ardupilot/Tools/Frame_params/SkyViper-F412/defaults.parm

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# defaults for SkyRocket streaming GPS board
#BRD_TYPE 21
#BRD_IO_ENABLE 0
MOT_PWM_TYPE 3
MOT_PWM_MIN 1000
MOT_PWM_MAX 2000
RC_SPEED 16000
#TERRAIN_ENABLE 0
# toy mode setup
TMODE_ENABLE 2
TMODE_MODE1 5
TMODE_MODE2 2
TMODE_ACTION1 2
TMODE_ACTION2 1
TMODE_ACTION3 18
TMODE_ACTION4 0
TMODE_ACTION5 0
TMODE_ACTION6 0
TMODE_FLAGS 15
TMODE_TMIN 0.9
# LEDs. pin0 is green, pin1 is red
RELAY_PIN 0
RELAY_PIN2 1
RELAY_DEFAULT 1
AHRS_ORIENTATION 2
COMPASS_EXTERNAL 1
COMPASS_ORIENT 10
COMPASS_USE2 0
COMPASS_USE3 0
COMPASS_OFFS_MAX 2000
COMPASS_DIA_X 1.20
COMPASS_DIA_Y 1.11
COMPASS_DIA_Z 0.89
COMPASS_ODI_X -0.051
COMPASS_ODI_Y 0.141
COMPASS_ODI_Z 0.091
# battery setup
BATT_MONITOR 3
BATT_VOLT_PIN 9
BATT_VOLT_MULT 1
# motor compensation
COMPASS_MOTCT 3
COMPASS_PMOT_EN 1
COMPASS_PMOT_EXP 0.65
COMPASS_LEARN 2
#BRD_SER1_RTSCTS 0
#BRD_SER2_RTSCTS 0
#BRD_SAFETYENABLE 0
SERIAL0_BAUD 115
SERIAL0_PROTOCOL 2
SERIAL1_BAUD 625000
SERIAL1_PROTOCOL 2
SERIAL2_PROTOCOL -1
SERIAL4_PROTOCOL -1
SERIAL5_PROTOCOL -1
# radio setup
BRD_RADIO_TYPE 2
BRD_RADIO_PROT 1
BRD_RADIO_PPSCH 8
BRD_RADIO_SIGCH 9
BRD_RADIO_TPPSCH 10
BRD_RADIO_TSIGCH 11
BRD_RADIO_TELEM 1
BRD_RADIO_ABTIME 10
BRD_RADIO_ABLVL 25
RSSI_TYPE 2
RSSI_CHANNEL 8
RSSI_CHAN_LOW 0
RSSI_CHAN_HIGH 200
# non-standard motor ordering
SERVO1_FUNCTION 35
SERVO2_FUNCTION 33
SERVO3_FUNCTION 34
SERVO4_FUNCTION 36
# H class quad
FRAME_CLASS 1
FRAME_TYPE 1
# enable EK2
EK2_ENABLE 1
# EK3 disabled for flight
AHRS_EKF_TYPE 2
EK3_ENABLE 0
#EK3_CHECK_SCALE 120
#EK3_ACC_BIAS_LIM 1.0
#EK3_ABIAS_P_NSE 0.01
#EK3_MAG_CAL = 0
# setup EK2 limits
EK2_CHECK_SCALE 120
EK2_ALT_M_NSE 2.0
# fence
FENCE_TYPE 3
FENCE_ENABLE 0
FENCE_RADIUS 100
FENCE_ALT_MAX 50
# arming
ARMING_CHECK 32767
DISARM_DELAY 8
# IMU
INS_FAST_SAMPLE 0
INS_GYRO_FILTER 20
LOG_BITMASK 65534
INS_NOTCH_ENABLE 1
INS_NOTCH_ATT 30
INS_NOTCH_BW 60
INS_NOTCH_FREQ 80
# rate controllers
ANGLE_MAX 3500
ATC_ACCEL_R_MAX 160000
ATC_ACCEL_P_MAX 160000
ATC_ACCEL_Y_MAX 54000
ATC_ANG_PIT_P 8.0
ATC_ANG_RLL_P 8.0
ATC_ANG_YAW_P 7.16
ATC_RAT_PIT_D 0.0069
ATC_RAT_PIT_FILT 10
ATC_RAT_PIT_IMAX 0.5
ATC_RAT_PIT_I 0.0834
ATC_RAT_PIT_P 0.0834
ATC_RAT_RLL_D 0.007
ATC_RAT_RLL_FILT 10
ATC_RAT_RLL_I 0.0966
ATC_RAT_RLL_P 0.0966
ATC_RAT_RLL_IMAX 0.5
ATC_RAT_YAW_P 0.6887
ATC_RAT_YAW_I 0.0689
ATC_RAT_YAW_IMAX 0.3
ATC_RAT_YAW_D 0.0
ATC_RAT_YAW_FILT 4.5125
ATC_SLEW_YAW 3250
ATC_THR_MIX_MAN 4
ATC_THR_MIX_MAX 0.9
# tuning
ACRO_RP_EXPO 0.3
ACRO_RP_P 8
ACRO_YAW_P 4
# flight modes
FLTMODE_CH 0
FLTMODE1 2
FLTMODE2 2
FLTMODE3 2
FLTMODE4 2
FLTMODE5 2
FLTMODE6 2
# failsafes
FS_THR_ENABLE 1
FS_BATT_ENABLE 2
FS_BATT_VOLTAGE 3.4
FS_GCS_ENABLE 0
# baro
TCAL_ENABLED 2
TCAL_BARO_EXP 1.2
# landing
LAND_SPEED_HIGH 150
# logging
LOG_BACKEND_TYPE 2
LOG_FILE_BUFSIZE 1
# voltages
MOT_BAT_VOLT_MAX 4.2
MOT_BAT_VOLT_MIN 3.3
MOT_THST_HOVER 0.3514
MOT_THST_EXPO -0.56
MOT_SPIN_ARM 0.03
MOT_SPIN_MIN 0.03
MOT_SPIN_MAX 1.0
MOT_SPOOL_TIME 0
MOT_HOVER_LEARN 1
# control inputs
PILOT_THR_BHV 3
PILOT_ACCEL_Z 400
PILOT_VELZ_MAX 500
RC_FEEL_RP 50
RC1_MIN 1000
RC1_MAX 2000
RC2_MIN 1000
RC2_MAX 2000
RC3_MIN 1000
RC3_MAX 2000
RC4_MIN 1000
RC4_MAX 2000
RC3_TRIM 1500
RTL_ALT 400
GND_EFFECT_COMP 1
# deadzones, with auto-trim
RC1_DZ 15
RC2_DZ 15
RC3_DZ 15
RC4_DZ 15
# pos control
# pos control
PSC_POSXY_P 0.7
PSC_VELXY_I 0.3
PSC_VELXY_P 0.6
PSC_VELXY_FILT 1.0
WPNAV_LOIT_JERK 4000
WPNAV_LOIT_MAXA 800
WPNAV_LOIT_MINA 250
WPNAV_LOIT_SPEED 800
WPNAV_SPEED 750
RTL_SPEED 600
# GPS
GPS_NAVFILTER 6
GPS_SAVE_CFG 2
GPS_TYPE 2
GPS_HDOP_GOOD 160
# throw mode
THROW_NEXTMODE 5
# enable optical flow
FLOW_ENABLE 1