<?xml version="1.0" encoding="utf-8" ?>
<AC>
<Item>
<HEAD>Stabilization:</HEAD>
<SUBHEAD>Angular Rate Control:</SUBHEAD>
<DESC>How much throttle is applied to rotate the copter at the desired speed.
Adjust P by motor size
Small: P = 0.145
Med: P = 0.110
Large: P = 0.090</DESC>
<FIELDS>
<FIELD>
<NAME>P</NAME>
<PARAMNAME>RATE_RLL_P</PARAMNAME>
<PARAMNAME>RATE_PIT_P</PARAMNAME>
<RANGEMIN>0.001</RANGEMIN>
<RANGEMAX>5</RANGEMAX>
<STEP>0.001</STEP>
</FIELD>
<FIELD>
<NAME>I</NAME>
<PARAMNAME>RATE_RLL_I</PARAMNAME>
<PARAMNAME>RATE_PIT_I</PARAMNAME>
<RANGEMIN>0</RANGEMIN>
<RANGEMAX>5</RANGEMAX>
<STEP>0.001</STEP>
</FIELD>
<FIELD>
<NAME>D</NAME>
<PARAMNAME>RATE_RLL_D</PARAMNAME>
<PARAMNAME>RATE_PIT_D</PARAMNAME>
<RANGEMIN>0</RANGEMIN>
<RANGEMAX>5</RANGEMAX>
<STEP>0.001</STEP>
</FIELD>
<FIELD>
<NAME>IMAX</NAME>
<PARAMNAME>RATE_RLL_IMAX</PARAMNAME>
<PARAMNAME>RATE_PIT_IMAX</PARAMNAME>
<RANGEMIN>0</RANGEMIN>
<RANGEMAX>40</RANGEMAX>
<STEP>0.1</STEP>
</FIELD>
</FIELDS>
<SUBHEAD>Dampening:</SUBHEAD>
<DESC>Resistance to angular acceleration
A dynamic gain is applied so that the dampening only occurs at 100% when the control sticks are centered.
When the sticks are fully deflected:
1.0 = 0%
0.5 = 50%
0.0 = 100%</DESC>
<FIELDS>
<FIELD>
<NAME>Dampen</NAME>
<PARAMNAME>STAB_D</PARAMNAME>
<RANGEMIN>0</RANGEMIN>
<RANGEMAX>5</RANGEMAX>
<STEP>0.001</STEP>
</FIELD>
<FIELD>
<NAME>Dynamic</NAME>
<PARAMNAME>STAB_D_S</PARAMNAME>
<RANGEMIN>0</RANGEMIN>
<RANGEMAX>1</RANGEMAX>
<STEP>0.001</STEP>
</FIELD>
</FIELDS>
<SUBHEAD>Stabilize Control:</SUBHEAD>
<DESC>
How fast the copter reacts to user or autopilot input.
Higher = more aggressive control.
Too high = slow wobbles
</DESC>
<FIELDS>
<FIELD>
<NAME>P</NAME>
<PARAMNAME>STB_RLL_P</PARAMNAME>
<PARAMNAME>STB_PIT_P</PARAMNAME>
<RANGEMIN>0.001</RANGEMIN>
<RANGEMAX>5</RANGEMAX>
<STEP>0.001</STEP>
</FIELD>
<FIELD>
<NAME>I</NAME>
<PARAMNAME>STB_RLL_I</PARAMNAME>
<PARAMNAME>STB_PIT_I</PARAMNAME>
<RANGEMIN>0</RANGEMIN>
<RANGEMAX>5</RANGEMAX>
<STEP>0.001</STEP>
</FIELD>
<FIELD>
<NAME>IMAX</NAME>
<PARAMNAME>STB_RLL_IMAX</PARAMNAME>
<PARAMNAME>STB_PIT_IMAX</PARAMNAME>
<RANGEMIN>0</RANGEMIN>
<RANGEMAX>50</RANGEMAX>
<STEP>0.001</STEP>
</FIELD>
</FIELDS>
<SUBHEAD>Yaw Angular Rate Control:</SUBHEAD>
<DESC>How much throttle is applied to rotate the copter at the desired speed.
</DESC>
<FIELDS>
<FIELD>
<NAME>P</NAME>
<PARAMNAME>RATE_YAW_P</PARAMNAME>
<RANGEMIN>0.001</RANGEMIN>
<RANGEMAX>5</RANGEMAX>
<STEP>0.001</STEP>
</FIELD>
<FIELD>
<NAME>I</NAME>
<PARAMNAME>RATE_YAW_I</PARAMNAME>
<RANGEMIN>0</RANGEMIN>
<RANGEMAX>5</RANGEMAX>
<STEP>0.001</STEP>
</FIELD>
<FIELD>
<NAME>D</NAME>
<PARAMNAME>RATE_YAW_D</PARAMNAME>
<RANGEMIN>0</RANGEMIN>
<RANGEMAX>5</RANGEMAX>
<STEP>0.001</STEP>
</FIELD>
<FIELD>
<NAME>IMAX</NAME>
<PARAMNAME>RATE_YAW_IMAX</PARAMNAME>
<RANGEMIN>0</RANGEMIN>
<RANGEMAX>50</RANGEMAX>
<STEP>1</STEP>
</FIELD>
</FIELDS>
<SUBHEAD>Yaw Stabilize Control:</SUBHEAD>
<DESC>
How fast the copter reacts to user or autopilot input.
Higher = more aggressive control.
Too high = slow wobbles
</DESC>
<FIELDS>
<FIELD>
<NAME>P</NAME>
<PARAMNAME>STB_YAW_P</PARAMNAME>
<RANGEMIN>0.001</RANGEMIN>
<RANGEMAX>10</RANGEMAX>
<STEP>0.001</STEP>
</FIELD>
<FIELD>
<NAME>I</NAME>
<PARAMNAME>STB_YAW_I</PARAMNAME>
<RANGEMIN>0</RANGEMIN>
<RANGEMAX>5</RANGEMAX>
<STEP>0.001</STEP>
</FIELD>
<FIELD>
<NAME>IMAX</NAME>
<PARAMNAME>STB_YAW_IMAX</PARAMNAME>
<RANGEMIN>0</RANGEMIN>
<RANGEMAX>50</RANGEMAX>
<STEP>1</STEP>
</FIELD>
</FIELDS>
</Item>
<!-- Loiter -->
<Item>
<HEAD>Loiter:</HEAD>
<SUBHEAD>Angular Rate Control:</SUBHEAD>
<DESC>
How much angle is applied to make the copter accelerate to the desired speed.
</DESC>
<FIELDS>
<FIELD>
<NAME>P</NAME>
<PARAMNAME>LOITER_LAT_P</PARAMNAME>
<PARAMNAME>LOITER_LON_P</PARAMNAME>
<RANGEMIN>0.001</RANGEMIN>
<RANGEMAX>5</RANGEMAX>
<STEP>0.001</STEP>
</FIELD>
<FIELD>
<NAME>I</NAME>
<PARAMNAME>LOITER_LAT_I</PARAMNAME>
<PARAMNAME>LOITER_LON_I</PARAMNAME>
<RANGEMIN>0</RANGEMIN>
<RANGEMAX>5</RANGEMAX>
<STEP>0.001</STEP>
</FIELD>
<FIELD>
<NAME>D</NAME>
<PARAMNAME>LOITER_LAT_D</PARAMNAME>
<PARAMNAME>LOITER_LON_D</PARAMNAME>
<RANGEMIN>0</RANGEMIN>
<RANGEMAX>5</RANGEMAX>
<STEP>0.001</STEP>
</FIELD>
<FIELD>
<NAME>IMAX</NAME>
<PARAMNAME>LOITER_LAT_IMAX</PARAMNAME>
<PARAMNAME>LOITER_LON_IMAX</PARAMNAME>
<RANGEMIN>0</RANGEMIN>
<RANGEMAX>50</RANGEMAX>
<STEP>1</STEP>
</FIELD>
</FIELDS>
<SUBHEAD>Loiter Speed:</SUBHEAD>
<DESC>
How fast the copter should move towards the target. A larger value means a faster return to center, but can cause the copter to oscillate around the target.
A distance error of 100cm * P of .25 = 25 cm/s
</DESC>
<FIELDS>
<FIELD>
<NAME>P</NAME>
<PARAMNAME>HLD_LAT_P</PARAMNAME>
<PARAMNAME>HLD_LON_P</PARAMNAME>
<RANGEMIN>0.001</RANGEMIN>
<RANGEMAX>5</RANGEMAX>
<STEP>0.001</STEP>
</FIELD>
</FIELDS>
</Item>
<!-- WP Nav -->
<Item>
<HEAD>WP Navigation:</HEAD>
<SUBHEAD>Nav Rate Control:</SUBHEAD>
<DESC>
How much angle is applied to make the copter accelerate to the desired speed.
</DESC>
<FIELDS>
<FIELD>
<NAME>P</NAME>
<PARAMNAME>NAV_LAT_P</PARAMNAME>
<PARAMNAME>NAV_LON_P</PARAMNAME>
<RANGEMIN>0.001</RANGEMIN>
<RANGEMAX>5</RANGEMAX>
<STEP>0.001</STEP>
</FIELD>
<FIELD>
<NAME>I</NAME>
<PARAMNAME>NAV_LAT_I</PARAMNAME>
<PARAMNAME>NAV_LON_I</PARAMNAME>
<RANGEMIN>0</RANGEMIN>
<RANGEMAX>5</RANGEMAX>
<STEP>0.001</STEP>
</FIELD>
<FIELD>
<NAME>D</NAME>
<PARAMNAME>NAV_LAT_D</PARAMNAME>
<PARAMNAME>NAV_LON_D</PARAMNAME>
<RANGEMIN>0</RANGEMIN>
<RANGEMAX>5</RANGEMAX>
<STEP>0.001</STEP>
</FIELD>
<FIELD>
<NAME>IMAX</NAME>
<PARAMNAME>NAV_LAT_IMAX</PARAMNAME>
<PARAMNAME>NAV_LON_IMAX</PARAMNAME>
<RANGEMIN>0</RANGEMIN>
<RANGEMAX>50</RANGEMAX>
<STEP>0.1</STEP>
</FIELD>
</FIELDS>
<SUBHEAD>WP Speed:</SUBHEAD>
<DESC>
How fast the copter should move towards the target. A larger value means a faster return to center, but can cause the copter to oscillate around the target.
in m/s
</DESC>
<FIELDS>
<FIELD>
<NAME>Speed</NAME>
<PARAMNAME>WP_SPEED_MAX</PARAMNAME>
<RANGEMIN>1</RANGEMIN>
<RANGEMAX>30</RANGEMAX>
<STEP>1</STEP>
</FIELD>
</FIELDS>
</Item>
<!-- Alt Hold -->
<Item>
<HEAD>Altitude Hold:</HEAD>
<SUBHEAD>Altitude Error:</SUBHEAD>
<DESC>
How fast the copter should go to reach the correct altitude.
</DESC>
<FIELDS>
<FIELD>
<NAME>P</NAME>
<PARAMNAME>THR_ALT_P</PARAMNAME>
<RANGEMIN>0.001</RANGEMIN>
<RANGEMAX>5</RANGEMAX>
<STEP>0.001</STEP>
</FIELD>
<FIELD>
<NAME>I</NAME>
<PARAMNAME>THR_ALT_I</PARAMNAME>
<RANGEMIN>0</RANGEMIN>
<RANGEMAX>5</RANGEMAX>
<STEP>0.001</STEP>
</FIELD>
<FIELD>
<NAME>IMAX</NAME>
<PARAMNAME>THR_ALT_IMAX</PARAMNAME>
<RANGEMIN>0</RANGEMIN>
<RANGEMAX>50</RANGEMAX>
<STEP>0.1</STEP>
</FIELD>
</FIELDS>
<SUBHEAD>Thrust Rate:</SUBHEAD>
<DESC>
How much thrust to give us the desired rate.
This will change depending on the weight and thrust of your copter.
</DESC>
<FIELDS>
<FIELD>
<NAME>P</NAME>
<PARAMNAME>THR_RATE_P</PARAMNAME>
<RANGEMIN>0.001</RANGEMIN>
<RANGEMAX>5</RANGEMAX>
<STEP>0.001</STEP>
</FIELD>
<FIELD>
<NAME>I</NAME>
<PARAMNAME>THR_RATE_I</PARAMNAME>
<RANGEMIN>0</RANGEMIN>
<RANGEMAX>5</RANGEMAX>
<STEP>0.001</STEP>
</FIELD>
<FIELD>
<NAME>D</NAME>
<PARAMNAME>THR_RATE_D</PARAMNAME>
<RANGEMIN>0</RANGEMIN>
<RANGEMAX>5</RANGEMAX>
<STEP>0.001</STEP>
</FIELD>
<FIELD>
<NAME>IMAX</NAME>
<PARAMNAME>THR_RATE_IMAX</PARAMNAME>
<RANGEMIN>0</RANGEMIN>
<RANGEMAX>50</RANGEMAX>
<STEP>0.1</STEP>
</FIELD>
</FIELDS>
</Item>
</AC>