vehicle_templates/ArduCopter/Chimera7/44_system_id_yaw.param
ATC_RAT_PIT_I,0.08429 # we are not performing system identification on the pitch axis, so restore it to the autotuned value
ATC_RAT_YAW_I,0.030876 # prevent the rate controllers from compensating too much of the frequency-sweep signal
ATC_RATE_FF_ENAB,1 # prevent the rate controllers from compensating too much of the frequency-sweep signal
SID_AXIS,12 # Inject chip on the mixer yaw signal
SID_F_START_HZ,0.05
SID_F_STOP_HZ,5
SID_MAGNITUDE,0.55
SID_T_FADE_IN,5
SID_T_FADE_OUT,5
SID_T_REC,130