From 90d266698de777bf992d9566f8d755ce621a0bf3 Mon Sep 17 00:00:00 2001
From: Julien BERAUD <julien.beraud@parrot.com>
Date: Wed, 20 Jan 2016 15:53:49 +0100
Subject: [PATCH] Frame_Params: Bebop 2 tuning by Leonard

---
 Tools/Frame_params/Parrot_Bebop2.param | 48 ++++++++++++++++----------
 1 file changed, 29 insertions(+), 19 deletions(-)

diff --git a/Tools/Frame_params/Parrot_Bebop2.param b/Tools/Frame_params/Parrot_Bebop2.param
index 3bd8e75867..538110ba09 100644
--- a/Tools/Frame_params/Parrot_Bebop2.param
+++ b/Tools/Frame_params/Parrot_Bebop2.param
@@ -1,5 +1,7 @@
-#NOTE: Bebop2 parameter defaults (Copter-3.4)
+#NOTE: 17/01/2016 5:01:51 PM Frame : 
 ARMING_CHECK,126
+ACRO_YAW_P,4.5
+ANGLE_MAX,4500
 ATC_ACCEL_P_MAX,220000
 ATC_ACCEL_R_MAX,220000
 ATC_ACCEL_Y_MAX,56000
@@ -8,27 +10,35 @@ BATT_CAPACITY,2700
 COMPASS_EXTERNAL,1
 COMPASS_ORIENT,2
 FRAME,3
-INS_GYRO_FILTER,40
-MOT_THST_EXPO,0.05
-MOT_THST_MAX,1.00
+ATC_RATE_FF_ENAB,1
+ATC_SLEW_YAW,1000
+INS_ACCEL_FILTER,20
+INS_GYRO_FILTER,20
+MOT_CURR_MAX,0
+MOT_SPIN_ARMED,70
+MOT_THR_MIX_MAX,0.5
+MOT_THR_MIX_MIN,0.1
+MOT_THST_BAT_MAX,0
+MOT_THST_BAT_MIN,0
+MOT_THST_EXPO,0.3
+MOT_THST_MAX,1
 MOT_YAW_HEADROOM,200
-POS_XY_P,1
-RATE_PIT_D,0.0022
-RATE_PIT_FILT_HZ,40
-RATE_PIT_I,0.126
+RATE_PIT_D,0.0007353554
+RATE_PIT_FILT_HZ,20
+RATE_PIT_I,0.09863888
 RATE_PIT_IMAX,2000
-RATE_PIT_P,0.126
-RATE_RLL_D,0.0005
-RATE_RLL_FILT_HZ,40
-RATE_RLL_I,0.11
+RATE_PIT_P,0.09863888
+RATE_RLL_D,0.0004876749
+RATE_RLL_FILT_HZ,20
+RATE_RLL_I,0.1183951
 RATE_RLL_IMAX,2000
-RATE_RLL_P,0.11
+RATE_RLL_P,0.1183951
 RATE_YAW_D,0
-RATE_YAW_FILT_HZ,3.0
-RATE_YAW_I,0.103
+RATE_YAW_FILT_HZ,1.001376
+RATE_YAW_I,0.09345812
 RATE_YAW_IMAX,1000
-RATE_YAW_P,1.03
+RATE_YAW_P,0.9345812
+RC_FEEL_RP,50
 STB_PIT_P,15
-STB_RLL_P,10
-STB_YAW_P,12
-THR_MIN,130
+STB_RLL_P,15
+STB_YAW_P,14.25551