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https://github.com/ArduPilot/ardupilot
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Frame_params: Update Solo's required parameters
Adds Solo parameter files for Copter 3.7 on both Cube Black and Cube Green. Updates the file names for the existing Solo Copter 3.6 and Copter 3.5 parameter files. The 3.7 files are now referenced by the Solo's ChibiOS hwdef files.
This commit is contained in:
Matt
Randy Mackay
parent
b1a5636d4d
commit
5d000613a5
@ -1,4 +1,4 @@
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# NOTE: 1/8/2018: Required parameters for a 3DR Solo with ArduCopter 3.5. Not for use on ArduCopter 3.6!
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# 3DR Solo with Green Cube on Copter 3.5 only
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ACCEL_Z_I,1.5
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ACCEL_Z_P,0.75
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ACRO_RP_P,4
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@ -1,7 +1,8 @@
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# NOTE: 8/3/2018: Required parameters for a 3DR Solo with ArduCopter 3.6. Not for use on ArduCopter 3.5!
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# 3DR Solo with Green Cube on Copter 3.6 only
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ACRO_RP_P,4
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ACRO_THR_MID,0.4
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ACRO_YAW_P,1
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ADSB_ENABLE,0
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AHRS_EKF_TYPE,3
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AHRS_ORIENTATION,12
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ANGLE_MAX,2000
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@ -25,6 +26,7 @@ ATC_RAT_YAW_I,0.05
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ATC_RAT_YAW_IMAX,0.222
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ATC_RAT_YAW_P,0.5
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ATC_SLEW_YAW,8000
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AVD_ENABLE,0
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BATT_CAPACITY,5200
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BATT_CRT_MAH,0
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BATT_CRT_VOLT,13
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@ -35,8 +37,8 @@ BATT_LOW_MAH,520
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BATT_LOW_TIMER,10
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BATT_LOW_VOLT,14
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BATT_MONITOR,5
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BRD_SAFETY_MASK,16368
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BRD_SAFETYENABLE,0
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BRD_SAFETY_MASK,16368
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CIRCLE_RADIUS,3000
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COMPASS_ORIENT,38
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COMPASS_ORIENT2,0
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@ -112,16 +114,13 @@ PILOT_TKOFF_ALT,214
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PILOT_TKOFF_DZ,250
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PSC_ACCZ_I,1.5
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PSC_ACCZ_P,0.75
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RC1_DZ,20
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RC1_MAX,2000
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RC1_MIN,1000
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RC2_DZ,20
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RC2_MAX,2000
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RC2_MIN,1000
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RC3_MAX,1890
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RC3_MIN,1008
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RC3_TRIM,1450
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RC4_DZ,20
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RC4_MAX,2000
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RC4_MIN,1000
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RC6_MAX,1520
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@ -142,9 +141,9 @@ SERVO4_FUNCTION,36
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SR1_RAW_CTRL,2
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SR3_PARAMS,10
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THR_DZ,10
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WP_YAW_BEHAVIOR,3
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WPNAV_LOIT_MAXA,229
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WPNAV_LOIT_MINA,108
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WPNAV_SPEED,300
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WPNAV_SPEED_DN,240
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WPNAV_SPEED_UP,320
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WP_YAW_BEHAVIOR,3
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140
Tools/Frame_params/Solo_Copter-3.7_BlackCube.param
Normal file
140
Tools/Frame_params/Solo_Copter-3.7_BlackCube.param
Normal file
@ -0,0 +1,140 @@
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# 3DR Solo with stock or black cube on Copter 3.7 only
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ACRO_RP_P,4
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ACRO_THR_MID,0.4
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ACRO_YAW_P,1
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AHRS_EKF_TYPE,3
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AHRS_GPS_USE,1
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AHRS_ORIENTATION,12
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AHRS_RP_P,0.21
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AHRS_YAW_P,0.21
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ANGLE_MAX,2000
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ARMING_CHECK,7166
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ATC_ACCEL_P_MAX,36000
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ATC_ACCEL_R_MAX,36000
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ATC_ACCEL_Y_MAX,7000
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ATC_ANG_PIT_P,8
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ATC_ANG_RLL_P,9.5
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ATC_ANG_YAW_P,7
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ATC_INPUT_TC,0.25
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ATC_RAT_PIT_D,0.0065
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ATC_RAT_PIT_I,0.08
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ATC_RAT_PIT_IMAX,0.666
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ATC_RAT_PIT_P,0.08
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ATC_RAT_RLL_D,0.0035
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ATC_RAT_RLL_I,0.085
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ATC_RAT_RLL_IMAX,0.666
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ATC_RAT_RLL_P,0.085
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ATC_RAT_YAW_FILT,7.6
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ATC_RAT_YAW_I,0.0594
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ATC_RAT_YAW_IMAX,0.222
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ATC_RAT_YAW_P,0.5949
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BATT_ARM_MAH,250
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BATT_ARM_VOLT,13.3
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BATT_CRT_MAH,250
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BATT_CRT_VOLT,13.3
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BATT_FS_CRT_ACT,2
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BATT_FS_LOW_ACT,2
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BATT_FS_VOLTSRC,1
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BATT_LOW_MAH,520
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BATT_LOW_TIMER,10
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BATT_LOW_VOLT,14
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BATT_MONITOR,5
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BRD_SAFETY_MASK,16368
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BRD_SAFETYENABLE,0
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CIRCLE_RADIUS,3000
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COMPASS_ORIENT,38
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COMPASS_TYPEMASK,15392
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COMPASS_USE3,0
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EK2_ENABLE,0
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EK3_ENABLE,1
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EK3_IMU_MASK,3
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FENCE_ACTION,0
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FENCE_ALT_MAX,122
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FENCE_ENABLE,1
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FENCE_RADIUS,0
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FENCE_TYPE,1
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FLTMODE1,5
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FLTMODE2,5
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FLTMODE3,5
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FLTMODE4,5
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FLTMODE5,5
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FLTMODE6,5
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FRAME_CLASS,1
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FRAME_TYPE,1
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FS_EKF_ACTION,2
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FS_THR_VALUE,950
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GPS_HDOP_GOOD,200
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GPS_NAVFILTER,6
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GPS_TYPE,1
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INS_ACC_BODYFIX,3
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INS_FAST_SAMPLE,3
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INS_TRIM_OPTION,2
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LAND_ALT_LOW,600
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LAND_SPEED,45
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LAND_SPEED_HIGH,220
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LOG_BACKEND_TYPE,3
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LOG_FILE_BUFSIZE,8
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LOG_FILE_DSRMROT,1
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LOIT_ACC_MAX,200
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LOIT_ANG_MAX,30
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LOIT_BRK_ACCEL,175
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LOIT_BRK_DELAY,0.25
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LOIT_SPEED,500
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MNT_ANGMAX_TIL,0
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MNT_ANGMIN_TIL,-9000
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MNT_RC_IN_TILT,6
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MNT_TYPE,2
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MOT_BAT_CURR_MAX,40
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MOT_BAT_VOLT_MAX,16.8
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MOT_BAT_VOLT_MIN,12
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MOT_PWM_MAX,1869
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MOT_PWM_MIN,1000
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MOT_SLEW_TIME,0.275
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MOT_SPIN_ARM,0.08
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MOT_SPIN_MIN,0.12
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MOT_THST_EXPO,0.8
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NTF_LED_TYPES,215
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NTF_OREO_THEME,1
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PHLD_BRAKE_ANGLE,2500
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PHLD_BRAKE_RATE,6
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PILOT_ACCEL_Z,100
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PILOT_SPEED_DN,133
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PILOT_SPEED_UP,133
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PILOT_THR_BHV,7
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PILOT_THR_FILT,2
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PILOT_TKOFF_ALT,214
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PILOT_TKOFF_DZ,250
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PSC_ACCZ_I,1.5
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PSC_ACCZ_P,0.75
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PSC_VELXY_I,0.51
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PSC_VELXY_P,1.41
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RC1_MAX,2000
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RC1_MIN,1000
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RC2_MAX,2000
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RC2_MIN,1000
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RC3_MAX,1890
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RC3_MIN,1008
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RC3_TRIM,1450
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RC4_MAX,2000
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RC4_MIN,1000
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RC6_MAX,1520
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RC6_MIN,1000
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RC6_TRIM,1000
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RC7_MAX,2000
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RC7_MIN,1000
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RTL_ALT,4500
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RTL_CLIMB_MIN,1000
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RTL_SPEED,800
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SERIAL1_BAUD,921
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SERIAL4_BAUD,230
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SERIAL4_PROTOCOL,1
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SERVO1_FUNCTION,33
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SERVO2_FUNCTION,34
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SERVO3_FUNCTION,35
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SERVO4_FUNCTION,36
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SR3_PARAMS,2
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THR_DZ,10
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WP_YAW_BEHAVIOR,3
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WPNAV_SPEED,300
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WPNAV_SPEED_DN,240
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WPNAV_SPEED_UP,320
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140
Tools/Frame_params/Solo_Copter-3.7_GreenCube.param
Normal file
140
Tools/Frame_params/Solo_Copter-3.7_GreenCube.param
Normal file
@ -0,0 +1,140 @@
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# 3DR Solo with Green Cube on Copter 3.7 only
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ACRO_RP_P,4
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ACRO_THR_MID,0.4
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ACRO_YAW_P,1
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AHRS_EKF_TYPE,3
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AHRS_GPS_USE,1
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AHRS_ORIENTATION,12
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AHRS_RP_P,0.21
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AHRS_YAW_P,0.21
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ANGLE_MAX,2000
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ARMING_CHECK,7166
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ATC_ACCEL_P_MAX,36000
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ATC_ACCEL_R_MAX,36000
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ATC_ACCEL_Y_MAX,7000
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ATC_ANG_PIT_P,10
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ATC_ANG_RLL_P,9
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ATC_ANG_YAW_P,6
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ATC_INPUT_TC,0.15
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ATC_RAT_PIT_D,0.006
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ATC_RAT_PIT_I,0.09
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ATC_RAT_PIT_IMAX,0.444
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ATC_RAT_PIT_P,0.167
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ATC_RAT_RLL_D,0.005
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ATC_RAT_RLL_I,0.12
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ATC_RAT_RLL_IMAX,0.444
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ATC_RAT_RLL_P,0.086
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ATC_RAT_YAW_FILT,5
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ATC_RAT_YAW_I,0.05
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ATC_RAT_YAW_IMAX,0.222
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ATC_RAT_YAW_P,0.5
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BATT_ARM_MAH,250
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BATT_ARM_VOLT,13.3
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BATT_CRT_MAH,250
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BATT_CRT_VOLT,13.3
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BATT_FS_CRT_ACT,2
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BATT_FS_LOW_ACT,2
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BATT_FS_VOLTSRC,1
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BATT_LOW_MAH,520
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BATT_LOW_TIMER,10
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BATT_LOW_VOLT,14
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BATT_MONITOR,5
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BRD_SAFETY_MASK,16368
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BRD_SAFETYENABLE,0
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CIRCLE_RADIUS,3000
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COMPASS_ORIENT,38
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COMPASS_TYPEMASK,15392
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COMPASS_USE3,0
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EK2_ENABLE,0
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EK3_ENABLE,1
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EK3_IMU_MASK,3
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FENCE_ACTION,0
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FENCE_ALT_MAX,122
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FENCE_ENABLE,1
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FENCE_RADIUS,0
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FENCE_TYPE,1
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FLTMODE1,5
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FLTMODE2,5
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FLTMODE3,5
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FLTMODE4,5
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FLTMODE5,5
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FLTMODE6,5
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FRAME_CLASS,1
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FRAME_TYPE,1
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FS_EKF_ACTION,2
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FS_THR_VALUE,950
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GPS_HDOP_GOOD,200
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GPS_NAVFILTER,6
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GPS_TYPE,1
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INS_ACC_BODYFIX,3
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INS_FAST_SAMPLE,3
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INS_TRIM_OPTION,2
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LAND_ALT_LOW,600
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LAND_SPEED,45
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LAND_SPEED_HIGH,220
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LOG_BACKEND_TYPE,3
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LOG_FILE_BUFSIZE,8
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LOG_FILE_DSRMROT,1
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LOIT_ACC_MAX,200
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LOIT_ANG_MAX,30
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LOIT_BRK_ACCEL,175
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LOIT_BRK_DELAY,0.25
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LOIT_SPEED,500
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MNT_ANGMAX_TIL,0
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MNT_ANGMIN_TIL,-9000
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MNT_RC_IN_TILT,6
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MNT_TYPE,2
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MOT_BAT_CURR_MAX,50
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MOT_BAT_VOLT_MAX,16.8
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MOT_BAT_VOLT_MIN,12
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MOT_PWM_MAX,1869
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MOT_PWM_MIN,1000
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MOT_SLEW_TIME,0
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MOT_SPIN_ARM,0.08
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MOT_SPIN_MIN,0.12
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MOT_THST_EXPO,0.8
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NTF_LED_TYPES,215
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NTF_OREO_THEME,1
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PHLD_BRAKE_ANGLE,2500
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PHLD_BRAKE_RATE,6
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PILOT_ACCEL_Z,100
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PILOT_SPEED_DN,133
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PILOT_SPEED_UP,133
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PILOT_THR_BHV,7
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PILOT_THR_FILT,2
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PILOT_TKOFF_ALT,214
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PILOT_TKOFF_DZ,250
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PSC_ACCZ_I,1.5
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PSC_ACCZ_P,0.75
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PSC_VELXY_I,0.51
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PSC_VELXY_P,1.41
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RC1_MAX,2000
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RC1_MIN,1000
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RC2_MAX,2000
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RC2_MIN,1000
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RC3_MAX,1890
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RC3_MIN,1008
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RC3_TRIM,1450
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RC4_MAX,2000
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RC4_MIN,1000
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RC6_MAX,1520
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RC6_MIN,1000
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RC6_TRIM,1000
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RC7_MAX,2000
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RC7_MIN,1000
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RTL_ALT,4500
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RTL_CLIMB_MIN,1000
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RTL_SPEED,800
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SERIAL1_BAUD,921
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SERIAL4_BAUD,230
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SERIAL4_PROTOCOL,1
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SERVO1_FUNCTION,33
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SERVO2_FUNCTION,34
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SERVO3_FUNCTION,35
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SERVO4_FUNCTION,36
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SR3_PARAMS,2
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THR_DZ,10
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WP_YAW_BEHAVIOR,3
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WPNAV_SPEED,300
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WPNAV_SPEED_DN,240
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WPNAV_SPEED_UP,320
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