https://download.csdn.net/download/m0_72607891/88599687
代码下载地址
1.前期准备
准备通过舵机转向的无人车地盘、遥控器、地面站电脑、飞控等。安装驱动程序、端口程序、netframwork等，不再赘述。
2.安装固件
安装ardurover固件，如果在线失败，选择官方最新的固件下载到本地，选择本地安装。
3.调试
1.选择识别出的com口，连接飞控。
2.校准加速度计。
如果不出现提示，可能是没有插拔飞控板。需要在上一步后重新插拔连接。
上下前后左右全部校准一遍。
如果停滞，重新插拔。重启mission planner。死机的一种可能是联网操作软件后台发现更新包。
4.校准遥控器。
5.校准指南针。如果只有飞控，只能设置内置罗盘。
校准完毕重新插拔飞控。
6.遥控模式
设置停机和手动模式。
以C波杆为例
当拨到最上方时为停机模式，可在遥控器设对应的名称。
当向下波动，两挡位均设为手动模式。这个根据需要进行设置。
注意在解锁时，应该在留待状态进行，以免右手通道摇杆打到底之后造成突然移动。
遥控器摇杆模式为2，其他设置详见下图。
由于车速太快可能造成不必要的损坏，可设置油门舵机行程量。
油门为反向。
姿态选择在辅助通道进行设置。
长按mode，再按一次进入高级菜单，姿态选择设置不同的名称。
由于无人车在地面行驶，主要是在二维空间，没必要设置过多的操作模式，因此二段并没有设置。这里只用一个三档来进行操作。出现紧急情况，直接将拨杆拨到最上方无人车就会停在原地。
4.失控保护
设置遥控器的失控保护
全部参数表，fs-action 值设置为停机模式。
5.地面站解锁
选择需要在解锁前需要检查的事项，默认为全部。可以手动修改，然后写入。
6.代码
ACRO_TURN_RATE,180
AHRS_COMP_BETA,0.1
AHRS_CUSTOM_PIT,0
AHRS_CUSTOM_ROLL,0
AHRS_CUSTOM_YAW,0
AHRS_EKF_TYPE,3
AHRS_GPS_GAIN,1
AHRS_GPS_MINSATS,6
AHRS_GPS_USE,1
AHRS_ORIENTATION,0
AHRS_RP_P,0.2
AHRS_TRIM_X,-0.006383711
AHRS_TRIM_Y,0.009225077
AHRS_TRIM_Z,0
AHRS_WIND_MAX,0
AHRS_YAW_P,0.2
AIS_TYPE,0
ARMING_ACCTHRESH,0.75
ARMING_CHECK,0
ARMING_MIS_ITEMS,0
ARMING_REQUIRE,1
ARMING_RUDDER,2
ARSPD_TYPE,0
ATC_ACCEL_MAX,1
ATC_BAL_D,0.03
ATC_BAL_FF,0
ATC_BAL_FLTD,0
ATC_BAL_FLTE,10
ATC_BAL_FLTT,0
ATC_BAL_I,1.5
ATC_BAL_IMAX,1
ATC_BAL_P,1.8
ATC_BAL_SMAX,0
ATC_BAL_SPD_FF,1
ATC_BRAKE,1
ATC_DECEL_MAX,0
ATC_SAIL_D,0
ATC_SAIL_FF,0
ATC_SAIL_FLTD,0
ATC_SAIL_FLTE,10
ATC_SAIL_FLTT,0
ATC_SAIL_I,0.1
ATC_SAIL_IMAX,1
ATC_SAIL_P,1
ATC_SAIL_SMAX,0
ATC_SPEED_D,0
ATC_SPEED_FF,0
ATC_SPEED_FLTD,0
ATC_SPEED_FLTE,10
ATC_SPEED_FLTT,0
ATC_SPEED_I,0.2
ATC_SPEED_IMAX,1
ATC_SPEED_P,0.2
ATC_SPEED_SMAX,0
ATC_STOP_SPEED,0.1
ATC_STR_ACC_MAX,120
ATC_STR_ANG_P,2
ATC_STR_RAT_D,0
ATC_STR_RAT_FF,0.2
ATC_STR_RAT_FLTD,0
ATC_STR_RAT_FLTE,10
ATC_STR_RAT_FLTT,0
ATC_STR_RAT_I,0.2
ATC_STR_RAT_IMAX,1
ATC_STR_RAT_MAX,120
ATC_STR_RAT_P,0.2
ATC_STR_RAT_SMAX,0
ATC_TURN_MAX_G,0.6
AUTO_KICKSTART,0
AUTO_TRIGGER_PIN,-1
AVOID_ACCEL_MAX,3
AVOID_BACKUP_DZ,0.1
AVOID_BACKUP_SPD,0.75
AVOID_ENABLE,3
AVOID_MARGIN,2
BAL_PITCH_MAX,2
BAL_PITCH_TRIM,0
BARO_ALT_OFFSET,0
BARO_EXT_BUS,-1
BARO_FLTR_RNG,0
BARO_GND_TEMP,0
BARO_PRIMARY,0
BARO_PROBE_EXT,0
BARO1_DEVID,656146
BARO1_GND_PRESS,101020.4
BARO1_WCF_ENABLE,0
BARO2_DEVID,0
BARO2_GND_PRESS,0
BARO2_WCF_ENABLE,0
BARO3_DEVID,0
BARO3_GND_PRESS,0
BARO3_WCF_ENABLE,0
BATT_MONITOR,0
BATT2_MONITOR,0
BATT3_MONITOR,0
BATT4_MONITOR,0
BATT5_MONITOR,0
BATT6_MONITOR,0
BATT7_MONITOR,0
BATT8_MONITOR,0
BATT9_MONITOR,0
BCN_TYPE,0
BRD_BOOT_DELAY,0
BRD_OPTIONS,1
BRD_RTC_TYPES,1
BRD_RTC_TZ_MIN,0
BRD_SAFETY_MASK,0
BRD_SAFETYENABLE,0
BRD_SAFETYOPTION,3
BRD_SD_SLOWDOWN,0
BRD_SER2_RTSCTS,2
BRD_SERIAL_NUM,0
BRD_VBUS_MIN,4.3
BTN_ENABLE,0
CAM_AUTO_ONLY,0
CAM_DURATION,10
CAM_FEEDBACK_PIN,-1
CAM_FEEDBACK_POL,1
CAM_MAX_ROLL,0
CAM_MIN_INTERVAL,0
CAM_RC_TYPE,0
CAM_RELAY_ON,1
CAM_SERVO_OFF,1100
CAM_SERVO_ON,1300
CAM_TRIGG_DIST,0
CAM_TRIGG_TYPE,0
CAM_TYPE,0
COMPASS_AUTO_ROT,2
COMPASS_AUTODEC,1
COMPASS_CAL_FIT,16
COMPASS_CUS_PIT,0
COMPASS_CUS_ROLL,0
COMPASS_CUS_YAW,0
COMPASS_DEC,0
COMPASS_DEV_ID,1444865
COMPASS_DEV_ID2,0
COMPASS_DEV_ID3,0
COMPASS_DEV_ID4,0
COMPASS_DEV_ID5,0
COMPASS_DEV_ID6,0
COMPASS_DEV_ID7,0
COMPASS_DEV_ID8,0
COMPASS_DIA_X,1
COMPASS_DIA_Y,1
COMPASS_DIA_Z,1
COMPASS_DIA2_X,0
COMPASS_DIA2_Y,0
COMPASS_DIA2_Z,0
COMPASS_DIA3_X,0
COMPASS_DIA3_Y,0
COMPASS_DIA3_Z,0
COMPASS_ENABLE,1
COMPASS_EXTERN2,0
COMPASS_EXTERN3,0
COMPASS_EXTERNAL,0
COMPASS_FLTR_RNG,0
COMPASS_LEARN,0
COMPASS_MOT_X,0
COMPASS_MOT_Y,0
COMPASS_MOT_Z,0
COMPASS_MOT2_X,0
COMPASS_MOT2_Y,0
COMPASS_MOT2_Z,0
COMPASS_MOT3_X,0
COMPASS_MOT3_Y,0
COMPASS_MOT3_Z,0
COMPASS_MOTCT,0
COMPASS_ODI_X,0
COMPASS_ODI_Y,0
COMPASS_ODI_Z,0
COMPASS_ODI2_X,0
COMPASS_ODI2_Y,0
COMPASS_ODI2_Z,0
COMPASS_ODI3_X,0
COMPASS_ODI3_Y,0
COMPASS_ODI3_Z,0
COMPASS_OFFS_MAX,1800
COMPASS_OFS_X,68.00813
COMPASS_OFS_Y,-126.8833
COMPASS_OFS_Z,73.80984
COMPASS_OFS2_X,0
COMPASS_OFS2_Y,0
COMPASS_OFS2_Z,0
COMPASS_OFS3_X,0
COMPASS_OFS3_Y,0
COMPASS_OFS3_Z,0
COMPASS_OPTIONS,0
COMPASS_ORIENT,0
COMPASS_ORIENT2,0
COMPASS_ORIENT3,0
COMPASS_PMOT_EN,0
COMPASS_PRIO1_ID,1444865
COMPASS_PRIO2_ID,0
COMPASS_PRIO3_ID,0
COMPASS_SCALE,0
COMPASS_SCALE2,0
COMPASS_SCALE3,0
COMPASS_TYPEMASK,0
COMPASS_USE,1
COMPASS_USE2,1
COMPASS_USE3,1
CRASH_ANGLE,0
CRUISE_SPEED,2
CRUISE_THROTTLE,50
EAHRS_TYPE,0
EFI_TYPE,0
EK2_ENABLE,0
EK3_ABIAS_P_NSE,0.003
EK3_ACC_BIAS_LIM,1
EK3_ACC_P_NSE,0.35
EK3_AFFINITY,0
EK3_ALT_M_NSE,2
EK3_BCN_DELAY,50
EK3_BCN_I_GTE,500
EK3_BCN_M_NSE,1
EK3_BETA_MASK,0
EK3_CHECK_SCALE,100
EK3_DRAG_BCOEF_X,0
EK3_DRAG_BCOEF_Y,0
EK3_DRAG_M_NSE,0.5
EK3_DRAG_MCOEF,0
EK3_EAS_I_GATE,400
EK3_EAS_M_NSE,1.4
EK3_ENABLE,1
EK3_ERR_THRESH,0.2
EK3_FLOW_DELAY,10
EK3_FLOW_I_GATE,300
EK3_FLOW_M_NSE,0.25
EK3_FLOW_USE,1
EK3_GBIAS_P_NSE,0.001
EK3_GLITCH_RAD,25
EK3_GND_EFF_DZ,4
EK3_GPS_CHECK,31
EK3_GSF_RST_MAX,2
EK3_GSF_RUN_MASK,3
EK3_GSF_USE_MASK,3
EK3_GYRO_P_NSE,0.015
EK3_HGT_DELAY,60
EK3_HGT_I_GATE,500
EK3_HRT_FILT,2
EK3_IMU_MASK,1
EK3_MAG_CAL,2
EK3_MAG_EF_LIM,50
EK3_MAG_I_GATE,300
EK3_MAG_M_NSE,0.05
EK3_MAG_MASK,0
EK3_MAGB_P_NSE,0.0001
EK3_MAGE_P_NSE,0.001
EK3_MAX_FLOW,2.5
EK3_NOAID_M_NSE,10
EK3_OGN_HGT_MASK,0
EK3_OGNM_TEST_SF,2
EK3_POS_I_GATE,500
EK3_POSNE_M_NSE,0.5
EK3_PRIMARY,0
EK3_RNG_I_GATE,500
EK3_RNG_M_NSE,0.5
EK3_RNG_USE_HGT,-1
EK3_RNG_USE_SPD,2
EK3_SRC_OPTIONS,1
EK3_SRC1_POSXY,3
EK3_SRC1_POSZ,1
EK3_SRC1_VELXY,3
EK3_SRC1_VELZ,3
EK3_SRC1_YAW,1
EK3_SRC2_POSXY,0
EK3_SRC2_POSZ,1
EK3_SRC2_VELXY,0
EK3_SRC2_VELZ,0
EK3_SRC2_YAW,0
EK3_SRC3_POSXY,0
EK3_SRC3_POSZ,1
EK3_SRC3_VELXY,0
EK3_SRC3_VELZ,0
EK3_SRC3_YAW,0
EK3_TAU_OUTPUT,25
EK3_TERR_GRAD,0.1
EK3_VEL_I_GATE,500
EK3_VELD_M_NSE,0.7
EK3_VELNE_M_NSE,0.5
EK3_VIS_VERR_MAX,0.9
EK3_VIS_VERR_MIN,0.1
EK3_WENC_VERR,0.1
EK3_WIND_P_NSE,0.1
EK3_WIND_PSCALE,1
EK3_YAW_I_GATE,300
EK3_YAW_M_NSE,0.5
FENCE_ACTION,1
FENCE_ENABLE,0
FENCE_MARGIN,2
FENCE_RADIUS,300
FENCE_TOTAL,0
FENCE_TYPE,6
FFT_ENABLE,0
FOLL_ENABLE,0
FORMAT_VERSION,16
FRAME_CLASS,1
FRAME_TYPE,0
FRSKY_DNLINK_ID,27
FRSKY_DNLINK1_ID,20
FRSKY_DNLINK2_ID,7
FRSKY_OPTIONS,0
FRSKY_UPLINK_ID,13
FS_ACTION,2
FS_CRASH_CHECK,0
FS_EKF_ACTION,1
FS_EKF_THRESH,0.8
FS_GCS_ENABLE,0
FS_OPTIONS,0
FS_THR_ENABLE,1
FS_THR_VALUE,910
FS_TIMEOUT,1.5
GCS_PID_MASK,0
GEN_TYPE,0
GPS_AUTO_CONFIG,1
GPS_AUTO_SWITCH,1
GPS_BLEND_MASK,5
GPS_BLEND_TC,10
GPS_COM_PORT,1
GPS_COM_PORT2,1
GPS_DELAY_MS,0
GPS_DELAY_MS2,0
GPS_DRV_OPTIONS,0
GPS_GNSS_MODE,0
GPS_GNSS_MODE2,0
GPS_INJECT_TO,127
GPS_MB1_TYPE,0
GPS_MB2_TYPE,0
GPS_MIN_DGPS,100
GPS_MIN_ELEV,-100
GPS_NAVFILTER,8
GPS_POS1_X,0
GPS_POS1_Y,0
GPS_POS1_Z,0
GPS_POS2_X,0
GPS_POS2_Y,0
GPS_POS2_Z,0
GPS_PRIMARY,0
GPS_RATE_MS,200
GPS_RATE_MS2,200
GPS_RAW_DATA,0
GPS_SAVE_CFG,2
GPS_SBAS_MODE,2
GPS_SBP_LOGMASK,-256
GPS_TYPE,1
GPS_TYPE2,0
GRIP_ENABLE,0
INITIAL_MODE,0
INS_ACC_BODYFIX,2
INS_ACC_ID,3801354
INS_ACC1_CALTEMP,37
INS_ACCEL_FILTER,10
INS_ACCOFFS_X,-0.2074568
INS_ACCOFFS_Y,-0.03410235
INS_ACCOFFS_Z,0.09088594
INS_ACCSCAL_X,1.017964
INS_ACCSCAL_Y,0.9998574
INS_ACCSCAL_Z,0.9955801
INS_ENABLE_MASK,127
INS_FAST_SAMPLE,1
INS_GYR_CAL,1
INS_GYR_ID,3801354
INS_GYR1_CALTEMP,38.75
INS_GYRO_FILTER,4
INS_GYRO_RATE,0
INS_GYROFFS_X,0.002418942
INS_GYROFFS_Y,-5.427205E-05
INS_GYROFFS_Z,0.009206237
INS_HNTC2_ENABLE,0
INS_HNTCH_ENABLE,0
INS_LOG_BAT_CNT,1024
INS_LOG_BAT_LGCT,32
INS_LOG_BAT_LGIN,20
INS_LOG_BAT_MASK,0
INS_LOG_BAT_OPT,0
INS_POS1_X,0
INS_POS1_Y,0
INS_POS1_Z,0
INS_STILL_THRESH,0.1
INS_TCAL_OPTIONS,0
INS_TCAL1_ENABLE,0
INS_TRIM_OPTION,1
INS_USE,1
LOG_BACKEND_TYPE,1
LOG_BITMASK,65535
LOG_DISARMED,0
LOG_FILE_BUFSIZE,80
LOG_FILE_DSRMROT,0
LOG_FILE_MB_FREE,500
LOG_FILE_RATEMAX,0
LOG_FILE_TIMEOUT,5
LOG_MAV_BUFSIZE,8
LOG_MAV_RATEMAX,0
LOG_REPLAY,0
LOIT_RADIUS,2
LOIT_SPEED_GAIN,0.5
LOIT_TYPE,0
MIS_DONE_BEHAVE,0
MIS_OPTIONS,0
MIS_RESTART,0
MIS_TOTAL,0
MNT_TYPE,0
MODE_CH,8
MODE1,4
MODE2,0
MODE3,0
MODE4,0
MODE5,0
MODE6,0
MOT_PWM_FREQ,16
MOT_PWM_TYPE,0
MOT_SAFE_DISARM,0
MOT_SLEWRATE,100
MOT_SPD_SCA_BASE,1
MOT_STR_THR_MIX,0.5
MOT_THR_MAX,100
MOT_THR_MIN,0
MOT_THST_EXPO,0
MOT_VEC_ANGLEMAX,0
MSP_OPTIONS,0
MSP_OSD_NCELLS,0
NAVL1_DAMPING,0.75
NAVL1_PERIOD,8
NAVL1_XTRACK_I,0.02
NTF_BUZZ_ON_LVL,1
NTF_BUZZ_PIN,-1
NTF_BUZZ_TYPES,1
NTF_BUZZ_VOLUME,100
NTF_DISPLAY_TYPE,0
NTF_LED_BRIGHT,3
NTF_LED_LEN,1
NTF_LED_OVERRIDE,0
NTF_LED_TYPES,199
OA_TYPE,0
OSD_ARM_SCR,0
OSD_BTN_DELAY,300
OSD_CELL_COUNT,-1
OSD_CHAN,0
OSD_DSARM_SCR,0
OSD_FONT,0
OSD_FS_SCR,0
OSD_H_OFFSET,32
OSD_MSG_TIME,10
OSD_OPTIONS,1
OSD_SW_METHOD,0
OSD_TYPE,1
OSD_UNITS,0
OSD_V_OFFSET,16
OSD_W_AVGCELLV,3.6
OSD_W_BATVOLT,10
OSD_W_NSAT,9
OSD_W_RESTVOLT,10
OSD_W_RSSI,30
OSD_W_TERR,-1
OSD1_ALTITUDE_EN,1
OSD1_ALTITUDE_X,23
OSD1_ALTITUDE_Y,8
OSD1_ARMING_EN,1
OSD1_ARMING_X,1
OSD1_ARMING_Y,1
OSD1_ASPD1_EN,0
OSD1_ASPD1_X,0
OSD1_ASPD1_Y,0
OSD1_ASPD2_EN,0
OSD1_ASPD2_X,0
OSD1_ASPD2_Y,0
OSD1_ASPEED_EN,0
OSD1_ASPEED_X,2
OSD1_ASPEED_Y,13
OSD1_ATEMP_EN,0
OSD1_ATEMP_X,0
OSD1_ATEMP_Y,0
OSD1_AVGCELLV_EN,0
OSD1_AVGCELLV_X,24
OSD1_AVGCELLV_Y,3
OSD1_BAT_VOLT_EN,1
OSD1_BAT_VOLT_X,24
OSD1_BAT_VOLT_Y,1
OSD1_BAT2_VLT_EN,0
OSD1_BAT2_VLT_X,0
OSD1_BAT2_VLT_Y,0
OSD1_BAT2USED_EN,0
OSD1_BAT2USED_X,0
OSD1_BAT2USED_Y,0
OSD1_BATTBAR_EN,1
OSD1_BATTBAR_X,1
OSD1_BATTBAR_Y,1
OSD1_BATUSED_EN,1
OSD1_BATUSED_X,23
OSD1_BATUSED_Y,3
OSD1_BTEMP_EN,0
OSD1_BTEMP_X,0
OSD1_BTEMP_Y,0
OSD1_CALLSIGN_EN,0
OSD1_CALLSIGN_X,0
OSD1_CALLSIGN_Y,0
OSD1_CELLVOLT_EN,1
OSD1_CELLVOLT_X,1
OSD1_CELLVOLT_Y,1
OSD1_CHAN_MAX,2100
OSD1_CHAN_MIN,900
OSD1_CLIMBEFF_EN,0
OSD1_CLIMBEFF_X,0
OSD1_CLIMBEFF_Y,0
OSD1_CLK_EN,0
OSD1_CLK_X,0
OSD1_CLK_Y,0
OSD1_COMPASS_EN,1
OSD1_COMPASS_X,15
OSD1_COMPASS_Y,3
OSD1_CRSSHAIR_EN,0
OSD1_CRSSHAIR_X,0
OSD1_CRSSHAIR_Y,0
OSD1_CURRENT_EN,1
OSD1_CURRENT_X,25
OSD1_CURRENT_Y,2
OSD1_CURRENT2_EN,0
OSD1_CURRENT2_X,0
OSD1_CURRENT2_Y,0
OSD1_DIST_EN,0
OSD1_DIST_X,22
OSD1_DIST_Y,11
OSD1_EFF_EN,0
OSD1_EFF_X,22
OSD1_EFF_Y,10
OSD1_ENABLE,1
OSD1_ESCAMPS_EN,0
OSD1_ESCAMPS_X,24
OSD1_ESCAMPS_Y,14
OSD1_ESCRPM_EN,0
OSD1_ESCRPM_X,22
OSD1_ESCRPM_Y,12
OSD1_ESCTEMP_EN,0
OSD1_ESCTEMP_X,24
OSD1_ESCTEMP_Y,13
OSD1_FENCE_EN,0
OSD1_FENCE_X,14
OSD1_FENCE_Y,9
OSD1_FLTIME_EN,0
OSD1_FLTIME_X,23
OSD1_FLTIME_Y,10
OSD1_FLTMODE_EN,1
OSD1_FLTMODE_X,2
OSD1_FLTMODE_Y,8
OSD1_GPSLAT_EN,1
OSD1_GPSLAT_X,9
OSD1_GPSLAT_Y,13
OSD1_GPSLONG_EN,1
OSD1_GPSLONG_X,9
OSD1_GPSLONG_Y,14
OSD1_GSPEED_EN,1
OSD1_GSPEED_X,2
OSD1_GSPEED_Y,14
OSD1_HDOP_EN,0
OSD1_HDOP_X,0
OSD1_HDOP_Y,0
OSD1_HEADING_EN,1
OSD1_HEADING_X,13
OSD1_HEADING_Y,2
OSD1_HOME_EN,1
OSD1_HOME_X,14
OSD1_HOME_Y,1
OSD1_HOMEDIR_EN,1
OSD1_HOMEDIR_X,1
OSD1_HOMEDIR_Y,1
OSD1_HOMEDIST_EN,1
OSD1_HOMEDIST_X,1
OSD1_HOMEDIST_Y,1
OSD1_HORIZON_EN,1
OSD1_HORIZON_X,14
OSD1_HORIZON_Y,8
OSD1_LINK_Q_EN,0
OSD1_LINK_Q_X,1
OSD1_LINK_Q_Y,1
OSD1_MESSAGE_EN,1
OSD1_MESSAGE_X,2
OSD1_MESSAGE_Y,6
OSD1_PITCH_EN,0
OSD1_PITCH_X,0
OSD1_PITCH_Y,0
OSD1_PLUSCODE_EN,0
OSD1_PLUSCODE_X,0
OSD1_PLUSCODE_Y,0
OSD1_POWER_EN,1
OSD1_POWER_X,1
OSD1_POWER_Y,1
OSD1_RESTVOLT_EN,0
OSD1_RESTVOLT_X,24
OSD1_RESTVOLT_Y,2
OSD1_RNGF_EN,0
OSD1_RNGF_X,0
OSD1_RNGF_Y,0
OSD1_ROLL_EN,0
OSD1_ROLL_X,0
OSD1_ROLL_Y,0
OSD1_RSSI_EN,1
OSD1_RSSI_X,1
OSD1_RSSI_Y,1
OSD1_SATS_EN,1
OSD1_SATS_X,1
OSD1_SATS_Y,3
OSD1_SIDEBARS_EN,0
OSD1_SIDEBARS_X,4
OSD1_SIDEBARS_Y,5
OSD1_STATS_EN,0
OSD1_STATS_X,0
OSD1_STATS_Y,0
OSD1_TEMP_EN,0
OSD1_TEMP_X,0
OSD1_TEMP_Y,0
OSD1_TER_HGT_EN,0
OSD1_TER_HGT_X,23
OSD1_TER_HGT_Y,7
OSD1_THROTTLE_EN,1
OSD1_THROTTLE_X,24
OSD1_THROTTLE_Y,11
OSD1_VSPEED_EN,1
OSD1_VSPEED_X,24
OSD1_VSPEED_Y,9
OSD1_VTX_PWR_EN,0
OSD1_VTX_PWR_X,0
OSD1_VTX_PWR_Y,0
OSD1_WAYPOINT_EN,0
OSD1_WAYPOINT_X,0
OSD1_WAYPOINT_Y,0
OSD1_WIND_EN,0
OSD1_WIND_X,2
OSD1_WIND_Y,12
OSD1_XTRACK_EN,0
OSD1_XTRACK_X,0
OSD1_XTRACK_Y,0
OSD2_ENABLE,0
OSD2_LINK_Q_EN,0
OSD2_LINK_Q_X,1
OSD2_LINK_Q_Y,1
OSD3_ENABLE,0
OSD3_LINK_Q_EN,0
OSD3_LINK_Q_X,1
OSD3_LINK_Q_Y,1
OSD4_ENABLE,0
OSD4_LINK_Q_EN,0
OSD4_LINK_Q_X,1
OSD4_LINK_Q_Y,1
OSD5_ENABLE,0
OSD6_ENABLE,0
PILOT_STEER_TYPE,0
PRX_TYPE,0
RALLY_INCL_HOME,1
RALLY_LIMIT_KM,0.5
RALLY_TOTAL,0
RC_OPTIONS,32
RC_OVERRIDE_TIME,3
RC_PROTOCOLS,1
RC1_DZ,30
RC1_MAX,2000
RC1_MIN,1000
RC1_OPTION,0
RC1_REVERSED,0
RC1_TRIM,1500
RC10_DZ,0
RC10_MAX,2005
RC10_MIN,1005
RC10_OPTION,0
RC10_REVERSED,0
RC10_TRIM,2005
RC11_DZ,0
RC11_MAX,1900
RC11_MIN,1100
RC11_OPTION,0
RC11_REVERSED,0
RC11_TRIM,1500
RC12_DZ,0
RC12_MAX,1900
RC12_MIN,1100
RC12_OPTION,0
RC12_REVERSED,0
RC12_TRIM,1500
RC13_DZ,0
RC13_MAX,1900
RC13_MIN,1100
RC13_OPTION,0
RC13_REVERSED,0
RC13_TRIM,1500
RC14_DZ,0
RC14_MAX,1900
RC14_MIN,1100
RC14_OPTION,0
RC14_REVERSED,0
RC14_TRIM,1500
RC15_DZ,0
RC15_MAX,1900
RC15_MIN,1100
RC15_OPTION,0
RC15_REVERSED,0
RC15_TRIM,1500
RC16_DZ,0
RC16_MAX,1900
RC16_MIN,1100
RC16_OPTION,0
RC16_REVERSED,0
RC16_TRIM,1500
RC2_DZ,0
RC2_MAX,2000
RC2_MIN,1000
RC2_OPTION,0
RC2_REVERSED,0
RC2_TRIM,1503
RC3_DZ,30
RC3_MAX,2000
RC3_MIN,1001
RC3_OPTION,0
RC3_REVERSED,0
RC3_TRIM,1527
RC4_DZ,30
RC4_MAX,2000
RC4_MIN,1003
RC4_OPTION,0
RC4_REVERSED,0
RC4_TRIM,1500
RC5_DZ,0
RC5_MAX,2000
RC5_MIN,1000
RC5_OPTION,0
RC5_REVERSED,0
RC5_TRIM,1000
RC6_DZ,0
RC6_MAX,2000
RC6_MIN,1000
RC6_OPTION,0
RC6_REVERSED,0
RC6_TRIM,1000
RC7_DZ,0
RC7_MAX,2000
RC7_MIN,1000
RC7_OPTION,0
RC7_REVERSED,0
RC7_TRIM,2000
RC8_DZ,0
RC8_MAX,2000
RC8_MIN,1000
RC8_OPTION,0
RC8_REVERSED,0
RC8_TRIM,1000
RC9_DZ,0
RC9_MAX,2000
RC9_MIN,1000
RC9_OPTION,0
RC9_REVERSED,0
RC9_TRIM,2000
RCMAP_PITCH,2
RCMAP_ROLL,1
RCMAP_THROTTLE,3
RCMAP_YAW,4
RELAY_DEFAULT,0
RELAY_PIN,-1
RELAY_PIN2,-1
RELAY_PIN3,-1
RELAY_PIN4,-1
RELAY_PIN5,-1
RELAY_PIN6,-1
RNGFND1_TYPE,0
RNGFND2_TYPE,0
RNGFND3_TYPE,0
RNGFND4_TYPE,0
RNGFND5_TYPE,0
RNGFND6_TYPE,0
RNGFND7_TYPE,0
RNGFND8_TYPE,0
RNGFND9_TYPE,0
RNGFNDA_TYPE,0
RPM1_TYPE,0
RPM2_TYPE,0
RSSI_TYPE,0
RST_SWITCH_CH,0
RTL_SPEED,0
SAIL_ENABLE,0
SCHED_DEBUG,0
SCHED_LOOP_RATE,50
SCHED_OPTIONS,0
SCR_ENABLE,0
SERIAL_PASS1,0
SERIAL_PASS2,-1
SERIAL_PASSTIMO,15
SERIAL0_BAUD,115
SERIAL0_PROTOCOL,2
SERIAL1_BAUD,57
SERIAL1_OPTIONS,0
SERIAL1_PROTOCOL,2
SERIAL2_BAUD,57
SERIAL2_OPTIONS,0
SERIAL2_PROTOCOL,2
SERIAL3_BAUD,38
SERIAL3_OPTIONS,0
SERIAL3_PROTOCOL,5
SERVO_BLH_3DMASK,0
SERVO_BLH_AUTO,0
SERVO_BLH_DEBUG,0
SERVO_BLH_MASK,0
SERVO_BLH_OTYPE,0
SERVO_BLH_POLES,14
SERVO_BLH_PORT,0
SERVO_BLH_RVMASK,0
SERVO_BLH_TEST,0
SERVO_BLH_TMOUT,0
SERVO_BLH_TRATE,10
SERVO_DSHOT_ESC,0
SERVO_DSHOT_RATE,0
SERVO_FTW_MASK,0
SERVO_FTW_POLES,14
SERVO_FTW_RVMASK,0
SERVO_GPIO_MASK,0
SERVO_RATE,50
SERVO_ROB_POSMAX,4095
SERVO_ROB_POSMIN,0
SERVO_SBUS_RATE,50
SERVO_VOLZ_MASK,0
SERVO1_FUNCTION,26
SERVO1_MAX,1900
SERVO1_MIN,1100
SERVO1_REVERSED,0
SERVO1_TRIM,1500
SERVO10_FUNCTION,0
SERVO10_MAX,1900
SERVO10_MIN,1100
SERVO10_REVERSED,0
SERVO10_TRIM,1500
SERVO11_FUNCTION,0
SERVO11_MAX,1900
SERVO11_MIN,1100
SERVO11_REVERSED,0
SERVO11_TRIM,1500
SERVO12_FUNCTION,0
SERVO12_MAX,1900
SERVO12_MIN,1100
SERVO12_REVERSED,0
SERVO12_TRIM,1500
SERVO13_FUNCTION,0
SERVO13_MAX,1900
SERVO13_MIN,1100
SERVO13_REVERSED,0
SERVO13_TRIM,1500
SERVO14_FUNCTION,0
SERVO14_MAX,1900
SERVO14_MIN,1100
SERVO14_REVERSED,0
SERVO14_TRIM,1500
SERVO15_FUNCTION,0
SERVO15_MAX,1900
SERVO15_MIN,1100
SERVO15_REVERSED,0
SERVO15_TRIM,1500
SERVO16_FUNCTION,0
SERVO16_MAX,1900
SERVO16_MIN,1100
SERVO16_REVERSED,0
SERVO16_TRIM,1500
SERVO2_FUNCTION,70
SERVO2_MAX,1900
SERVO2_MIN,1100
SERVO2_REVERSED,0
SERVO2_TRIM,1500
SERVO3_FUNCTION,70
SERVO3_MAX,1900
SERVO3_MIN,1100
SERVO3_REVERSED,0
SERVO3_TRIM,1500
SERVO4_FUNCTION,0
SERVO4_MAX,1900
SERVO4_MIN,1100
SERVO4_REVERSED,0
SERVO4_TRIM,1500
SERVO5_FUNCTION,0
SERVO5_MAX,1900
SERVO5_MIN,1100
SERVO5_REVERSED,0
SERVO5_TRIM,1500
SERVO6_FUNCTION,0
SERVO6_MAX,1900
SERVO6_MIN,1100
SERVO6_REVERSED,0
SERVO6_TRIM,1500
SERVO7_FUNCTION,0
SERVO7_MAX,1900
SERVO7_MIN,1100
SERVO7_REVERSED,0
SERVO7_TRIM,1500
SERVO8_FUNCTION,0
SERVO8_MAX,1900
SERVO8_MIN,1100
SERVO8_REVERSED,0
SERVO8_TRIM,1500
SERVO9_FUNCTION,0
SERVO9_MAX,1900
SERVO9_MIN,1100
SERVO9_REVERSED,0
SERVO9_TRIM,1500
SIMPLE_TYPE,0
SPEED_MAX,0
SPRAY_ENABLE,0
SR0_ADSB,0
SR0_EXT_STAT,2
SR0_EXTRA1,4
SR0_EXTRA2,4
SR0_EXTRA3,2
SR0_PARAMS,10
SR0_POSITION,2
SR0_RAW_CTRL,1
SR0_RAW_SENS,2
SR0_RC_CHAN,2
SR1_ADSB,0
SR1_EXT_STAT,1
SR1_EXTRA1,1
SR1_EXTRA2,1
SR1_EXTRA3,1
SR1_PARAMS,10
SR1_POSITION,1
SR1_RAW_CTRL,1
SR1_RAW_SENS,1
SR1_RC_CHAN,1
SR2_ADSB,0
SR2_EXT_STAT,1
SR2_EXTRA1,1
SR2_EXTRA2,1
SR2_EXTRA3,1
SR2_PARAMS,10
SR2_POSITION,1
SR2_RAW_CTRL,1
SR2_RAW_SENS,1
SR2_RC_CHAN,1
SR3_ADSB,0
SR3_EXT_STAT,1
SR3_EXTRA1,1
SR3_EXTRA2,1
SR3_EXTRA3,1
SR3_PARAMS,10
SR3_POSITION,1
SR3_RAW_CTRL,1
SR3_RAW_SENS,1
SR3_RC_CHAN,1
SR4_ADSB,0
SR4_EXT_STAT,1
SR4_EXTRA1,1
SR4_EXTRA2,1
SR4_EXTRA3,1
SR4_PARAMS,10
SR4_POSITION,1
SR4_RAW_CTRL,1
SR4_RAW_SENS,1
SR4_RC_CHAN,1
SRTL_ACCURACY,2
SRTL_OPTIONS,0
SRTL_POINTS,300
STAT_BOOTCNT,1
STAT_FLTTIME,0
STAT_RESET,0
STAT_RUNTIME,0
STICK_MIXING,0
SYSID_ENFORCE,0
SYSID_MYGCS,255
SYSID_THISMAV,1
TELEM_DELAY,0
TRQD_TYPE,0
TURN_RADIUS,0.9
VISO_TYPE,0
VTX_ENABLE,0
WENC_TYPE,0
WNDVN_TYPE,0
WP_OVERSHOOT,2
WP_PIVOT_ANGLE,60
WP_PIVOT_DELAY,0
WP_PIVOT_RATE,90
WP_RADIUS,2
WP_SPEED,2
WP_SPEED_MIN,0
WRC_ENABLE,0
ACRO_TURN_RATE,180
AHRS_COMP_BETA,0.1
AHRS_CUSTOM_PIT,0
AHRS_CUSTOM_ROLL,0
AHRS_CUSTOM_YAW,0
AHRS_EKF_TYPE,3
AHRS_GPS_GAIN,1
AHRS_GPS_MINSATS,6
AHRS_GPS_USE,1
AHRS_ORIENTATION,0
AHRS_RP_P,0.2
AHRS_TRIM_X,-0.006383711
AHRS_TRIM_Y,0.009225077
AHRS_TRIM_Z,0
AHRS_WIND_MAX,0
AHRS_YAW_P,0.2
AIS_TYPE,0
ARMING_ACCTHRESH,0.75
ARMING_CHECK,0
ARMING_MIS_ITEMS,0
ARMING_REQUIRE,1
ARMING_RUDDER,2
ARSPD_TYPE,0
ATC_ACCEL_MAX,1
ATC_BAL_D,0.03
ATC_BAL_FF,0
ATC_BAL_FLTD,0
ATC_BAL_FLTE,10
ATC_BAL_FLTT,0
ATC_BAL_I,1.5
ATC_BAL_IMAX,1
ATC_BAL_P,1.8
ATC_BAL_SMAX,0
ATC_BAL_SPD_FF,1
ATC_BRAKE,1
ATC_DECEL_MAX,0
ATC_SAIL_D,0
ATC_SAIL_FF,0
ATC_SAIL_FLTD,0
ATC_SAIL_FLTE,10
ATC_SAIL_FLTT,0
ATC_SAIL_I,0.1
ATC_SAIL_IMAX,1
ATC_SAIL_P,1
ATC_SAIL_SMAX,0
ATC_SPEED_D,0
ATC_SPEED_FF,0
ATC_SPEED_FLTD,0
ATC_SPEED_FLTE,10
ATC_SPEED_FLTT,0
ATC_SPEED_I,0.2
ATC_SPEED_IMAX,1
ATC_SPEED_P,0.2
ATC_SPEED_SMAX,0
ATC_STOP_SPEED,0.1
ATC_STR_ACC_MAX,120
ATC_STR_ANG_P,2
ATC_STR_RAT_D,0
ATC_STR_RAT_FF,0.2
ATC_STR_RAT_FLTD,0
ATC_STR_RAT_FLTE,10
ATC_STR_RAT_FLTT,0
ATC_STR_RAT_I,0.2
ATC_STR_RAT_IMAX,1
ATC_STR_RAT_MAX,120
ATC_STR_RAT_P,0.2
ATC_STR_RAT_SMAX,0
ATC_TURN_MAX_G,0.6
AUTO_KICKSTART,0
AUTO_TRIGGER_PIN,-1
AVOID_ACCEL_MAX,3
AVOID_BACKUP_DZ,0.1
AVOID_BACKUP_SPD,0.75
AVOID_ENABLE,3
AVOID_MARGIN,2
BAL_PITCH_MAX,2
BAL_PITCH_TRIM,0
BARO_ALT_OFFSET,0
BARO_EXT_BUS,-1
BARO_FLTR_RNG,0
BARO_GND_TEMP,0
BARO_PRIMARY,0
BARO_PROBE_EXT,0
BARO1_DEVID,656146
BARO1_GND_PRESS,101020.4
BARO1_WCF_ENABLE,0
BARO2_DEVID,0
BARO2_GND_PRESS,0
BARO2_WCF_ENABLE,0
BARO3_DEVID,0
BARO3_GND_PRESS,0
BARO3_WCF_ENABLE,0
BATT_MONITOR,0
BATT2_MONITOR,0
BATT3_MONITOR,0
BATT4_MONITOR,0
BATT5_MONITOR,0
BATT6_MONITOR,0
BATT7_MONITOR,0
BATT8_MONITOR,0
BATT9_MONITOR,0
BCN_TYPE,0
BRD_BOOT_DELAY,0
BRD_OPTIONS,1
BRD_RTC_TYPES,1
BRD_RTC_TZ_MIN,0
BRD_SAFETY_MASK,0
BRD_SAFETYENABLE,0
BRD_SAFETYOPTION,3
BRD_SD_SLOWDOWN,0
BRD_SER2_RTSCTS,2
BRD_SERIAL_NUM,0
BRD_VBUS_MIN,4.3
BTN_ENABLE,0
CAM_AUTO_ONLY,0
CAM_DURATION,10
CAM_FEEDBACK_PIN,-1
CAM_FEEDBACK_POL,1
CAM_MAX_ROLL,0
CAM_MIN_INTERVAL,0
CAM_RC_TYPE,0
CAM_RELAY_ON,1
CAM_SERVO_OFF,1100
CAM_SERVO_ON,1300
CAM_TRIGG_DIST,0
CAM_TRIGG_TYPE,0
CAM_TYPE,0
COMPASS_AUTO_ROT,2
COMPASS_AUTODEC,1
COMPASS_CAL_FIT,16
COMPASS_CUS_PIT,0
COMPASS_CUS_ROLL,0
COMPASS_CUS_YAW,0
COMPASS_DEC,0
COMPASS_DEV_ID,1444865
COMPASS_DEV_ID2,0
COMPASS_DEV_ID3,0
COMPASS_DEV_ID4,0
COMPASS_DEV_ID5,0
COMPASS_DEV_ID6,0
COMPASS_DEV_ID7,0
COMPASS_DEV_ID8,0
COMPASS_DIA_X,1
COMPASS_DIA_Y,1
COMPASS_DIA_Z,1
COMPASS_DIA2_X,0
COMPASS_DIA2_Y,0
COMPASS_DIA2_Z,0
COMPASS_DIA3_X,0
COMPASS_DIA3_Y,0
COMPASS_DIA3_Z,0
COMPASS_ENABLE,1
COMPASS_EXTERN2,0
COMPASS_EXTERN3,0
COMPASS_EXTERNAL,0
COMPASS_FLTR_RNG,0
COMPASS_LEARN,0
COMPASS_MOT_X,0
COMPASS_MOT_Y,0
COMPASS_MOT_Z,0
COMPASS_MOT2_X,0
COMPASS_MOT2_Y,0
COMPASS_MOT2_Z,0
COMPASS_MOT3_X,0
COMPASS_MOT3_Y,0
COMPASS_MOT3_Z,0
COMPASS_MOTCT,0
COMPASS_ODI_X,0
COMPASS_ODI_Y,0
COMPASS_ODI_Z,0
COMPASS_ODI2_X,0
COMPASS_ODI2_Y,0
COMPASS_ODI2_Z,0
COMPASS_ODI3_X,0
COMPASS_ODI3_Y,0
COMPASS_ODI3_Z,0
COMPASS_OFFS_MAX,1800
COMPASS_OFS_X,68.00813
COMPASS_OFS_Y,-126.8833
COMPASS_OFS_Z,73.80984
COMPASS_OFS2_X,0
COMPASS_OFS2_Y,0
COMPASS_OFS2_Z,0
COMPASS_OFS3_X,0
COMPASS_OFS3_Y,0
COMPASS_OFS3_Z,0
COMPASS_OPTIONS,0
COMPASS_ORIENT,0
COMPASS_ORIENT2,0
COMPASS_ORIENT3,0
COMPASS_PMOT_EN,0
COMPASS_PRIO1_ID,1444865
COMPASS_PRIO2_ID,0
COMPASS_PRIO3_ID,0
COMPASS_SCALE,0
COMPASS_SCALE2,0
COMPASS_SCALE3,0
COMPASS_TYPEMASK,0
COMPASS_USE,1
COMPASS_USE2,1
COMPASS_USE3,1
CRASH_ANGLE,0
CRUISE_SPEED,2
CRUISE_THROTTLE,50
EAHRS_TYPE,0
EFI_TYPE,0
EK2_ENABLE,0
EK3_ABIAS_P_NSE,0.003
EK3_ACC_BIAS_LIM,1
EK3_ACC_P_NSE,0.35
EK3_AFFINITY,0
EK3_ALT_M_NSE,2
EK3_BCN_DELAY,50
EK3_BCN_I_GTE,500
EK3_BCN_M_NSE,1
EK3_BETA_MASK,0
EK3_CHECK_SCALE,100
EK3_DRAG_BCOEF_X,0
EK3_DRAG_BCOEF_Y,0
EK3_DRAG_M_NSE,0.5
EK3_DRAG_MCOEF,0
EK3_EAS_I_GATE,400
EK3_EAS_M_NSE,1.4
EK3_ENABLE,1
EK3_ERR_THRESH,0.2
EK3_FLOW_DELAY,10
EK3_FLOW_I_GATE,300
EK3_FLOW_M_NSE,0.25
EK3_FLOW_USE,1
EK3_GBIAS_P_NSE,0.001
EK3_GLITCH_RAD,25
EK3_GND_EFF_DZ,4
EK3_GPS_CHECK,31
EK3_GSF_RST_MAX,2
EK3_GSF_RUN_MASK,3
EK3_GSF_USE_MASK,3
EK3_GYRO_P_NSE,0.015
EK3_HGT_DELAY,60
EK3_HGT_I_GATE,500
EK3_HRT_FILT,2
EK3_IMU_MASK,1
EK3_MAG_CAL,2
EK3_MAG_EF_LIM,50
EK3_MAG_I_GATE,300
EK3_MAG_M_NSE,0.05
EK3_MAG_MASK,0
EK3_MAGB_P_NSE,0.0001
EK3_MAGE_P_NSE,0.001
EK3_MAX_FLOW,2.5
EK3_NOAID_M_NSE,10
EK3_OGN_HGT_MASK,0
EK3_OGNM_TEST_SF,2
EK3_POS_I_GATE,500
EK3_POSNE_M_NSE,0.5
EK3_PRIMARY,0
EK3_RNG_I_GATE,500
EK3_RNG_M_NSE,0.5
EK3_RNG_USE_HGT,-1
EK3_RNG_USE_SPD,2
EK3_SRC_OPTIONS,1
EK3_SRC1_POSXY,3
EK3_SRC1_POSZ,1
EK3_SRC1_VELXY,3
EK3_SRC1_VELZ,3
EK3_SRC1_YAW,1
EK3_SRC2_POSXY,0
EK3_SRC2_POSZ,1
EK3_SRC2_VELXY,0
EK3_SRC2_VELZ,0
EK3_SRC2_YAW,0
EK3_SRC3_POSXY,0
EK3_SRC3_POSZ,1
EK3_SRC3_VELXY,0
EK3_SRC3_VELZ,0
EK3_SRC3_YAW,0
EK3_TAU_OUTPUT,25
EK3_TERR_GRAD,0.1
EK3_VEL_I_GATE,500
EK3_VELD_M_NSE,0.7
EK3_VELNE_M_NSE,0.5
EK3_VIS_VERR_MAX,0.9
EK3_VIS_VERR_MIN,0.1
EK3_WENC_VERR,0.1
EK3_WIND_P_NSE,0.1
EK3_WIND_PSCALE,1
EK3_YAW_I_GATE,300
EK3_YAW_M_NSE,0.5
FENCE_ACTION,1
FENCE_ENABLE,0
FENCE_MARGIN,2
FENCE_RADIUS,300
FENCE_TOTAL,0
FENCE_TYPE,6
FFT_ENABLE,0
FOLL_ENABLE,0
FORMAT_VERSION,16
FRAME_CLASS,1
FRAME_TYPE,0
FRSKY_DNLINK_ID,27
FRSKY_DNLINK1_ID,20
FRSKY_DNLINK2_ID,7
FRSKY_OPTIONS,0
FRSKY_UPLINK_ID,13
FS_ACTION,2
FS_CRASH_CHECK,0
FS_EKF_ACTION,1
FS_EKF_THRESH,0.8
FS_GCS_ENABLE,0
FS_OPTIONS,0
FS_THR_ENABLE,1
FS_THR_VALUE,910
FS_TIMEOUT,1.5
GCS_PID_MASK,0
GEN_TYPE,0
GPS_AUTO_CONFIG,1
GPS_AUTO_SWITCH,1
GPS_BLEND_MASK,5
GPS_BLEND_TC,10
GPS_COM_PORT,1
GPS_COM_PORT2,1
GPS_DELAY_MS,0
GPS_DELAY_MS2,0
GPS_DRV_OPTIONS,0
GPS_GNSS_MODE,0
GPS_GNSS_MODE2,0
GPS_INJECT_TO,127
GPS_MB1_TYPE,0
GPS_MB2_TYPE,0
GPS_MIN_DGPS,100
GPS_MIN_ELEV,-100
GPS_NAVFILTER,8
GPS_POS1_X,0
GPS_POS1_Y,0
GPS_POS1_Z,0
GPS_POS2_X,0
GPS_POS2_Y,0
GPS_POS2_Z,0
GPS_PRIMARY,0
GPS_RATE_MS,200
GPS_RATE_MS2,200
GPS_RAW_DATA,0
GPS_SAVE_CFG,2
GPS_SBAS_MODE,2
GPS_SBP_LOGMASK,-256
GPS_TYPE,1
GPS_TYPE2,0
GRIP_ENABLE,0
INITIAL_MODE,0
INS_ACC_BODYFIX,2
INS_ACC_ID,3801354
INS_ACC1_CALTEMP,37
INS_ACCEL_FILTER,10
INS_ACCOFFS_X,-0.2074568
INS_ACCOFFS_Y,-0.03410235
INS_ACCOFFS_Z,0.09088594
INS_ACCSCAL_X,1.017964
INS_ACCSCAL_Y,0.9998574
INS_ACCSCAL_Z,0.9955801
INS_ENABLE_MASK,127
INS_FAST_SAMPLE,1
INS_GYR_CAL,1
INS_GYR_ID,3801354
INS_GYR1_CALTEMP,38.75
INS_GYRO_FILTER,4
INS_GYRO_RATE,0
INS_GYROFFS_X,0.002418942
INS_GYROFFS_Y,-5.427205E-05
INS_GYROFFS_Z,0.009206237
INS_HNTC2_ENABLE,0
INS_HNTCH_ENABLE,0
INS_LOG_BAT_CNT,1024
INS_LOG_BAT_LGCT,32
INS_LOG_BAT_LGIN,20
INS_LOG_BAT_MASK,0
INS_LOG_BAT_OPT,0
INS_POS1_X,0
INS_POS1_Y,0
INS_POS1_Z,0
INS_STILL_THRESH,0.1
INS_TCAL_OPTIONS,0
INS_TCAL1_ENABLE,0
INS_TRIM_OPTION,1
INS_USE,1
LOG_BACKEND_TYPE,1
LOG_BITMASK,65535
LOG_DISARMED,0
LOG_FILE_BUFSIZE,80
LOG_FILE_DSRMROT,0
LOG_FILE_MB_FREE,500
LOG_FILE_RATEMAX,0
LOG_FILE_TIMEOUT,5
LOG_MAV_BUFSIZE,8
LOG_MAV_RATEMAX,0
LOG_REPLAY,0
LOIT_RADIUS,2
LOIT_SPEED_GAIN,0.5
LOIT_TYPE,0
MIS_DONE_BEHAVE,0
MIS_OPTIONS,0
MIS_RESTART,0
MIS_TOTAL,0
MNT_TYPE,0
MODE_CH,8
MODE1,4
MODE2,0
MODE3,0
MODE4,0
MODE5,0
MODE6,0
MOT_PWM_FREQ,16
MOT_PWM_TYPE,0
MOT_SAFE_DISARM,0
MOT_SLEWRATE,100
MOT_SPD_SCA_BASE,1
MOT_STR_THR_MIX,0.5
MOT_THR_MAX,100
MOT_THR_MIN,0
MOT_THST_EXPO,0
MOT_VEC_ANGLEMAX,0
MSP_OPTIONS,0
MSP_OSD_NCELLS,0
NAVL1_DAMPING,0.75
NAVL1_PERIOD,8
NAVL1_XTRACK_I,0.02
NTF_BUZZ_ON_LVL,1
NTF_BUZZ_PIN,-1
NTF_BUZZ_TYPES,1
NTF_BUZZ_VOLUME,100
NTF_DISPLAY_TYPE,0
NTF_LED_BRIGHT,3
NTF_LED_LEN,1
NTF_LED_OVERRIDE,0
NTF_LED_TYPES,199
OA_TYPE,0
OSD_ARM_SCR,0
OSD_BTN_DELAY,300
OSD_CELL_COUNT,-1
OSD_CHAN,0
OSD_DSARM_SCR,0
OSD_FONT,0
OSD_FS_SCR,0
OSD_H_OFFSET,32
OSD_MSG_TIME,10
OSD_OPTIONS,1
OSD_SW_METHOD,0
OSD_TYPE,1
OSD_UNITS,0
OSD_V_OFFSET,16
OSD_W_AVGCELLV,3.6
OSD_W_BATVOLT,10
OSD_W_NSAT,9
OSD_W_RESTVOLT,10
OSD_W_RSSI,30
OSD_W_TERR,-1
OSD1_ALTITUDE_EN,1
OSD1_ALTITUDE_X,23
OSD1_ALTITUDE_Y,8
OSD1_ARMING_EN,1
OSD1_ARMING_X,1
OSD1_ARMING_Y,1
OSD1_ASPD1_EN,0
OSD1_ASPD1_X,0
OSD1_ASPD1_Y,0
OSD1_ASPD2_EN,0
OSD1_ASPD2_X,0
OSD1_ASPD2_Y,0
OSD1_ASPEED_EN,0
OSD1_ASPEED_X,2
OSD1_ASPEED_Y,13
OSD1_ATEMP_EN,0
OSD1_ATEMP_X,0
OSD1_ATEMP_Y,0
OSD1_AVGCELLV_EN,0
OSD1_AVGCELLV_X,24
OSD1_AVGCELLV_Y,3
OSD1_BAT_VOLT_EN,1
OSD1_BAT_VOLT_X,24
OSD1_BAT_VOLT_Y,1
OSD1_BAT2_VLT_EN,0
OSD1_BAT2_VLT_X,0
OSD1_BAT2_VLT_Y,0
OSD1_BAT2USED_EN,0
OSD1_BAT2USED_X,0
OSD1_BAT2USED_Y,0
OSD1_BATTBAR_EN,1
OSD1_BATTBAR_X,1
OSD1_BATTBAR_Y,1
OSD1_BATUSED_EN,1
OSD1_BATUSED_X,23
OSD1_BATUSED_Y,3
OSD1_BTEMP_EN,0
OSD1_BTEMP_X,0
OSD1_BTEMP_Y,0
OSD1_CALLSIGN_EN,0
OSD1_CALLSIGN_X,0
OSD1_CALLSIGN_Y,0
OSD1_CELLVOLT_EN,1
OSD1_CELLVOLT_X,1
OSD1_CELLVOLT_Y,1
OSD1_CHAN_MAX,2100
OSD1_CHAN_MIN,900
OSD1_CLIMBEFF_EN,0
OSD1_CLIMBEFF_X,0
OSD1_CLIMBEFF_Y,0
OSD1_CLK_EN,0
OSD1_CLK_X,0
OSD1_CLK_Y,0
OSD1_COMPASS_EN,1
OSD1_COMPASS_X,15
OSD1_COMPASS_Y,3
OSD1_CRSSHAIR_EN,0
OSD1_CRSSHAIR_X,0
OSD1_CRSSHAIR_Y,0
OSD1_CURRENT_EN,1
OSD1_CURRENT_X,25
OSD1_CURRENT_Y,2
OSD1_CURRENT2_EN,0
OSD1_CURRENT2_X,0
OSD1_CURRENT2_Y,0
OSD1_DIST_EN,0
OSD1_DIST_X,22
OSD1_DIST_Y,11
OSD1_EFF_EN,0
OSD1_EFF_X,22
OSD1_EFF_Y,10
OSD1_ENABLE,1
OSD1_ESCAMPS_EN,0
OSD1_ESCAMPS_X,24
OSD1_ESCAMPS_Y,14
OSD1_ESCRPM_EN,0
OSD1_ESCRPM_X,22
OSD1_ESCRPM_Y,12
OSD1_ESCTEMP_EN,0
OSD1_ESCTEMP_X,24
OSD1_ESCTEMP_Y,13
OSD1_FENCE_EN,0
OSD1_FENCE_X,14
OSD1_FENCE_Y,9
OSD1_FLTIME_EN,0
OSD1_FLTIME_X,23
OSD1_FLTIME_Y,10
OSD1_FLTMODE_EN,1
OSD1_FLTMODE_X,2
OSD1_FLTMODE_Y,8
OSD1_GPSLAT_EN,1
OSD1_GPSLAT_X,9
OSD1_GPSLAT_Y,13
OSD1_GPSLONG_EN,1
OSD1_GPSLONG_X,9
OSD1_GPSLONG_Y,14
OSD1_GSPEED_EN,1
OSD1_GSPEED_X,2
OSD1_GSPEED_Y,14
OSD1_HDOP_EN,0
OSD1_HDOP_X,0
OSD1_HDOP_Y,0
OSD1_HEADING_EN,1
OSD1_HEADING_X,13
OSD1_HEADING_Y,2
OSD1_HOME_EN,1
OSD1_HOME_X,14
OSD1_HOME_Y,1
OSD1_HOMEDIR_EN,1
OSD1_HOMEDIR_X,1
OSD1_HOMEDIR_Y,1
OSD1_HOMEDIST_EN,1
OSD1_HOMEDIST_X,1
OSD1_HOMEDIST_Y,1
OSD1_HORIZON_EN,1
OSD1_HORIZON_X,14
OSD1_HORIZON_Y,8
OSD1_LINK_Q_EN,0
OSD1_LINK_Q_X,1
OSD1_LINK_Q_Y,1
OSD1_MESSAGE_EN,1
OSD1_MESSAGE_X,2
OSD1_MESSAGE_Y,6
OSD1_PITCH_EN,0
OSD1_PITCH_X,0
OSD1_PITCH_Y,0
OSD1_PLUSCODE_EN,0
OSD1_PLUSCODE_X,0
OSD1_PLUSCODE_Y,0
OSD1_POWER_EN,1
OSD1_POWER_X,1
OSD1_POWER_Y,1
OSD1_RESTVOLT_EN,0
OSD1_RESTVOLT_X,24
OSD1_RESTVOLT_Y,2
OSD1_RNGF_EN,0
OSD1_RNGF_X,0
OSD1_RNGF_Y,0
OSD1_ROLL_EN,0
OSD1_ROLL_X,0
OSD1_ROLL_Y,0
OSD1_RSSI_EN,1
OSD1_RSSI_X,1
OSD1_RSSI_Y,1
OSD1_SATS_EN,1
OSD1_SATS_X,1
OSD1_SATS_Y,3
OSD1_SIDEBARS_EN,0
OSD1_SIDEBARS_X,4
OSD1_SIDEBARS_Y,5
OSD1_STATS_EN,0
OSD1_STATS_X,0
OSD1_STATS_Y,0
OSD1_TEMP_EN,0
OSD1_TEMP_X,0
OSD1_TEMP_Y,0
OSD1_TER_HGT_EN,0
OSD1_TER_HGT_X,23
OSD1_TER_HGT_Y,7
OSD1_THROTTLE_EN,1
OSD1_THROTTLE_X,24
OSD1_THROTTLE_Y,11
OSD1_VSPEED_EN,1
OSD1_VSPEED_X,24
OSD1_VSPEED_Y,9
OSD1_VTX_PWR_EN,0
OSD1_VTX_PWR_X,0
OSD1_VTX_PWR_Y,0
OSD1_WAYPOINT_EN,0
OSD1_WAYPOINT_X,0
OSD1_WAYPOINT_Y,0
OSD1_WIND_EN,0
OSD1_WIND_X,2
OSD1_WIND_Y,12
OSD1_XTRACK_EN,0
OSD1_XTRACK_X,0
OSD1_XTRACK_Y,0
OSD2_ENABLE,0
OSD2_LINK_Q_EN,0
OSD2_LINK_Q_X,1
OSD2_LINK_Q_Y,1
OSD3_ENABLE,0
OSD3_LINK_Q_EN,0
OSD3_LINK_Q_X,1
OSD3_LINK_Q_Y,1
OSD4_ENABLE,0
OSD4_LINK_Q_EN,0
OSD4_LINK_Q_X,1
OSD4_LINK_Q_Y,1
OSD5_ENABLE,0
OSD6_ENABLE,0
PILOT_STEER_TYPE,0
PRX_TYPE,0
RALLY_INCL_HOME,1
RALLY_LIMIT_KM,0.5
RALLY_TOTAL,0
RC_OPTIONS,32
RC_OVERRIDE_TIME,3
RC_PROTOCOLS,1
RC1_DZ,30
RC1_MAX,2000
RC1_MIN,1000
RC1_OPTION,0
RC1_REVERSED,0
RC1_TRIM,1500
RC10_DZ,0
RC10_MAX,2005
RC10_MIN,1005
RC10_OPTION,0
RC10_REVERSED,0
RC10_TRIM,2005
RC11_DZ,0
RC11_MAX,1900
RC11_MIN,1100
RC11_OPTION,0
RC11_REVERSED,0
RC11_TRIM,1500
RC12_DZ,0
RC12_MAX,1900
RC12_MIN,1100
RC12_OPTION,0
RC12_REVERSED,0
RC12_TRIM,1500
RC13_DZ,0
RC13_MAX,1900
RC13_MIN,1100
RC13_OPTION,0
RC13_REVERSED,0
RC13_TRIM,1500
RC14_DZ,0
RC14_MAX,1900
RC14_MIN,1100
RC14_OPTION,0
RC14_REVERSED,0
RC14_TRIM,1500
RC15_DZ,0
RC15_MAX,1900
RC15_MIN,1100
RC15_OPTION,0
RC15_REVERSED,0
RC15_TRIM,1500
RC16_DZ,0
RC16_MAX,1900
RC16_MIN,1100
RC16_OPTION,0
RC16_REVERSED,0
RC16_TRIM,1500
RC2_DZ,0
RC2_MAX,2000
RC2_MIN,1000
RC2_OPTION,0
RC2_REVERSED,0
RC2_TRIM,1503
RC3_DZ,30
RC3_MAX,2000
RC3_MIN,1001
RC3_OPTION,0
RC3_REVERSED,0
RC3_TRIM,1527
RC4_DZ,30
RC4_MAX,2000
RC4_MIN,1003
RC4_OPTION,0
RC4_REVERSED,0
RC4_TRIM,1500
RC5_DZ,0
RC5_MAX,2000
RC5_MIN,1000
RC5_OPTION,0
RC5_REVERSED,0
RC5_TRIM,1000
RC6_DZ,0
RC6_MAX,2000
RC6_MIN,1000
RC6_OPTION,0
RC6_REVERSED,0
RC6_TRIM,1000
RC7_DZ,0
RC7_MAX,2000
RC7_MIN,1000
RC7_OPTION,0
RC7_REVERSED,0
RC7_TRIM,2000
RC8_DZ,0
RC8_MAX,2000
RC8_MIN,1000
RC8_OPTION,0
RC8_REVERSED,0
RC8_TRIM,1000
RC9_DZ,0
RC9_MAX,2000
RC9_MIN,1000
RC9_OPTION,0
RC9_REVERSED,0
RC9_TRIM,2000
RCMAP_PITCH,2
RCMAP_ROLL,1
RCMAP_THROTTLE,3
RCMAP_YAW,4
RELAY_DEFAULT,0
RELAY_PIN,-1
RELAY_PIN2,-1
RELAY_PIN3,-1
RELAY_PIN4,-1
RELAY_PIN5,-1
RELAY_PIN6,-1
RNGFND1_TYPE,0
RNGFND2_TYPE,0
RNGFND3_TYPE,0
RNGFND4_TYPE,0
RNGFND5_TYPE,0
RNGFND6_TYPE,0
RNGFND7_TYPE,0
RNGFND8_TYPE,0
RNGFND9_TYPE,0
RNGFNDA_TYPE,0
RPM1_TYPE,0
RPM2_TYPE,0
RSSI_TYPE,0
RST_SWITCH_CH,0
RTL_SPEED,0
SAIL_ENABLE,0
SCHED_DEBUG,0
SCHED_LOOP_RATE,50
SCHED_OPTIONS,0
SCR_ENABLE,0
SERIAL_PASS1,0
SERIAL_PASS2,-1
SERIAL_PASSTIMO,15
SERIAL0_BAUD,115
SERIAL0_PROTOCOL,2
SERIAL1_BAUD,57
SERIAL1_OPTIONS,0
SERIAL1_PROTOCOL,2
SERIAL2_BAUD,57
SERIAL2_OPTIONS,0
SERIAL2_PROTOCOL,2
SERIAL3_BAUD,38
SERIAL3_OPTIONS,0
SERIAL3_PROTOCOL,5
SERVO_BLH_3DMASK,0
SERVO_BLH_AUTO,0
SERVO_BLH_DEBUG,0
SERVO_BLH_MASK,0
SERVO_BLH_OTYPE,0
SERVO_BLH_POLES,14
SERVO_BLH_PORT,0
SERVO_BLH_RVMASK,0
SERVO_BLH_TEST,0
SERVO_BLH_TMOUT,0
SERVO_BLH_TRATE,10
SERVO_DSHOT_ESC,0
SERVO_DSHOT_RATE,0
SERVO_FTW_MASK,0
SERVO_FTW_POLES,14
SERVO_FTW_RVMASK,0
SERVO_GPIO_MASK,0
SERVO_RATE,50
SERVO_ROB_POSMAX,4095
SERVO_ROB_POSMIN,0
SERVO_SBUS_RATE,50
SERVO_VOLZ_MASK,0
SERVO1_FUNCTION,26
SERVO1_MAX,1900
SERVO1_MIN,1100
SERVO1_REVERSED,0
SERVO1_TRIM,1500
SERVO10_FUNCTION,0
SERVO10_MAX,1900
SERVO10_MIN,1100
SERVO10_REVERSED,0
SERVO10_TRIM,1500
SERVO11_FUNCTION,0
SERVO11_MAX,1900
SERVO11_MIN,1100
SERVO11_REVERSED,0
SERVO11_TRIM,1500
SERVO12_FUNCTION,0
SERVO12_MAX,1900
SERVO12_MIN,1100
SERVO12_REVERSED,0
SERVO12_TRIM,1500
SERVO13_FUNCTION,0
SERVO13_MAX,1900
SERVO13_MIN,1100
SERVO13_REVERSED,0
SERVO13_TRIM,1500
SERVO14_FUNCTION,0
SERVO14_MAX,1900
SERVO14_MIN,1100
SERVO14_REVERSED,0
SERVO14_TRIM,1500
SERVO15_FUNCTION,0
SERVO15_MAX,1900
SERVO15_MIN,1100
SERVO15_REVERSED,0
SERVO15_TRIM,1500
SERVO16_FUNCTION,0
SERVO16_MAX,1900
SERVO16_MIN,1100
SERVO16_REVERSED,0
SERVO16_TRIM,1500
SERVO2_FUNCTION,70
SERVO2_MAX,1900
SERVO2_MIN,1100
SERVO2_REVERSED,0
SERVO2_TRIM,1500
SERVO3_FUNCTION,70
SERVO3_MAX,1900
SERVO3_MIN,1100
SERVO3_REVERSED,0
SERVO3_TRIM,1500
SERVO4_FUNCTION,0
SERVO4_MAX,1900
SERVO4_MIN,1100
SERVO4_REVERSED,0
SERVO4_TRIM,1500
SERVO5_FUNCTION,0
SERVO5_MAX,1900
SERVO5_MIN,1100
SERVO5_REVERSED,0
SERVO5_TRIM,1500
SERVO6_FUNCTION,0
SERVO6_MAX,1900
SERVO6_MIN,1100
SERVO6_REVERSED,0
SERVO6_TRIM,1500
SERVO7_FUNCTION,0
SERVO7_MAX,1900
SERVO7_MIN,1100
SERVO7_REVERSED,0
SERVO7_TRIM,1500
SERVO8_FUNCTION,0
SERVO8_MAX,1900
SERVO8_MIN,1100
SERVO8_REVERSED,0
SERVO8_TRIM,1500
SERVO9_FUNCTION,0
SERVO9_MAX,1900
SERVO9_MIN,1100
SERVO9_REVERSED,0
SERVO9_TRIM,1500
SIMPLE_TYPE,0
SPEED_MAX,0
SPRAY_ENABLE,0
SR0_ADSB,0
SR0_EXT_STAT,2
SR0_EXTRA1,4
SR0_EXTRA2,4
SR0_EXTRA3,2
SR0_PARAMS,10
SR0_POSITION,2
SR0_RAW_CTRL,1
SR0_RAW_SENS,2
SR0_RC_CHAN,2
SR1_ADSB,0
SR1_EXT_STAT,1
SR1_EXTRA1,1
SR1_EXTRA2,1
SR1_EXTRA3,1
SR1_PARAMS,10
SR1_POSITION,1
SR1_RAW_CTRL,1
SR1_RAW_SENS,1
SR1_RC_CHAN,1
SR2_ADSB,0
SR2_EXT_STAT,1
SR2_EXTRA1,1
SR2_EXTRA2,1
SR2_EXTRA3,1
SR2_PARAMS,10
SR2_POSITION,1
SR2_RAW_CTRL,1
SR2_RAW_SENS,1
SR2_RC_CHAN,1
SR3_ADSB,0
SR3_EXT_STAT,1
SR3_EXTRA1,1
SR3_EXTRA2,1
SR3_EXTRA3,1
SR3_PARAMS,10
SR3_POSITION,1
SR3_RAW_CTRL,1
SR3_RAW_SENS,1
SR3_RC_CHAN,1
SR4_ADSB,0
SR4_EXT_STAT,1
SR4_EXTRA1,1
SR4_EXTRA2,1
SR4_EXTRA3,1
SR4_PARAMS,10
SR4_POSITION,1
SR4_RAW_CTRL,1
SR4_RAW_SENS,1
SR4_RC_CHAN,1
SRTL_ACCURACY,2
SRTL_OPTIONS,0
SRTL_POINTS,300
STAT_BOOTCNT,1
STAT_FLTTIME,0
STAT_RESET,0
STAT_RUNTIME,0
STICK_MIXING,0
SYSID_ENFORCE,0
SYSID_MYGCS,255
SYSID_THISMAV,1
TELEM_DELAY,0
TRQD_TYPE,0
TURN_RADIUS,0.9
VISO_TYPE,0
VTX_ENABLE,0
WENC_TYPE,0
WNDVN_TYPE,0
WP_OVERSHOOT,2
WP_PIVOT_ANGLE,60
WP_PIVOT_DELAY,0
WP_PIVOT_RATE,90
WP_RADIUS,2
WP_SPEED,2
WP_SPEED_MIN,0
WRC_ENABLE,0
7.硬件连接
连线没有固定模式。美嘉欣的地盘默认为1通道为转向舵机，2通道为电调和电机。3通道LED、4通道为风扇。这4个通道指的是出厂的接收机上的4个孔位的编号。
设置全部参数表，SERVO1_FUNCTION = 26（前轮转向）
SERVO3_FUNCTION = 70（油门）
这里容易在调试的时候出问题，可以把通道2也设置为油门，如果三通道有问题直接插到二通道。
8.无人车解锁
选择手动模式，油门杆推至中点，然后将横滚转向摇杆完全打向最右，然后保持 2 秒，当飞控蓝灯或者绿灯长亮，解锁成功，黄灯表示失败。
未解锁成功时方向舵可以使用，此时蓝灯或绿灯闪烁，但前进后退或油门无法使用。此时进行解锁操作，不会带来移动。但为了安全起见，应将模式调整在停机或留待模式时解锁。解锁完成后，蓝灯或绿灯常亮。
刚解锁成功后的动作，应该先进行小幅度的打杆，确定方向和指令无误之后，才可以进行大幅度运动，以免造成不必要的失控，只有完全熟悉各摇杆行程，才可以执行打到底的操作。
1.到底是什么原因，可以在首页查看报警日志。
2.要观察无人车电调指示灯。E 45 a无刷电调LED灯的含义是
LED常亮表示有信号
LED快速闪烁表示无信号或信号输入
LED慢速闪烁表示低电压
LED闪两下表示过热
LED熄灭表示堵转保护
3.另外要注意配件含电池的重心设置。如果无人车有弹簧式悬挂，过重的负载可能导致车轮无法正常行进，乃至进一步导致动力系统故障或永久性损坏。
方法一是要优化重心的设置，尽量居中。方法二是调整弹簧的行程，增加载荷系数。三是增加辅助轮进行分担载荷。四是设计拖挂结构，将不必要的载荷放置于拖挂单元。五是选择比较轻巧的电池。
9.遥控器设置
10.开关机
由于是两套不同的系统，需要安装顺序进行开关机。
开机：打开遥控器——通电飞控——通电无人车电调
关机：关闭电调——关闭飞控——关闭遥控器
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