From 35a51968c1fa70a97c139a55eea99b9e5e485e82 Mon Sep 17 00:00:00 2001
From: Matt Lawrence <lawrence.matt@gmail.com>
Date: Sat, 9 Nov 2019 12:37:44 -0500
Subject: [PATCH] Frame_params: Solo notch filter params

Adds the dynamic harmonic notch filter and static notch filter to the Solo's default parameters.  PID tuning parameters for the green cube Solo adjusted to take advantage of the better control.
---
 .../Solo_Copter-3.7_BlackCube.param           |  9 +++++++++
 .../Solo_Copter-3.7_GreenCube.param           | 19 ++++++++++++++-----
 .../Frame_params/test params stock solo.param | 10 ++++++++++
 Tools/Frame_params/test params.param          | 16 ++++++++++++++++
 4 files changed, 49 insertions(+), 5 deletions(-)
 create mode 100644 Tools/Frame_params/test params stock solo.param
 create mode 100644 Tools/Frame_params/test params.param

diff --git a/Tools/Frame_params/Solo_Copter-3.7_BlackCube.param b/Tools/Frame_params/Solo_Copter-3.7_BlackCube.param
index bf0dd7d7e0..3a6078a300 100644
--- a/Tools/Frame_params/Solo_Copter-3.7_BlackCube.param
+++ b/Tools/Frame_params/Solo_Copter-3.7_BlackCube.param
@@ -69,6 +69,15 @@ GPS_NAVFILTER,6
 GPS_TYPE,1
 INS_ACC_BODYFIX,3
 INS_FAST_SAMPLE,3
+INS_HNTCH_ATT,40
+INS_HNTCH_ENABLE,1
+INS_HNTCH_REF,0.26
+INS_HNTCH_FREQ,200
+INS_HNTCH_BW,100
+INS_NOTCH_ATT,40
+INS_NOTCH_ENABLE,1
+INS_NOTCH_FREQ,98
+INS_NOTCH_BW,49
 INS_TRIM_OPTION,2
 LAND_ALT_LOW,600
 LAND_SPEED,45
diff --git a/Tools/Frame_params/Solo_Copter-3.7_GreenCube.param b/Tools/Frame_params/Solo_Copter-3.7_GreenCube.param
index 5afe5dab12..f206d9d1da 100644
--- a/Tools/Frame_params/Solo_Copter-3.7_GreenCube.param
+++ b/Tools/Frame_params/Solo_Copter-3.7_GreenCube.param
@@ -15,14 +15,14 @@ ATC_ANG_PIT_P,10
 ATC_ANG_RLL_P,9
 ATC_ANG_YAW_P,6
 ATC_INPUT_TC,0.15
-ATC_RAT_PIT_D,0.006
-ATC_RAT_PIT_I,0.09
+ATC_RAT_PIT_D,0.0075
+ATC_RAT_PIT_I,0.270
 ATC_RAT_PIT_IMAX,0.444
-ATC_RAT_PIT_P,0.167
+ATC_RAT_PIT_P,0.270
 ATC_RAT_RLL_D,0.005
-ATC_RAT_RLL_I,0.12
+ATC_RAT_RLL_I,0.200
 ATC_RAT_RLL_IMAX,0.444
-ATC_RAT_RLL_P,0.086
+ATC_RAT_RLL_P,0.200
 ATC_RAT_YAW_FILT,5
 ATC_RAT_YAW_FLTE,5
 ATC_RAT_YAW_I,0.05
@@ -68,6 +68,15 @@ GPS_NAVFILTER,6
 GPS_TYPE,1
 INS_ACC_BODYFIX,3
 INS_FAST_SAMPLE,3
+INS_HNTCH_ATT,40
+INS_HNTCH_ENABLE,1
+INS_HNTCH_REF,0.26
+INS_HNTCH_FREQ,200
+INS_HNTCH_BW,100
+INS_NOTCH_ATT,40
+INS_NOTCH_ENABLE,1
+INS_NOTCH_FREQ,98
+INS_NOTCH_BW,49
 INS_TRIM_OPTION,2
 LAND_ALT_LOW,600
 LAND_SPEED,45
diff --git a/Tools/Frame_params/test params stock solo.param b/Tools/Frame_params/test params stock solo.param
new file mode 100644
index 0000000000..3dad5b29d6
--- /dev/null
+++ b/Tools/Frame_params/test params stock solo.param	
@@ -0,0 +1,10 @@
+# New stock cube notch params for chris to try
+INS_HNTCH_ATT,40
+INS_HNTCH_ENABLE,1
+INS_HNTCH_REF,0.26
+INS_HNTCH_FREQ,200
+INS_HNTCH_BW,100
+INS_NOTCH_ATT,40
+INS_NOTCH_ENABLE,1
+INS_NOTCH_FREQ,98
+INS_NOTCH_BW,49
diff --git a/Tools/Frame_params/test params.param b/Tools/Frame_params/test params.param
new file mode 100644
index 0000000000..9a54eb1193
--- /dev/null
+++ b/Tools/Frame_params/test params.param	
@@ -0,0 +1,16 @@
+# New Green Cube tuning and notch params for chris to try
+ATC_RAT_PIT_D,0.008
+ATC_RAT_PIT_I,0.280
+ATC_RAT_PIT_P,0.280
+ATC_RAT_RLL_D,0.005
+ATC_RAT_RLL_I,0.108
+ATC_RAT_RLL_P,0.108
+INS_HNTCH_ATT,40
+INS_HNTCH_ENABLE,1
+INS_HNTCH_REF,0.26
+INS_HNTCH_FREQ,200
+INS_HNTCH_BW,100
+INS_NOTCH_ATT,40
+INS_NOTCH_ENABLE,1
+INS_NOTCH_FREQ,98
+INS_NOTCH_BW,49