mirror of https://github.com/ArduPilot/ardupilot
128 lines
2.5 KiB
Plaintext
128 lines
2.5 KiB
Plaintext
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# parameter file for Mugin EV350 quadplane
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# https://www.muginuav.com/product/mugin-ev350-carbon-fiber-full-electric-vtol-uav-platform/
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ALT_HOLD_RTL 8000
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LIM_PITCH_MAX 2000
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LIM_PITCH_MIN -2000
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LIM_ROLL_CD 4000
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NAVL1_PERIOD 17
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PTCH2SRV_TCONST 0.75
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RTL_RADIUS 180
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SCALING_SPEED 15
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TRIM_THROTTLE 50
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WP_LOITER_RAD 300
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WP_RADIUS 220
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# harmonic notch filter
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INS_HNTCH_ENABLE 1
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INS_HNTCH_ATT 50
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INS_HNTCH_BW 30
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INS_HNTCH_FREQ 51
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INS_HNTCH_HMNCS 15
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INS_HNTCH_MODE 1
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INS_HNTCH_REF 0.245000
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# airspeed
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TRIM_ARSPD_CM 2300
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ARSPD_FBW_MAX 28
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ARSPD_FBW_MIN 18
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# FW pitch tuning
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PTCH_RATE_D 0.021381
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PTCH_RATE_FF 1.093860
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PTCH_RATE_FLTD 10
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PTCH_RATE_FLTE 0
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PTCH_RATE_FLTT 2.122066
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PTCH_RATE_I 1.093860
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PTCH_RATE_IMAX 0.666
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PTCH_RATE_P 0.786900
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PTCH_RATE_SMAX 100
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# FW roll tuning
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RLL2SRV_TCONST 0.5
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RLL_RATE_D 0.021381
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RLL_RATE_FF 0.541178
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RLL_RATE_FLTD 12
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RLL_RATE_FLTE 0
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RLL_RATE_FLTT 3
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RLL_RATE_I 0.541178
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RLL_RATE_IMAX 0.666
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RLL_RATE_P 0.325935
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RLL_RATE_SMAX 150
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# quadplane parameters
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Q_ENABLE 1
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Q_ANGLE_MAX 1500
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Q_ASSIST_ANGLE 30
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Q_ASSIST_SPEED 15
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Q_A_ACCEL_P_MAX 30000
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Q_A_ACCEL_R_MAX 30000
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Q_A_ACCEL_Y_MAX 15000
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Q_A_RATE_P_MAX 60
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Q_A_RATE_R_MAX 60
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Q_A_RATE_Y_MAX 30
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Q_A_RAT_PIT_D 0.015
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Q_A_RAT_PIT_FF 0
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Q_A_RAT_PIT_FLTD 10
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Q_A_RAT_PIT_FLTE 0
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Q_A_RAT_PIT_FLTT 20
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Q_A_RAT_PIT_I 0.3
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Q_A_RAT_PIT_IMAX 0.5
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Q_A_RAT_PIT_P 0.3
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Q_A_RAT_PIT_SMAX 20
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Q_A_RAT_RLL_D 0.004
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Q_A_RAT_RLL_FF 0
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Q_A_RAT_RLL_FLTD 10
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Q_A_RAT_RLL_FLTE 0
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Q_A_RAT_RLL_FLTT 10
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Q_A_RAT_RLL_I 0.1
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Q_A_RAT_RLL_IMAX 0.5
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Q_A_RAT_RLL_P 0.1
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Q_A_RAT_RLL_SMAX 20
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Q_A_RAT_YAW_D 0.01
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Q_A_RAT_YAW_FF 0
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Q_A_RAT_YAW_FLTD 0
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Q_A_RAT_YAW_FLTE 2.5
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Q_A_RAT_YAW_FLTT 20
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Q_A_RAT_YAW_I 0.018
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Q_A_RAT_YAW_IMAX 0.5
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Q_A_RAT_YAW_P 0.5
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Q_A_RAT_YAW_SMAX 10
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Q_A_THR_MIX_MAX 0.9
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Q_FRAME_CLASS 1
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Q_FRAME_TYPE 1
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Q_LAND_FINAL_ALT 12
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Q_LAND_SPEED 40
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Q_LOIT_ANG_MAX 20
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Q_LOIT_BRK_ACCEL 40
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Q_LOIT_BRK_JERK 200
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Q_LOIT_SPEED 600
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Q_M_BAT_IDX 0
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Q_M_BAT_VOLT_MAX 50.4
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Q_M_BAT_VOLT_MIN 39.0
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Q_M_THST_EXPO 0.7
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Q_M_THST_HOVER 0.264
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Q_M_YAW_HEADROOM 200
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Q_P_JERK_XY 2
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Q_P_POSXY_P 0.5
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Q_P_VELXY_D 0.17
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Q_P_VELXY_I 0.37
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Q_P_VELXY_P 0.7
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Q_RTL_ALT 40
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Q_THROTTLE_EXPO 0.2
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Q_TRANS_DECEL 1.5
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Q_TRAN_PIT_MAX 7
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Q_VELZ_MAX 200
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Q_VELZ_MAX_DN 130
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Q_VFWD_ALT 5
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Q_VFWD_GAIN 0.05
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Q_WP_RADIUS 300
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Q_WP_SPEED 600
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Q_WP_SPEED_DN 150
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Q_WP_SPEED_UP 220
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Q_WVANE_ANG_MIN 3
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Q_WVANE_ENABLE 1
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Q_WVANE_GAIN 0.3
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Q_WVANE_TAKEOFF 0
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