mirror of https://github.com/ArduPilot/ardupilot
88 lines
2.0 KiB
Plaintext
88 lines
2.0 KiB
Plaintext
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MOT_YAW_SV_REV -1
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MOT_YAW_SV_MIN 1000
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MOT_YAW_SV_MAX 2000
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EK2_ENABLE 1
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FRAME 0
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MAG_ENABLE 1
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FS_THR_ENABLE 1
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BATT_MONITOR 4
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CH7_OPT 7
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COMPASS_LEARN 0
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COMPASS_OFS_X 5
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COMPASS_OFS_Y 13
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COMPASS_OFS_Z -18
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COMPASS_OFS2_X 5
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COMPASS_OFS2_Y 13
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COMPASS_OFS2_Z -18
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FENCE_RADIUS 150
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RC1_MAX 2000.000000
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RC1_MIN 1000.000000
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RC1_TRIM 1500.000000
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RC2_MAX 2000.000000
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RC2_MIN 1000.000000
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RC2_TRIM 1500.000000
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RC3_MAX 2000.000000
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RC3_MIN 1000.000000
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RC3_TRIM 1500.000000
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RC4_MAX 2000.000000
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RC4_MIN 1000.000000
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RC4_TRIM 1500.000000
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RC5_MAX 2000.000000
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RC5_MIN 1000.000000
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RC5_TRIM 1500.000000
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RC6_MAX 2000.000000
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RC6_MIN 1000.000000
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RC6_TRIM 1500.000000
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RC7_MAX 2000.000000
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RC7_MIN 1000.000000
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RC7_TRIM 1500.000000
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RC8_MAX 2000.000000
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RC8_MIN 1000.000000
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RC8_TRIM 1500.000000
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FLTMODE1 7
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FLTMODE2 9
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FLTMODE3 6
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FLTMODE4 3
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FLTMODE5 5
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FLTMODE6 0
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SUPER_SIMPLE 0
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SIM_GPS_DELAY 1
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SIM_ACC_RND 0
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SIM_GYR_RND 0
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SIM_WIND_SPD 0
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SIM_WIND_TURB 0
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SIM_BARO_RND 0
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SIM_MAG_RND 0
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SIM_GPS_GLITCH_X 0
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SIM_GPS_GLITCH_Y 0
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SIM_GPS_GLITCH_Z 0
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# we need small INS_ACC offsets so INS is recognised as being calibrated
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INS_ACCOFFS_X 0.001
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INS_ACCOFFS_Y 0.001
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INS_ACCOFFS_Z 0.001
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INS_ACCSCAL_X 1.001
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INS_ACCSCAL_Y 1.001
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INS_ACCSCAL_Z 1.001
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INS_ACC2OFFS_X 0.001
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INS_ACC2OFFS_Y 0.001
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INS_ACC2OFFS_Z 0.001
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INS_ACC2SCAL_X 1.001
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INS_ACC2SCAL_Y 1.001
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INS_ACC2SCAL_Z 1.001
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INS_ACC3OFFS_X 0.000
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INS_ACC3OFFS_Y 0.000
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INS_ACC3OFFS_Z 0.000
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INS_ACC3SCAL_X 1.000
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INS_ACC3SCAL_Y 1.000
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INS_ACC3SCAL_Z 1.000
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MOT_THST_EXPO 0.5
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# autotune results for roll/pitch
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ATC_RAT_PIT_D 0.003601
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ATC_RAT_PIT_I 0.425690
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ATC_RAT_PIT_IMAX 0.444000
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ATC_RAT_PIT_P 0.425690
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ATC_RAT_RLL_D 0.006667
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ATC_RAT_RLL_I 0.838628
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ATC_RAT_RLL_IMAX 0.444000
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ATC_RAT_RLL_P 0.838628
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