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Trying to explain some values in the Airframe configuration here.

You set the 3-pos switch values here to select which mode you are in based on the position of the switch:

 <section name="AUTOPILOT">
   <define name="BOOZ2_MODE_AUTO1"  value="BOOZ2_AP_MODE_HOVER_Z_HOLD"/>
   <define name="BOOZ2_MODE_AUTO2"  value="BOOZ2_AP_MODE_NAV"/>

In this case here pos1 = ATTITUDE, pos2 = HOVER_Z_HOLD and pos3 = NAV mode.

"RATE" stabilization. Set with the STABILIZATION_RATE section name. Here's an example:

"RATE" mode is for direct control like for a Single Rotor Helicopter.

"ATTITUDE" or AUTO1 (computer assisted) stabilization. In this way you are having the autopilot assist with the stabilization just like with AUTO1 with the fixed wing. You use the values to limit or increase gains and rates to tune your aircraft.
Here's an example:


Now some sections:

  • setpoints
  • reference:
 Omega and Zeta are used to set how responsive or quickly you want the quad to react to stick inputs. 
 Omega's should be between 150 and 800 (deg/s). 
 Zeta should be left at .9 (default). 

   <define name="REF_OMEGA_P"  value="RadOfDeg(800)"/>
   <define name="REF_ZETA_P"   value="0.85"/>
   <define name="REF_MAX_P"    value="RadOfDeg(300.)"/>
   <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
   <define name="REF_OMEGA_Q"  value="RadOfDeg(800)"/>
   <define name="REF_ZETA_Q"   value="0.85"/>
   <define name="REF_MAX_Q"    value="RadOfDeg(300.)"/>
   <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
   <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
   <define name="REF_ZETA_R"   value="0.85"/>
   <define name="REF_MAX_R"    value="RadOfDeg(180.)"/>
   <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
  • feedback (tuning resistance to disturbances)

Tune the feedback values by hovering in place with no control inputs. If you quad does not stay in one position you need to either balance it (i.e. CG in the center of the quad) or modify these values: TRIM_A (Aileron), TRIM_E (Elevator), TRIM_R (Rudder/Yaw). Do NOT use the RC transmitter to "trim" the quad. Use negative for one direction, positive for the other until the quad will in calm air stay put without inputs from the RC Transmitter. Then you are ready to tune "feedback". Feedback values will adjust how the quad reacts to being disturbed. Push on the quad and see how it reacts. Modify the values to "tune" the proper reaction.