configuration_steps_Heli.json

{
    "steps": {
        "02_imu_temperature_calibration_setup.param": {
            "why": "The IMU drift is temperature dependent and can cause gyro and/or accel inconsistent errors",
            "why_now": "You need to cool down the FC to perform this calibration. It is easier to do before the FC is mounted in the vehicle",
            "blog_text": "IMU (Inertial Measurement Unit) temperature calibration setup",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#41-setup-imu-temperature-calibration",
            "wiki_text": "IMU Temperature Calibration",
            "wiki_url": "https://ardupilot.org/copter/docs/common-imutempcal.html",
            "external_tool_text": "",
            "external_tool_url": "",
            "mandatory_text": "80% mandatory (20% optional)",
            "auto_changed_by": "",
            "autoimport_nondefault_regexp": ["BRD_HEAT_.*", "INS_TCAL_OPTIONS", "TCAL_ENABLED"],
            "forced_parameters": {
                "INS_TCAL1_ENABLE": { "New Value": 2, "Change Reason": "Activates the temperature calibration for IMU 1 at the next start" },
                "LOG_BITMASK": { "New Value": 524416, "Change Reason": "Only for IMU and Raw-IMU" },
                "LOG_DISARMED": { "New Value": 1, "Change Reason": "Gather data for the offline IMU temperature calibration while the FC is disarmed" },
                "INS_RAW_LOG_OPT": { "New Value": "0", "Change Reason": "No need to log raw data for IMU temperature calibration" }
            },
            "derived_parameters": {
                "INS_TCAL2_ENABLE": { "if": "'INS_TCAL2_ENABLE' in fc_parameters", "New Value": "2", "Change Reason": "Activates the temperature calibration for IMU 2 at the next start" },
                "INS_TCAL3_ENABLE": { "if": "'INS_TCAL3_ENABLE' in fc_parameters", "New Value": "2", "Change Reason": "Activates the temperature calibration for IMU 3 at the next start" }
            },
            "add_parameters": {
                "BRD_HEAT_TARG": { "if": "'BRD_HEAT_TARG' in fc_parameters", "New Value": "65", "Change Reason": "Reasonable for most places on this planet" }
            },
            "delete_parameters": {
                "INS_TCAL2_ENABLE": { "if": "'INS_TCAL2_ENABLE' not in fc_parameters" },
                "INS_TCAL3_ENABLE": { "if": "'INS_TCAL3_ENABLE' not in fc_parameters" },
                "BRD_HEAT_TARG": { "if": "'BRD_HEAT_TARG' not in fc_parameters" }
            },
            "jump_possible": {"05_board_orientation.param": "IMU temperature calibration reduces the number of possible 'Accel inconsistent' and 'Gyro inconsistent' errors.\nIMU temperature calibration is optional.\n\nDo you want to skip it?"},
            "old_filenames": []
        },
        "03_imu_temperature_calibration_results.param": {
            "why": "The IMU drift is temperature dependent and can cause gyro and/or accel inconsistent errors",
            "why_now": "Requires the setup step. It is easier to do before the FC is mounted in the vehicle",
            "blog_text": "IMU (Inertial Measurement Unit) temperature calibration results",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#42-calculate-imu-temperature-calibration",
            "wiki_text": "IMU Temperature Calibration",
            "wiki_url": "https://ardupilot.org/copter/docs/common-imutempcal.html",
            "external_tool_text": "",
            "external_tool_url": "",
            "mandatory_text": "80% mandatory (20% optional)",
            "auto_changed_by": "",
            "autoimport_nondefault_regexp": ["INS_TCAL1_.*", "INS_TCAL2_.*", "INS_TCAL3_.*"],
            "add_parameters": {
                "INS_TCAL2_ENABLE":  { "if": "'INS_TCAL2_ENABLE' in fc_parameters", "Change Reason": "After a successful IMU temperature calibration, the FC will automatically set this to 1" },
                "INS_TCAL2_TMIN":    { "if": "'INS_TCAL2_ENABLE' in fc_parameters" },
                "INS_TCAL2_TMAX":    { "if": "'INS_TCAL2_ENABLE' in fc_parameters" },
                "INS_TCAL2_ACC1_X":  { "if": "'INS_TCAL2_ENABLE' in fc_parameters" },
                "INS_TCAL2_ACC1_Y":  { "if": "'INS_TCAL2_ENABLE' in fc_parameters" },
                "INS_TCAL2_ACC1_Z":  { "if": "'INS_TCAL2_ENABLE' in fc_parameters" },
                "INS_TCAL2_ACC2_X":  { "if": "'INS_TCAL2_ENABLE' in fc_parameters" },
                "INS_TCAL2_ACC2_Y":  { "if": "'INS_TCAL2_ENABLE' in fc_parameters" },
                "INS_TCAL2_ACC2_Z":  { "if": "'INS_TCAL2_ENABLE' in fc_parameters" },
                "INS_TCAL2_ACC3_X":  { "if": "'INS_TCAL2_ENABLE' in fc_parameters" },
                "INS_TCAL2_ACC3_Y":  { "if": "'INS_TCAL2_ENABLE' in fc_parameters" },
                "INS_TCAL2_ACC3_Z":  { "if": "'INS_TCAL2_ENABLE' in fc_parameters" },
                "INS_TCAL2_GYR1_X":  { "if": "'INS_TCAL2_ENABLE' in fc_parameters" },
                "INS_TCAL2_GYR1_Y":  { "if": "'INS_TCAL2_ENABLE' in fc_parameters" },
                "INS_TCAL2_GYR1_Z":  { "if": "'INS_TCAL2_ENABLE' in fc_parameters" },
                "INS_TCAL2_GYR2_X":  { "if": "'INS_TCAL2_ENABLE' in fc_parameters" },
                "INS_TCAL2_GYR2_Y":  { "if": "'INS_TCAL2_ENABLE' in fc_parameters" },
                "INS_TCAL2_GYR2_Z":  { "if": "'INS_TCAL2_ENABLE' in fc_parameters" },
                "INS_TCAL2_GYR3_X":  { "if": "'INS_TCAL2_ENABLE' in fc_parameters" },
                "INS_TCAL2_GYR3_Y":  { "if": "'INS_TCAL2_ENABLE' in fc_parameters" },
                "INS_TCAL2_GYR3_Z":  { "if": "'INS_TCAL2_ENABLE' in fc_parameters" },
                "INS_TCAL3_ENABLE":  { "if": "'INS_TCAL3_ENABLE' in fc_parameters", "Change Reason": "After a successful IMU temperature calibration, the FC will automatically set this to 1" },
                "INS_TCAL3_TMIN":    { "if": "'INS_TCAL3_ENABLE' in fc_parameters" },
                "INS_TCAL3_TMAX":    { "if": "'INS_TCAL3_ENABLE' in fc_parameters" },
                "INS_TCAL3_ACC1_X":  { "if": "'INS_TCAL3_ENABLE' in fc_parameters" },
                "INS_TCAL3_ACC1_Y":  { "if": "'INS_TCAL3_ENABLE' in fc_parameters" },
                "INS_TCAL3_ACC1_Z":  { "if": "'INS_TCAL3_ENABLE' in fc_parameters" },
                "INS_TCAL3_ACC2_X":  { "if": "'INS_TCAL3_ENABLE' in fc_parameters" },
                "INS_TCAL3_ACC2_Y":  { "if": "'INS_TCAL3_ENABLE' in fc_parameters" },
                "INS_TCAL3_ACC2_Z":  { "if": "'INS_TCAL3_ENABLE' in fc_parameters" },
                "INS_TCAL3_ACC3_X":  { "if": "'INS_TCAL3_ENABLE' in fc_parameters" },
                "INS_TCAL3_ACC3_Y":  { "if": "'INS_TCAL3_ENABLE' in fc_parameters" },
                "INS_TCAL3_ACC3_Z":  { "if": "'INS_TCAL3_ENABLE' in fc_parameters" },
                "INS_TCAL3_GYR1_X":  { "if": "'INS_TCAL3_ENABLE' in fc_parameters" },
                "INS_TCAL3_GYR1_Y":  { "if": "'INS_TCAL3_ENABLE' in fc_parameters" },
                "INS_TCAL3_GYR1_Z":  { "if": "'INS_TCAL3_ENABLE' in fc_parameters" },
                "INS_TCAL3_GYR2_X":  { "if": "'INS_TCAL3_ENABLE' in fc_parameters" },
                "INS_TCAL3_GYR2_Y":  { "if": "'INS_TCAL3_ENABLE' in fc_parameters" },
                "INS_TCAL3_GYR2_Z":  { "if": "'INS_TCAL3_ENABLE' in fc_parameters" },
                "INS_TCAL3_GYR3_X":  { "if": "'INS_TCAL3_ENABLE' in fc_parameters" },
                "INS_TCAL3_GYR3_Y":  { "if": "'INS_TCAL3_ENABLE' in fc_parameters" },
                "INS_TCAL3_GYR3_Z":  { "if": "'INS_TCAL3_ENABLE' in fc_parameters" }
            },
            "delete_parameters": {
                "INS_TCAL2_ENABLE":  { "if": "'INS_TCAL2_ENABLE' not in fc_parameters" },
                "INS_TCAL2_TMIN":    { "if": "'INS_TCAL2_ENABLE' not in fc_parameters" },
                "INS_TCAL2_TMAX":    { "if": "'INS_TCAL2_ENABLE' not in fc_parameters" },
                "INS_TCAL2_ACC1_X":  { "if": "'INS_TCAL2_ENABLE' not in fc_parameters" },
                "INS_TCAL2_ACC1_Y":  { "if": "'INS_TCAL2_ENABLE' not in fc_parameters" },
                "INS_TCAL2_ACC1_Z":  { "if": "'INS_TCAL2_ENABLE' not in fc_parameters" },
                "INS_TCAL2_ACC2_X":  { "if": "'INS_TCAL2_ENABLE' not in fc_parameters" },
                "INS_TCAL2_ACC2_Y":  { "if": "'INS_TCAL2_ENABLE' not in fc_parameters" },
                "INS_TCAL2_ACC2_Z":  { "if": "'INS_TCAL2_ENABLE' not in fc_parameters" },
                "INS_TCAL2_ACC3_X":  { "if": "'INS_TCAL2_ENABLE' not in fc_parameters" },
                "INS_TCAL2_ACC3_Y":  { "if": "'INS_TCAL2_ENABLE' not in fc_parameters" },
                "INS_TCAL2_ACC3_Z":  { "if": "'INS_TCAL2_ENABLE' not in fc_parameters" },
                "INS_TCAL2_GYR1_X":  { "if": "'INS_TCAL2_ENABLE' not in fc_parameters" },
                "INS_TCAL2_GYR1_Y":  { "if": "'INS_TCAL2_ENABLE' not in fc_parameters" },
                "INS_TCAL2_GYR1_Z":  { "if": "'INS_TCAL2_ENABLE' not in fc_parameters" },
                "INS_TCAL2_GYR2_X":  { "if": "'INS_TCAL2_ENABLE' not in fc_parameters" },
                "INS_TCAL2_GYR2_Y":  { "if": "'INS_TCAL2_ENABLE' not in fc_parameters" },
                "INS_TCAL2_GYR2_Z":  { "if": "'INS_TCAL2_ENABLE' not in fc_parameters" },
                "INS_TCAL2_GYR3_X":  { "if": "'INS_TCAL2_ENABLE' not in fc_parameters" },
                "INS_TCAL2_GYR3_Y":  { "if": "'INS_TCAL2_ENABLE' not in fc_parameters" },
                "INS_TCAL2_GYR3_Z":  { "if": "'INS_TCAL2_ENABLE' not in fc_parameters" },
                "INS_TCAL3_ENABLE":  { "if": "'INS_TCAL3_ENABLE' not in fc_parameters" },
                "INS_TCAL3_TMIN":    { "if": "'INS_TCAL3_ENABLE' not in fc_parameters" },
                "INS_TCAL3_TMAX":    { "if": "'INS_TCAL3_ENABLE' not in fc_parameters" },
                "INS_TCAL3_ACC1_X":  { "if": "'INS_TCAL3_ENABLE' not in fc_parameters" },
                "INS_TCAL3_ACC1_Y":  { "if": "'INS_TCAL3_ENABLE' not in fc_parameters" },
                "INS_TCAL3_ACC1_Z":  { "if": "'INS_TCAL3_ENABLE' not in fc_parameters" },
                "INS_TCAL3_ACC2_X":  { "if": "'INS_TCAL3_ENABLE' not in fc_parameters" },
                "INS_TCAL3_ACC2_Y":  { "if": "'INS_TCAL3_ENABLE' not in fc_parameters" },
                "INS_TCAL3_ACC2_Z":  { "if": "'INS_TCAL3_ENABLE' not in fc_parameters" },
                "INS_TCAL3_ACC3_X":  { "if": "'INS_TCAL3_ENABLE' not in fc_parameters" },
                "INS_TCAL3_ACC3_Y":  { "if": "'INS_TCAL3_ENABLE' not in fc_parameters" },
                "INS_TCAL3_ACC3_Z":  { "if": "'INS_TCAL3_ENABLE' not in fc_parameters" },
                "INS_TCAL3_GYR1_X":  { "if": "'INS_TCAL3_ENABLE' not in fc_parameters" },
                "INS_TCAL3_GYR1_Y":  { "if": "'INS_TCAL3_ENABLE' not in fc_parameters" },
                "INS_TCAL3_GYR1_Z":  { "if": "'INS_TCAL3_ENABLE' not in fc_parameters" },
                "INS_TCAL3_GYR2_X":  { "if": "'INS_TCAL3_ENABLE' not in fc_parameters" },
                "INS_TCAL3_GYR2_Y":  { "if": "'INS_TCAL3_ENABLE' not in fc_parameters" },
                "INS_TCAL3_GYR2_Z":  { "if": "'INS_TCAL3_ENABLE' not in fc_parameters" },
                "INS_TCAL3_GYR3_X":  { "if": "'INS_TCAL3_ENABLE' not in fc_parameters" },
                "INS_TCAL3_GYR3_Y":  { "if": "'INS_TCAL3_ENABLE' not in fc_parameters" },
                "INS_TCAL3_GYR3_Z":  { "if": "'INS_TCAL3_ENABLE' not in fc_parameters" }
            },
            "old_filenames": []
        },
        "04_imu_temperature_calibration_finish.param": {
            "why": "After calibrating the IMU temperature bias, disable disarmed logging (no longer needed) and set board target temperature.",
            "why_now": "Can only be done after IMU temperature compensation results are available. Future steps will use a drift-compensated, constant temperature and only log when armed.",
            "blog_text": "Finish IMU (Inertial Measurement Unit) temperature calibration",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#42-calculate-imu-temperature-calibration",
            "wiki_text": "IMU Temperature Calibration",
            "wiki_url": "https://ardupilot.org/copter/docs/common-imutempcal.html",
            "external_tool_text": "",
            "external_tool_url": "",
            "mandatory_text": "80% mandatory (20% optional)",
            "auto_changed_by": "",
            "forced_parameters": {
                "LOG_DISARMED": { "New Value": 0, "Change Reason": "IMU temperature calibration is finished, we no longer need to log data when disarmed" }
            },
            "add_parameters": {
                "BRD_HEAT_TARG": { "if": "'BRD_HEAT_TARG' in fc_parameters", "New Value": "45", "Change Reason": "Reset to default after offline IMU temperature calibration" },
                "BRD_HEAT_LOWMGN": { "if": "'BRD_HEAT_LOWMGN' in fc_parameters", "New Value": "0", "Change Reason": "Now that IMU temperature is calibrated, arm ASAP" }
            },
            "delete_parameters": {
                "BRD_HEAT_TARG":  { "if": "'BRD_HEAT_TARG' not in fc_parameters" }
            },
            "old_filenames": []
        },
        "05_board_orientation.param": {
            "why": "Correct orientation ensures that the flight controller accurately interprets the vehicle's movements and orientation, which is fundamental for stable flight and navigation.",
            "why_now": "The following steps require that the orientation is correctly set",
            "blog_text": "Define the orientation of the flight controller board relative to the vehicle's body frame",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#61-configure-flight-controller-orientation",
            "wiki_text": "Mounting the Autopilot - AHRS_ORIENTATION parameter",
            "wiki_url": "https://ardupilot.org/copter/docs/common-mounting-the-flight-controller.html",
            "external_tool_text": "",
            "external_tool_url": "",
            "mandatory_text": "100% mandatory (0% optional)",
            "component": "Frame",
            "plugin": {
                "name": "ahrs_orientation",
                "placement": "left"
            },
            "auto_changed_by": "",
            "derived_parameters": {
                "FRAME_CLASS": { "New Value": "vehicle_components['Frame']['Specifications']['Frame class']", "Change Reason": "Selected in the component editor" }
            },
            "old_filenames": ["04_board_orientation.param"]
        },
        "06_remote_controller_receiver.param": {
            "why": "Remote controller is mandatory in the initial configuration and tuning phases. Later might be required for operation and/or safety",
            "why_now": "It is a pre-requirement for configuring some telemetry systems and ESCs",
            "blog_text": "Configure remote controller connection, protocol and settings, including channel mapping and flight modes",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#621-configure-the-rc-receiver",
            "wiki_text": "Radio Control Systems",
            "wiki_url": "https://ardupilot.org/copter/docs/common-rc-systems.html",
            "external_tool_text": "EdgeTX Companion",
            "external_tool_url": "https://edgetx.org/getedgetx/",
            "mandatory_text": "100% mandatory (0% optional)",
            "component": "RC Receiver",
            "auto_changed_by": "",
            "autoimport_nondefault_regexp": ["FS_THR_VALUE", "RC_.*"],
            "derived_parameters": {
                "RC_PROTOCOLS": { "New Value": "vehicle_components['RC Receiver']['FC Connection']['Protocol']", "Change Reason": "Selected in the component editor" },
                "FLTMODE_CH": { "if": "vehicle_components['RC Receiver']['FC Connection']['Protocol'] == 'ExpressLRS'", "New Value": "6", "Change Reason": "ExpressLRS requires FLTMODE_CH != 5" }
            },
            "rename_connection": "vehicle_components['RC Receiver']['FC Connection']['Type']",
            "old_filenames": ["05_remote_controller.param"]
        },
        "07_remote_controller_controller.param": {
            "why": "Configuring RC controller options ensures correct arming behavior and channel function assignments for the specific RC system in use",
            "why_now": "After the RC receiver protocol is configured, the controller-specific options such as arming method and channel function can be set",
            "blog_text": "Configure RC controller options including the arming method and RC channel option assignments",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#622-configure-the-rc-controller",
            "wiki_text": "Radio Control Systems",
            "wiki_url": "https://ardupilot.org/copter/docs/common-rc-systems.html",
            "external_tool_text": "",
            "external_tool_url": "",
            "mandatory_text": "100% mandatory (0% optional)",
            "component": "RC Controller",
            "auto_changed_by": "",
            "derived_parameters": {
                "RC5_OPTION": { "if": "vehicle_components['RC Receiver']['FC Connection']['Protocol'] == 'ExpressLRS'", "New Value": "1", "Change Reason": "ExpressLRS requires RC5 to be used for arming (Arm/Disarm function)" }
            },
            "old_filenames": []
        },
        "08_telemetry.param": {
            "why": "Telemetry allows the ground control station to monitor the vehicle's status in real-time, providing flight information for safe and efficient operation.",
            "why_now": "Sometimes it depends on the remote controller. Configuring telemetry early allows vehicle configuration and sensor calibration in later steps without requiring a USB cable connection to the autopilot",
            "blog_text": "Configure telemetry connection, data protocol and settings between the autopilot and the ground control station(s)",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#63-configure-telemetry",
            "wiki_text": "Telemetry (landing page)",
            "wiki_url": "https://ardupilot.org/copter/docs/common-telemetry-landingpage.html",
            "external_tool_text": "",
            "external_tool_url": "",
            "mandatory_text": "100% mandatory (0% optional)",
            "component": "Telemetry",
            "auto_changed_by": "",
            "rename_connection": "vehicle_components['Telemetry']['FC Connection']['Type']",
            "old_filenames": ["06_telemetry.param"]
        },
        "09_esc_telemetry.param": {
            "why": "Proper ESC configuration is crucial for accurate motor control, affecting vehicle performance and safety. It ensures motors respond correctly to control signals and fail safely in various flight conditions.",
            "why_now": "Pre-requires remote control configuration. Uses GCS telemetry if available. Setting up ESCs early allows for initial motor tests and ensures a stable base for further tuning and flight testing without risking damage to the vehicle.",
            "blog_text": "Configure settings for the Electronic Speed Controllers (ESCs), including PWM range and failsafe behavior",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#64-configure-the-esc",
            "wiki_text": "ESC (Electronic Speed Controls)",
            "wiki_url": "https://ardupilot.org/copter/docs/common-esc-guide.html",
            "external_tool_text": "BLHeliSuite32",
            "external_tool_url": "https://www.mediafire.com/file/fj1p9qlbzo5bl5g/BLHeliSuite32_32.9.0.6.zip/file",
            "mandatory_text": "100% mandatory (0% optional)",
            "component": "ESC",
            "auto_changed_by": "",
            "autoimport_nondefault_regexp": ["SERVO_BLH_TRATE"],
            "derived_parameters": {
                "SCR_ENABLE": { "if": "vehicle_components['ESC']['ESC->FC Telemetry']['Protocol'] == 'Scripting'", "New Value": "1", "Change Reason": "ESC RPM telemetry requires lua scripting" },
                "MOT_PWM_TYPE": { "New Value": "vehicle_components['ESC']['FC->ESC Connection']['Protocol']", "Change Reason": "Specified in component editor window" },
                "SERIAL1_PROTOCOL": { "if": "vehicle_components['ESC']['ESC->FC Telemetry']['Type'] == 'SERIAL1'", "New Value": "vehicle_components['ESC']['ESC->FC Telemetry']['Protocol']", "Change Reason": "Defined in ESC specifications above" },
                "SERIAL2_PROTOCOL": { "if": "vehicle_components['ESC']['ESC->FC Telemetry']['Type'] == 'SERIAL2'", "New Value": "vehicle_components['ESC']['ESC->FC Telemetry']['Protocol']", "Change Reason": "Defined in ESC specifications above" },
                "SERIAL3_PROTOCOL": { "if": "vehicle_components['ESC']['ESC->FC Telemetry']['Type'] == 'SERIAL3'", "New Value": "vehicle_components['ESC']['ESC->FC Telemetry']['Protocol']", "Change Reason": "Defined in ESC specifications above" },
                "SERIAL4_PROTOCOL": { "if": "vehicle_components['ESC']['ESC->FC Telemetry']['Type'] == 'SERIAL4'", "New Value": "vehicle_components['ESC']['ESC->FC Telemetry']['Protocol']", "Change Reason": "Defined in ESC specifications above" },
                "SERIAL5_PROTOCOL": { "if": "vehicle_components['ESC']['ESC->FC Telemetry']['Type'] == 'SERIAL5'", "New Value": "vehicle_components['ESC']['ESC->FC Telemetry']['Protocol']", "Change Reason": "Defined in ESC specifications above" },
                "SERIAL6_PROTOCOL": { "if": "vehicle_components['ESC']['ESC->FC Telemetry']['Type'] == 'SERIAL6'", "New Value": "vehicle_components['ESC']['ESC->FC Telemetry']['Protocol']", "Change Reason": "Defined in ESC specifications above" },
                "SERIAL7_PROTOCOL": { "if": "vehicle_components['ESC']['ESC->FC Telemetry']['Type'] == 'SERIAL7'", "New Value": "vehicle_components['ESC']['ESC->FC Telemetry']['Protocol']", "Change Reason": "Defined in ESC specifications above" },
                "SERIAL8_PROTOCOL": { "if": "vehicle_components['ESC']['ESC->FC Telemetry']['Type'] == 'SERIAL8'", "New Value": "vehicle_components['ESC']['ESC->FC Telemetry']['Protocol']", "Change Reason": "Defined in ESC specifications above" },
                "SERIAL9_PROTOCOL": { "if": "vehicle_components['ESC']['ESC->FC Telemetry']['Type'] == 'SERIAL9'", "New Value": "vehicle_components['ESC']['ESC->FC Telemetry']['Protocol']", "Change Reason": "Defined in ESC specifications above" }
            },
            "delete_parameters": {
                "ESC_HW_POLES": {},
                "KDE_NPOLE": {},
                "SERVO_BLH_POLES": {},
                "SERVO_FTW_POLES": {}
            },
            "rename_connection": "vehicle_components['ESC']['ESC->FC Telemetry']['Type']",
            "old_filenames": ["07_esc.param"],
            "plugin": {
                "if": "vehicle_components['ESC']['ESC->FC Telemetry']['Protocol'] == 'Scripting'",
                "name": "esc_rpm_scale",
                "placement": "left"
            }
        },
        "10_battery_monitor.param": {
            "why": "The battery monitor must be configured to match the hardware connection type so that the autopilot correctly reads battery voltage and current",
            "why_now": "After the battery voltage and failsafe thresholds are set, the monitor hardware connection parameters can be configured",
            "blog_text": "Configure the battery monitor hardware connection type, protocol and calibration values",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#65-configure-the-primary-battery-monitor",
            "wiki_text": "Battery Monitors (aka Power Monitors/Modules) - BATT_* parameters",
            "wiki_url": "https://ardupilot.org/copter/docs/common-powermodule-landingpage.html",
            "external_tool_text": "",
            "external_tool_url": "",
            "mandatory_text": "100% mandatory (0% optional)",
            "component": "Battery Monitor",
            "auto_changed_by": "",
            "derived_parameters": {
                "BATT_MONITOR": { "New Value": "vehicle_components['Battery Monitor']['FC Connection']['Protocol']", "Change Reason": "Selected in component editor window" },
                "BATT_I2C_BUS": { "if": "vehicle_components['Battery Monitor']['FC Connection']['Type'] in ['I2C1', 'I2C2', 'I2C3', 'I2C4']", "New Value": "1 if vehicle_components['Battery Monitor']['FC Connection']['Type'] == 'I2C2' else 2 if vehicle_components['Battery Monitor']['FC Connection']['Type'] == 'I2C3' else 3 if vehicle_components['Battery Monitor']['FC Connection']['Type'] == 'I2C4' else 0", "Change Reason": "Selected in component editor window" }
            },
            "delete_parameters": {
                "BATT_I2C_BUS": { "if": "vehicle_components['Battery Monitor']['FC Connection']['Type'] not in ['I2C1', 'I2C2', 'I2C3', 'I2C4']" },
                "BATT_AMP_OFFSET": { "if": "vehicle_components['Battery Monitor']['FC Connection']['Type'] != 'Analog' or vehicle_components['Battery Monitor']['FC Connection']['Protocol'] in ['Analog Voltage Only', 'FuelLevelAnalog']" },
                "BATT_AMP_PERVLT": { "if": "vehicle_components['Battery Monitor']['FC Connection']['Type'] != 'Analog' or vehicle_components['Battery Monitor']['FC Connection']['Protocol'] in ['Analog Voltage Only', 'FuelLevelAnalog']" },
                "BATT_VOLT_MULT": { "if": "vehicle_components['Battery Monitor']['FC Connection']['Type'] != 'Analog'" }
            },
            "old_filenames": [],
            "plugin": {
                "name": "battery_monitor",
                "placement": "left"
            }
        },
        "11_battery.param": {
            "why": "Ensures the vehicle operates within safe voltage limits and can trigger appropriate failsafe actions to protect the vehicle and its surroundings. It also helps by scaling the PIDs to provide a constant flight behavior, independent of the battery state-of-charge",
            "why_now": "The failsafe configuration step requires this. During flight tests PID scaling depends on the battery voltage",
            "blog_text": "Configure parameters for the first battery, including health monitoring thresholds and failsafe behavior",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#65-configure-the-primary-battery-monitor",
            "wiki_text": "Battery Monitors (aka Power Monitors/Modules) - BATT_* parameters",
            "wiki_url": "https://ardupilot.org/copter/docs/common-powermodule-landingpage.html",
            "external_tool_text": "",
            "external_tool_url": "",
            "mandatory_text": "100% mandatory (0% optional)",
            "component": "Battery",
            "auto_changed_by": "",
            "autoimport_nondefault_regexp": ["BATT.*"],
            "forced_parameters": {
                "BATT_FS_CRT_ACT": { "New Value": 1, "Change Reason": "Land ASAP" },
                "BATT_FS_LOW_ACT": { "New Value": 2, "Change Reason": "Return and land at home or rally point" }
            },
            "derived_parameters": {
                "BATT_ARM_VOLT": { "New Value": "vehicle_components['Battery']['Specifications']['Volt per cell arm']*vehicle_components['Battery']['Specifications']['Number of cells']", "Change Reason": "Only arm above this voltage, to avoid taking off with insufficient battery capacity" },
                "BATT_CAPACITY": { "New Value": "vehicle_components['Battery']['Specifications']['Capacity mAh']", "Change Reason": "Total battery capacity specified in the component editor" },
                "BATT_CRT_VOLT": { "New Value": "vehicle_components['Battery']['Specifications']['Volt per cell crit']*vehicle_components['Battery']['Specifications']['Number of cells']", "Change Reason": "Critical failsafe voltage x nr. of cells" },
                "BATT_LOW_VOLT": { "New Value": "vehicle_components['Battery']['Specifications']['Volt per cell low']*vehicle_components['Battery']['Specifications']['Number of cells']", "Change Reason": "Low failsafe voltage x nr. of cells" },
                "MOT_BAT_VOLT_MAX": { "New Value": "vehicle_components['Battery']['Specifications']['Volt per cell max']*vehicle_components['Battery']['Specifications']['Number of cells']", "Change Reason": "Scale the PIDs up when battery voltage is below this threshold" },
                "MOT_BAT_VOLT_MIN": { "New Value": "vehicle_components['Battery']['Specifications']['Volt per cell min']*vehicle_components['Battery']['Specifications']['Number of cells']", "Change Reason": "Scale the PIDs up when battery voltage is above this threshold" }
            },
            "delete_parameters": {
                "BATT_AMP_OFFSET": {},
                "BATT_AMP_PERVLT": {},
                "BATT_I2C_BUS": {},
                "BATT_MONITOR": {},
                "BATT_VOLT_MULT": {}
            },
            "rename_connection": "vehicle_components['Battery Monitor']['FC Connection']['Type']",
            "old_filenames": ["08_batt1.param"]
        },
        "12_gnss.param": {
            "why": "GNSS positioning is required to compensate for the IMU drift. This is required by the configuration and tuning steps. After configuration and tuning are complete the GNSS can be replaced by other positioning system",
            "why_now": "Needs to be done before compass calibration",
            "blog_text": "Configure the GNSS (Global Navigation Satellite System) connection and settings, including antenna phase center location and constellation selection for optimal update rates",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#66-configure-the-gnss-receivers",
            "wiki_text": "GPS/Compass (landing page) - GPS* parameters",
            "wiki_url": "https://ardupilot.org/copter/docs/common-positioning-landing-page.html",
            "external_tool_text": "",
            "external_tool_url": "",
            "mandatory_text": "100% mandatory (0% optional)",
            "component": "GNSS Receiver",
            "auto_changed_by": "",
            "autoimport_nondefault_regexp": ["BRD_BOOT_DELAY", "GPS.*", "GNSS.*"],
            "derived_parameters": {
                "GPS_TYPE": { "if": "Version(vehicle_components['Flight Controller']['Firmware']['Version'].split(' ')[0]) < Version('4.6')", "New Value": "vehicle_components['GNSS Receiver']['FC Connection']['Protocol']", "Change Reason": "Defined in component editor" },
                "GPS1_TYPE": { "if": "Version(vehicle_components['Flight Controller']['Firmware']['Version'].split(' ')[0]) >= Version('4.6')","New Value": "vehicle_components['GNSS Receiver']['FC Connection']['Protocol']", "Change Reason": "Defined in component editor" }
            },
            "rename_connection": "vehicle_components['GNSS Receiver']['FC Connection']['Type']",
            "old_filenames": ["10_gnss.param"]
        },
        "13_initial_atc.param": {
            "why": "Propeller size has a big influence on the vehicle dynamics, this adapts the attitude controller response to it",
            "why_now": "Done before sensor calibration in Mission Planner to minimize the changes the user has to do in mission planner",
            "blog_text": "Initial attitude controller configuration depends on the vehicle's propeller size defined in the component editor window",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#67-initial-attitude-pid-gains-vehicle-size-dependent",
            "wiki_text": "Initial parameters calculator",
            "wiki_url": "https://discuss.ardupilot.org/t/initial-parameters-calculator-plugin/56909/61",
            "external_tool_text": "",
            "external_tool_url": "",
            "mandatory_text": "100% mandatory (0% optional)",
            "component": "Propellers",
            "auto_changed_by": "",
            "forced_parameters": {
                "ATC_RAT_PIT_FLTE": { "New Value": "0", "Change Reason": "Initial value, will be improved at a later step" },
                "ATC_RAT_RLL_FLTE": { "New Value": "0", "Change Reason": "Initial value, will be improved at a later step" },
                "ATC_RAT_YAW_FLTD": { "New Value": "0", "Change Reason": "Initial value, will be improved at a later step" },
                "ATC_RAT_YAW_FLTE": { "New Value": "2", "Change Reason": "Initial value, will be improved at a later step" },
                "ATC_THR_MIX_MAN":  { "New Value": "0.1", "Change Reason": "Value for the first couple of flights will be changed later once MOT_THST_HOVER is learned" },
                "INS_ACCEL_FILTER": { "New Value": "10", "Change Reason": "The default is 20Hz but that is too high in most situations" },
                "MOT_THST_HOVER":   { "New Value": "0.2", "Change Reason": "Hover learn will improve this initial guess" }
            },
            "derived_parameters": {
                "ATC_ANG_YAW_P":    { "New Value": "round(0.5*max(8000, round(-900*vehicle_components['Propellers']['Specifications']['Diameter_inches']+36000, -2))/3000, 1)", "Change Reason": "Derived from vehicle component editor propeller size" },
                "ATC_ACCEL_P_MAX":  { "if": "'ATC_ACCEL_P_MAX' in fc_parameters", "New Value": "max(10000,(round(-2.613267*vehicle_components['Propellers']['Specifications']['Diameter_inches']**3+343.39216*vehicle_components['Propellers']['Specifications']['Diameter_inches']**2-15083.7121*vehicle_components['Propellers']['Specifications']['Diameter_inches']+235771, -2)))", "Change Reason": "Derived from vehicle component editor propeller size" },
                "ATC_ACCEL_R_MAX":  { "if": "'ATC_ACCEL_R_MAX' in fc_parameters", "New Value": "max(10000,(round(-2.613267*vehicle_components['Propellers']['Specifications']['Diameter_inches']**3+343.39216*vehicle_components['Propellers']['Specifications']['Diameter_inches']**2-15083.7121*vehicle_components['Propellers']['Specifications']['Diameter_inches']+235771, -2)))", "Change Reason": "Derived from vehicle component editor propeller size" },
                "ATC_ACCEL_Y_MAX":  { "if": "'ATC_ACCEL_Y_MAX' in fc_parameters", "New Value": "max(8000, round(-900*vehicle_components['Propellers']['Specifications']['Diameter_inches']+36000, -2))", "Change Reason": "Derived from vehicle component editor propeller size" },
                "ATC_ACC_P_MAX":    { "if": "'ATC_ACC_P_MAX' in fc_parameters", "New Value": "max(10000,(round(-2.613267*vehicle_components['Propellers']['Specifications']['Diameter_inches']**3+343.39216*vehicle_components['Propellers']['Specifications']['Diameter_inches']**2-15083.7121*vehicle_components['Propellers']['Specifications']['Diameter_inches']+235771, -2)))/100", "Change Reason": "Derived from vehicle component editor propeller size" },
                "ATC_ACC_R_MAX":    { "if": "'ATC_ACC_R_MAX' in fc_parameters", "New Value": "max(10000,(round(-2.613267*vehicle_components['Propellers']['Specifications']['Diameter_inches']**3+343.39216*vehicle_components['Propellers']['Specifications']['Diameter_inches']**2-15083.7121*vehicle_components['Propellers']['Specifications']['Diameter_inches']+235771, -2)))/100", "Change Reason": "Derived from vehicle component editor propeller size" },
                "ATC_ACC_Y_MAX":    { "if": "'ATC_ACC_Y_MAX' in fc_parameters", "New Value": "max(8000, round(-900*vehicle_components['Propellers']['Specifications']['Diameter_inches']+36000, -2))/100", "Change Reason": "Derived from vehicle component editor propeller size" },
                "ATC_RAT_PIT_FLTD": { "New Value": "max(20, (round(289.22*vehicle_components['Propellers']['Specifications']['Diameter_inches']**-0.838, 0))) / 2", "Change Reason": "INS_GYRO_FILTER / 2" },
                "ATC_RAT_PIT_FLTT": { "New Value": "max(20, (round(289.22*vehicle_components['Propellers']['Specifications']['Diameter_inches']**-0.838, 0))) / 2", "Change Reason": "INS_GYRO_FILTER / 2" },
                "ATC_RAT_RLL_FLTD": { "New Value": "max(20, (round(289.22*vehicle_components['Propellers']['Specifications']['Diameter_inches']**-0.838, 0))) / 2", "Change Reason": "INS_GYRO_FILTER / 2" },
                "ATC_RAT_RLL_FLTT": { "New Value": "max(20, (round(289.22*vehicle_components['Propellers']['Specifications']['Diameter_inches']**-0.838, 0))) / 2", "Change Reason": "INS_GYRO_FILTER / 2" },
                "ATC_RAT_YAW_FLTT": { "New Value": "max(20, (round(289.22*vehicle_components['Propellers']['Specifications']['Diameter_inches']**-0.838, 0))) / 2", "Change Reason": "INS_GYRO_FILTER / 2" },
                "INS_GYRO_FILTER":  { "New Value": "max(20, (round(289.22*vehicle_components['Propellers']['Specifications']['Diameter_inches']**-0.838, 0)))", "Change Reason": "Derived from vehicle component editor propeller size" },
                "MOT_THST_EXPO":    { "New Value": "min(0.8, round(0.15686*log(vehicle_components['Propellers']['Specifications']['Diameter_inches'])+0.23693, 2))", "Change Reason": "Derived from vehicle component editor propeller size" }
            },
            "old_filenames": ["11_initial_atc.param"]
        },
        "14_mp_setup_mandatory_hardware.param": {
            "why": "Sensors need to be calibrated once, before they can be used",
            "why_now": "Can only be done after the connections and device drivers have been configured in the preceding steps",
            "blog_text": "Set up mandatory hardware components using Mission Planner",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#68-configure-mandatory-hardware-parameters",
            "wiki_text": "Follow the blog instructions and use Mission Planner instead of this tool to configure the mandatory hardware parameters.",
            "wiki_url": "",
            "external_tool_text": "Mission Planner",
            "external_tool_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#68-configure-mandatory-hardware-parameters",
            "mandatory_text": "100% mandatory (0% optional)",
            "auto_changed_by": "Mission Planner. If you have not done this step in Mission Planner yet, close this application and use Mission Planner",
            "autoimport_nondefault_regexp": ["COMPASS_PRIO[0-9]_ID", "RC[0-9]+_.+", "SERVO[0-9]+_.+"],
            "add_parameters": {
                "INS_ACC2SCAL_X": { "if": "'INS_ACC2SCAL_X' in fc_parameters" },
                "INS_ACC2SCAL_Y": { "if": "'INS_ACC2SCAL_X' in fc_parameters" },
                "INS_ACC2SCAL_Z": { "if": "'INS_ACC2SCAL_X' in fc_parameters" },
                "INS_ACC3SCAL_X": { "if": "'INS_ACC3SCAL_X' in fc_parameters" },
                "INS_ACC3SCAL_Y": { "if": "'INS_ACC3SCAL_X' in fc_parameters" },
                "INS_ACC3SCAL_Z": { "if": "'INS_ACC3SCAL_X' in fc_parameters" }
            },
            "delete_parameters": {
                "INS_ACC2SCAL_X": { "if": "'INS_ACC2SCAL_X' not in fc_parameters" },
                "INS_ACC2SCAL_Y": { "if": "'INS_ACC2SCAL_X' not in fc_parameters" },
                "INS_ACC2SCAL_Z": { "if": "'INS_ACC2SCAL_X' not in fc_parameters" },
                "INS_ACC3SCAL_X": { "if": "'INS_ACC3SCAL_X' not in fc_parameters" },
                "INS_ACC3SCAL_Y": { "if": "'INS_ACC3SCAL_X' not in fc_parameters" },
                "INS_ACC3SCAL_Z": { "if": "'INS_ACC3SCAL_X' not in fc_parameters" }
            },
            "old_filenames": ["11_mp_setup_mandatory_hardware.param", "12_mp_setup_mandatory_hardware.param"]
        },
        "15_general_configuration.param": {
            "why": "The parameter defaults of some parameters are not suitable for the flight tests that will follow",
            "why_now": "Most parameters have been configured in previous steps. These are parameters that did not fit in any of the categories of the previous steps.",
            "blog_text": "General configuration parameters for the vehicle, including flight modes and safety settings",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#69-general-configuration",
            "wiki_text": "",
            "wiki_url": "",
            "external_tool_text": "ArduPilot Hardware report",
            "external_tool_url": "https://firmware.ardupilot.org/Tools/WebTools/HardwareReport/",
            "mandatory_text": "100% mandatory (0% optional)",
            "auto_changed_by": "",
            "delete_parameters": {
                "ARMING_CHECK": {}
            },
            "old_filenames": ["12_general_configuration.param", "13_general_configuration.param"]
        },
        "16_safety_setup.param": {
            "why": "Safety parameters protect the vehicle and its surroundings by enabling arming checks, geofencing and failsafe actions. ESC slew rate limits protect the ESCs from desync events.",
            "why_now": "Before the first flight so that arming checks are enforced and the vehicle responds safely to abnormal conditions",
            "blog_text": "Configure safety parameters including arming checks, geofence, failsafe actions and ESC slew rate limits",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#691-safety-setup",
            "wiki_text": "Arming Checks",
            "wiki_url": "https://ardupilot.org/copter/docs/common-prearm-safety-checks.html",
            "external_tool_text": "",
            "external_tool_url": "",
            "mandatory_text": "100% mandatory (0% optional)",
            "auto_changed_by": "",
            "forced_parameters": {
                "ARMING_CHECK": { "if": "'ARMING_CHECK' in fc_parameters", "New Value": 1, "Change Reason": "Perform all arming checks. If you have a problem fix its source. Do NOT change this" },
                "ARMING_SKIPCHK": { "if": "'ARMING_SKIPCHK' in fc_parameters", "New Value": 0, "Change Reason": "Perform all arming checks. If you have a problem fix its source. Do NOT change this" }
            },
            "old_filenames": []
        },
        "17_remote_id.param": {
            "why": "Some countries require a remote ID for drones to be flown legally.",
            "why_now": "Remote ID requires GNSS and air pressure to be configured before, and it must be set up before the first flight",
            "blog_text": "Set the remote ID for the vehicle, to comply with local laws if applicable",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#692-remote-id-aka-drone-id-optional",
            "wiki_text": "Remote ID (aka Drone ID)",
            "wiki_url": "https://ardupilot.org/copter/docs/common-remoteid.html",
            "external_tool_text": "Dronetag BS user manual",
            "external_tool_url": "https://help.dronetag.cz/dronetag-bs",
            "mandatory_text": "0% mandatory (100% optional)",
            "auto_changed_by": "",
            "old_filenames": ["16_remote_id.param"]
        },
        "18_osd.param": {
            "why": "An OSD (On Screen Display) overlays flight data on the FPV video feed, giving the pilot situational awareness without looking away from the aircraft",
            "why_now": "OSD configuration depends on the telemetry and battery monitor being configured in the preceding steps, and it must be set up before the first flight",
            "blog_text": "Configure the On Screen Display (OSD) to show relevant flight data on the FPV video feed",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#693-on-screen-display-optional",
            "wiki_text": "OSD (On Screen Display)",
            "wiki_url": "https://ardupilot.org/copter/docs/common-osd-overview.html",
            "external_tool_text": "",
            "external_tool_url": "",
            "mandatory_text": "0% mandatory (100% optional)",
            "auto_changed_by": "",
            "autoimport_nondefault_regexp": ["OSD[0-9]*_.*"],
            "old_filenames": []
        },
        "19_motor.param": {
            "why": "To determine motor RPM the number of electrical poles must be known",
            "why_now": "Needs to be done after setting ESC telemetry, but before testing the motor",
            "blog_text": "Motor specifications",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#motor-thrust-scaling-mot_thst_expo-mot_spin_min-and-mot_spin_max",
            "wiki_text": "",
            "wiki_url": "",
            "external_tool_text": "",
            "external_tool_url": "",
            "mandatory_text": "40% mandatory (60% optional)",
            "component": "Motors",
            "auto_changed_by": "",
            "derived_parameters": {
                "ESC_HW_POLES": { "if": "vehicle_components['ESC']['ESC->FC Telemetry']['Protocol'] == 'Scripting'", "New Value": "vehicle_components['Motors']['Specifications']['Poles']", "Change Reason": "Specified in component editor window" },
                "SERVO_BLH_POLES": { "if": "vehicle_components['ESC']['ESC->FC Telemetry']['Protocol'] in ['ESC Telemetry', 'BDShotOnly']", "New Value": "vehicle_components['Motors']['Specifications']['Poles']", "Change Reason": "Specified in component editor window" },
                "SERVO_FTW_POLES": { "if": "vehicle_components['ESC']['ESC->FC Telemetry']['Protocol'] == 'FETtecOneWire'", "New Value": "vehicle_components['Motors']['Specifications']['Poles']", "Change Reason": "Specified in component editor window" }
            },
            "old_filenames": []
        },
        "20_esc.param": {
            "why": "The motor thrust linearization is crucial for the throttle controller tuning, and throttle-based notch filter operation",
            "why_now": "The notch filter setup step requires this, and the safety of the vehicle depends on the ESC and motor configuration",
            "blog_text": "ESC, Motor and propeller configurations",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#motor-thrust-scaling-mot_thst_expo-mot_spin_min-and-mot_spin_max",
            "wiki_text": "Motor Thrust Scaling",
            "wiki_url": "https://ardupilot.org/copter/docs/motor-thrust-scaling.html",
            "external_tool_text": "ArduPilot Thrust Expo",
            "external_tool_url": "https://firmware.ardupilot.org/Tools/WebTools/ThrustExpo/",
            "mandatory_text": "40% mandatory (60% optional)",
            "auto_changed_by": "",
            "autoimport_nondefault_regexp": ["BRD_IO_DSHOT", "BRD_IO_ENABLE", "SERVO_.*"],
            "derived_parameters": {
                "MOT_PWM_MAX": { "if": "vehicle_components['ESC']['FC->ESC Connection']['Protocol'] not in ['Normal', 'Brushed', 'PWMAngle', 'PWMRange']", "New Value": "2000", "Change Reason": "Digital ESC protocol maximum is per definition 2000" },
                "MOT_PWM_MIN": { "if": "vehicle_components['ESC']['FC->ESC Connection']['Protocol'] not in ['Normal', 'Brushed', 'PWMAngle', 'PWMRange']", "New Value": "1000", "Change Reason": "Digital ESC protocol minimum is per definition 1000" }
            },
            "delete_parameters": {
                "ESC_HW_POLES": {},
                "KDE_NPOLE": {},
                "SERVO_BLH_POLES": {},
                "SERVO_BLH_TRATE": {},
                "SERVO_FTW_POLES": {}
            },
            "old_filenames": ["14_motor.param", "15_motor.param"],
            "plugin": {
                "name": "motor_test",
                "placement": "left"
            }
        },
        "21_motor_notch_filter_setup.param": {
            "why": "When the gyroscope signal is less noisy the PID gains can be higher without causing motor output oscillations",
            "why_now": "Before the first flight so that it can gather data and safeguard the vehicle from some of the noise",
            "blog_text": "Configure the notch filter settings, used to reduce gyroscope signal noise caused by the motors rotation",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#81-notch-filter-calibration",
            "wiki_text": "Managing Gyro Noise with the Dynamic Harmonic Notch Filters",
            "wiki_url": "https://ardupilot.org/copter/docs/common-imu-notch-filtering.html",
            "external_tool_text": "New FFT Filter setup and review web tool",
            "external_tool_url": "https://discuss.ardupilot.org/t/new-fft-filter-setup-and-review-web-tool/102572",
            "mandatory_text": "100% mandatory (0% optional)",
            "auto_changed_by": "",
            "autoimport_nondefault_regexp": ["FFT_.*", "INS_HNTCH[0-9]*_.*"],
            "forced_parameters": {
                "INS_HNTCH_ENABLE": { "New Value": 1, "Change Reason": "Use the first notch filter to filter the noise created by the motors/propellers" }
            },
            "derived_parameters": {
                "INS_HNTCH_FREQ": { "New Value": "1.4*fc_parameters['INS_GYRO_FILTER']", "Change Reason": "Use 1.4 * INS_GYRO_FILTER as a first guess" },
                "INS_HNTCH_MODE": { "New Value": "1 if vehicle_components['ESC']['ESC->FC Telemetry']['Protocol'] == 'None' else 3", "Change Reason": "'Use throttle-based dynamic notch filter to reduce propeller noise' if vehicle_components['ESC']['ESC->FC Telemetry']['Protocol'] == 'None' else 'Use ESC telemetry RPM to dynamically adjust the propeller notch filter'" }
            },
            "old_filenames": ["17_notch_filter_setup.param", "18_notch_filter_setup.param"]
        },
        "22_motor_notch_logging.param": {
            "why": "parameter values at later steps depend on data that is gathered by means of logging",
            "why_now": "All the previous steps did not require logging, but the following ones do",
            "blog_text": "Configure logging parameters, including what data is logged and how it's stored",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#614-configure-logging",
            "wiki_text": "Downloading and Analyzing Data Logs in Mission Planner",
            "wiki_url": "https://ardupilot.org/copter/docs/common-downloading-and-analyzing-data-logs-in-mission-planner.html",
            "external_tool_text": "Motor/Propeller order and direction test",
            "external_tool_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#613-motorpropeller-order-and-direction-test",
            "mandatory_text": "100% mandatory (0% optional)",
            "auto_changed_by": "",
            "autoimport_nondefault_regexp": ["INS_LOG_BAT_.+", "LOG_FILE_.+"],
            "forced_parameters": {
                "LOG_BITMASK": { "New Value": 145374, "Change Reason": "Log relevant data for dynamic notch filter tuning. Later on we'll change this to other subsystems" },
                "LOG_FILE_DSRMROT": { "New Value": 1, "Change Reason": "One .bin log file per flight, not per battery/reboot" },
                "MOT_HOVER_LEARN": { "if": "fc_parameters['MOT_THST_HOVER'] > 0.125", "New Value": 2, "Change Reason": "So that it can tune the throttle controller on 24_throttle_controller.param file" }
            },
            "derived_parameters": {
                "INS_LOG_BAT_MASK": { "New Value": "1 if 'F4' in vehicle_components['Flight Controller']['Specifications']['MCU Series'] or vehicle_components['Propellers']['Specifications']['Diameter_inches'] >= 15 else 0", "Change Reason": "Use acc and gyro batch logging on F4 processors or big props, gyro raw logging on others" },
                "INS_LOG_BAT_OPT": { "New Value": "4 if 'F4' in vehicle_components['Flight Controller']['Specifications']['MCU Series'] or vehicle_components['Propellers']['Specifications']['Diameter_inches'] >= 15 else 0", "Change Reason": "Use pre and post filters acc and gyro batch logging on F4 processors or big props, pre-post gyro raw logging on others" },
                "INS_RAW_LOG_OPT": { "New Value": "0 if 'F4' in vehicle_components['Flight Controller']['Specifications']['MCU Series'] or vehicle_components['Propellers']['Specifications']['Diameter_inches'] >= 15 else 9", "Change Reason": "Use pre and post filters acc and gyro batch logging on F4 processors or big props, pre-post gyro raw logging on others" }
            },
            "old_filenames": ["13_logging.param", "14_logging.param"]
        },
        "23_optional_pid_adjustment.param": {
            "instructions_popup": {
              "type": "info",
              "msg": "This step is optional, only perform it if your vehicle is tiny, huge, or its motor outputs oscillate"
            },
            "why": "With very large or very small vehicles the default PID values are not suitable for the first flight",
            "why_now": "Most other parameters are done and these need to be corrected (depending on the vehicle size) before the first flight",
            "blog_text": "Adjust the Proportional-Integral-Derivative (PID) controllers based on the vehicle size before the first flight",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#615-optional-pid-adjustment-not-sure-how-this-applies-to-helicopters",
            "wiki_text": "Manual tuning of Roll and Pitch",
            "wiki_url": "https://ardupilot.org/copter/docs/ac_rollpitchtuning.html",
            "external_tool_text": "param_pid_adjustment_update.py",
            "external_tool_url": "https://github.com/ArduPilot/MethodicConfigurator/blob/master/ardupilot_methodic_configurator/param_pid_adjustment_update.py",
            "mandatory_text": "20% mandatory (80% optional)",
            "auto_changed_by": "",
            "old_filenames": ["15_pid_adjustment.param", "16_pid_adjustment.param"]
        },
        "24_throttle_controller.param": {
            "why": "The throttle controller is crucial for maintaining altitude and controlling the vehicle's vertical movement.",
            "why_now": "After the first flight because it depends on the MOT_THST_HOVER parameter, before the second flight so that it can safely use the altitude controller",
            "blog_text": "Use MOT_THST_HOVER value calculated during the first flight to set throttle controller PIDs",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#82-configure-the-throttle-controller",
            "wiki_text": "Test AltHold",
            "wiki_url": "https://ardupilot.org/copter/docs/initial-tuning-flight.html#test-althold",
            "external_tool_text": "",
            "external_tool_url": "",
            "mandatory_text": "100% mandatory (0% optional)",
            "auto_changed_by": "",
            "derived_parameters": {
                "ATC_THR_MIX_MAN": { "New Value": "0.5", "Change Reason": "Because ALTHOLD flight mode was used for more than 30 seconds to correctly learn the MOT_THST_HOVER value" },
                "PSC_ACCZ_I": { "if": "Version(vehicle_components['Flight Controller']['Firmware']['Version'].split(' ')[0]) < Version('4.7')", "New Value": "2*fc_parameters['MOT_THST_HOVER']", "Change Reason": "Use 2 * MOT_THST_HOVER assuming MOT_THST_HOVER has been correctly learned" },
                "PSC_D_ACC_I": { "if": "Version(vehicle_components['Flight Controller']['Firmware']['Version'].split(' ')[0]) >= Version('4.7')", "New Value": "0.2*fc_parameters['MOT_THST_HOVER']", "Change Reason": "Use 0.2 * MOT_THST_HOVER assuming MOT_THST_HOVER has been correctly learned" },
                "PSC_ACCZ_P": { "if": "Version(vehicle_components['Flight Controller']['Firmware']['Version'].split(' ')[0]) < Version('4.7')", "New Value": "1*fc_parameters['MOT_THST_HOVER']", "Change Reason": "Use MOT_THST_HOVER assuming MOT_THST_HOVER has been correctly learned" },
                "PSC_D_ACC_P": { "if": "Version(vehicle_components['Flight Controller']['Firmware']['Version'].split(' ')[0]) >= Version('4.7')", "New Value": "0.1*fc_parameters['MOT_THST_HOVER']", "Change Reason": "Use 0.1 * MOT_THST_HOVER assuming MOT_THST_HOVER has been correctly learned" }
            },
            "add_parameters": {
                "MOT_BAT_VOLT_MAX": { "New Value": "fc_parameters['MOT_BAT_VOLT_MAX']", "Change Reason": "To correctly scale the PID gains. Voltage of a healthy, fully charged battery immediately after takeoff. Read from a flight log" }
            },
            "old_filenames": ["19_throttle_controller.param", "20_throttle_controller.param"]
        },
        "25_motor_notch_filter_results.param": {
            "why": "The notch filter(s) configuration depends on real-flight data.",
            "why_now": "real-flight data is only available after the first flight",
            "blog_text": "Configure the notch filter(s) based on the data collected from the first flight",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#81-notch-filter-calibration",
            "wiki_text": "Managing Gyro Noise with the Dynamic Harmonic Notch Filters",
            "wiki_url": "https://ardupilot.org/copter/docs/common-imu-notch-filtering.html",
            "external_tool_text": "Ardupilot Filter Review tool",
            "external_tool_url": "https://firmware.ardupilot.org/Tools/WebTools/FilterReview/",
            "mandatory_text": "100% mandatory (0% optional)",
            "auto_changed_by": "",
            "autoimport_nondefault_regexp": ["FFT_.*", "INS_GYRO_FILTER"],
            "old_filenames": ["18_notch_filter_results.param", "19_notch_filter_results.param"]
        },
        "26_ekf_config.param": {
            "why": "Sometimes the weights of the barometer vs. GNSS altitude need to be adjusted.",
            "why_now": "Before the second flight so that the EKF can be used to estimate the vehicle's position",
            "blog_text": "Configure Extended Kalman Filter (EKF) noise weights",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#83-configure-the-ekf-altitude-source-weights",
            "wiki_text": "Extended Kalman filter tuning",
            "wiki_url": "https://ardupilot.org/dev/docs/extended-kalman-filter.html",
            "external_tool_text": "",
            "external_tool_url": "",
            "mandatory_text": "0% mandatory (100% optional)",
            "old_filenames": ["20_ekf_config.param", "21_ekf_config.param"]
        },
        "27_pid_notch_filter_logging.param": {
            "why": "parameter values at later steps depend on data that is gathered by means of logging",
            "why_now": "PID notch filters require different logging parameters from motor notch filters",
            "blog_text": "Configure PID notch filters logging",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#614-configure-logging",
            "wiki_text": "Downloading and Analyzing Data Logs in Mission Planner",
            "wiki_url": "https://ardupilot.org/copter/docs/common-downloading-and-analyzing-data-logs-in-mission-planner.html",
            "external_tool_text": "Motor/Propeller order and direction test",
            "external_tool_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#613-motorpropeller-order-and-direction-test",
            "mandatory_text": "100% mandatory (0% optional)",
            "auto_changed_by": "",
            "autoimport_nondefault_regexp": ["INS_LOG_BAT_.+", "LOG_FILE_.+"],
            "forced_parameters": {
                "INS_LOG_BAT_MASK": { "New Value": "1", "Change Reason": "PID notch filters require batch logging, not raw logging" },
                "INS_LOG_BAT_OPT": { "New Value": "4", "Change Reason": "PID notch filters require batch pre- and post- filters logging" },
                "INS_RAW_LOG_OPT": { "New Value": "0", "Change Reason": "PID notch filters require batch logging, not raw logging" },
                "LOG_BITMASK": { "New Value": 407517, "Change Reason": "Log relevant data for PID notch filters tuning. Later on we'll change this to other subsystems" }
            },
            "old_filenames": []
        },
        "28_pid_notch_filter_results.param": {
            "why": "The PID notch filter(s) configuration depends on real-flight data collected with the logging enabled in the previous step",
            "why_now": "Real-flight data with PID notch filter batch logging is only available after the dedicated logging flight",
            "blog_text": "Configure the PID notch filter(s) based on the data collected from the logging flight",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#81-notch-filter-calibration",
            "wiki_text": "Managing Gyro Noise with the Dynamic Harmonic Notch Filters",
            "wiki_url": "https://ardupilot.org/copter/docs/common-imu-notch-filtering.html",
            "external_tool_text": "Ardupilot Filter Review tool",
            "external_tool_url": "https://firmware.ardupilot.org/Tools/WebTools/FilterReview/",
            "mandatory_text": "100% mandatory (0% optional)",
            "auto_changed_by": "",
            "autoimport_nondefault_regexp": ["FILT.+", "ATC_RAT_.+_N[ET]F", "PSC_ACCZ_N[ET]F"],
            "add_parameters": {
                "ATC_RAT_RLL_NEF": { "if": "Version(vehicle_components['Flight Controller']['Firmware']['Version'].split(' ')[0]) >= Version('4.5')", "New Value": "0", "Change Reason": "" },
                "ATC_RAT_RLL_NTF": { "if": "Version(vehicle_components['Flight Controller']['Firmware']['Version'].split(' ')[0]) >= Version('4.5')", "New Value": "0", "Change Reason": "" },
                "ATC_RAT_PIT_NEF": { "if": "Version(vehicle_components['Flight Controller']['Firmware']['Version'].split(' ')[0]) >= Version('4.5')", "New Value": "0", "Change Reason": "" },
                "ATC_RAT_PIT_NTF": { "if": "Version(vehicle_components['Flight Controller']['Firmware']['Version'].split(' ')[0]) >= Version('4.5')", "New Value": "0", "Change Reason": "" },
                "ATC_RAT_YAW_NEF": { "if": "Version(vehicle_components['Flight Controller']['Firmware']['Version'].split(' ')[0]) >= Version('4.5')", "New Value": "0", "Change Reason": "" },
                "ATC_RAT_YAW_NTF": { "if": "Version(vehicle_components['Flight Controller']['Firmware']['Version'].split(' ')[0]) >= Version('4.5')", "New Value": "0", "Change Reason": "" },
                "PSC_ACCZ_NEF": { "if": "'PSC_ACCZ_NEF' in fc_parameters", "New Value": "0", "Change Reason": "" },
                "PSC_ACCZ_NTF": { "if": "'PSC_ACCZ_NTF' in fc_parameters", "New Value": "0", "Change Reason": "" },
                "PSC_D_ACC_NEF": { "if": "'PSC_D_ACC_NEF' in fc_parameters", "New Value": "0", "Change Reason": "" },
                "PSC_D_ACC_NTF": { "if": "'PSC_D_ACC_NTF' in fc_parameters", "New Value": "0", "Change Reason": "" }
            },
            "old_filenames": []
        },
        "29_quick_tune_setup.param": {
            "why": "The VTOL-quicktune lua script can safely estimate good PID starting values for the vehicle.",
            "why_now": "Before the second flight so that the vehicle can be safely tuned.",
            "blog_text": "Set up the in-flight VTOL-quicktune lua script to tune the PIDs before the MAGFit flight",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#85-second-flight-pid-vtol-quiktune-lua-script-or-manual-pid-tune",
            "wiki_text": "If lua scripting is not possible, do a manual tune instead",
            "wiki_url": "https://ardupilot.org/copter/docs/ac_rollpitchtuning.html",
            "external_tool_text": "VTOL-quicktune lua script",
            "external_tool_url": "https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_Scripting/applets/VTOL-quicktune.md",
            "mandatory_text": "80% mandatory (20% optional)",
            "auto_changed_by": "",
            "autoimport_nondefault_regexp": ["QUIK_.*"],
            "forced_parameters": {
                "SCR_ENABLE": { "New Value": 1, "Change Reason": "Use lua scripting for VTOL-Quicktune" },
                "QUIK_ENABLE": { "New Value": 1, "Change Reason": "Use VTOL-Quicktune lua script to estimate a good PID starting values" }
            },
            "old_filenames": ["20_quick_tune_setup.param", "22_quick_tune_setup.param"],
            "download_file": { "source_url": "https://raw.githubusercontent.com/ArduPilot/ardupilot/Copter-4.5/libraries/AP_Scripting/applets/VTOL-quicktune.lua", "dest_local": "VTOL-quicktune.lua" },
            "upload_file": { "source_local": "VTOL-quicktune.lua", "dest_on_fc": "/APM/Scripts/VTOL-quicktune.lua" }
        },
        "30_quick_tune_results.param": {
            "why": "The VTOL-quicktune lua script can safely estimate good PID starting values for the vehicle.",
            "why_now": "Before the second flight so that the vehicle can be safely tuned.",
            "blog_text": "Results of the in-flight VTOL-quicktune lua script PIDs before the MAGFit flight.",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#85-second-flight-pid-vtol-quiktune-lua-script-or-manual-pid-tune",
            "wiki_text": "If lua scripting is not possible, do a manual tune instead",
            "wiki_url": "https://ardupilot.org/copter/docs/ac_rollpitchtuning.html",
            "external_tool_text": "VTOL-quicktune lua script",
            "external_tool_url": "https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_Scripting/applets/VTOL-quicktune.md",
            "mandatory_text": "80% mandatory (20% optional)",
            "auto_changed_by": "VTOL-quicktune lua script",
            "old_filenames": ["21_quick_tune_results.param", "23_quick_tune_results.param"]
        },
        "31_inflight_magnetometer_fit_setup.param": {
            "why": "The compass heading is crucial for the vehicle's navigation and the calibration is very accurate if done during a special flight path.",
            "why_now": "Requires a basic tune (provided by the previous step) in order to be able to safely navigate in a figure eight flight path.",
            "blog_text": "Set up parameters for the in-flight magnetometer calibration",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#911-setup-inflight-magfit-calibration",
            "wiki_text": "If lua scripting is not possible do compassmot instead",
            "wiki_url": "https://ardupilot.org/copter/docs/common-compass-setup-advanced.html#compassmot-compensation-for-interference-from-the-power-wires-escs-and-motors",
            "external_tool_text": "ArduPilot MAGFit in flight compass calibration",
            "external_tool_url": "https://firmware.ardupilot.org/Tools/WebTools/MAGFit/",
            "mandatory_text": "80% mandatory (20% optional)",
            "auto_changed_by": "",
            "autoimport_nondefault_regexp": ["MAGH_.*"],
            "forced_parameters": {
                "MAGH_LOG_ENABLE": { "New Value": 1, "Change Reason": "Activates the logging of the MAGH.Active message" },
                "SCR_ENABLE": { "New Value": 1, "Change Reason": "Use lua scripting for MagFit flight path automation" }
            },
            "jump_possible": {"66_everyday_use.param": "If you are impatient and do not want a fully optimized flight controller\nYou can skip some steps now.\n\nJump to '66_everyday_use.param' file?"},
            "old_filenames": ["22_inflight_magnetometer_fit_setup.param", "24_inflight_magnetometer_fit_setup.param"],
            "download_file": { "source_url": "https://discuss.ardupilot.org/uploads/short-url/4pyrl7PcfqiMEaRItUhljuAqLSs.lua", "dest_local": "copter-magfit-helper.lua" },
            "upload_file": { "source_local": "copter-magfit-helper.lua", "dest_on_fc": "/APM/Scripts/copter-magfit-helper.lua" }
        },
        "32_inflight_magnetometer_fit_results.param": {
            "why": "The compass heading is crucial for the vehicle's navigation and the calibration is very accurate if done during a special flight path.",
            "why_now": "Requires the setup (provided by the previous step) and should be done before the second quicktune.",
            "blog_text": "Record the results of the in-flight magnetometer calibration",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#912-calculate-inflight-magfit-calibration",
            "wiki_text": "If lua scripting is not possible do compassmot instead",
            "wiki_url": "https://ardupilot.org/copter/docs/common-compass-setup-advanced.html#compassmot-compensation-for-interference-from-the-power-wires-escs-and-motors",
            "external_tool_text": "ArduPilot MAGFit in flight compass calibration",
            "external_tool_url": "https://firmware.ardupilot.org/Tools/WebTools/MAGFit/",
            "mandatory_text": "80% mandatory (20% optional)",
            "auto_changed_by": "MAGFit Webtool and YOU manually uploaded the result to the FC already",
            "autoimport_nondefault_regexp": ["COMPASS_DIA[0-9]*_.*", "COMPASS_MOT[0-9]*_.*", "COMPASS_MOTCT", "COMPASS_ODI[0-9]*_.*", "COMPASS_OFS[0-9]*_.*", "COMPASS_ORIENT[0-9]*", "COMPASS_SCALE[0-9]*"],
            "add_parameters": {
                "COMPASS_DIA2_X":  { "if": "'COMPASS_ORIENT2' in fc_parameters" },
                "COMPASS_DIA2_Y":  { "if": "'COMPASS_ORIENT2' in fc_parameters" },
                "COMPASS_DIA2_Z":  { "if": "'COMPASS_ORIENT2' in fc_parameters" },
                "COMPASS_MOT2_X":  { "if": "'COMPASS_ORIENT2' in fc_parameters" },
                "COMPASS_MOT2_Y":  { "if": "'COMPASS_ORIENT2' in fc_parameters" },
                "COMPASS_MOT2_Z":  { "if": "'COMPASS_ORIENT2' in fc_parameters" },
                "COMPASS_ODI2_X":  { "if": "'COMPASS_ORIENT2' in fc_parameters" },
                "COMPASS_ODI2_Y":  { "if": "'COMPASS_ORIENT2' in fc_parameters" },
                "COMPASS_ODI2_Z":  { "if": "'COMPASS_ORIENT2' in fc_parameters" },
                "COMPASS_OFS2_X":  { "if": "'COMPASS_ORIENT2' in fc_parameters" },
                "COMPASS_OFS2_Y":  { "if": "'COMPASS_ORIENT2' in fc_parameters" },
                "COMPASS_OFS2_Z":  { "if": "'COMPASS_ORIENT2' in fc_parameters" },
                "COMPASS_ORIENT2": { "if": "'COMPASS_ORIENT2' in fc_parameters" },
                "COMPASS_SCALE2":  { "if": "'COMPASS_ORIENT2' in fc_parameters" },
                "COMPASS_DIA3_X":  { "if": "'COMPASS_ORIENT3' in fc_parameters" },
                "COMPASS_DIA3_Y":  { "if": "'COMPASS_ORIENT3' in fc_parameters" },
                "COMPASS_DIA3_Z":  { "if": "'COMPASS_ORIENT3' in fc_parameters" },
                "COMPASS_MOT3_X":  { "if": "'COMPASS_ORIENT3' in fc_parameters" },
                "COMPASS_MOT3_Y":  { "if": "'COMPASS_ORIENT3' in fc_parameters" },
                "COMPASS_MOT3_Z":  { "if": "'COMPASS_ORIENT3' in fc_parameters" },
                "COMPASS_ODI3_X":  { "if": "'COMPASS_ORIENT3' in fc_parameters" },
                "COMPASS_ODI3_Y":  { "if": "'COMPASS_ORIENT3' in fc_parameters" },
                "COMPASS_ODI3_Z":  { "if": "'COMPASS_ORIENT3' in fc_parameters" },
                "COMPASS_OFS3_X":  { "if": "'COMPASS_ORIENT3' in fc_parameters" },
                "COMPASS_OFS3_Y":  { "if": "'COMPASS_ORIENT3' in fc_parameters" },
                "COMPASS_OFS3_Z":  { "if": "'COMPASS_ORIENT3' in fc_parameters" },
                "COMPASS_ORIENT3": { "if": "'COMPASS_ORIENT3' in fc_parameters" },
                "COMPASS_SCALE3":  { "if": "'COMPASS_ORIENT3' in fc_parameters" }
            },
            "delete_parameters": {
                "COMPASS_DIA2_X":  { "if": "'COMPASS_ORIENT2' not in fc_parameters" },
                "COMPASS_DIA2_Y":  { "if": "'COMPASS_ORIENT2' not in fc_parameters" },
                "COMPASS_DIA2_Z":  { "if": "'COMPASS_ORIENT2' not in fc_parameters" },
                "COMPASS_MOT2_X":  { "if": "'COMPASS_ORIENT2' not in fc_parameters" },
                "COMPASS_MOT2_Y":  { "if": "'COMPASS_ORIENT2' not in fc_parameters" },
                "COMPASS_MOT2_Z":  { "if": "'COMPASS_ORIENT2' not in fc_parameters" },
                "COMPASS_ODI2_X":  { "if": "'COMPASS_ORIENT2' not in fc_parameters" },
                "COMPASS_ODI2_Y":  { "if": "'COMPASS_ORIENT2' not in fc_parameters" },
                "COMPASS_ODI2_Z":  { "if": "'COMPASS_ORIENT2' not in fc_parameters" },
                "COMPASS_OFS2_X":  { "if": "'COMPASS_ORIENT2' not in fc_parameters" },
                "COMPASS_OFS2_Y":  { "if": "'COMPASS_ORIENT2' not in fc_parameters" },
                "COMPASS_OFS2_Z":  { "if": "'COMPASS_ORIENT2' not in fc_parameters" },
                "COMPASS_ORIENT2": { "if": "'COMPASS_ORIENT2' not in fc_parameters" },
                "COMPASS_SCALE2":  { "if": "'COMPASS_ORIENT2' not in fc_parameters" },
                "COMPASS_DIA3_X":  { "if": "'COMPASS_ORIENT3' not in fc_parameters" },
                "COMPASS_DIA3_Y":  { "if": "'COMPASS_ORIENT3' not in fc_parameters" },
                "COMPASS_DIA3_Z":  { "if": "'COMPASS_ORIENT3' not in fc_parameters" },
                "COMPASS_MOT3_X":  { "if": "'COMPASS_ORIENT3' not in fc_parameters" },
                "COMPASS_MOT3_Y":  { "if": "'COMPASS_ORIENT3' not in fc_parameters" },
                "COMPASS_MOT3_Z":  { "if": "'COMPASS_ORIENT3' not in fc_parameters" },
                "COMPASS_ODI3_X":  { "if": "'COMPASS_ORIENT3' not in fc_parameters" },
                "COMPASS_ODI3_Y":  { "if": "'COMPASS_ORIENT3' not in fc_parameters" },
                "COMPASS_ODI3_Z":  { "if": "'COMPASS_ORIENT3' not in fc_parameters" },
                "COMPASS_OFS3_X":  { "if": "'COMPASS_ORIENT3' not in fc_parameters" },
                "COMPASS_OFS3_Y":  { "if": "'COMPASS_ORIENT3' not in fc_parameters" },
                "COMPASS_OFS3_Z":  { "if": "'COMPASS_ORIENT3' not in fc_parameters" },
                "COMPASS_ORIENT3": { "if": "'COMPASS_ORIENT3' not in fc_parameters" },
                "COMPASS_SCALE3":  { "if": "'COMPASS_ORIENT3' not in fc_parameters" }
            },
            "old_filenames": ["23_inflight_magnetometer_fit_results.param", "25_inflight_magnetometer_fit_results.param"]
        },
        "33_evaluate_the_aircraft_tune_ff_disable.param": {
            "why": "Evaluating the aircraft's PID tuning and flight characteristics is best done with feed-forward disabled",
            "why_now": "Before the autotune process to estimate if autotune can safely operate the vehicle",
            "blog_text": "Evaluate the aircraft's tuning with feed-forward control disabled",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#93-fifth-flight-evaluate-the-aircraft-tune---part-1",
            "wiki_text": "Evaluating the aircraft tune",
            "wiki_url": "https://ardupilot.org/copter/docs/evaluating-the-aircraft-tune.html#evaluating-the-aircraft-tune",
            "external_tool_text": "",
            "external_tool_url": "",
            "mandatory_text": "80% mandatory (20% optional)",
            "auto_changed_by": "",
            "forced_parameters": {
                "ATC_RATE_FF_ENAB": { "New Value": 0, "Change Reason": "test the stabilization loops independent of the input shaping" },
                "INS_LOG_BAT_MASK": { "New Value": 0, "Change Reason": "IMU batch logging no longer required, notch filter setup is complete, this reduces processor load and log file size" },
                "INS_RAW_LOG_OPT": { "New Value": 0, "Change Reason": "Gyro raw logging no longer required, notch filter setup is complete, this reduces processor load and log file size" },
                "LOG_BITMASK": { "New Value": 145118, "Change Reason": "Disable fast harmonic notch logging" }
            },
            "add_parameters": {
                "MOT_HOVER_LEARN": { "if": "vehicle_components['Frame']['Specifications']['TOW max Kg'] - vehicle_components['Frame']['Specifications']['TOW min Kg'] < 0.01*vehicle_components['Frame']['Specifications']['TOW max Kg']", "New Value": "1", "Change Reason": "The vehicle TOW weight does not change, so no need to save it" }
            },
            "old_filenames": ["26_evaluate_the_aircraft_tune_ff_disable.param", "28_evaluate_the_aircraft_tune_ff_disable.param"]
        },
        "34_evaluate_the_aircraft_tune_ff_enable.param": {
            "why": "Evaluate the aircraft's PID tuning and flight characteristics with feed-forward enable to test faster dynamics",
            "why_now": "Before the autotune process to estimate if autotune can safely operate the vehicle",
            "blog_text": "Evaluate the aircraft's tuning with feed-forward control enabled",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#94-sixth-flight-evaluate-the-aircraft-tune---part-2",
            "wiki_text": "Evaluating the aircraft tune",
            "wiki_url": "https://ardupilot.org/copter/docs/evaluating-the-aircraft-tune.html#evaluating-the-aircraft-tune",
            "external_tool_text": "",
            "external_tool_url": "",
            "mandatory_text": "80% mandatory (20% optional)",
            "auto_changed_by": "",
            "forced_parameters": {
                "ATC_RATE_FF_ENAB": { "New Value": 1, "Change Reason": "re-enable normal operation, activate input shaping" }
            },
            "old_filenames": ["27_evaluate_the_aircraft_tune_ff_enable.param", "29_evaluate_the_aircraft_tune_ff_enable.param"]
        },
        "35_autotune_roll_setup.param": {
            "why": "To optimize roll step response.",
            "why_now": "Because roll is usually the axis that has the highest dynamic, and we start with the highest dynamic axis",
            "blog_text": "Set up parameters for the roll axis autotuning process",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#951-roll-axis-autotune",
            "wiki_text": "AutoTune",
            "wiki_url": "https://ardupilot.org/copter/docs/autotune.html",
            "external_tool_text": "",
            "external_tool_url": "",
            "mandatory_text": "80% mandatory (20% optional)",
            "auto_changed_by": "",
            "forced_parameters": {
                "AUTOTUNE_AXES": { "New Value": 1, "Change Reason": "Autotune roll axis" }
            },
            "old_filenames": ["28_autotune_roll_setup.param", "30_autotune_roll_setup.param"]
        },
        "36_autotune_roll_results.param": {
            "why": "To record autotune results after roll step response optimization",
            "why_now": "Because roll is usually the axis that has the highest dynamic, and we start with the highest dynamic axis",
            "blog_text": "Record the results of the roll axis autotuning, providing data for analysis and adjustment.",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#951-roll-axis-autotune",
            "wiki_text": "AutoTune",
            "wiki_url": "https://ardupilot.org/copter/docs/autotune.html",
            "external_tool_text": "ArduPilot PID Review Tool",
            "external_tool_url": "https://firmware.ardupilot.org/Tools/WebTools/PIDReview/",
            "mandatory_text": "80% mandatory (20% optional)",
            "auto_changed_by": "ArduPilot autotune",
            "old_filenames": ["29_autotune_roll_results.param", "31_autotune_roll_results.param"]
        },
        "37_autotune_pitch_setup.param": {
            "why": "To optimize pitch step response.",
            "why_now": "Because pitch is usually the axis that has the second highest dynamic, and we continue with the second highest dynamic axis",
            "blog_text": "Set up parameters for the pitch axis autotuning process",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#952-pitch-axis-autotune",
            "wiki_text": "AutoTune",
            "wiki_url": "https://ardupilot.org/copter/docs/autotune.html",
            "external_tool_text": "",
            "external_tool_url": "",
            "mandatory_text": "80% mandatory (20% optional)",
            "auto_changed_by": "",
            "forced_parameters": {
                "AUTOTUNE_AXES": { "New Value": 2, "Change Reason": "Autotune pitch axis" }
            },
            "old_filenames": ["30_autotune_pitch_setup.param", "32_autotune_pitch_setup.param"]
        },
        "38_autotune_pitch_results.param": {
            "why": "To record autotune results after pitch step response optimization",
            "why_now": "Because pitch is usually the axis that has the second highest dynamic, and we continue with the second highest dynamic axis",
            "blog_text": "Record the results of the pitch axis autotuning",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#952-pitch-axis-autotune",
            "wiki_text": "AutoTune",
            "wiki_url": "https://ardupilot.org/copter/docs/autotune.html",
            "external_tool_text": "ArduPilot PID Review Tool",
            "external_tool_url": "https://firmware.ardupilot.org/Tools/WebTools/PIDReview/",
            "mandatory_text": "80% mandatory (20% optional)",
            "auto_changed_by": "ArduPilot autotune",
            "old_filenames": ["31_autotune_pitch_results.param", "33_autotune_pitch_results.param"]
        },
        "39_autotune_yaw_setup.param": {
            "why": "To optimize yaw step response.",
            "why_now": "Because yaw is usually the axis that has the third highest dynamic, and we continue with the third highest dynamic axis",
            "blog_text": "Set up parameters for the yaw axis autotuning process",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#953-yaw-axis-autotune",
            "wiki_text": "AutoTune",
            "wiki_url": "https://ardupilot.org/copter/docs/autotune.html",
            "external_tool_text": "",
            "external_tool_url": "",
            "mandatory_text": "80% mandatory (20% optional)",
            "auto_changed_by": "",
            "forced_parameters": {
                "AUTOTUNE_AXES": { "New Value": 4, "Change Reason": "Autotune yaw axis" }
            },
            "derived_parameters": {
                "ATC_RAT_YAW_FLTD": { "New Value": "fc_parameters['INS_GYRO_FILTER'] / 4", "Change Reason": "Use INS_GYRO_FILTER / 4 as a first guess" }
            },
            "old_filenames": ["32_autotune_yaw_setup.param", "34_autotune_yaw_setup.param"]
        },
        "40_autotune_yaw_results.param": {
            "why": "To record autotune results after yaw step response optimization",
            "why_now": "Because yaw is usually the axis that has the third highest dynamic, and we continue with the third highest dynamic axis",
            "blog_text": "Record the results of the yaw axis autotuning, providing data for analysis and adjustment.",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#953-yaw-axis-autotune",
            "wiki_text": "AutoTune",
            "wiki_url": "https://ardupilot.org/copter/docs/autotune.html",
            "external_tool_text": "ArduPilot PID Review Tool",
            "external_tool_url": "https://firmware.ardupilot.org/Tools/WebTools/PIDReview/",
            "mandatory_text": "80% mandatory (20% optional)",
            "auto_changed_by": "ArduPilot autotune",
            "old_filenames": ["33_autotune_yaw_results.param", "35_autotune_yaw_results.param"]
        },
        "41_autotune_yawd_setup.param": {
            "why": "To optimize yaw D step response.",
            "why_now": "Because yaw D can only be done after yaw",
            "blog_text": "Set up parameters for the yaw rate autotuning process",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#954-yaw-d-axis-autotune-optional",
            "wiki_text": "AutoTune",
            "wiki_url": "https://ardupilot.org/copter/docs/autotune.html",
            "external_tool_text": "",
            "external_tool_url": "",
            "mandatory_text": "80% mandatory (20% optional)",
            "auto_changed_by": "",
            "forced_parameters": {
                "AUTOTUNE_AXES": { "New Value": 8, "Change Reason": "Autotune yaw D axis" }
            },
            "old_filenames": ["34_autotune_yawd_setup.param", "36_autotune_yawd_setup.param"]
        },
        "42_autotune_yawd_results.param": {
            "why": "To record autotune results after yaw D step response optimization",
            "why_now": "Because yaw D can only be done after yaw",
            "blog_text": "Record the results of the yaw rate autotuning",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#954-yaw-d-axis-autotune-optional",
            "wiki_text": "AutoTune",
            "wiki_url": "https://ardupilot.org/copter/docs/autotune.html",
            "external_tool_text": "ArduPilot PID Review Tool",
            "external_tool_url": "https://firmware.ardupilot.org/Tools/WebTools/PIDReview/",
            "mandatory_text": "80% mandatory (20% optional)",
            "auto_changed_by": "ArduPilot autotune",
            "old_filenames": ["35_autotune_yawd_results.param", "37_autotune_yawd_results.param"]
        },
        "43_autotune_roll_pitch_retune_setup.param": {
            "why": "An even better result for roll and pitch will be achieved by re-autotuning an already (in all axis) autotuned vehicle",
            "why_now": "Because it needs an initial autotune of all axis",
            "blog_text": "Set up parameters for the roll and pitch axis retuning process",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#955-roll-and-pitch-axis-re-autotune",
            "wiki_text": "AutoTune",
            "wiki_url": "https://ardupilot.org/copter/docs/autotune.html",
            "external_tool_text": "",
            "external_tool_url": "",
            "mandatory_text": "80% mandatory (20% optional)",
            "auto_changed_by": "",
            "forced_parameters": {
                "AUTOTUNE_AXES": { "New Value": 3, "Change Reason": "Autotune roll and pitch axis" }
            },
            "old_filenames": ["36_autotune_roll_pitch_retune_setup.param", "38_autotune_roll_pitch_retune_setup.param"]
        },
        "44_autotune_roll_pitch_retune_results.param": {
            "why": "To record autotune roll-pitch results",
            "why_now": "Because it can only be done after the respective autotune flight",
            "blog_text": "Record the results of the roll and pitch axis retuning, providing data for analysis and adjustment.",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#955-roll-and-pitch-axis-re-autotune",
            "wiki_text": "AutoTune",
            "wiki_url": "https://ardupilot.org/copter/docs/autotune.html",
            "external_tool_text": "ArduPilot PID Review Tool",
            "external_tool_url": "https://firmware.ardupilot.org/Tools/WebTools/PIDReview/",
            "mandatory_text": "80% mandatory (20% optional)",
            "auto_changed_by": "ArduPilot autotune",
            "old_filenames": ["37_autotune_roll_pitch_retune_results.param", "39_autotune_roll_pitch_retune_results.param"]
        },
        "45_autotune_finish.param": {
            "why": "ATC_THR_MIX_MAX should be increased after autotune to maximize attitude control authority at high throttle",
            "why_now": "After all autotune flights are complete and the PIDs are finalized",
            "blog_text": "Finalize autotune by setting the maximum throttle mix parameter",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#955-roll-and-pitch-axis-re-autotune",
            "wiki_text": "AutoTune",
            "wiki_url": "https://ardupilot.org/copter/docs/autotune.html",
            "external_tool_text": "",
            "external_tool_url": "",
            "mandatory_text": "100% mandatory (0% optional)",
            "auto_changed_by": "",
            "forced_parameters": {
                "ATC_THR_MIX_MAX": { "New Value": 0.9, "Change Reason": "Maximize attitude control authority at high throttle" }
            },
            "old_filenames": []
        },
        "46_pid_d_ff.param": {
            "why": "The D feed-forward term improves aggressive rate tracking and gives the drone a 'locked-in' feel with minimal control latency",
            "why_now": "After all autotune axes are complete and PID values are finalized, since D_FF is calculated from the final tuned PID response",
            "blog_text": "Calculate angle rate derivative feed-forward gains (ATC_RAT_*_D_FF and PSC_ACCZ_D_FF) to improve aggressive maneuver tracking",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#97-angle-rate-derivative-feed-forward-calculation",
            "wiki_text": "",
            "wiki_url": "",
            "external_tool_text": "ArduPilot PID Review Tool",
            "external_tool_url": "https://firmware.ardupilot.org/Tools/WebTools/PIDReview/",
            "mandatory_text": "0% mandatory (100% optional)",
            "auto_changed_by": "",
            "autoimport_nondefault_regexp": ["ATC_RAT_.+_D_FF", "PSC_ACCZ_D_FF", "PSC_D_ACC_D_FF"],
            "old_filenames": []
        },
        "47_windspeed_estimation.param": {
            "why": "For accurate navigation and stabilization at high speeds and/or in windy conditions",
            "why_now": "Because it can only be done after PID tuning is complete",
            "blog_text": "Configure parameters for wind speed estimation",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#101-windspeed-estimation-flights",
            "wiki_text": "wind speed estimation",
            "wiki_url": "https://ardupilot.org/copter/docs/airspeed-estimation.html",
            "external_tool_text": "free online tool to overlay a grid over an image",
            "external_tool_url": "https://yomotherboard.com/add-grid-to-image/",
            "mandatory_text": "60% mandatory (40% optional)",
            "auto_changed_by": "",
            "forced_parameters": {
                "LOG_DISARMED": { "New Value": 1, "Change Reason": "allow post flight tuning with Replay" },
                "LOG_REPLAY": { "New Value": 1, "Change Reason": "allow post flight tuning with Replay" }
            },
            "old_filenames": ["38_windspeed_estimation.param", "40_windspeed_estimation.param"]
        },
        "48_barometer_compensation.param": {
            "why": "For accurate altitude estimation",
            "why_now": "Because it depends on wind speed estimation",
            "blog_text": "Set up parameters for barometer compensation",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#102-baro-compensation-flights",
            "wiki_text": "Barometer Position Error Compensation",
            "wiki_url": "https://ardupilot.org/copter/docs/airspeed-estimation.html#barometer-position-error-compensation",
            "external_tool_text": "Lua script provided by Yuri",
            "external_tool_url": "https://discuss.ardupilot.org/t/scripting-copter-wind-estimation-baro-compensation-tuning/98470/1",
            "mandatory_text": "60% mandatory (40% optional)",
            "auto_changed_by": "",
            "jump_possible": {"60_position_controller.param": "If you do not want an analytical PID optimization\nyou can skip some steps now.\n\nJump to '60_position_controller.param' file?"},
            "old_filenames": ["39_barometer_compensation.param", "41_barometer_compensation.param"]
        },
        "49_windspeed_estimation_finish.param": {
            "why": "Disarmed and replay logging must be disabled after windspeed estimation flights to avoid filling the storage with unnecessary logs",
            "why_now": "Because LOG_DISARMED and LOG_REPLAY were enabled for windspeed estimation and barometer compensation flights and are no longer needed",
            "blog_text": "Restore logging parameters to normal after windspeed estimation flights",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#101-windspeed-estimation-flights",
            "wiki_text": "Wind speed estimation",
            "wiki_url": "https://ardupilot.org/copter/docs/airspeed-estimation.html",
            "external_tool_text": "",
            "external_tool_url": "",
            "mandatory_text": "100% mandatory (0% optional)",
            "auto_changed_by": "",
            "forced_parameters": {
                "LOG_DISARMED": { "New Value": 0, "Change Reason": "was only needed for wind speed estimation" },
                "LOG_REPLAY": { "New Value": 0, "Change Reason": "was only needed for wind speed estimation" }
            },
            "old_filenames": []
        },
        "50_system_id_input_roll.param": {
            "why": "System identification is required to create a mathematical model of the vehicle",
            "why_now": "Because the vehicle should be fully tuned (no more PID changes) before a model gets created (that depends on said PID values)",
            "blog_text": "Configure parameters for the roll axis input system identification to create a mathematical model of the vehicle",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#11-system-identification-for-analytical-pid-optimization-optional",
            "wiki_text": "Matlab and Simulink IAV scripts for system identification",
            "wiki_url": "https://ardupilot.org/copter/docs/systemid-model-development.html#identification-of-a-multicopter",
            "external_tool_text": "ArduCopter Simulink Model",
            "external_tool_url": "https://github.com/ArduPilot/ardupilot/blob/master/Tools/simulink/arducopter/README.md",
            "mandatory_text": "20% mandatory (80% optional)",
            "auto_changed_by": "",
            "forced_parameters": {
                "SID_AXIS": { "New Value": 1, "Change Reason": "Inject chip on the input roll signal" }
            },
            "old_filenames": []
        },
        "51_system_id_input_pitch.param": {
            "why": "System identification is required to create a mathematical model of the vehicle",
            "why_now": "Because the vehicle should be fully tuned (no more PID changes) before a model gets created (that depends on said PID values)",
            "blog_text": "Configure parameters for the pitch axis input system identification to create a mathematical model of the vehicle",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#1112-pitch-rate-mathematical-model",
            "wiki_text": "Matlab and Simulink IAV scripts for system identification",
            "wiki_url": "https://ardupilot.org/copter/docs/systemid-model-development.html#identification-of-a-multicopter",
            "external_tool_text": "ArduCopter Simulink Model",
            "external_tool_url": "https://github.com/ArduPilot/ardupilot/blob/master/Tools/simulink/arducopter/README.md",
            "mandatory_text": "20% mandatory (80% optional)",
            "auto_changed_by": "",
            "forced_parameters": {
                "SID_AXIS": { "New Value": 2, "Change Reason": "Inject chip on the input pitch signal" }
            },
            "old_filenames": []
        },
        "52_system_id_input_yaw.param": {
            "why": "System identification is required to create a mathematical model of the vehicle",
            "why_now": "Because the vehicle should be fully tuned (no more PID changes) before a model gets created (that depends on said PID values)",
            "blog_text": "Configure parameters for the yaw axis input system identification to create a mathematical model of the vehicle",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#1113-yaw-rate-mathematical-model",
            "wiki_text": "Matlab and Simulink IAV scripts for system identification",
            "wiki_url": "https://ardupilot.org/copter/docs/systemid-model-development.html#identification-of-a-multicopter",
            "external_tool_text": "ArduCopter Simulink Model",
            "external_tool_url": "https://github.com/ArduPilot/ardupilot/blob/master/Tools/simulink/arducopter/README.md",
            "mandatory_text": "20% mandatory (80% optional)",
            "auto_changed_by": "",
            "forced_parameters": {
                "SID_AXIS": { "New Value": 3, "Change Reason": "Inject chip on the input yaw signal" }
            },
            "old_filenames": []
        },
        "53_system_id_mixer_roll.param": {
            "why": "System identification is required to create a mathematical model of the vehicle",
            "why_now": "Because the vehicle should be fully tuned (no more PID changes) before a model gets created (that depends on said PID values)",
            "blog_text": "Configure parameters for the roll axis system identification to create a mathematical model of the vehicle",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#11-system-identification-for-analytical-pid-optimization-optional",
            "wiki_text": "Matlab and Simulink IAV scripts for system identification",
            "wiki_url": "https://ardupilot.org/copter/docs/systemid-model-development.html#identification-of-a-multicopter",
            "external_tool_text": "ArduCopter Simulink Model",
            "external_tool_url": "https://github.com/ArduPilot/ardupilot/blob/master/Tools/simulink/arducopter/README.md",
            "mandatory_text": "20% mandatory (80% optional)",
            "auto_changed_by": "",
            "forced_parameters": {
                "SID_AXIS": { "New Value": 10, "Change Reason": "Inject chip on the mixer roll signal" }
            },
            "old_filenames": ["40_system_id_roll.param", "42_system_id_roll.param"]
        },
        "54_system_id_mixer_pitch.param": {
            "why": "System identification is required to create a mathematical model of the vehicle",
            "why_now": "Because the vehicle should be fully tuned (no more PID changes) before a model gets created (that depends on said PID values)",
            "blog_text": "Configure parameters for the pitch axis system identification to create a mathematical model of the vehicle",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#1112-pitch-rate-mathematical-model",
            "wiki_text": "Matlab and Simulink IAV scripts for system identification",
            "wiki_url": "https://ardupilot.org/copter/docs/systemid-model-development.html#identification-of-a-multicopter",
            "external_tool_text": "ArduCopter Simulink Model",
            "external_tool_url": "https://github.com/ArduPilot/ardupilot/blob/master/Tools/simulink/arducopter/README.md",
            "mandatory_text": "20% mandatory (80% optional)",
            "auto_changed_by": "",
            "forced_parameters": {
                "SID_AXIS": { "New Value": 11, "Change Reason": "Inject chip on the mixer pitch signal" }
            },
            "old_filenames": ["41_system_id_pitch.param", "43_system_id_pitch.param"]
        },
        "55_system_id_mixer_yaw.param": {
            "why": "System identification is required to create a mathematical model of the vehicle",
            "why_now": "Because the vehicle should be fully tuned (no more PID changes) before a model gets created (that depends on said PID values)",
            "blog_text": "Configure parameters for the yaw axis system identification to create a mathematical model of the vehicle",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#1113-yaw-rate-mathematical-model",
            "wiki_text": "Matlab and Simulink IAV scripts for system identification",
            "wiki_url": "https://ardupilot.org/copter/docs/systemid-model-development.html#identification-of-a-multicopter",
            "external_tool_text": "ArduCopter Simulink Model",
            "external_tool_url": "https://github.com/ArduPilot/ardupilot/blob/master/Tools/simulink/arducopter/README.md",
            "mandatory_text": "20% mandatory (80% optional)",
            "auto_changed_by": "",
            "forced_parameters": {
                "SID_AXIS": { "New Value": 12, "Change Reason": "Inject chip on the mixer yaw signal" }
            },
            "old_filenames": ["42_system_id_yaw.param", "44_system_id_yaw.param"]
        },
        "56_system_id_mixer_thrust.param": {
            "why": "System identification is required to create a mathematical model of the vehicle",
            "why_now": "Because the vehicle should be fully tuned (no more PID changes) before a model gets created (that depends on said PID values)",
            "blog_text": "Configure parameters for the thrust axis system identification to create a mathematical model of the vehicle",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#1114-thrust-mathematical-model",
            "wiki_text": "Matlab and Simulink IAV scripts for system identification",
            "wiki_url": "https://ardupilot.org/copter/docs/systemid-model-development.html#identification-of-a-multicopter",
            "external_tool_text": "ArduCopter Simulink Model",
            "external_tool_url": "https://github.com/ArduPilot/ardupilot/blob/master/Tools/simulink/arducopter/README.md",
            "mandatory_text": "20% mandatory (80% optional)",
            "auto_changed_by": "",
            "forced_parameters": {
                "SID_AXIS": { "New Value": 13, "Change Reason": "Inject chip on the mixer thrust signal" }
            },
            "old_filenames": ["43_system_id_thrust.param", "45_system_id_thrust.param"]
        },
        "57_analytical_pid_optimization.param": {
            "why": "Because the mathematical model of the vehicle allows for analytical PID optimization",
            "why_now": "Because we first needed system identification flights to create the mathematical model",
            "blog_text": "Parameters for analytical PID optimization",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#112-analytical-multicopter-flight-controller-pid-optimization",
            "wiki_text": "IAV analytical PID model optimization",
            "wiki_url": "https://discuss.ardupilot.org/t/analitical-multicopter-flight-controller-pid-optimization/109759",
            "external_tool_text": "Heli Analytic Tune Tool",
            "external_tool_url": "https://firmware.ardupilot.org/Tools/WebTools/AnalyticTune/",
            "mandatory_text": "20% mandatory (80% optional)",
            "auto_changed_by": "",
            "forced_parameters": {
                "ARMING_CHECK": { "New Value": 1, "Change Reason": "Normal state for everyday use" },
                "ATC_RATE_FF_ENAB": { "New Value": 1, "Change Reason": "Restore value now that system identification is done" },
                "SID_AXIS": { "New Value": 0, "Change Reason": "No more system identification chip injections" }
            },
            "old_filenames": ["44_analytical_pid_optimization.param", "46_analytical_pid_optimization.param"]
        },
        "60_position_controller.param": {
            "why": "Position controller parameters are crucial for waypoint navigation and precision flying",
            "why_now": "Because the position controller PIDs depend on the attitude and attitude-rate PIDs tuned in previous steps",
            "blog_text": "Configure the position controller(s)",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#121-position-controller",
            "wiki_text": "",
            "wiki_url": "",
            "external_tool_text": "",
            "external_tool_url": "",
            "mandatory_text": "40% mandatory (60% optional)",
            "auto_changed_by": "",
            "forced_parameters": {
                "LOG_BITMASK": { "New Value": 145150, "Change Reason": "Add Navigation logging" }
            },
            "old_filenames": ["46_position_controller.param", "48_position_controller.param", "47_position_controller.param"]
        },
        "61_guided_operation.param": {
            "why": "Guided mode is used for waypoint navigation and precision flying",
            "why_now": "Because guided mode requires a tuned position controller",
            "blog_text": "Set up parameters for guided operation, including waypoint navigation and obstacle avoidance",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#122-guided-operation-without-rc-transmitter",
            "wiki_text": "Guided Mode",
            "wiki_url": "https://ardupilot.org/copter/docs/ac2_guidedmode.html",
            "external_tool_text": "",
            "external_tool_url": "",
            "mandatory_text": "0% mandatory (100% optional)",
            "auto_changed_by": "",
            "old_filenames": ["50_guided_operation.param", "48_guided_operation.param"]
        },
        "62_precision_land.param": {
            "why": "Precision landing ensures accurate and safe landing and has many parameters",
            "why_now": "Because precision landing requires guided mode",
            "blog_text": "Configure parameters for precision landing",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#123-precision-land",
            "wiki_text": "Precision Landing and Loiter",
            "wiki_url": "https://ardupilot.org/copter/docs/precision-landing-with-irlock.html",
            "external_tool_text": "",
            "external_tool_url": "",
            "mandatory_text": "0% mandatory (100% optional)",
            "auto_changed_by": "",
            "old_filenames": ["47_precision_land.param", "49_precision_land.param"]
        },
        "63_optical_flow_setup.param": {
            "why": "Optical flow sensor calibration is needed before using it",
            "why_now": "Because it is optional and should only be done after most other configurations are complete",
            "blog_text": "Setup optical flow sensor calibration",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#13-productive-configuration",
            "wiki_text": "optical flow sensor setup",
            "wiki_url": "https://ardupilot.org/copter/docs/common-optical-flow-sensor-setup.html",
            "external_tool_text": "optical flow sensors",
            "external_tool_url": "https://ardupilot.org/copter/docs/common-optical-flow-sensors-landingpage.html",
            "mandatory_text": "0% mandatory (100% optional)",
            "auto_changed_by": "",
            "old_filenames": ["50_optical_flow_setup.param"],
            "jump_possible": {"66_everyday_use.param": "If you do not use optical flow\nyou can skip some steps now.\n\nJump to '66_everyday_use.param' file?"}
        },
        "64_optical_flow_results.param": {
            "why": "Optical flow sensor calibration is needed before using it",
            "why_now": "It con only be done after optical flow sensor calibration setup",
            "blog_text": "Store optical flow sensor calibration results",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#13-productive-configuration",
            "wiki_text": "optical flow sensor setup",
            "wiki_url": "https://ardupilot.org/copter/docs/common-optical-flow-sensor-setup.html",
            "external_tool_text": "FlowCal",
            "external_tool_url": "https://ardupilot.org/copter/docs/common-optical-flow-sensor-setup.html",
            "mandatory_text": "0% mandatory (100% optional)",
            "old_filenames": ["51_optical_flow_results.param"],
            "auto_changed_by": "FlowCal"
        },
        "65_use_optical_flow_instead_of_gnss.param": {
            "why": "If optical flow is to be used instead of GNSS for positioning",
            "why_now": "It con only be done after optical flow sensor calibration setup",
            "blog_text": "Use optical flow sensor instead of GNSS sensor for positioning",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#13-productive-configuration",
            "wiki_text": "optical flow sensor setup",
            "wiki_url": "https://ardupilot.org/copter/docs/common-optical-flow-sensor-setup.html",
            "external_tool_text": "",
            "external_tool_url": "",
            "mandatory_text": "0% mandatory (100% optional)",
            "old_filenames": ["52_use_optical_flow_instead_of_gnss.param"],
            "auto_changed_by": ""
        },
        "66_everyday_use.param": {
            "why": "To ensure the vehicle is safe and stable for routine flying",
            "why_now": "This is the last step in the tuning process",
            "blog_text": "Configure parameters for everyday use",
            "blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli#13-productive-configuration",
            "wiki_text": "",
            "wiki_url": "",
            "external_tool_text": "",
            "external_tool_url": "",
            "mandatory_text": "100% mandatory (0% optional)",
            "auto_changed_by": "",
            "old_filenames": ["45_everyday_use.param", "47_everyday_use.param", "50_everyday_use.param", "53_everyday_use.param"]
        }
    },
    "phases": {
        "IMU temperature calibration": {
            "description": "Calibrate the IMU sensors for at different temperatures",
            "optional": true,
            "start": 2
        },
        "Assemble all components except the propellers": {
            "description": "Assemble all components except the propellers"
        },
        "Basic mandatory configuration": {
            "description": "Set up the basic parameters for the vehicle",
            "start": 5
        },
        "Assemble the propellers and perform the first flight": {
            "description": "Assemble the propellers and perform the first flight"
        },
        "Minimalistic mandatory tuning": {
            "description": "Minimalistic mandatory tuning using test flight data",
            "start": 24
        },
        "Standard tuning": {
            "description": "Improve tuning with more test flight data",
            "optional": true,
            "start": 31
        },
        "Improve altitude control": {
            "description": "Improve altitude under windy conditions",
            "optional": true,
            "start": 47
        },
        "Analytical PID optimization": {
            "description": "System identification and analytical PID optimization",
            "optional": true,
            "start": 50
        },
        "Position controller tuning": {
            "description": "Position controller tuning",
            "optional": true,
            "start": 60
        },
        "Guided operation": {
            "description": "Guided operation",
            "optional": true,
            "start": 61
        },
        "Precision landing": {
            "description": "Precision landing",
            "optional": true,
            "start": 62
        },
        "Optical flow calibration": {
            "description": "Optical flow sensor calibration",
            "optional": true,
            "start": 63
        },
        "Everyday use": {
            "description": "Switch tests off, configure for productive work",
            "start": 66
        }
    }
}