From 087fd4effcbe00aa05ebc8c2a2bb25cae46858eb Mon Sep 17 00:00:00 2001 From: ChristopherOlson Date: Wed, 9 May 2018 20:48:55 -0500 Subject: [PATCH] Tools: Add default tuning params for single-rotor TradHeli Tunes PSC, LOIT, NAV, ATC specific to Copter 3.6 and New Loiter --- .../TradHeli_Copter36_Setup.param | 74 +++++++++++++++++++ 1 file changed, 74 insertions(+) create mode 100644 Tools/Frame_params/TradHeli_Copter36_Setup.param diff --git a/Tools/Frame_params/TradHeli_Copter36_Setup.param b/Tools/Frame_params/TradHeli_Copter36_Setup.param new file mode 100644 index 0000000000..c8ee4a3065 --- /dev/null +++ b/Tools/Frame_params/TradHeli_Copter36_Setup.param @@ -0,0 +1,74 @@ +# Default tuning parameters for TradHeli +# 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 +ATC_RATE_P_MAX, 0.0 +ATC_RATE_R_MAX, 0.0 +ATC_RATE_Y_MAX, 0.0 +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 +ATC_RAT_YAW_D, 0.007 +ATC_RAT_YAW_FILT, 20 +ATC_RAT_YAW_I, 0.30 +ATC_RAT_YAW_ILMI, 0.01 +ATC_RAT_YAW_IMAX, 0.33 +ATC_RAT_YAW_P, 0.28 +ATC_RAT_YAW_VFF, 0.12 +ATC_SLEW_YAW, 6000 +DISARM_DELAY, 0 +FRAME_CLASS, 6 +FRAME_TYPE, 1 +FS_CRASH_CHECK, 0 +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 +PSC_ACCZ_P, 0.30 +PSC_ACC_XY_FILT, 2 +PSC_ANGLE_MAX, 0.0 +PSC_POSXY_P, 1 +PSC_POSZ_P, 1 +PSC_VELXY_D, 0.5 +PSC_VELXY_D_FILT, 5 +PSC_VELXY_FILT, 5 +PSC_VELXY_I, 1 +PSC_VELXY_IMAX, 1000 +PSC_VELXY_P, 2 +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