ardupilot/libraries/AP_HAL_ChibiOS/hwdef/Swan-K1/defaults.parm

BATT_MONITOR 4
BATT_VOLT_MULT 6.52
BATT_AMP_PERVLT 15.7
BATT_CAPACITY  5500

Q_ENABLE 1
Q_FRAME_CLASS 1
Q_TAILSIT_ENABLE 2

SERVO1_FUNCTION 33
SERVO2_FUNCTION 34
SERVO3_FUNCTION 35
SERVO4_FUNCTION 36
Q_OPTIONS 128

#Second IMU seems to give better results on this board
EK3_PRIMARY 1

# RC input is SBUS on serial4 TX pin
SERIAL4_PROTOCOL 23
SERIAL4_OPTIONS 8

RC1_MIN 1050
RC1_MAX 1950
RC2_MIN 1050
RC2_MAX 1950
RC3_MIN 1050
RC3_MAX 1950
RC3_TRIM 1500
RC4_MIN 1125
RC4_MAX 1875

THR_MIN 5

ARMING_RUDDER 2

ARSPD_TUBE_ORDER 0
ARSPD_USE 1

ALT_HOLD_RTL 3000
ARSPD_FBW_MAX  25
ARSPD_FBW_MIN  8
ARSPD_RATIO    1.9
LIM_ROLL_CD    4000

# the HWing can become unstable at high speeds. Limit pitch angle
# to prevent overspeed
LIM_PITCH_MAX  4500
LIM_PITCH_MIN  -1500

# setup left 3-pos switch for QHOVER, QLOITER and FBWA
FLTMODE1 18
FLTMODE4 19
FLTMODE6 5
FLTMODE_CH 5

# setup a harmonic notch filter to reduce noise
INS_GYRO_FILTER 30
INS_HNTCH_ATT         40
INS_HNTCH_BW          49
INS_HNTCH_ENABLE       1
INS_HNTCH_FREQ        99
INS_HNTCH_HMNCS       63
INS_HNTCH_MODE         1
INS_HNTCH_OPTS         1
INS_HNTCH_REF          0.4560

# no rudder mixing
KFF_RDDRMIX 0

# reasonable attitude limits
LIM_PITCH_MAX 4000
LOG_FILE_DSRMROT 1

# lower logging rate a bit to make logs faster to fetch
# using a USB cable
LOG_FILE_RATEMAX 50

# tuning
RLL2SRV_TCONST 0.25
PTCH2SRV_TCONST 0.5
Q_A_ACCEL_P_MAX    40000
Q_A_ACCEL_R_MAX    20000
Q_A_ANG_PIT_P          8
Q_A_ANG_RLL_P          8
Q_A_RAT_PIT_D          0.01
Q_A_RAT_PIT_FLTD      15
Q_A_RAT_PIT_P          0.3
Q_A_RAT_PIT_SMAX      15
Q_A_RAT_RLL_D          0.015
Q_A_RAT_RLL_FLTD      15
Q_A_RAT_RLL_P          0.35
Q_A_RAT_RLL_SMAX      15
Q_A_RAT_YAW_FF         0.2
Q_A_RAT_YAW_D          0.1
Q_A_RAT_YAW_FLTD      15
Q_A_RAT_YAW_I          0.07
Q_A_RAT_YAW_P          0.7
Q_A_RAT_YAW_SMAX      15
Q_A_ACCEL_P_MAX    40000
Q_A_ACCEL_R_MAX    20000
Q_A_ACCEL_Y_MAX    27000
Q_P_ACCZ_P            0.8
Q_P_POSZ_P            1.5
Q_P_VELZ_P            8.0
Q_M_THST_HOVER        0.45
Q_M_BAT_VOLT_MAX   16.8
Q_M_BAT_VOLT_MIN   13.2
Q_TAILSIT_RAT_VT 30
Q_A_RATE_Y_MAX 100
Q_A_RATE_R_MAX 100
Q_A_RATE_P_MAX 100

Q_WP_ACCEL 250
Q_WP_ACCEL_Z 300
Q_WP_JERK  2
Q_WP_SPEED 900
Q_A_THR_MIX_MAN  2
Q_A_THR_MIX_MAX  2
Q_A_THR_MIX_MIN  0.3

# Q flight options
Q_RTL_MODE 3
Q_TRANS_DECEL 2.5

# QRTL on 'B' button
RC8_OPTION 4

RC_OPTIONS 32

# slow down for landing approach
TECS_LAND_ARSPD 8

# 16 m/s target airspeed in auto modes
TRIM_ARSPD_CM 1600
TRIM_THROTTLE 29

# 2nd lane tends to be better
EK3_PRIMARY 1