# Onboard parameters for Vehicle 1 # # Stack: ArduPilot # Vehicle: Multi-Rotor # Version: 4.0.7 # Git Revision: 0bb18a1 # # 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_RP_EXPO 0.300000011920928955 9 1 1 ACRO_RP_P 4.500000000000000000 9 1 1 ACRO_THR_MID 0.000000000000000000 9 1 1 ACRO_TRAINER 2 2 1 1 ACRO_YAW_P 1.700000047683715820 9 1 1 ACRO_Y_EXPO 0.000000000000000000 9 1 1 ADSB_EMIT_TYPE 14 2 1 1 ADSB_ENABLE 1 2 1 1 ADSB_ICAO_ID 0 6 1 1 ADSB_ICAO_SPECL 0 6 1 1 ADSB_LEN_WIDTH 1 2 1 1 ADSB_LIST_ALT 0 4 1 1 ADSB_LIST_MAX 25 4 1 1 ADSB_LIST_RADIUS 2000 6 1 1 ADSB_LOG 1 2 1 1 ADSB_OFFSET_LAT 4 2 1 1 ADSB_OFFSET_LON 1 2 1 1 ADSB_RF_CAPABLE 0 2 1 1 ADSB_RF_SELECT 1 2 1 1 ADSB_SQUAWK 1200 4 1 1 AHRS_COMP_BETA 0.100000001490116119 9 1 1 AHRS_CUSTOM_PIT 0.000000000000000000 9 1 1 AHRS_CUSTOM_ROLL 0.000000000000000000 9 1 1 AHRS_CUSTOM_YAW 0.000000000000000000 9 1 1 AHRS_EKF_TYPE 2 2 1 1 AHRS_GPS_GAIN 0.400000005960464478 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 -0.004004346206784248 9 1 1 AHRS_TRIM_Y -0.012087258510291576 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 502 6 1 1 ARMING_MIS_ITEMS 0 6 1 1 ARMING_RUDDER 2 2 1 1 ATC_ACCEL_P_MAX 108000.000000000000000000 9 1 1 ATC_ACCEL_R_MAX 108000.000000000000000000 9 1 1 ATC_ACCEL_Y_MAX 18000.000000000000000000 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 5.500000000000000000 9 1 1 ATC_INPUT_TC -259816713749526526502254363453054517248.000000000000000000 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_FF 0.000000000000000000 9 1 1 ATC_RAT_PIT_FLTD 20.000000000000000000 9 1 1 ATC_RAT_PIT_FLTE 0.000000000000000000 9 1 1 ATC_RAT_PIT_FLTT 20.000000000000000000 9 1 1 ATC_RAT_PIT_I 0.109000004827976227 9 1 1 ATC_RAT_PIT_IMAX 0.500000000000000000 9 1 1 ATC_RAT_PIT_P 0.109000004827976227 9 1 1 ATC_RAT_RLL_D 0.003599999938160181 9 1 1 ATC_RAT_RLL_FF 0.000000000000000000 9 1 1 ATC_RAT_RLL_FLTD 20.000000000000000000 9 1 1 ATC_RAT_RLL_FLTE 0.000000000000000000 9 1 1 ATC_RAT_RLL_FLTT 20.000000000000000000 9 1 1 ATC_RAT_RLL_I 0.109000004827976227 9 1 1 ATC_RAT_RLL_IMAX 0.500000000000000000 9 1 1 ATC_RAT_RLL_P 0.109000004827976227 9 1 1 ATC_RAT_YAW_D 0.000000000000000000 9 1 1 ATC_RAT_YAW_FF 0.000000000000000000 9 1 1 ATC_RAT_YAW_FLTD 0.000000000000000000 9 1 1 ATC_RAT_YAW_FLTE 2.500000000000000000 9 1 1 ATC_RAT_YAW_FLTT 20.000000000000000000 9 1 1 ATC_RAT_YAW_I 0.017999999225139618 9 1 1 ATC_RAT_YAW_IMAX 0.500000000000000000 9 1 1 ATC_RAT_YAW_P 0.600000023841857910 9 1 1 ATC_SLEW_YAW 6000.000000000000000000 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 AVD_ENABLE 0 2 1 1 AVOID_ANGLE_MAX 1000 4 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 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 39.876998901367187500 9 1 1 BATT_ARM_MAH 0 6 1 1 BATT_ARM_VOLT 21.399999618530273438 9 1 1 BATT_BUS 0 2 1 1 BATT_CAPACITY 11600 6 1 1 BATT_CRT_MAH 0.000000000000000000 9 1 1 BATT_CRT_VOLT 20.000000000000000000 9 1 1 BATT_CURR_PIN 15 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 21.600000381469726563 9 1 1 BATT_MONITOR 4 2 1 1 BATT_SERIAL_NUM -1 6 1 1 BATT_VOLT_MULT 15.873209953308105469 9 1 1 BATT_VOLT_PIN 14 2 1 1 BCN_ALT 0.000000000000000000 9 1 1 BCN_LATITUDE 0.000000000000000000 9 1 1 BCN_LONGITUDE 0.000000000000000000 9 1 1 BCN_ORIENT_YAW 0 4 1 1 BCN_TYPE 0 2 1 1 BRD_ALT_CONFIG 0 2 1 1 BRD_BOOT_DELAY 0 4 1 1 BRD_IMUHEAT_I 0.070000000298023224 9 1 1 BRD_IMUHEAT_IMAX 70.000000000000000000 9 1 1 BRD_IMUHEAT_P 50.000000000000000000 9 1 1 BRD_IMU_TARGTEMP 45 2 1 1 BRD_IO_ENABLE 1 2 1 1 BRD_OPTIONS 1 6 1 1 BRD_PWM_COUNT 4 2 1 1 BRD_PWM_VOLT_SEL 1 2 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 16128 6 1 1 BRD_SBUS_OUT 0 2 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 4 1 1 BRD_TYPE 3 2 1 1 BRD_VBUS_MIN 4.300000190734863281 9 1 1 BRD_VSERVO_MIN 0.000000000000000000 9 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_RELAY_ON 0 2 1 1 CAM_SERVO_OFF 1100 4 1 1 CAM_SERVO_ON 1900 4 1 1 CAM_TRIGG_DIST 0.000000000000000000 9 1 1 CAM_TRIGG_TYPE 1 2 1 1 CAM_TYPE 0 2 1 1 CAN_D1_PROTOCOL 1 2 1 1 CAN_D1_UC_ESC_BM 0 6 1 1 CAN_D1_UC_NODE 10 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_P1_BITRATE 1000000 6 1 1 CAN_P1_DRIVER 1 2 1 1 CAN_P2_BITRATE 1000000 6 1 1 CAN_P2_DRIVER 1 2 1 1 CAN_SLCAN_CPORT 1 2 1 1 CAN_SLCAN_SERNUM -1 2 1 1 CAN_SLCAN_TIMOUT 2 4 1 1 CHUTE_ENABLED 0 2 1 1 CIRCLE_CONTROL 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 16.000000000000000000 9 1 1 COMPASS_CUS_PIT 0.000000000000000000 9 1 1 COMPASS_CUS_ROLL 0.000000000000000000 9 1 1 COMPASS_CUS_YAW 0.000000000000000000 9 1 1 COMPASS_DEC 0.071246333420276642 9 1 1 COMPASS_DEV_ID 97539 6 1 1 COMPASS_DEV_ID2 0 6 1 1 COMPASS_DEV_ID3 590114 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 0.000000000000000000 9 1 1 COMPASS_DIA2_Y 0.000000000000000000 9 1 1 COMPASS_DIA2_Z 0.000000000000000000 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 0.960014283657073975 9 1 1 COMPASS_DIA_Y 1.021983981132507324 9 1 1 COMPASS_DIA_Z 1.007109403610229492 9 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 -0.022421250119805336 9 1 1 COMPASS_ODI_Y -0.009907306171953678 9 1 1 COMPASS_ODI_Z -0.002049776259809732 9 1 1 COMPASS_OFFS_MAX 1800 4 1 1 COMPASS_OFS2_X 0.000000000000000000 9 1 1 COMPASS_OFS2_Y 0.000000000000000000 9 1 1 COMPASS_OFS2_Z 0.000000000000000000 9 1 1 COMPASS_OFS3_X 30.902313232421875000 9 1 1 COMPASS_OFS3_Y 169.345977783203125000 9 1 1 COMPASS_OFS3_Z 410.474945068359375000 9 1 1 COMPASS_OFS_X 161.604598999023437500 9 1 1 COMPASS_OFS_Y -128.710510253906250000 9 1 1 COMPASS_OFS_Z 29.807352066040039063 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 97539 6 1 1 COMPASS_PRIO2_ID 590114 6 1 1 COMPASS_PRIO3_ID 590114 6 1 1 COMPASS_SCALE 1.028110265731811523 9 1 1 COMPASS_SCALE2 0.000000000000000000 9 1 1 COMPASS_SCALE3 1.018271088600158691 9 1 1 COMPASS_TYPEMASK 32 6 1 1 COMPASS_USE 1 2 1 1 COMPASS_USE2 1 2 1 1 COMPASS_USE3 0 2 1 1 DEV_OPTIONS 0 6 1 1 DISARM_DELAY 2 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 100 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_EXTNAV_DELAY 10 2 1 1 EK2_FLOW_DELAY 10 2 1 1 EK2_FLOW_I_GATE 300 4 1 1 EK2_FLOW_M_NSE 0.250000000000000000 9 1 1 EK2_FLOW_USE 1 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_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_LOG_MASK 1 2 1 1 EK2_MAGB_P_NSE 0.000099999997473788 9 1 1 EK2_MAGE_P_NSE 0.001000000047497451 9 1 1 EK2_MAG_CAL 3 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_ENABLE 0 2 1 1 ESC_CALIBRATION 0 2 1 1 FENCE_ACTION 1 2 1 1 FENCE_ALT_MAX 120.000000000000000000 9 1 1 FENCE_ENABLE 0 2 1 1 FENCE_MARGIN 2.000000000000000000 9 1 1 FENCE_RADIUS 400.000000000000000000 9 1 1 FENCE_TOTAL 0 2 1 1 FENCE_TYPE 0 2 1 1 FHLD_BRAKE_RATE 8 2 1 1 FHLD_FILT_HZ 5.000000000000000000 9 1 1 FHLD_FLOW_MAX 0.600000023841857910 9 1 1 FHLD_QUAL_MIN 10 2 1 1 FHLD_XY_FILT_HZ 5.000000000000000000 9 1 1 FHLD_XY_I 0.300000011920928955 9 1 1 FHLD_XY_IMAX 3000.000000000000000000 9 1 1 FHLD_XY_P 0.200000002980232239 9 1 1 FLOW_ADDR 0 2 1 1 FLOW_FXSCALER 0 4 1 1 FLOW_FYSCALER 0 4 1 1 FLOW_ORIENT_YAW 0 4 1 1 FLOW_POS_X 0.000000000000000000 9 1 1 FLOW_POS_Y 0.000000000000000000 9 1 1 FLOW_POS_Z 0.000000000000000000 9 1 1 FLOW_TYPE 0 2 1 1 FLTMODE1 2 2 1 1 FLTMODE2 2 2 1 1 FLTMODE3 16 2 1 1 FLTMODE4 16 2 1 1 FLTMODE5 6 2 1 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