param.txt

--RMTunerEnterprize--2018-01-20-10-12-59--
Gimbal Yaw Vel
 0 False 2
	7690.0 KP 3 0
	57.8 KI 1 1
Gimbal Pitch Vel
 1 False 2
	4810.0 KP 3 0
	95.8 KI -1 1
Gimbal Axis FF
 2 True 6
	-2059.89990234 Yaw_w1 1 0
	-1069.0 Pitch_w 0 1
	2.30999994278 Yaw_a 0 2
	0.196500003338 Pitch_a 0 3
	-180.0 Yaw_w2 3 4
	0.251800000668 Yaw_th -2 5
Gimbal Yaw Pos
 3 True 3
	13900.0 KP 4 0
	21.6000003815 KI 1 1
	16300.0 KD 4 2
Gimbal Pitch Pos
 4 True 3
	12900.0 KP 4 0
	15.1000003815 KI 1 1
	17350.0 KD 3 2
Gimbal Init Pos
 5 True 3
	2.36689996719 Yaw 0 0
	0.393999993801 Pitch 0 1
	0.108999997377 Yaw_SD -1 2
Gimbal FF Accl
 6 True 6
	-2.35209989548 YawX -2 0
	-0.0494000017643 YawY 1 1
	9.16189956665 YawZ -2 2
	0.0 PitchX 0 3
	0.0 PitchY 0 4
	0.0 PitchZ 0 5
Gimbal Yaw Atti
 7 False 3
	35.1 KP 1 0
	0.331 KI -1 1
	0.152 KD -1 2
Gimbal Pitch Atti
 8 False 3
	34.32 KP 0 0
	0.891 KI -1 1
	0.17 KD -1 2
accelT2
 28 True 3
	0.0 7 0 0
	0.0 8 0 1
	1.0 9 0 2
accelT1
 29 True 6
	1.0 1 0 0
	0.0 2 0 1
	0.0 3 0 2
	0.0 4 0 3
	1.0 5 0 4
	0.0 6 0 5
gyroBias
 30 True 3
	0.00838651694357 X 0 0
	0.00542774377391 Y 0 1
	-0.022775163874 Z 0 2
accelBias
 31 True 3
	0.0 X 0 0
	0.0 Y 0 1
	0.0 Z 0 2