2022-05-04 00:55:42 -03:00
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# param file for MFD CrossWind VTOL
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# http://myflydream.com/products/c-0/369.html
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# airspeed
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ARSPD_FBW_MAX 29
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ARSPD_FBW_MIN 16
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TRIM_ARSPD_CM 2000
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TRIM_THROTTLE 52
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# fixed wing limits
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LIM_PITCH_MAX 2200
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LIM_ROLL_CD 3500
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NAVL1_PERIOD 24
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ALT_HOLD_RTL 9000
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FBWB_CLIMB_RATE 5
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WP_LOITER_RAD 150
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WP_RADIUS 150
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# fixed wing tuning
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RLL2SRV_RMAX 90
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RLL2SRV_TCONST 0.3
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RLL_RATE_D 0.001916
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RLL_RATE_FF 0.473694
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RLL_RATE_FLTD 10
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RLL_RATE_FLTT 7.957747
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RLL_RATE_I 0.473694
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RLL_RATE_P 0.01
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PTCH2SRV_RLL 1.2
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PTCH2SRV_RMAX_DN 75
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PTCH2SRV_RMAX_UP 75
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PTCH_RATE_D 0.012
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PTCH_RATE_FF 0.329676
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PTCH_RATE_FLTD 15
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PTCH_RATE_FLTT 5.305164
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PTCH_RATE_I 0.329676
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PTCH_RATE_P 0.148952
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PTCH_RATE_SMAX 300
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# actuators
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SERVO1_REVERSED 1
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SERVO2_REVERSED 1
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SERVO_AUTO_TRIM 1
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SERVO_RATE 150
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2022-05-05 04:49:24 -03:00
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# harmonic notch filter
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INS_HNTCH_ENABLE 1
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INS_HNTCH_ATT 40
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INS_HNTCH_BW 40
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INS_HNTCH_FREQ 81
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INS_HNTCH_HMNCS 3
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INS_HNTCH_MODE 1
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INS_HNTCH_REF 0.39
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2022-05-04 00:55:42 -03:00
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# quadplane parameters
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Q_ENABLE 1
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Q_FRAME_CLASS 1
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Q_FRAME_TYPE 1
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Q_ANGLE_MAX 2000
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Q_ASSIST_ANGLE 45
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Q_ASSIST_SPEED 14
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# vtol tune
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Q_A_ANG_PIT_P 4
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Q_A_ANG_RLL_P 4
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Q_A_RAT_PIT_D 0.0105
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Q_A_RAT_PIT_FLTD 15
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Q_A_RAT_PIT_I 0.2
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Q_A_RAT_PIT_P 0.2
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Q_A_RAT_PIT_SMAX 40
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Q_A_RAT_RLL_D 0.0198
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Q_A_RAT_RLL_I 0.225
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Q_A_RAT_RLL_P 0.225
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Q_A_RAT_RLL_SMAX 40
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Q_M_BAT_VOLT_MAX 25.2
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Q_M_BAT_VOLT_MIN 18.6
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Q_M_THST_EXPO 0.7
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Q_M_THST_HOVER 0.445192
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Q_P_JERK_Z 2
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Q_P_POSXY_P 0.7
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Q_P_VELXY_P 1
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Q_RTL_ALT 60
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Q_TRANSITION_MS 8000
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Q_TRANS_DECEL 1.2
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Q_TRANS_FAIL 20
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Q_TRAN_PIT_MAX 5
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Q_VFWD_ALT 5
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Q_VFWD_GAIN 0.05
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Q_WP_RADIUS 500
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Q_WP_RFND_USE 0
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Q_WP_SPEED 800
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Q_WP_SPEED_DN 100
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Q_WVANE_ANG_MIN 3
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Q_WVANE_GAIN 0.2
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# TECS tuning
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TECS_CLMB_MAX 3
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TECS_PTCH_DAMP 0.2
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TECS_THR_DAMP 0.6
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TECS_TIME_CONST 6
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