File content as of revision 6:3188b00263e8:

#ifndef Parameters_h
#define Parameters_h

// Motor constants 
const float alpha = 1.16e-07f;
const float beta = 7.149e-10f;

// Propeller constants
const float kl = 1.726e-08f;    // N.s^2/rad^2
const float kd = 1.426e-10f;    // N.m.s^2/rad^2

// Quadcopter dimensions
const float l = 0.033f;         // m
const float m = 0.030f;         // kg
const float I_xx = 16.0e-6f;    // kg.m^2
const float I_yy = 16.0e-6f;    // kg.m^2
const float I_zz = 29.0e-6f;    // kg.m^2

// Attitude estimator parameters
const float dt_att = 0.005f;    // s
const float rho = 0.02f;        

// Attitude controller time constants
const float T_phi = 0.2f;       // s
const float T_theta = 0.2f;     // s
const float T_psi = 0.2f;       // s
const float T_p = 0.04f;        // s
const float T_q = 0.04f;        // s
const float T_r = 0.1f;         // s

#endif