Two Same type Rangefinder Error when use 2 differents Serial Lidar together

framosnt commented 4 years ago

Bug report

Issue details

Hi team,

My project is to Pixhawk 1 - Arducopter 4.0.1 with 2 radars type UART, but each serial port are different type ! first radar is 1 sector to altimeter and secund is 3 sector to proximity.

The each radar work very well when is alone, but together have a conflit.

First Radar (have a 1 sector) to altimeter: Serial2_type = 9 (Rangefinder) RNG_Orient= 25 (down) RNG_type = 11 (uLanding)

Secund Radar (have 3 sectors) to proximity: Serial4_type = 11 (Lidar360) RNG_Orient= 0 (Forward) RNG_type = 11 (uLanding) apx_type = 3 (TeraRangerTower)

When I try this, the RangeFinder1 show the correct value, when proximity is not detect, alternating this. Version What version was the issue encountered with

Platform [ ] All [ ] AntennaTracker [X ] Copter [ ] Plane [ ] Rover [ ] Submarine

Airframe type What type of airframe (flying wing, glider, hex, Y6, octa etc) hex and quad Hardware type What autopilot hardware was used? (Pixhawk, Cube, Pixracer, Navio2, etc) pixhawk 1 Logs Please provide a link to any relevant logs that show the issue

JacksonUAS commented 4 years ago

Why are you setting rng settings for the proximity sensors?

framosnt commented 4 years ago

Why are you setting rng settings for the proximity sensors?

Dear Jackson, I use two radar, to follow terrain (RNGFND1_ORIENT = 25) not necessary to setting as proximity sensor, but other to avoidance ( (RNGFND1_ORIENT = 0) is 3 sector radar and need to show detected object in Proximity Window !

The problem is in function FIND_SERIAL, the parameter "procotol" is ignored, I have two serial radar with different protocol, one is ONE SECTOR is RANGEFINDER serial Protocol other is 3 SECTOR, serial Protocol is Lidar360. When I setting Proximity Type TerarangerTower, the function FIND_SERIAL would return only Lidar360 serial port !!!!

When I use only one radar typed RANGEFINDER worked well and show RANGEFINDER VALUE, but wrote in HUD error menseger "LIDAR ERROR", because not identify that my radar use uLANDING RANGEFINDER is SINGLE POINT and can to be a ORIENTATION to down side !!!! If I change Orient to 0 (forward) the error not show !

The code have a incorrect TYPE RANGEFINDER identification !

I did test, created new RANGEFINDER , change the code of Rangerfinder LEDDARONE to same code of ULANDING, did setting first Rangefinder to uLanding and other to LeddarOne, same this change type of Rangefinder this returned first Serial AVAILABLE !!!

I will upload log and setting files !

framosnt commented 4 years ago

SYSID_SW_MREV 120 SYSID_THISMAV 1 SYSID_MYGCS 255 PILOT_THR_FILT 0 PILOT_TKOFF_ALT 0 PILOT_THR_BHV 0 SERIAL0_BAUD 115 SERIAL0_PROTOCOL 2 SERIAL1_PROTOCOL 1 SERIAL1_BAUD 115 SERIAL2_PROTOCOL 11 SERIAL2_BAUD 115 SERIAL3_PROTOCOL 5 SERIAL3_BAUD 38 SERIAL4_PROTOCOL 9 SERIAL4_BAUD 115 SERIAL5_PROTOCOL -1 SERIAL5_BAUD 57 SERIAL1_OPTIONS 0 SERIAL2_OPTIONS 0 SERIAL3_OPTIONS 0 SERIAL4_OPTIONS 0 SERIAL5_OPTIONS 0 SERIAL_PASS1 0 SERIAL_PASS2 -1 SERIAL_PASSTIMO 15 TELEM_DELAY 0 GCS_PID_MASK 0 RTL_ALT 1500 RTL_CONE_SLOPE 3 RTL_SPEED 0 RTL_ALT_FINAL 0 RTL_CLIMB_MIN 0 RTL_LOIT_TIME 5000 RNGFND_GAIN 0.8 FS_GCS_ENABLE 0 GPS_HDOP_GOOD 140 SUPER_SIMPLE 0 WP_YAW_BEHAVIOR 2 LAND_SPEED 50 LAND_SPEED_HIGH 0 PILOT_SPEED_UP 250 PILOT_ACCEL_Z 250 FS_THR_ENABLE 1 FS_THR_VALUE 975 THR_DZ 100 FLTMODE1 0 FLTMODE2 0 FLTMODE3 0 FLTMODE4 0 FLTMODE5 0 FLTMODE6 0 FLTMODE_CH 5 SIMPLE 0 LOG_BITMASK 176126 ESC_CALIBRATION 0 TUNE 0 FRAME_TYPE 1 ARMING_ACCTHRESH 0.75 ARMING_RUDDER 2 ARMING_MIS_ITEMS 0 ARMING_CHECK 1 DISARM_DELAY 10 ANGLE_MAX 4500 PHLD_BRAKE_RATE 8 PHLD_BRAKE_ANGLE 3000 LAND_REPOSITION 1 FS_EKF_ACTION 1 FS_EKF_THRESH 0.8 FS_CRASH_CHECK 1 RC_SPEED 490 ACRO_RP_P 4.5 ACRO_YAW_P 4.5 ACRO_BAL_ROLL 1 ACRO_BAL_PITCH 1 ACRO_TRAINER 2 ACRO_RP_EXPO 0.3 CAM_TRIGG_TYPE 0 CAM_DURATION 10 CAM_SERVO_ON 1300 CAM_SERVO_OFF 1100 CAM_TRIGG_DIST 0 CAM_RELAY_ON 1 CAM_MIN_INTERVAL 0 CAM_MAX_ROLL 0 CAM_FEEDBACK_PIN -1 CAM_FEEDBACK_POL 1 CAM_AUTO_ONLY 0 CAM_TYPE 0 RELAY_PIN 54 RELAY_PIN2 55 RELAY_PIN3 -1 RELAY_PIN4 -1 RELAY_DEFAULT 0 RELAY_PIN5 -1 RELAY_PIN6 -1 CHUTE_ENABLED 0 LGR_STARTUP 0 LGR_DEPLOY_PIN -1 LGR_DEPLOY_POL 0 LGR_WOW_PIN -1 LGR_WOW_POL 0 LGR_DEPLOY_ALT 0 LGR_RETRACT_ALT 0 COMPASS_OFS_X 0 COMPASS_OFS_Y 0 COMPASS_OFS_Z 0 COMPASS_DEC -0.4175101 COMPASS_LEARN 0 COMPASS_USE 1 COMPASS_AUTODEC 1 COMPASS_MOTCT 0 COMPASS_MOT_X 0 COMPASS_MOT_Y 0 COMPASS_MOT_Z 0 COMPASS_ORIENT 0 COMPASS_EXTERNAL 1 COMPASS_OFS2_X 0 COMPASS_OFS2_Y 0 COMPASS_OFS2_Z 0 COMPASS_MOT2_X 0 COMPASS_MOT2_Y 0 COMPASS_MOT2_Z 0 COMPASS_PRIMARY 0 COMPASS_OFS3_X 0 COMPASS_OFS3_Y 0 COMPASS_OFS3_Z 0 COMPASS_MOT3_X 0 COMPASS_MOT3_Y 0 COMPASS_MOT3_Z 0 COMPASS_DEV_ID 466441 COMPASS_DEV_ID2 131594 COMPASS_DEV_ID3 0 COMPASS_USE2 1 COMPASS_ORIENT2 0 COMPASS_EXTERN2 0 COMPASS_USE3 1 COMPASS_ORIENT3 0 COMPASS_EXTERN3 0 COMPASS_DIA_X 1 COMPASS_DIA_Y 1 COMPASS_DIA_Z 1 COMPASS_ODI_X 0 COMPASS_ODI_Y 0 COMPASS_ODI_Z 0 COMPASS_DIA2_X 1 COMPASS_DIA2_Y 1 COMPASS_DIA2_Z 1 COMPASS_ODI2_X 0 COMPASS_ODI2_Y 0 COMPASS_ODI2_Z 0 COMPASS_DIA3_X 0 COMPASS_DIA3_Y 0 COMPASS_DIA3_Z 0 COMPASS_ODI3_X 0 COMPASS_ODI3_Y 0 COMPASS_ODI3_Z 0 COMPASS_CAL_FIT 16 COMPASS_OFFS_MAX 1800 COMPASS_PMOT_EN 0 COMPASS_TYPEMASK 0 COMPASS_FLTR_RNG 0 COMPASS_AUTO_ROT 2 COMPASS_EXP_DID -1 COMPASS_EXP_DID2 -1 COMPASS_EXP_DID3 -1 COMPASS_ENABLE 1 COMPASS_SCALE 0 COMPASS_SCALE2 0 COMPASS_SCALE3 0 COMPASS_OPTIONS 0 INS_GYROFFS_X 0.03441995 INS_GYROFFS_Y 0.02781097 INS_GYROFFS_Z 0.1015252 INS_GYR2OFFS_X 0.1417335 INS_GYR2OFFS_Y -0.08883846 INS_GYR2OFFS_Z 0.08349627 INS_GYR3OFFS_X 0 INS_GYR3OFFS_Y 0 INS_GYR3OFFS_Z 0 INS_ACCSCAL_X 1 INS_ACCSCAL_Y 1 INS_ACCSCAL_Z 1 INS_ACCOFFS_X 0 INS_ACCOFFS_Y 0 INS_ACCOFFS_Z 0 INS_ACC2SCAL_X 1 INS_ACC2SCAL_Y 1 INS_ACC2SCAL_Z 1 INS_ACC2OFFS_X 0 INS_ACC2OFFS_Y 0 INS_ACC2OFFS_Z 0 INS_ACC3SCAL_X 0 INS_ACC3SCAL_Y 0 INS_ACC3SCAL_Z 0 INS_ACC3OFFS_X 0 INS_ACC3OFFS_Y 0 INS_ACC3OFFS_Z 0 INS_GYRO_FILTER 20 INS_ACCEL_FILTER 20 INS_USE 1 INS_USE2 1 INS_USE3 1 INS_STILL_THRESH 2.5 INS_GYR_CAL 1 INS_TRIM_OPTION 1 INS_ACC_BODYFIX 2 INS_POS1_X 0 INS_POS1_Y 0 INS_POS1_Z 0 INS_POS2_X 0 INS_POS2_Y 0 INS_POS2_Z 0 INS_POS3_X 0 INS_POS3_Y 0 INS_POS3_Z 0 INS_GYR_ID 2163722 INS_GYR2_ID 2228490 INS_GYR3_ID 0 INS_ACC_ID 1246218 INS_ACC2_ID 1114634 INS_ACC3_ID 0 INS_FAST_SAMPLE 1 INS_NOTCH_ENABLE 0 INS_LOG_BAT_CNT 1024 INS_LOG_BAT_MASK 0 INS_LOG_BAT_OPT 0 INS_LOG_BAT_LGIN 20 INS_LOG_BAT_LGCT 32 INS_ENABLE_MASK 127 INS_HNTCH_ENABLE 0 WPNAV_SPEED 500 WPNAV_RADIUS 200 WPNAV_SPEED_UP 250 WPNAV_SPEED_DN 150 WPNAV_ACCEL 100 WPNAV_ACCEL_Z 100 WPNAV_RFND_USE 1 LOIT_ANG_MAX 0 LOIT_SPEED 1250 LOIT_ACC_MAX 500 LOIT_BRK_ACCEL 250 LOIT_BRK_JERK 500 LOIT_BRK_DELAY 1 CIRCLE_RADIUS 1000 CIRCLE_RATE 20 CIRCLE_CONTROL 1 ATC_SLEW_YAW 6000 ATC_ACCEL_Y_MAX 27000 ATC_RATE_FF_ENAB 1 ATC_ACCEL_R_MAX 110000 ATC_ACCEL_P_MAX 110000 ATC_ANGLE_BOOST 1 ATC_ANG_RLL_P 4.5 ATC_ANG_PIT_P 4.5 ATC_ANG_YAW_P 4.5 ATC_ANG_LIM_TC 1 ATC_RATE_R_MAX 0 ATC_RATE_P_MAX 0 ATC_RATE_Y_MAX 0 ATC_INPUT_TC 0.15 ATC_RAT_RLL_P 0.135 ATC_RAT_RLL_I 0.135 ATC_RAT_RLL_D 0.0036 ATC_RAT_RLL_FF 0 ATC_RAT_RLL_IMAX 0.5 ATC_RAT_RLL_FLTT 20 ATC_RAT_RLL_FLTE 0 ATC_RAT_RLL_FLTD 20 ATC_RAT_PIT_P 0.135 ATC_RAT_PIT_I 0.135 ATC_RAT_PIT_D 0.0036 ATC_RAT_PIT_FF 0 ATC_RAT_PIT_IMAX 0.5 ATC_RAT_PIT_FLTT 20 ATC_RAT_PIT_FLTE 0 ATC_RAT_PIT_FLTD 20 ATC_RAT_YAW_P 0.18 ATC_RAT_YAW_I 0.018 ATC_RAT_YAW_D 0 ATC_RAT_YAW_FF 0 ATC_RAT_YAW_IMAX 0.5 ATC_RAT_YAW_FLTT 20 ATC_RAT_YAW_FLTE 2.5 ATC_RAT_YAW_FLTD 0 ATC_THR_MIX_MIN 0.1 ATC_THR_MIX_MAX 0.5 ATC_THR_MIX_MAN 0.1 PSC_ACC_XY_FILT 2 PSC_POSZ_P 1 PSC_VELZ_P 5 PSC_ACCZ_P 0.5 PSC_ACCZ_I 1 PSC_ACCZ_D 0 PSC_ACCZ_FF 0 PSC_ACCZ_IMAX 800 PSC_ACCZ_FLTT 0 PSC_ACCZ_FLTE 20 PSC_ACCZ_FLTD 0 PSC_POSXY_P 1 PSC_VELXY_P 2 PSC_VELXY_I 1 PSC_VELXY_IMAX 1000 PSC_VELXY_FILT 5 PSC_VELXY_D 0.5 PSC_VELXY_D_FILT 5 PSC_ANGLE_MAX 0 SR0_RAW_SENS 10 SR0_EXT_STAT 2 SR0_RC_CHAN 2 SR0_RAW_CTRL 0 SR0_POSITION 10 SR0_EXTRA1 10 SR0_EXTRA2 10 SR0_EXTRA3 10 SR0_PARAMS 0 SR0_ADSB 0 SR1_RAW_SENS 0 SR1_EXT_STAT 0 SR1_RC_CHAN 0 SR1_RAW_CTRL 0 SR1_POSITION 0 SR1_EXTRA1 0 SR1_EXTRA2 0 SR1_EXTRA3 0 SR1_PARAMS 0 SR1_ADSB 0 SR2_RAW_SENS 0 SR2_EXT_STAT 0 SR2_RC_CHAN 0 SR2_RAW_CTRL 0 SR2_POSITION 0 SR2_EXTRA1 0 SR2_EXTRA2 0 SR2_EXTRA3 0 SR2_PARAMS 0 SR2_ADSB 0 SR3_RAW_SENS 0 SR3_EXT_STAT 0 SR3_RC_CHAN 0 SR3_RAW_CTRL 0 SR3_POSITION 0 SR3_EXTRA1 0 SR3_EXTRA2 0 SR3_EXTRA3 0 SR3_PARAMS 0 SR3_ADSB 0 AHRS_GPS_GAIN 1 AHRS_GPS_USE 1 AHRS_YAW_P 0.2 AHRS_RP_P 0.2 AHRS_WIND_MAX 0 AHRS_TRIM_X 0 AHRS_TRIM_Y 0 AHRS_TRIM_Z 0 AHRS_ORIENTATION 0 AHRS_COMP_BETA 0.1 AHRS_GPS_MINSATS 6 AHRS_EKF_TYPE 2 AHRS_CUSTOM_ROLL 0 AHRS_CUSTOM_PIT 0 AHRS_CUSTOM_YAW 0 MNT_DEFLT_MODE 3 MNT_RETRACT_X 0 MNT_RETRACT_Y 0 MNT_RETRACT_Z 0 MNT_NEUTRAL_X 0 MNT_NEUTRAL_Y 0 MNT_NEUTRAL_Z 0 MNT_STAB_ROLL 0 MNT_STAB_TILT 0 MNT_STAB_PAN 0 MNT_RC_IN_ROLL 0 MNT_ANGMIN_ROL -4500 MNT_ANGMAX_ROL 4500 MNT_RC_IN_TILT 0 MNT_ANGMIN_TIL -4500 MNT_ANGMAX_TIL 4500 MNT_RC_IN_PAN 0 MNT_ANGMIN_PAN -4500 MNT_ANGMAX_PAN 4500 MNT_JSTICK_SPD 0 MNT_LEAD_RLL 0 MNT_LEAD_PTCH 0 MNT_TYPE 0 LOG_BACKEND_TYPE 1 LOG_FILE_BUFSIZE 16 LOG_DISARMED 0 LOG_REPLAY 0 LOG_FILE_DSRMROT 0 LOG_MAV_BUFSIZE 8 LOG_FILE_TIMEOUT 5 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 BRD_PWM_COUNT 4 BRD_SER1_RTSCTS 2 BRD_SER2_RTSCTS 2 BRD_SAFETYENABLE 1 BRD_SBUS_OUT 0 BRD_SERIAL_NUM 0 BRD_SAFETY_MASK 16368 BRD_IMU_TARGTEMP -1 BRD_TYPE 2 BRD_IO_ENABLE 1 BRD_SAFETYOPTION 3 BRD_RTC_TYPES 1 BRD_RTC_TZ_MIN 0 BRD_VBUS_MIN 4.3 BRD_VSERVO_MIN 0 BRD_SD_SLOWDOWN 0 BRD_OPTIONS 1 BRD_BOOT_DELAY 0 BRD_IMUHEAT_P 200 BRD_IMUHEAT_I 0.3 BRD_IMUHEAT_IMAX 70 BRD_ALT_CONFIG 0 CAN_P1_DRIVER 0 CAN_P2_DRIVER 0 CAN_D1_PROTOCOL 1 CAN_D2_PROTOCOL 1 CAN_SLCAN_CPORT 0 CAN_SLCAN_SERNUM -1 CAN_SLCAN_TIMOUT 0 SPRAY_ENABLE 0 GND_ABS_PRESS 50726.98 GND_TEMP 0 GND_ALT_OFFSET 0 GND_PRIMARY 0 GND_EXT_BUS -1 GND_ABS_PRESS2 0 GND_ABS_PRESS3 0 GND_FLTR_RNG 0 GND_PROBE_EXT 0 GPS_TYPE 1 GPS_TYPE2 0 GPS_NAVFILTER 8 GPS_AUTO_SWITCH 1 GPS_MIN_DGPS 100 GPS_SBAS_MODE 2 GPS_MIN_ELEV -100 GPS_INJECT_TO 127 GPS_SBP_LOGMASK -256 GPS_RAW_DATA 0 GPS_GNSS_MODE 0 GPS_SAVE_CFG 2 GPS_GNSS_MODE2 0 GPS_AUTO_CONFIG 1 GPS_RATE_MS 200 GPS_RATE_MS2 200 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_DELAY_MS 0 GPS_DELAY_MS2 0 GPS_BLEND_MASK 5 GPS_BLEND_TC 10 SCHED_DEBUG 0 SCHED_LOOP_RATE 400 FENCE_ENABLE 0 FENCE_TYPE 7 FENCE_ACTION 1 FENCE_ALT_MAX 100 FENCE_RADIUS 300 FENCE_MARGIN 2 FENCE_TOTAL 0 AVOID_ENABLE 3 AVOID_ANGLE_MAX 1000 AVOID_DIST_MAX 5 AVOID_MARGIN 2 AVOID_BEHAVE 0 RALLY_TOTAL 0 RALLY_LIMIT_KM 0.3 RALLY_INCL_HOME 1 MOT_YAW_HEADROOM 200 MOT_THST_EXPO 0.65 MOT_SPIN_MAX 0.95 MOT_BAT_VOLT_MAX 0 MOT_BAT_VOLT_MIN 0 MOT_BAT_CURR_MAX 0 MOT_PWM_TYPE 0 MOT_PWM_MIN 0 MOT_PWM_MAX 0 MOT_SPIN_MIN 0.15 MOT_SPIN_ARM 0.1 MOT_BAT_CURR_TC 5 MOT_THST_HOVER 0.35 MOT_HOVER_LEARN 2 MOT_SAFE_DISARM 0 MOT_SPOOL_TIME 0.5 MOT_BOOST_SCALE 0 MOT_BAT_IDX 0 MOT_SLEW_UP_TIME 0 MOT_SLEW_DN_TIME 0 MOT_SAFE_TIME 1 RCMAP_ROLL 1 RCMAP_PITCH 2 RCMAP_THROTTLE 3 RCMAP_YAW 4 EK2_ENABLE 1 EK2_GPS_TYPE 0 EK2_VELNE_M_NSE 0.5 EK2_VELD_M_NSE 0.7 EK2_VEL_I_GATE 500 EK2_POSNE_M_NSE 1 EK2_POS_I_GATE 500 EK2_GLITCH_RAD 25 EK2_ALT_SOURCE 0 EK2_ALT_M_NSE 3 EK2_HGT_I_GATE 500 EK2_HGT_DELAY 60 EK2_MAG_M_NSE 0.05 EK2_MAG_CAL 3 EK2_MAG_I_GATE 300 EK2_EAS_M_NSE 1.4 EK2_EAS_I_GATE 400 EK2_RNG_M_NSE 0.5 EK2_RNG_I_GATE 500 EK2_MAX_FLOW 2.5 EK2_FLOW_M_NSE 0.25 EK2_FLOW_I_GATE 300 EK2_FLOW_DELAY 10 EK2_GYRO_P_NSE 0.03 EK2_ACC_P_NSE 0.6 EK2_GBIAS_P_NSE 0.0001 EK2_GSCL_P_NSE 0.0005 EK2_ABIAS_P_NSE 0.005 EK2_WIND_P_NSE 0.1 EK2_WIND_PSCALE 0.5 EK2_GPS_CHECK 31 EK2_IMU_MASK 3 EK2_CHECK_SCALE 100 EK2_NOAID_M_NSE 10 EK2_LOG_MASK 1 EK2_YAW_M_NSE 0.5 EK2_YAW_I_GATE 300 EK2_TAU_OUTPUT 25 EK2_MAGE_P_NSE 0.001 EK2_MAGB_P_NSE 0.0001 EK2_RNG_USE_HGT -1 EK2_TERR_GRAD 0.1 EK2_BCN_M_NSE 1 EK2_BCN_I_GTE 500 EK2_BCN_DELAY 50 EK2_RNG_USE_SPD 2 EK2_MAG_MASK 0 EK2_OGN_HGT_MASK 0 EK2_EXTNAV_DELAY 10 EK2_FLOW_USE 1 EK2_MAG_EF_LIM 50 EK2_HRT_FILT 2 EK3_ENABLE 0 MIS_TOTAL 4 MIS_RESTART 0 MIS_OPTIONS 0 RSSI_TYPE 0 RNGFND1_TYPE 11 RNGFND1_PIN -1 RNGFND1_SCALING 3 RNGFND1_OFFSET 0 RNGFND1_FUNCTION 0 RNGFND1_MIN_CM 20 RNGFND1_MAX_CM 2000 RNGFND1_STOP_PIN -1 RNGFND1_RMETRIC 1 RNGFND1_PWRRNG 0 RNGFND1_GNDCLEAR 10 RNGFND1_ADDR 0 RNGFND1_POS_X 0 RNGFND1_POS_Y 0 RNGFND1_POS_Z 0 RNGFND1_ORIENT 0 RNGFND2_TYPE 12 RNGFND2_PIN -1 RNGFND2_SCALING 3 RNGFND2_OFFSET 0 RNGFND2_FUNCTION 0 RNGFND2_MIN_CM 20 RNGFND2_MAX_CM 3000 RNGFND2_STOP_PIN -1 RNGFND2_RMETRIC 1 RNGFND2_PWRRNG 0 RNGFND2_GNDCLEAR 10 RNGFND2_ADDR 0 RNGFND2_POS_X 0 RNGFND2_POS_Y 0 RNGFND2_POS_Z 0 RNGFND2_ORIENT 25 RNGFND3_TYPE 0 RNGFND3_PIN -1 RNGFND3_SCALING 3 RNGFND3_OFFSET 0 RNGFND3_FUNCTION 0 RNGFND3_MIN_CM 20 RNGFND3_MAX_CM 700 RNGFND3_STOP_PIN -1 RNGFND3_RMETRIC 1 RNGFND3_PWRRNG 0 RNGFND3_GNDCLEAR 10 RNGFND3_ADDR 0 RNGFND3_POS_X 0 RNGFND3_POS_Y 0 RNGFND3_POS_Z 0 RNGFND3_ORIENT 25 RNGFND4_TYPE 0 RNGFND4_PIN -1 RNGFND4_SCALING 3 RNGFND4_OFFSET 0 RNGFND4_FUNCTION 0 RNGFND4_MIN_CM 20 RNGFND4_MAX_CM 700 RNGFND4_STOP_PIN -1 RNGFND4_RMETRIC 1 RNGFND4_PWRRNG 0 RNGFND4_GNDCLEAR 10 RNGFND4_ADDR 0 RNGFND4_POS_X 0 RNGFND4_POS_Y 0 RNGFND4_POS_Z 0 RNGFND4_ORIENT 25 RNGFND5_TYPE 0 RNGFND5_PIN -1 RNGFND5_SCALING 3 RNGFND5_OFFSET 0 RNGFND5_FUNCTION 0 RNGFND5_MIN_CM 20 RNGFND5_MAX_CM 700 RNGFND5_STOP_PIN -1 RNGFND5_RMETRIC 1 RNGFND5_PWRRNG 0 RNGFND5_GNDCLEAR 10 RNGFND5_ADDR 0 RNGFND5_POS_X 0 RNGFND5_POS_Y 0 RNGFND5_POS_Z 0 RNGFND5_ORIENT 25 RNGFND6_TYPE 0 RNGFND6_PIN -1 RNGFND6_SCALING 3 RNGFND6_OFFSET 0 RNGFND6_FUNCTION 0 RNGFND6_MIN_CM 20 RNGFND6_MAX_CM 700 RNGFND6_STOP_PIN -1 RNGFND6_RMETRIC 1 RNGFND6_PWRRNG 0 RNGFND6_GNDCLEAR 10 RNGFND6_ADDR 0 RNGFND6_POS_X 0 RNGFND6_POS_Y 0 RNGFND6_POS_Z 0 RNGFND6_ORIENT 25 RNGFND7_TYPE 0 RNGFND7_PIN -1 RNGFND7_SCALING 3 RNGFND7_OFFSET 0 RNGFND7_FUNCTION 0 RNGFND7_MIN_CM 20 RNGFND7_MAX_CM 700 RNGFND7_STOP_PIN -1 RNGFND7_RMETRIC 1 RNGFND7_PWRRNG 0 RNGFND7_GNDCLEAR 10 RNGFND7_ADDR 0 RNGFND7_POS_X 0 RNGFND7_POS_Y 0 RNGFND7_POS_Z 0 RNGFND7_ORIENT 25 RNGFND8_TYPE 0 RNGFND8_PIN -1 RNGFND8_SCALING 3 RNGFND8_OFFSET 0 RNGFND8_FUNCTION 0 RNGFND8_MIN_CM 20 RNGFND8_MAX_CM 700 RNGFND8_STOP_PIN -1 RNGFND8_RMETRIC 1 RNGFND8_PWRRNG 0 RNGFND8_GNDCLEAR 10 RNGFND8_ADDR 0 RNGFND8_POS_X 0 RNGFND8_POS_Y 0 RNGFND8_POS_Z 0 RNGFND8_ORIENT 25 RNGFND9_TYPE 0 RNGFND9_PIN -1 RNGFND9_SCALING 3 RNGFND9_OFFSET 0 RNGFND9_FUNCTION 0 RNGFND9_MIN_CM 20 RNGFND9_MAX_CM 700 RNGFND9_STOP_PIN -1 RNGFND9_RMETRIC 1 RNGFND9_PWRRNG 0 RNGFND9_GNDCLEAR 10 RNGFND9_ADDR 0 RNGFND9_POS_X 0 RNGFND9_POS_Y 0 RNGFND9_POS_Z 0 RNGFND9_ORIENT 25 RNGFNDA_TYPE 0 RNGFNDA_PIN -1 RNGFNDA_SCALING 3 RNGFNDA_OFFSET 0 RNGFNDA_FUNCTION 0 RNGFNDA_MIN_CM 20 RNGFNDA_MAX_CM 700 RNGFNDA_STOP_PIN -1 RNGFNDA_RMETRIC 1 RNGFNDA_PWRRNG 0 RNGFNDA_GNDCLEAR 10 RNGFNDA_ADDR 0 RNGFNDA_POS_X 0 RNGFNDA_POS_Y 0 RNGFNDA_POS_Z 0 RNGFNDA_ORIENT 25 TERRAIN_ENABLE 1 TERRAIN_SPACING 100 FLOW_TYPE 0 FLOW_FXSCALER 0 FLOW_FYSCALER 0 FLOW_ORIENT_YAW 0 FLOW_POS_X 0 FLOW_POS_Y 0 FLOW_POS_Z 0 FLOW_ADDR 0 PLND_ENABLED 0 RPM_TYPE 0 RPM_SCALING 1 RPM_MAX 100000 RPM_MIN 10 RPM_MIN_QUAL 0.5 RPM_PIN 54 RPM2_TYPE 0 RPM2_SCALING 1 RPM2_PIN -1 ADSB_ENABLE 0 AVD_ENABLE 0 NTF_LED_BRIGHT 3 NTF_BUZZ_ENABLE 1 NTF_LED_OVERRIDE 0 NTF_DISPLAY_TYPE 0 NTF_OREO_THEME 0 NTF_BUZZ_PIN 0 NTF_LED_TYPES 199 NTF_BUZZ_ON_LVL 1 NTF_BUZZ_VOLUME 100 THROW_MOT_START 0 RTL_ALT_TYPE 0 WP_NAVALT_MIN 0 BTN_ENABLE 0 THROW_NEXTMODE 18 THROW_TYPE 0 GND_EFFECT_COMP 1 DEV_OPTIONS 0 BCN_TYPE 0 BCN_LATITUDE 0 BCN_LONGITUDE 0 BCN_ALT 0 BCN_ORIENT_YAW 0 PRX_TYPE 3 PRX_ORIENT 0 PRX_YAW_CORR 22 PRX_IGN_ANG1 0 PRX_IGN_WID1 0 PRX_IGN_ANG2 0 PRX_IGN_WID2 0 PRX_IGN_ANG3 0 PRX_IGN_WID3 0 PRX_IGN_ANG4 0 PRX_IGN_WID4 0 PRX_IGN_ANG5 0 PRX_IGN_WID5 0 PRX_IGN_ANG6 0 PRX_IGN_WID6 0 ACRO_Y_EXPO 0 ACRO_THR_MID 0 SYSID_ENFORCE 0 STAT_BOOTCNT 76 STAT_FLTTIME 0 STAT_RUNTIME 32272 STAT_RESET -5.049216E+08 GRIP_ENABLE 0 FRAME_CLASS 1 SERVO1_MIN 1100 SERVO1_MAX 1900 SERVO1_TRIM 1500 SERVO1_REVERSED 0 SERVO1_FUNCTION 33 SERVO2_MIN 1100 SERVO2_MAX 1900 SERVO2_TRIM 1500 SERVO2_REVERSED 0 SERVO2_FUNCTION 34 SERVO3_MIN 1100 SERVO3_MAX 1900 SERVO3_TRIM 1500 SERVO3_REVERSED 0 SERVO3_FUNCTION 35 SERVO4_MIN 1100 SERVO4_MAX 1900 SERVO4_TRIM 1500 SERVO4_REVERSED 0 SERVO4_FUNCTION 36 SERVO5_MIN 1100 SERVO5_MAX 1900 SERVO5_TRIM 1500 SERVO5_REVERSED 0 SERVO5_FUNCTION 0 SERVO6_MIN 1100 SERVO6_MAX 1900 SERVO6_TRIM 1500 SERVO6_REVERSED 0 SERVO6_FUNCTION 0 SERVO7_MIN 1100 SERVO7_MAX 1900 SERVO7_TRIM 1500 SERVO7_REVERSED 0 SERVO7_FUNCTION 0 SERVO8_MIN 1100 SERVO8_MAX 1900 SERVO8_TRIM 1500 SERVO8_REVERSED 0 SERVO8_FUNCTION 0 SERVO9_MIN 1100 SERVO9_MAX 1900 SERVO9_TRIM 1500 SERVO9_REVERSED 0 SERVO9_FUNCTION 0 SERVO10_MIN 1100 SERVO10_MAX 1900 SERVO10_TRIM 1500 SERVO10_REVERSED 0 SERVO10_FUNCTION 0 SERVO11_MIN 1100 SERVO11_MAX 1900 SERVO11_TRIM 1500 SERVO11_REVERSED 0 SERVO11_FUNCTION 0 SERVO12_MIN 1100 SERVO12_MAX 1900 SERVO12_TRIM 1500 SERVO12_REVERSED 0 SERVO12_FUNCTION 0 SERVO13_MIN 1100 SERVO13_MAX 1900 SERVO13_TRIM 1500 SERVO13_REVERSED 0 SERVO13_FUNCTION 0 SERVO14_MIN 1100 SERVO14_MAX 1900 SERVO14_TRIM 1500 SERVO14_REVERSED 0 SERVO14_FUNCTION 0 SERVO15_MIN 1100 SERVO15_MAX 1900 SERVO15_TRIM 1500 SERVO15_REVERSED 0 SERVO15_FUNCTION 0 SERVO16_MIN 1100 SERVO16_MAX 1900 SERVO16_TRIM 1500 SERVO16_REVERSED 0 SERVO16_FUNCTION 0 SERVO_RATE 50 SERVO_VOLZ_MASK 0 SERVO_SBUS_RATE 50 SERVO_BLH_MASK 0 SERVO_BLH_AUTO 0 SERVO_BLH_TEST 0 SERVO_BLH_TMOUT 0 SERVO_BLH_TRATE 10 SERVO_BLH_DEBUG 0 SERVO_BLH_OTYPE 0 SERVO_BLH_PORT 0 SERVO_BLH_POLES 14 SERVO_BLH_REMASK 0 SERVO_ROB_POSMIN 0 SERVO_ROB_POSMAX 4095 RC1_MIN 1100 RC1_TRIM 1500 RC1_MAX 1900 RC1_REVERSED 0 RC1_DZ 20 RC1_OPTION 0 RC2_MIN 1100 RC2_TRIM 1500 RC2_MAX 1900 RC2_REVERSED 0 RC2_DZ 20 RC2_OPTION 0 RC3_MIN 1100 RC3_TRIM 1500 RC3_MAX 1900 RC3_REVERSED 0 RC3_DZ 30 RC3_OPTION 0 RC4_MIN 1100 RC4_TRIM 1500 RC4_MAX 1900 RC4_REVERSED 0 RC4_DZ 20 RC4_OPTION 0 RC5_MIN 1100 RC5_TRIM 1500 RC5_MAX 1900 RC5_REVERSED 0 RC5_DZ 0 RC5_OPTION 0 RC6_MIN 1100 RC6_TRIM 1500 RC6_MAX 1900 RC6_REVERSED 0 RC6_DZ 0 RC6_OPTION 0 RC7_MIN 1100 RC7_TRIM 1500 RC7_MAX 1900 RC7_REVERSED 0 RC7_DZ 0 RC7_OPTION 0 RC8_MIN 1100 RC8_TRIM 1500 RC8_MAX 1900 RC8_REVERSED 0 RC8_DZ 0 RC8_OPTION 0 RC9_MIN 1100 RC9_TRIM 1500 RC9_MAX 1900 RC9_REVERSED 0 RC9_DZ 0 RC9_OPTION 0 RC10_MIN 1100 RC10_TRIM 1500 RC10_MAX 1900 RC10_REVERSED 0 RC10_DZ 0 RC10_OPTION 0 RC11_MIN 1100 RC11_TRIM 1500 RC11_MAX 1900 RC11_REVERSED 0 RC11_DZ 0 RC11_OPTION 0 RC12_MIN 1100 RC12_TRIM 1500 RC12_MAX 1900 RC12_REVERSED 0 RC12_DZ 0 RC12_OPTION 0 RC13_MIN 1100 RC13_TRIM 1500 RC13_MAX 1900 RC13_REVERSED 0 RC13_DZ 0 RC13_OPTION 0 RC14_MIN 1100 RC14_TRIM 1500 RC14_MAX 1900 RC14_REVERSED 0 RC14_DZ 0 RC14_OPTION 0 RC15_MIN 1100 RC15_TRIM 1500 RC15_MAX 1900 RC15_REVERSED 0 RC15_DZ 0 RC15_OPTION 0 RC16_MIN 1100 RC16_TRIM 1500 RC16_MAX 1900 RC16_REVERSED 0 RC16_DZ 0 RC16_OPTION 0 RC_OVERRIDE_TIME 3 RC_OPTIONS 0 VISO_TYPE 0 VISO_POS_X 0 VISO_POS_Y 0 VISO_POS_Z 0 VISO_ORIENT 0 TCAL_ENABLED 0 SRTL_ACCURACY 2 SRTL_POINTS 300 PILOT_SPEED_DN 0 LAND_ALT_LOW 1000 FHLD_XY_P 0.2 FHLD_XY_I 0.3 FHLD_XY_IMAX 3000 FHLD_XY_FILT_HZ 5 FHLD_FLOW_MAX 0.6 FHLD_FILT_HZ 5 FHLD_QUAL_MIN 10 FHLD_BRAKE_RATE 8 FOLL_ENABLE 0 AUTOTUNE_AXES 7 AUTOTUNE_AGGR 0.1 AUTOTUNE_MIN_D 0.001 SCR_ENABLE 0 TUNE_MIN 0 TUNE_MAX 0 OA_TYPE 0 SID_AXIS 0 FS_VIBE_ENABLE 1 FS_OPTIONS 0 CAM_RC_TYPE 0

framosnt commented 4 years ago