mirror of https://github.com/ArduPilot/ardupilot
250 lines
4.4 KiB
Plaintext
250 lines
4.4 KiB
Plaintext
# defaults for SkyRocket streaming GPS board
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BRD_TYPE 21
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BRD_IO_ENABLE 0
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BRD_PWM_COUNT 4
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MOT_PWM_TYPE 3
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MOT_PWM_MIN 1000
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MOT_PWM_MAX 2000
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RC_SPEED 16000
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# TERRAIN_ENABLE 0
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# toy mode setup
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TMODE_ENABLE 1
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TMODE_MODE1 5
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TMODE_MODE2 2
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TMODE_ACTION1 2
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TMODE_ACTION2 1
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TMODE_ACTION3 18
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TMODE_ACTION4 0
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TMODE_ACTION5 0
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TMODE_ACTION6 0
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TMODE_FLAGS 23
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TMODE_TMIN 0.9
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# LEDs. pin54 is green, pin55 is red
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RELAY_PIN 54
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RELAY_PIN2 55
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RELAY_DEFAULT 1
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# Set to GPIO so they are used as RELAY
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SERVO5_FUNCTION -1
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SERVO6_FUNCTION -1
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AHRS_ORIENTATION 12
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COMPASS_EXTERNAL 1
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COMPASS_ORIENT 10
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COMPASS_USE2 0
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COMPASS_USE3 0
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COMPASS_OFFS_MAX 2000
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COMPASS_DIA_X 1.20
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COMPASS_DIA_Y 1.11
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COMPASS_DIA_Z 0.89
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COMPASS_ODI_X -0.051
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COMPASS_ODI_Y 0.141
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COMPASS_ODI_Z 0.091
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# battery setup
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BATT_MONITOR 3
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BATT_VOLT_PIN 4
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BATT_VOLT_MULT 0.8485
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# motor compensation
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COMPASS_MOTCT 3
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COMPASS_PMOT_EN 1
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COMPASS_PMOT_EXP 0.65
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COMPASS_LEARN 2
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BRD_SER1_RTSCTS 0
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BRD_SER2_RTSCTS 0
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BRD_SAFETY_DEFLT 0
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SERIAL0_PROTOCOL 2
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SERIAL1_BAUD 625000
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SERIAL1_PROTOCOL 2
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SERIAL2_BAUD 115
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SERIAL2_PROTOCOL 2
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# radio setup
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BRD_RADIO_TYPE 1
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BRD_RADIO_PROT 1
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BRD_RADIO_PPSCH 8
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BRD_RADIO_SIGCH 9
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BRD_RADIO_TPPSCH 10
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BRD_RADIO_TSIGCH 11
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BRD_RADIO_TELEM 1
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BRD_RADIO_ABTIME 10
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BRD_RADIO_ABLVL 25
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RSSI_TYPE 2
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RSSI_CHANNEL 8
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RSSI_CHAN_LOW 0
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RSSI_CHAN_HIGH 200
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# non-standard motor ordering
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SERVO1_FUNCTION 36
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SERVO2_FUNCTION 33
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SERVO3_FUNCTION 34
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SERVO4_FUNCTION 35
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# H class quad
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FRAME_CLASS 1
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FRAME_TYPE 1
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# enable EK2
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EK2_ENABLE 1
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EK2_CHECK_SCALE 150
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# EK3 disabled for flight
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AHRS_EKF_TYPE 2
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EK3_ENABLE 0
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#EK3_CHECK_SCALE 120
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#EK3_ACC_BIAS_LIM 1.0
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#EK3_ABIAS_P_NSE 0.01
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#EK3_MAG_CAL = 0
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# setup EK2 limits
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EK2_CHECK_SCALE 120
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EK2_ALT_M_NSE 2.0
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# fence
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FENCE_TYPE 3
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FENCE_ENABLE 0
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FENCE_RADIUS 100
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FENCE_ALT_MAX 50
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FENCE_MARGIN 3
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# arming
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ARMING_CHECK 32767
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DISARM_DELAY 8
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# IMU
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INS_FAST_SAMPLE 1
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INS_GYRO_FILTER 20
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LOG_BITMASK 65534
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INS_HNTC2_ENABLE 1
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INS_HNTC2_ATT 30
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INS_HNTC2_BW 60
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INS_HNTC2_FREQ 80
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# rate controllers
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ANGLE_MAX 3500
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ATC_ACCEL_R_MAX 160000
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ATC_ACCEL_P_MAX 160000
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ATC_ACCEL_Y_MAX 54000
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ATC_ANG_PIT_P 8.0
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ATC_ANG_RLL_P 8.0
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ATC_ANG_YAW_P 7.16
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ATC_RAT_PIT_D 0.0069
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ATC_RAT_PIT_FILT 10
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ATC_RAT_PIT_FLTD 10
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ATC_RAT_PIT_IMAX 0.5
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ATC_RAT_PIT_I 0.0834
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ATC_RAT_PIT_P 0.0834
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ATC_RAT_RLL_D 0.007
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ATC_RAT_RLL_FILT 10
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ATC_RAT_RLL_FLTD 10
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ATC_RAT_RLL_I 0.0966
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ATC_RAT_RLL_P 0.0966
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ATC_RAT_RLL_IMAX 0.5
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ATC_RAT_YAW_P 0.6887
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ATC_RAT_YAW_I 0.0689
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ATC_RAT_YAW_IMAX 0.3
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ATC_RAT_YAW_D 0.0
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ATC_RAT_YAW_FILT 4.5125
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ATC_RAT_YAW_FLTE 4.5125
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ATC_SLEW_YAW 3250
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ATC_THR_MIX_MAN 4
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ATC_THR_MIX_MAX 0.9
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# tuning
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ACRO_RP_EXPO 0.3
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ACRO_RP_P 8
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ACRO_YAW_P 4
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# flight modes
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FLTMODE_CH 0
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FLTMODE1 2
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FLTMODE2 2
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FLTMODE3 2
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FLTMODE4 2
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FLTMODE5 2
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FLTMODE6 2
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# failsafes
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FS_THR_ENABLE 1
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BATT_LOW_VOLT 3.43
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BATT_FS_LOW_ACT 2
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FS_GCS_ENABLE 0
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# baro
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TCAL_ENABLED 2
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TCAL_BARO_EXP 1.2
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# landing
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LAND_SPEED_HIGH 350
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# logging
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LOG_BACKEND_TYPE 2
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LOG_FILE_BUFSIZE 1
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# voltages
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MOT_BAT_VOLT_MAX 4.2
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MOT_BAT_VOLT_MIN 3.3
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MOT_THST_HOVER 0.3514
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MOT_THST_EXPO -0.56
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MOT_SPIN_ARM 0.03
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MOT_SPIN_MIN 0.03
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MOT_SPIN_MAX 1.0
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MOT_SPOOL_TIME 0
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MOT_HOVER_LEARN 1
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# control inputs
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PILOT_THR_BHV 3
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PILOT_ACCEL_Z 400
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PILOT_SPEED_DN 500
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RC_FEEL_RP 50
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RC1_MIN 1000
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RC1_MAX 2000
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RC2_MIN 1000
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RC2_MAX 2000
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RC3_MIN 1000
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RC3_MAX 2000
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RC4_MIN 1000
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RC4_MAX 2000
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RC3_TRIM 1500
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RTL_ALT 400
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GND_EFFECT_COMP 1
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# deadzones, with auto-trim
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RC1_DZ 15
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RC2_DZ 15
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RC3_DZ 15
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RC4_DZ 15
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# pos control
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PSC_POSXY_P 0.7
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PSC_VELXY_I 0.3
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PSC_VELXY_P 0.6
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PSC_VELXY_FLTE 1.0
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WPNAV_LOIT_JERK 4000
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WPNAV_LOIT_MAXA 800
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WPNAV_LOIT_MINA 250
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WPNAV_LOIT_SPEED 800
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WPNAV_SPEED 750
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RTL_SPEED 600
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# GPS
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GPS_NAVFILTER 6
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GPS_SAVE_CFG 2
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GPS_TYPE 2
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GPS_HDOP_GOOD 160
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# throw mode
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THROW_NEXTMODE 5
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