text: #include <systemlib/param/param.h>
  
  // 16 is max name length
  
  
  /**
   * Optical flow z offset from center
   *
   * @group Local Position Estimator
   * @unit m
   * @min -1
   * @max 1
   * @decimal 3
   */
  PARAM_DEFINE_FLOAT(LPE_FLW_OFF_Z, 0.0f);
  
  /**
   * Optical flow xy standard deviation.
   *
   * @group Local Position Estimator
   * @unit m
   * @min 0.01
   * @max 1
   * @decimal 3
   */
  PARAM_DEFINE_FLOAT(LPE_FLW_XY, 0.01f);
  
  /**
   * Optical flow minimum quality threshold
   *
   * @group Local Position Estimator
   * @min 0
   * @max 255
   * @decimal 0
   */
  PARAM_DEFINE_INT32(LPE_FLW_QMIN, 75);
  
  /**
   * Sonar z standard deviation.
   *
   * @group Local Position Estimator
   * @unit m
   * @min 0.01
   * @max 1
   * @decimal 3
   */
  PARAM_DEFINE_FLOAT(LPE_SNR_Z, 0.05f);
  
  /**
   * Sonar z offset from center of vehicle +down
   *
   * @group Local Position Estimator
   * @unit m
   * @min -1
   * @max 1
   * @decimal 3
   */
  PARAM_DEFINE_FLOAT(LPE_SNR_OFF_Z, 0.00f);
  
  /**
   * Lidar z standard deviation.
   *
   * @group Local Position Estimator
   * @unit m
   * @min 0.01
   * @max 1
   * @decimal 3
   */
  PARAM_DEFINE_FLOAT(LPE_LDR_Z, 0.03f);
  
  /**
   * Lidar z offset from center of vehicle +down
   *
   * @group Local Position Estimator
   * @unit m
   * @min -1
   * @max 1
   * @decimal 3
   */
  PARAM_DEFINE_FLOAT(LPE_LDR_OFF_Z, 0.00f);
  
  /**
   * Accelerometer xy noise density
   *
   * Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz)
   *
   * Larger than data sheet to account for tilt error.
   *
   * @group Local Position Estimator
   * @unit m/s^2/srqt(Hz)
   * @min 0.00001
   * @max 2
   * @decimal 4
   */
  PARAM_DEFINE_FLOAT(LPE_ACC_XY, 0.0015f);
  
  /**
   * Accelerometer z noise density
   *
   * Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz)
   *
   * @group Local Position Estimator
   * @unit m/s^2/srqt(Hz)
   * @min 0.00001
   * @max 2
   * @decimal 4
   */
  PARAM_DEFINE_FLOAT(LPE_ACC_Z, 0.0015f);
  
  /**
   * Barometric presssure altitude z standard deviation.
   *
   * @group Local Position Estimator
   * @unit m
   * @min 0.01
   * @max 3
   * @decimal 2
   */
  PARAM_DEFINE_FLOAT(LPE_BAR_Z, 3.0f);
  
  /**
   * Enables GPS data, also forces alt init with GPS
   *
   * @group Local Position Estimator
   * @boolean
   */
  PARAM_DEFINE_INT32(LPE_GPS_ON, 1);
  
  /**
   * GPS delay compensaton
   *
   * @group Local Position Estimator
   * @unit sec
   * @min 0
   * @max 0.4
   * @decimal 2
   */
  PARAM_DEFINE_FLOAT(LPE_GPS_DELAY, 0.29f);
  
  
  /**
   * Minimum GPS xy standard deviation, uses reported EPH if greater.
   *
   * @group Local Position Estimator
   * @unit m
   * @min 0.01
   * @max 5
   * @decimal 2
   */
  PARAM_DEFINE_FLOAT(LPE_GPS_XY, 1.0f);
  
  /**
   * Minimum GPS z standard deviation, uses reported EPV if greater.
   *
   * @group Local Position Estimator
   * @unit m
   * @min 0.01
   * @max 200
   * @decimal 2
   */
  PARAM_DEFINE_FLOAT(LPE_GPS_Z, 3.0f);
  
  /**
   * GPS xy velocity standard deviation.
   * EPV used if greater than this value.
   *
   * @group Local Position Estimator
   * @unit m/s
   * @min 0.01
   * @max 2
   * @decimal 3
   */
  PARAM_DEFINE_FLOAT(LPE_GPS_VXY, 0.25f);
  
  /**
   * GPS z velocity standard deviation.
   *
   * @group Local Position Estimator
   * @unit m/s
   * @min 0.01
   * @max 2
   * @decimal 3
   */
  PARAM_DEFINE_FLOAT(LPE_GPS_VZ, 0.25f);
  
  /**
   * Max EPH allowed for GPS initialization
   *
   * @group Local Position Estimator
   * @unit m
   * @min 1.0
   * @max 5.0
   * @decimal 3
   */
  PARAM_DEFINE_FLOAT(LPE_EPH_MAX, 3.0f);
  
  /**
   * Max EPV allowed for GPS initialization
   *
   * @group Local Position Estimator
   * @unit m
   * @min 1.0
   * @max 5.0
   * @decimal 3
   */
  PARAM_DEFINE_FLOAT(LPE_EPV_MAX, 5.0f);
  
  /**
   * Vision xy standard deviation.
   *
   * @group Local Position Estimator
   * @unit m
   * @min 0.01
   * @max 1
   * @decimal 3
   */
  PARAM_DEFINE_FLOAT(LPE_VIS_XY, 0.5f);
  
  /**
   * Vision z standard deviation.
   *
   * @group Local Position Estimator
   * @unit m
   * @min 0.01
   * @max 2
   * @decimal 3
   */
  PARAM_DEFINE_FLOAT(LPE_VIS_Z, 0.5f);
  
  /**
   * Vision correction
   *
   * @group Local Position Estimator
   * @boolean
   */
  PARAM_DEFINE_INT32(LPE_VIS_ON, 1);
  
  /**
   * Vicon position standard deviation.
   *
   * @group Local Position Estimator
   * @unit m
   * @min 0.01
   * @max 1
   * @decimal 3
   */
  PARAM_DEFINE_FLOAT(LPE_VIC_P, 0.05f);
  
  /**
   * Position propagation noise density
   *
   * Increase to trust measurements more.
   * Decrease to trust model more.
   *
   * @group Local Position Estimator
   * @unit m/s/sqrt(Hz)
   * @min 0
   * @max 1
   * @decimal 8
   */
  PARAM_DEFINE_FLOAT(LPE_PN_P, 0.1f);
  
  /**
   * Velocity propagation noise density
   *
   * Increase to trust measurements more.
   * Decrease to trust model more.
   *
   * @group Local Position Estimator
   * @unit (m/s)/s/sqrt(Hz)
   * @min 0
   * @max 1
   * @decimal 8
   */
  PARAM_DEFINE_FLOAT(LPE_PN_V, 0.1f);
  
  /**
   * Accel bias propagation noise density
   *
   * @group Local Position Estimator
   * @unit (m/s^2)/s/sqrt(Hz)
   * @min 0
   * @max 1
   * @decimal 8
   */
  PARAM_DEFINE_FLOAT(LPE_PN_B, 1e-3f);
  
  /**
   * Terrain maximum percent grade, hilly/outdoor (100 = 45 deg), flat/Indoor (0 = 0 deg)
   *
   * @group Local Position Estimator
   * @unit %
   * @min 0
   * @max 100
   * @decimal 3
   */
  PARAM_DEFINE_FLOAT(LPE_T_MAX_GRADE, 1.0f);
  
  /**
   * Flow gyro high pass filter cut off frequency
   *
   * @group Local Position Estimator
   * @unit Hz
   * @min 0
   * @max 2
   * @decimal 3
   */
  PARAM_DEFINE_FLOAT(LPE_FGYRO_HP, 0.1f);
  
  /**
   * Local origin latitude for nav w/o GPS
   *
   * @group Local Position Estimator
   * @unit deg
   * @min -90
   * @max 90
   * @decimal 8
   */
  PARAM_DEFINE_FLOAT(LPE_LAT, 40.430f);
  
  /**
   * Local origin longitude for nav w/o GPS
   *
   * @group Local Position Estimator
   * @unit deg
   * @min -180
   * @max 180
   * @decimal 8
   */
  PARAM_DEFINE_FLOAT(LPE_LON, -86.929);
  
  /**
   * Cut frequency for state publication
   *
   * @group Local Position Estimator
   * @unit Hz
   * @min 5
   * @max 1000
   * @decimal 0
   */
  PARAM_DEFINE_FLOAT(LPE_X_LP, 5.0f);
  
  /**
   * Required xy standard deviation to publish position
   *
   * @group Local Position Estimator
   * @unit m
   * @min 0.3
   * @max 5.0
   * @decimal 1
   */
  PARAM_DEFINE_FLOAT(LPE_XY_PUB, 1.0f);
  
  /**
   * Required z standard deviation to publish altitude/ terrain
   *
   * @group Local Position Estimator
   * @unit m
   * @min 0.3
   * @max 5.0
   * @decimal 1
   */
  PARAM_DEFINE_FLOAT(LPE_Z_PUB, 1.0f);
  