Servers by jDrones

Copter in gps mode but postion control did not work

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

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