From 16bd04ba7ec588e859f18c755285a907052a694c Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 12 Oct 2016 16:21:02 +1100
Subject: [PATCH] Tools: update frame parameters for Disco

use new SERVO_RNG_ENABLE option. This makes tuning independent of the
users R/C settings
---
 .../Parrot_Disco/Parrot_Disco.param           | 20 ++++++++++---------
 1 file changed, 11 insertions(+), 9 deletions(-)

diff --git a/Tools/Frame_params/Parrot_Disco/Parrot_Disco.param b/Tools/Frame_params/Parrot_Disco/Parrot_Disco.param
index 60c9e064d6..fcd533baa2 100644
--- a/Tools/Frame_params/Parrot_Disco/Parrot_Disco.param
+++ b/Tools/Frame_params/Parrot_Disco/Parrot_Disco.param
@@ -8,12 +8,12 @@ ARSPD_USE        1
 AUTOTUNE_LEVEL   7
 BATT_MONITOR     6
 COMPASS_CAL_FIT  20
-ELEVON_OUTPUT    2
+ELEVON_OUTPUT    6
 FLTMODE1         10
 FLTMODE2         11
 FLTMODE3         12
 FLTMODE4         5
-FLTMODE5         8
+FLTMODE5         7
 FLTMODE6         0
 FLTMODE_CH       5
 FS_GCS_ENABL     0
@@ -27,16 +27,16 @@ LIM_ROLL_CD      5500
 NAVL1_PERIOD     16
 PTCH2SRV_D       0.07
 PTCH2SRV_I       0.4
-PTCH2SRV_IMAX    3000
-PTCH2SRV_P       1.8
+PTCH2SRV_IMAX    4500
+PTCH2SRV_P       1.5
 PTCH2SRV_RLL     1.0
-PTCH2SRV_RMAX_DN 75
-PTCH2SRV_RMAX_UP 75
-PTCH2SRV_TCONST  0.450000
+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        0.543436
+RLL2SRV_P        0.5
 RLL2SRV_RMAX     75.000000
 RLL2SRV_TCONST   0.450000
 RNGFND_LANDING   1
@@ -55,7 +55,9 @@ THR_MIN          0
 TKOFF_THR_MINACC 4
 TRIM_ARSPD_CM    1400
 TRIM_THROTTLE    35
-WP_LOITER_RAD    90
+WP_LOITER_RAD    70
 WP_RADIUS        90
 STICK_MIXING     0
 THROTTLE_NUDGE   0
+RC2_REV          1
+SERVO_RNG_ENABLE 1