AHRS_GPS_USE,2
ARMING_ACCTHRESH,1.5
ARMING_GYRTHRESH,10
DISARM_DELAY,0
RTL_LOIT_TIME,1000
WP_YAW_BEHAVIOR,0
FC_LOG_LEVEL,4
FS_EKF_THRESH,1
EK3_SRC1_POSZ,3
EK3_IMU_MASK,1
EK3_ALT_GPS,6
EK3_POS_I_GATE,600
EK3_VEL_I_GATE,600
EK3_HGT_I_GATE ,1000
EK3_VELD_M_NSE ,0.02
EK3_VELNE_M_NSE, 0.02
EK3_GLITCH_RAD,0 
WPNAV_ACCEL_Z,200      
WPNAV_RADIUS,	100       
WPNAV_SPEED,1200       
WPNAV_SPEED_DN,500          
WPNAV_SPEED_UP,	500        
FC_WP_ACC_XY ,200
FC_WP_LEADPER, 0.15
INS_GYRO_FILTER,49
ATC_ACCEL_P_MAX,132700
ATC_ACCEL_R_MAX,132700
ATC_ACCEL_Y_MAX,28500
ATC_RAT_PIT_D,0.003
ATC_RAT_PIT_FF,0
ATC_RAT_PIT_FLTD,24.5
ATC_RAT_PIT_FLTE,0
ATC_RAT_PIT_FLTT,24.5
ATC_RAT_PIT_I,0.14
ATC_RAT_PIT_IMAX,0.5
ATC_RAT_PIT_P,0.14
ATC_RAT_PIT_SMAX,0
ATC_RAT_RLL_D,0.003
ATC_RAT_RLL_FF,0
ATC_RAT_RLL_FLTD,24.5
ATC_RAT_RLL_FLTE,0
ATC_RAT_RLL_FLTT,24.5
ATC_RAT_RLL_I,0.12
ATC_RAT_RLL_IMAX,0.5
ATC_RAT_RLL_P,0.12
ATC_RAT_RLL_SMAX,0
ATC_RAT_YAW_D,0.02
ATC_RAT_YAW_FF,0
ATC_RAT_YAW_FLTD,0
ATC_RAT_YAW_FLTE,2
ATC_RAT_YAW_FLTT,24.5
ATC_RAT_YAW_I,0.1
ATC_RAT_YAW_IMAX,0.5
ATC_RAT_YAW_P,1
PSC_ACCZ_D,0.01
PSC_ACCZ_FF,0
PSC_ACCZ_FLTD,0
PSC_ACCZ_FLTE,20
PSC_ACCZ_FLTT,0
PSC_ACCZ_I,1
PSC_ACCZ_IMAX,800
PSC_ACCZ_P,0.35
PSC_ACCZ_SMAX,0
PSC_ANGLE_MAX,0
PSC_JERK_XY,5
PSC_JERK_Z,5
PSC_POSXY_P,1
PSC_POSZ_P,1
PSC_VELXY_D,0.3
PSC_VELXY_FF,0
PSC_VELXY_FLTD,5
PSC_VELXY_FLTE,5
PSC_VELXY_I,1
PSC_VELXY_IMAX,1000
PSC_VELXY_P,2
PSC_VELZ_D,0
PSC_VELZ_FF,0
PSC_VELZ_FLTD,5
PSC_VELZ_FLTE,5
PSC_VELZ_I,0.05
PSC_VELZ_IMAX,1000
PSC_VELZ_P,5