[Drone Number]
dronenumber = 1

[Drone 1]
id = 6
trimroll = 6
trimpitch = 4
k_pitch_z = 55.0, 0.5 , 0.04
k_roll_z = 55.0, 0.5, 0.04
k_thrust_z = 450, 0.0, 0.0
k_yaw_z = 0.0, 0.0, 0

k_pitch_way_x = 20.0, 0.5 , 0.05
k_roll_way_x = 50.0, 0.0, 0.0
k_thrust_way_x = 450, 0.0, 0.03
k_yaw_way_x = 0.0, 0.0, 0

k_pitch_way_y = 50.0, 0.0 , 0.05
k_roll_way_y =  20.0, 0.5, 0.05
k_thrust_way_y = 450, 0.0, 0.03
k_yaw_way_y = 0.0, 0.0, 0

int_moving_win_len = 100
diff_moving_win_len = 3
diff_fn = lpf
alpha_low_pass = 0.7

steady_state_err_way_z = 0. , 0. , 0.
steady_state_err_way_x = 0., 0. , 0.
steady_state_err_way_y = 0., 0. , 0.

[Mode]
mode = Hover

[Rectangle]
xyz = 2.0,1.0,0.9

[Hover]
z = 1.0

[Thresholds]
xy = 0.15
vel = 0.15
z = 0.1