air-py/config.json at master · bart/air-py · GitHub

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{"num_motors": 4,
  "attitude": {
    "max_increment": 50,
    "max_pitch": 25,
    "max_roll": 25,
    "max_yaw": 180,
    "stab_Kp": 2.0,
    "stab_Kd": 0,
    "stab_Ki": 1,
    "max_gyro_increment": 50,
    "gyro_Kp": 0.6,
    "gyro_Kd": 0,
    "gyro_Ki": 0.1,
    "pitch_offset": -0.1,
    "roll_offset": -0.75,
    "pitch_rate_offset": 0.2,
    "roll_rate_offset": 1.75
  },
  "rcRadio": {
    "type": "sbus",
    "calibrationStatus": true,
    "num_channels": 4,
    "channels_min": [172, 172, 172, 172],
    "channels_max": [1811, 1811, 1811, 1811],
    "channels_center": [992, 992, 992, 992]
  },
  "esc": {
    "esc_pwm_min_cmd": 1000,
    "esc_pwm_center": 1500,
    "esc_pwm_min": 1140,
    "esc_pwm_max": 2000,
    "quadcopter": {
      "pins": ["X1", "X2", "X3", "X4"],
      "timers": [5, 5, 5, 5],
      "channels": [1, 2, 3, 4]
    }
  }
}