From 2e0351e74acf4b1d6aa0afbf02f023a0645742c7 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 16 Dec 2019 18:26:22 +1100 Subject: [PATCH] HAL_ChibiOS: lower gains on CubyOrange and Yellow heater this should reduce the chance of baro oscillation due to rapid change in heater temperature --- .../AP_HAL_ChibiOS/hwdef/CubeOrange/defaults.parm | 15 +++++++++++++++ .../AP_HAL_ChibiOS/hwdef/CubeYellow/defaults.parm | 11 +++++++++++ 2 files changed, 26 insertions(+) create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/defaults.parm create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/CubeYellow/defaults.parm diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/defaults.parm new file mode 100644 index 0000000000..75223022d7 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/defaults.parm @@ -0,0 +1,15 @@ +# setup correct defaults for battery monitoring for cube power brick +BATT2_CURR_PIN 14 +BATT2_VOLT_PIN 13 +BATT_AMP_PERVLT 39.877 +BATT_VOLT_MULT 12.02 +BATT2_AMP_PERVLT 39.877 +BATT2_VOLT_MULT 12.02 +# setup ADSB +ADSB_ENABLE 1 +SERIAL5_BAUD 57 +SERIAL5_PROTOCOL 1 + +# lower heater gains +BRD_IMUHEAT_I 0.07 +BRD_IMUHEAT_P 50 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeYellow/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CubeYellow/defaults.parm new file mode 100644 index 0000000000..009eab165f --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeYellow/defaults.parm @@ -0,0 +1,11 @@ +# setup correct defaults for battery monitoring for cube power brick +BATT2_CURR_PIN 14 +BATT2_VOLT_PIN 13 +BATT_AMP_PERVLT 39.877 +BATT_VOLT_MULT 12.02 +BATT2_AMP_PERVLT 39.877 +BATT2_VOLT_MULT 12.02 + +# lower heater gains +BRD_IMUHEAT_I 0.07 +BRD_IMUHEAT_P 50