ground/gcs/src/share/vehicletemplates/multirotor/ZMR250(4s race)-Multirotor-QuadrocopterX-fac61e7adb8.optmpl

   1 {
   2     "battery": "3S",
   3     "comment": "",
   4     "controller": "CC3D",
   5     "esc": "HK10A BLHELI",
   6     "motor": "SS X2204 2300 KV",
   7     "name": "ZMR250",
   8     "nick": "ehitaja",
   9     "objects": [
  10         {
  11             "fields": [
  12                 {
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  16                     "values": [
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  18                             "name": "Roll",
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  20                         },
  21                         {
  22                             "name": "Pitch",
  23                             "value": 0.5
  24                         },
  25                         {
  26                             "name": "Yaw",
  27                             "value": 0.5
  28                         }
  29                     ]
  30                 },
  31                 {
  32                     "name": "VbarRollPI",
  33                     "type": "float32",
  34                     "unit": "1/(deg/s)",
  35                     "values": [
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  37                             "name": "Kp",
  38                             "value": 0.004999999888241291
  39                         },
  40                         {
  41                             "name": "Ki",
  42                             "value": 0.0020000000949949026
  43                         }
  44                     ]
  45                 },
  46                 {
  47                     "name": "VbarPitchPI",
  48                     "type": "float32",
  49                     "unit": "1/(deg/s)",
  50                     "values": [
  51                         {
  52                             "name": "Kp",
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  54                         },
  55                         {
  56                             "name": "Ki",
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  58                         }
  59                     ]
  60                 },
  61                 {
  62                     "name": "VbarYawPI",
  63                     "type": "float32",
  64                     "unit": "1/(deg/s)",
  65                     "values": [
  66                         {
  67                             "name": "Kp",
  68                             "value": 0.004999999888241291
  69                         },
  70                         {
  71                             "name": "Ki",
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  73                         }
  74                     ]
  75                 },
  76                 {
  77                     "name": "VbarTau",
  78                     "type": "float32",
  79                     "unit": "sec",
  80                     "values": [
  81                         {
  82                             "name": "0",
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  84                         }
  85                     ]
  86                 },
  87                 {
  88                     "name": "GyroTau",
  89                     "type": "float32",
  90                     "unit": "",
  91                     "values": [
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  97                 },
  98                 {
  99                     "name": "DerivativeGamma",
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 102                     "values": [
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 109                 {
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 113                     "values": [
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 120                 {
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 123                     "unit": "(deg/s)/deg",
 124                     "values": [
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 131                 {
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 135                     "values": [
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 156                     "unit": "sec",
 157                     "values": [
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 162                     ]
 163                 },
 164                 {
 165                     "name": "ScaleToAirspeed",
 166                     "type": "float32",
 167                     "unit": "m/s",
 168                     "values": [
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 170                             "name": "0",
 171                             "value": 0
 172                         }
 173                     ]
 174                 },
 175                 {
 176                     "name": "ScaleToAirspeedLimits",
 177                     "type": "float32",
 178                     "unit": "",
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 188                     ]
 189                 },
 190                 {
 191                     "name": "FlightModeMap",
 192                     "type": "enum",
 193                     "unit": "",
 194                     "values": [
 195                         {
 196                             "name": "0",
 197                             "value": "Bank1"
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 199                         {
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 201                             "value": "Bank2"
 202                         },
 203                         {
 204                             "name": "2",
 205                             "value": "Bank1"
 206                         },
 207                         {
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 209                             "value": "Bank1"
 210                         },
 211                         {
 212                             "name": "4",
 213                             "value": "Bank1"
 214                         },
 215                         {
 216                             "name": "5",
 217                             "value": "Bank1"
 218                         }
 219                     ]
 220                 },
 221                 {
 222                     "name": "VbarGyroSuppress",
 223                     "type": "int8",
 224                     "unit": "%",
 225                     "values": [
 226                         {
 227                             "name": "0",
 228                             "value": 30
 229                         }
 230                     ]
 231                 },
 232                 {
 233                     "name": "VbarPiroComp",
 234                     "type": "enum",
 235                     "unit": "",
 236                     "values": [
 237                         {
 238                             "name": "0",
 239                             "value": "FALSE"
 240                         }
 241                     ]
 242                 },
 243                 {
 244                     "name": "VbarMaxAngle",
 245                     "type": "uint8",
 246                     "unit": "deg",
 247                     "values": [
 248                         {
 249                             "name": "0",
 250                             "value": 10
 251                         }
 252                     ]
 253                 },
 254                 {
 255                     "name": "DerivativeCutoff",
 256                     "type": "uint8",
 257                     "unit": "Hz",
 258                     "values": [
 259                         {
 260                             "name": "0",
 261                             "value": 20
 262                         }
 263                     ]
 264                 },
 265                 {
 266                     "name": "MaxAxisLock",
 267                     "type": "uint8",
 268                     "unit": "deg",
 269                     "values": [
 270                         {
 271                             "name": "0",
 272                             "value": 30
 273                         }
 274                     ]
 275                 },
 276                 {
 277                     "name": "MaxAxisLockRate",
 278                     "type": "uint8",
 279                     "unit": "deg/s",
 280                     "values": [
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 282                             "name": "0",
 283                             "value": 2
 284                         }
 285                     ]
 286                 },
 287                 {
 288                     "name": "MaxWeakLevelingRate",
 289                     "type": "uint8",
 290                     "unit": "deg/s",
 291                     "values": [
 292                         {
 293                             "name": "0",
 294                             "value": 5
 295                         }
 296                     ]
 297                 },
 298                 {
 299                     "name": "RattitudeModeTransition",
 300                     "type": "uint8",
 301                     "unit": "%",
 302                     "values": [
 303                         {
 304                             "name": "0",
 305                             "value": 80
 306                         }
 307                     ]
 308                 },
 309                 {
 310                     "name": "CruiseControlMinThrust",
 311                     "type": "int8",
 312                     "unit": "%",
 313                     "values": [
 314                         {
 315                             "name": "0",
 316                             "value": 5
 317                         }
 318                     ]
 319                 },
 320                 {
 321                     "name": "CruiseControlMaxThrust",
 322                     "type": "uint8",
 323                     "unit": "%",
 324                     "values": [
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 326                             "name": "0",
 327                             "value": 90
 328                         }
 329                     ]
 330                 },
 331                 {
 332                     "name": "CruiseControlMaxAngle",
 333                     "type": "uint8",
 334                     "unit": "deg",
 335                     "values": [
 336                         {
 337                             "name": "0",
 338                             "value": 105
 339                         }
 340                     ]
 341                 },
 342                 {
 343                     "name": "CruiseControlFlightModeSwitchPosEnable",
 344                     "type": "enum",
 345                     "unit": "",
 346                     "values": [
 347                         {
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 349                             "value": "FALSE"
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 353                             "value": "FALSE"
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 355                         {
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 357                             "value": "FALSE"
 358                         },
 359                         {
 360                             "name": "3",
 361                             "value": "FALSE"
 362                         },
 363                         {
 364                             "name": "4",
 365                             "value": "FALSE"
 366                         },
 367                         {
 368                             "name": "5",
 369                             "value": "FALSE"
 370                         }
 371                     ]
 372                 },
 373                 {
 374                     "name": "CruiseControlInvertedThrustReversing",
 375                     "type": "enum",
 376                     "unit": "",
 377                     "values": [
 378                         {
 379                             "name": "0",
 380                             "value": "Unreversed"
 381                         }
 382                     ]
 383                 },
 384                 {
 385                     "name": "CruiseControlInvertedPowerOutput",
 386                     "type": "enum",
 387                     "unit": "",
 388                     "values": [
 389                         {
 390                             "name": "0",
 391                             "value": "Zero"
 392                         }
 393                     ]
 394                 },
 395                 {
 396                     "name": "LowThrottleZeroIntegral",
 397                     "type": "enum",
 398                     "unit": "",
 399                     "values": [
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 402                             "value": "TRUE"
 403                         }
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 407             "id": "236F6DEC",
 408             "instance": 0,
 409             "name": "StabilizationSettings",
 410             "setting": true
 411         },
 412         {
 413             "fields": [
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 415                     "name": "ManualRate",
 416                     "type": "float32",
 417                     "unit": "degrees/sec",
 418                     "values": [
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 420                             "name": "Roll",
 421                             "value": 300
 422                         },
 423                         {
 424                             "name": "Pitch",
 425                             "value": 300
 426                         },
 427                         {
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 429                             "value": 180
 430                         }
 431                     ]
 432                 },
 433                 {
 434                     "name": "MaximumRate",
 435                     "type": "float32",
 436                     "unit": "degrees/sec",
 437                     "values": [
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 441                         },
 442                         {
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 444                             "value": 500
 445                         },
 446                         {
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 449                         }
 450                     ]
 451                 },
 452                 {
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 454                     "type": "float32",
 455                     "unit": "",
 456                     "values": [
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 460                         },
 461                         {
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 463                             "value": 0.006399999838322401
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 465                         {
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 467                             "value": 3.9999998989515007e-05
 468                         },
 469                         {
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 475                 {
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 478                     "unit": "",
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 486                             "value": 0.012500000186264515
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 488                         {
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 490                             "value": 5.5000000429572538e-05
 491                         },
 492                         {
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 494                             "value": 0.30000001192092896
 495                         }
 496                     ]
 497                 },
 498                 {
 499                     "name": "YawRatePID",
 500                     "type": "float32",
 501                     "unit": "",
 502                     "values": [
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 505                             "value": 0.0076000001281499863
 506                         },
 507                         {
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 509                             "value": 0.012500000186264515
 510                         },
 511                         {
 512                             "name": "Kd",
 513                             "value": 4.9999998736893758e-05
 514                         },
 515                         {
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 517                             "value": 0.30000001192092896
 518                         }
 519                     ]
 520                 },
 521                 {
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 523                     "type": "float32",
 524                     "unit": "",
 525                     "values": [
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 530                         {
 531                             "name": "Ki",
 532                             "value": 0
 533                         },
 534                         {
 535                             "name": "ILimit",
 536                             "value": 50
 537                         }
 538                     ]
 539                 },
 540                 {
 541                     "name": "PitchPI",
 542                     "type": "float32",
 543                     "unit": "",
 544                     "values": [
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 547                             "value": 3.4000000953674316
 548                         },
 549                         {
 550                             "name": "Ki",
 551                             "value": 0
 552                         },
 553                         {
 554                             "name": "ILimit",
 555                             "value": 50
 556                         }
 557                     ]
 558                 },
 559                 {
 560                     "name": "YawPI",
 561                     "type": "float32",
 562                     "unit": "",
 563                     "values": [
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 566                             "value": 2.5
 567                         },
 568                         {
 569                             "name": "Ki",
 570                             "value": 0
 571                         },
 572                         {
 573                             "name": "ILimit",
 574                             "value": 50
 575                         }
 576                     ]
 577                 },
 578                 {
 579                     "name": "AcroInsanityFactor",
 580                     "type": "int8",
 581                     "unit": "percent",
 582                     "values": [
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 584                             "name": "roll",
 585                             "value": 50
 586                         },
 587                         {
 588                             "name": "pitch",
 589                             "value": 50
 590                         },
 591                         {
 592                             "name": "yaw",
 593                             "value": 50
 594                         }
 595                     ]
 596                 },
 597                 {
 598                     "name": "ThrustPIDScaleCurve",
 599                     "type": "int8",
 600                     "unit": "percent",
 601                     "values": [
 602                         {
 603                             "name": "0",
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 605                         },
 606                         {
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 610                         {
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 614                         {
 615                             "name": "75",
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 617                         },
 618                         {
 619                             "name": "100",
 620                             "value": -20
 621                         }
 622                     ]
 623                 },
 624                 {
 625                     "name": "RollMax",
 626                     "type": "uint8",
 627                     "unit": "degrees",
 628                     "values": [
 629                         {
 630                             "name": "0",
 631                             "value": 80
 632                         }
 633                     ]
 634                 },
 635                 {
 636                     "name": "PitchMax",
 637                     "type": "uint8",
 638                     "unit": "degrees",
 639                     "values": [
 640                         {
 641                             "name": "0",
 642                             "value": 80
 643                         }
 644                     ]
 645                 },
 646                 {
 647                     "name": "YawMax",
 648                     "type": "uint8",
 649                     "unit": "degrees",
 650                     "values": [
 651                         {
 652                             "name": "0",
 653                             "value": 35
 654                         }
 655                     ]
 656                 },
 657                 {
 658                     "name": "StickExpo",
 659                     "type": "int8",
 660                     "unit": "percent",
 661                     "values": [
 662                         {
 663                             "name": "Roll",
 664                             "value": 13
 665                         },
 666                         {
 667                             "name": "Pitch",
 668                             "value": 13
 669                         },
 670                         {
 671                             "name": "Yaw",
 672                             "value": 0
 673                         }
 674                     ]
 675                 },
 676                 {
 677                     "name": "EnablePiroComp",
 678                     "type": "enum",
 679                     "unit": "",
 680                     "values": [
 681                         {
 682                             "name": "0",
 683                             "value": "FALSE"
 684                         }
 685                     ]
 686                 },
 687                 {
 688                     "name": "EnableThrustPIDScaling",
 689                     "type": "enum",
 690                     "unit": "",
 691                     "values": [
 692                         {
 693                             "name": "0",
 694                             "value": "TRUE"
 695                         }
 696                     ]
 697                 },
 698                 {
 699                     "name": "ThrustPIDScaleSource",
 700                     "type": "enum",
 701                     "unit": "",
 702                     "values": [
 703                         {
 704                             "name": "0",
 705                             "value": "ActuatorDesiredThrust"
 706                         }
 707                     ]
 708                 },
 709                 {
 710                     "name": "ThrustPIDScaleTarget",
 711                     "type": "enum",
 712                     "unit": "",
 713                     "values": [
 714                         {
 715                             "name": "0",
 716                             "value": "PD"
 717                         }
 718                     ]
 719                 },
 720                 {
 721                     "name": "ThrustPIDScaleAxes",
 722                     "type": "enum",
 723                     "unit": "",
 724                     "values": [
 725                         {
 726                             "name": "0",
 727                             "value": "Roll Pitch"
 728                         }
 729                     ]
 730                 }
 731             ],
 732             "id": "E8EBBD48",
 733             "instance": 0,
 734             "name": "StabilizationSettingsBank1",
 735             "setting": true
 736         },
 737         {
 738             "fields": [
 739                 {
 740                     "name": "ManualRate",
 741                     "type": "float32",
 742                     "unit": "degrees/sec",
 743                     "values": [
 744                         {
 745                             "name": "Roll",
 746                             "value": 400
 747                         },
 748                         {
 749                             "name": "Pitch",
 750                             "value": 400
 751                         },
 752                         {
 753                             "name": "Yaw",
 754                             "value": 220
 755                         }
 756                     ]
 757                 },
 758                 {
 759                     "name": "MaximumRate",
 760                     "type": "float32",
 761                     "unit": "degrees/sec",
 762                     "values": [
 763                         {
 764                             "name": "Roll",
 765                             "value": 400
 766                         },
 767                         {
 768                             "name": "Pitch",
 769                             "value": 400
 770                         },
 771                         {
 772                             "name": "Yaw",
 773                             "value": 300
 774                         }
 775                     ]
 776                 },
 777                 {
 778                     "name": "RollRatePID",
 779                     "type": "float32",
 780                     "unit": "",
 781                     "values": [
 782                         {
 783                             "name": "Kp",
 784                             "value": 0.0032999999821186066
 785                         },
 786                         {
 787                             "name": "Ki",
 788                             "value": 0.0076000001281499863
 789                         },
 790                         {
 791                             "name": "Kd",
 792                             "value": 3.600000127335079e-05
 793                         },
 794                         {
 795                             "name": "ILimit",
 796                             "value": 0.30000001192092896
 797                         }
 798                     ]
 799                 },
 800                 {
 801                     "name": "PitchRatePID",
 802                     "type": "float32",
 803                     "unit": "",
 804                     "values": [
 805                         {
 806                             "name": "Kp",
 807                             "value": 0.0044999998062849045
 808                         },
 809                         {
 810                             "name": "Ki",
 811                             "value": 0.0093999998643994331
 812                         },
 813                         {
 814                             "name": "Kd",
 815                             "value": 4.5000000682193786e-05
 816                         },
 817                         {
 818                             "name": "ILimit",
 819                             "value": 0.30000001192092896
 820                         }
 821                     ]
 822                 },
 823                 {
 824                     "name": "YawRatePID",
 825                     "type": "float32",
 826                     "unit": "",
 827                     "values": [
 828                         {
 829                             "name": "Kp",
 830                             "value": 0.0086000002920627594
 831                         },
 832                         {
 833                             "name": "Ki",
 834                             "value": 0.014299999922513962
 835                         },
 836                         {
 837                             "name": "Kd",
 838                             "value": 4.9999998736893758e-05
 839                         },
 840                         {
 841                             "name": "ILimit",
 842                             "value": 0.30000001192092896
 843                         }
 844                     ]
 845                 },
 846                 {
 847                     "name": "RollPI",
 848                     "type": "float32",
 849                     "unit": "",
 850                     "values": [
 851                         {
 852                             "name": "Kp",
 853                             "value": 3
 854                         },
 855                         {
 856                             "name": "Ki",
 857                             "value": 0
 858                         },
 859                         {
 860                             "name": "ILimit",
 861                             "value": 50
 862                         }
 863                     ]
 864                 },
 865                 {
 866                     "name": "PitchPI",
 867                     "type": "float32",
 868                     "unit": "",
 869                     "values": [
 870                         {
 871                             "name": "Kp",
 872                             "value": 3.4000000953674316
 873                         },
 874                         {
 875                             "name": "Ki",
 876                             "value": 0
 877                         },
 878                         {
 879                             "name": "ILimit",
 880                             "value": 50
 881                         }
 882                     ]
 883                 },
 884                 {
 885                     "name": "YawPI",
 886                     "type": "float32",
 887                     "unit": "",
 888                     "values": [
 889                         {
 890                             "name": "Kp",
 891                             "value": 2.5
 892                         },
 893                         {
 894                             "name": "Ki",
 895                             "value": 0
 896                         },
 897                         {
 898                             "name": "ILimit",
 899                             "value": 50
 900                         }
 901                     ]
 902                 },
 903                 {
 904                     "name": "AcroInsanityFactor",
 905                     "type": "int8",
 906                     "unit": "percent",
 907                     "values": [
 908                         {
 909                             "name": "roll",
 910                             "value": 50
 911                         },
 912                         {
 913                             "name": "pitch",
 914                             "value": 50
 915                         },
 916                         {
 917                             "name": "yaw",
 918                             "value": 50
 919                         }
 920                     ]
 921                 },
 922                 {
 923                     "name": "ThrustPIDScaleCurve",
 924                     "type": "int8",
 925                     "unit": "percent",
 926                     "values": [
 927                         {
 928                             "name": "0",
 929                             "value": 19
 930                         },
 931                         {
 932                             "name": "25",
 933                             "value": 8
 934                         },
 935                         {
 936                             "name": "50",
 937                             "value": 0
 938                         },
 939                         {
 940                             "name": "75",
 941                             "value": -8
 942                         },
 943                         {
 944                             "name": "100",
 945                             "value": -18
 946                         }
 947                     ]
 948                 },
 949                 {
 950                     "name": "RollMax",
 951                     "type": "uint8",
 952                     "unit": "degrees",
 953                     "values": [
 954                         {
 955                             "name": "0",
 956                             "value": 55
 957                         }
 958                     ]
 959                 },
 960                 {
 961                     "name": "PitchMax",
 962                     "type": "uint8",
 963                     "unit": "degrees",
 964                     "values": [
 965                         {
 966                             "name": "0",
 967                             "value": 55
 968                         }
 969                     ]
 970                 },
 971                 {
 972                     "name": "YawMax",
 973                     "type": "uint8",
 974                     "unit": "degrees",
 975                     "values": [
 976                         {
 977                             "name": "0",
 978                             "value": 35
 979                         }
 980                     ]
 981                 },
 982                 {
 983                     "name": "StickExpo",
 984                     "type": "int8",
 985                     "unit": "percent",
 986                     "values": [
 987                         {
 988                             "name": "Roll",
 989                             "value": 18
 990                         },
 991                         {
 992                             "name": "Pitch",
 993                             "value": 18
 994                         },
 995                         {
 996                             "name": "Yaw",
 997                             "value": -8
 998                         }
 999                     ]
1000                 },
1001                 {
1002                     "name": "EnablePiroComp",
1003                     "type": "enum",
1004                     "unit": "",
1005                     "values": [
1006                         {
1007                             "name": "0",
1008                             "value": "FALSE"
1009                         }
1010                     ]
1011                 },
1012                 {
1013                     "name": "EnableThrustPIDScaling",
1014                     "type": "enum",
1015                     "unit": "",
1016                     "values": [
1017                         {
1018                             "name": "0",
1019                             "value": "TRUE"
1020                         }
1021                     ]
1022                 },
1023                 {
1024                     "name": "ThrustPIDScaleSource",
1025                     "type": "enum",
1026                     "unit": "",
1027                     "values": [
1028                         {
1029                             "name": "0",
1030                             "value": "ActuatorDesiredThrust"
1031                         }
1032                     ]
1033                 },
1034                 {
1035                     "name": "ThrustPIDScaleTarget",
1036                     "type": "enum",
1037                     "unit": "",
1038                     "values": [
1039                         {
1040                             "name": "0",
1041                             "value": "PD"
1042                         }
1043                     ]
1044                 },
1045                 {
1046                     "name": "ThrustPIDScaleAxes",
1047                     "type": "enum",
1048                     "unit": "",
1049                     "values": [
1050                         {
1051                             "name": "0",
1052                             "value": "Roll Pitch"
1053                         }
1054                     ]
1055                 }
1056             ],
1057             "id": "70E9539A",
1058             "instance": 0,
1059             "name": "StabilizationSettingsBank2",
1060             "setting": true
1061         },
1062         {
1063             "fields": [
1064                 {
1065                     "name": "ManualRate",
1066                     "type": "float32",
1067                     "unit": "degrees/sec",
1068                     "values": [
1069                         {
1070                             "name": "Roll",
1071                             "value": 220
1072                         },
1073                         {
1074                             "name": "Pitch",
1075                             "value": 220
1076                         },
1077                         {
1078                             "name": "Yaw",
1079                             "value": 220
1080                         }
1081                     ]
1082                 },
1083                 {
1084                     "name": "MaximumRate",
1085                     "type": "float32",
1086                     "unit": "degrees/sec",
1087                     "values": [
1088                         {
1089                             "name": "Roll",
1090                             "value": 300
1091                         },
1092                         {
1093                             "name": "Pitch",
1094                             "value": 300
1095                         },
1096                         {
1097                             "name": "Yaw",
1098                             "value": 300
1099                         }
1100                     ]
1101                 },
1102                 {
1103                     "name": "RollRatePID",
1104                     "type": "float32",
1105                     "unit": "",
1106                     "values": [
1107                         {
1108                             "name": "Kp",
1109                             "value": 0.0024999999441206455
1110                         },
1111                         {
1112                             "name": "Ki",
1113                             "value": 0.0040000001899898052
1114                         },
1115                         {
1116                             "name": "Kd",
1117                             "value": 1.9999999494757503e-05
1118                         },
1119                         {
1120                             "name": "ILimit",
1121                             "value": 0.30000001192092896
1122                         }
1123                     ]
1124                 },
1125                 {
1126                     "name": "PitchRatePID",
1127                     "type": "float32",
1128                     "unit": "",
1129                     "values": [
1130                         {
1131                             "name": "Kp",
1132                             "value": 0.0024999999441206455
1133                         },
1134                         {
1135                             "name": "Ki",
1136                             "value": 0.0040000001899898052
1137                         },
1138                         {
1139                             "name": "Kd",
1140                             "value": 1.9999999494757503e-05
1141                         },
1142                         {
1143                             "name": "ILimit",
1144                             "value": 0.30000001192092896
1145                         }
1146                     ]
1147                 },
1148                 {
1149                     "name": "YawRatePID",
1150                     "type": "float32",
1151                     "unit": "",
1152                     "values": [
1153                         {
1154                             "name": "Kp",
1155                             "value": 0.0062000001780688763
1156                         },
1157                         {
1158                             "name": "Ki",
1159                             "value": 0.0099999997764825821
1160                         },
1161                         {
1162                             "name": "Kd",
1163                             "value": 4.9999998736893758e-05
1164                         },
1165                         {
1166                             "name": "ILimit",
1167                             "value": 0.30000001192092896
1168                         }
1169                     ]
1170                 },
1171                 {
1172                     "name": "RollPI",
1173                     "type": "float32",
1174                     "unit": "",
1175                     "values": [
1176                         {
1177                             "name": "Kp",
1178                             "value": 2.5
1179                         },
1180                         {
1181                             "name": "Ki",
1182                             "value": 0
1183                         },
1184                         {
1185                             "name": "ILimit",
1186                             "value": 50
1187                         }
1188                     ]
1189                 },
1190                 {
1191                     "name": "PitchPI",
1192                     "type": "float32",
1193                     "unit": "",
1194                     "values": [
1195                         {
1196                             "name": "Kp",
1197                             "value": 2.5
1198                         },
1199                         {
1200                             "name": "Ki",
1201                             "value": 0
1202                         },
1203                         {
1204                             "name": "ILimit",
1205                             "value": 50
1206                         }
1207                     ]
1208                 },
1209                 {
1210                     "name": "YawPI",
1211                     "type": "float32",
1212                     "unit": "",
1213                     "values": [
1214                         {
1215                             "name": "Kp",
1216                             "value": 2.5
1217                         },
1218                         {
1219                             "name": "Ki",
1220                             "value": 0
1221                         },
1222                         {
1223                             "name": "ILimit",
1224                             "value": 50
1225                         }
1226                     ]
1227                 },
1228                 {
1229                     "name": "AcroInsanityFactor",
1230                     "type": "int8",
1231                     "unit": "percent",
1232                     "values": [
1233                         {
1234                             "name": "roll",
1235                             "value": 50
1236                         },
1237                         {
1238                             "name": "pitch",
1239                             "value": 50
1240                         },
1241                         {
1242                             "name": "yaw",
1243                             "value": 50
1244                         }
1245                     ]
1246                 },
1247                 {
1248                     "name": "ThrustPIDScaleCurve",
1249                     "type": "int8",
1250                     "unit": "percent",
1251                     "values": [
1252                         {
1253                             "name": "0",
1254                             "value": 30
1255                         },
1256                         {
1257                             "name": "25",
1258                             "value": 15
1259                         },
1260                         {
1261                             "name": "50",
1262                             "value": 0
1263                         },
1264                         {
1265                             "name": "75",
1266                             "value": -15
1267                         },
1268                         {
1269                             "name": "100",
1270                             "value": -30
1271                         }
1272                     ]
1273                 },
1274                 {
1275                     "name": "RollMax",
1276                     "type": "uint8",
1277                     "unit": "degrees",
1278                     "values": [
1279                         {
1280                             "name": "0",
1281                             "value": 55
1282                         }
1283                     ]
1284                 },
1285                 {
1286                     "name": "PitchMax",
1287                     "type": "uint8",
1288                     "unit": "degrees",
1289                     "values": [
1290                         {
1291                             "name": "0",
1292                             "value": 55
1293                         }
1294                     ]
1295                 },
1296                 {
1297                     "name": "YawMax",
1298                     "type": "uint8",
1299                     "unit": "degrees",
1300                     "values": [
1301                         {
1302                             "name": "0",
1303                             "value": 35
1304                         }
1305                     ]
1306                 },
1307                 {
1308                     "name": "StickExpo",
1309                     "type": "int8",
1310                     "unit": "percent",
1311                     "values": [
1312                         {
1313                             "name": "Roll",
1314                             "value": 0
1315                         },
1316                         {
1317                             "name": "Pitch",
1318                             "value": 0
1319                         },
1320                         {
1321                             "name": "Yaw",
1322                             "value": 0
1323                         }
1324                     ]
1325                 },
1326                 {
1327                     "name": "EnablePiroComp",
1328                     "type": "enum",
1329                     "unit": "",
1330                     "values": [
1331                         {
1332                             "name": "0",
1333                             "value": "TRUE"
1334                         }
1335                     ]
1336                 },
1337                 {
1338                     "name": "EnableThrustPIDScaling",
1339                     "type": "enum",
1340                     "unit": "",
1341                     "values": [
1342                         {
1343                             "name": "0",
1344                             "value": "FALSE"
1345                         }
1346                     ]
1347                 },
1348                 {
1349                     "name": "ThrustPIDScaleSource",
1350                     "type": "enum",
1351                     "unit": "",
1352                     "values": [
1353                         {
1354                             "name": "0",
1355                             "value": "ActuatorDesiredThrust"
1356                         }
1357                     ]
1358                 },
1359                 {
1360                     "name": "ThrustPIDScaleTarget",
1361                     "type": "enum",
1362                     "unit": "",
1363                     "values": [
1364                         {
1365                             "name": "0",
1366                             "value": "PID"
1367                         }
1368                     ]
1369                 },
1370                 {
1371                     "name": "ThrustPIDScaleAxes",
1372                     "type": "enum",
1373                     "unit": "",
1374                     "values": [
1375                         {
1376                             "name": "0",
1377                             "value": "Roll Pitch"
1378                         }
1379                     ]
1380                 }
1381             ],
1382             "id": "C02DAA6A",
1383             "instance": 0,
1384             "name": "StabilizationSettingsBank3",
1385             "setting": true
1386         },
1387         {
1388             "fields": [
1389                 {
1390                     "name": "ThrottleCurve1",
1391                     "type": "float32",
1392                     "unit": "percent",
1393                     "values": [
1394                         {
1395                             "name": "0",
1396                             "value": 0
1397                         },
1398                         {
1399                             "name": "25",
1400                             "value": 0.25
1401                         },
1402                         {
1403                             "name": "50",
1404                             "value": 0.5
1405                         },
1406                         {
1407                             "name": "75",
1408                             "value": 0.75
1409                         },
1410                         {
1411                             "name": "100",
1412                             "value": 1
1413                         }
1414                     ]
1415                 },
1416                 {
1417                     "name": "ThrottleCurve2",
1418                     "type": "float32",
1419                     "unit": "percent",
1420                     "values": [
1421                         {
1422                             "name": "0",
1423                             "value": 0
1424                         },
1425                         {
1426                             "name": "25",
1427                             "value": 0.25
1428                         },
1429                         {
1430                             "name": "50",
1431                             "value": 0.5
1432                         },
1433                         {
1434                             "name": "75",
1435                             "value": 0.75
1436                         },
1437                         {
1438                             "name": "100",
1439                             "value": 1
1440                         }
1441                     ]
1442                 },
1443                 {
1444                     "name": "MixerValueRoll",
1445                     "type": "int8",
1446                     "unit": "percent",
1447                     "values": [
1448                         {
1449                             "name": "0",
1450                             "value": 50
1451                         }
1452                     ]
1453                 },
1454                 {
1455                     "name": "MixerValuePitch",
1456                     "type": "int8",
1457                     "unit": "percent",
1458                     "values": [
1459                         {
1460                             "name": "0",
1461                             "value": 50
1462                         }
1463                     ]
1464                 },
1465                 {
1466                     "name": "MixerValueYaw",
1467                     "type": "int8",
1468                     "unit": "percent",
1469                     "values": [
1470                         {
1471                             "name": "0",
1472                             "value": 50
1473                         }
1474                     ]
1475                 },
1476                 {
1477                     "name": "Curve2Source",
1478                     "type": "enum",
1479                     "unit": "",
1480                     "values": [
1481                         {
1482                             "name": "0",
1483                             "value": "Throttle"
1484                         }
1485                     ]
1486                 },
1487                 {
1488                     "name": "Mixer1Type",
1489                     "type": "enum",
1490                     "unit": "",
1491                     "values": [
1492                         {
1493                             "name": "0",
1494                             "value": "Motor"
1495                         }
1496                     ]
1497                 },
1498                 {
1499                     "name": "Mixer1Vector",
1500                     "type": "int8",
1501                     "unit": "",
1502                     "values": [
1503                         {
1504                             "name": "ThrottleCurve1",
1505                             "value": 127
1506                         },
1507                         {
1508                             "name": "ThrottleCurve2",
1509                             "value": 0
1510                         },
1511                         {
1512                             "name": "Roll",
1513                             "value": 64
1514                         },
1515                         {
1516                             "name": "Pitch",
1517                             "value": 64
1518                         },
1519                         {
1520                             "name": "Yaw",
1521                             "value": -64
1522                         }
1523                     ]
1524                 },
1525                 {
1526                     "name": "Mixer2Type",
1527                     "type": "enum",
1528                     "unit": "",
1529                     "values": [
1530                         {
1531                             "name": "0",
1532                             "value": "Motor"
1533                         }
1534                     ]
1535                 },
1536                 {
1537                     "name": "Mixer2Vector",
1538                     "type": "int8",
1539                     "unit": "",
1540                     "values": [
1541                         {
1542                             "name": "ThrottleCurve1",
1543                             "value": 127
1544                         },
1545                         {
1546                             "name": "ThrottleCurve2",
1547                             "value": 0
1548                         },
1549                         {
1550                             "name": "Roll",
1551                             "value": -64
1552                         },
1553                         {
1554                             "name": "Pitch",
1555                             "value": 64
1556                         },
1557                         {
1558                             "name": "Yaw",
1559                             "value": 64
1560                         }
1561                     ]
1562                 },
1563                 {
1564                     "name": "Mixer3Type",
1565                     "type": "enum",
1566                     "unit": "",
1567                     "values": [
1568                         {
1569                             "name": "0",
1570                             "value": "Motor"
1571                         }
1572                     ]
1573                 },
1574                 {
1575                     "name": "Mixer3Vector",
1576                     "type": "int8",
1577                     "unit": "",
1578                     "values": [
1579                         {
1580                             "name": "ThrottleCurve1",
1581                             "value": 127
1582                         },
1583                         {
1584                             "name": "ThrottleCurve2",
1585                             "value": 0
1586                         },
1587                         {
1588                             "name": "Roll",
1589                             "value": -64
1590                         },
1591                         {
1592                             "name": "Pitch",
1593                             "value": -64
1594                         },
1595                         {
1596                             "name": "Yaw",
1597                             "value": -64
1598                         }
1599                     ]
1600                 },
1601                 {
1602                     "name": "Mixer4Type",
1603                     "type": "enum",
1604                     "unit": "",
1605                     "values": [
1606                         {
1607                             "name": "0",
1608                             "value": "Motor"
1609                         }
1610                     ]
1611                 },
1612                 {
1613                     "name": "Mixer4Vector",
1614                     "type": "int8",
1615                     "unit": "",
1616                     "values": [
1617                         {
1618                             "name": "ThrottleCurve1",
1619                             "value": 127
1620                         },
1621                         {
1622                             "name": "ThrottleCurve2",
1623                             "value": 0
1624                         },
1625                         {
1626                             "name": "Roll",
1627                             "value": 64
1628                         },
1629                         {
1630                             "name": "Pitch",
1631                             "value": -64
1632                         },
1633                         {
1634                             "name": "Yaw",
1635                             "value": 64
1636                         }
1637                     ]
1638                 },
1639                 {
1640                     "name": "Mixer5Type",
1641                     "type": "enum",
1642                     "unit": "",
1643                     "values": [
1644                         {
1645                             "name": "0",
1646                             "value": "Disabled"
1647                         }
1648                     ]
1649                 },
1650                 {
1651                     "name": "Mixer5Vector",
1652                     "type": "int8",
1653                     "unit": "",
1654                     "values": [
1655                         {
1656                             "name": "ThrottleCurve1",
1657                             "value": 0
1658                         },
1659                         {
1660                             "name": "ThrottleCurve2",
1661                             "value": 0
1662                         },
1663                         {
1664                             "name": "Roll",
1665                             "value": 0
1666                         },
1667                         {
1668                             "name": "Pitch",
1669                             "value": 0
1670                         },
1671                         {
1672                             "name": "Yaw",
1673                             "value": 0
1674                         }
1675                     ]
1676                 },
1677                 {
1678                     "name": "Mixer6Type",
1679                     "type": "enum",
1680                     "unit": "",
1681                     "values": [
1682                         {
1683                             "name": "0",
1684                             "value": "Disabled"
1685                         }
1686                     ]
1687                 },
1688                 {
1689                     "name": "Mixer6Vector",
1690                     "type": "int8",
1691                     "unit": "",
1692                     "values": [
1693                         {
1694                             "name": "ThrottleCurve1",
1695                             "value": 0
1696                         },
1697                         {
1698                             "name": "ThrottleCurve2",
1699                             "value": 0
1700                         },
1701                         {
1702                             "name": "Roll",
1703                             "value": 0
1704                         },
1705                         {
1706                             "name": "Pitch",
1707                             "value": 0
1708                         },
1709                         {
1710                             "name": "Yaw",
1711                             "value": 0
1712                         }
1713                     ]
1714                 },
1715                 {
1716                     "name": "Mixer7Type",
1717                     "type": "enum",
1718                     "unit": "",
1719                     "values": [
1720                         {
1721                             "name": "0",
1722                             "value": "Disabled"
1723                         }
1724                     ]
1725                 },
1726                 {
1727                     "name": "Mixer7Vector",
1728                     "type": "int8",
1729                     "unit": "",
1730                     "values": [
1731                         {
1732                             "name": "ThrottleCurve1",
1733                             "value": 0
1734                         },
1735                         {
1736                             "name": "ThrottleCurve2",
1737                             "value": 0
1738                         },
1739                         {
1740                             "name": "Roll",
1741                             "value": 0
1742                         },
1743                         {
1744                             "name": "Pitch",
1745                             "value": 0
1746                         },
1747                         {
1748                             "name": "Yaw",
1749                             "value": 0
1750                         }
1751                     ]
1752                 },
1753                 {
1754                     "name": "Mixer8Type",
1755                     "type": "enum",
1756                     "unit": "",
1757                     "values": [
1758                         {
1759                             "name": "0",
1760                             "value": "Disabled"
1761                         }
1762                     ]
1763                 },
1764                 {
1765                     "name": "Mixer8Vector",
1766                     "type": "int8",
1767                     "unit": "",
1768                     "values": [
1769                         {
1770                             "name": "ThrottleCurve1",
1771                             "value": 0
1772                         },
1773                         {
1774                             "name": "ThrottleCurve2",
1775                             "value": 0
1776                         },
1777                         {
1778                             "name": "Roll",
1779                             "value": 0
1780                         },
1781                         {
1782                             "name": "Pitch",
1783                             "value": 0
1784                         },
1785                         {
1786                             "name": "Yaw",
1787                             "value": 0
1788                         }
1789                     ]
1790                 },
1791                 {
1792                     "name": "Mixer9Type",
1793                     "type": "enum",
1794                     "unit": "",
1795                     "values": [
1796                         {
1797                             "name": "0",
1798                             "value": "Disabled"
1799                         }
1800                     ]
1801                 },
1802                 {
1803                     "name": "Mixer9Vector",
1804                     "type": "int8",
1805                     "unit": "",
1806                     "values": [
1807                         {
1808                             "name": "ThrottleCurve1",
1809                             "value": 0
1810                         },
1811                         {
1812                             "name": "ThrottleCurve2",
1813                             "value": 0
1814                         },
1815                         {
1816                             "name": "Roll",
1817                             "value": 0
1818                         },
1819                         {
1820                             "name": "Pitch",
1821                             "value": 0
1822                         },
1823                         {
1824                             "name": "Yaw",
1825                             "value": 0
1826                         }
1827                     ]
1828                 },
1829                 {
1830                     "name": "Mixer10Type",
1831                     "type": "enum",
1832                     "unit": "",
1833                     "values": [
1834                         {
1835                             "name": "0",
1836                             "value": "Disabled"
1837                         }
1838                     ]
1839                 },
1840                 {
1841                     "name": "Mixer10Vector",
1842                     "type": "int8",
1843                     "unit": "",
1844                     "values": [
1845                         {
1846                             "name": "ThrottleCurve1",
1847                             "value": 0
1848                         },
1849                         {
1850                             "name": "ThrottleCurve2",
1851                             "value": 0
1852                         },
1853                         {
1854                             "name": "Roll",
1855                             "value": 0
1856                         },
1857                         {
1858                             "name": "Pitch",
1859                             "value": 0
1860                         },
1861                         {
1862                             "name": "Yaw",
1863                             "value": 0
1864                         }
1865                     ]
1866                 },
1867                 {
1868                     "name": "Mixer11Type",
1869                     "type": "enum",
1870                     "unit": "",
1871                     "values": [
1872                         {
1873                             "name": "0",
1874                             "value": "Disabled"
1875                         }
1876                     ]
1877                 },
1878                 {
1879                     "name": "Mixer11Vector",
1880                     "type": "int8",
1881                     "unit": "",
1882                     "values": [
1883                         {
1884                             "name": "ThrottleCurve1",
1885                             "value": 0
1886                         },
1887                         {
1888                             "name": "ThrottleCurve2",
1889                             "value": 0
1890                         },
1891                         {
1892                             "name": "Roll",
1893                             "value": 0
1894                         },
1895                         {
1896                             "name": "Pitch",
1897                             "value": 0
1898                         },
1899                         {
1900                             "name": "Yaw",
1901                             "value": 0
1902                         }
1903                     ]
1904                 },
1905                 {
1906                     "name": "Mixer12Type",
1907                     "type": "enum",
1908                     "unit": "",
1909                     "values": [
1910                         {
1911                             "name": "0",
1912                             "value": "Disabled"
1913                         }
1914                     ]
1915                 },
1916                 {
1917                     "name": "Mixer12Vector",
1918                     "type": "int8",
1919                     "unit": "",
1920                     "values": [
1921                         {
1922                             "name": "ThrottleCurve1",
1923                             "value": 0
1924                         },
1925                         {
1926                             "name": "ThrottleCurve2",
1927                             "value": 0
1928                         },
1929                         {
1930                             "name": "Roll",
1931                             "value": 0
1932                         },
1933                         {
1934                             "name": "Pitch",
1935                             "value": 0
1936                         },
1937                         {
1938                             "name": "Yaw",
1939                             "value": 0
1940                         }
1941                     ]
1942                 }
1943             ],
1944             "id": "7BF2CFA8",
1945             "instance": 0,
1946             "name": "MixerSettings",
1947             "setting": true
1948         },
1949         {
1950             "fields": [
1951                 {
1952                     "name": "P",
1953                     "type": "float32",
1954                     "unit": "1^2",
1955                     "values": [
1956                         {
1957                             "name": "PositionNorth",
1958                             "value": 10
1959                         },
1960                         {
1961                             "name": "PositionEast",
1962                             "value": 10
1963                         },
1964                         {
1965                             "name": "PositionDown",
1966                             "value": 10
1967                         },
1968                         {
1969                             "name": "VelocityNorth",
1970                             "value": 1
1971                         },
1972                         {
1973                             "name": "VelocityEast",
1974                             "value": 1
1975                         },
1976                         {
1977                             "name": "VelocityDown",
1978                             "value": 1
1979                         },
1980                         {
1981                             "name": "AttitudeQ1",
1982                             "value": 0.0070000002160668373
1983                         },
1984                         {
1985                             "name": "AttitudeQ2",
1986                             "value": 0.0070000002160668373
1987                         },
1988                         {
1989                             "name": "AttitudeQ3",
1990                             "value": 0.0070000002160668373
1991                         },
1992                         {
1993                             "name": "AttitudeQ4",
1994                             "value": 0.0070000002160668373
1995                         },
1996                         {
1997                             "name": "GyroDriftX",
1998                             "value": 9.9999999747524271e-07
1999                         },
2000                         {
2001                             "name": "GyroDriftY",
2002                             "value": 9.9999999747524271e-07
2003                         },
2004                         {
2005                             "name": "GyroDriftZ",
2006                             "value": 9.9999999747524271e-07
2007                         }
2008                     ]
2009                 },
2010                 {
2011                     "name": "Q",
2012                     "type": "float32",
2013                     "unit": "1^2",
2014                     "values": [
2015                         {
2016                             "name": "GyroX",
2017                             "value": 0.0099999997764825821
2018                         },
2019                         {
2020                             "name": "GyroY",
2021                             "value": 0.0099999997764825821
2022                         },
2023                         {
2024                             "name": "GyroZ",
2025                             "value": 0.0099999997764825821
2026                         },
2027                         {
2028                             "name": "AccelX",
2029                             "value": 0.0099999997764825821
2030                         },
2031                         {
2032                             "name": "AccelY",
2033                             "value": 0.0099999997764825821
2034                         },
2035                         {
2036                             "name": "AccelZ",
2037                             "value": 0.0099999997764825821
2038                         },
2039                         {
2040                             "name": "GyroDriftX",
2041                             "value": 9.9999999747524271e-07
2042                         },
2043                         {
2044                             "name": "GyroDriftY",
2045                             "value": 9.9999999747524271e-07
2046                         },
2047                         {
2048                             "name": "GyroDriftZ",
2049                             "value": 9.9999999747524271e-07
2050                         }
2051                     ]
2052                 },
2053                 {
2054                     "name": "R",
2055                     "type": "float32",
2056                     "unit": "1^2",
2057                     "values": [
2058                         {
2059                             "name": "GPSPosNorth",
2060                             "value": 1
2061                         },
2062                         {
2063                             "name": "GPSPosEast",
2064                             "value": 1
2065                         },
2066                         {
2067                             "name": "GPSPosDown",
2068                             "value": 1000000
2069                         },
2070                         {
2071                             "name": "GPSVelNorth",
2072                             "value": 0.0010000000474974513
2073                         },
2074                         {
2075                             "name": "GPSVelEast",
2076                             "value": 0.0010000000474974513
2077                         },
2078                         {
2079                             "name": "GPSVelDown",
2080                             "value": 0.0010000000474974513
2081                         },
2082                         {
2083                             "name": "MagX",
2084                             "value": 10
2085                         },
2086                         {
2087                             "name": "MagY",
2088                             "value": 10
2089                         },
2090                         {
2091                             "name": "MagZ",
2092                             "value": 10
2093                         },
2094                         {
2095                             "name": "BaroZ",
2096                             "value": 0.0099999997764825821
2097                         }
2098                     ]
2099                 },
2100                 {
2101                     "name": "FakeR",
2102                     "type": "float32",
2103                     "unit": "1^2",
2104                     "values": [
2105                         {
2106                             "name": "FakeGPSPosIndoor",
2107                             "value": 10
2108                         },
2109                         {
2110                             "name": "FakeGPSVelIndoor",
2111                             "value": 1
2112                         },
2113                         {
2114                             "name": "FakeGPSVelAirspeed",
2115                             "value": 1000
2116                         }
2117                     ]
2118                 }
2119             ],
2120             "id": "5E91213C",
2121             "instance": 0,
2122             "name": "EKFConfiguration",
2123             "setting": true
2124         }
2125     ],
2126     "owner": "Roman",
2127     "propeller": "GF 5040/5030",
2128     "servo": "",
2129     "size": "250 mm",
2130     "subtype": 2,
2131     "type": 1,
2132     "uuid": "{0fda3830-6fd3-4ceb-908b-dfac61e7adb8}",
2133     "weight": "530g (with Mobius)"
2134 }