<?xml version="1.0" encoding="utf-8" ?>
<AC>
  <Item>
   <HEAD>Stabilization:</HEAD>
    <SUBHEAD>Angular Rate Control:</SUBHEAD>
    <DESC>How much throttle is applied to rotate the copter at the desired speed.
    
Adjust P by motor size
Small:  P = 0.145
Med:  P = 0.110
Large:  P = 0.090</DESC>
    <FIELDS>
      <FIELD>
        <NAME>P</NAME>
        <PARAMNAME>RATE_RLL_P</PARAMNAME>
        <PARAMNAME>RATE_PIT_P</PARAMNAME>
        <RANGEMIN>0.001</RANGEMIN>
        <RANGEMAX>5</RANGEMAX>
        <STEP>0.001</STEP>
      </FIELD>
      <FIELD>
        <NAME>I</NAME>
        <PARAMNAME>RATE_RLL_I</PARAMNAME>
        <PARAMNAME>RATE_PIT_I</PARAMNAME>
        <RANGEMIN>0</RANGEMIN>
        <RANGEMAX>5</RANGEMAX>
        <STEP>0.001</STEP>
      </FIELD>
      <FIELD>
        <NAME>D</NAME>
        <PARAMNAME>RATE_RLL_D</PARAMNAME>
        <PARAMNAME>RATE_PIT_D</PARAMNAME>
        <RANGEMIN>0</RANGEMIN>
        <RANGEMAX>5</RANGEMAX>
        <STEP>0.001</STEP>
      </FIELD>
      <FIELD>
        <NAME>IMAX</NAME>
        <PARAMNAME>RATE_RLL_IMAX</PARAMNAME>
        <PARAMNAME>RATE_PIT_IMAX</PARAMNAME>
        <RANGEMIN>0</RANGEMIN>
        <RANGEMAX>40</RANGEMAX>
        <STEP>0.1</STEP>
      </FIELD>
    </FIELDS>
    <SUBHEAD>Dampening:</SUBHEAD>
    <DESC>Resistance to angular acceleration
    
A dynamic gain is applied so that the dampening only occurs at 100% when the control sticks are centered.

When the sticks are fully deflected:
1.0 = 0%
0.5 = 50%
0.0 = 100%</DESC>
    <FIELDS>
      <FIELD>
        <NAME>Dampen</NAME>
        <PARAMNAME>STAB_D</PARAMNAME>
        <RANGEMIN>0</RANGEMIN>
        <RANGEMAX>5</RANGEMAX>
        <STEP>0.001</STEP>
      </FIELD>
      <FIELD>
        <NAME>Dynamic</NAME>
        <PARAMNAME>STAB_D_S</PARAMNAME>
        <RANGEMIN>0</RANGEMIN>
        <RANGEMAX>1</RANGEMAX>
        <STEP>0.001</STEP>
      </FIELD>
    </FIELDS>

    <SUBHEAD>Stabilize Control:</SUBHEAD>
    <DESC>
How fast the copter reacts to user or autopilot input.
Higher = more aggressive control.
Too high = slow wobbles
    </DESC>
    <FIELDS>
      <FIELD>
        <NAME>P</NAME>
        <PARAMNAME>STB_RLL_P</PARAMNAME>
        <PARAMNAME>STB_PIT_P</PARAMNAME>
        <RANGEMIN>0.001</RANGEMIN>
        <RANGEMAX>5</RANGEMAX>
        <STEP>0.001</STEP>
      </FIELD>
      <FIELD>
        <NAME>I</NAME>
        <PARAMNAME>STB_RLL_I</PARAMNAME>
        <PARAMNAME>STB_PIT_I</PARAMNAME>
        <RANGEMIN>0</RANGEMIN>
        <RANGEMAX>5</RANGEMAX>
        <STEP>0.001</STEP>
      </FIELD>
      <FIELD>
        <NAME>IMAX</NAME>
        <PARAMNAME>STB_RLL_IMAX</PARAMNAME>
        <PARAMNAME>STB_PIT_IMAX</PARAMNAME>
        <RANGEMIN>0</RANGEMIN>
        <RANGEMAX>50</RANGEMAX>
        <STEP>0.001</STEP>
      </FIELD>
    </FIELDS>

    <SUBHEAD>Yaw Angular Rate Control:</SUBHEAD>
    <DESC>How much throttle is applied to rotate the copter at the desired speed.
    </DESC>
    <FIELDS>
      <FIELD>
        <NAME>P</NAME>
        <PARAMNAME>RATE_YAW_P</PARAMNAME>
        <RANGEMIN>0.001</RANGEMIN>
        <RANGEMAX>5</RANGEMAX>
        <STEP>0.001</STEP>
      </FIELD>
      <FIELD>
        <NAME>I</NAME>
        <PARAMNAME>RATE_YAW_I</PARAMNAME>
        <RANGEMIN>0</RANGEMIN>
        <RANGEMAX>5</RANGEMAX>
        <STEP>0.001</STEP>
      </FIELD>
      <FIELD>
        <NAME>D</NAME>
        <PARAMNAME>RATE_YAW_D</PARAMNAME>
        <RANGEMIN>0</RANGEMIN>
        <RANGEMAX>5</RANGEMAX>
        <STEP>0.001</STEP>
      </FIELD>
      <FIELD>
        <NAME>IMAX</NAME>
        <PARAMNAME>RATE_YAW_IMAX</PARAMNAME>
        <RANGEMIN>0</RANGEMIN>
        <RANGEMAX>50</RANGEMAX>
        <STEP>1</STEP>
      </FIELD>
    </FIELDS>

    <SUBHEAD>Yaw Stabilize Control:</SUBHEAD>
    <DESC>
      How fast the copter reacts to user or autopilot input.
      Higher = more aggressive control.
      Too high = slow wobbles
    </DESC>
    <FIELDS>
      <FIELD>
        <NAME>P</NAME>
        <PARAMNAME>STB_YAW_P</PARAMNAME>
        <RANGEMIN>0.001</RANGEMIN>
        <RANGEMAX>10</RANGEMAX>
        <STEP>0.001</STEP>
      </FIELD>
      <FIELD>
        <NAME>I</NAME>
        <PARAMNAME>STB_YAW_I</PARAMNAME>
        <RANGEMIN>0</RANGEMIN>
        <RANGEMAX>5</RANGEMAX>
        <STEP>0.001</STEP>
      </FIELD>
      <FIELD>
        <NAME>IMAX</NAME>
        <PARAMNAME>STB_YAW_IMAX</PARAMNAME>
        <RANGEMIN>0</RANGEMIN>
        <RANGEMAX>50</RANGEMAX>
        <STEP>1</STEP>
      </FIELD>
    </FIELDS>
  </Item>
  <!-- Loiter -->
  <Item>
    <HEAD>Loiter:</HEAD>
    <SUBHEAD>Angular Rate Control:</SUBHEAD>
    <DESC>
How much angle is applied to make the copter accelerate to the desired speed.
    </DESC>
    <FIELDS>
      <FIELD>
        <NAME>P</NAME>
        <PARAMNAME>LOITER_LAT_P</PARAMNAME>
        <PARAMNAME>LOITER_LON_P</PARAMNAME>
        <RANGEMIN>0.001</RANGEMIN>
        <RANGEMAX>5</RANGEMAX>
        <STEP>0.001</STEP>
      </FIELD>
      <FIELD>
        <NAME>I</NAME>
        <PARAMNAME>LOITER_LAT_I</PARAMNAME>
        <PARAMNAME>LOITER_LON_I</PARAMNAME>
        <RANGEMIN>0</RANGEMIN>
        <RANGEMAX>5</RANGEMAX>
        <STEP>0.001</STEP>
      </FIELD>
      <FIELD>
        <NAME>D</NAME>
        <PARAMNAME>LOITER_LAT_D</PARAMNAME>
        <PARAMNAME>LOITER_LON_D</PARAMNAME>
        <RANGEMIN>0</RANGEMIN>
        <RANGEMAX>5</RANGEMAX>
        <STEP>0.001</STEP>
      </FIELD>
      <FIELD>
        <NAME>IMAX</NAME>
        <PARAMNAME>LOITER_LAT_IMAX</PARAMNAME>
        <PARAMNAME>LOITER_LON_IMAX</PARAMNAME>
        <RANGEMIN>0</RANGEMIN>
        <RANGEMAX>50</RANGEMAX>
        <STEP>1</STEP>
      </FIELD>
    </FIELDS>
    <SUBHEAD>Loiter Speed:</SUBHEAD>
    <DESC>
How fast the copter should move towards the target. A larger value means a faster return to center, but can cause the copter to oscillate around the target.
      
A distance error of 100cm * P of .25 = 25 cm/s
    </DESC>
    <FIELDS>
      <FIELD>
        <NAME>P</NAME>
        <PARAMNAME>HLD_LAT_P</PARAMNAME>
        <PARAMNAME>HLD_LON_P</PARAMNAME>
        <RANGEMIN>0.001</RANGEMIN>
        <RANGEMAX>5</RANGEMAX>
        <STEP>0.001</STEP>
      </FIELD>
    </FIELDS>
  </Item>
  <!-- WP Nav -->
  <Item>
    <HEAD>WP Navigation:</HEAD>
    <SUBHEAD>Nav Rate Control:</SUBHEAD>
    <DESC>
      How much angle is applied to make the copter accelerate to the desired speed.
    </DESC>
    <FIELDS>
      <FIELD>
        <NAME>P</NAME>
        <PARAMNAME>NAV_LAT_P</PARAMNAME>
        <PARAMNAME>NAV_LON_P</PARAMNAME>
        <RANGEMIN>0.001</RANGEMIN>
        <RANGEMAX>5</RANGEMAX>
        <STEP>0.001</STEP>
      </FIELD>
      <FIELD>
        <NAME>I</NAME>
        <PARAMNAME>NAV_LAT_I</PARAMNAME>
        <PARAMNAME>NAV_LON_I</PARAMNAME>
        <RANGEMIN>0</RANGEMIN>
        <RANGEMAX>5</RANGEMAX>
        <STEP>0.001</STEP>
      </FIELD>
      <FIELD>
        <NAME>D</NAME>
        <PARAMNAME>NAV_LAT_D</PARAMNAME>
        <PARAMNAME>NAV_LON_D</PARAMNAME>
        <RANGEMIN>0</RANGEMIN>
        <RANGEMAX>5</RANGEMAX>
        <STEP>0.001</STEP>
      </FIELD>
      <FIELD>
        <NAME>IMAX</NAME>
        <PARAMNAME>NAV_LAT_IMAX</PARAMNAME>
        <PARAMNAME>NAV_LON_IMAX</PARAMNAME>
        <RANGEMIN>0</RANGEMIN>
        <RANGEMAX>50</RANGEMAX>
        <STEP>0.1</STEP>
      </FIELD>
    </FIELDS>
    <SUBHEAD>WP Speed:</SUBHEAD>
    <DESC>
      How fast the copter should move towards the target. A larger value means a faster return to center, but can cause the copter to oscillate around the target.

      in m/s
    </DESC>
    <FIELDS>
      <FIELD>
        <NAME>Speed</NAME>
        <PARAMNAME>WP_SPEED_MAX</PARAMNAME>
        <RANGEMIN>1</RANGEMIN>
        <RANGEMAX>30</RANGEMAX>
        <STEP>1</STEP>
      </FIELD>
    </FIELDS>
  </Item>
  <!-- Alt Hold -->
  <Item>
    <HEAD>Altitude Hold:</HEAD>
    <SUBHEAD>Altitude Error:</SUBHEAD>
    <DESC>
      How fast the copter should go to reach the correct altitude.
    </DESC>
    <FIELDS>
      <FIELD>
        <NAME>P</NAME>
        <PARAMNAME>THR_ALT_P</PARAMNAME>
        <RANGEMIN>0.001</RANGEMIN>
        <RANGEMAX>5</RANGEMAX>
        <STEP>0.001</STEP>
      </FIELD>
      <FIELD>
        <NAME>I</NAME>
        <PARAMNAME>THR_ALT_I</PARAMNAME>
        <RANGEMIN>0</RANGEMIN>
        <RANGEMAX>5</RANGEMAX>
        <STEP>0.001</STEP>
      </FIELD>
      <FIELD>
        <NAME>IMAX</NAME>
        <PARAMNAME>THR_ALT_IMAX</PARAMNAME>
        <RANGEMIN>0</RANGEMIN>
        <RANGEMAX>50</RANGEMAX>
        <STEP>0.1</STEP>
      </FIELD>
    </FIELDS>
    <SUBHEAD>Thrust Rate:</SUBHEAD>
    <DESC>
      How much thrust to give us the desired rate.
      
      This will change depending on the weight and thrust of your copter.
    </DESC>
    <FIELDS>
      <FIELD>
        <NAME>P</NAME>
        <PARAMNAME>THR_RATE_P</PARAMNAME>
        <RANGEMIN>0.001</RANGEMIN>
        <RANGEMAX>5</RANGEMAX>
        <STEP>0.001</STEP>
      </FIELD>
      <FIELD>
        <NAME>I</NAME>
        <PARAMNAME>THR_RATE_I</PARAMNAME>
        <RANGEMIN>0</RANGEMIN>
        <RANGEMAX>5</RANGEMAX>
        <STEP>0.001</STEP>
      </FIELD>
      <FIELD>
        <NAME>D</NAME>
        <PARAMNAME>THR_RATE_D</PARAMNAME>
        <RANGEMIN>0</RANGEMIN>
        <RANGEMAX>5</RANGEMAX>
        <STEP>0.001</STEP>
      </FIELD>
      <FIELD>
        <NAME>IMAX</NAME>
        <PARAMNAME>THR_RATE_IMAX</PARAMNAME>
        <RANGEMIN>0</RANGEMIN>
        <RANGEMAX>50</RANGEMAX>
        <STEP>0.1</STEP>
      </FIELD>
    </FIELDS>
  </Item>
</AC>
