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SITL: aded support for SilentWings simulator

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U-REDMOND\akolobov 2019-06-22 22:57:47 -07:00 committed by Andrew Tridgell
parent bd3d352554
commit 3330b62d3c
8 changed files with 2483 additions and 0 deletions
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318
libraries/SITL/SIM_SilentWings.cpp Executable file
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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
simulator connector for ardupilot version of SilentWings
*/
#include "SIM_SilentWings.h"
#include <stdio.h>
#include <errno.h>
#include <AP_HAL/AP_HAL.h>
extern const AP_HAL::HAL& hal;
using namespace SITL;
static const struct {
const char *name;
float value;
bool save;
} sim_defaults[] = {
{ "AHRS_EKF_TYPE", 10 },
{ "INS_GYR_CAL", 0 },
{ "EK2_ENABLE", 0 },
{ "ARSPD_ENABLE", 1 },
{ "ARSPD_USE", 1 },
{ "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_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 },
};
SilentWings::SilentWings(const char *home_str, const char *frame_str) :
Aircraft(home_str, frame_str),
last_data_time_ms(0),
first_pkt_timestamp_ms(0),
time_base_us(0),
sock(true),
home_initialized(false),
inited_first_pkt_timestamp(false)
{
// Force ArduPlane to use sensor data from SilentWings as the actual state,
// without using EKF, i.e., using "fake EKF (type 10)". Disable gyro calibration.
// Set a few other parameters to specific values to keep the calibration checks happy.
// TO DO: fix this. Setting parameters in this way doesn't appear to have any effect.
for (uint8_t i = 0; i < ARRAY_SIZE(sim_defaults); i++) {
AP_Param::set_default_by_name(sim_defaults[i].name, sim_defaults[i].value);
if (sim_defaults[i].save) {
enum ap_var_type ptype;
AP_Param *p = AP_Param::find(sim_defaults[i].name, &ptype);
if (!p->configured()) {
p->save();
}
}
}
}
/*
Create and set in/out socket
*/
void SilentWings::set_interface_ports(const char* address, const int port_in, const int port_out)
{
// Ignore the specified port_in.
// try to bind to a specific port so that if we restart ArduPilot
// Gazebo keeps sending us packets. Not strictly necessary but
// useful for debugging
if (!sock.bind("127.0.0.1", _port_in)) {
fprintf(stderr, "SITL: socket in bind failed on sim in : %d - %s\n", _port_in, strerror(errno));
fprintf(stderr, "Aborting launch...\n");
exit(1);
}
printf("Bind %s:%d for SITL in\n", "127.0.0.1", _port_in);
sock.reuseaddress();
sock.set_blocking(false);
_sw_address = address;
// Ignore the specified port_out.
printf("Setting Silent Wings interface to %s:%d \n", _sw_address, _sw_port);
}
/*
decode and send servos
*/
void SilentWings::send_servos(const struct sitl_input &input)
{
char *buf = nullptr;
// Turn off direct joystick input to the simulator. All joystick commands
// should go through Mission Planner and get properly fused with ArduPlane's
// control inputs when in automatic flight modes.
float joystick = 0.0f;
float aileron = filtered_servo_angle(input, 0);
float elevator = filtered_servo_angle(input, 1);
float throttle = filtered_servo_range(input, 2);
float rudder = filtered_servo_angle(input, 3);
ssize_t buflen = asprintf(&buf,
"JOY %f\n"
"AIL %f\n"
"ELE %f\n"
"RUD %f\n"
"THR %f\n",
joystick, aileron, elevator, rudder, throttle) - 1;
if (buflen < 0) {
fprintf(stderr, "Fatal: Failed to allocate enough space for data\n"),
exit(1);
}
ssize_t sent = sock.sendto(buf, buflen, _sw_address, _sw_port);
free(buf);
if (sent < 0) {
fprintf(stderr, "Fatal: Failed to send on control socket\n"),
exit(1);
}
if (sent < buflen) {
fprintf(stderr, "Failed to send all bytes on control socket\n");
}
}
/*
Receive an update from the FDM
This is a blocking function
*/
bool SilentWings::recv_fdm(void)
{
fdm_packet tmp_pkt;
memset(&pkt, 0, sizeof(pkt));
ssize_t nread = sock.recv(&tmp_pkt, sizeof(pkt), 0);
// nread == -1 (255) means no data has arrived
if (nread != sizeof(pkt)) {
return false;
}
memcpy(&pkt, &tmp_pkt, sizeof(pkt));
// data received successfully
return true;
}
void SilentWings::process_packet()
{
// pkt.timestamp is the time of day in SilentWings, measured in ms
// since midnight.
// TO DO: check what happens when a flight in SW crosses midnight
if (inited_first_pkt_timestamp) {
uint64_t tus = (pkt.timestamp - first_pkt_timestamp_ms) * 1.0e3f;
time_now_us = time_base_us + tus;
}
else {
first_pkt_timestamp_ms = pkt.timestamp;
time_base_us = time_now_us;
inited_first_pkt_timestamp = true;
}
dcm.from_euler(radians(pkt.roll), radians(pkt.pitch), radians(pkt.yaw));
accel_body = Vector3f(pkt.ax * GRAVITY_MSS, pkt.ay * GRAVITY_MSS, pkt.az * GRAVITY_MSS); // This is g-load.
gyro = Vector3f(radians(pkt.d_roll), radians(pkt.d_pitch), radians(pkt.d_yaw));
// SilentWings provides velocity in body frame.
velocity_ef = dcm * Vector3f(pkt.vx, pkt.vy, pkt.vz);
// SilentWings also provides velocity in body frame w.r.t. the wind, from which we can infer the wind.
wind_ef = dcm * (Vector3f(pkt.vx, pkt.vy, pkt.vz) - Vector3f(pkt.vx_wind, pkt.vy_wind, pkt.vz_wind));
airspeed = pkt.v_eas;
airspeed_pitot = pkt.v_eas;
Location curr_location;
curr_location.lat = pkt.position_latitude * 1.0e7;
curr_location.lng = pkt.position_longitude * 1.0e7;
curr_location.alt = pkt.altitude_msl * 100.0f;
ground_level = curr_location.alt * 0.01f - pkt.altitude_ground;
Vector3f posdelta = home.get_distance_NED(curr_location);
position.x = posdelta.x;
position.y = posdelta.y;
position.z = posdelta.z;
update_position();
// In case Silent Wings' reported location and our location calculated using an offset from the home location diverge, we need
// to reset the home location.
if (curr_location.get_distance(location) > 4 || abs(curr_location.alt - location.alt)*0.01f > 2.0f || !home_initialized) {
printf("SilentWings home reset dist=%f alt=%.1f/%.1f\n",
curr_location.get_distance(location), curr_location.alt*0.01f, location.alt*0.01f);
// reset home location
home.lat = curr_location.lat;
home.lng = curr_location.lng;
// Resetting altitude reference point in flight can throw off a bunch
// of important calculations, so let the home altitude always be 0m MSL
home.alt = 0;
position.x = 0;
position.y = 0;
position.z = -curr_location.alt;
home_initialized = true;
update_position();
}
// Auto-adjust to Silent Wings' frame rate
// This affects the data rate (without this adjustment, the data rate is
// low no matter what the output_udp_rate in SW's options.dat file is).
double deltat = (AP_HAL::millis() - last_data_time_ms) / 1000.0f;
if (deltat < 0.01 && deltat > 0) {
adjust_frame_time(1.0/deltat);
}
last_data_time_ms = AP_HAL::millis();
report.data_count++;
report.frame_count++;
if (0) {
printf("Delta: %f Time: %" PRIu64 "\n", deltat, time_now_us);
printf("Accel.x %f\n", accel_body.x);
printf("Accel.y %f\n", accel_body.y);
printf("Accel.z %f\n", accel_body.z);
printf("Gyro.x %f\n", gyro.x);
printf("Gyro.y %f\n", gyro.y);
printf("Gyro.z %f\n", gyro.z);
printf("Pos.x %f\n", position.x);
printf("Pos.y %f\n", position.y);
printf("Pos.z %f\n", position.z);
printf("Roll %f\n", pkt.roll);
printf("Pitch %f\n", pkt.pitch);
printf("Yaw %f\n", pkt.yaw);
}
}
/*
Extrapolates sensor data if Silent Wings hasn't sent us a data packet in a while.
*/
bool SilentWings::interim_update()
{
if (AP_HAL::millis() - last_data_time_ms > 200) {
// don't extrapolate beyond 0.2s
return false;
}
float delta_time = frame_time_us * 1e-6f;
time_now_us += frame_time_us;
extrapolate_sensors(delta_time);
update_position();
report.frame_count++;
return true;
}
/*
Update the Silent Wings simulation by one time step.
*/
void SilentWings::update(const struct sitl_input &input)
{
if (recv_fdm()) {
process_packet();
// Time has been advanced by process_packet(.)
send_servos(input);
}
else if (interim_update()) {
// This clause is triggered only if we previously
// received at least one data packet.
// Time has been advanced by interim_update(.)
send_servos(input);
}
// This clause is triggered if and only if we haven't received
// any data packets yet (and therefore didn't attempt
// extrapolating data via interim_update(.) either).
if (!inited_first_pkt_timestamp){
time_advance();
}
else {
if (use_time_sync) {
sync_frame_time();
}
}
update_mag_field_bf();
uint32_t now = AP_HAL::millis();
if (report.last_report_ms == 0) {
report.last_report_ms = now;
printf("Resetting last report time to now\n");
}
if (now - report.last_report_ms > 5000) {
float dt = (now - report.last_report_ms) * 1.0e-3f;
printf("Data rate: %.1f FPS Frame rate: %.1f FPS\n",
report.data_count/dt, report.frame_count/dt);
report.last_report_ms = now;
report.data_count = 0;
report.frame_count = 0;
}
}

112
libraries/SITL/SIM_SilentWings.h Executable file
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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <AP_HAL/utility/Socket.h>
#include "SIM_Aircraft.h"
namespace SITL {
/*
A wrapper for a simulated Silent Wings aircraft.
*/
class SilentWings : public Aircraft {
public:
SilentWings(const char *home_str, const char *frame_str);
/* Updates the aircraft model by one time step */
void update(const struct sitl_input &input) override;
/* Static object creator */
static Aircraft *create(const char *home_str, const char *frame_str) {
return new SilentWings(home_str, frame_str);
}
private:
/* Reply packet sent from SilentWings to ArduPlane */
struct PACKED fdm_packet {
unsigned int timestamp; // Millisec Timestamp
double position_latitude; // Degrees Position latitude,
double position_longitude; // Degrees longitude,
float altitude_msl; // m Altitude w.r.t. the sea level
float altitude_ground; // m Altitude w.r.t. the ground level
float altitude_ground_45; // m Ground 45 degrees ahead (NOT IMPLEMENTED YET)
float altitude_ground_forward; // m Ground straight ahead (NOT IMPLEMENTED YET)
float roll; // Degrees
float pitch; // Degrees
float yaw; // Degrees
float d_roll; // Deg/sec Roll speed
float d_pitch; // Deg/sec Pitch speed
float d_yaw; // Deg/sec Yaw speed
float vx; // m/s Velocity vector in body-axis
float vy;
float vz;
float vx_wind; // m/s Velocity vector in body-axis, relative to the wind
float vy_wind;
float vz_wind;
float v_eas; // m/s Equivalent (indicated) air speed.
float ax; // m/s^2 Acceleration vector in body axis
float ay;
float az;
float angle_of_attack; // Degrees Angle of attack
float angle_sideslip; // Degrees Sideslip angle
float vario; // m/s Total energy-compensated variometer
float heading; // Degrees Compass heading
float rate_of_turn; // Deg/sec Rate of turn
float airpressure; // Pa Local air pressure at aircraft altitude)
float density; // Air density at aircraft altitude
float temperature; // Degrees Celcius Air temperature at aircraft altitude
} pkt;
struct {
uint32_t last_report_ms;
uint32_t data_count;
uint32_t frame_count;
} report;
bool recv_fdm(void);
void process_packet();
bool interim_update();
/* Create and set in/out socket for Silent Wings simulator */
void set_interface_ports(const char* address, const int port_in, const int port_out) override;
/* Sends control inputs to the Silent Wings. */
void send_servos(const struct sitl_input &input);
/* Timestamp of the latest data packet received from Silent Wings. */
uint32_t last_data_time_ms;
/* Timestamp of the first data packet received from Silent Wings. */
uint32_t first_pkt_timestamp_ms;
/* Indicates whether first_pkt_timestamp_ms has been initialized (i.e., any packets have been received from Silent Wings. */
bool inited_first_pkt_timestamp;
/* ArduPlane's internal time when the first packet from Silent Wings is received. */
uint64_t time_base_us;
SocketAPM sock;
const char *_sw_address = "127.0.0.1";
int _port_in = 6060;
int _sw_port = 6070;
bool home_initialized;
};
} // namespace SITL

13
libraries/SITL/examples/SilentWings/Missions/Plockton.waypoints Executable file
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QGC WPL 110
0 1 0 16 0 0 0 0 57.331965 -5.673923 20.115164 1
1 0 3 16 0.000000 0.000000 0.000000 0.000000 57.405393 -5.583801 400.000000 1
2 0 3 16 0.000000 0.000000 0.000000 0.000000 57.425731 -5.423813 400.000000 1
3 0 3 16 0.000000 0.000000 0.000000 0.000000 57.369496 -5.469818 400.000000 1
4 0 3 177 1.000000 -1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
5 0 3 16 0.000000 0.000000 0.000000 0.000000 57.319848 -5.715637 0.000000 1
6 0 3 16 0.000000 0.000000 0.000000 0.000000 57.359498 -5.710831 100.000000 1
7 0 3 16 0.000000 0.000000 0.000000 0.000000 57.392444 -5.684738 100.000000 1
8 0 3 16 0.000000 0.000000 0.000000 0.000000 57.441624 -5.598221 100.000000 1
9 0 3 16 0.000000 0.000000 0.000000 0.000000 57.458987 -5.359955 100.000000 1
10 0 3 16 0.000000 0.000000 0.000000 0.000000 57.365052 -5.364075 100.000000 1
11 0 3 16 0.000000 0.000000 0.000000 0.000000 57.298338 -5.642853 0.000000 1

13
libraries/SITL/examples/SilentWings/Missions/Starmoen.waypoints Executable file
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@ -0,0 +1,13 @@
QGC WPL 110
0 1 0 16 0 0 0 0 60.8805696600 11.6695970300 216.55 1
1 0 3 16 0.000000 0.000000 0.000000 0.000000 60.95399766 11.75971903 400.000000 1
2 0 3 16 0.000000 0.000000 0.000000 0.000000 60.97433566 11.91970703 400.000000 1
3 0 3 16 0.000000 0.000000 0.000000 0.000000 60.91810066 11.87370203 400.000000 1
4 0 3 177 1.000000 -1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
5 0 3 16 0.000000 0.000000 0.000000 0.000000 60.86845266 11.62788303 0.000000 1
6 0 3 16 0.000000 0.000000 0.000000 0.000000 60.90810266 11.63268903 100.000000 1
7 0 3 16 0.000000 0.000000 0.000000 0.000000 60.94104866 11.65878203 100.000000 1
8 0 3 16 0.000000 0.000000 0.000000 0.000000 60.99022866 11.74529903 100.000000 1
9 0 3 16 0.000000 0.000000 0.000000 0.000000 61.00759166 11.98356503 100.000000 1
10 0 3 16 0.000000 0.000000 0.000000 0.000000 60.91365666 11.97944503 100.000000 1
11 0 3 16 0.000000 0.000000 0.000000 0.000000 60.84694266 11.70066703 0.000000 1

921
libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param Executable file
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#NOTE: 5/5/2019 2:01:38 AM Plane: LS-8b
ACRO_LOCKING,0
ACRO_PITCH_RATE,180
ACRO_ROLL_RATE,180
ADSB_ENABLE,0
AFS_ENABLE,0
AHRS_COMP_BETA,0.1
AHRS_CUSTOM_PIT,0
AHRS_CUSTOM_ROLL,0
AHRS_CUSTOM_YAW,0
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_REQUIRE,0
ARMING_RUDDER,1
ARMING_VOLT_MIN,0
ARMING_VOLT2_MIN,0
ARSPD_AUTOCAL,0
ARSPD_BUS,1
ARSPD_FBW_MAX,40
ARSPD_FBW_MIN,23
ARSPD_OFFSET,2013.475
ARSPD_PIN,1
ARSPD_PRIMARY,0
ARSPD_PSI_RANGE,1
ARSPD_RATIO,1.9936
ARSPD_SKIP_CAL,0
ARSPD_TUBE_ORDER,2
ARSPD_TYPE,2
ARSPD_USE,1
ARSPD2_TYPE,0
AUTO_FBW_STEER,0
AUTOTUNE_LEVEL,6
AVD_ENABLE,0
BATT_MONITOR,0
BATT2_MONITOR,0
BRD_PWM_COUNT,8
BRD_RTC_TYPES,1
BRD_SERIAL_NUM,0
BTN_ENABLE,0
CAM_AUTO_ONLY,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
COMPASS_AUTO_ROT,2
COMPASS_AUTODEC,1
COMPASS_CAL_FIT,16
COMPASS_DEC,0.06623807
COMPASS_DEV_ID,983044
COMPASS_DEV_ID2,983052
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,1
COMPASS_FLTR_RNG,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_OFFS_MAX,850
COMPASS_OFS_X,5
COMPASS_OFS_Y,13
COMPASS_OFS_Z,-18
COMPASS_OFS2_X,5
COMPASS_OFS2_Y,13
COMPASS_OFS2_Z,-18
COMPASS_OFS3_X,0
COMPASS_OFS3_Y,0
COMPASS_OFS3_Z,0
COMPASS_ORIENT,0
COMPASS_ORIENT2,0
COMPASS_ORIENT3,0
COMPASS_PMOT_EN,0
COMPASS_PRIMARY,0
COMPASS_TYPEMASK,0
COMPASS_USE,0
COMPASS_USE2,0
COMPASS_USE3,0
CRASH_ACC_THRESH,0
CRASH_DETECT,0
DSPOILR_RUD_RATE,100
EK2_ENABLE,0
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
FLOW_ADDR,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_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
GND_ABS_PRESS,98757.3
GND_ABS_PRESS2,0
GND_ABS_PRESS3,0
GND_ALT_OFFSET,0
GND_EXT_BUS,-1
GND_FLTR_RNG,0
GND_PRIMARY,0
GND_TEMP,0
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
GRIP_ENABLE,0
GROUND_STEER_ALT,0
GROUND_STEER_DPS,90
HIL_ERR_LIMIT,5
HIL_MODE,0
HIL_SERVOS,0
HOME_RESET_ALT,0
ICE_ENABLE,0
INITIAL_MODE,0
INS_ACC_BODYFIX,2
INS_ACC_ID,2753028
INS_ACC2_ID,2753036
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_ENABLE_MASK,1
INS_FAST_SAMPLE,0
INS_GYR_CAL,0
INS_GYR_ID,2752772
INS_GYR2_ID,2752780
INS_GYR2OFFS_X,0.00406
INS_GYR2OFFS_Y,0.013341
INS_GYR2OFFS_Z,-0.071742
INS_GYR3_ID,0
INS_GYR3OFFS_X,0
INS_GYR3OFFS_Y,0
INS_GYR3OFFS_Z,0
INS_GYRO_FILTER,20
INS_GYROFFS_X,0.004127
INS_GYROFFS_Y,0.013363
INS_GYROFFS_Z,-0.071777
INS_LOG_BAT_CNT,1024
INS_LOG_BAT_LGCT,32
INS_LOG_BAT_LGIN,20
INS_LOG_BAT_MASK,0
INS_LOG_BAT_OPT,0
INS_NOTCH_ENABLE,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,0.7
KFF_THR2PTCH,0
LAND_ABORT_DEG,0
LAND_ABORT_THR,0
LAND_DISARMDELAY,20
LAND_DS_ABORTALT,0
LAND_DS_AIL_SCL,1
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,12
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,5000
LOG_BACKEND_TYPE,1
LOG_BITMASK,65535
LOG_DISARMED,0
LOG_FILE_BUFSIZE,16
LOG_FILE_DSRMROT,0
LOG_MAV_BUFSIZE,8
LOG_REPLAY,0
MAG_ENABLE,1
MANUAL_RCMASK,0
MIN_GNDSPD_CM,0
MIS_OPTIONS,0
MIS_RESTART,0
MIS_TOTAL,12
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,1
NAVL1_LIM_BANK,60
NAVL1_PERIOD,20
NAVL1_XTRACK_I,0.02
NTF_BUZZ_ENABLE,1
NTF_BUZZ_PIN,0
NTF_DISPLAY_TYPE,0
NTF_LED_BRIGHT,3
NTF_LED_OVERRIDE,0
NTF_LED_TYPES,199
PTCH2SRV_D,0.3
PTCH2SRV_FF,0
PTCH2SRV_I,0.333333
PTCH2SRV_IMAX,4000
PTCH2SRV_P,4
PTCH2SRV_RLL,1
PTCH2SRV_RMAX_DN,75
PTCH2SRV_RMAX_UP,75
PTCH2SRV_TCONST,0.45
Q_ENABLE,0
RALLY_INCL_HOME,0
RALLY_LIMIT_KM,5
RALLY_TOTAL,0
RC_OVERRIDE_TIME,3
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,0.21
RLL2SRV_FF,0
RLL2SRV_I,0.233333
RLL2SRV_IMAX,3000
RLL2SRV_P,2.8
RLL2SRV_RMAX,75
RLL2SRV_TCONST,0.45
RNGFND_ADDR,0
RNGFND_FUNCTION,0
RNGFND_GNDCLEAR,10
RNGFND_LANDING,0
RNGFND_MAX_CM,700
RNGFND_MIN_CM,20
RNGFND_OFFSET,0
RNGFND_ORIENT,25
RNGFND_PIN,-1
RNGFND_POS_X,0
RNGFND_POS_Y,0
RNGFND_POS_Z,0
RNGFND_PWRRNG,0
RNGFND_RMETRIC,1
RNGFND_SCALING,3
RNGFND_SETTLE,0
RNGFND_STOP_PIN,-1
RNGFND_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_PIN,54
RPM_SCALING,1
RPM_TYPE,0
RPM2_PIN,-1
RPM2_SCALING,1
RPM2_TYPE,0
RSSI_TYPE,0
RST_MISSION_CH,0
RST_SWITCH_CH,0
RTL_AUTOLAND,0
RTL_RADIUS,0
RUDD_DT_GAIN,10
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
SERIAL6_BAUD,57
SERIAL6_PROTOCOL,-1
SERVO_AUTO_TRIM,0
SERVO_RATE,50
SERVO_SBUS_RATE,50
SERVO_VOLZ_MASK,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,1500
SERVO4_FUNCTION,21
SERVO4_MAX,1900
SERVO4_MIN,1100
SERVO4_REVERSED,0
SERVO4_TRIM,1500
SERVO5_FUNCTION,1
SERVO5_MAX,1900
SERVO5_MIN,1100
SERVO5_REVERSED,0
SERVO5_TRIM,1500
SERVO6_FUNCTION,110
SERVO6_MAX,2000
SERVO6_MIN,1000
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_ACC_BIAS_X,0
SIM_ACC_BIAS_Y,0
SIM_ACC_BIAS_Z,0
SIM_ACC_RND,0
SIM_ACC2_BIAS_X,0
SIM_ACC2_BIAS_Y,0
SIM_ACC2_BIAS_Z,0
SIM_ACC2_RND,0
SIM_ACCEL_FAIL,0
SIM_ADSB_ALT,1000
SIM_ADSB_COUNT,-1
SIM_ADSB_RADIUS,10000
SIM_ADSB_TX,0
SIM_ARSPD_FAIL,0
SIM_ARSPD_FAIL_P,0
SIM_ARSPD_PITOT,0
SIM_ARSPD_RND,0.5
SIM_ARSPD_SIGN,0
SIM_ARSPD2_FAIL,0
SIM_ARSPD2_FAILP,0
SIM_ARSPD2_PITOT,0
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_ALT_OFS,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,20
SIM_GPS_LOCKTIME,0
SIM_GPS_NOISE,0
SIM_GPS_NUMSATS,10
SIM_GPS_POS_X,0
SIM_GPS_POS_Y,0
SIM_GPS_POS_Z,0
SIM_GPS_TYPE,1
SIM_GPS2_ENABLE,0
SIM_GPS2_TYPE,1
SIM_GYR_RND,0
SIM_GYR_SCALE_X,0
SIM_GYR_SCALE_Y,0
SIM_GYR_SCALE_Z,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_DIA_X,0
SIM_MAG_DIA_Y,0
SIM_MAG_DIA_Z,0
SIM_MAG_ERROR,0
SIM_MAG_MOT_X,0
SIM_MAG_MOT_Y,0
SIM_MAG_MOT_Z,0
SIM_MAG_ODI_X,0
SIM_MAG_ODI_Y,0
SIM_MAG_ODI_Z,0
SIM_MAG_OFS_X,5
SIM_MAG_OFS_Y,13
SIM_MAG_OFS_Z,-18
SIM_MAG_ORIENT,0
SIM_MAG_RND,0
SIM_ODOM_ENABLE,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_TEMP_BFACTOR,0
SIM_TEMP_FLIGHT,35
SIM_TEMP_START,25
SIM_TEMP_TCONST,30
SIM_TERRAIN,1
SIM_VICON_HSTLEN,0
SIM_WIND_DELAY,0
SIM_WIND_DIR,180
SIM_WIND_DIR_Z,0
SIM_WIND_SPD,0
SIM_WIND_T,0
SIM_WIND_T_ALT,60
SIM_WIND_T_COEF,0.01
SIM_WIND_TURB,0
SOAR_ALT_CUTOFF,2000
SOAR_ALT_MAX,5000
SOAR_ALT_MIN,0
SOAR_ARSP_CMD,9
SOAR_ASPD_SRC,1
SOAR_DEBUG,0
SOAR_DELTA_MODE,0
SOAR_DIST_AHEAD,5
SOAR_ENABLE,1
SOAR_ENABLE_CH,0
SOAR_EXIT_MODE,0
SOAR_GEOFENCE,0
SOAR_GPS_SYNC,1
SOAR_I_MOMENT,0.00257482
SOAR_K_AILERON,1.448331
SOAR_K_ROLLDAMP,0.4107359
SOAR_MCCREADY,0.7
SOAR_MIN_CRSE_S,20
SOAR_MIN_THML_S,20
SOAR_NO_STALLPRV,1
SOAR_POLAR_B,0.0156
SOAR_POLAR_CD0,0.00859
SOAR_POLAR_K,489
SOAR_POLY_A,-0.03099261
SOAR_POLY_B,0.4473186
SOAR_POLY_C,-2.30293
SOAR_POMDP_EXT,0
SOAR_POMDP_HORI,4
SOAR_POMDP_K,5
SOAR_POMDP_LOOP,1
SOAR_POMDP_N,10
SOAR_POMDP_N_ACT,2
SOAR_POMDP_NORM,0
SOAR_POMDP_ON,0
SOAR_POMDP_PLN,0
SOAR_POMDP_PTH,50
SOAR_POMDP_ROLL1,15
SOAR_POMDP_ROLL2,45
SOAR_POMDP_RRATE,75
SOAR_POMDP_STEP,1
SOAR_Q1,0.001
SOAR_Q2,0.03
SOAR_R,0.45
SOAR_ROLL_CLP,-1.128087
SOAR_RUN_TEST,0
SOAR_SG_FILTER,1
SOAR_TEST_DIST,20
SOAR_TEST_OFFSET,10
SOAR_TEST_RADIUS,20
SOAR_TEST_W,2.5
SOAR_VARIO_TYPE,1
SOAR_VSPEED,1000
SR0_ADSB,5
SR0_EXT_STAT,2
SR0_EXTRA1,10
SR0_EXTRA2,10
SR0_EXTRA3,2
SR0_PARAMS,10
SR0_POSITION,2
SR0_RAW_CTRL,4
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,36
STAT_FLTTIME,13767
STAT_RESET,100133200
STAT_RUNTIME,26146
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,37
SYSID_ENFORCE,0
SYSID_MYGCS,255
SYSID_THISMAV,1
TECS_APPR_SMAX,0
TECS_CLMB_MAX,5
TECS_HGT_OMEGA,3
TECS_INTEG_GAIN,0.5
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,12
TECS_LAND_TDAMP,0
TECS_LAND_THR,-1
TECS_PITCH_MAX,0
TECS_PITCH_MIN,0
TECS_PTCH_DAMP,0.2
TECS_RLL2THR,10
TECS_SINK_MAX,5.5
TECS_SINK_MIN,2
TECS_SPD_OMEGA,2
TECS_SPDWEIGHT,2
TECS_SYNAIRSPEED,0
TECS_THR_DAMP,0.5
TECS_TIME_CONST,12
TECS_TKOFF_IGAIN,0
TECS_VERT_ACC,7
TELEM_DELAY,0
TERRAIN_ENABLE,0
TERRAIN_FOLLOW,0
TERRAIN_LOOKAHD,2000
TERRAIN_SPACING,100
THR_FAILSAFE,1
THR_FS_VALUE,950
THR_MAX,100
THR_MIN,-100
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,3000
TRIM_AUTO,0
TRIM_PITCH_CD,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,90
WP_MAX_RADIUS,0
WP_RADIUS,130
YAW2SRV_DAMP,1.7
YAW2SRV_IMAX,1500
YAW2SRV_INT,0
YAW2SRV_RLL,1.1
YAW2SRV_SLIP,0

916
libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param Executable file
View File

@ -0,0 +1,916 @@
#NOTE: 11/18/2018 2:50:09 AM Plane: Skywalker
ACRO_LOCKING,0
ACRO_PITCH_RATE,180
ACRO_ROLL_RATE,180
ADSB_ENABLE,0
AFS_ENABLE,0
AHRS_COMP_BETA,0.1
AHRS_CUSTOM_PIT,0
AHRS_CUSTOM_ROLL,0
AHRS_CUSTOM_YAW,0
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_REQUIRE,0
ARMING_RUDDER,1
ARMING_VOLT_MIN,0
ARMING_VOLT2_MIN,0
ARSPD_AUTOCAL,0
ARSPD_BUS,1
ARSPD_FBW_MAX,40
ARSPD_FBW_MIN,23
ARSPD_OFFSET,2013.475
ARSPD_PIN,1
ARSPD_PRIMARY,0
ARSPD_PSI_RANGE,1
ARSPD_RATIO,1.9936
ARSPD_SKIP_CAL,0
ARSPD_TUBE_ORDER,2
ARSPD_TYPE,2
ARSPD_USE,1
ARSPD2_TYPE,0
AUTO_FBW_STEER,0
AUTOTUNE_LEVEL,6
AVD_ENABLE,0
BATT_MONITOR,0
BATT2_MONITOR,0
BRD_PWM_COUNT,8
BRD_RTC_TYPES,1
BRD_SERIAL_NUM,0
BTN_ENABLE,0
CAM_AUTO_ONLY,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
COMPASS_AUTO_ROT,2
COMPASS_AUTODEC,1
COMPASS_CAL_FIT,16
COMPASS_DEC,0.2073689
COMPASS_DEV_ID,983044
COMPASS_DEV_ID2,983052
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_EXP_DID,-1
COMPASS_EXP_DID2,-1
COMPASS_EXP_DID3,-1
COMPASS_EXTERN2,0
COMPASS_EXTERN3,0
COMPASS_EXTERNAL,1
COMPASS_FLTR_RNG,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_OFFS_MAX,850
COMPASS_OFS_X,5
COMPASS_OFS_Y,13
COMPASS_OFS_Z,-18
COMPASS_OFS2_X,5
COMPASS_OFS2_Y,13
COMPASS_OFS2_Z,-18
COMPASS_OFS3_X,0
COMPASS_OFS3_Y,0
COMPASS_OFS3_Z,0
COMPASS_ORIENT,0
COMPASS_ORIENT2,0
COMPASS_ORIENT3,0
COMPASS_PMOT_EN,0
COMPASS_PRIMARY,0
COMPASS_TYPEMASK,0
COMPASS_USE,0
COMPASS_USE2,0
COMPASS_USE3,0
CRASH_ACC_THRESH,0
CRASH_DETECT,0
DSPOILR_RUD_RATE,100
EK2_ENABLE,0
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
FLIGHT_OPTIONS,0
FLOW_ADDR,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_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
GND_ABS_PRESS,94503.64
GND_ABS_PRESS2,0
GND_ABS_PRESS3,0
GND_ALT_OFFSET,0
GND_EXT_BUS,-1
GND_FLTR_RNG,0
GND_PRIMARY,0
GND_PROBE_EXT,0
GND_TEMP,0
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
GRIP_ENABLE,0
GROUND_STEER_ALT,0
GROUND_STEER_DPS,90
HIL_ERR_LIMIT,5
HIL_MODE,0
HIL_SERVOS,0
HOME_RESET_ALT,0
ICE_ENABLE,0
INITIAL_MODE,0
INS_ACC_BODYFIX,2
INS_ACC_ID,2753028
INS_ACC2_ID,2753036
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_ENABLE_MASK,1
INS_FAST_SAMPLE,0
INS_GYR_CAL,0
INS_GYR_ID,2752772
INS_GYR2_ID,2752780
INS_GYR2OFFS_X,0.00406022
INS_GYR2OFFS_Y,0.01334124
INS_GYR2OFFS_Z,-0.07174193
INS_GYR3_ID,0
INS_GYR3OFFS_X,0
INS_GYR3OFFS_Y,0
INS_GYR3OFFS_Z,0
INS_GYRO_FILTER,20
INS_GYROFFS_X,0.004127062
INS_GYROFFS_Y,0.01336281
INS_GYROFFS_Z,-0.07177746
INS_LOG_BAT_CNT,1024
INS_LOG_BAT_LGCT,32
INS_LOG_BAT_LGIN,20
INS_LOG_BAT_MASK,0
INS_LOG_BAT_OPT,0
INS_NOTCH_ENABLE,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
KFF_RDDRMIX,0.7
KFF_THR2PTCH,0
LAND_ABORT_DEG,0
LAND_ABORT_THR,0
LAND_DISARMDELAY,20
LAND_DS_ABORTALT,0
LAND_DS_AIL_SCL,1
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,5000
LOG_BACKEND_TYPE,1
LOG_BITMASK,65535
LOG_DISARMED,0
LOG_FILE_BUFSIZE,16
LOG_FILE_DSRMROT,0
LOG_MAV_BUFSIZE,8
LOG_REPLAY,0
MAG_ENABLE,1
MANUAL_RCMASK,0
MIN_GNDSPD_CM,0
MIS_OPTIONS,0
MIS_RESTART,0
MIS_TOTAL,11
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,1
NAVL1_LIM_BANK,60
NAVL1_PERIOD,20
NAVL1_XTRACK_I,0.02
NTF_BUZZ_ENABLE,1
NTF_BUZZ_PIN,0
NTF_DISPLAY_TYPE,0
NTF_LED_BRIGHT,3
NTF_LED_OVERRIDE,0
NTF_LED_TYPES,199
PTCH2SRV_D,0.6
PTCH2SRV_FF,0
PTCH2SRV_I,1
PTCH2SRV_IMAX,4500
PTCH2SRV_P,4
PTCH2SRV_RLL,1
PTCH2SRV_RMAX_DN,75
PTCH2SRV_RMAX_UP,75
PTCH2SRV_TCONST,0.45
Q_ENABLE,0
RALLY_INCL_HOME,0
RALLY_LIMIT_KM,5
RALLY_TOTAL,0
RC_OPTIONS,0
RC_OVERRIDE_TIME,3
RC1_DZ,30
RC1_MAX,1900
RC1_MIN,1100
RC1_OPTION,0
RC1_REVERSED,0
RC1_TRIM,1500
RC10_DZ,0
RC10_MAX,1900
RC10_MIN,1100
RC10_OPTION,0
RC10_REVERSED,0
RC10_TRIM,1500
RC11_DZ,0
RC11_MAX,1900
RC11_MIN,1100
RC11_OPTION,0
RC11_REVERSED,0
RC11_TRIM,1500
RC12_DZ,0
RC12_MAX,1900
RC12_MIN,1100
RC12_OPTION,0
RC12_REVERSED,0
RC12_TRIM,1500
RC13_DZ,0
RC13_MAX,1900
RC13_MIN,1100
RC13_OPTION,0
RC13_REVERSED,0
RC13_TRIM,1500
RC14_DZ,0
RC14_MAX,1900
RC14_MIN,1100
RC14_OPTION,0
RC14_REVERSED,0
RC14_TRIM,1500
RC15_DZ,0
RC15_MAX,1900
RC15_MIN,1100
RC15_OPTION,0
RC15_REVERSED,0
RC15_TRIM,1500
RC16_DZ,0
RC16_MAX,1900
RC16_MIN,1100
RC16_OPTION,0
RC16_REVERSED,0
RC16_TRIM,1500
RC2_DZ,30
RC2_MAX,1900
RC2_MIN,1100
RC2_OPTION,0
RC2_REVERSED,0
RC2_TRIM,1500
RC3_DZ,30
RC3_MAX,1900
RC3_MIN,1100
RC3_OPTION,0
RC3_REVERSED,0
RC3_TRIM,1500
RC4_DZ,30
RC4_MAX,1900
RC4_MIN,1100
RC4_OPTION,0
RC4_REVERSED,0
RC4_TRIM,1500
RC5_DZ,0
RC5_MAX,1900
RC5_MIN,1100
RC5_OPTION,0
RC5_REVERSED,0
RC5_TRIM,1500
RC6_DZ,0
RC6_MAX,1900
RC6_MIN,1100
RC6_OPTION,0
RC6_REVERSED,0
RC6_TRIM,1500
RC7_DZ,0
RC7_MAX,1900
RC7_MIN,1100
RC7_OPTION,0
RC7_REVERSED,0
RC7_TRIM,1500
RC8_DZ,0
RC8_MAX,1900
RC8_MIN,1100
RC8_OPTION,0
RC8_REVERSED,0
RC8_TRIM,1500
RC9_DZ,0
RC9_MAX,1900
RC9_MIN,1100
RC9_OPTION,0
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,0.2
RLL2SRV_FF,0
RLL2SRV_I,0.05
RLL2SRV_IMAX,3000
RLL2SRV_P,2.8
RLL2SRV_RMAX,50
RLL2SRV_TCONST,0.45
RNGFND_ADDR,0
RNGFND_FUNCTION,0
RNGFND_GNDCLEAR,10
RNGFND_LANDING,0
RNGFND_MAX_CM,700
RNGFND_MIN_CM,20
RNGFND_OFFSET,0
RNGFND_ORIENT,25
RNGFND_PIN,-1
RNGFND_POS_X,0
RNGFND_POS_Y,0
RNGFND_POS_Z,0
RNGFND_PWRRNG,0
RNGFND_RMETRIC,1
RNGFND_SCALING,3
RNGFND_SETTLE,0
RNGFND_STOP_PIN,-1
RNGFND_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_PIN,54
RPM_SCALING,1
RPM_TYPE,0
RPM2_PIN,-1
RPM2_SCALING,1
RPM2_TYPE,0
RSSI_TYPE,0
RST_MISSION_CH,0
RST_SWITCH_CH,0
RTL_AUTOLAND,0
RTL_RADIUS,0
RUDD_DT_GAIN,10
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
SERIAL6_BAUD,57
SERIAL6_PROTOCOL,-1
SERVO_AUTO_TRIM,0
SERVO_RATE,50
SERVO_SBUS_RATE,50
SERVO_VOLZ_MASK,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_ACC_BIAS_X,0
SIM_ACC_BIAS_Y,0
SIM_ACC_BIAS_Z,0
SIM_ACC_RND,0
SIM_ACC2_BIAS_X,0
SIM_ACC2_BIAS_Y,0
SIM_ACC2_BIAS_Z,0
SIM_ACC2_RND,0
SIM_ACCEL_FAIL,0
SIM_ADSB_ALT,1000
SIM_ADSB_COUNT,-1
SIM_ADSB_RADIUS,10000
SIM_ADSB_TX,0
SIM_ARSPD_FAIL,0
SIM_ARSPD_FAIL_P,0
SIM_ARSPD_PITOT,0
SIM_ARSPD_RND,0.5
SIM_ARSPD_SIGN,0
SIM_ARSPD2_FAIL,0
SIM_ARSPD2_FAILP,0
SIM_ARSPD2_PITOT,0
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_ALT_OFS,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,20
SIM_GPS_LOCKTIME,0
SIM_GPS_NOISE,0
SIM_GPS_NUMSATS,10
SIM_GPS_POS_X,0
SIM_GPS_POS_Y,0
SIM_GPS_POS_Z,0
SIM_GPS_TYPE,1
SIM_GPS2_ENABLE,0
SIM_GPS2_TYPE,1
SIM_GRPE_ENABLE,0
SIM_GRPE_PIN,-1
SIM_GRPS_ENABLE,0
SIM_GRPS_GRAB,2000
SIM_GRPS_PIN,-1
SIM_GRPS_RELEASE,1000
SIM_GRPS_REVERSE,0
SIM_GYR_RND,0
SIM_GYR_SCALE_X,0
SIM_GYR_SCALE_Y,0
SIM_GYR_SCALE_Z,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_DIA_X,0
SIM_MAG_DIA_Y,0
SIM_MAG_DIA_Z,0
SIM_MAG_ERROR,0
SIM_MAG_MOT_X,0
SIM_MAG_MOT_Y,0
SIM_MAG_MOT_Z,0
SIM_MAG_ODI_X,0
SIM_MAG_ODI_Y,0
SIM_MAG_ODI_Z,0
SIM_MAG_OFS_X,5
SIM_MAG_OFS_Y,13
SIM_MAG_OFS_Z,-18
SIM_MAG_ORIENT,0
SIM_MAG_RND,0
SIM_ODOM_ENABLE,0
SIM_PIN_MASK,0
SIM_RC_CHANCOUNT,16
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_SPR_ENABLE,0
SIM_SPR_PUMP,-1
SIM_SPR_SPIN,-1
SIM_TEMP_BFACTOR,0
SIM_TEMP_FLIGHT,35
SIM_TEMP_START,25
SIM_TEMP_TCONST,30
SIM_TERRAIN,1
SIM_VICON_HSTLEN,0
SIM_WIND_DELAY,0
SIM_WIND_DIR,180
SIM_WIND_DIR_Z,0
SIM_WIND_SPD,0
SIM_WIND_T,0
SIM_WIND_T_ALT,60
SIM_WIND_T_COEF,0.01
SIM_WIND_TURB,0
SOAR_ALT_CUTOFF,200
SOAR_ALT_MAX,2000
SOAR_ALT_MIN,50
SOAR_DIST_AHEAD,5
SOAR_ENABLE,1
SOAR_ENABLE_CH,0
SOAR_MIN_CRSE_S,30
SOAR_MIN_THML_S,20
SOAR_POLAR_B,0.0156
SOAR_POLAR_CD0,0.00859
SOAR_POLAR_K,489
SOAR_Q1,0.001
SOAR_Q2,0.03
SOAR_R,0.45
SOAR_VSPEED,0.7
SR0_ADSB,5
SR0_EXT_STAT,2
SR0_EXTRA1,10
SR0_EXTRA2,10
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,190
STAT_FLTTIME,2701350
STAT_RESET,89185800
STAT_RUNTIME,3214486
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,274
SYSID_ENFORCE,0
SYSID_MYGCS,255
SYSID_THISMAV,1
TECS_APPR_SMAX,0
TECS_CLMB_MAX,5
TECS_HGT_OMEGA,3
TECS_INTEG_GAIN,0.5
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,0.2
TECS_RLL2THR,10
TECS_SINK_MAX,5
TECS_SINK_MIN,2
TECS_SPD_OMEGA,2
TECS_SPDWEIGHT,2
TECS_SYNAIRSPEED,0
TECS_THR_DAMP,0.5
TECS_TIME_CONST,12
TECS_TKOFF_IGAIN,0
TECS_VERT_ACC,7
TELEM_DELAY,0
TERRAIN_ENABLE,0
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,2700
TRIM_AUTO,0
TRIM_PITCH_CD,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,90
WP_MAX_RADIUS,0
WP_RADIUS,130
YAW2SRV_DAMP,1.7
YAW2SRV_IMAX,1500
YAW2SRV_INT,0
YAW2SRV_RLL,1.1
YAW2SRV_SLIP,0

74
libraries/SITL/examples/SilentWings/Situations/ASW27B_Plockton_1000.stn Executable file
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@ -0,0 +1,74 @@
# Program generated flight.
aircraftId = asw27
terrainId = D:/Silent Wings/data/Scenery/UK
pilot_name = Unknown Pilot
speed = 27.77777778
altitude = 1000
altitudeRef = QFE
yaw = 20
latitude = 57.33317424
longitude = -5.674033603
date = 01072005
time = 120000
competition_mode = true
regatta_start = false
start_gate_altitude = 1000
start_gate_altitude_ref = AGL
start_gate_open_time = -1
airport {
name = Plockton
lat = 57.335609
lon = -5.672395
elev = 0
runway = 02
}
multiplayer = false
mp_port = 1209
weather {
simple {
wind_str = 38
wind_dir = 334
}
max_num_thermals = 5927
max_num_sink = 1481
thermal_strength = 6.3
thermal_radius = 385
thermal_ceiling = 2500
cumulus_prob = 0.5
cumulus_base = 2000
visibility = 50000
turbulence_strength = 1
wind_layer {
altitude = 0
direction = 334
strength = 1.9
}
wind_layer {
altitude = 150
direction = 334
strength = 3.8
}
wind_layer {
altitude = 300
direction = 334
strength = 4.94
}
wind_layer {
altitude = 1500
direction = 19
strength = 5.7
}
}

116
libraries/SITL/examples/SilentWings/Situations/LS-8b_Starmoen_800.stn Executable file
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# Program generated flight.
aircraftId = ls8
terrainId = D:/Silent Wings/data/Scenery/Norway
pilot_name = Unknown Pilot
speed = 27.77777778
altitude = 800
altitudeRef = QFE
yaw = 145
latitude = 60.88056966
longitude = 11.66959703
date = 01072005
time = 140000
competition_mode = true
regatta_start = false
start_gate_altitude = 1000
start_gate_altitude_ref = AGL
start_gate_open_time = -1
airport {
name = Starmoen
lat = 60.8791
lon = 11.6737
elev = 0
runway = 15
}
multiplayer = false
mp_port = 1209
flight {
aircraft_id = ls8
type = AI
mode = FOLLOW
pilot_name = AI Pilot 1
glider_type = LS-8
comp_id = AA
registration = LN-GAA
start_time = 0
utc_offset = -1742410382
reg_color = [ 0 0 0 ]
comp_color = [ 0 0 0 ]
}
flight {
aircraft_id = ls8
type = AI
mode = FOLLOW
pilot_name = AI Pilot 2
glider_type = LS-8
comp_id = AB
registration = LN-GAB
start_time = 0
utc_offset = -1519176082
reg_color = [ 0 0 0 ]
comp_color = [ 0 0 0 ]
}
flight {
aircraft_id = ls8
type = AI
mode = FOLLOW
pilot_name = AI Pilot 3
glider_type = LS-8
comp_id = AC
registration = LN-GAC
start_time = 0
utc_offset = 972621140
reg_color = [ 0 0 0 ]
comp_color = [ 0 0 0 ]
}
weather {
simple {
wind_str = 60
wind_dir = 360
}
max_num_thermals = 2012
max_num_sink = 503
thermal_strength = 4
thermal_radius = 227
thermal_ceiling = 2500
cumulus_prob = 0.4
cumulus_base = 2000
visibility = 50000
turbulence_strength = 0.85
wind_layer {
altitude = 0
direction = 360
strength = 3
}
wind_layer {
altitude = 150
direction = 360
strength = 6
}
wind_layer {
altitude = 300
direction = 360
strength = 7.8
}
wind_layer {
altitude = 1500
direction = 45
strength = 9
}
}