2021-03-18 00:12:54 -03:00
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EK2_ENABLE 1
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FS_THR_ENABLE 1
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BATT_MONITOR 4
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2021-12-04 00:22:57 -04:00
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COMPASS_OFS_X 5
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COMPASS_OFS_Y 13
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COMPASS_OFS_Z -18
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COMPASS_OFS2_X 5
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COMPASS_OFS2_Y 13
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COMPASS_OFS2_Z -18
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COMPASS_OFS3_X 5
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COMPASS_OFS3_Y 13
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COMPASS_OFS3_Z -18
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2021-03-18 00:12:54 -03:00
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FRAME_CLASS 1
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2021-08-06 01:09:28 -03:00
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RC1_MAX 2000
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RC1_MIN 1000
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RC1_TRIM 1500
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RC2_MAX 2000
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RC2_MIN 1000
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RC2_TRIM 1500
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RC3_MAX 2000
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RC3_MIN 1000
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RC3_TRIM 1500
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RC4_MAX 2000
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RC4_MIN 1000
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RC4_TRIM 1500
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RC5_MAX 2000
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RC5_MIN 1000
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RC5_TRIM 1500
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RC6_MAX 2000
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RC6_MIN 1000
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RC6_TRIM 1500
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RC7_MAX 2000
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RC7_MIN 1000
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RC7_TRIM 1500
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RC8_MAX 2000
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RC8_MIN 1000
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RC8_TRIM 1500
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2023-07-21 08:23:58 -03:00
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SERVO1_MAX 2200
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SERVO1_MIN 500
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SERVO1_TRIM 1350
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SERVO2_MAX 2200
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SERVO2_MIN 500
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SERVO2_TRIM 1350
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SERVO3_MAX 2200
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SERVO3_MIN 500
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SERVO3_TRIM 1350
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SERVO4_MAX 2200
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SERVO4_MIN 500
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SERVO4_TRIM 1350
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2021-08-06 01:09:28 -03:00
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2021-03-18 00:12:54 -03:00
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# setting servo functions for the four fins
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SERVO1_FUNCTION 33
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2021-08-06 01:09:28 -03:00
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SERVO2_FUNCTION 34
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SERVO3_FUNCTION 35
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SERVO4_FUNCTION 36
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FLTMODE1 0
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FLTMODE2 1
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FLTMODE3 2
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FLTMODE4 3
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FLTMODE5 1
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FLTMODE6 1
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2021-03-18 00:12:54 -03:00
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SIM_BARO_RND 0
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2021-08-06 01:09:28 -03:00
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2021-03-18 00:12:54 -03:00
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# we need small INS_ACC offsets so INS is recognised as being calibrated
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INS_ACCOFFS_X 0.001
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INS_ACCOFFS_Y 0.001
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INS_ACCOFFS_Z 0.001
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INS_ACCSCAL_X 1.001
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INS_ACCSCAL_Y 1.001
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INS_ACCSCAL_Z 1.001
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INS_ACC2OFFS_X 0.001
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INS_ACC2OFFS_Y 0.001
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INS_ACC2OFFS_Z 0.001
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INS_ACC2SCAL_X 1.001
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INS_ACC2SCAL_Y 1.001
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INS_ACC2SCAL_Z 1.001
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INS_ACC3OFFS_X 0.000
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INS_ACC3OFFS_Y 0.000
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INS_ACC3OFFS_Z 0.000
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INS_ACC3SCAL_X 1.000
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INS_ACC3SCAL_Y 1.000
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INS_ACC3SCAL_Z 1.000
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2021-08-06 01:09:28 -03:00
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ARMING_RUDDER 0
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GCS_PID_MASK 255
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2023-07-21 08:23:58 -03:00
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SIM_SERVO_SPEED 0.06
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LOG_BITMASK 65535
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2021-09-14 11:38:38 -03:00
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# default PID params for position and velocity-controlled modes
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2023-07-21 08:23:58 -03:00
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MAX_POS_XY 0.15
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2021-09-14 11:38:38 -03:00
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MAX_POS_YAW 0.3
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MAX_POS_Z 0.15
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2023-07-21 08:23:58 -03:00
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MAX_VEL_XY 0.2
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MAX_VEL_YAW 0.4
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2021-09-14 11:38:38 -03:00
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MAX_VEL_Z 0.2
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2023-07-21 08:23:58 -03:00
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VELXY_D 1.0
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2021-09-14 11:38:38 -03:00
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VELXY_FF 0.0
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VELXY_FLTD 3.0
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VELXY_FLTE 3.0
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VELXY_I 1.5
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VELXY_IMAX 5.0
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VELXY_P 5.0
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VELYAW_D 0.0
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VELYAW_FF 0.0
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VELYAW_FLTD 3.0
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VELYAW_FLTE 3.0
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VELYAW_I 0.8
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VELYAW_IMAX 5.0
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2023-07-21 08:23:58 -03:00
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VELYAW_P 10.0
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2021-09-14 11:38:38 -03:00
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VELZ_D 0.0
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VELZ_FF 0.0
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VELZ_FLTD 3.0
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VELZ_FLTE 3.0
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VELZ_I 1.0
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VELZ_IMAX 2.0
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VELZ_P 15.0
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POSXY_D 0.0
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POSXY_FF 0.0
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POSXY_FLTD 3.0
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POSXY_FLTE 3.0
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POSXY_I 0.05
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POSXY_IMAX 0.1
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POSXY_P 1.0
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POSYAW_D 0.0
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POSYAW_FF 0.0
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POSYAW_FLTD 3.0
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POSYAW_FLTE 3.0
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POSYAW_FLTT 3.0
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POSYAW_I 0.1
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POSYAW_IMAX 1.0
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POSYAW_P 1.0
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POSYAW_SMAX 0.0
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POSZ_D 0.0
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POSZ_FF 0.0
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POSZ_FLTD 3.0
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POSZ_FLTE 3.0
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POSZ_I 0.0
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POSZ_IMAX 0.0
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POSZ_P 0.7
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