From cb7303780f7282798e3eb8bbb6e55c362ca6b9ef Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Tue, 15 Oct 2013 09:51:54 +1100
Subject: [PATCH] autotest: tweak plane parameters

---
 Tools/autotest/ArduPlane.parm | 20 +++-----------------
 1 file changed, 3 insertions(+), 17 deletions(-)

diff --git a/Tools/autotest/ArduPlane.parm b/Tools/autotest/ArduPlane.parm
index e2fe234e5e..82aa122ed4 100644
--- a/Tools/autotest/ArduPlane.parm
+++ b/Tools/autotest/ArduPlane.parm
@@ -1,6 +1,5 @@
 ALT_CTRL_ALG    2
 LOG_BITMASK	4095
-SWITCH_ENABLE   0
 MAG_ENABLE	1
 TRIM_ARSPD_CM   2200
 TRIM_PITCH_CD   0
@@ -10,23 +9,12 @@ LIM_PITCH_MAX   2500
 LIM_ROLL_CD     6500
 LAND_PITCH_CD   100
 LAND_FLARE_SEC  5
-WHEELSTEER_D      0.1
-WHEELSTEER_I      0.5
-WHEELSTEER_IMAX   500
-WHEELSTEER_P      1.0
 ARSPD_ENABLE    1
 ARSPD_USE       1
-ARSP2PTCH_I     0.1
-ARSP2PTCH_P     1
-ARSP2PTCH_IMAX  1000
-ARSP2PTCH_D     0.03
 ARSPD_FBW_MAX   30
 ARSPD_FBW_MIN   10
 KFF_RDDRMIX     0.5
 THR_MAX		100
-ENRGY2THR_P     0.4
-ENRGY2THR_D     0.05
-ENRGY2THR_I     0.1
 RC2_REV		-1
 RC4_REV		-1
 RC1_MAX         2000
@@ -60,18 +48,16 @@ FLTMODE4        5
 FLTMODE5        2
 FLTMODE6        0
 FLTMODE_CH      8
-PTCH2SRV_P      1.5
 WP_LOITER_RAD   80
 WP_RADIUS       50
-YW2SRV_P        1.0
 RLL2SRV_D        0.2
 RLL2SRV_I        0.1
-RLL2SRV_P        2.0
+RLL2SRV_P        2.5
 RLL2SRV_RMAX     0
 RLL2SRV_TCONST   0.5
 PTCH2SRV_D       0.2
-PTCH2SRV_I       0.2
-PTCH2SRV_P       2
+PTCH2SRV_I       0.3
+PTCH2SRV_P       2.5
 PTCH2SRV_RLL     1.25
 NAVL1_PERIOD     21
 ACRO_LOCKING     1