EK3_ALT_GPS,6
AHRS_GPS_USE	,	2
ARMING_ACCTHRESH	,	1.5
ARMING_GYRTHRESH	,	10
INS_GYRO_FILTER,49
EK3_ALT_GPS	,	6
EK3_GLITCH_RAD	,	0
EK3_HGT_I_GATE	,	1000
EK3_IMU_MASK	,	1
EK3_POS_I_GATE	,	600
EK3_RNG_I_GATE	,	300
EK3_SRC1_POSZ	,	3
EK3_VEL_I_GATE	,	600
EK3_VELD_M_NSE	,	0.02
EK3_VELNE_M_NSE	,	0.02
FC_LOG_LEVEL	,	4
FS_EKF_THRESH	,	1
GPS_POS1_X	,	0.04
ATC_RAT_PIT_D,0.0025
ATC_RAT_PIT_I,0.08
ATC_RAT_PIT_P,0.08

ATC_RAT_RLL_D,0.002
ATC_RAT_RLL_I,0.08
ATC_RAT_RLL_P,0.08

ATC_RAT_YAW_D,0.03
ATC_RAT_YAW_I,2
ATC_RAT_YAW_P,1


ATC_ACCEL_P_MAX,132700
ATC_ACCEL_R_MAX,132700
ATC_ACCEL_Y_MAX,28500
ATC_ANG_LIM_TC,1
ATC_ANG_PIT_P,4.5
ATC_ANG_RLL_P,4.5
ATC_ANG_YAW_P,4.5
ATC_ANGLE_BOOST,1
ATC_INPUT_TC,0.15

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_IMAX,0.5

ATC_RAT_PIT_SMAX,0

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_IMAX,0.5

ATC_RAT_RLL_SMAX,0

ATC_RAT_YAW_FF,0
ATC_RAT_YAW_FLTD,0
ATC_RAT_YAW_FLTE,2
ATC_RAT_YAW_FLTT,24.5

ATC_RAT_YAW_IMAX,0.5

ATC_RAT_YAW_SMAX,0
ATC_RATE_FF_ENAB,1
ATC_RATE_P_MAX,0
ATC_RATE_R_MAX,0
ATC_RATE_Y_MAX,0
ATC_SLEW_YAW,6000
ATC_THR_G_BOOST,0
ATC_THR_MIX_MAN,0.9
ATC_THR_MIX_MAX,0.9
ATC_THR_MIX_MIN,0.1

PSC_ACCZ_D,0
PSC_ACCZ_FF,0
PSC_ACCZ_FLTD,0
PSC_ACCZ_FLTE,20
PSC_ACCZ_FLTT,0
PSC_ACCZ_I,0.5
PSC_ACCZ_IMAX,800
PSC_ACCZ_P,0.25
PSC_ACCZ_SMAX,0
PSC_ANGLE_MAX,0
PSC_JERK_XY,5
PSC_JERK_Z,5
PSC_POSXY_P,5
PSC_POSZ_P,5
PSC_VELXY_D,0.5
PSC_VELXY_FF,0
PSC_VELXY_FLTD,5
PSC_VELXY_FLTE,5
PSC_VELXY_I,3
PSC_VELXY_IMAX,1000
PSC_VELXY_P,3
PSC_VELZ_D,0.7
PSC_VELZ_FF,0
PSC_VELZ_FLTD,5
PSC_VELZ_FLTE,5
PSC_VELZ_I,7
PSC_VELZ_IMAX,1000
PSC_VELZ_P,7

INS_HNTCH_ENABLE,1