text: /****************************************************************************
   *
   *   Copyright (c) 2016 PX4 Development Team. All rights reserved.
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions
   * are met:
   *
   * 1. Redistributions of source code must retain the above copyright
   *    notice, this list of conditions and the following disclaimer.
   * 2. Redistributions in binary form must reproduce the above copyright
   *    notice, this list of conditions and the following disclaimer in
   *    the documentation and/or other materials provided with the
   *    distribution.
   * 3. Neither the name PX4 nor the names of its contributors may be
   *    used to endorse or promote products derived from this software
   *    without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
   * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
   * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
   * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
   * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
   * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
   * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
   * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
   * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   * POSSIBILITY OF SUCH DAMAGE.
   *
   ****************************************************************************/
  
  /**
   * Dump GPS communication to a file.
   *
   * If this is set to 1, all GPS communication data will be published via uORB,
   * and written to the log file as gps_dump message.
   * @min 0
   * @max 1
   * @value 0 Disable
   * @value 1 Enable
   * @group GPS
   */
  PARAM_DEFINE_INT32(GPS_DUMP_COMM, 1);
  
  /**
   * u-blox GPS dynamic platform model
   *
   * u-blox receivers support different dynamic platform models to adjust the navigation engine to
   * the expected application environment.
   *
   * @min 0
   * @max 9
   * @value 2 stationary
   * @value 4 automotive
   * @value 6 airborne with <1g acceleration
   * @value 7 airborne with <2g acceleration
   * @value 8 airborne with <4g acceleration
   *
   * @reboot_required true
   *
   * @group GPS
   */
  PARAM_DEFINE_INT32(GPS_UBX_DYNMODEL, 7);
  
  
  /**
   * Heading/Yaw offset for dual antenna GPS
   *
   * Heading offset angle for dual antenna GPS setups that support heading estimation.
   * (currently only for the Trimble MB-Two).
   *
   * Set this to 0 if the antennas are parallel to the forward-facing direction of the vehicle and the first antenna is in
   * front. The offset angle increases counterclockwise.
   *
   * Set this to 90 if the first antenna is placed on the right side and the second on the left side of the vehicle.
   *
   * @min 0
   * @max 360
   * @unit deg
   * @reboot_required true
   * @decimal 0
   *
   * @group GPS
   */
  PARAM_DEFINE_FLOAT(GPS_YAW_OFFSET, 0.f);
  
  