<?xml version="1.0"?>
<package format="2">
<name>aquanaute_gazebo</name>
<version>1.3.0</version>
<description>
Provides templates and examples for integrating the WAM-V model into gazebo with dynamics, sensors, etc.
</description>
<maintainer email="caguero@osrfoundation.org">Carlos Aguero</maintainer>
<maintainer email="jriveroo@osrfoundation.org">Jose Luis Rivero</maintainer>
<license>Apache 2.0</license>
<url type="website">http://wiki.ros.org/wamv_gazebo</url>
<url type="bugtracker">http://github.com/osrf/vrx/issues</url>
<author email="briansbingham@gmail.com">Brian Bingham</author>
<author email="caguero@osrfoundation.org">Carlos Aguero</author>
<buildtool_depend>catkin</buildtool_depend>
<depend>gazebo_plugins</depend>
<depend>hector_gazebo_plugins</depend>
<depend>robot_localization</depend>
<depend>usv_gazebo_plugins</depend>
<depend>velodyne_gazebo_plugins</depend>
<depend>aquanaute_description</depend>
<depend>xacro</depend>
</package>
<?xml version="1.0"?>
<!-- Basic WAM-V with gazebo plugins for dynamics -->
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:arg name="testing" default="false" />
<!-- Include macros for dynamics plugins -->
<xacro:unless value="$(arg testing)">
<xacro:include filename="$(find aquanaute_gazebo)/urdf/macros.xacro" />
</xacro:unless>
<!-- Defines the base vehicle -->
<xacro:include filename="$(find aquanaute_description)/urdf/aquanaute_description.urdf.xacro"/>
<!--Gazebo References-->
<gazebo reference="base_link">
<material>Gazebo/Grey</material>
</gazebo>
<gazebo reference="boat_link">
<kp>100000.0</kp>
<kd>100000.0</kd>
<mu1>10.0</mu1>
<mu2>10.0</mu2>
<material>Gazebo/Grey</material>
</gazebo>
<gazebo reference="motor_link">
<material>Gazebo/Blue</material>
</gazebo>
<gazebo reference="propeller_link">
<material>Gazebo/White</material>
</gazebo>
<gazebo reference="imu_link">
<sensor name="imu_sensor" type="imu">
<pose>0 0 0 3.141593 0 0</pose>
<always_on>1</always_on>
<update_rate>1000.0</update_rate>
</sensor>
<material>Gazebo/White</material>
</gazebo>
<!-- * * * GAZEBO Plugins * * * -->
<gazebo>
<plugin name="ardupilot_plugin" filename="libArduPilotPlugin.so">
<fdm_addr>127.0.0.1</fdm_addr>
<fdm_port_in>9002</fdm_port_in>
<fdm_port_out>9003</fdm_port_out>
<modelXYZToAirplaneXForwardZDown>0 0 0 3.141593 0 0</modelXYZToAirplaneXForwardZDown>
<gazeboXYZToNED>0 0 0 3.141593 0 0</gazeboXYZToNED>
<imuName>imu_sensor</imuName>
<connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
<control channel="0">
<type>POSITION</type>
<multiplier>100</multiplier> <!--ARBITRARY VALUES-->
<offset>0</offset>
<p_gain>1.0</p_gain>
<i_gain>0</i_gain>
<d_gain>0</d_gain>
<i_max>0</i_max>
<i_min>0</i_min>
<cmd_max>3.5</cmd_max>
<cmd_min>-3.5</cmd_min>
<jointName>aquanaute::motor_boat_joint</jointName>
</control>
<control channel="2">
<type>VELOCITY</type>
<multiplier>800</multiplier> <!--ARBITRARY VALUES-->
<offset>0</offset>
<p_gain>0.20</p_gain>
<i_gain>0</i_gain>
<d_gain>0</d_gain>
<i_max>0</i_max>
<i_min>0</i_min>
<cmd_max>2.5</cmd_max>
<cmd_min>-2.5</cmd_min>
<jointName>aquanaute::propeller_motor_joint</jointName>
</control>
<!--
-->
</plugin>
</gazebo>
<!-- Attach hydrodynamics plugin -->
<xacro:unless value="$(arg testing)">
<xacro:usv_dynamics_gazebo name="aquanaute_dynamics_plugin"/>
</xacro:unless>
</robot>
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="usv_dynamics_gazebo" params="name">
<!--Gazebo Plugin for simulating WAM-V dynamics-->
<gazebo>
<plugin name="usv_dynamics_${name}" filename="libusv_gazebo_dynamics_plugin.so">
<bodyName>base_link</bodyName>
<!-- Must be same as the ocean model!-->
<waterLevel>0</waterLevel>
<waterDensity>997.8</waterDensity>
<!-- Added mass -->
<xDotU>0.0</xDotU>
<yDotV>0.0</yDotV>
<nDotR>0.0</nDotR>
<!-- Linear and quadratic drag -->
<xU>51.3</xU>
<xUU>72.4</xUU>
<yV>40.0</yV>
<yVV>0.0</yVV>
<zW>500.0</zW>
<kP>50.0</kP>
<mQ>50.0</mQ>
<nR>400.0</nR>
<nRR>0.0</nRR>
<!-- General dimensions -->
<!--<boatArea>2.2</boatArea>-->
<hullRadius>0.19</hullRadius>
<boatWidth>1.8</boatWidth>
<boatLength>3.2</boatLength>
<!-- Length discretization, AKA, "N" -->
<length_n>10</length_n>
<!-- Wave model -->
<wave_model>ocean_waves</wave_model>
</plugin>
</gazebo>
</xacro:macro>
</robot>
<?xml version="1.0"?>
<!-- Includes all macros in this package so they don't need to be included individualy -->
<robot xmlns:xacro="http://ros.org/wiki/xacro"
name="Aquanaute">
<!-- Include dynamics macros -->
<xacro:include filename="$(find aquanaute_gazebo)/urdf/dynamics/aquanaute_gazebo_dynamics_plugin.xacro" />
</robot>
<sdf version='1.6'>
<world name='default'>
<light name='sun' type='directional'>
<cast_shadows>1</cast_shadows>
<pose frame=''>0 0 10 0 -0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>
<model name='ground_plane'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<surface>
<contact>
<collide_bitmask>65535</collide_bitmask>
<ode/>
</contact>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
<torsional>
<ode/>
</torsional>
</friction>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
</model>
<gravity>0 0 0</gravity> <!--0 0 -9.8-->
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
<atmosphere type='adiabatic'/>
<physics name='default_physics' default='0' type='ode'>
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>1000</real_time_update_rate>
</physics>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>1</shadows>
</scene>
<audio>
<device>default</device>
</audio>
<wind/>
<spherical_coordinates>
<surface_model>EARTH_WGS84</surface_model>
<latitude_deg>0</latitude_deg>
<longitude_deg>0</longitude_deg>
<elevation>0</elevation>
<heading_deg>0</heading_deg>
</spherical_coordinates>
<state world_name='default'>
<sim_time>29 253000000</sim_time>
<real_time>29 457037678</real_time>
<wall_time>1594385127 732457775</wall_time>
<iterations>29253</iterations>
<model name='ground_plane'>
<pose frame=''>0 0 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>0 0 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<light name='sun'>
<pose frame=''>0 0 10 0 -0 0</pose>
</light>
</state>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose frame=''>5 -5 2 0 0.275643 2.35619</pose>
<view_controller>orbit</view_controller>
<projection_type>perspective</projection_type>
</camera>
</gui>
</world>
</sdf>
//***********************************************************************//
/*
Aquanaute - PWM interpreter
Code to read a pwm exit of the navio2 to transform it to a byte speed command, to control a continuous drive motor with an absolute encoder.
Made by: Ricardo RICO URIBE - Internt at U2IS during the summer of 2020
Helpers:
- Thibault TORALBA
- Thomas SIMON
*/
//***** CONSTANTS *****//
const byte INTERRUPT_NOISE_THRESHOLD = 10; //microseconds in which the detection of interrupt will ignore a change
const word MOTOR_CENTER = 1000; //motor position center, this was arbitrarily chosen
const word MOTOR_RIGHT = 1300; //300 steps, arbitrarily chosen to indicate full right, this is aprox 90°
const word MOTOR_LEFT = 700; //300 steps, arbitrarily chosen to indicate full left, this is aprox 90°
const byte MOTOR_THRESHOLD = 10; //value to range the motor position to eliminate oscilation
const word MOTOR_RANGE = MOTOR_RIGHT - MOTOR_LEFT;
const word RADIO_CENTER = 1492; //radio "high time" when radio control is centered, experimentaly obtained, directly linked with the trim value of ardupilot params
const word RADIO_RIGHT = 1872; //radio "high time" when radio control is full right, experimentaly obtained, directly linked with the max pwm value of ardupilot params
const word RADIO_LEFT = 1120; //radio "high time" when radio control is full left, experimentaly obtained, directly linked with the min pwm value of ardupilot params
const byte RADIO_THRESHOLD = 10; //value to range the time calculated to eliminate oscilation
const word RADIO_RANGE = RADIO_RIGHT - RADIO_LEFT;
const byte COMM_ALL_STOP = 0;
const byte COMM_STOP = 64;
const byte COMM_FULL_FWD = 127;
const byte COMM_MED_FWD = 100;
const byte COMM_FULL_BCK = 1;
const byte COMM_MED_BCK = 28;
const byte RADIO_SCALE_CENTER = 50;
const byte RADIO_SCALE_LEFT = 0;
const byte RADIO_SCALE_RIGHT = 100;
const byte MAX_ERROR_BEFORE_SPEED_IS_SET_TO_MAX = 30;
const byte ERROR_CENTER_THRESHOLD = 1;
const byte ERROR_MIN = -50;
const byte ERROR_MAX = 50;
//scale (-50,50) to (1-127) f(x) = (b-a)(x - min)/max - min + a
const float SPEED_COMMAND_SCALE_COEFFICIENT = (COMM_FULL_FWD-COMM_FULL_BCK)/(ERROR_MAX - ERROR_MIN)
const byte TOTAL_OF_MESSAGES = 4;
const byte BYTE_CARRY_LEFT = 8;
const byte HEX_CHAR_C =0x43; //Char "C", by design this is the message that the encoder expects to respond with its position
const word FIFTY_HZ = 331; // = (16*10^6) / (50*1024) - 1 (must be <65536) // 311 = 50Hz
//***** Variables *****//
byte speed_command = COMM_ALL_STOP; //Message to send to the Motor Controller
const int _kp = 1; //Controller Proportional Coefficient
const byte interrupt_pin = 20; //Pin to detect interruptions (connected to the yaw channel in the Navio)
static volatile uint32_t delta_us; //time "high"
static volatile uint32_t prev_change_date_us = 0; //record previous time
static volatile uint32_t pos = 0; //motor position
static volatile byte count = 0; //counter for position response bytes (0-3)
static volatile uint32_t recv = 0; //Bytes recieved
bool first = true; //first byte recieved
bool started = false; //setup to center the motor
bool go_print = false; //debug routine
static volatile int scale_pos = 50; //scale of position, initialized as centered
static volatile int scale_radio = 50; //scale of radio controller position, initialized as centered
//***********************************************************************//
void setup()
{
// put your setup code here, to run once:
Serial.begin(9600); //usb pc
Serial1.begin(9600); //sabertooth driver (speed selected physically on the driver)
Serial2.begin(115200); //multiplexer (speed recommended by the manufactor)
Serial1.write(speed_command);
while (!Serial)
{
//wait for pc connection or RP4 power_up
}
cli(); //stop interrupts
//setup for timed interrupts
TCCR4A = 0; // set entire TCCR4A register to 0
TCCR4B = 0; // same for TCCR4B
TCNT4 = 0; //initialize counter value to 0
// set compare match register for 20hz increments
OCR4A = FIFTY_HZ;// = (16*10^6) / (50*1024) - 1 (must be <65536) // 311 = 50Hz // turn on CTC mode
TCCR4B |= (1 << WGM12);
// Set CS12 and CS10 bits for 1024 prescaler
TCCR4B |= (1 << CS12) | (1 << CS10);
// enable timer compare interrupt
TIMSK4 |= (1 << OCIE4A);
//Setup for external Interrupt
sei(); //allow interrupts
pinMode(interrupt_pin, INPUT_PULLUP); //activate internal resistor for interrupt pin
attachInterrupt(digitalPinToInterrupt(interrupt_pin), pwm, CHANGE); //set pin to read external interrupts
} //end setup
//***********************************************************************//
//*****Time Interrupt - Request the Motor Position*****//
/*Request the motor position, with a frecuency of 50Hz*/
ISR(TIMER4_COMPA_vect)
{
Serial2.write(HEX_CHAR_C);
count = 0; //reset of message counter
first = true; //reset of first message
}
//***********************************************************************//
//*****Physical Interruption - Read of Navio PWM*****//
/*Read a change from low to high or from high to low in the pwm signal sended by the navio,
and obtain the "high" time to interpret it as duty cycle and to translate it to and scale between 0 and 100,
where 0 is full left, 50 is center, and 100 is full right*/
void pwm()
{
uint32_t curr_date = micros();
bool state_us;
/* Record the previous pin state since it has just changed. */
state_us = !digitalRead(interrupt_pin);
/* Ensure that we have detected a falling edge, i.e. the previous level of the pin was HIGH. */
if (state_us)
{
delta_us = curr_date - prev_change_date_us;
if (delta_us < INTERRUPT_NOISE_THRESHOLD || delta_us < RADIO_LEFT - RADIO_THRESHOLD || delta_us > RADIO_RIGHT + RADIO_THRESHOLD)
return;
if (delta_us <= RADIO_CENTER + RADIO_THRESHOLD && delta_us >= RADIO_CENTER - RADIO_THRESHOLD)
{
scale_radio = RADIO_SCALE_CENTER;
}
else if (delta_us <= RADIO_LEFT + RADIO_THRESHOLD)
{
scale_radio = RADIO_SCALE_LEFT;
}
else if (delta_us >= RADIO_RIGHT - RADIO_THRESHOLD)
{
scale_radio = RADIO_SCALE_RIGHT;
}
else
{
scale_radio = (delta_us - RADIO_LEFT) * 100 / (RADIO_RANGE); //scale the recieved radio to a value between 0-100
}
go_print = true;
}
else
{
prev_change_date_us = curr_date;
}
}
//*****Serial Interrupt - Read Motor Position*****//
/*If the encoder answers with its position, save the 4 bytes of information, translate them to decimal
and do a convertion to be in a scale between 0 and 100, where 0 is full left, 50 is center and 100 is full right.
After that, do a proportial control and send an speed command to the motor, the command is coded in 7 bits,
where 1 is full backward, 64 is stop and 127 is full forward*/
void serialEvent2()
{
while (Serial2.available())
{
if (first) //Save the first byte of the message
{
recv = Serial2.read();
first = false;
}
else //chain all the bytes to have the number that indicates a position
{
recv = (recv << BYTE_CARRY_LEFT) + Serial2.read();
}
count++;
}
if (count == TOTAL_OF_MESSAGES) //when all 4 bytes of the message have been recieved, do the control
{
pos = recv;
count = 0;
speed_command = COMM_ALL_STOP;
first = true;
if (!started) //When the arduino recieves power it will center the motor.
{
if (pos > MOTOR_CENTER + MOTOR_THRESHOLD || pos < MOTOR_CENTER - MOTOR_THRESHOLD)
{
if (pos < MOTOR_LEFT)
speed_command = COMM_FULL_FWD;
else if (pos > MOTOR_RIGHT)
speed_command = COMM_FULL_BCK;
else if (pos < MOTOR_CENTER - MOTOR_THRESHOLD)
speed_command = COMM_MED_FWD;
else if (pos > MOTOR_CENTER + MOTOR_THRESHOLD)
speed_command = COMM_MED_BCK;
}
else
{
Serial.print("centered");
speed_command = COMM_STOP;
started = true;
}
Serial1.write(speed_command);
}
else //Normal use
{
scale_pos = (pos - MOTOR_LEFT) * 100 / (MOTOR_RANGE); //scale the motor position to a range between 0,100
int error_pos = scale_radio - scale_pos;
int v = _kp * error_pos; //Control
if (v >= -ERROR_CENTER_THRESHOLD && v <= ERROR_CENTER_THRESHOLD) //if the error is at 0 with a threshold, send stop to the motor
{
speed_command = COMM_STOP;
}
else if (v >= MAX_ERROR_BEFORE_SPEED_IS_SET_TO_MAX) //if the error (-50,50) is more than "30" (value arbitrarily chosen) send the maximum speed, this is done to minimize the time of the mouvement
{
speed_command = COMM_FULL_FWD;
}
else if (v <= -MAX_ERROR_BEFORE_SPEED_IS_SET_TO_MAX) //if the error (-50,50) is less than "-30" (value arbitrarily chosen) send the maximum speed, this is done to minimize the time of the mouvement
{
speed_command = COMM_FULL_BCK;
}
else //Calculate the speed with this formula that transforms the error (-50,50) into the speed command (1,127)
{
speed_command = SPEED_COMMAND_SCALE_COEFFICIENT * (v - ERROR_MIN) + COMM_FULL_BCK;
}
}
go_print = true;
Serial1.write(speed_command);
}
}
//***********************************************************************//
void loop()
{
//routine for debug. "never print inside an interruption"
if (go_print)
{
//Serial.print("delta time: ");
//Serial.println(delta_us);
//Serial.print("speed command: ");
//Serial.println(speed_command);
}
}
# Onboard parameters for Vehicle 1
#
# Stack: ArduPilot
# Vehicle: Rover
# Version: 4.0.0
# Git Revision: 1df0612
#
# Vehicle-Id Component-Id Name Value Type
1 1 ACRO_TURN_RATE 180.000000000000000000 9
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 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 -0.000582015025429428 9
1 1 AHRS_TRIM_Y 0.000405788567150012 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 ARMING_ACCTHRESH 0.750000000000000000 9
1 1 ARMING_CHECK 0 6
1 1 ARMING_MIS_ITEMS 0 6
1 1 ARMING_REQUIRE 1 2
1 1 ARMING_RUDDER 2 2
1 1 ARSPD_TYPE 0 2
1 1 ATC_ACCEL_MAX 2.000000000000000000 9
1 1 ATC_BAL_D 0.029999999329447746 9
1 1 ATC_BAL_FF 0.000000000000000000 9
1 1 ATC_BAL_FLTD 0.000000000000000000 9
1 1 ATC_BAL_FLTE 10.000000000000000000 9
1 1 ATC_BAL_FLTT 0.000000000000000000 9
1 1 ATC_BAL_I 1.500000000000000000 9
1 1 ATC_BAL_IMAX 1.000000000000000000 9
1 1 ATC_BAL_P 1.799999952316284180 9
1 1 ATC_BAL_SPD_FF 1.000000000000000000 9
1 1 ATC_BRAKE 1 2
1 1 ATC_DECEL_MAX 0.000000000000000000 9
1 1 ATC_SAIL_D 0.000000000000000000 9
1 1 ATC_SAIL_FF 0.000000000000000000 9
1 1 ATC_SAIL_FLTD 0.000000000000000000 9
1 1 ATC_SAIL_FLTE 10.000000000000000000 9
1 1 ATC_SAIL_FLTT 0.000000000000000000 9
1 1 ATC_SAIL_I 0.100000001490116119 9
1 1 ATC_SAIL_IMAX 1.000000000000000000 9
1 1 ATC_SAIL_P 1.000000000000000000 9
1 1 ATC_SPEED_D 0.000000000000000000 9
1 1 ATC_SPEED_FF 0.000000000000000000 9
1 1 ATC_SPEED_FLTD 0.000000000000000000 9
1 1 ATC_SPEED_FLTE 10.000000000000000000 9
1 1 ATC_SPEED_FLTT 0.000000000000000000 9
1 1 ATC_SPEED_I 0.200000002980232239 9
1 1 ATC_SPEED_IMAX 1.000000000000000000 9
1 1 ATC_SPEED_P 0.200000002980232239 9
1 1 ATC_STOP_SPEED 0.100000001490116119 9
1 1 ATC_STR_ACC_MAX 180.000000000000000000 9
1 1 ATC_STR_ANG_P 2.500000000000000000 9
1 1 ATC_STR_RAT_D 0.000000000000000000 9
1 1 ATC_STR_RAT_FF 0.200000002980232239 9
1 1 ATC_STR_RAT_FLTD 0.000000000000000000 9
1 1 ATC_STR_RAT_FLTE 10.000000000000000000 9
1 1 ATC_STR_RAT_FLTT 0.000000000000000000 9
1 1 ATC_STR_RAT_I 0.200000002980232239 9
1 1 ATC_STR_RAT_IMAX 1.000000000000000000 9
1 1 ATC_STR_RAT_MAX 360.000000000000000000 9
1 1 ATC_STR_RAT_P 0.200000002980232239 9
1 1 AUTO_KICKSTART 0.000000000000000000 9
1 1 AUTO_TRIGGER_PIN -1 2
1 1 AVOID_ANGLE_MAX 1000 4
1 1 AVOID_BEHAVE 1 2
1 1 AVOID_DIST_MAX 5.000000000000000000 9
1 1 AVOID_ENABLE 3 2
1 1 AVOID_MARGIN 2.000000000000000000 9
1 1 BAL_PITCH_MAX 2.000000000000000000 9
1 1 BAL_PITCH_TRIM 0.000000000000000000 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_MONITOR 0 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_BOOT_DELAY 0 4
1 1 BRD_OPTIONS 0 6
1 1 BRD_PWM_COUNT 8 2
1 1 BRD_RTC_TYPES 1 2
1 1 BRD_RTC_TZ_MIN 0 4
1 1 BRD_SAFETYOPTION 3 4
1 1 BRD_SERIAL_NUM 0 4
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 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 COMPASS_AUTODEC 1 2
1 1 COMPASS_AUTO_ROT 2 2
1 1 COMPASS_CAL_FIT 16.000000000000000000 9
1 1 COMPASS_DEC 0.000000000000000000 9
1 1 COMPASS_DEV_ID 393730 6
1 1 COMPASS_DEV_ID2 262402 6
1 1 COMPASS_DEV_ID3 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
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1 1 RNGFNDA_ORIENT 0 2
1 1 RNGFNDA_PIN -1 2
1 1 RNGFNDA_POS_X 0.000000000000000000 9
1 1 RNGFNDA_POS_Y 0.000000000000000000 9
1 1 RNGFNDA_POS_Z 0.000000000000000000 9
1 1 RNGFNDA_PWRRNG 0 4
1 1 RNGFNDA_RMETRIC 1 2
1 1 RNGFNDA_SCALING 3.000000000000000000 9
1 1 RNGFNDA_STOP_PIN -1 2
1 1 RNGFNDA_TYPE 0 2
1 1 RPM2_PIN -1 2
1 1 RPM2_SCALING 1.000000000000000000 9
1 1 RPM2_TYPE 0 2
1 1 RPM_MAX 100000.000000000000000000 9
1 1 RPM_MIN 10.000000000000000000 9
1 1 RPM_MIN_QUAL 0.500000000000000000 9
1 1 RPM_PIN 54 2
1 1 RPM_SCALING 1.000000000000000000 9
1 1 RPM_TYPE 0 2
1 1 RSSI_TYPE 0 2
1 1 RST_SWITCH_CH 0 2
1 1 RTL_SPEED 0.000000000000000000 9
1 1 SAIL_ENABLE 0 2
1 1 SCHED_DEBUG 0 2
1 1 SCHED_LOOP_RATE 50 4
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 1 2
1 1 SERIAL2_BAUD 57 6
1 1 SERIAL2_OPTIONS 0 4
1 1 SERIAL2_PROTOCOL 1 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 -1 2
1 1 SERIAL5_BAUD 57 6
1 1 SERIAL5_OPTIONS 0 4
1 1 SERIAL5_PROTOCOL -1 2
1 1 SERIAL6_BAUD 57 6
1 1 SERIAL6_OPTIONS 0 4
1 1 SERIAL6_PROTOCOL -1 2
1 1 SERIAL7_BAUD 57 6
1 1 SERIAL7_OPTIONS 0 4
1 1 SERIAL7_PROTOCOL -1 2
1 1 SERIAL_PASS1 0 2
1 1 SERIAL_PASS2 -1 2
1 1 SERIAL_PASSTIMO 15 2
1 1 SERVO10_FUNCTION 0 2
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 2
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 2
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 2
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 2
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 2
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 2
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 26 2
1 1 SERVO1_MAX 1900 4
1 1 SERVO1_MIN 1100 4
1 1 SERVO1_REVERSED 0 2
1 1 SERVO1_TRIM 1500 4
1 1 SERVO2_FUNCTION 0 2
1 1 SERVO2_MAX 1900 4
1 1 SERVO2_MIN 1100 4
1 1 SERVO2_REVERSED 0 2
1 1 SERVO2_TRIM 1500 4
1 1 SERVO3_FUNCTION 70 2
1 1 SERVO3_MAX 1900 4
1 1 SERVO3_MIN 1100 4
1 1 SERVO3_REVERSED 0 2
1 1 SERVO3_TRIM 1500 4
1 1 SERVO4_FUNCTION 0 2
1 1 SERVO4_MAX 1900 4
1 1 SERVO4_MIN 1100 4
1 1 SERVO4_REVERSED 0 2
1 1 SERVO4_TRIM 1500 4
1 1 SERVO5_FUNCTION 0 2
1 1 SERVO5_MAX 1900 4
1 1 SERVO5_MIN 1100 4
1 1 SERVO5_REVERSED 0 2
1 1 SERVO5_TRIM 1500 4
1 1 SERVO6_FUNCTION 0 2
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 2
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 2
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 2
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_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 SIMPLE_TYPE 0 2
1 1 SPEED_MAX 0.000000000000000000 9
1 1 SPRAY_ENABLE 0 2
1 1 SR0_ADSB 0 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 0 4
1 1 SR1_EXTRA1 10 4
1 1 SR1_EXTRA2 10 4
1 1 SR1_EXTRA3 3 4
1 1 SR1_EXT_STAT 2 4
1 1 SR1_PARAMS 10 4
1 1 SR1_POSITION 3 4
1 1 SR1_RAW_CTRL 1 4
1 1 SR1_RAW_SENS 2 4
1 1 SR1_RC_CHAN 2 4
1 1 SR2_ADSB 0 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 0 4
1 1 SR3_EXTRA1 1 4
1 1 SR3_EXTRA2 1 4
1 1 SR3_EXTRA3 1 4
1 1 SR3_EXT_STAT 1 4
1 1 SR3_PARAMS 10 4
1 1 SR3_POSITION 1 4
1 1 SR3_RAW_CTRL 1 4
1 1 SR3_RAW_SENS 1 4
1 1 SR3_RC_CHAN 1 4
1 1 SRTL_ACCURACY 2.000000000000000000 9
1 1 SRTL_POINTS 300 4
1 1 STAT_BOOTCNT 66 4
1 1 STAT_FLTTIME 3569 6
1 1 STAT_RESET 143816064 6
1 1 STAT_RUNTIME 397972 6
1 1 STICK_MIXING 0 2
1 1 SYSID_ENFORCE 0 2
1 1 SYSID_MYGCS 255 4
1 1 SYSID_THISMAV 1 4
1 1 TELEM_DELAY 0 2
1 1 TURN_MAX_G 0.600000023841857910 9
1 1 TURN_RADIUS 0.899999976158142090 9
1 1 VISO_ORIENT 0 2
1 1 VISO_POS_X 0.000000000000000000 9
1 1 VISO_POS_Y 0.000000000000000000 9
1 1 VISO_POS_Z 0.000000000000000000 9
1 1 VISO_TYPE 0 2
1 1 WENC_TYPE 0 2
1 1 WNDVN_TYPE 0 2
1 1 WP_OVERSHOOT 2.000000000000000000 9
1 1 WP_PIVOT_ANGLE 60 4
1 1 WP_PIVOT_RATE 90 4
1 1 WP_RADIUS 2.000000000000000000 9
1 1 WP_SPEED 2.000000000000000000 9
1 1 WP_SPEED_MIN 0.000000000000000000 9
1 1 WRC_ENABLE 0 2
# Onboard parameters for Vehicle 1
#
# Stack: ArduPilot
# Vehicle: Rover
# Version: 4.1.0 dev
# Git Revision: be3a2cc2
#
# Vehicle-Id Component-Id Name Value Type
1 1 ACRO_TURN_RATE 180.000000000000000000 9
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 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 0.000000000000000000 9
1 1 AHRS_TRIM_Y 0.000000000000000000 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 ARMING_ACCTHRESH 0.750000000000000000 9
1 1 ARMING_CHECK 0 6
1 1 ARMING_MIS_ITEMS 0 6
1 1 ARMING_REQUIRE 1 2
1 1 ARMING_RUDDER 2 2
1 1 ARSPD2_TYPE 0 2
1 1 ARSPD_AUTOCAL 0 2
1 1 ARSPD_BUS 1 2
1 1 ARSPD_OFFSET 0.000000000000000000 9
1 1 ARSPD_OPTIONS 0 6
1 1 ARSPD_PIN 1 2
1 1 ARSPD_PRIMARY 0 2
1 1 ARSPD_PSI_RANGE 1.000000000000000000 9
1 1 ARSPD_RATIO 1.993600010871887207 9
1 1 ARSPD_SKIP_CAL 0 2
1 1 ARSPD_TUBE_ORDER 2 2
1 1 ARSPD_TYPE 2 2
1 1 ARSPD_USE 0 2
1 1 ATC_ACCEL_MAX 2.000000000000000000 9
1 1 ATC_BAL_D 0.029999999329447746 9
1 1 ATC_BAL_FF 0.000000000000000000 9
1 1 ATC_BAL_FLTD 0.000000000000000000 9
1 1 ATC_BAL_FLTE 10.000000000000000000 9
1 1 ATC_BAL_FLTT 0.000000000000000000 9
1 1 ATC_BAL_I 1.500000000000000000 9
1 1 ATC_BAL_IMAX 1.000000000000000000 9
1 1 ATC_BAL_P 1.799999952316284180 9
1 1 ATC_BAL_SPD_FF 1.000000000000000000 9
1 1 ATC_BRAKE 1 2
1 1 ATC_DECEL_MAX 0.000000000000000000 9
1 1 ATC_SAIL_D 0.000000000000000000 9
1 1 ATC_SAIL_FF 0.000000000000000000 9
1 1 ATC_SAIL_FLTD 0.000000000000000000 9
1 1 ATC_SAIL_FLTE 10.000000000000000000 9
1 1 ATC_SAIL_FLTT 0.000000000000000000 9
1 1 ATC_SAIL_I 0.100000001490116119 9
1 1 ATC_SAIL_IMAX 1.000000000000000000 9
1 1 ATC_SAIL_P 1.000000000000000000 9
1 1 ATC_SPEED_D 0.000000000000000000 9
1 1 ATC_SPEED_FF 0.000000000000000000 9
1 1 ATC_SPEED_FLTD 0.000000000000000000 9
1 1 ATC_SPEED_FLTE 10.000000000000000000 9
1 1 ATC_SPEED_FLTT 0.000000000000000000 9
1 1 ATC_SPEED_I 0.200000002980232239 9
1 1 ATC_SPEED_IMAX 1.000000000000000000 9
1 1 ATC_SPEED_P 0.200000002980232239 9
1 1 ATC_STOP_SPEED 0.100000001490116119 9
1 1 ATC_STR_ACC_MAX 180.000000000000000000 9
1 1 ATC_STR_ANG_P 1.000000000000000000 9
1 1 ATC_STR_RAT_D 0.000000000000000000 9
1 1 ATC_STR_RAT_FF 0.200000002980232239 9
1 1 ATC_STR_RAT_FLTD 0.000000000000000000 9
1 1 ATC_STR_RAT_FLTE 10.000000000000000000 9
1 1 ATC_STR_RAT_FLTT 0.000000000000000000 9
1 1 ATC_STR_RAT_I 0.000000000000000000 9
1 1 ATC_STR_RAT_IMAX 1.000000000000000000 9
1 1 ATC_STR_RAT_MAX 36.000000000000000000 9
1 1 ATC_STR_RAT_P 1.000000000000000000 9
1 1 AUTO_KICKSTART 0.000000000000000000 9
1 1 AUTO_TRIGGER_PIN -1 2
1 1 AVOID_ANGLE_MAX 1000 4
1 1 AVOID_BEHAVE 1 2
1 1 AVOID_DIST_MAX 5.000000000000000000 9
1 1 AVOID_ENABLE 3 2
1 1 AVOID_MARGIN 2.000000000000000000 9
1 1 BAL_PITCH_MAX 2.000000000000000000 9
1 1 BAL_PITCH_TRIM 0.000000000000000000 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_MONITOR 0 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_OPTIONS 0 6
1 1 BRD_PWM_COUNT 8 2
1 1 BRD_RTC_TYPES 1 2
1 1 BRD_RTC_TZ_MIN 0 4
1 1 BRD_SAFETYOPTION 3 4
1 1 BRD_SERIAL_NUM 0 4
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_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 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 0.013643954880535603 9
1 1 COMPASS_DEV_ID 97539 6
1 1 COMPASS_DEV_ID2 131874 6
1 1 COMPASS_DEV_ID3 263178 6
1 1 COMPASS_DEV_ID4 97283 6
1 1 COMPASS_DEV_ID5 97795 6
1 1 COMPASS_DEV_ID6 98051 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 1.000000000000000000 9
1 1 COMPASS_DIA_Y 1.000000000000000000 9
1 1 COMPASS_DIA_Z 1.000000000000000000 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 0.000000000000000000 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 5.000000000000000000 9
1 1 COMPASS_OFS2_Y 13.000000000000000000 9
1 1 COMPASS_OFS2_Z -18.000000000000000000 9
1 1 COMPASS_OFS3_X 5.000000000000000000 9
1 1 COMPASS_OFS3_Y 13.000000000000000000 9
1 1 COMPASS_OFS3_Z -18.000000000000000000 9
1 1 COMPASS_OFS_X 5.000000000000000000 9
1 1 COMPASS_OFS_Y 13.000000000000000000 9
1 1 COMPASS_OFS_Z -18.000000000000000000 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 97539 6
1 1 COMPASS_PRIO2_ID 131874 6
1 1 COMPASS_PRIO3_ID 263178 6
1 1 COMPASS_SCALE 0.000000000000000000 9
1 1 COMPASS_SCALE2 0.000000000000000000 9
1 1 COMPASS_SCALE3 0.000000000000000000 9
1 1 COMPASS_TYPEMASK 0 6
1 1 COMPASS_USE 1 2
1 1 COMPASS_USE2 1 2
1 1 COMPASS_USE3 1 2
1 1 CRASH_ANGLE 0 2
1 1 CRUISE_SPEED 2.000000000000000000 9
1 1 CRUISE_THROTTLE 50 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_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_GSF_DELAY 1000 4
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_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 2 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 FENCE_ACTION 1 2
1 1 FENCE_ENABLE 0 2
1 1 FENCE_MARGIN 2.000000000000000000 9
1 1 FENCE_RADIUS 300.000000000000000000 9
1 1 FENCE_TOTAL 0 2
1 1 FENCE_TYPE 6 2
1 1 FFT_ENABLE 0 2
1 1 FOLL_ENABLE 0 2
1 1 FORMAT_VERSION 16 4
1 1 FRAME_CLASS 1 2
1 1 FRAME_TYPE 0 2
1 1 FS_ACTION 2 2
1 1 FS_CRASH_CHECK 0 2
1 1 FS_EKF_ACTION 1 2
1 1 FS_EKF_THRESH 0.800000011920928955 9
1 1 FS_GCS_ENABLE 0 2
1 1 FS_OPTIONS 0 6
1 1 FS_THR_ENABLE 1 2
1 1 FS_THR_VALUE 910 4
1 1 FS_TIMEOUT 1.500000000000000000 9
1 1 GCS_PID_MASK 0 4
1 1 GND_ABS_PRESS 99475.484375000000000000 9
1 1 GND_ABS_PRESS2 0.000000000000000000 9
1 1 GND_ABS_PRESS3 0.000000000000000000 9
1 1 GND_ALT_OFFSET 0.000000000000000000 9
1 1 GND_EXT_BUS -1 2
1 1 GND_FLTR_RNG 0 2
1 1 GND_PRIMARY 0 2
1 1 GND_PROBE_EXT 0 6
1 1 GND_TEMP 0.000000000000000000 9
1 1 GPS_AUTO_CONFIG 1 2
1 1 GPS_AUTO_SWITCH 1 2
1 1 GPS_BLEND_MASK 5 2
1 1 GPS_BLEND_TC 10.000000000000000000 9
1 1 GPS_DELAY_MS 0 4
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_MIN_DGPS 100 2
1 1 GPS_MIN_ELEV -100 2
1 1 GPS_NAVFILTER 8 2
1 1 GPS_POS1_X 0.000000000000000000 9
1 1 GPS_POS1_Y 0.000000000000000000 9
1 1 GPS_POS1_Z 0.000000000000000000 9
1 1 GPS_POS2_X 0.000000000000000000 9
1 1 GPS_POS2_Y 0.000000000000000000 9
1 1 GPS_POS2_Z 0.000000000000000000 9
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
1 1 GPS_TYPE 1 2
1 1 GPS_TYPE2 0 2
1 1 GRIP_ENABLE 0 2
1 1 INITIAL_MODE 0 2
1 1 INS_ACC2OFFS_X 0.000000000000000000 9
1 1 INS_ACC2OFFS_Y 0.000000000000000000 9
1 1 INS_ACC2OFFS_Z 0.000000000000000000 9
1 1 INS_ACC2SCAL_X 1.000000000000000000 9
1 1 INS_ACC2SCAL_Y 1.000000000000000000 9
1 1 INS_ACC2SCAL_Z 1.000000000000000000 9