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

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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
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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
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# 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
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THR_MIN 5
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ARMING_RUDDER 2
ARSPD_TUBE_ORDR 0
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ARSPD_USE 1
RTL_ALTITUDE 30.00
AIRSPEED_MAX 25
AIRSPEED_MIN 8
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ARSPD_RATIO 1.9
ROLL_LIMIT_DEG 40.00
# the HWing can become unstable at high speeds. Limit pitch angle
# to prevent overspeed
PTCH_LIM_MAX_DEG 45.00
PTCH_LIM_MIN_DEG -15.00
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# 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 7
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INS_HNTCH_MODE 1
INS_HNTCH_OPTS 1
INS_HNTCH_REF 0.4560
# no rudder mixing
KFF_RDDRMIX 0
# reasonable attitude limits
PTCH_LIM_MAX_DEG 40.00
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LOG_FILE_DSRMROT 1
# lower logging rate a bit to make logs faster to fetch
# using a USB cable
LOG_FILE_RATEMAX 50
# tuning
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RLL2SRV_TCONST 0.25
PTCH2SRV_TCONST 0.5
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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
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Q_A_RAT_YAW_FF 0.2
Q_A_RAT_YAW_D 0.1
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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
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Q_P_ACCZ_P 0.8
Q_P_POSZ_P 1.5
Q_P_VELZ_P 8.0
Q_M_THST_HOVER 0.45
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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
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Q_WP_ACCEL 250
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Q_WP_ACCEL_Z 300
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Q_WP_JERK 2
Q_WP_SPEED 900
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Q_A_THR_MIX_MAN 2
Q_A_THR_MIX_MAX 2
Q_A_THR_MIX_MIN 0.3
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# Q flight options
Q_RTL_MODE 3
Q_TRANS_DECEL 2.5
# QRTL on 'B' button
RC8_OPTION 4
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RC_OPTIONS 32
# slow down for landing approach
TECS_LAND_ARSPD 8
# 16 m/s target airspeed in auto modes
AIRSPEED_CRUISE 16.00
TRIM_THROTTLE 29
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# 2nd lane tends to be better
EK3_PRIMARY 1