{
  "version": 1,
  "show-ui-if": "SYS_CTRL_ALLOC==1",
  "outputs_v1": [
	  {
		  "label": "MAIN",
		  "subgroups": [
			  {
				  "label": "MAIN 1-4",
				  "parameters": [
					  {
						  "name": "PWM_MAIN_TIM0",
						  "function": "primary"
					  },
					  {
						  "name": "FMU_TIM0_EXTRA",
						  "label": "Extra group config"
					  }
				  ],
				  "per-channel-parameters": [
					  {
						  "label": "Function",
						  "name": "PWM_MAIN_FUNC${i}",
						  "function": "function"
					  },
					  {
						  "label": "Disarmed",
						  "name": "PWM_MAIN_DIS${i}",
						  "show-if": "PWM_MAIN_TIM0>=-1",
						  "function": "disarmed",
						  "advanced": true
					  },
					  {
						  "label": "Min",
						  "name": "PWM_MAIN_MIN${i}",
						  "show-if": "PWM_MAIN_TIM0>=-1"
					  },
					  {
						  "label": "Max",
						  "name": "PWM_MAIN_MAX${i}",
						  "show-if": "PWM_MAIN_TIM0>=-1"
					  },
					  {
						  "label": "Failsafe",
						  "name": "PWM_MAIN_FAIL${i}",
						  "show-if": "PWM_MAIN_TIM0>=-1"
					  }
				  ],
				  "channels": [
					  {
						  "label": "MAIN 1",
						  "param-index": 1
					  },
					  {
						  "label": "MAIN 2",
						  "param-index": 2
					  },
					  {
						  "label": "MAIN 3",
						  "param-index": 3
					  },
					  {
						  "label": "MAIN 4",
						  "param-index": 4
					  }
				  ]
			  }
		  ]
	  },
	  {
		  "label": "AUX",
		  "parameters": [
			  {
				  "label": "DShot Telemetry",
				  "name": "DSHOT_TEL_CFG"
			  },
			  {
				  "label": "DShot Min",
				  "name": "DSHOT_MIN"
			  }
		  ],
		  "subgroups": [
			  {
				  "label": "AUX 1-4",
				  "supported-actions": {
					  "set-spin-direction1": {
						  "supported-if": "PWM_AUX_TIM0<-1",
						  "actuator-types": ["motor"]
					  },
					  "set-spin-direction2": {
						  "supported-if": "PWM_AUX_TIM0<-1",
						  "actuator-types": ["motor"]
					  }
				  },
				  "parameters": [
					  {
						  "name": "PWM_AUX_TIM0",
						  "function": "primary"
					  }
				  ],
				  "per-channel-parameters": [
					  {
						  "label": "Function",
						  "name": "PWM_AUX_FUNC${i}",
						  "function": "function"
					  },
					  {
						  "label": "Disarmed",
						  "name": "PWM_AUX_DIS${i}",
						  "show-if": "PWM_AUX_TIM0>=-1",
						  "function": "disarmed",
						  "advanced": true
					  },
					  {
						  "label": "Min",
						  "name": "PWM_AUX_MIN${i}",
						  "show-if": "PWM_AUX_TIM0>=-1"
					  },
					  {
						  "label": "Max",
						  "name": "PWM_AUX_MAX${i}",
						  "show-if": "PWM_AUX_TIM0>=-1"
					  },
					  {
						  "label": "Failsafe",
						  "name": "PWM_AUX_FAIL${i}",
						  "show-if": "PWM_AUX_TIM0>=-1"
					  }
				  ],
				  "channels": [
					  {
						  "label": "AUX 1",
						  "param-index": 1
					  },
					  {
						  "label": "AUX 2",
						  "param-index": 2
					  },
					  {
						  "label": "AUX 3",
						  "param-index": 3
					  },
					  {
						  "label": "AUX 4",
						  "param-index": 4
					  }
				  ]
			  },
			  {
				  "label": "AUX 5-6",
				  "parameters": [
					  {
						  "name": "PWM_AUX_TIM1",
						  "function": "primary"
					  }
				  ],
				  "per-channel-parameters": [
					  {
						  "label": "Function",
						  "name": "PWM_AUX_FUNC${i}",
						  "function": "function"
					  },
					  {
						  "label": "Disarmed",
						  "name": "PWM_AUX_DIS${i}",
						  "show-if": "PWM_AUX_TIM1>=-1",
						  "function": "disarmed",
						  "advanced": true
					  },
					  {
						  "label": "Min",
						  "name": "PWM_AUX_MIN${i}",
						  "show-if": "PWM_AUX_TIM1>=-1"
					  },
					  {
						  "label": "Max",
						  "name": "PWM_AUX_MAX${i}",
						  "show-if": "PWM_AUX_TIM1>=-1"
					  },
					  {
						  "label": "Failsafe",
						  "name": "PWM_AUX_FAIL${i}",
						  "show-if": "PWM_AUX_TIM1>=-1"
					  },
					  {
						  "label": "Min",
						  "name": "DSHOT_FMU_MIN${i}",
						  "show-if": "PWM_AUX_TIM1<-1"
					  }
				  ],
				  "channels": [
					  {
						  "label": "AUX 5",
						  "param-index": 5
					  },
					  {
						  "label": "AUX 6",
						  "param-index": 6
					  }
				  ]
			  },
			  {
				  "label": "AUX 7-8",
				  "parameters": [
					  {
						  "name": "PWM_AUX_TIM2",
						  "function": "primary"
					  }
				  ],
				  "per-channel-parameters": [
					  {
						  "label": "Function",
						  "name": "PWM_AUX_FUNC${i}",
						  "function": "function"
					  },
					  {
						  "label": "Disarmed",
						  "name": "PWM_AUX_DIS${i}",
						  "show-if": "PWM_AUX_TIM2>=-1",
						  "function": "disarmed",
						  "advanced": true
					  },
					  {
						  "label": "Min",
						  "name": "PWM_AUX_MIN${i}",
						  "show-if": "PWM_AUX_TIM2>=-1"
					  },
					  {
						  "label": "Max",
						  "name": "PWM_AUX_MAX${i}",
						  "show-if": "PWM_AUX_TIM2>=-1"
					  },
					  {
						  "label": "Failsafe",
						  "name": "PWM_AUX_FAIL${i}",
						  "show-if": "PWM_AUX_TIM2>=-1"
					  },
					  {
						  "label": "Min",
						  "name": "DSHOT_FMU_MIN${i}",
						  "show-if": "PWM_AUX_TIM2<-1"
					  }
				  ],
				  "channels": [
					  {
						  "label": "AUX 7",
						  "param-index": 7
					  },
					  {
						  "label": "AUX 8",
						  "param-index": 8
					  }
				  ]
			  },
			  {
				  "label": "CAP 1-3",
				  "parameters": [
					  {
						  "name": "PWM_AUX_TIM3",
						  "function": "primary"
					  }
				  ],
				  "per-channel-parameters": [
					  {
						  "label": "Function",
						  "name": "PWM_AUX_FUNC${i}",
						  "function": "function"
					  },
					  {
						  "label": "Disarmed",
						  "name": "PWM_AUX_DIS${i}",
						  "show-if": "PWM_AUX_TIM2>=-1",
						  "function": "disarmed",
						  "advanced": true
					  },
					  {
						  "label": "Min",
						  "name": "PWM_AUX_MIN${i}",
						  "show-if": "PWM_AUX_TIM2>=-1"
					  },
					  {
						  "label": "Max",
						  "name": "PWM_AUX_MAX${i}",
						  "show-if": "PWM_AUX_TIM2>=-1"
					  },
					  {
						  "label": "Failsafe",
						  "name": "PWM_AUX_FAIL${i}",
						  "show-if": "PWM_AUX_TIM2>=-1"
					  }
				  ],
				  "channels": [
					  {
						  "label": "CAP 1",
						  "param-index": 9
					  },
					  {
						  "label": "CAP 2",
						  "param-index": 10
					  },
					  {
						  "label": "CAP 3",
						  "param-index": 11
					  }
				  ]
			  }
		  ]
	  },
	  {
		  "label": "UAVCAN",
		  "parameters": [
			  {
				  "name": "UAVCAN_ENABLE",
				  "label": "Configure",
				  "function": "enable"
			  },
			  {
				  "label": "Bitrate",
				  "name": "UAVCAN_BITRATE"
			  }
		  ],
		  "show-subgroups-if": "UAVCAN_ENABLE>=2",
		  "subgroups": [
			  {
				  "label": "ESCs",
				  "per-channel-parameters": [
					  {
						  "label": "Function",
						  "name": "UAVCAN_EC_FUNC${i}",
						  "function": "function"
					  },
					  {
						  "label": "Idle throttle spin",
						  "name": "UAVCAN_ESC_IDLT",
						  "show-as": "bitset",
						  "index-offset": -1
					  }
				  ],
				  "channels": [
					  {
						  "label": "ESC 1",
						  "param-index": 1
					  },
					  {
						  "label": "ESC 2",
						  "param-index": 2
					  }
				  ]
			  },
			  {
				  "label": "Servos",
				  "per-channel-parameters": [
					  {
						  "label": "Function",
						  "name": "UAVCAN_SV_FUNC${i}"
					  }
				  ],
				  "channels": [
					  {
						  "label": "Servo 1",
						  "param-index": 1
					  },
					  {
						  "label": "Servo 2",
						  "param-index": 2
					  }
				  ]
			  }
		  ]
	  },
	  {
		  "label": "HITL",
		  "parameters": [
			  {
				  "name": "SYS_HITL",
				  "label": "Configure",
				  "function": "enable"
			  }
		  ],
		  "subgroups": [
			  {
				  "per-channel-parameters": [
					  {
						  "label": "Function",
						  "function": "function",
						  "name": "PWM_SIM_FUN${i}"
					  }
				  ],
				  "channels": [
					  {
						  "label": "Output 1",
						  "param-index": 1
					  },
					  {
						  "label": "Output 2",
						  "param-index": 2
					  }
				  ]
			  }
		  ]
	  }
  ],

  "functions_v1":
  {
	  "0": { "label": "Disabled" },
	  "101": { "label": "Motor 1" },
	  "102": { "label": "Motor 2" },
	  "103": { "label": "Motor 3" },
	  "104": { "label": "Motor 4" },
	  "105": { "label": "Motor 5" },
	  "106": { "label": "Motor 6" },
	  "107": { "label": "Motor 7" },
	  "108": { "label": "Motor 8" },
	  "201": { "label": "Servo 1" },
	  "202": { "label": "Servo 2" },
	  "203": { "label": "Servo 3" },
	  "204": { "label": "Servo 4" },
	  "400": { "label": "Landing Gear" },
	  "401": { "label": "Parachute" },
	  "407": { "label": "RC AUX 1" },
	  "2032": {
		  "label": "Camera Capture",
		  "exclude-from-actuator-testing": true,
		  "note": {
			  "condition": "TRIG_MODE==0",
			  "text": "Camera triggering needs to be enabled and configured via TRIG_* parameters."
		  }
	  }
  },

  "mixer_v1":
  {
	  "actuator-types":
	  {
		  "motor": {
			  "function-min": 101,
			  "function-max": 108,
			  "label-index-offset": 1,
			  "values": {
				  "min": 0,
				  "max": 1,
				  "default-is-nan": true,
				  "reversible": true
			  },
			  "per-item-parameters": [
				  {
					  "label": "Reversible",
					  "name": "CA_MOT_REV",
					  "show-as": "bitset",
					  "index-offset": -1,
					  "advanced": true
				  }
			  ]
		  },
		  "servo": {
			  "function-min": 201,
			  "function-max": 208,
			  "values": {
				  "min": -1,
				  "max": 1,
				  "default": 0
			  },
			  "per-item-parameters": [
				  {
					  "label": "Trim",
					  "name": "CA_SVO_TRIM${i}",
					  "index-offset": 1
				  }
			  ]
		  },
		  "DEFAULT": {
			  "values": {
				  "min": -1,
				  "max": 1,
				  "default": -1
			  }
		  }
	  },
	  "config":
	  [
		  {
			  "option": "CA_AIRFRAME==1",
			  "type": "multirotor",
			  "actuators":
			  [
				  {
					  "group-label": "Motors",
					  "count": "CA_MC_R_COUNT",
					  "actuator-type": "motor",
					  "required": true,
					  "parameters": [
						  {
							  "label": "slew rate limit",
							  "name": "MOT_SLEW_MAX",
							  "advanced": true
						  }
					  ],
					  "per-item-parameters":
					  [
						  {
							  "label": "Position X",
							  "function": "posx",
							  "name": "CA_MC_R${i}_PX",
							  "index-offset": 0
						  },
						  {
							  "label": "Position Y",
							  "function": "posy",
							  "name": "CA_MC_R${i}_PY",
							  "index-offset": 0
						  },
						  {
							  "label": "Position Z",
							  "function": "posz",
							  "name": "CA_MC_R${i}_PZ",
							  "index-offset": 0,
							  "advanced": true
						  },
						  {
							  "label": "Direction CCW",
							  "function": "spin-dir",
							  "name": "CA_MC_R${i}_KM",
							  "show-as": "true-if-positive"
						  },
						  {
							  "label": "Axis X",
							  "function": "axisx",
							  "name": "CA_MC_R${i}_AX",
							  "advanced": true
						  }
					  ]
				  }
			  ]
		  },
		  {
			  "option": "CA_AIRFRAME==5",
			  "actuators":
			  [
				  {
					  "group-label": "Motors",
					  "count": 3,
					  "item-label-prefix":
					  	["Front Left Motor", "Front Right Motor", "Rear Motor"],
					  "actuator-type": "motor",
					  "per-item-parameters":
					  [
						  {
							  "label": "Position X",
							  "function": "posx",
							  "value": [0.3, 0.3, -0.75]
						  },
						  {
							  "label": "Position Y",
							  "function": "posy",
							  "value": [-0.3, 0.3, 0]
						  }
					  ]
				  },
				  {
					  "group-label": "Servos",
					  "count": 4,
					  "item-label-prefix":
					  	["Front Left Tilt","Front Right Tilt","Left Elevon", "Right Elevon"],
					  "actuator-type": "servo",
					  "per-item-parameters":
					  [
						  {
							  "label": "Position X",
							  "function": "posx",
							  "value": [0.3, 0.3, 0, 0]
						  },
						  {
							  "label": "Position Y",
							  "function": "posy",
							  "value": [-0.3, 0.3, -0.3, 0.3]
						  }
					  ]
				  }
			  ]
		  }
	  ]
  }
}