# Starting parameters: 9 inch props, 4S lipo, 4 motors, ArduPilot 4.6
# Check each value before flying; tune after the first flights.
FRAME_CLASS,1
FRAME_TYPE,1
SERVO1_FUNCTION,33
SERVO2_FUNCTION,34
SERVO3_FUNCTION,35
SERVO4_FUNCTION,36
INS_GYRO_FILTER,46
INS_ACCEL_FILTER,10
ATC_RAT_PIT_FLTD,23
ATC_RAT_PIT_FLTE,0
ATC_RAT_PIT_FLTT,23
ATC_RAT_RLL_FLTD,23
ATC_RAT_RLL_FLTE,0
ATC_RAT_RLL_FLTT,23
ATC_RAT_YAW_FLTD,0
ATC_RAT_YAW_FLTE,2
ATC_RAT_YAW_FLTT,23
ATC_ACCEL_P_MAX,125900
ATC_ACCEL_R_MAX,125900
ATC_ACCEL_Y_MAX,27900
ACRO_Y_RATE,139.5
MOT_THST_EXPO,0.58
MOT_THST_HOVER,0.2
MOT_SPIN_MAX,0.95
ATC_THR_MIX_MAN,0.1
ATC_RAT_PIT_P,0.074073
ATC_RAT_PIT_I,0.074073
ATC_RAT_PIT_D,0.002455
ATC_RAT_RLL_P,0.068112
ATC_RAT_RLL_I,0.068112
ATC_RAT_RLL_D,0.002295
ATC_RAT_YAW_P,0.2285
ATC_RAT_YAW_I,0.02285
ATC_RAT_YAW_D,0.001
MOT_BAT_VOLT_MAX,16.8
MOT_BAT_VOLT_MIN,13.2
BATT_ARM_VOLT,14.7
BATT_LOW_VOLT,14.4
BATT_CRT_VOLT,14
OSD_CELL_COUNT,4
MOT_PWM_TYPE,6
SERVO_DSHOT_ESC,1
SERVO_BLH_POLES,14
SERVO_BLH_AUTO,1
SERVO_BLH_BDMASK,15
INS_HNTCH_ENABLE,1
INS_HNTCH_MODE,3
INS_HNTCH_REF,1
INS_HNTCH_FREQ,72
INS_HNTCH_BW,36
INS_LOG_BAT_MASK,1
INS_LOG_BAT_OPT,4
LOG_FILE_DSRMROT,1