참조 : http://ardupilot.org/copter/docs/parameters.html
■ PixHawk
SR2_EXT_STAT = 2 # 2 Hz for waypoints, GPS raw
SR2_EXTRA1 = 10 # 10 Hz for attitude
SR2_EXTRA2 = 10 # 10 Hz for VFR Hud data
SR2_EXTRA3 = 2 # 2 Hz for AHRS, Hardware Status, Wind
SR2_PARAMS = 10 # Parameter stream rate to ground station
SR2_POSITION = 3 # 3 Hz for location data
SR2_RAW_CTRL = 1 # Raw Control stream rate to ground station
SR2_RAW_SENS = 2 # 2 Hz for raw imu sensor data
SR2_RC_CHAN = 2 # 2 Hz for radio input or radio output data
■ APM
SR1_EXT_STAT = 2 # 2 Hz for waypoints, GPS raw
SR1_EXTRA1 = 5 # 5 Hz for attitude
SR1_EXTRA2 = 2 # 2 Hz for VFR Hud data
SR1_POSITION = 2 # 2 Hz for location data
SR1_RAW_SENS = 2 # 2 Hz for raw imu sensor data
SR1_RC_CHAN = 5 # 5 Hz for radio input or radio output data