2022-05-02 01:22:42 -03:00
|
|
|
# MakeFlyEasy Striver Mini Parameters
|
|
|
|
|
|
|
|
|
|
# http://en.makeflyeasy.com/index.php/striver-mini-vtol/
|
|
|
|
|
|
|
|
|
|
SCALING_SPEED 15
|
|
|
|
|
TECS_CLMB_MAX 3
|
|
|
|
|
TECS_LAND_ARSPD 20
|
|
|
|
|
TKOFF_THR_MAX 85
|
2023-12-14 19:13:03 -04:00
|
|
|
PITCH_TRIM 1
|
2022-05-02 01:22:42 -03:00
|
|
|
TRIM_THROTTLE 40
|
|
|
|
|
WP_LOITER_RAD 120
|
|
|
|
|
WP_RADIUS 110
|
|
|
|
|
|
|
|
|
|
# harmonic notch filter
|
|
|
|
|
INS_HNTCH_ENABLE 1
|
|
|
|
|
INS_HNTCH_ATT 60
|
|
|
|
|
INS_HNTCH_BW 34
|
|
|
|
|
INS_HNTCH_FREQ 68
|
|
|
|
|
INS_HNTCH_HMNCS 15
|
|
|
|
|
INS_HNTCH_MODE 1
|
|
|
|
|
INS_HNTCH_REF 0.26
|
|
|
|
|
|
|
|
|
|
# airspeed
|
2024-01-17 22:34:22 -04:00
|
|
|
AIRSPEED_CRUISE 23.00
|
2022-05-02 01:22:42 -03:00
|
|
|
ARSPD_FBW_MAX 30
|
|
|
|
|
ARSPD_FBW_MIN 15
|
|
|
|
|
|
|
|
|
|
# limits
|
|
|
|
|
LIM_PITCH_MAX 2000
|
|
|
|
|
LIM_PITCH_MIN -2000
|
|
|
|
|
LIM_ROLL_CD 5500
|
|
|
|
|
|
|
|
|
|
# pitch tuning
|
|
|
|
|
PTCH_RATE_D 0.017718
|
|
|
|
|
PTCH_RATE_FF 0.600786
|
|
|
|
|
PTCH_RATE_FLTD 15
|
|
|
|
|
PTCH_RATE_FLTT 2.122066
|
|
|
|
|
PTCH_RATE_I 0.600786
|
|
|
|
|
PTCH_RATE_IMAX 0.666000
|
|
|
|
|
PTCH_RATE_P 0.716340
|
|
|
|
|
PTCH_RATE_SMAX 100
|
|
|
|
|
|
|
|
|
|
# roll tuning
|
|
|
|
|
RLL_RATE_D 0.003669
|
|
|
|
|
RLL_RATE_FF 0.435239
|
|
|
|
|
RLL_RATE_FLTD 15
|
|
|
|
|
RLL_RATE_FLTT 3.183099
|
|
|
|
|
RLL_RATE_I 0.435239
|
|
|
|
|
RLL_RATE_IMAX 0.666000
|
|
|
|
|
RLL_RATE_P 0.228321
|
|
|
|
|
RLL_RATE_SMAX 100
|
|
|
|
|
|
|
|
|
|
# quadplane parameters
|
|
|
|
|
Q_ENABLE 1
|
|
|
|
|
Q_ANGLE_MAX 2000
|
|
|
|
|
Q_ASSIST_SPEED 13
|
|
|
|
|
Q_A_ACCEL_P_MAX 70000
|
|
|
|
|
Q_A_ACCEL_R_MAX 70000
|
|
|
|
|
Q_A_ACCEL_Y_MAX 20000
|
|
|
|
|
Q_A_ANG_PIT_P 5.500000
|
|
|
|
|
Q_A_ANG_RLL_P 6
|
|
|
|
|
Q_A_ANG_YAW_P 3
|
|
|
|
|
Q_A_RATE_P_MAX 75
|
|
|
|
|
Q_A_RATE_R_MAX 75
|
|
|
|
|
Q_A_RATE_Y_MAX 75
|
|
|
|
|
Q_A_RAT_PIT_D 0.004961
|
|
|
|
|
Q_A_RAT_PIT_FF 0
|
|
|
|
|
Q_A_RAT_PIT_FLTD 15
|
|
|
|
|
Q_A_RAT_PIT_FLTT 15
|
|
|
|
|
Q_A_RAT_PIT_I 0.257666
|
|
|
|
|
Q_A_RAT_PIT_IMAX 0.500000
|
|
|
|
|
Q_A_RAT_PIT_P 0.257666
|
|
|
|
|
Q_A_RAT_PIT_SMAX 20
|
|
|
|
|
Q_A_RAT_RLL_D 0.001420
|
|
|
|
|
Q_A_RAT_RLL_FF 0
|
|
|
|
|
Q_A_RAT_RLL_FLTD 15
|
|
|
|
|
Q_A_RAT_RLL_FLTT 15
|
|
|
|
|
Q_A_RAT_RLL_I 0.198000
|
|
|
|
|
Q_A_RAT_RLL_IMAX 0.500000
|
|
|
|
|
Q_A_RAT_RLL_P 0.198000
|
|
|
|
|
Q_A_RAT_RLL_SMAX 20
|
|
|
|
|
Q_A_RAT_YAW_D 0.003001
|
|
|
|
|
Q_A_RAT_YAW_FF 0
|
|
|
|
|
Q_A_RAT_YAW_FLTD 15
|
|
|
|
|
Q_A_RAT_YAW_FLTE 2
|
|
|
|
|
Q_A_RAT_YAW_FLTT 15
|
|
|
|
|
Q_A_RAT_YAW_I 0.015000
|
|
|
|
|
Q_A_RAT_YAW_IMAX 0.500000
|
|
|
|
|
Q_A_RAT_YAW_P 0.150000
|
|
|
|
|
Q_A_RAT_YAW_SMAX 20
|
|
|
|
|
Q_A_THR_MIX_MAN 0.500000
|
|
|
|
|
Q_A_THR_MIX_MAX 0.850000
|
|
|
|
|
Q_A_THR_MIX_MIN 0.400000
|
|
|
|
|
Q_FRAME_CLASS 1
|
|
|
|
|
Q_FRAME_TYPE 1
|
|
|
|
|
Q_M_BAT_IDX 0
|
|
|
|
|
Q_M_BAT_VOLT_MAX 25.200001
|
|
|
|
|
Q_M_BAT_VOLT_MIN 19.200001
|
|
|
|
|
Q_M_THST_EXPO 0.650000
|
|
|
|
|
Q_M_THST_HOVER 0.247719
|
|
|
|
|
Q_RTL_ALT 30
|
|
|
|
|
Q_TRANS_DECEL 1.700000
|
|
|
|
|
Q_VELZ_MAX 150
|
|
|
|
|
Q_VFWD_ALT 5
|
|
|
|
|
Q_VFWD_GAIN 0.050000
|
|
|
|
|
Q_WVANE_ENABLE 1
|
|
|
|
|
Q_WVANE_GAIN 0.200000
|
|
|
|
|
Q_WVANE_LAND 1
|
|
|
|
|
Q_WVANE_TAKEOFF 0
|
|
|
|
|
|
|
|
|
|
|
