vehicle_templates/ArduCopter/X11_plus/45_system_id_thrust.param
ATC_RAT_YAW_I,0.061538 # we are not performing system identification on the yaw axis, so restore it to the autotuned value
ATC_RATE_FF_ENAB,0 # prevent the rate controllers from compensating too much of the frequency-sweep signal
PSC_ACCZ_I,0 # prevent the rate controllers from compensating too much of the frequency-sweep signal
SID_AXIS,13 # Inject chip on the mixer thrust signal
SID_F_START_HZ,0.2
SID_F_STOP_HZ,10.0
SID_MAGNITUDE,0.12
SID_T_FADE_IN,10.0
SID_T_FADE_OUT,5.0
SID_T_REC,100.0