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
PSC_ACCZ_I,0.5         
PSC_ACCZ_P,	0.25        
PSC_POSXY_P	,5         
PSC_POSZ_P,5           
PSC_VELZ_P	,7          
PSC_VELXY_D, 1
PSC_VELXY_I , 3
PSC_VELXY_P ,3
PSC_VELZ_D , 0.7
PSC_VELZ_I ,7
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