2018-07-13 19:33:50 -03:00
|
|
|
# TradHeli Copter3.5 to 3.6 upgrade settings - load with MP
|
|
|
|
|
# Tunes the PSC, LOIT, and Nav for New Loiter and Auto
|
|
|
|
|
# Stack: ArduPilot
|
|
|
|
|
# Vehicle: Helicopter
|
|
|
|
|
# Version: 3.6
|
|
|
|
|
LOIT_ACC_MAX, 500
|
|
|
|
|
LOIT_ANG_MAX, 0.0
|
|
|
|
|
LOIT_BRK_ACCEL, 125
|
|
|
|
|
LOIT_BRK_DELAY, 1
|
|
|
|
|
LOIT_BRK_JERK, 250
|
|
|
|
|
LOIT_SPEED, 3000
|
|
|
|
|
PHLD_BRAKE_ANGLE, 800
|
|
|
|
|
PHLD_BRAKE_RATE, 4
|
|
|
|
|
PSC_ACCZ_D, 0.0
|
|
|
|
|
PSC_ACCZ_FF, 0.0
|
|
|
|
|
PSC_ACCZ_FILT, 20
|
|
|
|
|
PSC_ACCZ_I, 1
|
|
|
|
|
PSC_ACCZ_IMAX, 800
|
2018-08-12 00:18:59 -03:00
|
|
|
PSC_ACCZ_P, 0.28
|
2018-07-13 19:33:50 -03:00
|
|
|
PSC_ACC_XY_FILT, 2
|
|
|
|
|
PSC_ANGLE_MAX, 0.0
|
|
|
|
|
PSC_POSXY_P, 1
|
|
|
|
|
PSC_POSZ_P, 1
|
2018-08-12 00:18:59 -03:00
|
|
|
PSC_VELXY_D, 0.0
|
2018-07-13 19:33:50 -03:00
|
|
|
PSC_VELXY_D_FILT, 5
|
|
|
|
|
PSC_VELXY_FILT, 5
|
2018-08-12 00:18:59 -03:00
|
|
|
PSC_VELXY_I, 0.5
|
2018-07-13 19:33:50 -03:00
|
|
|
PSC_VELXY_IMAX, 1000
|
2018-08-12 00:18:59 -03:00
|
|
|
PSC_VELXY_P, 1
|
2018-07-13 19:33:50 -03:00
|
|
|
PSC_VELZ_P, 5
|
|
|
|
|
WPNAV_ACCEL, 220
|
|
|
|
|
WPNAV_ACCEL_Z, 100
|
|
|
|
|
WPNAV_SPEED_DN, 150
|
|
|
|
|
WPNAV_SPEED_UP, 250
|
