# Onboard parameters for Vehicle 1
#
# Stack: PX4 Pro
# Vehicle: Multi-Rotor
# Version: PX4 main 5f429033bf (2026-10-22, 1.19-dev) + PR #29368 branch. NOT for 1.18.0 or any stable release.
# Ported from the v1.16.2 Homebrew template; see px4_param_porting_case_study.md.
# Apply AFTER: reset to defaults, pick Generic Quadcopter (4001), reboot. Do not copy per-drone calibration values.
#
# Vehicle-Id Component-Id Name Value Type
1	1	BAT1_CAPACITY	-1	9
1	1	BAT1_I_OVERWRITE	0	9
1	1	BAT1_N_CELLS	6	6
1	1	BAT1_R_INTERNAL	-1	9
1	1	BAT1_SOURCE	0	6
1	1	BAT1_V_CHARGED	4.2	9
1	1	BAT1_V_EMPTY	3.6	9
1	1	BAT2_A_PER_V	17	9
1	1	BAT2_CAPACITY	-1	9
1	1	BAT2_I_OVERWRITE	0	9
1	1	BAT2_N_CELLS	0	6
1	1	BAT2_R_INTERNAL	-1	9
1	1	BAT2_SOURCE	-1	6
1	1	BAT2_V_CHANNEL	-1	6
1	1	BAT2_V_CHARGED	4.2	9
1	1	BAT2_V_DIV	10.1	9
1	1	BAT2_V_EMPTY	3.6	9
1	1	BAT3_CAPACITY	-1	9
1	1	BAT3_N_CELLS	0	6
1	1	BAT3_R_INTERNAL	-1	9
1	1	BAT3_SOURCE	-1	6
1	1	BAT3_V_CHARGED	4.2	9
1	1	BAT3_V_EMPTY	3.6	9
1	1	BAT_AVRG_CURRENT	15	9
1	1	BAT_CRIT_THR	0.25	9
1	1	BAT_EMERGEN_THR	0.15	9
1	1	BAT_LOW_THR	0.35	9
1	1	BAT_V_OFFS_CURR	0	9
1	1	CA_ROTOR0_PX	0.25	9
1	1	CA_ROTOR0_PY	0.25	9
1	1	CA_ROTOR1_PX	-0.25	9
1	1	CA_ROTOR1_PY	-0.25	9
1	1	CA_ROTOR2_PX	0.25	9
1	1	CA_ROTOR2_PY	-0.25	9
1	1	CA_ROTOR3_PX	-0.25	9
1	1	CA_ROTOR3_PY	0.25	9
1	1	COM_ACT_FAIL_ACT	0	6
1	1	COM_ARMABLE	1	6
1	1	COM_ARM_AUTH_MET	0	6
1	1	COM_ARM_AUTH_REQ	0	6
1	1	COM_ARM_BAT_MIN	0.5	9
1	1	COM_ARM_CHK_ESCS	0	6
1	1	COM_ARM_HFLT_CHK	0	6
1	1	COM_ARM_MAG_STR	1	6
1	1	COM_ARM_WO_GPS	0	6
1	1	COM_DISARM_LAND	2	9
1	1	COM_DISARM_PRFLT	10	9
1	1	COM_DL_LOSS_T	5	6
1	1	COM_FAIL_ACT_T	5	9
1	1	COM_FLTMODE1	2	6
1	1	COM_FLTMODE2	1	6
1	1	COM_FLTMODE3	4	6
1	1	COM_FLTMODE4	1	6
1	1	COM_FLTMODE5	11	6
1	1	COM_FLTMODE6	8	6
1	1	COM_FLTT_LOW_ACT	1	6
1	1	COM_FLT_TIME_MAX	-1	6
1	1	COM_HOME_EN	1	6
1	1	COM_HOME_IN_AIR	0	6
1	1	COM_LOW_BAT_ACT	2	6
1	1	COM_OBL_RC_ACT	4	6
1	1	COM_OF_LOSS_T	0.5	9
1	1	COM_POS_FS_EPH	5	9
1	1	COM_POS_LOW_ACT	5	6
1	1	COM_POS_LOW_EPH	-1	9
1	1	COM_PREARM_MODE	0	6
1	1	COM_RCL_EXCEPT	7	6
1	1	COM_RC_IN_MODE	3	6
1	1	COM_RC_LOSS_T	0.5	9
1	1	COM_SPOOLUP_TIME	1	9
1	1	COM_VEL_FS_EVH	1	9
1	1	COM_WIND_MAX	-1	9
1	1	COM_WIND_MAX_ACT	0	6
1	1	COM_WIND_WARN	-1	9
1	1	EKF2_EVV_NOISE	0.1	9
1	1	EKF2_EV_CTRL	0	6
1	1	EKF2_EV_DELAY	0	9
1	1	EKF2_EV_NOISE_MD	0	6
1	1	EKF2_EV_POS_X	0	9
1	1	EKF2_EV_POS_Y	0	9
1	1	EKF2_EV_POS_Z	0	9
1	1	EKF2_EV_QMIN	0	6
1	1	EKF2_GPS_CTRL	7	6
1	1	EKF2_HGT_REF	1	6
1	1	EKF2_IMU_POS_X	0.0587	9
1	1	EKF2_IMU_POS_Y	0	9
1	1	EKF2_IMU_POS_Z	0	9
1	1	EKF2_MAG_CHECK	1	6
1	1	EKF2_MIN_RNG	0.01	9
1	1	EKF2_MULTI_IMU	3	6
1	1	EKF2_MULTI_MAG	0	6
1	1	EKF2_OF_CTRL	1	6
1	1	EKF2_OF_POS_X	0.0444	9
1	1	EKF2_OF_POS_Y	0.0667	9
1	1	EKF2_OF_POS_Z	0.0508	9
1	1	EKF2_RNG_A_HMAX	5	9
1	1	EKF2_RNG_A_VMAX	1	9
1	1	EKF2_RNG_CTRL	1	6
1	1	EKF2_RNG_POS_X	-0.00635	9
1	1	EKF2_RNG_POS_Y	0.0539	9
1	1	EKF2_RNG_POS_Z	0.114	9
1	1	EKF2_SENS_EN	1797	6
1	1	FD_ACT_EN	0	6
1	1	GF_ACTION	5	6
1	1	GF_MAX_VER_DIST	0	9
1	1	GNSS_CHECK	2047	6
1	1	GNSS_REQ_EPH	3	9
1	1	GNSS_REQ_EPV	5	9
1	1	GNSS_REQ_FIX	6	6
1	1	GNSS_REQ_HDRIFT	0.1	9
1	1	GNSS_REQ_NSATS	6	6
1	1	GNSS_REQ_PDOP	2.5	9
1	1	GNSS_REQ_SACC	0.5	9
1	1	GNSS_REQ_VDRIFT	0.2	9
1	1	GPS_1_CONFIG	0	6
1	1	MAN_ARM_GESTURE	0	6
1	1	MAN_KILL_GEST_T	-1	9
1	1	MAN_OVERRIDE_SPD	1	9
1	1	MAV_0_CONFIG	101	6
1	1	MAV_1_CONFIG	102	6
1	1	MAV_1_FLOW_CTRL	2	6
1	1	MAV_1_FORWARD	0	6
1	1	MAV_1_MODE	2	6
1	1	MAV_1_RATE	0	6
# MAV_SYS_ID must be unique per vehicle (2-249, never 1 or 250). Set it, then uncomment:
# 1	1	MAV_SYS_ID	2	6
1	1	MAV_PROTO_VER	2	6
1	1	MAV_SYS_ID	2	6
1	1	MAV_TYPE	2	6
1	1	MC_AT_EN	1	6
1	1	MIS_TAKEOFF_ALT	2.5	9
1	1	MOTFAIL_C2T	35	9
1	1	MOTFAIL_OFF	10	9
1	1	MOTFAIL_TIME	1	9
1	1	MPC_AUTO_NUDGING	0	6
1	1	NAV_DLL_ACT	0	6
1	1	NAV_RCL_ACT	3	6
1	1	PLD_SRCH_ALT	2.5	9
1	1	PWM_MAIN_FUNC1	101	6
1	1	PWM_MAIN_FUNC2	102	6
1	1	PWM_MAIN_FUNC3	103	6
1	1	PWM_MAIN_FUNC4	104	6
1	1	PWM_MAIN_MAX1	1900	6
1	1	PWM_MAIN_MAX2	1900	6
1	1	PWM_MAIN_MAX3	1900	6
1	1	PWM_MAIN_MAX4	1900	6
1	1	PWM_MAIN_MIN1	1100	6
1	1	PWM_MAIN_MIN2	1100	6
1	1	PWM_MAIN_MIN3	1100	6
1	1	PWM_MAIN_MIN4	1100	6
1	1	RC_CHAN_CNT	18	6
1	1	RC_KILLSWITCH_TH	0.75	9
1	1	RC_MAP_ARM_SW	9	6
1	1	RC_MAP_AUX1	0	6
1	1	RC_MAP_FLTMODE	5	6
1	1	RC_MAP_KILL_SW	10	6
1	1	RC_MAP_PITCH	2	6
1	1	RC_MAP_ROLL	1	6
1	1	RC_MAP_THROTTLE	3	6
1	1	RC_MAP_YAW	4	6
1	1	RTL_DESCEND_ALT	2	9
1	1	RTL_RETURN_ALT	2	9
1	1	SENS_BOARD_ROT	2	6
1	1	SENS_EN_PMW3901	0	6
1	1	SENS_EN_SF1XX	6	6
1	1	SENS_FLOW_ROT	0	6
1	1	SENS_GNSS0_DELAY	110	6
1	1	SENS_GNSS0_OFFX	0.01	9
1	1	SENS_GNSS0_OFFY	0	9
1	1	SENS_GNSS0_OFFZ	0.217	9
1	1	SENS_IMU_MODE	0	6
1	1	SENS_SF0X_CFG	0	6
# SENS_EN_SF0X (8) omitted: it only exists when SENS_SF0X_CFG != 0.
1	1	SEP_PORT1_CFG	0	6
1	1	SER_TEL1_BAUD	57600	6
1	1	SER_TEL2_BAUD	921600	6
1	1	SF1XX_MODE	1	6
1	1	SYS_AUTOSTART	4001	6
1	1	SYS_HAS_BARO	1	6
1	1	SYS_HAS_GPS	1	6
1	1	SYS_HAS_MAG	1	6
1	1	SYS_HAS_NUM_DIST	1	6
1	1	SYS_HAS_NUM_OF	1	6
1	1	SYS_USB_AUTO	2	6
1	1	THR_MDL_FAC	0.3	9
1	1	UAVCAN_ENABLE	2	6
1	1	UAVCAN_PUB_RTCM	1	6
1	1	UAVCAN_RNG_MAX	100	9
1	1	UAVCAN_RNG_MIN	0	9
1	1	UAVCAN_SUB_FLOW	1	6
1	1	UAVCAN_SUB_GPS	1	6
1	1	UAVCAN_SUB_IMU	0	6
1	1	UAVCAN_SUB_MAG	1	6
1	1	UAVCAN_SUB_RNG	0	6
1	1	USB_MAV_MODE	2	6
1	1	UXRCE_DDS_CFG	0	6
1	1	UXRCE_DDS_DOM_ID	0	6
# UXRCE_DDS_PTCFG (2) omitted: it only exists when UXRCE_DDS_CFG != 0.