# TradHeli Copter3.5 to 3.6 upgrade settings - load with MP
# Tunes the PSC, LOIT, and Nav for New Loiter and Auto
# Stack: ArduPilot
# Vehicle: Helicopter
# Version: 3.6
LOIT_ACC_MAX, 500
LOIT_ANG_MAX, 0.0
LOIT_BRK_ACCEL, 125
LOIT_BRK_DELAY, 1
LOIT_BRK_JERK, 250
LOIT_SPEED, 3000
PHLD_BRAKE_ANGLE, 800
PHLD_BRAKE_RATE, 4
PSC_ACCZ_D, 0.0
PSC_ACCZ_FF, 0.0
PSC_ACCZ_FILT, 20
PSC_ACCZ_I, 1
PSC_ACCZ_IMAX, 800
PSC_ACCZ_P, 0.28
PSC_ACC_XY_FILT, 2
PSC_ANGLE_MAX, 0.0
PSC_POSXY_P, 1
PSC_POSZ_P, 1
PSC_VELXY_D, 0.0
PSC_VELXY_D_FILT, 5
PSC_VELXY_FILT, 5
PSC_VELXY_I, 0.5
PSC_VELXY_IMAX, 1000
PSC_VELXY_P, 1
PSC_VELZ_P, 5
WPNAV_ACCEL, 220
WPNAV_ACCEL_Z, 100
WPNAV_SPEED_DN, 150
WPNAV_SPEED_UP, 250