ardupilot/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param

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# MakeFlyEasy Striver Mini Parameters
# http://en.makeflyeasy.com/index.php/striver-mini-vtol/
SCALING_SPEED 15
TECS_CLMB_MAX 3
TECS_LAND_ARSPD 20
TKOFF_THR_MAX 85
PTCH_TRIM_DEG 0.00
TRIM_THROTTLE 40
WP_LOITER_RAD 120
WP_RADIUS 110
# harmonic notch filter
INS_HNTCH_ENABLE 1
INS_HNTCH_ATT 60
INS_HNTCH_BW 34
INS_HNTCH_FREQ 68
INS_HNTCH_HMNCS 15
INS_HNTCH_MODE 1
INS_HNTCH_REF 0.26
# airspeed
AIRSPEED_CRUISE 23.00
AIRSPEED_MAX 30
AIRSPEED_MIN 15
# limits
PITCH_LIM_MAX_DEG 20.00
PITCH_LIM_MIN_DEG -20.00
ROLL_LIMIT_DEG 55.00
# pitch tuning
PTCH_RATE_D 0.017718
PTCH_RATE_FF 0.600786
PTCH_RATE_FLTD 15
PTCH_RATE_FLTT 2.122066
PTCH_RATE_I 0.600786
PTCH_RATE_IMAX 0.666000
PTCH_RATE_P 0.716340
PTCH_RATE_SMAX 100
# roll tuning
RLL_RATE_D 0.003669
RLL_RATE_FF 0.435239
RLL_RATE_FLTD 15
RLL_RATE_FLTT 3.183099
RLL_RATE_I 0.435239
RLL_RATE_IMAX 0.666000
RLL_RATE_P 0.228321
RLL_RATE_SMAX 100
# quadplane parameters
Q_ENABLE 1
Q_ANGLE_MAX 2000
Q_ASSIST_SPEED 13
Q_A_ACCEL_P_MAX 70000
Q_A_ACCEL_R_MAX 70000
Q_A_ACCEL_Y_MAX 20000
Q_A_ANG_PIT_P 5.500000
Q_A_ANG_RLL_P 6
Q_A_ANG_YAW_P 3
Q_A_RATE_P_MAX 75
Q_A_RATE_R_MAX 75
Q_A_RATE_Y_MAX 75
Q_A_RAT_PIT_D 0.004961
Q_A_RAT_PIT_FF 0
Q_A_RAT_PIT_FLTD 15
Q_A_RAT_PIT_FLTT 15
Q_A_RAT_PIT_I 0.257666
Q_A_RAT_PIT_IMAX 0.500000
Q_A_RAT_PIT_P 0.257666
Q_A_RAT_PIT_SMAX 20
Q_A_RAT_RLL_D 0.001420
Q_A_RAT_RLL_FF 0
Q_A_RAT_RLL_FLTD 15
Q_A_RAT_RLL_FLTT 15
Q_A_RAT_RLL_I 0.198000
Q_A_RAT_RLL_IMAX 0.500000
Q_A_RAT_RLL_P 0.198000
Q_A_RAT_RLL_SMAX 20
Q_A_RAT_YAW_D 0.003001
Q_A_RAT_YAW_FF 0
Q_A_RAT_YAW_FLTD 15
Q_A_RAT_YAW_FLTE 2
Q_A_RAT_YAW_FLTT 15
Q_A_RAT_YAW_I 0.015000
Q_A_RAT_YAW_IMAX 0.500000
Q_A_RAT_YAW_P 0.150000
Q_A_RAT_YAW_SMAX 20
Q_A_THR_MIX_MAN 0.500000
Q_A_THR_MIX_MAX 0.850000
Q_A_THR_MIX_MIN 0.400000
Q_FRAME_CLASS 1
Q_FRAME_TYPE 1
Q_M_BAT_IDX 0
Q_M_BAT_VOLT_MAX 25.200001
Q_M_BAT_VOLT_MIN 19.200001
Q_M_THST_EXPO 0.650000
Q_M_THST_HOVER 0.247719
Q_RTL_ALT 30
Q_TRANS_DECEL 1.700000
Q_PILOT_SPD_UP 1.50
Q_VFWD_ALT 5
Q_VFWD_GAIN 0.050000
Q_WVANE_ENABLE 1
Q_WVANE_GAIN 0.200000
Q_WVANE_LAND 1
Q_WVANE_TAKEOFF 0