# Switching from Manual Mode to Assist Mode (Position control) was not successful **URL:** \ **Category:** Flight Testing & Log Analysis\ **Created:** [June 29, 2017, 6:31am UTC](https://discuss.px4.io/t/switching-from-manual-mode-to-assist-mode-position-control-was-not-successful/3731 "2017-06-29T06:31:02Z")\ **Posts on this page:** 4\ **Page:** 1
**Author:** ![reem90](https://discuss.px4.io/letter_avatar_proxy/v4/letter/r/cc9497/32.png) [@reem90](https://discuss.px4.io/u/reem90)\ **Post date:** [June 29, 2017, 6:31am UTC](https://discuss.px4.io/t/switching-from-manual-mode-to-assist-mode-position-control-was-not-successful/3731/1 "2017-06-29T06:31:02Z")
Hi All, I am using hexa-drone as shown in the following image in an indoor experiment. It is F550 replica. ![](https://discuss.px4.io/uploads/default/original/2X/b/b703658809c749b420216882ec276ad1dc11ecd9.jpg) 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](https://discuss.px4.io/uploads/default/original/2X/2/2fdd6e8f269f010cacad7a61249ceb02a22d53a7.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 ---
**Author:** ![dagar](https://discuss.px4.io/user_avatar/discuss.px4.io/dagar/32/22_2.png) [@dagar](https://discuss.px4.io/u/dagar)\ **Post date:** [June 30, 2017, 3:11am UTC](https://discuss.px4.io/t/switching-from-manual-mode-to-assist-mode-position-control-was-not-successful/3731/2 "2017-06-30T03:11:26Z")
Hi @reem90, it’s unfortunately rather difficult to analyze these things without the full log. ---
**Author:** ![reem90](https://discuss.px4.io/letter_avatar_proxy/v4/letter/r/cc9497/32.png) [@reem90](https://discuss.px4.io/u/reem90)\ **Post date:** [July 5, 2017, 12:02pm UTC](https://discuss.px4.io/t/switching-from-manual-mode-to-assist-mode-position-control-was-not-successful/3731/3 "2017-07-05T12:02:07Z")
Hi @dagar, Please find the following link for the log file Log: [http://logs.uaventure.com/logmuncher/charts/sQCTF5itjT2fyoAGsECRDC/logmuncher.log](http://logs.uaventure.com/logmuncher/charts/sQCTF5itjT2fyoAGsECRDC/logmuncher.log) ---
**Author:** ![abdullahmohiuddin](https://discuss.px4.io/letter_avatar_proxy/v4/letter/a/41988e/32.png) [@abdullahmohiuddin](https://discuss.px4.io/u/abdullahmohiuddin)\ **Post date:** [July 5, 2017, 8:19pm UTC](https://discuss.px4.io/t/switching-from-manual-mode-to-assist-mode-position-control-was-not-successful/3731/4 "2017-07-05T20:19:36Z")
You found any solution?