EK2_ENABLE 1 FRAME 0 MAG_ENABLE 1 FS_THR_ENABLE 1 BATT_MONITOR 4 CH7_OPT 7 COMPASS_LEARN 0 COMPASS_OFS_X 5 COMPASS_OFS_Y 13 COMPASS_OFS_Z -18 COMPASS_OFS2_X 5 COMPASS_OFS2_Y 13 COMPASS_OFS2_Z -18 FENCE_RADIUS 150 RC1_MAX 2000.000000 RC1_MIN 1000.000000 RC1_TRIM 1500.000000 RC2_MAX 2000.000000 RC2_MIN 1000.000000 RC2_TRIM 1500.000000 RC3_MAX 2000.000000 RC3_MIN 1000.000000 RC3_TRIM 1500.000000 RC4_MAX 2000.000000 RC4_MIN 1000.000000 RC4_TRIM 1500.000000 RC5_MAX 2000.000000 RC5_MIN 1000.000000 RC5_TRIM 1500.000000 RC6_MAX 2000.000000 RC6_MIN 1000.000000 RC6_TRIM 1500.000000 RC7_MAX 2000.000000 RC7_MIN 1000.000000 RC7_TRIM 1500.000000 RC8_MAX 2000.000000 RC8_MIN 1000.000000 RC8_TRIM 1500.000000 FLTMODE1 7 FLTMODE2 9 FLTMODE3 6 FLTMODE4 3 FLTMODE5 5 FLTMODE6 0 SUPER_SIMPLE 0 SIM_GPS_DELAY 1 SIM_ACC_RND 0 SIM_GYR_RND 0 SIM_WIND_SPD 0 SIM_WIND_TURB 0 SIM_BARO_RND 0 SIM_MAG_RND 0 SIM_GPS_GLITCH_X 0 SIM_GPS_GLITCH_Y 0 SIM_GPS_GLITCH_Z 0 # we need small INS_ACC offsets so INS is recognised as being calibrated INS_ACCOFFS_X 0.001 INS_ACCOFFS_Y 0.001 INS_ACCOFFS_Z 0.001 INS_ACCSCAL_X 1.001 INS_ACCSCAL_Y 1.001 INS_ACCSCAL_Z 1.001 INS_ACC2OFFS_X 0.001 INS_ACC2OFFS_Y 0.001 INS_ACC2OFFS_Z 0.001 INS_ACC2SCAL_X 1.001 INS_ACC2SCAL_Y 1.001 INS_ACC2SCAL_Z 1.001 INS_ACC3OFFS_X 0.000 INS_ACC3OFFS_Y 0.000 INS_ACC3OFFS_Z 0.000 INS_ACC3SCAL_X 1.000 INS_ACC3SCAL_Y 1.000 INS_ACC3SCAL_Z 1.000 MOT_THST_EXPO 0.5 # autotune results ATC_RATE_FF_ENAB 1.000000 ATC_RAT_PIT_D 0.002706 ATC_RAT_PIT_I 0.331873 ATC_RAT_PIT_IMAX 0.444000 ATC_RAT_PIT_P 0.331873 ATC_RAT_RLL_D 0.003133 ATC_RAT_RLL_I 0.349340 ATC_RAT_RLL_IMAX 0.444000 ATC_RAT_RLL_P 0.349340 ATC_RAT_YAW_D 0.000000 ATC_RAT_YAW_I 0.060954 ATC_RAT_YAW_IMAX 0.222000 ATC_RAT_YAW_P 0.609544