Tools: added Foxtech GreatShark parameters

2022-05-10 11:53:41 +10:00 · 2022-05-10 11:53:41 +10:00 · 69508804b4
parent 38c3c965cb
commit 69508804b4
1 changed files with 112 additions and 0 deletions
--- a/Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param
+++ b/Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param
@ -0,0 +1,112 @@
+# parameters for Foxtech GreatShark
+
+# https://www.foxtechfpv.com/foxtech-great-shark-330-vtol.html
+
+# airspeed
+ARSPD_FBW_MAX    35
+ARSPD_FBW_MIN    18
+TRIM_ARSPD_CM    2300
+TRIM_THROTTLE    60
+
+# notch filter
+INS_HNTCH_ENABLE 1
+INS_HNTCH_ATT   50.000000
+INS_HNTCH_BW    38.000000
+INS_HNTCH_ENABLE 1.000000
+INS_HNTCH_FREQ  75.000000
+INS_HNTCH_HMNCS 15.000000
+INS_HNTCH_MODE  1.000000
+INS_HNTCH_REF   0.337000
+
+# fixed wing limits
+LIM_PITCH_MIN    -2000
+LIM_ROLL_CD      4000
+LEVEL_ROLL_LIMIT 12
+
+FBWB_CLIMB_RATE  5
+WP_LOITER_RAD    250
+WP_RADIUS        200
+RTL_RADIUS       200
+
+# fixed wing tune
+RLL2SRV_RMAX     75
+RLL_RATE_D       0.009886
+RLL_RATE_FF      0.442834
+RLL_RATE_FLTD    12.5
+RLL_RATE_FLTT    3.183099
+RLL_RATE_I       0.442834
+RLL_RATE_P       0.385863
+RLL_RATE_SMAX    100
+
+PTCH2SRV_RMAX_DN 75
+PTCH2SRV_RMAX_UP 75
+PTCH2SRV_TCONST  0.75
+PTCH_RATE_D      0.027
+PTCH_RATE_FF     1.835124
+PTCH_RATE_FLTD   12.5
+PTCH_RATE_FLTT   2.122066
+PTCH_RATE_I      1.835124
+PTCH_RATE_P      1.113065
+PTCH_RATE_SMAX   100
+
+# quadplane parameters
+Q_ENABLE         1
+Q_FRAME_CLASS    1
+Q_FRAME_TYPE     1
+Q_ANGLE_MAX      1500
+Q_ASSIST_ANGLE   30
+Q_ASSIST_SPEED   15
+Q_A_ACCEL_P_MAX  30000
+Q_A_ACCEL_R_MAX  30000
+Q_A_ACCEL_Y_MAX  9000
+Q_A_ANG_PIT_P    3
+Q_A_ANG_RLL_P    3
+Q_A_ANG_YAW_P    3
+Q_A_RATE_P_MAX   60
+Q_A_RATE_R_MAX   60
+Q_A_RATE_Y_MAX   60
+Q_A_RAT_PIT_D    0.005523
+Q_A_RAT_PIT_FLTD 12.5
+Q_A_RAT_PIT_FLTT 12.5
+Q_A_RAT_PIT_I    0.198349
+Q_A_RAT_PIT_P    0.198349
+Q_A_RAT_RLL_D    0.003301
+Q_A_RAT_RLL_FLTD 12.5
+Q_A_RAT_RLL_FLTT 12.5
+Q_A_RAT_RLL_I    0.233438
+Q_A_RAT_RLL_P    0.233438
+Q_A_RAT_YAW_D    0.01
+Q_A_RAT_YAW_FLTD 12.5
+Q_A_RAT_YAW_FLTE 2
+Q_A_RAT_YAW_FLTT 12.5
+Q_A_RAT_YAW_P    1
+Q_A_SLEW_YAW     3000
+Q_LAND_FINAL_ALT 12
+Q_LAND_SPEED     40
+Q_M_BAT_IDX      1
+Q_M_BAT_VOLT_MAX 50.4
+Q_M_BAT_VOLT_MIN 40
+Q_M_THST_HOVER   0.338
+
+# soften VTOL position controller
+Q_P_POSXY_P      0.5
+Q_P_VELXY_D      0.17
+Q_P_VELXY_I      0.35
+Q_P_VELXY_P      0.7
+
+Q_RTL_ALT        40
+Q_TRANS_DECEL    1.5
+Q_TRANS_FAIL     20
+Q_VELZ_MAX       200
+Q_VELZ_MAX_DN    130
+Q_VFWD_ALT       6
+Q_VFWD_GAIN      0.05
+Q_WVANE_GAIN     0.3
+Q_WVANE_TAKEOFF  0
+
+# servo setup
+SERVO1_REVERSED  1
+SERVO2_FUNCTION  79
+SERVO2_REVERSED  1
+SERVO4_FUNCTION  80
+SERVO_AUTO_TRIM  1