AHRS_EKF_TYPE 10

ATC_RAT_YAW_P 0.09
ATC_RAT_YAW_I 0.009

BATT_MONITOR    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

FRAME_TYPE	0
FRAME_CLASS     1

FS_THR_ENABLE   1

RC7_OPTION      7

FLTMODE1        7
FLTMODE2        9
FLTMODE3        6
FLTMODE4        3
FLTMODE5        5
FLTMODE6		0

GPS_TYPE 100

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

MOT_THST_EXPO   0.65
MOT_THST_HOVER  0.39
MOT_BAT_VOLT_MIN 9.6
MOT_BAT_VOLT_MAX 12.8

SIM_MAG1_DEVID 97539
SIM_BARO_RND    0

SIM_RATE_HZ 400
SCHED_LOOP_RATE 400

BRD_RTC_TYPES 2
BRD_OPTIONS 9

EK2_PRIMARY 1
EK3_PRIMARY 1