2018-08-17 00:26:20 -03:00
|
|
|
# Default setup and tuning parameters for TradHeli - load with MP
|
2018-05-09 22:48:55 -03:00
|
|
|
# Tunes the PSC, LOIT, NAV and ATC for New Loiter and Auto
|
|
|
|
|
# Stack: ArduPilot
|
|
|
|
|
# Vehicle: Helicopter
|
|
|
|
|
# Version: 3.6
|
|
|
|
|
ATC_ACCEL_P_MAX, 52000
|
|
|
|
|
ATC_ACCEL_R_MAX, 52000
|
|
|
|
|
ATC_ACCEL_Y_MAX, 20000
|
|
|
|
|
ATC_ANG_PIT_P, 4.5
|
|
|
|
|
ATC_ANG_RLL_P, 4.5
|
|
|
|
|
ATC_ANG_YAW_P, 4.5
|
|
|
|
|
ATC_RATE_FF_ENAB, 1
|
2018-08-17 00:26:20 -03:00
|
|
|
ATC_RATE_P_MAX, 270
|
|
|
|
|
ATC_RATE_R_MAX, 360
|
|
|
|
|
ATC_RATE_Y_MAX, 180
|
2018-05-09 22:48:55 -03:00
|
|
|
ATC_RAT_PIT_D 0.0008
|
|
|
|
|
ATC_RAT_PIT_FILT, 12
|
|
|
|
|
ATC_RAT_PIT_I, 0.35
|
|
|
|
|
ATC_RAT_PIT_ILMI, 0.04
|
|
|
|
|
ATC_RAT_PIT_IMAX, 0.44
|
|
|
|
|
ATC_RAT_PIT_P, 0.04
|
|
|
|
|
ATC_RAT_PIT_VFF, 0.15
|
|
|
|
|
ATC_RAT_RLL_D, 0.0005
|
|
|
|
|
ATC_RAT_RLL_FILT, 13
|
|
|
|
|
ATC_RAT_RLL_I, 0.32
|
|
|
|
|
ATC_RAT_RLL_ILMI, 0.03
|
|
|
|
|
ATC_RAT_RLL_IMAX, 0.44
|
|
|
|
|
ATC_RAT_RLL_P, 0.035
|
|
|
|
|
ATC_RAT_RLL_VFF, 0.15
|
2018-08-17 00:26:20 -03:00
|
|
|
ATC_RAT_YAW_D, 0.003
|
2018-05-09 22:48:55 -03:00
|
|
|
ATC_RAT_YAW_FILT, 20
|
|
|
|
|
ATC_RAT_YAW_I, 0.30
|
|
|
|
|
ATC_RAT_YAW_ILMI, 0.01
|
|
|
|
|
ATC_RAT_YAW_IMAX, 0.33
|
2018-08-17 00:26:20 -03:00
|
|
|
ATC_RAT_YAW_P, 0.22
|
|
|
|
|
ATC_RAT_YAW_VFF, 0.09
|
2018-05-09 22:48:55 -03:00
|
|
|
ATC_SLEW_YAW, 6000
|
|
|
|
|
DISARM_DELAY, 0
|
|
|
|
|
FRAME_CLASS, 6
|
|
|
|
|
FS_CRASH_CHECK, 0
|
2018-06-07 21:51:40 -03:00
|
|
|
GND_EFFECT_COMP,1
|
2018-05-09 22:48:55 -03:00
|
|
|
H_COLYAW, 3
|
|
|
|
|
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
|
2018-08-17 00:26:20 -03:00
|
|
|
PSC_ACCZ_P, 0.28
|
2018-05-09 22:48:55 -03:00
|
|
|
PSC_ACC_XY_FILT, 2
|
|
|
|
|
PSC_ANGLE_MAX, 0.0
|
|
|
|
|
PSC_POSXY_P, 1
|
|
|
|
|
PSC_POSZ_P, 1
|
2018-08-17 00:26:20 -03:00
|
|
|
PSC_VELXY_D, 0.0
|
2018-05-09 22:48:55 -03:00
|
|
|
PSC_VELXY_D_FILT, 5
|
|
|
|
|
PSC_VELXY_FILT, 5
|
2018-08-17 00:26:20 -03:00
|
|
|
PSC_VELXY_I, 0.5
|
2018-05-09 22:48:55 -03:00
|
|
|
PSC_VELXY_IMAX, 1000
|
2018-08-17 00:26:20 -03:00
|
|
|
PSC_VELXY_P, 1
|
2018-05-09 22:48:55 -03:00
|
|
|
PSC_VELZ_P, 5
|
|
|
|
|
WPNAV_ACCEL, 220
|
|
|
|
|
WPNAV_ACCEL_Z, 100
|
|
|
|
|
WPNAV_RADIUS, 200
|
|
|
|
|
WPNAV_SPEED_DN, 150
|
|
|
|
|
WPNAV_SPEED_UP, 250
|
|
|
|
|
WP_NAVALT_MIN, 5
|
|
|
|
|
WP_YAW_BEHAVIOR, 3
|
