From d125dd651582b9c4a770a7772bd52040d6fc88fc Mon Sep 17 00:00:00 2001
From: pixhawk <pixhawk@pixhawk04.(none)>
Date: Sat, 3 Jul 2010 14:53:32 +0200
Subject: [PATCH] parameters alpha updated

---
 parameters_alpha.txt | 21 ++++++++++++---------
 1 file changed, 12 insertions(+), 9 deletions(-)

diff --git a/parameters_alpha.txt b/parameters_alpha.txt
index e883721..10113f4 100644
--- a/parameters_alpha.txt
+++ b/parameters_alpha.txt
@@ -1,7 +1,6 @@
 # Onboard parameters for system MAV 042
 #
 # MAV ID  COMPONENT ID  PARAM NAME  VALUE (FLOAT)
-42	200	ACC_NAV_OFFS_X	0
 42	200	ACC_NAV_OFFS_Y	0
 42	200	ACC_NAV_OFFS_Z	-1000
 42	200	ACC_OFFSET_X	0
@@ -23,18 +22,20 @@
 42	200	GYRO_OFFSET_X	29760
 42	200	GYRO_OFFSET_Y	29860
 42	200	GYRO_OFFSET_Z	29877
-42	200	MIX_OFFSET	1
+42	200	MIX_OFFSET	0
 42	200	MIX_POSITION	0
 42	200	MIX_POS_YAW	0
-42	200	MIX_REMOTE	1
+42	200	MIX_REMOTE	0
 42	200	MIX_Z_POSITION	0
 42	200	PID_ATT_AWU	0.3
 42	200	PID_ATT_D	30
 42	200	PID_ATT_I	60
+42	200	PID_ATT_LIM	100
 42	200	PID_ATT_P	90
 42	200	PID_POS_AWU	5
 42	200	PID_POS_D	2
 42	200	PID_POS_I	0.4
+42	200	PID_POS_LIM	0.2
 42	200	PID_POS_P	1.8
 42	200	PID_POS_Z_AWU	3
 42	200	PID_POS_Z_D	0.2
@@ -44,16 +45,18 @@
 42	200	PID_YAWPOS_AWU	1
 42	200	PID_YAWPOS_D	1
 42	200	PID_YAWPOS_I	0.1
+42	200	PID_YAWPOS_LIM	3
 42	200	PID_YAWPOS_P	5
 42	200	PID_YAWSPEED_D	0
-42	200	PID_YAWSPEED_I	10
-42	200	PID_YAWSPEED_P	30
+42	200	PID_YAWSPEED_I	5
+42	200	PID_YAWSPEED_P	15
 42	200	PID_YAWSPE_AWU	1
+42	200	PID_YAWSPE_LIM	50
 42	200	POS_SP_ACCEPT	1
-42	200	POS_SP_X	1.75
-42	200	POS_SP_Y	0.5
-42	200	POS_SP_YAW	0
-42	200	POS_SP_Z	0
+42	200	POS_SP_X	1.09
+42	200	POS_SP_Y	0.527403
+42	200	POS_SP_YAW	1.57763
+42	200	POS_SP_Z	-0.7
 42	200	POS_TIMEOUT	1e+06
 42	200	RC_NICK_CHAN	1
 42	200	RC_ROLL_CHAN	2