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89 lines
2.0 KiB
89 lines
2.0 KiB
EK2_ENABLE 1 |
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FRAME 0 |
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MAG_ENABLE 1 |
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FS_THR_ENABLE 1 |
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BATT_MONITOR 4 |
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CH7_OPT 7 |
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COMPASS_LEARN 0 |
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COMPASS_OFS_X 5 |
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COMPASS_OFS_Y 13 |
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COMPASS_OFS_Z -18 |
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COMPASS_OFS2_X 5 |
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COMPASS_OFS2_Y 13 |
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COMPASS_OFS2_Z -18 |
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FENCE_RADIUS 150 |
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RC1_MAX 2000.000000 |
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RC1_MIN 1000.000000 |
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RC1_TRIM 1500.000000 |
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RC2_MAX 2000.000000 |
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RC2_MIN 1000.000000 |
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RC2_TRIM 1500.000000 |
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RC3_MAX 2000.000000 |
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RC3_MIN 1000.000000 |
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RC3_TRIM 1500.000000 |
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RC4_MAX 2000.000000 |
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RC4_MIN 1000.000000 |
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RC4_TRIM 1500.000000 |
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RC5_MAX 2000.000000 |
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RC5_MIN 1000.000000 |
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RC5_TRIM 1500.000000 |
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RC6_MAX 2000.000000 |
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RC6_MIN 1000.000000 |
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RC6_TRIM 1500.000000 |
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RC7_MAX 2000.000000 |
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RC7_MIN 1000.000000 |
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RC7_TRIM 1500.000000 |
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RC8_MAX 2000.000000 |
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RC8_MIN 1000.000000 |
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RC8_TRIM 1500.000000 |
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FLTMODE1 7 |
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FLTMODE2 9 |
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FLTMODE3 6 |
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FLTMODE4 3 |
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FLTMODE5 5 |
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FLTMODE6 0 |
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SUPER_SIMPLE 0 |
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SIM_GPS_DELAY 1 |
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SIM_ACC_RND 0 |
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SIM_GYR_RND 0 |
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SIM_WIND_SPD 0 |
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SIM_WIND_TURB 0 |
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SIM_BARO_RND 0 |
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SIM_MAG_RND 0 |
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SIM_GPS_GLITCH_X 0 |
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SIM_GPS_GLITCH_Y 0 |
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SIM_GPS_GLITCH_Z 0 |
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# we need small INS_ACC offsets so INS is recognised as being calibrated |
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INS_ACCOFFS_X 0.001 |
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INS_ACCOFFS_Y 0.001 |
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INS_ACCOFFS_Z 0.001 |
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INS_ACCSCAL_X 1.001 |
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INS_ACCSCAL_Y 1.001 |
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INS_ACCSCAL_Z 1.001 |
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INS_ACC2OFFS_X 0.001 |
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INS_ACC2OFFS_Y 0.001 |
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INS_ACC2OFFS_Z 0.001 |
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INS_ACC2SCAL_X 1.001 |
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INS_ACC2SCAL_Y 1.001 |
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INS_ACC2SCAL_Z 1.001 |
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INS_ACC3OFFS_X 0.000 |
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INS_ACC3OFFS_Y 0.000 |
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INS_ACC3OFFS_Z 0.000 |
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INS_ACC3SCAL_X 1.000 |
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INS_ACC3SCAL_Y 1.000 |
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INS_ACC3SCAL_Z 1.000 |
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MOT_THST_EXPO 0.5 |
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# autotune results |
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ATC_RATE_FF_ENAB 1.000000 |
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ATC_RAT_PIT_D 0.002706 |
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ATC_RAT_PIT_I 0.331873 |
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ATC_RAT_PIT_IMAX 0.444000 |
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ATC_RAT_PIT_P 0.331873 |
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ATC_RAT_RLL_D 0.003133 |
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ATC_RAT_RLL_I 0.349340 |
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ATC_RAT_RLL_IMAX 0.444000 |
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ATC_RAT_RLL_P 0.349340 |
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ATC_RAT_YAW_D 0.000000 |
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ATC_RAT_YAW_I 0.060954 |
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ATC_RAT_YAW_IMAX 0.222000 |
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ATC_RAT_YAW_P 0.609544
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