From fe3d57b19c523b83a4f25c439d27c0869c473d69 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 18 Oct 2016 08:26:50 +1100
Subject: [PATCH] Frame_params: fixed scaling errors in Bebop parameters

---
 Tools/Frame_params/Parrot_Bebop.param | 53 ++++++++++++---------------
 1 file changed, 24 insertions(+), 29 deletions(-)

diff --git a/Tools/Frame_params/Parrot_Bebop.param b/Tools/Frame_params/Parrot_Bebop.param
index c925604876..abd896708a 100644
--- a/Tools/Frame_params/Parrot_Bebop.param
+++ b/Tools/Frame_params/Parrot_Bebop.param
@@ -1,30 +1,25 @@
-#NOTE: Bebop default parameters
-ARMING_CHECK,126
-ATC_ACCEL_P_MAX,220000
-ATC_ACCEL_R_MAX,220000
-ATC_ACCEL_Y_MAX,56000
-BATT_MONITOR,6
-INS_GYRO_FILTER,40
-MOT_THST_EXPO,0.05
+#NOTE: Bebop default parameters
+ARMING_CHECK,126
+ATC_ACCEL_P_MAX,220000
+ATC_ACCEL_R_MAX,220000
+ATC_ACCEL_Y_MAX,56000
+BATT_MONITOR,6
+INS_GYRO_FILTER,40
+MOT_THST_EXPO,0.05
 MOT_SPIN_MAX,1.00
-MOT_YAW_HEADROOM,200
-POS_XY_P,1
-ATC_RAT_PIT_D,0.0022
-ATC_RAT_PIT_FILT,40
-ATC_RAT_PIT_I,0.126
-ATC_RAT_PIT_IMAX,2000
-ATC_RAT_PIT_P,0.126
-ATC_RAT_RLL_D,0.0005
-ATC_RAT_RLL_FILT,40
-ATC_RAT_RLL_I,0.11
-ATC_RAT_RLL_IMAX,2000
-ATC_RAT_RLL_P,0.11
-ATC_RAT_YAW_D,0
-ATC_RAT_YAW_FILT,3.0
-ATC_RAT_YAW_I,0.103
-ATC_RAT_YAW_IMAX,1000
-ATC_RAT_YAW_P,1.03
-ATC_ANG_PIT_P,15
-ATC_ANG_RLL_P,10
-ATC_ANG_YAW_P,12
-MOT_SPIN_MIN,130
+ATC_RAT_PIT_D,0.0022
+ATC_RAT_PIT_FILT,40
+ATC_RAT_PIT_I,0.126
+ATC_RAT_PIT_P,0.126
+ATC_RAT_RLL_D,0.0005
+ATC_RAT_RLL_FILT,40
+ATC_RAT_RLL_I,0.11
+ATC_RAT_RLL_P,0.11
+ATC_RAT_YAW_D,0
+ATC_RAT_YAW_FILT,3.0
+ATC_RAT_YAW_I,0.103
+ATC_RAT_YAW_P,1.03
+ATC_ANG_PIT_P,15
+ATC_ANG_RLL_P,10
+ATC_ANG_YAW_P,12
+MOT_SPIN_MIN,0.13