params.c

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/**
 * Multicopter air-mode
 *
 * The air-mode enables the mixer to increase the total thrust of the multirotor
 * in order to keep attitude and rate control even at low and high throttle.
 *
 * This function should be disabled during tuning as it will help the controller
 * to diverge if the closed-loop is unstable (i.e. the vehicle is not tuned yet).
 *
 * Enabling air-mode for yaw requires the use of an arming switch.
 *
 * @value 0 Disabled
 * @value 1 Roll/Pitch
 * @value 2 Roll/Pitch/Yaw
 * @group Mixer Output
 */
PARAM_DEFINE_INT32(MC_AIRMODE, 0);

/**
 * Motor Ordering
 *
 * Determines the motor ordering. This can be used for example in combination with
 * a 4-in-1 ESC that assumes a motor ordering which is different from PX4.
 *
 * ONLY supported for Quads.
 *
 * When changing this, make sure to test the motor response without props first.
 *
 * @value 0 PX4
 * @value 1 Betaflight / Cleanflight
 *
 * @group Mixer Output
 */
PARAM_DEFINE_INT32(MOT_ORDERING, 0);