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/**
 * @file mc_att_control_params.h
 * Parameters for multicopter attitude controller.
 *
 * @author Tobias Naegeli <naegelit@student.ethz.ch>
 * @author Lorenz Meier <lm@inf.ethz.ch>
 * @author Anton Babushkin <anton.babushkin@me.com>
 * @author Thomas Gubler <thomasgubler@gmail.com>
 */
#pragma once

#define PARAM_MC_ROLL_P_DEFAULT 6.0f
#define PARAM_MC_ROLLRATE_P_DEFAULT 0.1f
#define PARAM_MC_ROLLRATE_I_DEFAULT 0.0f
#define PARAM_MC_ROLLRATE_D_DEFAULT 0.002f
#define PARAM_MC_PITCH_P_DEFAULT 6.0f
#define PARAM_MC_PITCHRATE_P_DEFAULT 0.1f
#define PARAM_MC_PITCHRATE_I_DEFAULT 0.0f
#define PARAM_MC_PITCHRATE_D_DEFAULT 0.002f
#define PARAM_MC_YAW_P_DEFAULT 2.0f
#define PARAM_MC_YAWRATE_P_DEFAULT 0.3f
#define PARAM_MC_YAWRATE_I_DEFAULT 0.0f
#define PARAM_MC_YAWRATE_D_DEFAULT 0.0f
#define PARAM_MC_YAW_FF_DEFAULT 0.5f
#define PARAM_MC_YAWRATE_MAX_DEFAULT 120.0f
#define PARAM_MC_MAN_R_MAX_DEFAULT 35.0f
#define PARAM_MC_MAN_P_MAX_DEFAULT 35.0f
#define PARAM_MC_MAN_Y_MAX_DEFAULT 120.0f
#define PARAM_MC_ACRO_R_MAX_DEFAULT 35.0f
#define PARAM_MC_ACRO_P_MAX_DEFAULT 35.0f
#define PARAM_MC_ACRO_Y_MAX_DEFAULT 120.0f