From f323056d4a04b2b3c36fdf6353d7f6c559d3c8f3 Mon Sep 17 00:00:00 2001 From: Rhys Mainwaring Date: Tue, 14 Dec 2021 19:30:53 +0000 Subject: [PATCH] Gazebo: Add model for Omnicopter 1. Add initial version of Peter Hall's OmniCopter - Initial version of Peter Hall's OmniCopter - Add base model config and sdf - Add mesh files for base, tail booms and spinners - First draft of joint locations and orientations - Add runway model to demo 2. Add props and system plugins - Add prop visuals - Add JointStatePublisher system plugin - Add ApplyJointForce system plugins - Add LiftDrag system plugins (2x for each prop) - Add ArduPilotGazebo system plugin - Add control elements for each prop (all linked to channel 2 for initial testing) - Max RPM is 13185 (1381 rad/s) - Set prop rotation reversible 3. Update inertials and PIDs - Use settings from Iris quadcopter as an initial guess 4. Add force torque sensors to props and add params and scripts - Set up servo params correctly for AP plugin - Add parameters and scripts from the main AP repo and Peter Hall's RF model - Add force torque sensors and system plugin - Increase prop thrust by moving CP outwards and increasing prop area - Increase area of base collision to provide 'training wheels' while attempting a tune 5. Change frame for force sensor, update prop lift and params - Set params allow drone to circle, no stable attitude control 6. Add parameters and mixer for zero prop torque test case 7. Contract body collision and place motors precisely - Contract body collision to 0.25 x 0.25 x 0.25 cube - Use calculated values for motor positions and directions rather than estimates from Blender 8. Correct motor inertials - Adjust motor inertials so they are centred on the joint positions (and are symmetrically arranged) 9. Add thumbnails 10. Rename config and param files - Add suffix including the prop torque parameter value 11. Move thumbnails 12. Add model for Omnicopter - Update names of parameter files. - Add user document. Signed-off-by: Rhys Mainwaring --- Gazebo/config/omnicopter-k_tau=0.00000.param | 1237 ++++++++++++++++ Gazebo/config/omnicopter-k_tau=0.01085.param | 1237 ++++++++++++++++ Gazebo/config/omnicopter-rf.param | 1233 ++++++++++++++++ Gazebo/config/omnicopter-zero-torque.param | 1237 ++++++++++++++++ Gazebo/config/omnicopter.param | 71 + Gazebo/docs/Omnicopter.md | 33 + .../black_metal/black_metal_diffuse.jpg | Bin 0 -> 680532 bytes .../black_metal/black_metal_metallic.jpg | Bin 0 -> 4257 bytes .../black_metal/black_metal_normal.jpg | Bin 0 -> 1192861 bytes .../black_metal/black_metal_roughness.jpg | Bin 0 -> 610848 bytes .../plastic003/plastic003_1k_diffuse.jpg | Bin 0 -> 354691 bytes .../plastic003/plastic003_1k_normal.jpg | Bin 0 -> 1523090 bytes .../plastic003/plastic003_1k_roughness.jpg | Bin 0 -> 605892 bytes .../plastic006/plastic006_1k_diffuse.jpg | Bin 0 -> 411436 bytes .../plastic006/plastic006_1k_normal.jpg | Bin 0 -> 695891 bytes .../plastic006/plastic006_1k_roughness.jpg | Bin 0 -> 543741 bytes .../plastic007/plastic007_1k_diffuse.jpg | Bin 0 -> 754000 bytes .../plastic007/plastic007_1k_normal.jpg | Bin 0 -> 795403 bytes .../plastic007/plastic007_1k_roughness.jpg | Bin 0 -> 439910 bytes .../plastic008/plastic008_1k_diffuse.jpg | Bin 0 -> 450233 bytes .../plastic008/plastic008_1k_normal.jpg | Bin 0 -> 785015 bytes .../plastic008/plastic008_1k_roughness.jpg | Bin 0 -> 226663 bytes .../textures/red_metal/red_metal_diffuse.jpg | Bin 0 -> 17609 bytes .../textures/red_metal/red_metal_metallic.jpg | Bin 0 -> 19872 bytes .../textures/red_metal/red_metal_normal.jpg | Bin 0 -> 318865 bytes .../red_metal/red_metal_roughness.jpg | Bin 0 -> 417962 bytes .../silver_metal/silver_metal_diffuse.jpg | Bin 0 -> 67005 bytes .../silver_metal/silver_metal_metallic.jpg | Bin 0 -> 19872 bytes .../silver_metal/silver_metal_normal.jpg | Bin 0 -> 318865 bytes .../silver_metal/silver_metal_roughness.jpg | Bin 0 -> 417962 bytes .../omnicopter/meshes/iris_prop_ccw.dae | 115 ++ .../models/omnicopter/meshes/iris_prop_cw.dae | 115 ++ .../models/omnicopter/meshes/omnicopter.dae | 897 ++++++++++++ .../omnicopter/meshes/omnicopter_base.dae | 69 + Gazebo/models/omnicopter/meshes/spinner.dae | 142 ++ Gazebo/models/omnicopter/meshes/tailboom1.dae | 69 + Gazebo/models/omnicopter/meshes/tailboom2.dae | 69 + Gazebo/models/omnicopter/meshes/tailboom3.dae | 69 + Gazebo/models/omnicopter/meshes/tailboom4.dae | 69 + Gazebo/models/omnicopter/meshes/tailboom5.dae | 69 + Gazebo/models/omnicopter/meshes/tailboom6.dae | 69 + Gazebo/models/omnicopter/model.config | 19 + Gazebo/models/omnicopter/model.sdf | 1303 +++++++++++++++++ Gazebo/models/omnicopter/thumbnails/1.png | Bin 0 -> 545583 bytes Gazebo/models/omnicopter/thumbnails/2.png | Bin 0 -> 734820 bytes Gazebo/models/omnicopter/thumbnails/3.png | Bin 0 -> 749421 bytes Gazebo/models/omnicopter/thumbnails/4.png | Bin 0 -> 724413 bytes Gazebo/models/omnicopter/thumbnails/5.png | Bin 0 -> 816215 bytes Gazebo/models/omnicopter/thumbnails/6.png | Bin 0 -> 316756 bytes Gazebo/scripts/6DoF_roll_pitch.lua | 60 + Gazebo/scripts/Motors_6DoF.lua | 11 + Gazebo/scripts/Motors_6DoF_k_tau=0.00000.lua | 11 + Gazebo/scripts/Motors_6DoF_k_tau=0.01085.lua | 11 + Gazebo/scripts/Motors_6DoF_no_torque.lua | 11 + Gazebo/scripts/Motors_6DoF_zero_torque.lua | 11 + Gazebo/worlds/omnicopter_runway.sdf | 50 + 56 files changed, 8287 insertions(+) create mode 100644 Gazebo/config/omnicopter-k_tau=0.00000.param create mode 100644 Gazebo/config/omnicopter-k_tau=0.01085.param create mode 100644 Gazebo/config/omnicopter-rf.param create mode 100644 Gazebo/config/omnicopter-zero-torque.param create mode 100644 Gazebo/config/omnicopter.param create mode 100644 Gazebo/docs/Omnicopter.md create mode 100644 Gazebo/models/omnicopter/materials/textures/black_metal/black_metal_diffuse.jpg create mode 100644 Gazebo/models/omnicopter/materials/textures/black_metal/black_metal_metallic.jpg create mode 100644 Gazebo/models/omnicopter/materials/textures/black_metal/black_metal_normal.jpg create mode 100644 Gazebo/models/omnicopter/materials/textures/black_metal/black_metal_roughness.jpg create mode 100644 Gazebo/models/omnicopter/materials/textures/plastic003/plastic003_1k_diffuse.jpg create mode 100644 Gazebo/models/omnicopter/materials/textures/plastic003/plastic003_1k_normal.jpg create mode 100644 Gazebo/models/omnicopter/materials/textures/plastic003/plastic003_1k_roughness.jpg create mode 100644 Gazebo/models/omnicopter/materials/textures/plastic006/plastic006_1k_diffuse.jpg create mode 100644 Gazebo/models/omnicopter/materials/textures/plastic006/plastic006_1k_normal.jpg create mode 100644 Gazebo/models/omnicopter/materials/textures/plastic006/plastic006_1k_roughness.jpg create mode 100644 Gazebo/models/omnicopter/materials/textures/plastic007/plastic007_1k_diffuse.jpg create mode 100644 Gazebo/models/omnicopter/materials/textures/plastic007/plastic007_1k_normal.jpg create mode 100644 Gazebo/models/omnicopter/materials/textures/plastic007/plastic007_1k_roughness.jpg create mode 100644 Gazebo/models/omnicopter/materials/textures/plastic008/plastic008_1k_diffuse.jpg create mode 100644 Gazebo/models/omnicopter/materials/textures/plastic008/plastic008_1k_normal.jpg create mode 100644 Gazebo/models/omnicopter/materials/textures/plastic008/plastic008_1k_roughness.jpg create mode 100644 Gazebo/models/omnicopter/materials/textures/red_metal/red_metal_diffuse.jpg create mode 100644 Gazebo/models/omnicopter/materials/textures/red_metal/red_metal_metallic.jpg create mode 100644 Gazebo/models/omnicopter/materials/textures/red_metal/red_metal_normal.jpg create mode 100644 Gazebo/models/omnicopter/materials/textures/red_metal/red_metal_roughness.jpg create mode 100644 Gazebo/models/omnicopter/materials/textures/silver_metal/silver_metal_diffuse.jpg create mode 100644 Gazebo/models/omnicopter/materials/textures/silver_metal/silver_metal_metallic.jpg create mode 100644 Gazebo/models/omnicopter/materials/textures/silver_metal/silver_metal_normal.jpg create mode 100644 Gazebo/models/omnicopter/materials/textures/silver_metal/silver_metal_roughness.jpg create mode 100644 Gazebo/models/omnicopter/meshes/iris_prop_ccw.dae create mode 100644 Gazebo/models/omnicopter/meshes/iris_prop_cw.dae create mode 100644 Gazebo/models/omnicopter/meshes/omnicopter.dae create mode 100644 Gazebo/models/omnicopter/meshes/omnicopter_base.dae create mode 100644 Gazebo/models/omnicopter/meshes/spinner.dae create mode 100644 Gazebo/models/omnicopter/meshes/tailboom1.dae create mode 100644 Gazebo/models/omnicopter/meshes/tailboom2.dae create mode 100644 Gazebo/models/omnicopter/meshes/tailboom3.dae create mode 100644 Gazebo/models/omnicopter/meshes/tailboom4.dae create mode 100644 Gazebo/models/omnicopter/meshes/tailboom5.dae create mode 100644 Gazebo/models/omnicopter/meshes/tailboom6.dae create mode 100644 Gazebo/models/omnicopter/model.config create mode 100644 Gazebo/models/omnicopter/model.sdf create mode 100644 Gazebo/models/omnicopter/thumbnails/1.png create mode 100644 Gazebo/models/omnicopter/thumbnails/2.png create mode 100644 Gazebo/models/omnicopter/thumbnails/3.png create mode 100644 Gazebo/models/omnicopter/thumbnails/4.png create mode 100644 Gazebo/models/omnicopter/thumbnails/5.png create mode 100644 Gazebo/models/omnicopter/thumbnails/6.png create mode 100644 Gazebo/scripts/6DoF_roll_pitch.lua create mode 100644 Gazebo/scripts/Motors_6DoF.lua create mode 100644 Gazebo/scripts/Motors_6DoF_k_tau=0.00000.lua create mode 100644 Gazebo/scripts/Motors_6DoF_k_tau=0.01085.lua create mode 100644 Gazebo/scripts/Motors_6DoF_no_torque.lua create mode 100644 Gazebo/scripts/Motors_6DoF_zero_torque.lua create mode 100755 Gazebo/worlds/omnicopter_runway.sdf diff --git a/Gazebo/config/omnicopter-k_tau=0.00000.param b/Gazebo/config/omnicopter-k_tau=0.00000.param new file mode 100644 index 00000000..9d3ae9b1 --- /dev/null +++ b/Gazebo/config/omnicopter-k_tau=0.00000.param @@ -0,0 +1,1237 @@ +ACRO_BAL_PITCH 1.000000 +ACRO_BAL_ROLL 1.000000 +ACRO_OPTIONS 0 +ACRO_RP_EXPO 0.300000 +ACRO_RP_RATE 360.000000 +ACRO_THR_MID 0.000000 +ACRO_TRAINER 2 +ACRO_Y_EXPO 0.000000 +ACRO_Y_RATE 202.500000 +ADSB_TYPE 0 +AHRS_COMP_BETA 0.100000 +AHRS_CUSTOM_PIT 0.000000 +AHRS_CUSTOM_ROLL 0.000000 +AHRS_CUSTOM_YAW 0.000000 +AHRS_EKF_TYPE 2 +AHRS_GPS_GAIN 1.000000 +AHRS_GPS_MINSATS 6 +AHRS_GPS_USE 1 +AHRS_ORIENTATION 0 +AHRS_RP_P 0.200000 +AHRS_TRIM_X 0.000000 +AHRS_TRIM_Y 0.000000 +AHRS_TRIM_Z 0.000000 +AHRS_WIND_MAX 0 +AHRS_YAW_P 0.200000 +ANGLE_MAX 8000 +ARMING_ACCTHRESH 0.750000 +ARMING_CHECK 1 +ARMING_MIS_ITEMS 0 +ARMING_RUDDER 2 +ATC_ACCEL_P_MAX 110000.000000 +ATC_ACCEL_R_MAX 110000.000000 +ATC_ACCEL_Y_MAX 27000.000000 +ATC_ANGLE_BOOST 0 +ATC_ANG_LIM_TC 1.000000 +ATC_ANG_PIT_P 4.500000 +ATC_ANG_RLL_P 4.500000 +ATC_ANG_YAW_P 4.500000 +ATC_INPUT_TC 0.150000 +ATC_RATE_FF_ENAB 1 +ATC_RATE_P_MAX 0.000000 +ATC_RATE_R_MAX 0.000000 +ATC_RATE_Y_MAX 0.000000 +ATC_RAT_PIT_D 0.008000 +ATC_RAT_PIT_FF 0.000000 +ATC_RAT_PIT_FLTD 20.000000 +ATC_RAT_PIT_FLTE 0.000000 +ATC_RAT_PIT_FLTT 20.000000 +ATC_RAT_PIT_I 0.010000 +ATC_RAT_PIT_IMAX 0.500000 +ATC_RAT_PIT_P 0.020000 +ATC_RAT_PIT_SMAX 20.000000 +ATC_RAT_RLL_D 0.001000 +ATC_RAT_RLL_FF 0.000000 +ATC_RAT_RLL_FLTD 20.000000 +ATC_RAT_RLL_FLTE 0.000000 +ATC_RAT_RLL_FLTT 20.000000 +ATC_RAT_RLL_I 0.200000 +ATC_RAT_RLL_IMAX 0.500000 +ATC_RAT_RLL_P 0.200000 +ATC_RAT_RLL_SMAX 20.000000 +ATC_RAT_YAW_D 0.002000 +ATC_RAT_YAW_FF 0.000000 +ATC_RAT_YAW_FLTD 20.000000 +ATC_RAT_YAW_FLTE 2.500000 +ATC_RAT_YAW_FLTT 20.000000 +ATC_RAT_YAW_I 0.010000 +ATC_RAT_YAW_IMAX 0.500000 +ATC_RAT_YAW_P 0.100000 +ATC_RAT_YAW_SMAX 20.000000 +ATC_SLEW_YAW 6000.000000 +ATC_THR_MIX_MAN 0.100000 +ATC_THR_MIX_MAX 0.500000 +ATC_THR_MIX_MIN 0.100000 +AUTOTUNE_AGGR 0.100000 +AUTOTUNE_AXES 7 +AUTOTUNE_MIN_D 0.001000 +AUTO_OPTIONS 0 +AVD_ENABLE 0 +AVOID_ACCEL_MAX 3.000000 +AVOID_ALT_MIN 0.000000 +AVOID_ANGLE_MAX 1000 +AVOID_BACKUP_DZ 0.100000 +AVOID_BACKUP_SPD 0.750000 +AVOID_BEHAVE 0 +AVOID_DIST_MAX 5.000000 +AVOID_ENABLE 3 +AVOID_MARGIN 2.000000 +BARO1_DEVID 65540 +BARO1_GND_PRESS 94502.929688 +BARO1_WCF_ENABLE 0 +BARO2_DEVID 65796 +BARO2_GND_PRESS 94502.148438 +BARO2_WCF_ENABLE 0 +BARO3_DEVID 0 +BARO3_GND_PRESS 0.000000 +BARO3_WCF_ENABLE 0 +BARO_ALT_OFFSET 0.000000 +BARO_EXT_BUS -1 +BARO_FLTR_RNG 0 +BARO_GND_TEMP 0.000000 +BARO_PRIMARY 0 +BARO_PROBE_EXT 0 +BATT2_MONITOR 0 +BATT3_MONITOR 0 +BATT4_MONITOR 0 +BATT5_MONITOR 0 +BATT6_MONITOR 0 +BATT7_MONITOR 0 +BATT8_MONITOR 0 +BATT9_MONITOR 0 +BATT_MONITOR 0 +BCN_TYPE 0 +BRD_BOOT_DELAY 0 +BRD_OPTIONS 0 +BRD_RTC_TYPES 1 +BRD_RTC_TZ_MIN 0 +BRD_SAFETYOPTION 3 +BRD_SERIAL_NUM 0 +BRD_VBUS_MIN 4.300000 +BRD_VSERVO_MIN 0.000000 +BTN_ENABLE 0 +CAM_AUTO_ONLY 0 +CAM_DURATION 10 +CAM_FEEDBACK_PIN -1 +CAM_FEEDBACK_POL 1 +CAM_MAX_ROLL 0 +CAM_MIN_INTERVAL 0 +CAM_RC_TYPE 0 +CAM_RELAY_ON 1 +CAM_SERVO_OFF 1100 +CAM_SERVO_ON 1300 +CAM_TRIGG_DIST 0.000000 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+EK2_YAW_M_NSE 0.500000 +EK3_ENABLE 0 +ESC_CALIBRATION 0 +FENCE_ACTION 1 +FENCE_ALT_MAX 100.000000 +FENCE_ALT_MIN -10.000000 +FENCE_ENABLE 0 +FENCE_MARGIN 2.000000 +FENCE_RADIUS 300.000000 +FENCE_TOTAL 0 +FENCE_TYPE 7 +FFT_ENABLE 0 +FHLD_BRAKE_RATE 8 +FHLD_FILT_HZ 5.000000 +FHLD_FLOW_MAX 0.600000 +FHLD_QUAL_MIN 10 +FHLD_XY_FILT_HZ 5.000000 +FHLD_XY_I 0.300000 +FHLD_XY_IMAX 3000.000000 +FHLD_XY_P 0.200000 +FLIGHT_OPTIONS 0 +FLOW_TYPE 0 +FLTMODE1 0 +FLTMODE2 2 +FLTMODE3 5 +FLTMODE4 0 +FLTMODE5 0 +FLTMODE6 5 +FLTMODE_CH 5 +FOLL_ENABLE 0 +FORMAT_VERSION 120 +FRAME_CLASS 16 +FRAME_TYPE 1 +FRSKY_DNLINK1_ID 20 +FRSKY_DNLINK2_ID 7 +FRSKY_DNLINK_ID 27 +FRSKY_OPTIONS 0 +FRSKY_UPLINK_ID 13 +FS_CRASH_CHECK 0 +FS_EKF_ACTION 1 +FS_EKF_THRESH 0.800000 +FS_GCS_ENABLE 0 +FS_GCS_TIMEOUT 5.000000 +FS_OPTIONS 16 +FS_THR_ENABLE 1 +FS_THR_VALUE 975 +FS_VIBE_ENABLE 1 +GCS_PID_MASK 2 +GEN_TYPE 0 +GND_EFFECT_COMP 1 +GPS_AUTO_CONFIG 1 +GPS_AUTO_SWITCH 1 +GPS_BLEND_MASK 5 +GPS_BLEND_TC 10.000000 +GPS_COM_PORT 1 +GPS_COM_PORT2 1 +GPS_DELAY_MS 0 +GPS_DELAY_MS2 0 +GPS_DRV_OPTIONS 0 +GPS_GNSS_MODE 0 +GPS_GNSS_MODE2 0 +GPS_HDOP_GOOD 140 +GPS_INJECT_TO 127 +GPS_MB1_TYPE 0 +GPS_MB2_TYPE 0 +GPS_MIN_DGPS 100 +GPS_MIN_ELEV -100 +GPS_NAVFILTER 8 +GPS_POS1_X 0.000000 +GPS_POS1_Y 0.000000 +GPS_POS1_Z 0.000000 +GPS_POS2_X 0.000000 +GPS_POS2_Y 0.000000 +GPS_POS2_Z 0.000000 +GPS_PRIMARY 0 +GPS_RATE_MS 200 +GPS_RATE_MS2 200 +GPS_RAW_DATA 0 +GPS_SAVE_CFG 2 +GPS_SBAS_MODE 2 +GPS_SBP_LOGMASK -256 +GPS_TYPE 1 +GPS_TYPE2 0 +GRIP_ENABLE 0 +GUID_OPTIONS 0 +GUID_TIMEOUT 3.000000 +INITIAL_MODE 0 +INS_ACC1_CALTEMP -300.000000 +INS_ACC2OFFS_X 0.001000 +INS_ACC2OFFS_Y 0.001000 +INS_ACC2OFFS_Z 0.001000 +INS_ACC2SCAL_X 1.001000 +INS_ACC2SCAL_Y 1.001000 +INS_ACC2SCAL_Z 1.001000 +INS_ACC2_CALTEMP -300.000000 +INS_ACC2_ID 2753036.000000 +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_ACC3_CALTEMP -300.000000 +INS_ACC3_ID 0 +INS_ACCEL_FILTER 20 +INS_ACCOFFS_X 0.001000 +INS_ACCOFFS_Y 0.001000 +INS_ACCOFFS_Z 0.001000 +INS_ACCSCAL_X 1.001000 +INS_ACCSCAL_Y 1.001000 +INS_ACCSCAL_Z 1.001000 +INS_ACC_BODYFIX 2 +INS_ACC_ID 2753028.000000 +INS_ENABLE_MASK 127 +INS_FAST_SAMPLE 1 +INS_GYR1_CALTEMP -300.000000 +INS_GYR2OFFS_X 0.000000 +INS_GYR2OFFS_Y 0.000000 +INS_GYR2OFFS_Z 0.000000 +INS_GYR2_CALTEMP -300.000000 +INS_GYR2_ID 2752780 +INS_GYR3OFFS_X 0.000000 +INS_GYR3OFFS_Y 0.000000 +INS_GYR3OFFS_Z 0.000000 +INS_GYR3_CALTEMP -300.000000 +INS_GYR3_ID 0 +INS_GYROFFS_X 0.000000 +INS_GYROFFS_Y 0.000000 +INS_GYROFFS_Z 0.000000 +INS_GYRO_FILTER 20 +INS_GYRO_RATE 0 +INS_GYR_CAL 0 +INS_GYR_ID 2752772 +INS_HNTCH_ENABLE 0 +INS_LOG_BAT_CNT 1024 +INS_LOG_BAT_LGCT 32 +INS_LOG_BAT_LGIN 20 +INS_LOG_BAT_MASK 0 +INS_LOG_BAT_OPT 0 +INS_NOTCH_ENABLE 0 +INS_POS1_X 0.000000 +INS_POS1_Y 0.000000 +INS_POS1_Z 0.000000 +INS_POS2_X 0.000000 +INS_POS2_Y 0.000000 +INS_POS2_Z 0.000000 +INS_POS3_X 0.000000 +INS_POS3_Y 0.000000 +INS_POS3_Z 0.000000 +INS_STILL_THRESH 2.500000 +INS_TCAL1_ENABLE 0 +INS_TCAL2_ENABLE 0 +INS_TCAL3_ENABLE 0 +INS_TCAL_OPTIONS 0 +INS_TRIM_OPTION 1 +INS_USE 1 +INS_USE2 1 +INS_USE3 1 +LAND_ALT_LOW 1000 +LAND_REPOSITION 1 +LAND_SPEED 50 +LAND_SPEED_HIGH 0 +LGR_DEPLOY_ALT 0 +LGR_DEPLOY_PIN -1 +LGR_DEPLOY_POL 0 +LGR_ENABLE 1 +LGR_OPTIONS 3 +LGR_RETRACT_ALT 0 +LGR_STARTUP 0 +LGR_WOW_PIN 8 +LGR_WOW_POL 1 +LOG_BACKEND_TYPE 1 +LOG_BITMASK 176126 +LOG_BLK_RATEMAX 0.000000 +LOG_DISARMED 0 +LOG_FILE_BUFSIZE 200 +LOG_FILE_DSRMROT 0 +LOG_FILE_MB_FREE 500 +LOG_FILE_RATEMAX 0.000000 +LOG_FILE_TIMEOUT 5 +LOG_MAV_BUFSIZE 8 +LOG_MAV_RATEMAX 0.000000 +LOG_REPLAY 0 +LOIT_ACC_MAX 500.000000 +LOIT_ANG_MAX 0.000000 +LOIT_BRK_ACCEL 250.000000 +LOIT_BRK_DELAY 1.000000 +LOIT_BRK_JERK 500.000000 +LOIT_SPEED 1250.000000 +MIS_OPTIONS 0 +MIS_RESTART 0 +MIS_TOTAL 6.000000 +MNT_TYPE 0 +MOT_BAT_CURR_MAX 0.000000 +MOT_BAT_CURR_TC 5.000000 +MOT_BAT_IDX 0 +MOT_BAT_VOLT_MAX 0.000000 +MOT_BAT_VOLT_MIN 0.000000 +MOT_BOOST_SCALE 0.000000 +MOT_HOVER_LEARN 2 +MOT_PWM_MAX 2000 +MOT_PWM_MIN 1000 +MOT_PWM_TYPE 0 +MOT_SAFE_DISARM 0 +MOT_SAFE_TIME 1.000000 +MOT_SLEW_DN_TIME 0.000000 +MOT_SLEW_UP_TIME 0.000000 +MOT_SPIN_ARM 0.100000 +MOT_SPIN_MAX 1.000000 +MOT_SPIN_MIN -1.000000 +MOT_SPOOL_TIME 0.500000 +MOT_THST_EXPO 0.750000 +MOT_THST_HOVER 0.318280 +MOT_YAW_HEADROOM 50 +MSP_OPTIONS 0 +MSP_OSD_NCELLS 0 +NTF_BUZZ_ON_LVL 1 +NTF_BUZZ_PIN -1 +NTF_BUZZ_TYPES 1 +NTF_BUZZ_VOLUME 100 +NTF_DISPLAY_TYPE 0 +NTF_LED_BRIGHT 3 +NTF_LED_LEN 1 +NTF_LED_OVERRIDE 0 +NTF_LED_TYPES 199 +OA_TYPE 0 +OSD_TYPE 0 +PHLD_BRAKE_ANGLE 3000 +PHLD_BRAKE_RATE 8 +PILOT_ACCEL_Z 250 +PILOT_SPEED_DN 0 +PILOT_SPEED_UP 250 +PILOT_THR_BHV 0 +PILOT_THR_FILT 0.000000 +PILOT_TKOFF_ALT 0.000000 +PILOT_Y_EXPO 0.000000 +PILOT_Y_RATE 202.500000 +PLND_ENABLED 0 +PRX_TYPE 0 +PSC_ACCZ_D 0.000000 +PSC_ACCZ_FF 0.000000 +PSC_ACCZ_FLTD 0.000000 +PSC_ACCZ_FLTE 20.000000 +PSC_ACCZ_FLTT 0.000000 +PSC_ACCZ_I 1.234634 +PSC_ACCZ_IMAX 800.000000 +PSC_ACCZ_P 0.617317 +PSC_ACCZ_SMAX 0.000000 +PSC_ANGLE_MAX 0.000000 +PSC_JERK_XY 5.000000 +PSC_JERK_Z 5.000000 +PSC_POSXY_P 1.000000 +PSC_POSZ_P 1.000000 +PSC_VELXY_D 0.500000 +PSC_VELXY_FF 0.000000 +PSC_VELXY_FLTD 5.000000 +PSC_VELXY_FLTE 5.000000 +PSC_VELXY_I 1.000000 +PSC_VELXY_IMAX 1000.000000 +PSC_VELXY_P 2.000000 +PSC_VELZ_D 0.000000 +PSC_VELZ_FF 0.000000 +PSC_VELZ_FLTD 5.000000 +PSC_VELZ_FLTE 5.000000 +PSC_VELZ_I 0.000000 +PSC_VELZ_IMAX 1000.000000 +PSC_VELZ_P 5.000000 +RALLY_INCL_HOME 1 +RALLY_LIMIT_KM 0.300000 +RALLY_TOTAL 0 +RC10_DZ 0 +RC10_MAX 1900 +RC10_MIN 1100 +RC10_OPTION 0 +RC10_REVERSED 0 +RC10_TRIM 1500 +RC11_DZ 0 +RC11_MAX 1900 +RC11_MIN 1100 +RC11_OPTION 0 +RC11_REVERSED 0 +RC11_TRIM 1500 +RC12_DZ 0 +RC12_MAX 1900 +RC12_MIN 1100 +RC12_OPTION 0 +RC12_REVERSED 0 +RC12_TRIM 1500 +RC13_DZ 0 +RC13_MAX 1900 +RC13_MIN 1100 +RC13_OPTION 0 +RC13_REVERSED 0 +RC13_TRIM 1500 +RC14_DZ 0 +RC14_MAX 1900 +RC14_MIN 1100 +RC14_OPTION 0 +RC14_REVERSED 0 +RC14_TRIM 1500 +RC15_DZ 0 +RC15_MAX 1900 +RC15_MIN 1100 +RC15_OPTION 0 +RC15_REVERSED 0 +RC15_TRIM 1500 +RC16_DZ 0 +RC16_MAX 1900 +RC16_MIN 1100 +RC16_OPTION 0 +RC16_REVERSED 0 +RC16_TRIM 1500 +RC1_DZ 20 +RC1_MAX 2000 +RC1_MIN 1000 +RC1_OPTION 0 +RC1_REVERSED 0 +RC1_TRIM 1500 +RC2_DZ 20 +RC2_MAX 2000 +RC2_MIN 1000 +RC2_OPTION 0 +RC2_REVERSED 1 +RC2_TRIM 1500 +RC3_DZ 30 +RC3_MAX 2000 +RC3_MIN 1000 +RC3_OPTION 0 +RC3_REVERSED 0 +RC3_TRIM 1500 +RC4_DZ 20 +RC4_MAX 2000 +RC4_MIN 1000 +RC4_OPTION 0 +RC4_REVERSED 0 +RC4_TRIM 1500 +RC5_DZ 0 +RC5_MAX 1900 +RC5_MIN 1100 +RC5_OPTION 0 +RC5_REVERSED 0 +RC5_TRIM 1500 +RC6_DZ 0 +RC6_MAX 1900 +RC6_MIN 1100 +RC6_OPTION 0 +RC6_REVERSED 0 +RC6_TRIM 1500 +RC7_DZ 0 +RC7_MAX 1900 +RC7_MIN 1100 +RC7_OPTION 0 +RC7_REVERSED 0 +RC7_TRIM 1500 +RC8_DZ 0 +RC8_MAX 1900 +RC8_MIN 1100 +RC8_OPTION 17 +RC8_REVERSED 0 +RC8_TRIM 1500 +RC9_DZ 0 +RC9_MAX 1900 +RC9_MIN 1100 +RC9_OPTION 0 +RC9_REVERSED 0 +RC9_TRIM 1500 +RCMAP_PITCH 2 +RCMAP_ROLL 1 +RCMAP_THROTTLE 3 +RCMAP_YAW 4 +RC_OPTIONS 32 +RC_OVERRIDE_TIME 3.000000 +RC_PROTOCOLS 1 +RC_SPEED 490 +RELAY_DEFAULT 0 +RELAY_PIN 13 +RELAY_PIN2 -1 +RELAY_PIN3 -1 +RELAY_PIN4 -1 +RELAY_PIN5 -1 +RELAY_PIN6 -1 +RNGFND1_TYPE 0 +RNGFND2_TYPE 0 +RNGFND3_TYPE 0 +RNGFND4_TYPE 0 +RNGFND5_TYPE 0 +RNGFND6_TYPE 0 +RNGFND7_TYPE 0 +RNGFND8_TYPE 0 +RNGFND9_TYPE 0 +RNGFNDA_TYPE 0 +RNGFND_FILT 0.500000 +RPM1_TYPE 0 +RPM2_TYPE 0 +RSSI_TYPE 0 +RTL_ALT 1500 +RTL_ALT_FINAL 0 +RTL_ALT_TYPE 0 +RTL_CLIMB_MIN 0 +RTL_CONE_SLOPE 3.000000 +RTL_LOIT_TIME 5000 +RTL_OPTIONS 0 +RTL_SPEED 0 +SCHED_DEBUG 0 +SCHED_LOOP_RATE 400 +SCHED_OPTIONS 0 +SCR_DEBUG_OPTS 0 +SCR_DIR_DISABLE 0 +SCR_ENABLE 1 +SCR_HEAP_SIZE 65536 +SCR_USER1 0.000000 +SCR_USER2 0.000000 +SCR_USER3 0.000000 +SCR_USER4 0.000000 +SCR_USER5 0.000000 +SCR_USER6 0.000000 +SCR_VM_I_COUNT 10000 +SERIAL0_BAUD 115 +SERIAL0_PROTOCOL 2 +SERIAL1_BAUD 57 +SERIAL1_OPTIONS 0 +SERIAL1_PROTOCOL 2 +SERIAL2_BAUD 57 +SERIAL2_OPTIONS 0 +SERIAL2_PROTOCOL 2 +SERIAL3_BAUD 38 +SERIAL3_OPTIONS 0 +SERIAL3_PROTOCOL 5 +SERIAL4_BAUD 38 +SERIAL4_OPTIONS 0 +SERIAL4_PROTOCOL 5 +SERIAL5_BAUD 57 +SERIAL5_OPTIONS 0 +SERIAL5_PROTOCOL -1 +SERIAL6_BAUD 57 +SERIAL6_OPTIONS 0 +SERIAL6_PROTOCOL -1 +SERIAL7_BAUD 57 +SERIAL7_OPTIONS 0 +SERIAL7_PROTOCOL -1 +SERIAL_PASS1 0 +SERIAL_PASS2 -1 +SERIAL_PASSTIMO 15 +SERVO10_FUNCTION 0 +SERVO10_MAX 1900 +SERVO10_MIN 1100 +SERVO10_REVERSED 0 +SERVO10_TRIM 1500 +SERVO11_FUNCTION 0 +SERVO11_MAX 1900 +SERVO11_MIN 1100 +SERVO11_REVERSED 0 +SERVO11_TRIM 1500 +SERVO12_FUNCTION 0 +SERVO12_MAX 1900 +SERVO12_MIN 1100 +SERVO12_REVERSED 0 +SERVO12_TRIM 1500 +SERVO13_FUNCTION 0 +SERVO13_MAX 1900 +SERVO13_MIN 1100 +SERVO13_REVERSED 0 +SERVO13_TRIM 1500 +SERVO14_FUNCTION 0 +SERVO14_MAX 1900 +SERVO14_MIN 1100 +SERVO14_REVERSED 0 +SERVO14_TRIM 1500 +SERVO15_FUNCTION 0 +SERVO15_MAX 1900 +SERVO15_MIN 1100 +SERVO15_REVERSED 0 +SERVO15_TRIM 1500 +SERVO16_FUNCTION 0 +SERVO16_MAX 1900 +SERVO16_MIN 1100 +SERVO16_REVERSED 0 +SERVO16_TRIM 1500 +SERVO1_FUNCTION 33 +SERVO1_MAX 2000 +SERVO1_MIN 1000 +SERVO1_REVERSED 0 +SERVO1_TRIM 1500 +SERVO2_FUNCTION 34 +SERVO2_MAX 2000 +SERVO2_MIN 1000 +SERVO2_REVERSED 0 +SERVO2_TRIM 1500 +SERVO3_FUNCTION 35 +SERVO3_MAX 2000 +SERVO3_MIN 1000 +SERVO3_REVERSED 0 +SERVO3_TRIM 1500 +SERVO4_FUNCTION 36 +SERVO4_MAX 2000 +SERVO4_MIN 1000 +SERVO4_REVERSED 0 +SERVO4_TRIM 1500 +SERVO5_FUNCTION 37 +SERVO5_MAX 2000 +SERVO5_MIN 1000 +SERVO5_REVERSED 0 +SERVO5_TRIM 1500 +SERVO6_FUNCTION 38 +SERVO6_MAX 2000 +SERVO6_MIN 1000 +SERVO6_REVERSED 0 +SERVO6_TRIM 1500 +SERVO7_FUNCTION 0 +SERVO7_MAX 1900 +SERVO7_MIN 1100 +SERVO7_REVERSED 0 +SERVO7_TRIM 1500 +SERVO8_FUNCTION 0 +SERVO8_MAX 1900 +SERVO8_MIN 1100 +SERVO8_REVERSED 0 +SERVO8_TRIM 1500 +SERVO9_FUNCTION 0 +SERVO9_MAX 1900 +SERVO9_MIN 1100 +SERVO9_REVERSED 0 +SERVO9_TRIM 1500 +SERVO_DSHOT_ESC 0 +SERVO_DSHOT_RATE 0 +SERVO_FTW_MASK 0 +SERVO_FTW_POLES 14 +SERVO_FTW_RVMASK 0 +SERVO_GPIO_MASK 0 +SERVO_RATE 50 +SERVO_ROB_POSMAX 4095 +SERVO_ROB_POSMIN 0 +SERVO_SBUS_RATE 50 +SERVO_VOLZ_MASK 0 +SID_AXIS 0 +SIMPLE 0 +SIM_ACC1_BIAS_X 0.000000 +SIM_ACC1_BIAS_Y 0.000000 +SIM_ACC1_BIAS_Z 0.000000 +SIM_ACC1_RND 0.000000 +SIM_ACC1_SCAL_X 0.000000 +SIM_ACC1_SCAL_Y 0.000000 +SIM_ACC1_SCAL_Z 0.000000 +SIM_ACC2_BIAS_X 0.000000 +SIM_ACC2_BIAS_Y 0.000000 +SIM_ACC2_BIAS_Z 0.000000 +SIM_ACC2_RND 0.000000 +SIM_ACC2_SCAL_X 0.000000 +SIM_ACC2_SCAL_Y 0.000000 +SIM_ACC2_SCAL_Z 0.000000 +SIM_ACC3_BIAS_X 0.000000 +SIM_ACC3_BIAS_Y 0.000000 +SIM_ACC3_BIAS_Z 0.000000 +SIM_ACC3_RND 0.000000 +SIM_ACC3_SCAL_X 0.000000 +SIM_ACC3_SCAL_Y 0.000000 +SIM_ACC3_SCAL_Z 0.000000 +SIM_ACCEL1_FAIL 0.000000 +SIM_ACCEL2_FAIL 0.000000 +SIM_ACCEL3_FAIL 0.000000 +SIM_ACC_FAIL_MSK 0 +SIM_ACC_TRIM_X 0.000000 +SIM_ACC_TRIM_Y 0.000000 +SIM_ACC_TRIM_Z 0.000000 +SIM_ADSB_ALT 1000.000000 +SIM_ADSB_COUNT -1 +SIM_ADSB_RADIUS 10000.000000 +SIM_ADSB_TX 0 +SIM_ARSPD2_FAIL 0.000000 +SIM_ARSPD2_FAILP 0.000000 +SIM_ARSPD2_OFS 2013.000000 +SIM_ARSPD2_PITOT 0.000000 +SIM_ARSPD2_RND 2.000000 +SIM_ARSPD_FAIL 0.000000 +SIM_ARSPD_FAILP 0.000000 +SIM_ARSPD_OFS 2013.000000 +SIM_ARSPD_PITOT 0.000000 +SIM_ARSPD_RND 2.000000 +SIM_ARSPD_SIGN 0 +SIM_BAR2_DELAY 0 +SIM_BAR2_DISABLE 0 +SIM_BAR2_DRIFT 0.000000 +SIM_BAR2_FREEZE 0 +SIM_BAR2_GLITCH 0.000000 +SIM_BAR2_RND 0.200000 +SIM_BAR2_WCF_BAK 0.000000 +SIM_BAR2_WCF_FWD 0.000000 +SIM_BAR2_WCF_LFT 0.000000 +SIM_BAR2_WCF_RGT 0.000000 +SIM_BAR3_DELAY 0 +SIM_BAR3_DISABLE 0 +SIM_BAR3_DRIFT 0.000000 +SIM_BAR3_FREEZE 0 +SIM_BAR3_GLITCH 0.000000 +SIM_BAR3_RND 0.200000 +SIM_BAR3_WCF_BAK 0.000000 +SIM_BAR3_WCF_FWD 0.000000 +SIM_BAR3_WCF_LFT 0.000000 +SIM_BAR3_WCF_RGT 0.000000 +SIM_BARO_COUNT 2 +SIM_BARO_DELAY 0 +SIM_BARO_DISABLE 0 +SIM_BARO_DRIFT 0.000000 +SIM_BARO_FREEZE 0 +SIM_BARO_GLITCH 0.000000 +SIM_BARO_RND 0.200000 +SIM_BARO_WCF_BAK 0.000000 +SIM_BARO_WCF_FWD 0.000000 +SIM_BARO_WCF_LFT 0.000000 +SIM_BARO_WCF_RGT 0.000000 +SIM_BATT_CAP_AH 0.000000 +SIM_BATT_VOLTAGE 12.600000 +SIM_BAUDLIMIT_EN 0 +SIM_BZ_ENABLE 0 +SIM_BZ_PIN 0 +SIM_DRIFT_SPEED 0.050000 +SIM_DRIFT_TIME 5.000000 +SIM_EFI_TYPE 0 +SIM_ENGINE_FAIL 0 +SIM_ENGINE_MUL 1.000000 +SIM_ESC_TELEM 1 +SIM_FLOAT_EXCEPT 1 +SIM_FLOW_DELAY 0 +SIM_FLOW_ENABLE 0 +SIM_FLOW_POS_X 0.000000 +SIM_FLOW_POS_Y 0.000000 +SIM_FLOW_POS_Z 0.000000 +SIM_FLOW_RATE 10 +SIM_FLOW_RND 0.050000 +SIM_FTOWESC_ENA 0 +SIM_FTOWESC_POW 4095 +SIM_GND_BEHAV -1 +SIM_GPS2_ACC 0.300000 +SIM_GPS2_ALT_OFS 0 +SIM_GPS2_BYTELOS 0.000000 +SIM_GPS2_DELAY 1 +SIM_GPS2_DISABLE 1 +SIM_GPS2_DRFTALT 0.000000 +SIM_GPS2_GLTCH_X 0.000000 +SIM_GPS2_GLTCH_Y 0.000000 +SIM_GPS2_GLTCH_Z 0.000000 +SIM_GPS2_HDG 0 +SIM_GPS2_HZ 5 +SIM_GPS2_LCKTIME 0 +SIM_GPS2_NOISE 0.000000 +SIM_GPS2_NUMSATS 10 +SIM_GPS2_POS_X 0.000000 +SIM_GPS2_POS_Y 0.000000 +SIM_GPS2_POS_Z 0.000000 +SIM_GPS2_TYPE 1 +SIM_GPS2_VERR_X 0.000000 +SIM_GPS2_VERR_Y 0.000000 +SIM_GPS2_VERR_Z 0.000000 +SIM_GPS_ACC 0.300000 +SIM_GPS_ALT_OFS 0 +SIM_GPS_BYTELOSS 0.000000 +SIM_GPS_DELAY 1 +SIM_GPS_DISABLE 0 +SIM_GPS_DRIFTALT 0.000000 +SIM_GPS_GLITCH_X 0.000000 +SIM_GPS_GLITCH_Y 0.000000 +SIM_GPS_GLITCH_Z 0.000000 +SIM_GPS_HDG 0 +SIM_GPS_HZ 5 +SIM_GPS_LOCKTIME 0 +SIM_GPS_NOISE 0.000000 +SIM_GPS_NUMSATS 10 +SIM_GPS_POS_X 0.000000 +SIM_GPS_POS_Y 0.000000 +SIM_GPS_POS_Z 0.000000 +SIM_GPS_TYPE 1 +SIM_GPS_VERR_X 0.000000 +SIM_GPS_VERR_Y 0.000000 +SIM_GPS_VERR_Z 0.000000 +SIM_GRPE_ENABLE 0 +SIM_GRPE_PIN -1 +SIM_GRPS_ENABLE 0 +SIM_GRPS_GRAB 2000 +SIM_GRPS_PIN -1 +SIM_GRPS_RELEASE 1000 +SIM_GRPS_REVERSE 0 +SIM_GYR1_RND 0.000000 +SIM_GYR1_SCALE_X 0.000000 +SIM_GYR1_SCALE_Y 0.000000 +SIM_GYR1_SCALE_Z 0.000000 +SIM_GYR2_RND 0.000000 +SIM_GYR2_SCALE_X 0.000000 +SIM_GYR2_SCALE_Y 0.000000 +SIM_GYR2_SCALE_Z 0.000000 +SIM_GYR3_RND 0.000000 +SIM_GYR3_SCALE_X 0.000000 +SIM_GYR3_SCALE_Y 0.000000 +SIM_GYR3_SCALE_Z 0.000000 +SIM_GYR_FAIL_MSK 0 +SIM_IE24_ENABLE 0 +SIM_IE24_ERROR 0 +SIM_IE24_STATE -1 +SIM_IMUT1_ENABLE 0 +SIM_IMUT2_ENABLE 0 +SIM_IMUT3_ENABLE 0 +SIM_IMUT_END 45.000000 +SIM_IMUT_FIXED 0.000000 +SIM_IMUT_START 25.000000 +SIM_IMUT_TCONST 300.000000 +SIM_IMU_COUNT 2 +SIM_IMU_POS_X 0.000000 +SIM_IMU_POS_Y 0.000000 +SIM_IMU_POS_Z 0.000000 +SIM_INIT_ALT_OFS 0.000000 +SIM_INIT_LAT_OFS 0.000000 +SIM_INIT_LON_OFS 0.000000 +SIM_INS_THR_MIN 0.100000 +SIM_JSON_MASTER 0 +SIM_LED_LAYOUT 0 +SIM_LOOP_DELAY 0 +SIM_MAG1_DEVID 97539 +SIM_MAG1_FAIL 0 +SIM_MAG1_SCALING 1.000000 +SIM_MAG2_DEVID 131874 +SIM_MAG2_DIA_X 0.000000 +SIM_MAG2_DIA_Y 0.000000 +SIM_MAG2_DIA_Z 0.000000 +SIM_MAG2_FAIL 0 +SIM_MAG2_ODI_X 0.000000 +SIM_MAG2_ODI_Y 0.000000 +SIM_MAG2_ODI_Z 0.000000 +SIM_MAG2_OFS_X 5.000000 +SIM_MAG2_OFS_Y 13.000000 +SIM_MAG2_OFS_Z -18.000000 +SIM_MAG2_ORIENT 0 +SIM_MAG2_SCALING 1.000000 +SIM_MAG3_DEVID 263178 +SIM_MAG3_DIA_X 0.000000 +SIM_MAG3_DIA_Y 0.000000 +SIM_MAG3_DIA_Z 0.000000 +SIM_MAG3_FAIL 0 +SIM_MAG3_ODI_X 0.000000 +SIM_MAG3_ODI_Y 0.000000 +SIM_MAG3_ODI_Z 0.000000 +SIM_MAG3_OFS_X 5.000000 +SIM_MAG3_OFS_Y 13.000000 +SIM_MAG3_OFS_Z -18.000000 +SIM_MAG3_ORIENT 0 +SIM_MAG3_SCALING 1.000000 +SIM_MAG4_DEVID 97283 +SIM_MAG5_DEVID 97795 +SIM_MAG6_DEVID 98051 +SIM_MAG7_DEVID 0 +SIM_MAG8_DEVID 0 +SIM_MAG_ALY_HGT 1.000000 +SIM_MAG_ALY_X 0.000000 +SIM_MAG_ALY_Y 0.000000 +SIM_MAG_ALY_Z 0.000000 +SIM_MAG_DELAY 0 +SIM_MAG_DIA_X 0.000000 +SIM_MAG_DIA_Y 0.000000 +SIM_MAG_DIA_Z 0.000000 +SIM_MAG_MOT_X 0.000000 +SIM_MAG_MOT_Y 0.000000 +SIM_MAG_MOT_Z 0.000000 +SIM_MAG_ODI_X 0.000000 +SIM_MAG_ODI_Y 0.000000 +SIM_MAG_ODI_Z 0.000000 +SIM_MAG_OFS_X 5.000000 +SIM_MAG_OFS_Y 13.000000 +SIM_MAG_OFS_Z -18.000000 +SIM_MAG_ORIENT 0 +SIM_MAG_RND 0.000000 +SIM_ODOM_ENABLE 0 +SIM_OPOS_ALT 584.000000 +SIM_OPOS_HDG 353.000000 +SIM_OPOS_LAT -35.363262 +SIM_OPOS_LNG 149.165237 +SIM_PARA_ENABLE 0 +SIM_PARA_PIN -1 +SIM_PIN_MASK 0 +SIM_PLD_ALT_LMT 15.000000 +SIM_PLD_DIST_LMT 10.000000 +SIM_PLD_ENABLE 0 +SIM_PLD_HEIGHT 0.000000 +SIM_PLD_LAT 0.000000 +SIM_PLD_LON 0.000000 +SIM_PLD_RATE 100 +SIM_PLD_TYPE 0 +SIM_PLD_YAW 0 +SIM_RATE_HZ 1200 +SIM_RC_CHANCOUNT 16 +SIM_RC_FAIL 0 +SIM_RICH_CTRL -1 +SIM_RICH_ENABLE 0 +SIM_SAFETY_STATE 0 +SIM_SAIL_TYPE 0 +SIM_SERVO_SPEED 0.140000 +SIM_SHIP_DSIZE 10.000000 +SIM_SHIP_ENABLE 0 +SIM_SHIP_PSIZE 1000.000000 +SIM_SHIP_SPEED 3.000000 +SIM_SHIP_SYSID 17 +SIM_SHOVE_TIME 0 +SIM_SHOVE_X 0.000000 +SIM_SHOVE_Y 0.000000 +SIM_SHOVE_Z 0.000000 +SIM_SONAR_GLITCH 0.000000 +SIM_SONAR_POS_X 0.000000 +SIM_SONAR_POS_Y 0.000000 +SIM_SONAR_POS_Z 0.000000 +SIM_SONAR_RND 0.000000 +SIM_SONAR_SCALE 12.121200 +SIM_SPEEDUP 1.000000 +SIM_SPR_ENABLE 0 +SIM_SPR_PUMP -1 +SIM_SPR_SPIN -1 +SIM_TA_ENABLE 1 +SIM_TEMP_BFACTOR 0.000000 +SIM_TEMP_BRD_OFF 20.000000 +SIM_TEMP_START 25.000000 +SIM_TEMP_TCONST 30.000000 +SIM_TERRAIN 1 +SIM_THML_SCENARI 0 +SIM_TIDE_DIR 0.000000 +SIM_TIDE_SPEED 0.000000 +SIM_TWIST_TIME 0 +SIM_TWIST_X 0.000000 +SIM_TWIST_Y 0.000000 +SIM_TWIST_Z 0.000000 +SIM_VIB_FREQ_X 0.000000 +SIM_VIB_FREQ_Y 0.000000 +SIM_VIB_FREQ_Z 0.000000 +SIM_VIB_MOT_MAX 0.000000 +SIM_VIB_MOT_MULT 1.000000 +SIM_VICON_FAIL 0 +SIM_VICON_GLIT_X 0.000000 +SIM_VICON_GLIT_Y 0.000000 +SIM_VICON_GLIT_Z 0.000000 +SIM_VICON_POS_X 0.000000 +SIM_VICON_POS_Y 0.000000 +SIM_VICON_POS_Z 0.000000 +SIM_VICON_TMASK 3 +SIM_VICON_VGLI_X 0.000000 +SIM_VICON_VGLI_Y 0.000000 +SIM_VICON_VGLI_Z 0.000000 +SIM_VICON_YAW 0 +SIM_VICON_YAWERR 0 +SIM_WAVE_AMP 0.500000 +SIM_WAVE_DIR 0.000000 +SIM_WAVE_ENABLE 0 +SIM_WAVE_LENGTH 10.000000 +SIM_WAVE_SPEED 0.500000 +SIM_WIND_DELAY 0 +SIM_WIND_DIR 180.000000 +SIM_WIND_DIR_Z 0.000000 +SIM_WIND_SPD 0.000000 +SIM_WIND_T 0 +SIM_WIND_TURB 0.000000 +SIM_WIND_T_ALT 60.000000 +SIM_WIND_T_COEF 0.010000 +SIM_WOW_PIN -1 +SPRAY_ENABLE 0 +SR0_ADSB 4 +SR0_EXTRA1 4 +SR0_EXTRA2 4 +SR0_EXTRA3 4 +SR0_EXT_STAT 4 +SR0_PARAMS 0 +SR0_POSITION 4 +SR0_RAW_CTRL 4 +SR0_RAW_SENS 4 +SR0_RC_CHAN 4 +SR1_ADSB 0 +SR1_EXTRA1 0 +SR1_EXTRA2 0 +SR1_EXTRA3 0 +SR1_EXT_STAT 0 +SR1_PARAMS 0 +SR1_POSITION 0 +SR1_RAW_CTRL 0 +SR1_RAW_SENS 0 +SR1_RC_CHAN 0 +SR2_ADSB 0 +SR2_EXTRA1 0 +SR2_EXTRA2 0 +SR2_EXTRA3 0 +SR2_EXT_STAT 0 +SR2_PARAMS 0 +SR2_POSITION 0 +SR2_RAW_CTRL 0 +SR2_RAW_SENS 0 +SR2_RC_CHAN 0 +SR3_ADSB 0 +SR3_EXTRA1 0 +SR3_EXTRA2 0 +SR3_EXTRA3 0 +SR3_EXT_STAT 0 +SR3_PARAMS 0 +SR3_POSITION 0 +SR3_RAW_CTRL 0 +SR3_RAW_SENS 0 +SR3_RC_CHAN 0 +SR4_ADSB 0 +SR4_EXTRA1 0 +SR4_EXTRA2 0 +SR4_EXTRA3 0 +SR4_EXT_STAT 0 +SR4_PARAMS 0 +SR4_POSITION 0 +SR4_RAW_CTRL 0 +SR4_RAW_SENS 0 +SR4_RC_CHAN 0 +SR5_ADSB 0 +SR5_EXTRA1 0 +SR5_EXTRA2 0 +SR5_EXTRA3 0 +SR5_EXT_STAT 0 +SR5_PARAMS 0 +SR5_POSITION 0 +SR5_RAW_CTRL 0 +SR5_RAW_SENS 0 +SR5_RC_CHAN 0 +SR6_ADSB 0 +SR6_EXTRA1 0 +SR6_EXTRA2 0 +SR6_EXTRA3 0 +SR6_EXT_STAT 0 +SR6_PARAMS 0 +SR6_POSITION 0 +SR6_RAW_CTRL 0 +SR6_RAW_SENS 0 +SR6_RC_CHAN 0 +SRTL_ACCURACY 2.000000 +SRTL_OPTIONS 0 +SRTL_POINTS 300 +STAT_BOOTCNT 59 +STAT_FLTTIME 20179.000000 +STAT_RESET 187974747 +STAT_RUNTIME 224797.000000 +SUPER_SIMPLE 0 +SURFTRAK_MODE 1 +SYSID_ENFORCE 0 +SYSID_MYGCS 255 +SYSID_THISMAV 1 +TCAL_ENABLED 0 +TELEM_DELAY 0 +TERRAIN_ENABLE 1 +TERRAIN_MARGIN 0.050000 +TERRAIN_OPTIONS 0 +TERRAIN_SPACING 100 +THROW_MOT_START 0 +THROW_NEXTMODE 18 +THROW_TYPE 0 +THR_DZ 100 +TUNE 0 +TUNE_MAX 0.000000 +TUNE_MIN 0.000000 +VISO_TYPE 0 +VTX_ENABLE 0 +WINCH_TYPE 0 +WPNAV_ACCEL 250.000000 +WPNAV_ACCEL_Z 100.000000 +WPNAV_JERK 1.000000 +WPNAV_RADIUS 200.000000 +WPNAV_RFND_USE 1 +WPNAV_SPEED 1000.000000 +WPNAV_SPEED_DN 150.000000 +WPNAV_SPEED_UP 250.000000 +WPNAV_TER_MARGIN 10.000000 +WP_NAVALT_MIN 0.000000 +WP_YAW_BEHAVIOR 2 +ZIGZ_AUTO_ENABLE 0 diff --git a/Gazebo/config/omnicopter-k_tau=0.01085.param b/Gazebo/config/omnicopter-k_tau=0.01085.param new file mode 100644 index 00000000..9b1ccb68 --- /dev/null +++ b/Gazebo/config/omnicopter-k_tau=0.01085.param @@ -0,0 +1,1237 @@ +ACRO_BAL_PITCH 1.000000 +ACRO_BAL_ROLL 1.000000 +ACRO_OPTIONS 0 +ACRO_RP_EXPO 0.300000 +ACRO_RP_RATE 360.000000 +ACRO_THR_MID 0.000000 +ACRO_TRAINER 2 +ACRO_Y_EXPO 0.000000 +ACRO_Y_RATE 202.500000 +ADSB_TYPE 0 +AHRS_COMP_BETA 0.100000 +AHRS_CUSTOM_PIT 0.000000 +AHRS_CUSTOM_ROLL 0.000000 +AHRS_CUSTOM_YAW 0.000000 +AHRS_EKF_TYPE 2 +AHRS_GPS_GAIN 1.000000 +AHRS_GPS_MINSATS 6 +AHRS_GPS_USE 1 +AHRS_ORIENTATION 0 +AHRS_RP_P 0.200000 +AHRS_TRIM_X 0.000000 +AHRS_TRIM_Y 0.000000 +AHRS_TRIM_Z 0.000000 +AHRS_WIND_MAX 0 +AHRS_YAW_P 0.200000 +ANGLE_MAX 8000 +ARMING_ACCTHRESH 0.750000 +ARMING_CHECK 1 +ARMING_MIS_ITEMS 0 +ARMING_RUDDER 2 +ATC_ACCEL_P_MAX 110000.000000 +ATC_ACCEL_R_MAX 110000.000000 +ATC_ACCEL_Y_MAX 27000.000000 +ATC_ANGLE_BOOST 0 +ATC_ANG_LIM_TC 1.000000 +ATC_ANG_PIT_P 4.500000 +ATC_ANG_RLL_P 4.500000 +ATC_ANG_YAW_P 4.500000 +ATC_INPUT_TC 0.150000 +ATC_RATE_FF_ENAB 1 +ATC_RATE_P_MAX 0.000000 +ATC_RATE_R_MAX 0.000000 +ATC_RATE_Y_MAX 0.000000 +ATC_RAT_PIT_D 0.005000 +ATC_RAT_PIT_FF 0.000000 +ATC_RAT_PIT_FLTD 20.000000 +ATC_RAT_PIT_FLTE 0.000000 +ATC_RAT_PIT_FLTT 20.000000 +ATC_RAT_PIT_I 0.160000 +ATC_RAT_PIT_IMAX 0.500000 +ATC_RAT_PIT_P 0.160000 +ATC_RAT_PIT_SMAX 100.000000 +ATC_RAT_RLL_D 0.001000 +ATC_RAT_RLL_FF 0.000000 +ATC_RAT_RLL_FLTD 20.000000 +ATC_RAT_RLL_FLTE 0.000000 +ATC_RAT_RLL_FLTT 20.000000 +ATC_RAT_RLL_I 0.200000 +ATC_RAT_RLL_IMAX 0.500000 +ATC_RAT_RLL_P 0.200000 +ATC_RAT_RLL_SMAX 100.000000 +ATC_RAT_YAW_D 0.002000 +ATC_RAT_YAW_FF 0.000000 +ATC_RAT_YAW_FLTD 20.000000 +ATC_RAT_YAW_FLTE 2.500000 +ATC_RAT_YAW_FLTT 20.000000 +ATC_RAT_YAW_I 0.010000 +ATC_RAT_YAW_IMAX 0.500000 +ATC_RAT_YAW_P 0.100000 +ATC_RAT_YAW_SMAX 20.000000 +ATC_SLEW_YAW 6000.000000 +ATC_THR_MIX_MAN 0.100000 +ATC_THR_MIX_MAX 0.500000 +ATC_THR_MIX_MIN 0.100000 +AUTOTUNE_AGGR 0.100000 +AUTOTUNE_AXES 1 +AUTOTUNE_MIN_D 0.001000 +AUTO_OPTIONS 0 +AVD_ENABLE 0 +AVOID_ACCEL_MAX 3.000000 +AVOID_ALT_MIN 0.000000 +AVOID_ANGLE_MAX 1000 +AVOID_BACKUP_DZ 0.100000 +AVOID_BACKUP_SPD 0.750000 +AVOID_BEHAVE 0 +AVOID_DIST_MAX 5.000000 +AVOID_ENABLE 3 +AVOID_MARGIN 2.000000 +BARO1_DEVID 65540 +BARO1_GND_PRESS 94502.703125 +BARO1_WCF_ENABLE 0 +BARO2_DEVID 65796 +BARO2_GND_PRESS 94502.445312 +BARO2_WCF_ENABLE 0 +BARO3_DEVID 0 +BARO3_GND_PRESS 0.000000 +BARO3_WCF_ENABLE 0 +BARO_ALT_OFFSET 0.000000 +BARO_EXT_BUS -1 +BARO_FLTR_RNG 0 +BARO_GND_TEMP 0.000000 +BARO_PRIMARY 0 +BARO_PROBE_EXT 0 +BATT2_MONITOR 0 +BATT3_MONITOR 0 +BATT4_MONITOR 0 +BATT5_MONITOR 0 +BATT6_MONITOR 0 +BATT7_MONITOR 0 +BATT8_MONITOR 0 +BATT9_MONITOR 0 +BATT_MONITOR 0 +BCN_TYPE 0 +BRD_BOOT_DELAY 0 +BRD_OPTIONS 0 +BRD_RTC_TYPES 1 +BRD_RTC_TZ_MIN 0 +BRD_SAFETYOPTION 3 +BRD_SERIAL_NUM 0 +BRD_VBUS_MIN 4.300000 +BRD_VSERVO_MIN 0.000000 +BTN_ENABLE 0 +CAM_AUTO_ONLY 0 +CAM_DURATION 10 +CAM_FEEDBACK_PIN -1 +CAM_FEEDBACK_POL 1 +CAM_MAX_ROLL 0 +CAM_MIN_INTERVAL 0 +CAM_RC_TYPE 0 +CAM_RELAY_ON 1 +CAM_SERVO_OFF 1100 +CAM_SERVO_ON 1300 +CAM_TRIGG_DIST 0.000000 +CAM_TRIGG_TYPE 0 +CAM_TYPE 0 +CHUTE_ENABLED 0 +CIRCLE_OPTIONS 1 +CIRCLE_RADIUS 1000.000000 +CIRCLE_RATE 20.000000 +COMPASS_AUTODEC 1 +COMPASS_AUTO_ROT 2 +COMPASS_CAL_FIT 16.000000 +COMPASS_CUS_PIT 0.000000 +COMPASS_CUS_ROLL 0.000000 +COMPASS_CUS_YAW 0.000000 +COMPASS_DEC 0.000000 +COMPASS_DEV_ID 97539.000000 +COMPASS_DEV_ID2 131874.000000 +COMPASS_DEV_ID3 263178.000000 +COMPASS_DEV_ID4 97283.000000 +COMPASS_DEV_ID5 97795.000000 +COMPASS_DEV_ID6 98051.000000 +COMPASS_DEV_ID7 0.000000 +COMPASS_DEV_ID8 0.000000 +COMPASS_DIA2_X 1.000000 +COMPASS_DIA2_Y 1.000000 +COMPASS_DIA2_Z 1.000000 +COMPASS_DIA3_X 1.000000 +COMPASS_DIA3_Y 1.000000 +COMPASS_DIA3_Z 1.000000 +COMPASS_DIA_X 1.000000 +COMPASS_DIA_Y 1.000000 +COMPASS_DIA_Z 1.000000 +COMPASS_ENABLE 1 +COMPASS_EXTERN2 0 +COMPASS_EXTERN3 0 +COMPASS_EXTERNAL 1.000000 +COMPASS_FLTR_RNG 0 +COMPASS_LEARN 0 +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 +COMPASS_MOT_X 0.000000 +COMPASS_MOT_Y 0.000000 +COMPASS_MOT_Z 0.000000 +COMPASS_ODI2_X 0.000000 +COMPASS_ODI2_Y 0.000000 +COMPASS_ODI2_Z 0.000000 +COMPASS_ODI3_X 0.000000 +COMPASS_ODI3_Y 0.000000 +COMPASS_ODI3_Z 0.000000 +COMPASS_ODI_X 0.000000 +COMPASS_ODI_Y 0.000000 +COMPASS_ODI_Z 0.000000 +COMPASS_OFFS_MAX 1800 +COMPASS_OFS2_X 5.000000 +COMPASS_OFS2_Y 13.000000 +COMPASS_OFS2_Z -18.000000 +COMPASS_OFS3_X 5.000000 +COMPASS_OFS3_Y 13.000000 +COMPASS_OFS3_Z -18.000000 +COMPASS_OFS_X 5.000000 +COMPASS_OFS_Y 13.000000 +COMPASS_OFS_Z -18.000000 +COMPASS_OPTIONS 0 +COMPASS_ORIENT 0 +COMPASS_ORIENT2 0 +COMPASS_ORIENT3 0 +COMPASS_PMOT_EN 0 +COMPASS_PRIO1_ID 97539 +COMPASS_PRIO2_ID 131874 +COMPASS_PRIO3_ID 263178 +COMPASS_SCALE 1.000000 +COMPASS_SCALE2 1.000000 +COMPASS_SCALE3 1.000000 +COMPASS_TYPEMASK 0 +COMPASS_USE 1 +COMPASS_USE2 1 +COMPASS_USE3 1 +DEV_OPTIONS 0 +DISARM_DELAY 10 +EAHRS_TYPE 0 +EFI_TYPE 0 +EK2_ABIAS_P_NSE 0.005000 +EK2_ACC_P_NSE 0.600000 +EK2_ALT_M_NSE 3.000000 +EK2_ALT_SOURCE 0 +EK2_BCN_DELAY 50 +EK2_BCN_I_GTE 500 +EK2_BCN_M_NSE 1.000000 +EK2_CHECK_SCALE 100 +EK2_EAS_I_GATE 400 +EK2_EAS_M_NSE 1.400000 +EK2_ENABLE 1 +EK2_FLOW_DELAY 10 +EK2_FLOW_I_GATE 300 +EK2_FLOW_M_NSE 0.250000 +EK2_FLOW_USE 1 +EK2_GBIAS_P_NSE 0.000100 +EK2_GLITCH_RAD 25 +EK2_GPS_CHECK 31 +EK2_GPS_TYPE 0 +EK2_GSCL_P_NSE 0.000500 +EK2_GSF_RST_MAX 2 +EK2_GSF_RUN_MASK 3 +EK2_GSF_USE_MASK 3 +EK2_GYRO_P_NSE 0.030000 +EK2_HGT_DELAY 60 +EK2_HGT_I_GATE 500 +EK2_HRT_FILT 2.000000 +EK2_IMU_MASK 3 +EK2_MAGB_P_NSE 0.000100 +EK2_MAGE_P_NSE 0.001000 +EK2_MAG_CAL 3 +EK2_MAG_EF_LIM 50 +EK2_MAG_I_GATE 300 +EK2_MAG_MASK 0 +EK2_MAG_M_NSE 0.050000 +EK2_MAX_FLOW 2.500000 +EK2_NOAID_M_NSE 10.000000 +EK2_OGN_HGT_MASK 0 +EK2_POSNE_M_NSE 1.000000 +EK2_POS_I_GATE 500 +EK2_RNG_I_GATE 500 +EK2_RNG_M_NSE 0.500000 +EK2_RNG_USE_HGT -1 +EK2_RNG_USE_SPD 2.000000 +EK2_TAU_OUTPUT 25 +EK2_TERR_GRAD 0.100000 +EK2_VELD_M_NSE 0.500000 +EK2_VELNE_M_NSE 0.300000 +EK2_VEL_I_GATE 500 +EK2_WIND_PSCALE 0.500000 +EK2_WIND_P_NSE 0.100000 +EK2_YAW_I_GATE 300 +EK2_YAW_M_NSE 0.500000 +EK3_ENABLE 0 +ESC_CALIBRATION 0.000000 +FENCE_ACTION 1 +FENCE_ALT_MAX 100.000000 +FENCE_ALT_MIN -10.000000 +FENCE_ENABLE 0 +FENCE_MARGIN 2.000000 +FENCE_RADIUS 300.000000 +FENCE_TOTAL 0 +FENCE_TYPE 7 +FFT_ENABLE 0 +FHLD_BRAKE_RATE 8 +FHLD_FILT_HZ 5.000000 +FHLD_FLOW_MAX 0.600000 +FHLD_QUAL_MIN 10 +FHLD_XY_FILT_HZ 5.000000 +FHLD_XY_I 0.300000 +FHLD_XY_IMAX 3000.000000 +FHLD_XY_P 0.200000 +FLIGHT_OPTIONS 0 +FLOW_TYPE 0 +FLTMODE1 0 +FLTMODE2 2 +FLTMODE3 5 +FLTMODE4 0 +FLTMODE5 0 +FLTMODE6 5 +FLTMODE_CH 5 +FOLL_ENABLE 0 +FORMAT_VERSION 120 +FRAME_CLASS 16 +FRAME_TYPE 1 +FRSKY_DNLINK1_ID 20 +FRSKY_DNLINK2_ID 7 +FRSKY_DNLINK_ID 27 +FRSKY_OPTIONS 0 +FRSKY_UPLINK_ID 13 +FS_CRASH_CHECK 0 +FS_EKF_ACTION 1 +FS_EKF_THRESH 0.800000 +FS_GCS_ENABLE 0 +FS_GCS_TIMEOUT 5.000000 +FS_OPTIONS 16 +FS_THR_ENABLE 1 +FS_THR_VALUE 975 +FS_VIBE_ENABLE 1 +GCS_PID_MASK 2.000000 +GEN_TYPE 0 +GND_EFFECT_COMP 1 +GPS_AUTO_CONFIG 1 +GPS_AUTO_SWITCH 1 +GPS_BLEND_MASK 5 +GPS_BLEND_TC 10.000000 +GPS_COM_PORT 1 +GPS_COM_PORT2 1 +GPS_DELAY_MS 0 +GPS_DELAY_MS2 0 +GPS_DRV_OPTIONS 0 +GPS_GNSS_MODE 0 +GPS_GNSS_MODE2 0 +GPS_HDOP_GOOD 140 +GPS_INJECT_TO 127 +GPS_MB1_TYPE 0 +GPS_MB2_TYPE 0 +GPS_MIN_DGPS 100 +GPS_MIN_ELEV -100 +GPS_NAVFILTER 8 +GPS_POS1_X 0.000000 +GPS_POS1_Y 0.000000 +GPS_POS1_Z 0.000000 +GPS_POS2_X 0.000000 +GPS_POS2_Y 0.000000 +GPS_POS2_Z 0.000000 +GPS_PRIMARY 0 +GPS_RATE_MS 200 +GPS_RATE_MS2 200 +GPS_RAW_DATA 0 +GPS_SAVE_CFG 2 +GPS_SBAS_MODE 2 +GPS_SBP_LOGMASK -256 +GPS_TYPE 1 +GPS_TYPE2 0 +GRIP_ENABLE 0 +GUID_OPTIONS 0 +GUID_TIMEOUT 3.000000 +INITIAL_MODE 0 +INS_ACC1_CALTEMP -300.000000 +INS_ACC2OFFS_X 0.001000 +INS_ACC2OFFS_Y 0.001000 +INS_ACC2OFFS_Z 0.001000 +INS_ACC2SCAL_X 1.001000 +INS_ACC2SCAL_Y 1.001000 +INS_ACC2SCAL_Z 1.001000 +INS_ACC2_CALTEMP -300.000000 +INS_ACC2_ID 2753036.000000 +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_ACC3_CALTEMP -300.000000 +INS_ACC3_ID 0 +INS_ACCEL_FILTER 20 +INS_ACCOFFS_X 0.001000 +INS_ACCOFFS_Y 0.001000 +INS_ACCOFFS_Z 0.001000 +INS_ACCSCAL_X 1.001000 +INS_ACCSCAL_Y 1.001000 +INS_ACCSCAL_Z 1.001000 +INS_ACC_BODYFIX 2 +INS_ACC_ID 2753028.000000 +INS_ENABLE_MASK 127 +INS_FAST_SAMPLE 1 +INS_GYR1_CALTEMP -300.000000 +INS_GYR2OFFS_X 0.000000 +INS_GYR2OFFS_Y 0.000000 +INS_GYR2OFFS_Z 0.000000 +INS_GYR2_CALTEMP -300.000000 +INS_GYR2_ID 2752780 +INS_GYR3OFFS_X 0.000000 +INS_GYR3OFFS_Y 0.000000 +INS_GYR3OFFS_Z 0.000000 +INS_GYR3_CALTEMP -300.000000 +INS_GYR3_ID 0 +INS_GYROFFS_X 0.000000 +INS_GYROFFS_Y 0.000000 +INS_GYROFFS_Z 0.000000 +INS_GYRO_FILTER 20 +INS_GYRO_RATE 0 +INS_GYR_CAL 0 +INS_GYR_ID 2752772 +INS_HNTCH_ENABLE 0 +INS_LOG_BAT_CNT 1024 +INS_LOG_BAT_LGCT 32 +INS_LOG_BAT_LGIN 20 +INS_LOG_BAT_MASK 0 +INS_LOG_BAT_OPT 0 +INS_NOTCH_ENABLE 0 +INS_POS1_X 0.000000 +INS_POS1_Y 0.000000 +INS_POS1_Z 0.000000 +INS_POS2_X 0.000000 +INS_POS2_Y 0.000000 +INS_POS2_Z 0.000000 +INS_POS3_X 0.000000 +INS_POS3_Y 0.000000 +INS_POS3_Z 0.000000 +INS_STILL_THRESH 2.500000 +INS_TCAL1_ENABLE 0 +INS_TCAL2_ENABLE 0 +INS_TCAL3_ENABLE 0 +INS_TCAL_OPTIONS 0 +INS_TRIM_OPTION 1 +INS_USE 1 +INS_USE2 1 +INS_USE3 1 +LAND_ALT_LOW 1000 +LAND_REPOSITION 1 +LAND_SPEED 50 +LAND_SPEED_HIGH 0 +LGR_DEPLOY_ALT 0 +LGR_DEPLOY_PIN -1 +LGR_DEPLOY_POL 0 +LGR_ENABLE 1 +LGR_OPTIONS 3 +LGR_RETRACT_ALT 0 +LGR_STARTUP 0 +LGR_WOW_PIN 8 +LGR_WOW_POL 1 +LOG_BACKEND_TYPE 1 +LOG_BITMASK 176126 +LOG_BLK_RATEMAX 0.000000 +LOG_DISARMED 0 +LOG_FILE_BUFSIZE 200 +LOG_FILE_DSRMROT 0 +LOG_FILE_MB_FREE 500 +LOG_FILE_RATEMAX 0.000000 +LOG_FILE_TIMEOUT 5 +LOG_MAV_BUFSIZE 8 +LOG_MAV_RATEMAX 0.000000 +LOG_REPLAY 0 +LOIT_ACC_MAX 500.000000 +LOIT_ANG_MAX 0.000000 +LOIT_BRK_ACCEL 250.000000 +LOIT_BRK_DELAY 1.000000 +LOIT_BRK_JERK 500.000000 +LOIT_SPEED 1250.000000 +MIS_OPTIONS 0 +MIS_RESTART 0 +MIS_TOTAL 7.000000 +MNT_TYPE 0 +MOT_BAT_CURR_MAX 0.000000 +MOT_BAT_CURR_TC 5.000000 +MOT_BAT_IDX 0 +MOT_BAT_VOLT_MAX 0.000000 +MOT_BAT_VOLT_MIN 0.000000 +MOT_BOOST_SCALE 0.000000 +MOT_HOVER_LEARN 2 +MOT_PWM_MAX 2000 +MOT_PWM_MIN 1000 +MOT_PWM_TYPE 0 +MOT_SAFE_DISARM 0 +MOT_SAFE_TIME 1.000000 +MOT_SLEW_DN_TIME 0.000000 +MOT_SLEW_UP_TIME 0.000000 +MOT_SPIN_ARM 0.100000 +MOT_SPIN_MAX 1.000000 +MOT_SPIN_MIN -1.000000 +MOT_SPOOL_TIME 0.500000 +MOT_THST_EXPO 0.750000 +MOT_THST_HOVER 0.323380 +MOT_YAW_HEADROOM 50 +MSP_OPTIONS 0 +MSP_OSD_NCELLS 0 +NTF_BUZZ_ON_LVL 1 +NTF_BUZZ_PIN -1 +NTF_BUZZ_TYPES 1 +NTF_BUZZ_VOLUME 100 +NTF_DISPLAY_TYPE 0 +NTF_LED_BRIGHT 3 +NTF_LED_LEN 1 +NTF_LED_OVERRIDE 0 +NTF_LED_TYPES 199 +OA_TYPE 0 +OSD_TYPE 0 +PHLD_BRAKE_ANGLE 3000 +PHLD_BRAKE_RATE 8 +PILOT_ACCEL_Z 250 +PILOT_SPEED_DN 0 +PILOT_SPEED_UP 250 +PILOT_THR_BHV 0 +PILOT_THR_FILT 0.000000 +PILOT_TKOFF_ALT 0.000000 +PILOT_Y_EXPO 0.000000 +PILOT_Y_RATE 202.500000 +PLND_ENABLED 0 +PRX_TYPE 0 +PSC_ACCZ_D 0.000000 +PSC_ACCZ_FF 0.000000 +PSC_ACCZ_FLTD 0.000000 +PSC_ACCZ_FLTE 20.000000 +PSC_ACCZ_FLTT 0.000000 +PSC_ACCZ_I 1.234634 +PSC_ACCZ_IMAX 800.000000 +PSC_ACCZ_P 0.617317 +PSC_ACCZ_SMAX 0.000000 +PSC_ANGLE_MAX 0.000000 +PSC_JERK_XY 5.000000 +PSC_JERK_Z 5.000000 +PSC_POSXY_P 1.000000 +PSC_POSZ_P 1.000000 +PSC_VELXY_D 0.500000 +PSC_VELXY_FF 0.000000 +PSC_VELXY_FLTD 5.000000 +PSC_VELXY_FLTE 5.000000 +PSC_VELXY_I 1.000000 +PSC_VELXY_IMAX 1000.000000 +PSC_VELXY_P 2.000000 +PSC_VELZ_D 0.000000 +PSC_VELZ_FF 0.000000 +PSC_VELZ_FLTD 5.000000 +PSC_VELZ_FLTE 5.000000 +PSC_VELZ_I 0.000000 +PSC_VELZ_IMAX 1000.000000 +PSC_VELZ_P 5.000000 +RALLY_INCL_HOME 1 +RALLY_LIMIT_KM 0.300000 +RALLY_TOTAL 0 +RC10_DZ 0 +RC10_MAX 1900 +RC10_MIN 1100 +RC10_OPTION 0 +RC10_REVERSED 0 +RC10_TRIM 1500 +RC11_DZ 0 +RC11_MAX 1900 +RC11_MIN 1100 +RC11_OPTION 0 +RC11_REVERSED 0 +RC11_TRIM 1500 +RC12_DZ 0 +RC12_MAX 1900 +RC12_MIN 1100 +RC12_OPTION 0 +RC12_REVERSED 0 +RC12_TRIM 1500 +RC13_DZ 0 +RC13_MAX 1900 +RC13_MIN 1100 +RC13_OPTION 0 +RC13_REVERSED 0 +RC13_TRIM 1500 +RC14_DZ 0 +RC14_MAX 1900 +RC14_MIN 1100 +RC14_OPTION 0 +RC14_REVERSED 0 +RC14_TRIM 1500 +RC15_DZ 0 +RC15_MAX 1900 +RC15_MIN 1100 +RC15_OPTION 0 +RC15_REVERSED 0 +RC15_TRIM 1500 +RC16_DZ 0 +RC16_MAX 1900 +RC16_MIN 1100 +RC16_OPTION 0 +RC16_REVERSED 0 +RC16_TRIM 1500 +RC1_DZ 20 +RC1_MAX 2000 +RC1_MIN 1000 +RC1_OPTION 0 +RC1_REVERSED 0 +RC1_TRIM 1500 +RC2_DZ 20 +RC2_MAX 2000 +RC2_MIN 1000 +RC2_OPTION 0 +RC2_REVERSED 1 +RC2_TRIM 1500 +RC3_DZ 30 +RC3_MAX 2000 +RC3_MIN 1000 +RC3_OPTION 0 +RC3_REVERSED 0 +RC3_TRIM 1500 +RC4_DZ 20 +RC4_MAX 2000 +RC4_MIN 1000 +RC4_OPTION 0 +RC4_REVERSED 0 +RC4_TRIM 1500 +RC5_DZ 0 +RC5_MAX 1900 +RC5_MIN 1100 +RC5_OPTION 0 +RC5_REVERSED 0 +RC5_TRIM 1500 +RC6_DZ 0 +RC6_MAX 1900 +RC6_MIN 1100 +RC6_OPTION 0 +RC6_REVERSED 0 +RC6_TRIM 1500 +RC7_DZ 0 +RC7_MAX 1900 +RC7_MIN 1100 +RC7_OPTION 0 +RC7_REVERSED 0 +RC7_TRIM 1500 +RC8_DZ 0 +RC8_MAX 1900 +RC8_MIN 1100 +RC8_OPTION 17 +RC8_REVERSED 0 +RC8_TRIM 1500 +RC9_DZ 0 +RC9_MAX 1900 +RC9_MIN 1100 +RC9_OPTION 0 +RC9_REVERSED 0 +RC9_TRIM 1500 +RCMAP_PITCH 2 +RCMAP_ROLL 1 +RCMAP_THROTTLE 3 +RCMAP_YAW 4 +RC_OPTIONS 32 +RC_OVERRIDE_TIME 3.000000 +RC_PROTOCOLS 1 +RC_SPEED 490 +RELAY_DEFAULT 0 +RELAY_PIN 13 +RELAY_PIN2 -1 +RELAY_PIN3 -1 +RELAY_PIN4 -1 +RELAY_PIN5 -1 +RELAY_PIN6 -1 +RNGFND1_TYPE 0 +RNGFND2_TYPE 0 +RNGFND3_TYPE 0 +RNGFND4_TYPE 0 +RNGFND5_TYPE 0 +RNGFND6_TYPE 0 +RNGFND7_TYPE 0 +RNGFND8_TYPE 0 +RNGFND9_TYPE 0 +RNGFNDA_TYPE 0 +RNGFND_FILT 0.500000 +RPM1_TYPE 0 +RPM2_TYPE 0 +RSSI_TYPE 0 +RTL_ALT 1500 +RTL_ALT_FINAL 0 +RTL_ALT_TYPE 0 +RTL_CLIMB_MIN 0 +RTL_CONE_SLOPE 3.000000 +RTL_LOIT_TIME 5000 +RTL_OPTIONS 0 +RTL_SPEED 0 +SCHED_DEBUG 0 +SCHED_LOOP_RATE 400 +SCHED_OPTIONS 0 +SCR_DEBUG_OPTS 0 +SCR_DIR_DISABLE 0 +SCR_ENABLE 1 +SCR_HEAP_SIZE 65536 +SCR_USER1 0.000000 +SCR_USER2 0.000000 +SCR_USER3 0.000000 +SCR_USER4 0.000000 +SCR_USER5 0.000000 +SCR_USER6 0.000000 +SCR_VM_I_COUNT 10000 +SERIAL0_BAUD 115 +SERIAL0_PROTOCOL 2 +SERIAL1_BAUD 57 +SERIAL1_OPTIONS 0 +SERIAL1_PROTOCOL 2 +SERIAL2_BAUD 57 +SERIAL2_OPTIONS 0 +SERIAL2_PROTOCOL 2 +SERIAL3_BAUD 38 +SERIAL3_OPTIONS 0 +SERIAL3_PROTOCOL 5 +SERIAL4_BAUD 38 +SERIAL4_OPTIONS 0 +SERIAL4_PROTOCOL 5 +SERIAL5_BAUD 57 +SERIAL5_OPTIONS 0 +SERIAL5_PROTOCOL -1 +SERIAL6_BAUD 57 +SERIAL6_OPTIONS 0 +SERIAL6_PROTOCOL -1 +SERIAL7_BAUD 57 +SERIAL7_OPTIONS 0 +SERIAL7_PROTOCOL -1 +SERIAL_PASS1 0 +SERIAL_PASS2 -1 +SERIAL_PASSTIMO 15 +SERVO10_FUNCTION 0 +SERVO10_MAX 1900 +SERVO10_MIN 1100 +SERVO10_REVERSED 0 +SERVO10_TRIM 1500 +SERVO11_FUNCTION 0 +SERVO11_MAX 1900 +SERVO11_MIN 1100 +SERVO11_REVERSED 0 +SERVO11_TRIM 1500 +SERVO12_FUNCTION 0 +SERVO12_MAX 1900 +SERVO12_MIN 1100 +SERVO12_REVERSED 0 +SERVO12_TRIM 1500 +SERVO13_FUNCTION 0 +SERVO13_MAX 1900 +SERVO13_MIN 1100 +SERVO13_REVERSED 0 +SERVO13_TRIM 1500 +SERVO14_FUNCTION 0 +SERVO14_MAX 1900 +SERVO14_MIN 1100 +SERVO14_REVERSED 0 +SERVO14_TRIM 1500 +SERVO15_FUNCTION 0 +SERVO15_MAX 1900 +SERVO15_MIN 1100 +SERVO15_REVERSED 0 +SERVO15_TRIM 1500 +SERVO16_FUNCTION 0 +SERVO16_MAX 1900 +SERVO16_MIN 1100 +SERVO16_REVERSED 0 +SERVO16_TRIM 1500 +SERVO1_FUNCTION 33 +SERVO1_MAX 2000 +SERVO1_MIN 1000 +SERVO1_REVERSED 0 +SERVO1_TRIM 1500 +SERVO2_FUNCTION 34 +SERVO2_MAX 2000 +SERVO2_MIN 1000 +SERVO2_REVERSED 0 +SERVO2_TRIM 1500 +SERVO3_FUNCTION 35 +SERVO3_MAX 2000 +SERVO3_MIN 1000 +SERVO3_REVERSED 0 +SERVO3_TRIM 1500 +SERVO4_FUNCTION 36 +SERVO4_MAX 2000 +SERVO4_MIN 1000 +SERVO4_REVERSED 0 +SERVO4_TRIM 1500 +SERVO5_FUNCTION 37 +SERVO5_MAX 2000 +SERVO5_MIN 1000 +SERVO5_REVERSED 0 +SERVO5_TRIM 1500 +SERVO6_FUNCTION 38 +SERVO6_MAX 2000 +SERVO6_MIN 1000 +SERVO6_REVERSED 0 +SERVO6_TRIM 1500 +SERVO7_FUNCTION 0 +SERVO7_MAX 1900 +SERVO7_MIN 1100 +SERVO7_REVERSED 0 +SERVO7_TRIM 1500 +SERVO8_FUNCTION 0 +SERVO8_MAX 1900 +SERVO8_MIN 1100 +SERVO8_REVERSED 0 +SERVO8_TRIM 1500 +SERVO9_FUNCTION 0 +SERVO9_MAX 1900 +SERVO9_MIN 1100 +SERVO9_REVERSED 0 +SERVO9_TRIM 1500 +SERVO_DSHOT_ESC 0 +SERVO_DSHOT_RATE 0 +SERVO_FTW_MASK 0 +SERVO_FTW_POLES 14 +SERVO_FTW_RVMASK 0 +SERVO_GPIO_MASK 0 +SERVO_RATE 50 +SERVO_ROB_POSMAX 4095 +SERVO_ROB_POSMIN 0 +SERVO_SBUS_RATE 50 +SERVO_VOLZ_MASK 0 +SID_AXIS 0 +SIMPLE 0 +SIM_ACC1_BIAS_X 0.000000 +SIM_ACC1_BIAS_Y 0.000000 +SIM_ACC1_BIAS_Z 0.000000 +SIM_ACC1_RND 0.000000 +SIM_ACC1_SCAL_X 0.000000 +SIM_ACC1_SCAL_Y 0.000000 +SIM_ACC1_SCAL_Z 0.000000 +SIM_ACC2_BIAS_X 0.000000 +SIM_ACC2_BIAS_Y 0.000000 +SIM_ACC2_BIAS_Z 0.000000 +SIM_ACC2_RND 0.000000 +SIM_ACC2_SCAL_X 0.000000 +SIM_ACC2_SCAL_Y 0.000000 +SIM_ACC2_SCAL_Z 0.000000 +SIM_ACC3_BIAS_X 0.000000 +SIM_ACC3_BIAS_Y 0.000000 +SIM_ACC3_BIAS_Z 0.000000 +SIM_ACC3_RND 0.000000 +SIM_ACC3_SCAL_X 0.000000 +SIM_ACC3_SCAL_Y 0.000000 +SIM_ACC3_SCAL_Z 0.000000 +SIM_ACCEL1_FAIL 0.000000 +SIM_ACCEL2_FAIL 0.000000 +SIM_ACCEL3_FAIL 0.000000 +SIM_ACC_FAIL_MSK 0 +SIM_ACC_TRIM_X 0.000000 +SIM_ACC_TRIM_Y 0.000000 +SIM_ACC_TRIM_Z 0.000000 +SIM_ADSB_ALT 1000.000000 +SIM_ADSB_COUNT -1 +SIM_ADSB_RADIUS 10000.000000 +SIM_ADSB_TX 0 +SIM_ARSPD2_FAIL 0.000000 +SIM_ARSPD2_FAILP 0.000000 +SIM_ARSPD2_OFS 2013.000000 +SIM_ARSPD2_PITOT 0.000000 +SIM_ARSPD2_RND 2.000000 +SIM_ARSPD_FAIL 0.000000 +SIM_ARSPD_FAILP 0.000000 +SIM_ARSPD_OFS 2013.000000 +SIM_ARSPD_PITOT 0.000000 +SIM_ARSPD_RND 2.000000 +SIM_ARSPD_SIGN 0 +SIM_BAR2_DELAY 0 +SIM_BAR2_DISABLE 0 +SIM_BAR2_DRIFT 0.000000 +SIM_BAR2_FREEZE 0 +SIM_BAR2_GLITCH 0.000000 +SIM_BAR2_RND 0.200000 +SIM_BAR2_WCF_BAK 0.000000 +SIM_BAR2_WCF_FWD 0.000000 +SIM_BAR2_WCF_LFT 0.000000 +SIM_BAR2_WCF_RGT 0.000000 +SIM_BAR3_DELAY 0 +SIM_BAR3_DISABLE 0 +SIM_BAR3_DRIFT 0.000000 +SIM_BAR3_FREEZE 0 +SIM_BAR3_GLITCH 0.000000 +SIM_BAR3_RND 0.200000 +SIM_BAR3_WCF_BAK 0.000000 +SIM_BAR3_WCF_FWD 0.000000 +SIM_BAR3_WCF_LFT 0.000000 +SIM_BAR3_WCF_RGT 0.000000 +SIM_BARO_COUNT 2 +SIM_BARO_DELAY 0 +SIM_BARO_DISABLE 0 +SIM_BARO_DRIFT 0.000000 +SIM_BARO_FREEZE 0 +SIM_BARO_GLITCH 0.000000 +SIM_BARO_RND 0.200000 +SIM_BARO_WCF_BAK 0.000000 +SIM_BARO_WCF_FWD 0.000000 +SIM_BARO_WCF_LFT 0.000000 +SIM_BARO_WCF_RGT 0.000000 +SIM_BATT_CAP_AH 0.000000 +SIM_BATT_VOLTAGE 12.600000 +SIM_BAUDLIMIT_EN 0 +SIM_BZ_ENABLE 0 +SIM_BZ_PIN 0 +SIM_DRIFT_SPEED 0.050000 +SIM_DRIFT_TIME 5.000000 +SIM_EFI_TYPE 0 +SIM_ENGINE_FAIL 0 +SIM_ENGINE_MUL 1.000000 +SIM_ESC_TELEM 1 +SIM_FLOAT_EXCEPT 1 +SIM_FLOW_DELAY 0 +SIM_FLOW_ENABLE 0 +SIM_FLOW_POS_X 0.000000 +SIM_FLOW_POS_Y 0.000000 +SIM_FLOW_POS_Z 0.000000 +SIM_FLOW_RATE 10 +SIM_FLOW_RND 0.050000 +SIM_FTOWESC_ENA 0 +SIM_FTOWESC_POW 4095 +SIM_GND_BEHAV -1 +SIM_GPS2_ACC 0.300000 +SIM_GPS2_ALT_OFS 0 +SIM_GPS2_BYTELOS 0.000000 +SIM_GPS2_DELAY 1 +SIM_GPS2_DISABLE 1 +SIM_GPS2_DRFTALT 0.000000 +SIM_GPS2_GLTCH_X 0.000000 +SIM_GPS2_GLTCH_Y 0.000000 +SIM_GPS2_GLTCH_Z 0.000000 +SIM_GPS2_HDG 0 +SIM_GPS2_HZ 5 +SIM_GPS2_LCKTIME 0 +SIM_GPS2_NOISE 0.000000 +SIM_GPS2_NUMSATS 10 +SIM_GPS2_POS_X 0.000000 +SIM_GPS2_POS_Y 0.000000 +SIM_GPS2_POS_Z 0.000000 +SIM_GPS2_TYPE 1 +SIM_GPS2_VERR_X 0.000000 +SIM_GPS2_VERR_Y 0.000000 +SIM_GPS2_VERR_Z 0.000000 +SIM_GPS_ACC 0.300000 +SIM_GPS_ALT_OFS 0 +SIM_GPS_BYTELOSS 0.000000 +SIM_GPS_DELAY 1 +SIM_GPS_DISABLE 0 +SIM_GPS_DRIFTALT 0.000000 +SIM_GPS_GLITCH_X 0.000000 +SIM_GPS_GLITCH_Y 0.000000 +SIM_GPS_GLITCH_Z 0.000000 +SIM_GPS_HDG 0 +SIM_GPS_HZ 5 +SIM_GPS_LOCKTIME 0 +SIM_GPS_NOISE 0.000000 +SIM_GPS_NUMSATS 10 +SIM_GPS_POS_X 0.000000 +SIM_GPS_POS_Y 0.000000 +SIM_GPS_POS_Z 0.000000 +SIM_GPS_TYPE 1 +SIM_GPS_VERR_X 0.000000 +SIM_GPS_VERR_Y 0.000000 +SIM_GPS_VERR_Z 0.000000 +SIM_GRPE_ENABLE 0 +SIM_GRPE_PIN -1 +SIM_GRPS_ENABLE 0 +SIM_GRPS_GRAB 2000 +SIM_GRPS_PIN -1 +SIM_GRPS_RELEASE 1000 +SIM_GRPS_REVERSE 0 +SIM_GYR1_RND 0.000000 +SIM_GYR1_SCALE_X 0.000000 +SIM_GYR1_SCALE_Y 0.000000 +SIM_GYR1_SCALE_Z 0.000000 +SIM_GYR2_RND 0.000000 +SIM_GYR2_SCALE_X 0.000000 +SIM_GYR2_SCALE_Y 0.000000 +SIM_GYR2_SCALE_Z 0.000000 +SIM_GYR3_RND 0.000000 +SIM_GYR3_SCALE_X 0.000000 +SIM_GYR3_SCALE_Y 0.000000 +SIM_GYR3_SCALE_Z 0.000000 +SIM_GYR_FAIL_MSK 0 +SIM_IE24_ENABLE 0 +SIM_IE24_ERROR 0 +SIM_IE24_STATE -1 +SIM_IMUT1_ENABLE 0 +SIM_IMUT2_ENABLE 0 +SIM_IMUT3_ENABLE 0 +SIM_IMUT_END 45.000000 +SIM_IMUT_FIXED 0.000000 +SIM_IMUT_START 25.000000 +SIM_IMUT_TCONST 300.000000 +SIM_IMU_COUNT 2 +SIM_IMU_POS_X 0.000000 +SIM_IMU_POS_Y 0.000000 +SIM_IMU_POS_Z 0.000000 +SIM_INIT_ALT_OFS 0.000000 +SIM_INIT_LAT_OFS 0.000000 +SIM_INIT_LON_OFS 0.000000 +SIM_INS_THR_MIN 0.100000 +SIM_JSON_MASTER 0 +SIM_LED_LAYOUT 0 +SIM_LOOP_DELAY 0 +SIM_MAG1_DEVID 97539 +SIM_MAG1_FAIL 0 +SIM_MAG1_SCALING 1.000000 +SIM_MAG2_DEVID 131874 +SIM_MAG2_DIA_X 0.000000 +SIM_MAG2_DIA_Y 0.000000 +SIM_MAG2_DIA_Z 0.000000 +SIM_MAG2_FAIL 0 +SIM_MAG2_ODI_X 0.000000 +SIM_MAG2_ODI_Y 0.000000 +SIM_MAG2_ODI_Z 0.000000 +SIM_MAG2_OFS_X 5.000000 +SIM_MAG2_OFS_Y 13.000000 +SIM_MAG2_OFS_Z -18.000000 +SIM_MAG2_ORIENT 0 +SIM_MAG2_SCALING 1.000000 +SIM_MAG3_DEVID 263178 +SIM_MAG3_DIA_X 0.000000 +SIM_MAG3_DIA_Y 0.000000 +SIM_MAG3_DIA_Z 0.000000 +SIM_MAG3_FAIL 0 +SIM_MAG3_ODI_X 0.000000 +SIM_MAG3_ODI_Y 0.000000 +SIM_MAG3_ODI_Z 0.000000 +SIM_MAG3_OFS_X 5.000000 +SIM_MAG3_OFS_Y 13.000000 +SIM_MAG3_OFS_Z -18.000000 +SIM_MAG3_ORIENT 0 +SIM_MAG3_SCALING 1.000000 +SIM_MAG4_DEVID 97283 +SIM_MAG5_DEVID 97795 +SIM_MAG6_DEVID 98051 +SIM_MAG7_DEVID 0 +SIM_MAG8_DEVID 0 +SIM_MAG_ALY_HGT 1.000000 +SIM_MAG_ALY_X 0.000000 +SIM_MAG_ALY_Y 0.000000 +SIM_MAG_ALY_Z 0.000000 +SIM_MAG_DELAY 0 +SIM_MAG_DIA_X 0.000000 +SIM_MAG_DIA_Y 0.000000 +SIM_MAG_DIA_Z 0.000000 +SIM_MAG_MOT_X 0.000000 +SIM_MAG_MOT_Y 0.000000 +SIM_MAG_MOT_Z 0.000000 +SIM_MAG_ODI_X 0.000000 +SIM_MAG_ODI_Y 0.000000 +SIM_MAG_ODI_Z 0.000000 +SIM_MAG_OFS_X 5.000000 +SIM_MAG_OFS_Y 13.000000 +SIM_MAG_OFS_Z -18.000000 +SIM_MAG_ORIENT 0 +SIM_MAG_RND 0.000000 +SIM_ODOM_ENABLE 0 +SIM_OPOS_ALT 584.000000 +SIM_OPOS_HDG 353.000000 +SIM_OPOS_LAT -35.363262 +SIM_OPOS_LNG 149.165237 +SIM_PARA_ENABLE 0 +SIM_PARA_PIN -1 +SIM_PIN_MASK 0 +SIM_PLD_ALT_LMT 15.000000 +SIM_PLD_DIST_LMT 10.000000 +SIM_PLD_ENABLE 0 +SIM_PLD_HEIGHT 0.000000 +SIM_PLD_LAT 0.000000 +SIM_PLD_LON 0.000000 +SIM_PLD_RATE 100 +SIM_PLD_TYPE 0 +SIM_PLD_YAW 0 +SIM_RATE_HZ 1200 +SIM_RC_CHANCOUNT 16 +SIM_RC_FAIL 0 +SIM_RICH_CTRL -1 +SIM_RICH_ENABLE 0 +SIM_SAFETY_STATE 0 +SIM_SAIL_TYPE 0 +SIM_SERVO_SPEED 0.140000 +SIM_SHIP_DSIZE 10.000000 +SIM_SHIP_ENABLE 0 +SIM_SHIP_PSIZE 1000.000000 +SIM_SHIP_SPEED 3.000000 +SIM_SHIP_SYSID 17 +SIM_SHOVE_TIME 0 +SIM_SHOVE_X 0.000000 +SIM_SHOVE_Y 0.000000 +SIM_SHOVE_Z 0.000000 +SIM_SONAR_GLITCH 0.000000 +SIM_SONAR_POS_X 0.000000 +SIM_SONAR_POS_Y 0.000000 +SIM_SONAR_POS_Z 0.000000 +SIM_SONAR_RND 0.000000 +SIM_SONAR_SCALE 12.121200 +SIM_SPEEDUP 1.000000 +SIM_SPR_ENABLE 0 +SIM_SPR_PUMP -1 +SIM_SPR_SPIN -1 +SIM_TA_ENABLE 1 +SIM_TEMP_BFACTOR 0.000000 +SIM_TEMP_BRD_OFF 20.000000 +SIM_TEMP_START 25.000000 +SIM_TEMP_TCONST 30.000000 +SIM_TERRAIN 1 +SIM_THML_SCENARI 0 +SIM_TIDE_DIR 0.000000 +SIM_TIDE_SPEED 0.000000 +SIM_TWIST_TIME 0 +SIM_TWIST_X 0.000000 +SIM_TWIST_Y 0.000000 +SIM_TWIST_Z 0.000000 +SIM_VIB_FREQ_X 0.000000 +SIM_VIB_FREQ_Y 0.000000 +SIM_VIB_FREQ_Z 0.000000 +SIM_VIB_MOT_MAX 0.000000 +SIM_VIB_MOT_MULT 1.000000 +SIM_VICON_FAIL 0 +SIM_VICON_GLIT_X 0.000000 +SIM_VICON_GLIT_Y 0.000000 +SIM_VICON_GLIT_Z 0.000000 +SIM_VICON_POS_X 0.000000 +SIM_VICON_POS_Y 0.000000 +SIM_VICON_POS_Z 0.000000 +SIM_VICON_TMASK 3 +SIM_VICON_VGLI_X 0.000000 +SIM_VICON_VGLI_Y 0.000000 +SIM_VICON_VGLI_Z 0.000000 +SIM_VICON_YAW 0 +SIM_VICON_YAWERR 0 +SIM_WAVE_AMP 0.500000 +SIM_WAVE_DIR 0.000000 +SIM_WAVE_ENABLE 0 +SIM_WAVE_LENGTH 10.000000 +SIM_WAVE_SPEED 0.500000 +SIM_WIND_DELAY 0 +SIM_WIND_DIR 180.000000 +SIM_WIND_DIR_Z 0.000000 +SIM_WIND_SPD 0.000000 +SIM_WIND_T 0 +SIM_WIND_TURB 0.000000 +SIM_WIND_T_ALT 60.000000 +SIM_WIND_T_COEF 0.010000 +SIM_WOW_PIN -1 +SPRAY_ENABLE 0 +SR0_ADSB 4 +SR0_EXTRA1 4 +SR0_EXTRA2 4 +SR0_EXTRA3 4 +SR0_EXT_STAT 4 +SR0_PARAMS 0 +SR0_POSITION 4 +SR0_RAW_CTRL 4 +SR0_RAW_SENS 4 +SR0_RC_CHAN 4 +SR1_ADSB 0 +SR1_EXTRA1 0 +SR1_EXTRA2 0 +SR1_EXTRA3 0 +SR1_EXT_STAT 0 +SR1_PARAMS 0 +SR1_POSITION 0 +SR1_RAW_CTRL 0 +SR1_RAW_SENS 0 +SR1_RC_CHAN 0 +SR2_ADSB 0 +SR2_EXTRA1 0 +SR2_EXTRA2 0 +SR2_EXTRA3 0 +SR2_EXT_STAT 0 +SR2_PARAMS 0 +SR2_POSITION 0 +SR2_RAW_CTRL 0 +SR2_RAW_SENS 0 +SR2_RC_CHAN 0 +SR3_ADSB 0 +SR3_EXTRA1 0 +SR3_EXTRA2 0 +SR3_EXTRA3 0 +SR3_EXT_STAT 0 +SR3_PARAMS 0 +SR3_POSITION 0 +SR3_RAW_CTRL 0 +SR3_RAW_SENS 0 +SR3_RC_CHAN 0 +SR4_ADSB 0 +SR4_EXTRA1 0 +SR4_EXTRA2 0 +SR4_EXTRA3 0 +SR4_EXT_STAT 0 +SR4_PARAMS 0 +SR4_POSITION 0 +SR4_RAW_CTRL 0 +SR4_RAW_SENS 0 +SR4_RC_CHAN 0 +SR5_ADSB 0 +SR5_EXTRA1 0 +SR5_EXTRA2 0 +SR5_EXTRA3 0 +SR5_EXT_STAT 0 +SR5_PARAMS 0 +SR5_POSITION 0 +SR5_RAW_CTRL 0 +SR5_RAW_SENS 0 +SR5_RC_CHAN 0 +SR6_ADSB 0 +SR6_EXTRA1 0 +SR6_EXTRA2 0 +SR6_EXTRA3 0 +SR6_EXT_STAT 0 +SR6_PARAMS 0 +SR6_POSITION 0 +SR6_RAW_CTRL 0 +SR6_RAW_SENS 0 +SR6_RC_CHAN 0 +SRTL_ACCURACY 2.000000 +SRTL_OPTIONS 0 +SRTL_POINTS 300 +STAT_BOOTCNT 69 +STAT_FLTTIME 25934.000000 +STAT_RESET 187974747 +STAT_RUNTIME 264293.000000 +SUPER_SIMPLE 0 +SURFTRAK_MODE 1 +SYSID_ENFORCE 0 +SYSID_MYGCS 255 +SYSID_THISMAV 1 +TCAL_ENABLED 0 +TELEM_DELAY 0 +TERRAIN_ENABLE 1 +TERRAIN_MARGIN 0.050000 +TERRAIN_OPTIONS 0 +TERRAIN_SPACING 100 +THROW_MOT_START 0 +THROW_NEXTMODE 18 +THROW_TYPE 0 +THR_DZ 100 +TUNE 0 +TUNE_MAX 0.000000 +TUNE_MIN 0.000000 +VISO_TYPE 0 +VTX_ENABLE 0 +WINCH_TYPE 0 +WPNAV_ACCEL 250.000000 +WPNAV_ACCEL_Z 100.000000 +WPNAV_JERK 1.000000 +WPNAV_RADIUS 200.000000 +WPNAV_RFND_USE 1 +WPNAV_SPEED 1000.000000 +WPNAV_SPEED_DN 150.000000 +WPNAV_SPEED_UP 250.000000 +WPNAV_TER_MARGIN 10.000000 +WP_NAVALT_MIN 0.000000 +WP_YAW_BEHAVIOR 2 +ZIGZ_AUTO_ENABLE 0 diff --git a/Gazebo/config/omnicopter-rf.param b/Gazebo/config/omnicopter-rf.param new file mode 100644 index 00000000..e3d93dfa --- /dev/null +++ b/Gazebo/config/omnicopter-rf.param @@ -0,0 +1,1233 @@ +ACRO_BAL_PITCH,1 +ACRO_BAL_ROLL,1 +ACRO_OPTIONS,0 +ACRO_RP_EXPO,0.3 +ACRO_RP_P,4.5 +ACRO_THR_MID,0 +ACRO_TRAINER,2 +ACRO_Y_EXPO,0 +ACRO_YAW_P,4.5 +ADSB_TYPE,0 +AHRS_COMP_BETA,0.1 +AHRS_CUSTOM_PIT,0 +AHRS_CUSTOM_ROLL,0 +AHRS_CUSTOM_YAW,0 +AHRS_EKF_TYPE,10 +AHRS_GPS_GAIN,1 +AHRS_GPS_MINSATS,6 +AHRS_GPS_USE,1 +AHRS_ORIENTATION,0 +AHRS_RP_P,0.2 +AHRS_TRIM_X,0 +AHRS_TRIM_Y,0 +AHRS_TRIM_Z,0 +AHRS_WIND_MAX,0 +AHRS_YAW_P,0.2 +ANGLE_MAX,8000 +ARMING_ACCTHRESH,0.75 +ARMING_CHECK,1 +ARMING_MIS_ITEMS,0 +ARMING_RUDDER,2 +ATC_ACCEL_P_MAX,110000 +ATC_ACCEL_R_MAX,110000 +ATC_ACCEL_Y_MAX,27000 +ATC_ANG_LIM_TC,1 +ATC_ANG_PIT_P,4.5 +ATC_ANG_RLL_P,4.5 +ATC_ANG_YAW_P,4.5 +ATC_ANGLE_BOOST,0 +ATC_INPUT_TC,0.15 +ATC_RAT_PIT_D,0.01 +ATC_RAT_PIT_FF,0 +ATC_RAT_PIT_FLTD,20 +ATC_RAT_PIT_FLTE,0 +ATC_RAT_PIT_FLTT,20 +ATC_RAT_PIT_I,0.5 +ATC_RAT_PIT_IMAX,0.5 +ATC_RAT_PIT_P,0.5 +ATC_RAT_PIT_SMAX,0 +ATC_RAT_RLL_D,0.01 +ATC_RAT_RLL_FF,0 +ATC_RAT_RLL_FLTD,20 +ATC_RAT_RLL_FLTE,0 +ATC_RAT_RLL_FLTT,20 +ATC_RAT_RLL_I,0.5 +ATC_RAT_RLL_IMAX,0.5 +ATC_RAT_RLL_P,0.5 +ATC_RAT_RLL_SMAX,0 +ATC_RAT_YAW_D,0.01 +ATC_RAT_YAW_FF,0 +ATC_RAT_YAW_FLTD,20 +ATC_RAT_YAW_FLTE,0 +ATC_RAT_YAW_FLTT,20 +ATC_RAT_YAW_I,0.5 +ATC_RAT_YAW_IMAX,0.5 +ATC_RAT_YAW_P,0.5 +ATC_RAT_YAW_SMAX,0 +ATC_RATE_FF_ENAB,1 +ATC_RATE_P_MAX,0 +ATC_RATE_R_MAX,0 +ATC_RATE_Y_MAX,0 +ATC_SLEW_YAW,6000 +ATC_THR_MIX_MAN,0.1 +ATC_THR_MIX_MAX,0.5 +ATC_THR_MIX_MIN,0.1 +AUTO_OPTIONS,0 +AUTOTUNE_AGGR,0.1 +AUTOTUNE_AXES,7 +AUTOTUNE_MIN_D,0.001 +AVD_ENABLE,0 +AVOID_ANGLE_MAX,1000 +AVOID_BACKUP_SPD,0.5 +AVOID_BEHAVE,0 +AVOID_DIST_MAX,5 +AVOID_ENABLE,3 +AVOID_MARGIN,2 +BARO_ALT_OFFSET,0 +BARO_EXT_BUS,-1 +BARO_FLTR_RNG,0 +BARO_GND_TEMP,0 +BARO_PRIMARY,0 +BARO_PROBE_EXT,0 +BARO1_DEVID,65540 +BARO1_GND_PRESS,94504.09 +BARO1_WCF_ENABLE,0 +BARO2_DEVID,65796 +BARO2_GND_PRESS,94504.38 +BARO2_WCF_ENABLE,0 +BARO3_DEVID,0 +BARO3_GND_PRESS,0 +BARO3_WCF_ENABLE,0 +BATT_AMP_OFFSET,0 +BATT_AMP_PERVLT,17 +BATT_ARM_MAH,0 +BATT_ARM_VOLT,0 +BATT_BUS,0 +BATT_CAPACITY,3300 +BATT_CRT_MAH,0 +BATT_CRT_VOLT,0 +BATT_CURR_PIN,12 +BATT_FS_CRT_ACT,0 +BATT_FS_LOW_ACT,0 +BATT_FS_VOLTSRC,0 +BATT_LOW_MAH,0 +BATT_LOW_TIMER,10 +BATT_LOW_VOLT,10.5 +BATT_MONITOR,4 +BATT_SERIAL_NUM,-1 +BATT_VOLT_MULT,10.1 +BATT_VOLT_PIN,13 +BATT2_MONITOR,0 +BATT3_MONITOR,0 +BATT4_MONITOR,0 +BATT5_MONITOR,0 +BATT6_MONITOR,0 +BATT7_MONITOR,0 +BATT8_MONITOR,0 +BATT9_MONITOR,0 +BCN_ALT,0 +BCN_LATITUDE,0 +BCN_LONGITUDE,0 +BCN_ORIENT_YAW,0 +BCN_TYPE,0 +BRD_ALT_CONFIG,0 +BRD_BOOT_DELAY,0 +BRD_OPTIONS,0 +BRD_PWM_COUNT,8 +BRD_RTC_TYPES,1 +BRD_RTC_TZ_MIN,0 +BRD_SAFETYOPTION,3 +BRD_SERIAL_NUM,0 +BRD_VBUS_MIN,4.3 +BRD_VSERVO_MIN,0 +BTN_ENABLE,0 +CAM_AUTO_ONLY,0 +CAM_DURATION,10 +CAM_FEEDBACK_PIN,-1 +CAM_FEEDBACK_POL,1 +CAM_MAX_ROLL,0 +CAM_MIN_INTERVAL,0 +CAM_RC_TYPE,0 +CAM_RELAY_ON,1 +CAM_SERVO_OFF,1100 +CAM_SERVO_ON,1300 +CAM_TRIGG_DIST,0 +CAM_TRIGG_TYPE,0 +CAM_TYPE,0 +CAN_D1_PROTOCOL,1 +CAN_D2_PROTOCOL,1 +CAN_LOGLEVEL,0 +CAN_P1_DRIVER,0 +CAN_P2_DRIVER,0 +CAN_SLCAN_CPORT,0 +CAN_SLCAN_SDELAY,1 +CAN_SLCAN_SERNUM,-1 +CAN_SLCAN_TIMOUT,0 +CHUTE_ENABLED,0 +CIRCLE_OPTIONS,0 +CIRCLE_RADIUS,500 +CIRCLE_RATE,90 +COMPASS_AUTO_ROT,2 +COMPASS_AUTODEC,1 +COMPASS_CAL_FIT,16 +COMPASS_CUS_PIT,0 +COMPASS_CUS_ROLL,0 +COMPASS_CUS_YAW,0 +COMPASS_DEC,0 +COMPASS_DEV_ID,97539 +COMPASS_DEV_ID2,131874 +COMPASS_DEV_ID3,263178 +COMPASS_DEV_ID4,97283 +COMPASS_DEV_ID5,97795 +COMPASS_DEV_ID6,98051 +COMPASS_DEV_ID7,983044 +COMPASS_DEV_ID8,0 +COMPASS_DIA_X,1 +COMPASS_DIA_Y,1 +COMPASS_DIA_Z,1 +COMPASS_DIA2_X,1 +COMPASS_DIA2_Y,1 +COMPASS_DIA2_Z,1 +COMPASS_DIA3_X,1 +COMPASS_DIA3_Y,1 +COMPASS_DIA3_Z,1 +COMPASS_ENABLE,1 +COMPASS_EXTERN2,0 +COMPASS_EXTERN3,0 +COMPASS_EXTERNAL,1 +COMPASS_FLTR_RNG,0 +COMPASS_LEARN,0 +COMPASS_MOT_X,0 +COMPASS_MOT_Y,0 +COMPASS_MOT_Z,0 +COMPASS_MOT2_X,0 +COMPASS_MOT2_Y,0 +COMPASS_MOT2_Z,0 +COMPASS_MOT3_X,0 +COMPASS_MOT3_Y,0 +COMPASS_MOT3_Z,0 +COMPASS_MOTCT,0 +COMPASS_ODI_X,0 +COMPASS_ODI_Y,0 +COMPASS_ODI_Z,0 +COMPASS_ODI2_X,0 +COMPASS_ODI2_Y,0 +COMPASS_ODI2_Z,0 +COMPASS_ODI3_X,0 +COMPASS_ODI3_Y,0 +COMPASS_ODI3_Z,0 +COMPASS_OFFS_MAX,1800 +COMPASS_OFS_X,5 +COMPASS_OFS_Y,13 +COMPASS_OFS_Z,-18 +COMPASS_OFS2_X,5 +COMPASS_OFS2_Y,13 +COMPASS_OFS2_Z,-18 +COMPASS_OFS3_X,5 +COMPASS_OFS3_Y,13 +COMPASS_OFS3_Z,-18 +COMPASS_OPTIONS,0 +COMPASS_ORIENT,0 +COMPASS_ORIENT2,0 +COMPASS_ORIENT3,0 +COMPASS_PMOT_EN,0 +COMPASS_PRIO1_ID,97539 +COMPASS_PRIO2_ID,131874 +COMPASS_PRIO3_ID,263178 +COMPASS_SCALE,1 +COMPASS_SCALE2,1 +COMPASS_SCALE3,1 +COMPASS_TYPEMASK,0 +COMPASS_USE,1 +COMPASS_USE2,1 +COMPASS_USE3,1 +DEV_OPTIONS,0 +DISARM_DELAY,10 +EAHRS_TYPE,0 +EK2_ABIAS_P_NSE,0.005 +EK2_ACC_P_NSE,0.6 +EK2_ALT_M_NSE,3 +EK2_ALT_SOURCE,0 +EK2_BCN_DELAY,50 +EK2_BCN_I_GTE,500 +EK2_BCN_M_NSE,1 +EK2_CHECK_SCALE,100 +EK2_EAS_I_GATE,400 +EK2_EAS_M_NSE,1.4 +EK2_ENABLE,1 +EK2_FLOW_DELAY,10 +EK2_FLOW_I_GATE,300 +EK2_FLOW_M_NSE,0.25 +EK2_FLOW_USE,1 +EK2_GBIAS_P_NSE,0.0001 +EK2_GLITCH_RAD,25 +EK2_GPS_CHECK,31 +EK2_GPS_TYPE,0 +EK2_GSCL_P_NSE,0.0005 +EK2_GSF_DELAY,1000 +EK2_GSF_RST_MAX,2 +EK2_GSF_RUN_MASK,3 +EK2_GSF_USE_MASK,3 +EK2_GYRO_P_NSE,0.03 +EK2_HGT_DELAY,60 +EK2_HGT_I_GATE,500 +EK2_HRT_FILT,2 +EK2_IMU_MASK,3 +EK2_MAG_CAL,3 +EK2_MAG_EF_LIM,50 +EK2_MAG_I_GATE,300 +EK2_MAG_M_NSE,0.05 +EK2_MAG_MASK,0 +EK2_MAGB_P_NSE,0.0001 +EK2_MAGE_P_NSE,0.001 +EK2_MAX_FLOW,2.5 +EK2_NOAID_M_NSE,10 +EK2_OGN_HGT_MASK,0 +EK2_POS_I_GATE,500 +EK2_POSNE_M_NSE,1 +EK2_RNG_I_GATE,500 +EK2_RNG_M_NSE,0.5 +EK2_RNG_USE_HGT,-1 +EK2_RNG_USE_SPD,2 +EK2_TAU_OUTPUT,25 +EK2_TERR_GRAD,0.1 +EK2_VEL_I_GATE,500 +EK2_VELD_M_NSE,0.5 +EK2_VELNE_M_NSE,0.3 +EK2_WIND_P_NSE,0.1 +EK2_WIND_PSCALE,0.5 +EK2_YAW_I_GATE,300 +EK2_YAW_M_NSE,0.5 +EK3_ENABLE,0 +ESC_CALIBRATION,0 +FENCE_ACTION,1 +FENCE_ALT_MAX,100 +FENCE_ENABLE,0 +FENCE_MARGIN,2 +FENCE_RADIUS,300 +FENCE_TOTAL,0 +FENCE_TYPE,7 +FFT_ENABLE,0 +FHLD_BRAKE_RATE,8 +FHLD_FILT_HZ,5 +FHLD_FLOW_MAX,0.6 +FHLD_QUAL_MIN,10 +FHLD_XY_FILT_HZ,5 +FHLD_XY_I,0.3 +FHLD_XY_IMAX,3000 +FHLD_XY_P,0.2 +FLOW_ADDR,0 +FLOW_FXSCALER,0 +FLOW_FYSCALER,0 +FLOW_ORIENT_YAW,0 +FLOW_POS_X,0 +FLOW_POS_Y,0 +FLOW_POS_Z,0 +FLOW_TYPE,0 +FLTMODE_CH,5 +FLTMODE1,0 +FLTMODE2,2 +FLTMODE3,5 +FLTMODE4,0 +FLTMODE5,0 +FLTMODE6,5 +FOLL_ENABLE,0 +FORMAT_VERSION,120 +FRAME_CLASS,16 +FRAME_TYPE,1 +FRSKY_DNLINK1_ID,20 +FRSKY_DNLINK2_ID,7 +FRSKY_UPLINK_ID,13 +FS_CRASH_CHECK,0 +FS_EKF_ACTION,1 +FS_EKF_THRESH,0.8 +FS_GCS_ENABLE,0 +FS_GCS_TIMEOUT,5 +FS_OPTIONS,16 +FS_THR_ENABLE,1 +FS_THR_VALUE,975 +FS_VIBE_ENABLE,1 +GCS_PID_MASK,0 +GEN_TYPE,0 +GND_EFFECT_COMP,1 +GPS_AUTO_CONFIG,1 +GPS_AUTO_SWITCH,1 +GPS_BLEND_MASK,5 +GPS_BLEND_TC,10 +GPS_COM_PORT,1 +GPS_COM_PORT2,1 +GPS_DELAY_MS,0 +GPS_DELAY_MS2,0 +GPS_DRV_OPTIONS,0 +GPS_GNSS_MODE,0 +GPS_GNSS_MODE2,0 +GPS_HDOP_GOOD,140 +GPS_INJECT_TO,127 +GPS_MB1_TYPE,0 +GPS_MB2_TYPE,0 +GPS_MIN_DGPS,100 +GPS_MIN_ELEV,-100 +GPS_NAVFILTER,8 +GPS_POS1_X,0 +GPS_POS1_Y,0 +GPS_POS1_Z,0 +GPS_POS2_X,0 +GPS_POS2_Y,0 +GPS_POS2_Z,0 +GPS_PRIMARY,0 +GPS_RATE_MS,200 +GPS_RATE_MS2,200 +GPS_RAW_DATA,0 +GPS_SAVE_CFG,2 +GPS_SBAS_MODE,2 +GPS_SBP_LOGMASK,-256 +GPS_TYPE,1 +GPS_TYPE2,0 +GRIP_ENABLE,0 +GUID_OPTIONS,0 +INITIAL_MODE,0 +INS_ACC_BODYFIX,2 +INS_ACC_ID,2753028 +INS_ACC2_ID,2753036 +INS_ACC2OFFS_X,0.001 +INS_ACC2OFFS_Y,0.001 +INS_ACC2OFFS_Z,0.001 +INS_ACC2SCAL_X,1.001 +INS_ACC2SCAL_Y,1.001 +INS_ACC2SCAL_Z,1.001 +INS_ACC3_ID,0 +INS_ACC3OFFS_X,0 +INS_ACC3OFFS_Y,0 +INS_ACC3OFFS_Z,0 +INS_ACC3SCAL_X,0 +INS_ACC3SCAL_Y,0 +INS_ACC3SCAL_Z,0 +INS_ACCEL_FILTER,20 +INS_ACCOFFS_X,0.001 +INS_ACCOFFS_Y,0.001 +INS_ACCOFFS_Z,0.001 +INS_ACCSCAL_X,1.001 +INS_ACCSCAL_Y,1.001 +INS_ACCSCAL_Z,1.001 +INS_ENABLE_MASK,127 +INS_FAST_SAMPLE,1 +INS_GYR_CAL,0 +INS_GYR_ID,2752772 +INS_GYR2_ID,2752780 +INS_GYR2OFFS_X,5.609456E-05 +INS_GYR2OFFS_Y,1.06282E-05 +INS_GYR2OFFS_Z,5.450824E-05 +INS_GYR3_ID,0 +INS_GYR3OFFS_X,0 +INS_GYR3OFFS_Y,0 +INS_GYR3OFFS_Z,0 +INS_GYRO_FILTER,20 +INS_GYRO_RATE,0 +INS_GYROFFS_X,3.903687E-05 +INS_GYROFFS_Y,3.485638E-05 +INS_GYROFFS_Z,3.935821E-05 +INS_HNTCH_ENABLE,0 +INS_LOG_BAT_CNT,1024 +INS_LOG_BAT_LGCT,32 +INS_LOG_BAT_LGIN,20 +INS_LOG_BAT_MASK,0 +INS_LOG_BAT_OPT,0 +INS_NOTCH_ENABLE,0 +INS_POS1_X,0 +INS_POS1_Y,0 +INS_POS1_Z,0 +INS_POS2_X,0 +INS_POS2_Y,0 +INS_POS2_Z,0 +INS_POS3_X,0 +INS_POS3_Y,0 +INS_POS3_Z,0 +INS_STILL_THRESH,2.5 +INS_TRIM_OPTION,1 +INS_USE,1 +INS_USE2,1 +INS_USE3,1 +LAND_ALT_LOW,1000 +LAND_REPOSITION,1 +LAND_SPEED,50 +LAND_SPEED_HIGH,0 +LGR_DEPLOY_ALT,0 +LGR_DEPLOY_PIN,-1 +LGR_DEPLOY_POL,0 +LGR_OPTIONS,3 +LGR_RETRACT_ALT,0 +LGR_STARTUP,0 +LGR_WOW_PIN,8 +LGR_WOW_POL,1 +LOG_BACKEND_TYPE,1 +LOG_BITMASK,176126 +LOG_DISARMED,0 +LOG_FILE_BUFSIZE,200 +LOG_FILE_DSRMROT,0 +LOG_FILE_MB_FREE,500 +LOG_FILE_TIMEOUT,5 +LOG_MAV_BUFSIZE,8 +LOG_REPLAY,0 +LOIT_ACC_MAX,500 +LOIT_ANG_MAX,0 +LOIT_BRK_ACCEL,250 +LOIT_BRK_DELAY,0 +LOIT_BRK_JERK,500 +LOIT_SPEED,1250 +MIS_OPTIONS,0 +MIS_RESTART,0 +MIS_TOTAL,0 +MNT_ANGMAX_PAN,4500 +MNT_ANGMAX_ROL,4500 +MNT_ANGMAX_TIL,4500 +MNT_ANGMIN_PAN,-4500 +MNT_ANGMIN_ROL,-4500 +MNT_ANGMIN_TIL,-4500 +MNT_DEFLT_MODE,3 +MNT_JSTICK_SPD,0 +MNT_LEAD_PTCH,0 +MNT_LEAD_RLL,0 +MNT_NEUTRAL_X,0 +MNT_NEUTRAL_Y,0 +MNT_NEUTRAL_Z,0 +MNT_RC_IN_PAN,0 +MNT_RC_IN_ROLL,0 +MNT_RC_IN_TILT,0 +MNT_RETRACT_X,0 +MNT_RETRACT_Y,0 +MNT_RETRACT_Z,0 +MNT_STAB_PAN,0 +MNT_STAB_ROLL,0 +MNT_STAB_TILT,0 +MNT_TYPE,0 +MOT_BAT_CURR_MAX,0 +MOT_BAT_CURR_TC,5 +MOT_BAT_IDX,0 +MOT_BAT_VOLT_MAX,0 +MOT_BAT_VOLT_MIN,0 +MOT_BOOST_SCALE,0 +MOT_HOVER_LEARN,2 +MOT_PWM_MAX,0 +MOT_PWM_MIN,0 +MOT_PWM_TYPE,0 +MOT_SAFE_DISARM,0 +MOT_SAFE_TIME,1 +MOT_SLEW_DN_TIME,0 +MOT_SLEW_UP_TIME,0 +MOT_SPIN_ARM,0.1 +MOT_SPIN_MAX,1 +MOT_SPIN_MIN,-1 +MOT_SPOOL_TIME,0.5 +MOT_THST_EXPO,0.65 +MOT_THST_HOVER,0.4033413 +MOT_YAW_HEADROOM,50 +MSP_OPTIONS,0 +MSP_OSD_NCELLS,0 +NTF_BUZZ_ENABLE,1 +NTF_BUZZ_ON_LVL,1 +NTF_BUZZ_PIN,0 +NTF_BUZZ_VOLUME,100 +NTF_DISPLAY_TYPE,0 +NTF_LED_BRIGHT,3 +NTF_LED_LEN,1 +NTF_LED_OVERRIDE,0 +NTF_LED_TYPES,199 +NTF_OREO_THEME,0 +OA_TYPE,0 +OSD_TYPE,0 +PHLD_BRAKE_ANGLE,3000 +PHLD_BRAKE_RATE,8 +PILOT_ACCEL_Z,250 +PILOT_SPEED_DN,0 +PILOT_SPEED_UP,250 +PILOT_THR_BHV,0 +PILOT_THR_FILT,0 +PILOT_TKOFF_ALT,0 +PLND_ENABLED,0 +PRX_IGN_ANG1,0 +PRX_IGN_ANG2,0 +PRX_IGN_ANG3,0 +PRX_IGN_ANG4,0 +PRX_IGN_ANG5,0 +PRX_IGN_ANG6,0 +PRX_IGN_WID1,0 +PRX_IGN_WID2,0 +PRX_IGN_WID3,0 +PRX_IGN_WID4,0 +PRX_IGN_WID5,0 +PRX_IGN_WID6,0 +PRX_ORIENT,0 +PRX_TYPE,0 +PRX_YAW_CORR,0 +PSC_ACC_XY_FILT,5 +PSC_ACCZ_D,0 +PSC_ACCZ_FF,0 +PSC_ACCZ_FLTD,0 +PSC_ACCZ_FLTE,20 +PSC_ACCZ_FLTT,0 +PSC_ACCZ_I,1 +PSC_ACCZ_IMAX,800 +PSC_ACCZ_P,0.5 +PSC_ACCZ_SMAX,0 +PSC_ANGLE_MAX,0 +PSC_POSXY_P,1 +PSC_POSZ_P,1 +PSC_VELXY_D,1 +PSC_VELXY_D_FILT,5 +PSC_VELXY_FILT,5 +PSC_VELXY_I,3 +PSC_VELXY_IMAX,1000 +PSC_VELXY_P,6 +PSC_VELZ_P,5 +RALLY_INCL_HOME,1 +RALLY_LIMIT_KM,0.3 +RALLY_TOTAL,0 +RC_OPTIONS,32 +RC_OVERRIDE_TIME,3 +RC_PROTOCOLS,1 +RC_SPEED,490 +RC1_DZ,20 +RC1_MAX,2000 +RC1_MIN,1000 +RC1_OPTION,0 +RC1_REVERSED,0 +RC1_TRIM,1500 +RC10_DZ,0 +RC10_MAX,1900 +RC10_MIN,1100 +RC10_OPTION,0 +RC10_REVERSED,0 +RC10_TRIM,1500 +RC11_DZ,0 +RC11_MAX,1900 +RC11_MIN,1100 +RC11_OPTION,0 +RC11_REVERSED,0 +RC11_TRIM,1500 +RC12_DZ,0 +RC12_MAX,1900 +RC12_MIN,1100 +RC12_OPTION,0 +RC12_REVERSED,0 +RC12_TRIM,1500 +RC13_DZ,0 +RC13_MAX,1900 +RC13_MIN,1100 +RC13_OPTION,0 +RC13_REVERSED,0 +RC13_TRIM,1500 +RC14_DZ,0 +RC14_MAX,1900 +RC14_MIN,1100 +RC14_OPTION,0 +RC14_REVERSED,0 +RC14_TRIM,1500 +RC15_DZ,0 +RC15_MAX,1900 +RC15_MIN,1100 +RC15_OPTION,0 +RC15_REVERSED,0 +RC15_TRIM,1500 +RC16_DZ,0 +RC16_MAX,1900 +RC16_MIN,1100 +RC16_OPTION,0 +RC16_REVERSED,0 +RC16_TRIM,1500 +RC2_DZ,20 +RC2_MAX,2000 +RC2_MIN,1000 +RC2_OPTION,0 +RC2_REVERSED,1 +RC2_TRIM,1500 +RC3_DZ,30 +RC3_MAX,2000 +RC3_MIN,1000 +RC3_OPTION,0 +RC3_REVERSED,0 +RC3_TRIM,1500 +RC4_DZ,20 +RC4_MAX,2000 +RC4_MIN,1000 +RC4_OPTION,0 +RC4_REVERSED,0 +RC4_TRIM,1500 +RC5_DZ,0 +RC5_MAX,1900 +RC5_MIN,1100 +RC5_OPTION,0 +RC5_REVERSED,0 +RC5_TRIM,1500 +RC6_DZ,0 +RC6_MAX,1900 +RC6_MIN,1100 +RC6_OPTION,31 +RC6_REVERSED,0 +RC6_TRIM,1500 +RC7_DZ,0 +RC7_MAX,1900 +RC7_MIN,1100 +RC7_OPTION,302 +RC7_REVERSED,0 +RC7_TRIM,1500 +RC8_DZ,0 +RC8_MAX,1900 +RC8_MIN,1100 +RC8_OPTION,301 +RC8_REVERSED,0 +RC8_TRIM,1500 +RC9_DZ,0 +RC9_MAX,1900 +RC9_MIN,1100 +RC9_OPTION,300 +RC9_REVERSED,0 +RC9_TRIM,1500 +RCMAP_PITCH,2 +RCMAP_ROLL,1 +RCMAP_THROTTLE,3 +RCMAP_YAW,4 +RELAY_DEFAULT,0 +RELAY_PIN,13 +RELAY_PIN2,-1 +RELAY_PIN3,-1 +RELAY_PIN4,-1 +RELAY_PIN5,-1 +RELAY_PIN6,-1 +RNGFND_GAIN,0.8 +RNGFND1_TYPE,0 +RNGFND2_TYPE,0 +RNGFND3_TYPE,0 +RNGFND4_TYPE,0 +RNGFND5_TYPE,0 +RNGFND6_TYPE,0 +RNGFND7_TYPE,0 +RNGFND8_TYPE,0 +RNGFND9_TYPE,0 +RNGFNDA_TYPE,0 +RPM_MAX,100000 +RPM_MIN,10 +RPM_MIN_QUAL,0.5 +RPM_PIN,54 +RPM_SCALING,1 +RPM_TYPE,0 +RPM2_PIN,-1 +RPM2_SCALING,1 +RPM2_TYPE,0 +RSSI_TYPE,0 +RTL_ALT,1500 +RTL_ALT_FINAL,0 +RTL_ALT_TYPE,0 +RTL_CLIMB_MIN,0 +RTL_CONE_SLOPE,3 +RTL_LOIT_TIME,5000 +RTL_OPTIONS,0 +RTL_SPEED,0 +SCHED_DEBUG,0 +SCHED_LOOP_RATE,400 +SCHED_OPTIONS,0 +SCR_DEBUG_LVL,0 +SCR_DIR_DISABLE,0 +SCR_ENABLE,1 +SCR_HEAP_SIZE,65536 +SCR_USER1,0 +SCR_USER2,0 +SCR_USER3,0 +SCR_USER4,0 +SCR_VM_I_COUNT,10000 +SERIAL_PASS1,0 +SERIAL_PASS2,-1 +SERIAL_PASSTIMO,15 +SERIAL0_BAUD,115 +SERIAL0_PROTOCOL,2 +SERIAL1_BAUD,57 +SERIAL1_OPTIONS,0 +SERIAL1_PROTOCOL,2 +SERIAL2_BAUD,57 +SERIAL2_OPTIONS,0 +SERIAL2_PROTOCOL,2 +SERIAL3_BAUD,38 +SERIAL3_OPTIONS,0 +SERIAL3_PROTOCOL,5 +SERIAL4_BAUD,38 +SERIAL4_OPTIONS,0 +SERIAL4_PROTOCOL,5 +SERIAL5_BAUD,57 +SERIAL5_OPTIONS,0 +SERIAL5_PROTOCOL,-1 +SERIAL6_BAUD,57 +SERIAL6_OPTIONS,0 +SERIAL6_PROTOCOL,-1 +SERIAL7_BAUD,57 +SERIAL7_OPTIONS,0 +SERIAL7_PROTOCOL,-1 +SERVO_RATE,50 +SERVO_ROB_POSMAX,4095 +SERVO_ROB_POSMIN,0 +SERVO_SBUS_RATE,50 +SERVO_VOLZ_MASK,0 +SERVO1_FUNCTION,33 +SERVO1_MAX,2000 +SERVO1_MIN,1000 +SERVO1_REVERSED,0 +SERVO1_TRIM,1500 +SERVO10_FUNCTION,0 +SERVO10_MAX,1900 +SERVO10_MIN,1100 +SERVO10_REVERSED,0 +SERVO10_TRIM,1500 +SERVO11_FUNCTION,0 +SERVO11_MAX,1900 +SERVO11_MIN,1100 +SERVO11_REVERSED,0 +SERVO11_TRIM,1500 +SERVO12_FUNCTION,0 +SERVO12_MAX,1900 +SERVO12_MIN,1100 +SERVO12_REVERSED,0 +SERVO12_TRIM,1500 +SERVO13_FUNCTION,0 +SERVO13_MAX,1900 +SERVO13_MIN,1100 +SERVO13_REVERSED,0 +SERVO13_TRIM,1500 +SERVO14_FUNCTION,0 +SERVO14_MAX,1900 +SERVO14_MIN,1100 +SERVO14_REVERSED,0 +SERVO14_TRIM,1500 +SERVO15_FUNCTION,0 +SERVO15_MAX,1900 +SERVO15_MIN,1100 +SERVO15_REVERSED,0 +SERVO15_TRIM,1500 +SERVO16_FUNCTION,0 +SERVO16_MAX,1900 +SERVO16_MIN,1100 +SERVO16_REVERSED,0 +SERVO16_TRIM,1500 +SERVO2_FUNCTION,34 +SERVO2_MAX,2000 +SERVO2_MIN,1000 +SERVO2_REVERSED,0 +SERVO2_TRIM,1500 +SERVO3_FUNCTION,35 +SERVO3_MAX,2000 +SERVO3_MIN,1000 +SERVO3_REVERSED,0 +SERVO3_TRIM,1500 +SERVO4_FUNCTION,36 +SERVO4_MAX,2000 +SERVO4_MIN,1000 +SERVO4_REVERSED,0 +SERVO4_TRIM,1500 +SERVO5_FUNCTION,37 +SERVO5_MAX,2000 +SERVO5_MIN,1000 +SERVO5_REVERSED,0 +SERVO5_TRIM,1500 +SERVO6_FUNCTION,38 +SERVO6_MAX,2000 +SERVO6_MIN,1000 +SERVO6_REVERSED,0 +SERVO6_TRIM,1500 +SERVO7_FUNCTION,0 +SERVO7_MAX,1900 +SERVO7_MIN,1100 +SERVO7_REVERSED,0 +SERVO7_TRIM,1500 +SERVO8_FUNCTION,0 +SERVO8_MAX,1900 +SERVO8_MIN,1100 +SERVO8_REVERSED,0 +SERVO8_TRIM,1500 +SERVO9_FUNCTION,0 +SERVO9_MAX,1900 +SERVO9_MIN,1100 +SERVO9_REVERSED,0 +SERVO9_TRIM,1500 +SID_AXIS,0 +SIM_ACC_BIAS_X,0 +SIM_ACC_BIAS_Y,0 +SIM_ACC_BIAS_Z,0 +SIM_ACC_FAIL_MSK,0 +SIM_ACC_RND,0 +SIM_ACC2_BIAS_X,0 +SIM_ACC2_BIAS_Y,0 +SIM_ACC2_BIAS_Z,0 +SIM_ACC2_RND,0 +SIM_ACCEL_FAIL,0 +SIM_ADSB_ALT,1000 +SIM_ADSB_COUNT,-1 +SIM_ADSB_RADIUS,10000 +SIM_ADSB_TX,0 +SIM_ARSPD_FAIL,0 +SIM_ARSPD_FAILP,0 +SIM_ARSPD_OFS,2013 +SIM_ARSPD_PITOT,0 +SIM_ARSPD_RND,2 +SIM_ARSPD_SIGN,0 +SIM_ARSPD2_FAIL,0 +SIM_ARSPD2_FAILP,0 +SIM_ARSPD2_OFS,2013 +SIM_ARSPD2_PITOT,0 +SIM_ARSPD2_RND,2 +SIM_BAR2_DELAY,0 +SIM_BAR2_DISABLE,0 +SIM_BAR2_DRIFT,0 +SIM_BAR2_FREEZE,0 +SIM_BAR2_GLITCH,0 +SIM_BAR2_RND,0.2 +SIM_BAR2_WCF_BAK,0 +SIM_BAR2_WCF_FWD,0 +SIM_BAR2_WCF_LFT,0 +SIM_BAR2_WCF_RGT,0 +SIM_BAR3_DELAY,0 +SIM_BAR3_DISABLE,0 +SIM_BAR3_DRIFT,0 +SIM_BAR3_FREEZE,0 +SIM_BAR3_GLITCH,0 +SIM_BAR3_RND,0.2 +SIM_BAR3_WCF_BAK,0 +SIM_BAR3_WCF_FWD,0 +SIM_BAR3_WCF_LFT,0 +SIM_BAR3_WCF_RGT,0 +SIM_BARO_COUNT,2 +SIM_BARO_DELAY,0 +SIM_BARO_DISABLE,0 +SIM_BARO_DRIFT,0 +SIM_BARO_FREEZE,0 +SIM_BARO_GLITCH,0 +SIM_BARO_RND,0.2 +SIM_BARO_WCF_BAK,0 +SIM_BARO_WCF_FWD,0 +SIM_BARO_WCF_LFT,0 +SIM_BARO_WCF_RGT,0 +SIM_BATT_CAP_AH,0 +SIM_BATT_VOLTAGE,12.6 +SIM_BAUDLIMIT_EN,0 +SIM_BZ_ENABLE,0 +SIM_BZ_PIN,0 +SIM_DRIFT_SPEED,0.05 +SIM_DRIFT_TIME,5 +SIM_EFI_TYPE,0 +SIM_ENGINE_FAIL,0 +SIM_ENGINE_MUL,1 +SIM_FLOAT_EXCEPT,1 +SIM_FLOW_DELAY,0 +SIM_FLOW_ENABLE,0 +SIM_FLOW_POS_X,0 +SIM_FLOW_POS_Y,0 +SIM_FLOW_POS_Z,0 +SIM_FLOW_RATE,10 +SIM_FLOW_RND,0.05 +SIM_GND_BEHAV,-1 +SIM_GPS_ACC,0.3 +SIM_GPS_ALT_OFS,0 +SIM_GPS_BYTELOSS,0 +SIM_GPS_DELAY,1 +SIM_GPS_DISABLE,0 +SIM_GPS_DRIFTALT,0 +SIM_GPS_GLITCH_X,0 +SIM_GPS_GLITCH_Y,0 +SIM_GPS_GLITCH_Z,0 +SIM_GPS_HDG,0 +SIM_GPS_HZ,5 +SIM_GPS_LOCKTIME,0 +SIM_GPS_NOISE,0 +SIM_GPS_NUMSATS,10 +SIM_GPS_POS_X,0 +SIM_GPS_POS_Y,0 +SIM_GPS_POS_Z,0 +SIM_GPS_TYPE,1 +SIM_GPS_VERR_X,0 +SIM_GPS_VERR_Y,0 +SIM_GPS_VERR_Z,0 +SIM_GPS2_ACC,0.3 +SIM_GPS2_ALT_OFS,0 +SIM_GPS2_BYTELOS,0 +SIM_GPS2_DELAY,1 +SIM_GPS2_DISABLE,1 +SIM_GPS2_DRFTALT,0 +SIM_GPS2_GLTCH_X,0 +SIM_GPS2_GLTCH_Y,0 +SIM_GPS2_GLTCH_Z,0 +SIM_GPS2_HDG,0 +SIM_GPS2_HZ,5 +SIM_GPS2_LCKTIME,0 +SIM_GPS2_NOISE,0 +SIM_GPS2_NUMSATS,10 +SIM_GPS2_POS_X,0 +SIM_GPS2_POS_Y,0 +SIM_GPS2_POS_Z,0 +SIM_GPS2_TYPE,1 +SIM_GPS2_VERR_X,0 +SIM_GPS2_VERR_Y,0 +SIM_GPS2_VERR_Z,0 +SIM_GRPE_ENABLE,0 +SIM_GRPE_PIN,-1 +SIM_GRPS_ENABLE,0 +SIM_GRPS_GRAB,2000 +SIM_GRPS_PIN,-1 +SIM_GRPS_RELEASE,1000 +SIM_GRPS_REVERSE,0 +SIM_GYR_FAIL_MSK,0 +SIM_GYR_RND,0 +SIM_GYR_SCALE_X,0 +SIM_GYR_SCALE_Y,0 +SIM_GYR_SCALE_Z,0 +SIM_IE24_ENABLE,0 +SIM_IE24_ERROR,0 +SIM_IE24_STATE,-1 +SIM_IMU_COUNT,2 +SIM_IMU_POS_X,0 +SIM_IMU_POS_Y,0 +SIM_IMU_POS_Z,0 +SIM_INS_THR_MIN,0.1 +SIM_LED_LAYOUT,0 +SIM_LOOP_DELAY,0 +SIM_MAG_ALY_HGT,1 +SIM_MAG_ALY_X,0 +SIM_MAG_ALY_Y,0 +SIM_MAG_ALY_Z,0 +SIM_MAG_DELAY,0 +SIM_MAG_DIA_X,0 +SIM_MAG_DIA_Y,0 +SIM_MAG_DIA_Z,0 +SIM_MAG_MOT_X,0 +SIM_MAG_MOT_Y,0 +SIM_MAG_MOT_Z,0 +SIM_MAG_ODI_X,0 +SIM_MAG_ODI_Y,0 +SIM_MAG_ODI_Z,0 +SIM_MAG_OFS_X,5 +SIM_MAG_OFS_Y,13 +SIM_MAG_OFS_Z,-18 +SIM_MAG_ORIENT,0 +SIM_MAG_RND,0 +SIM_MAG1_DEVID,97539 +SIM_MAG1_FAIL,0 +SIM_MAG1_SCALING,1 +SIM_MAG2_DEVID,131874 +SIM_MAG2_DIA_X,0 +SIM_MAG2_DIA_Y,0 +SIM_MAG2_DIA_Z,0 +SIM_MAG2_FAIL,0 +SIM_MAG2_ODI_X,0 +SIM_MAG2_ODI_Y,0 +SIM_MAG2_ODI_Z,0 +SIM_MAG2_OFS_X,5 +SIM_MAG2_OFS_Y,13 +SIM_MAG2_OFS_Z,-18 +SIM_MAG2_ORIENT,0 +SIM_MAG2_SCALING,1 +SIM_MAG3_DEVID,263178 +SIM_MAG3_DIA_X,0 +SIM_MAG3_DIA_Y,0 +SIM_MAG3_DIA_Z,0 +SIM_MAG3_FAIL,0 +SIM_MAG3_ODI_X,0 +SIM_MAG3_ODI_Y,0 +SIM_MAG3_ODI_Z,0 +SIM_MAG3_OFS_X,5 +SIM_MAG3_OFS_Y,13 +SIM_MAG3_OFS_Z,-18 +SIM_MAG3_ORIENT,0 +SIM_MAG3_SCALING,1 +SIM_MAG4_DEVID,97283 +SIM_MAG5_DEVID,97795 +SIM_MAG6_DEVID,98051 +SIM_MAG7_DEVID,0 +SIM_MAG8_DEVID,0 +SIM_ODOM_ENABLE,0 +SIM_OPOS_ALT,584 +SIM_OPOS_HDG,353 +SIM_OPOS_LAT,-35.36326 +SIM_OPOS_LNG,149.1652 +SIM_PARA_ENABLE,0 +SIM_PARA_PIN,-1 +SIM_PIN_MASK,0 +SIM_PLD_ALT_LMT,15 +SIM_PLD_DIST_LMT,10 +SIM_PLD_ENABLE,0 +SIM_PLD_HEIGHT,0 +SIM_PLD_LAT,0 +SIM_PLD_LON,0 +SIM_PLD_RATE,100 +SIM_PLD_TYPE,0 +SIM_PLD_YAW,0 +SIM_RATE_HZ,1200 +SIM_RC_CHANCOUNT,16 +SIM_RC_FAIL,0 +SIM_RICH_CTRL,-1 +SIM_RICH_ENABLE,0 +SIM_SAFETY_STATE,0 +SIM_SERVO_SPEED,0.14 +SIM_SHIP_DSIZE,10 +SIM_SHIP_ENABLE,0 +SIM_SHIP_PSIZE,1000 +SIM_SHIP_SPEED,3 +SIM_SHIP_SYSID,17 +SIM_SHOVE_TIME,0 +SIM_SHOVE_X,0 +SIM_SHOVE_Y,0 +SIM_SHOVE_Z,0 +SIM_SONAR_GLITCH,0 +SIM_SONAR_POS_X,0 +SIM_SONAR_POS_Y,0 +SIM_SONAR_POS_Z,0 +SIM_SONAR_RND,0 +SIM_SONAR_SCALE,12.1212 +SIM_SPEEDUP,1 +SIM_SPR_ENABLE,0 +SIM_SPR_PUMP,-1 +SIM_SPR_SPIN,-1 +SIM_TA_ENABLE,1 +SIM_TEMP_BFACTOR,0 +SIM_TEMP_FLIGHT,35 +SIM_TEMP_START,25 +SIM_TEMP_TCONST,30 +SIM_TERRAIN,1 +SIM_THML_SCENARI,0 +SIM_TIDE_DIR,0 +SIM_TIDE_SPEED,0 +SIM_TWIST_TIME,0 +SIM_TWIST_X,0 +SIM_TWIST_Y,0 +SIM_TWIST_Z,0 +SIM_VIB_FREQ_X,0 +SIM_VIB_FREQ_Y,0 +SIM_VIB_FREQ_Z,0 +SIM_VIB_MOT_MAX,0 +SIM_VIB_MOT_MULT,1 +SIM_VICON_FAIL,0 +SIM_VICON_GLIT_X,0 +SIM_VICON_GLIT_Y,0 +SIM_VICON_GLIT_Z,0 +SIM_VICON_POS_X,0 +SIM_VICON_POS_Y,0 +SIM_VICON_POS_Z,0 +SIM_VICON_TMASK,3 +SIM_VICON_VGLI_X,0 +SIM_VICON_VGLI_Y,0 +SIM_VICON_VGLI_Z,0 +SIM_VICON_YAW,0 +SIM_VICON_YAWERR,0 +SIM_WAVE_AMP,0.5 +SIM_WAVE_DIR,0 +SIM_WAVE_ENABLE,0 +SIM_WAVE_LENGTH,10 +SIM_WAVE_SPEED,0.5 +SIM_WIND_DELAY,0 +SIM_WIND_DIR,180 +SIM_WIND_DIR_Z,0 +SIM_WIND_SPD,0 +SIM_WIND_T,0 +SIM_WIND_T_ALT,60 +SIM_WIND_T_COEF,0.01 +SIM_WIND_TURB,0 +SIM_WOW_PIN,-1 +SIMPLE,0 +SPRAY_ENABLE,0 +SR0_ADSB,0 +SR0_EXT_STAT,10 +SR0_EXTRA1,10 +SR0_EXTRA2,10 +SR0_EXTRA3,10 +SR0_PARAMS,0 +SR0_POSITION,10 +SR0_RAW_CTRL,0 +SR0_RAW_SENS,10 +SR0_RC_CHAN,10 +SR1_ADSB,0 +SR1_EXT_STAT,0 +SR1_EXTRA1,0 +SR1_EXTRA2,0 +SR1_EXTRA3,0 +SR1_PARAMS,0 +SR1_POSITION,0 +SR1_RAW_CTRL,0 +SR1_RAW_SENS,0 +SR1_RC_CHAN,0 +SR2_ADSB,0 +SR2_EXT_STAT,0 +SR2_EXTRA1,0 +SR2_EXTRA2,0 +SR2_EXTRA3,0 +SR2_PARAMS,0 +SR2_POSITION,0 +SR2_RAW_CTRL,0 +SR2_RAW_SENS,0 +SR2_RC_CHAN,0 +SR3_ADSB,0 +SR3_EXT_STAT,0 +SR3_EXTRA1,0 +SR3_EXTRA2,0 +SR3_EXTRA3,0 +SR3_PARAMS,0 +SR3_POSITION,0 +SR3_RAW_CTRL,0 +SR3_RAW_SENS,0 +SR3_RC_CHAN,0 +SR4_ADSB,0 +SR4_EXT_STAT,0 +SR4_EXTRA1,0 +SR4_EXTRA2,0 +SR4_EXTRA3,0 +SR4_PARAMS,0 +SR4_POSITION,0 +SR4_RAW_CTRL,0 +SR4_RAW_SENS,0 +SR4_RC_CHAN,0 +SR5_ADSB,0 +SR5_EXT_STAT,0 +SR5_EXTRA1,0 +SR5_EXTRA2,0 +SR5_EXTRA3,0 +SR5_PARAMS,0 +SR5_POSITION,0 +SR5_RAW_CTRL,0 +SR5_RAW_SENS,0 +SR5_RC_CHAN,0 +SR6_ADSB,0 +SR6_EXT_STAT,0 +SR6_EXTRA1,0 +SR6_EXTRA2,0 +SR6_EXTRA3,0 +SR6_PARAMS,0 +SR6_POSITION,0 +SR6_RAW_CTRL,0 +SR6_RAW_SENS,0 +SR6_RC_CHAN,0 +SRTL_ACCURACY,2 +SRTL_POINTS,300 +STAT_BOOTCNT,22 +STAT_FLTTIME,4488 +STAT_RESET,158455321 +STAT_RUNTIME,16568 +SUPER_SIMPLE,0 +SYSID_ENFORCE,0 +SYSID_MYGCS,255 +SYSID_THISMAV,1 +TCAL_ENABLED,0 +TELEM_DELAY,0 +TERRAIN_ENABLE,0 +THR_DZ,100 +THROW_MOT_START,0 +THROW_NEXTMODE,18 +THROW_TYPE,0 +TUNE,0 +TUNE_MAX,0 +TUNE_MIN,0 +VISO_TYPE,0 +VTX_ENABLE,0 +WINCH_TYPE,0 +WP_NAVALT_MIN,0 +WP_YAW_BEHAVIOR,2 +WPNAV_ACCEL,1000 +WPNAV_ACCEL_Z,100 +WPNAV_RADIUS,200 +WPNAV_RFND_USE,1 +WPNAV_SPEED,5000 +WPNAV_SPEED_DN,150 +WPNAV_SPEED_UP,250 +ZIGZ_AUTO_ENABLE,0 diff --git a/Gazebo/config/omnicopter-zero-torque.param b/Gazebo/config/omnicopter-zero-torque.param new file mode 100644 index 00000000..9d3ae9b1 --- /dev/null +++ b/Gazebo/config/omnicopter-zero-torque.param @@ -0,0 +1,1237 @@ +ACRO_BAL_PITCH 1.000000 +ACRO_BAL_ROLL 1.000000 +ACRO_OPTIONS 0 +ACRO_RP_EXPO 0.300000 +ACRO_RP_RATE 360.000000 +ACRO_THR_MID 0.000000 +ACRO_TRAINER 2 +ACRO_Y_EXPO 0.000000 +ACRO_Y_RATE 202.500000 +ADSB_TYPE 0 +AHRS_COMP_BETA 0.100000 +AHRS_CUSTOM_PIT 0.000000 +AHRS_CUSTOM_ROLL 0.000000 +AHRS_CUSTOM_YAW 0.000000 +AHRS_EKF_TYPE 2 +AHRS_GPS_GAIN 1.000000 +AHRS_GPS_MINSATS 6 +AHRS_GPS_USE 1 +AHRS_ORIENTATION 0 +AHRS_RP_P 0.200000 +AHRS_TRIM_X 0.000000 +AHRS_TRIM_Y 0.000000 +AHRS_TRIM_Z 0.000000 +AHRS_WIND_MAX 0 +AHRS_YAW_P 0.200000 +ANGLE_MAX 8000 +ARMING_ACCTHRESH 0.750000 +ARMING_CHECK 1 +ARMING_MIS_ITEMS 0 +ARMING_RUDDER 2 +ATC_ACCEL_P_MAX 110000.000000 +ATC_ACCEL_R_MAX 110000.000000 +ATC_ACCEL_Y_MAX 27000.000000 +ATC_ANGLE_BOOST 0 +ATC_ANG_LIM_TC 1.000000 +ATC_ANG_PIT_P 4.500000 +ATC_ANG_RLL_P 4.500000 +ATC_ANG_YAW_P 4.500000 +ATC_INPUT_TC 0.150000 +ATC_RATE_FF_ENAB 1 +ATC_RATE_P_MAX 0.000000 +ATC_RATE_R_MAX 0.000000 +ATC_RATE_Y_MAX 0.000000 +ATC_RAT_PIT_D 0.008000 +ATC_RAT_PIT_FF 0.000000 +ATC_RAT_PIT_FLTD 20.000000 +ATC_RAT_PIT_FLTE 0.000000 +ATC_RAT_PIT_FLTT 20.000000 +ATC_RAT_PIT_I 0.010000 +ATC_RAT_PIT_IMAX 0.500000 +ATC_RAT_PIT_P 0.020000 +ATC_RAT_PIT_SMAX 20.000000 +ATC_RAT_RLL_D 0.001000 +ATC_RAT_RLL_FF 0.000000 +ATC_RAT_RLL_FLTD 20.000000 +ATC_RAT_RLL_FLTE 0.000000 +ATC_RAT_RLL_FLTT 20.000000 +ATC_RAT_RLL_I 0.200000 +ATC_RAT_RLL_IMAX 0.500000 +ATC_RAT_RLL_P 0.200000 +ATC_RAT_RLL_SMAX 20.000000 +ATC_RAT_YAW_D 0.002000 +ATC_RAT_YAW_FF 0.000000 +ATC_RAT_YAW_FLTD 20.000000 +ATC_RAT_YAW_FLTE 2.500000 +ATC_RAT_YAW_FLTT 20.000000 +ATC_RAT_YAW_I 0.010000 +ATC_RAT_YAW_IMAX 0.500000 +ATC_RAT_YAW_P 0.100000 +ATC_RAT_YAW_SMAX 20.000000 +ATC_SLEW_YAW 6000.000000 +ATC_THR_MIX_MAN 0.100000 +ATC_THR_MIX_MAX 0.500000 +ATC_THR_MIX_MIN 0.100000 +AUTOTUNE_AGGR 0.100000 +AUTOTUNE_AXES 7 +AUTOTUNE_MIN_D 0.001000 +AUTO_OPTIONS 0 +AVD_ENABLE 0 +AVOID_ACCEL_MAX 3.000000 +AVOID_ALT_MIN 0.000000 +AVOID_ANGLE_MAX 1000 +AVOID_BACKUP_DZ 0.100000 +AVOID_BACKUP_SPD 0.750000 +AVOID_BEHAVE 0 +AVOID_DIST_MAX 5.000000 +AVOID_ENABLE 3 +AVOID_MARGIN 2.000000 +BARO1_DEVID 65540 +BARO1_GND_PRESS 94502.929688 +BARO1_WCF_ENABLE 0 +BARO2_DEVID 65796 +BARO2_GND_PRESS 94502.148438 +BARO2_WCF_ENABLE 0 +BARO3_DEVID 0 +BARO3_GND_PRESS 0.000000 +BARO3_WCF_ENABLE 0 +BARO_ALT_OFFSET 0.000000 +BARO_EXT_BUS -1 +BARO_FLTR_RNG 0 +BARO_GND_TEMP 0.000000 +BARO_PRIMARY 0 +BARO_PROBE_EXT 0 +BATT2_MONITOR 0 +BATT3_MONITOR 0 +BATT4_MONITOR 0 +BATT5_MONITOR 0 +BATT6_MONITOR 0 +BATT7_MONITOR 0 +BATT8_MONITOR 0 +BATT9_MONITOR 0 +BATT_MONITOR 0 +BCN_TYPE 0 +BRD_BOOT_DELAY 0 +BRD_OPTIONS 0 +BRD_RTC_TYPES 1 +BRD_RTC_TZ_MIN 0 +BRD_SAFETYOPTION 3 +BRD_SERIAL_NUM 0 +BRD_VBUS_MIN 4.300000 +BRD_VSERVO_MIN 0.000000 +BTN_ENABLE 0 +CAM_AUTO_ONLY 0 +CAM_DURATION 10 +CAM_FEEDBACK_PIN -1 +CAM_FEEDBACK_POL 1 +CAM_MAX_ROLL 0 +CAM_MIN_INTERVAL 0 +CAM_RC_TYPE 0 +CAM_RELAY_ON 1 +CAM_SERVO_OFF 1100 +CAM_SERVO_ON 1300 +CAM_TRIGG_DIST 0.000000 +CAM_TRIGG_TYPE 0 +CAM_TYPE 0 +CHUTE_ENABLED 0 +CIRCLE_OPTIONS 1 +CIRCLE_RADIUS 1000.000000 +CIRCLE_RATE 20.000000 +COMPASS_AUTODEC 1 +COMPASS_AUTO_ROT 2 +COMPASS_CAL_FIT 16.000000 +COMPASS_CUS_PIT 0.000000 +COMPASS_CUS_ROLL 0.000000 +COMPASS_CUS_YAW 0.000000 +COMPASS_DEC 0.000000 +COMPASS_DEV_ID 97539 +COMPASS_DEV_ID2 131874 +COMPASS_DEV_ID3 263178 +COMPASS_DEV_ID4 97283 +COMPASS_DEV_ID5 97795 +COMPASS_DEV_ID6 98051 +COMPASS_DEV_ID7 0 +COMPASS_DEV_ID8 0 +COMPASS_DIA2_X 1.000000 +COMPASS_DIA2_Y 1.000000 +COMPASS_DIA2_Z 1.000000 +COMPASS_DIA3_X 1.000000 +COMPASS_DIA3_Y 1.000000 +COMPASS_DIA3_Z 1.000000 +COMPASS_DIA_X 1.000000 +COMPASS_DIA_Y 1.000000 +COMPASS_DIA_Z 1.000000 +COMPASS_ENABLE 1 +COMPASS_EXTERN2 0 +COMPASS_EXTERN3 0 +COMPASS_EXTERNAL 1 +COMPASS_FLTR_RNG 0 +COMPASS_LEARN 0 +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 +COMPASS_MOT_X 0.000000 +COMPASS_MOT_Y 0.000000 +COMPASS_MOT_Z 0.000000 +COMPASS_ODI2_X 0.000000 +COMPASS_ODI2_Y 0.000000 +COMPASS_ODI2_Z 0.000000 +COMPASS_ODI3_X 0.000000 +COMPASS_ODI3_Y 0.000000 +COMPASS_ODI3_Z 0.000000 +COMPASS_ODI_X 0.000000 +COMPASS_ODI_Y 0.000000 +COMPASS_ODI_Z 0.000000 +COMPASS_OFFS_MAX 1800 +COMPASS_OFS2_X 5.000000 +COMPASS_OFS2_Y 13.000000 +COMPASS_OFS2_Z -18.000000 +COMPASS_OFS3_X 5.000000 +COMPASS_OFS3_Y 13.000000 +COMPASS_OFS3_Z -18.000000 +COMPASS_OFS_X 5.000000 +COMPASS_OFS_Y 13.000000 +COMPASS_OFS_Z -18.000000 +COMPASS_OPTIONS 0 +COMPASS_ORIENT 0 +COMPASS_ORIENT2 0 +COMPASS_ORIENT3 0 +COMPASS_PMOT_EN 0 +COMPASS_PRIO1_ID 97539 +COMPASS_PRIO2_ID 131874 +COMPASS_PRIO3_ID 263178 +COMPASS_SCALE 1.000000 +COMPASS_SCALE2 1.000000 +COMPASS_SCALE3 1.000000 +COMPASS_TYPEMASK 0 +COMPASS_USE 1 +COMPASS_USE2 1 +COMPASS_USE3 1 +DEV_OPTIONS 0 +DISARM_DELAY 10 +EAHRS_TYPE 0 +EFI_TYPE 0 +EK2_ABIAS_P_NSE 0.005000 +EK2_ACC_P_NSE 0.600000 +EK2_ALT_M_NSE 3.000000 +EK2_ALT_SOURCE 0 +EK2_BCN_DELAY 50 +EK2_BCN_I_GTE 500 +EK2_BCN_M_NSE 1.000000 +EK2_CHECK_SCALE 100 +EK2_EAS_I_GATE 400 +EK2_EAS_M_NSE 1.400000 +EK2_ENABLE 1 +EK2_FLOW_DELAY 10 +EK2_FLOW_I_GATE 300 +EK2_FLOW_M_NSE 0.250000 +EK2_FLOW_USE 1 +EK2_GBIAS_P_NSE 0.000100 +EK2_GLITCH_RAD 25 +EK2_GPS_CHECK 31 +EK2_GPS_TYPE 0 +EK2_GSCL_P_NSE 0.000500 +EK2_GSF_RST_MAX 2 +EK2_GSF_RUN_MASK 3 +EK2_GSF_USE_MASK 3 +EK2_GYRO_P_NSE 0.030000 +EK2_HGT_DELAY 60 +EK2_HGT_I_GATE 500 +EK2_HRT_FILT 2.000000 +EK2_IMU_MASK 3 +EK2_MAGB_P_NSE 0.000100 +EK2_MAGE_P_NSE 0.001000 +EK2_MAG_CAL 3 +EK2_MAG_EF_LIM 50 +EK2_MAG_I_GATE 300 +EK2_MAG_MASK 0 +EK2_MAG_M_NSE 0.050000 +EK2_MAX_FLOW 2.500000 +EK2_NOAID_M_NSE 10.000000 +EK2_OGN_HGT_MASK 0 +EK2_POSNE_M_NSE 1.000000 +EK2_POS_I_GATE 500 +EK2_RNG_I_GATE 500 +EK2_RNG_M_NSE 0.500000 +EK2_RNG_USE_HGT -1 +EK2_RNG_USE_SPD 2.000000 +EK2_TAU_OUTPUT 25 +EK2_TERR_GRAD 0.100000 +EK2_VELD_M_NSE 0.500000 +EK2_VELNE_M_NSE 0.300000 +EK2_VEL_I_GATE 500 +EK2_WIND_PSCALE 0.500000 +EK2_WIND_P_NSE 0.100000 +EK2_YAW_I_GATE 300 +EK2_YAW_M_NSE 0.500000 +EK3_ENABLE 0 +ESC_CALIBRATION 0 +FENCE_ACTION 1 +FENCE_ALT_MAX 100.000000 +FENCE_ALT_MIN -10.000000 +FENCE_ENABLE 0 +FENCE_MARGIN 2.000000 +FENCE_RADIUS 300.000000 +FENCE_TOTAL 0 +FENCE_TYPE 7 +FFT_ENABLE 0 +FHLD_BRAKE_RATE 8 +FHLD_FILT_HZ 5.000000 +FHLD_FLOW_MAX 0.600000 +FHLD_QUAL_MIN 10 +FHLD_XY_FILT_HZ 5.000000 +FHLD_XY_I 0.300000 +FHLD_XY_IMAX 3000.000000 +FHLD_XY_P 0.200000 +FLIGHT_OPTIONS 0 +FLOW_TYPE 0 +FLTMODE1 0 +FLTMODE2 2 +FLTMODE3 5 +FLTMODE4 0 +FLTMODE5 0 +FLTMODE6 5 +FLTMODE_CH 5 +FOLL_ENABLE 0 +FORMAT_VERSION 120 +FRAME_CLASS 16 +FRAME_TYPE 1 +FRSKY_DNLINK1_ID 20 +FRSKY_DNLINK2_ID 7 +FRSKY_DNLINK_ID 27 +FRSKY_OPTIONS 0 +FRSKY_UPLINK_ID 13 +FS_CRASH_CHECK 0 +FS_EKF_ACTION 1 +FS_EKF_THRESH 0.800000 +FS_GCS_ENABLE 0 +FS_GCS_TIMEOUT 5.000000 +FS_OPTIONS 16 +FS_THR_ENABLE 1 +FS_THR_VALUE 975 +FS_VIBE_ENABLE 1 +GCS_PID_MASK 2 +GEN_TYPE 0 +GND_EFFECT_COMP 1 +GPS_AUTO_CONFIG 1 +GPS_AUTO_SWITCH 1 +GPS_BLEND_MASK 5 +GPS_BLEND_TC 10.000000 +GPS_COM_PORT 1 +GPS_COM_PORT2 1 +GPS_DELAY_MS 0 +GPS_DELAY_MS2 0 +GPS_DRV_OPTIONS 0 +GPS_GNSS_MODE 0 +GPS_GNSS_MODE2 0 +GPS_HDOP_GOOD 140 +GPS_INJECT_TO 127 +GPS_MB1_TYPE 0 +GPS_MB2_TYPE 0 +GPS_MIN_DGPS 100 +GPS_MIN_ELEV -100 +GPS_NAVFILTER 8 +GPS_POS1_X 0.000000 +GPS_POS1_Y 0.000000 +GPS_POS1_Z 0.000000 +GPS_POS2_X 0.000000 +GPS_POS2_Y 0.000000 +GPS_POS2_Z 0.000000 +GPS_PRIMARY 0 +GPS_RATE_MS 200 +GPS_RATE_MS2 200 +GPS_RAW_DATA 0 +GPS_SAVE_CFG 2 +GPS_SBAS_MODE 2 +GPS_SBP_LOGMASK -256 +GPS_TYPE 1 +GPS_TYPE2 0 +GRIP_ENABLE 0 +GUID_OPTIONS 0 +GUID_TIMEOUT 3.000000 +INITIAL_MODE 0 +INS_ACC1_CALTEMP -300.000000 +INS_ACC2OFFS_X 0.001000 +INS_ACC2OFFS_Y 0.001000 +INS_ACC2OFFS_Z 0.001000 +INS_ACC2SCAL_X 1.001000 +INS_ACC2SCAL_Y 1.001000 +INS_ACC2SCAL_Z 1.001000 +INS_ACC2_CALTEMP -300.000000 +INS_ACC2_ID 2753036.000000 +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_ACC3_CALTEMP -300.000000 +INS_ACC3_ID 0 +INS_ACCEL_FILTER 20 +INS_ACCOFFS_X 0.001000 +INS_ACCOFFS_Y 0.001000 +INS_ACCOFFS_Z 0.001000 +INS_ACCSCAL_X 1.001000 +INS_ACCSCAL_Y 1.001000 +INS_ACCSCAL_Z 1.001000 +INS_ACC_BODYFIX 2 +INS_ACC_ID 2753028.000000 +INS_ENABLE_MASK 127 +INS_FAST_SAMPLE 1 +INS_GYR1_CALTEMP -300.000000 +INS_GYR2OFFS_X 0.000000 +INS_GYR2OFFS_Y 0.000000 +INS_GYR2OFFS_Z 0.000000 +INS_GYR2_CALTEMP -300.000000 +INS_GYR2_ID 2752780 +INS_GYR3OFFS_X 0.000000 +INS_GYR3OFFS_Y 0.000000 +INS_GYR3OFFS_Z 0.000000 +INS_GYR3_CALTEMP -300.000000 +INS_GYR3_ID 0 +INS_GYROFFS_X 0.000000 +INS_GYROFFS_Y 0.000000 +INS_GYROFFS_Z 0.000000 +INS_GYRO_FILTER 20 +INS_GYRO_RATE 0 +INS_GYR_CAL 0 +INS_GYR_ID 2752772 +INS_HNTCH_ENABLE 0 +INS_LOG_BAT_CNT 1024 +INS_LOG_BAT_LGCT 32 +INS_LOG_BAT_LGIN 20 +INS_LOG_BAT_MASK 0 +INS_LOG_BAT_OPT 0 +INS_NOTCH_ENABLE 0 +INS_POS1_X 0.000000 +INS_POS1_Y 0.000000 +INS_POS1_Z 0.000000 +INS_POS2_X 0.000000 +INS_POS2_Y 0.000000 +INS_POS2_Z 0.000000 +INS_POS3_X 0.000000 +INS_POS3_Y 0.000000 +INS_POS3_Z 0.000000 +INS_STILL_THRESH 2.500000 +INS_TCAL1_ENABLE 0 +INS_TCAL2_ENABLE 0 +INS_TCAL3_ENABLE 0 +INS_TCAL_OPTIONS 0 +INS_TRIM_OPTION 1 +INS_USE 1 +INS_USE2 1 +INS_USE3 1 +LAND_ALT_LOW 1000 +LAND_REPOSITION 1 +LAND_SPEED 50 +LAND_SPEED_HIGH 0 +LGR_DEPLOY_ALT 0 +LGR_DEPLOY_PIN -1 +LGR_DEPLOY_POL 0 +LGR_ENABLE 1 +LGR_OPTIONS 3 +LGR_RETRACT_ALT 0 +LGR_STARTUP 0 +LGR_WOW_PIN 8 +LGR_WOW_POL 1 +LOG_BACKEND_TYPE 1 +LOG_BITMASK 176126 +LOG_BLK_RATEMAX 0.000000 +LOG_DISARMED 0 +LOG_FILE_BUFSIZE 200 +LOG_FILE_DSRMROT 0 +LOG_FILE_MB_FREE 500 +LOG_FILE_RATEMAX 0.000000 +LOG_FILE_TIMEOUT 5 +LOG_MAV_BUFSIZE 8 +LOG_MAV_RATEMAX 0.000000 +LOG_REPLAY 0 +LOIT_ACC_MAX 500.000000 +LOIT_ANG_MAX 0.000000 +LOIT_BRK_ACCEL 250.000000 +LOIT_BRK_DELAY 1.000000 +LOIT_BRK_JERK 500.000000 +LOIT_SPEED 1250.000000 +MIS_OPTIONS 0 +MIS_RESTART 0 +MIS_TOTAL 6.000000 +MNT_TYPE 0 +MOT_BAT_CURR_MAX 0.000000 +MOT_BAT_CURR_TC 5.000000 +MOT_BAT_IDX 0 +MOT_BAT_VOLT_MAX 0.000000 +MOT_BAT_VOLT_MIN 0.000000 +MOT_BOOST_SCALE 0.000000 +MOT_HOVER_LEARN 2 +MOT_PWM_MAX 2000 +MOT_PWM_MIN 1000 +MOT_PWM_TYPE 0 +MOT_SAFE_DISARM 0 +MOT_SAFE_TIME 1.000000 +MOT_SLEW_DN_TIME 0.000000 +MOT_SLEW_UP_TIME 0.000000 +MOT_SPIN_ARM 0.100000 +MOT_SPIN_MAX 1.000000 +MOT_SPIN_MIN -1.000000 +MOT_SPOOL_TIME 0.500000 +MOT_THST_EXPO 0.750000 +MOT_THST_HOVER 0.318280 +MOT_YAW_HEADROOM 50 +MSP_OPTIONS 0 +MSP_OSD_NCELLS 0 +NTF_BUZZ_ON_LVL 1 +NTF_BUZZ_PIN -1 +NTF_BUZZ_TYPES 1 +NTF_BUZZ_VOLUME 100 +NTF_DISPLAY_TYPE 0 +NTF_LED_BRIGHT 3 +NTF_LED_LEN 1 +NTF_LED_OVERRIDE 0 +NTF_LED_TYPES 199 +OA_TYPE 0 +OSD_TYPE 0 +PHLD_BRAKE_ANGLE 3000 +PHLD_BRAKE_RATE 8 +PILOT_ACCEL_Z 250 +PILOT_SPEED_DN 0 +PILOT_SPEED_UP 250 +PILOT_THR_BHV 0 +PILOT_THR_FILT 0.000000 +PILOT_TKOFF_ALT 0.000000 +PILOT_Y_EXPO 0.000000 +PILOT_Y_RATE 202.500000 +PLND_ENABLED 0 +PRX_TYPE 0 +PSC_ACCZ_D 0.000000 +PSC_ACCZ_FF 0.000000 +PSC_ACCZ_FLTD 0.000000 +PSC_ACCZ_FLTE 20.000000 +PSC_ACCZ_FLTT 0.000000 +PSC_ACCZ_I 1.234634 +PSC_ACCZ_IMAX 800.000000 +PSC_ACCZ_P 0.617317 +PSC_ACCZ_SMAX 0.000000 +PSC_ANGLE_MAX 0.000000 +PSC_JERK_XY 5.000000 +PSC_JERK_Z 5.000000 +PSC_POSXY_P 1.000000 +PSC_POSZ_P 1.000000 +PSC_VELXY_D 0.500000 +PSC_VELXY_FF 0.000000 +PSC_VELXY_FLTD 5.000000 +PSC_VELXY_FLTE 5.000000 +PSC_VELXY_I 1.000000 +PSC_VELXY_IMAX 1000.000000 +PSC_VELXY_P 2.000000 +PSC_VELZ_D 0.000000 +PSC_VELZ_FF 0.000000 +PSC_VELZ_FLTD 5.000000 +PSC_VELZ_FLTE 5.000000 +PSC_VELZ_I 0.000000 +PSC_VELZ_IMAX 1000.000000 +PSC_VELZ_P 5.000000 +RALLY_INCL_HOME 1 +RALLY_LIMIT_KM 0.300000 +RALLY_TOTAL 0 +RC10_DZ 0 +RC10_MAX 1900 +RC10_MIN 1100 +RC10_OPTION 0 +RC10_REVERSED 0 +RC10_TRIM 1500 +RC11_DZ 0 +RC11_MAX 1900 +RC11_MIN 1100 +RC11_OPTION 0 +RC11_REVERSED 0 +RC11_TRIM 1500 +RC12_DZ 0 +RC12_MAX 1900 +RC12_MIN 1100 +RC12_OPTION 0 +RC12_REVERSED 0 +RC12_TRIM 1500 +RC13_DZ 0 +RC13_MAX 1900 +RC13_MIN 1100 +RC13_OPTION 0 +RC13_REVERSED 0 +RC13_TRIM 1500 +RC14_DZ 0 +RC14_MAX 1900 +RC14_MIN 1100 +RC14_OPTION 0 +RC14_REVERSED 0 +RC14_TRIM 1500 +RC15_DZ 0 +RC15_MAX 1900 +RC15_MIN 1100 +RC15_OPTION 0 +RC15_REVERSED 0 +RC15_TRIM 1500 +RC16_DZ 0 +RC16_MAX 1900 +RC16_MIN 1100 +RC16_OPTION 0 +RC16_REVERSED 0 +RC16_TRIM 1500 +RC1_DZ 20 +RC1_MAX 2000 +RC1_MIN 1000 +RC1_OPTION 0 +RC1_REVERSED 0 +RC1_TRIM 1500 +RC2_DZ 20 +RC2_MAX 2000 +RC2_MIN 1000 +RC2_OPTION 0 +RC2_REVERSED 1 +RC2_TRIM 1500 +RC3_DZ 30 +RC3_MAX 2000 +RC3_MIN 1000 +RC3_OPTION 0 +RC3_REVERSED 0 +RC3_TRIM 1500 +RC4_DZ 20 +RC4_MAX 2000 +RC4_MIN 1000 +RC4_OPTION 0 +RC4_REVERSED 0 +RC4_TRIM 1500 +RC5_DZ 0 +RC5_MAX 1900 +RC5_MIN 1100 +RC5_OPTION 0 +RC5_REVERSED 0 +RC5_TRIM 1500 +RC6_DZ 0 +RC6_MAX 1900 +RC6_MIN 1100 +RC6_OPTION 0 +RC6_REVERSED 0 +RC6_TRIM 1500 +RC7_DZ 0 +RC7_MAX 1900 +RC7_MIN 1100 +RC7_OPTION 0 +RC7_REVERSED 0 +RC7_TRIM 1500 +RC8_DZ 0 +RC8_MAX 1900 +RC8_MIN 1100 +RC8_OPTION 17 +RC8_REVERSED 0 +RC8_TRIM 1500 +RC9_DZ 0 +RC9_MAX 1900 +RC9_MIN 1100 +RC9_OPTION 0 +RC9_REVERSED 0 +RC9_TRIM 1500 +RCMAP_PITCH 2 +RCMAP_ROLL 1 +RCMAP_THROTTLE 3 +RCMAP_YAW 4 +RC_OPTIONS 32 +RC_OVERRIDE_TIME 3.000000 +RC_PROTOCOLS 1 +RC_SPEED 490 +RELAY_DEFAULT 0 +RELAY_PIN 13 +RELAY_PIN2 -1 +RELAY_PIN3 -1 +RELAY_PIN4 -1 +RELAY_PIN5 -1 +RELAY_PIN6 -1 +RNGFND1_TYPE 0 +RNGFND2_TYPE 0 +RNGFND3_TYPE 0 +RNGFND4_TYPE 0 +RNGFND5_TYPE 0 +RNGFND6_TYPE 0 +RNGFND7_TYPE 0 +RNGFND8_TYPE 0 +RNGFND9_TYPE 0 +RNGFNDA_TYPE 0 +RNGFND_FILT 0.500000 +RPM1_TYPE 0 +RPM2_TYPE 0 +RSSI_TYPE 0 +RTL_ALT 1500 +RTL_ALT_FINAL 0 +RTL_ALT_TYPE 0 +RTL_CLIMB_MIN 0 +RTL_CONE_SLOPE 3.000000 +RTL_LOIT_TIME 5000 +RTL_OPTIONS 0 +RTL_SPEED 0 +SCHED_DEBUG 0 +SCHED_LOOP_RATE 400 +SCHED_OPTIONS 0 +SCR_DEBUG_OPTS 0 +SCR_DIR_DISABLE 0 +SCR_ENABLE 1 +SCR_HEAP_SIZE 65536 +SCR_USER1 0.000000 +SCR_USER2 0.000000 +SCR_USER3 0.000000 +SCR_USER4 0.000000 +SCR_USER5 0.000000 +SCR_USER6 0.000000 +SCR_VM_I_COUNT 10000 +SERIAL0_BAUD 115 +SERIAL0_PROTOCOL 2 +SERIAL1_BAUD 57 +SERIAL1_OPTIONS 0 +SERIAL1_PROTOCOL 2 +SERIAL2_BAUD 57 +SERIAL2_OPTIONS 0 +SERIAL2_PROTOCOL 2 +SERIAL3_BAUD 38 +SERIAL3_OPTIONS 0 +SERIAL3_PROTOCOL 5 +SERIAL4_BAUD 38 +SERIAL4_OPTIONS 0 +SERIAL4_PROTOCOL 5 +SERIAL5_BAUD 57 +SERIAL5_OPTIONS 0 +SERIAL5_PROTOCOL -1 +SERIAL6_BAUD 57 +SERIAL6_OPTIONS 0 +SERIAL6_PROTOCOL -1 +SERIAL7_BAUD 57 +SERIAL7_OPTIONS 0 +SERIAL7_PROTOCOL -1 +SERIAL_PASS1 0 +SERIAL_PASS2 -1 +SERIAL_PASSTIMO 15 +SERVO10_FUNCTION 0 +SERVO10_MAX 1900 +SERVO10_MIN 1100 +SERVO10_REVERSED 0 +SERVO10_TRIM 1500 +SERVO11_FUNCTION 0 +SERVO11_MAX 1900 +SERVO11_MIN 1100 +SERVO11_REVERSED 0 +SERVO11_TRIM 1500 +SERVO12_FUNCTION 0 +SERVO12_MAX 1900 +SERVO12_MIN 1100 +SERVO12_REVERSED 0 +SERVO12_TRIM 1500 +SERVO13_FUNCTION 0 +SERVO13_MAX 1900 +SERVO13_MIN 1100 +SERVO13_REVERSED 0 +SERVO13_TRIM 1500 +SERVO14_FUNCTION 0 +SERVO14_MAX 1900 +SERVO14_MIN 1100 +SERVO14_REVERSED 0 +SERVO14_TRIM 1500 +SERVO15_FUNCTION 0 +SERVO15_MAX 1900 +SERVO15_MIN 1100 +SERVO15_REVERSED 0 +SERVO15_TRIM 1500 +SERVO16_FUNCTION 0 +SERVO16_MAX 1900 +SERVO16_MIN 1100 +SERVO16_REVERSED 0 +SERVO16_TRIM 1500 +SERVO1_FUNCTION 33 +SERVO1_MAX 2000 +SERVO1_MIN 1000 +SERVO1_REVERSED 0 +SERVO1_TRIM 1500 +SERVO2_FUNCTION 34 +SERVO2_MAX 2000 +SERVO2_MIN 1000 +SERVO2_REVERSED 0 +SERVO2_TRIM 1500 +SERVO3_FUNCTION 35 +SERVO3_MAX 2000 +SERVO3_MIN 1000 +SERVO3_REVERSED 0 +SERVO3_TRIM 1500 +SERVO4_FUNCTION 36 +SERVO4_MAX 2000 +SERVO4_MIN 1000 +SERVO4_REVERSED 0 +SERVO4_TRIM 1500 +SERVO5_FUNCTION 37 +SERVO5_MAX 2000 +SERVO5_MIN 1000 +SERVO5_REVERSED 0 +SERVO5_TRIM 1500 +SERVO6_FUNCTION 38 +SERVO6_MAX 2000 +SERVO6_MIN 1000 +SERVO6_REVERSED 0 +SERVO6_TRIM 1500 +SERVO7_FUNCTION 0 +SERVO7_MAX 1900 +SERVO7_MIN 1100 +SERVO7_REVERSED 0 +SERVO7_TRIM 1500 +SERVO8_FUNCTION 0 +SERVO8_MAX 1900 +SERVO8_MIN 1100 +SERVO8_REVERSED 0 +SERVO8_TRIM 1500 +SERVO9_FUNCTION 0 +SERVO9_MAX 1900 +SERVO9_MIN 1100 +SERVO9_REVERSED 0 +SERVO9_TRIM 1500 +SERVO_DSHOT_ESC 0 +SERVO_DSHOT_RATE 0 +SERVO_FTW_MASK 0 +SERVO_FTW_POLES 14 +SERVO_FTW_RVMASK 0 +SERVO_GPIO_MASK 0 +SERVO_RATE 50 +SERVO_ROB_POSMAX 4095 +SERVO_ROB_POSMIN 0 +SERVO_SBUS_RATE 50 +SERVO_VOLZ_MASK 0 +SID_AXIS 0 +SIMPLE 0 +SIM_ACC1_BIAS_X 0.000000 +SIM_ACC1_BIAS_Y 0.000000 +SIM_ACC1_BIAS_Z 0.000000 +SIM_ACC1_RND 0.000000 +SIM_ACC1_SCAL_X 0.000000 +SIM_ACC1_SCAL_Y 0.000000 +SIM_ACC1_SCAL_Z 0.000000 +SIM_ACC2_BIAS_X 0.000000 +SIM_ACC2_BIAS_Y 0.000000 +SIM_ACC2_BIAS_Z 0.000000 +SIM_ACC2_RND 0.000000 +SIM_ACC2_SCAL_X 0.000000 +SIM_ACC2_SCAL_Y 0.000000 +SIM_ACC2_SCAL_Z 0.000000 +SIM_ACC3_BIAS_X 0.000000 +SIM_ACC3_BIAS_Y 0.000000 +SIM_ACC3_BIAS_Z 0.000000 +SIM_ACC3_RND 0.000000 +SIM_ACC3_SCAL_X 0.000000 +SIM_ACC3_SCAL_Y 0.000000 +SIM_ACC3_SCAL_Z 0.000000 +SIM_ACCEL1_FAIL 0.000000 +SIM_ACCEL2_FAIL 0.000000 +SIM_ACCEL3_FAIL 0.000000 +SIM_ACC_FAIL_MSK 0 +SIM_ACC_TRIM_X 0.000000 +SIM_ACC_TRIM_Y 0.000000 +SIM_ACC_TRIM_Z 0.000000 +SIM_ADSB_ALT 1000.000000 +SIM_ADSB_COUNT -1 +SIM_ADSB_RADIUS 10000.000000 +SIM_ADSB_TX 0 +SIM_ARSPD2_FAIL 0.000000 +SIM_ARSPD2_FAILP 0.000000 +SIM_ARSPD2_OFS 2013.000000 +SIM_ARSPD2_PITOT 0.000000 +SIM_ARSPD2_RND 2.000000 +SIM_ARSPD_FAIL 0.000000 +SIM_ARSPD_FAILP 0.000000 +SIM_ARSPD_OFS 2013.000000 +SIM_ARSPD_PITOT 0.000000 +SIM_ARSPD_RND 2.000000 +SIM_ARSPD_SIGN 0 +SIM_BAR2_DELAY 0 +SIM_BAR2_DISABLE 0 +SIM_BAR2_DRIFT 0.000000 +SIM_BAR2_FREEZE 0 +SIM_BAR2_GLITCH 0.000000 +SIM_BAR2_RND 0.200000 +SIM_BAR2_WCF_BAK 0.000000 +SIM_BAR2_WCF_FWD 0.000000 +SIM_BAR2_WCF_LFT 0.000000 +SIM_BAR2_WCF_RGT 0.000000 +SIM_BAR3_DELAY 0 +SIM_BAR3_DISABLE 0 +SIM_BAR3_DRIFT 0.000000 +SIM_BAR3_FREEZE 0 +SIM_BAR3_GLITCH 0.000000 +SIM_BAR3_RND 0.200000 +SIM_BAR3_WCF_BAK 0.000000 +SIM_BAR3_WCF_FWD 0.000000 +SIM_BAR3_WCF_LFT 0.000000 +SIM_BAR3_WCF_RGT 0.000000 +SIM_BARO_COUNT 2 +SIM_BARO_DELAY 0 +SIM_BARO_DISABLE 0 +SIM_BARO_DRIFT 0.000000 +SIM_BARO_FREEZE 0 +SIM_BARO_GLITCH 0.000000 +SIM_BARO_RND 0.200000 +SIM_BARO_WCF_BAK 0.000000 +SIM_BARO_WCF_FWD 0.000000 +SIM_BARO_WCF_LFT 0.000000 +SIM_BARO_WCF_RGT 0.000000 +SIM_BATT_CAP_AH 0.000000 +SIM_BATT_VOLTAGE 12.600000 +SIM_BAUDLIMIT_EN 0 +SIM_BZ_ENABLE 0 +SIM_BZ_PIN 0 +SIM_DRIFT_SPEED 0.050000 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0.000000 +SIM_VICON_POS_Z 0.000000 +SIM_VICON_TMASK 3 +SIM_VICON_VGLI_X 0.000000 +SIM_VICON_VGLI_Y 0.000000 +SIM_VICON_VGLI_Z 0.000000 +SIM_VICON_YAW 0 +SIM_VICON_YAWERR 0 +SIM_WAVE_AMP 0.500000 +SIM_WAVE_DIR 0.000000 +SIM_WAVE_ENABLE 0 +SIM_WAVE_LENGTH 10.000000 +SIM_WAVE_SPEED 0.500000 +SIM_WIND_DELAY 0 +SIM_WIND_DIR 180.000000 +SIM_WIND_DIR_Z 0.000000 +SIM_WIND_SPD 0.000000 +SIM_WIND_T 0 +SIM_WIND_TURB 0.000000 +SIM_WIND_T_ALT 60.000000 +SIM_WIND_T_COEF 0.010000 +SIM_WOW_PIN -1 +SPRAY_ENABLE 0 +SR0_ADSB 4 +SR0_EXTRA1 4 +SR0_EXTRA2 4 +SR0_EXTRA3 4 +SR0_EXT_STAT 4 +SR0_PARAMS 0 +SR0_POSITION 4 +SR0_RAW_CTRL 4 +SR0_RAW_SENS 4 +SR0_RC_CHAN 4 +SR1_ADSB 0 +SR1_EXTRA1 0 +SR1_EXTRA2 0 +SR1_EXTRA3 0 +SR1_EXT_STAT 0 +SR1_PARAMS 0 +SR1_POSITION 0 +SR1_RAW_CTRL 0 +SR1_RAW_SENS 0 +SR1_RC_CHAN 0 +SR2_ADSB 0 +SR2_EXTRA1 0 +SR2_EXTRA2 0 +SR2_EXTRA3 0 +SR2_EXT_STAT 0 +SR2_PARAMS 0 +SR2_POSITION 0 +SR2_RAW_CTRL 0 +SR2_RAW_SENS 0 +SR2_RC_CHAN 0 +SR3_ADSB 0 +SR3_EXTRA1 0 +SR3_EXTRA2 0 +SR3_EXTRA3 0 +SR3_EXT_STAT 0 +SR3_PARAMS 0 +SR3_POSITION 0 +SR3_RAW_CTRL 0 +SR3_RAW_SENS 0 +SR3_RC_CHAN 0 +SR4_ADSB 0 +SR4_EXTRA1 0 +SR4_EXTRA2 0 +SR4_EXTRA3 0 +SR4_EXT_STAT 0 +SR4_PARAMS 0 +SR4_POSITION 0 +SR4_RAW_CTRL 0 +SR4_RAW_SENS 0 +SR4_RC_CHAN 0 +SR5_ADSB 0 +SR5_EXTRA1 0 +SR5_EXTRA2 0 +SR5_EXTRA3 0 +SR5_EXT_STAT 0 +SR5_PARAMS 0 +SR5_POSITION 0 +SR5_RAW_CTRL 0 +SR5_RAW_SENS 0 +SR5_RC_CHAN 0 +SR6_ADSB 0 +SR6_EXTRA1 0 +SR6_EXTRA2 0 +SR6_EXTRA3 0 +SR6_EXT_STAT 0 +SR6_PARAMS 0 +SR6_POSITION 0 +SR6_RAW_CTRL 0 +SR6_RAW_SENS 0 +SR6_RC_CHAN 0 +SRTL_ACCURACY 2.000000 +SRTL_OPTIONS 0 +SRTL_POINTS 300 +STAT_BOOTCNT 59 +STAT_FLTTIME 20179.000000 +STAT_RESET 187974747 +STAT_RUNTIME 224797.000000 +SUPER_SIMPLE 0 +SURFTRAK_MODE 1 +SYSID_ENFORCE 0 +SYSID_MYGCS 255 +SYSID_THISMAV 1 +TCAL_ENABLED 0 +TELEM_DELAY 0 +TERRAIN_ENABLE 1 +TERRAIN_MARGIN 0.050000 +TERRAIN_OPTIONS 0 +TERRAIN_SPACING 100 +THROW_MOT_START 0 +THROW_NEXTMODE 18 +THROW_TYPE 0 +THR_DZ 100 +TUNE 0 +TUNE_MAX 0.000000 +TUNE_MIN 0.000000 +VISO_TYPE 0 +VTX_ENABLE 0 +WINCH_TYPE 0 +WPNAV_ACCEL 250.000000 +WPNAV_ACCEL_Z 100.000000 +WPNAV_JERK 1.000000 +WPNAV_RADIUS 200.000000 +WPNAV_RFND_USE 1 +WPNAV_SPEED 1000.000000 +WPNAV_SPEED_DN 150.000000 +WPNAV_SPEED_UP 250.000000 +WPNAV_TER_MARGIN 10.000000 +WP_NAVALT_MIN 0.000000 +WP_YAW_BEHAVIOR 2 +ZIGZ_AUTO_ENABLE 0 diff --git a/Gazebo/config/omnicopter.param b/Gazebo/config/omnicopter.param new file mode 100644 index 00000000..06463520 --- /dev/null +++ b/Gazebo/config/omnicopter.param @@ -0,0 +1,71 @@ +AHRS_EKF_TYPE,10 +ANGLE_MAX,8000 +ATC_ANGLE_BOOST,0 +ATC_RAT_PIT_D,0.02 +ATC_RAT_PIT_I,0.015 +ATC_RAT_PIT_P,0.03 +ATC_RAT_RLL_D,0.02 +ATC_RAT_RLL_I,0.015 +ATC_RAT_RLL_P,0.03 +ATC_RAT_YAW_D,0.02 +ATC_RAT_YAW_FLTD,20 +ATC_RAT_YAW_FLTE,0 +ATC_RAT_YAW_FLTT,20 +ATC_RAT_YAW_I,0.025 +ATC_RAT_YAW_P,0.04 +AUTOTUNE_AGGR,0.1 +AUTOTUNE_AXES,7 +AUTOTUNE_MIN_D,0.001 +EK2_ENABLE,1 +EK3_ENABLE,0 +FLTMODE2,2 +FLTMODE3,5 +FLTMODE6,5 +FRAME_CLASS,16 +FRAME_TYPE,1 +FS_CRASH_CHECK,0 +MOT_PWM_MAX,2000 +MOT_PWM_MIN,1000 +MOT_SPIN_ARM,0.1 +MOT_SPIN_MAX,1 +MOT_SPIN_MIN,-1 +MOT_THST_EXPO,0.75 +MOT_THST_HOVER,0.25 +MOT_YAW_HEADROOM,50 +RC1_MAX,2000 +RC1_MIN,1000 +RC2_MAX,2000 +RC2_MIN,1000 +RC2_REVERSED,1 +RC3_MAX,2000 +RC3_MIN,1000 +RC4_MAX,2000 +RC4_MIN,1000 +RC8_OPTION,17 +SCR_DEBUG_LVL,0 +SCR_DIR_DISABLE,0 +SCR_ENABLE,1 +SCR_HEAP_SIZE,65536 +SCR_USER1,0 +SCR_USER2,0 +SCR_USER3,0 +SCR_USER4,0 +SCR_VM_I_COUNT,10000 +SERVO1_FUNCTION,33 +SERVO1_MAX,2000 +SERVO1_MIN,1000 +SERVO2_FUNCTION,34 +SERVO2_MAX,2000 +SERVO2_MIN,1000 +SERVO3_FUNCTION,35 +SERVO3_MAX,2000 +SERVO3_MIN,1000 +SERVO4_FUNCTION,36 +SERVO4_MAX,2000 +SERVO4_MIN,1000 +SERVO5_FUNCTION,37 +SERVO5_MAX,2000 +SERVO5_MIN,1000 +SERVO6_FUNCTION,38 +SERVO6_MAX,2000 +SERVO6_MIN,1000 diff --git a/Gazebo/docs/Omnicopter.md b/Gazebo/docs/Omnicopter.md new file mode 100644 index 00000000..2b6c8354 --- /dev/null +++ b/Gazebo/docs/Omnicopter.md @@ -0,0 +1,33 @@ +# Omnicopter + +Model for the 6DoF omnicopter for use with ArduPilot. +It is derived from the [version prepared for RealFlight](https://github.com/ArduPilot/SITL_Models/tree/master/RealFlight/WIP/iampete/Lynchpin). + + +![omnicopter_2](https://user-images.githubusercontent.com/24916364/146563555-57b4afc7-dec5-4720-9446-d1dafb82aeca.png) + +![omnicopter_1_viz](https://user-images.githubusercontent.com/24916364/146563631-592c6459-d72c-45a7-86c6-09da64a96e22.png) + +## Usage + +Gazebo and the plugins should be installed as per the [ArduPilot Gazebo Plugin](https://github.com/ArduPilot/ardupilot_gazebo) instructions. + +Update the `GZ_SIM_RESOURCE_PATH` to include these models: + +```bash +export GZ_SIM_RESOURCE_PATH=$GZ_SIM_RESOURCE_PATH:\ +$HOME/SITL_Models/Gazebo/models:\ +$HOME/SITL_Models/Gazebo/worlds +``` + +#### Run Gazebo + +```bash +gz sim -v4 -r omnicopter_runway.sdf +``` + +#### Run ArduPilot SITL + +```bash +sim_vehicle.py -v ArduCopter -f JSON --add-param-file=$HOME/SITL_Models/Gazebo/config/omnicopter.param --console --map +``` diff 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