__max_num_sensor_instances: &max_num_sensor_instances 4

module_name: sensors

parameters:
    - group: Sensor Calibration
      definitions:

        # Accelerometer calibration
        CAL_ACC${i}_ID:
            description:
                short: Accelerometer ${i} calibration device ID
                long: Device ID of the accelerometer this calibration applies to.
            category: System
            type: int32
            default: 0
            decimal: 3
            num_instances: *max_num_sensor_instances
            instance_start: 0

        CAL_ACC${i}_PRIO:
            description:
                short: Accelerometer ${i} priority
            category: System
            type: enum
            values:
                -1: Uninitialized
                0: Disabled
                1: Min
                25: Low
                50: Medium (Default)
                75: High
                100: Max
            default: -1
            decimal: 3
            num_instances: *max_num_sensor_instances
            instance_start: 0

        CAL_ACC${i}_ROT:
            description:
                short: Accelerometer ${i} rotation relative to airframe
                long: |
                    An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.
            category: System
            type: enum
            values:
                -1: Internal
                0: No rotation
                1: Yaw 45°
                2: Yaw 90°
                3: Yaw 135°
                4: Yaw 180°
                5: Yaw 225°
                6: Yaw 270°
                7: Yaw 315°
                8: Roll 180°
                9: Roll 180°, Yaw 45°
                10: Roll 180°, Yaw 90°
                11: Roll 180°, Yaw 135°
                12: Pitch 180°
                13: Roll 180°, Yaw 225°
                14: Roll 180°, Yaw 270°
                15: Roll 180°, Yaw 315°
                16: Roll 90°
                17: Roll 90°, Yaw 45°
                18: Roll 90°, Yaw 90°
                19: Roll 90°, Yaw 135°
                20: Roll 270°
                21: Roll 270°, Yaw 45°
                22: Roll 270°, Yaw 90°
                23: Roll 270°, Yaw 135°
                24: Pitch 90°
                25: Pitch 270°
                26: Pitch 180°, Yaw 90°
                27: Pitch 180°, Yaw 270°
                28: Roll 90°, Pitch 90°
                29: Roll 180°, Pitch 90°
                30: Roll 270°, Pitch 90°
                31: Roll 90°, Pitch 180°
                32: Roll 270°, Pitch 180°
                33: Roll 90°, Pitch 270°
                34: Roll 180°, Pitch 270°
                35: Roll 270°, Pitch 270°
                36: Roll 90°, Pitch 180°, Yaw 90°
                37: Roll 90°, Yaw 270°
                38: Roll 90°, Pitch 68°, Yaw 293°
                39: Pitch 315°
                40: Roll 90°, Pitch 315°
            min: -1
            max: 40
            default: -1
            num_instances: *max_num_sensor_instances
            instance_start: 0

        CAL_ACC${i}_XOFF:
            description:
                short: Accelerometer ${i} X-axis offset
            category: System
            type: float
            default: 0.0
            unit: m/s^2
            decimal: 3
            volatile: true
            num_instances: *max_num_sensor_instances
            instance_start: 0

        CAL_ACC${i}_YOFF:
            description:
                short: Accelerometer ${i} Y-axis offset
            category: System
            type: float
            default: 0.0
            unit: m/s^2
            decimal: 3
            volatile: true
            num_instances: *max_num_sensor_instances
            instance_start: 0

        CAL_ACC${i}_ZOFF:
            description:
                short: Accelerometer ${i} Z-axis offset
            category: System
            type: float
            default: 0.0
            unit: m/s^2
            decimal: 3
            volatile: true
            num_instances: *max_num_sensor_instances
            instance_start: 0

        CAL_ACC${i}_XSCALE:
            description:
                short: Accelerometer ${i} X-axis scaling factor
            category: System
            type: float
            default: 1.0
            decimal: 3
            min: 0.1
            max: 3.0
            volatile: true
            num_instances: *max_num_sensor_instances
            instance_start: 0

        CAL_ACC${i}_YSCALE:
            description:
                short: Accelerometer ${i} Y-axis scaling factor
            category: System
            type: float
            default: 1.0
            decimal: 3
            min: 0.1
            max: 3.0
            volatile: true
            num_instances: *max_num_sensor_instances
            instance_start: 0

        CAL_ACC${i}_ZSCALE:
            description:
                short: Accelerometer ${i} Z-axis scaling factor
            category: System
            type: float
            default: 1.0
            decimal: 3
            min: 0.1
            max: 3.0
            volatile: true
            num_instances: *max_num_sensor_instances
            instance_start: 0

        # Barometer calibration
        CAL_BARO${i}_ID:
            description:
                short: Barometer ${i} calibration device ID
                long: Device ID of the barometer this calibration applies to.
            category: System
            type: int32
            default: 0
            num_instances: *max_num_sensor_instances
            instance_start: 0

        CAL_BARO${i}_PRIO:
            description:
                short: Barometer ${i} priority
            category: System
            type: enum
            values:
                -1: Uninitialized
                0: Disabled
                1: Min
                25: Low
                50: Medium (Default)
                75: High
                100: Max
            default: -1
            num_instances: *max_num_sensor_instances
            instance_start: 0

        CAL_BARO${i}_OFF:
            description:
                short: Barometer ${i} offset
            category: System
            type: float
            default: 0.0
            decimal: 3
            #unit: Pa
            volatile: true
            num_instances: *max_num_sensor_instances
            instance_start: 0

        # Gyroscope calibration
        CAL_GYRO${i}_ID:
            description:
                short: Gyroscope ${i} calibration device ID
                long: Device ID of the gyroscope this calibration applies to.
            category: System
            type: int32
            default: 0
            num_instances: *max_num_sensor_instances
            instance_start: 0

        CAL_GYRO${i}_PRIO:
            description:
                short: Gyroscope ${i} priority
            category: System
            type: enum
            values:
                -1: Uninitialized
                0: Disabled
                1: Min
                25: Low
                50: Medium (Default)
                75: High
                100: Max
            default: -1
            num_instances: *max_num_sensor_instances
            instance_start: 0

        CAL_GYRO${i}_ROT:
            description:
                short: Gyroscope ${i} rotation relative to airframe
                long: |
                    An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.
            category: System
            type: enum
            values:
                -1: Internal
                0: No rotation
                1: Yaw 45°
                2: Yaw 90°
                3: Yaw 135°
                4: Yaw 180°
                5: Yaw 225°
                6: Yaw 270°
                7: Yaw 315°
                8: Roll 180°
                9: Roll 180°, Yaw 45°
                10: Roll 180°, Yaw 90°
                11: Roll 180°, Yaw 135°
                12: Pitch 180°
                13: Roll 180°, Yaw 225°
                14: Roll 180°, Yaw 270°
                15: Roll 180°, Yaw 315°
                16: Roll 90°
                17: Roll 90°, Yaw 45°
                18: Roll 90°, Yaw 90°
                19: Roll 90°, Yaw 135°
                20: Roll 270°
                21: Roll 270°, Yaw 45°
                22: Roll 270°, Yaw 90°
                23: Roll 270°, Yaw 135°
                24: Pitch 90°
                25: Pitch 270°
                26: Pitch 180°, Yaw 90°
                27: Pitch 180°, Yaw 270°
                28: Roll 90°, Pitch 90°
                29: Roll 180°, Pitch 90°
                30: Roll 270°, Pitch 90°
                31: Roll 90°, Pitch 180°
                32: Roll 270°, Pitch 180°
                33: Roll 90°, Pitch 270°
                34: Roll 180°, Pitch 270°
                35: Roll 270°, Pitch 270°
                36: Roll 90°, Pitch 180°, Yaw 90°
                37: Roll 90°, Yaw 270°
                38: Roll 90°, Pitch 68°, Yaw 293°
                39: Pitch 315°
                40: Roll 90°, Pitch 315°
            min: -1
            max: 40
            default: -1
            num_instances: *max_num_sensor_instances
            instance_start: 0

        CAL_GYRO${i}_XOFF:
            description:
                short: Gyroscope ${i} X-axis offset
            category: System
            type: float
            default: 0.0
            decimal: 3
            unit: rad/s
            volatile: true
            num_instances: *max_num_sensor_instances
            instance_start: 0

        CAL_GYRO${i}_YOFF:
            description:
                short: Gyroscope ${i} Y-axis offset
            category: System
            type: float
            default: 0.0
            decimal: 3
            unit: rad/s
            volatile: true
            num_instances: *max_num_sensor_instances
            instance_start: 0

        CAL_GYRO${i}_ZOFF:
            description:
                short: Gyroscope ${i} Z-axis offset
            category: System
            type: float
            default: 0.0
            decimal: 3
            unit: rad/s
            volatile: true
            num_instances: *max_num_sensor_instances
            instance_start: 0

        # Magnetometer calibration
        CAL_MAG${i}_ID:
            description:
                short: Magnetometer ${i} calibration device ID
                long: Device ID of the magnetometer this calibration applies to.
            category: System
            type: int32
            default: 0
            num_instances: *max_num_sensor_instances
            instance_start: 0

        CAL_MAG${i}_PRIO:
            description:
                short: Magnetometer ${i} priority
            category: System
            type: enum
            values:
                -1: Uninitialized
                0: Disabled
                1: Min
                25: Low
                50: Medium (Default)
                75: High
                100: Max
            default: -1
            num_instances: *max_num_sensor_instances
            instance_start: 0

        CAL_MAG${i}_ROT:
            description:
                short: Magnetometer ${i} rotation relative to airframe
                long: |
                    An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.
            category: System
            type: enum
            values:
                -1: Internal
                0: No rotation
                1: Yaw 45°
                2: Yaw 90°
                3: Yaw 135°
                4: Yaw 180°
                5: Yaw 225°
                6: Yaw 270°
                7: Yaw 315°
                8: Roll 180°
                9: Roll 180°, Yaw 45°
                10: Roll 180°, Yaw 90°
                11: Roll 180°, Yaw 135°
                12: Pitch 180°
                13: Roll 180°, Yaw 225°
                14: Roll 180°, Yaw 270°
                15: Roll 180°, Yaw 315°
                16: Roll 90°
                17: Roll 90°, Yaw 45°
                18: Roll 90°, Yaw 90°
                19: Roll 90°, Yaw 135°
                20: Roll 270°
                21: Roll 270°, Yaw 45°
                22: Roll 270°, Yaw 90°
                23: Roll 270°, Yaw 135°
                24: Pitch 90°
                25: Pitch 270°
                26: Pitch 180°, Yaw 90°
                27: Pitch 180°, Yaw 270°
                28: Roll 90°, Pitch 90°
                29: Roll 180°, Pitch 90°
                30: Roll 270°, Pitch 90°
                31: Roll 90°, Pitch 180°
                32: Roll 270°, Pitch 180°
                33: Roll 90°, Pitch 270°
                34: Roll 180°, Pitch 270°
                35: Roll 270°, Pitch 270°
                36: Roll 90°, Pitch 180°, Yaw 90°
                37: Roll 90°, Yaw 270°
                38: Roll 90°, Pitch 68°, Yaw 293°
                39: Pitch 315°
                40: Roll 90°, Pitch 315°
            min: -1
            max: 40
            default: -1
            num_instances: *max_num_sensor_instances
            instance_start: 0

        CAL_MAG${i}_XOFF:
            description:
                short: Magnetometer ${i} X-axis offset
            category: System
            type: float
            default: 0.0
            decimal: 3
            unit: gauss
            volatile: true
            num_instances: *max_num_sensor_instances
            instance_start: 0

        CAL_MAG${i}_YOFF:
            description:
                short: Magnetometer ${i} Y-axis offset
            category: System
            type: float
            default: 0.0
            decimal: 3
            unit: gauss
            volatile: true
            num_instances: *max_num_sensor_instances
            instance_start: 0

        CAL_MAG${i}_ZOFF:
            description:
                short: Magnetometer ${i} Z-axis offset
            category: System
            type: float
            default: 0.0
            decimal: 3
            unit: gauss
            volatile: true
            num_instances: *max_num_sensor_instances
            instance_start: 0

        CAL_MAG${i}_XSCALE:
            description:
                short: Magnetometer ${i} X-axis scaling factor
            category: System
            type: float
            default: 1.0
            decimal: 3
            min: 0.1
            max: 3.0
            volatile: true
            num_instances: *max_num_sensor_instances
            instance_start: 0

        CAL_MAG${i}_YSCALE:
            description:
                short: Magnetometer ${i} Y-axis scaling factor
            category: System
            type: float
            default: 1.0
            decimal: 3
            min: 0.1
            max: 3.0
            volatile: true
            num_instances: *max_num_sensor_instances
            instance_start: 0

        CAL_MAG${i}_ZSCALE:
            description:
                short: Magnetometer ${i} Z-axis scaling factor
            category: System
            type: float
            default: 1.0
            decimal: 3
            min: 0.1
            max: 3.0
            volatile: true
            num_instances: *max_num_sensor_instances
            instance_start: 0

        CAL_MAG${i}_XODIAG:
            description:
                short: Magnetometer ${i} X-axis off diagonal scale factor
            category: System
            type: float
            default: 0.0
            decimal: 3
            volatile: true
            num_instances: *max_num_sensor_instances
            instance_start: 0

        CAL_MAG${i}_YODIAG:
            description:
                short: Magnetometer ${i} Y-axis off diagonal scale factor
            category: System
            type: float
            default: 0.0
            decimal: 3
            volatile: true
            num_instances: *max_num_sensor_instances
            instance_start: 0

        CAL_MAG${i}_ZODIAG:
            description:
                short: Magnetometer ${i} Z-axis off diagonal scale factor
            category: System
            type: float
            default: 0.0
            volatile: true
            num_instances: *max_num_sensor_instances
            instance_start: 0

        CAL_MAG${i}_XCOMP:
            description:
                short: Magnetometer ${i} X Axis throttle compensation
                long: |
                    Coefficient describing linear relationship between
                    X component of magnetometer in body frame axis
                    and either current or throttle depending on value of CAL_MAG_COMP_TYP.
                    Unit for throttle-based compensation is [G] and
                    for current-based compensation [G/kA]
            category: System
            type: float
            default: 0.0
            decimal: 3
            volatile: true
            num_instances: *max_num_sensor_instances
            instance_start: 0

        CAL_MAG${i}_YCOMP:
            description:
                short: Magnetometer ${i} Y Axis throttle compensation
                long: |
                    Coefficient describing linear relationship between
                    Y component of magnetometer in body frame axis
                    and either current or throttle depending on value of CAL_MAG_COMP_TYP.
                    Unit for throttle-based compensation is [G] and
                    for current-based compensation [G/kA]
            category: System
            type: float
            default: 0.0
            decimal: 3
            volatile: true
            num_instances: *max_num_sensor_instances
            instance_start: 0

        CAL_MAG${i}_ZCOMP:
            description:
                short: Magnetometer ${i} Z Axis throttle compensation
                long: |
                    Coefficient describing linear relationship between
                    Z component of magnetometer in body frame axis
                    and either current or throttle depending on value of CAL_MAG_COMP_TYP.
                    Unit for throttle-based compensation is [G] and
                    for current-based compensation [G/kA]
            category: System
            type: float
            default: 0.0
            decimal: 3
            volatile: true
            num_instances: *max_num_sensor_instances
            instance_start: 0