[
    {
      "descriptor": "general_vertiq_81xx_position",
      "Entries": [
        {
          "type_idn": 59,
          "descriptor": "Trajectory Queue Mode",
            "info": "Append mode will add a trajectory segment to the queue.  Overwrite mode will immediately execute any commanded trajectory as if the queue length is one.",
          "sub_idn": 27,
          "format": "b",
          "unit": "enum",
          "frame_type": 1,
          "list_name": [
            "Append",
            "Overwrite"
          ],
          "list_value": [
            0,
            1
            ]
        },
        {
          "type_idn": 59,
          "descriptor": "Meters per radian",
            "info": "Rotational to linear conversion. For applications like driving lead screws.",
          "sub_idn": 13,
          "format": "f",
          "unit": "m/rad",
          "frame_type": 2,
          "maximum": 1,
          "minimum": -1,
          "decimal": 6,
          "single_step": 0.000001,
          "nan": true
        },
        {
          "type_idn": 79,
          "descriptor": "Anticogging Pro",
            "info": "This electrically cancels cogging torque to make your motor smoother.",
          "sub_idn": 0,
          "format": "B",
          "unit": "enum",
          "frame_type": 1,
          "list_name": [
            "Off",
            "On"
          ],
          "list_value": [
            0,
            1
            ]
        },
        {
          "type_idn": 78,
          "descriptor": "Unit minimum",
            "info": "Minimum value of the servo input.  The unit is determined by the Servo mode.  This is the applied value at 1000ms (or equivalent).",
          "sub_idn": 1,
          "format": "f",
          "unit": "",
          "frame_type": 2,
          "maximum": 32768,
          "minimum": -32768,
          "decimal": 6,
          "single_step": 9.58738e-5
        },
        {
          "type_idn": 78,
          "descriptor": "Unit maximum",
            "info": "Maximum value of the servo input.  The unit is determined by the Servo mode.  This is the applied value at 2000ms (or equivalent).",
          "sub_idn": 2,
          "format": "f",
          "unit": "",
          "frame_type": 2,
          "maximum": 32768,
          "minimum": -32768,
          "decimal": 6,
          "single_step": 9.58738e-5
        },
        {
          "type_idn": 78,
          "descriptor": "Servo mode",
            "info": "Maps the input to PWM mode, voltage mode, velocity mode, or position mode.  This selection determines the units of Unit maximum and Unit minimum.",
          "sub_idn": 0,
          "format": "B",
          "unit": "enum",
          "frame_type": 1,
          "list_name": [
            "PWM",
            "Voltage",
            "Velocity",
            "Position"
          ],
          "list_value": [
            0,
            1,
            2,
            3
            ]
        },
        {
          "type_idn": 76,
          "descriptor": "Communication",
          "info": "These are standard hobby communication methods. Match your module's communication method with your flight controller's communication method.",
          "sub_idn": 0,
          "format": "B",
          "unit": "enum",
          "frame_type": 1,
          "list_name": [
            "Autodetect",
            "Hobby Disabled",
            "Standard PWM",
            "OneShot125",
            "OneShot42",
            "MultiShot",
            "DShot150",
            "DShot300",
            "DShot600",
            "DShot1200"
          ],
          "list_value": [
            255,
            254,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8
          ]
        },
        {
          "type_idn": 59,
          "descriptor": "Maximum Angular Velocity",
          "info": "Sets the maximum angular speed the motor will move at when moving to a position.",
          "sub_idn": 18,
          "format": "f",
          "unit": "rad/s",
          "frame_type": 2,
          "maximum": 10000,
          "minimum": -10000,
          "decimal": 2,
          "single_step": 0.1
        },
        {
          "type_idn": 59,
          "descriptor": "Zero Angle",
          "info": "The zero angle of the module.",
          "sub_idn": 31,
          "format": "f",
          "unit": "rads",
          "frame_type": 2,
          "maximum": 3.14,
          "minimum": -3.14,
          "single_step": 0.1,
          "decimal": 2
        },
        {
          "type_idn": 59,
          "descriptor": "Sample Zero Angle",
          "info": "Samples a new zero angle based on the current angle.",
          "sub_idn": 30,
          "format": "n",
          "unit": "",
          "frame_type": 5
        }
      ]
    }
  ]