diff --git a/examples/configurations/gps_sim/client.ini b/examples/configurations/gps_sim/client.ini
new file mode 100644
index 0000000..5f61403
--- /dev/null
+++ b/examples/configurations/gps_sim/client.ini
@@ -0,0 +1,113 @@
+# This is generated config with default values
+# Modify to configure
+config_name = client
+config_version = 1.0
+
+[SERVER]
+port = 25000
+host = 192.168.1.54
+buffer_size = 1024
+
+[BROADCAST]
+use = True
+port = 8181
+
+[TELEMETRY]
+transmit = True
+frequency = 1.0
+log_resources = False
+
+[POSITION WATCHDOG]
+enabled = True
+log_state = True
+# Available options: emergency_land, land, disarm
+action = emergency_land
+# Time to get vision position after arm
+# No visual position will be checked
+# during this time after arming
+vision_pose_delay_after_arm = 3.0
+# Timeout for the last vision pose in /mavros/vision_pose/pose
+# Set 0 to disable vision pose check
+vision_pose_timeout = 0.0
+# Max delta between current position and setpoint
+# Set 0 to disable position delta check
+position_delta_max = 3.0
+# Time to disarm after action is triggered
+disarm_timeout = 10.0
+
+[EMERGENCY LAND]
+thrust = 0.45
+decrease_thrust_after = 5.0
+
+[COPTER]
+frame_id = floor
+arming_time = 0.5
+takeoff_height = 3.0
+takeoff_time = 10.0
+reach_first_point_time = 10.0
+land_delay = 1.0
+land_timeout = 10.0
+# __list__ x y z
+common_offset = 0.0, 0.0, 0.0
+
+[FLOOR FRAME]
+parent = gps
+# Frame translation (x, y, z)
+# __list__ x y z
+translation = 0.0, 0.0, 5.0
+# Frame rotation (roll, pitch, yaw) in degrees
+# __list__ roll pitch yaw
+rotation = 0.0, 0.0, 0.0
+
+[GPS FRAME]
+lat = 55.7032026
+lon = 37.7248114
+yaw = 0.0
+
+[ANIMATION]
+# Available options:
+# 'auto' - automatic action selection from 'takeoff' or 'fly' based on current copter level
+# 'takeoff' - takeoff to first output animation point after static_begin_time then execute 'takeoff logic'
+# 'fly' - execute animation frames after static_begin_time
+start_action = auto
+takeoff_level = 0.5
+ground_level = -5.0
+frame_delay = 0.1
+# Animation ratio (x, y, z)
+# __list__ x y z
+ratio = 0.5, 0.5, 0.5
+# Available options:
+# 'animation' - take yaw from animation
+# 'nan' - don't change yaw during flight
+# or a number in degrees
+yaw = nan
+
+[[OUTPUT]]
+static_begin = False
+takeoff = True
+route = True
+land = False
+static_end = False
+
+[LED]
+use = False
+pin = 21
+count = 60
+takeoff_indication = True
+land_indication = True
+
+[PRIVATE]
+# Available options: /hostname ; /default ; /ip ; any string 63 characters length
+id = /hostname
+# Drone's individual offset (x, y, z)
+# __list__ x y z
+offset = 0.0, 0.0, 0.0
+
+[SYSTEM]
+change_hostname = True
+restart_after_rename = True
+
+[NTP]
+use = False
+host = ntp1.stratum2.ru
+port = 123
diff --git a/examples/fcu_parameters/clever_failsafe_and_power.params b/examples/fcu_parameters/clever_failsafe_and_power.params
new file mode 100644
index 0000000..5933717
--- /dev/null
+++ b/examples/fcu_parameters/clever_failsafe_and_power.params
@@ -0,0 +1,6 @@
+1	1	COM_LOW_BAT_ACT	2	6
+1	1	COM_OBL_ACT	0	6
+1	1	COM_OBL_RC_ACT	4	6
+1	1	BAT_V_CHARGED	4.050000190734863281	9
+1	1	BAT_V_EMPTY	3.400000000000000000	9
+1	1	NAV_RCL_ACT	0	6
diff --git a/examples/fcu_parameters/clever_lpe_flow.params b/examples/fcu_parameters/clever_lpe_flow.params
new file mode 100644
index 0000000..04a358b
--- /dev/null
+++ b/examples/fcu_parameters/clever_lpe_flow.params
@@ -0,0 +1,6 @@
+1	1	LPE_FLW_OFF_Z	0.000000000000000000	9
+1	1	LPE_FLW_QMIN	60	6
+1	1	LPE_FLW_R	0.200000002980232239	9
+1	1	LPE_FLW_RR	0.000000000000000000	9
+1	1	LPE_FLW_SCALE	1.000000000000000000	9
+1	1	LPE_FUSION	86	6
\ No newline at end of file
diff --git a/examples/fcu_parameters/clever_lpe_gps.params b/examples/fcu_parameters/clever_lpe_gps.params
new file mode 100644
index 0000000..359101b
--- /dev/null
+++ b/examples/fcu_parameters/clever_lpe_gps.params
@@ -0,0 +1,4 @@
+1	1	ATT_EXT_HDG_M	0	6
+1	1	ATT_W_EXT_HDG	0.000000000000000000	9
+1	1	ATT_W_MAG	0.100000001490116119	9
+1	1	LPE_FUSION	145	6
\ No newline at end of file
diff --git a/examples/fcu_parameters/clever_lpe_no_ext_hdg.params b/examples/fcu_parameters/clever_lpe_no_ext_hdg.params
new file mode 100644
index 0000000..77fbfde
--- /dev/null
+++ b/examples/fcu_parameters/clever_lpe_no_ext_hdg.params
@@ -0,0 +1,3 @@
+1	1	ATT_EXT_HDG_M	0	6
+1	1	ATT_W_EXT_HDG	0.000000000000000000	9
+1	1	ATT_W_MAG	0.000000000000000000	9
\ No newline at end of file
diff --git a/examples/fcu_parameters/clever_lpe_viz.params b/examples/fcu_parameters/clever_lpe_viz.params
new file mode 100644
index 0000000..9b69a0e
--- /dev/null
+++ b/examples/fcu_parameters/clever_lpe_viz.params
@@ -0,0 +1,4 @@
+1	1	ATT_EXT_HDG_M	1	6
+1	1	ATT_W_EXT_HDG	0.500000000000000000	9
+1	1	ATT_W_MAG	0.000000000000000000	9
+1	1	LPE_FUSION	84	6
diff --git a/examples/fcu_parameters/clever_mc_mpc.params b/examples/fcu_parameters/clever_mc_mpc.params
new file mode 100644
index 0000000..e8010e1
--- /dev/null
+++ b/examples/fcu_parameters/clever_mc_mpc.params
@@ -0,0 +1,58 @@
+1	1	MC_PITCHRATE_D	0.003000000026077032	9
+1	1	MC_PITCHRATE_FF	0.000000000000000000	9
+1	1	MC_PITCHRATE_I	0.019999999552965164	9
+1	1	MC_PITCHRATE_MAX	220.000000000000000000	9
+1	1	MC_PITCHRATE_P	0.100000001490116119	9
+1	1	MC_PITCH_P	6.500000000000000000	9
+1	1	MC_PR_INT_LIM	0.300000011920928955	9
+1	1	MC_RATT_TH	0.800000011920928955	9
+1	1	MC_ROLLRATE_D	0.003000000026077032	9
+1	1	MC_ROLLRATE_FF	0.000000000000000000	9
+1	1	MC_ROLLRATE_I	0.019999999552965164	9
+1	1	MC_ROLLRATE_MAX	220.000000000000000000	9
+1	1	MC_ROLLRATE_P	0.100000001490116119	9
+1	1	MC_ROLL_P	6.500000000000000000	9
+1	1	MPC_ACC_DOWN_MAX	10.000000000000000000	9
+1	1	MPC_ACC_HOR	5.000000000000000000	9
+1	1	MPC_ACC_HOR_ESTM	0.500000000000000000	9
+1	1	MPC_ACC_HOR_MAX	10.000000000000000000	9
+1	1	MPC_ACC_UP_MAX	10.000000000000000000	9
+1	1	MPC_ALT_MODE	0	6
+1	1	MPC_CRUISE_90	3.000000000000000000	9
+1	1	MPC_DEC_HOR_SLOW	5.000000000000000000	9
+1	1	MPC_FLT_TSK	0	6
+1	1	MPC_HOLD_DZ	0.100000001490116119	9
+1	1	MPC_HOLD_MAX_XY	0.800000011920928955	9
+1	1	MPC_HOLD_MAX_Z	0.600000023841857910	9
+1	1	MPC_JERK_MAX	0.000000000000000000	9
+1	1	MPC_JERK_MIN	1.000000000000000000	9
+1	1	MPC_LAND_ALT1	10.000000000000000000	9
+1	1	MPC_LAND_ALT2	5.000000000000000000	9
+1	1	MPC_LAND_SPEED	0.699999988079071045	9
+1	1	MPC_MANTHR_MAX	1.000000000000000000	9
+1	1	MPC_MANTHR_MIN	0.079999998211860657	9
+1	1	MPC_MAN_TILT_MAX	35.000000000000000000	9
+1	1	MPC_MAN_Y_MAX	200.000000000000000000	9
+1	1	MPC_THR_HOVER	0.550000011920928955	9
+1	1	MPC_THR_MAX	1.000000000000000000	9
+1	1	MPC_THR_MIN	0.119999997317790985	9
+1	1	MPC_TILTMAX_AIR	45.000000000000000000	9
+1	1	MPC_TILTMAX_LND	12.000000000000000000	9
+1	1	MPC_TKO_RAMP_T	0.400000005960464478	9
+1	1	MPC_TKO_SPEED	1.000000000000000000	9
+1	1	MPC_VELD_LP	5.000000000000000000	9
+1	1	MPC_VEL_MANUAL	10.000000000000000000	9
+1	1	MPC_XY_CRUISE	5.000000000000000000	9
+1	1	MPC_XY_MAN_EXPO	0.000000000000000000	9
+1	1	MPC_XY_P	1.000000000000000000	9
+1	1	MPC_XY_VEL_D	0.006000000052154064	9
+1	1	MPC_XY_VEL_I	0.004999999888241291	9
+1	1	MPC_XY_VEL_MAX	12.000000000000000000	9
+1	1	MPC_XY_VEL_P	0.090000003576278687	9
+1	1	MPC_Z_MAN_EXPO	0.000000000000000000	9
+1	1	MPC_Z_P	0.949999988079071045	9
+1	1	MPC_Z_VEL_D	0.000000000000000000	9
+1	1	MPC_Z_VEL_I	0.014999999664723873	9
+1	1	MPC_Z_VEL_MAX_DN	1.000000000000000000	9
+1	1	MPC_Z_VEL_MAX_UP	3.000000000000000000	9
+1	1	MPC_Z_VEL_P	0.250000000000000000	9
\ No newline at end of file