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config_default.h
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config_default.h
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/*
This file is part of Trunetcopter.
Trunetcopter is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Trunetcopter is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Trunetcopter. If not, see <http://www.gnu.org/licenses/>.
*/
#define DEFAULT_CONFIG_VERSION 107
#define DEFAULT_SYSTEM_ID 81 // mavlink system id
#define DEFAULT_RADIO_TYPE 2 // 0 == Spektrum 11bit, 1 == Spektrum 10bit, 2 == Futaba, 3 == PPM, 4 == PWM
#define DEFAULT_RADIO_THRO_CH 0
#define DEFAULT_RADIO_ROLL_CH 1
#define DEFAULT_RADIO_PITC_CH 2
#define DEFAULT_RADIO_RUDD_CH 3
#define DEFAULT_RADIO_GEAR_CH 4
#define DEFAULT_RADIO_FLAP_CH 5
#define DEFAULT_RADIO_AUX2_CH 6
#define DEFAULT_RADIO_AUX3_CH 7
#define DEFAULT_RADIO_AUX4_CH 8
#define DEFAULT_RADIO_AUX5_CH 9
#define DEFAULT_RADIO_AUX6_CH 10
#define DEFAULT_RADIO_AUX7_CH 11
#define DEFAULT_PPM_SCALER 3 // good for FrSky & Graupner HOTT
#define DEFAULT_PPM_THROT_LOW 1090 // throttle value at low stick
#define DEFAULT_PPM_CHAN_MID 1512 // middle of the stick range
#define DEFAULT_CTRL_PID_TYPE 0 // 0 == parallel TILT/RATE PIDs, 1 == cascading TILT/RATE PIDs
#define DEFAULT_CTRL_FACT_THRO 0.70f // user throttle multiplier
#define DEFAULT_CTRL_FACT_PITC 0.05f // user pitch multiplier
#define DEFAULT_CTRL_FACT_ROLL 0.05f // user roll multiplier
#define DEFAULT_CTRL_FACT_RUDD 0.0004f // user rudder multiplier
#define DEFAULT_CTRL_DEAD_BAND 40.0f // rc control dead band (for pitch, roll, & rudder control)
#define DEFAULT_CTRL_DBAND_THRO 40.0f // rc control dead band (for throttle channel only)
#define DEFAULT_CTRL_MIN_THROT 20.0f // minimum user throttle to activate motors
#define DEFAULT_CTRL_MAX 300.0f // maximum control applied to motors +- throttle
#define DEFAULT_CTRL_NAV_YAW_RT 180.0f // maximum navigation yaw rate deg/s
// TILT rate PID
#define DEFAULT_CTRL_TLT_RTE_P 0.0f
#define DEFAULT_CTRL_TLT_RTE_I 0.0f
#define DEFAULT_CTRL_TLT_RTE_D 7180.0f
#define DEFAULT_CTRL_TLT_RTE_F 0.25f
#define DEFAULT_CTRL_TLT_RTE_PM 999.0f
#define DEFAULT_CTRL_TLT_RTE_IM 999.0f
#define DEFAULT_CTRL_TLT_RTE_DM 999.0f
#define DEFAULT_CTRL_TLT_RTE_OM 250.0f
// YAW rate PID
#define DEFAULT_CTRL_YAW_RTE_P 300.0f
#define DEFAULT_CTRL_YAW_RTE_I 0.15f
#define DEFAULT_CTRL_YAW_RTE_D 50.0f
#define DEFAULT_CTRL_YAW_RTE_F 0.25f
#define DEFAULT_CTRL_YAW_RTE_PM 80.0f
#define DEFAULT_CTRL_YAW_RTE_IM 80.0f
#define DEFAULT_CTRL_YAW_RTE_DM 80.0f
#define DEFAULT_CTRL_YAW_RTE_OM 180.0f
// TILT angle PID
#define DEFAULT_CTRL_TLT_ANG_P 60.0f
#define DEFAULT_CTRL_TLT_ANG_I 0.0005f
#define DEFAULT_CTRL_TLT_ANG_D 1744.0f
#define DEFAULT_CTRL_TLT_ANG_F 0.25f
#define DEFAULT_CTRL_TLT_ANG_PM 150.0f
#define DEFAULT_CTRL_TLT_ANG_IM 75.0f
#define DEFAULT_CTRL_TLT_ANG_DM 150.0f
#define DEFAULT_CTRL_TLT_ANG_OM 250.0f
// YAW angle PID
#define DEFAULT_CTRL_YAW_ANG_P 0.05f
#define DEFAULT_CTRL_YAW_ANG_I 0.00002f
#define DEFAULT_CTRL_YAW_ANG_D 0.0f
#define DEFAULT_CTRL_YAW_ANG_F 0.0f
#define DEFAULT_CTRL_YAW_ANG_PM 1.25f
#define DEFAULT_CTRL_YAW_ANG_IM 0.04f
#define DEFAULT_CTRL_YAW_ANG_DM 0.0f
#define DEFAULT_CTRL_YAW_ANG_OM 1.25f
#define DEFAULT_GPS_BAUD_RATE 230400
#define DEFAULT_GPS_RATE 200 // ms per cycle (5Hz)
#define DEFAULT_MOT_FRAME 3 // 0 == custom, 1 == '+' configuration, 2 == 'x', 3 == hex
#define DEFAULT_MOT_START 1125
#define DEFAULT_MOT_MIN 975
#define DEFAULT_MOT_MAX 1950
#define DEFAULT_MOT_HOV_THROT 500
#define DEFAULT_MOT_EXP_FACT 0.0f
#define DEFAULT_MOT_EXP_MIN 0.0f
#define DEFAULT_MOT_EXP_MAX 0.0f
#define DEFAULT_MOT_PWRD_01_T 0.0
#define DEFAULT_MOT_PWRD_01_P 0.0
#define DEFAULT_MOT_PWRD_01_R 0.0
#define DEFAULT_MOT_PWRD_01_Y 0.0
#define DEFAULT_MOT_PWRD_02_T 0.0
#define DEFAULT_MOT_PWRD_02_P 0.0
#define DEFAULT_MOT_PWRD_02_R 0.0
#define DEFAULT_MOT_PWRD_02_Y 0.0
#define DEFAULT_MOT_PWRD_03_T 0.0
#define DEFAULT_MOT_PWRD_03_P 0.0
#define DEFAULT_MOT_PWRD_03_R 0.0
#define DEFAULT_MOT_PWRD_03_Y 0.0
#define DEFAULT_MOT_PWRD_04_T 0.0
#define DEFAULT_MOT_PWRD_04_P 0.0
#define DEFAULT_MOT_PWRD_04_R 0.0
#define DEFAULT_MOT_PWRD_04_Y 0.0
#define DEFAULT_MOT_PWRD_05_T 0.0
#define DEFAULT_MOT_PWRD_05_P 0.0
#define DEFAULT_MOT_PWRD_05_R 0.0
#define DEFAULT_MOT_PWRD_05_Y 0.0
#define DEFAULT_MOT_PWRD_06_T 0.0
#define DEFAULT_MOT_PWRD_06_P 0.0
#define DEFAULT_MOT_PWRD_06_R 0.0
#define DEFAULT_MOT_PWRD_06_Y 0.0
#define DEFAULT_MOT_PWRD_07_T 0.0
#define DEFAULT_MOT_PWRD_07_P 0.0
#define DEFAULT_MOT_PWRD_07_R 0.0
#define DEFAULT_MOT_PWRD_07_Y 0.0
#define DEFAULT_MOT_PWRD_08_T 0.0
#define DEFAULT_MOT_PWRD_08_P 0.0
#define DEFAULT_MOT_PWRD_08_R 0.0
#define DEFAULT_MOT_PWRD_08_Y 0.0
#define DEFAULT_MOT_PWRD_09_T 0.0
#define DEFAULT_MOT_PWRD_09_P 0.0
#define DEFAULT_MOT_PWRD_09_R 0.0
#define DEFAULT_MOT_PWRD_09_Y 0.0
#define DEFAULT_MOT_PWRD_10_T 0.0
#define DEFAULT_MOT_PWRD_10_P 0.0
#define DEFAULT_MOT_PWRD_10_R 0.0
#define DEFAULT_MOT_PWRD_10_Y 0.0
#define DEFAULT_MOT_PWRD_11_T 0.0
#define DEFAULT_MOT_PWRD_11_P 0.0
#define DEFAULT_MOT_PWRD_11_R 0.0
#define DEFAULT_MOT_PWRD_11_Y 0.0
#define DEFAULT_MOT_PWRD_12_T 0.0
#define DEFAULT_MOT_PWRD_12_P 0.0
#define DEFAULT_MOT_PWRD_12_R 0.0
#define DEFAULT_MOT_PWRD_12_Y 0.0
#define DEFAULT_MOT_PWRD_13_T 0.0
#define DEFAULT_MOT_PWRD_13_P 0.0
#define DEFAULT_MOT_PWRD_13_R 0.0
#define DEFAULT_MOT_PWRD_13_Y 0.0
#define DEFAULT_MOT_PWRD_14_T 0.0
#define DEFAULT_MOT_PWRD_14_P 0.0
#define DEFAULT_MOT_PWRD_14_R 0.0
#define DEFAULT_MOT_PWRD_14_Y 0.0
#define DEFAULT_DOWNLINK_BAUD 115200
#define DEFAULT_TELEMETRY_RATE 20 // loops between reports
#define DEFAULT_NAV_MAX_SPEED 5.0f // m/s
#define DEFAULT_NAV_MAX_DECENT 1.5f // m/s
#define DEFAULT_NAV_CEILING 0.0f // m relative to home alt. Maximum altitude in alt/pos/mission/dvh modes
// speed => tilt PID
#define DEFAULT_NAV_SPEED_P 7.0f
#define DEFAULT_NAV_SPEED_I 0.005f
#define DEFAULT_NAV_SPEED_PM 20.0f
#define DEFAULT_NAV_SPEED_IM 20.0f
#define DEFAULT_NAV_SPEED_OM 30.0f
// distance => speed PID
#define DEFAULT_NAV_DIST_P 0.5f
#define DEFAULT_NAV_DIST_I 0.0f
#define DEFAULT_NAV_DIST_PM 999.0f
#define DEFAULT_NAV_DIST_IM 0.0f
#define DEFAULT_NAV_DIST_OM 999.0f
// Altitude hold Speed PID
#define DEFAULT_NAV_ATL_SPED_P 200.0f
#define DEFAULT_NAV_ATL_SPED_I 2.85f
#define DEFAULT_NAV_ATL_SPED_PM 150.0f
#define DEFAULT_NAV_ATL_SPED_IM 700.0f
#define DEFAULT_NAV_ATL_SPED_OM 700.0f
// Altitude hold Position PID
#define DEFAULT_NAV_ALT_POS_P 0.20f
#define DEFAULT_NAV_ALT_POS_I 0.0f
#define DEFAULT_NAV_ALT_POS_PM 2.5f
#define DEFAULT_NAV_ALT_POS_IM 0.0f
#define DEFAULT_NAV_ALT_POS_OM 2.5f
#define DEFAULT_IMU_ROT +0.0 // degrees to rotate the IMU to align with the frame
#define DEFAULT_IMU_ACC_BIAS_X -1.65
#define DEFAULT_IMU_ACC_BIAS_Y -1.65
#define DEFAULT_IMU_ACC_BIAS_Z -1.65
#define DEFAULT_IMU_ACC_BIAS1_X 0.0
#define DEFAULT_IMU_ACC_BIAS1_Y 0.0
#define DEFAULT_IMU_ACC_BIAS1_Z 0.0
#define DEFAULT_IMU_ACC_BIAS2_X 0.0
#define DEFAULT_IMU_ACC_BIAS2_Y 0.0
#define DEFAULT_IMU_ACC_BIAS2_Z 0.0
#define DEFAULT_IMU_ACC_BIAS3_X 0.0
#define DEFAULT_IMU_ACC_BIAS3_Y 0.0
#define DEFAULT_IMU_ACC_BIAS3_Z 0.0
#define DEFAULT_IMU_ACC_SCAL_X +0.019
#define DEFAULT_IMU_ACC_SCAL_Y +0.019
#define DEFAULT_IMU_ACC_SCAL_Z +0.019
#define DEFAULT_IMU_ACC_SCAL1_X 0.0
#define DEFAULT_IMU_ACC_SCAL1_Y 0.0
#define DEFAULT_IMU_ACC_SCAL1_Z 0.0
#define DEFAULT_IMU_ACC_SCAL2_X 0.0
#define DEFAULT_IMU_ACC_SCAL2_Y 0.0
#define DEFAULT_IMU_ACC_SCAL2_Z 0.0
#define DEFAULT_IMU_ACC_SCAL3_X 0.0
#define DEFAULT_IMU_ACC_SCAL3_Y 0.0
#define DEFAULT_IMU_ACC_SCAL3_Z 0.0
#define DEFAULT_IMU_ACC_ALGN_XY 0.0
#define DEFAULT_IMU_ACC_ALGN_XZ 0.0
#define DEFAULT_IMU_ACC_ALGN_YX 0.0
#define DEFAULT_IMU_ACC_ALGN_YZ 0.0
#define DEFAULT_IMU_ACC_ALGN_ZX 0.0
#define DEFAULT_IMU_ACC_ALGN_ZY 0.0
#define DEFAULT_IMU_MAG_BIAS_X 0.0
#define DEFAULT_IMU_MAG_BIAS_Y 0.0
#define DEFAULT_IMU_MAG_BIAS_Z 0.0
#define DEFAULT_IMU_MAG_BIAS1_X 0.0
#define DEFAULT_IMU_MAG_BIAS1_Y 0.0
#define DEFAULT_IMU_MAG_BIAS1_Z 0.0
#define DEFAULT_IMU_MAG_BIAS2_X 0.0
#define DEFAULT_IMU_MAG_BIAS2_Y 0.0
#define DEFAULT_IMU_MAG_BIAS2_Z 0.0
#define DEFAULT_IMU_MAG_BIAS3_X 0.0
#define DEFAULT_IMU_MAG_BIAS3_Y 0.0
#define DEFAULT_IMU_MAG_BIAS3_Z 0.0
#define DEFAULT_IMU_MAG_SCAL_X +0.19
#define DEFAULT_IMU_MAG_SCAL_Y +0.19
#define DEFAULT_IMU_MAG_SCAL_Z +0.19
#define DEFAULT_IMU_MAG_SCAL1_X 0.0
#define DEFAULT_IMU_MAG_SCAL1_Y 0.0
#define DEFAULT_IMU_MAG_SCAL1_Z 0.0
#define DEFAULT_IMU_MAG_SCAL2_X 0.0
#define DEFAULT_IMU_MAG_SCAL2_Y 0.0
#define DEFAULT_IMU_MAG_SCAL2_Z 0.0
#define DEFAULT_IMU_MAG_SCAL3_X 0.0
#define DEFAULT_IMU_MAG_SCAL3_Y 0.0
#define DEFAULT_IMU_MAG_SCAL3_Z 0.0
#define DEFAULT_IMU_MAG_ALGN_XY 0.0
#define DEFAULT_IMU_MAG_ALGN_XZ 0.0
#define DEFAULT_IMU_MAG_ALGN_YX 0.0
#define DEFAULT_IMU_MAG_ALGN_YZ 0.0
#define DEFAULT_IMU_MAG_ALGN_ZX 0.0
#define DEFAULT_IMU_MAG_ALGN_ZY 0.0
#define DEFAULT_IMU_GYO_BIAS_X -1.33
#define DEFAULT_IMU_GYO_BIAS_Y -1.33
#define DEFAULT_IMU_GYO_BIAS_Z -1.33
#define DEFAULT_IMU_GYO_BIAS1_X 0.0
#define DEFAULT_IMU_GYO_BIAS1_Y 0.0
#define DEFAULT_IMU_GYO_BIAS1_Z 0.0
#define DEFAULT_IMU_GYO_BIAS2_X 0.0
#define DEFAULT_IMU_GYO_BIAS2_Y 0.0
#define DEFAULT_IMU_GYO_BIAS2_Z 0.0
#define DEFAULT_IMU_GYO_BIAS3_X 0.0
#define DEFAULT_IMU_GYO_BIAS3_Y 0.0
#define DEFAULT_IMU_GYO_BIAS3_Z 0.0
#define DEFAULT_IMU_GYO_SCAL_X +0.1145
#define DEFAULT_IMU_GYO_SCAL_Y +0.1145
#define DEFAULT_IMU_GYO_SCAL_Z +0.1145
#define DEFAULT_IMU_GYO_ALGN_XY 0.0
#define DEFAULT_IMU_GYO_ALGN_XZ 0.0
#define DEFAULT_IMU_GYO_ALGN_YX 0.0
#define DEFAULT_IMU_GYO_ALGN_YZ 0.0
#define DEFAULT_IMU_GYO_ALGN_ZX 0.0
#define DEFAULT_IMU_GYO_ALGN_ZY 0.0
#define DEFAULT_IMU_MAG_INCL -65.0
#define DEFAULT_IMU_MAG_DECL 0.0
#define DEFAULT_IMU_PRESS_SENSE 0.0f // 0 == sensor #1, 1 == sensor #2, 2 == both
#define DEFAULT_GMBL_PITCH_PORT 0.0f // 0 == disabled
#define DEFAULT_GMBL_ROLL_PORT 0.0f // 0 == disabled
#define DEFAULT_GMBL_PWM_MAX_RL 2250
#define DEFAULT_GMBL_PWM_MIN_RL 750
#define DEFAULT_GMBL_PWM_MAX_PT 2250
#define DEFAULT_GMBL_PWM_MIN_PT 750
#define DEFAULT_GMBL_PWM_FREQ 200
#define DEFAULT_GMBL_NTRL_PITCH 1575
#define DEFAULT_GMBL_NTRL_ROLL 1442
#define DEFAULT_GMBL_SCAL_PITCH (1.0f / 91.0f)
#define DEFAULT_GMBL_SCAL_ROLL (1.0f / 70.0f)
#define DEFAULT_GMBL_SLEW_RATE 0.005f
#define DEFAULT_GMBL_ROLL_EXPO 0.0f
#define DEFAULT_SPVR_LOW_BAT1 3.5f // cell volts
#define DEFAULT_SPVR_LOW_BAT2 3.3f // cell volts
#define DEFAULT_SPVR_BAT_CRV1 +9.210144e+00f
#define DEFAULT_SPVR_BAT_CRV2 +1.481796e+01f
#define DEFAULT_SPVR_BAT_CRV3 -5.890255e+01f
#define DEFAULT_SPVR_BAT_CRV4 +1.166082e+02f
#define DEFAULT_SPVR_BAT_CRV5 -1.074193e+02f
#define DEFAULT_SPVR_BAT_CRV6 +3.779082e+01f
#define DEFAULT_SPVR_FS_RAD_ST1 0 // radio failsafe stage 1 action (0 = position hold)
#define DEFAULT_SPVR_FS_RAD_ST2 0 // radio failsafe stage 2 action (0 = slow decent, 1 = RTH + slow decent)
#define DEFAULT_UKF_VEL_Q +7.6020e-02 // +0.076019661680 0.000109304521 -0.001443424436
#define DEFAULT_UKF_VEL_ALT_Q +1.4149e-01 // +0.141489724652 0.000109419473 +0.000987597731
#define DEFAULT_UKF_POS_Q +6.0490e+03 // +6048.951523179588 0.000109199532 +97.58772834123110
#define DEFAULT_UKF_POS_ALT_Q +4.5576e+03 // +4557.622475819297 0.000109580650 +19.44625975731340
#define DEFAULT_UKF_ACC_BIAS_Q +9.3722e-04 // +0.000937220476 0.000109347614 +0.000009865862
#define DEFAULT_UKF_GYO_BIAS_Q +4.6872e-02 // +0.046871534288 0.000109380732 -0.000123894440
#define DEFAULT_UKF_QUAT_Q +7.3021e-04 // +0.000730213283 0.000109472899 +0.000000995669
#define DEFAULT_UKF_PRES_ALT_Q +6.5172e+01 // +65.171935456104 0.000109418082 -0.2151891180844
#define DEFAULT_UKF_ACC_BIAS_V +2.7535e-07 // +0.000000275353 0.000109561088 -0.000000004212
#define DEFAULT_UKF_GYO_BIAS_V +8.2738e-07 // +0.000000827379 0.000107923369 +0.000000009107
#define DEFAULT_UKF_RATE_V +6.0568e-05 // +0.000060568461 0.000109458065 +0.000000498081
#define DEFAULT_UKF_PRES_ALT_V +1.0204e-04 // +0.000102039667 0.000109254406 -0.000002050090
#define DEFAULT_UKF_POS_V +6.4505e-08 // +0.000000064505 0.000109587486 -0.000000000240
#define DEFAULT_UKF_VEL_V +1.0980e-07 // +0.000000109802 0.000109537353 -0.000000000134
#define DEFAULT_UKF_ALT_POS_V +5.3821e-09 // +0.000000005382 0.000109525531 +0.000000000093
#define DEFAULT_UKF_ALT_VEL_V +2.8103e-07 // +0.000000281035 0.000109279082 +0.000000000639
#define DEFAULT_UKF_GPS_POS_N +1.7620e-05 // +0.000017619672 0.000109467204 -0.000000022679
#define DEFAULT_UKF_GPS_POS_M_N +4.7413e-05 // +0.000047413187 0.000108906551 -0.000000419440
#define DEFAULT_UKF_GPS_ALT_N +7.6558e-05 // +0.000076558177 0.000109472033 -0.000000162714
#define DEFAULT_UKF_GPS_ALT_M_N +3.8535e-05 // +0.000038534766 0.000109525552 +0.000000007101
#define DEFAULT_UKF_GPS_VEL_N +4.6256e-02 // +0.046255979499 0.000109061365 +0.000395208418
#define DEFAULT_UKF_GPS_VEL_M_N +1.2336e-02 // +0.012336395925 0.000109431436 +0.000140398236
#define DEFAULT_UKF_GPS_VD_N +3.7820e+00 // +3.782028700864 0.000109323731 -0.028830318912
#define DEFAULT_UKF_GPS_VD_M_N +1.5841e-02 // +0.015840936058 0.000109475273 -0.000030160915
#define DEFAULT_UKF_ALT_N +1.7077e-01 // +0.170768080733 0.000109571562 +0.000084225765
#define DEFAULT_UKF_ACC_N +9.5468e-05 // +0.000095468045 0.000109331710 -0.000000932407
#define DEFAULT_UKF_DIST_N +1.8705e-02 // +0.018704747883 0.000109457024 +0.000038618360
#define DEFAULT_UKF_MAG_N +3.8226e-01 // +0.382258731690 0.000109407461 +0.002851611558
#define DEFAULT_UKF_POS_DELAY +2.0574e+03 // +2057.421963899194 0.001097611925 -48.37809534324900
#define DEFAULT_UKF_VEL_DELAY -1.0373e+05 // -103727.997010331557 0.000109494449 -293.522967971236500