2024-07-08 00:13:48 -03:00
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# parameters for the autonomy dev kit
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# https://www.modalai.com/products/px4-autonomy-developer-kit
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# flight modes
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FLTMODE1 5
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FLTMODE4 2
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FLTMODE_CH 6
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2024-07-15 18:52:25 -03:00
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# motor ordering
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SERVO1_FUNCTION 34
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SERVO2_FUNCTION 35
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SERVO3_FUNCTION 33
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SERVO4_FUNCTION 36
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2024-07-08 00:13:48 -03:00
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# enable PID logging
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LOG_BITMASK 65535
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# mag field varies quite a lot between batteries
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ARMING_MAGTHRESH 200
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2024-07-13 00:24:02 -03:00
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# IMU orientation
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AHRS_ORIENTATION 8
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# compass orientation
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COMPASS_ORIENT 8
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2024-07-08 00:13:48 -03:00
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# filtering
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INS_GYRO_FILTER 40
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INS_HNTCH_ENABLE 1
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INS_HNTCH_FREQ 100
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INS_HNTCH_BW 50
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INS_HNTCH_HMNCS 7
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INS_HNTCH_REF 1
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INS_HNTCH_MODE 3
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INS_HNTCH_OPTS 2
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# run IMU at 2kHz
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INS_GYRO_RATE 1
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# a bit more agressive loiter
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PILOT_SPEED_UP 500
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LOIT_BRK_ACCEL 500
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LOIT_BRK_JERK 1000
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LOIT_BRK_DELAY 0.200000
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# tuning from autotune
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ATC_ACCEL_Y_MAX 46813.816406
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ATC_ACCEL_R_MAX 218565.890625
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ATC_ACCEL_P_MAX 220962
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ATC_ANG_RLL_P 15.120497
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ATC_ANG_PIT_P 15.393054
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ATC_ANG_YAW_P 7.636879
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ATC_RAT_RLL_P 0.038459
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ATC_RAT_RLL_I 0.038459
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ATC_RAT_RLL_D 0.000927
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ATC_RAT_PIT_P 0.043496
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ATC_RAT_PIT_I 0.043496
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ATC_RAT_PIT_D 0.000934
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ATC_RAT_YAW_P 0.376548
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ATC_RAT_YAW_I 0.037655
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ATC_RAT_YAW_FLTE 2.090602
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# battery setup
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BATT_LOW_VOLT 7
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BATT_OPTIONS 64
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BATT_VOLT_PIN 1
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BATT_CURR_PIN 2
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BATT_VOLT_MULT 1
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BATT_AMP_PERVLT 1
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2024-07-13 00:24:02 -03:00
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# on the test board we have a current offset of -16.8A
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# we need to check if this applies to all versions of this vehicle
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BATT_AMP_OFFSET -16.8
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2024-07-08 00:13:48 -03:00
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# 2S battery range
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MOT_BAT_VOLT_MAX 8.400000
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MOT_BAT_VOLT_MIN 6.600000
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# quad-X
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FRAME_CLASS 1
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# tweak R/C inputs
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RC1_MIN 1000
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RC1_MAX 2000
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RC1_DZ 40
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RC2_MIN 1000
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RC2_MAX 2000
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RC2_REVERSED 1
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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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RC4_DZ 40
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# add arming on right switch
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RC7_OPTION 153
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