Table 5.

Parameters of PI controller and regulator for each orientation experiment in the dynamic test.

Channel	Proportional Gain (${\mathit{K}}_{\mathit{P}}$)	Integral Gain (${\mathit{K}}_{\mathit{I}}$)	Regulation Constant ($\mathit{\epsilon }$)
Roll	$K_{P\_1}=-19$	$K_{I\_1}=0.002$	${\epsilon }_1=-0.7$
Pitch	$K_{P\_2}=50$	$K_{I\_2}=0.05$	${\epsilon }_2=-1.1$
Heading	$K_{P\_3}=-4000$	$K_{I\_3}=-0.001$	${\epsilon }_3=-17$