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  • Moderator
    Graham Dyer May 19, 2012 at 5:52am

    Here's all of them, I'll put them in the wiki:

     CH6_NONE 0
    // Attitude
     CH6_STABILIZE_KP 1
     CH6_STABILIZE_KI 2
     CH6_STABILIZE_KD 29        // duplicate with CH6_DAMP
     CH6_YAW_KP 3
     CH6_YAW_KI 24
    // Rate
     CH6_ACRO_KP 25
     CH6_RATE_KP 4
     CH6_RATE_KI 5
     CH6_RATE_KD 21
     CH6_YAW_RATE_KP 6
     CH6_YAW_RATE_KD 26
    // Altitude rate controller
     CH6_THROTTLE_KP 7
    // Extras
     CH6_TOP_BOTTOM_RATIO 8
     CH6_RELAY 9
    // Navigation
     CH6_TRAVERSE_SPEED 10    // maximum speed to next way point
     CH6_NAV_KP 11
     CH6_LOITER_KP 12
     CH6_LOITER_KI 27

    // Trad Heli specific
     CH6_HELI_EXTERNAL_GYRO 13

    // altitude controller
     CH6_THR_HOLD_KP 14
     CH6_Z_GAIN 15
     CH6_DAMP 16        // duplicate with CH6_YAW_RATE_KD

    // optical flow controller
     CH6_OPTFLOW_KP 17
     CH6_OPTFLOW_KI 18
     CH6_OPTFLOW_KD 19

     CH6_NAV_I 20
     CH6_LOITER_RATE_KP 22
     CH6_LOITER_RATE_KI 28
     CH6_LOITER_RATE_KD 23

     CH6_AHRS_YAW_KP 30

  • Moderator
    Dean Wynton May 19, 2012 at 2:48am

    Here Gareth

    CH6 STABILIZE KP = 1

    CH6 STABILIZE KI = 2

    CH6 STABILIZE KD = 29

    CH6 YAW KP = 3

    CH6 YAW KI = 24

    CH6 ACRO KP = 25

    CH6 RATE KP = 4

    CH6 RATE KI = 5

    CH6 RATE KD = 21

    CH6 YAW RATE KP = 6

    CH6 YAW RATE KD = 26

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