from log
the copter is working in poshold mode
but the psc plot seem doesnt work, because the targer pos and target vel always zero .
Are there any parameters that can improve the situation？ thanks for your help
Onboard parameters for Vehicle 1
Stack: ArduPilot
Vehicle:
Version: 3.6.10
Git Revision: 1c04a91
Vehicle-Id Component-Id Name Value Type
1 1 ACRO_BAL_PITCH 1.000000000000000000 9
1 1 ACRO_BAL_ROLL 1.000000000000000000 9
1 1 ACRO_RP_EXPO 0.300000011920928955 9
1 1 ACRO_RP_P 4.500000000000000000 9
1 1 ACRO_THR_MID 0.000000000000000000 9
1 1 ACRO_TRAINER 2 2
1 1 ACRO_YAW_P 1.000000000000000000 9
1 1 ACRO_Y_EXPO 0.000000000000000000 9
1 1 ADSB_ENABLE 0 2
1 1 AHRS_COMP_BETA 0.100000001490116119 9
1 1 AHRS_CUSTOM_PIT 0.000000000000000000 9
1 1 AHRS_CUSTOM_ROLL 0.000000000000000000 9
1 1 AHRS_CUSTOM_YAW 0.000000000000000000 9
1 1 AHRS_EKF_TYPE 2 2
1 1 AHRS_GPS_GAIN 1.000000000000000000 9
1 1 AHRS_GPS_MINSATS 6 2
1 1 AHRS_GPS_USE 1 2
1 1 AHRS_ORIENTATION 0 2
1 1 AHRS_RP_P 0.200000002980232239 9
1 1 AHRS_TRIM_X -0.007163815665990114 9
1 1 AHRS_TRIM_Y -0.010027877055108547 9
1 1 AHRS_TRIM_Z 0.000000000000000000 9
1 1 AHRS_WIND_MAX 0 2
1 1 AHRS_YAW_P 0.200000002980232239 9
1 1 ANGLE_MAX 2600 4
1 1 ARMING_ACCTHRESH 0.750000000000000000 9
1 1 ARMING_CHECK 1 4
1 1 ARMING_RUDDER 2 2
1 1 ARMING_VOLT2_MIN 0.000000000000000000 9
1 1 ARMING_VOLT_MIN 0.000000000000000000 9
1 1 ATC_ACCEL_P_MAX 35738.707031250000000000 9
1 1 ATC_ACCEL_R_MAX 32810.710937500000000000 9
1 1 ATC_ACCEL_Y_MAX 2620.215576171875000000 9
1 1 ATC_ANGLE_BOOST 0 2
1 1 ATC_ANG_LIM_TC 1.000000000000000000 9
1 1 ATC_ANG_PIT_P 6.000000000000000000 9
1 1 ATC_ANG_RLL_P 6.000000000000000000 9
1 1 ATC_ANG_YAW_P 6.000000000000000000 9
1 1 ATC_INPUT_TC 0.150000005960464478 9
1 1 ATC_RATE_FF_ENAB 1 2
1 1 ATC_RATE_P_MAX 0.000000000000000000 9
1 1 ATC_RATE_R_MAX 0.000000000000000000 9
1 1 ATC_RATE_Y_MAX 0.000000000000000000 9
1 1 ATC_RAT_PIT_D 0.008000000379979610 9
1 1 ATC_RAT_PIT_FF 0.000000000000000000 9
1 1 ATC_RAT_PIT_FILT 20.000000000000000000 9
1 1 ATC_RAT_PIT_I 0.180000007152557373 9
1 1 ATC_RAT_PIT_IMAX 0.500000000000000000 9
1 1 ATC_RAT_PIT_P 0.180000007152557373 9
1 1 ATC_RAT_RLL_D 0.008000000379979610 9
1 1 ATC_RAT_RLL_FF 0.000000000000000000 9
1 1 ATC_RAT_RLL_FILT 20.000000000000000000 9
1 1 ATC_RAT_RLL_I 0.180000007152557373 9
1 1 ATC_RAT_RLL_IMAX 0.500000000000000000 9
1 1 ATC_RAT_RLL_P 0.180000007152557373 9
1 1 ATC_RAT_YAW_D 0.000000000000000000 9
1 1 ATC_RAT_YAW_FF 0.000000000000000000 9
1 1 ATC_RAT_YAW_FILT 1.000000000000000000 9
1 1 ATC_RAT_YAW_I 0.107918933033943176 9
1 1 ATC_RAT_YAW_IMAX 1.000000000000000000 9
1 1 ATC_RAT_YAW_P 0.579189300537109375 9
1 1 ATC_SLEW_YAW 2022.500000000000000000 9
1 1 ATC_THR_MIX_MAN 0.500000000000000000 9
1 1 ATC_THR_MIX_MAX 0.899999976158142090 9
1 1 ATC_THR_MIX_MIN 0.200000002980232239 9
1 1 AUTOTUNE_AGGR 0.100000001490116119 9
1 1 AUTOTUNE_AXES 7 2
1 1 AUTOTUNE_MIN_D 0.001000000047497451 9
1 1 AVD_ENABLE 0 2
1 1 AVOID_ANGLE_MAX 1000 4
1 1 AVOID_BEHAVE 0 2
1 1 AVOID_DIST_MAX 5.000000000000000000 9
1 1 AVOID_ENABLE 3 2
1 1 AVOID_MARGIN 2.000000000000000000 9
1 1 BATT2_MONITOR 0 2
1 1 BATT_AMP_OFFSET 0.000000000000000000 9
1 1 BATT_AMP_PERVLT 17.000000000000000000 9
1 1 BATT_CAPACITY 44000 6
1 1 BATT_CRT_MAH 0.000000000000000000 9
1 1 BATT_CRT_VOLT 44.000000000000000000 9
1 1 BATT_CURR_PIN 3 2
1 1 BATT_FS_CRT_ACT 2 2
1 1 BATT_FS_LOW_ACT 2 2
1 1 BATT_FS_VOLTSRC 0 2
1 1 BATT_LOW_MAH 0.000000000000000000 9
1 1 BATT_LOW_TIMER 10 2
1 1 BATT_LOW_VOLT 44.000000000000000000 9
1 1 BATT_MONITOR 3 2
1 1 BATT_SERIAL_NUM -1 6
1 1 BATT_VOLT_MULT 19.138265609741210938 9
1 1 BATT_VOLT_PIN 2 2
1 1 BCN_ALT 0.000000000000000000 9
1 1 BCN_LATITUDE 0.000000000000000000 9
1 1 BCN_LONGITUDE 0.000000000000000000 9
1 1 BCN_ORIENT_YAW 0 4
1 1 BCN_TYPE 0 2
1 1 BRD_IMU_TARGTEMP 45 2
1 1 BRD_IO_ENABLE 1 2
1 1 BRD_OPTIONS 1 6
1 1 BRD_PWM_COUNT 4 2
1 1 BRD_RTC_TYPES 1 2
1 1 BRD_SAFETYENABLE 1 2
1 1 BRD_SAFETYOPTION 3 4
1 1 BRD_SAFETY_MASK 16320 6
1 1 BRD_SBUS_OUT 0 2
1 1 BRD_SD_SLOWDOWN 0 2
1 1 BRD_SER1_RTSCTS 2 2
1 1 BRD_SER2_RTSCTS 2 2
1 1 BRD_SERIAL_NUM 0 4
1 1 BRD_TYPE 3 2
1 1 BTN_ENABLE 0 2
1 1 CAM_AUTO_ONLY 0 2
1 1 CAM_DURATION 10 2
1 1 CAM_FEEDBACK_PIN -1 2
1 1 CAM_FEEDBACK_POL 1 2
1 1 CAM_MAX_ROLL 0 4
1 1 CAM_MIN_INTERVAL 0 4
1 1 CAM_RELAY_ON 1 2
1 1 CAM_SERVO_OFF 1100 4
1 1 CAM_SERVO_ON 1300 4
1 1 CAM_TRIGG_DIST 0.000000000000000000 9
1 1 CAM_TRIGG_TYPE 0 2
1 1 CAN_D1_PROTOCOL 1 2
1 1 CAN_D2_PROTOCOL 1 2
1 1 CAN_P1_DRIVER 0 2
1 1 CAN_P2_DRIVER 0 2
1 1 CH10_OPT 0 2
1 1 CH11_OPT 0 2
1 1 CH12_OPT 0 2
1 1 CH7_OPT 4 2
1 1 CH8_OPT 0 2
1 1 CH9_OPT 0 2
1 1 CHUTE_ENABLED 0 2
1 1 CIRCLE_RADIUS 1000.000000000000000000 9
1 1 CIRCLE_RATE 20.000000000000000000 9
1 1 COMPASS_AUTODEC 1 2
1 1 COMPASS_AUTO_ROT 2 2
1 1 COMPASS_CAL_FIT 16.000000000000000000 9
1 1 COMPASS_DEC 0.000000000000000000 9
1 1 COMPASS_DEV_ID 131874 6
1 1 COMPASS_DEV_ID2 263178 6
1 1 COMPASS_DEV_ID3 0 6
1 1 COMPASS_DIA2_X 1.016077518463134766 9
1 1 COMPASS_DIA2_Y 0.965757012367248535 9
1 1 COMPASS_DIA2_Z 1.022396206855773926 9
1 1 COMPASS_DIA3_X 1.000000000000000000 9
1 1 COMPASS_DIA3_Y 1.000000000000000000 9
1 1 COMPASS_DIA3_Z 1.000000000000000000 9
1 1 COMPASS_DIA_X 0.988858878612518311 9
1 1 COMPASS_DIA_Y 0.970472931861877441 9
1 1 COMPASS_DIA_Z 1.033296227455139160 9
1 1 COMPASS_EXTERN2 0 2
1 1 COMPASS_EXTERN3 0 2
1 1 COMPASS_EXTERNAL 1 2
1 1 COMPASS_FLTR_RNG 0 2
1 1 COMPASS_LEARN 0 2
1 1 COMPASS_MOT2_X 0.000000000000000000 9
1 1 COMPASS_MOT2_Y 0.000000000000000000 9
1 1 COMPASS_MOT2_Z 0.000000000000000000 9
1 1 COMPASS_MOT3_X 0.000000000000000000 9
1 1 COMPASS_MOT3_Y 0.000000000000000000 9
1 1 COMPASS_MOT3_Z 0.000000000000000000 9
1 1 COMPASS_MOTCT 0 2
1 1 COMPASS_MOT_X 0.000000000000000000 9
1 1 COMPASS_MOT_Y 0.000000000000000000 9
1 1 COMPASS_MOT_Z 0.000000000000000000 9
1 1 COMPASS_ODI2_X -0.022381233051419258 9
1 1 COMPASS_ODI2_Y 0.006550319958478212 9
1 1 COMPASS_ODI2_Z 0.013252622447907925 9
1 1 COMPASS_ODI3_X 0.000000000000000000 9
1 1 COMPASS_ODI3_Y 0.000000000000000000 9
1 1 COMPASS_ODI3_Z 0.000000000000000000 9
1 1 COMPASS_ODI_X 0.012979519553482533 9
1 1 COMPASS_ODI_Y 0.014944816939532757 9
1 1 COMPASS_ODI_Z -0.003787975292652845 9
1 1 COMPASS_OFFS_MAX 1250 4
1 1 COMPASS_OFS2_X 100.466583251953125000 9
1 1 COMPASS_OFS2_Y 490.215881347656250000 9
1 1 COMPASS_OFS2_Z 165.019409179687500000 9
1 1 COMPASS_OFS3_X -398.021179199218750000 9
1 1 COMPASS_OFS3_Y 131.944458007812500000 9
1 1 COMPASS_OFS3_Z 34.984043121337890625 9
1 1 COMPASS_OFS_X -7.646042823791503906 9
1 1 COMPASS_OFS_Y 74.553504943847656250 9
1 1 COMPASS_OFS_Z -31.977825164794921875 9
1 1 COMPASS_ORIENT 0 2
1 1 COMPASS_ORIENT2 0 2
1 1 COMPASS_ORIENT3 0 2
1 1 COMPASS_PMOT_EN 0 2
1 1 COMPASS_PRIMARY 0 2
1 1 COMPASS_TYPEMASK 32 6
1 1 COMPASS_USE 1 2
1 1 COMPASS_USE2 1 2
1 1 COMPASS_USE3 1 2
1 1 DEV_OPTIONS 0 6
1 1 DISARM_DELAY 10 2
1 1 EK2_ABIAS_P_NSE 0.004999999888241291 9
1 1 EK2_ACC_P_NSE 0.600000023841857910 9
1 1 EK2_ALT_M_NSE 3.000000000000000000 9
1 1 EK2_ALT_SOURCE 0 2
1 1 EK2_BCN_DELAY 50 2
1 1 EK2_BCN_I_GTE 500 4
1 1 EK2_BCN_M_NSE 1.000000000000000000 9
1 1 EK2_CHECK_SCALE 100 4
1 1 EK2_EAS_I_GATE 400 4
1 1 EK2_EAS_M_NSE 1.399999976158142090 9
1 1 EK2_ENABLE 1 2
1 1 EK2_FLOW_DELAY 10 2
1 1 EK2_FLOW_I_GATE 300 4
1 1 EK2_FLOW_M_NSE 0.250000000000000000 9
1 1 EK2_GBIAS_P_NSE 0.000099999997473788 9
1 1 EK2_GLITCH_RAD 25 2
1 1 EK2_GPS_CHECK 31 2
1 1 EK2_GPS_DELAY 220 4
1 1 EK2_GPS_TYPE 2 2
1 1 EK2_GSCL_P_NSE 0.000500000023748726 9
1 1 EK2_GYRO_P_NSE 0.029999999329447746 9
1 1 EK2_HGT_DELAY 60 4
1 1 EK2_HGT_I_GATE 500 4
1 1 EK2_IMU_MASK 3 2
1 1 EK2_LOG_MASK 1 2
1 1 EK2_MAGB_P_NSE 0.000099999997473788 9
1 1 EK2_MAGE_P_NSE 0.001000000047497451 9
1 1 EK2_MAG_CAL 3 2
1 1 EK2_MAG_EF_LIM 50 4
1 1 EK2_MAG_I_GATE 300 4
1 1 EK2_MAG_MASK 0 2
1 1 EK2_MAG_M_NSE 0.050000000745058060 9
1 1 EK2_MAX_FLOW 2.500000000000000000 9
1 1 EK2_NOAID_M_NSE 10.000000000000000000 9
1 1 EK2_OGN_HGT_MASK 0 2
1 1 EK2_POSNE_M_NSE 1.000000000000000000 9
1 1 EK2_POS_I_GATE 500 4
1 1 EK2_RNG_I_GATE 500 4
1 1 EK2_RNG_M_NSE 0.500000000000000000 9
1 1 EK2_RNG_USE_HGT -1 2
1 1 EK2_RNG_USE_SPD 2.000000000000000000 9
1 1 EK2_TAU_OUTPUT 25 2
1 1 EK2_TERR_GRAD 0.100000001490116119 9
1 1 EK2_VELD_M_NSE 0.699999988079071045 9
1 1 EK2_VELNE_M_NSE 0.500000000000000000 9
1 1 EK2_VEL_I_GATE 500 4
1 1 EK2_WIND_PSCALE 0.500000000000000000 9
1 1 EK2_WIND_P_NSE 0.100000001490116119 9
1 1 EK2_YAW_I_GATE 300 4
1 1 EK2_YAW_M_NSE 0.500000000000000000 9
1 1 EK3_ENABLE 0 2
1 1 ESC_CALIBRATION 0 2
1 1 FENCE_ACTION 1 2
1 1 FENCE_ALT_MAX 100.000000000000000000 9
1 1 FENCE_ENABLE 0 2
1 1 FENCE_MARGIN 2.000000000000000000 9
1 1 FENCE_RADIUS 300.000000000000000000 9
1 1 FENCE_TOTAL 0 2
1 1 FENCE_TYPE 7 2
1 1 FHLD_BRAKE_RATE 8 2
1 1 FHLD_FILT_HZ 5.000000000000000000 9
1 1 FHLD_FLOW_MAX 0.600000023841857910 9
1 1 FHLD_QUAL_MIN 10 2
1 1 FHLD_XY_FILT_HZ 5.000000000000000000 9
1 1 FHLD_XY_I 0.300000011920928955 9
1 1 FHLD_XY_IMAX 3000.000000000000000000 9
1 1 FHLD_XY_P 0.200000002980232239 9
1 1 FLOW_ADDR 0 2
1 1 FLOW_ENABLE 0 2
1 1 FLOW_FXSCALER 0 4
1 1 FLOW_FYSCALER 0 4
1 1 FLOW_ORIENT_YAW 0 4
1 1 FLOW_POS_X 0.000000000000000000 9
1 1 FLOW_POS_Y 0.000000000000000000 9
1 1 FLOW_POS_Z 0.000000000000000000 9
1 1 FLTMODE1 0 2
1 1 FLTMODE2 0 2
1 1 FLTMODE3 2 2
1 1 FLTMODE4 2 2
1 1 FLTMODE5 16 2
1 1 FLTMODE6 16 2
1 1 FLTMODE_CH 5 2
1 1 FOLL_ENABLE 0 2
1 1 FRAME_CLASS 2 2
1 1 FRAME_TYPE 1 2
1 1 FS_CRASH_CHECK 1 2
1 1 FS_EKF_ACTION 1 2
1 1 FS_EKF_THRESH 0.800000011920928955 9
1 1 FS_GCS_ENABLE 1 2
1 1 FS_THR_ENABLE 1 2
1 1 FS_THR_VALUE 975 4
1 1 GCS_PID_MASK 0 4
1 1 GND_ABS_PRESS 101692.265625000000000000 9
1 1 GND_ABS_PRESS2 101654.609375000000000000 9
1 1 GND_ABS_PRESS3 0.000000000000000000 9
1 1 GND_ALT_OFFSET 0.000000000000000000 9
1 1 GND_EFFECT_COMP 0 2
1 1 GND_EXT_BUS -1 2
1 1 GND_FLTR_RNG 0 2
1 1 GND_PRIMARY 0 2
1 1 GND_TEMP 0.000000000000000000 9
1 1 GPS_AUTO_CONFIG 1 2
1 1 GPS_AUTO_SWITCH 1 2
1 1 GPS_BLEND_MASK 5 2
1 1 GPS_BLEND_TC 10.000000000000000000 9
1 1 GPS_DELAY_MS 0 4
1 1 GPS_DELAY_MS2 0 4
1 1 GPS_GNSS_MODE 0 2
1 1 GPS_GNSS_MODE2 0 2
1 1 GPS_HDOP_GOOD 140 4
1 1 GPS_INJECT_TO 127 2
1 1 GPS_MIN_DGPS 100 2
1 1 GPS_MIN_ELEV -100 2
1 1 GPS_NAVFILTER 8 2
1 1 GPS_POS1_X 0.000000000000000000 9
1 1 GPS_POS1_Y 0.000000000000000000 9
1 1 GPS_POS1_Z 0.000000000000000000 9
1 1 GPS_POS2_X 0.000000000000000000 9
1 1 GPS_POS2_Y 0.000000000000000000 9
1 1 GPS_POS2_Z 0.000000000000000000 9
1 1 GPS_RATE_MS 200 4
1 1 GPS_RATE_MS2 200 4
1 1 GPS_RAW_DATA 0 2
1 1 GPS_SAVE_CFG 2 2
1 1 GPS_SBAS_MODE 2 2
1 1 GPS_SBP_LOGMASK -256 4
1 1 GPS_TYPE 1 2
1 1 GPS_TYPE2 0 2
1 1 GRIP_ENABLE 0 2
1 1 INS_ACC2OFFS_X 0.550103366374969482 9
1 1 INS_ACC2OFFS_Y -0.614243745803833008 9
1 1 INS_ACC2OFFS_Z 1.278518319129943848 9
1 1 INS_ACC2SCAL_X 0.998695790767669678 9
1 1 INS_ACC2SCAL_Y 1.044930934906005859 9
1 1 INS_ACC2SCAL_Z 1.051302552223205566 9
1 1 INS_ACC2_ID 1114914 6
1 1 INS_ACC3OFFS_X 0.132133871316909790 9
1 1 INS_ACC3OFFS_Y -0.059752184897661209 9
1 1 INS_ACC3OFFS_Z 0.210147321224212646 9
1 1 INS_ACC3SCAL_X 1.001665353775024414 9
1 1 INS_ACC3SCAL_Y 1.000477075576782227 9
1 1 INS_ACC3SCAL_Z 0.995793819427490234 9
1 1 INS_ACC3_ID 1442826 6
1 1 INS_ACCEL_FILTER 20 2
1 1 INS_ACCOFFS_X -0.095955051481723785 9
1 1 INS_ACCOFFS_Y 0.030475467443466187 9
1 1 INS_ACCOFFS_Z 0.053218718618154526 9
1 1 INS_ACCSCAL_X 1.002015352249145508 9
1 1 INS_ACCSCAL_Y 1.001284003257751465 9
1 1 INS_ACCSCAL_Z 0.996216058731079102 9
1 1 INS_ACC_BODYFIX 2 2
1 1 INS_ACC_ID 1442082 6
1 1 INS_ENABLE_MASK 127 2
1 1 INS_FAST_SAMPLE 5 2
1 1 INS_GYR2OFFS_X -0.010839483700692654 9
1 1 INS_GYR2OFFS_Y 0.027809092774987221 9
1 1 INS_GYR2OFFS_Z 0.001251226058229804 9
1 1 INS_GYR2_ID 2229282 6
1 1 INS_GYR3OFFS_X -0.008506149053573608 9
1 1 INS_GYR3OFFS_Y 0.002482237061485648 9
1 1 INS_GYR3OFFS_Z 0.019403299316763878 9
1 1 INS_GYR3_ID 2360330 6
1 1 INS_GYROFFS_X -0.002088231965899467 9
1 1 INS_GYROFFS_Y -0.017810905352234840 9
1 1 INS_GYROFFS_Z 0.006884041707962751 9
1 1 INS_GYRO_FILTER 20 2
1 1 INS_GYR_CAL 1 2
1 1 INS_GYR_ID 2359586 6
1 1 INS_LOG_BAT_CNT 1024 4
1 1 INS_LOG_BAT_LGCT 32 4
1 1 INS_LOG_BAT_LGIN 20 2
1 1 INS_LOG_BAT_MASK 0 2
1 1 INS_LOG_BAT_OPT 0 2
1 1 INS_NOTCH_ENABLE 0 2
1 1 INS_POS1_X 0.000000000000000000 9
1 1 INS_POS1_Y 0.000000000000000000 9
1 1 INS_POS1_Z 0.000000000000000000 9
1 1 INS_POS2_X 0.000000000000000000 9
1 1 INS_POS2_Y 0.000000000000000000 9
1 1 INS_POS2_Z 0.000000000000000000 9
1 1 INS_POS3_X 0.000000000000000000 9
1 1 INS_POS3_Y 0.000000000000000000 9
1 1 INS_POS3_Z 0.000000000000000000 9
1 1 INS_PRODUCT_ID 0 4
1 1 INS_STILL_THRESH 2.500000000000000000 9
1 1 INS_TRIM_OPTION 1 2
1 1 INS_USE 1 2
1 1 INS_USE2 1 2
1 1 INS_USE3 1 2
1 1 LAND_ALT_LOW 1000 4
1 1 LAND_REPOSITION 1 2
1 1 LAND_SPEED 50 4
1 1 LAND_SPEED_HIGH 0 4
1 1 LGR_SERVO_DEPLOY 1750 4
1 1 LGR_SERVO_RTRACT 1250 4
1 1 LGR_STARTUP 0 2
1 1 LOG_BACKEND_TYPE 1 2
1 1 LOG_BITMASK 176126 6
1 1 LOG_DISARMED 0 2
1 1 LOG_FILE_BUFSIZE 16 2
1 1 LOG_FILE_DSRMROT 0 2
1 1 LOG_MAV_BUFSIZE 8 2
1 1 LOG_REPLAY 0 2
1 1 LOIT_ACC_MAX 500.000000000000000000 9
1 1 LOIT_ANG_MAX 0.000000000000000000 9
1 1 LOIT_BRK_ACCEL 250.000000000000000000 9
1 1 LOIT_BRK_DELAY 1.000000000000000000 9
1 1 LOIT_BRK_JERK 500.000000000000000000 9
1 1 LOIT_SPEED 1250.000000000000000000 9
1 1 MAG_ENABLE 1 2
1 1 MIS_OPTIONS 0 4
1 1 MIS_RESTART 0 2
1 1 MIS_TOTAL 7 4
1 1 MNT_ANGMAX_PAN 4500 4
1 1 MNT_ANGMAX_ROL 4500 4
1 1 MNT_ANGMAX_TIL 4500 4
1 1 MNT_ANGMIN_PAN -4500 4
1 1 MNT_ANGMIN_ROL -4500 4
1 1 MNT_ANGMIN_TIL -4500 4
1 1 MNT_DEFLT_MODE 3 2
1 1 MNT_JSTICK_SPD 0 2
1 1 MNT_LEAD_PTCH 0.000000000000000000 9
1 1 MNT_LEAD_RLL 0.000000000000000000 9
1 1 MNT_NEUTRAL_X 0.000000000000000000 9
1 1 MNT_NEUTRAL_Y 0.000000000000000000 9
1 1 MNT_NEUTRAL_Z 0.000000000000000000 9
1 1 MNT_RC_IN_PAN 0 2
1 1 MNT_RC_IN_ROLL 0 2
1 1 MNT_RC_IN_TILT 0 2
1 1 MNT_RETRACT_X 0.000000000000000000 9
1 1 MNT_RETRACT_Y 0.000000000000000000 9
1 1 MNT_RETRACT_Z 0.000000000000000000 9
1 1 MNT_STAB_PAN 0 2
1 1 MNT_STAB_ROLL 0 2
1 1 MNT_STAB_TILT 0 2
1 1 MNT_TYPE 0 2
1 1 MOT_BAT_CURR_MAX 0.000000000000000000 9
1 1 MOT_BAT_CURR_TC 5.000000000000000000 9
1 1 MOT_BAT_IDX 0 2
1 1 MOT_BAT_VOLT_MAX 0.000000000000000000 9
1 1 MOT_BAT_VOLT_MIN 0.000000000000000000 9
1 1 MOT_BOOST_SCALE 0.000000000000000000 9
1 1 MOT_HOVER_LEARN 2 2
1 1 MOT_PWM_MAX 0 4
1 1 MOT_PWM_MIN 0 4
1 1 MOT_PWM_TYPE 0 2
1 1 MOT_SAFE_DISARM 0 2
1 1 MOT_SPIN_ARM 0.140000000596046448 9
1 1 MOT_SPIN_MAX 0.949999988079071045 9
1 1 MOT_SPIN_MIN 0.150000005960464478 9
1 1 MOT_SPOOL_TIME 0.500000000000000000 9
1 1 MOT_THST_EXPO 0.649999976158142090 9
1 1 MOT_THST_HOVER 0.171619057655334473 9
1 1 MOT_YAW_HEADROOM 200 4
1 1 NTF_BUZZ_ENABLE 1 2
1 1 NTF_BUZZ_PIN 0 2
1 1 NTF_DISPLAY_TYPE 0 2
1 1 NTF_LED_BRIGHT 3 2
1 1 NTF_LED_OVERRIDE 0 2
1 1 NTF_LED_TYPES 199 6
1 1 PHLD_BRAKE_ANGLE 3000 4
1 1 PHLD_BRAKE_RATE 8 4
1 1 PILOT_ACCEL_Z 250 4
1 1 PILOT_SPEED_DN 250 4
1 1 PILOT_SPEED_UP 400 4
1 1 PILOT_THR_BHV 0 4
1 1 PILOT_THR_FILT 0.000000000000000000 9
1 1 PILOT_TKOFF_ALT 0.000000000000000000 9
1 1 PILOT_TKOFF_DZ 100 4
1 1 PLND_ENABLED 0 2
1 1 PRX_IGN_ANG1 0 4
1 1 PRX_IGN_ANG2 0 4
1 1 PRX_IGN_ANG3 0 4
1 1 PRX_IGN_ANG4 0 4
1 1 PRX_IGN_ANG5 0 4
1 1 PRX_IGN_ANG6 0 4
1 1 PRX_IGN_WID1 0 2
1 1 PRX_IGN_WID2 0 2
1 1 PRX_IGN_WID3 0 2
1 1 PRX_IGN_WID4 0 2
1 1 PRX_IGN_WID5 0 2
1 1 PRX_IGN_WID6 0 2
1 1 PRX_ORIENT 0 2
1 1 PRX_TYPE 0 2
1 1 PRX_YAW_CORR 22 4
1 1 PSC_ACCZ_D 0.000000000000000000 9
1 1 PSC_ACCZ_FF 0.000000000000000000 9
1 1 PSC_ACCZ_FILT 20.000000000000000000 9
1 1 PSC_ACCZ_I 1.000000000000000000 9
1 1 PSC_ACCZ_IMAX 800.000000000000000000 9
1 1 PSC_ACCZ_P 0.500000000000000000 9
1 1 PSC_ACC_XY_FILT 2.000000000000000000 9
1 1 PSC_ANGLE_MAX 0.000000000000000000 9
1 1 PSC_POSXY_P 1.000000000000000000 9
1 1 PSC_POSZ_P 1.000000000000000000 9
1 1 PSC_VELXY_D 0.500000000000000000 9
1 1 PSC_VELXY_D_FILT 5.000000000000000000 9
1 1 PSC_VELXY_FILT 5.000000000000000000 9
1 1 PSC_VELXY_I 1.000000000000000000 9
1 1 PSC_VELXY_IMAX 1000.000000000000000000 9
1 1 PSC_VELXY_P 1.200000047683715820 9
1 1 PSC_VELZ_P 5.000000000000000000 9
1 1 RALLY_INCL_HOME 1 2
1 1 RALLY_LIMIT_KM 0.300000011920928955 9
1 1 RALLY_TOTAL 0 2
1 1 RC10_DZ 0 4
1 1 RC10_MAX 2000 4
1 1 RC10_MIN 1000 4
1 1 RC10_REVERSED 0 2
1 1 RC10_TRIM 1500 4
1 1 RC11_DZ 0 4
1 1 RC11_MAX 2000 4
1 1 RC11_MIN 1000 4
1 1 RC11_REVERSED 0 2
1 1 RC11_TRIM 1500 4
1 1 RC12_DZ 0 4
1 1 RC12_MAX 2000 4
1 1 RC12_MIN 1000 4
1 1 RC12_REVERSED 0 2
1 1 RC12_TRIM 1500 4
1 1 RC13_DZ 0 4
1 1 RC13_MAX 2000 4
1 1 RC13_MIN 1000 4
1 1 RC13_REVERSED 0 2
1 1 RC13_TRIM 1500 4
1 1 RC14_DZ 0 4
1 1 RC14_MAX 2000 4
1 1 RC14_MIN 1000 4
1 1 RC14_REVERSED 0 2
1 1 RC14_TRIM 1500 4
1 1 RC15_DZ 0 4
1 1 RC15_MAX 1900 4
1 1 RC15_MIN 1100 4
1 1 RC15_REVERSED 0 2
1 1 RC15_TRIM 1514 4
1 1 RC16_DZ 0 4
1 1 RC16_MAX 1900 4
1 1 RC16_MIN 1100 4
1 1 RC16_REVERSED 0 2
1 1 RC16_TRIM 1514 4
1 1 RC1_DZ 20 4
1 1 RC1_MAX 1990 4
1 1 RC1_MIN 1007 4
1 1 RC1_REVERSED 0 2
1 1 RC1_TRIM 1519 4
1 1 RC2_DZ 20 4
1 1 RC2_MAX 1979 4
1 1 RC2_MIN 1003 4
1 1 RC2_REVERSED 0 2
1 1 RC2_TRIM 1500 4
1 1 RC3_DZ 30 4
1 1 RC3_MAX 1977 4
1 1 RC3_MIN 1010 4
1 1 RC3_REVERSED 0 2
1 1 RC3_TRIM 1010 4
1 1 RC4_DZ 20 4
1 1 RC4_MAX 1942 4
1 1 RC4_MIN 1040 4
1 1 RC4_REVERSED 0 2
1 1 RC4_TRIM 1500 4
1 1 RC5_DZ 0 4
1 1 RC5_MAX 2000 4
1 1 RC5_MIN 1000 4
1 1 RC5_REVERSED 0 2
1 1 RC5_TRIM 1500 4
1 1 RC6_DZ 0 4
1 1 RC6_MAX 2000 4
1 1 RC6_MIN 1000 4
1 1 RC6_REVERSED 0 2
1 1 RC6_TRIM 1500 4
1 1 RC7_DZ 0 4
1 1 RC7_MAX 2000 4
1 1 RC7_MIN 1000 4
1 1 RC7_REVERSED 0 2
1 1 RC7_TRIM 1500 4
1 1 RC8_DZ 0 4
1 1 RC8_MAX 2000 4
1 1 RC8_MIN 1000 4
1 1 RC8_REVERSED 0 2
1 1 RC8_TRIM 1500 4
1 1 RC9_DZ 0 4
1 1 RC9_MAX 2000 4
1 1 RC9_MIN 1000 4
1 1 RC9_REVERSED 0 2
1 1 RC9_TRIM 1500 4
1 1 RCMAP_PITCH 2 2
1 1 RCMAP_ROLL 1 2
1 1 RCMAP_THROTTLE 3 2
1 1 RCMAP_YAW 4 2
1 1 RC_OVERRIDE_TIME 3.000000000000000000 9
1 1 RC_SPEED 490 4
1 1 RELAY_DEFAULT 0 2
1 1 RELAY_PIN 54 2
1 1 RELAY_PIN2 55 2
1 1 RELAY_PIN3 -1 2
1 1 RELAY_PIN4 -1 2
1 1 RNGFND2_ADDR 0 2
1 1 RNGFND2_FUNCTION 0 2
1 1 RNGFND2_GNDCLEAR 10 2
1 1 RNGFND2_MAX_CM 700 4
1 1 RNGFND2_MIN_CM 20 4
1 1 RNGFND2_OFFSET 0.000000000000000000 9
1 1 RNGFND2_ORIENT 25 2
1 1 RNGFND2_PIN -1 2
1 1 RNGFND2_POS_X 0.000000000000000000 9
1 1 RNGFND2_POS_Y 0.000000000000000000 9
1 1 RNGFND2_POS_Z 0.000000000000000000 9
1 1 RNGFND2_RMETRIC 1 2
1 1 RNGFND2_SCALING 3.000000000000000000 9
1 1 RNGFND2_SETTLE 0 4
1 1 RNGFND2_STOP_PIN -1 2
1 1 RNGFND2_TYPE 0 2
1 1 RNGFND_ADDR 0 2
1 1 RNGFND_FUNCTION 0 2
1 1 RNGFND_GAIN 0.800000011920928955 9
1 1 RNGFND_GNDCLEAR 10 2
1 1 RNGFND_MAX_CM 700 4
1 1 RNGFND_MIN_CM 20 4
1 1 RNGFND_OFFSET 0.000000000000000000 9
1 1 RNGFND_ORIENT 25 2
1 1 RNGFND_PIN -1 2
1 1 RNGFND_POS_X 0.000000000000000000 9
1 1 RNGFND_POS_Y 0.000000000000000000 9
1 1 RNGFND_POS_Z 0.000000000000000000 9
1 1 RNGFND_PWRRNG 0 4
1 1 RNGFND_RMETRIC 1 2
1 1 RNGFND_SCALING 3.000000000000000000 9
1 1 RNGFND_SETTLE 0 4
1 1 RNGFND_STOP_PIN -1 2
1 1 RNGFND_TYPE 0 2
1 1 RPM2_PIN -1 2
1 1 RPM2_SCALING 1.000000000000000000 9
1 1 RPM2_TYPE 0 2
1 1 RPM_MAX 100000.000000000000000000 9
1 1 RPM_MIN 10.000000000000000000 9
1 1 RPM_MIN_QUAL 0.500000000000000000 9
1 1 RPM_PIN 54 2
1 1 RPM_SCALING 1.000000000000000000 9
1 1 RPM_TYPE 0 2
1 1 RSSI_TYPE 0 2
1 1 RTL_ALT 2000 4
1 1 RTL_ALT_FINAL 0 4
1 1 RTL_CLIMB_MIN 0 4
1 1 RTL_CONE_SLOPE 3.000000000000000000 9
1 1 RTL_LOIT_TIME 5000 6
1 1 RTL_SPEED 0 4
1 1 SCHED_DEBUG 0 2
1 1 SCHED_LOOP_RATE 400 4
1 1 SERIAL0_BAUD 115 6
1 1 SERIAL0_PROTOCOL 2 2
1 1 SERIAL1_BAUD 115 6
1 1 SERIAL1_PROTOCOL 1 2
1 1 SERIAL2_BAUD 57 6
1 1 SERIAL2_PROTOCOL 1 2
1 1 SERIAL3_BAUD 38 6
1 1 SERIAL3_PROTOCOL 5 2
1 1 SERIAL4_BAUD 38 6
1 1 SERIAL4_PROTOCOL 5 2
1 1 SERIAL5_BAUD 57 6
1 1 SERIAL5_PROTOCOL -1 2
1 1 SERIAL6_BAUD 57 6
1 1 SERIAL6_PROTOCOL -1 2
1 1 SERVO10_FUNCTION 0 2
1 1 SERVO10_MAX 1900 4
1 1 SERVO10_MIN 1100 4
1 1 SERVO10_REVERSED 0 2
1 1 SERVO10_TRIM 1500 4
1 1 SERVO11_FUNCTION 0 2
1 1 SERVO11_MAX 1900 4
1 1 SERVO11_MIN 1100 4
1 1 SERVO11_REVERSED 0 2
1 1 SERVO11_TRIM 1500 4
1 1 SERVO12_FUNCTION 0 2
1 1 SERVO12_MAX 1900 4
1 1 SERVO12_MIN 1100 4
1 1 SERVO12_REVERSED 0 2
1 1 SERVO12_TRIM 1500 4
1 1 SERVO13_FUNCTION 0 2
1 1 SERVO13_MAX 1900 4
1 1 SERVO13_MIN 1100 4
1 1 SERVO13_REVERSED 0 2
1 1 SERVO13_TRIM 1500 4
1 1 SERVO14_FUNCTION 0 2
1 1 SERVO14_MAX 1900 4
1 1 SERVO14_MIN 1100 4
1 1 SERVO14_REVERSED 0 2
1 1 SERVO14_TRIM 1500 4
1 1 SERVO15_FUNCTION 0 2
1 1 SERVO15_MAX 1900 4
1 1 SERVO15_MIN 1100 4
1 1 SERVO15_REVERSED 0 2
1 1 SERVO15_TRIM 1500 4
1 1 SERVO16_FUNCTION 0 2
1 1 SERVO16_MAX 1900 4
1 1 SERVO16_MIN 1100 4
1 1 SERVO16_REVERSED 0 2
1 1 SERVO16_TRIM 1500 4
1 1 SERVO1_FUNCTION 33 2
1 1 SERVO1_MAX 1900 4
1 1 SERVO1_MIN 1100 4
1 1 SERVO1_REVERSED 0 2
1 1 SERVO1_TRIM 1500 4
1 1 SERVO2_FUNCTION 34 2
1 1 SERVO2_MAX 1900 4
1 1 SERVO2_MIN 1100 4
1 1 SERVO2_REVERSED 0 2
1 1 SERVO2_TRIM 1500 4
1 1 SERVO3_FUNCTION 35 2
1 1 SERVO3_MAX 1900 4
1 1 SERVO3_MIN 1100 4
1 1 SERVO3_REVERSED 0 2
1 1 SERVO3_TRIM 1500 4
1 1 SERVO4_FUNCTION 36 2
1 1 SERVO4_MAX 1900 4
1 1 SERVO4_MIN 1100 4
1 1 SERVO4_REVERSED 0 2
1 1 SERVO4_TRIM 1500 4
1 1 SERVO5_FUNCTION 37 2
1 1 SERVO5_MAX 1900 4
1 1 SERVO5_MIN 1100 4
1 1 SERVO5_REVERSED 0 2
1 1 SERVO5_TRIM 1500 4
1 1 SERVO6_FUNCTION 38 2
1 1 SERVO6_MAX 1900 4
1 1 SERVO6_MIN 1100 4
1 1 SERVO6_REVERSED 0 2
1 1 SERVO6_TRIM 1500 4
1 1 SERVO7_FUNCTION 0 2
1 1 SERVO7_MAX 1900 4
1 1 SERVO7_MIN 1100 4
1 1 SERVO7_REVERSED 0 2
1 1 SERVO7_TRIM 1500 4
1 1 SERVO8_FUNCTION 0 2
1 1 SERVO8_MAX 1900 4
1 1 SERVO8_MIN 1100 4
1 1 SERVO8_REVERSED 0 2
1 1 SERVO8_TRIM 1500 4
1 1 SERVO9_FUNCTION 0 2
1 1 SERVO9_MAX 1900 4
1 1 SERVO9_MIN 1100 4
1 1 SERVO9_REVERSED 0 2
1 1 SERVO9_TRIM 1500 4
1 1 SERVO_BLH_AUTO 0 2
1 1 SERVO_BLH_DEBUG 0 2
1 1 SERVO_BLH_MASK 0 6
1 1 SERVO_BLH_OTYPE 0 2
1 1 SERVO_BLH_PORT 0 2
1 1 SERVO_BLH_TEST 0 2
1 1 SERVO_BLH_TMOUT 0 4
1 1 SERVO_BLH_TRATE 0 4
1 1 SERVO_RATE 50 4
1 1 SERVO_SBUS_RATE 50 4
1 1 SERVO_VOLZ_MASK 0 6
1 1 SIMPLE 0 2
1 1 SPRAY_ENABLE 0 2
1 1 SR0_ADSB 5 4
1 1 SR0_EXTRA1 0 4
1 1 SR0_EXTRA2 0 4
1 1 SR0_EXTRA3 0 4
1 1 SR0_EXT_STAT 2 4
1 1 SR0_PARAMS 10 4
1 1 SR0_POSITION 3 4
1 1 SR0_RAW_CTRL 0 4
1 1 SR0_RAW_SENS 2 4
1 1 SR0_RC_CHAN 2 4
1 1 SR1_ADSB 5 4
1 1 SR1_EXTRA1 0 4
1 1 SR1_EXTRA2 0 4
1 1 SR1_EXTRA3 0 4
1 1 SR1_EXT_STAT 0 4
1 1 SR1_PARAMS 0 4
1 1 SR1_POSITION 0 4
1 1 SR1_RAW_CTRL 0 4
1 1 SR1_RAW_SENS 0 4
1 1 SR1_RC_CHAN 0 4
1 1 SR2_ADSB 5 4
1 1 SR2_EXTRA1 0 4
1 1 SR2_EXTRA2 0 4
1 1 SR2_EXTRA3 0 4
1 1 SR2_EXT_STAT 0 4
1 1 SR2_PARAMS 0 4
1 1 SR2_POSITION 0 4
1 1 SR2_RAW_CTRL 0 4
1 1 SR2_RAW_SENS 0 4
1 1 SR2_RC_CHAN 0 4
1 1 SR3_ADSB 5 4
1 1 SR3_EXTRA1 0 4
1 1 SR3_EXTRA2 0 4
1 1 SR3_EXTRA3 0 4
1 1 SR3_EXT_STAT 0 4
1 1 SR3_PARAMS 0 4
1 1 SR3_POSITION 0 4
1 1 SR3_RAW_CTRL 0 4
1 1 SR3_RAW_SENS 0 4
1 1 SR3_RC_CHAN 0 4
1 1 SRTL_ACCURACY 2.000000000000000000 9
1 1 SRTL_POINTS 150 4
1 1 STAT_BOOTCNT 27 4
1 1 STAT_FLTTIME 522 6
1 1 STAT_RESET 153492272 6
1 1 STAT_RUNTIME 21255 6
1 1 SUPER_SIMPLE 0 2
1 1 SYSID_ENFORCE 0 2
1 1 SYSID_MYGCS 255 4
1 1 SYSID_SW_MREV 120 4
1 1 SYSID_THISMAV 1 4
1 1 TCAL_ENABLED 0 2
1 1 TELEM_DELAY 0 2
1 1 TERRAIN_ENABLE 1 2
1 1 TERRAIN_FOLLOW 0 2
1 1 TERRAIN_SPACING 100 4
1 1 THROW_MOT_START 0 2
1 1 THROW_NEXTMODE 18 2
1 1 THROW_TYPE 0 2
1 1 THR_DZ 100 4
1 1 TUNE 0 2
1 1 TUNE_HIGH 1000 4
1 1 TUNE_LOW 0 4
1 1 VISO_ORIENT 0 2
1 1 VISO_POS_X 0.000000000000000000 9
1 1 VISO_POS_Y 0.000000000000000000 9
1 1 VISO_POS_Z 0.000000000000000000 9
1 1 VISO_TYPE 0 2
1 1 WPNAV_ACCEL 100.000000000000000000 9
1 1 WPNAV_ACCEL_Z 100.000000000000000000 9
1 1 WPNAV_RADIUS 200.000000000000000000 9
1 1 WPNAV_RFND_USE 1 2
1 1 WPNAV_SPEED 1000.000000000000000000 9
1 1 WPNAV_SPEED_DN 150.000000000000000000 9
1 1 WPNAV_SPEED_UP 250.000000000000000000 9
1 1 WP_NAVALT_MIN 0.000000000000000000 9
1 1 WP_YAW_BEHAVIOR 2 2
Update to 4.0.5 and follow https://ardupilot.org/copter/docs/tuning-process-instructions.html#tuning-process-instructions