ardupilot/Tools/autotest/default_params/blimp.parm

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ARSPD_PIN 1
ARSPD_BUS 2
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EK2_ENABLE 1
FRAME_TYPE 0
FS_THR_ENABLE 1
BATT_MONITOR 4
COMPASS_OFS_X 5
COMPASS_OFS_Y 13
COMPASS_OFS_Z -18
COMPASS_OFS2_X 5
COMPASS_OFS2_Y 13
COMPASS_OFS2_Z -18
COMPASS_OFS3_X 5
COMPASS_OFS3_Y 13
COMPASS_OFS3_Z -18
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FRAME_CLASS 1
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RC1_MAX 2000
RC1_MIN 1000
RC1_TRIM 1500
RC2_MAX 2000
RC2_MIN 1000
RC2_TRIM 1500
RC3_MAX 2000
RC3_MIN 1000
RC3_TRIM 1500
RC4_MAX 2000
RC4_MIN 1000
RC4_TRIM 1500
RC5_MAX 2000
RC5_MIN 1000
RC5_TRIM 1500
RC6_MAX 2000
RC6_MIN 1000
RC6_TRIM 1500
RC7_MAX 2000
RC7_MIN 1000
RC7_TRIM 1500
RC8_MAX 2000
RC8_MIN 1000
RC8_TRIM 1500
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# setting servo functions for the four fins
SERVO1_FUNCTION 33
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SERVO2_FUNCTION 34
SERVO3_FUNCTION 35
SERVO4_FUNCTION 36
FLTMODE1 0
FLTMODE2 1
FLTMODE3 2
FLTMODE4 3
FLTMODE5 1
FLTMODE6 1
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SIM_BARO_RND 0
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# we need small INS_ACC offsets so INS is recognised as being calibrated
INS_ACCOFFS_X 0.001
INS_ACCOFFS_Y 0.001
INS_ACCOFFS_Z 0.001
INS_ACCSCAL_X 1.001
INS_ACCSCAL_Y 1.001
INS_ACCSCAL_Z 1.001
INS_ACC2OFFS_X 0.001
INS_ACC2OFFS_Y 0.001
INS_ACC2OFFS_Z 0.001
INS_ACC2SCAL_X 1.001
INS_ACC2SCAL_Y 1.001
INS_ACC2SCAL_Z 1.001
INS_ACC3OFFS_X 0.000
INS_ACC3OFFS_Y 0.000
INS_ACC3OFFS_Z 0.000
INS_ACC3SCAL_X 1.000
INS_ACC3SCAL_Y 1.000
INS_ACC3SCAL_Z 1.000
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ARMING_RUDDER 0
GCS_PID_MASK 255
# default PID params for position and velocity-controlled modes
MAX_POS_XY 0.3
MAX_POS_YAW 0.3
MAX_POS_Z 0.15
MAX_VEL_XY 0.4
MAX_VEL_YAW 0.5
MAX_VEL_Z 0.2
VELXY_D 0.0
VELXY_FF 0.0
VELXY_FLTD 3.0
VELXY_FLTE 3.0
VELXY_I 1.5
VELXY_IMAX 5.0
VELXY_P 5.0
VELYAW_D 0.0
VELYAW_FF 0.0
VELYAW_FLTD 3.0
VELYAW_FLTE 3.0
VELYAW_I 0.8
VELYAW_IMAX 5.0
VELYAW_P 15.0
VELZ_D 0.0
VELZ_FF 0.0
VELZ_FLTD 3.0
VELZ_FLTE 3.0
VELZ_I 1.0
VELZ_IMAX 2.0
VELZ_P 15.0
POSXY_D 0.0
POSXY_FF 0.0
POSXY_FLTD 3.0
POSXY_FLTE 3.0
POSXY_I 0.05
POSXY_IMAX 0.1
POSXY_P 1.0
POSYAW_D 0.0
POSYAW_FF 0.0
POSYAW_FLTD 3.0
POSYAW_FLTE 3.0
POSYAW_FLTT 3.0
POSYAW_I 0.1
POSYAW_IMAX 1.0
POSYAW_P 1.0
POSYAW_SMAX 0.0
POSZ_D 0.0
POSZ_FF 0.0
POSZ_FLTD 3.0
POSZ_FLTE 3.0
POSZ_I 0.0
POSZ_IMAX 0.0
POSZ_P 0.7