mirror of https://github.com/ArduPilot/ardupilot
112 lines
2.2 KiB
Plaintext
112 lines
2.2 KiB
Plaintext
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# MakeFlyEasy Striver Mini Parameters
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# http://en.makeflyeasy.com/index.php/striver-mini-vtol/
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SCALING_SPEED 15
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TECS_CLMB_MAX 3
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TECS_LAND_ARSPD 20
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TKOFF_THR_MAX 85
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TRIM_PITCH_CD 100
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TRIM_THROTTLE 40
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WP_LOITER_RAD 120
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WP_RADIUS 110
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# harmonic notch filter
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INS_HNTCH_ENABLE 1
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INS_HNTCH_ATT 60
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INS_HNTCH_BW 34
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INS_HNTCH_FREQ 68
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INS_HNTCH_HMNCS 15
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INS_HNTCH_MODE 1
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INS_HNTCH_REF 0.26
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# airspeed
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TRIM_ARSPD_CM 2300
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ARSPD_FBW_MAX 30
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ARSPD_FBW_MIN 15
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# limits
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LIM_PITCH_MAX 2000
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LIM_PITCH_MIN -2000
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LIM_ROLL_CD 5500
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# pitch tuning
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PTCH_RATE_D 0.017718
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PTCH_RATE_FF 0.600786
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PTCH_RATE_FLTD 15
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PTCH_RATE_FLTT 2.122066
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PTCH_RATE_I 0.600786
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PTCH_RATE_IMAX 0.666000
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PTCH_RATE_P 0.716340
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PTCH_RATE_SMAX 100
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# roll tuning
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RLL_RATE_D 0.003669
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RLL_RATE_FF 0.435239
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RLL_RATE_FLTD 15
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RLL_RATE_FLTT 3.183099
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RLL_RATE_I 0.435239
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RLL_RATE_IMAX 0.666000
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RLL_RATE_P 0.228321
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RLL_RATE_SMAX 100
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# quadplane parameters
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Q_ENABLE 1
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Q_ANGLE_MAX 2000
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Q_ASSIST_SPEED 13
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Q_A_ACCEL_P_MAX 70000
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Q_A_ACCEL_R_MAX 70000
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Q_A_ACCEL_Y_MAX 20000
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Q_A_ANG_PIT_P 5.500000
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Q_A_ANG_RLL_P 6
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Q_A_ANG_YAW_P 3
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Q_A_RATE_P_MAX 75
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Q_A_RATE_R_MAX 75
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Q_A_RATE_Y_MAX 75
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Q_A_RAT_PIT_D 0.004961
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Q_A_RAT_PIT_FF 0
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Q_A_RAT_PIT_FLTD 15
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Q_A_RAT_PIT_FLTT 15
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Q_A_RAT_PIT_I 0.257666
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Q_A_RAT_PIT_IMAX 0.500000
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Q_A_RAT_PIT_P 0.257666
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Q_A_RAT_PIT_SMAX 20
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Q_A_RAT_RLL_D 0.001420
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Q_A_RAT_RLL_FF 0
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Q_A_RAT_RLL_FLTD 15
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Q_A_RAT_RLL_FLTT 15
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Q_A_RAT_RLL_I 0.198000
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Q_A_RAT_RLL_IMAX 0.500000
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Q_A_RAT_RLL_P 0.198000
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Q_A_RAT_RLL_SMAX 20
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Q_A_RAT_YAW_D 0.003001
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Q_A_RAT_YAW_FF 0
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Q_A_RAT_YAW_FLTD 15
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Q_A_RAT_YAW_FLTE 2
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Q_A_RAT_YAW_FLTT 15
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Q_A_RAT_YAW_I 0.015000
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Q_A_RAT_YAW_IMAX 0.500000
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Q_A_RAT_YAW_P 0.150000
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Q_A_RAT_YAW_SMAX 20
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Q_A_THR_MIX_MAN 0.500000
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Q_A_THR_MIX_MAX 0.850000
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Q_A_THR_MIX_MIN 0.400000
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Q_FRAME_CLASS 1
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Q_FRAME_TYPE 1
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Q_M_BAT_IDX 0
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Q_M_BAT_VOLT_MAX 25.200001
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Q_M_BAT_VOLT_MIN 19.200001
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Q_M_THST_EXPO 0.650000
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Q_M_THST_HOVER 0.247719
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Q_RTL_ALT 30
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Q_TRANS_DECEL 1.700000
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Q_VELZ_MAX 150
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Q_VFWD_ALT 5
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Q_VFWD_GAIN 0.050000
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Q_WVANE_ENABLE 1
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Q_WVANE_GAIN 0.200000
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Q_WVANE_LAND 1
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Q_WVANE_TAKEOFF 0
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