From 0be24c49462b64e2d700b2e94635ae0e42c893b2 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sat, 3 Apr 2021 09:49:59 +1100 Subject: [PATCH] Tools: convert old param files to new plane PID params --- Tools/Frame_params/EFlight_Convergence.param | 156 +- .../Parrot_Disco/Parrot_Disco.param | 18 +- Tools/Frame_params/SkyWalkerX8.param | 20 +- .../SkyWalkerX8_ReverseThrust.param | 20 +- Tools/autotest/default_params/firefly.parm | 18 +- Tools/autotest/default_params/plane-jet.parm | 18 +- .../autotest/default_params/plane-jsbsim.parm | 16 +- .../default_params/plane-soaring.parm | 8 +- .../default_params/plane-tailsitter.parm | 16 +- Tools/autotest/default_params/plane.parm | 16 +- .../default_params/quadplane-cl84.parm | 18 +- .../default_params/quadplane-tilttri.parm | 21 +- .../default_params/quadplane-tilttrivec.parm | 20 +- .../default_params/quadplane-tri.parm | 18 +- Tools/autotest/default_params/quadplane.parm | 18 +- .../default_params/vee-gull 005.param | 1730 ++++++++--------- 16 files changed, 1080 insertions(+), 1051 deletions(-) diff --git a/Tools/Frame_params/EFlight_Convergence.param b/Tools/Frame_params/EFlight_Convergence.param index 086dd1f674..24213ec753 100644 --- a/Tools/Frame_params/EFlight_Convergence.param +++ b/Tools/Frame_params/EFlight_Convergence.param @@ -1,76 +1,80 @@ -#NOTE: Default parameters fro E-Flight convergence VTOL -AHRS_ORIENTATION,8 -ARSPD_TYPE,0 -BATT_CAPACITY,2200 -BATT_MONITOR,4 -BATT_VOLT_MULT,12 -BRD_SAFETYENABLE,0 -FORMAT_VERSION,13 -LIM_PITCH_MAX,3500 -MIXING_GAIN,0.8 -PTCH2SRV_D,0.02 -PTCH2SRV_FF,0 -PTCH2SRV_I,0.3 -PTCH2SRV_IMAX,4000 -PTCH2SRV_P,1.1 -Q_A_RAT_PIT_D,0.005 -Q_A_RAT_PIT_FILT,10 -Q_A_RAT_PIT_FLTD,10 -Q_A_RAT_PIT_I,0.25 -Q_A_RAT_PIT_P,0.3 -Q_A_RAT_RLL_D,0.005 -Q_A_RAT_RLL_FILT,10 -Q_A_RAT_RLL_FLTD,10 -Q_A_RAT_RLL_I,0.25 -Q_A_RAT_RLL_IMAX,0.5 -Q_A_RAT_RLL_P,0.3 -Q_A_RAT_YAW_D,0 -Q_A_RAT_YAW_FF,0 -Q_A_RAT_YAW_FILT,2 -Q_A_RAT_YAW_FLTE,2 -Q_A_RAT_YAW_I,0.018 -Q_A_RAT_YAW_IMAX,0.7 -Q_A_RAT_YAW_P,0.1 -Q_A_SLEW_YAW,6000 -Q_ENABLE,1 -Q_FRAME_CLASS,7 -Q_FRAME_TYPE,1 -Q_M_PWM_MAX,2000 -Q_M_PWM_MIN,1000 -Q_M_PWM_TYPE,0 -Q_RTL_MODE,1 -Q_TILT_MASK,3 -Q_TILT_MAX,55 -Q_TILT_RATE_DN,15 -Q_TILT_RATE_UP,25 -Q_TILT_TYPE,2 -Q_TILT_YAW_ANGLE,10 -Q_VXY_I,0.25 -Q_VXY_P,0.5 -RLL2SRV_P,0.8 -RTL_AUTOLAND,2 -SCHED_LOOP_RATE,300 -SERVO1_FUNCTION,78 -SERVO1_MAX,1900 -SERVO1_MIN,1100 -SERVO1_REVERSED,0 -SERVO1_TRIM,1574 -SERVO2_FUNCTION,77 -SERVO2_MAX,1900 -SERVO2_MIN,1100 -SERVO2_REVERSED,1 -SERVO2_TRIM,1424 -SERVO3_FUNCTION,75 -SERVO3_MAX,2050 -SERVO3_MIN,1000 -SERVO3_REVERSED,0 -SERVO3_TRIM,1500 -SERVO4_FUNCTION,76 -SERVO4_MAX,2000 -SERVO4_MIN,950 -SERVO4_REVERSED,1 -SERVO4_TRIM,1500 -SERVO5_FUNCTION,36 -SERVO6_FUNCTION,33 -SERVO7_FUNCTION,34 -SERVO_AUTO_TRIM,1 +#NOTE: Default parameters fro E-Flight convergence VTOL +AHRS_ORIENTATION,8 +ARSPD_TYPE,0 +BATT_CAPACITY,2200 +BATT_MONITOR,4 +BATT_VOLT_MULT,12 +BRD_SAFETYENABLE,0 +FORMAT_VERSION,13 +LIM_PITCH_MAX,3500 +MIXING_GAIN,0.8 +PTCH_RATE_D,0.000000 +PTCH_RATE_FF,0.455000 +PTCH_RATE_I,0.150000 +PTCH_RATE_IMAX,0.888889 +PTCH_RATE_P,0.020000 +Q_A_RAT_PIT_D,0.005 +Q_A_RAT_PIT_FILT,10 +Q_A_RAT_PIT_FLTD,10 +Q_A_RAT_PIT_I,0.25 +Q_A_RAT_PIT_P,0.3 +Q_A_RAT_RLL_D,0.005 +Q_A_RAT_RLL_FILT,10 +Q_A_RAT_RLL_FLTD,10 +Q_A_RAT_RLL_I,0.25 +Q_A_RAT_RLL_IMAX,0.5 +Q_A_RAT_RLL_P,0.3 +Q_A_RAT_YAW_D,0 +Q_A_RAT_YAW_FF,0 +Q_A_RAT_YAW_FILT,2 +Q_A_RAT_YAW_FLTE,2 +Q_A_RAT_YAW_I,0.018 +Q_A_RAT_YAW_IMAX,0.7 +Q_A_RAT_YAW_P,0.1 +Q_A_SLEW_YAW,6000 +Q_ENABLE,1 +Q_FRAME_CLASS,7 +Q_FRAME_TYPE,1 +Q_M_PWM_MAX,2000 +Q_M_PWM_MIN,1000 +Q_M_PWM_TYPE,0 +Q_RTL_MODE,1 +Q_TILT_MASK,3 +Q_TILT_MAX,55 +Q_TILT_RATE_DN,15 +Q_TILT_RATE_UP,25 +Q_TILT_TYPE,2 +Q_TILT_YAW_ANGLE,10 +Q_VXY_I,0.25 +Q_VXY_P,0.5 +RLL_RATE_P,0.080000 +RTL_AUTOLAND,2 +SCHED_LOOP_RATE,300 +SERVO1_FUNCTION,78 +SERVO1_MAX,1900 +SERVO1_MIN,1100 +SERVO1_REVERSED,0 +SERVO1_TRIM,1574 +SERVO2_FUNCTION,77 +SERVO2_MAX,1900 +SERVO2_MIN,1100 +SERVO2_REVERSED,1 +SERVO2_TRIM,1424 +SERVO3_FUNCTION,75 +SERVO3_MAX,2050 +SERVO3_MIN,1000 +SERVO3_REVERSED,0 +SERVO3_TRIM,1500 +SERVO4_FUNCTION,76 +SERVO4_MAX,2000 +SERVO4_MIN,950 +SERVO4_REVERSED,1 +SERVO4_TRIM,1500 +SERVO5_FUNCTION,36 +SERVO6_FUNCTION,33 +SERVO7_FUNCTION,34 +SERVO_AUTO_TRIM,1 +RLL_RATE_FF 0.245000 +RLL_RATE_I 0.150000 +RLL_RATE_D 0.000000 +RLL_RATE_IMAX 0.666667 diff --git a/Tools/Frame_params/Parrot_Disco/Parrot_Disco.param b/Tools/Frame_params/Parrot_Disco/Parrot_Disco.param index 0392f67f76..68e028fb62 100644 --- a/Tools/Frame_params/Parrot_Disco/Parrot_Disco.param +++ b/Tools/Frame_params/Parrot_Disco/Parrot_Disco.param @@ -28,18 +28,18 @@ LIM_PITCH_MAX 3000 LIM_PITCH_MIN -2500 LIM_ROLL_CD 5500 NAVL1_PERIOD 16 -PTCH2SRV_D 0.07 -PTCH2SRV_I 0.4 -PTCH2SRV_IMAX 4500 -PTCH2SRV_P 1.5 +PTCH_RATE_D 0.000000 +PTCH_RATE_I 0.240000 +PTCH_RATE_IMAX 1.000000 +PTCH_RATE_P 0.070000 PTCH2SRV_RLL 1.0 PTCH2SRV_RMAX_DN 60 PTCH2SRV_RMAX_UP 60 PTCH2SRV_TCONST 0.6 -RLL2SRV_D 0.040758 -RLL2SRV_I 0.4 -RLL2SRV_IMAX 3000 -RLL2SRV_P 0.5 +RLL_RATE_D 0.000000 +RLL_RATE_I 0.180000 +RLL_RATE_IMAX 0.666667 +RLL_RATE_P 0.040758 RLL2SRV_RMAX 75.000000 RLL2SRV_TCONST 0.450000 RNGFND_LANDING 1 @@ -64,3 +64,5 @@ STICK_MIXING 0 THROTTLE_NUDGE 0 SCHED_LOOP_RATE 200 SERVO_AUTO_TRIM 1 +PTCH_RATE_FF 0.686000 +RLL_RATE_FF 0.103242 diff --git a/Tools/Frame_params/SkyWalkerX8.param b/Tools/Frame_params/SkyWalkerX8.param index 61739e0812..bd7915109a 100644 --- a/Tools/Frame_params/SkyWalkerX8.param +++ b/Tools/Frame_params/SkyWalkerX8.param @@ -35,20 +35,20 @@ MIXING_GAIN,0.5 NAVL1_DAMPING,0.75 NAVL1_PERIOD,17 NAVL1_XTRACK_I,0.02 -PTCH2SRV_D,0.0137065 -PTCH2SRV_FF,0 -PTCH2SRV_I,0.3 -PTCH2SRV_IMAX,3000 -PTCH2SRV_P,1.612537 +PTCH_RATE_D,0.000000 +PTCH_RATE_FF,0.443055 +PTCH_RATE_I,0.090000 +PTCH_RATE_IMAX,0.666667 +PTCH_RATE_P,0.013706 PTCH2SRV_RLL,1.05 PTCH2SRV_RMAX_DN,120 PTCH2SRV_RMAX_UP,120 PTCH2SRV_TCONST,0.3 -RLL2SRV_D,0.012460 -RLL2SRV_FF,0 -RLL2SRV_I,0.2125 -RLL2SRV_IMAX,3000 -RLL2SRV_P,1.465941 +RLL_RATE_D,0.000000 +RLL_RATE_FF,0.408197 +RLL_RATE_I,0.063750 +RLL_RATE_IMAX,0.666667 +RLL_RATE_P,0.012460 RLL2SRV_RMAX,120 RLL2SRV_TCONST,0.3 SCALING_SPEED,15 diff --git a/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param b/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param index ed4a3fcc32..cb83173657 100644 --- a/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param +++ b/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param @@ -35,20 +35,20 @@ MIXING_GAIN,0.5 NAVL1_DAMPING,0.75 NAVL1_PERIOD,17 NAVL1_XTRACK_I,0.02 -PTCH2SRV_D,0.0137065 -PTCH2SRV_FF,0 -PTCH2SRV_I,0.3 -PTCH2SRV_IMAX,3000 -PTCH2SRV_P,1.612537 +PTCH_RATE_D,0.000000 +PTCH_RATE_FF,0.443055 +PTCH_RATE_I,0.090000 +PTCH_RATE_IMAX,0.666667 +PTCH_RATE_P,0.013706 PTCH2SRV_RLL,1.05 PTCH2SRV_RMAX_DN,120 PTCH2SRV_RMAX_UP,120 PTCH2SRV_TCONST,0.3 -RLL2SRV_D,0.012460 -RLL2SRV_FF,0 -RLL2SRV_I,0.2125 -RLL2SRV_IMAX,3000 -RLL2SRV_P,1.465941 +RLL_RATE_D,0.000000 +RLL_RATE_FF,0.408197 +RLL_RATE_I,0.063750 +RLL_RATE_IMAX,0.666667 +RLL_RATE_P,0.012460 RLL2SRV_RMAX,120 RLL2SRV_TCONST,0.3 SCALING_SPEED,15 diff --git a/Tools/autotest/default_params/firefly.parm b/Tools/autotest/default_params/firefly.parm index 27fe1485e1..01f95bfb3c 100644 --- a/Tools/autotest/default_params/firefly.parm +++ b/Tools/autotest/default_params/firefly.parm @@ -49,10 +49,10 @@ LIM_PITCH_MAX 3000 LIM_PITCH_MIN -3000 LIM_ROLL_CD 6500 NAVL1_PERIOD 8 -PTCH2SRV_D 0.309954 -PTCH2SRV_I 0.425000 -PTCH2SRV_IMAX 4000 -PTCH2SRV_P 3.646518 +PTCH_RATE_D 0.000000 +PTCH_RATE_I 0.212500 +PTCH_RATE_IMAX 0.888889 +PTCH_RATE_P 0.309954 PTCH2SRV_RLL 1 RALLY_INCL_HOME 0 RALLY_LIMIT_KM 5 @@ -65,10 +65,10 @@ RC3_MAX 2000 RC3_MIN 1000 SERVO3_MIN 1000 SERVO3_MAX 2000 -RLL2SRV_D 0.141009 -RLL2SRV_I 0.425000 -RLL2SRV_IMAX 4000 -RLL2SRV_P 2.0 +RLL_RATE_D 0.000000 +RLL_RATE_I 0.212500 +RLL_RATE_IMAX 0.888889 +RLL_RATE_P 0.141009 SCHED_LOOP_RATE 300 THR_MAX 100 TRIM_ARSPD_CM 2500 @@ -93,3 +93,5 @@ SERVO5_FUNCTION 35 SERVO6_FUNCTION 36 SERVO7_FUNCTION 37 SERVO8_FUNCTION 38 +PTCH_RATE_FF 1.407055 +RLL_RATE_FF 0.752741 diff --git a/Tools/autotest/default_params/plane-jet.parm b/Tools/autotest/default_params/plane-jet.parm index d7542f9b38..93a58ac6d1 100644 --- a/Tools/autotest/default_params/plane-jet.parm +++ b/Tools/autotest/default_params/plane-jet.parm @@ -7,15 +7,15 @@ LIM_PITCH_MAX 2000.0000 LIM_PITCH_MIN -2500.0000 LIM_ROLL_CD 7000.0000 NAVL1_PERIOD 17.0000 -PTCH2SRV_D 0.0900 -PTCH2SRV_FF 0.1800 -PTCH2SRV_I 1.0000 -PTCH2SRV_P 1.7000 +PTCH_RATE_D 0.000000 +PTCH_RATE_FF 0.690000 +PTCH_RATE_I 0.500000 +PTCH_RATE_P 0.090000 PTCH2SRV_RLL 1.0400 -RLL2SRV_D 0.1300 -RLL2SRV_FF 0.3000 -RLL2SRV_I 1.0000 -RLL2SRV_P 1.3000 +RLL_RATE_D 0.000000 +RLL_RATE_FF 0.570000 +RLL_RATE_I 0.500000 +RLL_RATE_P 0.130000 RLL2SRV_RMAX 70.0000 SCALING_SPEED 40.0000 TECS_CLMB_MAX 15.0000 @@ -30,3 +30,5 @@ TRIM_ARSPD_CM 4000.0000 TRIM_THROTTLE 36.0000 WP_LOITER_RAD 180.0000 WP_RADIUS 140.0000 +PTCH_RATE_IMAX 0.666667 +RLL_RATE_IMAX 0.666667 diff --git a/Tools/autotest/default_params/plane-jsbsim.parm b/Tools/autotest/default_params/plane-jsbsim.parm index 3a6546085f..2fa0339249 100644 --- a/Tools/autotest/default_params/plane-jsbsim.parm +++ b/Tools/autotest/default_params/plane-jsbsim.parm @@ -54,14 +54,14 @@ FLTMODE6 0 FLTMODE_CH 8 WP_LOITER_RAD 80 WP_RADIUS 50 -RLL2SRV_D 0.2 -RLL2SRV_I 0.3 -RLL2SRV_P 2.5 +RLL_RATE_D 0.000000 +RLL_RATE_I 0.150000 +RLL_RATE_P 0.200000 RLL2SRV_RMAX 0 RLL2SRV_TCONST 0.5 -PTCH2SRV_D 0.2 -PTCH2SRV_I 0.3 -PTCH2SRV_P 2.5 +PTCH_RATE_D 0.000000 +PTCH_RATE_I 0.150000 +PTCH_RATE_P 0.200000 PTCH2SRV_RLL 1 NAVL1_PERIOD 15 ACRO_LOCKING 1 @@ -79,3 +79,7 @@ INS_ACC2SCAL_X 1.001 INS_ACC2SCAL_Y 1.001 INS_ACC2SCAL_Z 1.001 INS_GYR_CAL 0 +PTCH_RATE_FF 0.975000 +PTCH_RATE_IMAX 0.666667 +RLL_RATE_FF 0.975000 +RLL_RATE_IMAX 0.666667 diff --git a/Tools/autotest/default_params/plane-soaring.parm b/Tools/autotest/default_params/plane-soaring.parm index 4984835853..2d7a241185 100644 --- a/Tools/autotest/default_params/plane-soaring.parm +++ b/Tools/autotest/default_params/plane-soaring.parm @@ -3,8 +3,8 @@ ARSPD_FBW_MIN 6 FLIGHT_OPTIONS 2 -PTCH2SRV_I 0.200000 -PTCH2SRV_IMAX 4000.000000 +PTCH_RATE_I 0.150000 +PTCH_RATE_IMAX 0.888889 RC7_OPTION 88 @@ -32,4 +32,6 @@ TRIM_ARSPD_CM 900.000000 NAVL1_LIM_BANK 60.000000 NAVL1_PERIOD 10.000 - +PTCH_RATE_FF 0.385000 +PTCH_RATE_P 0.040000 +PTCH_RATE_D 0.000000 diff --git a/Tools/autotest/default_params/plane-tailsitter.parm b/Tools/autotest/default_params/plane-tailsitter.parm index 6609078b66..b920f96f64 100644 --- a/Tools/autotest/default_params/plane-tailsitter.parm +++ b/Tools/autotest/default_params/plane-tailsitter.parm @@ -44,14 +44,14 @@ FLTMODE6 0 FLTMODE_CH 8 WP_LOITER_RAD 80 WP_RADIUS 50 -RLL2SRV_D 0.2 -RLL2SRV_I 0.3 -RLL2SRV_P 2.5 +RLL_RATE_D 0.000000 +RLL_RATE_I 0.150000 +RLL_RATE_P 0.200000 RLL2SRV_RMAX 0 RLL2SRV_TCONST 0.5 -PTCH2SRV_D 0.2 -PTCH2SRV_I 0.3 -PTCH2SRV_P 2.5 +PTCH_RATE_D 0.000000 +PTCH_RATE_I 0.150000 +PTCH_RATE_P 0.200000 PTCH2SRV_RLL 1 NAVL1_PERIOD 15 ACRO_LOCKING 1 @@ -71,3 +71,7 @@ INS_ACC2SCAL_Z 1.001 INS_GYR_CAL 0 Q_ENABLE 1 Q_FRAME_CLASS 10 +PTCH_RATE_FF 0.975000 +PTCH_RATE_IMAX 0.666667 +RLL_RATE_FF 0.975000 +RLL_RATE_IMAX 0.666667 diff --git a/Tools/autotest/default_params/plane.parm b/Tools/autotest/default_params/plane.parm index 685283fc63..4ff417e380 100644 --- a/Tools/autotest/default_params/plane.parm +++ b/Tools/autotest/default_params/plane.parm @@ -50,14 +50,14 @@ FLTMODE6 0 FLTMODE_CH 8 WP_LOITER_RAD 80 WP_RADIUS 50 -RLL2SRV_D 0.2 -RLL2SRV_I 0.3 -RLL2SRV_P 2.5 +RLL_RATE_D 0.000000 +RLL_RATE_I 0.150000 +RLL_RATE_P 0.200000 RLL2SRV_RMAX 0 RLL2SRV_TCONST 0.5 -PTCH2SRV_D 0.2 -PTCH2SRV_I 0.3 -PTCH2SRV_P 2.5 +PTCH_RATE_D 0.000000 +PTCH_RATE_I 0.150000 +PTCH_RATE_P 0.200000 PTCH2SRV_RLL 1 NAVL1_PERIOD 15 ACRO_LOCKING 1 @@ -75,3 +75,7 @@ INS_ACC2SCAL_X 1.001 INS_ACC2SCAL_Y 1.001 INS_ACC2SCAL_Z 1.001 INS_GYR_CAL 0 +PTCH_RATE_FF 0.975000 +PTCH_RATE_IMAX 0.666667 +RLL_RATE_FF 0.975000 +RLL_RATE_IMAX 0.666667 diff --git a/Tools/autotest/default_params/quadplane-cl84.parm b/Tools/autotest/default_params/quadplane-cl84.parm index c7ce7d8399..9d988cd89e 100644 --- a/Tools/autotest/default_params/quadplane-cl84.parm +++ b/Tools/autotest/default_params/quadplane-cl84.parm @@ -38,18 +38,18 @@ LIM_PITCH_MAX 3000 LIM_PITCH_MIN -3000 LIM_ROLL_CD 6500 NAVL1_PERIOD 14 -PTCH2SRV_D 0.309954 -PTCH2SRV_I 0.425000 -PTCH2SRV_IMAX 4000 -PTCH2SRV_P 3.646518 +PTCH_RATE_D 0.000000 +PTCH_RATE_I 0.212500 +PTCH_RATE_IMAX 0.888889 +PTCH_RATE_P 0.309954 PTCH2SRV_RLL 1 RALLY_INCL_HOME 0 RALLY_LIMIT_KM 5 RALLY_TOTAL 0 -RLL2SRV_D 0.141009 -RLL2SRV_I 0.425000 -RLL2SRV_IMAX 4000 -RLL2SRV_P 1.600000 +RLL_RATE_D 0.000000 +RLL_RATE_I 0.212500 +RLL_RATE_IMAX 0.888889 +RLL_RATE_P 0.141009 THR_MAX 100 TRIM_ARSPD_CM 2500 SERVO12_FUNCTION 41 @@ -66,3 +66,5 @@ Q_TILT_MASK 3 Q_TILT_RATE 13 Q_TILT_TYPE 1 Q_RTL_MODE 1 +PTCH_RATE_FF 1.407055 +RLL_RATE_FF 0.552741 diff --git a/Tools/autotest/default_params/quadplane-tilttri.parm b/Tools/autotest/default_params/quadplane-tilttri.parm index 517db738f5..05fdeb052d 100644 --- a/Tools/autotest/default_params/quadplane-tilttri.parm +++ b/Tools/autotest/default_params/quadplane-tilttri.parm @@ -41,10 +41,10 @@ LIM_PITCH_MAX 3000 LIM_PITCH_MIN -3000 LIM_ROLL_CD 6500 NAVL1_PERIOD 14 -PTCH2SRV_D 0.309954 -PTCH2SRV_I 0.425000 -PTCH2SRV_IMAX 4000 -PTCH2SRV_P 3.646518 +PTCH_RATE_D 0.000000 +PTCH_RATE_I 0.212500 +PTCH_RATE_IMAX 0.888889 +PTCH_RATE_P 0.309954 PTCH2SRV_RLL 1 Q_ANGLE_MAX 4500 Q_ASSIST_SPEED 6 @@ -61,10 +61,10 @@ RC3_MAX 2000 RC3_MIN 1000 SERVO3_MIN 1000 SERVO3_MAX 2000 -RLL2SRV_D 0.141009 -RLL2SRV_I 0.425000 -RLL2SRV_IMAX 4000 -RLL2SRV_P 1.600000 +RLL_RATE_D 0.000000 +RLL_RATE_I 0.212500 +RLL_RATE_IMAX 0.888889 +RLL_RATE_P 0.141009 SCHED_LOOP_RATE 300 THR_MAX 100 TRIM_ARSPD_CM 2500 @@ -77,6 +77,5 @@ SERVO12_MAX 2000 RTL_RADIUS 80 Q_RTL_MODE 1 ALT_HOLD_RTL 2000 - - - +PTCH_RATE_FF 1.407055 +RLL_RATE_FF 0.552741 diff --git a/Tools/autotest/default_params/quadplane-tilttrivec.parm b/Tools/autotest/default_params/quadplane-tilttrivec.parm index 949eb5bc61..e1d20acab5 100644 --- a/Tools/autotest/default_params/quadplane-tilttrivec.parm +++ b/Tools/autotest/default_params/quadplane-tilttrivec.parm @@ -41,10 +41,10 @@ LIM_PITCH_MAX 3000 LIM_PITCH_MIN -3000 LIM_ROLL_CD 6500 NAVL1_PERIOD 14 -PTCH2SRV_D 0.309954 -PTCH2SRV_I 0.425000 -PTCH2SRV_IMAX 4000 -PTCH2SRV_P 3.646518 +PTCH_RATE_D 0.000000 +PTCH_RATE_I 0.212500 +PTCH_RATE_IMAX 0.888889 +PTCH_RATE_P 0.309954 PTCH2SRV_RLL 1 Q_ANGLE_MAX 4500 Q_ASSIST_SPEED 6 @@ -61,10 +61,10 @@ RC3_MAX 2000 RC3_MIN 1000 SERVO3_MIN 1000 SERVO3_MAX 2000 -RLL2SRV_D 0.141009 -RLL2SRV_I 0.425000 -RLL2SRV_IMAX 4000 -RLL2SRV_P 1.600000 +RLL_RATE_D 0.000000 +RLL_RATE_I 0.212500 +RLL_RATE_IMAX 0.888889 +RLL_RATE_P 0.141009 SCHED_LOOP_RATE 300 THR_MAX 100 TRIM_ARSPD_CM 2500 @@ -82,5 +82,5 @@ Q_RTL_MODE 1 ALT_HOLD_RTL 2000 Q_TILT_TYPE 2 Q_TILT_YAW_ANGLE 10 - - +PTCH_RATE_FF 1.407055 +RLL_RATE_FF 0.552741 diff --git a/Tools/autotest/default_params/quadplane-tri.parm b/Tools/autotest/default_params/quadplane-tri.parm index 555383113f..1bec298bb9 100644 --- a/Tools/autotest/default_params/quadplane-tri.parm +++ b/Tools/autotest/default_params/quadplane-tri.parm @@ -41,10 +41,10 @@ LIM_PITCH_MAX 3000 LIM_PITCH_MIN -3000 LIM_ROLL_CD 6500 NAVL1_PERIOD 14 -PTCH2SRV_D 0.309954 -PTCH2SRV_I 0.425000 -PTCH2SRV_IMAX 4000 -PTCH2SRV_P 3.646518 +PTCH_RATE_D 0.000000 +PTCH_RATE_I 0.212500 +PTCH_RATE_IMAX 0.888889 +PTCH_RATE_P 0.309954 PTCH2SRV_RLL 1 Q_ANGLE_MAX 4500 Q_ASSIST_SPEED 18 @@ -61,11 +61,13 @@ RC3_MAX 2000 RC3_MIN 1000 SERVO3_MIN 1000 SERVO3_MAX 2000 -RLL2SRV_D 0.141009 -RLL2SRV_I 0.425000 -RLL2SRV_IMAX 4000 -RLL2SRV_P 1.600000 +RLL_RATE_D 0.000000 +RLL_RATE_I 0.212500 +RLL_RATE_IMAX 0.888889 +RLL_RATE_P 0.141009 SCHED_LOOP_RATE 300 THR_MAX 100 TRIM_ARSPD_CM 2500 LOG_BITMASK 65534 +PTCH_RATE_FF 1.407055 +RLL_RATE_FF 0.552741 diff --git a/Tools/autotest/default_params/quadplane.parm b/Tools/autotest/default_params/quadplane.parm index f8aaabb8be..08bc254b4f 100644 --- a/Tools/autotest/default_params/quadplane.parm +++ b/Tools/autotest/default_params/quadplane.parm @@ -42,10 +42,10 @@ LIM_PITCH_MAX 3000 LIM_PITCH_MIN -3000 LIM_ROLL_CD 6500 NAVL1_PERIOD 14 -PTCH2SRV_D 0.309954 -PTCH2SRV_I 0.425000 -PTCH2SRV_IMAX 4000 -PTCH2SRV_P 3.646518 +PTCH_RATE_D 0.000000 +PTCH_RATE_I 0.212500 +PTCH_RATE_IMAX 0.888889 +PTCH_RATE_P 0.309954 PTCH2SRV_RLL 1 Q_ASSIST_SPEED 18 Q_ENABLE 1 @@ -60,10 +60,10 @@ RC3_MAX 2000 RC3_MIN 1000 SERVO3_MIN 1000 SERVO3_MAX 2000 -RLL2SRV_D 0.141009 -RLL2SRV_I 0.425000 -RLL2SRV_IMAX 4000 -RLL2SRV_P 1.600000 +RLL_RATE_D 0.000000 +RLL_RATE_I 0.212500 +RLL_RATE_IMAX 0.888889 +RLL_RATE_P 0.141009 SCHED_LOOP_RATE 300 THR_MAX 100 TRIM_ARSPD_CM 2500 @@ -78,3 +78,5 @@ Q_A_RAT_PIT_P 0.15 Q_A_RAT_RLL_D 0.002 Q_A_RAT_PIT_D 0.002 ALT_HOLD_RTL 2000 +PTCH_RATE_FF 1.407055 +RLL_RATE_FF 0.552741 diff --git a/Tools/autotest/default_params/vee-gull 005.param b/Tools/autotest/default_params/vee-gull 005.param index 1ab9419d43..5efeed832f 100644 --- a/Tools/autotest/default_params/vee-gull 005.param +++ b/Tools/autotest/default_params/vee-gull 005.param @@ -1,865 +1,865 @@ -#NOTE: 4/7/2017 9:02:52 PM Plane: Vee-gull 005 -ACRO_LOCKING,0 -ACRO_PITCH_RATE,180 -ACRO_ROLL_RATE,180 -AFS_ENABLE,0 -AHRS_COMP_BETA,0.1 -AHRS_EKF_TYPE,10 -AHRS_GPS_GAIN,1 -AHRS_GPS_MINSATS,6 -AHRS_GPS_USE,1 -AHRS_ORIENTATION,0 -AHRS_RP_P,0.2 -AHRS_TRIM_X,0 -AHRS_TRIM_Y,0 -AHRS_TRIM_Z,0 -AHRS_WIND_MAX,0 -AHRS_YAW_P,0.2 -ALT_CTRL_ALG,0 -ALT_HOLD_FBWCM,0 -ALT_HOLD_RTL,10000 -ALT_OFFSET,0 -ARMING_ACCTHRESH,0.75 -ARMING_CHECK,0 -ARMING_MIN_VOLT,0 -ARMING_MIN_VOLT2,0 -ARMING_REQUIRE,0 -ARMING_RUDDER,1 -ARSPD_AUTOCAL,0 -ARSPD_BUS,1 -ARSPD_FBW_MAX,15 -ARSPD_FBW_MIN,10 -ARSPD_OFFSET,2015.877 -ARSPD_PIN,1 -ARSPD_PSI_RANGE,1 -ARSPD_RATIO,1.9936 -ARSPD_SKIP_CAL,0 -ARSPD_TUBE_ORDER,2 -ARSPD_TYPE,2 -ARSPD_USE,0 -AUTO_FBW_STEER,0 -AUTOTUNE_LEVEL,6 -AVD_ENABLE,0 -BATT_AMP_OFFSET,0 -BATT_AMP_PERVOLT,17 -BATT_CAPACITY,3300 -BATT_CURR_PIN,12 -BATT_MONITOR,0 -BATT_VOLT_MULT,10.1 -BATT_VOLT_PIN,13 -BATT_WATT_MAX,0 -BATT2_AMP_OFFSET,0 -BATT2_AMP_PERVOL,17 -BATT2_CAPACITY,3300 -BATT2_CURR_PIN,12 -BATT2_MONITOR,0 -BATT2_VOLT_MULT,10.1 -BATT2_VOLT_PIN,13 -BATT2_WATT_MAX,0 -BTN_ENABLE,0 -CAM_DURATION,10 -CAM_FEEDBACK_PIN,-1 -CAM_FEEDBACK_POL,1 -CAM_MAX_ROLL,0 -CAM_MIN_INTERVAL,0 -CAM_RELAY_ON,1 -CAM_SERVO_OFF,1100 -CAM_SERVO_ON,1300 -CAM_TRIGG_DIST,0 -CAM_TRIGG_TYPE,0 -CHUTE_CHAN,0 -CHUTE_ENABLED,0 -CLI_ENABLED,0 -COMPASS_AUTODEC,1 -COMPASS_CAL_FIT,16 -COMPASS_DEC,0.2784546 -COMPASS_DEV_ID,0 -COMPASS_DEV_ID2,0 -COMPASS_DEV_ID3,0 -COMPASS_DIA_X,1 -COMPASS_DIA_Y,1 -COMPASS_DIA_Z,1 -COMPASS_DIA2_X,1 -COMPASS_DIA2_Y,1 -COMPASS_DIA2_Z,1 -COMPASS_DIA3_X,0 -COMPASS_DIA3_Y,0 -COMPASS_DIA3_Z,0 -COMPASS_EXTERN2,0 -COMPASS_EXTERN3,0 -COMPASS_EXTERNAL,0 -COMPASS_LEARN,1 -COMPASS_MOT_X,0 -COMPASS_MOT_Y,0 -COMPASS_MOT_Z,0 -COMPASS_MOT2_X,0 -COMPASS_MOT2_Y,0 -COMPASS_MOT2_Z,0 -COMPASS_MOT3_X,0 -COMPASS_MOT3_Y,0 -COMPASS_MOT3_Z,0 -COMPASS_MOTCT,0 -COMPASS_ODI_X,0 -COMPASS_ODI_Y,0 -COMPASS_ODI_Z,0 -COMPASS_ODI2_X,0 -COMPASS_ODI2_Y,0 -COMPASS_ODI2_Z,0 -COMPASS_ODI3_X,0 -COMPASS_ODI3_Y,0 -COMPASS_ODI3_Z,0 -COMPASS_OFS_X,16.29132 -COMPASS_OFS_Y,4.398034 -COMPASS_OFS_Z,-36.21775 -COMPASS_OFS2_X,16.29132 -COMPASS_OFS2_Y,4.398034 -COMPASS_OFS2_Z,-36.21775 -COMPASS_OFS3_X,0 -COMPASS_OFS3_Y,0 -COMPASS_OFS3_Z,0 -COMPASS_ORIENT,0 -COMPASS_ORIENT2,0 -COMPASS_ORIENT3,0 -COMPASS_PRIMARY,0 -COMPASS_USE,1 -COMPASS_USE2,1 -COMPASS_USE3,1 -CRASH_ACC_THRESH,0 -CRASH_DETECT,0 -DSPOILR_RUD_RATE,100 -EK2_ABIAS_P_NSE,0.005 -EK2_ACC_P_NSE,0.6 -EK2_ALT_M_NSE,3 -EK2_ALT_SOURCE,0 -EK2_BCN_DELAY,50 -EK2_BCN_I_GTE,500 -EK2_BCN_M_NSE,1 -EK2_CHECK_SCALE,150 -EK2_EAS_I_GATE,400 -EK2_EAS_M_NSE,1.4 -EK2_ENABLE,1 -EK2_FLOW_DELAY,10 -EK2_FLOW_I_GATE,300 -EK2_FLOW_M_NSE,0.25 -EK2_GBIAS_P_NSE,0.0001 -EK2_GLITCH_RAD,25 -EK2_GPS_CHECK,31 -EK2_GPS_DELAY,220 -EK2_GPS_TYPE,0 -EK2_GSCL_P_NSE,0.0005 -EK2_GYRO_P_NSE,0.03 -EK2_HGT_DELAY,60 -EK2_HGT_I_GATE,500 -EK2_IMU_MASK,3 -EK2_LOG_MASK,1 -EK2_MAG_CAL,0 -EK2_MAG_I_GATE,300 -EK2_MAG_M_NSE,0.05 -EK2_MAG_MASK,0 -EK2_MAGB_P_NSE,0.0001 -EK2_MAGE_P_NSE,0.001 -EK2_MAX_FLOW,2.5 -EK2_NOAID_M_NSE,10 -EK2_POS_I_GATE,500 -EK2_POSNE_M_NSE,1 -EK2_RNG_I_GATE,500 -EK2_RNG_M_NSE,0.5 -EK2_RNG_USE_HGT,-1 -EK2_RNG_USE_SPD,2 -EK2_TAU_OUTPUT,25 -EK2_TERR_GRAD,0.1 -EK2_VEL_I_GATE,500 -EK2_VELD_M_NSE,0.7 -EK2_VELNE_M_NSE,0.5 -EK2_WIND_P_NSE,0.1 -EK2_WIND_PSCALE,0.5 -EK2_YAW_I_GATE,300 -EK2_YAW_M_NSE,0.5 -EK3_ENABLE,0 -FBWA_TDRAG_CHAN,0 -FBWB_CLIMB_RATE,2 -FBWB_ELEV_REV,0 -FENCE_ACTION,0 -FENCE_AUTOENABLE,0 -FENCE_CHANNEL,0 -FENCE_MAXALT,0 -FENCE_MINALT,0 -FENCE_RET_RALLY,0 -FENCE_RETALT,0 -FENCE_TOTAL,0 -FLAP_1_PERCNT,0 -FLAP_1_SPEED,0 -FLAP_2_PERCNT,0 -FLAP_2_SPEED,0 -FLAP_IN_CHANNEL,0 -FLAP_SLEWRATE,75 -FLAPERON_OUTPUT,0 -FLOW_BUS_ID,0 -FLOW_ENABLE,0 -FLOW_FXSCALER,0 -FLOW_FYSCALER,0 -FLOW_ORIENT_YAW,0 -FLOW_POS_X,0 -FLOW_POS_Y,0 -FLOW_POS_Z,0 -FLTMODE_CH,8 -FLTMODE1,11 -FLTMODE2,11 -FLTMODE3,5 -FLTMODE4,5 -FLTMODE5,0 -FLTMODE6,0 -FORMAT_VERSION,13 -FS_BATT_MAH,0 -FS_BATT_VOLTAGE,0 -FS_GCS_ENABL,0 -FS_LONG_ACTN,0 -FS_LONG_TIMEOUT,5 -FS_SHORT_ACTN,0 -FS_SHORT_TIMEOUT,1.5 -GCS_PID_MASK,0 -GLIDE_SLOPE_MIN,15 -GLIDE_SLOPE_THR,5 -GPS_AUTO_CONFIG,1 -GPS_AUTO_SWITCH,1 -GPS_BLEND_MASK,5 -GPS_BLEND_TC,10 -GPS_DELAY_MS,0 -GPS_DELAY_MS2,0 -GPS_GNSS_MODE,0 -GPS_GNSS_MODE2,0 -GPS_INJECT_TO,127 -GPS_MIN_DGPS,100 -GPS_MIN_ELEV,-100 -GPS_NAVFILTER,8 -GPS_POS1_X,0 -GPS_POS1_Y,0 -GPS_POS1_Z,0 -GPS_POS2_X,0 -GPS_POS2_Y,0 -GPS_POS2_Z,0 -GPS_RATE_MS,200 -GPS_RATE_MS2,200 -GPS_RAW_DATA,0 -GPS_SAVE_CFG,0 -GPS_SBAS_MODE,2 -GPS_SBP_LOGMASK,-32768 -GPS_TYPE,1 -GPS_TYPE2,0 -GROUND_STEER_ALT,0 -GROUND_STEER_DPS,90 -HIL_ERR_LIMIT,5 -HIL_MODE,0 -HIL_SERVOS,0 -ICE_ENABLE,0 -INITIAL_MODE,0 -INS_ACC_BODYFIX,2 -INS_ACC_ID,0 -INS_ACC2_ID,1 -INS_ACC2OFFS_X,0 -INS_ACC2OFFS_Y,0 -INS_ACC2OFFS_Z,0 -INS_ACC2SCAL_X,1 -INS_ACC2SCAL_Y,1 -INS_ACC2SCAL_Z,1 -INS_ACC3_ID,0 -INS_ACC3OFFS_X,0 -INS_ACC3OFFS_Y,0 -INS_ACC3OFFS_Z,0 -INS_ACC3SCAL_X,0 -INS_ACC3SCAL_Y,0 -INS_ACC3SCAL_Z,0 -INS_ACCEL_FILTER,20 -INS_ACCOFFS_X,0 -INS_ACCOFFS_Y,0 -INS_ACCOFFS_Z,0 -INS_ACCSCAL_X,1 -INS_ACCSCAL_Y,1 -INS_ACCSCAL_Z,1 -INS_FAST_SAMPLE,0 -INS_GYR_CAL,0 -INS_GYR_ID,0 -INS_GYR2_ID,1 -INS_GYR2OFFS_X,0 -INS_GYR2OFFS_Y,0 -INS_GYR2OFFS_Z,0 -INS_GYR3_ID,0 -INS_GYR3OFFS_X,0 -INS_GYR3OFFS_Y,0 -INS_GYR3OFFS_Z,0 -INS_GYRO_FILTER,20 -INS_GYROFFS_X,0 -INS_GYROFFS_Y,0 -INS_GYROFFS_Z,0 -INS_POS1_X,0 -INS_POS1_Y,0 -INS_POS1_Z,0 -INS_POS2_X,0 -INS_POS2_Y,0 -INS_POS2_Z,0 -INS_POS3_X,0 -INS_POS3_Y,0 -INS_POS3_Z,0 -INS_PRODUCT_ID,0 -INS_STILL_THRESH,0.1 -INS_TRIM_OPTION,1 -INS_USE,1 -INS_USE2,1 -INS_USE3,0 -INVERTEDFLT_CH,0 -KFF_RDDRMIX,0.5 -KFF_THR2PTCH,0 -LAND_ABORT_DEG,0 -LAND_ABORT_THR,0 -LAND_DISARMDELAY,20 -LAND_DS_APP_EXT,50 -LAND_DS_ARSP_MAX,15 -LAND_DS_ARSP_MIN,10 -LAND_DS_D,0 -LAND_DS_ELEV_PWM,1500 -LAND_DS_I,0 -LAND_DS_IMAX,0 -LAND_DS_L1,30 -LAND_DS_L1_I,0 -LAND_DS_L1_TCON,0.4 -LAND_DS_P,0 -LAND_DS_SLEW_SPD,0.5 -LAND_DS_SLOPE_A,1 -LAND_DS_SLOPE_B,1 -LAND_DS_V_DWN,2 -LAND_DS_V_FWD,1 -LAND_DS_YAW_LIM,10 -LAND_FLAP_PERCNT,0 -LAND_FLARE_ALT,3 -LAND_FLARE_SEC,2 -LAND_PF_ALT,10 -LAND_PF_ARSPD,0 -LAND_PF_SEC,6 -LAND_PITCH_CD,0 -LAND_SLOPE_RCALC,2 -LAND_THEN_NEUTRL,0 -LAND_THR_SLEW,0 -LAND_TYPE,0 -LEVEL_ROLL_LIMIT,5 -LIM_PITCH_MAX,2000 -LIM_PITCH_MIN,-2500 -LIM_ROLL_CD,4500 -LOG_BACKEND_TYPE,1 -LOG_BITMASK,65535 -LOG_DISARMED,0 -LOG_FILE_BUFSIZE,16 -LOG_FILE_DSRMROT,0 -LOG_REPLAY,0 -MIN_GNDSPD_CM,0 -MIS_RESTART,0 -MIS_TOTAL,7 -MIXING_GAIN,0.5 -MIXING_OFFSET,0 -MNT_ANGMAX_PAN,4500 -MNT_ANGMAX_ROL,4500 -MNT_ANGMAX_TIL,4500 -MNT_ANGMIN_PAN,-4500 -MNT_ANGMIN_ROL,-4500 -MNT_ANGMIN_TIL,-4500 -MNT_DEFLT_MODE,3 -MNT_JSTICK_SPD,0 -MNT_LEAD_PTCH,0 -MNT_LEAD_RLL,0 -MNT_NEUTRAL_X,0 -MNT_NEUTRAL_Y,0 -MNT_NEUTRAL_Z,0 -MNT_RC_IN_PAN,0 -MNT_RC_IN_ROLL,0 -MNT_RC_IN_TILT,0 -MNT_RETRACT_X,0 -MNT_RETRACT_Y,0 -MNT_RETRACT_Z,0 -MNT_STAB_PAN,0 -MNT_STAB_ROLL,0 -MNT_STAB_TILT,0 -MNT_TYPE,0 -NAV_CONTROLLER,1 -NAVL1_DAMPING,0.75 -NAVL1_PERIOD,20 -NAVL1_XTRACK_I,0.02 -NTF_BUZZ_ENABLE,1 -NTF_DISPLAY_TYPE,0 -NTF_LED_BRIGHT,3 -NTF_LED_OVERRIDE,0 -PTCH2SRV_D,0.02 -PTCH2SRV_FF,0 -PTCH2SRV_I,0.15 -PTCH2SRV_IMAX,3000 -PTCH2SRV_P,0.6 -PTCH2SRV_RLL,1 -PTCH2SRV_RMAX_DN,0 -PTCH2SRV_RMAX_UP,0 -PTCH2SRV_TCONST,0.5 -Q_ENABLE,0 -RALLY_INCL_HOME,0 -RALLY_LIMIT_KM,5 -RALLY_TOTAL,0 -RC1_DZ,30 -RC1_MAX,1900 -RC1_MIN,1100 -RC1_REVERSED,0 -RC1_TRIM,1500 -RC10_DZ,0 -RC10_MAX,1900 -RC10_MIN,1100 -RC10_REVERSED,0 -RC10_TRIM,1500 -RC11_DZ,0 -RC11_MAX,1900 -RC11_MIN,1100 -RC11_REVERSED,0 -RC11_TRIM,1500 -RC12_DZ,0 -RC12_MAX,1900 -RC12_MIN,1100 -RC12_REVERSED,0 -RC12_TRIM,1500 -RC13_DZ,0 -RC13_MAX,1900 -RC13_MIN,1100 -RC13_REVERSED,0 -RC13_TRIM,1500 -RC14_DZ,0 -RC14_MAX,1900 -RC14_MIN,1100 -RC14_REVERSED,0 -RC14_TRIM,1500 -RC15_DZ,0 -RC15_MAX,1900 -RC15_MIN,1100 -RC15_REVERSED,0 -RC15_TRIM,1500 -RC16_DZ,0 -RC16_MAX,1900 -RC16_MIN,1100 -RC16_REVERSED,0 -RC16_TRIM,1500 -RC2_DZ,30 -RC2_MAX,1900 -RC2_MIN,1100 -RC2_REVERSED,0 -RC2_TRIM,1500 -RC3_DZ,30 -RC3_MAX,1900 -RC3_MIN,1100 -RC3_REVERSED,0 -RC3_TRIM,1500 -RC4_DZ,30 -RC4_MAX,1900 -RC4_MIN,1100 -RC4_REVERSED,0 -RC4_TRIM,1500 -RC5_DZ,0 -RC5_MAX,1900 -RC5_MIN,1100 -RC5_REVERSED,0 -RC5_TRIM,1500 -RC6_DZ,0 -RC6_MAX,1900 -RC6_MIN,1100 -RC6_REVERSED,0 -RC6_TRIM,1500 -RC7_DZ,0 -RC7_MAX,1900 -RC7_MIN,1100 -RC7_REVERSED,0 -RC7_TRIM,1500 -RC8_DZ,0 -RC8_MAX,1900 -RC8_MIN,1100 -RC8_REVERSED,0 -RC8_TRIM,1500 -RC9_DZ,0 -RC9_MAX,1900 -RC9_MIN,1100 -RC9_REVERSED,0 -RC9_TRIM,1500 -RCMAP_PITCH,2 -RCMAP_ROLL,1 -RCMAP_THROTTLE,3 -RCMAP_YAW,4 -RELAY_DEFAULT,0 -RELAY_PIN,13 -RELAY_PIN2,-1 -RELAY_PIN3,-1 -RELAY_PIN4,-1 -RLL2SRV_D,0.02 -RLL2SRV_FF,0 -RLL2SRV_I,0.1 -RLL2SRV_IMAX,3000 -RLL2SRV_P,0.6 -RLL2SRV_RMAX,0 -RLL2SRV_TCONST,0.5 -RNGFND1_ADDR,0 -RNGFND1_FUNCTION,0 -RNGFND1_GNDCLEAR,10 -RNGFND1_LANDING,0 -RNGFND1_MAX_CM,700 -RNGFND1_MIN_CM,20 -RNGFND1_OFFSET,0 -RNGFND1_ORIENT,25 -RNGFND1_PIN,-1 -RNGFND1_POS_X,0 -RNGFND1_POS_Y,0 -RNGFND1_POS_Z,0 -RNGFND1_PWRRNG,0 -RNGFND1_RMETRIC,1 -RNGFND1_SCALING,3 -RNGFND1_SETTLE,0 -RNGFND1_STOP_PIN,-1 -RNGFND1_TYPE,0 -RNGFND2_ADDR,0 -RNGFND2_FUNCTION,0 -RNGFND2_GNDCLEAR,10 -RNGFND2_MAX_CM,700 -RNGFND2_MIN_CM,20 -RNGFND2_OFFSET,0 -RNGFND2_ORIENT,25 -RNGFND2_PIN,-1 -RNGFND2_POS_X,0 -RNGFND2_POS_Y,0 -RNGFND2_POS_Z,0 -RNGFND2_RMETRIC,1 -RNGFND2_SCALING,3 -RNGFND2_SETTLE,0 -RNGFND2_STOP_PIN,-1 -RNGFND2_TYPE,0 -RPM_MAX,100000 -RPM_MIN,10 -RPM_MIN_QUAL,0.5 -RPM_SCALING,1 -RPM_TYPE,0 -RPM2_SCALING,1 -RPM2_TYPE,0 -RSSI_ANA_PIN,0 -RSSI_CHAN_HIGH,2000 -RSSI_CHAN_LOW,1000 -RSSI_CHANNEL,0 -RSSI_PIN_HIGH,5 -RSSI_PIN_LOW,0 -RSSI_TYPE,0 -RST_MISSION_CH,0 -RST_SWITCH_CH,0 -RTL_AUTOLAND,0 -RTL_RADIUS,0 -RUDDER_ONLY,0 -SCALING_SPEED,15 -SCHED_DEBUG,0 -SCHED_LOOP_RATE,50 -SERIAL0_BAUD,115 -SERIAL0_PROTOCOL,1 -SERIAL1_BAUD,57 -SERIAL1_PROTOCOL,1 -SERIAL2_BAUD,57 -SERIAL2_PROTOCOL,1 -SERIAL3_BAUD,38 -SERIAL3_PROTOCOL,5 -SERIAL4_BAUD,38 -SERIAL4_PROTOCOL,5 -SERIAL5_BAUD,57 -SERIAL5_PROTOCOL,-1 -SERVO_AUTO_TRIM,0 -SERVO1_FUNCTION,4 -SERVO1_MAX,1900 -SERVO1_MIN,1100 -SERVO1_REVERSED,0 -SERVO1_TRIM,1500 -SERVO10_FUNCTION,0 -SERVO10_MAX,1900 -SERVO10_MIN,1100 -SERVO10_REVERSED,0 -SERVO10_TRIM,1500 -SERVO11_FUNCTION,0 -SERVO11_MAX,1900 -SERVO11_MIN,1100 -SERVO11_REVERSED,0 -SERVO11_TRIM,1500 -SERVO12_FUNCTION,0 -SERVO12_MAX,1900 -SERVO12_MIN,1100 -SERVO12_REVERSED,0 -SERVO12_TRIM,1500 -SERVO13_FUNCTION,0 -SERVO13_MAX,1900 -SERVO13_MIN,1100 -SERVO13_REVERSED,0 -SERVO13_TRIM,1500 -SERVO14_FUNCTION,0 -SERVO14_MAX,1900 -SERVO14_MIN,1100 -SERVO14_REVERSED,0 -SERVO14_TRIM,1500 -SERVO15_FUNCTION,0 -SERVO15_MAX,1900 -SERVO15_MIN,1100 -SERVO15_REVERSED,0 -SERVO15_TRIM,1500 -SERVO16_FUNCTION,0 -SERVO16_MAX,1900 -SERVO16_MIN,1100 -SERVO16_REVERSED,0 -SERVO16_TRIM,1500 -SERVO2_FUNCTION,19 -SERVO2_MAX,1900 -SERVO2_MIN,1100 -SERVO2_REVERSED,0 -SERVO2_TRIM,1500 -SERVO3_FUNCTION,70 -SERVO3_MAX,1900 -SERVO3_MIN,1100 -SERVO3_REVERSED,0 -SERVO3_TRIM,1100 -SERVO4_FUNCTION,21 -SERVO4_MAX,1900 -SERVO4_MIN,1100 -SERVO4_REVERSED,0 -SERVO4_TRIM,1500 -SERVO5_FUNCTION,0 -SERVO5_MAX,1900 -SERVO5_MIN,1100 -SERVO5_REVERSED,0 -SERVO5_TRIM,1500 -SERVO6_FUNCTION,0 -SERVO6_MAX,1900 -SERVO6_MIN,1100 -SERVO6_REVERSED,0 -SERVO6_TRIM,1500 -SERVO7_FUNCTION,0 -SERVO7_MAX,1900 -SERVO7_MIN,1100 -SERVO7_REVERSED,0 -SERVO7_TRIM,1500 -SERVO8_FUNCTION,0 -SERVO8_MAX,1900 -SERVO8_MIN,1100 -SERVO8_REVERSED,0 -SERVO8_TRIM,1500 -SERVO9_FUNCTION,0 -SERVO9_MAX,1900 -SERVO9_MIN,1100 -SERVO9_REVERSED,0 -SERVO9_TRIM,1500 -SIM_ADSB_ALT,1000 -SIM_ADSB_COUNT,-1 -SIM_ADSB_RADIUS,10000 -SIM_ADSB_TX,0 -SIM_ARSPD_FAIL,0 -SIM_ARSPD_RND,0.5 -SIM_BARO_DELAY,0 -SIM_BARO_DISABLE,0 -SIM_BARO_DRIFT,0 -SIM_BARO_GLITCH,0 -SIM_BARO_RND,0.2 -SIM_BATT_VOLTAGE,12.6 -SIM_DRIFT_SPEED,0.05 -SIM_DRIFT_TIME,5 -SIM_ENGINE_FAIL,0 -SIM_ENGINE_MUL,1 -SIM_FLOAT_EXCEPT,1 -SIM_FLOW_DELAY,0 -SIM_FLOW_ENABLE,0 -SIM_FLOW_POS_X,0 -SIM_FLOW_POS_Y,0 -SIM_FLOW_POS_Z,0 -SIM_FLOW_RATE,10 -SIM_GP2_GLITCH_X,0 -SIM_GP2_GLITCH_Y,0 -SIM_GP2_GLITCH_Z,0 -SIM_GPS_BYTELOSS,0 -SIM_GPS_DELAY,1 -SIM_GPS_DISABLE,0 -SIM_GPS_DRIFTALT,0 -SIM_GPS_GLITCH_X,0 -SIM_GPS_GLITCH_Y,0 -SIM_GPS_GLITCH_Z,0 -SIM_GPS_HZ,5 -SIM_GPS_NOISE,0 -SIM_GPS_NUMSATS,10 -SIM_GPS_TYPE,1 -SIM_GPS2_ENABLE,0 -SIM_IMU_POS_X,0 -SIM_IMU_POS_Y,0 -SIM_IMU_POS_Z,0 -SIM_MAG_ALY_HGT,1 -SIM_MAG_ALY_X,0 -SIM_MAG_ALY_Y,0 -SIM_MAG_ALY_Z,0 -SIM_MAG_DELAY,0 -SIM_MAG_ERROR,0 -SIM_MAG_MOT_X,0 -SIM_MAG_MOT_Y,0 -SIM_MAG_MOT_Z,0 -SIM_MAG_OFS_X,5 -SIM_MAG_OFS_Y,13 -SIM_MAG_OFS_Z,-18 -SIM_MAG_RND,0 -SIM_PIN_MASK,0 -SIM_RC_FAIL,0 -SIM_SERVO_SPEED,0.14 -SIM_SONAR_GLITCH,0 -SIM_SONAR_POS_X,0 -SIM_SONAR_POS_Y,0 -SIM_SONAR_POS_Z,0 -SIM_SONAR_RND,0 -SIM_SONAR_SCALE,12.1212 -SIM_SPEEDUP,-1 -SIM_TERRAIN,1 -SIM_WIND_DELAY,0 -SIM_WIND_DIR,180 -SIM_WIND_SPD,0 -SIM_WIND_TURB,0 -SOAR_ALT_CUTOFF,400 -SOAR_ALT_MAX,700 -SOAR_ALT_MIN,100 -SOAR_DIST_AHEAD,5 -SOAR_ENABLE,1 -SOAR_ENABLE_CH,0 -SOAR_MIN_CRSE_S,10 -SOAR_MIN_THML_S,20 -SOAR_POLAR_B,0.037 -SOAR_POLAR_CD0,0.067 -SOAR_POLAR_K,73.01 -SOAR_Q1,0.01 -SOAR_Q2,0.01 -SOAR_R,0.45 -SOAR_VSPEED,0.7 -SR0_ADSB,5 -SR0_EXT_STAT,2 -SR0_EXTRA1,4 -SR0_EXTRA2,4 -SR0_EXTRA3,2 -SR0_PARAMS,10 -SR0_POSITION,2 -SR0_RAW_CTRL,1 -SR0_RAW_SENS,2 -SR0_RC_CHAN,2 -SR1_ADSB,5 -SR1_EXT_STAT,1 -SR1_EXTRA1,1 -SR1_EXTRA2,1 -SR1_EXTRA3,1 -SR1_PARAMS,10 -SR1_POSITION,1 -SR1_RAW_CTRL,1 -SR1_RAW_SENS,1 -SR1_RC_CHAN,1 -SR2_ADSB,5 -SR2_EXT_STAT,1 -SR2_EXTRA1,1 -SR2_EXTRA2,1 -SR2_EXTRA3,1 -SR2_PARAMS,10 -SR2_POSITION,1 -SR2_RAW_CTRL,1 -SR2_RAW_SENS,1 -SR2_RC_CHAN,1 -SR3_ADSB,5 -SR3_EXT_STAT,1 -SR3_EXTRA1,1 -SR3_EXTRA2,1 -SR3_EXTRA3,1 -SR3_PARAMS,10 -SR3_POSITION,1 -SR3_RAW_CTRL,1 -SR3_RAW_SENS,1 -SR3_RC_CHAN,1 -STAB_PITCH_DOWN,2 -STALL_PREVENTION,1 -STAT_BOOTCNT,0 -STAT_FLTTIME,0 -STAT_RESET,40017520 -STAT_RUNTIME,31 -STEER2SRV_D,0.005 -STEER2SRV_DRTFCT,10 -STEER2SRV_DRTMIN,4500 -STEER2SRV_DRTSPD,0 -STEER2SRV_FF,0 -STEER2SRV_I,0.2 -STEER2SRV_IMAX,1500 -STEER2SRV_MINSPD,1 -STEER2SRV_P,1.8 -STEER2SRV_TCONST,0.75 -STICK_MIXING,1 -SYS_NUM_RESETS,1 -SYSID_ENFORCE,0 -SYSID_MYGCS,255 -SYSID_SW_TYPE,0 -SYSID_THISMAV,1 -TECS_APPR_SMAX,0 -TECS_CLMB_MAX,5 -TECS_HGT_OMEGA,3 -TECS_INTEG_GAIN,0.1 -TECS_LAND_ARSPD,-1 -TECS_LAND_DAMP,0.5 -TECS_LAND_IGAIN,0 -TECS_LAND_PDAMP,0 -TECS_LAND_PMAX,10 -TECS_LAND_SINK,0.25 -TECS_LAND_SPDWGT,-1 -TECS_LAND_SRC,0 -TECS_LAND_TCONST,2 -TECS_LAND_TDAMP,0 -TECS_LAND_THR,-1 -TECS_PITCH_MAX,0 -TECS_PITCH_MIN,0 -TECS_PTCH_DAMP,0 -TECS_RLL2THR,10 -TECS_SINK_MAX,5 -TECS_SINK_MIN,2 -TECS_SPD_OMEGA,2 -TECS_SPDWEIGHT,1 -TECS_SYNAIRSPEED,0 -TECS_THR_DAMP,0.5 -TECS_TIME_CONST,5 -TECS_TKOFF_IGAIN,0 -TECS_VERT_ACC,7 -TELEM_DELAY,0 -TERRAIN_ENABLE,1 -TERRAIN_FOLLOW,0 -TERRAIN_LOOKAHD,2000 -TERRAIN_SPACING,100 -THR_FAILSAFE,1 -THR_FS_VALUE,950 -THR_MAX,100 -THR_MIN,0 -THR_PASS_STAB,0 -THR_SLEWRATE,100 -THR_SUPP_MAN,0 -THROTTLE_NUDGE,1 -TKOFF_FLAP_PCNT,0 -TKOFF_PLIM_SEC,2 -TKOFF_ROTATE_SPD,0 -TKOFF_TDRAG_ELEV,0 -TKOFF_TDRAG_SPD1,0 -TKOFF_THR_DELAY,2 -TKOFF_THR_MAX,0 -TKOFF_THR_MINACC,0 -TKOFF_THR_MINSPD,0 -TKOFF_THR_SLEW,0 -TRIM_ARSPD_CM,1200 -TRIM_AUTO,0 -TRIM_PITCH_CD,0 -TRIM_RC_AT_START,0 -TRIM_THROTTLE,45 -TUNE_CHAN,0 -TUNE_CHAN_MAX,2000 -TUNE_CHAN_MIN,1000 -TUNE_ERR_THRESH,0.15 -TUNE_MODE_REVERT,1 -TUNE_PARAM,0 -TUNE_RANGE,2 -TUNE_SELECTOR,0 -USE_REV_THRUST,2 -WP_LOITER_RAD,60 -WP_MAX_RADIUS,0 -WP_RADIUS,90 -YAW2SRV_DAMP,0 -YAW2SRV_IMAX,1500 -YAW2SRV_INT,0 -YAW2SRV_RLL,1 -YAW2SRV_SLIP,0 +#NOTE: 4/7/2017 9:02:52 PM Plane: Vee-gull 005 +ACRO_LOCKING,0 +ACRO_PITCH_RATE,180 +ACRO_ROLL_RATE,180 +AFS_ENABLE,0 +AHRS_COMP_BETA,0.1 +AHRS_EKF_TYPE,10 +AHRS_GPS_GAIN,1 +AHRS_GPS_MINSATS,6 +AHRS_GPS_USE,1 +AHRS_ORIENTATION,0 +AHRS_RP_P,0.2 +AHRS_TRIM_X,0 +AHRS_TRIM_Y,0 +AHRS_TRIM_Z,0 +AHRS_WIND_MAX,0 +AHRS_YAW_P,0.2 +ALT_CTRL_ALG,0 +ALT_HOLD_FBWCM,0 +ALT_HOLD_RTL,10000 +ALT_OFFSET,0 +ARMING_ACCTHRESH,0.75 +ARMING_CHECK,0 +ARMING_MIN_VOLT,0 +ARMING_MIN_VOLT2,0 +ARMING_REQUIRE,0 +ARMING_RUDDER,1 +ARSPD_AUTOCAL,0 +ARSPD_BUS,1 +ARSPD_FBW_MAX,15 +ARSPD_FBW_MIN,10 +ARSPD_OFFSET,2015.877 +ARSPD_PIN,1 +ARSPD_PSI_RANGE,1 +ARSPD_RATIO,1.9936 +ARSPD_SKIP_CAL,0 +ARSPD_TUBE_ORDER,2 +ARSPD_TYPE,2 +ARSPD_USE,0 +AUTO_FBW_STEER,0 +AUTOTUNE_LEVEL,6 +AVD_ENABLE,0 +BATT_AMP_OFFSET,0 +BATT_AMP_PERVOLT,17 +BATT_CAPACITY,3300 +BATT_CURR_PIN,12 +BATT_MONITOR,0 +BATT_VOLT_MULT,10.1 +BATT_VOLT_PIN,13 +BATT_WATT_MAX,0 +BATT2_AMP_OFFSET,0 +BATT2_AMP_PERVOL,17 +BATT2_CAPACITY,3300 +BATT2_CURR_PIN,12 +BATT2_MONITOR,0 +BATT2_VOLT_MULT,10.1 +BATT2_VOLT_PIN,13 +BATT2_WATT_MAX,0 +BTN_ENABLE,0 +CAM_DURATION,10 +CAM_FEEDBACK_PIN,-1 +CAM_FEEDBACK_POL,1 +CAM_MAX_ROLL,0 +CAM_MIN_INTERVAL,0 +CAM_RELAY_ON,1 +CAM_SERVO_OFF,1100 +CAM_SERVO_ON,1300 +CAM_TRIGG_DIST,0 +CAM_TRIGG_TYPE,0 +CHUTE_CHAN,0 +CHUTE_ENABLED,0 +CLI_ENABLED,0 +COMPASS_AUTODEC,1 +COMPASS_CAL_FIT,16 +COMPASS_DEC,0.2784546 +COMPASS_DEV_ID,0 +COMPASS_DEV_ID2,0 +COMPASS_DEV_ID3,0 +COMPASS_DIA_X,1 +COMPASS_DIA_Y,1 +COMPASS_DIA_Z,1 +COMPASS_DIA2_X,1 +COMPASS_DIA2_Y,1 +COMPASS_DIA2_Z,1 +COMPASS_DIA3_X,0 +COMPASS_DIA3_Y,0 +COMPASS_DIA3_Z,0 +COMPASS_EXTERN2,0 +COMPASS_EXTERN3,0 +COMPASS_EXTERNAL,0 +COMPASS_LEARN,1 +COMPASS_MOT_X,0 +COMPASS_MOT_Y,0 +COMPASS_MOT_Z,0 +COMPASS_MOT2_X,0 +COMPASS_MOT2_Y,0 +COMPASS_MOT2_Z,0 +COMPASS_MOT3_X,0 +COMPASS_MOT3_Y,0 +COMPASS_MOT3_Z,0 +COMPASS_MOTCT,0 +COMPASS_ODI_X,0 +COMPASS_ODI_Y,0 +COMPASS_ODI_Z,0 +COMPASS_ODI2_X,0 +COMPASS_ODI2_Y,0 +COMPASS_ODI2_Z,0 +COMPASS_ODI3_X,0 +COMPASS_ODI3_Y,0 +COMPASS_ODI3_Z,0 +COMPASS_OFS_X,16.29132 +COMPASS_OFS_Y,4.398034 +COMPASS_OFS_Z,-36.21775 +COMPASS_OFS2_X,16.29132 +COMPASS_OFS2_Y,4.398034 +COMPASS_OFS2_Z,-36.21775 +COMPASS_OFS3_X,0 +COMPASS_OFS3_Y,0 +COMPASS_OFS3_Z,0 +COMPASS_ORIENT,0 +COMPASS_ORIENT2,0 +COMPASS_ORIENT3,0 +COMPASS_PRIMARY,0 +COMPASS_USE,1 +COMPASS_USE2,1 +COMPASS_USE3,1 +CRASH_ACC_THRESH,0 +CRASH_DETECT,0 +DSPOILR_RUD_RATE,100 +EK2_ABIAS_P_NSE,0.005 +EK2_ACC_P_NSE,0.6 +EK2_ALT_M_NSE,3 +EK2_ALT_SOURCE,0 +EK2_BCN_DELAY,50 +EK2_BCN_I_GTE,500 +EK2_BCN_M_NSE,1 +EK2_CHECK_SCALE,150 +EK2_EAS_I_GATE,400 +EK2_EAS_M_NSE,1.4 +EK2_ENABLE,1 +EK2_FLOW_DELAY,10 +EK2_FLOW_I_GATE,300 +EK2_FLOW_M_NSE,0.25 +EK2_GBIAS_P_NSE,0.0001 +EK2_GLITCH_RAD,25 +EK2_GPS_CHECK,31 +EK2_GPS_DELAY,220 +EK2_GPS_TYPE,0 +EK2_GSCL_P_NSE,0.0005 +EK2_GYRO_P_NSE,0.03 +EK2_HGT_DELAY,60 +EK2_HGT_I_GATE,500 +EK2_IMU_MASK,3 +EK2_LOG_MASK,1 +EK2_MAG_CAL,0 +EK2_MAG_I_GATE,300 +EK2_MAG_M_NSE,0.05 +EK2_MAG_MASK,0 +EK2_MAGB_P_NSE,0.0001 +EK2_MAGE_P_NSE,0.001 +EK2_MAX_FLOW,2.5 +EK2_NOAID_M_NSE,10 +EK2_POS_I_GATE,500 +EK2_POSNE_M_NSE,1 +EK2_RNG_I_GATE,500 +EK2_RNG_M_NSE,0.5 +EK2_RNG_USE_HGT,-1 +EK2_RNG_USE_SPD,2 +EK2_TAU_OUTPUT,25 +EK2_TERR_GRAD,0.1 +EK2_VEL_I_GATE,500 +EK2_VELD_M_NSE,0.7 +EK2_VELNE_M_NSE,0.5 +EK2_WIND_P_NSE,0.1 +EK2_WIND_PSCALE,0.5 +EK2_YAW_I_GATE,300 +EK2_YAW_M_NSE,0.5 +EK3_ENABLE,0 +FBWA_TDRAG_CHAN,0 +FBWB_CLIMB_RATE,2 +FBWB_ELEV_REV,0 +FENCE_ACTION,0 +FENCE_AUTOENABLE,0 +FENCE_CHANNEL,0 +FENCE_MAXALT,0 +FENCE_MINALT,0 +FENCE_RET_RALLY,0 +FENCE_RETALT,0 +FENCE_TOTAL,0 +FLAP_1_PERCNT,0 +FLAP_1_SPEED,0 +FLAP_2_PERCNT,0 +FLAP_2_SPEED,0 +FLAP_IN_CHANNEL,0 +FLAP_SLEWRATE,75 +FLAPERON_OUTPUT,0 +FLOW_BUS_ID,0 +FLOW_ENABLE,0 +FLOW_FXSCALER,0 +FLOW_FYSCALER,0 +FLOW_ORIENT_YAW,0 +FLOW_POS_X,0 +FLOW_POS_Y,0 +FLOW_POS_Z,0 +FLTMODE_CH,8 +FLTMODE1,11 +FLTMODE2,11 +FLTMODE3,5 +FLTMODE4,5 +FLTMODE5,0 +FLTMODE6,0 +FORMAT_VERSION,13 +FS_BATT_MAH,0 +FS_BATT_VOLTAGE,0 +FS_GCS_ENABL,0 +FS_LONG_ACTN,0 +FS_LONG_TIMEOUT,5 +FS_SHORT_ACTN,0 +FS_SHORT_TIMEOUT,1.5 +GCS_PID_MASK,0 +GLIDE_SLOPE_MIN,15 +GLIDE_SLOPE_THR,5 +GPS_AUTO_CONFIG,1 +GPS_AUTO_SWITCH,1 +GPS_BLEND_MASK,5 +GPS_BLEND_TC,10 +GPS_DELAY_MS,0 +GPS_DELAY_MS2,0 +GPS_GNSS_MODE,0 +GPS_GNSS_MODE2,0 +GPS_INJECT_TO,127 +GPS_MIN_DGPS,100 +GPS_MIN_ELEV,-100 +GPS_NAVFILTER,8 +GPS_POS1_X,0 +GPS_POS1_Y,0 +GPS_POS1_Z,0 +GPS_POS2_X,0 +GPS_POS2_Y,0 +GPS_POS2_Z,0 +GPS_RATE_MS,200 +GPS_RATE_MS2,200 +GPS_RAW_DATA,0 +GPS_SAVE_CFG,0 +GPS_SBAS_MODE,2 +GPS_SBP_LOGMASK,-32768 +GPS_TYPE,1 +GPS_TYPE2,0 +GROUND_STEER_ALT,0 +GROUND_STEER_DPS,90 +HIL_ERR_LIMIT,5 +HIL_MODE,0 +HIL_SERVOS,0 +ICE_ENABLE,0 +INITIAL_MODE,0 +INS_ACC_BODYFIX,2 +INS_ACC_ID,0 +INS_ACC2_ID,1 +INS_ACC2OFFS_X,0 +INS_ACC2OFFS_Y,0 +INS_ACC2OFFS_Z,0 +INS_ACC2SCAL_X,1 +INS_ACC2SCAL_Y,1 +INS_ACC2SCAL_Z,1 +INS_ACC3_ID,0 +INS_ACC3OFFS_X,0 +INS_ACC3OFFS_Y,0 +INS_ACC3OFFS_Z,0 +INS_ACC3SCAL_X,0 +INS_ACC3SCAL_Y,0 +INS_ACC3SCAL_Z,0 +INS_ACCEL_FILTER,20 +INS_ACCOFFS_X,0 +INS_ACCOFFS_Y,0 +INS_ACCOFFS_Z,0 +INS_ACCSCAL_X,1 +INS_ACCSCAL_Y,1 +INS_ACCSCAL_Z,1 +INS_FAST_SAMPLE,0 +INS_GYR_CAL,0 +INS_GYR_ID,0 +INS_GYR2_ID,1 +INS_GYR2OFFS_X,0 +INS_GYR2OFFS_Y,0 +INS_GYR2OFFS_Z,0 +INS_GYR3_ID,0 +INS_GYR3OFFS_X,0 +INS_GYR3OFFS_Y,0 +INS_GYR3OFFS_Z,0 +INS_GYRO_FILTER,20 +INS_GYROFFS_X,0 +INS_GYROFFS_Y,0 +INS_GYROFFS_Z,0 +INS_POS1_X,0 +INS_POS1_Y,0 +INS_POS1_Z,0 +INS_POS2_X,0 +INS_POS2_Y,0 +INS_POS2_Z,0 +INS_POS3_X,0 +INS_POS3_Y,0 +INS_POS3_Z,0 +INS_PRODUCT_ID,0 +INS_STILL_THRESH,0.1 +INS_TRIM_OPTION,1 +INS_USE,1 +INS_USE2,1 +INS_USE3,0 +INVERTEDFLT_CH,0 +KFF_RDDRMIX,0.5 +KFF_THR2PTCH,0 +LAND_ABORT_DEG,0 +LAND_ABORT_THR,0 +LAND_DISARMDELAY,20 +LAND_DS_APP_EXT,50 +LAND_DS_ARSP_MAX,15 +LAND_DS_ARSP_MIN,10 +LAND_DS_D,0 +LAND_DS_ELEV_PWM,1500 +LAND_DS_I,0 +LAND_DS_IMAX,0 +LAND_DS_L1,30 +LAND_DS_L1_I,0 +LAND_DS_L1_TCON,0.4 +LAND_DS_P,0 +LAND_DS_SLEW_SPD,0.5 +LAND_DS_SLOPE_A,1 +LAND_DS_SLOPE_B,1 +LAND_DS_V_DWN,2 +LAND_DS_V_FWD,1 +LAND_DS_YAW_LIM,10 +LAND_FLAP_PERCNT,0 +LAND_FLARE_ALT,3 +LAND_FLARE_SEC,2 +LAND_PF_ALT,10 +LAND_PF_ARSPD,0 +LAND_PF_SEC,6 +LAND_PITCH_CD,0 +LAND_SLOPE_RCALC,2 +LAND_THEN_NEUTRL,0 +LAND_THR_SLEW,0 +LAND_TYPE,0 +LEVEL_ROLL_LIMIT,5 +LIM_PITCH_MAX,2000 +LIM_PITCH_MIN,-2500 +LIM_ROLL_CD,4500 +LOG_BACKEND_TYPE,1 +LOG_BITMASK,65535 +LOG_DISARMED,0 +LOG_FILE_BUFSIZE,16 +LOG_FILE_DSRMROT,0 +LOG_REPLAY,0 +MIN_GNDSPD_CM,0 +MIS_RESTART,0 +MIS_TOTAL,7 +MIXING_GAIN,0.5 +MIXING_OFFSET,0 +MNT_ANGMAX_PAN,4500 +MNT_ANGMAX_ROL,4500 +MNT_ANGMAX_TIL,4500 +MNT_ANGMIN_PAN,-4500 +MNT_ANGMIN_ROL,-4500 +MNT_ANGMIN_TIL,-4500 +MNT_DEFLT_MODE,3 +MNT_JSTICK_SPD,0 +MNT_LEAD_PTCH,0 +MNT_LEAD_RLL,0 +MNT_NEUTRAL_X,0 +MNT_NEUTRAL_Y,0 +MNT_NEUTRAL_Z,0 +MNT_RC_IN_PAN,0 +MNT_RC_IN_ROLL,0 +MNT_RC_IN_TILT,0 +MNT_RETRACT_X,0 +MNT_RETRACT_Y,0 +MNT_RETRACT_Z,0 +MNT_STAB_PAN,0 +MNT_STAB_ROLL,0 +MNT_STAB_TILT,0 +MNT_TYPE,0 +NAV_CONTROLLER,1 +NAVL1_DAMPING,0.75 +NAVL1_PERIOD,20 +NAVL1_XTRACK_I,0.02 +NTF_BUZZ_ENABLE,1 +NTF_DISPLAY_TYPE,0 +NTF_LED_BRIGHT,3 +NTF_LED_OVERRIDE,0 +PTCH_RATE_D,0.000000 +PTCH_RATE_FF,0.205000 +PTCH_RATE_I,0.150000 +PTCH_RATE_IMAX,0.666667 +PTCH_RATE_P,0.020000 +PTCH2SRV_RLL,1 +PTCH2SRV_RMAX_DN,0 +PTCH2SRV_RMAX_UP,0 +PTCH2SRV_TCONST,0.5 +Q_ENABLE,0 +RALLY_INCL_HOME,0 +RALLY_LIMIT_KM,5 +RALLY_TOTAL,0 +RC1_DZ,30 +RC1_MAX,1900 +RC1_MIN,1100 +RC1_REVERSED,0 +RC1_TRIM,1500 +RC10_DZ,0 +RC10_MAX,1900 +RC10_MIN,1100 +RC10_REVERSED,0 +RC10_TRIM,1500 +RC11_DZ,0 +RC11_MAX,1900 +RC11_MIN,1100 +RC11_REVERSED,0 +RC11_TRIM,1500 +RC12_DZ,0 +RC12_MAX,1900 +RC12_MIN,1100 +RC12_REVERSED,0 +RC12_TRIM,1500 +RC13_DZ,0 +RC13_MAX,1900 +RC13_MIN,1100 +RC13_REVERSED,0 +RC13_TRIM,1500 +RC14_DZ,0 +RC14_MAX,1900 +RC14_MIN,1100 +RC14_REVERSED,0 +RC14_TRIM,1500 +RC15_DZ,0 +RC15_MAX,1900 +RC15_MIN,1100 +RC15_REVERSED,0 +RC15_TRIM,1500 +RC16_DZ,0 +RC16_MAX,1900 +RC16_MIN,1100 +RC16_REVERSED,0 +RC16_TRIM,1500 +RC2_DZ,30 +RC2_MAX,1900 +RC2_MIN,1100 +RC2_REVERSED,0 +RC2_TRIM,1500 +RC3_DZ,30 +RC3_MAX,1900 +RC3_MIN,1100 +RC3_REVERSED,0 +RC3_TRIM,1500 +RC4_DZ,30 +RC4_MAX,1900 +RC4_MIN,1100 +RC4_REVERSED,0 +RC4_TRIM,1500 +RC5_DZ,0 +RC5_MAX,1900 +RC5_MIN,1100 +RC5_REVERSED,0 +RC5_TRIM,1500 +RC6_DZ,0 +RC6_MAX,1900 +RC6_MIN,1100 +RC6_REVERSED,0 +RC6_TRIM,1500 +RC7_DZ,0 +RC7_MAX,1900 +RC7_MIN,1100 +RC7_REVERSED,0 +RC7_TRIM,1500 +RC8_DZ,0 +RC8_MAX,1900 +RC8_MIN,1100 +RC8_REVERSED,0 +RC8_TRIM,1500 +RC9_DZ,0 +RC9_MAX,1900 +RC9_MIN,1100 +RC9_REVERSED,0 +RC9_TRIM,1500 +RCMAP_PITCH,2 +RCMAP_ROLL,1 +RCMAP_THROTTLE,3 +RCMAP_YAW,4 +RELAY_DEFAULT,0 +RELAY_PIN,13 +RELAY_PIN2,-1 +RELAY_PIN3,-1 +RELAY_PIN4,-1 +RLL_RATE_D,0.000000 +RLL_RATE_FF,0.255000 +RLL_RATE_I,0.050000 +RLL_RATE_IMAX,0.666667 +RLL_RATE_P,0.020000 +RLL2SRV_RMAX,0 +RLL2SRV_TCONST,0.5 +RNGFND1_ADDR,0 +RNGFND1_FUNCTION,0 +RNGFND1_GNDCLEAR,10 +RNGFND1_LANDING,0 +RNGFND1_MAX_CM,700 +RNGFND1_MIN_CM,20 +RNGFND1_OFFSET,0 +RNGFND1_ORIENT,25 +RNGFND1_PIN,-1 +RNGFND1_POS_X,0 +RNGFND1_POS_Y,0 +RNGFND1_POS_Z,0 +RNGFND1_PWRRNG,0 +RNGFND1_RMETRIC,1 +RNGFND1_SCALING,3 +RNGFND1_SETTLE,0 +RNGFND1_STOP_PIN,-1 +RNGFND1_TYPE,0 +RNGFND2_ADDR,0 +RNGFND2_FUNCTION,0 +RNGFND2_GNDCLEAR,10 +RNGFND2_MAX_CM,700 +RNGFND2_MIN_CM,20 +RNGFND2_OFFSET,0 +RNGFND2_ORIENT,25 +RNGFND2_PIN,-1 +RNGFND2_POS_X,0 +RNGFND2_POS_Y,0 +RNGFND2_POS_Z,0 +RNGFND2_RMETRIC,1 +RNGFND2_SCALING,3 +RNGFND2_SETTLE,0 +RNGFND2_STOP_PIN,-1 +RNGFND2_TYPE,0 +RPM_MAX,100000 +RPM_MIN,10 +RPM_MIN_QUAL,0.5 +RPM_SCALING,1 +RPM_TYPE,0 +RPM2_SCALING,1 +RPM2_TYPE,0 +RSSI_ANA_PIN,0 +RSSI_CHAN_HIGH,2000 +RSSI_CHAN_LOW,1000 +RSSI_CHANNEL,0 +RSSI_PIN_HIGH,5 +RSSI_PIN_LOW,0 +RSSI_TYPE,0 +RST_MISSION_CH,0 +RST_SWITCH_CH,0 +RTL_AUTOLAND,0 +RTL_RADIUS,0 +RUDDER_ONLY,0 +SCALING_SPEED,15 +SCHED_DEBUG,0 +SCHED_LOOP_RATE,50 +SERIAL0_BAUD,115 +SERIAL0_PROTOCOL,1 +SERIAL1_BAUD,57 +SERIAL1_PROTOCOL,1 +SERIAL2_BAUD,57 +SERIAL2_PROTOCOL,1 +SERIAL3_BAUD,38 +SERIAL3_PROTOCOL,5 +SERIAL4_BAUD,38 +SERIAL4_PROTOCOL,5 +SERIAL5_BAUD,57 +SERIAL5_PROTOCOL,-1 +SERVO_AUTO_TRIM,0 +SERVO1_FUNCTION,4 +SERVO1_MAX,1900 +SERVO1_MIN,1100 +SERVO1_REVERSED,0 +SERVO1_TRIM,1500 +SERVO10_FUNCTION,0 +SERVO10_MAX,1900 +SERVO10_MIN,1100 +SERVO10_REVERSED,0 +SERVO10_TRIM,1500 +SERVO11_FUNCTION,0 +SERVO11_MAX,1900 +SERVO11_MIN,1100 +SERVO11_REVERSED,0 +SERVO11_TRIM,1500 +SERVO12_FUNCTION,0 +SERVO12_MAX,1900 +SERVO12_MIN,1100 +SERVO12_REVERSED,0 +SERVO12_TRIM,1500 +SERVO13_FUNCTION,0 +SERVO13_MAX,1900 +SERVO13_MIN,1100 +SERVO13_REVERSED,0 +SERVO13_TRIM,1500 +SERVO14_FUNCTION,0 +SERVO14_MAX,1900 +SERVO14_MIN,1100 +SERVO14_REVERSED,0 +SERVO14_TRIM,1500 +SERVO15_FUNCTION,0 +SERVO15_MAX,1900 +SERVO15_MIN,1100 +SERVO15_REVERSED,0 +SERVO15_TRIM,1500 +SERVO16_FUNCTION,0 +SERVO16_MAX,1900 +SERVO16_MIN,1100 +SERVO16_REVERSED,0 +SERVO16_TRIM,1500 +SERVO2_FUNCTION,19 +SERVO2_MAX,1900 +SERVO2_MIN,1100 +SERVO2_REVERSED,0 +SERVO2_TRIM,1500 +SERVO3_FUNCTION,70 +SERVO3_MAX,1900 +SERVO3_MIN,1100 +SERVO3_REVERSED,0 +SERVO3_TRIM,1100 +SERVO4_FUNCTION,21 +SERVO4_MAX,1900 +SERVO4_MIN,1100 +SERVO4_REVERSED,0 +SERVO4_TRIM,1500 +SERVO5_FUNCTION,0 +SERVO5_MAX,1900 +SERVO5_MIN,1100 +SERVO5_REVERSED,0 +SERVO5_TRIM,1500 +SERVO6_FUNCTION,0 +SERVO6_MAX,1900 +SERVO6_MIN,1100 +SERVO6_REVERSED,0 +SERVO6_TRIM,1500 +SERVO7_FUNCTION,0 +SERVO7_MAX,1900 +SERVO7_MIN,1100 +SERVO7_REVERSED,0 +SERVO7_TRIM,1500 +SERVO8_FUNCTION,0 +SERVO8_MAX,1900 +SERVO8_MIN,1100 +SERVO8_REVERSED,0 +SERVO8_TRIM,1500 +SERVO9_FUNCTION,0 +SERVO9_MAX,1900 +SERVO9_MIN,1100 +SERVO9_REVERSED,0 +SERVO9_TRIM,1500 +SIM_ADSB_ALT,1000 +SIM_ADSB_COUNT,-1 +SIM_ADSB_RADIUS,10000 +SIM_ADSB_TX,0 +SIM_ARSPD_FAIL,0 +SIM_ARSPD_RND,0.5 +SIM_BARO_DELAY,0 +SIM_BARO_DISABLE,0 +SIM_BARO_DRIFT,0 +SIM_BARO_GLITCH,0 +SIM_BARO_RND,0.2 +SIM_BATT_VOLTAGE,12.6 +SIM_DRIFT_SPEED,0.05 +SIM_DRIFT_TIME,5 +SIM_ENGINE_FAIL,0 +SIM_ENGINE_MUL,1 +SIM_FLOAT_EXCEPT,1 +SIM_FLOW_DELAY,0 +SIM_FLOW_ENABLE,0 +SIM_FLOW_POS_X,0 +SIM_FLOW_POS_Y,0 +SIM_FLOW_POS_Z,0 +SIM_FLOW_RATE,10 +SIM_GP2_GLITCH_X,0 +SIM_GP2_GLITCH_Y,0 +SIM_GP2_GLITCH_Z,0 +SIM_GPS_BYTELOSS,0 +SIM_GPS_DELAY,1 +SIM_GPS_DISABLE,0 +SIM_GPS_DRIFTALT,0 +SIM_GPS_GLITCH_X,0 +SIM_GPS_GLITCH_Y,0 +SIM_GPS_GLITCH_Z,0 +SIM_GPS_HZ,5 +SIM_GPS_NOISE,0 +SIM_GPS_NUMSATS,10 +SIM_GPS_TYPE,1 +SIM_GPS2_ENABLE,0 +SIM_IMU_POS_X,0 +SIM_IMU_POS_Y,0 +SIM_IMU_POS_Z,0 +SIM_MAG_ALY_HGT,1 +SIM_MAG_ALY_X,0 +SIM_MAG_ALY_Y,0 +SIM_MAG_ALY_Z,0 +SIM_MAG_DELAY,0 +SIM_MAG_ERROR,0 +SIM_MAG_MOT_X,0 +SIM_MAG_MOT_Y,0 +SIM_MAG_MOT_Z,0 +SIM_MAG_OFS_X,5 +SIM_MAG_OFS_Y,13 +SIM_MAG_OFS_Z,-18 +SIM_MAG_RND,0 +SIM_PIN_MASK,0 +SIM_RC_FAIL,0 +SIM_SERVO_SPEED,0.14 +SIM_SONAR_GLITCH,0 +SIM_SONAR_POS_X,0 +SIM_SONAR_POS_Y,0 +SIM_SONAR_POS_Z,0 +SIM_SONAR_RND,0 +SIM_SONAR_SCALE,12.1212 +SIM_SPEEDUP,-1 +SIM_TERRAIN,1 +SIM_WIND_DELAY,0 +SIM_WIND_DIR,180 +SIM_WIND_SPD,0 +SIM_WIND_TURB,0 +SOAR_ALT_CUTOFF,400 +SOAR_ALT_MAX,700 +SOAR_ALT_MIN,100 +SOAR_DIST_AHEAD,5 +SOAR_ENABLE,1 +SOAR_ENABLE_CH,0 +SOAR_MIN_CRSE_S,10 +SOAR_MIN_THML_S,20 +SOAR_POLAR_B,0.037 +SOAR_POLAR_CD0,0.067 +SOAR_POLAR_K,73.01 +SOAR_Q1,0.01 +SOAR_Q2,0.01 +SOAR_R,0.45 +SOAR_VSPEED,0.7 +SR0_ADSB,5 +SR0_EXT_STAT,2 +SR0_EXTRA1,4 +SR0_EXTRA2,4 +SR0_EXTRA3,2 +SR0_PARAMS,10 +SR0_POSITION,2 +SR0_RAW_CTRL,1 +SR0_RAW_SENS,2 +SR0_RC_CHAN,2 +SR1_ADSB,5 +SR1_EXT_STAT,1 +SR1_EXTRA1,1 +SR1_EXTRA2,1 +SR1_EXTRA3,1 +SR1_PARAMS,10 +SR1_POSITION,1 +SR1_RAW_CTRL,1 +SR1_RAW_SENS,1 +SR1_RC_CHAN,1 +SR2_ADSB,5 +SR2_EXT_STAT,1 +SR2_EXTRA1,1 +SR2_EXTRA2,1 +SR2_EXTRA3,1 +SR2_PARAMS,10 +SR2_POSITION,1 +SR2_RAW_CTRL,1 +SR2_RAW_SENS,1 +SR2_RC_CHAN,1 +SR3_ADSB,5 +SR3_EXT_STAT,1 +SR3_EXTRA1,1 +SR3_EXTRA2,1 +SR3_EXTRA3,1 +SR3_PARAMS,10 +SR3_POSITION,1 +SR3_RAW_CTRL,1 +SR3_RAW_SENS,1 +SR3_RC_CHAN,1 +STAB_PITCH_DOWN,2 +STALL_PREVENTION,1 +STAT_BOOTCNT,0 +STAT_FLTTIME,0 +STAT_RESET,40017520 +STAT_RUNTIME,31 +STEER2SRV_D,0.005 +STEER2SRV_DRTFCT,10 +STEER2SRV_DRTMIN,4500 +STEER2SRV_DRTSPD,0 +STEER2SRV_FF,0 +STEER2SRV_I,0.2 +STEER2SRV_IMAX,1500 +STEER2SRV_MINSPD,1 +STEER2SRV_P,1.8 +STEER2SRV_TCONST,0.75 +STICK_MIXING,1 +SYS_NUM_RESETS,1 +SYSID_ENFORCE,0 +SYSID_MYGCS,255 +SYSID_SW_TYPE,0 +SYSID_THISMAV,1 +TECS_APPR_SMAX,0 +TECS_CLMB_MAX,5 +TECS_HGT_OMEGA,3 +TECS_INTEG_GAIN,0.1 +TECS_LAND_ARSPD,-1 +TECS_LAND_DAMP,0.5 +TECS_LAND_IGAIN,0 +TECS_LAND_PDAMP,0 +TECS_LAND_PMAX,10 +TECS_LAND_SINK,0.25 +TECS_LAND_SPDWGT,-1 +TECS_LAND_SRC,0 +TECS_LAND_TCONST,2 +TECS_LAND_TDAMP,0 +TECS_LAND_THR,-1 +TECS_PITCH_MAX,0 +TECS_PITCH_MIN,0 +TECS_PTCH_DAMP,0 +TECS_RLL2THR,10 +TECS_SINK_MAX,5 +TECS_SINK_MIN,2 +TECS_SPD_OMEGA,2 +TECS_SPDWEIGHT,1 +TECS_SYNAIRSPEED,0 +TECS_THR_DAMP,0.5 +TECS_TIME_CONST,5 +TECS_TKOFF_IGAIN,0 +TECS_VERT_ACC,7 +TELEM_DELAY,0 +TERRAIN_ENABLE,1 +TERRAIN_FOLLOW,0 +TERRAIN_LOOKAHD,2000 +TERRAIN_SPACING,100 +THR_FAILSAFE,1 +THR_FS_VALUE,950 +THR_MAX,100 +THR_MIN,0 +THR_PASS_STAB,0 +THR_SLEWRATE,100 +THR_SUPP_MAN,0 +THROTTLE_NUDGE,1 +TKOFF_FLAP_PCNT,0 +TKOFF_PLIM_SEC,2 +TKOFF_ROTATE_SPD,0 +TKOFF_TDRAG_ELEV,0 +TKOFF_TDRAG_SPD1,0 +TKOFF_THR_DELAY,2 +TKOFF_THR_MAX,0 +TKOFF_THR_MINACC,0 +TKOFF_THR_MINSPD,0 +TKOFF_THR_SLEW,0 +TRIM_ARSPD_CM,1200 +TRIM_AUTO,0 +TRIM_PITCH_CD,0 +TRIM_RC_AT_START,0 +TRIM_THROTTLE,45 +TUNE_CHAN,0 +TUNE_CHAN_MAX,2000 +TUNE_CHAN_MIN,1000 +TUNE_ERR_THRESH,0.15 +TUNE_MODE_REVERT,1 +TUNE_PARAM,0 +TUNE_RANGE,2 +TUNE_SELECTOR,0 +USE_REV_THRUST,2 +WP_LOITER_RAD,60 +WP_MAX_RADIUS,0 +WP_RADIUS,90 +YAW2SRV_DAMP,0 +YAW2SRV_IMAX,1500 +YAW2SRV_INT,0 +YAW2SRV_RLL,1 +YAW2SRV_SLIP,0