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Tools: convert old param files to new plane PID params

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This commit is contained in:
Andrew Tridgell 2021-04-03 09:49:59 +11:00
parent 239e794909
commit 0be24c4946
16 changed files with 1080 additions and 1051 deletions
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156
Tools/Frame_params/EFlight_Convergence.param
View File

@ -1,76 +1,80 @@
#NOTE: Default parameters fro E-Flight convergence VTOL
AHRS_ORIENTATION,8
ARSPD_TYPE,0
BATT_CAPACITY,2200
BATT_MONITOR,4
BATT_VOLT_MULT,12
BRD_SAFETYENABLE,0
FORMAT_VERSION,13
LIM_PITCH_MAX,3500
MIXING_GAIN,0.8
PTCH2SRV_D,0.02
PTCH2SRV_FF,0
PTCH2SRV_I,0.3
PTCH2SRV_IMAX,4000
PTCH2SRV_P,1.1
Q_A_RAT_PIT_D,0.005
Q_A_RAT_PIT_FILT,10
Q_A_RAT_PIT_FLTD,10
Q_A_RAT_PIT_I,0.25
Q_A_RAT_PIT_P,0.3
Q_A_RAT_RLL_D,0.005
Q_A_RAT_RLL_FILT,10
Q_A_RAT_RLL_FLTD,10
Q_A_RAT_RLL_I,0.25
Q_A_RAT_RLL_IMAX,0.5
Q_A_RAT_RLL_P,0.3
Q_A_RAT_YAW_D,0
Q_A_RAT_YAW_FF,0
Q_A_RAT_YAW_FILT,2
Q_A_RAT_YAW_FLTE,2
Q_A_RAT_YAW_I,0.018
Q_A_RAT_YAW_IMAX,0.7
Q_A_RAT_YAW_P,0.1
Q_A_SLEW_YAW,6000
Q_ENABLE,1
Q_FRAME_CLASS,7
Q_FRAME_TYPE,1
Q_M_PWM_MAX,2000
Q_M_PWM_MIN,1000
Q_M_PWM_TYPE,0
Q_RTL_MODE,1
Q_TILT_MASK,3
Q_TILT_MAX,55
Q_TILT_RATE_DN,15
Q_TILT_RATE_UP,25
Q_TILT_TYPE,2
Q_TILT_YAW_ANGLE,10
Q_VXY_I,0.25
Q_VXY_P,0.5
RLL2SRV_P,0.8
RTL_AUTOLAND,2
SCHED_LOOP_RATE,300
SERVO1_FUNCTION,78
SERVO1_MAX,1900
SERVO1_MIN,1100
SERVO1_REVERSED,0
SERVO1_TRIM,1574
SERVO2_FUNCTION,77
SERVO2_MAX,1900
SERVO2_MIN,1100
SERVO2_REVERSED,1
SERVO2_TRIM,1424
SERVO3_FUNCTION,75
SERVO3_MAX,2050
SERVO3_MIN,1000
SERVO3_REVERSED,0
SERVO3_TRIM,1500
SERVO4_FUNCTION,76
SERVO4_MAX,2000
SERVO4_MIN,950
SERVO4_REVERSED,1
SERVO4_TRIM,1500
SERVO5_FUNCTION,36
SERVO6_FUNCTION,33
SERVO7_FUNCTION,34
SERVO_AUTO_TRIM,1
#NOTE: Default parameters fro E-Flight convergence VTOL
AHRS_ORIENTATION,8
ARSPD_TYPE,0
BATT_CAPACITY,2200
BATT_MONITOR,4
BATT_VOLT_MULT,12
BRD_SAFETYENABLE,0
FORMAT_VERSION,13
LIM_PITCH_MAX,3500
MIXING_GAIN,0.8
PTCH_RATE_D,0.000000
PTCH_RATE_FF,0.455000
PTCH_RATE_I,0.150000
PTCH_RATE_IMAX,0.888889
PTCH_RATE_P,0.020000
Q_A_RAT_PIT_D,0.005
Q_A_RAT_PIT_FILT,10
Q_A_RAT_PIT_FLTD,10
Q_A_RAT_PIT_I,0.25
Q_A_RAT_PIT_P,0.3
Q_A_RAT_RLL_D,0.005
Q_A_RAT_RLL_FILT,10
Q_A_RAT_RLL_FLTD,10
Q_A_RAT_RLL_I,0.25
Q_A_RAT_RLL_IMAX,0.5
Q_A_RAT_RLL_P,0.3
Q_A_RAT_YAW_D,0
Q_A_RAT_YAW_FF,0
Q_A_RAT_YAW_FILT,2
Q_A_RAT_YAW_FLTE,2
Q_A_RAT_YAW_I,0.018
Q_A_RAT_YAW_IMAX,0.7
Q_A_RAT_YAW_P,0.1
Q_A_SLEW_YAW,6000
Q_ENABLE,1
Q_FRAME_CLASS,7
Q_FRAME_TYPE,1
Q_M_PWM_MAX,2000
Q_M_PWM_MIN,1000
Q_M_PWM_TYPE,0
Q_RTL_MODE,1
Q_TILT_MASK,3
Q_TILT_MAX,55
Q_TILT_RATE_DN,15
Q_TILT_RATE_UP,25
Q_TILT_TYPE,2
Q_TILT_YAW_ANGLE,10
Q_VXY_I,0.25
Q_VXY_P,0.5
RLL_RATE_P,0.080000
RTL_AUTOLAND,2
SCHED_LOOP_RATE,300
SERVO1_FUNCTION,78
SERVO1_MAX,1900
SERVO1_MIN,1100
SERVO1_REVERSED,0
SERVO1_TRIM,1574
SERVO2_FUNCTION,77
SERVO2_MAX,1900
SERVO2_MIN,1100
SERVO2_REVERSED,1
SERVO2_TRIM,1424
SERVO3_FUNCTION,75
SERVO3_MAX,2050
SERVO3_MIN,1000
SERVO3_REVERSED,0
SERVO3_TRIM,1500
SERVO4_FUNCTION,76
SERVO4_MAX,2000
SERVO4_MIN,950
SERVO4_REVERSED,1
SERVO4_TRIM,1500
SERVO5_FUNCTION,36
SERVO6_FUNCTION,33
SERVO7_FUNCTION,34
SERVO_AUTO_TRIM,1
RLL_RATE_FF 0.245000
RLL_RATE_I 0.150000
RLL_RATE_D 0.000000
RLL_RATE_IMAX 0.666667

18
Tools/Frame_params/Parrot_Disco/Parrot_Disco.param
View File

@ -28,18 +28,18 @@ LIM_PITCH_MAX 3000
LIM_PITCH_MIN -2500
LIM_ROLL_CD 5500
NAVL1_PERIOD 16
PTCH2SRV_D 0.07
PTCH2SRV_I 0.4
PTCH2SRV_IMAX 4500
PTCH2SRV_P 1.5
PTCH_RATE_D 0.000000
PTCH_RATE_I 0.240000
PTCH_RATE_IMAX 1.000000
PTCH_RATE_P 0.070000
PTCH2SRV_RLL 1.0
PTCH2SRV_RMAX_DN 60
PTCH2SRV_RMAX_UP 60
PTCH2SRV_TCONST 0.6
RLL2SRV_D 0.040758
RLL2SRV_I 0.4
RLL2SRV_IMAX 3000
RLL2SRV_P 0.5
RLL_RATE_D 0.000000
RLL_RATE_I 0.180000
RLL_RATE_IMAX 0.666667
RLL_RATE_P 0.040758
RLL2SRV_RMAX 75.000000
RLL2SRV_TCONST 0.450000
RNGFND_LANDING 1
@ -64,3 +64,5 @@ STICK_MIXING 0
THROTTLE_NUDGE 0
SCHED_LOOP_RATE 200
SERVO_AUTO_TRIM 1
PTCH_RATE_FF 0.686000
RLL_RATE_FF 0.103242

20
Tools/Frame_params/SkyWalkerX8.param
View File

@ -35,20 +35,20 @@ MIXING_GAIN,0.5
NAVL1_DAMPING,0.75
NAVL1_PERIOD,17
NAVL1_XTRACK_I,0.02
PTCH2SRV_D,0.0137065
PTCH2SRV_FF,0
PTCH2SRV_I,0.3
PTCH2SRV_IMAX,3000
PTCH2SRV_P,1.612537
PTCH_RATE_D,0.000000
PTCH_RATE_FF,0.443055
PTCH_RATE_I,0.090000
PTCH_RATE_IMAX,0.666667
PTCH_RATE_P,0.013706
PTCH2SRV_RLL,1.05
PTCH2SRV_RMAX_DN,120
PTCH2SRV_RMAX_UP,120
PTCH2SRV_TCONST,0.3
RLL2SRV_D,0.012460
RLL2SRV_FF,0
RLL2SRV_I,0.2125
RLL2SRV_IMAX,3000
RLL2SRV_P,1.465941
RLL_RATE_D,0.000000
RLL_RATE_FF,0.408197
RLL_RATE_I,0.063750
RLL_RATE_IMAX,0.666667
RLL_RATE_P,0.012460
RLL2SRV_RMAX,120
RLL2SRV_TCONST,0.3
SCALING_SPEED,15

20
Tools/Frame_params/SkyWalkerX8_ReverseThrust.param
View File

@ -35,20 +35,20 @@ MIXING_GAIN,0.5
NAVL1_DAMPING,0.75
NAVL1_PERIOD,17
NAVL1_XTRACK_I,0.02
PTCH2SRV_D,0.0137065
PTCH2SRV_FF,0
PTCH2SRV_I,0.3
PTCH2SRV_IMAX,3000
PTCH2SRV_P,1.612537
PTCH_RATE_D,0.000000
PTCH_RATE_FF,0.443055
PTCH_RATE_I,0.090000
PTCH_RATE_IMAX,0.666667
PTCH_RATE_P,0.013706
PTCH2SRV_RLL,1.05
PTCH2SRV_RMAX_DN,120
PTCH2SRV_RMAX_UP,120
PTCH2SRV_TCONST,0.3
RLL2SRV_D,0.012460
RLL2SRV_FF,0
RLL2SRV_I,0.2125
RLL2SRV_IMAX,3000
RLL2SRV_P,1.465941
RLL_RATE_D,0.000000
RLL_RATE_FF,0.408197
RLL_RATE_I,0.063750
RLL_RATE_IMAX,0.666667
RLL_RATE_P,0.012460
RLL2SRV_RMAX,120
RLL2SRV_TCONST,0.3
SCALING_SPEED,15

18
Tools/autotest/default_params/firefly.parm
View File

@ -49,10 +49,10 @@ LIM_PITCH_MAX 3000
LIM_PITCH_MIN -3000
LIM_ROLL_CD 6500
NAVL1_PERIOD 8
PTCH2SRV_D 0.309954
PTCH2SRV_I 0.425000
PTCH2SRV_IMAX 4000
PTCH2SRV_P 3.646518
PTCH_RATE_D 0.000000
PTCH_RATE_I 0.212500
PTCH_RATE_IMAX 0.888889
PTCH_RATE_P 0.309954
PTCH2SRV_RLL 1
RALLY_INCL_HOME 0
RALLY_LIMIT_KM 5
@ -65,10 +65,10 @@ RC3_MAX 2000
RC3_MIN 1000
SERVO3_MIN 1000
SERVO3_MAX 2000
RLL2SRV_D 0.141009
RLL2SRV_I 0.425000
RLL2SRV_IMAX 4000
RLL2SRV_P 2.0
RLL_RATE_D 0.000000
RLL_RATE_I 0.212500
RLL_RATE_IMAX 0.888889
RLL_RATE_P 0.141009
SCHED_LOOP_RATE 300
THR_MAX 100
TRIM_ARSPD_CM 2500
@ -93,3 +93,5 @@ SERVO5_FUNCTION 35
SERVO6_FUNCTION 36
SERVO7_FUNCTION 37
SERVO8_FUNCTION 38
PTCH_RATE_FF 1.407055
RLL_RATE_FF 0.752741

18
Tools/autotest/default_params/plane-jet.parm
View File

@ -7,15 +7,15 @@ LIM_PITCH_MAX 2000.0000
LIM_PITCH_MIN -2500.0000
LIM_ROLL_CD 7000.0000
NAVL1_PERIOD 17.0000
PTCH2SRV_D 0.0900
PTCH2SRV_FF 0.1800
PTCH2SRV_I 1.0000
PTCH2SRV_P 1.7000
PTCH_RATE_D 0.000000
PTCH_RATE_FF 0.690000
PTCH_RATE_I 0.500000
PTCH_RATE_P 0.090000
PTCH2SRV_RLL 1.0400
RLL2SRV_D 0.1300
RLL2SRV_FF 0.3000
RLL2SRV_I 1.0000
RLL2SRV_P 1.3000
RLL_RATE_D 0.000000
RLL_RATE_FF 0.570000
RLL_RATE_I 0.500000
RLL_RATE_P 0.130000
RLL2SRV_RMAX 70.0000
SCALING_SPEED 40.0000
TECS_CLMB_MAX 15.0000
@ -30,3 +30,5 @@ TRIM_ARSPD_CM 4000.0000
TRIM_THROTTLE 36.0000
WP_LOITER_RAD 180.0000
WP_RADIUS 140.0000
PTCH_RATE_IMAX 0.666667
RLL_RATE_IMAX 0.666667

16
Tools/autotest/default_params/plane-jsbsim.parm
View File

@ -54,14 +54,14 @@ FLTMODE6 0
FLTMODE_CH 8
WP_LOITER_RAD 80
WP_RADIUS 50
RLL2SRV_D 0.2
RLL2SRV_I 0.3
RLL2SRV_P 2.5
RLL_RATE_D 0.000000
RLL_RATE_I 0.150000
RLL_RATE_P 0.200000
RLL2SRV_RMAX 0
RLL2SRV_TCONST 0.5
PTCH2SRV_D 0.2
PTCH2SRV_I 0.3
PTCH2SRV_P 2.5
PTCH_RATE_D 0.000000
PTCH_RATE_I 0.150000
PTCH_RATE_P 0.200000
PTCH2SRV_RLL 1
NAVL1_PERIOD 15
ACRO_LOCKING 1
@ -79,3 +79,7 @@ INS_ACC2SCAL_X 1.001
INS_ACC2SCAL_Y 1.001
INS_ACC2SCAL_Z 1.001
INS_GYR_CAL 0
PTCH_RATE_FF 0.975000
PTCH_RATE_IMAX 0.666667
RLL_RATE_FF 0.975000
RLL_RATE_IMAX 0.666667

8
Tools/autotest/default_params/plane-soaring.parm
View File

@ -3,8 +3,8 @@ ARSPD_FBW_MIN 6
FLIGHT_OPTIONS 2
PTCH2SRV_I 0.200000
PTCH2SRV_IMAX 4000.000000
PTCH_RATE_I 0.150000
PTCH_RATE_IMAX 0.888889
RC7_OPTION 88
@ -32,4 +32,6 @@ TRIM_ARSPD_CM 900.000000
NAVL1_LIM_BANK 60.000000
NAVL1_PERIOD 10.000
PTCH_RATE_FF 0.385000
PTCH_RATE_P 0.040000
PTCH_RATE_D 0.000000

16
Tools/autotest/default_params/plane-tailsitter.parm
View File

@ -44,14 +44,14 @@ FLTMODE6 0
FLTMODE_CH 8
WP_LOITER_RAD 80
WP_RADIUS 50
RLL2SRV_D 0.2
RLL2SRV_I 0.3
RLL2SRV_P 2.5
RLL_RATE_D 0.000000
RLL_RATE_I 0.150000
RLL_RATE_P 0.200000
RLL2SRV_RMAX 0
RLL2SRV_TCONST 0.5
PTCH2SRV_D 0.2
PTCH2SRV_I 0.3
PTCH2SRV_P 2.5
PTCH_RATE_D 0.000000
PTCH_RATE_I 0.150000
PTCH_RATE_P 0.200000
PTCH2SRV_RLL 1
NAVL1_PERIOD 15
ACRO_LOCKING 1
@ -71,3 +71,7 @@ INS_ACC2SCAL_Z 1.001
INS_GYR_CAL 0
Q_ENABLE 1
Q_FRAME_CLASS 10
PTCH_RATE_FF 0.975000
PTCH_RATE_IMAX 0.666667
RLL_RATE_FF 0.975000
RLL_RATE_IMAX 0.666667

16
Tools/autotest/default_params/plane.parm
View File

@ -50,14 +50,14 @@ FLTMODE6 0
FLTMODE_CH 8
WP_LOITER_RAD 80
WP_RADIUS 50
RLL2SRV_D 0.2
RLL2SRV_I 0.3
RLL2SRV_P 2.5
RLL_RATE_D 0.000000
RLL_RATE_I 0.150000
RLL_RATE_P 0.200000
RLL2SRV_RMAX 0
RLL2SRV_TCONST 0.5
PTCH2SRV_D 0.2
PTCH2SRV_I 0.3
PTCH2SRV_P 2.5
PTCH_RATE_D 0.000000
PTCH_RATE_I 0.150000
PTCH_RATE_P 0.200000
PTCH2SRV_RLL 1
NAVL1_PERIOD 15
ACRO_LOCKING 1
@ -75,3 +75,7 @@ INS_ACC2SCAL_X 1.001
INS_ACC2SCAL_Y 1.001
INS_ACC2SCAL_Z 1.001
INS_GYR_CAL 0
PTCH_RATE_FF 0.975000
PTCH_RATE_IMAX 0.666667
RLL_RATE_FF 0.975000
RLL_RATE_IMAX 0.666667

18
Tools/autotest/default_params/quadplane-cl84.parm
View File

@ -38,18 +38,18 @@ LIM_PITCH_MAX 3000
LIM_PITCH_MIN -3000
LIM_ROLL_CD 6500
NAVL1_PERIOD 14
PTCH2SRV_D 0.309954
PTCH2SRV_I 0.425000
PTCH2SRV_IMAX 4000
PTCH2SRV_P 3.646518
PTCH_RATE_D 0.000000
PTCH_RATE_I 0.212500
PTCH_RATE_IMAX 0.888889
PTCH_RATE_P 0.309954
PTCH2SRV_RLL 1
RALLY_INCL_HOME 0
RALLY_LIMIT_KM 5
RALLY_TOTAL 0
RLL2SRV_D 0.141009
RLL2SRV_I 0.425000
RLL2SRV_IMAX 4000
RLL2SRV_P 1.600000
RLL_RATE_D 0.000000
RLL_RATE_I 0.212500
RLL_RATE_IMAX 0.888889
RLL_RATE_P 0.141009
THR_MAX 100
TRIM_ARSPD_CM 2500
SERVO12_FUNCTION 41
@ -66,3 +66,5 @@ Q_TILT_MASK 3
Q_TILT_RATE 13
Q_TILT_TYPE 1
Q_RTL_MODE 1
PTCH_RATE_FF 1.407055
RLL_RATE_FF 0.552741

21
Tools/autotest/default_params/quadplane-tilttri.parm
View File

@ -41,10 +41,10 @@ LIM_PITCH_MAX 3000
LIM_PITCH_MIN -3000
LIM_ROLL_CD 6500
NAVL1_PERIOD 14
PTCH2SRV_D 0.309954
PTCH2SRV_I 0.425000
PTCH2SRV_IMAX 4000
PTCH2SRV_P 3.646518
PTCH_RATE_D 0.000000
PTCH_RATE_I 0.212500
PTCH_RATE_IMAX 0.888889
PTCH_RATE_P 0.309954
PTCH2SRV_RLL 1
Q_ANGLE_MAX 4500
Q_ASSIST_SPEED 6
@ -61,10 +61,10 @@ RC3_MAX 2000
RC3_MIN 1000
SERVO3_MIN 1000
SERVO3_MAX 2000
RLL2SRV_D 0.141009
RLL2SRV_I 0.425000
RLL2SRV_IMAX 4000
RLL2SRV_P 1.600000
RLL_RATE_D 0.000000
RLL_RATE_I 0.212500
RLL_RATE_IMAX 0.888889
RLL_RATE_P 0.141009
SCHED_LOOP_RATE 300
THR_MAX 100
TRIM_ARSPD_CM 2500
@ -77,6 +77,5 @@ SERVO12_MAX 2000
RTL_RADIUS 80
Q_RTL_MODE 1
ALT_HOLD_RTL 2000
PTCH_RATE_FF 1.407055
RLL_RATE_FF 0.552741

20
Tools/autotest/default_params/quadplane-tilttrivec.parm
View File

@ -41,10 +41,10 @@ LIM_PITCH_MAX 3000
LIM_PITCH_MIN -3000
LIM_ROLL_CD 6500
NAVL1_PERIOD 14
PTCH2SRV_D 0.309954
PTCH2SRV_I 0.425000
PTCH2SRV_IMAX 4000
PTCH2SRV_P 3.646518
PTCH_RATE_D 0.000000
PTCH_RATE_I 0.212500
PTCH_RATE_IMAX 0.888889
PTCH_RATE_P 0.309954
PTCH2SRV_RLL 1
Q_ANGLE_MAX 4500
Q_ASSIST_SPEED 6
@ -61,10 +61,10 @@ RC3_MAX 2000
RC3_MIN 1000
SERVO3_MIN 1000
SERVO3_MAX 2000
RLL2SRV_D 0.141009
RLL2SRV_I 0.425000
RLL2SRV_IMAX 4000
RLL2SRV_P 1.600000
RLL_RATE_D 0.000000
RLL_RATE_I 0.212500
RLL_RATE_IMAX 0.888889
RLL_RATE_P 0.141009
SCHED_LOOP_RATE 300
THR_MAX 100
TRIM_ARSPD_CM 2500
@ -82,5 +82,5 @@ Q_RTL_MODE 1
ALT_HOLD_RTL 2000
Q_TILT_TYPE 2
Q_TILT_YAW_ANGLE 10
PTCH_RATE_FF 1.407055
RLL_RATE_FF 0.552741

18
Tools/autotest/default_params/quadplane-tri.parm
View File

@ -41,10 +41,10 @@ LIM_PITCH_MAX 3000
LIM_PITCH_MIN -3000
LIM_ROLL_CD 6500
NAVL1_PERIOD 14
PTCH2SRV_D 0.309954
PTCH2SRV_I 0.425000
PTCH2SRV_IMAX 4000
PTCH2SRV_P 3.646518
PTCH_RATE_D 0.000000
PTCH_RATE_I 0.212500
PTCH_RATE_IMAX 0.888889
PTCH_RATE_P 0.309954
PTCH2SRV_RLL 1
Q_ANGLE_MAX 4500
Q_ASSIST_SPEED 18
@ -61,11 +61,13 @@ RC3_MAX 2000
RC3_MIN 1000
SERVO3_MIN 1000
SERVO3_MAX 2000
RLL2SRV_D 0.141009
RLL2SRV_I 0.425000
RLL2SRV_IMAX 4000
RLL2SRV_P 1.600000
RLL_RATE_D 0.000000
RLL_RATE_I 0.212500
RLL_RATE_IMAX 0.888889
RLL_RATE_P 0.141009
SCHED_LOOP_RATE 300
THR_MAX 100
TRIM_ARSPD_CM 2500
LOG_BITMASK 65534
PTCH_RATE_FF 1.407055
RLL_RATE_FF 0.552741

18
Tools/autotest/default_params/quadplane.parm
View File

@ -42,10 +42,10 @@ LIM_PITCH_MAX 3000
LIM_PITCH_MIN -3000
LIM_ROLL_CD 6500
NAVL1_PERIOD 14
PTCH2SRV_D 0.309954
PTCH2SRV_I 0.425000
PTCH2SRV_IMAX 4000
PTCH2SRV_P 3.646518
PTCH_RATE_D 0.000000
PTCH_RATE_I 0.212500
PTCH_RATE_IMAX 0.888889
PTCH_RATE_P 0.309954
PTCH2SRV_RLL 1
Q_ASSIST_SPEED 18
Q_ENABLE 1
@ -60,10 +60,10 @@ RC3_MAX 2000
RC3_MIN 1000
SERVO3_MIN 1000
SERVO3_MAX 2000
RLL2SRV_D 0.141009
RLL2SRV_I 0.425000
RLL2SRV_IMAX 4000
RLL2SRV_P 1.600000
RLL_RATE_D 0.000000
RLL_RATE_I 0.212500
RLL_RATE_IMAX 0.888889
RLL_RATE_P 0.141009
SCHED_LOOP_RATE 300
THR_MAX 100
TRIM_ARSPD_CM 2500
@ -78,3 +78,5 @@ Q_A_RAT_PIT_P 0.15
Q_A_RAT_RLL_D 0.002
Q_A_RAT_PIT_D 0.002
ALT_HOLD_RTL 2000
PTCH_RATE_FF 1.407055
RLL_RATE_FF 0.552741

1730
Tools/autotest/default_params/vee-gull 005.param
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