my_models/cf2x_big/cf2x_big.yaml

motor_params:
  total_thrust: 2.0
  thrust_coef: 3.16e-10
  torque_coef: 7.94e-12
  noise_ratio: 0.02
  tau: 0.01

drag_params:
  drag_coef_xyz: 3.0
  drag_area_xyz: 4.0e-4
  drag_coef_pqr: 1.0e-4

control_params:
  ang_vel:
    description: "input: angular velocity command | output: normalized angular torque command"
    kp: [4.0e-2, 4.0e-2, 8.0e-2]
    ki: [5.0e-7, 5.0e-7, 2.7e-4]
    kd: [1.0e-4, 1.0e-4, 0.0]
    lim: [1.0, 1.0, 1.0]

  ang_pos:
    description: "input: angular position command | output: angular velocity command"
    kp: [2.0, 2.0, 2.0]
    ki: [0.0, 0.0, 0.0]
    kd: [0.0, 0.0, 0.0]
    lim: [3.0, 3.0, 3.0]

  lin_vel:
    description: "input: linear velocity command | output: angular position command"
    kp: [0.8, 0.8]
    ki: [0.3, 0.3]
    kd: [0.5, 0.5]
    lim: [0.4, 0.4]

  lin_pos:
    description: "input: linear position command | output: linear velocity command"
    kp: [1.0, 1.0]
    ki: [0.0, 0.0]
    kd: [0.0, 0.0]
    lim: [2.0, 2.0]

  z_pos:
    description: "input: height position target | output: z velocity command"
    kp: 1.0
    ki: 0.0
    kd: 0.0
    lim: 1.0

  z_vel:
    description: "input: z velocity command | output: normalized thrust command"
    kp: 2.0
    ki: 0.5
    kd: 0.05
    lim: 1.0