# Onboard parameters for Vehicle 1 # # Stack: ArduPilot # Vehicle: Multi-Rotor # Version: 4.5.1 # Git Revision: 71a2f169 # # Vehicle-Id Component-Id Name Value Type 1 1 ACRO_BAL_PITCH 1.000000000000000000 9 1 1 ACRO_BAL_ROLL 1.000000000000000000 9 1 1 ACRO_OPTIONS 0 2 1 1 ACRO_RP_EXPO 0.300000011920928955 9 1 1 ACRO_RP_RATE 360.000000000000000000 9 1 1 ACRO_RP_RATE_TC 0.000000000000000000 9 1 1 ACRO_THR_MID 0.000000000000000000 9 1 1 ACRO_TRAINER 2 2 1 1 ACRO_Y_EXPO 0.000000000000000000 9 1 1 ACRO_Y_RATE 202.500000000000000000 9 1 1 ACRO_Y_RATE_TC 0.000000000000000000 9 1 1 ADSB_TYPE 0 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_OPTIONS 0 4 1 1 AHRS_ORIENTATION 0 2 1 1 AHRS_RP_P 0.200000002980232239 9 1 1 AHRS_TRIM_X -0.006616640836000443 9 1 1 AHRS_TRIM_Y -0.001888973987661302 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 ANGLE_MAX 3000 4 1 1 ARMING_ACCTHRESH 0.750000000000000000 9 1 1 ARMING_CHECK 1 6 1 1 ARMING_MAGTHRESH 100 4 1 1 ARMING_MIS_ITEMS 0 6 1 1 ARMING_OPTIONS 0 6 1 1 ARMING_RUDDER 2 2 1 1 ARSPD_ENABLE 0 2 1 1 ATC_ACCEL_P_MAX 116700.000000000000000000 9 1 1 ATC_ACCEL_R_MAX 116700.000000000000000000 9 1 1 ATC_ACCEL_Y_MAX 27000.000000000000000000 9 1 1 ATC_ANGLE_BOOST 1 2 1 1 ATC_ANG_LIM_TC 1.000000000000000000 9 1 1 ATC_ANG_PIT_P 4.500000000000000000 9 1 1 ATC_ANG_RLL_P 4.500000000000000000 9 1 1 ATC_ANG_YAW_P 4.500000000000000000 9 1 1 ATC_INPUT_TC 0.150000005960464478 9 1 1 ATC_RATE_FF_ENAB 1 2 1 1 ATC_RATE_P_MAX 0.000000000000000000 9 1 1 ATC_RATE_R_MAX 0.000000000000000000 9 1 1 ATC_RATE_Y_MAX 0.000000000000000000 9 1 1 ATC_RAT_PIT_D 0.003599999938160181 9 1 1 ATC_RAT_PIT_D_FF 0.000000000000000000 9 1 1 ATC_RAT_PIT_FF 0.000000000000000000 9 1 1 ATC_RAT_PIT_FLTD 21.000000000000000000 9 1 1 ATC_RAT_PIT_FLTE 0.000000000000000000 9 1 1 ATC_RAT_PIT_FLTT 21.000000000000000000 9 1 1 ATC_RAT_PIT_I 0.250000000000000000 9 1 1 ATC_RAT_PIT_IMAX 0.500000000000000000 9 1 1 ATC_RAT_PIT_NEF 0 2 1 1 ATC_RAT_PIT_NTF 0 2 1 1 ATC_RAT_PIT_P 0.250000000000000000 9 1 1 ATC_RAT_PIT_PDMX 0.000000000000000000 9 1 1 ATC_RAT_PIT_SMAX 0.000000000000000000 9 1 1 ATC_RAT_RLL_D 0.003599999938160181 9 1 1 ATC_RAT_RLL_D_FF 0.000000000000000000 9 1 1 ATC_RAT_RLL_FF 0.000000000000000000 9 1 1 ATC_RAT_RLL_FLTD 21.000000000000000000 9 1 1 ATC_RAT_RLL_FLTE 0.000000000000000000 9 1 1 ATC_RAT_RLL_FLTT 21.000000000000000000 9 1 1 ATC_RAT_RLL_I 0.250000000000000000 9 1 1 ATC_RAT_RLL_IMAX 0.500000000000000000 9 1 1 ATC_RAT_RLL_NEF 0 2 1 1 ATC_RAT_RLL_NTF 0 2 1 1 ATC_RAT_RLL_P 0.250000000000000000 9 1 1 ATC_RAT_RLL_PDMX 0.000000000000000000 9 1 1 ATC_RAT_RLL_SMAX 0.000000000000000000 9 1 1 ATC_RAT_YAW_D 0.000000000000000000 9 1 1 ATC_RAT_YAW_D_FF 0.000000000000000000 9 1 1 ATC_RAT_YAW_FF 0.000000000000000000 9 1 1 ATC_RAT_YAW_FLTD 20.000000000000000000 9 1 1 ATC_RAT_YAW_FLTE 2.000000000000000000 9 1 1 ATC_RAT_YAW_FLTT 21.000000000000000000 9 1 1 ATC_RAT_YAW_I 0.017999999225139618 9 1 1 ATC_RAT_YAW_IMAX 0.500000000000000000 9 1 1 ATC_RAT_YAW_NEF 0 2 1 1 ATC_RAT_YAW_NTF 0 2 1 1 ATC_RAT_YAW_P 0.180000007152557373 9 1 1 ATC_RAT_YAW_PDMX 0.000000000000000000 9 1 1 ATC_RAT_YAW_SMAX 0.000000000000000000 9 1 1 ATC_SLEW_YAW 6000.000000000000000000 9 1 1 ATC_THR_G_BOOST 0.000000000000000000 9 1 1 ATC_THR_MIX_MAN 0.500000000000000000 9 1 1 ATC_THR_MIX_MAX 0.500000000000000000 9 1 1 ATC_THR_MIX_MIN 0.100000001490116119 9 1 1 AUTOTUNE_AGGR 0.100000001490116119 9 1 1 AUTOTUNE_AXES 7 2 1 1 AUTOTUNE_MIN_D 0.001000000047497451 9 1 1 AUTO_OPTIONS 0 6 1 1 AVD_ENABLE 0 2 1 1 AVOID_ACCEL_MAX 3.000000000000000000 9 1 1 AVOID_ALT_MIN 0.000000000000000000 9 1 1 AVOID_ANGLE_MAX 1000 4 1 1 AVOID_BACKUP_DZ 0.100000001490116119 9 1 1 AVOID_BACKUP_SPD 0.750000000000000000 9 1 1 AVOID_BEHAVE 0 2 1 1 AVOID_DIST_MAX 5.000000000000000000 9 1 1 AVOID_ENABLE 3 2 1 1 AVOID_MARGIN 2.000000000000000000 9 1 1 BARO1_DEVID 751361 6 1 1 BARO1_GND_PRESS 102867.375000000000000000 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_ALTERR_MAX 2000.000000000000000000 9 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_OPTIONS 0 4 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 36.363998413085937500 9 1 1 BATT_ARM_MAH 0 6 1 1 BATT_ARM_VOLT 14.699999809265136719 9 1 1 BATT_CAPACITY 5000 6 1 1 BATT_CRT_MAH 0.000000000000000000 9 1 1 BATT_CRT_VOLT 14.000000000000000000 9 1 1 BATT_CURR_PIN 4 2 1 1 BATT_FS_CRT_ACT 1 2 1 1 BATT_FS_LOW_ACT 2 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 14.199999809265136719 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 18.571128845214843750 9 1 1 BATT_VOLT_PIN 8 2 1 1 BCN_TYPE 0 2 1 1 BRD_BOOT_DELAY 0 4 1 1 BRD_HEAT_I 0.070000000298023224 9 1 1 BRD_HEAT_IMAX 70.000000000000000000 9 1 1 BRD_HEAT_LOWMGN 0 2 1 1 BRD_HEAT_P 50.000000000000000000 9 1 1 BRD_HEAT_TARG 45 2 1 1 BRD_IO_DSHOT 0 2 1 1 BRD_IO_ENABLE 1 2 1 1 BRD_OPTIONS 1 6 1 1 BRD_RTC_TYPES 1 2 1 1 BRD_RTC_TZ_MIN 0 4 1 1 BRD_SAFETYOPTION 3 4 1 1 BRD_SAFETY_DEFLT 1 2 1 1 BRD_SAFETY_MASK 16368 6 1 1 BRD_SBUS_OUT 0 2 1 1 BRD_SD_FENCE 0 4 1 1 BRD_SD_MISSION 0 4 1 1 BRD_SD_SLOWDOWN 0 2 1 1 BRD_SER1_RTSCTS 2 2 1 1 BRD_SER2_RTSCTS 2 2 1 1 BRD_SERIAL_NUM 0 6 1 1 BRD_VBUS_MIN 4.300000190734863281 9 1 1 BRD_VSERVO_MIN 0.000000000000000000 9 1 1 BTN_ENABLE 0 2 1 1 CAM1_TYPE 0 2 1 1 CAM2_TYPE 0 2 1 1 CAM_AUTO_ONLY 0 2 1 1 CAM_MAX_ROLL 0 4 1 1 CAM_RC_TYPE 0 2 1 1 CAN_D1_PROTOCOL 1 2 1 1 CAN_D1_PROTOCOL2 0 2 1 1 CAN_D1_UC_ESC_BM 0 6 1 1 CAN_D1_UC_ESC_OF 0 2 1 1 CAN_D1_UC_ESC_RV 0 6 1 1 CAN_D1_UC_NODE 10 2 1 1 CAN_D1_UC_NTF_RT 20 4 1 1 CAN_D1_UC_OPTION 0 4 1 1 CAN_D1_UC_POOL 16384 4 1 1 CAN_D1_UC_RLY_RT 0 4 1 1 CAN_D1_UC_SER_EN 0 2 1 1 CAN_D1_UC_SRV_BM 0 6 1 1 CAN_D1_UC_SRV_RT 50 4 1 1 CAN_D2_PROTOCOL 1 2 1 1 CAN_D2_PROTOCOL2 0 2 1 1 CAN_LOGLEVEL 0 2 1 1 CAN_P1_BITRATE 1000000 6 1 1 CAN_P1_DRIVER 1 2 1 1 CAN_P1_FDBITRATE 4 6 1 1 CAN_P2_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 CIRCLE_OPTIONS 1 4 1 1 CIRCLE_RADIUS 1000.000000000000000000 9 1 1 CIRCLE_RATE 20.000000000000000000 9 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 658953 6 1 1 COMPASS_DEV_ID2 658433 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 1.000000000000000000 9 1 1 COMPASS_DIA2_Y 1.000000000000000000 9 1 1 COMPASS_DIA2_Z 1.000000000000000000 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 1.001073837280273438 9 1 1 COMPASS_DIA_Y 0.974184513092041016 9 1 1 COMPASS_DIA_Z 1.036714911460876465 9 1 1 COMPASS_DISBLMSK 0 6 1 1 COMPASS_ENABLE 1 2 1 1 COMPASS_EXTERN2 0 2 1 1 COMPASS_EXTERN3 0 2 1 1 COMPASS_EXTERNAL 1 2 1 1 COMPASS_FLTR_RNG 0 2 1 1 COMPASS_LEARN 0 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 0.000000000000000000 9 1 1 COMPASS_ODI2_Y 0.000000000000000000 9 1 1 COMPASS_ODI2_Z 0.000000000000000000 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 0.020894914865493774 9 1 1 COMPASS_ODI_Y -0.045901697129011154 9 1 1 COMPASS_ODI_Z -0.123007744550704956 9 1 1 COMPASS_OFFS_MAX 1800 4 1 1 COMPASS_OFS2_X -47.523426055908203125 9 1 1 COMPASS_OFS2_Y -29.372104644775390625 9 1 1 COMPASS_OFS2_Z -37.992015838623046875 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 -15.652669906616210938 9 1 1 COMPASS_OFS_Y 22.056335449218750000 9 1 1 COMPASS_OFS_Z 45.145355224609375000 9 1 1 COMPASS_OPTIONS 0 4 1 1 COMPASS_ORIENT 6 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 658953 6 1 1 COMPASS_PRIO2_ID 658433 6 1 1 COMPASS_PRIO3_ID 0 6 1 1 COMPASS_SCALE 1.047702193260192871 9 1 1 COMPASS_SCALE2 0.000000000000000000 9 1 1 COMPASS_SCALE3 0.000000000000000000 9 1 1 COMPASS_USE 1 2 1 1 COMPASS_USE2 0 2 1 1 COMPASS_USE3 0 2 1 1 CUST_ROT_ENABLE 0 2 1 1 DEV_OPTIONS 0 6 1 1 DISARM_DELAY 10 2 1 1 EAHRS_TYPE 0 2 1 1 EFI_TYPE 0 2 1 1 EK3_ABIAS_P_NSE 0.019999999552965164 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 2.000000000000000000 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 100 4 1 1 EK3_DRAG_BCOEF_X 0.000000000000000000 9 1 1 EK3_DRAG_BCOEF_Y 0.000000000000000000 9 1 1 EK3_DRAG_MCOEF 0.000000000000000000 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 300 4 1 1 EK3_FLOW_M_NSE 0.250000000000000000 9 1 1 EK3_FLOW_USE 1 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 3 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 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