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| Parameter | u Control | v Control | w Control | p Control | q Control | r Control |
|---|---|---|---|---|---|---|
| Kp | 1 | 1.5 | 1 | 1 | 1 | 1 |
| Ki | 1 | 1.5 | 1 | 1 | 1 | 1 |
| Kd | 0.1 | 0 | 0 | 0 | 0 | 0 |
| e range | 2 | 2 | 2 | 2 | 2 | 2 |
| ce range | 500 | 500 | 500 | 200 | 200 | 200 |
| dkp range | 2 | 2 | 2 | 2 | 2 | 2 |
| dki range | 2 | 2 | 2 | 2 | 2 | 2 |
| dkd range | 0 | 0 | 0 | 0 | 0 | 0 |
