############################## SLR SIMPLECONFIG ############################
# this is a comment. [X] is a namespace. [X:Y] initializes X from Y
# Namespace and parameter names are not case-sensitive
# X=Y sets X to Y. Y may be a string, float, or list of 3 floats
############################################################################

[QuadControlParams]

UseIdealEstimator=1

# Physical properties
Mass = 0.5
# [.478 .492 @ 0.09]
L = 0.17
Ixx = 0.0023
Iyy = 0.0023
Izz = 0.0046
kappa = 0.016
minMotorThrust = .1
maxMotorThrust = 4.5

# Position control gains
kpPosXY = 30
kpPosZ = 20
KiPosZ = 40

# Velocity control gains
kpVelXY = 12.0
kpVelZ = 9.0

# Angle control gains
kpBank = 10
kpYaw = 2

# Angle rate gains
kpPQR = 95, 95, 6

# Position control gains
# kpPosXY = 30
# kpPosZ = 20
# KiPosZ = 40

# Velocity control gains
# kpVelXY = 12.0
# kpVelZ = 9.0

# Angle control gains
# kpBank = 10
# kpYaw = 2

# Angle rate gains
# kpPQR = 95, 95, 6

# limits
maxAscentRate = 5
maxDescentRate = 2
maxSpeedXY = 5
maxHorizAccel = 12
maxTiltAngle = .7