We’ve had to change the names of some PID parameters in Copter-3.4. You don’t really need to worry about the scaling changes, that’s all handled automatically as part of the upgrade.
Old New Scaling change (i.e. multiply old value by below value to arrive at new value)
STB_RLL_P ATC_ANG_RLL_P none
STB_PIT_P ATC_ANG_PIT_P none
STB_YAW_P ATC_ANG_YAW_P none
RATE_RLL_P ATC_RAT_RLL_P 0.9 (for x-frame multicopters) or 1.27
RATE_RLL_I ATC_RAT_RLL_I 0.9 (for x-frame multicopters) or 1.27
RATE_RLL_IMAX ATC_RAT_RLL_IMAX 1/4500
RATE_RLL_D ATC_RAT_RLL_D 0.9 (for x-frame multicopters) or 1.27
RATE_RLL_FILT_HZ ATC_RAT_RLL_FILT none
RATE_PIT_P ATC_RAT_PIT_P 0.9 (for x-frame multicopters) or 1.27
RATE_PIT_I ATC_RAT_PIT_I 0.9 (for x-frame multicopters) or 1.27
RATE_PIT_IMAX ATC_RAT_PIT_IMAX 1/4500
RATE_PIT_D ATC_RAT_PIT_D 0.9 (for x-frame multicopters) or 1.27
RATE_PIT_FILT_HZ ATC_RAT_PIT_FILT none
RATE_YAW_P ATC_RAT_YAW_P 0.9 (for x-frame multicopters) or 1.27
RATE_YAW_I ATC_RAT_YAW_I 0.9 (for x-frame multicopters) or 1.27
RATE_YAW_IMAX ATC_RAT_YAW_IMAX 1/4500
RATE_YAW_D ATC_RAT_YAW_D 0.9 (for x-frame multicopters) or 1.27
RATE_YAW_FILT_HZ ATC_RAT_YAW_FILT none
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