// @Description: Controls the action that will be taken when an EKF failsafe is invoked
// @Values: 1:Land, 2:AltHold, 3:Land even in Stabilize
// @User: Advanced
GSCALAR(fs_ekf_action, "FS_EKF_ACTION", FS_EKF_ACTION_DEFAULT),
// @Param: FS_EKF_THRESH
// @DisplayName: EKF failsafe variance threshold
// @Description: Allows setting the maximum acceptable compass and velocity variance
// @Values: 0.6:Strict, 0.8:Default, 1.0:Relaxed
// @User: Advanced
GSCALAR(fs_ekf_thresh, "FS_EKF_THRESH", FS_EKF_THRESHOLD_DEFAULT),
#if FRAME_CONFIG == HELI_FRAME
// @Group: HS1_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP(heli_servo_1, "HS1_", RC_Channel),
// @Group: HS2_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP(heli_servo_2, "HS2_", RC_Channel),
// @Group: HS3_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP(heli_servo_3, "HS3_", RC_Channel),
// @Group: HS4_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP(heli_servo_4, "HS4_", RC_Channel),
// @Param: H_STAB_COL_MIN
// @DisplayName: Heli Stabilize Throttle Collective Minimum
// @Description: Helicopter's minimum collective position while pilot directly controls collective in stabilize mode
// @Range: 0 500
// @Units: Percent*10
// @Units: degrees
// @Range: 0 360
// @Increment: 1
// @User: Standard
GSCALAR(pivot_turn_angle, "PIVOT_TURN_ANGLE", 30),
// @Param: CH7_OPTION
// @DisplayName: Channel 7 option
// @Description: What to do use channel 7 for
// @Values: 0:Nothing,1:LearnWaypoint
// @User: Standard
GSCALAR(ch7_option, "CH7_OPTION", CH7_OPTION),
// @Group: RC1_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP(rc_1, "RC1_", RC_Channel),
// @Group: RC2_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP(rc_2, "RC2_", RC_Channel_aux),
// @Group: RC3_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP(rc_3, "RC3_", RC_Channel),
// @Group: RC4_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_4, "RC4_", RC_Channel_aux),
// @Group: RC5_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
// @Param: PITCH2SRV_IMAX
// @DisplayName: Pitch axis controller I gain maximum
// @Description: Pitch axis controller I gain maximum. Constrains the maximum pwm change that the I gain will output
// @Range: 0 4000
// @Increment: 10
// @Units: d%
// @User: Standard
// @Param: PITCH2SRV_D
// @DisplayName: Pitch axis controller D gain
// @Description: Pitch axis controller D gain. Compensates for short-term change in desired pitch angle vs actual pitch angle
// @Range: 0.001 0.1
// @Increment: 0.001
// @User: Standard
GGROUP(pidPitch2Srv, "PITCH2SRV_", AC_PID),
// @Param: YAW2SRV_P
// @DisplayName: Yaw axis controller P gain
// @Description: Yaw axis controller P gain. Converts the difference between desired yaw angle (heading) and actual yaw angle into a yaw servo pwm change
// @Range: 0.0 3.0
// @Increment: 0.01
// @User: Standard
// @Param: YAW2SRV_I
// @DisplayName: Yaw axis controller I gain
// @Description: Yaw axis controller I gain. Corrects long-term difference in desired yaw angle (heading) vs actual yaw angle
// @Range: 0.0 3.0
// @Increment: 0.01
// @User: Standard
// @Values: 0.6:Strict, 0.8:Default, 1.0:Relaxed
// @User: Advanced
GSCALAR(fs_ekf_thresh, "FS_EKF_THRESH", FS_EKF_THRESHOLD_DEFAULT),
// @Param: FS_CRASH_CHECK
// @DisplayName: Crash check enable
// @Description: This enables automatic crash checking. When enabled the motors will disarm if a crash is detected.
// @Values: 0:Disabled, 1:Enabled
// @User: Advanced
GSCALAR(fs_crash_check, "FS_CRASH_CHECK", 1),
// RC channel
//-----------
// @Group: RC1_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP(rc_1, "RC1_", RC_Channel),
// @Group: RC2_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP(rc_2, "RC2_", RC_Channel),
// @Group: RC3_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP(rc_3, "RC3_", RC_Channel),
// @Group: RC4_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP(rc_4, "RC4_", RC_Channel),
// @Group: RC5_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_5, "RC5_", RC_Channel_aux),
// @Group: RC6_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_6, "RC6_", RC_Channel_aux),
// @Param: TURN_MAX_G
// @DisplayName: Turning maximum G force
// @Description: The maximum turning acceleration (in units of gravities) that the rover can handle while remaining stable. The navigation code will keep the lateral acceleration below this level to avoid rolling over or slipping the wheels in turns
// @Units: gravities
// @Range: 0.2 10
// @Increment: 0.1
// @User: Standard
GSCALAR(turn_max_g, "TURN_MAX_G", 2.0f),
// @Group: STEER2SRV_
// @Path: ../libraries/APM_Control/AP_SteerController.cpp
GOBJECT(steerController, "STEER2SRV_", AP_SteerController),
// @Group: SPEED2THR_
// @Path: ../libraries/PID/PID.cpp
GGROUP(pidSpeedThrottle, "SPEED2THR_", PID),
// variables not in the g class which contain EEPROM saved variables
// @Group: COMPASS_
// @Path: ../libraries/AP_Compass/AP_Compass.cpp
GOBJECT(compass, "COMPASS_", Compass),
// @Group: SCHED_
// @Path: ../libraries/AP_Scheduler/AP_Scheduler.cpp
GOBJECT(scheduler, "SCHED_", AP_Scheduler),
// barometer ground calibration. The GND_ prefix is chosen for
// compatibility with previous releases of ArduPlane
// @Group: GND_
// @Path: ../libraries/AP_Baro/AP_Baro.cpp