From c19ef757ef3619deb8ad4698d0f78265662192d8 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 3 Nov 2016 12:38:56 +0900
Subject: [PATCH] Tools: add IRIS AC3.4 params file

---
 Tools/Frame_params/3DR_Iris+_AC34.param | 83 +++++++++++++++++++++++++
 1 file changed, 83 insertions(+)
 create mode 100644 Tools/Frame_params/3DR_Iris+_AC34.param

diff --git a/Tools/Frame_params/3DR_Iris+_AC34.param b/Tools/Frame_params/3DR_Iris+_AC34.param
new file mode 100644
index 0000000000..b6e451e218
--- /dev/null
+++ b/Tools/Frame_params/3DR_Iris+_AC34.param
@@ -0,0 +1,83 @@
+#NOTE: 3DR IRIS+ on AC3.4
+ACCEL_Z_D,0
+ACCEL_Z_FILT,20
+ACCEL_Z_I,1
+ACCEL_Z_IMAX,800
+ACCEL_Z_P,0.5
+ACRO_YAW_P,3.0
+ANGLE_MAX,3000
+ATC_ACCEL_P_MAX,110000
+ATC_ACCEL_R_MAX,110000
+ATC_ACCEL_Y_MAX,18000
+ATC_ANG_PIT_P,11.25
+ATC_ANG_RLL_P,11.25
+ATC_ANG_YAW_P,6
+ATC_RAT_PIT_D,0.008325
+ATC_RAT_PIT_FILT,20
+ATC_RAT_PIT_I,0.126
+ATC_RAT_PIT_IMAX,0.2222222
+ATC_RAT_PIT_P,0.126
+ATC_RAT_RLL_D,0.01125
+ATC_RAT_RLL_FILT,20
+ATC_RAT_RLL_I,0.18225
+ATC_RAT_RLL_IMAX,0.2222222
+ATC_RAT_RLL_P,0.18225
+ATC_RAT_YAW_D,0.0036
+ATC_RAT_YAW_FILT,5
+ATC_RAT_YAW_I,0.036
+ATC_RAT_YAW_IMAX,0.222
+ATC_RAT_YAW_P,0.36
+ATC_RATE_FF_ENAB,1
+ATC_SLEW_YAW,6000
+BATT_AMP_PERVOLT,17
+BATT_CAPACITY,5100
+BATT_CURR_PIN,3
+BATT_MONITOR,4
+BATT_VOLT_MULT,12.02
+BATT_VOLT_PIN,2
+FENCE_ACTION,1
+FENCE_ALT_MAX,100
+FENCE_ENABLE,1
+FENCE_MARGIN,2
+FENCE_RADIUS,300
+FENCE_TYPE,3
+FRAME,2
+FS_BATT_ENABLE,1
+FS_BATT_VOLTAGE,10.5
+FS_THR_ENABLE,1
+GPS_HDOP_GOOD,140
+MNT_ANGMAX_TIL,0
+MNT_ANGMIN_TIL,-9000
+MNT_MODE,3
+MNT_RC_IN_TILT,6
+MOT_SPIN_ARM,0.1
+MOT_SPIN_MIN,0.15
+MOT_THST_EXPO,0.65
+MOT_THST_HOVER,0.46
+PILOT_ACCEL_Z,250
+PILOT_VELZ_MAX,250
+POS_XY_P,1
+POS_Z_P,1
+RC_FEEL_RP,25
+RC9_FUNCTION,7
+RC9_MAX,1520
+RC9_MIN,1000
+RC9_REV,1
+RTL_ALT,2000
+SERIAL2_PROTOCOL,3
+THR_DZ,50
+VEL_XY_FILT_HZ,5
+VEL_XY_I,0.5
+VEL_XY_IMAX,1000
+VEL_XY_P,1
+VEL_Z_P,5
+WPNAV_ACCEL,250
+WPNAV_ACCEL_Z,50
+WPNAV_LOIT_JERK,4000
+WPNAV_LOIT_MAXA,980
+WPNAV_LOIT_MINA,100
+WPNAV_LOIT_SPEED,1000
+WPNAV_RADIUS,200
+WPNAV_SPEED,650
+WPNAV_SPEED_DN,150
+WPNAV_SPEED_UP,250