/etc # cat parameters.conf
#/////////////////////////////////////////////////////////////
#
#        PARAMETERS FOR EVINRUDE CONFIG_MANAGER
#
#/////////////////////////////////////////////////////////////

M_PI_4                                          = 0.7853981633974483

#/////////////////////////////////////////////////////////////
# GLOBAL
GLOBAL_FMS_FREQ                                 = 200.0
GLOBAL_LED_SLOW_BLINKING_PERIOD                 = 0.5
GLOBAL_LED_FAST_BLINKING_PERIOD                 = 0.2
GLOBAL_LED_FAST_BLINKING_TIME                   = 3.0
GLOBAL_FIFO_SIZE                                = 5
GLOBAL_MIN_GROUNDSPEED                          = 5.0
# Airspeed under which the aircraft is not considered in flight.
GLOBAL_MIN_INFLIGHT_AIRSPEED                    = 2.0
GLOBAL_MAX_INFLIGHT_AIRSPEED                    = 20.0
GLOBAL_CPU_LOAD_UPDATE_PERIOD_USEC              = 2000000

RADIO_MODE_AUTO                                 = 0
RADIO_MODE_EASY_MANUAL                          = 1
RADIO_MODE_MANUAL                               = 2

RC_MODE                                         = RADIO_MODE_AUTO

#/////////////////////////////////////////////////////////////
# BATTERY
BATTERY_FILTER_CO_HZ                            = 1.0
VBAT_MIN                                        = 9.7
VBAT_LOW                                        = 9.8
VBAT_SHUTDOWN                                   = 9.0
BATTERY_PERCENTAGE_TABLE_LENGTH                 = 15
BATTERY_PERCENTAGE_TABLE_VOLTAGE                = 9.5, 11.04, 11.11, 11.21, 11.3, 11.4, 11.6, 11.9, 12.02, 12.11, 12.19, 12.26, 12.35, 12.45, 12.5
BATTERY_PERCENTAGE_TABLE_PERCENTAGE             = 0, 5, 10, 15, 25, 45, 55, 79, 84, 88, 91, 94, 96, 98, 100

#/////////////////////////////////////////////////////////////
# Acceleration
IMU_FILTER_ACC_CO_HZ                            = 30.0
IMU_LOW_ACC_THRESHOLD_MIN                       = 9.5
IMU_LOW_ACC_THRESHOLD_MAX                       = 10.1
# The actual value of accHorizontalityTest will be
# ACC_HORIZONTALITY_TEST * DEG_TO_RAD * GRAVITY
ACC_HORIZONTALITY_TEST                          = 30.0

#/////////////////////////////////////////////////////////////
# IMU
IMU_FILTER_GYRO_CO_HZ                           = 30.0
IMU_FILTER_VAR_ERROR_CO_HZ                      = 1.6
IMU_ENABLE_BIAIS_FOR_GYRO                       = true
IMU_ENABLE_AIRSPEED_CENT_FORCE_COMP             = true
IMU_ENABLE_COMPUTED_MEASUREMENT_ERROR           = true
IMU_CONSECUTIVE_STABLE_DETECTION_THRESHOLD      = 100        # 0.5 * GLOBAL_FMS_FREQ
IMU_GYRO_STABLE_THRESHOLD                       = 0.03

#/////////////////////////////////////////////////////////////
# PITOT
PITOT_FILTER_AIR_ACCELERATION_CO_HZ             = 0.8
PITOT_FILTER_OFFSET_CO_HZ                       = 0.3165
PITOT_CALIBRATION_GAIN                          = 0.9306
PITOT_CALIBRATION_OFFSET                        = 22.9274
PITOT_FILTER_DYN_PRESSURE_CO_HZ                 = 10.0

#/////////////////////////////////////////////////////////////
# PRESSURE
BARO_FILTER_CO_HZ                               = 0.6
BARO_GLITCH_LIMITER                             = 100.0

#/////////////////////////////////////////////////////////////
# ULTRA-SOUND
US_TRANSIT_LOW_TO_HIGH                          = 1.5
US_TRANSIT_HIGH_TO_LOW                          = 0.75
US_TRANSIT_COUNT                                = 50

ULTRASOUND_CMD_NO_CMD                           = 0
ULTRASOUND_CMD_SET_MODE                         = 1
ULTRASOUND_CMD_SET_NB_PULSES                    = 2
ULTRASOUND_CMD_SET_VOLTAGE_MODE                 = 4
ULTRASOUND_CMD_SET_NB_PULSES_AND_TENSION_MODE   = 6
ULTRASOUND_CMD_SET_FREQUENCY                    = 8
ULTRASOUND_CMD_START                            = 16
ULTRASOUND_CMD_STOP                             = 32

US_CMD                                          = ULTRASOUND_CMD_SET_MODE

#/////////////////////////////////////////////////////////////
# ALTIMETER
ALTI_FILTER_CO_HZ                               = 0.15

#/////////////////////////////////////////////////////////////
# HEADING MAGNETOMETER
HEADING_FILTER_CO_HZ                            = 5.5
HEADING_MAG_DECLINAISON_DEG                     = -2.0
HEADING_MAG_INCLINAISON_DEG                     = 64.0
NOISE_MAGNETO_MEASUREMENT                                               = 20.0      # mG
NOISE_PROCESS_MAG                                                               = 0.1       # mG
NOISE_PROCESS_MAG_BIAS                                                  = 0.00001   # mG
MAGNETO_ESTIMATOR_INIT_COV                                              = 100.0     # mG
THRESHOLD_MAG_BIAS_COV                                                  = 0.6       # mG
THRESHOLD_MAG_MEASUREMENT_COV                                   = 0.1       # mG

#/////////////////////////////////////////////////////////////
# GPS
THRESHOLD_POSITION_DEVIATION_ERROR_TO_FIX_GPS   = 10
THRESHOLD_SPEED_DEVIATION_ERROR_TO_FIX_GPS              = 10
COURSE_GPS_FILTER_CO_HZ                         = 5.0

#/////////////////////////////////////////////////////////////
# WORKING-AREA
# The distance beyond the security distance at which the plane starts to land.
WORKING_AREA_RADIUS_MARGIN              = 100.0
WORKING_AREA_CEILING                    = 150.0
WORKING_AREA_CEILING_MARGIN             = 10.0

#/////////////////////////////////////////////////////////////
# PREFLIGHT
PREFLIGHT_BATTERY_LOW_LEVEL             = 10
PREFLIGHT_MAX_ALLOWABLE_ATTITUDE_ANGLE  = 10.0
PREFLIGHT_MAX_ACC_X                     = 2.5
PREFLIGHT_MAX_ACC_Y                     = 2.5
PREFLIGHT_MIN_ACC_Z                     = 9.0
PREFLIGHT_MAX_ACC_Z                     = 10.6
PREFLIGHT_MAX_ALLOWABLE_AIRSPEED        = 2.0
PREFLIGHT_MAX_ALLOWABLE_HEIGHT          = 10.0
PREFLIGHT_MAX_ALLOWABLE_ALTITUDE_SIGMA  = 4.0
PREFLIGHT_SERVO_TEST_TIME               = 0.8
PREFLIGHT_CONVENIENT_GPS_SAT_NB         = 7

#/////////////////////////////////////////////////////////////
# SHAKE
SHAKE_ACC_THRESHOLD                     = 70.0
SHAKE_INIT_LAST_MOTION_TIME_SEC         = -5.0
SHAKE_RESET_TIME_SEC_THRESHOLD          = 0.5
SHAKE_LAST_SHAKE_TIME_SEC_THRESHOLD     = 1.0
SHAKE_LAST_MOTION_TIME_SEC_THRESHOLD    = 0.1
SHAKE_NB_MOTION_THRESHOLD               = 6
SHAKE_ACC_FILTER_CO_HZ                  = 1.6

#/////////////////////////////////////////////////////////////
# FLYING-LANDED
FL_VERTICAL_SPEED_BARO_THRESHOLD        = 2.0
FL_HEIGHT_BARO_THRESHOLD                = 10.0
FL_SPEED3D_THRESHOLD                    = 2.0
FL_CMD_THRUST_THRESHOLD                 = 0.8
FL_TIME_SINCE_LANDED_THRESHOLD          = 0.5

#/////////////////////////////////////////////////////////////
# TAKE-OFF
TAKEOFF_USER_PITCH_MIN                  = 15.0
TAKEOFF_USER_PITCH_MAX                  = 25.0
TAKEOFF_USER_ROLL_MIN                   = -10.0
TAKEOFF_USER_ROLL_MAX                   = 10.0
TAKEOFF_TRANSITION_ALTITUDE             = 50.0
TAKEOFF_TRACKING_HEADING                = false
TAKEOFF_HEADING                         = 190.0
TAKEOFF_HEADING_WAYPOINT_DISTANCE       = 100.0
TAKEOFF_ALLOWED                         = false
TAKEOFF_ALLOWED_TIME_SEC_THRESHOLD      = 300.0
TAKEOFF_REACH_MIN_SPD_GOAL_PITCH_OFFSET = 10.0
TAKEOFF_REACH_MIN_SPD_GOAL_PITCH_RANGE  = 20.0
TAKEOFF_REACH_MIN_SPD_AIRSPEED_RANGE    = 7.0
TAKEOFF_BEST_ANGLE_GOAL_PITCH           = 30.0
TAKEOFF_BEST_ANGLE_TRANSIT_ALT_MARGIN   = 5.0
TAKEOFF_TRANSIT_ALT_MARGIN              = 5.0
TAKEOFF_TRANSIT_DELTA_ALT               = 5.0
TAKEOFF_TRANSIT_AIRSPEED_THRESHOLD      = 12.0
TAKEOFF_ABORT_GOAL_PITCH_GLIDE          = 10.0
TAKEOFF_ABORT_GOAL_PITCH_CLIMB          = 30.0
TAKEOFF_BEST_ANGLE_GOAL_PITCH_REDUCED   = 20.0
TAKEOFF_BEST_ANGLE_GOAL_PITCH_COUNTER   = 1000
TAKEOFF_START_ALTITUDE                  = 3.0

#/////////////////////////////////////////////////////////////
# START WAYPOINT
START_MISSION_AFTER_TAKEOFF             = true
START_CLIMB_THRUST_CMD                  = 0.5
START_TRANSIT_WAYPOINT_RADIUS           = 30.0
# The altitude to which the aircraft climbs quickly after take-off.
START_THRESHOLD_ALTITUDE                = 50.0

#/////////////////////////////////////////////////////////////
# NORMAL_FLIGHT
NORMAL_LANDING_SPEED                    = 9.5
NORMAL_MIN_GROUNDSPEED                  = 5.0
NORMAL_MAX_AIRSPEED                     = 20.0
NORMAL_LOW_AIRSPEED_GOAL_PITCH_ANGLE    = 10.0

#/////////////////////////////////////////////////////////////
# NAV
NAV_DEFAULT_K_COURSE                                        = 0.5
# Maximum turnrate allowed to be used by navigation controller
NAV_DEFAULT_MAX_TURNRATE                                    = 35.0

# Distance from the home waypoint's circle beyond which the plane is considered far.
NAV_CIRCLE_FAR_DISTANCE                                     = 30.0
NAV_LINE_FOLLOW_TAU                                         = 15.0

# Approach angle to the line, if it is still further away than NAV_LINE_FOLLOW_TAU.
NAV_WPT_CIRCLE_REACHED_MARGIN                               = 10.0

#  The max. course difference between aircraft's course and the course nedded to go to
#  the next CIRCLE or LINE waypoint, starting from a CIRCLE waypoint. In [deg].
NAV_WPT_MAXIMUM_COURSE_ERROR_MARGIN_FOR_CIRCLE_TRANSITION   = 10.0
# The default precision to have for the airspeed at a waypoint in [m/s]
NAV_WPT_DEFAULT_AIRSPEED_ERROR_MARGIN                       = 5.0
# The default precision to have for the altitude at a waypoint in [m]
NAV_WPT_DEFAULT_ALTITUDE_ERROR_MARGIN                       = 5.0
# The default precision to have for the course at a waypoint in [deg]
NAV_WPT_DEFAULT_COURSE_ERROR_MARGIN                         = 15.0
# The default precision to be on the line of a line waypoint.
NAV_WPT_DEFAULT_LINE_MARGIN                                 = 5.0
# The precision to have when on a CIRCLE waypoint, distance from ideal radius [m]
NAV_WPT_CIRCLE_REACHED_MARGIN                               = 10.0
# The angle to anticipate the waypoint transition between circles.
NAV_WPT_CIRCLE_WAYPOINT_TRANSITION_ANTICIPATION_ANGLE       = 15.0
# Distance from the home waypoint's circle beyond which the plane is considered far.
NAV_WPT_CIRCLE_FAR_DISTANCE                                 = 30.0
# The pid parameters
NAV_WPT_LINE_PID_KP                                         = -0.0076
NAV_WPT_LINE_PID_KI                                         = -0.0035
NAV_WPT_LINE_PID_KD                                         = 0.0
NAV_WPT_LINE_ENTRY_ANGLE                                    = M_PI_4
NAV_WPT_LINE_LPF_CO_HZ                                      = 39.0
NAV_WPT_LINE_LPF_AWR                                        = 17.0

# Default radius for normal waypoints.
NAV_DEFAULT_RADIUS                                          = 30.0
NAV_DEFAULT_AIRSPEED                                        = 12.0
# Default height above ground for normal waypoints.
NAV_DEFAULT_ALTITUDE                                        = 50.0
NAV_DEFAULT_TURN_DIRECTION_CLOCKWISE                        = false

NAV_DEFAULT_DESIRED_HEIGHT                                  = 50.0
NAV_COURSE_DIFF_COEFF_PI                                    = 0.75
NAV_DIST_TO_WPT_THRESHOLD                                   = 50.0

MISSION_END_BEHAVIOR_GO_HOME                                = 0
MISSION_END_BEHAVIOR_LOOP                                   = 1
MISSION_END_BEHAVIOR_GO_START                               = 2
MISSION_END_BEHAVIOR_GO_LANDING                             = 3

MISSION_END_BEHAVIOR                                        = MISSION_END_BEHAVIOR_GO_LANDING

#/////////////////////////////////////////////////////////////
# HOME
# Default airspeed for the home waypoint.
HOME_WAYPOINT_AIRSPEED                          = NAV_DEFAULT_AIRSPEED
# Default height above ground for the home waypoint.
HOME_WAYPOINT_ALTITUDE                          = NAV_DEFAULT_ALTITUDE
# Default radius for normal waypoints.
HOME_WAYPOINT_RADIUS                            = NAV_DEFAULT_RADIUS

#/////////////////////////////////////////////////////////////
# LANDING
# Default airspeed for the landing waypoint.
LANDING_WAYPOINT_AIRSPEED                       = NAV_DEFAULT_AIRSPEED
# Default height above ground for the landing waypoint.
LANDING_WAYPOINT_ALTITUDE                       = NAV_DEFAULT_ALTITUDE
# Default radius for normal waypoints.
LANDING_WAYPOINT_RADIUS                         = NAV_DEFAULT_RADIUS

LANDING_TYPE_CIRCLE                             = 0
LANDING_TYPE_LINEAR                             = 1

LANDING_TYPE                                    = LANDING_TYPE_CIRCLE

#/////////////////////////////////////////////////////////////
# CIRCLE_LANDING
# The default radius for the landing.
CLDG_DEFAULT_LANDING_RADIUS                     = 30.0
# The default altitude for the landing.
CLDG_DEFAULT_LANDING_HEIGHT                     = 50.0
# The default speed for the landing.
CLDG_DEFAULT_LANDING_SPEED                      = 10.0
# The default approach height
CLDG_DEFAULT_APPROACH_HEIGHT                    = 25.0
# The minimal approach height
CLDG_MINIMAL_APPROACH_HEIGHT                    = 15.0
# The angle per step.
CLDG_DEFAULT_LANDING_SLOPE                      = 10.0
CLDG_GO_AROUND_HEIGHT                           = 30.0
CLDG_REMAINING_AIR_DISTANCE_MEAN_SPEED          = 12.0
CLDG_STEP_SWEEP_ANGLE                           = 1.0
CLDG_ABORT_CLIMB_PITCH_ANGLE                    = 30.0
CLDG_DELTA_HEIGHT_FROM_WPT_TO_STABILIZE         = 20.0
CLDG_APPROACH_HEIGHT_MARGIN                     = 10.0
CLDG_FINAL_LANDING_MINIMAL_HEIGHT               = 10.0
CLDG_WAYPOINT_LANDING_MIN_ANGULAR_SWEEP         = 540.0

#/////////////////////////////////////////////////////////////
# LINEAR_LANDING
# The default radius for the landing.
LLDG_TERRAIN_HEIGHT_FILTER_CO_HZ                = 1.6
LLDG_DESCENT_PID_CO_HZ                          = 0.318
# The approach height for the landing.
LLDG_APPROACH_HEIGHT                            = 50.0
LLDG_INIT_APPROACH_SPAN                         = 20.0
LLDG_APPROACH_SLOPE_ANGLE                       = 20.0
LLDG_MIN_REQUIRED_DISTANCE                      = 20.0
LLDG_ABORT_CLIMB_PICH_ANGLE                     = 30.0
LLDG_DIST_TO_LANDING_SPOT_THRESHOLD             = 150.0
LLDG_DIST_TO_TOUCHDOWN_THRESHOLD                = -150.0
LLDG_REL_TO_PLANE_WIND_HEADING_THRESHOLD        = 70.0
LLDG_WIND_SPEED_THRESHOLD                       = 1.5
LLDG_INIT_LANDING_ALTITUDE                      = 2.0
LLDG_DEFAULT_GOAL_AIRSPEED                      = 10.5

#/////////////////////////////////////////////////////////////
# FAST_LANDING
FLDG_DESCENT_MIN_GROUNDSPEED                    = 5.0
FLDG_DESCENT_MAX_GROUNDSPEED                    = 10.0
FLDG_DESCENT_MIN_GOAL_PITCH                     = -20.0
FLDG_DESCENT_MAX_GOAL_PITCH                     = -10.0
FLDG_ALT_2_PITCH_COEFF1                         = -10.0
FLDG_ALT_2_PITCH_COEFF2                         = 25.0
FLDG_DESCENT_GOAL_AIRSPEED                      = 11.0
FLDG_BREAK_HEIGHT_INIT                          = 5.0
FLDG_BREAK_COEFF                                = 5.0
FLDG_BREAK_GOAL_PITCH_INIT                      = -10.0
FLDG_BREAK_AIRSPEED_THRESHOLD                   = 8.0
FLDG_TOUCHDOWN_GOAL_ELEVATOR                    = 0.9
FLDG_MAX_DESCENT_PITCH                          = 10.0
FLDG_MIN_DESCENT_PITCH                          = -5.0
FLDG_HEIGHT_THRESHOLD                           = 4.0
FLDG_BREAK_THRUST                               = -0.3
FLDG_FINAL_PITCH                                = 10.0

# The possible reference point for the altitude.
PARAM_ALTITUDE_ABOVE_TAKE_OFF                   = 0    # Altitude above take-off point.
PARAM_ALTITUDE_WGS84                            = 1    # Altitude above WGS-84 elipsoid.
PARAM_ALTITUDE_AMSL                             = 2    # Altitude above mean sea level.
PARAM_ALTITUDE_AGL                              = 3    # Altitude above ground level.

LLDG_INIT_LANDING_ALTITUDE_REF                  = PARAM_ALTITUDE_ABOVE_TAKE_OFF
LLDG_INIT_APPROACH_RADIUS                       = 30.0
LLDG_INIT_INSERTION_RADIUS                      = 30.0
LLDG_INIT_ABORT_RADIUS                          = 20.0
LLDG_INIT_APPROACH_SLOPE_ANGLE                  = 20.0
LLDG_INIT_GO_AROUND_HEIGHT                      = 40.0
LLDG_INIT_BASE_WPT_MIN_ANGULAR_SWEEP            = 90.0
LLDG_INIT_OVERHEAD_WPT_MIN_ANGULAR_SWEEP        = 90.0

#/////////////////////////////////////////////////////////////
# LANDING_SLOPE
# The expected slope during touch-down.
LDGS_TOUCHDOWN_SLOPE                            = 30.0
# The height to aim when optic-flow is not available.
LDGS_FLARE_HEIGHT_NO_OPTIC_FLOW                 = 3.0
# The height to aim when optic-flow is available.
LDGS_FLARE_HEIGHT_OPTIC_FLOW                    = 3.0
# The minimum number of measurements to consider the terrain recording as valid.
LDGS_MIN_TERRAIN_MEASUREMENTS                   = 10
# The semi height of the approach path
LDGS_APPROACH_PATH_HEIGHT                       = 10.0
LDGS_DELTA_MIN_MAX_FLOW_HEIGHT                  = 2.0
LDGS_INIT_LANDING_HEIGHT                        = 0.0
LDGS_INIT_LANDING_DIRECTION                     = 0.0
LDGS_INIT_APPROACH_HEIGHT                       = 50.0
LDGS_INIT_APPROACH_SPEED                        = 12.0
LDGS_INIT_ENGAGE_DISTANCE                       = 20.0
LDGS_INIT_DESCENT_SPEED                         = 12.0
LDGS_INIT_DESCENT_ANGLE_OF_ATTACK               = 10.0
LDGS_INIT_LIMITED_PITCH_HEIGHT                  = 10.0
LDGS_INIT_LIMITED_PITCH_MIN                     = 0.0
LDGS_INIT_EN_REV_DESCENT_SLOPE_ANGLE            = 20.0
LDGS_INIT_EN_REV_FLARE_DISTANCE                 = 20.0
LDGS_INIT_DESCENT_SLOPE_ANGLE                   = 12.0
LDGS_INIT_FLARE_DISTANCE                        = 20.0
LDGS_INIT_FLARE_SPEED                           = 11.0
LDGS_INIT_FLARE_ANGLE_OF_ATTACK                 = 12.0
LDGS_INIT_BREAK_DISTANCE                        = 15.0
LDGS_INIT_BREAK_THRUST                          = -0.4
LDGS_INIT_BREAK_SPEED                           = 8.5
LDGS_INIT_BREAK_PITCH                           = 15.0
LDGS_INIT_TOUCH_DOWN_ELEVATOR                   = 0.60
LDGS_INIT_DESCENT_PID_KP                        = 2.5
LDGS_INIT_DESCENT_PID_KI                        = 0.4
LDGS_INIT_DESCENT_PID_KD                        = 2.5
LDGS_INIT_DESCENT_PID_AWR                       = 30.0
LDGS_INIT_DESCENT_PID_SAT_MIN                   = -40.0
LDGS_INIT_DESCENT_PID_SAT_MAX                   = 30.0
LDGS_INIT_OPTIMIZED_AIR_SLOPE_ANGLE             = 10.0
LDGS_DESCENT_SPEED_INCREMENT                    = 0.5
LDGS_DESCENT_SLOPE_ANGLE_LOWER_BND              = 5.0
LDGS_DESCENT_SLOPE_ANGLE_UPPER_BND              = 45.0
LDGS_NORMAL_TOUCH_WIND_COMP_LOWER_BND           = -10.0
LDGS_NORMAL_TOUCH_WIND_COMP_UPPER_BND           = 30.0
LDGS_NORMAL_TOUCH_NO_MOT_COMP_LOWER_BND         = -20.0
LDGS_NORMAL_TOUCH_NO_MOT_COMP_UPPER_BND         = 50.0
LDGS_NORMAL_SLOPE_DIST_TOTAL_LOWER_BND          = 20.0
LDGS_BLIND_TOUCH_WIND_COMP_LOWER_BND            = -10.0
LDGS_BLIND_TOUCH_WIND_COMP_UPPER_BND            = 30.0
LDGS_BLIND_TOUCH_NO_MOT_COMP_LOWER_BND          = -20.0
LDGS_BLIND_TOUCH_NO_MOT_COMP_UPPER_BND          = 50.0
LDGS_TOUCHDOWN_HEIGHT_AGL_THRESHOLD             = 0.5
LDGS_BLIND_LANDING_HEIGHT_BARO_THRESHOLD        = 40.0

#/////////////////////////////////////////////////////////////
# EMERGENCY_FLARE
EF_HEIGHT                                       = 5.0
EF_TIME                                         = 0.6
EF_HEIGHT_AGL_LIMIT_FOR_PITCH                   = 5.0
EF_HEIGHT_AGL_LIMIT_FOR_THRUST                  = 2.0
EF_GOAL_AIRSPEED_WHEN_FAR_FROM_GROUND           = 8.0
EF_TIME_TO_IMPACT                               = 20.0

#/////////////////////////////////////////////////////////////
# GROUND_AVOIDANCE
# The number of loops before triggering a warning.
GA_WARNING_NB_THRESHOLD                         = 20     # This value make an hysteresis to avoid switching too often
# The maximum number of rotations.
GA_MAX_NUMBER_OF_ROTATIONS                      = 5.0
# The radius of the hold waypoint.
GA_WAYPOINT_RADIUS                              = 30.0
GA_MIN_TIME_FROM_TAKEOFF                        = 10.0
GA_DELTA_HEIGHT_TO_GO_AROUND_HEIGHT             = 20.0
GA_DELTA_HEIGHT_TO_WAYPOINT                     = 30.0
GA_CLIMB_PITCH_ANGLE                            = 30.0

#/////////////////////////////////////////////////////////////
# FAST_CLIMB
FASTC_MAX_NUMBER_OF_ROTATIONS                   = 5.0
FASTC_WAYPOINT_RADIUS                           = 30.0
FASTC_DELTA_HEIGHT_TO_GO_AROUND_HEIGHT          = 20.0
FASTC_DELTA_HEIGHT_TO_WAYPOINT                  = 30.0
FASTC_CLIMB_PITCH_ANGLE                         = 30.0

#/////////////////////////////////////////////////////////////
# FAST_DESCENT
FASTD_EXIT_HEIGHT_STEP                          = 30.0
FASTD_EXIT_HEIGHT_MIN                           = 30.0

#/////////////////////////////////////////////////////////////
# HOLD
HOLD_WAYPOINT_RADIUS                            = 30.0
WPT_CIRCLE_CLOCKWISE                            = 0
WPT_CIRCLE_COUNTER_CLOCKWISE                    = 1

HOLD_WAYPOINT_TURN_DIRECTION                    = WPT_CIRCLE_CLOCKWISE
USE_CONFIG_HOLD_WAYPOINT_TURN_DIRECTION         = true

#/////////////////////////////////////////////////////////////
# SAFETY
SAFETY_GROUND_PROXIMITY_CHECK_ENABLED           = true
# Battery voltage below which a warning is emitted.
SAFETY_LOW_BATTERY_VOLTAGE                      = 9.8
# Battery voltage below which a critical failure is reported.
SAFETY_CRITICAL_BATTERY_VOLTAGE                 = 9.6
# Battery voltage above which a EMPTY BAT failure is cancelled
SAFETY_UNCRITICAL_BATTERY_VOLTAGE               = 10.3
# Battery voltage below which a warning is emitted.
SAFETY_LOW_BATTERY_PERCENT                      = 10
#Battery voltage below which a critical alert is emitted.
SAFETY_CRITICAL_BATTERY_PERCENT                 = 0
# The minimum distance that the path should have from the ceiling.
SAFETY_MARGIN_TO_CEILING                        = 10.0
# Fc for strong wind LPF
SAFETY_STRONG_WIND_FILTER_CO_HZ                 = 0.8
# Max allowed wind speed
SAFETY_MAX_WIND_SPEED                           = 18.0
SAFETY_STRONG_WIND_GROUNDSPEED_UPPER_BOUND      = 2.0
SAFETY_STRONG_WIND_AIRSPEED_LOWER_BOUND         = 5.0
SAFETY_STRONG_WIND_LPF_OUTPUT_THRESHOLD         = 0.8
SAFETY_LOSS_OF_FIX_TIME_THRESHOLD               = 3.0
SAFETY_EMERGENCY_TIME_MAX                       = 1.0
SAFETY_SECURITY_ISSUE_TIME_MAX                  = 1.0

#/////////////////////////////////////////////////////////////
# CRITICAL-ACTION
CA_GPS_GOAL_AIRSPEED                            = 10.0
CA_GPS_GOAL_TURNRATE                            = -30.0

#/////////////////////////////////////////////////////////////
# EASY-MANUAL
# Global
EASY_INIT_LAST_HEIGHT                           = 50.0
EASY_ENABLE_MANUAL_REVERSE_THRUST               = false
EASY_DEFAULT_GOAL_AIRSPEED                      = 13.0
EASY_GOAL_AIRSPEED_MAXIMAL_ERROR                = 3.0
EASY_LIN_RANGE                                  = 6.0
EASY_SPEED_CMD                                  = 9.5
EASY_ANGLES_CMD_THRESHOLD                       = 0.09
EASY_THROTTLE_CMD_THRESHOLD                                             = 0.1
# Fly-by-Wire
EASY_FBY_INIT_CMD_PITCH                         = 0.0
EASY_FBY_INIT_CMD_ROLL                          = 0.0
EASY_FBY_INIT_CMD_AIRSPEED                      = 11.0
EASY_FBY_MAX_ROLL_RATE                          = 200.0
EASY_FBY_MAX_PITCH_RATE                         = 150.0
EASY_FBY_MAX_AIRSPEED_RATE                      = 5.0
EASY_FBY_MAX_PITCH                              = 30.0
EASY_FBY_MAX_ROLL                               = 60.0
# Full
EASY_FULL_VSPEED_GAIN                           = 15.0
EASY_FULL_MAX_ROLL                              = 45.0
# semi auto
EASY_SEMI_MAX_DELTA_HEIGHT                      = 10.0
EASY_MAX_DELTA_AIRSPEED                         = 12.5
EASY_FULL_MAX_PITCH                             = 50.0
#/////////////////////////////////////////////////////////////
# IMMELMANN
IMN_TRANSIT_HEIGHT                              = 60.0
IMN_ELEVATOR                                    = 0.8
IMN_GAIN                                        = 20.0
IMN_INCREASE_SPEED_GOAL_PITCH                   = 10.0
IMN_AIRSPEED_THRESHOLD_1                        = 14.0
IMN_AIRSPEED_THRESHOLD_2                        = 14.0
IMN_PITCH_ANGLE_THRESHOLD_1                     = 70.0
IMN_PITCH_ANGLE_THRESHOLD_2                     = 80.0
IMN_PITCH_ANGLE_THRESHOLD_3                     = 20.0
IMN_PITCH_ANGLE_THRESHOLD_4                     = 10.0
IMN_PITCH_ANGLE_LIMIT_MIN                       = 15.0
IMN_ROLL_ANGLE_THRESHOLD_1                      = 100.0
IMN_ROLL_ANGLE_THRESHOLD_2                      = 10.0
IMN_GOAL_ROLL_FOR_REDUCING_PITCH                = 180.0
IMN_GOAL_AIRSPEED_FOR_REDUCING_PITCH            = 15.0
IMN_GOAL_PITCH_FOR_ROLL_BACK                    = 15.0
IMN_GOAL_AIRSPEED_FOR_ROLL_BACK                 = 15.0

#/////////////////////////////////////////////////////////////
# OPTIMAL_AIRSPEED
# The cone on which we search the maximal relative speed in deg.
OPTIMAL_AIRSPEED_ANGLE_THRESHOLD                = 30.0
# The time delay to use when using the turn rate controller.
OPTIMAL_AIRSPEED_TIME_DELAY                     = 2.0
OPTIMAL_AIRSPEED_POWER_CURVE                    = 0.3415, -5.2863, 38.8209
OPTIMAL_AIRSPEED_MIN_AIRSPEED                   = 10.5
OPTIMAL_AIRSPEED_SATURATION_AIRSPEED            = 25.0

#/////////////////////////////////////////////////////////////
# IAS
# Air density.
IAS_RHO                                         = 1.225
# Minimal raw airspeed below which we convert to zero indicated airspeed.
IAS_MIN_AIRSPEED                                = 1.5
# Minimal calibrated airspeed above which we use the pitot calibration. Beyond this speed
# we map linearly such as to intersect IAS_MIN_AIRSPEED.
IAS_MIN_CALIBRATED_AIRSPEED                     = 7.0
# IAS_CALIBRATION_GAIN_DEFAULT                    = 1.0

#/////////////////////////////////////////////////////////////
# Barrel-Roll
BR_ROLL_ANGLE_LIMIT_1                           = 150.0
BR_ROLL_ANGLE_LIMIT_2                           = 120.0
BR_ROLL_ANGLE_LIMIT_3                           = 10.0
BR_MIN_HEIGH_BARO                               = 50.0
BR_MAX_TIME_SEC                                 = 2.0
BR_CMD_AILERON                                  = 1.0

PITCH_CMD_FILTER_CO_HZ                                          = 1.0

#/////////////////////////////////////////////////////////////
# FLIGHT CONTROLLER
FC_LIMIT_ELEVATOR_OUTPUT                            = false
FC_ENABLE_REVERSE_THRUST                            = true
FC_ALTITUDE_MAX_VERTICAL_SPEED                      = 4.0
FC_TURN_RATE_MAX_ROLL_ANGLE                         = 45.0
FC_TURN_RATE_LIMITED_MAX_ROLL_ANGLE                 = 20.0
FC_TURN_RATE_LANDING_MAX_ROLL_ANGLE                 = 45.0
FC_TURN_RATE_GAIN                                   = 0.6
FC_MIN_THRUST                                       = 0.0
FC_MAX_THRUST                                       = 1.0
FC_PITCH_RATE_INS_APRIORI_GAIN                      = 0.4
FC_REDUCED_MAX_ROLL_ANGLE                           = 30.0
FC_ROLL_RATE_LIMITATION_PITCH_ANGLE_1               = 50.0
FC_ROLL_RATE_LIMITATION_PITCH_ANGLE_2               = 80.0
FC_HEIGHT_BARO_CONTROL_PID_APRIORI                  = 5.0
FC_PITCH_OPTIMIZED_MIN                              = 10.0
FC_PITCH_OPTIMIZED_GROUNDSPEED_LIMIT_1              = 6.0
FC_PITCH_OPTIMIZED_GROUNDSPEED_LIMIT_2              = 9.0
FC_PITCH_ANGLE_HEIGHT_BARO_LIMIT_1                  = 20.0
FC_PITCH_ANGLE_HEIGHT_BARO_LIMIT_2                  = 50.0
FC_PITCH_ANGLE_INV_CONTROL_PID_APRIORI              = 0.6
FC_HEIGHT_AGL_CONTROL_PID_APRIORI                   = 10.0
FC_DEFAULT_PITCH_AIRSPEED_CONTROL_GOAL              = 10.0
FC_COEFF_AIRSPEED_GOAL_COMPLEMENT                   = 5.0
FC_AIRSPEED_CONTROL_APRIORI_LIMIT_1                 = 6.0
FC_AIRSPEED_CONTROL_APRIORI_LIMIT_2                 = 22.0
FC_AIRSPEED_CONTROL_APRIORI_PITCH_COEFF_1           = 130.0
FC_AIRSPEED_CONTROL_APRIORI_PITCH_COEFF_2           = 30.0
FC_MINIMAL_GROUNDSPEED_COMMAND                      = 7.0
FC_DEFAULT_THRUST_COMMAND_IF_GROUNDSPEED_INVALID    = 0.5
FC_MINIMAL_THRUST_COMMAND                           = 0.35
FC_PITCH_TO_THRUST_CMD_OFFSET                       = -10.0
FC_PITCH_TO_THRUST_CMD_COEFF                        = 0.0142857    # = 1.0 / 70.0
FC_MINIMAL_THRUST_CMD_THRESHOLD                     = 0.1
FC_REVERSE_CHANGE_TIME_THRESHOLD                    = 1.5
FC_REVERSE_CHANGE_CMD_THRESHOLD                     = 0.3
FC_ALTITUDE_MDF_DMAX_1                              = FC_ALTITUDE_MAX_VERTICAL_SPEED
FC_ALTITUDE_MDF_DMAX_2                              = 1.0
FC_ALTITUDE_MDF_UPPER_BOUND                         = 8.0
FC_ALTITUDE_MDF_LOWER_BOUND                         = -3.0
FC_ALTITUDE_MDF_CONFIG_TIME                         = 5.0
FC_TURN_RATE_MDF_DMAX_1                             = 80.0
FC_TURN_RATE_MDF_DMAX_2                             = 0.0
FC_THRUST_LPF_TAU                                   = 0.2
FC_THRUST_CMD_LPF_TAU                               = 0.3
FC_TURN_RATE_CONTROL_PID_KP                         = 1.0
FC_TURN_RATE_CONTROL_PID_OUTPUT_MIN                 = -45.0
FC_TURN_RATE_CONTROL_PID_OUTPUT_MAX                 = 45.0
FC_ROLL_ANGLE_CONTROL_PID_KP                        = 0.016
FC_ROLL_ANGLE_CONTROL_PID_KD                        = 0.0
FC_ROLL_ANGLE_CONTROL_PID_KI                        = 0.012
FC_ROLL_ANGLE_CONTROL_PID_AWR                       = 25.0
FC_ROLL_ANGLE_CONTROL_PID_LPF_CO                    = 0.1
FC_ROLL_ANGLE_CONTROL_PID_OUTPUT_MIN                = -1.0
FC_ROLL_ANGLE_CONTROL_PID_OUTPUT_MAX                = 1.0
FC_ANTI_TORQUE_CONTROL_PID_KP                       = -0.001
FC_ANTI_TORQUE_CONTROL_PID_KD                       = 0.
FC_ANTI_TORQUE_CONTROL_PID_KI                       = -0.03
FC_ANTI_TORQUE_CONTROL_PID_AWR                      = 0.
FC_ANTI_TORQUE_CONTROL_PID_LPF_CO                   = 0.005
FC_ANTI_TORQUE_CONTROL_PID_OUTPUT_MIN               = -0.2
FC_ANTI_TORQUE_CONTROL_PID_OUTPUT_MAX               = 0.005
FC_YAW_RATE_CONTROL_PID_KP                          = 0.001
FC_YAW_RATE_CONTROL_PID_KD                          = 0.
FC_YAW_RATE_CONTROL_PID_KI                          = 0.
FC_YAW_RATE_CONTROL_PID_AWR                         = 0.
FC_YAW_RATE_CONTROL_PID_LPF_CO                      = 0.1
FC_YAW_RATE_CONTROL_PID_OUTPUT_MIN                  = -0.2
FC_YAW_RATE_CONTROL_PID_OUTPUT_MAX                  = 0.2
FC_HEIGHT_BARO_CONTROL_PID_KP                       = 1.5
FC_HEIGHT_BARO_CONTROL_PID_KD                       = 4.0
FC_HEIGHT_BARO_CONTROL_PID_KI                       = 0.1
FC_HEIGHT_BARO_CONTROL_PID_AWR                      = 25.0
FC_HEIGHT_BARO_CONTROL_PID_LPF_CO                   = 0.5
FC_HEIGHT_BARO_CONTROL_PID_OUTPUT_MIN               = -15.0
FC_HEIGHT_BARO_CONTROL_PID_OUTPUT_MAX               = 35.0
FC_PITCH_AIRSPEED_CONTROL_PID_KP                    = -3.0
FC_PITCH_AIRSPEED_CONTROL_PID_KD                    = 0.0
FC_PITCH_AIRSPEED_CONTROL_PID_KI                    = -3.0
FC_PITCH_AIRSPEED_CONTROL_PID_AWR                   = 5.0
FC_PITCH_AIRSPEED_CONTROL_PID_LPF_CO                = 0.1
FC_PITCH_AIRSPEED_CONTROL_PID_OUTPUT_MIN            = 0.0
FC_PITCH_AIRSPEED_CONTROL_PID_OUTPUT_MAX            = 10.0
FC_PITCH_ANGLE_CONTROL_PID_KP                       = 0.02
FC_PITCH_ANGLE_CONTROL_PID_KD                       = 0.0
FC_PITCH_ANGLE_CONTROL_PID_KI                       = 0.02
FC_PITCH_ANGLE_CONTROL_PID_AWR                      = 25.0
FC_PITCH_ANGLE_CONTROL_PID_KP2                      = 0.02
FC_PITCH_ANGLE_CONTROL_PID_KD2                      = 0.0
FC_PITCH_ANGLE_CONTROL_PID_KI2                      = 0.02
FC_PITCH_ANGLE_CONTROL_PID_AWR2                     = 25.0
FC_PITCH_ANGLE_CONTROL_PID_LPF_CO                   = 0.1
FC_PITCH_ANGLE_CONTROL_PID_OUTPUT_MIN               = -1.0
FC_PITCH_ANGLE_CONTROL_PID_OUTPUT_MAX               = 1.0
FC_HEIGHT_AGL_CONTROL_PID_KP                        = 5.0
FC_HEIGHT_AGL_CONTROL_PID_KD                        = 5.0
FC_HEIGHT_AGL_CONTROL_PID_KI                        = 0.4
FC_HEIGHT_AGL_CONTROL_PID_AWR                       = 30.0
FC_HEIGHT_AGL_CONTROL_PID_LPF_CO                    = 0.5
FC_HEIGHT_AGL_CONTROL_PID_OUTPUT_MIN                = -40.0
FC_HEIGHT_AGL_CONTROL_PID_OUTPUT_MAX                = 30.0
FC_AIRSPEED_CONTROL_PID_KP                          = 0.1
FC_AIRSPEED_CONTROL_PID_KI                          = 0.05
FC_AIRSPEED_CONTROL_PID_AWR                         = 5.0
FC_AIRSPEED_CONTROL_PID_OUTPUT_MIN                  = 0.0
FC_AIRSPEED_CONTROL_PID_OUTPUT_MAX                  = 1.0
FC_AIRSPEED_CONTROL_INTEG_INIT_VALUE                = 1.0
FC_GROUNDSPEED_CONTROL_PID_KP                       = 0.1
FC_GROUNDSPEED_CONTROL_PID_KI                       = 0.05
FC_GROUNDSPEED_CONTROL_PID_AWR                      = 5.0
FC_GROUNDSPEED_CONTROL_PID_OUTPUT_MIN               = 0.0
FC_GROUNDSPEED_CONTROL_PID_OUTPUT_MAX               = 1.0
FC_REVERSE_AIRSPEED_CONTROL_PID_KP                  = 0.2
FC_REVERSE_AIRSPEED_CONTROL_PID_KI                  = 0.01
FC_REVERSE_AIRSPEED_CONTROL_PID_AWR                 = 15.0
FC_REVERSE_AIRSPEED_CONTROL_PID_OUTPUT_MIN          = -1.0
FC_REVERSE_AIRSPEED_CONTROL_PID_OUTPUT_MAX          = 1.0
FC_SERVO_AILERON_SATURATION_MIN                     = -1.0
FC_SERVO_AILERON_SATURATION_MAX                     = 1.0
FC_LIMITED_SERVO_ELEVATOR_SATURATION_MIN            = -0.25
FC_LIMITED_SERVO_ELEVATOR_SATURATION_MAX            = 0.25
FC_SERVO_ELEVATOR_SATURATION_MIN                    = -1.0
FC_SERVO_ELEVATOR_SATURATION_MAX                    = 1.0
FC_SERVO_THRUST_ENABLE_REVERSE_SATURATION_MIN       = -1.0
FC_SERVO_THRUST_ENABLE_REVERSE_SATURATION_MAX       = 1.0
FC_THRUST_SATURATION_MIN                            = -1.0
FC_THRUST_SATURATION_MAX                            = 1.0
FC_MAX_PITCH_RATE_A_PRIORI                          = 0.5
FC_TURN_RATE_OFFSET_AIRSPEED                        = 6.0
FC_TURN_RATE_OFFSET_GROUNDSPEED                     = 4.0
FC_THRUST_FILTER_CO_HZ                              = 5.0
FC_PITCH_EASY_SATURATION_MIN                        = -30.0
FC_PITCH_EASY_SATURATION_MAX                        = 30.0

#/////////////////////////////////////////////////////////////
# USER CONFIG
USER_CONFIG_MAX_ALTITUDE                            = 150.0
USER_CONFIG_MIN_ALTITUDE                            = 5.0
USER_CONFIG_MAX_DISTANCE                            = 2000.0
USER_CONFIG_NO_FLY_OVER_MAX_DISTANCE                = true

WPT_CIRCLE_CLOCKWISE                                = 0
WPT_CIRCLE_COUNTER_CLOCKWISE                        = 1

USER_CONFIG_HOLD_WAYPOINT_TURN_DIRECTION            = WPT_CIRCLE_CLOCKWISE
USER_CONFIG_HOLD_WAYPOINT_HEIGHT                    = 50.0

PITCH_MODE_NORMAL                                   = 0
PITCH_MODE_INVERTED                                 = 1

USER_CONFIG_PITCH_MODE_INVERTED                     = PITCH_MODE_NORMAL

FLAT_VIDEO_STAB_MODE                                = 0
PARTIAL_FLAT_VIDEO_STAB_MODE                        = 1
FILT_VIDEO_STAB_MODE                                = 2

USER_CONFIG_VIDEO_STABILIZATION_MODE                = PARTIAL_FLAT_VIDEO_STAB_MODE

RETURN_HOME_TYPE_TAKEOFF                            = 0
RETURN_HOME_TYPE_PILOT                              = 1

USER_CONFIG_RETURN_HOME_TYPE                        = RETURN_HOME_TYPE_TAKEOFF
USER_CONFIG_PREFERRED_RETURN_HOME_TYPE              = RETURN_HOME_TYPE_TAKEOFF
USER_CONFIG_RETURN_HOME_DELAY                       = 10.0