2018-07-13 19:33:50 -03:00
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# Default setup and tuning parameters for TradHeli - load with QGC
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# Tunes the PSC, LOIT, NAV and ATC for New Loiter and Auto
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# Stack: ArduPilot
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# Vehicle: Helicopter
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# Version: 3.6
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# Vehicle-Id Component-Id Name Value Type
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1 1 ATC_ACCEL_P_MAX 52000 9
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1 1 ATC_ACCEL_R_MAX 52000 9
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1 1 ATC_ACCEL_Y_MAX 20000 9
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1 1 ATC_ANG_PIT_P 4.5 9
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1 1 ATC_ANG_RLL_P 4.5 9
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1 1 ATC_ANG_YAW_P 4.5 9
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1 1 ATC_RATE_FF_ENAB 1 2
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1 1 ATC_RATE_P_MAX 270 9
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1 1 ATC_RATE_R_MAX 360 9
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1 1 ATC_RATE_Y_MAX 180 9
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1 1 ATC_RAT_PIT_D 0.0008 9
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1 1 ATC_RAT_PIT_FILT 12 9
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1 1 ATC_RAT_PIT_I 0.35 9
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1 1 ATC_RAT_PIT_ILMI 0.04 9
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1 1 ATC_RAT_PIT_IMAX 0.44 9
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1 1 ATC_RAT_PIT_P 0.040 9
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1 1 ATC_RAT_PIT_VFF 0.15 9
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1 1 ATC_RAT_RLL_D 0.0005 9
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1 1 ATC_RAT_RLL_FILT 13 9
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1 1 ATC_RAT_RLL_I 0.32 9
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1 1 ATC_RAT_RLL_ILMI 0.03 9
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1 1 ATC_RAT_RLL_IMAX 0.44 9
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1 1 ATC_RAT_RLL_P 0.035 9
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1 1 ATC_RAT_RLL_VFF 0.15 9
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1 1 ATC_RAT_YAW_D 0.003 9
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1 1 ATC_RAT_YAW_FILT 20 9
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1 1 ATC_RAT_YAW_I 0.30 9
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1 1 ATC_RAT_YAW_ILMI 0.001 9
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1 1 ATC_RAT_YAW_IMAX 0.33 9
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1 1 ATC_RAT_YAW_P 0.22 9
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1 1 ATC_RAT_YAW_VFF 0.09 9
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1 1 ATC_SLEW_YAW 6000 9
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1 1 DISARM_DELAY 0 2
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1 1 FRAME_CLASS 6 2
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1 1 FS_CRASH_CHECK 0 2
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1 1 GND_EFFECT_COMP 1 2
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1 1 H_COLYAW 3 9
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1 1 LOIT_ACC_MAX 500 9
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1 1 LOIT_ANG_MAX 0 9
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1 1 LOIT_BRK_ACCEL 125 9
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1 1 LOIT_BRK_DELAY 1 9
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1 1 LOIT_BRK_JERK 250 9
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1 1 LOIT_SPEED 3000 9
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1 1 PHLD_BRAKE_ANGLE 800 4
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1 1 PHLD_BRAKE_RATE 4 4
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1 1 PSC_ACCZ_D 0 9
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1 1 PSC_ACCZ_FF 0 9
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1 1 PSC_ACCZ_FILT 20 9
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1 1 PSC_ACCZ_I 1 9
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1 1 PSC_ACCZ_IMAX 800 9
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2018-08-12 00:18:59 -03:00
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1 1 PSC_ACCZ_P 0.28 9
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2018-07-13 19:33:50 -03:00
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1 1 PSC_ACC_XY_FILT 2 9
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1 1 PSC_ANGLE_MAX 0 9
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1 1 PSC_POSXY_P 1 9
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1 1 PSC_POSZ_P 1 9
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2018-08-12 00:18:59 -03:00
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1 1 PSC_VELXY_D 0.0 9
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2018-07-13 19:33:50 -03:00
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1 1 PSC_VELXY_D_FILT 5 9
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1 1 PSC_VELXY_FILT 5 9
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2018-08-12 00:18:59 -03:00
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1 1 PSC_VELXY_I 0.5 9
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2018-07-13 19:33:50 -03:00
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1 1 PSC_VELXY_IMAX 1000 9
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2018-08-12 00:18:59 -03:00
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1 1 PSC_VELXY_P 1 9
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2018-07-13 19:33:50 -03:00
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1 1 PSC_VELZ_P 5 9
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1 1 WPNAV_ACCEL 220 9
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1 1 WPNAV_ACCEL_Z 100 9
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1 1 WPNAV_RADIUS 200 9
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1 1 WPNAV_SPEED_DN 150 9
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1 1 WPNAV_SPEED_UP 250 9
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1 1 WP_NAVALT_MIN 5 9
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1 1 WP_YAW_BEHAVIOR 3 2
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