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drone_bridge:
ros__parameters:
firmware: "PX4"
mass: 1.0
max_thrust: 47.0
use_battery_for_thrust: false
# Position/velocity PID gains
kp_position: 4.0
kd_position: 4.0
ki_position: 2.0
kp_velocity: 3.0
ki_velocity: 0.7
take_off_height: 1.0