TMODE Parameters
    - TMODE_ENABLE: tmode enable
    - TMODE_MODE1: Tmode first mode
    - TMODE_MODE2: Tmode second mode
    - TMODE_ACTION1: Tmode action 1
    - TMODE_ACTION2: Tmode action 2
    - TMODE_ACTION3: Tmode action 3
    - TMODE_ACTION4: Tmode action 4
    - TMODE_ACTION5: Tmode action 5
    - TMODE_ACTION6: Tmode action 6
    - TMODE_LEFT: Tmode left action
    - TMODE_LEFT_LONG: Tmode left long action
    - TMODE_TRIM_AUTO: Stick auto trim limit
    - TMODE_RIGHT: Tmode right action
    - TMODE_FLAGS: Tmode flags
    - TMODE_VMIN: Min voltage for output limiting
    - TMODE_VMAX: Max voltage for output limiting
    - TMODE_TMIN: Min thrust multiplier
    - TMODE_TMAX: Max thrust multiplier
    - TMODE_LOAD_MUL: Load test multiplier
    - TMODE_LOAD_FILT: Load test filter
    - TMODE_LOAD_TYPE: Load test type
  - VISO Parameters
    - VISO_TYPE: Visual odometry camera connection type
    - VISO_POS_X: Visual odometry camera X position offset
    - VISO_POS_Y: Visual odometry camera Y position offset
    - VISO_POS_Z: Visual odometry camera Z position offset
    - VISO_ORIENT: Visual odometery camera orientation
    - VISO_SCALE: Visual odometry scaling factor
    - VISO_DELAY_MS: Visual odometry sensor delay
    - VISO_VEL_M_NSE: Visual odometry velocity measurement noise
    - VISO_POS_M_NSE: Visual odometry position measurement noise
    - VISO_YAW_M_NSE: Visual odometry yaw measurement noise
  - VTX_ Parameters
    - VTX_ENABLE: Is the Video Transmitter enabled or not
    - VTX_POWER: Video Transmitter Power Level
    - VTX_CHANNEL: Video Transmitter Channel
    - VTX_BAND: Video Transmitter Band
    - VTX_FREQ: Video Transmitter Frequency
    - VTX_OPTIONS: Video Transmitter Options
  - WENC Parameters
    - WENC_TYPE: WheelEncoder type
    - WENC_CPR: WheelEncoder counts per revolution
    - WENC_RADIUS: Wheel radius
    - WENC_POS_X: Wheel’s X position offset
    - WENC_POS_Y: Wheel’s Y position offset
    - WENC_POS_Z: Wheel’s Z position offset
    - WENC_PINA: Input Pin A
    - WENC_PINB: Input Pin B
    - WENC2_TYPE: Second WheelEncoder type
    - WENC2_CPR: WheelEncoder 2 counts per revolution
    - WENC2_RADIUS: Wheel2’s radius
    - WENC2_POS_X: Wheel2’s X position offset
    - WENC2_POS_Y: Wheel2’s Y position offset
    - WENC2_POS_Z: Wheel2’s Z position offset
    - WENC2_PINA: Second Encoder Input Pin A
    - WENC2_PINB: Second Encoder Input Pin B
  - WINCH_ Parameters
    - WINCH_ENABLE: Winch enable/disable
    - WINCH_TYPE: Winch Type
    - WINCH__RATE_MAX: Winch deploy or retract rate maximum
    - WINCH__POS_P: Winch control position error P gain
    - WINCH__RATE_P: Winch control rate P gain
    - WINCH__RATE_I: Winch control I gain
    - WINCH__RATE_IMAX: Winch control I gain maximum
    - WINCH__RATE_D: Winch control D gain
    - WINCH__RATE_FILT: Winch control filter frequency
  - WPNAV_ Parameters
    - WPNAV_SPEED: Waypoint Horizontal Speed Target
    - WPNAV_RADIUS: Waypoint Radius
    - WPNAV_SPEED_UP: Waypoint Climb Speed Target
    - WPNAV_SPEED_DN: Waypoint Descent Speed Target
    - WPNAV_ACCEL: Waypoint Acceleration
    - WPNAV_ACCEL_Z: Waypoint Vertical Acceleration
    - WPNAV_RFND_USE: Waypoint missions use rangefinder for terrain following
  - ZIGZ_ Parameters
    - ZIGZ_AUTO_ENABLE: ZigZag auto enable/disable
    - ZIGZ_SPRAYER: Auto sprayer in ZigZag
    - ZIGZ_WP_DELAY: The delay for zigzag waypoint
    - ZIGZ_SIDE_DIST: Sideways distance in ZigZag auto
    - ZIGZ_DIRECTION: Sideways direction in ZigZag auto
    - ZIGZ_LINE_NUM: Total number of lines
- Parameter Reset
  - Option #1: Using the Mission Planner
  - Option #2: Change the FORMAT_VERSION parameter
  - Option #3: Load another vehicle’s firmware
  - Restoring Calibrations after Resets
- RC Input Channel Mapping (RCMAP)
  - Configuration
- RunCam Camera Configuration and Control
  - Description
  - Setup
  - OSD Menu Control
  - OSD Menu and OSD Interaction
- Sensor Position Offset Compensation
  - Parameter Details
- Sensor Testing
  - Checking the main sensors
  - Display Sensor Data on Graph
- Serial Port to Port Passthrough
  - Setup
  - Video
- Serial Port Configuration
  - Logical Serial Port to Physical UART Assignment
  - SERIALx_PROTOCOL
  - SERIALx_OPTIONS Parameter
    - Bitmask Options
- Surface Tracking
  - Setup and Configuration
  - How does it work?
- Telemetry Port Setup
  - Overview
  - Set-up through the Ground Station
  - MAVLink1, MAVLink2 and Stream Rates
- Terrain Following (Autonomous modes)
  - Setting up a Mission to use Terrain data
  - Sources of Terrain Data
  - Using Terrain Altitude during RTL and Land
  - Failsafe in case of no Terrain data
  - Terrain Spacing and Accuracy
  - Terrain Accuracy
  - Warning
    - Example mission at 2m using Lidar
- Tuning
  - Tuning Process Instructions
  - AutoTune
  - Manual Roll and Pitch Tuning
    - Transmitter based tuning
    - Video of in-flight tuning
  - Basic Tuning
  - Advanced Tuning
  - Transmitter Based Tuning
  - Configuring Notch Filtering
  - Configuring In-Flight FFT
    - Setup
- UAVCAN Setup
  - Overview
  - UAVCAN Peripheral Types Supported
  - UAVCAN Adapter Node
  - UAVCAN ESC and Servo Configuration settings
  - GNSS receiver configuration settings
  - UAVCAN LED configuration
  - UAVCAN Rangefinder configuration
  - SLCAN
- UBlox GPS Configuration
  - Connection Option #1 - Mission Planner and Pixhawk as Passthrough
  - Connection Option #2 - FTDI cable
Mission Planning
- Planning a Mission with Waypoints and Events
- Copter Mission Command List
- Mission Command List
- Camera Control in Auto Missions
- Rally Points
- Geotagging Images with Mission Planner
- Terrain Following
- Rewind-on-resume
Logs
- Topics related to logging and analysis
- Tools for log analysis
Peripheral Hardware
- ADS-B Receiver
  - Required Hardware
  - Connecting to the autopilot
  - Setup through the ground station
  - Enabling Manned Vehicle Avoidance
  - Older version of ADS-B based avoidance in Plane-3.5
  - Vehicle Database
  - Developer information including Simulation
- Battery Monitors (aka Power Modules)
  - Power Monitor Configuration
    - Mission Planner Setup
    - Connecting power monitor to alternative pins
  - Common Power Module
  - AirbotPower Power Module
  - Mauch Power Monitor
  - Smart Batteries
  - Fuel Monitors
  - Can PMU
  - HV PM
    - Enabling the HV PM
- Barometer (external)
  - Where to Buy
  - Connecting and Configuring
  - Testing
- Buzzer
  - Using an active buzzer instead of a passive buzzer
  - Mounting the buzzer
  - Silencing the buzzer
- Cameras & Gimbals
  - Gimbals
  - Cameras with MAVLink interfaces
  - Camera Control and GeoTagging
  - Detail topics
- Companion Computers
  - Overview
- Crop Sprayer
  - Required Hardware
  - Enabling the Sprayer
  - Configuring the pump
- Display (Onboard)
  - Where to Buy
  - Connecting to a Autopilot
- ESCs and Motors
  - Brushless ESC Related Configuration
  - Brushed motors
    - Verified Motor Drivers
    - Connection and Configuration
  - Booster motor
    - Configuration
  - Brushless ESCs
    - PWM
    - DShot
    - Where to buy
  - ICE (Internal Combustion Engines)
  - KDE CAN ESCs
  - Toshiba CAN ESCs
  - UAVCAN ESCs
- First Person View Video
  - Recommended parts
  - Connection diagram
  - Minim OSD setup through mission planner
  - Integrated OSD
  - User Videos / Blogs
  - Safety Warnings Relating Specifically to FPV Flight
  - Government/Local Regulations
- Fuel Flow and Level Sensors
  - Fuel Flow Sensors
    - Connecting to the Autopilot
  - Fuel Level Sensors
    - Connecting to the Autopilot
  - Parameter Setup
- GPS/Compass
  - Beitain BN-220 GPS / BN-880 GPS + Compass Module
  - CUAV C-RTK 9P RTK Receiver
  - CUAV Neo v2 Pro UAVCAN GPS
  - Emlid Reach RTK Receiver
  - Hex Here+ RTK Receiver
  - JDrones GPS Options
  - MRo M8N Gps+Compass Module
  - Swift Navigation's Piksi Multi RTK GPS Receiver
  - Septentrio AsteRx-mUAS RTK GPS
    - Setup instructions
    - Video including setup instructions
  - Trimble BD930 RTK GPS
  - Zubax GNSS 2: GNSS + Compass + Barometer
  - GPS Blending (aka Dual GPS)
  - GPS for Yaw (aka Moving Baseline)
  - GPS – How it Works
- Grippers
  - Electro Permanent Magnet v3 (EPMv3)
  - Electro Permanent Magnet v1 (EPM688)
  - Servo Gripper
- Joystick or Gamepad
  - What you will need
  - Setup with the Mission Planner
  - Testing the controls before flying
  - Testing the failsafes
  - Reducing lag in the controls
- Landing Gear/ Retractable Camera Mount
  - Connecting to the Autopilot
  - Setup through the Mission Planner
  - Other Parameters
- LEDs (external)
  - RGB LEDs/Displays with I2C Connection
  - Serially Connected Devices
    - NeoPixel
    - ProfiLED
  - NTF LED Meaning
- Multiple Radio Control Receivers
  - Configuration
  - Failsafe and Changeover
  - Inversion
- Non-GPS navigation
  - Intel RealSense T265
  - MarvelMind Beacons
  - Optical Flow
  - OptiTrack motion capture system
  - Pozyx Beacons
  - ROS with Google Cartographer (Developers only)
  - Vicon Positioning System
  - Visual Odometry with OpenKai and ZED
- On-Screen Display (OSD)
  - Onboard OSD for FPV and simulation
  - Minim OSD
- Optical Flow Sensor
  - Cheerson CX-OF
  - HereFlow
  - PX4FLOW
  - OpenMV
  - Optical Flow Setup
- Parachute
  - What you will need
  - Connecting to the Autopilot
  - Setup through the mission planner
  - When will the parachute deploy?
  - Testing the chute
- Power Tether
  - Demonstration
  - Parts used
  - Construction
- PPM Encoder
  - Failsafe output values:
  - Setup Manual
  - Re-Programming the Atmega328p PPM encoder
  - Fuse setting for internal MCU
  - Re-Programming instructions for Windows
  - Re-Programming instructions for Mac OS X
  - Re-Programming instructions for Linux
  - Re-Compiling Options
    - Re-Compiling using Linux
  - Related information
    - PPM Encoder Programming Guide
- Precision Landing and Loiter (IRLock)
  - Overview
  - Where to get it
  - Connecting to Pixhawk
  - Mounting to the frame
  - Setup through Mission Planner
  - Flying and Testing
- Radio Control Systems
  - Compatible RC Protocols
  - Connecting the Receiver
  - Radio System Selection
  - Links to Radio Control Systems
  - PPM encoders
- Rangefinders (Sonar, Lidar)
  - Rangefinder Setup Overview
    - Connecting and Configuring the Rangefinder
    - References
  - Aerotenna US-D1 Radar Altimeter
    - Where to Buy
    - Connecting to the Autopilot
  - Attollo Engineering Wasp200
    - Where to Buy
    - Connecting to the Autopilot
  - Benewake TF02 / TF03
    - Where to Buy
    - Connecting to the Autopilot
  - Benewake TFmini / TFmini Plus / TF-Luna
    - Where to Buy
    - Connecting to the Autopilot
  - Garman Lidar-Lite
    - Problems with the Lidar-Lite v1 & v2
    - Connecting via I2C
    - Connecting via PWM
    - Testing the sensor
    - Video guide
  - GY-US42 Sonar
  - HC-SR04 Sonar
    - Connection to the autopilot
  - LeddarTech Leddar One
    - Connecting to the Pixhawk
    - Testing the sensor
  - LeddarTech LeddarVu8
    - Connecting to the Autopilot
  - LightWare SF20 / LW20 Lidar
    - Serial connection
    - I2C connection
  - LightWare SF10 / SF11 Lidar
    - Connecting to the Pixhawk
    - Testing the sensor
  - Lightware SF02 Lidar
    - Connecting to the Pixhawk
    - Setup through the mission planner
    - Testing the sensor
  - Lightware SF40c (360 degree)
    - Mounting the SF40c
    - Connecting to the Autopilot
    - Configuration through the Ground Station
  - Maxbotix I2C Sonar
    - Connecting to the Pixhawk
    - Setup through the mission planner
    - Testing the sensor
  - Maxbotix Analog Sonar
    - Connecting to the Pixhawk
    - Setup through the mission planner
    - Testing the sensor
  - RPLidar A2 360 degree laser scanner
    - Where to buy
    - Specifications
    - Connecting and Configuring
  - ST VL53L0X / VL53L1X Lidar
    - Where to Buy
    - Connecting to the Autopilot
  - TeraRanger One/EVO Rangefinders
    - Connecting to the TeraRanger/EVO via I2C
    - Setup in Mission Planner
    - Testing the sensor
  - TerraRanger Tower (360 degree)
    - Mounting the Sensor
    - Connecting to the Autopilot
    - Configuration through the Ground Station
  - Underwater Sonar
    - BlueRobotics Ping
    - EchoLogger ECT400
    - Kogger Sonar
    - Underwater Sonar (Analog)
    - Triducer
- Received Signal Strength Indication (RSSI)
  - Setting up RSSI on your autopilot
  - Displaying the RC receiver’s RSSI value in MissionPlanner’s HUD
  - Connection examples
  - Special use cases
- Relay Switch
  - Relay pins on the Pixhawk
  - Defining the relay pins through the Mission Planner
  - Pilot control of the relay
  - Mission control of the relay
- RPM Sensor
  - How the RPM Sensor Library Works
  - Hall Effect Sensors
  - Electrical Commutation Sensors
  - Optical Sensors
- Safety Switch
  - LED meaning
  - Configuring the Safety Switch
  - Using the Safety Switch to force I/O board firmware update
- Servos
  - Servos (PWM)
  - SBus Servos
  - Robotis Servos
  - Volz Servos
    - Where To Buy
    - Connection and Configuration
- Telemetry Radio
  - Short Range (<10KM)
  - Long Range
  - Applications and Info
- UAVCAN Adapter Node
  - Features
  - Firmware
    - F103 Based
    - F303 Based
  - F303-Universal Firmware Setup
    - Rangefinder
- UAVCAN Peripherals
- Video (High Defintion)
  - Herelink HD Video Transmission System
    - Overview
    - Features
  - DJI Digital FPV System
    - Overview
    - Features
  - DJI Ocusync Air System
    - Features
  - Sky-Drones Smartlink
  - Other Systems
- Winch
  - Where To Buy
  - Connection and Configuration
  - Controlling during Missions
  - Video
Traditional Helicopters
- Suggested Parts List
- Loading the Firmware
- Mounting the Pixhawk
- Connecting and Calibration
  - Autopilot Info
  - Overview of servo, and RX connection
- Swashplate Setup
- Rotor Speed Control Setup
- ArduPilot Helicopter Ground School
- Pre-Flight Testing
  - Test leaning the helicopter in Stabilize mode
  - Test the transmitter in Stabilize mode
- Traditional Helicopter – Tuning
- Advanced Tuning for Hover Trim, Loiter Flight Mode and Waypoint Flying
  - Hover Trim
  - Adjusting I-gains For High-Speed Autonomous Flight
Tricopter
- Copter 3.5 (and higher)
- Copter 3.4.x
- Copter 3.3.x
- Copter 3.2.1 (and earlier)
SingleCopter and CoaxCopter
- Mounting and Connecting the autopilot
- Loading the Firmware
HeliQuads
- Where to Buy
- Connecting and Configuring
- Videos
SkyRocket
- Where to Buy
- Discussion
- Toy Mode
- Hardware
- More Info
Solo
- Overview
- Upgrade Process
  - Preparation
  - Instructions
- FIRST FLIGHT
  - Solo/Solex App Settings
  - Go Airborne
- ArduCopter Parameters
- Further Information
Reference Frames
- Hexsoon EDU450
  - Parts List
  - Connection and Setup
- AmovLab P200
  - Parts List
  - Connection and Setup
Use-Cases and Applications
- 3d Mapping
- Web Apps
- First Person View (FPV)
- Multi-Vehicle Flying
- Non-GPS Positioning Systems.
- Indoor Flying Guidelines
Antenna Tracking
- Mission Planner Antenna Tracking
- Antenna Design Overview
Simulation
Upcoming Features
- In-Flight FTT and filter control
  - Setup
- Hott Telem (already in Plane release)
  - Wiring and Setup
- RunCam Control
- Other wiki changes
Appendix
- Acknowledgments
- Advanced user tools (downloads)
- Commercial Support
  - How to get added to this list
- Contact Us
  - Support
  - Development
  - Facebook
  - YouTube
  - DroneKit
- Developer tools (downloads)
- Donating to ArduPilot
  - Support Merchandise
- Firmware (downloads)
- Glossary
- History of ArduPilot
- Partners
- Partners Program
- Ready-To-Use vehicles
- Stores
- Top Contributors
  - Collaboration with other projects
- Training Centers
- Wiki Editing Guide
- Archived Topics
Full Table of Contents