tpakp1 100=100=100=100=100=90=80=70=60
tpaki1 100=100=100=100=100=100=100=100=100
tpakd1 100=100=100=95=95=95=96=100=100
set famx=95
set nsmoothing1=0
set rc_smoothing1=1.320
set yaw_kp1=50.000
set roll_kp1=51.000
set pitch_kp1=51.000
set yaw_ki1=35.000
set roll_ki1=33.000
set pitch_ki1=33.000
set yaw_kd1=33.000
set roll_kd1=36.000
set pitch_kd1=36.000
set kd_limit1=0.400
set ki_limit1=0.259
set slp1=5.000
set sli1=0.100
set sla1=35.000
set sld1=0.029
set sm_filter1=1
set sm_filter2=1
set sm_filter3=1
set filts1_type1=3
set filts1_yawa1=200.000
set filts1_rolla1=200.000
set filts1_pitcha1=200.000
set filts1_yawb1=120.000
set filts1_rollb1=120.000
set filts1_pitchb1=120.000
set filts2_type1=3
set filts2_yawa1=120.000
set filts2_rolla1=120.000
set filts2_pitcha1=120.000
set filts2_yawb1=70.000
set filts2_rollb1=70.000
set filts2_pitchb1=70.000
set dfilts1_type1=2
set dfilts1_yawa1=105.000
set dfilts1_rolla1=105.000
set dfilts1_pitcha1=105.000
set dfilts1_yawb1=120.000
set dfilts1_rollb1=120.000
set dfilts1_pitchb1=120.000
set dfilts2_type1=8
set dfilts2_yawa1=70.000
set dfilts2_rolla1=70.000
set dfilts2_pitcha1=70.000
set dfilts2_yawb1=70.000
set dfilts2_rollb1=70.000
set dfilts2_pitchb1=70.000