From 759e34e70c0f50f0001489016a19e3c06e4df2b7 Mon Sep 17 00:00:00 2001
From: pixhawk <pixhawk@pixhawk04.(none)>
Date: Sat, 3 Jul 2010 15:49:06 +0200
Subject: [PATCH] bravo parameters saved

---
 parameters_bravo.txt            | 18 +++++++++++-------
 waypoints-final-pole-racing.txt |  9 +++++++++
 waypoints_A0_circlev2.txt       | 20 ++++++++++----------
 3 files changed, 30 insertions(+), 17 deletions(-)
 create mode 100644 waypoints-final-pole-racing.txt

diff --git a/parameters_bravo.txt b/parameters_bravo.txt
index 6f4eceecb..b853acb2e 100644
--- a/parameters_bravo.txt
+++ b/parameters_bravo.txt
@@ -20,21 +20,23 @@
 42	200	DEBUG_4	0
 42	200	DEBUG_5	0
 42	200	DEBUG_6	0
-42	200	GYRO_OFFSET_X	29830
-42	200	GYRO_OFFSET_Y	29990
-42	200	GYRO_OFFSET_Z	29440
-42	200	MIX_OFFSET	1
+42	200	GYRO_OFFSET_X	29884
+42	200	GYRO_OFFSET_Y	29943
+42	200	GYRO_OFFSET_Z	29479
+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	10
-42	200	PID_ATT_I	10
-42	200	PID_ATT_P	40
+42	200	PID_ATT_I	20
+42	200	PID_ATT_LIM	100
+42	200	PID_ATT_P	55
 42	200	PID_POS_AWU	5
 42	200	PID_POS_D	2
 42	200	PID_POS_I	0.25
+42	200	PID_POS_LIM	0.2
 42	200	PID_POS_P	1.7
 42	200	PID_POS_Z_AWU	3
 42	200	PID_POS_Z_D	0.2
@@ -44,11 +46,13 @@
 42	200	PID_YAWPOS_AWU	1
 42	200	PID_YAWPOS_D	1
 42	200	PID_YAWPOS_I	0.1
+42	200	PID_YAWPOS_LIM	2
 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_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
diff --git a/waypoints-final-pole-racing.txt b/waypoints-final-pole-racing.txt
new file mode 100644
index 000000000..6a4b4ba55
--- /dev/null
+++ b/waypoints-final-pole-racing.txt
@@ -0,0 +1,9 @@
+	0	1.60066	0.497923	-0.7	-0.156858	1	1	0.15	2000
+	1	0.973377	0.691139	-0.7	-0.0664193	1	0	0.15	2000
+	2	0.646637	1.57225	-0.7	6.26573	1	0	0.15	2000
+	3	0.659852	2.39951	-0.7	-0.0549587	1	0	0.15	2000
+	4	1.41441	2.8804	-0.7	-0.0258336	1	0	0.15	2000
+	5	2.33563	2.90308	-0.7	-0.0621037	1	0	0.15	2000
+	6	2.76383	2.04368	-0.7	-0.0381553	1	0	0.15	2000
+	7	2.73091	1.05595	-0.7	-0.0520457	1	0	0.15	2000
+	8	1.73409	0.599043	0	6.26573	1	0	0.15	2000
diff --git a/waypoints_A0_circlev2.txt b/waypoints_A0_circlev2.txt
index 1d366e188..e2e684c3a 100644
--- a/waypoints_A0_circlev2.txt
+++ b/waypoints_A0_circlev2.txt
@@ -1,10 +1,10 @@
-	0	1.75	0.5	-0.7	0	1	1	0.3	10000
-	1	0.95	0.5	-0.7	0	1	0	0.3	2000
-	2	0.5	1.5	-0.7	0	1	0	0.3	2000
-	3	0.5	2.8	-0.7	0	1	0	0.3	2000
-	4	1.75	2.8	-0.7	0	1	0	0.3	2000
-	5	2.8	2.8	-0.7	0	1	0	0.3	2000
-	6	2.8	1.75	-0.7	0	1	0	0.3	2000
-	7	2.8	0.7	-0.7	0	1	0	0.3	2000
-	8	1.75	0.5	-0.7	0	1	0	0.3	2000
-	9	1.75	0.5	0	0	0	0	0.3	2000
+	0	1.75	0.5	-0.7	0	1	1	0.15	10000
+	1	0.95	0.5	-0.7	0	1	0	0.15	2000
+	2	0.5	1.5	-0.7	0	1	0	0.15	2000
+	3	0.5	2.8	-0.7	0	1	0	0.15	2000
+	4	1.75	2.8	-0.7	0	1	0	0.15	2000
+	5	2.8	2.8	-0.7	0	1	0	0.15	2000
+	6	2.8	1.75	-0.7	0	1	0	0.15	2000
+	7	2.8	0.7	-0.7	0	1	0	0.15	2000
+	8	1.75	0.5	-0.7	0	1	0	0.15	2000
+	9	1.75	0.5	0	0	0	0	0.15	2000
-- 
2.22.0