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ardupilot/Tools/Frame_params/TradHeli_Copter36_Setup-MP....

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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 MP
Tools: Add default tuning params for single-rotor TradHeli Tunes PSC, LOIT, NAV, ATC specific to Copter 3.6 and New Loiter
2018-05-09 22:48:55 -03:00
# Tunes the PSC, LOIT, NAV and ATC for New Loiter and Auto
# Stack: ArduPilot
# Vehicle: Helicopter
# Version: 3.6
ATC_ACCEL_P_MAX, 52000
ATC_ACCEL_R_MAX, 52000
ATC_ACCEL_Y_MAX, 20000
ATC_ANG_PIT_P, 4.5
ATC_ANG_RLL_P, 4.5
ATC_ANG_YAW_P, 4.5
ATC_RATE_FF_ENAB, 1
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
ATC_RATE_P_MAX, 270
ATC_RATE_R_MAX, 360
ATC_RATE_Y_MAX, 180
Tools: Add default tuning params for single-rotor TradHeli Tunes PSC, LOIT, NAV, ATC specific to Copter 3.6 and New Loiter
2018-05-09 22:48:55 -03:00
ATC_RAT_PIT_D 0.0008
ATC_RAT_PIT_FILT, 12
ATC_RAT_PIT_I, 0.35
ATC_RAT_PIT_ILMI, 0.04
ATC_RAT_PIT_IMAX, 0.44
ATC_RAT_PIT_P, 0.04
ATC_RAT_PIT_VFF, 0.15
ATC_RAT_RLL_D, 0.0005
ATC_RAT_RLL_FILT, 13
ATC_RAT_RLL_I, 0.32
ATC_RAT_RLL_ILMI, 0.03
ATC_RAT_RLL_IMAX, 0.44
ATC_RAT_RLL_P, 0.035
ATC_RAT_RLL_VFF, 0.15
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
ATC_RAT_YAW_D, 0.003
Tools: Add default tuning params for single-rotor TradHeli Tunes PSC, LOIT, NAV, ATC specific to Copter 3.6 and New Loiter
2018-05-09 22:48:55 -03:00
ATC_RAT_YAW_FILT, 20
ATC_RAT_YAW_I, 0.30
ATC_RAT_YAW_ILMI, 0.01
ATC_RAT_YAW_IMAX, 0.33
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
ATC_RAT_YAW_P, 0.22
ATC_RAT_YAW_VFF, 0.09
Tools: Add default tuning params for single-rotor TradHeli Tunes PSC, LOIT, NAV, ATC specific to Copter 3.6 and New Loiter
2018-05-09 22:48:55 -03:00
ATC_SLEW_YAW, 6000
DISARM_DELAY, 0
FRAME_CLASS, 6
FS_CRASH_CHECK, 0
Tools: set ground effect comp in tradheli default parameters
2018-06-07 21:51:40 -03:00
GND_EFFECT_COMP,1
Tools: Add default tuning params for single-rotor TradHeli Tunes PSC, LOIT, NAV, ATC specific to Copter 3.6 and New Loiter
2018-05-09 22:48:55 -03:00
H_COLYAW, 3
LOIT_ACC_MAX, 500
LOIT_ANG_MAX, 0.0
LOIT_BRK_ACCEL, 125
LOIT_BRK_DELAY, 1
LOIT_BRK_JERK, 250
LOIT_SPEED, 3000
PHLD_BRAKE_ANGLE, 800
PHLD_BRAKE_RATE, 4
PSC_ACCZ_D, 0.0
PSC_ACCZ_FF, 0.0
PSC_ACCZ_FILT, 20
PSC_ACCZ_I, 1
PSC_ACCZ_IMAX, 800
Tools:TradHeli - update param files to lower gains for ACCZ_P, and Position Controller velocity request
2018-08-12 00:18:59 -03:00
PSC_ACCZ_P, 0.28
Tools: Add default tuning params for single-rotor TradHeli Tunes PSC, LOIT, NAV, ATC specific to Copter 3.6 and New Loiter
2018-05-09 22:48:55 -03:00
PSC_ACC_XY_FILT, 2
PSC_ANGLE_MAX, 0.0
PSC_POSXY_P, 1
PSC_POSZ_P, 1
Tools:TradHeli - update param files to lower gains for ACCZ_P, and Position Controller velocity request
2018-08-12 00:18:59 -03:00
PSC_VELXY_D, 0.0
Tools: Add default tuning params for single-rotor TradHeli Tunes PSC, LOIT, NAV, ATC specific to Copter 3.6 and New Loiter
2018-05-09 22:48:55 -03:00
PSC_VELXY_D_FILT, 5
PSC_VELXY_FILT, 5
Tools:TradHeli - update param files to lower gains for ACCZ_P, and Position Controller velocity request
2018-08-12 00:18:59 -03:00
PSC_VELXY_I, 0.5
Tools: Add default tuning params for single-rotor TradHeli Tunes PSC, LOIT, NAV, ATC specific to Copter 3.6 and New Loiter
2018-05-09 22:48:55 -03:00
PSC_VELXY_IMAX, 1000
Tools:TradHeli - update param files to lower gains for ACCZ_P, and Position Controller velocity request
2018-08-12 00:18:59 -03:00
PSC_VELXY_P, 1
Tools: Add default tuning params for single-rotor TradHeli Tunes PSC, LOIT, NAV, ATC specific to Copter 3.6 and New Loiter
2018-05-09 22:48:55 -03:00
PSC_VELZ_P, 5
WPNAV_ACCEL, 220
WPNAV_ACCEL_Z, 100
WPNAV_RADIUS, 200
WPNAV_SPEED_DN, 150
WPNAV_SPEED_UP, 250
WP_NAVALT_MIN, 5
WP_YAW_BEHAVIOR, 3