Tools: convert old param files to new plane PID params

4 years ago · 0be24c4946
16 changed files with 1080 additions and 1051 deletions
--- a/Tools/Frame_params/EFlight_Convergence.param
+++ b/Tools/Frame_params/EFlight_Convergence.param
@ -1,76 +1,80 @@
				@@ -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
--- 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
				@@ -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
				@@ -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
--- a/Tools/Frame_params/SkyWalkerX8.param
+++ b/Tools/Frame_params/SkyWalkerX8.param
@ -35,20 +35,20 @@ MIXING_GAIN,0.5
				@@ -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
--- a/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param
+++ b/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param
@ -35,20 +35,20 @@ MIXING_GAIN,0.5
				@@ -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
--- a/Tools/autotest/default_params/firefly.parm
+++ b/Tools/autotest/default_params/firefly.parm
@ -49,10 +49,10 @@ LIM_PITCH_MAX    3000
				@@ -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
				@@ -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
				@@ -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
--- 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
				@@ -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
				@@ -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
--- a/Tools/autotest/default_params/plane-jsbsim.parm
+++ b/Tools/autotest/default_params/plane-jsbsim.parm
@ -54,14 +54,14 @@ FLTMODE6        0
				@@ -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
				@@ -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
--- a/Tools/autotest/default_params/plane-soaring.parm
+++ b/Tools/autotest/default_params/plane-soaring.parm
@ -3,8 +3,8 @@ ARSPD_FBW_MIN   6
				@@ -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
				@@ -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
--- a/Tools/autotest/default_params/plane-tailsitter.parm
+++ b/Tools/autotest/default_params/plane-tailsitter.parm
@ -44,14 +44,14 @@ FLTMODE6        0
				@@ -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
				@@ -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
--- a/Tools/autotest/default_params/plane.parm
+++ b/Tools/autotest/default_params/plane.parm
@ -50,14 +50,14 @@ FLTMODE6        0
				@@ -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
				@@ -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
--- a/Tools/autotest/default_params/quadplane-cl84.parm
+++ b/Tools/autotest/default_params/quadplane-cl84.parm
@ -38,18 +38,18 @@ LIM_PITCH_MAX    3000
				@@ -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
				@@ -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
--- a/Tools/autotest/default_params/quadplane-tilttri.parm
+++ b/Tools/autotest/default_params/quadplane-tilttri.parm
@ -41,10 +41,10 @@ LIM_PITCH_MAX    3000
				@@ -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
				@@ -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
				@@ -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
--- a/Tools/autotest/default_params/quadplane-tilttrivec.parm
+++ b/Tools/autotest/default_params/quadplane-tilttrivec.parm
@ -41,10 +41,10 @@ LIM_PITCH_MAX    3000
				@@ -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
				@@ -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
				@@ -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
--- a/Tools/autotest/default_params/quadplane-tri.parm
+++ b/Tools/autotest/default_params/quadplane-tri.parm
@ -41,10 +41,10 @@ LIM_PITCH_MAX    3000
				@@ -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
				@@ -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
--- a/Tools/autotest/default_params/quadplane.parm
+++ b/Tools/autotest/default_params/quadplane.parm
@ -42,10 +42,10 @@ LIM_PITCH_MAX    3000
				@@ -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
				@@ -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
				@@ -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
--- a/Tools/autotest/default_params/vee-gull
+++ b/Tools/autotest/default_params/vee-gull