2019-09-11 23:56:32 -03:00
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# defaults for SkyRocket streaming GPS board
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#BRD_TYPE 21
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#BRD_IO_ENABLE 0
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MOT_PWM_TYPE 3
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MOT_PWM_MIN 1000
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MOT_PWM_MAX 2000
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#TERRAIN_ENABLE 0
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# RC_SPEED at 7.1kHz for minimal radio interference, without
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# being a multiple of IMU sample rate
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RC_SPEED 7100
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# toy mode setup
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TMODE_ENABLE 2
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TMODE_MODE1 5
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TMODE_MODE2 2
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TMODE_ACTION1 2
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TMODE_ACTION2 1
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TMODE_ACTION3 18
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TMODE_ACTION4 0
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TMODE_ACTION5 0
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TMODE_ACTION6 0
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TMODE_FLAGS 63
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TMODE_TMIN 0.9
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# LEDs. pin0 is green, pin1 is red
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RELAY_PIN 0
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RELAY_PIN2 1
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RELAY_DEFAULT 1
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AHRS_ORIENTATION 2
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2021-11-02 12:34:15 -03:00
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COMPASS1_EXTERN 1
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COMPASS1_ORIENT 10
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COMPASS2_USE2 0
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COMPASS3_USE3 0
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2019-09-11 23:56:32 -03:00
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COMPASS_OFFS_MAX 2000
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2021-11-02 12:34:15 -03:00
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COMPASS1_DIA_X 1.20
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COMPASS1_DIA_Y 1.11
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COMPASS1_DIA_Z 0.89
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COMPASS1_ODI_X -0.051
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COMPASS1_ODI_Y 0.141
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COMPASS1_ODI_Z 0.091
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2019-09-11 23:56:32 -03:00
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# battery setup
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BATT_MONITOR 3
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BATT_VOLT_PIN 9
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BATT_VOLT_MULT 1
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# motor compensation
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COMPASS_MOTCT 3
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COMPASS_PMOT_EN 1
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COMPASS_PMOT_EXP 0.65
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COMPASS_LEARN 2
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#BRD_SER1_RTSCTS 0
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#BRD_SER2_RTSCTS 0
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#BRD_SAFETYENABLE 0
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SERIAL0_BAUD 115
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SERIAL0_PROTOCOL 2
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SERIAL1_BAUD 625000
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SERIAL1_PROTOCOL 2
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SERIAL2_PROTOCOL -1
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SERIAL4_PROTOCOL -1
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SERIAL5_PROTOCOL -1
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# radio setup (auto-detect beken vs cc2500)
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BRD_RADIO_TYPE 100
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BRD_RADIO_PROT 1
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BRD_RADIO_PPSCH 8
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BRD_RADIO_SIGCH 9
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BRD_RADIO_TPPSCH 10
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BRD_RADIO_TSIGCH 11
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BRD_RADIO_TELEM 1
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BRD_RADIO_ABTIME 10
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BRD_RADIO_ABLVL 40
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BRD_RADIO_TXMAX 5
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BRD_RADIO_TXPOW 6
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RSSI_TYPE 2
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RSSI_CHANNEL 8
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RSSI_CHAN_LOW 0
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RSSI_CHAN_HIGH 200
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# non-standard motor ordering
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SERVO1_FUNCTION 35
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SERVO2_FUNCTION 33
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SERVO3_FUNCTION 34
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SERVO4_FUNCTION 36
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# H class quad
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FRAME_CLASS 1
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FRAME_TYPE 1
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# enable EK2
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EK2_ENABLE 1
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# EK3 disabled for flight
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AHRS_EKF_TYPE 2
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TMODE_INAV_EN 1
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TMODE_INAV_TC_Z 1.0
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EK3_ENABLE 0
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#EK3_CHECK_SCALE 120
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#EK3_ACC_BIAS_LIM 1.0
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#EK3_ABIAS_P_NSE 0.01
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#EK3_MAG_CAL = 0
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# setup EK2 limits
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EK2_CHECK_SCALE 120
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EK2_ALT_M_NSE 0.5
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EK2_HGT_I_GATE 1000
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EK2_ABIAS_P_NSE 0.01
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# fence
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FENCE_TYPE 3
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FENCE_ENABLE 0
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FENCE_RADIUS 100
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FENCE_ALT_MAX 50
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# arming
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ARMING_CHECK 25586
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DISARM_DELAY 8
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# IMU
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INS_FAST_SAMPLE 0
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INS_GYRO_FILTER 20
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LOG_BITMASK 65534
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INS_NOTCH_ENABLE 1
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INS_NOTCH_ATT 50
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INS_NOTCH_BW 80
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INS_NOTCH_FREQ 80
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# profile parameters
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TMODE_P1_ANG_MAX 2500
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TMODE_P1_MODE 5
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TMODE_P1_FEEL_RP 75
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TMODE_P1_A_BAL_P 1
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TMODE_P1_A_BAL_R 1
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TMODE_P1_A_RP_P 8.0
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TMODE_P1_A_RP_XP 0.3
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TMODE_P1_A_THR_M 0
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TMODE_P1_A_TRNR 2
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TMODE_P1_A_YAW_P 4.0
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TMODE_P1_A_Y_XP 0
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TMODE_P1_LTR_SPD 800
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TMODE_P1_LTR_JRK 4000
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TMODE_P1_LTR_MNA 250
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TMODE_P1_LTR_MXA 800
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TMODE_P1_PL_V_UP 250
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TMODE_P1_WP_RAD 200
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TMODE_P1_WP_SPD 750
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TMODE_P1_WP_V_DN 150
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TMODE_P1_WP_V_UP 250
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TMODE_P1_WP_RAD 200
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TMODE_P1_WP_SPD 750
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TMODE_P1_WP_V_DN 150
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TMODE_P1_WP_V_UP 250
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TMODE_P1_WP_XL 100
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TMODE_P1_WP_XL_Z 100
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TMODE_P1_XL_P_MX 108000
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TMODE_P1_XL_R_MX 108000
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TMODE_P1_XL_Y_MX 36000
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TMODE_P2_ANG_MAX 3500
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TMODE_P2_MODE 5
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TMODE_P2_FEEL_RP 100
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TMODE_P2_A_BAL_P 1
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TMODE_P2_A_BAL_R 1
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TMODE_P2_A_RP_P 8.0
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TMODE_P2_A_RP_XP 0.3
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TMODE_P2_A_THR_M 0
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TMODE_P2_A_TRNR 2
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TMODE_P2_A_YAW_P 4.0
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TMODE_P2_A_Y_XP 0
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TMODE_P2_LTR_SPD 800
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TMODE_P2_LTR_JRK 4000
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TMODE_P2_LTR_MNA 250
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TMODE_P2_LTR_MXA 800
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TMODE_P2_PL_V_UP 250
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TMODE_P2_WP_RAD 200
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TMODE_P2_WP_SPD 750
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TMODE_P2_WP_V_DN 150
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TMODE_P2_WP_V_UP 250
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TMODE_P2_WP_RAD 200
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TMODE_P2_WP_SPD 750
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TMODE_P2_WP_V_DN 150
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TMODE_P2_WP_V_UP 250
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TMODE_P2_WP_XL 100
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TMODE_P2_WP_XL_Z 100
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TMODE_P2_XL_P_MX 108000
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TMODE_P2_XL_R_MX 108000
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TMODE_P2_XL_Y_MX 36000
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TMODE_P3_MODE 2
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TMODE_P3_ANG_MAX 2500
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TMODE_P3_FEEL_RP 75
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TMODE_P3_A_BAL_P 1
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TMODE_P3_A_BAL_R 1
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TMODE_P3_A_RP_P 8.0
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TMODE_P3_A_RP_XP 0.3
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TMODE_P3_A_THR_M 0
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TMODE_P3_A_TRNR 2
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TMODE_P3_A_YAW_P 4.0
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TMODE_P3_A_Y_XP 0
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TMODE_P3_LTR_SPD 800
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TMODE_P3_LTR_JRK 4000
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TMODE_P3_LTR_MNA 250
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TMODE_P3_LTR_MXA 800
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TMODE_P3_PL_V_UP 250
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TMODE_P3_WP_RAD 200
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TMODE_P3_WP_SPD 750
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TMODE_P3_WP_V_DN 150
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TMODE_P3_WP_V_UP 250
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TMODE_P3_WP_RAD 200
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TMODE_P3_WP_SPD 750
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TMODE_P3_WP_V_DN 150
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TMODE_P3_WP_V_UP 250
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TMODE_P3_WP_XL 100
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TMODE_P3_WP_XL_Z 100
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TMODE_P3_XL_P_MX 108000
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TMODE_P3_XL_R_MX 108000
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TMODE_P3_XL_Y_MX 36000
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TMODE_P4_MODE 2
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TMODE_P4_ANG_MAX 3500
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TMODE_P4_FEEL_RP 100
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TMODE_P4_A_BAL_P 1
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TMODE_P4_A_BAL_R 1
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TMODE_P4_A_RP_P 8.0
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TMODE_P4_A_RP_XP 0.3
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TMODE_P4_A_THR_M 0
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TMODE_P4_A_TRNR 2
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TMODE_P4_A_YAW_P 4.0
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TMODE_P4_A_Y_XP 0
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TMODE_P4_LTR_SPD 800
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TMODE_P4_LTR_JRK 4000
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TMODE_P4_LTR_MNA 250
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TMODE_P4_LTR_MXA 800
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TMODE_P4_PL_V_UP 250
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TMODE_P4_WP_RAD 200
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TMODE_P4_WP_SPD 750
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TMODE_P4_WP_V_DN 150
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TMODE_P4_WP_V_UP 250
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TMODE_P4_WP_RAD 200
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TMODE_P4_WP_SPD 750
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TMODE_P4_WP_V_DN 150
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TMODE_P4_WP_V_UP 250
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TMODE_P4_WP_XL 100
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TMODE_P4_WP_XL_Z 100
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TMODE_P4_XL_P_MX 108000
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TMODE_P4_XL_R_MX 108000
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TMODE_P4_XL_Y_MX 36000
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ANGLE_MAX 3500
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ATC_ACCEL_R_MAX 160000
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ATC_ACCEL_P_MAX 160000
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ATC_ACCEL_Y_MAX 54000
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ATC_ANG_PIT_P 8.0
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ATC_ANG_RLL_P 8.0
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ATC_ANG_YAW_P 7.16
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ATC_RAT_PIT_D 0.0069
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ATC_RAT_PIT_FILT 10
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ATC_RAT_PIT_IMAX 0.5
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ATC_RAT_PIT_I 0.0834
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ATC_RAT_PIT_P 0.0834
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ATC_RAT_RLL_D 0.007
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ATC_RAT_RLL_FILT 10
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ATC_RAT_RLL_I 0.0966
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ATC_RAT_RLL_P 0.0966
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ATC_RAT_RLL_IMAX 0.5
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ATC_RAT_YAW_P 0.6887
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ATC_RAT_YAW_I 0.0689
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ATC_RAT_YAW_IMAX 0.3
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ATC_RAT_YAW_D 0.0
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ATC_RAT_YAW_FILT 4.5125
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ATC_SLEW_YAW 3250
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ATC_THR_MIX_MAN 4
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ATC_THR_MIX_MAX 0.9
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# tuning
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ACRO_RP_EXPO 0.3
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ACRO_RP_P 8
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ACRO_YAW_P 4
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# flight modes
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FLTMODE_CH 0
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FLTMODE1 2
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FLTMODE2 2
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FLTMODE3 2
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FLTMODE4 2
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FLTMODE5 2
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FLTMODE6 2
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# failsafes
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FS_THR_ENABLE 1
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FS_BATT_ENABLE 2
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FS_BATT_VOLTAGE 3.46
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FS_GCS_ENABLE 0
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# baro
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TCAL_ENABLED 2
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TCAL_BARO_EXP 1.2
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# landing
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LAND_SPEED_HIGH 150
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# logging
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LOG_BACKEND_TYPE 2
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LOG_FILE_BUFSIZE 1
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# voltages
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MOT_BAT_VOLT_MAX 4.2
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MOT_BAT_VOLT_MIN 3.3
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MOT_THST_HOVER 0.3514
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MOT_THST_EXPO -0.56
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MOT_SPIN_ARM 0.045
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MOT_SPIN_MIN 0.045
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MOT_SPIN_MAX 1.0
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MOT_SPOOL_TIME 0
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MOT_HOVER_LEARN 1
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# control inputs
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PILOT_THR_BHV 3
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PILOT_ACCEL_Z 400
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PILOT_VELZ_MAX 500
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RC_FEEL_RP 50
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RC1_MIN 1000
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RC1_MAX 2000
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RC2_MIN 1000
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RC2_MAX 2000
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RC3_MIN 1000
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RC3_MAX 2000
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RC4_MIN 1000
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RC4_MAX 2000
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RC3_TRIM 1500
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RTL_ALT 400
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GND_EFFECT_COMP 1
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# deadzones, with auto-trim
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RC1_DZ 15
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RC2_DZ 15
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RC3_DZ 15
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RC4_DZ 15
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# pos control
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# pos control
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PSC_POSXY_P 0.7
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PSC_VELXY_I 0.3
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|
|
PSC_VELXY_P 0.6
|
2021-08-03 03:17:14 -03:00
|
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|
PSC_VELXY_FLTE 1.0
|
2019-09-11 23:56:32 -03:00
|
|
|
WPNAV_LOIT_JERK 4000
|
|
|
|
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WPNAV_LOIT_MAXA 800
|
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WPNAV_LOIT_MINA 250
|
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WPNAV_LOIT_SPEED 800
|
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WPNAV_SPEED 750
|
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RTL_SPEED 600
|
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# GPS
|
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GPS_NAVFILTER 6
|
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GPS_SAVE_CFG 2
|
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GPS_TYPE 2
|
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GPS_HDOP_GOOD 160
|
|
|
|
|
|
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|
|
# throw mode
|
|
|
|
|
THROW_NEXTMODE 5
|
|
|
|
|
|
|
|
|
|
# disable optical flow
|
|
|
|
|
FLOW_ENABLE 0
|
|
|
|
|
|
|
|
|
|
# flip params
|
|
|
|
|
FLIP_RAMP_CD 500
|
|
|
|
|
FLIP_RAMP_MS 350
|
|
|
|
|
FLIP_ROT_RATE 3000
|
|
|
|
|
FLIP_ACCEL_MAX 3000
|
|
|
|
|
|
|
|
|
|
# extra parameters for GPS
|
|
|
|
|
BRD_RADIO_TYPE 2
|
|
|
|
|
BRD_RADIO_ABLVL 40
|
|
|
|
|
|
|
|
|
|
TMODE_ACTION1 2
|
|
|
|
|
TMODE_ACTION2 16
|
|
|
|
|
TMODE_MODE1 5
|
|
|
|
|
TMODE_MODE2 2
|
|
|
|
|
TMODE_TOFF_HGT 1.2
|
|
|
|
|
TMODE_TOFF_TIME 5.0
|
|
|
|
|
TMODE_TOFF_ACC 75
|
|
|
|
|
|
|
|
|
|
ATC_ACCEL_P_MAX 108000
|
|
|
|
|
ATC_ACCEL_R_MAX 108000
|
|
|
|
|
MOT_SPOOL_TIME 0.0500
|
|
|
|
|
MOT_THST_HOVER 0.3398
|
|
|
|
|
PSC_ACCZ_FILT 5.0000
|
|
|
|
|
PSC_ACCZ_P 1.0000
|
|
|
|
|
PSC_POSZ_P 0.5000
|
|
|
|
|
PSC_VELZ_P 1.0000
|
|
|
|
|
RC_FEEL_RP 75.0000
|
|
|
|
|
|
|
|
|
|
# default to GPS frame
|
|
|
|
|
SYSID_SW_TYPE 100
|
|
|
|
|
|
