Merge branch 'master' of https://github.com/mavlink/qgroundcontrol into foo

# Conflicts:
#	src/AutoPilotPlugins/APM/APMAirframeComponent.qml
#	src/AutoPilotPlugins/APM/APMAirframeComponentSummary.qml
#	src/AutoPilotPlugins/APM/APMLightsComponent.qml

ChangeLog.md

@@ -6,6 +6,13 @@ Note: This file only contains high level features or important fixes.
 
 ### 3.6.0 - Daily Build
 
+* ArduCopter: Add PID Tuning page to Tuning Setup
+* ArduPilot: Copter - Advanced Tuning support
+* ArduPilot: Rover - Frame setup support
+* ArduPilot: Copter - Update support to 3.5+
+* ArduPilot: Plane - Update support to 3.8+
+* ArduPilot: Rover - Update support to 3.4+
+* ArduPilot: Rework Airframe setup ui
 * Plan/Pattern: Support named presets to simplify commonly used settings setup. Currently only supported by Survey.
 * ArduCopter: Handle 3.7 parameter name change from CH#_OPT to RC#_OPTION.
 * Improved support for flashing/connecting to ChibiOS bootloaders boards.
@@ -13,12 +20,21 @@ Note: This file only contains high level features or important fixes.
 * ArduPilot: Support configurable mavlink stream rates. Available from Settings/Mavlink page.
 * Major rewrite and bug fix pass through Structure Scan. Previous version had such bad problems that it can no longer be supported. Plans with Structure Scan will need to be recreated. New QGC will not load old Structure Scan plans.
 
-### 3.5.1 - Not yet released
+### 3.5.3 - Not yet released
+* Fix crash when clicking on GeoFence polygon vertex
+* PX4: Fix missing ```MC_YAW_FF``` parameter in PID Tuning
+* ArduPilot: Fix parameter file save generating bad characters from git hash
+
+### 3.5.2 - Stable
+* Fix Ubuntu AppImage startup failure
+
+### 3.5.1
+* Update Windows usb drivers
 * Add ArduPilot CubeBlack Service Bulletin check
 * Fix visibility of PX4/ArduPilot logo in toolbar
 * Fix tile set count but in OfflineMaps which would cause image and elevation tile set to have incorrect counts and be incorrectly marked as download incomplete.
 
-### 3.5.0 - Stable
+### 3.5.0
 * Plan GeoFence: Fix loading of fence from intermediate 3.4 code
 * Structure Scan: Fix loading of structure scan height
 * ArduPilot: Fix location of planned home position when not connected to vehicle. Issue #6840.

QGCSetup.pri

@@ -138,8 +138,9 @@ LinuxBuild {
     !contains(DEFINES, __rasp_pi2__) {
         # Some Qt distributions link with *.so.56
         QT_LIB_LIST += \
-            libicudata.so* \
-            libicuuc.so*
+            libicudata.so.56 \
+            libicui18n.so.56 \
+            libicuuc.so.56
     }
 
     for(QT_LIB, QT_LIB_LIST) {

qgroundcontrol.pro

@@ -809,9 +809,7 @@ APMFirmwarePlugin {
 
     HEADERS += \
         src/AutoPilotPlugins/APM/APMAirframeComponent.h \
-        src/AutoPilotPlugins/APM/APMAirframeComponentAirframes.h \
         src/AutoPilotPlugins/APM/APMAirframeComponentController.h \
-        src/AutoPilotPlugins/APM/APMAirframeLoader.h \
         src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h \
         src/AutoPilotPlugins/APM/APMCameraComponent.h \
         src/AutoPilotPlugins/APM/APMCompassCal.h \
@@ -836,9 +834,7 @@ APMFirmwarePlugin {
 
     SOURCES += \
         src/AutoPilotPlugins/APM/APMAirframeComponent.cc \
-        src/AutoPilotPlugins/APM/APMAirframeComponentAirframes.cc \
         src/AutoPilotPlugins/APM/APMAirframeComponentController.cc \
-        src/AutoPilotPlugins/APM/APMAirframeLoader.cc \
         src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc \
         src/AutoPilotPlugins/APM/APMCameraComponent.cc \
         src/AutoPilotPlugins/APM/APMCompassCal.cc \

qgroundcontrol.qrc

@@ -255,8 +255,6 @@
         <file alias="Video.SettingsGroup.json">src/Settings/Video.SettingsGroup.json</file>
     </qresource>
     <qresource prefix="/MockLink">
-        <file alias="APMArduCopterMockLink.params">src/comm/APMArduCopterMockLink.params</file>
-        <file alias="APMArduPlaneMockLink.params">src/comm/APMArduPlaneMockLink.params</file>
         <file alias="APMArduSubMockLink.params">src/comm/APMArduSubMockLink.params</file>
         <file alias="PX4MockLink.params">src/comm/PX4MockLink.params</file>
     </qresource>

src/AutoPilotPlugins/APM/APMAirframeComponent.cc

@@ -11,28 +11,22 @@
 #include "ArduCopterFirmwarePlugin.h"
 #include "ParameterManager.h"
 
-const char* APMAirframeComponent::_oldFrameParam = "FRAME";
-const char* APMAirframeComponent::_newFrameParam = "FRAME_CLASS";
+const char* APMAirframeComponent::_frameClassParam = "FRAME_CLASS";
 
 APMAirframeComponent::APMAirframeComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent)
-    : VehicleComponent(vehicle, autopilot, parent)
-    , _requiresFrameSetup(false)
-    , _name(tr("Airframe"))
+    : VehicleComponent      (vehicle, autopilot, parent)
+    , _requiresFrameSetup   (false)
+    , _name                 (tr("Frame"))
 {
-    if (qobject_cast<ArduCopterFirmwarePlugin*>(_vehicle->firmwarePlugin()) != NULL) {
-        ParameterManager* paramMgr = _vehicle->parameterManager();
-        _requiresFrameSetup = true;
-        if (paramMgr->parameterExists(FactSystem::defaultComponentId, _oldFrameParam)) {
-            _useNewFrameParam = false;
-            _frameParamFact = paramMgr->getParameter(FactSystem::defaultComponentId, _oldFrameParam);
-            MAV_TYPE vehicleType = vehicle->vehicleType();
-            if (vehicleType == MAV_TYPE_TRICOPTER || vehicleType == MAV_TYPE_HELICOPTER) {
-                _requiresFrameSetup = false;
-            }
-        } else {
-            _useNewFrameParam = true;
-            _frameParamFact = paramMgr->getParameter(FactSystem::defaultComponentId, _newFrameParam);
+    ParameterManager* paramMgr = vehicle->parameterManager();
+
+    if (paramMgr->parameterExists(FactSystem::defaultComponentId, _frameClassParam)) {
+        _frameClassFact = paramMgr->getParameter(FactSystem::defaultComponentId, _frameClassParam);
+        if (vehicle->vehicleType() != MAV_TYPE_HELICOPTER) {
+            _requiresFrameSetup = true;
         }
+    } else {
+        _frameClassFact = nullptr;
     }
 }
 
@@ -43,7 +37,7 @@ QString APMAirframeComponent::name(void) const
 
 QString APMAirframeComponent::description(void) const
 {
-    return tr("Airframe Setup is used to select the airframe which matches your vehicle.");
+    return tr("Frame Setup is used to select the airframe which matches your vehicle.");
 }
 
 QString APMAirframeComponent::iconResource(void) const
@@ -59,11 +53,7 @@ bool APMAirframeComponent::requiresSetup(void) const
 bool APMAirframeComponent::setupComplete(void) const
 {
     if (_requiresFrameSetup) {
-        if (_useNewFrameParam) {
-            return _frameParamFact->rawValue().toInt() > 0;
-        } else {
-            return _frameParamFact->rawValue().toInt() >= 0;
-        }
+        return _frameClassFact->rawValue().toInt() != 0;
     } else {
         return true;
     }
@@ -74,7 +64,7 @@ QStringList APMAirframeComponent::setupCompleteChangedTriggerList(void) const
     QStringList list;
 
     if (_requiresFrameSetup) {
-        list << (_useNewFrameParam ? _newFrameParam : _oldFrameParam);
+        list << _frameClassParam;
     }
 
     return list;

src/AutoPilotPlugins/APM/APMAirframeComponent.h

@@ -35,11 +35,9 @@ public:
 private:
     bool            _requiresFrameSetup; ///< true: FRAME parameter must be set
     const QString   _name;
-    Fact*           _frameParamFact;
-    bool            _useNewFrameParam;
+    Fact*           _frameClassFact;
 
-    static const char* _oldFrameParam;
-    static const char* _newFrameParam;
+    static const char* _frameClassParam;
 };
 
 #endif

src/AutoPilotPlugins/APM/APMAirframeComponent.qml

@@ -22,82 +22,159 @@ import QGroundControl.ScreenTools   1.0
 
 SetupPage {
     id:             airframePage
-    pageComponent:  _useOldFrameParam ?  oldFramePageComponent: newFramePageComponent
-
-    property real _margins:             ScreenTools.defaultFontPixelWidth
-    property bool _useOldFrameParam:    controller.parameterExists(-1, "FRAME")
-    property Fact _oldFrameParam:       controller.getParameterFact(-1, "FRAME", false)
-    property Fact _newFrameParam:       controller.getParameterFact(-1, "FRAME_CLASS", false)
-    property Fact _frameTypeParam:      controller.getParameterFact(-1, "FRAME_TYPE", false)
-
-
-    APMAirframeComponentController {
-        id:         controller
-    }
+    pageComponent:  pageComponent
 
     Component {
-        id: oldFramePageComponent
-
-        Column {
-            width:      availableWidth
-            height:     1000
-            spacing:    _margins
-
-            RowLayout {
-                anchors.left:   parent.left
-                anchors.right:  parent.right
-                spacing:        _margins
-
-                QGCLabel {
-                    font.pointSize:     ScreenTools.mediumFontPointSize
-                    wrapMode:           Text.WordWrap
-                    text:               qsTr("Please select your airframe type")
-                    Layout.fillWidth:   true
-                }
-            }
-
-            Repeater {
-                model: controller.airframeTypesModel
-                QGCRadioButton {
-                    text: object.name
-                    checked: controller.currentAirframeType == object
-                    onCheckedChanged: {
-                        if (checked) {
-                            controller.currentAirframeType = object
-                        }
+        id: pageComponent
+
+        ColumnLayout {
+            id:     mainColumn
+            width:  availableWidth
+
+            property real _minW:                ScreenTools.defaultFontPixelWidth * 20
+            property real _boxWidth:            _minW
+            property real _boxSpace:            ScreenTools.defaultFontPixelWidth
+            property real _margins:             ScreenTools.defaultFontPixelWidth
+            property Fact _frameClass:          controller.getParameterFact(-1, "FRAME_CLASS")
+            property Fact _frameType:           controller.getParameterFact(-1, "FRAME_TYPE", false)    // FRAME_TYPE is not available on all Rover versions
+            property bool _frameTypeAvailable:  controller.parameterExists(-1, "FRAME_TYPE")
+
+            readonly property real spacerHeight: ScreenTools.defaultFontPixelHeight
+
+            onWidthChanged:         computeDimensions()
+            Component.onCompleted:  computeDimensions()
+
+            function computeDimensions() {
+                var sw  = 0
+                var rw  = 0
+                var idx = Math.floor(mainColumn.width / (_minW + ScreenTools.defaultFontPixelWidth))
+                if(idx < 1) {
+                    _boxWidth = mainColumn.width
+                    _boxSpace = 0
+                } else {
+                    _boxSpace = 0
+                    if(idx > 1) {
+                        _boxSpace = ScreenTools.defaultFontPixelWidth
+                        sw = _boxSpace * (idx - 1)
                     }
+                    rw = mainColumn.width - sw
+                    _boxWidth = rw / idx
                 }
             }
-        } // Column
-    } // Component - oldFramePageComponent
-
-    Component {
-        id: newFramePageComponent
 
-        Grid {
-            width:      availableWidth
-            spacing:    _margins
-            columns:    2
+            APMAirframeComponentController {
+                id:         controller
+                factPanel:  airframePage.viewPanel
+            }
 
             QGCLabel {
-                text: qsTr("Frame Class:")
+                id:                 helpText
+                Layout.fillWidth:   true
+                text:               (_frameClass.rawValue === 0 ?
+                                         qsTr("Airframe is currently not set.") :
+                                         qsTr("Currently set to frame class '%1'").arg(_frameClass.enumStringValue) +
+                                         (_frameTypeAvailable ?  qsTr(" and frame type '%2'").arg(_frameType.enumStringValue) : "") +
+                                         qsTr(".", "period for end of sentence")) +
+                                    qsTr(" To change this configuration, select the desired frame class below and frame type.")
+                font.family:        ScreenTools.demiboldFontFamily
+                wrapMode:           Text.WordWrap
             }
 
-            FactComboBox {
-                fact:       _newFrameParam
-                indexModel: false
-                width:      ScreenTools.defaultFontPixelWidth * 15
+            Item {
+                id:             lastSpacer
+                height:         parent.spacerHeight
+                width:          10
             }
 
-            QGCLabel {
-                text: qsTr("Frame Type:")
-            }
+            Flow {
+                id:                 flowView
+                Layout.fillWidth:   true
+                spacing:            _boxSpace
 
-            FactComboBox {
-                fact:       _frameTypeParam
-                indexModel: false
-                width:      ScreenTools.defaultFontPixelWidth * 15
-            }
-        }
-    }
+                ExclusiveGroup {
+                    id: airframeTypeExclusive
+                }
+
+                Repeater {
+                    model: controller.frameClassModel
+
+                    // Outer summary item rectangle
+                    Rectangle {
+                        id:     outerRect
+                        width:  _boxWidth
+                        height: ScreenTools.defaultFontPixelHeight * 14
+                        color:  qgcPal.window
+
+                        readonly property real titleHeight: ScreenTools.defaultFontPixelHeight * 1.75
+                        readonly property real innerMargin: ScreenTools.defaultFontPixelWidth
+
+                        MouseArea {
+                            anchors.fill:   parent
+                            onClicked:      airframeCheckBox.checked = true
+                        }
+
+                        QGCLabel {
+                            id:     title
+                            text:   object.name
+                        }
+
+                        Rectangle {
+                            anchors.topMargin:  ScreenTools.defaultFontPixelHeight / 2
+                            anchors.top:        title.bottom
+                            anchors.bottom:     parent.bottom
+                            anchors.left:       parent.left
+                            anchors.right:      parent.right
+                            color:              airframeCheckBox.checked ? qgcPal.buttonHighlight : qgcPal.windowShade
+
+                            ColumnLayout {
+                                anchors.margins:    innerMargin
+                                anchors.fill:       parent
+                                spacing:            innerMargin
+
+                                Image {
+                                    id:                 image
+                                    Layout.fillWidth:   true
+                                    Layout.fillHeight:  true
+                                    fillMode:           Image.PreserveAspectFit
+                                    smooth:             true
+                                    antialiasing:       true
+                                    sourceSize.width:   width
+                                    source:             object.imageResource
+                                }
+
+                                QGCCheckBox {
+                                    // Although this item is invisible we still use it to manage state
+                                    id:             airframeCheckBox
+                                    checked:        object.frameClass === _frameClass.rawValue
+                                    exclusiveGroup: airframeTypeExclusive
+                                    visible:        false
+
+                                    onCheckedChanged: {
+                                        if (checked) {
+                                            _frameClass.rawValue = object.frameClass
+                                        }
+                                    }
+                                }
+
+                                QGCLabel {
+                                    text:           qsTr("Frame Type")
+                                    font.pointSize: ScreenTools.smallFontPointSize
+                                    color:          qgcPal.buttonHighlightText
+                                    visible:        airframeCheckBox.checked && object.frameTypeSupported
+                                }
+
+                                FactComboBox {
+                                    id:                 combo
+                                    Layout.fillWidth:   true
+                                    fact:               _frameType
+                                    indexModel:         false
+                                    visible:            airframeCheckBox.checked && object.frameTypeSupported
+                                }
+                            }
+                        }
+                    }
+                } // Repeater - summary boxes
+            } // Flow - summary boxes
+        } // Column
+    } // Component
 } // SetupPage

src/AutoPilotPlugins/APM/APMAirframeComponentAirframes.cc

@@ -1,47 +0,0 @@
-/****************************************************************************
- *
- *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
- *
- * QGroundControl is licensed according to the terms in the file
- * COPYING.md in the root of the source code directory.
- *
- ****************************************************************************/
-
-
-/// @file
-///     @author Don Gagne <don@thegagnes.com>
-
-#include "APMAirframeComponentAirframes.h"
-#include "APMAirframeComponentController.h"
-
-QMap<QString, APMAirframeComponentAirframes::AirframeType_t*> APMAirframeComponentAirframes::rgAirframeTypes;
-
-QMap<QString, APMAirframeComponentAirframes::AirframeType_t*>& APMAirframeComponentAirframes::get() {
-    return rgAirframeTypes;
-}
-
-void APMAirframeComponentAirframes::insert(const QString& group, int groupId, const QString& image,const QString& name, const QString& file)
-{
-    AirframeType_t *g;
-    if (!rgAirframeTypes.contains(group)) {
-        g = new AirframeType_t;
-        g->name = group;
-        g->type = groupId;
-        g->imageResource = image.isEmpty() ? QString() : QStringLiteral("qrc:/qmlimages/") + image;
-        rgAirframeTypes.insert(group, g);
-    } else {
-        g = rgAirframeTypes.value(group);
-    }
-
-    if (!name.isEmpty() && !file.isEmpty())
-        g->rgAirframeInfo.append(new APMAirframe(name, file, g->type));
-}
-
-void APMAirframeComponentAirframes::clear() {
-    QList<AirframeType_t*> valueList = get().values();
-    foreach(AirframeType_t *pType, valueList) {
-        qDeleteAll(pType->rgAirframeInfo);
-        delete pType;
-    }
-    rgAirframeTypes.clear();
-}

src/AutoPilotPlugins/APM/APMAirframeComponentAirframes.h

@@ -1,49 +0,0 @@
-/****************************************************************************
- *
- *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
- *
- * QGroundControl is licensed according to the terms in the file
- * COPYING.md in the root of the source code directory.
- *
- ****************************************************************************/
-
-
-/// @file
-///     @author Don Gagne <don@thegagnes.com>
-
-#ifndef APMAirframeComponentAirframes_H
-#define APMAirframeComponentAirframes_H
-
-#include <QObject>
-#include <QQuickItem>
-#include <QList>
-#include <QMap>
-
-#include "UASInterface.h"
-#include "AutoPilotPlugin.h"
-
-class APMAirframe;
-
-/// MVC Controller for AirframeComponent.qml.
-class APMAirframeComponentAirframes
-{
-public:
-    typedef struct {
-        QString name;
-        QString imageResource;
-        int type;
-        QList<APMAirframe*> rgAirframeInfo;
-    } AirframeType_t;
-    typedef QMap<QString, AirframeType_t*> AirframeTypeMap;
-
-    static AirframeTypeMap& get();
-    static void clear();
-    static void insert(const QString& group, int groupId, const QString& image,const QString& name = QString(), const QString& file = QString());
-    
-protected:
-    static AirframeTypeMap rgAirframeTypes;
-    
-private:
-};
-
-#endif

src/AutoPilotPlugins/APM/APMAirframeComponentController.cc

@@ -7,17 +7,14 @@
  *
  ****************************************************************************/
 
-
-/// @file
-///     @author Don Gagne <don@thegagnes.com>
-
 #include "APMAirframeComponentController.h"
-#include "APMAirframeComponentAirframes.h"
 #include "QGCMAVLink.h"
 #include "MultiVehicleManager.h"
 #include "QGCApplication.h"
 #include "QGCFileDownload.h"
 #include "ParameterManager.h"
+#include "ArduCopterFirmwarePlugin.h"
+#include "ArduRoverFirmwarePlugin.h"
 
 #include <QVariant>
 #include <QQmlProperty>
@@ -26,71 +23,165 @@
 #include <QJsonParseError>
 #include <QJsonObject>
 
-bool APMAirframeComponentController::_typesRegistered = false;
-
-const char* APMAirframeComponentController::_oldFrameParam = "FRAME";
-const char* APMAirframeComponentController::_newFrameParam = "FRAME_CLASS";
-
-APMAirframeComponentController::APMAirframeComponentController(void) :
-    _airframeTypesModel(new QmlObjectListModel(this))
+// These should match the ArduCopter FRAME_CLASS parameter enum meta data
+#define FRAME_CLASS_UNDEFINED       0
+#define FRAME_CLASS_QUAD            1
+#define FRAME_CLASS_HEX             2
+#define FRAME_CLASS_OCTA            3
+#define FRAME_CLASS_OCTAQUAD        4
+#define FRAME_CLASS_Y6              5
+#define FRAME_CLASS_HELI            6
+#define FRAME_CLASS_TRI             7
+#define FRAME_CLASS_SINGLECOPTER    8
+#define FRAME_CLASS_COAXCOPTER      9
+#define FRAME_CLASS_BICOPTER        10
+#define FRAME_CLASS_HELI_DUAL       11
+#define FRAME_CLASS_DODECAHEXA      12
+#define FRAME_CLASS_HELIQUAD        13
+
+// These should match the ArduCopter FRAME_TYPE parameter enum meta data
+#define FRAME_TYPE_PLUS         0
+#define FRAME_TYPE_X            1
+#define FRAME_TYPE_V            2
+#define FRAME_TYPE_H            3
+#define FRAME_TYPE_V_TAIL       4
+#define FRAME_TYPE_A_TAIL       5
+#define FRAME_TYPE_Y6B          10
+#define FRAME_TYPE_Y6F          11
+#define FRAME_TYPE_BETAFLIGHTX  12
+#define FRAME_TYPE_DJIX         13
+#define FRAME_TYPE_CLOCKWISEX   14
+
+// These should match the Rover FRAME_CLASS parameter enum meta data
+#define FRAME_CLASS_ROVER       1
+#define FRAME_CLASS_BOAT        2
+#define FRAME_CLASS_BALANCEBOT  3
+
+// These should match the Rover FRAME_TYPE parameter enum meta data
+#define FRAME_TYPE_UNDEFINED    0
+#define FRAME_TYPE_OMNI3        1
+#define FRAME_TYPE_OMNIX        2
+#define FRAME_TYPE_OMNIPLUS     3
+
+typedef struct {
+    int         frameClass;
+    int         frameType;
+    const char* imageResource;
+} FrameToImageInfo_t;
+
+static const FrameToImageInfo_t s_rgFrameToImageCopter[] = {
+    { FRAME_CLASS_QUAD,     FRAME_TYPE_PLUS,    "QuadRotorPlus" },
+    { FRAME_CLASS_QUAD,     FRAME_TYPE_X,       "QuadRotorX" },
+    { FRAME_CLASS_QUAD,     FRAME_TYPE_V,       "QuadRotorWide" },
+    { FRAME_CLASS_QUAD,     FRAME_TYPE_H,       "QuadRotorH" },
+    { FRAME_CLASS_QUAD,     FRAME_TYPE_V_TAIL,  "QuadRotorVTail" },
+    { FRAME_CLASS_QUAD,     FRAME_TYPE_A_TAIL,  "QuadRotorATail" },
+    { FRAME_CLASS_HEX,      FRAME_TYPE_PLUS,    "HexaRotorPlus" },
+    { FRAME_CLASS_HEX,      FRAME_TYPE_X,       "HexaRotorX" },
+    { FRAME_CLASS_OCTA,     FRAME_TYPE_PLUS,    "OctoRotorPlus" },
+    { FRAME_CLASS_OCTA,     FRAME_TYPE_X,       "OctoRotorX" },
+    { FRAME_CLASS_OCTAQUAD, FRAME_TYPE_PLUS,    "OctoRotorPlusCoaxial" },
+    { FRAME_CLASS_OCTAQUAD, FRAME_TYPE_X,       "OctoRotorXCoaxial" },
+    { FRAME_CLASS_Y6,       FRAME_TYPE_Y6B,     "Y6B" },
+    { FRAME_CLASS_Y6,       FRAME_TYPE_Y6F,     "AirframeUnknown" },
+    { FRAME_CLASS_Y6,       -1,                 "Y6A" },
+    { FRAME_CLASS_HELI,     -1,                 "Helicopter" },
+    { FRAME_CLASS_TRI,      -1,                 "YPlus" },
+};
+
+static const FrameToImageInfo_t s_rgFrameToImageRover[] = {
+    { FRAME_CLASS_ROVER,    -1, "Rover" },
+    { FRAME_CLASS_BOAT,     -1, "Boat" },
+};
+
+static QString s_findImageResourceCopter(int frameClass, int frameType)
 {
-    if (!_typesRegistered) {
-        _typesRegistered = true;
-        qmlRegisterUncreatableType<APMAirframeType>("QGroundControl.Controllers", 1, 0, "APMAirframeType", QStringLiteral("Can only reference APMAirframeType"));
-    }
-    _fillAirFrames();
+    for (size_t i=0; i<sizeof(s_rgFrameToImageCopter)/sizeof(s_rgFrameToImageCopter[0]); i++) {
+        const FrameToImageInfo_t* pFrameToImageInfo = &s_rgFrameToImageCopter[i];
 
-    Fact* frame = NULL;
-    if (parameterExists(FactSystem::defaultComponentId, _oldFrameParam)) {
-        frame = getParameterFact(FactSystem::defaultComponentId, _oldFrameParam);
-    } else if (parameterExists(FactSystem::defaultComponentId, _newFrameParam)){
-        frame = getParameterFact(FactSystem::defaultComponentId, _newFrameParam);
+        if (pFrameToImageInfo->frameClass == frameClass && pFrameToImageInfo->frameType == frameType) {
+            return pFrameToImageInfo->imageResource;
+        } else if (pFrameToImageInfo->frameClass == frameClass && pFrameToImageInfo->frameType == -1) {
+            return pFrameToImageInfo->imageResource;
+        }
     }
 
-    if (frame) {
-        connect(frame, &Fact::rawValueChanged, this, &APMAirframeComponentController::_factFrameChanged);
-        _factFrameChanged(frame->rawValue());
-    }
+    return QStringLiteral("AirframeUnknown");
 }
 
-APMAirframeComponentController::~APMAirframeComponentController()
+static QString s_findImageResourceRover(int frameClass, int frameType)
 {
+    Q_UNUSED(frameType);
 
-}
+    for (size_t i=0; i<sizeof(s_rgFrameToImageRover)/sizeof(s_rgFrameToImageRover[0]); i++) {
+        const FrameToImageInfo_t* pFrameToImageInfo = &s_rgFrameToImageRover[i];
 
-void APMAirframeComponentController::_factFrameChanged(QVariant value)
-{
-    FrameId v = (FrameId) value.toInt();
-
-    for(int i = 0, size = _airframeTypesModel->count(); i < size; i++ ) {
-        APMAirframeType *airframeType = qobject_cast<APMAirframeType*>(_airframeTypesModel->get(i));
-        Q_ASSERT(airframeType);
-        if (airframeType->type() == v) {
-            _currentAirframeType = airframeType;
-            break;
+        if (pFrameToImageInfo->frameClass == frameClass) {
+            return pFrameToImageInfo->imageResource;
         }
     }
-    emit currentAirframeTypeChanged(_currentAirframeType);
+
+    return QStringLiteral("AirframeUnknown");
 }
 
-void APMAirframeComponentController::_fillAirFrames()
+APMAirframeComponentController::APMAirframeComponentController(void)
+    : _frameClassFact   (getParameterFact(FactSystem::defaultComponentId, QStringLiteral("FRAME_CLASS")))
+    , _frameTypeFact    (getParameterFact(FactSystem::defaultComponentId, QStringLiteral("FRAME_TYPE"), false /* reportMissing */))
+    , _frameClassModel  (new QmlObjectListModel(this))
 {
-    for (int tindex = 0; tindex < APMAirframeComponentAirframes::get().count(); tindex++) {
-        const APMAirframeComponentAirframes::AirframeType_t* pType = APMAirframeComponentAirframes::get().values().at(tindex);
+    _fillFrameClasses();
+}
 
-        APMAirframeType* airframeType = new APMAirframeType(pType->name, pType->imageResource, pType->type, this);
-        Q_CHECK_PTR(airframeType);
+APMAirframeComponentController::~APMAirframeComponentController()
+{
 
-        for (int index = 0; index < pType->rgAirframeInfo.count(); index++) {
-            const APMAirframe* pInfo = pType->rgAirframeInfo.at(index);
-            Q_CHECK_PTR(pInfo);
+}
 
-            airframeType->addAirframe(pInfo->name(), pInfo->params(), pInfo->type());
+void APMAirframeComponentController::_fillFrameClasses()
+{
+    FirmwarePlugin* fwPlugin = _vehicle->firmwarePlugin();
+
+    if (qobject_cast<ArduCopterFirmwarePlugin*>(fwPlugin)) {
+        QList<int> frameTypeNotSupported;
+
+        frameTypeNotSupported << FRAME_CLASS_HELI
+                              << FRAME_CLASS_SINGLECOPTER
+                              << FRAME_CLASS_COAXCOPTER
+                              << FRAME_CLASS_BICOPTER
+                              << FRAME_CLASS_HELI_DUAL
+                              << FRAME_CLASS_HELIQUAD;
+
+        for (int i=1; i<_frameClassFact->enumStrings().count(); i++) {
+            QString frameClassName =    _frameClassFact->enumStrings()[i];
+            int     frameClass =        _frameClassFact->enumValues()[i].toInt();
+            int     defaultFrameType;
+
+            if (frameClass == FRAME_CLASS_HELI) {
+                // Heli requires it's own firmware variant. You can't switch to Heli from a Copter variant firmware.
+                continue;
+            }
+
+            if (frameTypeNotSupported.contains(frameClass)) {
+                defaultFrameType = -1;
+            } else {
+                defaultFrameType = FRAME_TYPE_X;
+            }
+            _frameClassModel->append(new APMFrameClass(frameClassName, true /* copter */, frameClass, _frameTypeFact, defaultFrameType, _frameClassModel));
+        }
+    } else if (qobject_cast<ArduRoverFirmwarePlugin*>(fwPlugin)) {
+        for (int i=1; i<_frameClassFact->enumStrings().count(); i++) {
+            QString frameClassName =    _frameClassFact->enumStrings()[i];
+            int     frameClass =        _frameClassFact->enumValues()[i].toInt();
+            int     defaultFrameType;
+
+            if (_frameTypeFact) {
+                defaultFrameType = FRAME_TYPE_UNDEFINED;
+            } else {
+                defaultFrameType = -1;
+            }
+            _frameClassModel->append(new APMFrameClass(frameClassName, false /* copter */, frameClass, _frameTypeFact, defaultFrameType, _frameClassModel));
         }
-        _airframeTypesModel->append(airframeType);
     }
-
-    emit loadAirframesCompleted();
 }
 
 void APMAirframeComponentController::_loadParametersFromDownloadFile(const QString& downloadedParamFile)
@@ -120,86 +211,6 @@ void APMAirframeComponentController::_loadParametersFromDownloadFile(const QStri
     _vehicle->parameterManager()->refreshAllParameters();
 }
 
-APMAirframeType::APMAirframeType(const QString& name, const QString& imageResource, int type, QObject* parent) :
-    QObject(parent),
-    _name(name),
-    _imageResource(imageResource),
-    _type(type),
-    _dirty(false)
-{
-}
-
-APMAirframeType::~APMAirframeType()
-{
-}
-
-void APMAirframeType::addAirframe(const QString& name, const QString& file, int type)
-{
-    APMAirframe* airframe = new APMAirframe(name, file, type);
-    Q_CHECK_PTR(airframe);
-    
-    _airframes.append(QVariant::fromValue(airframe));
-}
-
-APMAirframe::APMAirframe(const QString& name, const QString& paramsFile, int type, QObject* parent) :
-    QObject(parent),
-    _name(name),
-    _paramsFile(paramsFile),
-    _type(type)
-{
-}
-
-QString APMAirframe::name() const
-{
-    return _name;
-}
-
-QString APMAirframe::params() const
-{
-    return _paramsFile;
-}
-
-int APMAirframe::type() const
-{
-    return _type;
-}
-
-APMAirframe::~APMAirframe()
-{
-}
-
-QString APMAirframeType::imageResource() const
-{
-    return _imageResource;
-}
-
-QString APMAirframeType::name() const
-{
-    return _name;
-}
-
-int APMAirframeType::type() const
-{
-    return _type;
-}
-
-APMAirframeType *APMAirframeComponentController::currentAirframeType() const
-{
-    return _currentAirframeType;
-}
-
-QString APMAirframeComponentController::currentAirframeTypeName() const
-{
-    return _vehicle->vehicleTypeName();
-}
-
-void APMAirframeComponentController::setCurrentAirframeType(APMAirframeType *t)
-{
-    Fact *param = getParameterFact(-1, QStringLiteral("FRAME"));
-    Q_ASSERT(param);
-    param->setRawValue(t->type());
-}
-
 void APMAirframeComponentController::loadParameters(const QString& paramFile)
 {
     qgcApp()->setOverrideCursor(Qt::WaitCursor);
@@ -258,3 +269,37 @@ void APMAirframeComponentController::_paramFileDownloadError(QString errorMsg)
     qgcApp()->showMessage(tr("Param file download failed: %1").arg(errorMsg));
     qgcApp()->restoreOverrideCursor();
 }
+
+APMFrameClass::APMFrameClass(const QString& name, bool copter, int frameClass, Fact* frameTypeFact, int defaultFrameType, QObject* parent)
+    : QObject               (parent)
+    , _name                 (name)
+    , _copter               (copter)
+    , _frameClass           (frameClass)
+    , _defaultFrameType     (defaultFrameType)
+    , _frameTypeSupported   (defaultFrameType != -1)
+    , _frameTypeFact        (frameTypeFact)
+{
+    if (frameTypeFact) {
+        connect(frameTypeFact, &Fact::rawValueChanged, this, &APMFrameClass::imageResourceChanged);
+        connect(frameTypeFact, &Fact::rawValueChanged, this, &APMFrameClass::frameTypeChanged);
+    }
+}
+
+APMFrameClass::~APMFrameClass()
+{
+
+}
+
+QString APMFrameClass::imageResource(void)
+{
+    QString imageResource;
+
+    int frameType = _frameTypeFact ? _frameTypeFact->rawValue().toInt() : -1;
+
+    if (_copter) {
+        imageResource = s_findImageResourceCopter(_frameClass, frameType);
+    } else {
+        imageResource = s_findImageResourceRover(_frameClass, frameType);
+    }
+    return QStringLiteral("/qmlimages/Airframe/%1").arg(imageResource);
+}

src/AutoPilotPlugins/APM/APMAirframeComponentController.h

@@ -7,12 +7,7 @@
  *
  ****************************************************************************/
 
-
-/// @file
-///     @author Don Gagne <don@thegagnes.com>
-
-#ifndef APMAirframeComponentController_H
-#define APMAirframeComponentController_H
+#pragma once
 
 #include <QObject>
 #include <QQuickItem>
@@ -22,7 +17,6 @@
 #include "UASInterface.h"
 #include "AutoPilotPlugin.h"
 #include "FactPanelController.h"
-#include "APMAirframeComponentAirframes.h"
 
 class APMAirframeModel;
 class APMAirframeType;
@@ -33,98 +27,57 @@ class APMAirframeComponentController : public FactPanelController
     Q_OBJECT
     
 public:
-    enum FrameId{FRAME_TYPE_PLUS = 0,
-                 FRAME_TYPE_X = 1,
-                 FRAME_TYPE_V = 2,
-                 FRAME_TYPE_H = 3,
-                 FRAME_TYPE_NEWY6 = 10};
-    Q_ENUM(FrameId)
-
     APMAirframeComponentController(void);
     ~APMAirframeComponentController();
     
-    Q_PROPERTY(QmlObjectListModel* airframeTypesModel MEMBER _airframeTypesModel CONSTANT)
-    Q_PROPERTY(APMAirframeType* currentAirframeType READ currentAirframeType WRITE setCurrentAirframeType NOTIFY currentAirframeTypeChanged)
+    Q_PROPERTY(QmlObjectListModel*  frameClassModel     MEMBER _frameClassModel CONSTANT)
 
     Q_INVOKABLE void loadParameters(const QString& paramFile);
 
-    int currentAirframeIndex(void);
-    void setCurrentAirframeIndex(int newIndex);
-    
-signals:
-    void loadAirframesCompleted();
-    void currentAirframeTypeChanged(APMAirframeType* airframeType);
-
-public slots:
-    APMAirframeType *currentAirframeType() const;
-    Q_INVOKABLE QString currentAirframeTypeName() const;
-    void setCurrentAirframeType(APMAirframeType *t);
-
 private slots:
-    void _fillAirFrames(void);
-    void _factFrameChanged(QVariant v);
     void _githubJsonDownloadFinished(QString remoteFile, QString localFile);
     void _githubJsonDownloadError(QString errorMsg);
     void _paramFileDownloadFinished(QString remoteFile, QString localFile);
     void _paramFileDownloadError(QString errorMsg);
 
 private:
+    void _fillFrameClasses(void);
     void _loadParametersFromDownloadFile(const QString& downloadedParamFile);
 
-    APMAirframeType *_currentAirframeType;
-    QmlObjectListModel *_airframeTypesModel;
-
-    static bool _typesRegistered;
-    static const char* _oldFrameParam;
-    static const char* _newFrameParam;
+    Fact*               _frameClassFact;
+    Fact*               _frameTypeFact;
+    QmlObjectListModel* _frameClassModel;
 };
 
-class APMAirframe : public QObject
+class APMFrameClass : public QObject
 {
     Q_OBJECT
     
 public:
-    APMAirframe(const QString& name, const QString& paramsFile, int type, QObject* parent = NULL);
-    ~APMAirframe();
+    APMFrameClass(const QString& name, bool copter, int frameClass, Fact* frameTypeFact, int defaultFrameType, QObject* parent = nullptr);
+    ~APMFrameClass();
     
-    Q_PROPERTY(QString name MEMBER _name CONSTANT)
-    Q_PROPERTY(int type MEMBER _type CONSTANT)
-    Q_PROPERTY(QString params MEMBER _paramsFile CONSTANT)
-    
-    QString name() const;
-    QString params() const;
-    int type() const;
+    Q_PROPERTY(QString      name                MEMBER _name                CONSTANT)
+    Q_PROPERTY(int          frameClass          MEMBER _frameClass          CONSTANT)
+    Q_PROPERTY(int          frameType           READ frameType              NOTIFY frameTypeChanged)
+    Q_PROPERTY(int          defaultFrameType    MEMBER _defaultFrameType    CONSTANT)
+    Q_PROPERTY(QString      imageResource       READ imageResource          NOTIFY imageResourceChanged)
+    Q_PROPERTY(bool         frameTypeSupported  MEMBER _frameTypeSupported  CONSTANT)
+
+    int     frameType       (void) { return _frameTypeFact->rawValue().toInt(); };
+    QString imageResource   (void);
 
-private:
     QString _name;
-    QString _paramsFile;
-    int _type;
-};
+    bool    _copter;
+    QString _imageResource;
+    int     _frameClass;
+    int     _defaultFrameType;
+    bool    _frameTypeSupported;
 
-class APMAirframeType : public QObject
-{
-    Q_OBJECT
-    
-public:
-    APMAirframeType(const QString& name, const QString& imageResource, int type, QObject* parent = NULL);
-    ~APMAirframeType();
-    
-    Q_PROPERTY(QString name MEMBER _name CONSTANT)
-    Q_PROPERTY(QString imageResource MEMBER _imageResource CONSTANT)
-    Q_PROPERTY(QVariantList airframes MEMBER _airframes CONSTANT)
-    Q_PROPERTY(int type MEMBER _type CONSTANT)
-    Q_PROPERTY(bool dirty MEMBER _dirty CONSTANT)
-    void addAirframe(const QString& name, const QString& paramsFile, int type);
+signals:
+    void imageResourceChanged(void);
+    void frameTypeChanged();
 
-    QString name() const;
-    QString imageResource() const;
-    int type() const;
 private:
-    QString         _name;
-    QString         _imageResource;
-    QVariantList    _airframes;
-    int _type;
-    bool _dirty;
+    Fact* _frameTypeFact;
 };
-
-#endif

src/AutoPilotPlugins/APM/APMAirframeComponentSummary.qml

@@ -7,39 +7,34 @@ import QGroundControl.Controls 1.0
 import QGroundControl.Controllers 1.0
 import QGroundControl.Palette 1.0
 
-Item {
+FactPanel {
+    id:             panel
     anchors.fill:   parent
+    color:          qgcPal.windowShadeDark
 
     QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
     APMAirframeComponentController {
         id:         controller
+        factPanel:  panel
     }
 
-    property bool _frameAvailable:      controller.parameterExists(-1, "FRAME")
-    property Fact _frame:               controller.getParameterFact(-1, "FRAME", false)
-    property Fact _frameClass:          controller.getParameterFact(-1, "FRAME_CLASS", false)
+    property Fact _frameClass:          controller.getParameterFact(-1, "FRAME_CLASS")
     property Fact _frameType:           controller.getParameterFact(-1, "FRAME_TYPE", false)
+    property bool _frameTypeAvailable:  controller.parameterExists(-1, "FRAME_TYPE")
 
     Column {
         anchors.fill:       parent
 
         VehicleSummaryRow {
-            labelText:  qsTr("Frame Type")
-            valueText:  visible ? controller.currentAirframeTypeName() + " " + _frame.enumStringValue : ""
-            visible:    _frameAvailable
-        }
-
-        VehicleSummaryRow {
             labelText:  qsTr("Frame Class")
-            valueText:  visible ? _frameClass.enumStringValue : ""
-            visible:    !_frameAvailable
+            valueText:  _frameClass.enumStringValue
 
         }
 
         VehicleSummaryRow {
             labelText:  qsTr("Frame Type")
             valueText:  visible ? _frameType.enumStringValue : ""
-            visible:    !_frameAvailable
+            visible:    _frameTypeAvailable
         }
 
         VehicleSummaryRow {

src/AutoPilotPlugins/APM/APMAirframeFactMetaData.xml

@@ -1,34 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<airframes>
-  <version>1</version>
-  <airframe_group image="AirframeQuadRotorPlus.png" name="Plus Style: Quad, Hexa, Octo, Heli" id="0">
-      <airframe name="3DR Aero M" file="3DR_AERO_M.param"/>
-      <airframe name="3DR Aero RTF" file="3DR_Aero_RTF.param"/>
-      <airframe name="3DR Rover" file="3DR_Rover.param"/>
-      <airframe name="3DR Tarot" file="3DR_Tarot.bgsc"/>
-      <airframe name="Parrot Bebop" file="Parrot_Bebop.param"/>
-      <airframe name="Storm32" file="SToRM32-MAVLink.param"/>
-  </airframe_group>
-  <airframe_group image="AirframeQuadRotorX.png" name="X Style, Y6A Style: Quad, Hexa, Octo, X8, Tri, Y6A" id="1">
-      <airframe name="3DR X8-M RTF" file="3DR_X8-M_RTF.param"/>
-      <airframe name="3DR Y6A" file="3DR_Y6A_RTF.param"/>
-      <airframe name="3DR X8+ RTF" file="3DR_X8+_RTF.param"/>
-      <airframe name="3DR QUAD X4 RTF" file="3DR_QUAD_X4_RTF.param"/>
-      <airframe name="3DR X8" file="3DR_X8_RTF.param"/>
-  </airframe_group>
-  <airframe_group image="AirframeQuadRotorH.png" name="V (3DR Iris)" id="2">
-      <airframe name="Iris with GoPro" file="Iris with Front Mount Go Pro.param"/>
-      <airframe name="Iris with Tarot" file="Iris with Tarot Gimbal.param"/>
-      <airframe name="3DR Iris+" file="3DR_Iris+.param"/>
-      <airframe name="Iris" file="Iris.param"/>
-  </airframe_group>
-  <airframe_group image="AirframeQuadRotorH.png" name="V Tail" id="4">
-  </airframe_group>
-  <airframe_group image="AirframeQuadRotorH.png" name="A Tail" id="5">
-  </airframe_group>
-  <airframe_group name="H: X and H differ in prop rotation" id="3">
-  </airframe_group>
-  <airframe_group name="Y6B Frame (3DR TriCopter): Y6B and Y6A differ in prop rotation" id="10">
-      <airframe name="3DR Y6B" file="3DR_Y6B_RTF.param"/>
-  </airframe_group>
-<airframes>

src/AutoPilotPlugins/APM/APMAirframeLoader.cc

@@ -1,87 +0,0 @@
-/****************************************************************************
- *
- *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
- *
- * QGroundControl is licensed according to the terms in the file
- * COPYING.md in the root of the source code directory.
- *
- ****************************************************************************/
-
-
-/// @file
-///     @author Don Gagne <don@thegagnes.com>
-
-#include "APMAirframeLoader.h"
-#include "QGCApplication.h"
-#include "QGCLoggingCategory.h"
-#include "APMAirframeComponentAirframes.h"
-
-#include <QFile>
-#include <QFileInfo>
-#include <QDir>
-#include <QDebug>
-
-QGC_LOGGING_CATEGORY(APMAirframeLoaderLog, "APMAirframeLoaderLog")
-
-bool APMAirframeLoader::_airframeMetaDataLoaded = false;
-
-APMAirframeLoader::APMAirframeLoader(AutoPilotPlugin* autopilot, UASInterface* uas, QObject* parent)
-{
-    Q_UNUSED(autopilot);
-    Q_UNUSED(uas);
-    Q_UNUSED(parent);
-    Q_ASSERT(uas);
-}
-
-/// Load Airframe Fact meta data
-void APMAirframeLoader::loadAirframeFactMetaData(void)
-{
-    if (_airframeMetaDataLoaded) {
-        return;
-    }
-
-    qCDebug(APMAirframeLoaderLog) << "Loading APM airframe fact meta data";
-
-    Q_ASSERT(APMAirframeComponentAirframes::get().count() == 0);
-
-    QString airframeFilename(QStringLiteral(":/AutoPilotPlugins/APM/APMAirframeFactMetaData.xml"));
-
-    qCDebug(APMAirframeLoaderLog) << "Loading meta data file:" << airframeFilename;
-
-    QFile xmlFile(airframeFilename);
-    Q_ASSERT(xmlFile.exists());
-
-    bool success = xmlFile.open(QIODevice::ReadOnly);
-    Q_UNUSED(success);
-    Q_ASSERT(success);
-
-    QXmlStreamReader xml(xmlFile.readAll());
-    xmlFile.close();
-    if (xml.hasError()) {
-        qCWarning(APMAirframeLoaderLog) << "Badly formed XML" << xml.errorString();
-        return;
-    }
-
-    QString airframeGroup;
-    QString image;
-    int groupId = 0;
-    while (!xml.atEnd()) {
-        if (xml.isStartElement()) {
-            QString elementName = xml.name().toString();
-            QXmlStreamAttributes attr = xml.attributes();
-            if (elementName == QLatin1Literal("airframe_group")) {
-                airframeGroup = attr.value(QStringLiteral("name")).toString();
-                image = attr.value(QStringLiteral("image")).toString();
-                groupId = attr.value(QStringLiteral("id")).toInt();
-                APMAirframeComponentAirframes::insert(airframeGroup, groupId, image);
-            } else if (elementName == QLatin1Literal("airframe")) {
-                QString name = attr.value(QStringLiteral("name")).toString();
-                QString file = attr.value(QStringLiteral("file")).toString();
-                APMAirframeComponentAirframes::insert(airframeGroup, groupId, image, name, file);
-            }
-        }
-        xml.readNext();
-    }
-
-    _airframeMetaDataLoaded = true;
-}

src/AutoPilotPlugins/APM/APMAirframeLoader.h

@@ -1,46 +0,0 @@
-/****************************************************************************
- *
- *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
- *
- * QGroundControl is licensed according to the terms in the file
- * COPYING.md in the root of the source code directory.
- *
- ****************************************************************************/
-
-
-#ifndef APMAirframeLoader_H
-#define APMAirframeLoader_H
-
-#include <QObject>
-#include <QMap>
-#include <QXmlStreamReader>
-#include <QLoggingCategory>
-
-#include "ParameterManager.h"
-#include "FactSystem.h"
-#include "UASInterface.h"
-#include "AutoPilotPlugin.h"
-
-/// @file APMAirframeLoader.h
-///     @author Lorenz Meier <lm@qgroundcontrol.org>
-
-Q_DECLARE_LOGGING_CATEGORY(APMAirframeLoaderLog)
-
-/// Collection of Parameter Facts for PX4 AutoPilot
-
-class APMAirframeLoader : QObject
-{
-    Q_OBJECT
-
-public:
-    /// @param uas Uas which this set of facts is associated with
-    APMAirframeLoader(AutoPilotPlugin* autpilot,UASInterface* uas, QObject* parent = NULL);
-
-    static void loadAirframeFactMetaData(void);
-
-private:
-    static bool _airframeMetaDataLoaded;   ///< true: parameter meta data already loaded
-    static QMap<QString, FactMetaData*> _mapParameterName2FactMetaData; ///< Maps from a parameter name to FactMetaData
-};
-
-#endif // APMAirframeLoader_H

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.cc

@@ -15,8 +15,6 @@
 #include "FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h"
 #include "VehicleComponent.h"
 #include "APMAirframeComponent.h"
-#include "APMAirframeComponentAirframes.h"
-#include "APMAirframeLoader.h"
 #include "APMFlightModesComponent.h"
 #include "APMRadioComponent.h"
 #include "APMSafetyComponent.h"
@@ -30,6 +28,7 @@
 #include "ESP8266Component.h"
 #include "APMHeliComponent.h"
 #include "QGCApplication.h"
+#include "ParameterManager.h"
 
 #if !defined(NO_SERIAL_LINK) && !defined(__android__)
 #include <QSerialPortInfo>
@@ -50,12 +49,9 @@ APMAutoPilotPlugin::APMAutoPilotPlugin(Vehicle* vehicle, QObject* parent)
     , _safetyComponent          (NULL)
     , _sensorsComponent         (NULL)
     , _tuningComponent          (NULL)
-    , _airframeFacts            (new APMAirframeLoader(this, vehicle->uas(), this))
     , _esp8266Component         (NULL)
     , _heliComponent            (NULL)
 {
-    APMAirframeLoader::loadAirframeFactMetaData();
-
 #if !defined(NO_SERIAL_LINK) && !defined(__android__)
     connect(vehicle->parameterManager(), &ParameterManager::parametersReadyChanged, this, &APMAutoPilotPlugin::_checkForBadCubeBlack);
 #endif

src/AutoPilotPlugins/APM/APMAutoPilotPlugin.h

@@ -15,7 +15,6 @@
 #include "Vehicle.h"
 
 class APMAirframeComponent;
-class APMAirframeLoader;
 class APMFlightModesComponent;
 class APMRadioComponent;
 class APMTuningComponent;
@@ -55,7 +54,6 @@ protected:
     APMSafetyComponent*         _safetyComponent;
     APMSensorsComponent*        _sensorsComponent;
     APMTuningComponent*         _tuningComponent;
-    APMAirframeLoader*          _airframeFacts;
     ESP8266Component*           _esp8266Component;
     APMHeliComponent*           _heliComponent;
 

src/AutoPilotPlugins/APM/APMCameraComponent.qml

@@ -55,16 +55,16 @@ SetupPage {
             property Fact _mountAngMinPan:      controller.getParameterFact(-1, "MNT_ANGMIN_PAN")
             property Fact _mountAngMaxPan:      controller.getParameterFact(-1, "MNT_ANGMAX_PAN")
 
-            property Fact _rc5Function:         controller.getParameterFact(-1, "r.SERVO5_FUNCTION")
-            property Fact _rc6Function:         controller.getParameterFact(-1, "r.SERVO6_FUNCTION")
-            property Fact _rc7Function:         controller.getParameterFact(-1, "r.SERVO7_FUNCTION")
-            property Fact _rc8Function:         controller.getParameterFact(-1, "r.SERVO8_FUNCTION")
-            property Fact _rc9Function:         controller.getParameterFact(-1, "r.SERVO9_FUNCTION")
-            property Fact _rc10Function:        controller.getParameterFact(-1, "r.SERVO10_FUNCTION")
-            property Fact _rc11Function:        controller.getParameterFact(-1, "r.SERVO11_FUNCTION")
-            property Fact _rc12Function:        controller.getParameterFact(-1, "r.SERVO12_FUNCTION")
-            property Fact _rc13Function:        controller.getParameterFact(-1, "r.SERVO13_FUNCTION")
-            property Fact _rc14Function:        controller.getParameterFact(-1, "r.SERVO14_FUNCTION")
+            property Fact _rc5Function:         controller.getParameterFact(-1, "SERVO5_FUNCTION")
+            property Fact _rc6Function:         controller.getParameterFact(-1, "SERVO6_FUNCTION")
+            property Fact _rc7Function:         controller.getParameterFact(-1, "SERVO7_FUNCTION")
+            property Fact _rc8Function:         controller.getParameterFact(-1, "SERVO8_FUNCTION")
+            property Fact _rc9Function:         controller.getParameterFact(-1, "SERVO9_FUNCTION")
+            property Fact _rc10Function:        controller.getParameterFact(-1, "SERVO10_FUNCTION")
+            property Fact _rc11Function:        controller.getParameterFact(-1, "SERVO11_FUNCTION")
+            property Fact _rc12Function:        controller.getParameterFact(-1, "SERVO12_FUNCTION")
+            property Fact _rc13Function:        controller.getParameterFact(-1, "SERVO13_FUNCTION")
+            property Fact _rc14Function:        controller.getParameterFact(-1, "SERVO14_FUNCTION")
 
             property bool _tiltEnabled:         false
             property bool _panEnabled:          false
@@ -92,7 +92,7 @@ SetupPage {
             }
 
             function setGimbalSettingsServoInfo(loader, channel) {
-                var rcPrefix = "r.SERVO" + channel + "_"
+                var rcPrefix = "SERVO" + channel + "_"
 
                 loader.gimbalOutIndex = channel - 4
                 loader.servoPWMMinFact = controller.getParameterFact(-1, rcPrefix + "MIN")
@@ -110,7 +110,7 @@ SetupPage {
                 _panEnabled = false
                 _rollEnabled = false
                 for (var channel=_firstGimbalOutChannel; channel<=_lastGimbalOutChannel; channel++) {
-                    var functionFact = controller.getParameterFact(-1, "r.SERVO" + channel + "_FUNCTION")
+                    var functionFact = controller.getParameterFact(-1, "SERVO" + channel + "_FUNCTION")
                     if (functionFact.value == _rcFunctionMountTilt) {
                         _tiltEnabled = true
                         setGimbalSettingsServoInfo(gimbalDirectionTiltLoader, channel)
@@ -127,7 +127,7 @@ SetupPage {
             function setRCFunction(channel, rcFunction) {
                 // First clear any previous settings for this function
                 for (var index=_firstGimbalOutChannel; index<=_lastGimbalOutChannel; index++) {
-                    var functionFact = controller.getParameterFact(-1, "r.SERVO" + index + "_FUNCTION")
+                    var functionFact = controller.getParameterFact(-1, "SERVO" + index + "_FUNCTION")
                     if (functionFact.value != _rcFunctionDisabled && functionFact.value == rcFunction) {
                         functionFact.value = _rcFunctionDisabled
                     }
@@ -135,7 +135,7 @@ SetupPage {
 
                 // Now set the function into the new channel
                 if (channel != 0) {
-                    var functionFact = controller.getParameterFact(-1, "r.SERVO" + channel + "_FUNCTION")
+                    var functionFact = controller.getParameterFact(-1, "SERVO" + channel + "_FUNCTION")
                     functionFact.value = rcFunction
                 }
             }

src/AutoPilotPlugins/APM/APMLightsComponent.qml

@@ -29,21 +29,22 @@ SetupPage {
             spacing:    _margins
             width:      availableWidth
 
-            FactPanelController { id: controller; }
+            FactPanelController { id: controller; factPanel: lightsPage.viewPanel }
 
             QGCPalette { id: palette; colorGroupEnabled: true }
 
-            property bool _oldFW:               activeVehicle.versionCompare(3, 5, 2) < 0
-            property Fact _rc5Function:         controller.getParameterFact(-1, "r.SERVO5_FUNCTION")
-            property Fact _rc6Function:         controller.getParameterFact(-1, "r.SERVO6_FUNCTION")
-            property Fact _rc7Function:         controller.getParameterFact(-1, "r.SERVO7_FUNCTION")
-            property Fact _rc8Function:         controller.getParameterFact(-1, "r.SERVO8_FUNCTION")
-            property Fact _rc9Function:         controller.getParameterFact(-1, "r.SERVO9_FUNCTION")
-            property Fact _rc10Function:        controller.getParameterFact(-1, "r.SERVO10_FUNCTION")
-            property Fact _rc11Function:        controller.getParameterFact(-1, "r.SERVO11_FUNCTION")
-            property Fact _rc12Function:        controller.getParameterFact(-1, "r.SERVO12_FUNCTION")
-            property Fact _rc13Function:        controller.getParameterFact(-1, "r.SERVO13_FUNCTION")
-            property Fact _rc14Function:        controller.getParameterFact(-1, "r.SERVO14_FUNCTION")
+            property var  _activeVehicle:       QGroundControl.multiVehicleManager.activeVehicle
+            property bool _oldFW:               _activeVehicle.versionCompare(3, 5, 2) < 0
+            property Fact _rc5Function:         controller.getParameterFact(-1, "SERVO5_FUNCTION")
+            property Fact _rc6Function:         controller.getParameterFact(-1, "SERVO6_FUNCTION")
+            property Fact _rc7Function:         controller.getParameterFact(-1, "SERVO7_FUNCTION")
+            property Fact _rc8Function:         controller.getParameterFact(-1, "SERVO8_FUNCTION")
+            property Fact _rc9Function:         controller.getParameterFact(-1, "SERVO9_FUNCTION")
+            property Fact _rc10Function:        controller.getParameterFact(-1, "SERVO10_FUNCTION")
+            property Fact _rc11Function:        controller.getParameterFact(-1, "SERVO11_FUNCTION")
+            property Fact _rc12Function:        controller.getParameterFact(-1, "SERVO12_FUNCTION")
+            property Fact _rc13Function:        controller.getParameterFact(-1, "SERVO13_FUNCTION")
+            property Fact _rc14Function:        controller.getParameterFact(-1, "SERVO14_FUNCTION")
             property Fact _stepSize:            _oldFW ? controller.getParameterFact(-1, "JS_LIGHTS_STEP") : null // v3.5.1 and prior
             property Fact _numSteps:            _oldFW ? null : controller.getParameterFact(-1, "JS_LIGHTS_STEPS") // v3.5.2 and up
 
@@ -65,7 +66,7 @@ SetupPage {
                 lightsLoader.lights1OutIndex = 0
                 lightsLoader.lights2OutIndex = 0
                 for (var channel=_firstLightsOutChannel; channel<=_lastLightsOutChannel; channel++) {
-                    var functionFact = controller.getParameterFact(-1, "r.SERVO" + channel + "_FUNCTION")
+                    var functionFact = controller.getParameterFact(-1, "SERVO" + channel + "_FUNCTION")
                     if (functionFact.value == _rcFunctionRCIN9) {
                         lightsLoader.lights1OutIndex = channel - 4
                     } else if (functionFact.value == _rcFunctionRCIN10) {
@@ -77,7 +78,7 @@ SetupPage {
             function setRCFunction(channel, rcFunction) {
                 // First clear any previous settings for this function
                 for (var index=_firstLightsOutChannel; index<=_lastLightsOutChannel; index++) {
-                    var functionFact = controller.getParameterFact(-1, "r.SERVO" + index + "_FUNCTION")
+                    var functionFact = controller.getParameterFact(-1, "SERVO" + index + "_FUNCTION")
                     if (functionFact.value != _rcFunctionDisabled && functionFact.value == rcFunction) {
                         functionFact.value = _rcFunctionDisabled
                     }
@@ -85,7 +86,7 @@ SetupPage {
 
                 // Now set the function into the new channel
                 if (channel != 0) {
-                    var functionFact = controller.getParameterFact(-1, "r.SERVO" + channel + "_FUNCTION")
+                    var functionFact = controller.getParameterFact(-1, "SERVO" + channel + "_FUNCTION")
                     functionFact.value = rcFunction
                 }
             }

src/AutoPilotPlugins/APM/APMLightsComponentSummary.qml

@@ -11,16 +11,16 @@ Item {
 
     FactPanelController { id: controller; }
 
-    property Fact _rc5Function:         controller.getParameterFact(-1, "r.SERVO5_FUNCTION")
-    property Fact _rc6Function:         controller.getParameterFact(-1, "r.SERVO6_FUNCTION")
-    property Fact _rc7Function:         controller.getParameterFact(-1, "r.SERVO7_FUNCTION")
-    property Fact _rc8Function:         controller.getParameterFact(-1, "r.SERVO8_FUNCTION")
-    property Fact _rc9Function:         controller.getParameterFact(-1, "r.SERVO9_FUNCTION")
-    property Fact _rc10Function:        controller.getParameterFact(-1, "r.SERVO10_FUNCTION")
-    property Fact _rc11Function:        controller.getParameterFact(-1, "r.SERVO11_FUNCTION")
-    property Fact _rc12Function:        controller.getParameterFact(-1, "r.SERVO12_FUNCTION")
-    property Fact _rc13Function:        controller.getParameterFact(-1, "r.SERVO13_FUNCTION")
-    property Fact _rc14Function:        controller.getParameterFact(-1, "r.SERVO14_FUNCTION")
+    property Fact _rc5Function:         controller.getParameterFact(-1, "SERVO5_FUNCTION")
+    property Fact _rc6Function:         controller.getParameterFact(-1, "SERVO6_FUNCTION")
+    property Fact _rc7Function:         controller.getParameterFact(-1, "SERVO7_FUNCTION")
+    property Fact _rc8Function:         controller.getParameterFact(-1, "SERVO8_FUNCTION")
+    property Fact _rc9Function:         controller.getParameterFact(-1, "SERVO9_FUNCTION")
+    property Fact _rc10Function:        controller.getParameterFact(-1, "SERVO10_FUNCTION")
+    property Fact _rc11Function:        controller.getParameterFact(-1, "SERVO11_FUNCTION")
+    property Fact _rc12Function:        controller.getParameterFact(-1, "SERVO12_FUNCTION")
+    property Fact _rc13Function:        controller.getParameterFact(-1, "SERVO13_FUNCTION")
+    property Fact _rc14Function:        controller.getParameterFact(-1, "SERVO14_FUNCTION")
 
     readonly property int   _rcFunctionRCIN9:               59
     readonly property int   _rcFunctionRCIN10:              60
@@ -37,7 +37,7 @@ Item {
         lightsLoader.lights1OutIndex = 0
         lightsLoader.lights2OutIndex = 0
         for (var channel=_firstLightsOutChannel; channel<=_lastLightsOutChannel; channel++) {
-            var functionFact = controller.getParameterFact(-1, "r.SERVO" + channel + "_FUNCTION")
+            var functionFact = controller.getParameterFact(-1, "SERVO" + channel + "_FUNCTION")
             if (functionFact.value == _rcFunctionRCIN9) {
                 lightsLoader.lights1OutIndex = channel - 4
             } else if (functionFact.value == _rcFunctionRCIN10) {

src/AutoPilotPlugins/APM/APMTuningComponentCopter.qml

@@ -10,6 +10,7 @@
 
 import QtQuick              2.3
 import QtQuick.Controls     1.2
+import QtQuick.Layouts      1.2
 
 import QGroundControl.FactSystem    1.0
 import QGroundControl.FactControls  1.0
@@ -25,21 +26,20 @@ SetupPage {
         id: tuningPageComponent
 
         Column {
-            width:      availableWidth
-            spacing:    _margins
+            width: availableWidth
 
             QGCPalette { id: palette; colorGroupEnabled: true }
 
-            property bool _rcFeelAvailable:     controller.parameterExists(-1, "RC_FEEL")
             property bool _atcInputTCAvailable: controller.parameterExists(-1, "ATC_INPUT_TC")
-            property Fact _rcFeel:              controller.getParameterFact(-1, "RC_FEEL", false)
             property Fact _atcInputTC:          controller.getParameterFact(-1, "ATC_INPUT_TC", false)
-            property Fact _rateRollP:           controller.getParameterFact(-1, "r.ATC_RAT_RLL_P")
-            property Fact _rateRollI:           controller.getParameterFact(-1, "r.ATC_RAT_RLL_I")
-            property Fact _ratePitchP:          controller.getParameterFact(-1, "r.ATC_RAT_PIT_P")
-            property Fact _ratePitchI:          controller.getParameterFact(-1, "r.ATC_RAT_PIT_I")
-            property Fact _rateClimbP:          controller.getParameterFact(-1, "r.PSC_ACCZ_P")
-            property Fact _rateClimbI:          controller.getParameterFact(-1, "r.PSC_ACCZ_I")
+            property Fact _rateRollP:           controller.getParameterFact(-1, "ATC_RAT_RLL_P")
+            property Fact _rateRollI:           controller.getParameterFact(-1, "ATC_RAT_RLL_I")
+            property Fact _ratePitchP:          controller.getParameterFact(-1, "ATC_RAT_PIT_P")
+            property Fact _ratePitchI:          controller.getParameterFact(-1, "ATC_RAT_PIT_I")
+            property Fact _rateClimbP:          controller.getParameterFact(-1, "PSC_ACCZ_P")
+            property Fact _rateClimbI:          controller.getParameterFact(-1, "PSC_ACCZ_I")
+            property Fact _motSpinArm:          controller.getParameterFact(-1, "MOT_SPIN_ARM")
+            property Fact _motSpinMin:          controller.getParameterFact(-1, "MOT_SPIN_MIN")
 
             property Fact _ch7Opt:  controller.getParameterFact(-1, "r.RC7_OPTION")
             property Fact _ch8Opt:  controller.getParameterFact(-1, "r.RC8_OPTION")
@@ -64,6 +64,7 @@ SetupPage {
             ExclusiveGroup { id: returnAltRadioGroup }
 
             Component.onCompleted: {
+                showAdvanced = !ScreenTools.isMobile
                 // Qml Sliders have a strange behavior in which they first set Slider::value to some internal
                 // setting and then set Slider::value to the bound properties value. If you have an onValueChanged
                 // handler which updates your property with the new value, this first value change will trash
@@ -71,9 +72,6 @@ SetupPage {
                 // after Qml load is done. We also don't track value changes until Qml load completes.
                 rollPitch.value = _rateRollP.value
                 climb.value = _rateClimbP.value
-                if (_rcFeelAvailable) {
-                    rcFeel.value = _rcFeel.value
-                }
                 if (_atcInputTCAvailable) {
                     atcInputTC.value = _atcInputTC.value
                 }
@@ -119,297 +117,365 @@ SetupPage {
             Connections { target: _ch11Opt; onValueChanged: calcAutoTuneChannel() }
             Connections { target: _ch12Opt; onValueChanged: calcAutoTuneChannel() }
 
-            QGCLabel {
-                id:         basicLabel
-                text:       qsTr("Basic Tuning")
-                font.family: ScreenTools.demiboldFontFamily
-            }
-
-            Rectangle {
-                id:                 basicTuningRect
+            Column {
                 anchors.left:       parent.left
                 anchors.right:      parent.right
-                height:             basicTuningColumn.y + basicTuningColumn.height + _margins
-                color:              palette.windowShade
+                spacing:            _margins
+                visible:            !advanced
 
-                Column {
-                    id:                 basicTuningColumn
-                    anchors.margins:    _margins
+                QGCLabel {
+                    text:       qsTr("Basic Tuning")
+                    font.family: ScreenTools.demiboldFontFamily
+                }
+
+                Rectangle {
+                    id:                 basicTuningRect
                     anchors.left:       parent.left
                     anchors.right:      parent.right
-                    anchors.top:        parent.top
-                    spacing:            _margins
+                    height:             basicTuningColumn.y + basicTuningColumn.height + _margins
+                    color:              palette.windowShade
 
                     Column {
-                        anchors.left:   parent.left
-                        anchors.right:  parent.right
+                        id:                 basicTuningColumn
+                        anchors.margins:    _margins
+                        anchors.left:       parent.left
+                        anchors.right:      parent.right
+                        anchors.top:        parent.top
+                        spacing:            _margins
 
-                        QGCLabel {
-                            text:       qsTr("Roll/Pitch Sensitivity")
-                            font.family: ScreenTools.demiboldFontFamily
-                        }
-
-                        QGCLabel {
-                            text: qsTr("Slide to the right if the copter is sluggish or slide to the left if the copter is twitchy")
-                        }
-
-                        Slider {
-                            id:                 rollPitch
+                        Column {
                             anchors.left:       parent.left
                             anchors.right:      parent.right
-                            minimumValue:       0.08
-                            maximumValue:       0.4
-                            stepSize:           0.01
-                            tickmarksEnabled:   true
-
-                            onValueChanged: {
-                                if (_loadComplete) {
-                                    _rateRollP.value = value
-                                    _rateRollI.value = value
-                                    _ratePitchP.value = value
-                                    _ratePitchI.value = value
-                                }
-                            }
-                        }
-                    }
 
-                    Column {
-                        anchors.left:   parent.left
-                        anchors.right:  parent.right
+                            QGCLabel {
+                                text:       qsTr("Roll/Pitch Sensitivity")
+                                font.family: ScreenTools.demiboldFontFamily
+                            }
 
-                        QGCLabel {
-                            text:       qsTr("Climb Sensitivity")
-                            font.family: ScreenTools.demiboldFontFamily
-                        }
+                            QGCLabel {
+                                text: qsTr("Slide to the right if the copter is sluggish or slide to the left if the copter is twitchy")
+                            }
 
-                        QGCLabel {
-                            text: qsTr("Slide to the right to climb more aggressively or slide to the left to climb more gently")
+                            Slider {
+                                id:                 rollPitch
+                                anchors.left:       parent.left
+                                anchors.right:      parent.right
+                                minimumValue:       0.08
+                                maximumValue:       0.4
+                                stepSize:           0.01
+                                tickmarksEnabled:   true
+
+                                onValueChanged: {
+                                    if (_loadComplete) {
+                                        _rateRollP.value = value
+                                        _rateRollI.value = value
+                                        _ratePitchP.value = value
+                                        _ratePitchI.value = value
+                                    }
+                                }
+                            }
                         }
 
-                        Slider {
-                            id:                 climb
+                        Column {
                             anchors.left:       parent.left
                             anchors.right:      parent.right
-                            minimumValue:       0.3
-                            maximumValue:       1.0
-                            stepSize:           0.02
-                            tickmarksEnabled:   true
-                            value:              _rateClimbP.value
-
-                            onValueChanged: {
-                                if (_loadComplete) {
-                                    _rateClimbP.value = value
-                                    _rateClimbI.value = value * 2
-                                }
-                            }
-                        }
-                    }
 
-                    Column {
-                        anchors.left:   parent.left
-                        anchors.right:  parent.right
-                        visible:        _rcFeelAvailable
+                            QGCLabel {
+                                text:       qsTr("Climb Sensitivity")
+                                font.family: ScreenTools.demiboldFontFamily
+                            }
 
-                        QGCLabel {
-                            text:       qsTr("RC Roll/Pitch Feel")
-                            font.family: ScreenTools.demiboldFontFamily
-                        }
+                            QGCLabel {
+                                text: qsTr("Slide to the right to climb more aggressively or slide to the left to climb more gently")
+                            }
 
-                        QGCLabel {
-                            text: qsTr("Slide to the left for soft control, slide to the right for crisp control")
+                            Slider {
+                                id:                 climb
+                                anchors.left:       parent.left
+                                anchors.right:      parent.right
+                                minimumValue:       0.3
+                                maximumValue:       1.0
+                                stepSize:           0.02
+                                tickmarksEnabled:   true
+                                value:              _rateClimbP.value
+
+                                onValueChanged: {
+                                    if (_loadComplete) {
+                                        _rateClimbP.value = value
+                                        _rateClimbI.value = value * 2
+                                    }
+                                }
+                            }
                         }
 
-                        Slider {
-                            id:                 rcFeel
+                        Column {
                             anchors.left:       parent.left
                             anchors.right:      parent.right
-                            minimumValue:       0
-                            maximumValue:       100
-                            stepSize:           5.0
-                            tickmarksEnabled:   true
-
-                            onValueChanged: {
-                                if (_loadComplete) {
-                                    _rcFeel.value = value
+                            visible:            _atcInputTCAvailable
+
+                            QGCLabel {
+                                text:       qsTr("RC Roll/Pitch Feel")
+                                font.family: ScreenTools.demiboldFontFamily
+                            }
+
+                            QGCLabel {
+                                text: qsTr("Slide to the left for soft control, slide to the right for crisp control")
+                            }
+
+                            Slider {
+                                id:                 atcInputTC
+                                anchors.left:       parent.left
+                                anchors.right:      parent.right
+                                minimumValue:       _atcInputTC.min
+                                maximumValue:       _atcInputTC.max
+                                stepSize:           _atcInputTC.increment
+                                tickmarksEnabled:   true
+
+                                onValueChanged: {
+                                    if (_loadComplete) {
+                                        _atcInputTC.value = value
+                                    }
                                 }
                             }
                         }
-                    }
 
-                    Column {
-                        anchors.left:   parent.left
-                        anchors.right:  parent.right
-                        visible:        _atcInputTCAvailable
+                        Column {
+                            anchors.left:       parent.left
+                            anchors.right:      parent.right
 
-                        QGCLabel {
-                            text:       qsTr("RC Roll/Pitch Feel")
-                            font.family: ScreenTools.demiboldFontFamily
-                        }
+                            QGCLabel {
+                                text:       qsTr("Spin While Armed")
+                                font.family: ScreenTools.demiboldFontFamily
+                            }
 
-                        QGCLabel {
-                            text: qsTr("Slide to the left for soft control, slide to the right for crisp control")
+                            QGCLabel {
+                                text: qsTr("Adjust the amount the motors spin to indicate armed")
+                            }
+
+                            Slider {
+                                anchors.left:       parent.left
+                                anchors.right:      parent.right
+                                minimumValue:       0
+                                maximumValue:       Math.max(0.3, _motSpinArm.rawValue)
+                                stepSize:           0.01
+                                tickmarksEnabled:   true
+                                value:              _motSpinArm.rawValue
+
+                                onValueChanged: {
+                                    if (_loadComplete) {
+                                        _motSpinArm.rawValue = value
+                                    }
+                                }
+                            }
                         }
 
-                        Slider {
-                            id:                 atcInputTC
+                        Column {
                             anchors.left:       parent.left
                             anchors.right:      parent.right
-                            minimumValue:       _atcInputTC.min
-                            maximumValue:       _atcInputTC.max
-                            stepSize:           _atcInputTC.increment
-                            tickmarksEnabled:   true
-
-                            onValueChanged: {
-                                if (_loadComplete) {
-                                    _atcInputTC.value = value
+
+                            QGCLabel {
+                                text:       qsTr("Minimum Thrust")
+                                font.family: ScreenTools.demiboldFontFamily
+                            }
+
+                            QGCLabel {
+                                text: qsTr("Adjust the minimum amount of thrust require for the vehicle to move")
+                            }
+
+                            QGCLabel {
+                                text:       qsTr("Warning: This setting should be higher than 'Spin While Armed'")
+                                color:      palette.warningText
+                                visible:    _motSpinMin.rawValue < _motSpinArm.rawValue
+                            }
+
+                            Slider {
+                                anchors.left:       parent.left
+                                anchors.right:      parent.right
+                                minimumValue:       0
+                                maximumValue:       Math.max(0.3, _motSpinMin.rawValue)
+                                stepSize:           0.01
+                                tickmarksEnabled:   true
+                                value:              _motSpinMin.rawValue
+
+                                onValueChanged: {
+                                    if (_loadComplete) {
+                                        _motSpinMin.rawValue = value
+                                    }
                                 }
                             }
                         }
                     }
-                }
-            } // Rectangle - Basic tuning
+                } // Rectangle - Basic tuning
 
-            Flow {
-                id:             flowLayout
-                anchors.left:   parent.left
-                anchors.right:  parent.right
-                spacing:        _margins
-
-                Rectangle {
-                    height: autoTuneLabel.height + autoTuneRect.height
-                    width:  autoTuneRect.width
-                    color:  palette.window
-
-                    QGCLabel {
-                        id:                 autoTuneLabel
-                        text:               qsTr("AutoTune")
-                        font.family:        ScreenTools.demiboldFontFamily
-                    }
+                Flow {
+                    id:                 flowLayout
+                    Layout.fillWidth:   true
+                    spacing:            _margins
 
                     Rectangle {
-                        id:             autoTuneRect
-                        width:          autoTuneColumn.x + autoTuneColumn.width + _margins
-                        height:         autoTuneColumn.y + autoTuneColumn.height + _margins
-                        anchors.top:    autoTuneLabel.bottom
-                        color:          palette.windowShade
-
-                        Column {
-                            id:                 autoTuneColumn
-                            anchors.margins:    _margins
-                            anchors.left:       parent.left
-                            anchors.top:        parent.top
-                            spacing:            _margins
+                        height: autoTuneLabel.height + autoTuneRect.height
+                        width:  autoTuneRect.width
+                        color:  palette.window
 
-                            Row {
-                                spacing: _margins
+                        QGCLabel {
+                            id:                 autoTuneLabel
+                            text:               qsTr("AutoTune")
+                            font.family:        ScreenTools.demiboldFontFamily
+                        }
 
-                                QGCLabel { text: qsTr("Axes to AutoTune:") }
-                                FactBitmask { fact: _autoTuneAxes }
-                            }
+                        Rectangle {
+                            id:             autoTuneRect
+                            width:          autoTuneColumn.x + autoTuneColumn.width + _margins
+                            height:         autoTuneColumn.y + autoTuneColumn.height + _margins
+                            anchors.top:    autoTuneLabel.bottom
+                            color:          palette.windowShade
+
+                            Column {
+                                id:                 autoTuneColumn
+                                anchors.margins:    _margins
+                                anchors.left:       parent.left
+                                anchors.top:        parent.top
+                                spacing:            _margins
+
+                                Row {
+                                    spacing: _margins
+
+                                    QGCLabel { text: qsTr("Axes to AutoTune:") }
+                                    FactBitmask { fact: _autoTuneAxes }
+                                }
 
-                            Row {
-                                spacing:    _margins
+                                Row {
+                                    spacing:    _margins
 
-                                QGCLabel {
-                                    anchors.baseline:   autoTuneChannelCombo.baseline
-                                    text:               qsTr("Channel for AutoTune switch:")
-                                }
+                                    QGCLabel {
+                                        anchors.baseline:   autoTuneChannelCombo.baseline
+                                        text:               qsTr("Channel for AutoTune switch:")
+                                    }
 
-                                QGCComboBox {
-                                    id:             autoTuneChannelCombo
-                                    width:          ScreenTools.defaultFontPixelWidth * 14
-                                    model:          [qsTr("None"), qsTr("Channel 7"), qsTr("Channel 8"), qsTr("Channel 9"), qsTr("Channel 10"), qsTr("Channel 11"), qsTr("Channel 12") ]
-                                    currentIndex:   _autoTuneSwitchChannelIndex
+                                    QGCComboBox {
+                                        id:             autoTuneChannelCombo
+                                        width:          ScreenTools.defaultFontPixelWidth * 14
+                                        model:          [qsTr("None"), qsTr("Channel 7"), qsTr("Channel 8"), qsTr("Channel 9"), qsTr("Channel 10"), qsTr("Channel 11"), qsTr("Channel 12") ]
+                                        currentIndex:   _autoTuneSwitchChannelIndex
 
-                                    onActivated: {
-                                        var channel = index
+                                        onActivated: {
+                                            var channel = index
 
-                                        if (channel > 0) {
-                                            channel += 6
+                                            if (channel > 0) {
+                                                channel += 6
+                                            }
+                                            setChannelAutoTuneOption(channel)
                                         }
-                                        setChannelAutoTuneOption(channel)
                                     }
                                 }
                             }
-                        }
-                    } // Rectangle - AutoTune
-                } // Rectangle - AutoTuneWrap
-
-                Rectangle {
-                    height:     inFlightTuneLabel.height + channel6TuningOption.height
-                    width:      channel6TuningOption.width
-                    color:      palette.window
-
-                    QGCLabel {
-                        id:                 inFlightTuneLabel
-                        text:               qsTr("In Flight Tuning")
-                        font.family:        ScreenTools.demiboldFontFamily
-                    }
+                        } // Rectangle - AutoTune
+                    } // Rectangle - AutoTuneWrap
 
                     Rectangle {
-                        id:             channel6TuningOption
-                        width:          channel6TuningOptColumn.width + (_margins * 2)
-                        height:         channel6TuningOptColumn.height + ScreenTools.defaultFontPixelHeight
-                        anchors.top:    inFlightTuneLabel.bottom
-                        color:          qgcPal.windowShade
+                        height:     inFlightTuneLabel.height + channel6TuningOption.height
+                        width:      channel6TuningOption.width
+                        color:      palette.window
 
-                        Column {
-                            id:                 channel6TuningOptColumn
-                            anchors.margins:    ScreenTools.defaultFontPixelWidth
-                            anchors.left:       parent.left
-                            anchors.top:        parent.top
-                            spacing:            ScreenTools.defaultFontPixelHeight
+                        QGCLabel {
+                            id:                 inFlightTuneLabel
+                            text:               qsTr("In Flight Tuning")
+                            font.family:        ScreenTools.demiboldFontFamily
+                        }
 
-                            Row {
-                                spacing: ScreenTools.defaultFontPixelWidth
-                                property Fact nullFact: Fact { }
+                        Rectangle {
+                            id:             channel6TuningOption
+                            width:          channel6TuningOptColumn.width + (_margins * 2)
+                            height:         channel6TuningOptColumn.height + ScreenTools.defaultFontPixelHeight
+                            anchors.top:    inFlightTuneLabel.bottom
+                            color:          qgcPal.windowShade
+
+                            Column {
+                                id:                 channel6TuningOptColumn
+                                anchors.margins:    ScreenTools.defaultFontPixelWidth
+                                anchors.left:       parent.left
+                                anchors.top:        parent.top
+                                spacing:            ScreenTools.defaultFontPixelHeight
+
+                                Row {
+                                    spacing: ScreenTools.defaultFontPixelWidth
+                                    property Fact nullFact: Fact { }
+
+                                    QGCLabel {
+                                        anchors.baseline:   optCombo.baseline
+                                        text:               qsTr("RC Channel 6 Option (Tuning):")
+                                        //color:            controller.channelOptionEnabled[modelData] ? "yellow" : qgcPal.text
+                                    }
 
-                                QGCLabel {
-                                    anchors.baseline:   optCombo.baseline
-                                    text:               qsTr("RC Channel 6 Option (Tuning):")
-                                    //color:            controller.channelOptionEnabled[modelData] ? "yellow" : qgcPal.text
+                                    FactComboBox {
+                                        id:         optCombo
+                                        width:      ScreenTools.defaultFontPixelWidth * 15
+                                        fact:       controller.getParameterFact(-1, "TUNE")
+                                        indexModel: false
+                                    }
                                 }
 
-                                FactComboBox {
-                                    id:         optCombo
-                                    width:      ScreenTools.defaultFontPixelWidth * 15
-                                    fact:       controller.getParameterFact(-1, "TUNE")
-                                    indexModel: false
-                                }
-                            }
+                                Row {
+                                    spacing: ScreenTools.defaultFontPixelWidth
+                                    property Fact nullFact: Fact { }
 
-                            Row {
-                                spacing: ScreenTools.defaultFontPixelWidth
-                                property Fact nullFact: Fact { }
+                                    QGCLabel {
+                                        anchors.baseline:   tuneMinField.baseline
+                                        text:               qsTr("Min:")
+                                        //color:            controller.channelOptionEnabled[modelData] ? "yellow" : qgcPal.text
+                                    }
 
-                                QGCLabel {
-                                    anchors.baseline:   tuneMinField.baseline
-                                    text:               qsTr("Min:")
-                                    //color:            controller.channelOptionEnabled[modelData] ? "yellow" : qgcPal.text
-                                }
+                                    FactTextField {
+                                        id:                 tuneMinField
+                                        validator:          DoubleValidator {bottom: 0; top: 32767;}
+                                        fact:               controller.getParameterFact(-1, "TUNE_LOW")
+                                    }
 
-                                FactTextField {
-                                    id:                 tuneMinField
-                                    validator:          DoubleValidator {bottom: 0; top: 32767;}
-                                    fact:               controller.getParameterFact(-1, "TUNE_LOW")
-                                }
+                                    QGCLabel {
+                                        anchors.baseline:   tuneMaxField.baseline
+                                        text:               qsTr("Max:")
+                                        //color:            controller.channelOptionEnabled[modelData] ? "yellow" : qgcPal.text
+                                    }
 
-                                QGCLabel {
-                                    anchors.baseline:   tuneMaxField.baseline
-                                    text:               qsTr("Max:")
-                                    //color:            controller.channelOptionEnabled[modelData] ? "yellow" : qgcPal.text
+                                    FactTextField {
+                                        id:                 tuneMaxField
+                                        validator:          DoubleValidator {bottom: 0; top: 32767;}
+                                        fact:               controller.getParameterFact(-1, "TUNE_HIGH")
+                                    }
                                 }
+                            } // Column - Channel 6 Tuning option
+                        } // Rectangle - Channel 6 Tuning options
+                    } // Rectangle - Channel 6 Tuning options wrap
+                } // Flow - Tune
+            }
 
-                                FactTextField {
-                                    id:                 tuneMaxField
-                                    validator:          DoubleValidator {bottom: 0; top: 32767;}
-                                    fact:               controller.getParameterFact(-1, "TUNE_HIGH")
-                                }
-                            }
-                        } // Column - Channel 6 Tuning option
-                    } // Rectangle - Channel 6 Tuning options
-                } // Rectangle - Channel 6 Tuning options wrap
-            } // Flow - Tune
+            Loader {
+                anchors.left:       parent.left
+                anchors.right:      parent.right
+                sourceComponent:    advanced ? advancePageComponent : undefined
+            }
+
+            Component {
+                id: advancePageComponent
+
+                PIDTuning {
+                    anchors.left:   parent.left
+                    anchors.right:  parent.right
+                    tuneList:            [ qsTr("Roll"), qsTr("Pitch"), qsTr("Yaw") ]
+                    params:              [
+                        [ controller.getParameterFact(-1, "ATC_ANG_RLL_P"),
+                         controller.getParameterFact(-1, "ATC_RAT_RLL_P"),
+                         controller.getParameterFact(-1, "ATC_RAT_RLL_I"),
+                         controller.getParameterFact(-1, "ATC_RAT_RLL_D") ],
+                        [ controller.getParameterFact(-1, "ATC_ANG_PIT_P"),
+                         controller.getParameterFact(-1, "ATC_RAT_PIT_P"),
+                         controller.getParameterFact(-1, "ATC_RAT_PIT_I"),
+                         controller.getParameterFact(-1, "ATC_RAT_PIT_D") ],
+                        [ controller.getParameterFact(-1, "ATC_ANG_YAW_P"),
+                         controller.getParameterFact(-1, "ATC_RAT_YAW_P"),
+                         controller.getParameterFact(-1, "ATC_RAT_YAW_I") ] ]
+                }
+            } // Component - Advanced Page
         } // Column
     } // Component
 } // SetupView

src/AutoPilotPlugins/Common/Images/AirframeUnknown.svg

@@ -1,44 +1,42 @@
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-<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
+<!-- Generator: Adobe Illustrator 23.0.3, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
 <svg version="1.1" id="draw" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
-	 viewBox="0 0 292.04 291.775" enable-background="new 0 0 292.04 291.775" xml:space="preserve">
+	 viewBox="0 0 288 288" style="enable-background:new 0 0 288 288;" xml:space="preserve">
+<style type="text/css">
+	.st0{fill:#FFFFFF;}
+	.st1{fill:#FF442B;stroke:#000000;stroke-linejoin:round;stroke-miterlimit:10;}
+	.st2{fill:#FF442B;stroke:#000000;stroke-miterlimit:10;}
+</style>
 <title>AirframeUnknown</title>
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+<g>
+	<g>
+		<g>
+			<path class="st0" d="M144,229.8c-69.8,0-144-17.3-144-49.3c0-17.2,23.3-32.3,63.9-41.3c2.3-0.5,4.7,1,5.2,3.3
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+			<path class="st0" d="M225.2,165.9c-2.4,0-4.4-2-4.4-4.4c0-42.4-34.5-76.8-76.8-76.8c-42.4,0-76.8,34.5-76.8,76.8
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+				l14.8,29.2h10.9c2.4,0,4.4,2,4.4,4.4C251.2,253.5,249.3,255.5,246.9,255.5z"/>
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+				c2.2,1.1,3,3.7,1.9,5.9l-16,31.6C57.8,254.7,56.3,255.6,54.7,255.6z"/>
+		</g>
+		<path class="st0" d="M144,84.7c-2.4,0-4.4-2-4.4-4.4v-24c0-2.4,2-4.4,4.4-4.4s4.4,2,4.4,4.4v24C148.3,82.8,146.4,84.7,144,84.7z"
+			/>
+		<path class="st0" d="M144,60.7c-7.8,0-14.2-6.4-14.2-14.2s6.4-14.2,14.2-14.2s14.2,6.4,14.2,14.2S151.8,60.7,144,60.7z M144,41.1
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+	</g>
+	<path class="st1" d="M136.6,147v-3.6c-0.1-2.9,0.6-5.7,2-8.2c1.9-2.9,4.4-5.5,7.4-7.4c2.5-1.6,4.8-3.7,6.8-6
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+	<path class="st2" d="M135,163.7c-0.2-2.3,0.6-4.6,2.2-6.2c1.8-1.5,4.1-2.3,6.4-2.1c2.3-0.1,4.6,0.6,6.3,2.2c3,3.6,3,8.7,0,12.3
+		c-1.7,1.6-4,2.4-6.3,2.2c-2.3,0.1-4.6-0.6-6.4-2.2C135.7,168.2,134.9,166,135,163.7L135,163.7z"/>
+</g>
 </svg>

src/AutoPilotPlugins/PX4/PX4TuningComponentCopter.qml

@@ -110,7 +110,6 @@ SetupPage {
                          controller.getParameterFact(-1, "MC_YAWRATE_P"),
                          controller.getParameterFact(-1, "MC_YAWRATE_I"),
                          controller.getParameterFact(-1, "MC_YAWRATE_D"),
-                         controller.getParameterFact(-1, "MC_YAW_FF"),
                          controller.getParameterFact(-1, "MC_YAWRATE_FF") ] ]
                 }
             } // Component - Advanced Page

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -364,7 +364,7 @@ bool APMFirmwarePlugin::_handleIncomingStatusText(Vehicle* vehicle, mavlink_mess
                 case MAV_TYPE_VTOL_RESERVED5:
                 case MAV_TYPE_FIXED_WING:
                     supportedMajorNumber = 3;
-                    supportedMinorNumber = 4;
+                    supportedMinorNumber = 8;
                     break;
                 case MAV_TYPE_QUADROTOR:
                     // Start TCP video handshake with ARTOO in case it's a Solo running ArduPilot firmware
@@ -376,8 +376,12 @@ bool APMFirmwarePlugin::_handleIncomingStatusText(Vehicle* vehicle, mavlink_mess
                 case MAV_TYPE_OCTOROTOR:
                 case MAV_TYPE_TRICOPTER:
                     supportedMajorNumber = 3;
-                    supportedMinorNumber = 3;
+                    supportedMinorNumber = 5;
                     break;
+                case MAV_TYPE_GROUND_ROVER:
+                case MAV_TYPE_SURFACE_BOAT:
+                    supportedMajorNumber = 3;
+                    supportedMinorNumber = 4;
                 default:
                     break;
                 }
@@ -654,7 +658,7 @@ void APMFirmwarePlugin::initializeVehicle(Vehicle* vehicle)
         case MAV_TYPE_TRICOPTER:
         case MAV_TYPE_COAXIAL:
         case MAV_TYPE_HELICOPTER:
-            vehicle->setFirmwareVersion(3, 4, 0);
+            vehicle->setFirmwareVersion(3, 6, 0);
             break;
         case MAV_TYPE_VTOL_DUOROTOR:
         case MAV_TYPE_VTOL_QUADROTOR:
@@ -664,11 +668,11 @@ void APMFirmwarePlugin::initializeVehicle(Vehicle* vehicle)
         case MAV_TYPE_VTOL_RESERVED4:
         case MAV_TYPE_VTOL_RESERVED5:
         case MAV_TYPE_FIXED_WING:
-            vehicle->setFirmwareVersion(3, 5, 0);
+            vehicle->setFirmwareVersion(3, 9, 0);
             break;
         case MAV_TYPE_GROUND_ROVER:
         case MAV_TYPE_SURFACE_BOAT:
-            vehicle->setFirmwareVersion(3, 0, 0);
+            vehicle->setFirmwareVersion(3, 5, 0);
             break;
         case MAV_TYPE_SUBMARINE:
             vehicle->setFirmwareVersion(3, 4, 0);
@@ -813,14 +817,7 @@ QString APMFirmwarePlugin::internalParameterMetaDataFile(Vehicle* vehicle)
         if (vehicle->versionCompare(3, 6, 0) >= 0) {  // 3.6.0 and higher
              return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.6.xml");
         }
-        if (vehicle->versionCompare(3, 5, 0) >= 0) {  // 3.5.x
-            return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.5.xml");
-        }
-        if (vehicle->versionCompare(3, 4, 0) >= 0) {  // 3.4.x
-            return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.4.xml");
-        }
-        // Up to 3.3.x
-        return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.3.xml");
+        return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.5.xml");
 
     case MAV_TYPE_VTOL_DUOROTOR:
     case MAV_TYPE_VTOL_QUADROTOR:
@@ -830,28 +827,23 @@ QString APMFirmwarePlugin::internalParameterMetaDataFile(Vehicle* vehicle)
     case MAV_TYPE_VTOL_RESERVED4:
     case MAV_TYPE_VTOL_RESERVED5:
     case MAV_TYPE_FIXED_WING:
-        if (vehicle->versionCompare(3, 8, 0) >= 0) {  // 3.8.0 and higher
-            return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.8.xml");
+        if (vehicle->versionCompare(3, 10, 0) >= 0) {
+            return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.10.xml");
         }
-        if (vehicle->versionCompare(3, 7, 0) >= 0) {  // 3.7.x
-            return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.7.xml");
+        if (vehicle->versionCompare(3, 9, 0) >= 0) {
+            return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.9.xml");
         }
-        if (vehicle->versionCompare(3, 5, 0) >= 0) {  // 3.5.x to 3.6.x
-            return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.5.xml");
-        }
-        // up to 3.4.x
-        return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.3.xml");
+        return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.8.xml");
 
     case MAV_TYPE_GROUND_ROVER:
     case MAV_TYPE_SURFACE_BOAT:
-        if (vehicle->versionCompare(3, 4, 0) >= 0) {  // 3.4.0 and higher
-            return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.4.xml");
+        if (vehicle->versionCompare(3, 6, 0) >= 0) {
+            return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.6.xml");
         }
-        if (vehicle->versionCompare(3, 2, 0) >= 0) { // 3.2.x to 3.3.x
-            return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.2.xml");
+        if (vehicle->versionCompare(3, 5, 0) >= 0) {
+            return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.5.xml");
         }
-        // up to 3.1.x
-        return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.0.xml");
+        return QStringLiteral(":/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.4.xml");
 
     case MAV_TYPE_SUBMARINE:
         if (vehicle->versionCompare(3, 6, 0) >= 0) { // 3.5.x

src/FirmwarePlugin/APM/APMResources.qrc

@@ -37,26 +37,21 @@
         <file alias="APM/MavCmdInfoSub.json">MavCmdInfoSub.json</file>
         <file alias="APM/MavCmdInfoVTOL.json">MavCmdInfoVTOL.json</file>
     </qresource>
-    <qresource prefix="/AutoPilotPlugins/APM">
-        <file alias="APMAirframeFactMetaData.xml">../../AutoPilotPlugins/APM/APMAirframeFactMetaData.xml</file>
-    </qresource>
     <qresource prefix="/FirmwarePlugin/APM">
-        <file alias="APMParameterFactMetaData.Plane.3.3.xml">APMParameterFactMetaData.Plane.3.3.xml</file>
-        <file alias="APMParameterFactMetaData.Plane.3.5.xml">APMParameterFactMetaData.Plane.3.5.xml</file>
-        <file alias="APMParameterFactMetaData.Plane.3.7.xml">APMParameterFactMetaData.Plane.3.7.xml</file>
         <file alias="APMParameterFactMetaData.Plane.3.8.xml">APMParameterFactMetaData.Plane.3.8.xml</file>
-        <file alias="APMParameterFactMetaData.Copter.3.3.xml">APMParameterFactMetaData.Copter.3.3.xml</file>
-        <file alias="APMParameterFactMetaData.Copter.3.4.xml">APMParameterFactMetaData.Copter.3.4.xml</file>
+        <file alias="APMParameterFactMetaData.Plane.3.9.xml">APMParameterFactMetaData.Plane.3.9.xml</file>
+        <file alias="APMParameterFactMetaData.Plane.3.10.xml">APMParameterFactMetaData.Plane.3.10.xml</file>
         <file alias="APMParameterFactMetaData.Copter.3.5.xml">APMParameterFactMetaData.Copter.3.5.xml</file>
         <file alias="APMParameterFactMetaData.Copter.3.6.xml">APMParameterFactMetaData.Copter.3.6.xml</file>
         <file alias="APMParameterFactMetaData.Copter.3.7.xml">APMParameterFactMetaData.Copter.3.7.xml</file>
-        <file alias="APMParameterFactMetaData.Rover.3.0.xml">APMParameterFactMetaData.Rover.3.0.xml</file>
-        <file alias="APMParameterFactMetaData.Rover.3.2.xml">APMParameterFactMetaData.Rover.3.2.xml</file>
         <file alias="APMParameterFactMetaData.Rover.3.4.xml">APMParameterFactMetaData.Rover.3.4.xml</file>
+        <file alias="APMParameterFactMetaData.Rover.3.5.xml">APMParameterFactMetaData.Rover.3.5.xml</file>
+        <file alias="APMParameterFactMetaData.Rover.3.6.xml">APMParameterFactMetaData.Rover.3.6.xml</file>
         <file alias="APMParameterFactMetaData.Sub.3.4.xml">APMParameterFactMetaData.Sub.3.4.xml</file>
         <file alias="APMParameterFactMetaData.Sub.3.5.xml">APMParameterFactMetaData.Sub.3.5.xml</file>
         <file alias="APMParameterFactMetaData.Sub.3.6dev.xml">APMParameterFactMetaData.Sub.3.6dev.xml</file>
-        <file alias="Copter.OfflineEditing.params">Copter3.5.OfflineEditing.params</file>
-        <file alias="Plane.OfflineEditing.params">Plane3.7.OfflineEditing.params</file>
+        <file alias="Copter.OfflineEditing.params">Copter3.6.OfflineEditing.params</file>
+        <file alias="Plane.OfflineEditing.params">Plane3.9.OfflineEditing.params</file>
+        <file alias="Rover.OfflineEditing.params">Rover3.5.OfflineEditing.params</file>
     </qresource>
 </RCC>

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc

@@ -69,84 +69,9 @@ ArduCopterFirmwarePlugin::ArduCopterFirmwarePlugin(void)
     supportedFlightModes << APMCopterMode(APMCopterMode::GUIDED_NOGPS,true);
     supportedFlightModes << APMCopterMode(APMCopterMode::SAFE_RTL,true);
 
-
-
     setSupportedModes(supportedFlightModes);
 
     if (!_remapParamNameIntialized) {
-        FirmwarePlugin::remapParamNameMap_t& remapV3_4 = _remapParamName[3][4];
-
-        remapV3_4["ATC_ANG_RLL_P"] =    QStringLiteral("STB_RLL_P");
-        remapV3_4["ATC_ANG_PIT_P"] =    QStringLiteral("STB_PIT_P");
-        remapV3_4["ATC_ANG_YAW_P"] =    QStringLiteral("STB_YAW_P");
-
-        remapV3_4["ATC_RAT_RLL_P"] =    QStringLiteral("RATE_RLL_P");
-        remapV3_4["ATC_RAT_RLL_I"] =    QStringLiteral("RATE_RLL_I");
-        remapV3_4["ATC_RAT_RLL_IMAX"] = QStringLiteral("RATE_RLL_IMAX");
-        remapV3_4["ATC_RAT_RLL_D"] =    QStringLiteral("RATE_RLL_D");
-        remapV3_4["ATC_RAT_RLL_FILT"] = QStringLiteral("RATE_RLL_FILT_HZ");
-
-        remapV3_4["ATC_RAT_PIT_P"] =    QStringLiteral("RATE_PIT_P");
-        remapV3_4["ATC_RAT_PIT_I"] =    QStringLiteral("RATE_PIT_I");
-        remapV3_4["ATC_RAT_PIT_IMAX"] = QStringLiteral("RATE_PIT_IMAX");
-        remapV3_4["ATC_RAT_PIT_D"] =    QStringLiteral("RATE_PIT_D");
-        remapV3_4["ATC_RAT_PIT_FILT"] = QStringLiteral("RATE_PIT_FILT_HZ");
-
-        remapV3_4["ATC_RAT_YAW_P"] =    QStringLiteral("RATE_YAW_P");
-        remapV3_4["ATC_RAT_YAW_I"] =    QStringLiteral("RATE_YAW_I");
-        remapV3_4["ATC_RAT_YAW_IMAX"] = QStringLiteral("RATE_YAW_IMAX");
-        remapV3_4["ATC_RAT_YAW_D"] =    QStringLiteral("RATE_YAW_D");
-        remapV3_4["ATC_RAT_YAW_FILT"] = QStringLiteral("RATE_YAW_FILT_HZ");
-
-        FirmwarePlugin::remapParamNameMap_t& remapV3_5 = _remapParamName[3][5];
-
-        remapV3_5["SERVO5_FUNCTION"] = QStringLiteral("RC5_FUNCTION");
-        remapV3_5["SERVO6_FUNCTION"] = QStringLiteral("RC6_FUNCTION");
-        remapV3_5["SERVO7_FUNCTION"] = QStringLiteral("RC7_FUNCTION");
-        remapV3_5["SERVO8_FUNCTION"] = QStringLiteral("RC8_FUNCTION");
-        remapV3_5["SERVO9_FUNCTION"] = QStringLiteral("RC9_FUNCTION");
-        remapV3_5["SERVO10_FUNCTION"] = QStringLiteral("RC10_FUNCTION");
-        remapV3_5["SERVO11_FUNCTION"] = QStringLiteral("RC11_FUNCTION");
-        remapV3_5["SERVO12_FUNCTION"] = QStringLiteral("RC12_FUNCTION");
-        remapV3_5["SERVO13_FUNCTION"] = QStringLiteral("RC13_FUNCTION");
-        remapV3_5["SERVO14_FUNCTION"] = QStringLiteral("RC14_FUNCTION");
-
-        remapV3_5["SERVO5_MIN"] = QStringLiteral("RC5_MIN");
-        remapV3_5["SERVO6_MIN"] = QStringLiteral("RC6_MIN");
-        remapV3_5["SERVO7_MIN"] = QStringLiteral("RC7_MIN");
-        remapV3_5["SERVO8_MIN"] = QStringLiteral("RC8_MIN");
-        remapV3_5["SERVO9_MIN"] = QStringLiteral("RC9_MIN");
-        remapV3_5["SERVO10_MIN"] = QStringLiteral("RC10_MIN");
-        remapV3_5["SERVO11_MIN"] = QStringLiteral("RC11_MIN");
-        remapV3_5["SERVO12_MIN"] = QStringLiteral("RC12_MIN");
-        remapV3_5["SERVO13_MIN"] = QStringLiteral("RC13_MIN");
-        remapV3_5["SERVO14_MIN"] = QStringLiteral("RC14_MIN");
-
-        remapV3_5["SERVO5_MAX"] = QStringLiteral("RC5_MAX");
-        remapV3_5["SERVO6_MAX"] = QStringLiteral("RC6_MAX");
-        remapV3_5["SERVO7_MAX"] = QStringLiteral("RC7_MAX");
-        remapV3_5["SERVO8_MAX"] = QStringLiteral("RC8_MAX");
-        remapV3_5["SERVO9_MAX"] = QStringLiteral("RC9_MAX");
-        remapV3_5["SERVO10_MAX"] = QStringLiteral("RC10_MAX");
-        remapV3_5["SERVO11_MAX"] = QStringLiteral("RC11_MAX");
-        remapV3_5["SERVO12_MAX"] = QStringLiteral("RC12_MAX");
-        remapV3_5["SERVO13_MAX"] = QStringLiteral("RC13_MAX");
-        remapV3_5["SERVO14_MAX"] = QStringLiteral("RC14_MAX");
-
-        remapV3_5["SERVO5_REVERSED"] = QStringLiteral("RC5_REVERSED");
-        remapV3_5["SERVO6_REVERSED"] = QStringLiteral("RC6_REVERSED");
-        remapV3_5["SERVO7_REVERSED"] = QStringLiteral("RC7_REVERSED");
-        remapV3_5["SERVO8_REVERSED"] = QStringLiteral("RC8_REVERSED");
-        remapV3_5["SERVO9_REVERSED"] = QStringLiteral("RC9_REVERSED");
-        remapV3_5["SERVO10_REVERSED"] = QStringLiteral("RC10_REVERSED");
-        remapV3_5["SERVO11_REVERSED"] = QStringLiteral("RC11_REVERSED");
-        remapV3_5["SERVO12_REVERSED"] = QStringLiteral("RC12_REVERSED");
-        remapV3_5["SERVO13_REVERSED"] = QStringLiteral("RC13_REVERSED");
-        remapV3_5["SERVO14_REVERSED"] = QStringLiteral("RC14_REVERSED");
-
-        remapV3_5["ARMING_VOLT_MIN"] = QStringLiteral("ARMING_MIN_VOLT");
-        remapV3_5["ARMING_VOLT2_MIN"] = QStringLiteral("ARMING_MIN_VOLT2");
-
         FirmwarePlugin::remapParamNameMap_t& remapV3_6 = _remapParamName[3][6];
 
         remapV3_6["BATT_AMP_PERVLT"] =  QStringLiteral("BATT_AMP_PERVOL");

src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc

@@ -64,55 +64,6 @@ ArduPlaneFirmwarePlugin::ArduPlaneFirmwarePlugin(void)
     setSupportedModes(supportedFlightModes);
 
     if (!_remapParamNameIntialized) {
-        FirmwarePlugin::remapParamNameMap_t& remapV3_8 = _remapParamName[3][8];
-
-        remapV3_8["SERVO5_FUNCTION"] = QStringLiteral("RC5_FUNCTION");
-        remapV3_8["SERVO6_FUNCTION"] = QStringLiteral("RC6_FUNCTION");
-        remapV3_8["SERVO7_FUNCTION"] = QStringLiteral("RC7_FUNCTION");
-        remapV3_8["SERVO8_FUNCTION"] = QStringLiteral("RC8_FUNCTION");
-        remapV3_8["SERVO9_FUNCTION"] = QStringLiteral("RC9_FUNCTION");
-        remapV3_8["SERVO10_FUNCTION"] = QStringLiteral("RC10_FUNCTION");
-        remapV3_8["SERVO11_FUNCTION"] = QStringLiteral("RC11_FUNCTION");
-        remapV3_8["SERVO12_FUNCTION"] = QStringLiteral("RC12_FUNCTION");
-        remapV3_8["SERVO13_FUNCTION"] = QStringLiteral("RC13_FUNCTION");
-        remapV3_8["SERVO14_FUNCTION"] = QStringLiteral("RC14_FUNCTION");
-
-        remapV3_8["SERVO5_MIN"] = QStringLiteral("RC5_MIN");
-        remapV3_8["SERVO6_MIN"] = QStringLiteral("RC6_MIN");
-        remapV3_8["SERVO7_MIN"] = QStringLiteral("RC7_MIN");
-        remapV3_8["SERVO8_MIN"] = QStringLiteral("RC8_MIN");
-        remapV3_8["SERVO9_MIN"] = QStringLiteral("RC9_MIN");
-        remapV3_8["SERVO10_MIN"] = QStringLiteral("RC10_MIN");
-        remapV3_8["SERVO11_MIN"] = QStringLiteral("RC11_MIN");
-        remapV3_8["SERVO12_MIN"] = QStringLiteral("RC12_MIN");
-        remapV3_8["SERVO13_MIN"] = QStringLiteral("RC13_MIN");
-        remapV3_8["SERVO14_MIN"] = QStringLiteral("RC14_MIN");
-
-        remapV3_8["SERVO5_MAX"] = QStringLiteral("RC5_MAX");
-        remapV3_8["SERVO6_MAX"] = QStringLiteral("RC6_MAX");
-        remapV3_8["SERVO7_MAX"] = QStringLiteral("RC7_MAX");
-        remapV3_8["SERVO8_MAX"] = QStringLiteral("RC8_MAX");
-        remapV3_8["SERVO9_MAX"] = QStringLiteral("RC9_MAX");
-        remapV3_8["SERVO10_MAX"] = QStringLiteral("RC10_MAX");
-        remapV3_8["SERVO11_MAX"] = QStringLiteral("RC11_MAX");
-        remapV3_8["SERVO12_MAX"] = QStringLiteral("RC12_MAX");
-        remapV3_8["SERVO13_MAX"] = QStringLiteral("RC13_MAX");
-        remapV3_8["SERVO14_MAX"] = QStringLiteral("RC14_MAX");
-
-        remapV3_8["SERVO5_REVERSED"] = QStringLiteral("RC5_REVERSED");
-        remapV3_8["SERVO6_REVERSED"] = QStringLiteral("RC6_REVERSED");
-        remapV3_8["SERVO7_REVERSED"] = QStringLiteral("RC7_REVERSED");
-        remapV3_8["SERVO8_REVERSED"] = QStringLiteral("RC8_REVERSED");
-        remapV3_8["SERVO9_REVERSED"] = QStringLiteral("RC9_REVERSED");
-        remapV3_8["SERVO10_REVERSED"] = QStringLiteral("RC10_REVERSED");
-        remapV3_8["SERVO11_REVERSED"] = QStringLiteral("RC11_REVERSED");
-        remapV3_8["SERVO12_REVERSED"] = QStringLiteral("RC12_REVERSED");
-        remapV3_8["SERVO13_REVERSED"] = QStringLiteral("RC13_REVERSED");
-        remapV3_8["SERVO14_REVERSED"] = QStringLiteral("RC14_REVERSED");
-
-        remapV3_8["ARMING_VOLT_MIN"] = QStringLiteral("ARMING_MIN_VOLT");
-        remapV3_8["ARMING_VOLT2_MIN"] = QStringLiteral("ARMING_MIN_VOLT2");
-
         FirmwarePlugin::remapParamNameMap_t& remapV3_10 = _remapParamName[3][10];
 
         remapV3_10["BATT_ARM_VOLT"] =    QStringLiteral("ARMING_VOLT_MIN");

src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc

@@ -51,55 +51,6 @@ ArduRoverFirmwarePlugin::ArduRoverFirmwarePlugin(void)
     setSupportedModes(supportedFlightModes);
 
     if (!_remapParamNameIntialized) {
-        FirmwarePlugin::remapParamNameMap_t& remapV3_2 = _remapParamName[3][2];
-
-        remapV3_2["SERVO5_FUNCTION"] = QStringLiteral("RC5_FUNCTION");
-        remapV3_2["SERVO6_FUNCTION"] = QStringLiteral("RC6_FUNCTION");
-        remapV3_2["SERVO7_FUNCTION"] = QStringLiteral("RC7_FUNCTION");
-        remapV3_2["SERVO8_FUNCTION"] = QStringLiteral("RC8_FUNCTION");
-        remapV3_2["SERVO9_FUNCTION"] = QStringLiteral("RC9_FUNCTION");
-        remapV3_2["SERVO10_FUNCTION"] = QStringLiteral("RC10_FUNCTION");
-        remapV3_2["SERVO11_FUNCTION"] = QStringLiteral("RC11_FUNCTION");
-        remapV3_2["SERVO12_FUNCTION"] = QStringLiteral("RC12_FUNCTION");
-        remapV3_2["SERVO13_FUNCTION"] = QStringLiteral("RC13_FUNCTION");
-        remapV3_2["SERVO14_FUNCTION"] = QStringLiteral("RC14_FUNCTION");
-
-        remapV3_2["SERVO5_MIN"] = QStringLiteral("RC5_MIN");
-        remapV3_2["SERVO6_MIN"] = QStringLiteral("RC6_MIN");
-        remapV3_2["SERVO7_MIN"] = QStringLiteral("RC7_MIN");
-        remapV3_2["SERVO8_MIN"] = QStringLiteral("RC8_MIN");
-        remapV3_2["SERVO9_MIN"] = QStringLiteral("RC9_MIN");
-        remapV3_2["SERVO10_MIN"] = QStringLiteral("RC10_MIN");
-        remapV3_2["SERVO11_MIN"] = QStringLiteral("RC11_MIN");
-        remapV3_2["SERVO12_MIN"] = QStringLiteral("RC12_MIN");
-        remapV3_2["SERVO13_MIN"] = QStringLiteral("RC13_MIN");
-        remapV3_2["SERVO14_MIN"] = QStringLiteral("RC14_MIN");
-
-        remapV3_2["SERVO5_MAX"] = QStringLiteral("RC5_MAX");
-        remapV3_2["SERVO6_MAX"] = QStringLiteral("RC6_MAX");
-        remapV3_2["SERVO7_MAX"] = QStringLiteral("RC7_MAX");
-        remapV3_2["SERVO8_MAX"] = QStringLiteral("RC8_MAX");
-        remapV3_2["SERVO9_MAX"] = QStringLiteral("RC9_MAX");
-        remapV3_2["SERVO10_MAX"] = QStringLiteral("RC10_MAX");
-        remapV3_2["SERVO11_MAX"] = QStringLiteral("RC11_MAX");
-        remapV3_2["SERVO12_MAX"] = QStringLiteral("RC12_MAX");
-        remapV3_2["SERVO13_MAX"] = QStringLiteral("RC13_MAX");
-        remapV3_2["SERVO14_MAX"] = QStringLiteral("RC14_MAX");
-
-        remapV3_2["SERVO5_REVERSED"] = QStringLiteral("RC5_REVERSED");
-        remapV3_2["SERVO6_REVERSED"] = QStringLiteral("RC6_REVERSED");
-        remapV3_2["SERVO7_REVERSED"] = QStringLiteral("RC7_REVERSED");
-        remapV3_2["SERVO8_REVERSED"] = QStringLiteral("RC8_REVERSED");
-        remapV3_2["SERVO9_REVERSED"] = QStringLiteral("RC9_REVERSED");
-        remapV3_2["SERVO10_REVERSED"] = QStringLiteral("RC10_REVERSED");
-        remapV3_2["SERVO11_REVERSED"] = QStringLiteral("RC11_REVERSED");
-        remapV3_2["SERVO12_REVERSED"] = QStringLiteral("RC12_REVERSED");
-        remapV3_2["SERVO13_REVERSED"] = QStringLiteral("RC13_REVERSED");
-        remapV3_2["SERVO14_REVERSED"] = QStringLiteral("RC14_REVERSED");
-
-        remapV3_2["ARMING_VOLT_MIN"] = QStringLiteral("ARMING_MIN_VOLT");
-        remapV3_2["ARMING_VOLT2_MIN"] = QStringLiteral("ARMING_MIN_VOLT2");
-
         FirmwarePlugin::remapParamNameMap_t& remapV3_5 = _remapParamName[3][5];
 
         remapV3_5["BATT_ARM_VOLT"] =    QStringLiteral("ARMING_VOLT_MIN");

src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h

@@ -52,6 +52,7 @@ public:
     const   FirmwarePlugin::remapParamNameMajorVersionMap_t& paramNameRemapMajorVersionMap(void) const final { return _remapParamName; }
     bool    supportsNegativeThrust                  (void) final;
     bool    supportsSmartRTL                        (void) const override { return true; }
+    QString offlineEditingParamFile                 (Vehicle* vehicle) override { Q_UNUSED(vehicle); return QStringLiteral(":/FirmwarePlugin/APM/Rover.OfflineEditing.params"); }
 
 private:
     static bool _remapParamNameIntialized;

src/FirmwarePlugin/APM/BuildParamMetaData.sh

@@ -1,6 +1,7 @@
+# Args: [ArduCopter|ArduPlane] [Copter.3.7|...]
 cd ~/repos/ardupilot
-rm apm.pdef.xml
-./Tools/autotest/param_metadata/param_parse.py --vehicle ArduCopter
-cp apm.pdef.xml ~/repos/qgroundcontrol/src/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.7.xml
+rm -f apm.pdef.xml
+./Tools/autotest/param_metadata/param_parse.py --vehicle $1
+cp apm.pdef.xml ~/repos/qgroundcontrol/src/FirmwarePlugin/APM/APMParameterFactMetaData.$2.xml
 rm apm.pdef.xml
 cd ~/repos/qgroundcontrol/src/FirmwarePlugin/APM

src/FirmwarePlugin/APM/Copter3.6.OfflineEditing.params

@@ -2,68 +2,72 @@
 #
 # Stack: ArduPilot
 # Vehicle: Multi-Rotor
-# Version: 3.5.0 rc
-# Git Revision: efab409b
+# Version: 3.6.8 
+# Git Revision: 2f40967
 #
 # Vehicle-Id Component-Id Name Value Type
-1	1	ACCEL_Z_D	0.000000000000000000	9
-1	1	ACCEL_Z_FF	0.000000000000000000	9
-1	1	ACCEL_Z_FILT	20.000000000000000000	9
-1	1	ACCEL_Z_I	1.000000000000000000	9
-1	1	ACCEL_Z_IMAX	800.000000000000000000	9
-1	1	ACCEL_Z_P	0.500000000000000000	9
 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	3.000000000000000000	9
+1	1	ACRO_YAW_P	4.500000000000000000	9
 1	1	ACRO_Y_EXPO	0.000000000000000000	9
 1	1	ADSB_ENABLE	0	2
 1	1	AHRS_COMP_BETA	0.100000001490116119	9
+1	1	AHRS_CUSTOM_PIT	0.000000000000000000	9
+1	1	AHRS_CUSTOM_ROLL	0.000000000000000000	9
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 1	1	ARMING_ACCTHRESH	0.750000000000000000	9
 1	1	ARMING_CHECK	1	4
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 1	1	ATC_ACCEL_R_MAX	110000.000000000000000000	9
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 1	1	ATC_RATE_FF_ENAB	1	2
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 1	1	ATC_RAT_PIT_FF	0.000000000000000000	9
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-1	1	ATC_RAT_RLL_D	0.011249999515712261	9
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 1	1	ATC_RAT_RLL_FF	0.000000000000000000	9
 1	1	ATC_RAT_RLL_FILT	20.000000000000000000	9
-1	1	ATC_RAT_RLL_I	0.182249993085861206	9
-1	1	ATC_RAT_RLL_IMAX	0.222222223877906799	9
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-1	1	ATC_RAT_YAW_D	0.003600000170990825	9
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 1	1	ATC_RAT_YAW_FF	0.000000000000000000	9
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-1	1	ATC_RAT_YAW_I	0.035999998450279236	9
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-1	1	ATC_RAT_YAW_P	0.359999984502792358	9
-1	1	ATC_SLEW_YAW	1000.000000000000000000	9
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 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
@@ -72,43 +76,46 @@
 1	1	AUTOTUNE_MIN_D	0.001000000047497451	9
 1	1	AVD_ENABLE	0	2
 1	1	AVOID_ANGLE_MAX	1000	4
-1	1	AVOID_DIST_MAX	10.000000000000000000	9
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 1	1	AVOID_ENABLE	3	2
 1	1	AVOID_MARGIN	2.000000000000000000	9
-1	1	BATT2_AMP_OFFSET	0.000000000000000000	9
-1	1	BATT2_AMP_PERVOL	17.000000000000000000	9
-1	1	BATT2_CAPACITY	3300	6
-1	1	BATT2_CURR_PIN	3	2
 1	1	BATT2_MONITOR	0	2
-1	1	BATT2_SERIAL_NUM	-1	6
-1	1	BATT2_VOLT_MULT	10.100000381469726563	9
-1	1	BATT2_VOLT_PIN	2	2
 1	1	BATT_AMP_OFFSET	0.000000000000000000	9
-1	1	BATT_AMP_PERVOLT	17.000000000000000000	9
-1	1	BATT_CAPACITY	5100	6
-1	1	BATT_CURR_PIN	3	2
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+1	1	BATT_CAPACITY	3300	6
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+1	1	BATT_CRT_VOLT	0.000000000000000000	9
+1	1	BATT_CURR_PIN	12	2
+1	1	BATT_FS_CRT_ACT	0	2
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+1	1	BATT_LOW_TIMER	10	2
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 1	1	BATT_MONITOR	4	2
 1	1	BATT_SERIAL_NUM	-1	6
-1	1	BATT_VOLT_MULT	12.020000457763671875	9
-1	1	BATT_VOLT_PIN	2	2
-1	1	BATT_VOLT_TIMER	10	2
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 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_CAN_ENABLE	0	2
-1	1	BRD_IMU_TARGTEMP	-1	2
-1	1	BRD_IO_ENABLE	1	2
-1	1	BRD_PWM_COUNT	4	2
+1	1	BRD_PWM_COUNT	6	2
+1	1	BRD_RTC_TYPES	1	2
 1	1	BRD_SAFETYENABLE	1	2
+1	1	BRD_SAFETYOPTION	3	4
 1	1	BRD_SAFETY_MASK	16368	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	2	2
+1	1	BRD_TYPE	4	2
 1	1	BTN_ENABLE	0	2
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 1	1	CAM_DURATION	10	2
 1	1	CAM_FEEDBACK_PIN	-1	2
 1	1	CAM_FEEDBACK_POL	1	2
@@ -119,34 +126,39 @@
 1	1	CAM_SERVO_ON	1300	4
 1	1	CAM_TRIGG_DIST	0.000000000000000000	9
 1	1	CAM_TRIGG_TYPE	0	2
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 1	1	CH10_OPT	0	2
 1	1	CH11_OPT	0	2
 1	1	CH12_OPT	0	2
-1	1	CH7_OPT	4	2
+1	1	CH7_OPT	0	2
 1	1	CH8_OPT	0	2
 1	1	CH9_OPT	0	2
 1	1	CHUTE_ENABLED	0	2
 1	1	CIRCLE_RADIUS	1000.000000000000000000	9
 1	1	CIRCLE_RATE	20.000000000000000000	9
-1	1	CLI_ENABLED	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_DEC	0.278999209403991699	9
 1	1	COMPASS_DEV_ID	466441	6
-1	1	COMPASS_DEV_ID2	131594	6
-1	1	COMPASS_DEV_ID3	0	6
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-1	1	COMPASS_DIA_Y	0.937935292720794678	9
-1	1	COMPASS_DIA_Z	1.060336470603942871	9
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+1	1	COMPASS_DIA_X	0.953128099441528320	9
+1	1	COMPASS_DIA_Y	0.925101161003112793	9
+1	1	COMPASS_DIA_Z	1.151406884193420410	9
 1	1	COMPASS_EXTERN2	0	2
 1	1	COMPASS_EXTERN3	0	2
 1	1	COMPASS_EXTERNAL	1	2
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 1	1	COMPASS_LEARN	0	2
 1	1	COMPASS_MOT2_X	0.000000000000000000	9
 1	1	COMPASS_MOT2_Y	0.000000000000000000	9
@@ -158,29 +170,31 @@
 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	-0.006166019476950169	9
-1	1	COMPASS_ODI2_Y	0.001182210398837924	9
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 1	1	COMPASS_ODI3_X	0.000000000000000000	9
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-1	1	COMPASS_OFS_Z	34.276287078857421875	9
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 1	1	COMPASS_ORIENT	0	2
 1	1	COMPASS_ORIENT2	0	2
 1	1	COMPASS_ORIENT3	0	2
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 1	1	COMPASS_PRIMARY	0	2
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 1	1	COMPASS_USE	1	2
 1	1	COMPASS_USE2	1	2
 1	1	COMPASS_USE3	1	2
@@ -219,6 +233,7 @@
 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
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 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
@@ -238,12 +253,20 @@
 1	1	ESC_CALIBRATION	0	2
 1	1	FENCE_ACTION	1	2
 1	1	FENCE_ALT_MAX	100.000000000000000000	9
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 1	1	FENCE_MARGIN	2.000000000000000000	9
 1	1	FENCE_RADIUS	300.000000000000000000	9
 1	1	FENCE_TOTAL	0	2
-1	1	FENCE_TYPE	3	2
-1	1	FLOW_BUS_ID	0	2
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 1	1	FLOW_ENABLE	0	2
 1	1	FLOW_FXSCALER	0	4
 1	1	FLOW_FYSCALER	0	4
@@ -252,16 +275,15 @@
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 1	1	FRAME_CLASS	1	2
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-1	1	FS_BATT_VOLTAGE	10.500000000000000000	9
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 1	1	FS_CRASH_CHECK	1	2
 1	1	FS_EKF_ACTION	1	2
 1	1	FS_EKF_THRESH	0.800000011920928955	9
@@ -269,12 +291,13 @@
 1	1	FS_THR_ENABLE	1	2
 1	1	FS_THR_VALUE	975	4
 1	1	GCS_PID_MASK	0	4
-1	1	GND_ABS_PRESS	101975.898437500000000000	9
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 1	1	GND_ALT_OFFSET	0.000000000000000000	9
 1	1	GND_EFFECT_COMP	0	2
 1	1	GND_EXT_BUS	-1	2
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 1	1	GND_PRIMARY	0	2
 1	1	GND_TEMP	0.000000000000000000	9
 1	1	GPS_AUTO_CONFIG	1	2
@@ -285,7 +308,7 @@
 1	1	GPS_DELAY_MS2	0	4
 1	1	GPS_GNSS_MODE	0	2
 1	1	GPS_GNSS_MODE2	0	2
-1	1	GPS_HDOP_GOOD	250	4
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 1	1	GPS_INJECT_TO	127	2
 1	1	GPS_MIN_DGPS	100	2
 1	1	GPS_MIN_ELEV	-100	2
@@ -299,19 +322,19 @@
 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	0	2
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 1	1	GPS_SBAS_MODE	2	2
 1	1	GPS_SBP_LOGMASK	-256	4
 1	1	GPS_TYPE	1	2
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-1	1	INS_GYROFFS_X	-0.020668458193540573	9
-1	1	INS_GYROFFS_Y	0.071772724390029907	9
-1	1	INS_GYROFFS_Z	-0.002931264694780111	9
+1	1	INS_GYROFFS_X	-0.051060669124126434	9
+1	1	INS_GYROFFS_Y	-0.004331125877797604	9
+1	1	INS_GYROFFS_Z	-0.004950095433741808	9
 1	1	INS_GYRO_FILTER	20	2
 1	1	INS_GYR_CAL	1	2
-1	1	INS_GYR_ID	2163722	6
+1	1	INS_GYR_ID	2164234	6
+1	1	INS_LOG_BAT_CNT	1024	4
+1	1	INS_LOG_BAT_LGCT	32	4
+1	1	INS_LOG_BAT_LGIN	20	2
+1	1	INS_LOG_BAT_MASK	0	2
+1	1	INS_LOG_BAT_OPT	0	2
+1	1	INS_NOTCH_ENABLE	0	2
 1	1	INS_POS1_X	0.000000000000000000	9
 1	1	INS_POS1_Y	0.000000000000000000	9
 1	1	INS_POS1_Z	0.000000000000000000	9
@@ -352,32 +382,42 @@
 1	1	INS_POS3_X	0.000000000000000000	9
 1	1	INS_POS3_Y	0.000000000000000000	9
 1	1	INS_POS3_Z	0.000000000000000000	9
-1	1	INS_PRODUCT_ID	5	4
+1	1	INS_PRODUCT_ID	0	4
 1	1	INS_STILL_THRESH	2.500000000000000000	9
 1	1	INS_TRIM_OPTION	1	2
 1	1	INS_USE	1	2
 1	1	INS_USE2	1	2
 1	1	INS_USE3	0	2
+1	1	LAND_ALT_LOW	1000	4
 1	1	LAND_REPOSITION	1	2
 1	1	LAND_SPEED	50	4
 1	1	LAND_SPEED_HIGH	0	4
 1	1	LGR_SERVO_DEPLOY	1750	4
 1	1	LGR_SERVO_RTRACT	1250	4
+1	1	LGR_STARTUP	0	2
 1	1	LOG_BACKEND_TYPE	1	2
 1	1	LOG_BITMASK	176126	6
 1	1	LOG_DISARMED	0	2
 1	1	LOG_FILE_BUFSIZE	16	2
 1	1	LOG_FILE_DSRMROT	0	2
+1	1	LOG_MAV_BUFSIZE	8	2
 1	1	LOG_REPLAY	0	2
+1	1	LOIT_ACC_MAX	500.000000000000000000	9
+1	1	LOIT_ANG_MAX	0.000000000000000000	9
+1	1	LOIT_BRK_ACCEL	250.000000000000000000	9
+1	1	LOIT_BRK_DELAY	1.000000000000000000	9
+1	1	LOIT_BRK_JERK	500.000000000000000000	9
+1	1	LOIT_SPEED	1250.000000000000000000	9
 1	1	MAG_ENABLE	1	2
+1	1	MIS_OPTIONS	0	4
 1	1	MIS_RESTART	0	2
 1	1	MIS_TOTAL	0	4
 1	1	MNT_ANGMAX_PAN	4500	4
 1	1	MNT_ANGMAX_ROL	4500	4
-1	1	MNT_ANGMAX_TIL	0	4
+1	1	MNT_ANGMAX_TIL	4500	4
 1	1	MNT_ANGMIN_PAN	-4500	4
 1	1	MNT_ANGMIN_ROL	-4500	4
-1	1	MNT_ANGMIN_TIL	-9000	4
+1	1	MNT_ANGMIN_TIL	-4500	4
 1	1	MNT_DEFLT_MODE	3	2
 1	1	MNT_JSTICK_SPD	0	2
 1	1	MNT_LEAD_PTCH	0.000000000000000000	9
@@ -387,18 +427,20 @@
 1	1	MNT_NEUTRAL_Z	0.000000000000000000	9
 1	1	MNT_RC_IN_PAN	0	2
 1	1	MNT_RC_IN_ROLL	0	2
-1	1	MNT_RC_IN_TILT	6	2
+1	1	MNT_RC_IN_TILT	0	2
 1	1	MNT_RETRACT_X	0.000000000000000000	9
 1	1	MNT_RETRACT_Y	0.000000000000000000	9
 1	1	MNT_RETRACT_Z	0.000000000000000000	9
 1	1	MNT_STAB_PAN	0	2
 1	1	MNT_STAB_ROLL	0	2
 1	1	MNT_STAB_TILT	0	2
-1	1	MNT_TYPE	1	2
+1	1	MNT_TYPE	0	2
 1	1	MOT_BAT_CURR_MAX	0.000000000000000000	9
 1	1	MOT_BAT_CURR_TC	5.000000000000000000	9
+1	1	MOT_BAT_IDX	0	2
 1	1	MOT_BAT_VOLT_MAX	0.000000000000000000	9
 1	1	MOT_BAT_VOLT_MIN	0.000000000000000000	9
+1	1	MOT_BOOST_SCALE	0.000000000000000000	9
 1	1	MOT_HOVER_LEARN	2	2
 1	1	MOT_PWM_MAX	0	4
 1	1	MOT_PWM_MIN	0	4
@@ -409,23 +451,24 @@
 1	1	MOT_SPIN_MIN	0.150000005960464478	9
 1	1	MOT_SPOOL_TIME	0.500000000000000000	9
 1	1	MOT_THST_EXPO	0.649999976158142090	9
-1	1	MOT_THST_HOVER	0.472181797027587891	9
+1	1	MOT_THST_HOVER	0.349999994039535522	9
 1	1	MOT_YAW_HEADROOM	200	4
 1	1	NTF_BUZZ_ENABLE	1	2
+1	1	NTF_BUZZ_PIN	0	2
 1	1	NTF_DISPLAY_TYPE	0	2
 1	1	NTF_LED_BRIGHT	3	2
 1	1	NTF_LED_OVERRIDE	0	2
+1	1	NTF_LED_TYPES	199	6
 1	1	PHLD_BRAKE_ANGLE	3000	4
 1	1	PHLD_BRAKE_RATE	8	4
 1	1	PILOT_ACCEL_Z	250	4
+1	1	PILOT_SPEED_DN	0	4
+1	1	PILOT_SPEED_UP	250	4
 1	1	PILOT_THR_BHV	0	4
 1	1	PILOT_THR_FILT	0.000000000000000000	9
 1	1	PILOT_TKOFF_ALT	0.000000000000000000	9
 1	1	PILOT_TKOFF_DZ	100	4
-1	1	PILOT_VELZ_MAX	250	4
 1	1	PLND_ENABLED	0	2
-1	1	POS_XY_P	1.000000000000000000	9
-1	1	POS_Z_P	1.000000000000000000	9
 1	1	PRX_IGN_ANG1	0	4
 1	1	PRX_IGN_ANG2	0	4
 1	1	PRX_IGN_ANG3	0	4
@@ -441,7 +484,23 @@
 1	1	PRX_ORIENT	0	2
 1	1	PRX_TYPE	0	2
 1	1	PRX_YAW_CORR	22	4
+1	1	PSC_ACCZ_D	0.000000000000000000	9
+1	1	PSC_ACCZ_FF	0.000000000000000000	9
+1	1	PSC_ACCZ_FILT	20.000000000000000000	9
+1	1	PSC_ACCZ_I	1.000000000000000000	9
+1	1	PSC_ACCZ_IMAX	800.000000000000000000	9
+1	1	PSC_ACCZ_P	0.500000000000000000	9
 1	1	PSC_ACC_XY_FILT	2.000000000000000000	9
+1	1	PSC_ANGLE_MAX	0.000000000000000000	9
+1	1	PSC_POSXY_P	1.000000000000000000	9
+1	1	PSC_POSZ_P	1.000000000000000000	9
+1	1	PSC_VELXY_D	0.500000000000000000	9
+1	1	PSC_VELXY_D_FILT	5.000000000000000000	9
+1	1	PSC_VELXY_FILT	5.000000000000000000	9
+1	1	PSC_VELXY_I	1.000000000000000000	9
+1	1	PSC_VELXY_IMAX	1000.000000000000000000	9
+1	1	PSC_VELXY_P	2.000000000000000000	9
+1	1	PSC_VELZ_P	5.000000000000000000	9
 1	1	RALLY_INCL_HOME	1	2
 1	1	RALLY_LIMIT_KM	0.300000011920928955	9
 1	1	RALLY_TOTAL	0	2
@@ -529,11 +588,11 @@
 1	1	RCMAP_ROLL	1	2
 1	1	RCMAP_THROTTLE	3	2
 1	1	RCMAP_YAW	4	2
-1	1	RC_FEEL_RP	25	2
+1	1	RC_OVERRIDE_TIME	3.000000000000000000	9
 1	1	RC_SPEED	490	4
 1	1	RELAY_DEFAULT	0	2
-1	1	RELAY_PIN	54	2
-1	1	RELAY_PIN2	55	2
+1	1	RELAY_PIN	-1	2
+1	1	RELAY_PIN2	-1	2
 1	1	RELAY_PIN3	-1	2
 1	1	RELAY_PIN4	-1	2
 1	1	RNGFND2_ADDR	0	2
@@ -579,14 +638,8 @@
 1	1	RPM_PIN	54	2
 1	1	RPM_SCALING	1.000000000000000000	9
 1	1	RPM_TYPE	0	2
-1	1	RSSI_ANA_PIN	0	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	0	2
-1	1	RTL_ALT	100	4
+1	1	RTL_ALT	1500	4
 1	1	RTL_ALT_FINAL	0	4
 1	1	RTL_CLIMB_MIN	0	4
 1	1	RTL_CONE_SLOPE	3.000000000000000000	9
@@ -595,40 +648,42 @@
 1	1	SCHED_DEBUG	0	2
 1	1	SCHED_LOOP_RATE	400	4
 1	1	SERIAL0_BAUD	115	6
-1	1	SERIAL0_PROTOCOL	1	2
+1	1	SERIAL0_PROTOCOL	2	2
 1	1	SERIAL1_BAUD	57	6
 1	1	SERIAL1_PROTOCOL	1	2
-1	1	SERIAL2_BAUD	9	6
-1	1	SERIAL2_PROTOCOL	3	2
+1	1	SERIAL2_BAUD	57	6
+1	1	SERIAL2_PROTOCOL	1	2
 1	1	SERIAL3_BAUD	38	6
 1	1	SERIAL3_PROTOCOL	5	2
 1	1	SERIAL4_BAUD	38	6
 1	1	SERIAL4_PROTOCOL	5	2
-1	1	SERIAL5_BAUD	57	6
-1	1	SERIAL5_PROTOCOL	-1	2
+1	1	SERIAL5_BAUD	921600	6
+1	1	SERIAL5_PROTOCOL	1	2
+1	1	SERIAL6_BAUD	57	6
+1	1	SERIAL6_PROTOCOL	-1	2
 1	1	SERVO10_FUNCTION	0	2
-1	1	SERVO10_MAX	2000	4
-1	1	SERVO10_MIN	1000	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	2
-1	1	SERVO11_MAX	2000	4
-1	1	SERVO11_MIN	1000	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	2
-1	1	SERVO12_MAX	2000	4
-1	1	SERVO12_MIN	1000	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	2
-1	1	SERVO13_MAX	2000	4
-1	1	SERVO13_MIN	1000	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	2
-1	1	SERVO14_MAX	2000	4
-1	1	SERVO14_MIN	1000	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	2
@@ -642,74 +697,83 @@
 1	1	SERVO16_REVERSED	0	2
 1	1	SERVO16_TRIM	1500	4
 1	1	SERVO1_FUNCTION	33	2
-1	1	SERVO1_MAX	2015	4
-1	1	SERVO1_MIN	991	4
+1	1	SERVO1_MAX	1900	4
+1	1	SERVO1_MIN	1100	4
 1	1	SERVO1_REVERSED	0	2
-1	1	SERVO1_TRIM	1503	4
+1	1	SERVO1_TRIM	1500	4
 1	1	SERVO2_FUNCTION	34	2
-1	1	SERVO2_MAX	2016	4
-1	1	SERVO2_MIN	991	4
+1	1	SERVO2_MAX	1900	4
+1	1	SERVO2_MIN	1100	4
 1	1	SERVO2_REVERSED	0	2
-1	1	SERVO2_TRIM	1503	4
+1	1	SERVO2_TRIM	1500	4
 1	1	SERVO3_FUNCTION	35	2
-1	1	SERVO3_MAX	2016	4
-1	1	SERVO3_MIN	992	4
+1	1	SERVO3_MAX	1900	4
+1	1	SERVO3_MIN	1100	4
 1	1	SERVO3_REVERSED	0	2
-1	1	SERVO3_TRIM	992	4
+1	1	SERVO3_TRIM	1500	4
 1	1	SERVO4_FUNCTION	36	2
-1	1	SERVO4_MAX	2015	4
-1	1	SERVO4_MIN	991	4
+1	1	SERVO4_MAX	1900	4
+1	1	SERVO4_MIN	1100	4
 1	1	SERVO4_REVERSED	0	2
-1	1	SERVO4_TRIM	1503	4
+1	1	SERVO4_TRIM	1500	4
 1	1	SERVO5_FUNCTION	0	2
-1	1	SERVO5_MAX	2016	4
-1	1	SERVO5_MIN	991	4
+1	1	SERVO5_MAX	1900	4
+1	1	SERVO5_MIN	1100	4
 1	1	SERVO5_REVERSED	0	2
-1	1	SERVO5_TRIM	1503	4
+1	1	SERVO5_TRIM	1500	4
 1	1	SERVO6_FUNCTION	0	2
-1	1	SERVO6_MAX	2016	4
-1	1	SERVO6_MIN	991	4
+1	1	SERVO6_MAX	1900	4
+1	1	SERVO6_MIN	1100	4
 1	1	SERVO6_REVERSED	0	2
-1	1	SERVO6_TRIM	1503	4
+1	1	SERVO6_TRIM	1500	4
 1	1	SERVO7_FUNCTION	0	2
-1	1	SERVO7_MAX	2016	4
-1	1	SERVO7_MIN	991	4
+1	1	SERVO7_MAX	1900	4
+1	1	SERVO7_MIN	1100	4
 1	1	SERVO7_REVERSED	0	2
-1	1	SERVO7_TRIM	1503	4
+1	1	SERVO7_TRIM	1500	4
 1	1	SERVO8_FUNCTION	0	2
-1	1	SERVO8_MAX	2000	4
-1	1	SERVO8_MIN	1000	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	7	2
-1	1	SERVO9_MAX	2000	4
-1	1	SERVO9_MIN	1000	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_CANESC_BM	0	6
-1	1	SERVO_CANSRV_BM	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_PORT	0	2
+1	1	SERVO_BLH_TEST	0	2
+1	1	SERVO_BLH_TMOUT	0	4
+1	1	SERVO_BLH_TRATE	0	4
+1	1	SERVO_RATE	50	4
+1	1	SERVO_SBUS_RATE	50	4
+1	1	SERVO_VOLZ_MASK	0	6
 1	1	SIMPLE	0	2
 1	1	SPRAY_ENABLE	0	2
 1	1	SR0_ADSB	5	4
-1	1	SR0_EXTRA1	0	4
-1	1	SR0_EXTRA2	0	4
-1	1	SR0_EXTRA3	0	4
-1	1	SR0_EXT_STAT	0	4
-1	1	SR0_PARAMS	0	4
-1	1	SR0_POSITION	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	0	4
-1	1	SR0_RAW_SENS	0	4
-1	1	SR0_RC_CHAN	0	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	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_EXTRA1	0	4
+1	1	SR1_EXTRA2	0	4
+1	1	SR1_EXTRA3	0	4
+1	1	SR1_EXT_STAT	0	4
+1	1	SR1_PARAMS	0	4
+1	1	SR1_POSITION	0	4
 1	1	SR1_RAW_CTRL	0	4
-1	1	SR1_RAW_SENS	2	4
-1	1	SR1_RC_CHAN	2	4
+1	1	SR1_RAW_SENS	0	4
+1	1	SR1_RC_CHAN	0	4
 1	1	SR2_ADSB	5	4
 1	1	SR2_EXTRA1	0	4
 1	1	SR2_EXTRA2	0	4
@@ -730,16 +794,18 @@
 1	1	SR3_RAW_CTRL	0	4
 1	1	SR3_RAW_SENS	0	4
 1	1	SR3_RC_CHAN	0	4
-1	1	STAT_BOOTCNT	16	4
-1	1	STAT_FLTTIME	623	6
-1	1	STAT_RESET	20034978	6
-1	1	STAT_RUNTIME	3525	6
+1	1	SRTL_ACCURACY	2.000000000000000000	9
+1	1	SRTL_POINTS	150	4
+1	1	STAT_BOOTCNT	5	4
+1	1	STAT_FLTTIME	0	6
+1	1	STAT_RESET	99683128	6
+1	1	STAT_RUNTIME	3940	6
 1	1	SUPER_SIMPLE	0	2
 1	1	SYSID_ENFORCE	0	2
 1	1	SYSID_MYGCS	255	4
 1	1	SYSID_SW_MREV	120	4
-1	1	SYSID_SW_TYPE	10	2
 1	1	SYSID_THISMAV	1	4
+1	1	TCAL_ENABLED	0	2
 1	1	TELEM_DELAY	0	2
 1	1	TERRAIN_ENABLE	1	2
 1	1	TERRAIN_FOLLOW	0	2
@@ -747,29 +813,20 @@
 1	1	THROW_MOT_START	0	2
 1	1	THROW_NEXTMODE	18	2
 1	1	THROW_TYPE	0	2
-1	1	THR_DZ	50	4
+1	1	THR_DZ	100	4
 1	1	TUNE	0	2
 1	1	TUNE_HIGH	1000	4
 1	1	TUNE_LOW	0	4
-1	1	VEL_XY_FILT_HZ	5.000000000000000000	9
-1	1	VEL_XY_I	0.500000000000000000	9
-1	1	VEL_XY_IMAX	1000.000000000000000000	9
-1	1	VEL_XY_P	1.000000000000000000	9
-1	1	VEL_Z_P	5.000000000000000000	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	WPNAV_ACCEL	250.000000000000000000	9
+1	1	WPNAV_ACCEL	100.000000000000000000	9
 1	1	WPNAV_ACCEL_Z	100.000000000000000000	9
-1	1	WPNAV_LOIT_JERK	1000.000000000000000000	9
-1	1	WPNAV_LOIT_MAXA	250.000000000000000000	9
-1	1	WPNAV_LOIT_MINA	25.000000000000000000	9
-1	1	WPNAV_LOIT_SPEED	1000.000000000000000000	9
 1	1	WPNAV_RADIUS	200.000000000000000000	9
 1	1	WPNAV_RFND_USE	1	2
-1	1	WPNAV_SPEED	650.000000000000000000	9
+1	1	WPNAV_SPEED	500.000000000000000000	9
 1	1	WPNAV_SPEED_DN	150.000000000000000000	9
 1	1	WPNAV_SPEED_UP	250.000000000000000000	9
 1	1	WP_NAVALT_MIN	0.000000000000000000	9

src/FirmwarePlugin/APM/Plane3.7.OfflineEditing.params

@@ -1,663 +0,0 @@
-# Onboard parameters for vehicle 1
-#
-# MAV ID  COMPONENT ID  PARAM NAME  VALUE (FLOAT)
-1	1	ACRO_LOCKING	0	2
-1	1	ACRO_PITCH_RATE	180	4
-1	1	ACRO_ROLL_RATE	180	4
-1	1	ADSB_ENABLE	0	2
-1	1	AFS_ENABLE	0	2
-1	1	AHRS_COMP_BETA	0.100000001490116119	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	ALT_CTRL_ALG	0	2
-1	1	ALT_HOLD_FBWCM	0	4
-1	1	ALT_HOLD_RTL	10000	6
-1	1	ALT_MIX	1.000000000000000000	9
-1	1	ALT_OFFSET	0	4
-1	1	ARMING_ACCTHRESH	0.750000000000000000	9
-1	1	ARMING_CHECK	1	4
-1	1	ARMING_MIN_VOLT	0.000000000000000000	9
-1	1	ARMING_MIN_VOLT2	0.000000000000000000	9
-1	1	ARMING_REQUIRE	1	2
-1	1	ARMING_RUDDER	1	2
-1	1	ARSPD_AUTOCAL	0	2
-1	1	ARSPD_ENABLE	1	2
-1	1	ARSPD_FBW_MAX	22	4
-1	1	ARSPD_FBW_MIN	9	4
-1	1	ARSPD_OFFSET	2.770258665084838867	9
-1	1	ARSPD_PIN	15	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_USE	0	2
-1	1	AUTOTUNE_LEVEL	6	2
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-1	1	RNGFND2_FUNCTION	0	2
-1	1	RNGFND2_GNDCLEAR	10	2
-1	1	RNGFND2_MAX_CM	700	4
-1	1	RNGFND2_MIN_CM	20	4
-1	1	RNGFND2_OFFSET	0.000000000000000000	9
-1	1	RNGFND2_PIN	-1	2
-1	1	RNGFND2_RMETRIC	1	2
-1	1	RNGFND2_SCALING	3.000000000000000000	9
-1	1	RNGFND2_SETTLE	0	4
-1	1	RNGFND2_STOP_PIN	-1	2
-1	1	RNGFND2_TYPE	0	2
-1	1	RNGFND_ADDR	0	2
-1	1	RNGFND_FUNCTION	0	2
-1	1	RNGFND_GNDCLEAR	10	2
-1	1	RNGFND_LANDING	0	2
-1	1	RNGFND_MAX_CM	700	4
-1	1	RNGFND_MIN_CM	20	4
-1	1	RNGFND_OFFSET	0.000000000000000000	9
-1	1	RNGFND_PIN	-1	2
-1	1	RNGFND_PWRRNG	0	4
-1	1	RNGFND_RMETRIC	1	2
-1	1	RNGFND_SCALING	3.000000000000000000	9
-1	1	RNGFND_SETTLE	0	4
-1	1	RNGFND_STOP_PIN	-1	2
-1	1	RNGFND_TYPE	0	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_SCALING	1.000000000000000000	9
-1	1	RPM_TYPE	0	2
-1	1	RSSI_ANA_PIN	0	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	0	2
-1	1	RST_MISSION_CH	0	2
-1	1	RST_SWITCH_CH	0	2
-1	1	RTL_AUTOLAND	0	2
-1	1	RTL_RADIUS	0	4
-1	1	RUDDER_ONLY	0	2
-1	1	SCALING_SPEED	15.000000000000000000	9
-1	1	SCHED_DEBUG	0	2
-1	1	SCHED_LOOP_RATE	50	4
-1	1	SERIAL0_BAUD	115	6
-1	1	SERIAL0_PROTOCOL	1	2
-1	1	SERIAL1_BAUD	57	6
-1	1	SERIAL1_PROTOCOL	1	2
-1	1	SERIAL2_BAUD	57	6
-1	1	SERIAL2_PROTOCOL	1	2
-1	1	SERIAL3_BAUD	38	6
-1	1	SERIAL3_PROTOCOL	5	2
-1	1	SERIAL4_BAUD	38	6
-1	1	SERIAL4_PROTOCOL	5	2
-1	1	SERIAL5_BAUD	57	6
-1	1	SERIAL5_PROTOCOL	-1	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	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	STAB_PITCH_DOWN	2.000000000000000000	9
-1	1	STALL_PREVENTION	1	2
-1	1	STEER2SRV_D	0.004999999888241291	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_MYGCS	255	4
-1	1	SYSID_SW_TYPE	0	2
-1	1	SYSID_THISMAV	1	4
-1	1	SYS_NUM_RESETS	1	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_PITCH_MAX	0	2
-1	1	TECS_PITCH_MIN	0	2
-1	1	TECS_PTCH_DAMP	0.000000000000000000	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_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	0	2
-1	1	TERRAIN_LOOKAHD	2000	4
-1	1	TERRAIN_SPACING	100	4
-1	1	THROTTLE_NUDGE	1	2
-1	1	THR_FAILSAFE	1	2
-1	1	THR_FS_VALUE	950	4
-1	1	THR_MAX	75	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_FLAP_PCNT	0	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	0.000000000000000000	9
-1	1	TKOFF_THR_MINSPD	0.000000000000000000	9
-1	1	TKOFF_THR_SLEW	0	2
-1	1	TRIM_ARSPD_CM	1200	6
-1	1	TRIM_AUTO	0	2
-1	1	TRIM_PITCH_CD	0	4
-1	1	TRIM_RC_AT_START	0	2
-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	4
-1	1	VTAIL_OUTPUT	0	2
-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

src/FirmwarePlugin/APM/Rover3.5.OfflineEditing.params

@@ -0,0 +1,895 @@
+# Onboard parameters for Vehicle 1
+#
+# Stack: ArduPilot
+# Vehicle: Rover
+# Version: 3.5.0 
+# Git Revision: af36fc5
+#
+# 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	1	4
+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_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_FILT	10.000000000000000000	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_FILT	10.000000000000000000	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_FILT	10.000000000000000000	9
+1	1	ATC_SPEED_I	0.200000002980232239	9
+1	1	ATC_SPEED_IMAX	1.000000000000000000	9
+1	1	ATC_SPEED_P	0.100000001490116119	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	0.750000000000000000	9
+1	1	ATC_STR_RAT_FILT	10.000000000000000000	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	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	17.000000000000000000	9
+1	1	BATT_ARM_MAH	0	6
+1	1	BATT_ARM_VOLT	0.000000000000000000	9
+1	1	BATT_CAPACITY	3300	6
+1	1	BATT_CRT_MAH	0.000000000000000000	9
+1	1	BATT_CRT_VOLT	0.000000000000000000	9
+1	1	BATT_CURR_PIN	12	2
+1	1	BATT_FS_CRT_ACT	0	2
+1	1	BATT_FS_LOW_ACT	0	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	0.000000000000000000	9
+1	1	BATT_MONITOR	4	2
+1	1	BATT_SERIAL_NUM	-1	6
+1	1	BATT_VOLT_MULT	10.100000381469726563	9
+1	1	BATT_VOLT_PIN	13	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_PWM_COUNT	8	2
+1	1	BRD_RTC_TYPES	1	2
+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	0.207368880510330200	9
+1	1	COMPASS_DEV_ID	983044	6
+1	1	COMPASS_DEV_ID2	983052	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
+1	1	COMPASS_DIA3_X	0.000000000000000000	9
+1	1	COMPASS_DIA3_Y	0.000000000000000000	9
+1	1	COMPASS_DIA3_Z	0.000000000000000000	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_EXP_DID	-1	6
+1	1	COMPASS_EXP_DID2	-1	6
+1	1	COMPASS_EXP_DID3	-1	6
+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	1	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	1250	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_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_PRIMARY	0	2
+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	5.000000000000000000	9
+1	1	CRUISE_THROTTLE	30	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_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_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_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
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+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	SIM_ACC2_BIAS_X	0.000000000000000000	9
+1	1	SIM_ACC2_BIAS_Y	0.000000000000000000	9
+1	1	SIM_ACC2_BIAS_Z	0.000000000000000000	9
+1	1	SIM_ACC2_RND	0.000000000000000000	9
+1	1	SIM_ACCEL_FAIL	0.000000000000000000	9
+1	1	SIM_ACC_BIAS_X	0.000000000000000000	9
+1	1	SIM_ACC_BIAS_Y	0.000000000000000000	9
+1	1	SIM_ACC_BIAS_Z	0.000000000000000000	9
+1	1	SIM_ACC_RND	0.000000000000000000	9
+1	1	SIM_ADSB_ALT	1000.000000000000000000	9
+1	1	SIM_ADSB_COUNT	-1	4
+1	1	SIM_ADSB_RADIUS	10000.000000000000000000	9
+1	1	SIM_ADSB_TX	0	2
+1	1	SIM_ARSPD2_FAIL	0.000000000000000000	9
+1	1	SIM_ARSPD2_FAILP	0.000000000000000000	9
+1	1	SIM_ARSPD2_PITOT	0.000000000000000000	9
+1	1	SIM_ARSPD_FAIL	0.000000000000000000	9
+1	1	SIM_ARSPD_FAIL_P	0.000000000000000000	9
+1	1	SIM_ARSPD_PITOT	0.000000000000000000	9
+1	1	SIM_ARSPD_RND	0.500000000000000000	9
+1	1	SIM_ARSPD_SIGN	0	2
+1	1	SIM_BARO_DELAY	0	4
+1	1	SIM_BARO_DISABLE	0	2
+1	1	SIM_BARO_DRIFT	0.000000000000000000	9
+1	1	SIM_BARO_GLITCH	0.000000000000000000	9
+1	1	SIM_BARO_RND	0.200000002980232239	9
+1	1	SIM_BATT_VOLTAGE	12.600000381469726563	9
+1	1	SIM_DRIFT_SPEED	0.050000000745058060	9
+1	1	SIM_DRIFT_TIME	5.000000000000000000	9
+1	1	SIM_ENGINE_FAIL	0	2
+1	1	SIM_ENGINE_MUL	1.000000000000000000	9
+1	1	SIM_FLOAT_EXCEPT	1	2
+1	1	SIM_FLOW_DELAY	0	2
+1	1	SIM_FLOW_ENABLE	0	2
+1	1	SIM_FLOW_POS_X	0.000000000000000000	9
+1	1	SIM_FLOW_POS_Y	0.000000000000000000	9
+1	1	SIM_FLOW_POS_Z	0.000000000000000000	9
+1	1	SIM_FLOW_RATE	10	4
+1	1	SIM_GP2_GLITCH_X	0.000000000000000000	9
+1	1	SIM_GP2_GLITCH_Y	0.000000000000000000	9
+1	1	SIM_GP2_GLITCH_Z	0.000000000000000000	9
+1	1	SIM_GPS2_ENABLE	0	2
+1	1	SIM_GPS2_TYPE	1	2
+1	1	SIM_GPS_ALT_OFS	0	4
+1	1	SIM_GPS_BYTELOSS	0.000000000000000000	9
+1	1	SIM_GPS_DELAY	1	2
+1	1	SIM_GPS_DISABLE	0	2
+1	1	SIM_GPS_DRIFTALT	0.000000000000000000	9
+1	1	SIM_GPS_GLITCH_X	0.000000000000000000	9
+1	1	SIM_GPS_GLITCH_Y	0.000000000000000000	9
+1	1	SIM_GPS_GLITCH_Z	0.000000000000000000	9
+1	1	SIM_GPS_HZ	5	2
+1	1	SIM_GPS_LOCKTIME	0	4
+1	1	SIM_GPS_NOISE	0.000000000000000000	9
+1	1	SIM_GPS_NUMSATS	10	2
+1	1	SIM_GPS_POS_X	0.000000000000000000	9
+1	1	SIM_GPS_POS_Y	0.000000000000000000	9
+1	1	SIM_GPS_POS_Z	0.000000000000000000	9
+1	1	SIM_GPS_TYPE	1	2
+1	1	SIM_GRPE_ENABLE	0	2
+1	1	SIM_GRPE_PIN	-1	2
+1	1	SIM_GRPS_ENABLE	0	2
+1	1	SIM_GRPS_GRAB	2000	4
+1	1	SIM_GRPS_PIN	-1	2
+1	1	SIM_GRPS_RELEASE	1000	4
+1	1	SIM_GRPS_REVERSE	0	2
+1	1	SIM_GYR_RND	0.000000000000000000	9
+1	1	SIM_GYR_SCALE_X	0.000000000000000000	9
+1	1	SIM_GYR_SCALE_Y	0.000000000000000000	9
+1	1	SIM_GYR_SCALE_Z	0.000000000000000000	9
+1	1	SIM_IMU_POS_X	0.000000000000000000	9
+1	1	SIM_IMU_POS_Y	0.000000000000000000	9
+1	1	SIM_IMU_POS_Z	0.000000000000000000	9
+1	1	SIM_MAG_ALY_HGT	1.000000000000000000	9
+1	1	SIM_MAG_ALY_X	0.000000000000000000	9
+1	1	SIM_MAG_ALY_Y	0.000000000000000000	9
+1	1	SIM_MAG_ALY_Z	0.000000000000000000	9
+1	1	SIM_MAG_DELAY	0	4
+1	1	SIM_MAG_DIA_X	0.000000000000000000	9
+1	1	SIM_MAG_DIA_Y	0.000000000000000000	9
+1	1	SIM_MAG_DIA_Z	0.000000000000000000	9
+1	1	SIM_MAG_ERROR	0.000000000000000000	9
+1	1	SIM_MAG_MOT_X	0.000000000000000000	9
+1	1	SIM_MAG_MOT_Y	0.000000000000000000	9
+1	1	SIM_MAG_MOT_Z	0.000000000000000000	9
+1	1	SIM_MAG_ODI_X	0.000000000000000000	9
+1	1	SIM_MAG_ODI_Y	0.000000000000000000	9
+1	1	SIM_MAG_ODI_Z	0.000000000000000000	9
+1	1	SIM_MAG_OFS_X	5.000000000000000000	9
+1	1	SIM_MAG_OFS_Y	13.000000000000000000	9
+1	1	SIM_MAG_OFS_Z	-18.000000000000000000	9
+1	1	SIM_MAG_ORIENT	0	2
+1	1	SIM_MAG_RND	0.000000000000000000	9
+1	1	SIM_ODOM_ENABLE	0	2
+1	1	SIM_PARA_ENABLE	0	2
+1	1	SIM_PARA_PIN	-1	2
+1	1	SIM_PIN_MASK	121	4
+1	1	SIM_RC_CHANCOUNT	16	2
+1	1	SIM_RC_FAIL	0	2
+1	1	SIM_SERVO_SPEED	0.140000000596046448	9
+1	1	SIM_SONAR_GLITCH	0.000000000000000000	9
+1	1	SIM_SONAR_POS_X	0.000000000000000000	9
+1	1	SIM_SONAR_POS_Y	0.000000000000000000	9
+1	1	SIM_SONAR_POS_Z	0.000000000000000000	9
+1	1	SIM_SONAR_RND	0.000000000000000000	9
+1	1	SIM_SONAR_SCALE	12.121199607849121094	9
+1	1	SIM_SPEEDUP	1.000000000000000000	9
+1	1	SIM_SPR_ENABLE	0	2
+1	1	SIM_SPR_PUMP	-1	2
+1	1	SIM_SPR_SPIN	-1	2
+1	1	SIM_TEMP_BFACTOR	0.000000000000000000	9
+1	1	SIM_TEMP_FLIGHT	35.000000000000000000	9
+1	1	SIM_TEMP_START	25.000000000000000000	9
+1	1	SIM_TEMP_TCONST	30.000000000000000000	9
+1	1	SIM_TERRAIN	1	2
+1	1	SIM_VIB_FREQ_X	0.000000000000000000	9
+1	1	SIM_VIB_FREQ_Y	0.000000000000000000	9
+1	1	SIM_VIB_FREQ_Z	0.000000000000000000	9
+1	1	SIM_VICON_HSTLEN	0	2
+1	1	SIM_WIND_DELAY	0	4
+1	1	SIM_WIND_DIR	180.000000000000000000	9
+1	1	SIM_WIND_DIR_Z	0.000000000000000000	9
+1	1	SIM_WIND_SPD	0.000000000000000000	9
+1	1	SIM_WIND_T	0	2
+1	1	SIM_WIND_TURB	0.000000000000000000	9
+1	1	SIM_WIND_T_ALT	60.000000000000000000	9
+1	1	SIM_WIND_T_COEF	0.009999999776482582	9
+1	1	SIM_WOW_PIN	-1	2
+1	1	SPRAY_ENABLE	0	2
+1	1	SR0_EXTRA1	4	4
+1	1	SR0_EXTRA2	4	4
+1	1	SR0_EXTRA3	4	4
+1	1	SR0_EXT_STAT	4	4
+1	1	SR0_PARAMS	10	4
+1	1	SR0_POSITION	4	4
+1	1	SR0_RAW_CTRL	4	4
+1	1	SR0_RAW_SENS	4	4
+1	1	SR0_RC_CHAN	4	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_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_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	6	4
+1	1	STAT_FLTTIME	0	6
+1	1	STAT_RESET	104866392	6
+1	1	STAT_RUNTIME	955	6
+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_RADIUS	3.000000000000000000	9
+1	1	WP_SPEED	0.000000000000000000	9
+1	1	WRC_ENABLE	0	2

src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml

@@ -644,6 +644,29 @@ Note: ekf2 will limit the delta velocity bias estimate magnitude to be less than
       <long_desc>The default allows to arm the vehicle without GPS signal.</long_desc>
       <boolean />
     </parameter>
+    <parameter category="Developer" default="0" name="COM_ASPD_FS_ACT" type="INT32">
+      <short_desc>Airspeed fault detection (Experimental)</short_desc>
+      <long_desc>Failsafe action when bad airspeed measurements are detected. Ensure the COM_ASPD_STALL parameter is set correctly before use.</long_desc>
+      <values>
+        <value code="0">disabled</value>
+        <value code="1">log a message</value>
+        <value code="2">log a message, warn the user</value>
+        <value code="3">log a message, warn the user, switch to non-airspeed TECS mode</value>
+        <value code="4">log a message, warn the user, switch to non-airspeed TECS mode, switch to Return mode after COM_ASPD_FS_DLY seconds</value>
+      </values>
+    </parameter>
+    <parameter category="Developer" default="0" name="COM_ASPD_FS_DLY" type="INT32">
+      <short_desc>Airspeed fault detection delay before RTL (Experimental)</short_desc>
+      <long_desc>RTL delay after bad airspeed measurements are detected if COM_ASPD_FS_ACT is set to 4. Ensure the COM_ASPD_STALL parameter is set correctly before use. The failsafe start and stop delays are controlled by the COM_TAS_FS_T1 and COM_TAS_FS_T2 parameters. Additional protection against persistent airspeed sensor errors can be enabled using the COM_TAS_FS_INNOV parameter, but these addtional checks are more prone to false positives in windy conditions.</long_desc>
+      <min>0</min>
+      <max>300</max>
+      <unit>s</unit>
+    </parameter>
+    <parameter category="Developer" default="10.0" name="COM_ASPD_STALL" type="FLOAT">
+      <short_desc>Airspeed fault detection stall airspeed. (Experimental)</short_desc>
+      <long_desc>This is the minimum indicated airspeed at which the wing can produce 1g of lift. It is used by the airspeed sensor fault detection and failsafe calculation to detect a significant airspeed low measurement error condition and should be set based on flight test for reliable operation. The failsafe response is controlled by the COM_ASPD_FS_ACT parameter.</long_desc>
+      <unit>m/s</unit>
+    </parameter>
     <parameter default="-1.0" name="COM_DISARM_LAND" type="FLOAT">
       <short_desc>Time-out for auto disarm after landing</short_desc>
       <long_desc>A non-zero, positive value specifies the time-out period in seconds after which the vehicle will be automatically disarmed in case a landing situation has been detected during this period. The vehicle will also auto-disarm right after arming if it has not even flown, however the time will always be 10 seconds such that the pilot has enough time to take off. A negative value means that automatic disarming triggered by landing detection is disabled.</long_desc>
@@ -872,6 +895,14 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action</short_desc>
       <unit>s</unit>
       <increment>1</increment>
     </parameter>
+    <parameter default="0" name="COM_POSCTL_NAVL" type="INT32">
+      <short_desc>Position control navigation loss response</short_desc>
+      <long_desc>This sets the flight mode that will be used if navigation accuracy is no longer adequate for position control. Navigation accuracy checks can be disabled using the CBRK_VELPOSERR parameter, but doing so will remove protection for all flight modes.</long_desc>
+      <values>
+        <value code="0">Assume use of remote control after fallback. Switch to Altitude mode if a height estimate is available, else switch to MANUAL.</value>
+        <value code="1">Assume no use of remote control after fallback. Switch to Land mode if a height estimate is available, else switch to TERMINATION.</value>
+      </values>
+    </parameter>
     <parameter default="1" name="COM_POS_FS_DELAY" type="INT32">
       <short_desc>Loss of position failsafe activation delay</short_desc>
       <long_desc>This sets number of seconds that the position checks need to be failed before the failsafe will activate. The default value has been optimised for rotary wing applications. For fixed wing applications, a larger value between 5 and 10 should be used.</long_desc>
@@ -942,6 +973,32 @@ See COM_OBL_ACT and COM_OBL_RC_ACT to configure action</short_desc>
       <decimal>0</decimal>
       <increment>0.05</increment>
     </parameter>
+    <parameter category="Developer" default="1.0" name="COM_TAS_FS_INNOV" type="FLOAT">
+      <short_desc>Airspeed failsafe consistency threshold (Experimental)</short_desc>
+      <long_desc>This specifies the minimum airspeed test ratio as logged in estimator_status.tas_test_ratio required to trigger a failsafe. Larger values make the check less sensitive, smaller values make it more sensitive. Start with a value of 1.0 when tuning. When estimator_status.tas_test_ratio is &gt; 1.0 it indicates the inconsistency between predicted and measured airspeed is large enough to cause the navigation EKF to reject airspeed measurements. The time required to detect a fault when the threshold is exceeded depends on the size of the exceedance and is controlled by the COM_TAS_FS_INTEG parameter. The subsequent failsafe response is controlled by the COM_ASPD_FS_ACT parameter.</long_desc>
+      <min>0.5</min>
+      <max>3.0</max>
+    </parameter>
+    <parameter category="Developer" default="-1.0" name="COM_TAS_FS_INTEG" type="FLOAT">
+      <short_desc>Airspeed failsafe consistency delay (Experimental)</short_desc>
+      <long_desc>This sets the time integral of airspeed test ratio exceedance above COM_TAS_FS_INNOV required to trigger a failsafe. For example if COM_TAS_FS_INNOV is 100 and estimator_status.tas_test_ratio is 2.0, then the exceedance is 1.0 and the integral will rise at a rate of 1.0/second. A negative value disables the check. Larger positive values make the check less sensitive, smaller positive values make it more sensitive. The failsafe response is controlled by the COM_ASPD_FS_ACT parameter.</long_desc>
+      <max>30.0</max>
+      <unit>s</unit>
+    </parameter>
+    <parameter category="Developer" default="3" name="COM_TAS_FS_T1" type="INT32">
+      <short_desc>Airspeed failsafe stop delay (Experimental)</short_desc>
+      <long_desc>Delay before stopping use of airspeed sensor if checks indicate sensor is bad. The failsafe response is controlled by the COM_ASPD_FS_ACT parameter.</long_desc>
+      <min>1</min>
+      <max>10</max>
+      <unit>s</unit>
+    </parameter>
+    <parameter category="Developer" default="100" name="COM_TAS_FS_T2" type="INT32">
+      <short_desc>Airspeed failsafe start delay (Experimental)</short_desc>
+      <long_desc>Delay before switching back to using airspeed sensor if checks indicate sensor is good. The failsafe response is controlled by the COM_ASPD_FS_ACT parameter.</long_desc>
+      <min>10</min>
+      <max>1000</max>
+      <unit>s</unit>
+    </parameter>
     <parameter default="1" name="COM_VEL_FS_EVH" type="FLOAT">
       <short_desc>Horizontal velocity error threshold</short_desc>
       <long_desc>This is the horizontal velocity error (EVH) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing.</long_desc>
@@ -3862,14 +3919,6 @@ Used to calculate increased terrain random walk nosie due to movement</short_des
       <short_desc>Flag to enable obstacle avoidance</short_desc>
       <boolean />
     </parameter>
-    <parameter default="0" name="COM_POSCTL_NAVL" type="INT32">
-      <short_desc>Position control navigation loss response</short_desc>
-      <long_desc>This sets the flight mode that will be used if navigation accuracy is no longer adequate for position control. Navigation accuracy checks can be disabled using the CBRK_VELPOSERR parameter, but doing so will remove protection for all flight modes.</long_desc>
-      <values>
-        <value code="0">Assume use of remote control after fallback. Switch to Altitude mode if a height estimate is available, else switch to MANUAL.</value>
-        <value code="1">Assume no use of remote control after fallback. Switch to Land mode if a height estimate is available, else switch to TERMINATION.</value>
-      </values>
-    </parameter>
     <parameter default="0" name="COM_TAKEOFF_ACT" type="INT32">
       <short_desc>Action after TAKEOFF has been accepted</short_desc>
       <long_desc>The mode transition after TAKEOFF has completed successfully.</long_desc>
@@ -9105,8 +9154,8 @@ is less than 50% of this value</short_desc>
       <max>2</max>
       <reboot_required>true</reboot_required>
       <values>
-        <value code="1">local_position_estimator, attitude_estimator_q</value>
-        <value code="2">ekf2</value>
+        <value code="1">local_position_estimator, attitude_estimator_q (unsupported)</value>
+        <value code="2">ekf2 (recommended)</value>
       </values>
     </parameter>
     <parameter default="1" name="SYS_PARAM_VER" type="INT32">

src/PlanView/GeoFenceMapVisuals.qml

@@ -20,6 +20,7 @@ import QGroundControl.FlightMap     1.0
 
 /// GeoFence map visuals
 Item {
+    id: _root
     z: QGroundControl.zOrderMapItems
 
     property var    map
@@ -88,10 +89,15 @@ Item {
         _paramCircleFenceComponent.destroy()
     }
 
+    // By default the parent for Instantiator.delegate item is the Instatiator itself. By there is a bug
+    // in Qt which will cause a crash if this delete item has Menu item within it. Since the Menu item
+    // doesn't like having a non-visual item as parent. This is likely related to hybrid QQuickWidtget+QML
+    // Hence Qt folks are going to care. In order to workaround you have to parent the item to _root Item instead.
     Instantiator {
         model: _polygons
 
         delegate : QGCMapPolygonVisuals {
+            parent:             _root
             mapControl:         map
             mapPolygon:         object
             borderWidth:        object.inclusion ? _borderWidthInclusion : _borderWidthExclusion
@@ -105,6 +111,7 @@ Item {
         model: _circles
 
         delegate : QGCMapCircleVisuals {
+            parent:             _root
             mapControl:         map
             mapCircle:          object
             borderWidth:        object.inclusion ? _borderWidthInclusion : _borderWidthExclusion

src/QmlControls/PIDTuning.qml

@@ -316,7 +316,7 @@ RowLayout {
         }
         Item { width: 1; height: 1 }
 
-        QGCLabel { text: qsTr("Saved Tuning Values:") }
+        QGCLabel { text: qsTr("Clipboard Values:") }
 
         GridLayout {
             rows:           savedRepeater.model.length
@@ -341,12 +341,12 @@ RowLayout {
             spacing: _margins
 
             QGCButton {
-                text:       qsTr("Save Values")
+                text:       qsTr("Save To Clipboard")
                 onClicked:  saveTuningParamValues()
             }
 
             QGCButton {
-                text:       qsTr("Reset To Saved Values")
+                text:       qsTr("Restore From Clipboard")
                 onClicked:  resetToSavedTuningParamValues()
             }
         }

src/Terrain/TerrainQuery.cc

@@ -489,7 +489,7 @@ void TerrainTileManager::_terrainDone(QByteArray responseBytes, QNetworkReply::N
         return;
     }
 
-    qWarning() << "Received some bytes of terrain data: " << responseBytes.size();
+    qCDebug(TerrainQueryLog) << "Received some bytes of terrain data: " << responseBytes.size();
 
     TerrainTile* terrainTile = new TerrainTile(responseBytes);
     if (terrainTile->isValid()) {

src/Vehicle/Vehicle.cc

@@ -1308,13 +1308,15 @@ void Vehicle::_handleAutopilotVersion(LinkInterface *link, mavlink_message_t& me
 
         // PX4 Firmware stores the first 16 characters of the git hash as binary, with the individual bytes in reverse order
         _gitHash = "";
-        QByteArray array((char*)autopilotVersion.flight_custom_version, 8);
         for (int i = 7; i >= 0; i--) {
             _gitHash.append(QString("%1").arg(autopilotVersion.flight_custom_version[i], 2, 16, QChar('0')));
         }
     } else {
         // APM Firmware stores the first 8 characters of the git hash as an ASCII character string
-        _gitHash = QString::fromUtf8((char*)autopilotVersion.flight_custom_version, 8);
+        char nullStr[9];
+        strncpy(nullStr, (char*)autopilotVersion.flight_custom_version, 8);
+        nullStr[8] = 0;
+        _gitHash = nullStr;
     }
     if (_toolbox->corePlugin()->options()->checkFirmwareVersion()) {
         _firmwarePlugin->checkIfIsLatestStable(this);

src/comm/APMArduCopterMockLink.params

@@ -1,776 +0,0 @@
-# Onboard parameters for Vehicle 1
-#
-# Stack: ArduPilot
-# Vehicle: Multi-Rotor
-# Version: 3.5.0 rc
-# Git Revision: efab409b
-#
-# Vehicle-Id Component-Id Name Value Type
-1	1	ACCEL_Z_D	0.000000000000000000	9
-1	1	ACCEL_Z_FF	0.000000000000000000	9
-1	1	ACCEL_Z_FILT	20.000000000000000000	9
-1	1	ACCEL_Z_I	1.000000000000000000	9
-1	1	ACCEL_Z_IMAX	800.000000000000000000	9
-1	1	ACCEL_Z_P	0.500000000000000000	9
-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	3.000000000000000000	9
-1	1	ACRO_Y_EXPO	0.000000000000000000	9
-1	1	ADSB_ENABLE	0	2
-1	1	AHRS_COMP_BETA	0.100000001490116119	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	-0.005487891845405102	9
-1	1	AHRS_TRIM_Y	0.009387995116412640	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	4
-1	1	ATC_ACCEL_P_MAX	110000.000000000000000000	9
-1	1	ATC_ACCEL_R_MAX	110000.000000000000000000	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	11.250000000000000000	9
-1	1	ATC_ANG_RLL_P	11.250000000000000000	9
-1	1	ATC_ANG_YAW_P	6.000000000000000000	9
-1	1	ATC_RATE_FF_ENAB	1	2
-1	1	ATC_RAT_PIT_D	0.008325000293552876	9
-1	1	ATC_RAT_PIT_FF	0.000000000000000000	9
-1	1	ATC_RAT_PIT_FILT	20.000000000000000000	9
-1	1	ATC_RAT_PIT_I	0.126000002026557922	9
-1	1	ATC_RAT_PIT_IMAX	0.222222223877906799	9
-1	1	ATC_RAT_PIT_P	0.126000002026557922	9
-1	1	ATC_RAT_RLL_D	0.011249999515712261	9
-1	1	ATC_RAT_RLL_FF	0.000000000000000000	9
-1	1	ATC_RAT_RLL_FILT	20.000000000000000000	9
-1	1	ATC_RAT_RLL_I	0.182249993085861206	9
-1	1	ATC_RAT_RLL_IMAX	0.222222223877906799	9
-1	1	ATC_RAT_RLL_P	0.182249993085861206	9
-1	1	ATC_RAT_YAW_D	0.003600000170990825	9
-1	1	ATC_RAT_YAW_FF	0.000000000000000000	9
-1	1	ATC_RAT_YAW_FILT	5.000000000000000000	9
-1	1	ATC_RAT_YAW_I	0.035999998450279236	9
-1	1	ATC_RAT_YAW_IMAX	0.222000002861022949	9
-1	1	ATC_RAT_YAW_P	0.359999984502792358	9
-1	1	ATC_SLEW_YAW	1000.000000000000000000	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_DIST_MAX	10.000000000000000000	9
-1	1	AVOID_ENABLE	3	2
-1	1	AVOID_MARGIN	2.000000000000000000	9
-1	1	BATT2_AMP_OFFSET	0.000000000000000000	9
-1	1	BATT2_AMP_PERVOL	17.000000000000000000	9
-1	1	BATT2_CAPACITY	3300	6
-1	1	BATT2_CURR_PIN	3	2
-1	1	BATT2_MONITOR	0	2
-1	1	BATT2_SERIAL_NUM	-1	6
-1	1	BATT2_VOLT_MULT	10.100000381469726563	9
-1	1	BATT2_VOLT_PIN	2	2
-1	1	BATT_AMP_OFFSET	0.000000000000000000	9
-1	1	BATT_AMP_PERVOLT	17.000000000000000000	9
-1	1	BATT_CAPACITY	5100	6
-1	1	BATT_CURR_PIN	3	2
-1	1	BATT_MONITOR	4	2
-1	1	BATT_SERIAL_NUM	-1	6
-1	1	BATT_VOLT_MULT	12.020000457763671875	9
-1	1	BATT_VOLT_PIN	2	2
-1	1	BATT_VOLT_TIMER	10	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_CAN_ENABLE	0	2
-1	1	BRD_IMU_TARGTEMP	-1	2
-1	1	BRD_IO_ENABLE	1	2
-1	1	BRD_PWM_COUNT	4	2
-1	1	BRD_SAFETYENABLE	1	2
-1	1	BRD_SAFETY_MASK	16368	6
-1	1	BRD_SBUS_OUT	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	2	2
-1	1	BTN_ENABLE	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	CH10_OPT	0	2
-1	1	CH11_OPT	0	2
-1	1	CH12_OPT	0	2
-1	1	CH7_OPT	4	2
-1	1	CH8_OPT	0	2
-1	1	CH9_OPT	0	2
-1	1	CHUTE_ENABLED	0	2
-1	1	CIRCLE_RADIUS	1000.000000000000000000	9
-1	1	CIRCLE_RATE	20.000000000000000000	9
-1	1	CLI_ENABLED	0	2
-1	1	COMPASS_AUTODEC	1	2
-1	1	COMPASS_CAL_FIT	16.000000000000000000	9
-1	1	COMPASS_DEC	0.000000000000000000	9
-1	1	COMPASS_DEV_ID	466441	6
-1	1	COMPASS_DEV_ID2	131594	6
-1	1	COMPASS_DEV_ID3	0	6
-1	1	COMPASS_DIA2_X	0.990296721458435059	9
-1	1	COMPASS_DIA2_Y	0.971784174442291260	9
-1	1	COMPASS_DIA2_Z	1.007365465164184570	9
-1	1	COMPASS_DIA3_X	0.000000000000000000	9
-1	1	COMPASS_DIA3_Y	0.000000000000000000	9
-1	1	COMPASS_DIA3_Z	0.000000000000000000	9
-1	1	COMPASS_DIA_X	0.947009563446044922	9
-1	1	COMPASS_DIA_Y	0.937935292720794678	9
-1	1	COMPASS_DIA_Z	1.060336470603942871	9
-1	1	COMPASS_EXTERN2	0	2
-1	1	COMPASS_EXTERN3	0	2
-1	1	COMPASS_EXTERNAL	1	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	-0.006166019476950169	9
-1	1	COMPASS_ODI2_Y	0.001182210398837924	9
-1	1	COMPASS_ODI2_Z	0.018183957785367966	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	-0.013673859648406506	9
-1	1	COMPASS_ODI_Y	0.001898076618090272	9
-1	1	COMPASS_ODI_Z	-0.007604577112942934	9
-1	1	COMPASS_OFFS_MAX	600	4
-1	1	COMPASS_OFS2_X	280.823242187500000000	9
-1	1	COMPASS_OFS2_Y	87.670928955078125000	9
-1	1	COMPASS_OFS2_Z	-469.461639404296875000	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	-112.272964477539062500	9
-1	1	COMPASS_OFS_Y	-5.009645462036132813	9
-1	1	COMPASS_OFS_Z	34.276287078857421875	9
-1	1	COMPASS_ORIENT	0	2
-1	1	COMPASS_ORIENT2	0	2
-1	1	COMPASS_ORIENT3	0	2
-1	1	COMPASS_PRIMARY	0	2
-1	1	COMPASS_USE	1	2
-1	1	COMPASS_USE2	1	2
-1	1	COMPASS_USE3	1	2
-1	1	DEV_OPTIONS	0	6
-1	1	DISARM_DELAY	10	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_GBIAS_P_NSE	0.000099999997473788	9
-1	1	EK2_GLITCH_RAD	25	2
-1	1	EK2_GPS_CHECK	31	2
-1	1	EK2_GPS_DELAY	220	4
-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_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_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_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	100.000000000000000000	9
-1	1	FENCE_ENABLE	1	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	3	2
-1	1	FLOW_BUS_ID	0	2
-1	1	FLOW_ENABLE	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	FLTMODE1	0	2
-1	1	FLTMODE2	5	2
-1	1	FLTMODE3	3	2
-1	1	FLTMODE4	6	2
-1	1	FLTMODE5	6	2
-1	1	FLTMODE6	6	2
-1	1	FRAME_CLASS	1	2
-1	1	FRAME_TYPE	2	2
-1	1	FS_BATT_ENABLE	1	2
-1	1	FS_BATT_MAH	0.000000000000000000	9
-1	1	FS_BATT_VOLTAGE	10.500000000000000000	9
-1	1	FS_CRASH_CHECK	1	2
-1	1	FS_EKF_ACTION	1	2
-1	1	FS_EKF_THRESH	0.800000011920928955	9
-1	1	FS_GCS_ENABLE	1	2
-1	1	FS_THR_ENABLE	1	2
-1	1	FS_THR_VALUE	975	4
-1	1	GCS_PID_MASK	0	4
-1	1	GND_ABS_PRESS	101975.898437500000000000	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_EFFECT_COMP	0	2
-1	1	GND_EXT_BUS	-1	2
-1	1	GND_PRIMARY	0	2
-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_GNSS_MODE	0	2
-1	1	GPS_GNSS_MODE2	0	2
-1	1	GPS_HDOP_GOOD	250	4
-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	0	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	INS_ACC2OFFS_X	0.465681284666061401	9
-1	1	INS_ACC2OFFS_Y	-0.163094490766525269	9
-1	1	INS_ACC2OFFS_Z	0.841708540916442871	9
-1	1	INS_ACC2SCAL_X	1.025157928466796875	9
-1	1	INS_ACC2SCAL_Y	1.017194271087646484	9
-1	1	INS_ACC2SCAL_Z	1.034052014350891113	9
-1	1	INS_ACC2_ID	1114634	6
-1	1	INS_ACC3OFFS_X	0.000000000000000000	9
-1	1	INS_ACC3OFFS_Y	0.000000000000000000	9
-1	1	INS_ACC3OFFS_Z	0.000000000000000000	9
-1	1	INS_ACC3SCAL_X	0.000000000000000000	9
-1	1	INS_ACC3SCAL_Y	0.000000000000000000	9
-1	1	INS_ACC3SCAL_Z	0.000000000000000000	9
-1	1	INS_ACC3_ID	0	6
-1	1	INS_ACCEL_FILTER	20	2
-1	1	INS_ACCOFFS_X	-0.064211823046207428	9
-1	1	INS_ACCOFFS_Y	-0.180485680699348450	9
-1	1	INS_ACCOFFS_Z	-0.311422348022460938	9
-1	1	INS_ACCSCAL_X	0.995959579944610596	9
-1	1	INS_ACCSCAL_Y	1.004220247268676758	9
-1	1	INS_ACCSCAL_Z	0.992680013179779053	9
-1	1	INS_ACC_BODYFIX	2	2
-1	1	INS_ACC_ID	1246218	6
-1	1	INS_FAST_SAMPLE	0	2
-1	1	INS_GYR2OFFS_X	0.033170118927955627	9
-1	1	INS_GYR2OFFS_Y	-0.008167488500475883	9
-1	1	INS_GYR2OFFS_Z	-0.009966009296476841	9
-1	1	INS_GYR2_ID	2228490	6
-1	1	INS_GYR3OFFS_X	0.000000000000000000	9
-1	1	INS_GYR3OFFS_Y	0.000000000000000000	9
-1	1	INS_GYR3OFFS_Z	0.000000000000000000	9
-1	1	INS_GYR3_ID	0	6
-1	1	INS_GYROFFS_X	-0.020668458193540573	9
-1	1	INS_GYROFFS_Y	0.071772724390029907	9
-1	1	INS_GYROFFS_Z	-0.002931264694780111	9
-1	1	INS_GYRO_FILTER	20	2
-1	1	INS_GYR_CAL	1	2
-1	1	INS_GYR_ID	2163722	6
-1	1	INS_POS1_X	0.000000000000000000	9
-1	1	INS_POS1_Y	0.000000000000000000	9
-1	1	INS_POS1_Z	0.000000000000000000	9
-1	1	INS_POS2_X	0.000000000000000000	9
-1	1	INS_POS2_Y	0.000000000000000000	9
-1	1	INS_POS2_Z	0.000000000000000000	9
-1	1	INS_POS3_X	0.000000000000000000	9
-1	1	INS_POS3_Y	0.000000000000000000	9
-1	1	INS_POS3_Z	0.000000000000000000	9
-1	1	INS_PRODUCT_ID	5	4
-1	1	INS_STILL_THRESH	2.500000000000000000	9
-1	1	INS_TRIM_OPTION	1	2
-1	1	INS_USE	1	2
-1	1	INS_USE2	1	2
-1	1	INS_USE3	0	2
-1	1	LAND_REPOSITION	1	2
-1	1	LAND_SPEED	50	4
-1	1	LAND_SPEED_HIGH	0	4
-1	1	LGR_SERVO_DEPLOY	1750	4
-1	1	LGR_SERVO_RTRACT	1250	4
-1	1	LOG_BACKEND_TYPE	1	2
-1	1	LOG_BITMASK	176126	6
-1	1	LOG_DISARMED	0	2
-1	1	LOG_FILE_BUFSIZE	16	2
-1	1	LOG_FILE_DSRMROT	0	2
-1	1	LOG_REPLAY	0	2
-1	1	MAG_ENABLE	1	2
-1	1	MIS_RESTART	0	2
-1	1	MIS_TOTAL	0	4
-1	1	MNT_ANGMAX_PAN	4500	4
-1	1	MNT_ANGMAX_ROL	4500	4
-1	1	MNT_ANGMAX_TIL	0	4
-1	1	MNT_ANGMIN_PAN	-4500	4
-1	1	MNT_ANGMIN_ROL	-4500	4
-1	1	MNT_ANGMIN_TIL	-9000	4
-1	1	MNT_DEFLT_MODE	3	2
-1	1	MNT_JSTICK_SPD	0	2
-1	1	MNT_LEAD_PTCH	0.000000000000000000	9
-1	1	MNT_LEAD_RLL	0.000000000000000000	9
-1	1	MNT_NEUTRAL_X	0.000000000000000000	9
-1	1	MNT_NEUTRAL_Y	0.000000000000000000	9
-1	1	MNT_NEUTRAL_Z	0.000000000000000000	9
-1	1	MNT_RC_IN_PAN	0	2
-1	1	MNT_RC_IN_ROLL	0	2
-1	1	MNT_RC_IN_TILT	6	2
-1	1	MNT_RETRACT_X	0.000000000000000000	9
-1	1	MNT_RETRACT_Y	0.000000000000000000	9
-1	1	MNT_RETRACT_Z	0.000000000000000000	9
-1	1	MNT_STAB_PAN	0	2
-1	1	MNT_STAB_ROLL	0	2
-1	1	MNT_STAB_TILT	0	2
-1	1	MNT_TYPE	1	2
-1	1	MOT_BAT_CURR_MAX	0.000000000000000000	9
-1	1	MOT_BAT_CURR_TC	5.000000000000000000	9
-1	1	MOT_BAT_VOLT_MAX	0.000000000000000000	9
-1	1	MOT_BAT_VOLT_MIN	0.000000000000000000	9
-1	1	MOT_HOVER_LEARN	2	2
-1	1	MOT_PWM_MAX	0	4
-1	1	MOT_PWM_MIN	0	4
-1	1	MOT_PWM_TYPE	0	2
-1	1	MOT_SAFE_DISARM	0	2
-1	1	MOT_SPIN_ARM	0.100000001490116119	9
-1	1	MOT_SPIN_MAX	0.949999988079071045	9
-1	1	MOT_SPIN_MIN	0.150000005960464478	9
-1	1	MOT_SPOOL_TIME	0.500000000000000000	9
-1	1	MOT_THST_EXPO	0.649999976158142090	9
-1	1	MOT_THST_HOVER	0.472181797027587891	9
-1	1	MOT_YAW_HEADROOM	200	4
-1	1	NTF_BUZZ_ENABLE	1	2
-1	1	NTF_DISPLAY_TYPE	0	2
-1	1	NTF_LED_BRIGHT	3	2
-1	1	NTF_LED_OVERRIDE	0	2
-1	1	PHLD_BRAKE_ANGLE	3000	4
-1	1	PHLD_BRAKE_RATE	8	4
-1	1	PILOT_ACCEL_Z	250	4
-1	1	PILOT_THR_BHV	0	4
-1	1	PILOT_THR_FILT	0.000000000000000000	9
-1	1	PILOT_TKOFF_ALT	0.000000000000000000	9
-1	1	PILOT_TKOFF_DZ	100	4
-1	1	PILOT_VELZ_MAX	250	4
-1	1	PLND_ENABLED	0	2
-1	1	POS_XY_P	1.000000000000000000	9
-1	1	POS_Z_P	1.000000000000000000	9
-1	1	PRX_IGN_ANG1	0	4
-1	1	PRX_IGN_ANG2	0	4
-1	1	PRX_IGN_ANG3	0	4
-1	1	PRX_IGN_ANG4	0	4
-1	1	PRX_IGN_ANG5	0	4
-1	1	PRX_IGN_ANG6	0	4
-1	1	PRX_IGN_WID1	0	2
-1	1	PRX_IGN_WID2	0	2
-1	1	PRX_IGN_WID3	0	2
-1	1	PRX_IGN_WID4	0	2
-1	1	PRX_IGN_WID5	0	2
-1	1	PRX_IGN_WID6	0	2
-1	1	PRX_ORIENT	0	2
-1	1	PRX_TYPE	0	2
-1	1	PRX_YAW_CORR	22	4
-1	1	PSC_ACC_XY_FILT	2.000000000000000000	9
-1	1	RALLY_INCL_HOME	1	2
-1	1	RALLY_LIMIT_KM	0.300000011920928955	9
-1	1	RALLY_TOTAL	0	2
-1	1	RC10_DZ	0	4
-1	1	RC10_MAX	2000	4
-1	1	RC10_MIN	1000	4
-1	1	RC10_REVERSED	0	2
-1	1	RC10_TRIM	1500	4
-1	1	RC11_DZ	0	4
-1	1	RC11_MAX	2000	4
-1	1	RC11_MIN	1000	4
-1	1	RC11_REVERSED	0	2
-1	1	RC11_TRIM	1500	4
-1	1	RC12_DZ	0	4
-1	1	RC12_MAX	2000	4
-1	1	RC12_MIN	1000	4
-1	1	RC12_REVERSED	0	2
-1	1	RC12_TRIM	1500	4
-1	1	RC13_DZ	0	4
-1	1	RC13_MAX	2000	4
-1	1	RC13_MIN	1000	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_REVERSED	0	2
-1	1	RC14_TRIM	1500	4
-1	1	RC15_DZ	0	4
-1	1	RC15_MAX	1900	4
-1	1	RC15_MIN	1100	4
-1	1	RC15_REVERSED	0	2
-1	1	RC15_TRIM	1500	4
-1	1	RC16_DZ	0	4
-1	1	RC16_MAX	1900	4
-1	1	RC16_MIN	1100	4
-1	1	RC16_REVERSED	0	2
-1	1	RC16_TRIM	1500	4
-1	1	RC1_DZ	10	4
-1	1	RC1_MAX	2014	4
-1	1	RC1_MIN	990	4
-1	1	RC1_REVERSED	0	2
-1	1	RC1_TRIM	1503	4
-1	1	RC2_DZ	10	4
-1	1	RC2_MAX	2015	4
-1	1	RC2_MIN	991	4
-1	1	RC2_REVERSED	0	2
-1	1	RC2_TRIM	1504	4
-1	1	RC3_DZ	30	4
-1	1	RC3_MAX	2016	4
-1	1	RC3_MIN	992	4
-1	1	RC3_REVERSED	0	2
-1	1	RC3_TRIM	992	4
-1	1	RC4_DZ	10	4
-1	1	RC4_MAX	2015	4
-1	1	RC4_MIN	992	4
-1	1	RC4_REVERSED	0	2
-1	1	RC4_TRIM	1501	4
-1	1	RC5_DZ	0	4
-1	1	RC5_MAX	2016	4
-1	1	RC5_MIN	991	4
-1	1	RC5_REVERSED	0	2
-1	1	RC5_TRIM	1503	4
-1	1	RC6_DZ	0	4
-1	1	RC6_MAX	2016	4
-1	1	RC6_MIN	991	4
-1	1	RC6_REVERSED	0	2
-1	1	RC6_TRIM	1503	4
-1	1	RC7_DZ	0	4
-1	1	RC7_MAX	2016	4
-1	1	RC7_MIN	991	4
-1	1	RC7_REVERSED	0	2
-1	1	RC7_TRIM	1503	4
-1	1	RC8_DZ	0	4
-1	1	RC8_MAX	2015	4
-1	1	RC8_MIN	991	4
-1	1	RC8_REVERSED	0	2
-1	1	RC8_TRIM	1503	4
-1	1	RC9_DZ	0	4
-1	1	RC9_MAX	2000	4
-1	1	RC9_MIN	1000	4
-1	1	RC9_REVERSED	0	2
-1	1	RC9_TRIM	1500	4
-1	1	RCMAP_PITCH	2	2
-1	1	RCMAP_ROLL	1	2
-1	1	RCMAP_THROTTLE	3	2
-1	1	RCMAP_YAW	4	2
-1	1	RC_FEEL_RP	25	2
-1	1	RC_SPEED	490	4
-1	1	RELAY_DEFAULT	0	2
-1	1	RELAY_PIN	54	2
-1	1	RELAY_PIN2	55	2
-1	1	RELAY_PIN3	-1	2
-1	1	RELAY_PIN4	-1	2
-1	1	RNGFND2_ADDR	0	2
-1	1	RNGFND2_FUNCTION	0	2
-1	1	RNGFND2_GNDCLEAR	10	2
-1	1	RNGFND2_MAX_CM	700	4
-1	1	RNGFND2_MIN_CM	20	4
-1	1	RNGFND2_OFFSET	0.000000000000000000	9
-1	1	RNGFND2_ORIENT	25	2
-1	1	RNGFND2_PIN	-1	2
-1	1	RNGFND2_POS_X	0.000000000000000000	9
-1	1	RNGFND2_POS_Y	0.000000000000000000	9
-1	1	RNGFND2_POS_Z	0.000000000000000000	9
-1	1	RNGFND2_RMETRIC	1	2
-1	1	RNGFND2_SCALING	3.000000000000000000	9
-1	1	RNGFND2_SETTLE	0	4
-1	1	RNGFND2_STOP_PIN	-1	2
-1	1	RNGFND2_TYPE	0	2
-1	1	RNGFND_ADDR	0	2
-1	1	RNGFND_FUNCTION	0	2
-1	1	RNGFND_GAIN	0.800000011920928955	9
-1	1	RNGFND_GNDCLEAR	10	2
-1	1	RNGFND_MAX_CM	700	4
-1	1	RNGFND_MIN_CM	20	4
-1	1	RNGFND_OFFSET	0.000000000000000000	9
-1	1	RNGFND_ORIENT	25	2
-1	1	RNGFND_PIN	-1	2
-1	1	RNGFND_POS_X	0.000000000000000000	9
-1	1	RNGFND_POS_Y	0.000000000000000000	9
-1	1	RNGFND_POS_Z	0.000000000000000000	9
-1	1	RNGFND_PWRRNG	0	4
-1	1	RNGFND_RMETRIC	1	2
-1	1	RNGFND_SCALING	3.000000000000000000	9
-1	1	RNGFND_SETTLE	0	4
-1	1	RNGFND_STOP_PIN	-1	2
-1	1	RNGFND_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_ANA_PIN	0	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	0	2
-1	1	RTL_ALT	100	4
-1	1	RTL_ALT_FINAL	0	4
-1	1	RTL_CLIMB_MIN	0	4
-1	1	RTL_CONE_SLOPE	3.000000000000000000	9
-1	1	RTL_LOIT_TIME	5000	6
-1	1	RTL_SPEED	0	4
-1	1	SCHED_DEBUG	0	2
-1	1	SCHED_LOOP_RATE	400	4
-1	1	SERIAL0_BAUD	115	6
-1	1	SERIAL0_PROTOCOL	1	2
-1	1	SERIAL1_BAUD	57	6
-1	1	SERIAL1_PROTOCOL	1	2
-1	1	SERIAL2_BAUD	9	6
-1	1	SERIAL2_PROTOCOL	3	2
-1	1	SERIAL3_BAUD	38	6
-1	1	SERIAL3_PROTOCOL	5	2
-1	1	SERIAL4_BAUD	38	6
-1	1	SERIAL4_PROTOCOL	5	2
-1	1	SERIAL5_BAUD	57	6
-1	1	SERIAL5_PROTOCOL	-1	2
-1	1	SERVO10_FUNCTION	0	2
-1	1	SERVO10_MAX	2000	4
-1	1	SERVO10_MIN	1000	4
-1	1	SERVO10_REVERSED	0	2
-1	1	SERVO10_TRIM	1500	4
-1	1	SERVO11_FUNCTION	0	2
-1	1	SERVO11_MAX	2000	4
-1	1	SERVO11_MIN	1000	4
-1	1	SERVO11_REVERSED	0	2
-1	1	SERVO11_TRIM	1500	4
-1	1	SERVO12_FUNCTION	0	2
-1	1	SERVO12_MAX	2000	4
-1	1	SERVO12_MIN	1000	4
-1	1	SERVO12_REVERSED	0	2
-1	1	SERVO12_TRIM	1500	4
-1	1	SERVO13_FUNCTION	0	2
-1	1	SERVO13_MAX	2000	4
-1	1	SERVO13_MIN	1000	4
-1	1	SERVO13_REVERSED	0	2
-1	1	SERVO13_TRIM	1500	4
-1	1	SERVO14_FUNCTION	0	2
-1	1	SERVO14_MAX	2000	4
-1	1	SERVO14_MIN	1000	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	33	2
-1	1	SERVO1_MAX	2015	4
-1	1	SERVO1_MIN	991	4
-1	1	SERVO1_REVERSED	0	2
-1	1	SERVO1_TRIM	1503	4
-1	1	SERVO2_FUNCTION	34	2
-1	1	SERVO2_MAX	2016	4
-1	1	SERVO2_MIN	991	4
-1	1	SERVO2_REVERSED	0	2
-1	1	SERVO2_TRIM	1503	4
-1	1	SERVO3_FUNCTION	35	2
-1	1	SERVO3_MAX	2016	4
-1	1	SERVO3_MIN	992	4
-1	1	SERVO3_REVERSED	0	2
-1	1	SERVO3_TRIM	992	4
-1	1	SERVO4_FUNCTION	36	2
-1	1	SERVO4_MAX	2015	4
-1	1	SERVO4_MIN	991	4
-1	1	SERVO4_REVERSED	0	2
-1	1	SERVO4_TRIM	1503	4
-1	1	SERVO5_FUNCTION	0	2
-1	1	SERVO5_MAX	2016	4
-1	1	SERVO5_MIN	991	4
-1	1	SERVO5_REVERSED	0	2
-1	1	SERVO5_TRIM	1503	4
-1	1	SERVO6_FUNCTION	0	2
-1	1	SERVO6_MAX	2016	4
-1	1	SERVO6_MIN	991	4
-1	1	SERVO6_REVERSED	0	2
-1	1	SERVO6_TRIM	1503	4
-1	1	SERVO7_FUNCTION	0	2
-1	1	SERVO7_MAX	2016	4
-1	1	SERVO7_MIN	991	4
-1	1	SERVO7_REVERSED	0	2
-1	1	SERVO7_TRIM	1503	4
-1	1	SERVO8_FUNCTION	0	2
-1	1	SERVO8_MAX	2000	4
-1	1	SERVO8_MIN	1000	4
-1	1	SERVO8_REVERSED	0	2
-1	1	SERVO8_TRIM	1500	4
-1	1	SERVO9_FUNCTION	7	2
-1	1	SERVO9_MAX	2000	4
-1	1	SERVO9_MIN	1000	4
-1	1	SERVO9_REVERSED	0	2
-1	1	SERVO9_TRIM	1500	4
-1	1	SERVO_CANESC_BM	0	6
-1	1	SERVO_CANSRV_BM	0	6
-1	1	SIMPLE	0	2
-1	1	SPRAY_ENABLE	0	2
-1	1	SR0_ADSB	5	4
-1	1	SR0_EXTRA1	0	4
-1	1	SR0_EXTRA2	0	4
-1	1	SR0_EXTRA3	0	4
-1	1	SR0_EXT_STAT	0	4
-1	1	SR0_PARAMS	0	4
-1	1	SR0_POSITION	0	4
-1	1	SR0_RAW_CTRL	0	4
-1	1	SR0_RAW_SENS	0	4
-1	1	SR0_RC_CHAN	0	4
-1	1	SR1_ADSB	5	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	0	4
-1	1	SR1_RAW_SENS	2	4
-1	1	SR1_RC_CHAN	2	4
-1	1	SR2_ADSB	5	4
-1	1	SR2_EXTRA1	0	4
-1	1	SR2_EXTRA2	0	4
-1	1	SR2_EXTRA3	0	4
-1	1	SR2_EXT_STAT	0	4
-1	1	SR2_PARAMS	0	4
-1	1	SR2_POSITION	0	4
-1	1	SR2_RAW_CTRL	0	4
-1	1	SR2_RAW_SENS	0	4
-1	1	SR2_RC_CHAN	0	4
-1	1	SR3_ADSB	5	4
-1	1	SR3_EXTRA1	0	4
-1	1	SR3_EXTRA2	0	4
-1	1	SR3_EXTRA3	0	4
-1	1	SR3_EXT_STAT	0	4
-1	1	SR3_PARAMS	0	4
-1	1	SR3_POSITION	0	4
-1	1	SR3_RAW_CTRL	0	4
-1	1	SR3_RAW_SENS	0	4
-1	1	SR3_RC_CHAN	0	4
-1	1	STAT_BOOTCNT	16	4
-1	1	STAT_FLTTIME	623	6
-1	1	STAT_RESET	20034978	6
-1	1	STAT_RUNTIME	3525	6
-1	1	SUPER_SIMPLE	0	2
-1	1	SYSID_ENFORCE	0	2
-1	1	SYSID_MYGCS	255	4
-1	1	SYSID_SW_MREV	120	4
-1	1	SYSID_SW_TYPE	10	2
-1	1	SYSID_THISMAV	1	4
-1	1	TELEM_DELAY	0	2
-1	1	TERRAIN_ENABLE	1	2
-1	1	TERRAIN_FOLLOW	0	2
-1	1	TERRAIN_SPACING	100	4
-1	1	THROW_MOT_START	0	2
-1	1	THROW_NEXTMODE	18	2
-1	1	THROW_TYPE	0	2
-1	1	THR_DZ	50	4
-1	1	TUNE	0	2
-1	1	TUNE_HIGH	1000	4
-1	1	TUNE_LOW	0	4
-1	1	VEL_XY_FILT_HZ	5.000000000000000000	9
-1	1	VEL_XY_I	0.500000000000000000	9
-1	1	VEL_XY_IMAX	1000.000000000000000000	9
-1	1	VEL_XY_P	1.000000000000000000	9
-1	1	VEL_Z_P	5.000000000000000000	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	WPNAV_ACCEL	250.000000000000000000	9
-1	1	WPNAV_ACCEL_Z	100.000000000000000000	9
-1	1	WPNAV_LOIT_JERK	1000.000000000000000000	9
-1	1	WPNAV_LOIT_MAXA	250.000000000000000000	9
-1	1	WPNAV_LOIT_MINA	25.000000000000000000	9
-1	1	WPNAV_LOIT_SPEED	1000.000000000000000000	9
-1	1	WPNAV_RADIUS	200.000000000000000000	9
-1	1	WPNAV_RFND_USE	1	2
-1	1	WPNAV_SPEED	650.000000000000000000	9
-1	1	WPNAV_SPEED_DN	150.000000000000000000	9
-1	1	WPNAV_SPEED_UP	250.000000000000000000	9
-1	1	WP_NAVALT_MIN	0.000000000000000000	9
-1	1	WP_YAW_BEHAVIOR	2	2

src/comm/APMArduPlaneMockLink.params

@@ -1,587 +0,0 @@
-# Onboard parameters for system MAV 001
-#
-# MAV ID  COMPONENT ID  PARAM NAME  VALUE (FLOAT)
-1	1	ACRO_LOCKING	0	2
-1	1	ACRO_PITCH_RATE	180	4
-1	1	ACRO_ROLL_RATE	180	4
-1	1	AFS_AMSL_ERR_GPS	-1	6
-1	1	AFS_AMSL_LIMIT	0	6
-1	1	AFS_ENABLE	0	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	0	2
-1	1	AFS_QNH_PRESSURE	0	9
-1	1	AFS_RC_FAIL_MS	0	4
-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	0	2
-1	1	AFS_WP_GPS_LOSS	0	2
-1	1	AHRS_COMP_BETA	0.1	9
-1	1	AHRS_EKF_USE	1	2
-1	1	AHRS_GPS_GAIN	1	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	0.2	9
-1	1	AHRS_TRIM_X	0	9
-1	1	AHRS_TRIM_Y	0	9
-1	1	AHRS_TRIM_Z	0	9
-1	1	AHRS_WIND_MAX	0	2
-1	1	AHRS_YAW_P	0.2	9
-1	1	ALT_CTRL_ALG	0	2
-1	1	ALT_HOLD_FBWCM	0	4
-1	1	ALT_HOLD_RTL	10000	6
-1	1	ALT_MIX	1	9
-1	1	ALT_OFFSET	0	4
-1	1	ARMING_CHECK	1	4
-1	1	ARMING_REQUIRE	1	2
-1	1	ARMING_RUDDER	1	2
-1	1	ARSPD_AUTOCAL	0	2
-1	1	ARSPD_ENABLE	1	2
-1	1	ARSPD_FBW_MAX	22	4
-1	1	ARSPD_FBW_MIN	9	4
-1	1	ARSPD_OFFSET	0	9
-1	1	ARSPD_PIN	15	2
-1	1	ARSPD_RATIO	1.99	9
-1	1	ARSPD_SKIP_CAL	0	2
-1	1	ARSPD_TUBE_ORDER	2	2
-1	1	ARSPD_USE	0	2
-1	1	AUTOTUNE_LEVEL	6	2
-1	1	AUTO_FBW_STEER	0	2
-1	1	BATT2_AMP_OFFSET	0	9
-1	1	BATT2_AMP_PERVOL	17	9
-1	1	BATT2_CAPACITY	3300	6
-1	1	BATT2_CURR_PIN	3	2
-1	1	BATT2_MONITOR	0	2
-1	1	BATT2_VOLT_MULT	10.1	9
-1	1	BATT2_VOLT_PIN	2	2
-1	1	BATT_AMP_OFFSET	0	9
-1	1	BATT_AMP_PERVOLT	17	9
-1	1	BATT_CAPACITY	3300	6
-1	1	BATT_CURR_PIN	3	2
-1	1	BATT_MONITOR	0	2
-1	1	BATT_VOLT_MULT	10.1	9
-1	1	BATT_VOLT_PIN	2	2
-1	1	BRD_PWM_COUNT	4	2
-1	1	BRD_SAFETYENABLE	1	2
-1	1	BRD_SBUS_OUT	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	CAM_DURATION	10	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	9
-1	1	CAM_TRIGG_TYPE	0	2
-1	1	CLI_ENABLED	0	2
-1	1	COMPASS_AUTODEC	1	2
-1	1	COMPASS_CAL_FIT	8	9
-1	1	COMPASS_DEC	0	9
-1	1	COMPASS_DEV_ID	131594	6
-1	1	COMPASS_DEV_ID2	0	6
-1	1	COMPASS_DEV_ID3	0	6
-1	1	COMPASS_DIA2_X	0	9
-1	1	COMPASS_DIA2_Y	0	9
-1	1	COMPASS_DIA2_Z	0	9
-1	1	COMPASS_DIA3_X	0	9
-1	1	COMPASS_DIA3_Y	0	9
-1	1	COMPASS_DIA3_Z	0	9
-1	1	COMPASS_DIA_X	1	9
-1	1	COMPASS_DIA_Y	1	9
-1	1	COMPASS_DIA_Z	1	9
-1	1	COMPASS_EXTERN2	0	2
-1	1	COMPASS_EXTERN3	0	2
-1	1	COMPASS_EXTERNAL	0	2
-1	1	COMPASS_LEARN	1	2
-1	1	COMPASS_MOT2_X	0	9
-1	1	COMPASS_MOT2_Y	0	9
-1	1	COMPASS_MOT2_Z	0	9
-1	1	COMPASS_MOT3_X	0	9
-1	1	COMPASS_MOT3_Y	0	9
-1	1	COMPASS_MOT3_Z	0	9
-1	1	COMPASS_MOTCT	0	2
-1	1	COMPASS_MOT_X	0	9
-1	1	COMPASS_MOT_Y	0	9
-1	1	COMPASS_MOT_Z	0	9
-1	1	COMPASS_ODI2_X	0	9
-1	1	COMPASS_ODI2_Y	0	9
-1	1	COMPASS_ODI2_Z	0	9
-1	1	COMPASS_ODI3_X	0	9
-1	1	COMPASS_ODI3_Y	0	9
-1	1	COMPASS_ODI3_Z	0	9
-1	1	COMPASS_ODI_X	0	9
-1	1	COMPASS_ODI_Y	0	9
-1	1	COMPASS_ODI_Z	0	9
-1	1	COMPASS_OFS2_X	0	9
-1	1	COMPASS_OFS2_Y	0	9
-1	1	COMPASS_OFS2_Z	0	9
-1	1	COMPASS_OFS3_X	0	9
-1	1	COMPASS_OFS3_Y	0	9
-1	1	COMPASS_OFS3_Z	0	9
-1	1	COMPASS_OFS_X	10	9
-1	1	COMPASS_OFS_Y	10	9
-1	1	COMPASS_OFS_Z	10	9
-1	1	COMPASS_ORIENT	0	2
-1	1	COMPASS_ORIENT2	0	2
-1	1	COMPASS_ORIENT3	0	2
-1	1	COMPASS_PRIMARY	0	2
-1	1	COMPASS_USE	1	2
-1	1	COMPASS_USE2	1	2
-1	1	COMPASS_USE3	1	2
-1	1	CRASH_DETECT	0	2
-1	1	EKF_ABIAS_PNOISE	5e-05	9
-1	1	EKF_ACC_PNOISE	0.5	9
-1	1	EKF_ALT_NOISE	0.5	9
-1	1	EKF_ALT_SOURCE	1	2
-1	1	EKF_EAS_GATE	10	2
-1	1	EKF_EAS_NOISE	1.4	9
-1	1	EKF_FALLBACK	1	2
-1	1	EKF_FLOW_DELAY	25	2
-1	1	EKF_FLOW_GATE	3	2
-1	1	EKF_FLOW_NOISE	0.3	9
-1	1	EKF_GBIAS_PNOISE	8e-06	9
-1	1	EKF_GLITCH_ACCEL	150	4
-1	1	EKF_GLITCH_RAD	20	2
-1	1	EKF_GND_GRADIENT	2	2
-1	1	EKF_GPS_TYPE	0	2
-1	1	EKF_GYRO_PNOISE	0.015	9
-1	1	EKF_HGT_GATE	20	2
-1	1	EKF_MAGB_PNOISE	0.0003	9
-1	1	EKF_MAGE_PNOISE	0.0003	9
-1	1	EKF_MAG_CAL	0	2
-1	1	EKF_MAG_GATE	3	2
-1	1	EKF_MAG_NOISE	0.05	9
-1	1	EKF_MAX_FLOW	2.5	9
-1	1	EKF_POSNE_NOISE	0.5	9
-1	1	EKF_POS_DELAY	220	4
-1	1	EKF_POS_GATE	30	2
-1	1	EKF_RNG_GATE	5	2
-1	1	EKF_VELD_NOISE	0.7	9
-1	1	EKF_VELNE_NOISE	0.5	9
-1	1	EKF_VEL_DELAY	220	4
-1	1	EKF_VEL_GATE	6	2
-1	1	EKF_WIND_PNOISE	0.1	9
-1	1	EKF_WIND_PSCALE	0.5	9
-1	1	ELEVON_CH1_REV	0	2
-1	1	ELEVON_CH2_REV	0	2
-1	1	ELEVON_MIXING	0	2
-1	1	ELEVON_OUTPUT	0	2
-1	1	ELEVON_REVERSE	0	2
-1	1	FBWA_TDRAG_CHAN	0	2
-1	1	FBWB_CLIMB_RATE	2	2
-1	1	FBWB_ELEV_REV	0	2
-1	1	FENCE_ACTION	0	2
-1	1	FENCE_AUTOENABLE	0	2
-1	1	FENCE_CHANNEL	0	2
-1	1	FENCE_MAXALT	0	4
-1	1	FENCE_MINALT	0	4
-1	1	FENCE_RETALT	0	4
-1	1	FENCE_RET_RALLY	0	2
-1	1	FENCE_TOTAL	0	2
-1	1	FLAPERON_OUTPUT	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_IN_CHANNEL	0	2
-1	1	FLAP_SLEWRATE	75	2
-1	1	FLOW_ENABLE	0	2
-1	1	FLOW_FXSCALER	0	4
-1	1	FLOW_FYSCALER	0	4
-1	1	FLOW_ORIENT_YAW	0	4
-1	1	FLTMODE1	11	2
-1	1	FLTMODE2	11	2
-1	1	FLTMODE3	5	2
-1	1	FLTMODE4	5	2
-1	1	FLTMODE5	0	2
-1	1	FLTMODE6	0	2
-1	1	FLTMODE_CH	8	2
-1	1	FORMAT_VERSION	13	4
-1	1	FS_BATT_MAH	0	9
-1	1	FS_BATT_VOLTAGE	0	9
-1	1	FS_GCS_ENABL	0	2
-1	1	FS_LONG_ACTN	0	2
-1	1	FS_LONG_TIMEOUT	5	9
-1	1	FS_SHORT_ACTN	0	2
-1	1	FS_SHORT_TIMEOUT	1.5	9
-1	1	GCS_PID_MASK	0	4
-1	1	GLIDE_SLOPE_MIN	15	4
-1	1	GLIDE_SLOPE_THR	5	9
-1	1	GND_ABS_PRESS	1.01e+05	9
-1	1	GND_ALT_OFFSET	0	9
-1	1	GND_PRIMARY	0	2
-1	1	GND_TEMP	0	9
-1	1	GPS_AUTO_SWITCH	1	2
-1	1	GPS_GNSS_MODE	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_RAW_DATA	0	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	GROUND_STEER_ALT	0	9
-1	1	GROUND_STEER_DPS	90	4
-1	1	HIL_ERR_LIMIT	5	9
-1	1	HIL_MODE	0	2
-1	1	HIL_SERVOS	0	2
-1	1	INITIAL_MODE	0	2
-1	1	INS_ACC2OFFS_X	10	9
-1	1	INS_ACC2OFFS_Y	10	9
-1	1	INS_ACC2OFFS_Z	10	9
-1	1	INS_ACC2SCAL_X	1	9
-1	1	INS_ACC2SCAL_Y	1	9
-1	1	INS_ACC2SCAL_Z	1	9
-1	1	INS_ACC3OFFS_X	0	9
-1	1	INS_ACC3OFFS_Y	0	9
-1	1	INS_ACC3OFFS_Z	0	9
-1	1	INS_ACC3SCAL_X	0	9
-1	1	INS_ACC3SCAL_Y	0	9
-1	1	INS_ACC3SCAL_Z	0	9
-1	1	INS_ACCEL_FILTER	20	2
-1	1	INS_ACCOFFS_X	10	9
-1	1	INS_ACCOFFS_Y	10	9
-1	1	INS_ACCOFFS_Z	10	9
-1	1	INS_ACCSCAL_X	1	9
-1	1	INS_ACCSCAL_Y	1	9
-1	1	INS_ACCSCAL_Z	1	9
-1	1	INS_GYR2OFFS_X	0.0165	9
-1	1	INS_GYR2OFFS_Y	0.00344	9
-1	1	INS_GYR2OFFS_Z	-0.0258	9
-1	1	INS_GYR3OFFS_X	0	9
-1	1	INS_GYR3OFFS_Y	0	9
-1	1	INS_GYR3OFFS_Z	0	9
-1	1	INS_GYROFFS_X	0.0234	9
-1	1	INS_GYROFFS_Y	0.0507	9
-1	1	INS_GYROFFS_Z	-0.00498	9
-1	1	INS_GYRO_FILTER	20	2
-1	1	INS_GYR_CAL	1	2
-1	1	INS_PRODUCT_ID	5	4
-1	1	INS_STILL_THRESH	0.1	9
-1	1	INS_USE	1	2
-1	1	INS_USE2	1	2
-1	1	INS_USE3	0	2
-1	1	INVERTEDFLT_CH	0	2
-1	1	KFF_RDDRMIX	0.5	9
-1	1	KFF_THR2PTCH	0	9
-1	1	LAND_ABORT_THR	0	2
-1	1	LAND_DISARMDELAY	20	2
-1	1	LAND_FLAP_PERCNT	0	2
-1	1	LAND_FLARE_ALT	3	9
-1	1	LAND_FLARE_SEC	2	9
-1	1	LAND_PITCH_CD	0	4
-1	1	LEVEL_ROLL_LIMIT	5	2
-1	1	LIM_PITCH_MAX	2000	4
-1	1	LIM_PITCH_MIN	-2500	4
-1	1	LIM_ROLL_CD	4500	4
-1	1	LOG_BITMASK	65535	6
-1	1	MAG_ENABLE	1	2
-1	1	MIN_GNDSPD_CM	0	6
-1	1	MIS_RESTART	0	2
-1	1	MIS_TOTAL	0	4
-1	1	MIXING_GAIN	0.5	9
-1	1	MNT_ANGMAX_PAN	4500	4
-1	1	MNT_ANGMAX_ROL	4500	4
-1	1	MNT_ANGMAX_TIL	4500	4
-1	1	MNT_ANGMIN_PAN	-4500	4
-1	1	MNT_ANGMIN_ROL	-4500	4
-1	1	MNT_ANGMIN_TIL	-4500	4
-1	1	MNT_DEFLT_MODE	3	2
-1	1	MNT_JSTICK_SPD	0	2
-1	1	MNT_K_RATE	5	9
-1	1	MNT_LEAD_PTCH	0	9
-1	1	MNT_LEAD_RLL	0	9
-1	1	MNT_NEUTRAL_X	0	9
-1	1	MNT_NEUTRAL_Y	0	9
-1	1	MNT_NEUTRAL_Z	0	9
-1	1	MNT_OFF_ACC_X	0	9
-1	1	MNT_OFF_ACC_Y	0	9
-1	1	MNT_OFF_ACC_Z	0	9
-1	1	MNT_OFF_GYRO_X	0	9
-1	1	MNT_OFF_GYRO_Y	0	9
-1	1	MNT_OFF_GYRO_Z	0	9
-1	1	MNT_OFF_JNT_X	0	9
-1	1	MNT_OFF_JNT_Y	0	9
-1	1	MNT_OFF_JNT_Z	0	9
-1	1	MNT_RC_IN_PAN	0	2
-1	1	MNT_RC_IN_ROLL	0	2
-1	1	MNT_RC_IN_TILT	0	2
-1	1	MNT_RETRACT_X	0	9
-1	1	MNT_RETRACT_Y	0	9
-1	1	MNT_RETRACT_Z	0	9
-1	1	MNT_STAB_PAN	0	2
-1	1	MNT_STAB_ROLL	0	2
-1	1	MNT_STAB_TILT	0	2
-1	1	MNT_TYPE	0	2
-1	1	NAVL1_DAMPING	0.75	9
-1	1	NAVL1_PERIOD	20	9
-1	1	NAV_CONTROLLER	1	2
-1	1	OVERRIDE_CHAN	0	2
-1	1	PTCH2SRV_D	0.02	9
-1	1	PTCH2SRV_FF	0	9
-1	1	PTCH2SRV_I	0.04	9
-1	1	PTCH2SRV_IMAX	3000	4
-1	1	PTCH2SRV_P	0.4	9
-1	1	PTCH2SRV_RLL	1	9
-1	1	PTCH2SRV_RMAX_DN	0	4
-1	1	PTCH2SRV_RMAX_UP	0	4
-1	1	PTCH2SRV_TCONST	0.5	9
-1	1	RALLY_INCL_HOME	0	2
-1	1	RALLY_LIMIT_KM	5	9
-1	1	RALLY_TOTAL	0	2
-1	1	RC10_DZ	0	4
-1	1	RC10_FUNCTION	0	2
-1	1	RC10_MAX	1900	4
-1	1	RC10_MIN	1100	4
-1	1	RC10_REV	1	2
-1	1	RC10_TRIM	1500	4
-1	1	RC11_DZ	0	4
-1	1	RC11_FUNCTION	0	2
-1	1	RC11_MAX	1900	4
-1	1	RC11_MIN	1100	4
-1	1	RC11_REV	1	2
-1	1	RC11_TRIM	1500	4
-1	1	RC12_DZ	0	4
-1	1	RC12_FUNCTION	0	2
-1	1	RC12_MAX	1900	4
-1	1	RC12_MIN	1100	4
-1	1	RC12_REV	1	2
-1	1	RC12_TRIM	1500	4
-1	1	RC13_DZ	0	4
-1	1	RC13_FUNCTION	0	2
-1	1	RC13_MAX	1900	4
-1	1	RC13_MIN	1100	4
-1	1	RC13_REV	1	2
-1	1	RC13_TRIM	1500	4
-1	1	RC14_DZ	0	4
-1	1	RC14_FUNCTION	0	2
-1	1	RC14_MAX	1900	4
-1	1	RC14_MIN	1100	4
-1	1	RC14_REV	1	2
-1	1	RC14_TRIM	1500	4
-1	1	RC1_DZ	30	4
-1	1	RC1_MAX	1900	4
-1	1	RC1_MIN	1101	4
-1	1	RC1_REV	1	2
-1	1	RC1_TRIM	1500	4
-1	1	RC2_DZ	30	4
-1	1	RC2_MAX	1900	4
-1	1	RC2_MIN	1100	4
-1	1	RC2_REV	1	2
-1	1	RC2_TRIM	1500	4
-1	1	RC3_DZ	30	4
-1	1	RC3_MAX	1900	4
-1	1	RC3_MIN	1100	4
-1	1	RC3_REV	1	2
-1	1	RC3_TRIM	1100	4
-1	1	RC4_DZ	30	4
-1	1	RC4_MAX	1900	4
-1	1	RC4_MIN	1100	4
-1	1	RC4_REV	1	2
-1	1	RC4_TRIM	1500	4
-1	1	RC5_DZ	0	4
-1	1	RC5_FUNCTION	0	2
-1	1	RC5_MAX	1900	4
-1	1	RC5_MIN	1100	4
-1	1	RC5_REV	1	2
-1	1	RC5_TRIM	1500	4
-1	1	RC6_DZ	0	4
-1	1	RC6_FUNCTION	0	2
-1	1	RC6_MAX	1900	4
-1	1	RC6_MIN	1100	4
-1	1	RC6_REV	1	2
-1	1	RC6_TRIM	1500	4
-1	1	RC7_DZ	0	4
-1	1	RC7_FUNCTION	0	2
-1	1	RC7_MAX	1900	4
-1	1	RC7_MIN	1100	4
-1	1	RC7_REV	1	2
-1	1	RC7_TRIM	1500	4
-1	1	RC8_DZ	0	4
-1	1	RC8_FUNCTION	0	2
-1	1	RC8_MAX	1900	4
-1	1	RC8_MIN	1100	4
-1	1	RC8_REV	1	2
-1	1	RC8_TRIM	1500	4
-1	1	RC9_DZ	0	4
-1	1	RC9_FUNCTION	0	2
-1	1	RC9_MAX	1900	4
-1	1	RC9_MIN	1100	4
-1	1	RC9_REV	1	2
-1	1	RC9_TRIM	1500	4
-1	1	RCMAP_PITCH	2	2
-1	1	RCMAP_ROLL	1	2
-1	1	RCMAP_THROTTLE	3	2
-1	1	RCMAP_YAW	4	2
-1	1	RELAY_DEFAULT	0	2
-1	1	RELAY_PIN	54	2
-1	1	RELAY_PIN2	55	2
-1	1	RELAY_PIN3	-1	2
-1	1	RELAY_PIN4	-1	2
-1	1	RLL2SRV_D	0.02	9
-1	1	RLL2SRV_FF	0	9
-1	1	RLL2SRV_I	0.04	9
-1	1	RLL2SRV_IMAX	3000	4
-1	1	RLL2SRV_P	0.4	9
-1	1	RLL2SRV_RMAX	0	4
-1	1	RLL2SRV_TCONST	0.5	9
-1	1	RNGFND2_ADDR	0	2
-1	1	RNGFND2_FUNCTION	0	2
-1	1	RNGFND2_GNDCLEAR	10	2
-1	1	RNGFND2_MAX_CM	700	4
-1	1	RNGFND2_MIN_CM	20	4
-1	1	RNGFND2_OFFSET	0	9
-1	1	RNGFND2_PIN	-1	2
-1	1	RNGFND2_RMETRIC	1	2
-1	1	RNGFND2_SCALING	3	9
-1	1	RNGFND2_SETTLE	0	4
-1	1	RNGFND2_STOP_PIN	-1	2
-1	1	RNGFND2_TYPE	0	2
-1	1	RNGFND_ADDR	0	2
-1	1	RNGFND_FUNCTION	0	2
-1	1	RNGFND_GNDCLEAR	10	2
-1	1	RNGFND_LANDING	0	2
-1	1	RNGFND_MAX_CM	700	4
-1	1	RNGFND_MIN_CM	20	4
-1	1	RNGFND_OFFSET	0	9
-1	1	RNGFND_PIN	-1	2
-1	1	RNGFND_PWRRNG	0	4
-1	1	RNGFND_RMETRIC	1	2
-1	1	RNGFND_SCALING	3	9
-1	1	RNGFND_SETTLE	0	4
-1	1	RNGFND_STOP_PIN	-1	2
-1	1	RNGFND_TYPE	0	2
-1	1	RSSI_ANA_PIN	0	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	9
-1	1	RSSI_PIN_LOW	0	9
-1	1	RSSI_TYPE	0	2
-1	1	RST_MISSION_CH	0	2
-1	1	RST_SWITCH_CH	0	2
-1	1	RTL_AUTOLAND	0	2
-1	1	RUDDER_ONLY	0	2
-1	1	SCALING_SPEED	15	9
-1	1	SCHED_DEBUG	0	2
-1	1	SERIAL0_BAUD	115	6
-1	1	SERIAL1_BAUD	57	6
-1	1	SERIAL1_PROTOCOL	1	2
-1	1	SERIAL2_BAUD	57	6
-1	1	SERIAL2_PROTOCOL	1	2
-1	1	SERIAL3_BAUD	38	6
-1	1	SERIAL3_PROTOCOL	5	2
-1	1	SERIAL4_BAUD	38	6
-1	1	SERIAL4_PROTOCOL	5	2
-1	1	SR0_EXTRA1	10	4
-1	1	SR0_EXTRA2	1	4
-1	1	SR0_EXTRA3	1	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_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_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_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	STAB_PITCH_DOWN	2	9
-1	1	STALL_PREVENTION	1	2
-1	1	STEER2SRV_D	0.005	9
-1	1	STEER2SRV_FF	0	9
-1	1	STEER2SRV_I	0.2	9
-1	1	STEER2SRV_IMAX	1500	4
-1	1	STEER2SRV_MINSPD	1	9
-1	1	STEER2SRV_P	1.8	9
-1	1	STEER2SRV_TCONST	0.75	9
-1	1	STICK_MIXING	1	2
-1	1	SYSID_MYGCS	255	4
-1	1	SYSID_SW_TYPE	0	2
-1	1	SYSID_THISMAV	1	4
-1	1	SYS_NUM_RESETS	1	4
-1	1	TECS_CLMB_MAX	5	9
-1	1	TECS_HGT_OMEGA	3	9
-1	1	TECS_INTEG_GAIN	0.1	9
-1	1	TECS_LAND_ARSPD	-1	9
-1	1	TECS_LAND_DAMP	0.5	9
-1	1	TECS_LAND_PMAX	10	2
-1	1	TECS_LAND_SINK	0.25	9
-1	1	TECS_LAND_SPDWGT	1	9
-1	1	TECS_LAND_TCONST	2	9
-1	1	TECS_LAND_THR	-1	9
-1	1	TECS_PITCH_MAX	0	2
-1	1	TECS_PITCH_MIN	0	2
-1	1	TECS_PTCH_DAMP	0	9
-1	1	TECS_RLL2THR	10	9
-1	1	TECS_SINK_MAX	5	9
-1	1	TECS_SINK_MIN	2	9
-1	1	TECS_SPDWEIGHT	1	9
-1	1	TECS_SPD_OMEGA	2	9
-1	1	TECS_THR_DAMP	0.5	9
-1	1	TECS_TIME_CONST	5	9
-1	1	TECS_VERT_ACC	7	9
-1	1	TELEM_DELAY	0	2
-1	1	TERRAIN_ENABLE	1	2
-1	1	TERRAIN_FOLLOW	0	2
-1	1	TERRAIN_LOOKAHD	2000	4
-1	1	TERRAIN_SPACING	100	4
-1	1	THROTTLE_NUDGE	1	2
-1	1	THR_FAILSAFE	1	2
-1	1	THR_FS_VALUE	950	4
-1	1	THR_MAX	75	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_FLAP_PCNT	0	2
-1	1	TKOFF_ROTATE_SPD	0	9
-1	1	TKOFF_TDRAG_ELEV	0	2
-1	1	TKOFF_TDRAG_SPD1	0	9
-1	1	TKOFF_THR_DELAY	2	2
-1	1	TKOFF_THR_MAX	0	2
-1	1	TKOFF_THR_MINACC	0	9
-1	1	TKOFF_THR_MINSPD	0	9
-1	1	TKOFF_THR_SLEW	0	2
-1	1	TRIM_ARSPD_CM	1200	6
-1	1	TRIM_AUTO	0	2
-1	1	TRIM_PITCH_CD	0	4
-1	1	TRIM_RC_AT_START	0	2
-1	1	TRIM_THROTTLE	45	2
-1	1	VTAIL_OUTPUT	0	2
-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	9
-1	1	YAW2SRV_IMAX	1500	4
-1	1	YAW2SRV_INT	0	9
-1	1	YAW2SRV_RLL	1	9
-1	1	YAW2SRV_SLIP	0	9

src/comm/MockLink.cc

@@ -230,11 +230,13 @@ void MockLink::_loadParams(void)
 
     if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
         if (_vehicleType == MAV_TYPE_FIXED_WING) {
-            paramFile.setFileName(":/MockLink/APMArduPlaneMockLink.params");
+            paramFile.setFileName(":/FirmwarePlugin/APM/Plane.OfflineEditing.params");
         } else if (_vehicleType == MAV_TYPE_SUBMARINE ) {
             paramFile.setFileName(":/MockLink/APMArduSubMockLink.params");
+        } else if (_vehicleType == MAV_TYPE_GROUND_ROVER ) {
+            paramFile.setFileName(":/FirmwarePlugin/APM/Rover.OfflineEditing.params");
         } else {
-            paramFile.setFileName(":/MockLink/APMArduCopterMockLink.params");
+            paramFile.setFileName(":/FirmwarePlugin/APM/Copter.OfflineEditing.params");
         }
     } else {
         paramFile.setFileName(":/MockLink/PX4MockLink.params");
@@ -947,9 +949,17 @@ void MockLink::_respondWithAutopilotVersion(void)
     uint32_t flightVersion = 0;
 #if !defined(NO_ARDUPILOT_DIALECT)
     if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
-        flightVersion |= 3 << (8*3);
-        flightVersion |= 5 << (8*2);
-        flightVersion |= 0 << (8*1);
+        if (_vehicleType == MAV_TYPE_FIXED_WING) {
+            flightVersion |= 9 << (8*2);
+        } else if (_vehicleType == MAV_TYPE_SUBMARINE ) {
+            flightVersion |= 5 << (8*2);
+        } else if (_vehicleType == MAV_TYPE_GROUND_ROVER ) {
+            flightVersion |= 5 << (8*2);
+        } else {
+            flightVersion |= 6 << (8*2);
+        }
+        flightVersion |= 3 << (8*3);    // Major
+        flightVersion |= 0 << (8*1);    // Patch
         flightVersion |= FIRMWARE_VERSION_TYPE_DEV << (8*0);
     } else if (_firmwareType == MAV_AUTOPILOT_PX4) {
 #endif