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mav.parm
503 lines (503 loc) · 13.1 KB
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mav.parm
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ACCEL_Z_D 0.000000
ACCEL_Z_FILT_HZ 20.000000
ACCEL_Z_I 1.500000
ACCEL_Z_IMAX 800.000000
ACCEL_Z_P 0.750000
ACRO_BAL_PITCH 1.000000
ACRO_BAL_ROLL 1.000000
ACRO_EXPO 0.300000
ACRO_RP_P 4.500000
ACRO_TRAINER 2.000000
ACRO_YAW_P 3.000000
AHRS_COMP_BETA 0.100000
AHRS_GPS_GAIN 1.000000
AHRS_GPS_MINSATS 6.000000
AHRS_GPS_USE 1.000000
AHRS_ORIENTATION 0.000000
AHRS_RP_P 0.100000
AHRS_TRIM_X -0.016351
AHRS_TRIM_Y 0.018025
AHRS_TRIM_Z 0.000000
AHRS_WIND_MAX 0.000000
AHRS_YAW_P 0.100000
ANGLE_MAX 3000.000000
ARMING_CHECK -9.000000
ATC_ACCEL_P_MAX 110000.000000
ATC_ACCEL_R_MAX 110000.000000
ATC_ACCEL_Y_MAX 18000.000000
ATC_RATE_FF_ENAB 1.000000
ATC_SLEW_YAW 1000.000000
AUTOTUNE_AGGR 0.100000
AUTOTUNE_AXES 7.000000
AUTOTUNE_MIN_D 0.004000
BATT2_AMP_OFFSET 0.000000
BATT2_AMP_PERVOL 17.000000
BATT2_CAPACITY 3300.000000
BATT2_CURR_PIN 3.000000
BATT2_MONITOR 0.000000
BATT2_VOLT_MULT 10.100000
BATT2_VOLT_PIN 2.000000
BATT_AMP_OFFSET 0.000000
BATT_AMP_PERVOLT 17.000000
BATT_CAPACITY 5100.000000
BATT_CURR_PIN 3.000000
BATT_MONITOR 4.000000
BATT_VOLT_MULT 12.020000
BATT_VOLT_PIN 2.000000
BRD_PWM_COUNT 4.000000
BRD_SAFETYENABLE 1.000000
BRD_SBUS_OUT 0.000000
BRD_SER1_RTSCTS 2.000000
BRD_SER2_RTSCTS 2.000000
BRD_SERIAL_NUM 0.000000
CAM_DURATION 10.000000
CAM_SERVO_OFF 1100.000000
CAM_SERVO_ON 1300.000000
CAM_TRIGG_DIST 0.000000
CAM_TRIGG_TYPE 0.000000
CH10_OPT 0.000000
CH11_OPT 0.000000
CH12_OPT 0.000000
CH7_OPT 18.000000
CH8_OPT 34.000000
CH9_OPT 0.000000
CHUTE_ALT_MIN 10.000000
CHUTE_ENABLED 0.000000
CHUTE_SERVO_OFF 1100.000000
CHUTE_SERVO_ON 1300.000000
CHUTE_TYPE 0.000000
CIRCLE_RADIUS 1000.000000
CIRCLE_RATE 20.000000
CLI_ENABLED 0.000000
COMPASS_AUTODEC 1.000000
COMPASS_DEC -0.169879
COMPASS_DEV_ID 73225.000000
COMPASS_DEV_ID2 131594.000000
COMPASS_DEV_ID3 0.000000
COMPASS_EXTERN2 0.000000
COMPASS_EXTERN3 0.000000
COMPASS_EXTERNAL 1.000000
COMPASS_LEARN 0.000000
COMPASS_MOT2_X 0.000000
COMPASS_MOT2_Y 0.000000
COMPASS_MOT2_Z 0.000000
COMPASS_MOT3_X 0.000000
COMPASS_MOT3_Y 0.000000
COMPASS_MOT3_Z 0.000000
COMPASS_MOTCT 0.000000
COMPASS_MOT_X 0.000000
COMPASS_MOT_Y 0.000000
COMPASS_MOT_Z 0.000000
COMPASS_OFS2_X -78.000000
COMPASS_OFS2_Y 114.000000
COMPASS_OFS2_Z -48.000000
COMPASS_OFS3_X 0.000000
COMPASS_OFS3_Y 0.000000
COMPASS_OFS3_Z 0.000000
COMPASS_OFS_X -39.723606
COMPASS_OFS_Y -108.305550
COMPASS_OFS_Z -265.148254
COMPASS_ORIENT 0.000000
COMPASS_ORIENT2 0.000000
COMPASS_ORIENT3 0.000000
COMPASS_PRIMARY 0.000000
COMPASS_USE 1.000000
COMPASS_USE2 1.000000
COMPASS_USE3 1.000000
EKF_ABIAS_PNOISE 0.000100
EKF_ACC_PNOISE 0.250000
EKF_ALT_NOISE 1.000000
EKF_ALT_SOURCE 1.000000
EKF_EAS_GATE 10.000000
EKF_EAS_NOISE 1.400000
EKF_FALLBACK 1.000000
EKF_FLOW_DELAY 10.000000
EKF_FLOW_GATE 3.000000
EKF_FLOW_NOISE 0.250000
EKF_GBIAS_PNOISE 0.000001
EKF_GLITCH_ACCEL 150.000000
EKF_GLITCH_RAD 15.000000
EKF_GND_GRADIENT 2.000000
EKF_GPS_TYPE 0.000000
EKF_GYRO_PNOISE 0.015000
EKF_HGT_GATE 10.000000
EKF_MAGB_PNOISE 0.000300
EKF_MAGE_PNOISE 0.000300
EKF_MAG_CAL 1.000000
EKF_MAG_GATE 3.000000
EKF_MAG_NOISE 0.050000
EKF_MAX_FLOW 2.500000
EKF_POSNE_NOISE 0.500000
EKF_POS_DELAY 220.000000
EKF_POS_GATE 10.000000
EKF_RNG_GATE 5.000000
EKF_VELD_NOISE 0.700000
EKF_VELNE_NOISE 0.500000
EKF_VEL_DELAY 220.000000
EKF_VEL_GATE 6.000000
EKF_WIND_PNOISE 0.100000
EKF_WIND_PSCALE 0.500000
EPM_ENABLE 0.000000
EPM_GRAB 1900.000000
EPM_NEUTRAL 1500.000000
EPM_REGRAB 0.000000
EPM_RELEASE 1100.000000
ESC_CALIBRATION 0.000000
FENCE_ACTION 1.000000
FENCE_ALT_MAX 100.000000
FENCE_ENABLE 0.000000
FENCE_MARGIN 2.000000
FENCE_RADIUS 300.000000
FENCE_TYPE 3.000000
FLOW_ENABLE 0.000000
FLOW_FXSCALER 0.000000
FLOW_FYSCALER 0.000000
FLOW_ORIENT_YAW 0.000000
FLTMODE1 2.000000
FLTMODE2 5.000000
FLTMODE3 3.000000
FLTMODE4 6.000000
FLTMODE5 6.000000
FLTMODE6 6.000000
FRAME 2.000000
FS_BATT_ENABLE 1.000000
FS_BATT_MAH 0.000000
FS_BATT_VOLTAGE 10.500000
FS_EKF_ACTION 1.000000
FS_EKF_THRESH 0.800000
FS_GCS_ENABLE 1.000000
FS_THR_ENABLE 1.000000
FS_THR_VALUE 975.000000
GCS_PID_MASK 0.000000
GND_ABS_PRESS 99966.828125
GND_ALT_OFFSET 0.000000
GND_TEMP 23.738214
GPS_AUTO_SWITCH 1.000000
GPS_GNSS_MODE 0.000000
GPS_HDOP_GOOD 250.000000
GPS_INJECT_TO 127.000000
GPS_MIN_DGPS 100.000000
GPS_MIN_ELEV -100.000000
GPS_NAVFILTER 8.000000
GPS_RAW_DATA 0.000000
GPS_SBAS_MODE 2.000000
GPS_SBP_LOGMASK -256.000000
GPS_TYPE 1.000000
GPS_TYPE2 0.000000
INS_ACC2OFFS_X 0.132851
INS_ACC2OFFS_Y 0.305275
INS_ACC2OFFS_Z 0.778336
INS_ACC2SCAL_X 1.051096
INS_ACC2SCAL_Y 1.009230
INS_ACC2SCAL_Z 1.029265
INS_ACC3OFFS_X 0.000000
INS_ACC3OFFS_Y 0.000000
INS_ACC3OFFS_Z 0.000000
INS_ACC3SCAL_X 0.000000
INS_ACC3SCAL_Y 0.000000
INS_ACC3SCAL_Z 0.000000
INS_ACCEL_FILTER 20.000000
INS_ACCOFFS_X -0.127882
INS_ACCOFFS_Y -0.029714
INS_ACCOFFS_Z 0.121681
INS_ACCSCAL_X 0.994803
INS_ACCSCAL_Y 0.990767
INS_ACCSCAL_Z 0.993368
INS_GYR2OFFS_X -0.008439
INS_GYR2OFFS_Y 0.037272
INS_GYR2OFFS_Z -0.020184
INS_GYR3OFFS_X 0.000000
INS_GYR3OFFS_Y 0.000000
INS_GYR3OFFS_Z 0.000000
INS_GYROFFS_X 0.022838
INS_GYROFFS_Y 0.012699
INS_GYROFFS_Z -0.030682
INS_GYRO_FILTER 20.000000
INS_PRODUCT_ID 5.000000
INS_USE 1.000000
INS_USE2 1.000000
INS_USE3 0.000000
LAND_REPOSITION 1.000000
LAND_SPEED 50.000000
LGR_SERVO_DEPLOY 1750.000000
LGR_SERVO_RTRACT 1250.000000
LOG_BITMASK 43006.000000
MAG_ENABLE 1.000000
MIS_RESTART 0.000000
MIS_TOTAL 8.000000
MNT_ANGMAX_PAN 4500.000000
MNT_ANGMAX_ROL 4500.000000
MNT_ANGMAX_TIL 0.000000
MNT_ANGMIN_PAN -4500.000000
MNT_ANGMIN_ROL -4500.000000
MNT_ANGMIN_TIL -9000.000000
MNT_DEFLT_MODE 3.000000
MNT_JSTICK_SPD 0.000000
MNT_K_RATE 5.000000
MNT_LEAD_PTCH 0.000000
MNT_LEAD_RLL 0.000000
MNT_NEUTRAL_X 0.000000
MNT_NEUTRAL_Y 0.000000
MNT_NEUTRAL_Z 0.000000
MNT_OFF_ACC_X 0.000000
MNT_OFF_ACC_Y 0.000000
MNT_OFF_ACC_Z 0.000000
MNT_OFF_GYRO_X 0.000000
MNT_OFF_GYRO_Y 0.000000
MNT_OFF_GYRO_Z 0.000000
MNT_OFF_JNT_X 0.000000
MNT_OFF_JNT_Y 0.000000
MNT_OFF_JNT_Z 0.000000
MNT_RC_IN_PAN 0.000000
MNT_RC_IN_ROLL 0.000000
MNT_RC_IN_TILT 6.000000
MNT_RETRACT_X 0.000000
MNT_RETRACT_Y 0.000000
MNT_RETRACT_Z 0.000000
MNT_STAB_PAN 0.000000
MNT_STAB_ROLL 0.000000
MNT_STAB_TILT 0.000000
MNT_TYPE 1.000000
MOT_CURR_MAX 0.000000
MOT_SPIN_ARMED 90.000000
MOT_THR_MIX_MAX 0.500000
MOT_THR_MIX_MIN 0.100000
MOT_THST_BAT_MAX 0.000000
MOT_THST_BAT_MIN 0.000000
MOT_THST_EXPO 0.650000
MOT_THST_MAX 0.950000
MOT_YAW_HEADROOM 200.000000
PHLD_BRAKE_ANGLE 3000.000000
PHLD_BRAKE_RATE 8.000000
PILOT_ACCEL_Z 250.000000
PILOT_THR_BHV 0.000000
PILOT_THR_FILT 0.000000
PILOT_TKOFF_ALT 0.000000
PILOT_TKOFF_DZ 100.000000
PILOT_VELZ_MAX 250.000000
POS_XY_P 1.000000
POS_Z_P 1.000000
PSC_ACC_XY_FILT 2.000000
RALLY_INCL_HOME 1.000000
RALLY_LIMIT_KM 0.300000
RALLY_TOTAL 0.000000
RATE_PIT_D 0.009250
RATE_PIT_FILT_HZ 20.000000
RATE_PIT_I 0.140000
RATE_PIT_IMAX 1000.000000
RATE_PIT_P 0.140000
RATE_RLL_D 0.012500
RATE_RLL_FILT_HZ 20.000000
RATE_RLL_I 0.202500
RATE_RLL_IMAX 1000.000000
RATE_RLL_P 0.202500
RATE_YAW_D 0.004000
RATE_YAW_FILT_HZ 5.000000
RATE_YAW_I 0.040000
RATE_YAW_IMAX 1000.000000
RATE_YAW_P 0.400000
RC10_DZ 0.000000
RC10_FUNCTION 0.000000
RC10_MAX 1900.000000
RC10_MIN 1100.000000
RC10_REV 1.000000
RC10_TRIM 1500.000000
RC11_DZ 0.000000
RC11_FUNCTION 0.000000
RC11_MAX 1900.000000
RC11_MIN 1100.000000
RC11_REV 1.000000
RC11_TRIM 1500.000000
RC12_DZ 0.000000
RC12_FUNCTION 0.000000
RC12_MAX 1900.000000
RC12_MIN 1100.000000
RC12_REV 1.000000
RC12_TRIM 1500.000000
RC13_DZ 0.000000
RC13_FUNCTION 0.000000
RC13_MAX 1900.000000
RC13_MIN 1100.000000
RC13_REV 1.000000
RC13_TRIM 1500.000000
RC14_DZ 0.000000
RC14_FUNCTION 0.000000
RC14_MAX 1900.000000
RC14_MIN 1100.000000
RC14_REV 1.000000
RC14_TRIM 1500.000000
RC1_DZ 30.000000
RC1_MAX 2015.000000
RC1_MIN 991.000000
RC1_REV 1.000000
RC1_TRIM 1496.000000
RC2_DZ 30.000000
RC2_MAX 1932.000000
RC2_MIN 1057.000000
RC2_REV 1.000000
RC2_TRIM 1504.000000
RC3_DZ 30.000000
RC3_MAX 2016.000000
RC3_MIN 992.000000
RC3_REV 1.000000
RC3_TRIM 992.000000
RC4_DZ 40.000000
RC4_MAX 2016.000000
RC4_MIN 992.000000
RC4_REV 1.000000
RC4_TRIM 1503.000000
RC5_DZ 0.000000
RC5_FUNCTION 0.000000
RC5_MAX 1863.000000
RC5_MIN 1146.000000
RC5_REV 1.000000
RC5_TRIM 1146.000000
RC6_DZ 0.000000
RC6_FUNCTION 0.000000
RC6_MAX 2016.000000
RC6_MIN 992.000000
RC6_REV 1.000000
RC6_TRIM 1491.000000
RC7_DZ 0.000000
RC7_FUNCTION 0.000000
RC7_MAX 2017.000000
RC7_MIN 992.000000
RC7_REV 1.000000
RC7_TRIM 993.000000
RC8_DZ 0.000000
RC8_FUNCTION 0.000000
RC8_MAX 1505.000000
RC8_MIN 1500.000000
RC8_REV 1.000000
RC8_TRIM 1504.000000
RC9_DZ 0.000000
RC9_FUNCTION 7.000000
RC9_MAX 1520.000000
RC9_MIN 1000.000000
RC9_REV 1.000000
RC9_TRIM 1500.000000
RCMAP_PITCH 2.000000
RCMAP_ROLL 1.000000
RCMAP_THROTTLE 3.000000
RCMAP_YAW 4.000000
RC_FEEL_RP 25.000000
RC_SPEED 490.000000
RELAY_DEFAULT 0.000000
RELAY_PIN 54.000000
RELAY_PIN2 -1.000000
RELAY_PIN3 -1.000000
RELAY_PIN4 -1.000000
RNGFND2_FUNCTION 0.000000
RNGFND2_GNDCLEAR 10.000000
RNGFND2_MAX_CM 700.000000
RNGFND2_MIN_CM 20.000000
RNGFND2_OFFSET 0.000000
RNGFND2_PIN -1.000000
RNGFND2_RMETRIC 1.000000
RNGFND2_SCALING 3.000000
RNGFND2_SETTLE 0.000000
RNGFND2_STOP_PIN -1.000000
RNGFND2_TYPE 0.000000
RNGFND_FUNCTION 0.000000
RNGFND_GAIN 0.800000
RNGFND_GNDCLEAR 10.000000
RNGFND_MAX_CM 700.000000
RNGFND_MIN_CM 20.000000
RNGFND_OFFSET 0.000000
RNGFND_PIN -1.000000
RNGFND_PWRRNG 0.000000
RNGFND_RMETRIC 1.000000
RNGFND_SCALING 3.000000
RNGFND_SETTLE 0.000000
RNGFND_STOP_PIN -1.000000
RNGFND_TYPE 0.000000
RPM2_SCALING 1.000000
RPM2_TYPE 0.000000
RPM_SCALING 1.000000
RPM_TYPE 0.000000
RSSI_PIN -1.000000
RSSI_RANGE 5.000000
RTL_ALT 0.000000
RTL_ALT_FINAL 0.000000
RTL_CLIMB_MIN 0.000000
RTL_LOIT_TIME 5000.000000
SCHED_DEBUG 0.000000
SERIAL0_BAUD 115.000000
SERIAL1_BAUD 57.000000
SERIAL1_PROTOCOL 1.000000
SERIAL2_BAUD 9.000000
SERIAL2_PROTOCOL 3.000000
SERIAL3_BAUD 38.000000
SERIAL3_PROTOCOL 5.000000
SERIAL4_BAUD 38.000000
SERIAL4_PROTOCOL 5.000000
SIMPLE 0.000000
SR0_EXTRA1 10.000000
SR0_EXTRA2 10.000000
SR0_EXTRA3 2.000000
SR0_EXT_STAT 2.000000
SR0_PARAMS 0.000000
SR0_POSITION 3.000000
SR0_RAW_CTRL 0.000000
SR0_RAW_SENS 2.000000
SR0_RC_CHAN 2.000000
SR1_EXTRA1 4.000000
SR1_EXTRA2 4.000000
SR1_EXTRA3 4.000000
SR1_EXT_STAT 4.000000
SR1_PARAMS 10.000000
SR1_POSITION 4.000000
SR1_RAW_CTRL 4.000000
SR1_RAW_SENS 4.000000
SR1_RC_CHAN 4.000000
SR2_EXTRA1 0.000000
SR2_EXTRA2 0.000000
SR2_EXTRA3 0.000000
SR2_EXT_STAT 0.000000
SR2_PARAMS 0.000000
SR2_POSITION 0.000000
SR2_RAW_CTRL 0.000000
SR2_RAW_SENS 0.000000
SR2_RC_CHAN 0.000000
SR3_EXTRA1 0.000000
SR3_EXTRA2 0.000000
SR3_EXTRA3 0.000000
SR3_EXT_STAT 0.000000
SR3_PARAMS 0.000000
SR3_POSITION 0.000000
SR3_RAW_CTRL 0.000000
SR3_RAW_SENS 0.000000
SR3_RC_CHAN 0.000000
STB_PIT_P 11.250000
STB_RLL_P 11.250000
STB_YAW_P 6.000000
SUPER_SIMPLE 0.000000
SYSID_MYGCS 255.000000
SYSID_SW_MREV 120.000000
SYSID_SW_TYPE 10.000000
SYSID_THISMAV 1.000000
TELEM_DELAY 0.000000
TERRAIN_ENABLE 1.000000
TERRAIN_SPACING 100.000000
THR_DZ 50.000000
THR_MID 700.000000
THR_MIN 130.000000
TUNE 0.000000
TUNE_HIGH 1000.000000
TUNE_LOW 0.000000
VEL_XY_FILT_HZ 5.000000
VEL_XY_I 0.500000
VEL_XY_IMAX 1000.000000
VEL_XY_P 1.000000
VEL_Z_P 6.000000
WPNAV_ACCEL 250.000000
WPNAV_ACCEL_Z 100.000000
WPNAV_LOIT_JERK 1000.000000
WPNAV_LOIT_MAXA 250.000000
WPNAV_LOIT_MINA 25.000000
WPNAV_LOIT_SPEED 1000.000000
WPNAV_RADIUS 200.000000
WPNAV_SPEED 650.000000
WPNAV_SPEED_DN 150.000000
WPNAV_SPEED_UP 250.000000
WP_YAW_BEHAVIOR 2.000000