GPS failsafe in Auto Mission isn't working(

Hi folks,

I have a wing with Matek H743 V2 on board with a Matek GPS sensor. No dedicated airspeed sensor.

I need to get it back home in case the GPS signal drops in the middle of the auto mission.

I’ve already explored the Advanced Failsafe parameters and seems to be finding the solution Advanced Failsafe Configuration — Plane documentation

But…

When I disable GPS which I put on a switch as AUX function, it continues on the mission, switching to DCM navigation, as EKF3 and EKF2 fale as soon as I disable GPS.

Here are some of the params that I use

  • AFS_ENABLE - 1
  • AFS_MAX_GPS_LOSS - 1
  • AFS_WP_GPS_LOSS - 2
  • AFS_RC_FAIL_TIME - 0
  • AFS_DUAL_LOSS - 0
  • AFS_TEMINATE - 0
  • AFS_TERM_ACTION - 0
  • AFS_RC_MAN_ONLY - 1
  • AFS_RC - 1

I wonder, do I need to configure some other parameters, or should it work like this instead

Hello Mr.Gene
Can you please share your parameters file with us so we can figure out your problem?

Sure, here you are

# Onboard parameters for Vehicle 1
#
# Stack: ArduPilot
# Vehicle: Fixed Wing
# Version: 4.3.0 
# Git Revision: 4f0932b7
#
# Vehicle-Id Component-Id Name Value Type
1	1	ACRO_LOCKING	0	2
1	1	ACRO_PITCH_RATE	180	4
1	1	ACRO_ROLL_RATE	180	4
1	1	ACRO_YAW_RATE	0	4
1	1	ADSB_TYPE	0	2
1	1	AFS_AMSL_ERR_GPS	-1	6
1	1	AFS_AMSL_LIMIT	0	6
1	1	AFS_DUAL_LOSS	0	2
1	1	AFS_ENABLE	1	2
1	1	AFS_GEOFENCE	1	2
1	1	AFS_HB_PIN	-1	2
1	1	AFS_MAN_PIN	-1	2
1	1	AFS_MAX_COM_LOSS	0	2
1	1	AFS_MAX_GPS_LOSS	1	2
1	1	AFS_MAX_RANGE	0	4
1	1	AFS_QNH_PRESSURE	0.000000000000000000	9
1	1	AFS_RC	1	2
1	1	AFS_RC_FAIL_TIME	0.000000000000000000	9
1	1	AFS_RC_MAN_ONLY	0	2
1	1	AFS_TERMINATE	0	2
1	1	AFS_TERM_ACTION	0	2
1	1	AFS_TERM_PIN	-1	2
1	1	AFS_WP_COMMS	3	2
1	1	AFS_WP_GPS_LOSS	6	2
1	1	AHRS_COMP_BETA	0.100000001490116119	9
1	1	AHRS_EKF_TYPE	3	2
1	1	AHRS_GPS_GAIN	1.000000000000000000	9
1	1	AHRS_GPS_MINSATS	6	2
1	1	AHRS_GPS_USE	1	2
1	1	AHRS_ORIENTATION	0	2
1	1	AHRS_RP_P	0.200000002980232239	9
1	1	AHRS_TRIM_X	-0.002994825365021825	9
1	1	AHRS_TRIM_Y	0.014976282604038715	9
1	1	AHRS_TRIM_Z	0.000000000000000000	9
1	1	AHRS_WIND_MAX	0	2
1	1	AHRS_YAW_P	0.200000002980232239	9
1	1	ALT_HOLD_FBWCM	0	4
1	1	ALT_HOLD_RTL	5000	6
1	1	ALT_OFFSET	0	4
1	1	ARMING_ACCTHRESH	0.750000000000000000	9
1	1	ARMING_CHECK	768510	6
1	1	ARMING_MIS_ITEMS	0	6
1	1	ARMING_OPTIONS	0	6
1	1	ARMING_REQUIRE	1	2
1	1	ARMING_RUDDER	1	2
1	1	ARSPD_FBW_MAX	22	4
1	1	ARSPD_FBW_MIN	9	4
1	1	ARSPD_TYPE	0	2
1	1	AUTOTUNE_LEVEL	6	2
1	1	AVD_ENABLE	0	2
1	1	BARO1_DEVID	357889	6
1	1	BARO1_GND_PRESS	97258.679687500000000000	9
1	1	BARO1_WCF_ENABLE	0	2
1	1	BARO2_DEVID	0	6
1	1	BARO2_GND_PRESS	0.000000000000000000	9
1	1	BARO2_WCF_ENABLE	0	2
1	1	BARO3_DEVID	0	6
1	1	BARO3_GND_PRESS	0.000000000000000000	9
1	1	BARO3_WCF_ENABLE	0	2
1	1	BARO_ALT_OFFSET	0.000000000000000000	9
1	1	BARO_EXT_BUS	-1	2
1	1	BARO_FIELD_ELV	0.000000000000000000	9
1	1	BARO_FLTR_RNG	0	2
1	1	BARO_GND_TEMP	0.000000000000000000	9
1	1	BARO_PRIMARY	0	2
1	1	BARO_PROBE_EXT	0	6
1	1	BATT2_MONITOR	0	2
1	1	BATT3_MONITOR	0	2
1	1	BATT4_MONITOR	0	2
1	1	BATT5_MONITOR	0	2
1	1	BATT6_MONITOR	0	2
1	1	BATT7_MONITOR	0	2
1	1	BATT8_MONITOR	0	2
1	1	BATT9_MONITOR	0	2
1	1	BATT_AMP_OFFSET	0.000000000000000000	9
1	1	BATT_AMP_PERVLT	40.000000000000000000	9
1	1	BATT_ARM_MAH	0	6
1	1	BATT_ARM_VOLT	14.000000000000000000	9
1	1	BATT_CAPACITY	9000	6
1	1	BATT_CRT_MAH	1500.000000000000000000	9
1	1	BATT_CRT_VOLT	12.000000000000000000	9
1	1	BATT_CURR_PIN	11	2
1	1	BATT_FS_CRT_ACT	0	2
1	1	BATT_FS_LOW_ACT	1	2
1	1	BATT_FS_VOLTSRC	0	2
1	1	BATT_LOW_MAH	0.000000000000000000	9
1	1	BATT_LOW_TIMER	10	2
1	1	BATT_LOW_VOLT	12.600000381469726563	9
1	1	BATT_MONITOR	4	2
1	1	BATT_OPTIONS	0	6
1	1	BATT_SERIAL_NUM	-1	6
1	1	BATT_VLT_OFFSET	0.000000000000000000	9
1	1	BATT_VOLT_MULT	11.000000000000000000	9
1	1	BATT_VOLT_PIN	10	2
1	1	BATT_WATT_MAX	0	4
1	1	BRD_ALT_CONFIG	1	2
1	1	BRD_BOOT_DELAY	0	4
1	1	BRD_OPTIONS	1	6
1	1	BRD_RTC_TYPES	1	2
1	1	BRD_RTC_TZ_MIN	0	4
1	1	BRD_SAFETYENABLE	0	2
1	1	BRD_SAFETYOPTION	3	4
1	1	BRD_SAFETY_MASK	0	6
1	1	BRD_SD_SLOWDOWN	0	2
1	1	BRD_SER1_RTSCTS	2	2
1	1	BRD_SERIAL_NUM	0	6
1	1	BTN_ENABLE	0	2
1	1	CAM_AUTO_ONLY	0	2
1	1	CAM_DURATION	10	2
1	1	CAM_FEEDBACK_PIN	-1	2
1	1	CAM_FEEDBACK_POL	1	2
1	1	CAM_MAX_ROLL	0	4
1	1	CAM_MIN_INTERVAL	0	4
1	1	CAM_RC_TYPE	0	2
1	1	CAM_RELAY_ON	1	2
1	1	CAM_SERVO_OFF	1100	4
1	1	CAM_SERVO_ON	1300	4
1	1	CAM_TRIGG_DIST	0.000000000000000000	9
1	1	CAM_TRIGG_TYPE	0	2
1	1	CAM_TYPE	0	2
1	1	CAN_D1_PROTOCOL	1	2
1	1	CAN_LOGLEVEL	0	2
1	1	CAN_P1_DRIVER	0	2
1	1	CAN_SLCAN_CPORT	0	2
1	1	CAN_SLCAN_SDELAY	1	2
1	1	CAN_SLCAN_SERNUM	-1	2
1	1	CAN_SLCAN_TIMOUT	0	2
1	1	CHUTE_ENABLED	0	2
1	1	COMPASS_AUTODEC	1	2
1	1	COMPASS_AUTO_ROT	2	2
1	1	COMPASS_CAL_FIT	32.000000000000000000	9
1	1	COMPASS_DEC	0.000000000000000000	9
1	1	COMPASS_DEV_ID	0	6
1	1	COMPASS_DEV_ID2	855305	6
1	1	COMPASS_DEV_ID3	0	6
1	1	COMPASS_DEV_ID4	0	6
1	1	COMPASS_DEV_ID5	0	6
1	1	COMPASS_DEV_ID6	0	6
1	1	COMPASS_DEV_ID7	0	6
1	1	COMPASS_DEV_ID8	0	6
1	1	COMPASS_DIA2_X	1.150536537170410156	9
1	1	COMPASS_DIA2_Y	1.089658260345458984	9
1	1	COMPASS_DIA2_Z	0.743746459484100342	9
1	1	COMPASS_DIA3_X	1.000000000000000000	9
1	1	COMPASS_DIA3_Y	1.000000000000000000	9
1	1	COMPASS_DIA3_Z	1.000000000000000000	9
1	1	COMPASS_DIA_X	0.000000000000000000	9
1	1	COMPASS_DIA_Y	0.000000000000000000	9
1	1	COMPASS_DIA_Z	0.000000000000000000	9
1	1	COMPASS_ENABLE	1	2
1	1	COMPASS_EXTERN2	1	2
1	1	COMPASS_EXTERN3	0	2
1	1	COMPASS_EXTERNAL	0	2
1	1	COMPASS_FLTR_RNG	0	2
1	1	COMPASS_LEARN	2	2
1	1	COMPASS_MOT2_X	0.000000000000000000	9
1	1	COMPASS_MOT2_Y	0.000000000000000000	9
1	1	COMPASS_MOT2_Z	0.000000000000000000	9
1	1	COMPASS_MOT3_X	0.000000000000000000	9
1	1	COMPASS_MOT3_Y	0.000000000000000000	9
1	1	COMPASS_MOT3_Z	0.000000000000000000	9
1	1	COMPASS_MOTCT	0	2
1	1	COMPASS_MOT_X	0.000000000000000000	9
1	1	COMPASS_MOT_Y	0.000000000000000000	9
1	1	COMPASS_MOT_Z	0.000000000000000000	9
1	1	COMPASS_ODI2_X	0.056861344724893570	9
1	1	COMPASS_ODI2_Y	-0.120454214513301849	9
1	1	COMPASS_ODI2_Z	0.022940173745155334	9
1	1	COMPASS_ODI3_X	0.000000000000000000	9
1	1	COMPASS_ODI3_Y	0.000000000000000000	9
1	1	COMPASS_ODI3_Z	0.000000000000000000	9
1	1	COMPASS_ODI_X	0.000000000000000000	9
1	1	COMPASS_ODI_Y	0.000000000000000000	9
1	1	COMPASS_ODI_Z	0.000000000000000000	9
1	1	COMPASS_OFFS_MAX	1800	4
1	1	COMPASS_OFS2_X	548.224548339843750000	9
1	1	COMPASS_OFS2_Y	-86.694412231445312500	9
1	1	COMPASS_OFS2_Z	1387.363403320312500000	9
1	1	COMPASS_OFS3_X	0.000000000000000000	9
1	1	COMPASS_OFS3_Y	0.000000000000000000	9
1	1	COMPASS_OFS3_Z	0.000000000000000000	9
1	1	COMPASS_OFS_X	0.000000000000000000	9
1	1	COMPASS_OFS_Y	0.000000000000000000	9
1	1	COMPASS_OFS_Z	0.000000000000000000	9
1	1	COMPASS_OPTIONS	0	4
1	1	COMPASS_ORIENT	0	2
1	1	COMPASS_ORIENT2	0	2
1	1	COMPASS_ORIENT3	0	2
1	1	COMPASS_PMOT_EN	0	2
1	1	COMPASS_PRIO1_ID	855305	6
1	1	COMPASS_PRIO2_ID	855305	6
1	1	COMPASS_PRIO3_ID	0	6
1	1	COMPASS_SCALE	0.000000000000000000	9
1	1	COMPASS_SCALE2	0.934469997882843018	9
1	1	COMPASS_SCALE3	0.000000000000000000	9
1	1	COMPASS_TYPEMASK	0	6
1	1	COMPASS_USE	1	2
1	1	COMPASS_USE2	0	2
1	1	COMPASS_USE3	1	2
1	1	CRASH_ACC_THRESH	0	2
1	1	CRASH_DETECT	0	2
1	1	CUST_ROT_ENABLE	0	2
1	1	DSPOILER_AILMTCH	100	2
1	1	DSPOILER_CROW_W1	0	2
1	1	DSPOILER_CROW_W2	0	2
1	1	DSPOILER_OPTS	3	2
1	1	DSPOILR_RUD_RATE	100	4
1	1	EAHRS_RATE	50	4
1	1	EAHRS_TYPE	1	2
1	1	EFI_TYPE	0	2
1	1	EK2_ABIAS_P_NSE	0.004999999888241291	9
1	1	EK2_ACC_P_NSE	0.600000023841857910	9
1	1	EK2_ALT_M_NSE	3.000000000000000000	9
1	1	EK2_ALT_SOURCE	0	2
1	1	EK2_BCN_DELAY	50	2
1	1	EK2_BCN_I_GTE	500	4
1	1	EK2_BCN_M_NSE	1.000000000000000000	9
1	1	EK2_CHECK_SCALE	150	4
1	1	EK2_EAS_I_GATE	400	4
1	1	EK2_EAS_M_NSE	1.399999976158142090	9
1	1	EK2_ENABLE	1	2
1	1	EK2_FLOW_DELAY	10	2
1	1	EK2_FLOW_I_GATE	500	4
1	1	EK2_FLOW_M_NSE	0.150000005960464478	9
1	1	EK2_FLOW_USE	2	2
1	1	EK2_GBIAS_P_NSE	0.000099999997473788	9
1	1	EK2_GLITCH_RAD	25	2
1	1	EK2_GPS_CHECK	31	2
1	1	EK2_GPS_TYPE	0	2
1	1	EK2_GSCL_P_NSE	0.000500000023748726	9
1	1	EK2_GSF_RST_MAX	2	2
1	1	EK2_GSF_RUN_MASK	3	2
1	1	EK2_GSF_USE_MASK	3	2
1	1	EK2_GYRO_P_NSE	0.029999999329447746	9
1	1	EK2_HGT_DELAY	60	4
1	1	EK2_HGT_I_GATE	500	4
1	1	EK2_HRT_FILT	2.000000000000000000	9
1	1	EK2_IMU_MASK	3	2
1	1	EK2_MAGB_P_NSE	0.000099999997473788	9
1	1	EK2_MAGE_P_NSE	0.001000000047497451	9
1	1	EK2_MAG_CAL	0	2
1	1	EK2_MAG_EF_LIM	50	4
1	1	EK2_MAG_I_GATE	300	4
1	1	EK2_MAG_MASK	0	2
1	1	EK2_MAG_M_NSE	0.050000000745058060	9
1	1	EK2_MAX_FLOW	2.500000000000000000	9
1	1	EK2_NOAID_M_NSE	10.000000000000000000	9
1	1	EK2_OGN_HGT_MASK	0	2
1	1	EK2_POSNE_M_NSE	1.000000000000000000	9
1	1	EK2_POS_I_GATE	500	4
1	1	EK2_RNG_I_GATE	500	4
1	1	EK2_RNG_M_NSE	0.500000000000000000	9
1	1	EK2_RNG_USE_HGT	-1	2
1	1	EK2_RNG_USE_SPD	2.000000000000000000	9
1	1	EK2_TAU_OUTPUT	25	2
1	1	EK2_TERR_GRAD	0.100000001490116119	9
1	1	EK2_VELD_M_NSE	0.699999988079071045	9
1	1	EK2_VELNE_M_NSE	0.500000000000000000	9
1	1	EK2_VEL_I_GATE	500	4
1	1	EK2_WIND_PSCALE	0.500000000000000000	9
1	1	EK2_WIND_P_NSE	0.100000001490116119	9
1	1	EK2_YAW_I_GATE	300	4
1	1	EK2_YAW_M_NSE	0.500000000000000000	9
1	1	EK3_ABIAS_P_NSE	0.003000000026077032	9
1	1	EK3_ACC_BIAS_LIM	1.000000000000000000	9
1	1	EK3_ACC_P_NSE	0.349999994039535522	9
1	1	EK3_AFFINITY	0	6
1	1	EK3_ALT_M_NSE	3.000000000000000000	9
1	1	EK3_BCN_DELAY	50	2
1	1	EK3_BCN_I_GTE	500	4
1	1	EK3_BCN_M_NSE	1.000000000000000000	9
1	1	EK3_BETA_MASK	0	2
1	1	EK3_CHECK_SCALE	150	4
1	1	EK3_DRAG_BCOEF_X	29.780000686645507813	9
1	1	EK3_DRAG_BCOEF_Y	65.110000610351562500	9
1	1	EK3_DRAG_MCOEF	0.100000001490116119	9
1	1	EK3_DRAG_M_NSE	0.500000000000000000	9
1	1	EK3_EAS_I_GATE	400	4
1	1	EK3_EAS_M_NSE	1.399999976158142090	9
1	1	EK3_ENABLE	1	2
1	1	EK3_ERR_THRESH	0.200000002980232239	9
1	1	EK3_FLOW_DELAY	10	2
1	1	EK3_FLOW_I_GATE	500	4
1	1	EK3_FLOW_M_NSE	0.150000005960464478	9
1	1	EK3_FLOW_USE	2	2
1	1	EK3_GBIAS_P_NSE	0.001000000047497451	9
1	1	EK3_GLITCH_RAD	25	2
1	1	EK3_GND_EFF_DZ	4.000000000000000000	9
1	1	EK3_GPS_CHECK	31	2
1	1	EK3_GPS_VACC_MAX	0.000000000000000000	9
1	1	EK3_GSF_RST_MAX	2	2
1	1	EK3_GSF_RUN_MASK	3	2
1	1	EK3_GSF_USE_MASK	3	2
1	1	EK3_GYRO_P_NSE	0.014999999664723873	9
1	1	EK3_HGT_DELAY	60	4
1	1	EK3_HGT_I_GATE	500	4
1	1	EK3_HRT_FILT	2.000000000000000000	9
1	1	EK3_IMU_MASK	3	2
1	1	EK3_LOG_LEVEL	0	2
1	1	EK3_MAGB_P_NSE	0.000099999997473788	9
1	1	EK3_MAGE_P_NSE	0.001000000047497451	9
1	1	EK3_MAG_CAL	0	2
1	1	EK3_MAG_EF_LIM	50	4
1	1	EK3_MAG_I_GATE	300	4
1	1	EK3_MAG_MASK	0	2
1	1	EK3_MAG_M_NSE	0.050000000745058060	9
1	1	EK3_MAX_FLOW	2.500000000000000000	9
1	1	EK3_NOAID_M_NSE	10.000000000000000000	9
1	1	EK3_OGNM_TEST_SF	2.000000000000000000	9
1	1	EK3_OGN_HGT_MASK	0	2
1	1	EK3_POSNE_M_NSE	0.500000000000000000	9
1	1	EK3_POS_I_GATE	500	4
1	1	EK3_PRIMARY	0	2
1	1	EK3_RNG_I_GATE	500	4
1	1	EK3_RNG_M_NSE	0.500000000000000000	9
1	1	EK3_RNG_USE_HGT	-1	2
1	1	EK3_RNG_USE_SPD	2.000000000000000000	9
1	1	EK3_SRC1_POSXY	3	2
1	1	EK3_SRC1_POSZ	1	2
1	1	EK3_SRC1_VELXY	3	2
1	1	EK3_SRC1_VELZ	3	2
1	1	EK3_SRC1_YAW	1	2
1	1	EK3_SRC2_POSXY	0	2
1	1	EK3_SRC2_POSZ	1	2
1	1	EK3_SRC2_VELXY	0	2
1	1	EK3_SRC2_VELZ	0	2
1	1	EK3_SRC2_YAW	0	2
1	1	EK3_SRC3_POSXY	0	2
1	1	EK3_SRC3_POSZ	1	2
1	1	EK3_SRC3_VELXY	0	2
1	1	EK3_SRC3_VELZ	0	2
1	1	EK3_SRC3_YAW	0	2
1	1	EK3_SRC_OPTIONS	1	4
1	1	EK3_TAU_OUTPUT	25	2
1	1	EK3_TERR_GRAD	0.100000001490116119	9
1	1	EK3_VELD_M_NSE	0.699999988079071045	9
1	1	EK3_VELNE_M_NSE	0.500000000000000000	9
1	1	EK3_VEL_I_GATE	500	4
1	1	EK3_VIS_VERR_MAX	0.899999976158142090	9
1	1	EK3_VIS_VERR_MIN	0.100000001490116119	9
1	1	EK3_WENC_VERR	0.100000001490116119	9
1	1	EK3_WIND_PSCALE	1.000000000000000000	9
1	1	EK3_WIND_P_NSE	0.100000001490116119	9
1	1	EK3_YAW_I_GATE	300	4
1	1	EK3_YAW_M_NSE	0.500000000000000000	9
1	1	ESC_TLM_MAV_OFS	0	2
1	1	FBWB_CLIMB_RATE	2	2
1	1	FBWB_ELEV_REV	0	2
1	1	FENCE_ACTION	1	2
1	1	FENCE_ALT_MAX	100.000000000000000000	9
1	1	FENCE_ALT_MIN	-10.000000000000000000	9
1	1	FENCE_AUTOENABLE	0	2
1	1	FENCE_ENABLE	0	2
1	1	FENCE_MARGIN	2.000000000000000000	9
1	1	FENCE_OPTIONS	1	4
1	1	FENCE_RADIUS	300.000000000000000000	9
1	1	FENCE_RET_ALT	0	4
1	1	FENCE_RET_RALLY	0	2
1	1	FENCE_TOTAL	0	2
1	1	FENCE_TYPE	4	2
1	1	FFT_ENABLE	0	2
1	1	FLAP_1_PERCNT	0	2
1	1	FLAP_1_SPEED	0	2
1	1	FLAP_2_PERCNT	0	2
1	1	FLAP_2_SPEED	0	2
1	1	FLAP_SLEWRATE	75	2
1	1	FLIGHT_OPTIONS	0	6
1	1	FLOW_TYPE	0	2
1	1	FLTMODE1	13	2
1	1	FLTMODE2	5	2
1	1	FLTMODE3	10	2
1	1	FLTMODE4	8	2
1	1	FLTMODE5	11	2
1	1	FLTMODE6	11	2
1	1	FLTMODE_CH	8	2
1	1	FOLL_ENABLE	0	2
1	1	FORMAT_VERSION	13	4
1	1	FRSKY_DNLINK1_ID	20	2
1	1	FRSKY_DNLINK2_ID	7	2
1	1	FRSKY_DNLINK_ID	27	2
1	1	FRSKY_OPTIONS	1	2
1	1	FRSKY_UPLINK_ID	13	2
1	1	FS_EKF_THRESH	0.800000011920928955	9
1	1	FS_GCS_ENABL	0	2
1	1	FS_LONG_ACTN	1	2
1	1	FS_LONG_TIMEOUT	3.000000000000000000	9
1	1	FS_SHORT_ACTN	3	2
1	1	FS_SHORT_TIMEOUT	1.000000000000000000	9
1	1	FWD_BAT_IDX	0	2
1	1	FWD_BAT_VOLT_MAX	0.000000000000000000	9
1	1	FWD_BAT_VOLT_MIN	0.000000000000000000	9
1	1	GCS_PID_MASK	0	4
1	1	GEN_TYPE	0	2
1	1	GLIDE_SLOPE_MIN	15	4
1	1	GLIDE_SLOPE_THR	5.000000000000000000	9
1	1	GPS1_CAN_OVRIDE	0	6
1	1	GPS2_CAN_OVRIDE	0	6
1	1	GPS_AUTO_CONFIG	1	2
1	1	GPS_AUTO_SWITCH	1	2
1	1	GPS_BLEND_MASK	5	2
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1	1	GPS_DELAY_MS2	0	4
1	1	GPS_DRV_OPTIONS	0	4
1	1	GPS_GNSS_MODE	0	2
1	1	GPS_GNSS_MODE2	0	2
1	1	GPS_INJECT_TO	127	2
1	1	GPS_MB1_TYPE	0	2
1	1	GPS_MB2_TYPE	0	2
1	1	GPS_MIN_DGPS	100	2
1	1	GPS_MIN_ELEV	-100	2
1	1	GPS_NAVFILTER	8	2
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1	1	GPS_RATE_MS	200	4
1	1	GPS_RATE_MS2	200	4
1	1	GPS_RAW_DATA	0	2
1	1	GPS_SAVE_CFG	2	2
1	1	GPS_SBAS_MODE	2	2
1	1	GPS_SBP_LOGMASK	-256	4
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1	1	GPS_TYPE2	0	2
1	1	GRIP_ENABLE	0	2
1	1	GROUND_STEER_ALT	0.000000000000000000	9
1	1	GROUND_STEER_DPS	90	4
1	1	GUIDED_D	0.000000000000000000	9
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1	1	ICE_ENABLE	0	2
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1	1	INS_ACC1_CALTEMP	41.908214569091796875	9
1	1	INS_ACC2OFFS_X	-0.120496779680252075	9
1	1	INS_ACC2OFFS_Y	-0.041388750076293945	9
1	1	INS_ACC2OFFS_Z	-0.154453352093696594	9
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1	1	INS_ACC2SCAL_Y	0.996289253234863281	9
1	1	INS_ACC2SCAL_Z	0.991433084011077881	9
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1	1	INS_ACCOFFS_X	-0.022392701357603073	9
1	1	INS_ACCOFFS_Y	0.003939248155802488	9
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1	1	INS_ACC_ID	3473698	6
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1	1	INS_GYR2OFFS_X	0.001583886449225247	9
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1	1	INS_GYR_ID	3473698	6
1	1	INS_HNTC2_ENABLE	0	2
1	1	INS_HNTCH_ENABLE	0	2
1	1	INS_LOG_BAT_CNT	1024	4
1	1	INS_LOG_BAT_LGCT	32	4
1	1	INS_LOG_BAT_LGIN	20	2
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1	1	LAND_TYPE	0	2
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1	1	LIM_PITCH_MAX	2000	4
1	1	LIM_PITCH_MIN	-2500	4
1	1	LIM_ROLL_CD	4500	4
1	1	LOG_BACKEND_TYPE	0	2
1	1	LOG_BITMASK	0	6
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1	1	LOG_FILE_BUFSIZE	200	4
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1	1	RC13_MAX	2000	4
1	1	RC13_MIN	1000	4
1	1	RC13_OPTION	0	4
1	1	RC13_REVERSED	0	2
1	1	RC13_TRIM	1500	4
1	1	RC14_DZ	0	4
1	1	RC14_MAX	2000	4
1	1	RC14_MIN	1000	4
1	1	RC14_OPTION	0	4
1	1	RC14_REVERSED	0	2
1	1	RC14_TRIM	1500	4
1	1	RC15_DZ	0	4
1	1	RC15_MAX	2000	4
1	1	RC15_MIN	1000	4
1	1	RC15_OPTION	0	4
1	1	RC15_REVERSED	0	2
1	1	RC15_TRIM	1500	4
1	1	RC16_DZ	0	4
1	1	RC16_MAX	2000	4
1	1	RC16_MIN	1000	4
1	1	RC16_OPTION	0	4
1	1	RC16_REVERSED	0	2
1	1	RC16_TRIM	1500	4
1	1	RC1_DZ	30	4
1	1	RC1_MAX	1987	4
1	1	RC1_MIN	993	4
1	1	RC1_OPTION	0	4
1	1	RC1_REVERSED	0	2
1	1	RC1_TRIM	1500	4
1	1	RC2_DZ	30	4
1	1	RC2_MAX	2010	4
1	1	RC2_MIN	988	4
1	1	RC2_OPTION	0	4
1	1	RC2_REVERSED	0	2
1	1	RC2_TRIM	988	4
1	1	RC3_DZ	30	4
1	1	RC3_MAX	1998	4
1	1	RC3_MIN	987	4
1	1	RC3_OPTION	0	4
1	1	RC3_REVERSED	0	2
1	1	RC3_TRIM	1500	4
1	1	RC4_DZ	30	4
1	1	RC4_MAX	2010	4
1	1	RC4_MIN	987	4
1	1	RC4_OPTION	0	4
1	1	RC4_REVERSED	0	2
1	1	RC4_TRIM	1500	4
1	1	RC5_DZ	0	4
1	1	RC5_MAX	2000	4
1	1	RC5_MIN	1000	4
1	1	RC5_OPTION	0	4
1	1	RC5_REVERSED	0	2
1	1	RC5_TRIM	1500	4
1	1	RC6_DZ	0	4
1	1	RC6_MAX	2010	4
1	1	RC6_MIN	987	4
1	1	RC6_OPTION	153	4
1	1	RC6_REVERSED	0	2
1	1	RC6_TRIM	1498	4
1	1	RC7_DZ	0	4
1	1	RC7_MAX	2000	4
1	1	RC7_MIN	1000	4
1	1	RC7_OPTION	65	4
1	1	RC7_REVERSED	0	2
1	1	RC7_TRIM	1500	4
1	1	RC8_DZ	0	4
1	1	RC8_MAX	2000	4
1	1	RC8_MIN	1000	4
1	1	RC8_OPTION	0	4
1	1	RC8_REVERSED	0	2
1	1	RC8_TRIM	1500	4
1	1	RC9_DZ	0	4
1	1	RC9_MAX	2000	4
1	1	RC9_MIN	1000	4
1	1	RC9_OPTION	30	4
1	1	RC9_REVERSED	0	2
1	1	RC9_TRIM	1500	4
1	1	RCMAP_PITCH	3	2
1	1	RCMAP_ROLL	1	2
1	1	RCMAP_THROTTLE	2	2
1	1	RCMAP_YAW	4	2
1	1	RC_OPTIONS	288	6
1	1	RC_OVERRIDE_TIME	3.000000000000000000	9
1	1	RC_PROTOCOLS	1	6
1	1	RELAY_DEFAULT	0	2
1	1	RELAY_PIN	-1	2
1	1	RELAY_PIN2	81	2
1	1	RELAY_PIN3	-1	2
1	1	RELAY_PIN4	-1	2
1	1	RELAY_PIN5	-1	2
1	1	RELAY_PIN6	-1	2
1	1	RLL2SRV_RMAX	75	4
1	1	RLL2SRV_TCONST	0.500000000000000000	9
1	1	RLL_RATE_D	0.014681764878332615	9
1	1	RLL_RATE_FF	0.405335575342178345	9
1	1	RLL_RATE_FLTD	10.000000000000000000	9
1	1	RLL_RATE_FLTE	0.000000000000000000	9
1	1	RLL_RATE_FLTT	3.183098793029785156	9
1	1	RLL_RATE_I	0.146867856383323669	9
1	1	RLL_RATE_IMAX	0.666000008583068848	9
1	1	RLL_RATE_P	0.146867856383323669	9
1	1	RLL_RATE_SMAX	150.000000000000000000	9
1	1	RNGFND1_TYPE	0	2
1	1	RNGFND2_TYPE	0	2
1	1	RNGFND3_TYPE	0	2
1	1	RNGFND4_TYPE	0	2
1	1	RNGFND5_TYPE	0	2
1	1	RNGFND6_TYPE	0	2
1	1	RNGFND7_TYPE	0	2
1	1	RNGFND8_TYPE	0	2
1	1	RNGFND9_TYPE	0	2
1	1	RNGFNDA_TYPE	0	2
1	1	RNGFND_LANDING	0	2
1	1	RPM1_TYPE	0	2
1	1	RPM2_TYPE	0	2
1	1	RSSI_ANA_PIN	8	2
1	1	RSSI_CHANNEL	0	2
1	1	RSSI_CHAN_HIGH	2000	4
1	1	RSSI_CHAN_LOW	1000	4
1	1	RSSI_PIN_HIGH	5.000000000000000000	9
1	1	RSSI_PIN_LOW	0.000000000000000000	9
1	1	RSSI_TYPE	3	2
1	1	RTL_AUTOLAND	1	2
1	1	RTL_CLIMB_MIN	0	4
1	1	RTL_RADIUS	100	4
1	1	RUDDER_ONLY	0	2
1	1	RUDD_DT_GAIN	10	2
1	1	SCALING_SPEED	15.000000000000000000	9
1	1	SCHED_DEBUG	0	2
1	1	SCHED_LOOP_RATE	50	4
1	1	SCHED_OPTIONS	0	2
1	1	SCR_ENABLE	0	2
1	1	SERIAL0_BAUD	115	6
1	1	SERIAL0_PROTOCOL	2	2
1	1	SERIAL1_BAUD	57	6
1	1	SERIAL1_OPTIONS	0	4
1	1	SERIAL1_PROTOCOL	23	2
1	1	SERIAL2_BAUD	57	6
1	1	SERIAL2_OPTIONS	0	4
1	1	SERIAL2_PROTOCOL	2	2
1	1	SERIAL3_BAUD	38	6
1	1	SERIAL3_OPTIONS	0	4
1	1	SERIAL3_PROTOCOL	5	2
1	1	SERIAL4_BAUD	38	6
1	1	SERIAL4_OPTIONS	0	4
1	1	SERIAL4_PROTOCOL	5	2
1	1	SERIAL5_BAUD	4	6
1	1	SERIAL5_OPTIONS	0	4
1	1	SERIAL5_PROTOCOL	37	2
1	1	SERIAL6_BAUD	115	6
1	1	SERIAL6_OPTIONS	0	4
1	1	SERIAL6_PROTOCOL	2	2
1	1	SERIAL7_BAUD	256	6
1	1	SERIAL7_OPTIONS	0	4
1	1	SERIAL7_PROTOCOL	23	2
1	1	SERIAL8_BAUD	115200	6
1	1	SERIAL8_OPTIONS	0	4
1	1	SERIAL8_PROTOCOL	22	2
1	1	SERIAL_PASS1	0	2
1	1	SERIAL_PASS2	-1	2
1	1	SERIAL_PASSTIMO	15	2
1	1	SERVO10_FUNCTION	0	4
1	1	SERVO10_MAX	1900	4
1	1	SERVO10_MIN	1100	4
1	1	SERVO10_REVERSED	0	2
1	1	SERVO10_TRIM	1500	4
1	1	SERVO11_FUNCTION	0	4
1	1	SERVO11_MAX	1900	4
1	1	SERVO11_MIN	1100	4
1	1	SERVO11_REVERSED	0	2
1	1	SERVO11_TRIM	1500	4
1	1	SERVO12_FUNCTION	0	4
1	1	SERVO12_MAX	1900	4
1	1	SERVO12_MIN	1100	4
1	1	SERVO12_REVERSED	0	2
1	1	SERVO12_TRIM	1500	4
1	1	SERVO13_FUNCTION	0	4
1	1	SERVO13_MAX	1900	4
1	1	SERVO13_MIN	1100	4
1	1	SERVO13_REVERSED	0	2
1	1	SERVO13_TRIM	1500	4
1	1	SERVO14_FUNCTION	0	4
1	1	SERVO14_MAX	1900	4
1	1	SERVO14_MIN	1100	4
1	1	SERVO14_REVERSED	0	2
1	1	SERVO14_TRIM	1500	4
1	1	SERVO15_FUNCTION	0	4
1	1	SERVO15_MAX	1900	4
1	1	SERVO15_MIN	1100	4
1	1	SERVO15_REVERSED	0	2
1	1	SERVO15_TRIM	1500	4
1	1	SERVO16_FUNCTION	0	4
1	1	SERVO16_MAX	1900	4
1	1	SERVO16_MIN	1100	4
1	1	SERVO16_REVERSED	0	2
1	1	SERVO16_TRIM	1500	4
1	1	SERVO1_FUNCTION	70	4
1	1	SERVO1_MAX	2000	4
1	1	SERVO1_MIN	1000	4
1	1	SERVO1_REVERSED	0	2
1	1	SERVO1_TRIM	1000	4
1	1	SERVO2_FUNCTION	77	4
1	1	SERVO2_MAX	1900	4
1	1	SERVO2_MIN	1100	4
1	1	SERVO2_REVERSED	0	2
1	1	SERVO2_TRIM	1575	4
1	1	SERVO3_FUNCTION	78	4
1	1	SERVO3_MAX	1900	4
1	1	SERVO3_MIN	1100	4
1	1	SERVO3_REVERSED	1	2
1	1	SERVO3_TRIM	1467	4
1	1	SERVO4_FUNCTION	8	4
1	1	SERVO4_MAX	1900	4
1	1	SERVO4_MIN	1100	4
1	1	SERVO4_REVERSED	1	2
1	1	SERVO4_TRIM	1500	4
1	1	SERVO5_FUNCTION	7	4
1	1	SERVO5_MAX	1900	4
1	1	SERVO5_MIN	1100	4
1	1	SERVO5_REVERSED	1	2
1	1	SERVO5_TRIM	1500	4
1	1	SERVO6_FUNCTION	0	4
1	1	SERVO6_MAX	1900	4
1	1	SERVO6_MIN	1100	4
1	1	SERVO6_REVERSED	0	2
1	1	SERVO6_TRIM	1500	4
1	1	SERVO7_FUNCTION	0	4
1	1	SERVO7_MAX	1900	4
1	1	SERVO7_MIN	1100	4
1	1	SERVO7_REVERSED	0	2
1	1	SERVO7_TRIM	1500	4
1	1	SERVO8_FUNCTION	0	4
1	1	SERVO8_MAX	1900	4
1	1	SERVO8_MIN	1100	4
1	1	SERVO8_REVERSED	0	2
1	1	SERVO8_TRIM	1500	4
1	1	SERVO9_FUNCTION	0	4
1	1	SERVO9_MAX	1900	4
1	1	SERVO9_MIN	1100	4
1	1	SERVO9_REVERSED	0	2
1	1	SERVO9_TRIM	1500	4
1	1	SERVO_32_ENABLE	0	2
1	1	SERVO_AUTO_TRIM	1	2
1	1	SERVO_BLH_3DMASK	0	6
1	1	SERVO_BLH_AUTO	0	2
1	1	SERVO_BLH_DEBUG	0	2
1	1	SERVO_BLH_MASK	0	6
1	1	SERVO_BLH_OTYPE	0	2
1	1	SERVO_BLH_POLES	14	2
1	1	SERVO_BLH_PORT	0	2
1	1	SERVO_BLH_RVMASK	0	6
1	1	SERVO_BLH_TEST	0	2
1	1	SERVO_BLH_TMOUT	0	4
1	1	SERVO_BLH_TRATE	10	4
1	1	SERVO_DSHOT_ESC	0	2
1	1	SERVO_DSHOT_RATE	0	2
1	1	SERVO_FTW_MASK	0	6
1	1	SERVO_FTW_POLES	14	2
1	1	SERVO_FTW_RVMASK	0	6
1	1	SERVO_GPIO_MASK	0	6
1	1	SERVO_RATE	50	4
1	1	SERVO_ROB_POSMAX	4095	6
1	1	SERVO_ROB_POSMIN	0	6
1	1	SERVO_SBUS_RATE	50	4
1	1	SERVO_VOLZ_MASK	0	6
1	1	SOAR_ENABLE	0	2
1	1	SR0_ADSB	5	4
1	1	SR0_EXTRA1	10	4
1	1	SR0_EXTRA2	10	4
1	1	SR0_EXTRA3	3	4
1	1	SR0_EXT_STAT	2	4
1	1	SR0_PARAMS	10	4
1	1	SR0_POSITION	3	4
1	1	SR0_RAW_CTRL	1	4
1	1	SR0_RAW_SENS	2	4
1	1	SR0_RC_CHAN	2	4
1	1	SR1_ADSB	5	4
1	1	SR1_EXTRA1	1	4
1	1	SR1_EXTRA2	1	4
1	1	SR1_EXTRA3	1	4
1	1	SR1_EXT_STAT	1	4
1	1	SR1_PARAMS	10	4
1	1	SR1_POSITION	1	4
1	1	SR1_RAW_CTRL	1	4
1	1	SR1_RAW_SENS	1	4
1	1	SR1_RC_CHAN	1	4
1	1	SR2_ADSB	5	4
1	1	SR2_EXTRA1	1	4
1	1	SR2_EXTRA2	1	4
1	1	SR2_EXTRA3	1	4
1	1	SR2_EXT_STAT	1	4
1	1	SR2_PARAMS	10	4
1	1	SR2_POSITION	1	4
1	1	SR2_RAW_CTRL	1	4
1	1	SR2_RAW_SENS	1	4
1	1	SR2_RC_CHAN	1	4
1	1	SR3_ADSB	5	4
1	1	SR3_EXTRA1	10	4
1	1	SR3_EXTRA2	10	4
1	1	SR3_EXTRA3	3	4
1	1	SR3_EXT_STAT	2	4
1	1	SR3_PARAMS	10	4
1	1	SR3_POSITION	3	4
1	1	SR3_RAW_CTRL	1	4
1	1	SR3_RAW_SENS	2	4
1	1	SR3_RC_CHAN	2	4
1	1	SR4_ADSB	5	4
1	1	SR4_EXTRA1	1	4
1	1	SR4_EXTRA2	1	4
1	1	SR4_EXTRA3	1	4
1	1	SR4_EXT_STAT	1	4
1	1	SR4_PARAMS	10	4
1	1	SR4_POSITION	1	4
1	1	SR4_RAW_CTRL	1	4
1	1	SR4_RAW_SENS	1	4
1	1	SR4_RC_CHAN	1	4
1	1	STAB_PITCH_DOWN	2.000000000000000000	9
1	1	STALL_PREVENTION	1	2
1	1	STAT_BOOTCNT	295	4
1	1	STAT_FLTTIME	19610	6
1	1	STAT_RESET	207051360	6
1	1	STAT_RUNTIME	144408	6
1	1	STEER2SRV_D	0.004999999888241291	9
1	1	STEER2SRV_DRTFCT	10.000000000000000000	9
1	1	STEER2SRV_DRTMIN	4500.000000000000000000	9
1	1	STEER2SRV_DRTSPD	0.000000000000000000	9
1	1	STEER2SRV_FF	0.000000000000000000	9
1	1	STEER2SRV_I	0.200000002980232239	9
1	1	STEER2SRV_IMAX	1500	4
1	1	STEER2SRV_MINSPD	1.000000000000000000	9
1	1	STEER2SRV_P	1.799999952316284180	9
1	1	STEER2SRV_TCONST	0.750000000000000000	9
1	1	STICK_MIXING	1	2
1	1	SYSID_ENFORCE	0	2
1	1	SYSID_MYGCS	255	4
1	1	SYSID_THISMAV	1	4
1	1	SYS_NUM_RESETS	328	4
1	1	TECS_APPR_SMAX	0.000000000000000000	9
1	1	TECS_CLMB_MAX	5.000000000000000000	9
1	1	TECS_HGT_OMEGA	3.000000000000000000	9
1	1	TECS_INTEG_GAIN	0.100000001490116119	9
1	1	TECS_LAND_ARSPD	-1.000000000000000000	9
1	1	TECS_LAND_DAMP	0.500000000000000000	9
1	1	TECS_LAND_IGAIN	0.000000000000000000	9
1	1	TECS_LAND_PDAMP	0.000000000000000000	9
1	1	TECS_LAND_PMAX	10	2
1	1	TECS_LAND_SINK	0.250000000000000000	9
1	1	TECS_LAND_SPDWGT	-1.000000000000000000	9
1	1	TECS_LAND_SRC	0.000000000000000000	9
1	1	TECS_LAND_TCONST	2.000000000000000000	9
1	1	TECS_LAND_TDAMP	0.000000000000000000	9
1	1	TECS_LAND_THR	-1.000000000000000000	9
1	1	TECS_OPTIONS	0	6
1	1	TECS_PITCH_MAX	15	2
1	1	TECS_PITCH_MIN	0	2
1	1	TECS_PTCH_DAMP	0.000000000000000000	9
1	1	TECS_PTCH_FF_K	0.000000000000000000	9
1	1	TECS_PTCH_FF_V0	12.000000000000000000	9
1	1	TECS_RLL2THR	10.000000000000000000	9
1	1	TECS_SINK_MAX	5.000000000000000000	9
1	1	TECS_SINK_MIN	2.000000000000000000	9
1	1	TECS_SPDWEIGHT	1.000000000000000000	9
1	1	TECS_SPD_OMEGA	2.000000000000000000	9
1	1	TECS_SYNAIRSPEED	0	2
1	1	TECS_THR_DAMP	0.500000000000000000	9
1	1	TECS_TIME_CONST	5.000000000000000000	9
1	1	TECS_TKOFF_IGAIN	0.000000000000000000	9
1	1	TECS_VERT_ACC	7.000000000000000000	9
1	1	TELEM_DELAY	0	2
1	1	TERRAIN_ENABLE	1	2
1	1	TERRAIN_FOLLOW	152	6
1	1	TERRAIN_LOOKAHD	2000	4
1	1	TERRAIN_MARGIN	0.050000000745058060	9
1	1	TERRAIN_OFS_MAX	15.000000000000000000	9
1	1	TERRAIN_OPTIONS	0	4
1	1	TERRAIN_SPACING	30	4
1	1	THROTTLE_NUDGE	1	2
1	1	THR_FAILSAFE	1	2
1	1	THR_FS_VALUE	950	4
1	1	THR_MAX	100	2
1	1	THR_MIN	0	2
1	1	THR_PASS_STAB	0	2
1	1	THR_SLEWRATE	100	2
1	1	THR_SUPP_MAN	0	2
1	1	TKOFF_ACCEL_CNT	1	2
1	1	TKOFF_ALT	50	4
1	1	TKOFF_DIST	200	4
1	1	TKOFF_FLAP_PCNT	0	2
1	1	TKOFF_LVL_ALT	20	4
1	1	TKOFF_LVL_PITCH	15	2
1	1	TKOFF_PLIM_SEC	2.000000000000000000	9
1	1	TKOFF_ROTATE_SPD	0.000000000000000000	9
1	1	TKOFF_TDRAG_ELEV	0	2
1	1	TKOFF_TDRAG_SPD1	0.000000000000000000	9
1	1	TKOFF_THR_DELAY	2	2
1	1	TKOFF_THR_MAX	0	2
1	1	TKOFF_THR_MINACC	0.300000011920928955	9
1	1	TKOFF_THR_MINSPD	0.300000011920928955	9
1	1	TKOFF_THR_SLEW	0	2
1	1	TKOFF_TIMEOUT	0	2
1	1	TRIM_ARSPD_CM	1200	6
1	1	TRIM_PITCH_CD	0	4
1	1	TRIM_THROTTLE	45	2
1	1	TUNE_CHAN	0	2
1	1	TUNE_CHAN_MAX	2000	4
1	1	TUNE_CHAN_MIN	1000	4
1	1	TUNE_ERR_THRESH	0.150000005960464478	9
1	1	TUNE_MODE_REVERT	1	2
1	1	TUNE_PARAM	0	4
1	1	TUNE_RANGE	2.000000000000000000	9
1	1	TUNE_SELECTOR	0	2
1	1	USE_REV_THRUST	2	6
1	1	VISO_TYPE	0	2
1	1	VTX_BAND	4	2
1	1	VTX_CHANNEL	7	2
1	1	VTX_ENABLE	1	2
1	1	VTX_FREQ	5917	4
1	1	VTX_MAX_POWER	1000	4
1	1	VTX_OPTIONS	13	4
1	1	VTX_POWER	1585	4
1	1	WP_LOITER_RAD	60	4
1	1	WP_MAX_RADIUS	0	4
1	1	WP_RADIUS	90	4
1	1	YAW2SRV_DAMP	0.000000000000000000	9
1	1	YAW2SRV_IMAX	1500	4
1	1	YAW2SRV_INT	0.000000000000000000	9
1	1	YAW2SRV_RLL	1.000000000000000000	9
1	1	YAW2SRV_SLIP	0.000000000000000000	9
1	1	YAW_RATE_ENABLE	0	2