autotest: added basic helicopter parameters

Tools/autotest/Helicopter.parm

@@ -0,0 +1,75 @@
+BATT_MONITOR 4.0000
+COMPASS_OFS2_X 5.0000
+COMPASS_OFS2_Y 13.0000
+COMPASS_OFS2_Z -18.0000
+COMPASS_OFS3_X 1.0000
+COMPASS_OFS3_Y 1.0000
+COMPASS_OFS3_Z 1.0000
+COMPASS_OFS_X 2.8749
+COMPASS_OFS_Y -21.8262
+COMPASS_OFS_Z -21.8422
+FLTMODE1 7.0000
+FLTMODE2 9.0000
+FLTMODE3 6.0000
+FLTMODE4 3.0000
+FLTMODE5 5.0000
+# 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
+RATE_PIT_D 0.0500
+RATE_PIT_I 12.5000
+RATE_PIT_IMAX 4500.0000
+RATE_PIT_P 5.0000
+RATE_PIT_VFF 0.220000
+RATE_RLL_D 0.0500
+RATE_RLL_I 12.5000
+RATE_RLL_IMAX 4500.0000
+RATE_RLL_P 5.0000
+RATE_RLL_VFF 0.220000
+RATE_YAW_D 0.0200
+RATE_YAW_I 0.0975
+RATE_YAW_VFF 0.200000
+STB_PIT_P 12.5368
+STB_RLL_P 15.2386
+STB_YAW_P 7.6965
+RC1_MAX         2000.000000
+RC1_MIN         1000.000000
+RC1_TRIM        1500.000000
+RC2_MAX         2000.000000
+RC2_MIN         1000.000000
+RC2_TRIM        1500.000000
+RC3_MAX         2000.000000
+RC3_MIN         1000.000000
+RC3_TRIM        1500.000000
+RC4_MAX         2000.000000
+RC4_MIN         1000.000000
+RC4_TRIM        1500.000000
+RC5_MAX         2000.000000
+RC5_MIN         1000.000000
+RC5_TRIM        1500.000000
+RC6_MAX         2000.000000
+RC6_MIN         1000.000000
+RC6_TRIM        1500.000000
+RC7_MAX         2000.000000
+RC7_MIN         1000.000000
+RC7_TRIM        1500.000000
+RC8_MAX         2000.000000
+RC8_MIN         1000.000000
+RC8_TRIM        1500.000000
+WP_YAW_BEHAVIOR 2