2022-06-14 08:25:08 -03:00
|
|
|
#NOTE: ArduRoller balance bot parameters for Rover-4.3 and higher
|
2018-08-11 00:56:51 -03:00
|
|
|
ACRO_TURN_RATE,90
|
|
|
|
|
AHRS_ORIENTATION,29
|
2022-06-14 08:25:08 -03:00
|
|
|
ATC_ACCEL_MAX,5
|
|
|
|
|
ATC_BAL_D,0.18
|
2018-08-11 00:56:51 -03:00
|
|
|
ATC_BAL_FF,0
|
2022-06-14 08:25:08 -03:00
|
|
|
ATC_BAL_FLTD,0
|
2018-08-11 00:56:51 -03:00
|
|
|
ATC_BAL_FILT,0
|
2019-06-28 02:45:06 -03:00
|
|
|
ATC_BAL_FLTE,0
|
2018-08-11 00:56:51 -03:00
|
|
|
ATC_BAL_I,7
|
|
|
|
|
ATC_BAL_IMAX,1
|
2022-06-14 08:25:08 -03:00
|
|
|
ATC_BAL_P,5
|
|
|
|
|
ATC_BAL_SPD_FF,1.0
|
2018-08-11 00:56:51 -03:00
|
|
|
ATC_BRAKE,1
|
2022-06-14 08:25:08 -03:00
|
|
|
ATC_STR_ACC_MAX,120
|
2018-08-11 00:56:51 -03:00
|
|
|
BAL_PITCH_MAX,10
|
|
|
|
|
CRASH_ANGLE,45
|
|
|
|
|
CRUISE_SPEED,0.4
|
|
|
|
|
CRUISE_THROTTLE,50
|
|
|
|
|
FRAME_CLASS,3
|
|
|
|
|
FS_CRASH_CHECK,1
|
|
|
|
|
MOT_PWM_TYPE,0
|
|
|
|
|
MOT_SLEWRATE,0
|
|
|
|
|
MOT_THR_MIN,6
|
|
|
|
|
MOT_THST_EXPO,-0.5
|
|
|
|
|
RELAY_PIN,-1
|
|
|
|
|
RELAY_PIN2,-1
|
|
|
|
|
SCHED_LOOP_RATE,200
|
|
|
|
|
SERVO1_FUNCTION,73
|
|
|
|
|
SERVO1_MAX,2000
|
|
|
|
|
SERVO1_MIN,1000
|
|
|
|
|
SERVO1_REVERSED,0
|
|
|
|
|
SERVO1_TRIM,1500
|
|
|
|
|
SERVO3_FUNCTION,74
|
|
|
|
|
SERVO3_MAX,2000
|
|
|
|
|
SERVO3_MIN,1000
|
|
|
|
|
SERVO3_REVERSED,1
|
|
|
|
|
SERVO3_TRIM,1500
|
2022-06-14 08:25:08 -03:00
|
|
|
SERVO11_FUNCTION,-1
|
|
|
|
|
SERVO12_FUNCTION,-1
|
|
|
|
|
SERVO13_FUNCTION,-1
|
|
|
|
|
SERVO14_FUNCTION,-1
|
2021-05-02 13:37:21 -03:00
|
|
|
ATC_TURN_MAX_G,0.2
|
2022-06-14 08:25:08 -03:00
|
|
|
WENC_CPR,1600
|
2018-08-11 00:56:51 -03:00
|
|
|
WENC_PINA,55
|
|
|
|
|
WENC_PINB,54
|
|
|
|
|
WENC_POS_X,0
|
|
|
|
|
WENC_POS_Y,-0.1
|
|
|
|
|
WENC_POS_Z,0
|
2022-06-14 08:25:08 -03:00
|
|
|
WENC_RADIUS,0.06
|
2018-08-11 00:56:51 -03:00
|
|
|
WENC_TYPE,1
|
2022-06-14 08:25:08 -03:00
|
|
|
WENC2_CPR,1600
|
2018-08-11 00:56:51 -03:00
|
|
|
WENC2_PINA,53
|
|
|
|
|
WENC2_PINB,52
|
|
|
|
|
WENC2_POS_X,0
|
|
|
|
|
WENC2_POS_Y,0.1
|
|
|
|
|
WENC2_POS_Z,0
|
2022-06-14 08:25:08 -03:00
|
|
|
WENC2_RADIUS,0.06
|
2018-08-11 00:56:51 -03:00
|
|
|
WENC2_TYPE,1
|
2022-06-14 08:25:08 -03:00
|
|
|
WRC_RATE_D,0.2
|
|
|
|
|
WRC_RATE_FF,4.2
|
|
|
|
|
WRC_RATE_FLTD,50
|
|
|
|
|
WRC_RATE_I,4
|
2018-08-11 00:56:51 -03:00
|
|
|
WRC_RATE_IMAX,1
|
|
|
|
|
WRC_RATE_MAX,12
|
2022-06-14 08:25:08 -03:00
|
|
|
WRC_RATE_P,0
|
|
|
|
|
WRC2_RATE_D,0.2
|
|
|
|
|
WRC2_RATE_FF,4.2
|
|
|
|
|
WRC2_RATE_FLTD,50
|
|
|
|
|
WRC2_RATE_I,4
|
2018-08-11 00:56:51 -03:00
|
|
|
WRC2_RATE_IMAX,1
|
2022-06-14 08:25:08 -03:00
|
|
|
WRC2_RATE_P,0
|
