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ardupilot/Tools/Frame_params/TradHeli_Copter36_Setup-QGC...

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Tools:TradHeli - update Copter3.6 setup params and add param files for QGC add new Copter3.5 to 3.6 upgrade params to set the PSC, LOIT and NAV controllers for New Loiter and new Position Controller
2018-07-13 19:33:50 -03:00
# Default setup and tuning parameters for TradHeli - load with QGC
# Tunes the PSC, LOIT, NAV and ATC for New Loiter and Auto
# Stack: ArduPilot
# Vehicle: Helicopter
# Version: 3.6
# Vehicle-Id Component-Id Name Value Type
1 1 ATC_ACCEL_P_MAX 52000 9
1 1 ATC_ACCEL_R_MAX 52000 9
1 1 ATC_ACCEL_Y_MAX 20000 9
1 1 ATC_ANG_PIT_P 4.5 9
1 1 ATC_ANG_RLL_P 4.5 9
1 1 ATC_ANG_YAW_P 4.5 9
1 1 ATC_RATE_FF_ENAB 1 2
1 1 ATC_RATE_P_MAX 270 9
1 1 ATC_RATE_R_MAX 360 9
1 1 ATC_RATE_Y_MAX 180 9
1 1 ATC_RAT_PIT_D 0.0008 9
1 1 ATC_RAT_PIT_FILT 12 9
Tools: update parameter files after PID upgrade
2019-06-28 02:45:06 -03:00
1 1 ATC_RAT_PIT_FLTE 12 9
Tools:TradHeli - update Copter3.6 setup params and add param files for QGC add new Copter3.5 to 3.6 upgrade params to set the PSC, LOIT and NAV controllers for New Loiter and new Position Controller
2018-07-13 19:33:50 -03:00
1 1 ATC_RAT_PIT_I 0.35 9
1 1 ATC_RAT_PIT_ILMI 0.04 9
1 1 ATC_RAT_PIT_IMAX 0.44 9
1 1 ATC_RAT_PIT_P 0.040 9
Tools: tradheli-change param name from _VFF to _FF
2022-02-01 19:56:51 -04:00
1 1 ATC_RAT_PIT_FF 0.15 9
Tools:TradHeli - update Copter3.6 setup params and add param files for QGC add new Copter3.5 to 3.6 upgrade params to set the PSC, LOIT and NAV controllers for New Loiter and new Position Controller
2018-07-13 19:33:50 -03:00
1 1 ATC_RAT_RLL_D 0.0005 9
1 1 ATC_RAT_RLL_FILT 13 9
Tools: update parameter files after PID upgrade
2019-06-28 02:45:06 -03:00
1 1 ATC_RAT_RLL_FLTE 13 9
Tools:TradHeli - update Copter3.6 setup params and add param files for QGC add new Copter3.5 to 3.6 upgrade params to set the PSC, LOIT and NAV controllers for New Loiter and new Position Controller
2018-07-13 19:33:50 -03:00
1 1 ATC_RAT_RLL_I 0.32 9
1 1 ATC_RAT_RLL_ILMI 0.03 9
1 1 ATC_RAT_RLL_IMAX 0.44 9
1 1 ATC_RAT_RLL_P 0.035 9
Tools: tradheli-change param name from _VFF to _FF
2022-02-01 19:56:51 -04:00
1 1 ATC_RAT_RLL_FF 0.15 9
Tools:TradHeli - update Copter3.6 setup params and add param files for QGC add new Copter3.5 to 3.6 upgrade params to set the PSC, LOIT and NAV controllers for New Loiter and new Position Controller
2018-07-13 19:33:50 -03:00
1 1 ATC_RAT_YAW_D 0.003 9
1 1 ATC_RAT_YAW_FILT 20 9
Tools: update parameter files after PID upgrade
2019-06-28 02:45:06 -03:00
1 1 ATC_RAT_YAW_FLTE 20 9
Tools:TradHeli - update Copter3.6 setup params and add param files for QGC add new Copter3.5 to 3.6 upgrade params to set the PSC, LOIT and NAV controllers for New Loiter and new Position Controller
2018-07-13 19:33:50 -03:00
1 1 ATC_RAT_YAW_I 0.30 9
1 1 ATC_RAT_YAW_ILMI 0.001 9
1 1 ATC_RAT_YAW_IMAX 0.33 9
1 1 ATC_RAT_YAW_P 0.22 9
Tools: tradheli-change param name from _VFF to _FF
2022-02-01 19:56:51 -04:00
1 1 ATC_RAT_YAW_FF 0.09 9
Tools:TradHeli - update Copter3.6 setup params and add param files for QGC add new Copter3.5 to 3.6 upgrade params to set the PSC, LOIT and NAV controllers for New Loiter and new Position Controller
2018-07-13 19:33:50 -03:00
1 1 ATC_SLEW_YAW 6000 9
1 1 DISARM_DELAY 0 2
1 1 FRAME_CLASS 6 2
1 1 FS_CRASH_CHECK 0 2
1 1 GND_EFFECT_COMP 1 2
1 1 H_COLYAW 3 9
1 1 LOIT_ACC_MAX 500 9
1 1 LOIT_ANG_MAX 0 9
1 1 LOIT_BRK_ACCEL 125 9
1 1 LOIT_BRK_DELAY 1 9
1 1 LOIT_BRK_JERK 250 9
1 1 LOIT_SPEED 3000 9
1 1 PHLD_BRAKE_ANGLE 800 4
1 1 PHLD_BRAKE_RATE 4 4
1 1 PSC_ACCZ_D 0 9
1 1 PSC_ACCZ_FF 0 9
1 1 PSC_ACCZ_FILT 20 9
Tools: update parameter files after PID upgrade
2019-06-28 02:45:06 -03:00
1 1 PSC_ACCZ_FLTD 20 9
Tools:TradHeli - update Copter3.6 setup params and add param files for QGC add new Copter3.5 to 3.6 upgrade params to set the PSC, LOIT and NAV controllers for New Loiter and new Position Controller
2018-07-13 19:33:50 -03:00
1 1 PSC_ACCZ_I 1 9
1 1 PSC_ACCZ_IMAX 800 9
Tools:TradHeli - update param files to lower gains for ACCZ_P, and Position Controller velocity request
2018-08-12 00:18:59 -03:00
1 1 PSC_ACCZ_P 0.28 9
Tools:TradHeli - update Copter3.6 setup params and add param files for QGC add new Copter3.5 to 3.6 upgrade params to set the PSC, LOIT and NAV controllers for New Loiter and new Position Controller
2018-07-13 19:33:50 -03:00
1 1 PSC_ACC_XY_FILT 2 9
1 1 PSC_ANGLE_MAX 0 9
1 1 PSC_POSXY_P 1 9
1 1 PSC_POSZ_P 1 9
Tools:TradHeli - update param files to lower gains for ACCZ_P, and Position Controller velocity request
2018-08-12 00:18:59 -03:00
1 1 PSC_VELXY_D 0.0 9
Tools:TradHeli - update Copter3.6 setup params and add param files for QGC add new Copter3.5 to 3.6 upgrade params to set the PSC, LOIT and NAV controllers for New Loiter and new Position Controller
2018-07-13 19:33:50 -03:00
1 1 PSC_VELXY_D_FILT 5 9
1 1 PSC_VELXY_FILT 5 9
Tools:TradHeli - update param files to lower gains for ACCZ_P, and Position Controller velocity request
2018-08-12 00:18:59 -03:00
1 1 PSC_VELXY_I 0.5 9
Tools:TradHeli - update Copter3.6 setup params and add param files for QGC add new Copter3.5 to 3.6 upgrade params to set the PSC, LOIT and NAV controllers for New Loiter and new Position Controller
2018-07-13 19:33:50 -03:00
1 1 PSC_VELXY_IMAX 1000 9
Tools:TradHeli - update param files to lower gains for ACCZ_P, and Position Controller velocity request
2018-08-12 00:18:59 -03:00
1 1 PSC_VELXY_P 1 9
Tools:TradHeli - update Copter3.6 setup params and add param files for QGC add new Copter3.5 to 3.6 upgrade params to set the PSC, LOIT and NAV controllers for New Loiter and new Position Controller
2018-07-13 19:33:50 -03:00
1 1 PSC_VELZ_P 5 9
1 1 WPNAV_ACCEL 220 9
1 1 WPNAV_ACCEL_Z 100 9
1 1 WPNAV_RADIUS 200 9
1 1 WPNAV_SPEED_DN 150 9
1 1 WPNAV_SPEED_UP 250 9
1 1 WP_NAVALT_MIN 5 9
1 1 WP_YAW_BEHAVIOR 3 2