IMU__ROTATION		IMUת,ֵοlib_rotate.h
MAG__ROTATION		MAGת,ֵοlib_rotate.h
FLOW__ROTATION		FLOWת,ֵοlib_rotate.h

INAV__FLOW__FUSE_POS_FLIP1	пշʼ״̬ʱλںֵ,ֵԽԽŹλ
INAV__FLOW__FUSE_VEL_FLIP1		пշʼ״̬ʱٶںֵ,ֵԽԽŹٶ
INAV__FLOW__FUSE_BIAS_FLIP1	пշʼ״̬ʱļٶȼƫõֵ,ֵԽƫñ仯Խ
INAV__FLOW__FUSE_POS_FLIP2	пշȶ״̬ʱλںֵ,ֵԽԽŹλ
INAV__FLOW__FUSE_VEL_FLIP2		пշȶ״̬ʱٶںֵ,ֵԽԽŹٶ
INAV__FLOW__FUSE_BIAS_FLIP2	пշȶ״̬ʱļٶȼƫõֵ,ֵԽƫñ仯Խ
INAV__FLOW__FUSE_POS_FLIP_STEP	пշȶ״̬ʱλںֵͨ״̬ı仯ٶ
INAV__FLOW__FUSE_VEL_FLIP_STEP	пշȶ״̬ʱٶںֵͨ״̬ı仯ٶ
INAV__FLOW__FUSE_BIAS_FLIP_STEP	пշȶ״̬ʱļٶȼƫõͨ״̬ı仯ٶ
INAV__FLOW__FUSE_POS_TAKEOFF	״̬ʱλںֵ,ֵԽԽŹλ
INAV__FLOW__FUSE_VEL_TAKEOFF	״̬ʱٶںֵ,ֵԽԽŹٶ
INAV__FLOW__FUSE_BIAS_TAKEOFF	״̬ʱļٶȼƫõֵ,ֵԽƫñ仯Խ
INAV__FLOW__FUSE_POS_NORMAL	ͨ״̬ʱλںֵ,ֵԽԽŹλ
INAV__FLOW__FUSE_VEL_NORMAL	ͨ״̬ʱٶںֵ,ֵԽԽŹٶ
INAV__FLOW__FUSE_BIAS_NORMAL	ͨ״̬ʱļٶȼƫõֵ,ֵԽƫñ仯Խ
INAV__FLOW__FUSE_POS_ROTATE	ת״̬ʱλںֵ,ֵԽԽŹλ
INAV__FLOW__FUSE_VEL_ROTATE	ת״̬ʱٶںֵ,ֵԽԽŹٶ
INAV__FLOW__FUSE_BIAS_ROTATE	ת״̬ʱļٶȼƫõֵ,ֵԽƫñ仯Խ
INAV__FLOW__FUSE_POS_ACTION	л״̬ʱλںֵ,ֵԽԽŹλ
INAV__FLOW__FUSE_VEL_ACTION	л״̬ʱٶںֵ,ֵԽԽŹٶ
INAV__FLOW__FUSE_BIAS_ACTION	л״̬ʱļٶȼƫõֵ,ֵԽƫñ仯Խ
INAV__FLOW__QUALITY_WEIGHT_MIN	йںֵСֵ
INAV__FLOW__QUALITY_WEIGHT_SCALE	йںֵֵֵΪ1.0

INAV__RF__FUSE_VEL_NORMAL		߶Ƚͨ״̬ʱٶȵںֵֵԽԽŲǵٶ
INAV__RF__FUSE_BIAS_NORMAL	߶Ƚͨ״̬ʱٶȼƫõֵ,ֵԽƫñ仯Խ
INAV__RF__FUSE_VEL_FLIP		߶Ƚпշ״̬ʱٶȵںֵֵԽԽŲǵٶ
INAV__RF__FUSE_BIAS_FLIP		߶Ƚпշ״̬ʱٶȼƫõֵ,ֵԽƫñ仯Խ
INAV__RF__FUSE_VEL_NOISE		߶ȽвǴڱ״̬ʱٶȵںֵ,ֵԽԽŲǵٶ
INAV__RF__FUSE_BIAS_NOISE		߶ȽвǴڱ״̬ʱٶȼƫõֵ,ֵԽƫñ仯Խ
INAV__RF__VEL_NOISE		߶Ƚвٶֵ,ʹòǼٶȼȥǰٶȴڸֵʱΪǴڱ״̬

INAV__GPS__FUSE_POS_NORMAL	GPSͨ״̬ʱλںֵ,ֵԽԽGPSλ
INAV__GPS__FUSE_VEL_NORMAL	GPSͨ״̬ʱٶںֵ,ֵԽԽGPSٶ
INAV__GPS__FUSE_BIAS_NORMAL	GPSͨ״̬ʱļٶȼƫõֵ,ֵԽƫñ仯Խ

INAV__BARO__FUSE_POS_FLIP		߶Ƚпշ״̬ʱѹλõںֵ,ֵԽԽѹƵλ
INAV__BARO__FUSE_VEL_FLIP		߶Ƚпշ״̬ʱѹٶȵںֵ,ֵԽԽѹƵٶ
INAV__BARO__FUSE_BIAS_FLIP		߶Ƚпշ״̬ʱٶȼƫõֵ,ֵԽƫñ仯Խ
INAV__BARO__FUSE_POS_TAKEOFF	߶Ƚ״̬ʱѹλõںֵ,ֵԽԽѹƵλ
INAV__BARO__FUSE_VEL_TAKEOFF	߶Ƚ״̬ʱѹٶȵںֵ,ֵԽԽѹƵٶ
INAV__BARO__FUSE_BIAS_TAKEOFF	߶Ƚ״̬ʱٶȼƫõֵ,ֵԽƫñ仯Խ
INAV__BARO__FUSE_POS_NORMAL	߶Ƚͨ״̬ʱѹλõںֵ,ֵԽԽѹƵλ
INAV__BARO__FUSE_VEL_NORMAL	߶Ƚͨ״̬ʱѹٶȵںֵ,ֵԽԽѹƵٶ
INAV__BARO__FUSE_BIAS_NORMAL	߶Ƚͨ״̬ʱٶȼƫõֵ,ֵԽƫñ仯Խ
INAV__BARO__VEL_NOISE		߶Ƚѹٶֵ,ʹѹƼٶȼȥǰٶȴڸֵʱΪѹƴڱ״̬
INAV__BARO__FUSE_POS_NOISE	߶Ƚѹƴڱ״̬ʱѹλõںֵ,ֵԽԽѹƵλ
INAV__BARO__FUSE_VEL_NOISE	߶Ƚѹƴڱ״̬ʱѹٶȵںֵ,ֵԽԽѹƵٶ
INAV__BARO__FUSE_BIAS_NOISE	߶Ƚѹƴڱ״̬ʱٶȼƫõֵ,ֵԽƫñ仯Խ
INAV__BARO__FUSE_POS_STEP		߶Ƚ״̬ͨ״̬ѹλںֵı仯ٶ
INAV__BARO__FUSE_VEL_STEP		߶Ƚ״̬ͨ״̬ѹٶںֵı仯ٶ
INAV__BARO__FUSE_BIAS_STEP		߶Ƚ״̬ͨ״̬ٶȼƫֵı仯ٶ
INAV__BARO__VEL_CHECK_ACC_FILTER	߶ȽIMUBIAS׼ɵACCͨ˲ֵֵԽBIASԽ죬Խ
INAV__BARO__VEL_CHECK_VAL		߶ȽIMUBIAS׼ɵٶȼֵ,ٶСڸֵ˵IMUBIAS
INAV__BARO__VEL_CHECK_TIMEOUT	߶ȽIMUBIAS׼ɵʱ,BIASʱڸʱ,BIAS
INAV__BARO__FUSE_POS_ACTION	߶Ƚл״̬ʱѹλõںֵ,ֵԽԽѹƵλ
INAV__BARO__FUSE_VEL_ACTION	߶Ƚл״̬ʱѹٶȵںֵ,ֵԽԽѹƵٶ
INAV__BARO__FUSE_BIAS_ACTION	߶Ƚл״̬ʱٶȼƫõֵ,ֵԽƫñ仯Խ

PID__ATT__ROLL_P			PID̬RollPֵ
PID__ATT__PITCH_P			PID̬PitchPֵ
PID__ATT__YAW_P			PID̬YawPֵ

PID__POS__XY_P			PIDλûXYPֵ
PID__POS__Z_P			PIDλûZPֵ

PID__VEL__XY_P			PIDٶȻXYPֵ
PID__VEL__XY_I			PIDٶȻXYIֵ
PID__VEL__XY_D			PIDٶȻXYDֵ
PID__VEL__XY_D_W			PIDٶȻXYDͨ˲ֵ,ֵԽСͨЧԽǿ,ΧΪ(0-1.0)
PID__VEL__XY_I_MAX			PIDٶȻXYIֵ
PID__VEL__X_I_INIT			PIDٶȻXIʼֵ
PID__VEL__Y_I_INIT			PIDٶȻYIʼֵ

PID__VEL__BREAK_XY_P		POSHOLDģʽɲPIDٶȻXYPֵ
PID__VEL__BREAK_XY_I		POSHOLDģʽɲPIDٶȻXYIֵ

PID__VEL__Z_P			PIDٶȻZPֵ
PID__VEL__Z_I			PIDٶȻZIֵ
PID__VEL__Z_D			PIDٶȻZDֵ
PID__VEL__Z_D_W			PIDٶȻZDͨ˲ֵ,ֵԽСͨЧԽǿ,ΧΪ(0-1.0)
PID__VEL__Z_I_MAX			PIDٶȻZIֵ
PID__VEL__Z_I_MIN			PIDٶȻZIСֵ
PID__VEL__Z_I_INIT			PIDٶȻZIʼֵ

PID__RATE__FLIP_ROLL_P		շ״̬PIDٶȻRollPֵ
PID__RATE__FLIP_ROLL_I		շ״̬PIDٶȻRollIֵ
PID__RATE__FLIP_ROLL_D		շ״̬PIDٶȻRollDֵ

PID__RATE__FLIP_PITCH_P		շ״̬PIDٶȻPitchPֵ
PID__RATE__FLIP_PITCH_I		շ״̬PIDٶȻPitchIֵ
PID__RATE__FLIP_PITCH_D		շ״̬PIDٶȻPitchDֵ

PID__RATE__FLIP_YAW_P		շ״̬PIDٶȻYawPֵ
PID__RATE__FLIP_YAW_I		շ״̬PIDٶȻYawIֵ
PID__RATE__FLIP_YAW_D		շ״̬PIDٶȻYawDֵ

PID__RATE__ROLL_P			PIDٶȻRollPֵ
PID__RATE__ROLL_I			PIDٶȻRollIֵ
PID__RATE__ROLL_D			PIDٶȻRollDֵ
PID__RATE__ROLL_D_W		PIDٶȻRollD˲ֵ,ֵԽС˲ЧԽǿ,ΧΪ(0-1.0)
PID__RATE__ROLL_I_MAX		PIDٶȻRollIֵ
PID__RATE__ROLL_I_INIT		PIDٶȻRollIʼֵ

PID__RATE__PITCH_P			PIDٶȻPitchPֵ
PID__RATE__PITCH_I			PIDٶȻPitchIֵ
PID__RATE__PITCH_D		PIDٶȻPitchDֵ
PID__RATE__PITCH_D_W		PIDٶȻPitchD˲ֵ,ֵԽС˲ЧԽǿ,ΧΪ(0-1.0)
PID__RATE__PITCH_I_MAX		PIDٶȻPitchIֵ
PID__RATE__PITCH_I_INIT		PIDٶȻPitchIʼֵ

PID__RATE__YAW_P			PIDٶȻYawPֵ
PID__RATE__YAW_I			PIDٶȻYawIֵ
PID__RATE__YAW_D			PIDٶȻYawDֵ
PID__RATE__YAW_I_MAX		PIDٶȻYawIֵ
PID__RATE__YAW_I_INIT		PIDٶȻYawIʼֵ

ATT__RATE_RP_LOW_FILTER		ٶPIDƵRoll,Pitchͨ˲ֵ,λΪHz
ATT__RATE_YAW_LOW_FILTER		ٶPIDƵYawͨ˲ֵ,λΪHz

CON__COMM__ATT_RP_LIMIT		control_att_commonӿڵĿǶֵ
CON__COMM__RATE_RP_LIMIT		control_att_common_rcӿڵûʱĿٶֵ
CON__COMM__RATE_RP_STAB_LIMIT	control_att_rate_commonӿڵûûʱĿٶֵ
CON__COMM__RATE_YAW_LIMIT	control_yaw_rate_commonӿڵûûʱĿٶֵ
CON__COMM__VEL_XY_LIMIT		control_vel_xy_commonӿڵûûʱĿٶֵ
CON__COMM__VEL_Z_LIMIT		control_alt_vel_commonӿڵûûʱĿٶֵ
CON__COMM__VEL_Z_STAB_LIMIT	control_alt_common_rcӿڵûûʱĿٶֵ
CON__COMM__POS_Z_LIMIT		߷йе߶ֵ
CON__COMM__ATT_RP_GAIN		ûҡRoll,PitchǶ
CON__COMM__RATE_YAW_GAIN	ûҡYawٶ
CON__COMM__VEL_Z_GAIN		ûҡZٶ
CON__COMM__RF_GAIN		ʹòǶʱתΪٶȵ棬൱P
CON__COMM__RF_VEL_CHECK		ʹòǶʱٶȱ仯ֵڸֵĿ߶

CON__LAND__VEL			һģʽĿٶ
CON__LAND__CHECK_ACC		һģʽؼļٶȼZֵ
CON__LAND__CHECK_THR		һģʽؼżֵ
CON__LAND__CHECK_THR_TIME	һģʽؼżʱֵ

CON__TAKEOFF__SPIN		һģʽĵֵ
CON__TAKEOFF__ALT		һģʽĿ߶
CON__TAKEOFF__VEL_LIMIT		һģʽٶ
CON__TAKEOFF__RC_CHECK		һģʽңThrֵͨ,Thrͨڸֵжģʽл

CON__FLIP__RISE_SPEED		շģʽ׶εĿٶ
CON__FLIP__BURST_ATT_LIMIT		շģʽٽ׶εĽǶ,ﵽٽм
CON__FLIP__BURST_RATE_LIMIT	շģʽٽ׶εĽٶ,ﵽٽм
CON__FLIP__BURST_ATT_CHECK	շģʽٽ׶εĽǶȼ,ﵽתɲ׶
CON__FLIP__BURST_RATE_CHECK	շģʽٽ׶εĽٶȼ,ﵽתɲ׶
CON__FLIP__BREAK_ATT		շģʽɲ׶εĿǶ,ǶԴΪٶȻֽǶֵ
CON__FLIP__HOLD_ATT		շģʽȽ׶εĿǶ,ǶԴ̬
CON__FLIP__BREAK_GAIN		շģʽɲȶ׶ηת̬
CON__FLIP__STAB_GAIN		շģʽɲȶ׶ȶ̬
CON__FLIP__YAW_GAIN		շģʽɲ׶Yaw̬
CON__FLIP__STABLE_TIMEOUT		շģʽȶ׶εĳʱ,ﵽлͣ׶
CON__FLIP__HOLD_TIMEOUT		շģʽͣ׶εĳʱ,ﵽлPOSHOLDģʽ

CON__POSHOLD__BREAK1_TIME_COFF	ͣģʽɲʱϵ,ֵɲʱ,СɲǶ
CON__POSHOLD__AIR_RES_COFF	ͣģʽϵ,ֵζҪɲ,СɲǶȺʱ

FS__RC_TIMEOUT			쳣ңسʱֵ
FS__LOW_BATT			쳣ĵ͵ֵ(ΧΪ0-100)
FS__ATT_LIMIT			쳣ĽǶֵ
FS__IMU_TEMP_LIMIT		쳣IMU¶ֵ

LOG__RUN		Ƿ¼־(1-¼,0-¼)
LOG__RATE_FLOW		־ļ¼Ƶ(0Ϊ¼)
LOG__RATE_SENS		ʱ־ļ¼Ƶ
LOG__RATE_ALT		߶Ƚ־ļ¼Ƶ
LOG__RATE_ATT		̬㼰־ļ¼Ƶ
LOG__RATE_PIDRR		PIDٶȻRoll־ļ¼Ƶ
LOG__RATE_PIDRP		PIDٶȻPitch־ļ¼Ƶ
LOG__RATE_PIDRY		PIDٶȻYaw־ļ¼Ƶ
LOG__RATE_PIDVX		PIDٶȻX־ļ¼Ƶ
LOG__RATE_PIDVY		PIDٶȻY־ļ¼Ƶ
LOG__RATE_PIDVZ		PIDٶȻZ־ļ¼Ƶ
LOG__RATE_IMU		IMU־ļ¼Ƶ
LOG__RATE_BAT		Ϣ־ļ¼Ƶ
LOG__RATE_NAV		㼰־ļ¼Ƶ
LOG__RATE_NAV2		㸽Ϣļ¼Ƶ
LOG__RATE_NAV3		ںֵϢļ¼Ƶ
LOG__RATE_RCI		ң־ļ¼Ƶ
LOG__RATE_RCO		־ļ¼Ƶ
LOG__RATE_BARO		ѹ־ļ¼Ƶ
LOG__RATE_GPS		GPS־ļ¼Ƶ
LOG__RATE_SYSTEM		ϵͳϢ־ļ¼Ƶ
LOG__RATE_POSHOLD	posholdģʽϢļ¼Ƶ
LOG__RATE_RF		ഫ־ļ¼Ƶ
LOG__RATE_AHRS		̬ģ־ļ¼Ƶ

MOTOR__MAP_0			0ŵPWMӳ
MOTOR__MAP_1			1ŵPWMӳ
MOTOR__MAP_2			2ŵPWMӳ
MOTOR__MAP_3			3ŵPWMӳ
MOTOR__MAP_4			4ŵPWMӳ
MOTOR__MAP_5			5ŵPWMӳ
MOTOR__MAP_6			6ŵPWMӳ
MOTOR__MAP_7			7ŵPWMӳ

MOTOR__RP_MAX			Roll,Pitchֵͨ
MOTOR__YAW_MAX			Yawֵͨ
MOTOR__THR_MAX			Throttleֵͨ
MOTOR__OUT_MAX			ֵ(ΧΪ0-1.0)
MOTOR__OUT_MIN			Сֵ(ΧΪ0-1.0)

RC__DEADZONE_ROLL		ңRollֵͨ(ΧΪ0-1.0)
RC__DEADZONE_PITCH		ңPitchֵͨ(ΧΪ0-1.0)
RC__DEADZONE_YAW		ңYawֵͨ(ΧΪ0-1.0)
RC__DEADZONE_THR		ңThrottleֵͨ(ΧΪ0-1.0)

RC__MODE_HIGH			ңظģʽֵ1.0
RC__MODE_MEDIUM		ңģʽֵ1.0
RC__MODE_LOW			ңصģʽֵ1.0

FLOW__DELAY			ģĹʱֵ()
FLOW__SCALE			ģĹٶȳ߶ֵ()

RANGEFINDER__MAX_VAL		ǲСֵСڸֵжϲʧЧ
RANGEFINDER__MIN_VAL		ǲֵڸֵжϲʧЧ
RANGEFINDER__ROTATE_CHECK	ǰɻļнǼֵڸֵΪʧЧ

IMU__ACC_XY_LOW_FILTER		IMUٶȵXYͨ˲ֵ,λΪHz
IMU__ACC_Z_LOW_FILTER		IMUٶȵZͨ˲ֵ,λΪHz
IMU__GYRO_SCALE_X		IMUǵXֵ
IMU__GYRO_SCALE_Y		IMUǵYֵ
IMU__GYRO_SCALE_Z		IMUǵZֵ

AHRS__RP_ACTION_CHECK_TIMEOUT	̬жǷ˳ģʽʱֵٶģʽʱ䵽ֵ˳ٶģʽ
AHRS__RP_ACTION_CHECK		̬жǷģʽֵ׼ΪǰACCļٶȴС(ȥٶ)
AHRS__RP_P_ACTION		̬㵱ڼʱٶȶǵںֵ,ֵԽԽżٶתĽǶ
AHRS__RP_I_ACTION			̬㵱ڼʱٶȶǵƫֵ,ֵԽƫñ仯Խ
AHRS__RP_P_ARM			̬ʱٶȶǵںֵ,ֵԽԽżٶתĽǶ
AHRS__RP_I_ARM			̬ʱٶȶǵƫֵ,ֵԽƫñ仯Խ
AHRS__YAW_P_ARM			̬ʱ̶ǵںֵ,ֵԽԽתĽǶ
AHRS__YAW_I_ARM			̬ʱ̶ǵƫֵ,ֵԽƫñ仯Խ
AHRS__RP_P_DISARM		̬ʱٶȶǵںֵ,ֵԽԽżٶתĽǶ
AHRS__RP_I_DISARM			̬ʱٶȶǵƫֵ,ֵԽƫñ仯Խ
AHRS__YAW_P_DISARM		̬ʱ̶ǵںֵ,ֵԽԽתĽǶ
AHRS__YAW_I_DISARM		̬ʱ̶ǵƫֵ,ֵԽƫñ仯Խ



