From e8947dfb4768b56a3c9f1dd6e4fd7dd04bf9da77 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 2 Jun 2021 16:40:35 +0900
Subject: [PATCH] Tools: reduce copter autotest rate yaw P and I gains

affects quad, hexa, octa, octa-quad, deca, tri, y6, dodeca-hexa
---
 Tools/autotest/default_params/copter-deca.parm       | 2 ++
 Tools/autotest/default_params/copter-dodecahexa.parm | 2 ++
 Tools/autotest/default_params/copter-hexa.parm       | 5 -----
 Tools/autotest/default_params/copter-octaquad.parm   | 7 ++-----
 Tools/autotest/default_params/copter-y6.parm         | 7 ++-----
 Tools/autotest/default_params/copter.parm            | 2 ++
 6 files changed, 10 insertions(+), 15 deletions(-)

diff --git a/Tools/autotest/default_params/copter-deca.parm b/Tools/autotest/default_params/copter-deca.parm
index 269af476e7..cfa53abca3 100644
--- a/Tools/autotest/default_params/copter-deca.parm
+++ b/Tools/autotest/default_params/copter-deca.parm
@@ -1 +1,3 @@
 FRAME_CLASS     14
+ATC_RAT_YAW_P 0.04
+ATC_RAT_YAW_I 0.004
diff --git a/Tools/autotest/default_params/copter-dodecahexa.parm b/Tools/autotest/default_params/copter-dodecahexa.parm
index a56c28a60b..11db90c859 100644
--- a/Tools/autotest/default_params/copter-dodecahexa.parm
+++ b/Tools/autotest/default_params/copter-dodecahexa.parm
@@ -1 +1,3 @@
 FRAME_CLASS     12
+ATC_RAT_YAW_P 0.04
+ATC_RAT_YAW_I 0.004
diff --git a/Tools/autotest/default_params/copter-hexa.parm b/Tools/autotest/default_params/copter-hexa.parm
index 7f56eaa200..396ec3ae38 100644
--- a/Tools/autotest/default_params/copter-hexa.parm
+++ b/Tools/autotest/default_params/copter-hexa.parm
@@ -13,11 +13,6 @@ ATC_RAT_RLL_D   0.002667568
 ATC_RAT_RLL_I   0.3180474
 ATC_RAT_RLL_IMAX    0.5
 ATC_RAT_RLL_P   0.3180474
-ATC_RAT_YAW_D   0
-ATC_RAT_YAW_FLTD    5
-ATC_RAT_YAW_I   0.06603496
-ATC_RAT_YAW_IMAX    0.25
-ATC_RAT_YAW_P   0.6603495
 ATC_RATE_FF_ENAB    1
 ATC_RATE_P_MAX  0
 ATC_RATE_R_MAX  0
diff --git a/Tools/autotest/default_params/copter-octaquad.parm b/Tools/autotest/default_params/copter-octaquad.parm
index 2790c59441..7c2441f613 100644
--- a/Tools/autotest/default_params/copter-octaquad.parm
+++ b/Tools/autotest/default_params/copter-octaquad.parm
@@ -13,11 +13,8 @@ ATC_RAT_RLL_D   0.002219906
 ATC_RAT_RLL_I   0.1232151
 ATC_RAT_RLL_IMAX    1
 ATC_RAT_RLL_P   0.1232151
-ATC_RAT_YAW_D   0
-ATC_RAT_YAW_FLTD    5
-ATC_RAT_YAW_I   0.04692981
-ATC_RAT_YAW_IMAX    0.5
-ATC_RAT_YAW_P   0.4692981
+ATC_RAT_YAW_P 0.04
+ATC_RAT_YAW_I 0.004
 ATC_RATE_FF_ENAB    1
 ATC_RATE_P_MAX  0
 ATC_RATE_R_MAX  0
diff --git a/Tools/autotest/default_params/copter-y6.parm b/Tools/autotest/default_params/copter-y6.parm
index 4d67314811..a0f8b73e03 100644
--- a/Tools/autotest/default_params/copter-y6.parm
+++ b/Tools/autotest/default_params/copter-y6.parm
@@ -13,11 +13,8 @@ ATC_RAT_RLL_D   0.002629029
 ATC_RAT_RLL_I   0.315668
 ATC_RAT_RLL_IMAX    0.75
 ATC_RAT_RLL_P   0.315668
-ATC_RAT_YAW_D   0
-ATC_RAT_YAW_FLTE    5
-ATC_RAT_YAW_I   0.06521364
-ATC_RAT_YAW_IMAX    0.5
-ATC_RAT_YAW_P   0.6521364
+ATC_RAT_YAW_P 0.04
+ATC_RAT_YAW_I 0.004
 ATC_RATE_FF_ENAB    1
 ATC_RATE_P_MAX  0
 ATC_RATE_R_MAX  0
diff --git a/Tools/autotest/default_params/copter.parm b/Tools/autotest/default_params/copter.parm
index 854379ae40..f3993e3831 100644
--- a/Tools/autotest/default_params/copter.parm
+++ b/Tools/autotest/default_params/copter.parm
@@ -1,5 +1,7 @@
 FRAME_TYPE	0
 FS_THR_ENABLE   1
+ATC_RAT_YAW_P 0.09
+ATC_RAT_YAW_I 0.009
 BATT_MONITOR    4
 COMPASS_OFS_X   5
 COMPASS_OFS_Y   13