#-----------------------
# Autopilot config file
#-----------------------

# Coordinated rudder controller
rudder_Kp = 1.0
rudder_Ti = 0.5
rudder_Td = 1.0
rudder_heading_Kp = 0.1
rudder_heading_Ti = 5.0
rudder_heading_Td = 0.5


# Altitude hold module
min_climb        = 100km/h
best_climb       = 115km/h
ideal_climb_rate = 4.0m/s

elevator_Kp = 0.15
elevator_Ki = 0.1
elevator_Kd = 0.05

throttle_Kp = 1.0
throttle_Ki = 0.01
throttle_Kd = 0.0

takeoff_speed = 110km/h

# New regulator parameters from here

# Auto pitch
apitch_Kp = 20.0
apitch_Ti = 0.3
apitch_Td = 0.2
#apitch_cal = 15.0

auto_throttle_speed_Kp = 1.0
auto_throttle_speed_Ti = 10.0
auto_throttle_speed_Td = 0.0

auto_pitch_altitude_Kp = 0.05
auto_pitch_altitude_Ti = 3.0
auto_pitch_altitude_Td = 0.0

auto_pitch_speed_Kp = 0.07
auto_pitch_speed_Ti = 3.5
auto_pitch_speed_Td = 0.1
auto_pitch_speed_maxpitch = 25.0
auto_pitch_speed_minpitch = -45.0

# Glide speed
gspitch_Kp = 0.5
auto_throttle_altitude_pid_gspitch_Ti = 3.0
gspitch_Td = 0.0
gsmaxpitch = 45.0
gsminpitch = -45.0
#gspitch_cal = 200.0

# Auto roll
aroll_Kp = 5.0
aroll_Ti = 0.8
aroll_Td = 0.2
#aroll_cal = 60.0

# Heading hold
hhold_Kp = 0.01
hhold_Ti = 20.0
hhold_Td = 2.0
hhold_roll = 60.0

