From 058d4299ade75677727d2cf4cdc7b1f6cb8b8b5a Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Tue, 8 Jun 2021 13:44:24 +0900
Subject: [PATCH] Tools: update SITL tri and hexa gains

---
 .../autotest/default_params/copter-hexa.parm  | 21 -------------------
 Tools/autotest/default_params/copter-tri.parm | 12 +++--------
 2 files changed, 3 insertions(+), 30 deletions(-)

diff --git a/Tools/autotest/default_params/copter-hexa.parm b/Tools/autotest/default_params/copter-hexa.parm
index 396ec3ae38..daf5c17a17 100644
--- a/Tools/autotest/default_params/copter-hexa.parm
+++ b/Tools/autotest/default_params/copter-hexa.parm
@@ -1,22 +1 @@
 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_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
diff --git a/Tools/autotest/default_params/copter-tri.parm b/Tools/autotest/default_params/copter-tri.parm
index b34b903c29..4d46e07ffb 100644
--- a/Tools/autotest/default_params/copter-tri.parm
+++ b/Tools/autotest/default_params/copter-tri.parm
@@ -2,12 +2,6 @@ SERVO7_MIN      1000
 SERVO7_MAX      2000
 SERVO7_TRIM     1360
 FRAME_CLASS     7
-# autotune results for roll/pitch
-ATC_RAT_PIT_D    0.003601
-ATC_RAT_PIT_I    0.425690
-ATC_RAT_PIT_IMAX 0.444000
-ATC_RAT_PIT_P    0.425690
-ATC_RAT_RLL_D    0.006667
-ATC_RAT_RLL_I    0.838628
-ATC_RAT_RLL_IMAX 0.444000
-ATC_RAT_RLL_P    0.838628
+ATC_RAT_YAW_I   0.09
+ATC_RAT_YAW_I   0.11
+ATC_RAT_YAW_FLTE 5.0