PID parameters for F-450
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I am using F-450 frame with voxl2 +voxl2 io board. I am using 1000 kv a2212 with 40 amps ESC. The quad is wobbling too much. I am not able to hover it for few seconds. How to fix this?
I am putting all the parameters here. Please help me to solve this.# Onboard parameters for Vehicle 1 # # Stack: PX4 Pro # Vehicle: Multi-Rotor # Version: 1.4.28 beta # Git Revision: 17f524d47f000000 # # Vehicle-Id Component-Id Name Value Type 1 1 ASPD_SCALE 1.000000000000000000 9 1 1 ATT_W_MAG 0.000000000000000000 9 1 1 BAT1_CAPACITY 5200.000000000000000000 9 1 1 BAT1_N_CELLS 3 6 1 1 BAT1_R_INTERNAL 0.008000000379979610 9 1 1 BAT1_SOURCE 0 6 1 1 BAT1_V_CHARGED 4.150000095367431641 9 1 1 BAT1_V_EMPTY 3.500000000000000000 9 1 1 BAT1_V_LOAD_DROP 0.300000011920928955 9 1 1 BAT_A_PER_V -1.000000000000000000 9 1 1 BAT_CAPACITY 5200.000000000000000000 9 1 1 BAT_CRIT_THR 0.100000001490116119 9 1 1 BAT_EMERGEN_THR 0.050000000745058060 9 1 1 BAT_LOW_THR 0.150000005960464478 9 1 1 BAT_N_CELLS 3 6 1 1 BAT_R_INTERNAL 0.008000000379979610 9 1 1 BAT_SOURCE 0 6 1 1 BAT_V_CHARGED 4.150000095367431641 9 1 1 BAT_V_DIV -1.000000000000000000 9 1 1 BAT_V_EMPTY 3.500000000000000000 9 1 1 BAT_V_LOAD_DROP 0.300000011920928955 9 1 1 CAL_ACC0_ID 2490378 6 1 1 CAL_ACC0_PRIO 50 6 1 1 CAL_ACC0_ROT -1 6 1 1 CAL_ACC0_XOFF -0.030445575714111328 9 1 1 CAL_ACC0_XSCALE 0.998159468173980713 9 1 1 CAL_ACC0_YOFF 0.006990909576416016 9 1 1 CAL_ACC0_YSCALE 0.998862206935882568 9 1 1 CAL_ACC0_ZOFF -0.025464057922363281 9 1 1 CAL_ACC0_ZSCALE 1.001702070236206055 9 1 1 CAL_ACC1_PRIO 50 6 1 1 CAL_ACC2_PRIO 50 6 1 1 CAL_ACC3_PRIO 50 6 1 1 CAL_AIR_CMODEL 0 6 1 1 CAL_AIR_TUBED_MM 1.500000000000000000 9 1 1 CAL_AIR_TUBELEN 0.200000002980232239 9 1 1 CAL_GYRO0_ID 2490378 6 1 1 CAL_GYRO0_PRIO 50 6 1 1 CAL_GYRO0_ROT -1 6 1 1 CAL_GYRO0_XOFF 0.000965127372182906 9 1 1 CAL_GYRO0_YOFF 0.012642575427889824 9 1 1 CAL_GYRO0_ZOFF -0.005749725736677647 9 1 1 CAL_GYRO1_PRIO 50 6 1 1 CAL_GYRO2_PRIO 50 6 1 1 CAL_GYRO3_PRIO 50 6 1 1 CAL_MAG0_ID 0 6 1 1 CAL_MAG0_PRIO 50 6 1 1 CAL_MAG0_ROT -1 6 1 1 CAL_MAG1_ID 0 6 1 1 CAL_MAG1_PRIO 50 6 1 1 CAL_MAG1_ROT -1 6 1 1 CAL_MAG2_ID 0 6 1 1 CAL_MAG2_PRIO 50 6 1 1 CAL_MAG2_ROT -1 6 1 1 CAL_MAG3_ID 0 6 1 1 CAL_MAG3_PRIO 50 6 1 1 CAL_MAG3_ROT -1 6 1 1 CBRK_AIRSPD_CHK 0 6 1 1 CBRK_ENGINEFAIL 284953 6 1 1 CBRK_FLIGHTTERM 121212 6 1 1 CBRK_IO_SAFETY 22027 6 1 1 CBRK_RATE_CTRL 0 6 1 1 CBRK_SUPPLY_CHK 894281 6 1 1 CBRK_USB_CHK 0 6 1 1 CBRK_VELPOSERR 0 6 1 1 CBRK_VTOLARMING 0 6 1 1 COM_ARM_AUTH_ID 10 6 1 1 COM_ARM_AUTH_MET 0 6 1 1 COM_ARM_AUTH_REQ 0 6 1 1 COM_ARM_AUTH_TO 1.000000000000000000 9 1 1 COM_ARM_CHK_ESCS 1 6 1 1 COM_ARM_EKF_HGT 1.000000000000000000 9 1 1 COM_ARM_EKF_POS 0.500000000000000000 9 1 1 COM_ARM_EKF_VEL 0.500000000000000000 9 1 1 COM_ARM_EKF_YAW 0.500000000000000000 9 1 1 COM_ARM_IMU_ACC 0.699999988079071045 9 1 1 COM_ARM_IMU_GYR 0.250000000000000000 9 1 1 COM_ARM_MAG_STR 1 6 1 1 COM_ARM_MIS_REQ 0 6 1 1 COM_ARM_SWISBTN 0 6 1 1 COM_ARM_WO_GPS 1 6 1 1 COM_DISARM_LAND 2.000000000000000000 9 1 1 COM_DISARM_PRFLT -1.000000000000000000 9 1 1 COM_DL_LOSS_T 10 6 1 1 COM_EF_C2T 5.000000000000000000 9 1 1 COM_EF_THROT 0.500000000000000000 9 1 1 COM_EF_TIME 10.000000000000000000 9 1 1 COM_FLIGHT_UUID 93 6 1 1 COM_FLTMODE1 0 6 1 1 COM_FLTMODE2 -1 6 1 1 COM_FLTMODE3 -1 6 1 1 COM_FLTMODE4 2 6 1 1 COM_FLTMODE5 -1 6 1 1 COM_FLTMODE6 8 6 1 1 COM_FLT_PROFILE 0 6 1 1 COM_HLDL_LOSS_T 120 6 1 1 COM_HLDL_REG_T 0 6 1 1 COM_HOME_H_T 5.000000000000000000 9 1 1 COM_HOME_IN_AIR 0 6 1 1 COM_HOME_V_T 10.000000000000000000 9 1 1 COM_KILL_DISARM 5.000000000000000000 9 1 1 COM_LKDOWN_TKO 3.000000000000000000 9 1 1 COM_LOW_BAT_ACT 0 6 1 1 COM_MOT_TEST_EN 1 6 1 1 COM_OBL_ACT 0 6 1 1 COM_OBL_RC_ACT 0 6 1 1 COM_OBS_AVOID 0 6 1 1 COM_OF_LOSS_T 0.500000000000000000 9 1 1 COM_POSCTL_NAVL 0 6 1 1 COM_POS_FS_DELAY 1 6 1 1 COM_POS_FS_EPH 5.000000000000000000 9 1 1 COM_POS_FS_EPV 10.000000000000000000 9 1 1 COM_POS_FS_GAIN 10 6 1 1 COM_POS_FS_PROB 30 6 1 1 COM_PREARM_MODE 0 6 1 1 COM_PREARM_ODID 0 6 1 1 COM_RC_ARM_HYST 1000 6 1 1 COM_RC_IN_MODE 0 6 1 1 COM_RC_LOSS_T 2.000000000000000000 9 1 1 COM_RC_OVERRIDE 1 6 1 1 COM_RC_STICK_OV 30.000000000000000000 9 1 1 COM_REARM_GRACE 1 6 1 1 COM_TAKEOFF_ACT 0 6 1 1 COM_VEL_FS_EVH 1.000000000000000000 9 1 1 CP_DELAY 0.400000005960464478 9 1 1 CP_DIST -1.000000000000000000 9 1 1 CP_GO_NO_DATA 0.000000000000000000 9 1 1 CP_GUIDE_ANG 30.000000000000000000 9 1 1 EKF2_ABIAS_INIT 0.200000002980232239 9 1 1 EKF2_ABL_ACCLIM 25.000000000000000000 9 1 1 EKF2_ABL_GYRLIM 3.000000000000000000 9 1 1 EKF2_ABL_LIM 0.800000011920928955 9 1 1 EKF2_ABL_TAU 0.500000000000000000 9 1 1 EKF2_ACC_B_NOISE 0.003000000026077032 9 1 1 EKF2_ACC_NOISE 0.349999994039535522 9 1 1 EKF2_AID_MASK 280 6 1 1 EKF2_ANGERR_INIT 0.100000001490116119 9 1 1 EKF2_ARSP_THR 0.000000000000000000 9 1 1 EKF2_ASPD_MAX 20.000000000000000000 9 1 1 EKF2_ASP_DELAY 100.000000000000000000 9 1 1 EKF2_AVEL_DELAY 5.000000000000000000 9 1 1 EKF2_BARO_DELAY 0.000000000000000000 9 1 1 EKF2_BARO_GATE 5.000000000000000000 9 1 1 EKF2_BARO_NOISE 3.500000000000000000 9 1 1 EKF2_BCOEF_X 25.000000000000000000 9 1 1 EKF2_BCOEF_Y 25.000000000000000000 9 1 1 EKF2_BETA_GATE 5.000000000000000000 9 1 1 EKF2_BETA_NOISE 0.300000011920928955 9 1 1 EKF2_DECL_TYPE 7 6 1 1 EKF2_DRAG_NOISE 2.500000000000000000 9 1 1 EKF2_EAS_NOISE 1.399999976158142090 9 1 1 EKF2_EVA_NOISE 0.050000000745058060 9 1 1 EKF2_EVP_GATE 5.000000000000000000 9 1 1 EKF2_EVP_NOISE 0.100000001490116119 9 1 1 EKF2_EVV_GATE 3.000000000000000000 9 1 1 EKF2_EVV_NOISE 0.100000001490116119 9 1 1 EKF2_EV_DELAY 5.000000000000000000 9 1 1 EKF2_EV_NOISE_MD 0 6 1 1 EKF2_EV_POS_X 0.000000000000000000 9 1 1 EKF2_EV_POS_Y 0.000000000000000000 9 1 1 EKF2_EV_POS_Z 0.000000000000000000 9 1 1 EKF2_FUSE_BETA 0 6 1 1 EKF2_GBIAS_INIT 0.100000001490116119 9 1 1 EKF2_GND_EFF_DZ 0.000000000000000000 9 1 1 EKF2_GND_MAX_HGT 0.500000000000000000 9 1 1 EKF2_GPS_CHECK 245 6 1 1 EKF2_GPS_DELAY 110.000000000000000000 9 1 1 EKF2_GPS_POS_X 0.000000000000000000 9 1 1 EKF2_GPS_POS_Y 0.000000000000000000 9 1 1 EKF2_GPS_POS_Z 0.000000000000000000 9 1 1 EKF2_GPS_P_GATE 5.000000000000000000 9 1 1 EKF2_GPS_P_NOISE 0.500000000000000000 9 1 1 EKF2_GPS_V_GATE 5.000000000000000000 9 1 1 EKF2_GPS_V_NOISE 0.300000011920928955 9 1 1 EKF2_GSF_TAS 15.000000000000000000 9 1 1 EKF2_GYR_B_NOISE 0.001000000047497451 9 1 1 EKF2_GYR_NOISE 0.014999999664723873 9 1 1 EKF2_HDG_GATE 2.599999904632568359 9 1 1 EKF2_HEAD_NOISE 0.300000011920928955 9 1 1 EKF2_HGT_MODE 3 6 1 1 EKF2_IMU_POS_X 0.027000000700354576 9 1 1 EKF2_IMU_POS_Y 0.008999999612569809 9 1 1 EKF2_IMU_POS_Z -0.018999999389052391 9 1 1 EKF2_MAG_ACCLIM 0.500000000000000000 9 1 1 EKF2_MAG_B_NOISE 0.000099999997473788 9 1 1 EKF2_MAG_CHECK 0 6 1 1 EKF2_MAG_DECL 0.000000000000000000 9 1 1 EKF2_MAG_DELAY 0.000000000000000000 9 1 1 EKF2_MAG_E_NOISE 0.001000000047497451 9 1 1 EKF2_MAG_GATE 3.000000000000000000 9 1 1 EKF2_MAG_NOISE 0.050000000745058060 9 1 1 EKF2_MAG_TYPE 5 6 1 1 EKF2_MAG_YAWLIM 0.250000000000000000 9 1 1 EKF2_MIN_OBS_DT 20 6 1 1 EKF2_MIN_RNG 0.100000001490116119 9 1 1 EKF2_MOVE_TEST 1.000000000000000000 9 1 1 EKF2_NOAID_NOISE 10.000000000000000000 9 1 1 EKF2_NOAID_TOUT 5000000 6 1 1 EKF2_OF_DELAY 20.000000000000000000 9 1 1 EKF2_OF_GATE 3.000000000000000000 9 1 1 EKF2_OF_N_MAX 0.500000000000000000 9 1 1 EKF2_OF_N_MIN 0.150000005960464478 9 1 1 EKF2_OF_POS_X 0.000000000000000000 9 1 1 EKF2_OF_POS_Y 0.000000000000000000 9 1 1 EKF2_OF_POS_Z 0.000000000000000000 9 1 1 EKF2_OF_QMIN 1 6 1 1 EKF2_PCOEF_XN 0.000000000000000000 9 1 1 EKF2_PCOEF_XP 0.000000000000000000 9 1 1 EKF2_PCOEF_YN 0.000000000000000000 9 1 1 EKF2_PCOEF_YP 0.000000000000000000 9 1 1 EKF2_PCOEF_Z 0.000000000000000000 9 1 1 EKF2_REQ_EPH 3.000000000000000000 9 1 1 EKF2_REQ_EPV 5.000000000000000000 9 1 1 EKF2_REQ_GPS_H 10.000000000000000000 9 1 1 EKF2_REQ_HDRIFT 0.100000001490116119 9 1 1 EKF2_REQ_NSATS 6 6 1 1 EKF2_REQ_PDOP 2.500000000000000000 9 1 1 EKF2_REQ_SACC 0.500000000000000000 9 1 1 EKF2_REQ_VDRIFT 0.200000002980232239 9 1 1 EKF2_RNG_AID 0 6 1 1 EKF2_RNG_A_HMAX 5.000000000000000000 9 1 1 EKF2_RNG_A_IGATE 1.000000000000000000 9 1 1 EKF2_RNG_A_VMAX 1.000000000000000000 9 1 1 EKF2_RNG_DELAY 5.000000000000000000 9 1 1 EKF2_RNG_GATE 5.000000000000000000 9 1 1 EKF2_RNG_NOISE 0.100000001490116119 9 1 1 EKF2_RNG_PITCH 0.000000000000000000 9 1 1 EKF2_RNG_POS_X 0.000000000000000000 9 1 1 EKF2_RNG_POS_Y 0.000000000000000000 9 1 1 EKF2_RNG_POS_Z 0.000000000000000000 9 1 1 EKF2_RNG_QLTY_T 1.000000000000000000 9 1 1 EKF2_RNG_SFE 0.050000000745058060 9 1 1 EKF2_SYNT_MAG_Z 0 6 1 1 EKF2_TAS_GATE 3.000000000000000000 9 1 1 EKF2_TAU_POS 0.250000000000000000 9 1 1 EKF2_TAU_VEL 0.250000000000000000 9 1 1 EKF2_TERR_GRAD 0.500000000000000000 9 1 1 EKF2_TERR_MASK 3 6 1 1 EKF2_TERR_NOISE 5.000000000000000000 9 1 1 EKF2_WIND_NOISE 0.100000001490116119 9 1 1 FD_ESCS_EN 1 6 1 1 FD_EXT_ATS_EN 0 6 1 1 FD_EXT_ATS_TRIG 1900 6 1 1 FD_FAIL_P 60 6 1 1 FD_FAIL_P_TTRI 0.300000011920928955 9 1 1 FD_FAIL_R 60 6 1 1 FD_FAIL_R_TTRI 0.300000011920928955 9 1 1 FW_MAN_P_SC 1.000000000000000000 9 1 1 FW_MAN_R_SC 1.000000000000000000 9 1 1 FW_MAN_Y_SC 1.000000000000000000 9 1 1 GF_ACTION 2 6 1 1 GF_ALTMODE 0 6 1 1 GF_COUNT -1 6 1 1 GF_MAX_HOR_DIST 0.000000000000000000 9 1 1 GF_MAX_VER_DIST 0.000000000000000000 9 1 1 GF_SOURCE 0 6 1 1 GPS_1_GNSS 0 6 1 1 GPS_1_PROTOCOL 1 6 1 1 GPS_DUMP_COMM 0 6 1 1 GPS_UBX_DYNMODEL 7 6 1 1 GPS_UBX_MODE 0 6 1 1 GPS_YAW_OFFSET 0.000000000000000000 9 1 1 HTE_ACC_GATE 3.000000000000000000 9 1 1 HTE_HT_ERR_INIT 0.100000001490116119 9 1 1 HTE_HT_NOISE 0.003599999938160181 9 1 1 IMU_ACCEL_CUTOFF 30.000000000000000000 9 1 1 IMU_DGYRO_CUTOFF 30.000000000000000000 9 1 1 IMU_GYRO_CUTOFF 30.000000000000000000 9 1 1 IMU_GYRO_NF_BW 20.000000000000000000 9 1 1 IMU_GYRO_NF_FREQ 0.000000000000000000 9 1 1 IMU_GYRO_RATEMAX 0 6 1 1 IMU_INTEG_RATE 200 6 1 1 LNDMC_ALT_MAX -1.000000000000000000 9 1 1 LNDMC_ROT_MAX 500.000000000000000000 9 1 1 LNDMC_XY_VEL_MAX 1.500000000000000000 9 1 1 LNDMC_Z_VEL_MAX 0.500000000000000000 9 1 1 LND_FLIGHT_T_HI 0 6 1 1 LND_FLIGHT_T_LO 1057633890 6 1 1 MAV_BROADCAST 0 6 1 1 MAV_COMP_ID 1 6 1 1 MAV_FWDEXTSP 1 6 1 1 MAV_HASH_CHK_EN 1 6 1 1 MAV_HB_FORW_EN 1 6 1 1 MAV_ODOM_LP 0 6 1 1 MAV_PROTO_VER 0 6 1 1 MAV_RADIO_TOUT 5 6 1 1 MAV_SIK_RADIO_ID 0 6 1 1 MAV_SYS_ID 1 6 1 1 MAV_TYPE 2 6 1 1 MAV_USEHILGPS 0 6 1 1 MC_ACRO_EXPO 0.689999997615814209 9 1 1 MC_ACRO_EXPO_Y 0.689999997615814209 9 1 1 MC_ACRO_P_MAX 720.000000000000000000 9 1 1 MC_ACRO_R_MAX 720.000000000000000000 9 1 1 MC_ACRO_SUPEXPO 0.699999988079071045 9 1 1 MC_ACRO_SUPEXPOY 0.699999988079071045 9 1 1 MC_ACRO_Y_MAX 540.000000000000000000 9 1 1 MC_AIRMODE 0 6 1 1 MC_BAT_SCALE_EN 1 6 1 1 MC_MAN_TILT_TAU 0.000000000000000000 9 1 1 MC_PITCHRATE_D 0.001300000003539026 9 1 1 MC_PITCHRATE_FF 0.000000000000000000 9 1 1 MC_PITCHRATE_I 0.200000002980232239 9 1 1 MC_PITCHRATE_K 1.000000000000000000 9 1 1 MC_PITCHRATE_MAX 220.000000000000000000 9 1 1 MC_PITCHRATE_P 0.079999998211860657 9 1 1 MC_PITCH_P 5.500000000000000000 9 1 1 MC_PR_INT_LIM 0.300000011920928955 9 1 1 MC_RATT_TH 0.800000011920928955 9 1 1 MC_ROLLRATE_D 0.001300000003539026 9 1 1 MC_ROLLRATE_FF 0.000000000000000000 9 1 1 MC_ROLLRATE_I 0.200000002980232239 9 1 1 MC_ROLLRATE_K 1.000000000000000000 9 1 1 MC_ROLLRATE_MAX 220.000000000000000000 9 1 1 MC_ROLLRATE_P 0.079999998211860657 9 1 1 MC_ROLL_P 5.500000000000000000 9 1 1 MC_RR_INT_LIM 0.300000011920928955 9 1 1 MC_YAWRATE_D 0.000000000000000000 9 1 1 MC_YAWRATE_FF 0.000000000000000000 9 1 1 MC_YAWRATE_I 0.100000001490116119 9 1 1 MC_YAWRATE_K 1.000000000000000000 9 1 1 MC_YAWRATE_MAX 200.000000000000000000 9 1 1 MC_YAWRATE_P 0.150000005960464478 9 1 1 MC_YAW_P 2.000000000000000000 9 1 1 MC_YAW_WEIGHT 0.400000005960464478 9 1 1 MC_YR_INT_LIM 0.300000011920928955 9 1 1 MIS_DIST_1WP 900.000000000000000000 9 1 1 MIS_DIST_WPS 900.000000000000000000 9 1 1 MIS_LTRMIN_ALT -1.000000000000000000 9 1 1 MIS_MNT_YAW_CTL 0 6 1 1 MIS_TAKEOFF_ALT 2.500000000000000000 9 1 1 MIS_TAKEOFF_REQ 0 6 1 1 MIS_YAW_ERR 12.000000000000000000 9 1 1 MIS_YAW_TMT -1.000000000000000000 9 1 1 MOT_ORDERING 0 6 1 1 MOT_SLEW_MAX 0.000000000000000000 9 1 1 MPC_ACC_DOWN_MAX 3.000000000000000000 9 1 1 MPC_ACC_HOR 3.000000000000000000 9 1 1 MPC_ACC_HOR_MAX 5.000000000000000000 9 1 1 MPC_ACC_UP_MAX 4.000000000000000000 9 1 1 MPC_ALT_MODE 0 6 1 1 MPC_HOLD_DZ 0.100000001490116119 9 1 1 MPC_HOLD_MAX_XY 0.800000011920928955 9 1 1 MPC_HOLD_MAX_Z 0.600000023841857910 9 1 1 MPC_JERK_AUTO 4.000000000000000000 9 1 1 MPC_JERK_MAX 8.000000000000000000 9 1 1 MPC_LAND_ALT1 10.000000000000000000 9 1 1 MPC_LAND_ALT2 5.000000000000000000 9 1 1 MPC_LAND_RC_HELP 0 6 1 1 MPC_LAND_SPEED 1.000000000000000000 9 1 1 MPC_LAND_VEL_XY 10.000000000000000000 9 1 1 MPC_MANTHR_MIN 0.050000000745058060 9 1 1 MPC_MAN_TILT_MAX 35.000000000000000000 9 1 1 MPC_MAN_Y_MAX 150.000000000000000000 9 1 1 MPC_MAN_Y_TAU 0.079999998211860657 9 1 1 MPC_POS_MODE 3 6 1 1 MPC_SPOOLUP_TIME 0.000000000000000000 9 1 1 MPC_THR_CURVE 0 6 1 1 MPC_THR_HOVER 0.419999986886978149 9 1 1 MPC_THR_MAX 0.750000000000000000 9 1 1 MPC_THR_MIN 0.079999998211860657 9 1 1 MPC_TILTMAX_AIR 45.000000000000000000 9 1 1 MPC_TILTMAX_LND 12.000000000000000000 9 1 1 MPC_TKO_RAMP_T 1.500000000000000000 9 1 1 MPC_TKO_SPEED 1.500000000000000000 9 1 1 MPC_USE_HTE 1 6 1 1 MPC_VELD_LP 5.000000000000000000 9 1 1 MPC_VEL_MANUAL 5.000000000000000000 9 1 1 MPC_XY_CRUISE 5.000000000000000000 9 1 1 MPC_XY_MAN_EXPO 0.200000002980232239 9 1 1 MPC_XY_P 0.949999988079071045 9 1 1 MPC_XY_TRAJ_P 0.500000000000000000 9 1 1 MPC_XY_VEL_D_ACC 2.000000000000000000 9 1 1 MPC_XY_VEL_I_ACC 0.400000005960464478 9 1 1 MPC_XY_VEL_MAX 5.000000000000000000 9 1 1 MPC_XY_VEL_P_ACC 1.200000047683715820 9 1 1 MPC_YAWRAUTO_MAX 45.000000000000000000 9 1 1 MPC_YAW_EXPO 0.200000002980232239 9 1 1 MPC_YAW_MODE 0 6 1 1 MPC_Z_MAN_EXPO 0.200000002980232239 9 1 1 MPC_Z_P 0.500000000000000000 9 1 1 MPC_Z_VEL_D_ACC 0.200000002980232239 9 1 1 MPC_Z_VEL_I_ACC 2.000000000000000000 9 1 1 MPC_Z_VEL_MAX_DN 1.500000000000000000 9 1 1 MPC_Z_VEL_MAX_UP 4.000000000000000000 9 1 1 MPC_Z_VEL_P_ACC 2.000000000000000000 9 1 1 NAV_ACC_RAD 10.000000000000000000 9 1 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