PART TWO - MODIFYING THE FLIGHT CONTROLLER PARAMETERS
Ok, still with me?
Time to really pay attention now 
You need to be VERY careful what you edit in this text file.
Very careful…
One false move, even something as simple as a comma being deleted accidentally will spell disaster for you (well, for your drone anyway).
Your task now is to search within Notepad for certain parameters. Once found, carefully edit the values to the recommended values below.
I’ll provide one example of a parameter change here, then I’ll list the common parameters and values below, so you can change the rest to suit your own customisation desires 
Ok, for my example here then, let’s say we’re only interested in removing the height limit.
To do this, there are two parameters we need to change.
Press CTRL+F in Notepad to bring up a search box, enter:
g_config.advanced_function.height_limit_enabled_0
Then click on “Find Next”.
You’ll see it’ll jump you to that section of the code:
The default values will look similar to this:
{
"index" : 211,
"typeID" : 0,
"size" : 1,
"attribute" : 11,
"minValue" : 1,
"maxValue" : 2,
"defaultValue" : 1,
"name" : "g_config.advanced_function.height_limit_enabled_0",
"modify" : true
},What you need to change in here are the minValue and defaultValue values.
Edit the numbers so both the minValue and the defaultValue values are set to 2.
If done correctly, it’ll now look like this:
{
"index" : 211,
"typeID" : 0,
"size" : 1,
"attribute" : 11,
"minValue" : 2,
"maxValue" : 2,
"defaultValue" : 2,
"name" : "g_config.advanced_function.height_limit_enabled_0",
"modify" : true
},Simple, right?
The next parameter to change for the removal of the height limit is:
g_config.flying_limit.max_height_0
So go ahead and search for that in Notepad again.
Again, you’ll need to edit both the minValue and the defaultValue values.
Set them to be:
{
"index" : 242,
"typeID" : 1,
"size" : 2,
"attribute" : 11,
"minValue" : 10000,
"maxValue" : 10000,
"defaultValue" : 10000,
"name" : "g_config.flying_limit.max_height_0",
"modify" : true
},That’s it, you’re all done. The height limit has now been removed.
I’ll now list the other parameters you can search for, followed by some recommended values to change.
If you’re feeling brave, try experimenting with different values and see how it affects your drone.
Remove Height Limit
g_config.advanced_function.height_limit_enabled_0
“minValue” : 2,
“maxValue” : 2,
“defaultValue” : 2,
g_config.flying_limit.max_height_0
“minValue” : 10000,
“maxValue” : 10000,
“defaultValue” : 10000,
Remove NFZ
g_config.airport_limit_cfg.cfg_search_radius_0
“minValue” : 1,
“maxValue” : 1,
“defaultValue” : 1,
g_config.airport_limit_cfg.cfg_disable_airport_fly_limit_0
“minValue” : 1,
“maxValue” : 1,
“defaultValue” : 1,
g_config.airport_limit_cfg.cfg_enable[FLY_LIMIT_TYPE_SPECIAL]_0
“minValue” : 1,
“maxValue” : 1,
“defaultValue” : 1,
Remove Forced Landings
g_config.voltage2.user_set_smart_bat_0
“minValue” : 0,
“maxValue” : 0,
“defaultValue” : 0,
g_config.voltage2.level_2_function_0
“minValue” : 0,
“maxValue” : 0,
“defaultValue” : 0,
g_config.voltage2.level_2_voltage_0
“minValue” : 0,
“maxValue” : 0,
“defaultValue” : 0,
g_config.voltage2.level_1_function_0
“minValue” : 0,
“maxValue” : 0,
“defaultValue” : 0,
g_config.voltage2.level_1_voltage_0
“minValue” : 0,
“maxValue” : 0,
“defaultValue” : 0,
g_config.voltage.level_2_protect_type_0
“minValue” : 0,
“maxValue” : 0,
“defaultValue” : 0,
g_config.voltage.level_1_protect_type_0
“minValue” : 0,
“maxValue” : 0,
“defaultValue” : 0,
Faster Ascent and Descent Speeds
g_config.control.vert_up_vel_0
“minValue” : 8,
“maxValue” : 10,
“defaultValue” : 8,
g_config.control.vert_down_vel_0
“minValue” : 8,
“maxValue” : 10,
“defaultValue” : 8,
Faster Forwards and Backwards Speeds
g_config.control.horiz_vel_atti_range_0
“minValue” : 35,
“maxValue” : 60,
“defaultValue” : 35,
g_config.control.atti_range_0
“minValue” : 48,
“maxValue” : 60,
“defaultValue” : 48,
Once you’ve finished editing your parameters, click the red cross in the top right corner of Notepad and Save your changes:
You’ll now be returned to the command window again.
At this point the hard work is all done and it’s time to recompile the firmware and incorporate our changes.
Choose option 4 and hit Enter:
Once again, 101 things will go whizzing past your eyes while the firmware is recompiled.
When complete, you’ll be returned to the menu again.
You can check the firmware was recompiled successfully by looking in the \tools\Finished_Firmware_Files\ folder, where you’ll see just two files:
The file flyc_param_infos is a copy of your changed parameters and the second file, WM610_v01.09.01.30_m0306.bin is your modified firmware (your version number may of course be different).
Go back to the command window again.
Now you simply need to rename the firmware file to a service file that your drone will recognise.
Choose option 5 and hit enter:
You can check the service file was renamed correctly by looking in the \tools\Finished_Firmware_Files\ folder where you’ll see the firmware file has been renamed to INMCAPPFw1.bin like so:
Go back to the command window again.
That’s it, you’re all done!
Choose option Q to quit the tool.
All that remains now is to flash this INMCAPPFw1.bin service file on to your drone.
Read on below