diff --git a/Tools/autotest/default_params/gazebo-iris.parm b/Tools/autotest/default_params/gazebo-iris.parm index c42c0a166368f1eddcb13ca00729b097e1b1face..f50e7160b097666908cca2812b20bdbeb2bd7526 100644 --- a/Tools/autotest/default_params/gazebo-iris.parm +++ b/Tools/autotest/default_params/gazebo-iris.parm @@ -1,638 +1,10 @@ -ACCEL_Z_D 0.000000 -ACCEL_Z_FILT 20.000000 -ACCEL_Z_I 1.000000 -ACCEL_Z_IMAX 800.000000 -ACCEL_Z_P 0.500000 -ACRO_BAL_PITCH 1.000000 -ACRO_BAL_ROLL 1.000000 -ACRO_EXPO 0.300000 -ACRO_RP_P 4.500000 -ACRO_TRAINER 2.000000 -ACRO_YAW_P 4.500000 -ADSB_ENABLE 0.000000 -AHRS_COMP_BETA 0.100000 -AHRS_EKF_TYPE 2.000000 -AHRS_GPS_GAIN 1.000000 -AHRS_GPS_MINSATS 6.000000 -AHRS_GPS_USE 1.000000 -AHRS_ORIENTATION 0.000000 -AHRS_RP_P 0.200000 -AHRS_TRIM_X 0.000000 -AHRS_TRIM_Y 0.000000 -AHRS_TRIM_Z 0.000000 -AHRS_WIND_MAX 0.000000 -AHRS_YAW_P 0.200000 -ANGLE_MAX 4500.000000 -ARMING_CHECK 0.000000 -ATC_ACCEL_P_MAX 110000.000000 -ATC_ACCEL_R_MAX 110000.000000 -ATC_ACCEL_Y_MAX 27000.000000 -ATC_ANGLE_BOOST 1.000000 -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_RATE_FF_ENAB 1.000000 -ATC_RAT_PIT_D 0.003600 -ATC_RAT_PIT_FILT 20.000000 -ATC_RAT_PIT_I 0.090000 -ATC_RAT_PIT_IMAX 0.444000 -ATC_RAT_PIT_P 0.135000 -ATC_RAT_RLL_D 0.003600 -ATC_RAT_RLL_FILT 20.000000 -ATC_RAT_RLL_I 0.090000 -ATC_RAT_RLL_IMAX 0.444000 -ATC_RAT_RLL_P 0.135000 -ATC_RAT_YAW_D 0.000000 -ATC_RAT_YAW_FILT 5.000000 -ATC_RAT_YAW_I 0.018000 -ATC_RAT_YAW_IMAX 0.222000 -ATC_RAT_YAW_P 0.180000 -ATC_SLEW_YAW 6000.000000 -ATC_THR_MIX_MAX 0.500000 -ATC_THR_MIX_MIN 0.100000 -AUTOTUNE_AGGR 0.100000 -AUTOTUNE_AXES 7.000000 -AUTOTUNE_MIN_D 0.001000 -AVD_ENABLE 0.000000 -AVOID_ENABLE 1.000000 -BATT2_AMP_OFFSET 0.000000 -BATT2_AMP_PERVOL 17.000000 -BATT2_CAPACITY 3300.000000 -BATT2_CURR_PIN 12.000000 -BATT2_MONITOR 0.000000 -BATT2_VOLT_MULT 10.100000 -BATT2_VOLT_PIN 13.000000 -BATT_AMP_OFFSET 0.000000 -BATT_AMP_PERVOLT 17.000000 -BATT_CAPACITY 3300.000000 -BATT_CURR_PIN 12.000000 -BATT_MONITOR 4.000000 -BATT_VOLT_MULT 10.100000 -BATT_VOLT_PIN 13.000000 -BRD_SERIAL_NUM 0.000000 -BTN_ENABLE 0.000000 -CAM_DURATION 10.000000 -CAM_FEEDBACK_PIN -1.000000 -CAM_FEEDBACK_POL 1.000000 -CAM_MAX_ROLL 0.000000 -CAM_MIN_INTERVAL 0.000000 -CAM_RELAY_ON 1.000000 -CAM_SERVO_OFF 1100.000000 -CAM_SERVO_ON 1300.000000 -CAM_TRIGG_DIST 0.000000 -CAM_TRIGG_TYPE 0.000000 -CH10_OPT 0.000000 -CH11_OPT 0.000000 -CH12_OPT 0.000000 -CH7_OPT 7.000000 -CH8_OPT 0.000000 -CH9_OPT 0.000000 -CHUTE_ENABLED 0.000000 -CIRCLE_RADIUS 1000.000000 -CIRCLE_RATE 20.000000 -CLI_ENABLED 0.000000 -COMPASS_AUTODEC 1.000000 -COMPASS_CAL_FIT 8.000000 -COMPASS_DEC 0.000000 -COMPASS_DEV_ID 0.000000 -COMPASS_DEV_ID2 0.000000 -COMPASS_DEV_ID3 0.000000 -COMPASS_DIA2_X 1.000000 -COMPASS_DIA2_Y 1.000000 -COMPASS_DIA2_Z 1.000000 -COMPASS_DIA3_X 0.000000 -COMPASS_DIA3_Y 0.000000 -COMPASS_DIA3_Z 0.000000 -COMPASS_DIA_X 1.000000 -COMPASS_DIA_Y 1.000000 -COMPASS_DIA_Z 1.000000 -COMPASS_EXTERN2 0.000000 -COMPASS_EXTERN3 0.000000 -COMPASS_EXTERNAL 0.000000 -COMPASS_LEARN 0.000000 -COMPASS_MOT2_X 0.000000 -COMPASS_MOT2_Y 0.000000 -COMPASS_MOT2_Z 0.000000 -COMPASS_MOT3_X 0.000000 -COMPASS_MOT3_Y 0.000000 -COMPASS_MOT3_Z 0.000000 -COMPASS_MOTCT 0.000000 -COMPASS_MOT_X 0.000000 -COMPASS_MOT_Y 0.000000 -COMPASS_MOT_Z 0.000000 -COMPASS_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_OFS2_X 5.000000 -COMPASS_OFS2_Y 13.000000 -COMPASS_OFS2_Z -18.000000 -COMPASS_OFS3_X 0.000000 -COMPASS_OFS3_Y 0.000000 -COMPASS_OFS3_Z 0.000000 -COMPASS_OFS_X 5.000000 -COMPASS_OFS_Y 13.000000 -COMPASS_OFS_Z -18.000000 -COMPASS_ORIENT 0.000000 -COMPASS_ORIENT2 0.000000 -COMPASS_ORIENT3 0.000000 -COMPASS_PRIMARY 0.000000 -COMPASS_USE 1.000000 -COMPASS_USE2 1.000000 -COMPASS_USE3 1.000000 -DISARM_DELAY 10.000000 -EK2_ABIAS_P_NSE 0.005000 -EK2_ACC_P_NSE 0.600000 -EK2_ALT_M_NSE 3.000000 -EK2_ALT_SOURCE 0.000000 -EK2_CHECK_SCALE 100.000000 -EK2_EAS_I_GATE 400.000000 -EK2_EAS_M_NSE 1.400000 -EK2_ENABLE 1.000000 -EK2_FLOW_DELAY 10.000000 -EK2_FLOW_I_GATE 300.000000 -EK2_FLOW_M_NSE 0.250000 -EK2_GBIAS_P_NSE 0.000100 -EK2_GLITCH_RAD 25.000000 -EK2_GPS_CHECK 31.000000 -EK2_GPS_DELAY 220.000000 -EK2_GPS_TYPE 0.000000 -EK2_GSCL_P_NSE 0.000500 -EK2_GYRO_P_NSE 0.030000 -EK2_HGT_DELAY 60.000000 -EK2_HGT_I_GATE 500.000000 -EK2_IMU_MASK 3.000000 -EK2_LOG_MASK 1.000000 -EK2_MAGB_P_NSE 0.000100 -EK2_MAGE_P_NSE 0.001000 -EK2_MAG_CAL 3.000000 -EK2_MAG_I_GATE 300.000000 -EK2_MAG_M_NSE 0.050000 -EK2_MAX_FLOW 2.500000 -EK2_NOAID_M_NSE 10.000000 -EK2_POSNE_M_NSE 1.000000 -EK2_POS_I_GATE 500.000000 -EK2_RNG_I_GATE 500.000000 -EK2_RNG_M_NSE 0.500000 -EK2_RNG_USE_HGT -1.000000 -EK2_TAU_OUTPUT 25.000000 -EK2_VELD_M_NSE 0.700000 -EK2_VELNE_M_NSE 0.500000 -EK2_VEL_I_GATE 500.000000 -EK2_WIND_PSCALE 0.500000 -EK2_WIND_P_NSE 0.100000 -EK2_YAW_I_GATE 300.000000 -EK2_YAW_M_NSE 0.500000 -EKF_ENABLE 0.000000 -EPM_ENABLE 0.000000 -ESC_CALIBRATION 0.000000 -FENCE_ACTION 1.000000 -FENCE_ALT_MAX 100.000000 -FENCE_ENABLE 0.000000 -FENCE_MARGIN 2.000000 -FENCE_RADIUS 150.000000 -FENCE_TOTAL 0.000000 -FENCE_TYPE 7.000000 -FLOW_ENABLE 0.000000 -FLOW_FXSCALER 0.000000 -FLOW_FYSCALER 0.000000 -FLOW_ORIENT_YAW 0.000000 -FLTMODE1 7.000000 -FLTMODE2 9.000000 -FLTMODE3 6.000000 -FLTMODE4 3.000000 -FLTMODE5 5.000000 -FLTMODE6 0.000000 -FRAME 0.000000 -FS_BATT_ENABLE 0.000000 -FS_BATT_MAH 0.000000 -FS_BATT_VOLTAGE 10.500000 -FS_CRASH_CHECK 1.000000 -FS_EKF_ACTION 1.000000 -FS_EKF_THRESH 0.800000 -FS_GCS_ENABLE 1.000000 -FS_THR_ENABLE 1.000000 -FS_THR_VALUE 975.000000 -GCS_PID_MASK 0.000000 -GND_ABS_PRESS 94503.921875 -GND_ALT_OFFSET 0.000000 -GND_EFFECT_COMP 0.000000 -GND_PRIMARY 0.000000 -GND_TEMP 26.006683 -GPS_AUTO_CONFIG 1.000000 -GPS_AUTO_SWITCH 1.000000 -GPS_GNSS_MODE 0.000000 -GPS_GNSS_MODE2 0.000000 -GPS_HDOP_GOOD 140.000000 -GPS_INJECT_TO 127.000000 -GPS_MIN_DGPS 100.000000 -GPS_MIN_ELEV -100.000000 -GPS_NAVFILTER 8.000000 -GPS_RAW_DATA 0.000000 -GPS_SAVE_CFG 0.000000 -GPS_SBAS_MODE 2.000000 -GPS_SBP_LOGMASK -256.000000 -GPS_TYPE 1.000000 -GPS_TYPE2 0.000000 -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_ACC3OFFS_X 0.000000 -INS_ACC3OFFS_Y 0.000000 -INS_ACC3OFFS_Z 0.000000 -INS_ACC3SCAL_X 1.000000 -INS_ACC3SCAL_Y 1.000000 -INS_ACC3SCAL_Z 1.000000 -INS_ACCEL_FILTER 20.000000 -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 2.000000 -INS_GYR2OFFS_X 0.000000 -INS_GYR2OFFS_Y 0.000000 -INS_GYR2OFFS_Z 0.000000 -INS_GYR3OFFS_X 0.000000 -INS_GYR3OFFS_Y 0.000000 -INS_GYR3OFFS_Z 0.000000 -INS_GYROFFS_X 0.000000 -INS_GYROFFS_Y 0.000000 -INS_GYROFFS_Z 0.000000 -INS_GYRO_FILTER 20.000000 -INS_GYR_CAL 1.000000 -INS_PRODUCT_ID 0.000000 -INS_STILL_THRESH 2.500000 -INS_TRIM_OPTION 1.000000 -INS_USE 1.000000 -INS_USE2 1.000000 -INS_USE3 0.000000 -LAND_REPOSITION 1.000000 -LAND_SPEED 50.000000 -LAND_SPEED_HIGH 0.000000 -LGR_SERVO_DEPLOY 1750.000000 -LGR_SERVO_RTRACT 1250.000000 -LOG_BACKEND_TYPE 1.000000 -LOG_BITMASK 176126.000000 -LOG_DISARMED 0.000000 -LOG_FILE_BUFSIZE 16.000000 -LOG_REPLAY 0.000000 -MAG_ENABLE 1.000000 -MIS_RESTART 0.000000 -MIS_TOTAL 0.000000 -MNT_ANGMAX_PAN 4500.000000 -MNT_ANGMAX_ROL 4500.000000 -MNT_ANGMAX_TIL 4500.000000 -MNT_ANGMIN_PAN -4500.000000 -MNT_ANGMIN_ROL -4500.000000 -MNT_ANGMIN_TIL -4500.000000 -MNT_DEFLT_MODE 3.000000 -MNT_JSTICK_SPD 0.000000 -MNT_LEAD_PTCH 0.000000 -MNT_LEAD_RLL 0.000000 -MNT_NEUTRAL_X 0.000000 -MNT_NEUTRAL_Y 0.000000 -MNT_NEUTRAL_Z 0.000000 -MNT_RC_IN_PAN 0.000000 -MNT_RC_IN_ROLL 0.000000 -MNT_RC_IN_TILT 0.000000 -MNT_RETRACT_X 0.000000 -MNT_RETRACT_Y 0.000000 -MNT_RETRACT_Z 0.000000 -MNT_STAB_PAN 0.000000 -MNT_STAB_ROLL 0.000000 -MNT_STAB_TILT 0.000000 -MNT_TYPE 0.000000 -MOT_BAT_CURR_MAX 0.000000 -MOT_BAT_CURR_TC 5.000000 -MOT_BAT_VOLT_MAX 0.000000 -MOT_BAT_VOLT_MIN 0.000000 -MOT_HOVER_LEARN 2.000000 -MOT_PWM_MAX 0.000000 -MOT_PWM_MIN 0.000000 -MOT_PWM_TYPE 0.000000 -MOT_SPIN_ARM 0.100000 -MOT_SPIN_MAX 0.950000 -MOT_SPIN_MIN 0.150000 -MOT_THST_EXPO 0.500000 -MOT_THST_HOVER 0.360000 -MOT_YAW_HEADROOM 200.000000 -NTF_BUZZ_ENABLE 1.000000 -NTF_LED_BRIGHT 3.000000 -NTF_LED_OVERRIDE 0.000000 -PHLD_BRAKE_ANGLE 3000.000000 -PHLD_BRAKE_RATE 8.000000 -PILOT_ACCEL_Z 250.000000 -PILOT_THR_BHV 0.000000 -PILOT_THR_FILT 0.000000 -PILOT_TKOFF_ALT 0.000000 -PILOT_TKOFF_DZ 100.000000 -PILOT_VELZ_MAX 250.000000 -PLND_ENABLED 1.000000 -PLND_TYPE 2.000000 -POS_XY_P 2.000000 -POS_Z_P 1.000000 -PSC_ACC_XY_FILT 2.000000 -RALLY_INCL_HOME 1.000000 -RALLY_LIMIT_KM 0.300000 -RALLY_TOTAL 0.000000 -RC10_DZ 0.000000 -RC10_FUNCTION 0.000000 -RC10_MAX 1900.000000 -RC10_MIN 1100.000000 -RC10_REV 1.000000 -RC10_TRIM 1500.000000 -RC11_DZ 0.000000 -RC11_FUNCTION 0.000000 -RC11_MAX 1900.000000 -RC11_MIN 1100.000000 -RC11_REV 1.000000 -RC11_TRIM 1500.000000 -RC12_DZ 0.000000 -RC12_FUNCTION 0.000000 -RC12_MAX 1900.000000 -RC12_MIN 1100.000000 -RC12_REV 1.000000 -RC12_TRIM 1500.000000 -RC13_DZ 0.000000 -RC13_FUNCTION 0.000000 -RC13_MAX 1900.000000 -RC13_MIN 1100.000000 -RC13_REV 1.000000 -RC13_TRIM 1500.000000 -RC14_DZ 0.000000 -RC14_FUNCTION 0.000000 -RC14_MAX 1900.000000 -RC14_MIN 1100.000000 -RC14_REV 1.000000 -RC14_TRIM 1500.000000 -RC1_DZ 30.000000 -RC1_MAX 2000.000000 -RC1_MIN 1000.000000 -RC1_REV 1.000000 -RC1_TRIM 1500.000000 -RC2_DZ 30.000000 -RC2_MAX 2000.000000 -RC2_MIN 1000.000000 -RC2_REV 1.000000 -RC2_TRIM 1500.000000 -RC3_DZ 30.000000 -RC3_MAX 2000.000000 -RC3_MIN 1000.000000 -RC3_REV 1.000000 -RC3_TRIM 1500.000000 -RC4_DZ 40.000000 -RC4_MAX 2000.000000 -RC4_MIN 1000.000000 -RC4_REV 1.000000 -RC4_TRIM 1500.000000 -RC5_DZ 0.000000 -RC5_FUNCTION 0.000000 -RC5_MAX 2000.000000 -RC5_MIN 1000.000000 -RC5_REV 1.000000 -RC5_TRIM 1500.000000 -RC6_DZ 0.000000 -RC6_FUNCTION 0.000000 -RC6_MAX 2000.000000 -RC6_MIN 1000.000000 -RC6_REV 1.000000 -RC6_TRIM 1500.000000 -RC7_DZ 0.000000 -RC7_FUNCTION 0.000000 -RC7_MAX 2000.000000 -RC7_MIN 1000.000000 -RC7_REV 1.000000 -RC7_TRIM 1500.000000 -RC8_DZ 0.000000 -RC8_FUNCTION 0.000000 -RC8_MAX 2000.000000 -RC8_MIN 1000.000000 -RC8_REV 1.000000 -RC8_TRIM 1500.000000 -RC9_DZ 0.000000 -RC9_FUNCTION 0.000000 -RC9_MAX 1900.000000 -RC9_MIN 1100.000000 -RC9_REV 1.000000 -RC9_TRIM 1500.000000 -RCMAP_PITCH 2.000000 -RCMAP_ROLL 1.000000 -RCMAP_THROTTLE 3.000000 -RCMAP_YAW 4.000000 -RC_FEEL_RP 50.000000 -RC_SPEED 490.000000 -RELAY_DEFAULT 0.000000 -RELAY_PIN 13.000000 -RELAY_PIN2 -1.000000 -RELAY_PIN3 -1.000000 -RELAY_PIN4 -1.000000 -RNGFND2_ADDR 0.000000 -RNGFND2_FUNCTION 0.000000 -RNGFND2_GNDCLEAR 10.000000 -RNGFND2_MAX_CM 700.000000 -RNGFND2_MIN_CM 20.000000 -RNGFND2_OFFSET 0.000000 -RNGFND2_PIN -1.000000 -RNGFND2_RMETRIC 1.000000 -RNGFND2_SCALING 3.000000 -RNGFND2_SETTLE 0.000000 -RNGFND2_STOP_PIN -1.000000 -RNGFND2_TYPE 0.000000 -RNGFND_ADDR 0.000000 -RNGFND_FUNCTION 0.000000 -RNGFND_GAIN 0.800000 -RNGFND_GNDCLEAR 10.000000 -RNGFND_MAX_CM 700.000000 -RNGFND_MIN_CM 20.000000 -RNGFND_OFFSET 0.000000 -RNGFND_PIN -1.000000 -RNGFND_PWRRNG 0.000000 -RNGFND_RMETRIC 1.000000 -RNGFND_SCALING 3.000000 -RNGFND_SETTLE 0.000000 -RNGFND_STOP_PIN -1.000000 -RNGFND_TYPE 0.000000 -RPM2_SCALING 1.000000 -RPM2_TYPE 0.000000 -RPM_MAX 100000.000000 -RPM_MIN 10.000000 -RPM_MIN_QUAL 0.500000 -RPM_SCALING 1.000000 -RPM_TYPE 0.000000 -RSSI_ANA_PIN 0.000000 -RSSI_CHANNEL 0.000000 -RSSI_CHAN_HIGH 2000.000000 -RSSI_CHAN_LOW 1000.000000 -RSSI_PIN_HIGH 5.000000 -RSSI_PIN_LOW 0.000000 -RSSI_TYPE 0.000000 -RTL_ALT 1500.000000 -RTL_ALT_FINAL 0.000000 -RTL_CLIMB_MIN 0.000000 -RTL_CONE_SLOPE 3.000000 -RTL_LOIT_TIME 5000.000000 -RTL_SPEED 0.000000 -SCHED_DEBUG 0.000000 -SCHED_LOOP_RATE 400.000000 -SERIAL0_BAUD 115.000000 -SERIAL0_PROTOCOL 1.000000 -SERIAL1_BAUD 57.000000 -SERIAL1_PROTOCOL 1.000000 -SERIAL2_BAUD 57.000000 -SERIAL2_PROTOCOL 1.000000 -SERIAL3_BAUD 38.000000 -SERIAL3_PROTOCOL 5.000000 -SERIAL4_BAUD 38.000000 -SERIAL4_PROTOCOL 5.000000 -SERIAL5_BAUD 57.000000 -SERIAL5_PROTOCOL -1.000000 -SIMPLE 0.000000 -SIM_ACC2_RND 0.000000 -SIM_ACCEL_FAIL 0.000000 -SIM_ACC_BIAS_X 0.000000 -SIM_ACC_BIAS_Y 0.000000 -SIM_ACC_BIAS_Z 0.000000 -SIM_ACC_RND 0.000000 -SIM_ADSB_ALT 1000.000000 -SIM_ADSB_COUNT -1.000000 -SIM_ADSB_RADIUS 10000.000000 -SIM_ADSB_TX 0.000000 -SIM_ARSPD_FAIL 0.000000 -SIM_ARSPD_RND 0.500000 -SIM_BARO_DELAY 0.000000 -SIM_BARO_DISABLE 0.000000 -SIM_BARO_DRIFT 0.000000 -SIM_BARO_GLITCH 0.000000 -SIM_BARO_RND 0.000000 -SIM_BATT_VOLTAGE 12.600000 -SIM_DRIFT_SPEED 0.050000 -SIM_DRIFT_TIME 5.000000 -SIM_ENGINE_MUL 1.000000 -SIM_FLOAT_EXCEPT 1.000000 -SIM_FLOW_DELAY 0.000000 -SIM_FLOW_ENABLE 0.000000 -SIM_FLOW_RATE 10.000000 -SIM_GPS2_ENABLE 0.000000 -SIM_GPS_BYTELOSS 0.000000 -SIM_GPS_DELAY 1.000000 -SIM_GPS_DISABLE 0.000000 -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_HZ 5.000000 -SIM_GPS_NUMSATS 10.000000 -SIM_GPS_TYPE 1.000000 -SIM_GYR_RND 0.000000 -SIM_GYR_SCALE_X 0.000000 -SIM_GYR_SCALE_Y 0.000000 -SIM_GYR_SCALE_Z 0.000000 -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 0.000000 -SIM_MAG_ERROR 0.000000 -SIM_MAG_MOT_X 0.000000 -SIM_MAG_MOT_Y 0.000000 -SIM_MAG_MOT_Z 0.000000 -SIM_MAG_OFS_X 5.000000 -SIM_MAG_OFS_Y 13.000000 -SIM_MAG_OFS_Z -18.000000 -SIM_MAG_RND 0.000000 -SIM_PIN_MASK 0.000000 -SIM_RC_FAIL 0.000000 -SIM_SERVO_RATE 0.000000 -SIM_SONAR_GLITCH 0.000000 -SIM_SONAR_RND 0.000000 -SIM_SONAR_SCALE 12.121200 -SIM_TERRAIN 1.000000 -SIM_WIND_DELAY 0.000000 -SIM_WIND_DIR 180.000000 -SIM_WIND_SPD 0.000000 -SIM_WIND_TURB 0.000000 -SR0_ADSB 5.000000 -SR0_EXTRA1 4.000000 -SR0_EXTRA2 4.000000 -SR0_EXTRA3 4.000000 -SR0_EXT_STAT 4.000000 -SR0_PARAMS 10.000000 -SR0_POSITION 4.000000 -SR0_RAW_CTRL 4.000000 -SR0_RAW_SENS 4.000000 -SR0_RC_CHAN 4.000000 -SR1_ADSB 5.000000 -SR1_EXTRA1 0.000000 -SR1_EXTRA2 0.000000 -SR1_EXTRA3 0.000000 -SR1_EXT_STAT 0.000000 -SR1_PARAMS 0.000000 -SR1_POSITION 0.000000 -SR1_RAW_CTRL 0.000000 -SR1_RAW_SENS 0.000000 -SR1_RC_CHAN 0.000000 -SR2_ADSB 5.000000 -SR2_EXTRA1 0.000000 -SR2_EXTRA2 0.000000 -SR2_EXTRA3 0.000000 -SR2_EXT_STAT 0.000000 -SR2_PARAMS 0.000000 -SR2_POSITION 0.000000 -SR2_RAW_CTRL 0.000000 -SR2_RAW_SENS 0.000000 -SR2_RC_CHAN 0.000000 -SR3_ADSB 5.000000 -SR3_EXTRA1 0.000000 -SR3_EXTRA2 0.000000 -SR3_EXTRA3 0.000000 -SR3_EXT_STAT 0.000000 -SR3_PARAMS 0.000000 -SR3_POSITION 0.000000 -SR3_RAW_CTRL 0.000000 -SR3_RAW_SENS 0.000000 -SR3_RC_CHAN 0.000000 -SUPER_SIMPLE 0.000000 -SYSID_MYGCS 255.000000 -SYSID_SW_MREV 120.000000 -SYSID_SW_TYPE 10.000000 -SYSID_THISMAV 1.000000 -TELEM_DELAY 0.000000 -TERRAIN_ENABLE 1.000000 -TERRAIN_FOLLOW 0.000000 -TERRAIN_SPACING 100.000000 -THROW_MOT_START 0.000000 -THROW_NEXTMODE 18.000000 -THROW_TYPE 0.000000 -THR_DZ 100.000000 -TUNE 0.000000 -TUNE_HIGH 1000.000000 -TUNE_LOW 0.000000 -VEL_XY_FILT_HZ 5.000000 -VEL_XY_I 0.500000 -VEL_XY_IMAX 1000.000000 -VEL_XY_P 0.600000 -VEL_Z_P 5.000000 -WPNAV_ACCEL 100.000000 -WPNAV_ACCEL_Z 100.000000 -WPNAV_LOIT_JERK 1000.000000 -WPNAV_LOIT_MAXA 250.000000 -WPNAV_LOIT_MINA 25.000000 -WPNAV_LOIT_SPEED 500.000000 -WPNAV_RADIUS 200.000000 -WPNAV_RFND_USE 1.000000 -WPNAV_SPEED 500.000000 -WPNAV_SPEED_DN 150.000000 -WPNAV_SPEED_UP 250.000000 -WP_NAVALT_MIN 0.000000 -WP_YAW_BEHAVIOR 2.000000 +PLND_ENABLED 1 +PLND_TYPE 2 +POS_XY_P 2 +VEL_XY_P 0.6 +COMPASS_OFS_X 5 +COMPASS_OFS_Y 13 +COMPASS_OFS_Z -18 +COMPASS_OFS2_X 5 +COMPASS_OFS2_Y 13 +COMPASS_OFS2_Z -18