Hi All,
I am using hexa-drone as shown in the following image in an indoor experiment. It is F550 replica.
I used the motion caption system for localization (mocap pkg in ROS). The output from the optitrack system is being send to the to the mocap pkg and the topic that present the position of three marker has been remapped to “/mavros/mocap/pose”.
The autopilot used was LPE px4 version PX4FMU_V2 and the params are added at the end of this discussion. I assigned the remote control switches to the diffienert operation modes [ Manual, Assiste(Position control and ALT control )] .
The experiment I conducted started with manual mode, then I switch to position control mode(Since I am using the motion caption system and I have indoor localization). I rise the throttle for take off to a specific height. After that, I am expecting that if I left the throttle, the drone will hover. [ I performed this test using DJI Flamewheel 550 drone and it was successful]. but what I faced is that the drone aggressively goes upwards, once you switch to position hold modeI.
I could not uplod the px4 log file but I used log muncher to plot the px4log data and the pdf file is attached. Test2.pdf (2.6 MB)
I don’t know how to fix this problem and to make the position hold works for this drone. Any suggestions?
The params are:
ATT_ACC_COMP = 1.0
ATT_BIAS_MAX = 0.0500000007451
ATT_EXT_HDG_M = 2.0
ATT_J11 = 0.00179999996908
ATT_J22 = 0.00179999996908
ATT_J33 = 0.00370000000112
ATT_J_EN = 0.0
ATT_MAG_DECL = 0.0
ATT_MAG_DECL_A = 1.0
ATT_VIBE_THRESH = 0.20000000298
ATT_W_ACC = 0.20000000298
ATT_W_EXT_HDG = 0.10000000149
ATT_W_GYRO_BIAS = 0.10000000149
ATT_W_MAG = 0.10000000149
BAT_A_PER_V = 15.3910303116
BAT_CAPACITY = -1.0
BAT_CNT_V_CURR = 0.000805664050858
BAT_CNT_V_VOLT = 0.000805664050858
BAT_CRIT_THR = 0.070000000298
BAT_LOW_THR = 0.15000000596
BAT_N_CELLS = 4.0
BAT_R_INTERNAL = -1.0
BAT_SOURCE = 0.0
BAT_V_CHARGED = 4.05000019073
BAT_V_DIV = 10.177939415
BAT_V_EMPTY = 3.40000009537
BAT_V_LOAD_DROP = 0.300000011921
BAT_V_OFFS_CURR = 0.0
BAT_V_SCALE_IO = 10000.0
BD_GPROPERTIES = 0.0299999993294
BD_OBJ_CD = 0.10000000149
BD_OBJ_MASS = 0.600000023842
BD_OBJ_SURFACE = 0.00311724538915
BD_PRECISION = 30.0
BD_TURNRADIUS = 120.0
CAL_ACC0_ID = 1246218.0
CAL_ACC0_XOFF = -0.0374970436096
CAL_ACC0_XSCALE = 0.993788063526
CAL_ACC0_YOFF = -0.0872263908386
CAL_ACC0_YSCALE = 0.997193336487
CAL_ACC0_ZOFF = 0.547762393951
CAL_ACC0_ZSCALE = 0.994553983212
CAL_ACC1_ID = 1114634.0
CAL_ACC1_XOFF = 0.778862476349
CAL_ACC1_XSCALE = 0.988591849804
CAL_ACC1_YOFF = 0.954995632172
CAL_ACC1_YSCALE = 1.02517175674
CAL_ACC1_ZOFF = 1.224360466
CAL_ACC1_ZSCALE = 0.996383607388
CAL_ACC2_ID = 0.0
CAL_ACC2_XOFF = 0.0
CAL_ACC2_XSCALE = 1.0
CAL_ACC2_YOFF = 0.0
CAL_ACC2_YSCALE = 1.0
CAL_ACC2_ZOFF = 0.0
CAL_ACC2_ZSCALE = 1.0
CAL_ACC_PRIME = 1246218.0
CAL_BARO_PRIME = 0.0
CAL_BOARD_ID = 909389888.0
CAL_GYRO0_ID = 2163722.0
CAL_GYRO0_XOFF = 0.010912890546
CAL_GYRO0_XSCAL = 1.0
CAL_GYRO0_YOFF = 0.0100403288379
CAL_GYRO0_YSCAL = 1.0
CAL_GYRO0_ZOFF = 0.028031161055
CAL_GYRO0_ZSCAL = 1.0
CAL_GYRO1_ID = 2228490.0
CAL_GYRO1_XOFF = 0.0136252958328
CAL_GYRO1_XSCAL = 1.0
CAL_GYRO1_YOFF = 0.00515778688714
CAL_GYRO1_YSCAL = 1.0
CAL_GYRO1_ZOFF = -0.0170913264155
CAL_GYRO1_ZSCAL = 1.0
CAL_GYRO2_ID = 0.0
CAL_GYRO2_XOFF = 0.0
CAL_GYRO2_XSCAL = 1.0
CAL_GYRO2_YOFF = 0.0
CAL_GYRO2_YSCAL = 1.0
CAL_GYRO2_ZOFF = 0.0
CAL_GYRO2_ZSCAL = 1.0
CAL_GYRO_PRIME = 2163722.0
CAL_MAG0_ID = 73225.0
CAL_MAG0_ROT = 0.0
CAL_MAG0_XOFF = -0.00998919084668
CAL_MAG0_XSCALE = 0.894858837128
CAL_MAG0_YOFF = -0.0225203484297
CAL_MAG0_YSCALE = 0.970314085484
CAL_MAG0_ZOFF = 0.0360614135861
CAL_MAG0_ZSCALE = 0.966788589954
CAL_MAG1_ID = 131594.0
CAL_MAG1_ROT = -1.0
CAL_MAG1_XOFF = -0.00591997336596
CAL_MAG1_XSCALE = 1.0
CAL_MAG1_YOFF = -0.0555798783898
CAL_MAG1_YSCALE = 1.0
CAL_MAG1_ZOFF = 0.0498209409416
CAL_MAG1_ZSCALE = 1.0
CAL_MAG2_ID = 0.0
CAL_MAG2_ROT = -1.0
CAL_MAG2_XOFF = 0.0
CAL_MAG2_XSCALE = 1.0
CAL_MAG2_YOFF = 0.0
CAL_MAG2_YSCALE = 1.0
CAL_MAG2_ZOFF = 0.0
CAL_MAG2_ZSCALE = 1.0
CAL_MAG_PRIME = 73225.0
CAL_MAG_SIDES = 63.0
CANNODE_BITRATE = 1000000.0
CANNODE_NODE_ID = 120.0
CBRK_AIRSPD_CHK = 0.0
CBRK_BUZZER = 0.0
CBRK_ENGINEFAIL = 284953.0
CBRK_FLIGHTTERM = 121212.0
CBRK_GPSFAIL = 0.0
CBRK_IO_SAFETY = 0.0
CBRK_NO_VISION = 0.0
CBRK_RATE_CTRL = 0.0
CBRK_SUPPLY_CHK = 0.0
CBRK_USB_CHK = 0.0
COM_ARM_EKF_AB = 0.00499999988824
COM_ARM_EKF_GB = 0.000869999988936
COM_ARM_EKF_HGT = 1.0
COM_ARM_EKF_POS = 0.5
COM_ARM_EKF_VEL = 0.5
COM_ARM_EKF_YAW = 0.5
COM_ARM_IMU_ACC = 0.699999988079
COM_ARM_IMU_GYR = 0.15000000596
COM_ARM_SWISBTN = 0.0
COM_ARM_WO_GPS = 1.0
COM_AUTOS_PAR = 1.0
COM_DISARM_LAND = 10.0
COM_DL_LOSS_T = 10.0
COM_DL_REG_T = 0.0
COM_EF_C2T = 5.0
COM_EF_THROT = 0.5
COM_EF_TIME = 10.0
COM_FLTMODE1 = 7.0
COM_FLTMODE2 = -1.0
COM_FLTMODE3 = -1.0
COM_FLTMODE4 = 2.0
COM_FLTMODE5 = -1.0
COM_FLTMODE6 = 1.0
COM_HOME_H_T = 5.0
COM_HOME_V_T = 10.0
COM_LOW_BAT_ACT = 2.0
COM_OBL_ACT = 0.0
COM_OBL_RC_ACT = 0.0
COM_OF_LOSS_T = 0.0
COM_RC_ARM_HYST = 1000.0
COM_RC_IN_MODE = 0.0
COM_RC_LOSS_T = 0.5
EKF2_ABIAS_INIT = 0.20000000298
EKF2_ACC_B_NOIS = 0.00300000002608
EKF2_ACC_NOISE = 0.34999999404
EKF2_AID_MASK = 1.0
EKF2_ANGERR_INI = 0.10000000149
EKF2_ARSP_THR = 0.0
EKF2_ASP_DELAY = 200.0
EKF2_BARO_DELAY = 0.0
EKF2_BARO_GATE = 5.0
EKF2_BARO_NOISE = 2.0
EKF2_BETA_NOISE = 0.300000011921
EKF2_DECL_TYPE = 7.0
EKF2_EAS_NOISE = 1.39999997616
EKF2_EVA_NOISE = 0.0500000007451
EKF2_EVP_NOISE = 0.0500000007451
EKF2_EV_DELAY = 175.0
EKF2_EV_GATE = 5.0
EKF2_EV_POS_X = 0.0
EKF2_EV_POS_Y = 0.0
EKF2_EV_POS_Z = 0.0
EKF2_FUSE_BETA = 0.0
EKF2_GBIAS_INIT = 0.10000000149
EKF2_GPS_CHECK = 21.0
EKF2_GPS_DELAY = 200.0
EKF2_GPS_POS_X = 0.0
EKF2_GPS_POS_Y = 0.0
EKF2_GPS_POS_Z = 0.0
EKF2_GPS_P_GATE = 5.0
EKF2_GPS_P_NOIS = 0.5
EKF2_GPS_V_GATE = 5.0
EKF2_GPS_V_NOIS = 0.5
EKF2_GYR_B_NOIS = 0.0010000000475
EKF2_GYR_NOISE = 0.0149999996647
EKF2_HDG_GATE = 2.59999990463
EKF2_HEAD_NOISE = 0.300000011921
EKF2_HGT_MODE = 0.0
EKF2_IMU_POS_X = 0.0
EKF2_IMU_POS_Y = 0.0
EKF2_IMU_POS_Z = 0.0
EKF2_MAG_B_NOIS = 9.99999974738e-05
EKF2_MAG_DECL = 0.0
EKF2_MAG_DELAY = 0.0
EKF2_MAG_E_NOIS = 0.0010000000475
EKF2_MAG_GATE = 3.0
EKF2_MAG_NOISE = 0.0500000007451
EKF2_MAG_TYPE = 0.0
EKF2_MIN_EV = 0.00999999977648
EKF2_MIN_OBS_DT = 20.0
EKF2_MIN_RNG = 0.10000000149
EKF2_NOAID_NOIS = 10.0
EKF2_OF_DELAY = 5.0
EKF2_OF_GATE = 3.0
EKF2_OF_N_MAX = 0.5
EKF2_OF_N_MIN = 0.15000000596
EKF2_OF_POS_X = 0.0
EKF2_OF_POS_Y = 0.0
EKF2_OF_POS_Z = 0.0
EKF2_OF_QMIN = 1.0
EKF2_OF_RMAX = 2.5
EKF2_REC_RPL = 0.0
EKF2_REQ_EPH = 5.0
EKF2_REQ_EPV = 8.0
EKF2_REQ_GDOP = 2.5
EKF2_REQ_HDRIFT = 0.300000011921
EKF2_REQ_NSATS = 6.0
EKF2_REQ_SACC = 1.0
EKF2_REQ_VDRIFT = 0.5
EKF2_RNG_DELAY = 5.0
EKF2_RNG_GATE = 5.0
EKF2_RNG_NOISE = 0.10000000149
EKF2_RNG_POS_X = 0.0
EKF2_RNG_POS_Y = 0.0
EKF2_RNG_POS_Z = 0.0
EKF2_TAS_GATE = 3.0
EKF2_TAU_POS = 0.25
EKF2_TAU_VEL = 0.25
EKF2_TERR_GRAD = 0.5
EKF2_TERR_NOISE = 5.0
EKF2_WIND_NOISE = 0.10000000149
EKF_ATT_V3_Q0 = 9.99999974738e-05
EKF_ATT_V3_Q1 = 0.0799999982119
EKF_ATT_V3_Q2 = 0.00899999961257
EKF_ATT_V3_Q3 = 0.00499999988824
EKF_ATT_V4_R0 = 0.00079999997979
EKF_ATT_V4_R1 = 10000.0
EKF_ATT_V4_R2 = 100.0
ESC_BITRATE = 1000000.0
ESC_NODE_ID = 120.0
EXFW_HDNG_P = 0.10000000149
EXFW_PITCH_P = 0.20000000298
EXFW_ROLL_P = 0.20000000298
FW_AIRSPD_MAX = 20.0
FW_AIRSPD_MIN = 10.0
FW_AIRSPD_TRIM = 15.0
FW_ARSP_MODE = 0.0
FW_BAT_SCALE_EN = 0.0
FW_CLMBOUT_DIFF = 10.0
FW_FLAPERON_SCL = 0.0
FW_FLAPS_SCL = 1.0
FW_L1_DAMPING = 0.75
FW_L1_PERIOD = 20.0
FW_LND_AIRSPD_S = 1.29999995232
FW_LND_ANG = 5.0
FW_LND_FLALT = 8.0
FW_LND_FL_PMAX = 15.0
FW_LND_FL_PMIN = 2.5
FW_LND_HHDIST = 15.0
FW_LND_HVIRT = 10.0
FW_LND_TLALT = -1.0
FW_LND_USETER = 0.0
FW_MAN_P_MAX = 45.0
FW_MAN_P_SC = 1.0
FW_MAN_R_MAX = 45.0
FW_MAN_R_SC = 1.0
FW_MAN_Y_SC = 1.0
FW_PR_FF = 0.5
FW_PR_I = 0.019999999553
FW_PR_IMAX = 0.40000000596
FW_PR_P = 0.0799999982119
FW_PSP_OFF = 0.0
FW_P_LIM_MAX = 45.0
FW_P_LIM_MIN = -45.0
FW_P_RMAX_NEG = 60.0
FW_P_RMAX_POS = 60.0
FW_P_TC = 0.40000000596
FW_RR_FF = 0.5
FW_RR_I = 0.00999999977648
FW_RR_IMAX = 0.20000000298
FW_RR_P = 0.0500000007451
FW_RSP_OFF = 0.0
FW_R_LIM = 50.0
FW_R_RMAX = 70.0
FW_R_TC = 0.40000000596
FW_THR_CRUISE = 0.600000023842
FW_THR_IDLE = 0.15000000596
FW_THR_LND_MAX = 1.0
FW_THR_MAX = 1.0
FW_THR_MIN = 0.0
FW_THR_SLEW_MAX = 0.0
FW_T_CLMB_MAX = 5.0
FW_T_HGT_OMEGA = 3.0
FW_T_HRATE_FF = 0.0
FW_T_HRATE_P = 0.0500000007451
FW_T_INTEG_GAIN = 0.10000000149
FW_T_PTCH_DAMP = 0.0
FW_T_RLL2THR = 15.0
FW_T_SINK_MAX = 5.0
FW_T_SINK_MIN = 2.0
FW_T_SPDWEIGHT = 1.0
FW_T_SPD_OMEGA = 2.0
FW_T_SRATE_P = 0.019999999553
FW_T_THRO_CONST = 8.0
FW_T_THR_DAMP = 0.5
FW_T_TIME_CONST = 5.0
FW_T_VERT_ACC = 7.0
FW_WR_FF = 0.20000000298
FW_WR_I = 0.10000000149
FW_WR_IMAX = 1.0
FW_WR_P = 0.5
FW_W_RMAX = 0.0
FW_YCO_METHOD = 0.0
FW_YCO_VMIN = 1000.0
FW_YR_FF = 0.300000011921
FW_YR_I = 0.0
FW_YR_IMAX = 0.20000000298
FW_YR_P = 0.0500000007451
FW_Y_RMAX = 0.0
GF_ACTION = 1.0
GF_ALTMODE = 0.0
GF_COUNT = -1.0
GF_MAX_HOR_DIST = 0.0
GF_MAX_VER_DIST = 0.0
GF_SOURCE = 0.0
GPS_DUMP_COMM = 0.0
INAV_DELAY_GPS = 0.20000000298
INAV_DISAB_MOCA = 0.0
INAV_FLOW_DIST_ = 0.0
INAV_FLOW_DIST_ = 0.0
INAV_FLOW_K = 1.35000002384
INAV_FLOW_Q_MIN = 0.300000011921
INAV_LAND_DISP = 0.699999988079
INAV_LAND_T = 3.0
INAV_LAND_THR = 0.20000000298
INAV_LIDAR_ERR = 0.20000000298
INAV_LIDAR_EST = 0.0
INAV_LIDAR_OFF = 0.0
INAV_W_ACC_BIAS = 0.0500000007451
INAV_W_GPS_FLOW = 0.10000000149
INAV_W_MOC_P = 10.0
INAV_W_XY_FLOW = 0.800000011921
INAV_W_XY_GPS_P = 1.0
INAV_W_XY_GPS_V = 2.0
INAV_W_XY_RES_V = 0.5
INAV_W_XY_VIS_P = 7.0
INAV_W_XY_VIS_V = 0.0
INAV_W_Z_BARO = 0.5
INAV_W_Z_GPS_P = 0.00499999988824
INAV_W_Z_GPS_V = 0.0
INAV_W_Z_LIDAR = 3.0
INAV_W_Z_VIS_P = 5.0
ISBD_READINT = 10.0
LAUN_ALL_ON = 0.0
LAUN_CAT_A = 30.0
LAUN_CAT_MDEL = 0.0
LAUN_CAT_PMAX = 30.0
LAUN_CAT_T = 0.0500000007451
LED_RGB_MAXBRT = 15.0
LNDFW_AIRSPD_MA = 8.0
LNDFW_VELI_MAX = 4.0
LNDFW_VEL_XY_MA = 5.0
LNDFW_VEL_Z_MAX = 10.0
LNDMC_FFALL_THR = 2.0
LNDMC_FFALL_TTR = 0.300000011921
LNDMC_ROT_MAX = 20.0
LNDMC_THR_RANGE = 0.10000000149
LNDMC_XY_VEL_MA = 1.5
LNDMC_Z_VEL_MAX = 0.699999988079
LND_FLIGHT_TIME = 0.0
LPE_ACC_XY = 0.0120000001043
LPE_ACC_Z = 0.019999999553
LPE_BAR_Z = 3.0
LPE_EPH_MAX = 3.0
LPE_EPV_MAX = 5.0
LPE_FGYRO_HP = 0.0010000000475
LPE_FLW_OFF_Z = 0.0
LPE_FLW_QMIN = 150.0
LPE_FLW_R = 7.0
LPE_FLW_RR = 7.0
LPE_FLW_SCALE = 1.29999995232
LPE_FUSION = 28.0
LPE_GPS_DELAY = 0.289999991655
LPE_GPS_VXY = 0.25
LPE_GPS_VZ = 0.25
LPE_GPS_XY = 1.0
LPE_GPS_Z = 3.0
LPE_LAND_VXY = 0.0500000007451
LPE_LAND_Z = 0.0299999993294
LPE_LAT = 47.3977432251
LPE_LDR_OFF_Z = 0.0
LPE_LDR_Z = 0.0299999993294
LPE_LON = 8.54559421539
LPE_PN_B = 0.0010000000475
LPE_PN_P = 0.10000000149
LPE_PN_T = 0.0010000000475
LPE_PN_V = 0.10000000149
LPE_SNR_OFF_Z = 0.0
LPE_SNR_Z = 0.0500000007451
LPE_T_MAX_GRADE = 1.0
LPE_VIC_P = 0.0010000000475
LPE_VIS_DELAY = 0.10000000149
LPE_VIS_XY = 0.0010000000475
LPE_VIS_Z = 0.0010000000475
LPE_VXY_PUB = 0.300000011921
LPE_X_LP = 5.0
LPE_Z_PUB = 1.0
MAV_BROADCAST = 0.0
MAV_COMP_ID = 1.0
MAV_FWDEXTSP = 1.0
MAV_PROTO_VER = 0.0
MAV_RADIO_ID = 0.0
MAV_SYS_ID = 1.0
MAV_TEST_PAR = 1.0
MAV_TYPE = 13.0
MAV_USEHILGPS = 0.0
MC_ACRO_P_MAX = 360.0
MC_ACRO_R_MAX = 360.0
MC_ACRO_Y_MAX = 360.0
MC_BAT_SCALE_EN = 0.0
MC_PITCHRATE_D = 0.00300000002608
MC_PITCHRATE_FF = 0.0
MC_PITCHRATE_I = 0.0500000007451
MC_PITCHRATE_MA = 220.0
MC_PITCHRATE_P = 0.15000000596
MC_PITCH_P = 6.5
MC_PITCH_TC = 0.20000000298
MC_PR_INT_LIM = 0.300000011921
MC_RATT_TH = 1.0
MC_ROLLRATE_D = 0.00300000002608
MC_ROLLRATE_FF = 0.0
MC_ROLLRATE_I = 0.0500000007451
MC_ROLLRATE_MAX = 220.0
MC_ROLLRATE_P = 0.15000000596
MC_ROLL_P = 6.5
MC_ROLL_TC = 0.20000000298
MC_RR_INT_LIM = 0.300000011921
MC_TPA_BREAK_D = 1.0
MC_TPA_BREAK_I = 1.0
MC_TPA_BREAK_P = 1.0
MC_TPA_RATE_D = 0.0
MC_TPA_RATE_I = 0.0
MC_TPA_RATE_P = 0.0
MC_YAWRATE_D = 0.0
MC_YAWRATE_FF = 0.0
MC_YAWRATE_I = 0.10000000149
MC_YAWRATE_MAX = 200.0
MC_YAWRATE_P = 0.20000000298
MC_YAWRAUTO_MAX = 45.0
MC_YAW_FF = 0.5
MC_YAW_P = 2.79999995232
MC_YR_INT_LIM = 0.300000011921
MIS_ALTMODE = 1.0
MIS_DIST_1WP = 900.0
MIS_LTRMIN_ALT = 1.20000004768
MIS_ONBOARD_EN = 1.0
MIS_TAKEOFF_ALT = 2.5
MIS_YAWMODE = 1.0
MIS_YAW_ERR = 12.0
MIS_YAW_TMT = -1.0
MKBLCTRL_TEST = 0.0
MNT_MAN_CONTROL = 0.0
MNT_MAN_PITCH = 0.0
MNT_MAN_ROLL = 0.0
MNT_MAN_YAW = 0.0
MNT_MAV_COMPID = 67.0
MNT_MAV_SYSID = 71.0
MNT_MODE_IN = 0.0
MNT_MODE_OUT = 0.0
MNT_OB_LOCK_MOD = 0.0
MNT_OB_NORM_MOD = -1.0
MOT_SLEW_MAX = 0.0
MPC_ACC_HOR_MAX = 5.0
MPC_ALTCTL_DY = 0.0
MPC_ALTCTL_DZ = 0.10000000149
MPC_ALT_MODE = 0.0
MPC_HOLD_MAX_XY = 0.800000011921
MPC_HOLD_MAX_Z = 0.600000023842
MPC_HOLD_XY_DZ = 0.10000000149
MPC_LAND_SPEED = 0.20000000298
MPC_MANTHR_MAX = 0.899999976158
MPC_MANTHR_MIN = 0.0799999982119
MPC_MAN_P_MAX = 35.0
MPC_MAN_R_MAX = 35.0
MPC_MAN_Y_MAX = 200.0
MPC_THR_HOVER = 0.5
MPC_THR_MAX = 0.899999976158
MPC_THR_MIN = 0.119999997318
MPC_TILTMAX_AIR = 45.0
MPC_TILTMAX_LND = 12.0
MPC_TKO_SPEED = 1.5
MPC_VELD_LP = 5.0
MPC_XY_CRUISE = 5.0
MPC_XY_FF = 0.5
MPC_XY_P = 0.949999988079
MPC_XY_VEL_D = 0.00999999977648
MPC_XY_VEL_I = 0.019999999553
MPC_XY_VEL_MAX = 8.0
MPC_XY_VEL_P = 0.0900000035763
MPC_Z_FF = 0.5
MPC_Z_P = 1.0
MPC_Z_VEL_D = 0.0
MPC_Z_VEL_I = 0.019999999553
MPC_Z_VEL_MAX = 1.0
MPC_Z_VEL_MAX_D = 1.0
MPC_Z_VEL_MAX_U = 3.0
MPC_Z_VEL_P = 0.20000000298
MPP_LAND_SPEED = 1.0
MPP_MAN_P_MAX = 35.0
MPP_MAN_R_MAX = 35.0
MPP_MAN_Y_MAX = 120.0
MPP_THR_MAX = 1.0
MPP_THR_MIN = 0.10000000149
MPP_TILTMAX_AIR = 45.0
MPP_TILTMAX_LND = 15.0
MPP_XY_FF = 0.5
MPP_XY_P = 1.0
MPP_XY_VEL_D = 0.00999999977648
MPP_XY_VEL_I = 0.019999999553
MPP_XY_VEL_MAX = 5.0
MPP_XY_VEL_P = 0.10000000149
MPP_Z_FF = 0.5
MPP_Z_P = 1.0
MPP_Z_VEL_D = 0.0
MPP_Z_VEL_I = 0.019999999553
MPP_Z_VEL_MAX = 5.0
MPP_Z_VEL_P = 0.10000000149
MPU_ACC_LPF_ENM = 4.0
MPU_GYRO_LPF_EN = 4.0
MPU_SAMPLE_R_EN = 2.0
MP_ACRO_P_MAX = 35.0
MP_ACRO_R_MAX = 35.0
MP_ACRO_Y_MAX = 120.0
MP_PITCHRATE_D = 0.00200000009499
MP_PITCHRATE_I = 0.0
MP_PITCHRATE_P = 0.10000000149
MP_PITCH_P = 6.0
MP_ROLLRATE_D = 0.00200000009499
MP_ROLLRATE_I = 0.0
MP_ROLLRATE_P = 0.10000000149
MP_ROLL_P = 6.0
MP_YAWRATE_D = 0.0
MP_YAWRATE_I = 0.0
MP_YAWRATE_MAX = 60.0
MP_YAWRATE_P = 0.300000011921
MP_YAW_FF = 0.5
MP_YAW_P = 2.0
MT_ACC_D = 0.0
MT_ACC_D_LP = 0.5
MT_ACC_MAX = 40.0
MT_ACC_MIN = -40.0
MT_ACC_P = 0.300000011921
MT_AD_LP = 0.5
MT_ALT_LP = 1.0
MT_A_LP = 0.5
MT_ENABLED = 0.0
MT_FPA_D = 0.0
MT_FPA_D_LP = 1.0
MT_FPA_LP = 1.0
MT_FPA_MAX = 30.0
MT_FPA_MIN = -20.0
MT_FPA_P = 0.300000011921
MT_LND_PIT_MAX = 15.0
MT_LND_PIT_MIN = -5.0
MT_LND_THR_MAX = 0.0
MT_LND_THR_MIN = 0.0
MT_PIT_FF = 0.40000000596
MT_PIT_I = 0.0299999993294
MT_PIT_I_MAX = 10.0
MT_PIT_MAX = 20.0
MT_PIT_MIN = -45.0
MT_PIT_OFF = 0.0
MT_PIT_P = 0.0299999993294
MT_THR_FF = 0.699999988079
MT_THR_I = 0.25
MT_THR_I_MAX = 10.0
MT_THR_MAX = 1.0
MT_THR_MIN = 0.0
MT_THR_OFF = 0.699999988079
MT_THR_P = 0.10000000149
MT_TKF_PIT_MAX = 45.0
MT_TKF_PIT_MIN = 0.0
MT_TKF_THR_MAX = 1.0
MT_TKF_THR_MIN = 1.0
MT_USP_PIT_MAX = 0.0
MT_USP_PIT_MIN = -45.0
MT_USP_THR_MAX = 1.0
MT_USP_THR_MIN = 1.0
NAV_ACC_RAD = 2.0
NAV_AH_ALT = 600.0
NAV_AH_LAT = -265847808.0
NAV_AH_LON = 1518423296.0
NAV_DLL_ACT = 3.0
NAV_DLL_AH_T = 120.0
NAV_DLL_CHSK = 0.0
NAV_DLL_CH_ALT = 600.0
NAV_DLL_CH_LAT = -266072128.0
NAV_DLL_CH_LON = 1518453888.0
NAV_DLL_CH_T = 120.0
NAV_DLL_N = 2.0
NAV_FORCE_VT = 1.0
NAV_FT_DST = 8.0
NAV_FT_FS = 1.0
NAV_FT_RS = 0.5
NAV_FW_ALT_RAD = 10.0
NAV_GPSF_LT = 30.0
NAV_GPSF_P = 0.0
NAV_GPSF_R = 15.0
NAV_GPSF_TR = 0.699999988079
NAV_LOITER_RAD = 50.0
NAV_MC_ALT_RAD = 3.0
NAV_MIN_FT_HT = 8.0
NAV_RCL_ACT = 3.0
NAV_RCL_LT = 120.0
PE_ABIAS_PNOISE = 9.99999974738e-06
PE_ACC_PNOISE = 0.125
PE_EAS_NOISE = 1.39999997616
PE_GBIAS_PNOISE = 1.00000001169e-07
PE_GPS_ALT_WGT = 0.899999976158
PE_GYRO_PNOISE = 0.0149999996647
PE_HGT_DELAY_MS = 350.0
PE_MAGB_PNOISE = 0.000300000014249
PE_MAGB_X = 0.0
PE_MAGB_Y = 0.0
PE_MAGB_Z = 0.0
PE_MAGE_PNOISE = 0.000300000014249
PE_MAG_DELAY_MS = 30.0
PE_MAG_NOISE = 0.0500000007451
PE_POSDEV_INIT = 5.0
PE_POSD_NOISE = 1.25
PE_POSNE_NOISE = 0.5
PE_POS_DELAY_MS = 210.0
PE_TAS_DELAY_MS = 210.0
PE_VELD_NOISE = 0.300000011921
PE_VELNE_NOISE = 0.300000011921
PE_VEL_DELAY_MS = 230.0
PWM_AUX_DISARME = 1500.0
PWM_AUX_MAX = 2000.0
PWM_AUX_MIN = 1000.0
PWM_AUX_REV1 = 0.0
PWM_AUX_REV2 = 0.0
PWM_AUX_REV3 = 0.0
PWM_AUX_REV4 = 0.0
PWM_AUX_REV5 = 0.0
PWM_AUX_REV6 = 0.0
PWM_AUX_TRIM1 = 0.0
PWM_AUX_TRIM2 = 0.0
PWM_AUX_TRIM3 = 0.0
PWM_AUX_TRIM4 = 0.0
PWM_AUX_TRIM5 = 0.0
PWM_AUX_TRIM6 = 0.0
PWM_DISARMED = 900.0
PWM_MAIN_REV1 = 0.0
PWM_MAIN_REV2 = 0.0
PWM_MAIN_REV3 = 0.0
PWM_MAIN_REV4 = 0.0
PWM_MAIN_REV5 = 0.0
PWM_MAIN_REV6 = 0.0
PWM_MAIN_REV7 = 0.0
PWM_MAIN_REV8 = 0.0
PWM_MAIN_TRIM1 = 0.0
PWM_MAIN_TRIM2 = 0.0
PWM_MAIN_TRIM3 = 0.0
PWM_MAIN_TRIM4 = 0.0
PWM_MAIN_TRIM5 = 0.0
PWM_MAIN_TRIM6 = 0.0
PWM_MAIN_TRIM7 = 0.0
PWM_MAIN_TRIM8 = 0.0
PWM_MAX = 1950.0
PWM_MIN = 1075.0
PWM_RATE = 400.0
PWM_SBUS_MODE = 0.0
RC10_DZ = 0.0
RC10_MAX = 2000.0
RC10_MIN = 1000.0
RC10_REV = 1.0
RC10_TRIM = 1500.0
RC11_DZ = 0.0
RC11_MAX = 2000.0
RC11_MIN = 1000.0
RC11_REV = 1.0
RC11_TRIM = 1500.0
RC12_DZ = 0.0
RC12_MAX = 2000.0
RC12_MIN = 1000.0
RC12_REV = 1.0
RC12_TRIM = 1500.0
RC13_DZ = 0.0
RC13_MAX = 2000.0
RC13_MIN = 1000.0
RC13_REV = 1.0
RC13_TRIM = 1500.0
RC14_DZ = 0.0
RC14_MAX = 2000.0
RC14_MIN = 1000.0
RC14_REV = 1.0
RC14_TRIM = 1500.0
RC15_DZ = 0.0
RC15_MAX = 2000.0
RC15_MIN = 1000.0
RC15_REV = 1.0
RC15_TRIM = 1500.0
RC16_DZ = 0.0
RC16_MAX = 2000.0
RC16_MIN = 1000.0
RC16_REV = 1.0
RC16_TRIM = 1500.0
RC17_DZ = 0.0
RC17_MAX = 2000.0
RC17_MIN = 1000.0
RC17_REV = 1.0
RC17_TRIM = 1500.0
RC18_DZ = 0.0
RC18_MAX = 2000.0
RC18_MIN = 1000.0
RC18_REV = 1.0
RC18_TRIM = 1500.0
RC1_DZ = 10.0
RC1_MAX = 1895.0
RC1_MIN = 1095.0
RC1_REV = 1.0
RC1_TRIM = 1500.0
RC2_DZ = 10.0
RC2_MAX = 1895.0
RC2_MIN = 1096.0
RC2_REV = -1.0
RC2_TRIM = 1496.0
RC3_DZ = 10.0
RC3_MAX = 1994.0
RC3_MIN = 1008.0
RC3_REV = 1.0
RC3_TRIM = 1008.0
RC4_DZ = 10.0
RC4_MAX = 1902.0
RC4_MIN = 1102.0
RC4_REV = 1.0
RC4_TRIM = 1497.0
RC5_DZ = 10.0
RC5_MAX = 1901.0
RC5_MIN = 1099.0
RC5_REV = 1.0
RC5_TRIM = 1500.0
RC6_DZ = 10.0
RC6_MAX = 1901.0
RC6_MIN = 1099.0
RC6_REV = 1.0
RC6_TRIM = 1500.0
RC7_DZ = 10.0
RC7_MAX = 1901.0
RC7_MIN = 1099.0
RC7_REV = 1.0
RC7_TRIM = 1500.0
RC8_DZ = 10.0
RC8_MAX = 2000.0
RC8_MIN = 1000.0
RC8_REV = 1.0
RC8_TRIM = 1500.0
RC9_DZ = 0.0
RC9_MAX = 2000.0
RC9_MIN = 1000.0
RC9_REV = 1.0
RC9_TRIM = 1500.0
RC_ACRO_TH = 0.5
RC_ARMSWITCH_TH = 0.25
RC_ASSIST_TH = 0.25
RC_AUTO_TH = 0.75
RC_CHAN_CNT = 8.0
RC_DSM_BIND = -1.0
RC_FAILS_THR = 0.0
RC_GEAR_TH = 0.25
RC_KILLSWITCH_T = 0.25
RC_LOITER_TH = 0.472649306059
RC_MAP_ACRO_SW = 0.0
RC_MAP_ARM_SW = 0.0
RC_MAP_AUX1 = 0.0
RC_MAP_AUX2 = 0.0
RC_MAP_AUX3 = 0.0
RC_MAP_AUX4 = 0.0
RC_MAP_AUX5 = 0.0
RC_MAP_FAILSAFE = 0.0
RC_MAP_FLAPS = 0.0
RC_MAP_FLTMODE = 0.0
RC_MAP_GEAR_SW = 0.0
RC_MAP_KILL_SW = 0.0
RC_MAP_LOITER_S = 6.0
RC_MAP_MODE_SW = 7.0
RC_MAP_OFFB_SW = 6.0
RC_MAP_PARAM1 = 0.0
RC_MAP_PARAM2 = 0.0
RC_MAP_PARAM3 = 0.0
RC_MAP_PITCH = 2.0
RC_MAP_POSCTL_S = 5.0
RC_MAP_RATT_SW = 0.0
RC_MAP_RETURN_S = 0.0
RC_MAP_ROLL = 1.0
RC_MAP_THROTTLE = 3.0
RC_MAP_TRANS_SW = 0.0
RC_MAP_YAW = 4.0
RC_OFFB_TH = 0.566150546074
RC_POSCTL_TH = 0.5
RC_RATT_TH = 0.5
RC_RECEIVER_TYP = 1.0
RC_RETURN_TH = 0.5
RC_RL1_DSM_VCC = 0.0
RC_RSSI_PWM_CHA = 0.0
RC_RSSI_PWM_MAX = 1000.0
RC_RSSI_PWM_MIN = 2000.0
RC_TH_USER = 1.0
RC_TRANS_TH = 0.25
RTL_DESCEND_ALT = 1.0
RTL_LAND_DELAY = 0.0
RTL_MIN_DIST = 5.0
RTL_RETURN_ALT = 1.0
RV_YAW_P = 0.10000000149
RWTO_AIRSPD_SCL = 1.29999995232
RWTO_HDG = 0.0
RWTO_MAX_PITCH = 20.0
RWTO_MAX_ROLL = 25.0
RWTO_MAX_THR = 1.0
RWTO_NAV_ALT = 5.0
RWTO_PSP = 0.0
RWTO_TKOFF = 0.0
SDLOG_EXT = -1.0
SDLOG_GPSTIME = 1.0
SDLOG_MODE = 0.0
SDLOG_PRIO_BOOS = 2.0
SDLOG_RATE = -1.0
SDLOG_UTC_OFFSE = 0.0
SDLOG_UUID = 1.0
SEG_Q2V = 1.0
SEG_TH2V_I = 0.0
SEG_TH2V_I_MAX = 0.0
SEG_TH2V_P = 10.0
SENS_BARO_QNH = 1013.25
SENS_BOARD_ROT = 0.0
SENS_BOARD_X_OF = 0.682438313961
SENS_BOARD_Y_OF = -1.10227477551
SENS_BOARD_Z_OF = 0.0
SENS_DPRES_ANSC = 0.0
SENS_DPRES_OFF = 0.0
SENS_EN_LL40LS = 0.0
SENS_EN_MB12XX = 0.0
SENS_EN_SF0X = 0.0
SENS_EN_SF1XX = 3.0
SENS_EN_THERMAL = -1.0
SENS_EN_TRONE = 0.0
SENS_EXT_MAG = 0.0
SENS_EXT_MAG_RO = 0.0
SENS_FLOW_ROT = 6.0
SLNK_RADIO_ADDR = 231.0
SLNK_RADIO_ADDR = -404232224.0
SLNK_RADIO_CHAN = 80.0
SLNK_RADIO_RATE = 2.0
SUB_INTERV = 100.0
SUB_TESTF = 3.1400001049
SYS_AUTOCONFIG = 0.0
SYS_AUTOSTART = 6001.0
SYS_COMPANION = 921600.0
SYS_LOGGER = 0.0
SYS_MC_EST_GROU = 1.0
SYS_PARAM_VER = 1.0
SYS_RESTART_TYP = 0.0
SYS_STCK_EN = 0.0
SYS_USE_IO = 1.0
TC_A0_ID = 0.0
TC_A0_SCL_0 = 1.0
TC_A0_SCL_1 = 1.0
TC_A0_SCL_2 = 1.0
TC_A0_TMAX = 100.0
TC_A0_TMIN = 0.0
TC_A0_TREF = 25.0
TC_A0_X0_0 = 0.0
TC_A0_X0_1 = 0.0
TC_A0_X0_2 = 0.0
TC_A0_X1_0 = 0.0
TC_A0_X1_1 = 0.0
TC_A0_X1_2 = 0.0
TC_A0_X2_0 = 0.0
TC_A0_X2_1 = 0.0
TC_A0_X2_2 = 0.0
TC_A0_X3_0 = 0.0
TC_A0_X3_1 = 0.0
TC_A0_X3_2 = 0.0
TC_A1_ID = 0.0
TC_A1_SCL_0 = 1.0
TC_A1_SCL_1 = 1.0
TC_A1_SCL_2 = 1.0
TC_A1_TMAX = 100.0
TC_A1_TMIN = 0.0
TC_A1_TREF = 25.0
TC_A1_X0_0 = 0.0
TC_A1_X0_1 = 0.0
TC_A1_X0_2 = 0.0
TC_A1_X1_0 = 0.0
TC_A1_X1_1 = 0.0
TC_A1_X1_2 = 0.0
TC_A1_X2_0 = 0.0
TC_A1_X2_1 = 0.0
TC_A1_X2_2 = 0.0
TC_A1_X3_0 = 0.0
TC_A1_X3_1 = 0.0
TC_A1_X3_2 = 0.0
TC_A2_ID = 0.0
TC_A2_SCL_0 = 1.0
TC_A2_SCL_1 = 1.0
TC_A2_SCL_2 = 1.0
TC_A2_TMAX = 100.0
TC_A2_TMIN = 0.0
TC_A2_TREF = 25.0
TC_A2_X0_0 = 0.0
TC_A2_X0_1 = 0.0
TC_A2_X0_2 = 0.0
TC_A2_X1_0 = 0.0
TC_A2_X1_1 = 0.0
TC_A2_X1_2 = 0.0
TC_A2_X2_0 = 0.0
TC_A2_X2_1 = 0.0
TC_A2_X2_2 = 0.0
TC_A2_X3_0 = 0.0
TC_A2_X3_1 = 0.0
TC_A2_X3_2 = 0.0
TC_A_ENABLE = 0.0
TC_B0_ID = 0.0
TC_B0_SCL = 1.0
TC_B0_TMAX = 75.0
TC_B0_TMIN = 5.0
TC_B0_TREF = 40.0
TC_B0_X0 = 0.0
TC_B0_X1 = 0.0
TC_B0_X2 = 0.0
TC_B0_X3 = 0.0
TC_B0_X4 = 0.0
TC_B0_X5 = 0.0
TC_B1_ID = 0.0
TC_B1_SCL = 1.0
TC_B1_TMAX = 75.0
TC_B1_TMIN = 5.0
TC_B1_TREF = 40.0
TC_B1_X0 = 0.0
TC_B1_X1 = 0.0
TC_B1_X2 = 0.0
TC_B1_X3 = 0.0
TC_B1_X4 = 0.0
TC_B1_X5 = 0.0
TC_B2_ID = 0.0
TC_B2_SCL = 1.0
TC_B2_TMAX = 75.0
TC_B2_TMIN = 5.0
TC_B2_TREF = 40.0
TC_B2_X0 = 0.0
TC_B2_X1 = 0.0
TC_B2_X2 = 0.0
TC_B2_X3 = 0.0
TC_B2_X4 = 0.0
TC_B2_X5 = 0.0
TC_B_ENABLE = 0.0
TC_G0_ID = 0.0
TC_G0_SCL_0 = 1.0
TC_G0_SCL_1 = 1.0
TC_G0_SCL_2 = 1.0
TC_G0_TMAX = 100.0
TC_G0_TMIN = 0.0
TC_G0_TREF = 25.0
TC_G0_X0_0 = 0.0
TC_G0_X0_1 = 0.0
TC_G0_X0_2 = 0.0
TC_G0_X1_0 = 0.0
TC_G0_X1_1 = 0.0
TC_G0_X1_2 = 0.0
TC_G0_X2_0 = 0.0
TC_G0_X2_1 = 0.0
TC_G0_X2_2 = 0.0
TC_G0_X3_0 = 0.0
TC_G0_X3_1 = 0.0
TC_G0_X3_2 = 0.0
TC_G1_ID = 0.0
TC_G1_SCL_0 = 1.0
TC_G1_SCL_1 = 1.0
TC_G1_SCL_2 = 1.0
TC_G1_TMAX = 100.0
TC_G1_TMIN = 0.0
TC_G1_TREF = 25.0
TC_G1_X0_0 = 0.0
TC_G1_X0_1 = 0.0
TC_G1_X0_2 = 0.0
TC_G1_X1_0 = 0.0
TC_G1_X1_1 = 0.0
TC_G1_X1_2 = 0.0
TC_G1_X2_0 = 0.0
TC_G1_X2_1 = 0.0
TC_G1_X2_2 = 0.0
TC_G1_X3_0 = 0.0
TC_G1_X3_1 = 0.0
TC_G1_X3_2 = 0.0
TC_G2_ID = 0.0
TC_G2_SCL_0 = 1.0
TC_G2_SCL_1 = 1.0
TC_G2_SCL_2 = 1.0
TC_G2_TMAX = 100.0
TC_G2_TMIN = 0.0
TC_G2_TREF = 25.0
TC_G2_X0_0 = 0.0
TC_G2_X0_1 = 0.0
TC_G2_X0_2 = 0.0
TC_G2_X1_0 = 0.0
TC_G2_X1_1 = 0.0
TC_G2_X1_2 = 0.0
TC_G2_X2_0 = 0.0
TC_G2_X2_1 = 0.0
TC_G2_X2_2 = 0.0
TC_G2_X3_0 = 0.0
TC_G2_X3_1 = 0.0
TC_G2_X3_2 = 0.0
TC_G_ENABLE = 0.0
TEST_D = 0.00999999977648
TEST_DEV = 2.0
TEST_D_LP = 10.0
TEST_HP = 10.0
TEST_I = 0.10000000149
TEST_I_MAX = 1.0
TEST_LP = 10.0
TEST_MAX = 1.0
TEST_MEAN = 1.0
TEST_MIN = -1.0
TEST_P = 0.20000000298
TEST_PARAMS = 12345678.0
TEST_TRIM = 0.5
THR_MDL_FAC = 0.0
TRIG_ACT_TIME = 0.5
TRIG_DISTANCE = 25.0
TRIG_INTERFACE = 2.0
TRIG_INTERVAL = 40.0
TRIG_MODE = 0.0
TRIG_PINS = 56.0
TRIG_POLARITY = 0.0
TRIM_PITCH = 0.0
TRIM_ROLL = 0.0
TRIM_YAW = 0.0
UART_ESC_BAUD = 250000.0
UART_ESC_MODEL = 2.0
UART_ESC_MOTOR1 = 4.0
UART_ESC_MOTOR2 = 2.0
UART_ESC_MOTOR3 = 1.0
UART_ESC_MOTOR4 = 3.0
UAVCAN_BITRATE = 1000000.0
UAVCAN_ENABLE = 0.0
UAVCAN_ESC_IDLT = 1.0
UAVCAN_NODE_ID = 1.0
VT_ARSP_BLEND = 8.0
VT_ARSP_LP_GAIN = 0.300000011921
VT_ARSP_TRANS = 10.0
VT_B_TRANS_DUR = 2.0
VT_DWN_PITCH_MA = 5.0
VT_ELEV_MC_LOCK = 0.0
VT_FWD_THRUST_S = 0.0
VT_FW_MIN_ALT = 0.0
VT_FW_MOT_OFFID = 0.0
VT_FW_PERM_STAB = 0.0
VT_FW_PITCH_TRI = 0.0
VT_F_TRANS_DUR = 3.0
VT_F_TR_OL_TM = 6.0
VT_IDLE_PWM_MC = 900.0
VT_MC_ARSPD_MAX = 30.0
VT_MC_ARSPD_MIN = 10.0
VT_MC_ARSPD_TRI = 10.0
VT_MOT_COUNT = 0.0
VT_OPT_RECOV_EN = 0.0
VT_POWER_MAX = 120.0
VT_PROP_EFF = 0.0
VT_TILT_FW = 1.0
VT_TILT_MC = 0.0
VT_TILT_TRANS = 0.300000011921
VT_TRANS_MIN_TM = 2.0
VT_TRANS_P2_DUR = 0.5
VT_TRANS_THR = 0.600000023842
VT_TRANS_TIMEOU = 15.0
VT_TYPE = 0.0
VT_WV_LND_EN = 0.0
VT_WV_LTR_EN = 0.0
VT_WV_TKO_EN = 0.0
VT_WV_YAWR_SCL = 0.15000000596