ardupilot/Tools/Frame_params/TradHeli_Copter36_Setup-QGC...

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# Default setup and tuning parameters for TradHeli - load with QGC
# Tunes the PSC, LOIT, NAV and ATC for New Loiter and Auto
# Stack: ArduPilot
# Vehicle: Helicopter
# Version: 3.6
# Vehicle-Id Component-Id Name Value Type
1 1 ATC_ACCEL_P_MAX 52000 9
1 1 ATC_ACCEL_R_MAX 52000 9
1 1 ATC_ACCEL_Y_MAX 20000 9
1 1 ATC_ANG_PIT_P 4.5 9
1 1 ATC_ANG_RLL_P 4.5 9
1 1 ATC_ANG_YAW_P 4.5 9
1 1 ATC_RATE_FF_ENAB 1 2
1 1 ATC_RATE_P_MAX 270 9
1 1 ATC_RATE_R_MAX 360 9
1 1 ATC_RATE_Y_MAX 180 9
1 1 ATC_RAT_PIT_D 0.0008 9
1 1 ATC_RAT_PIT_FILT 12 9
1 1 ATC_RAT_PIT_I 0.35 9
1 1 ATC_RAT_PIT_ILMI 0.04 9
1 1 ATC_RAT_PIT_IMAX 0.44 9
1 1 ATC_RAT_PIT_P 0.040 9
1 1 ATC_RAT_PIT_VFF 0.15 9
1 1 ATC_RAT_RLL_D 0.0005 9
1 1 ATC_RAT_RLL_FILT 13 9
1 1 ATC_RAT_RLL_I 0.32 9
1 1 ATC_RAT_RLL_ILMI 0.03 9
1 1 ATC_RAT_RLL_IMAX 0.44 9
1 1 ATC_RAT_RLL_P 0.035 9
1 1 ATC_RAT_RLL_VFF 0.15 9
1 1 ATC_RAT_YAW_D 0.003 9
1 1 ATC_RAT_YAW_FILT 20 9
1 1 ATC_RAT_YAW_I 0.30 9
1 1 ATC_RAT_YAW_ILMI 0.001 9
1 1 ATC_RAT_YAW_IMAX 0.33 9
1 1 ATC_RAT_YAW_P 0.22 9
1 1 ATC_RAT_YAW_VFF 0.09 9
1 1 ATC_SLEW_YAW 6000 9
1 1 DISARM_DELAY 0 2
1 1 FRAME_CLASS 6 2
1 1 FS_CRASH_CHECK 0 2
1 1 GND_EFFECT_COMP 1 2
1 1 H_COLYAW 3 9
1 1 LOIT_ACC_MAX 500 9
1 1 LOIT_ANG_MAX 0 9
1 1 LOIT_BRK_ACCEL 125 9
1 1 LOIT_BRK_DELAY 1 9
1 1 LOIT_BRK_JERK 250 9
1 1 LOIT_SPEED 3000 9
1 1 PHLD_BRAKE_ANGLE 800 4
1 1 PHLD_BRAKE_RATE 4 4
1 1 PSC_ACCZ_D 0 9
1 1 PSC_ACCZ_FF 0 9
1 1 PSC_ACCZ_FILT 20 9
1 1 PSC_ACCZ_I 1 9
1 1 PSC_ACCZ_IMAX 800 9
1 1 PSC_ACCZ_P 0.28 9
1 1 PSC_ACC_XY_FILT 2 9
1 1 PSC_ANGLE_MAX 0 9
1 1 PSC_POSXY_P 1 9
1 1 PSC_POSZ_P 1 9
1 1 PSC_VELXY_D 0.0 9
1 1 PSC_VELXY_D_FILT 5 9
1 1 PSC_VELXY_FILT 5 9
1 1 PSC_VELXY_I 0.5 9
1 1 PSC_VELXY_IMAX 1000 9
1 1 PSC_VELXY_P 1 9
1 1 PSC_VELZ_P 5 9
1 1 WPNAV_ACCEL 220 9
1 1 WPNAV_ACCEL_Z 100 9
1 1 WPNAV_RADIUS 200 9
1 1 WPNAV_SPEED_DN 150 9
1 1 WPNAV_SPEED_UP 250 9
1 1 WP_NAVALT_MIN 5 9
1 1 WP_YAW_BEHAVIOR 3 2