ardupilot/Tools/autotest/default_params/copter-hexa.parm

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FRAME_CLASS 2
ATC_ACCEL_P_MAX 100000
ATC_ACCEL_R_MAX 100000
ATC_ACCEL_Y_MAX 18000
ATC_ANG_PIT_P 10
ATC_ANG_RLL_P 10
ATC_ANG_YAW_P 6.819923
ATC_RAT_PIT_D 0.003066369
ATC_RAT_PIT_I 0.3672593
ATC_RAT_PIT_IMAX 0.5
ATC_RAT_PIT_P 0.3672593
ATC_RAT_RLL_D 0.002667568
ATC_RAT_RLL_I 0.3180474
ATC_RAT_RLL_IMAX 0.5
ATC_RAT_RLL_P 0.3180474
ATC_RAT_YAW_D 0
ATC_RAT_YAW_FILT 5
ATC_RAT_YAW_I 0.06603496
ATC_RAT_YAW_IMAX 0.25
ATC_RAT_YAW_P 0.6603495
ATC_RATE_FF_ENAB 1
ATC_RATE_P_MAX 0
ATC_RATE_R_MAX 0
ATC_RATE_Y_MAX 0
MOT_THST_EXPO 0
MOT_THST_HOVER 0.4831406
MOT_YAW_HEADROOM 300