ardupilot/Tools/Frame_params/QuadPlanes/Foxtech_Altair370.parm

# this is a dual-canard IC quadplane Altair 370
# https://www.foxtechfpv.com/foxtech-altair-370-tandem-wing-hybrid-vtol.html

# the dual canard design is setup with the front two canards setup as elevons
# with MIXING_OFFSET used to give 75% elevator control and 25% roll control

# the rear two elevons are setup for roll only (ailerons)

# setup airspeed range
AIRSPEED_MAX    35
AIRSPEED_MIN    22
AIRSPEED_CRUISE 27.00

# fixed wing limits
PITCH_LIM_MAX_DEG 15.00
PITCH_LIM_MIN_DEG -15.00
ROLL_LIMIT_DEG 25.00

# setup elevons as 75% elevator and 25% aileron
MIXING_GAIN      0.25
MIXING_OFFSET    -200

# fixed wing pitch tune
PTCH_RATE_D      0.01
PTCH_RATE_FF     0.15
PTCH_RATE_FLTT   6
PTCH_RATE_I      0.27
PTCH_RATE_P      0.54

# fixed wing roll tune
RLL_RATE_D       0.004
RLL_RATE_FF      0.2
RLL_RATE_I       0.2
RLL_RATE_P       0.5

# vtol motor notch filter
INS_HNTCH_ENABLE 1
INS_HNTCH_ATT   60
INS_HNTCH_BW    31
INS_HNTCH_FREQ  62
INS_HNTCH_HMNCS 3
INS_HNTCH_MODE  1
INS_HNTCH_OPTS  1
INS_HNTCH_REF   0.332000

# IC motor notch filter. Note that
# you need to setup RPM with EFI or pin input
INS_HNTC2_ENABLE 1
INS_HNTC2_ATT   50
INS_HNTC2_BW    15
INS_HNTC2_FREQ  30
INS_HNTC2_HMNCS 3
INS_HNTC2_MODE  2
INS_HNTC2_OPTS  1
INS_HNTC2_REF   1

# enable quadplane as X frame
Q_ENABLE         1
Q_FRAME_CLASS    1
Q_FRAME_TYPE     1

# adjust rates
Q_ACRO_PIT_RATE  150
Q_ACRO_RLL_RATE  300
Q_ACRO_YAW_RATE  15

# small angle max
Q_ANGLE_MAX      1000

# setup assistance
Q_ASSIST_ANGLE   35
Q_ASSIST_SPEED   22

# lower rate accels
Q_A_ACCEL_P_MAX  25000
Q_A_ACCEL_R_MAX  25000
Q_A_ACCEL_Y_MAX  9000
Q_WP_ACCEL       173

Q_A_ANG_PIT_P    4
Q_A_ANG_RLL_P    4
Q_A_ANG_YAW_P    3

Q_A_RATE_FF_ENAB 0

# pitch PID gains
Q_A_RAT_PIT_D    0.018
Q_A_RAT_PIT_FLTT 10
Q_A_RAT_PIT_I    0.227
Q_A_RAT_PIT_P    0.454

# roll PID gains
Q_A_RAT_RLL_D    0.0108
Q_A_RAT_RLL_FLTT 10
Q_A_RAT_RLL_I    0.156
Q_A_RAT_RLL_P    0.312
Q_A_RAT_YAW_FLTE 2
Q_A_RAT_YAW_FLTT 10
Q_A_RAT_YAW_P    1.5

# adjust loiter break
Q_LOIT_BRK_DELAY 0.5
Q_LOIT_BRK_JERK  500

# approx expo and hover
Q_M_THST_EXPO    0.7
Q_M_THST_HOVER   0.383955

# adjust transition time
Q_TRANSITION_MS  3000


# rear canards on servos 9 and 10, setup as ailerons
SERVO9_FUNCTION  4
SERVO10_FUNCTION 4

# front canards on servos 11 and 12, setup as elevons, with
# 75% elevator and 25% aileron.
# servo11 as right elevon, servo12 as left elevon
SERVO11_FUNCTION 78
SERVO11_REVERSED 1
SERVO12_FUNCTION 77

# VTOL motors on outputs 1 to 4
SERVO1_FUNCTION  33
SERVO2_FUNCTION  34
SERVO3_FUNCTION  35
SERVO4_FUNCTION  36

# rudder on servo5
SERVO5_FUNCTION  21
SERVO5_REVERSED  1

# throttle on servo7
SERVO7_FUNCTION  70

# motor start on servo8
SERVO8_FUNCTION  69

TECS_PTCH_DAMP   0.1

WP_LOITER_RAD    300
WP_RADIUS        100

# enable ICE subsystem
ICE_ENABLE      1
ICE_IDLE_DB     50
ICE_IDLE_PCT    15
ICE_IDLE_RPM    2200
ICE_IDLE_SLEW   1
ICE_OPTIONS     4
ICE_RPM_CHAN    1

# cut ICE engine on landing
Q_LAND_ICE_CUT  1

# setup RPM as interrupt on AUX6
RPM1_TYPE 2
RPM1_PIN 55