diff --git a/Tools/Frame_params/QuadPlanes/MFE_StriverMini.parm b/Tools/Frame_params/QuadPlanes/MFE_StriverMini.parm new file mode 100644 index 0000000000..feac862bc6 --- /dev/null +++ b/Tools/Frame_params/QuadPlanes/MFE_StriverMini.parm @@ -0,0 +1,111 @@ +# MakeFlyEasy Striver Mini Parameters + +# http://en.makeflyeasy.com/index.php/striver-mini-vtol/ + +SCALING_SPEED 15 +TECS_CLMB_MAX 3 +TECS_LAND_ARSPD 20 +TKOFF_THR_MAX 85 +TRIM_PITCH_CD 100 +TRIM_THROTTLE 40 +WP_LOITER_RAD 120 +WP_RADIUS 110 + +# harmonic notch filter +INS_HNTCH_ENABLE 1 +INS_HNTCH_ATT 60 +INS_HNTCH_BW 34 +INS_HNTCH_FREQ 68 +INS_HNTCH_HMNCS 15 +INS_HNTCH_MODE 1 +INS_HNTCH_REF 0.26 + +# airspeed +TRIM_ARSPD_CM 2300 +ARSPD_FBW_MAX 30 +ARSPD_FBW_MIN 15 + +# limits +LIM_PITCH_MAX 2000 +LIM_PITCH_MIN -2000 +LIM_ROLL_CD 5500 + +# pitch tuning +PTCH_RATE_D 0.017718 +PTCH_RATE_FF 0.600786 +PTCH_RATE_FLTD 15 +PTCH_RATE_FLTT 2.122066 +PTCH_RATE_I 0.600786 +PTCH_RATE_IMAX 0.666000 +PTCH_RATE_P 0.716340 +PTCH_RATE_SMAX 100 + +# roll tuning +RLL_RATE_D 0.003669 +RLL_RATE_FF 0.435239 +RLL_RATE_FLTD 15 +RLL_RATE_FLTT 3.183099 +RLL_RATE_I 0.435239 +RLL_RATE_IMAX 0.666000 +RLL_RATE_P 0.228321 +RLL_RATE_SMAX 100 + +# quadplane parameters +Q_ENABLE 1 +Q_ANGLE_MAX 2000 +Q_ASSIST_SPEED 13 +Q_A_ACCEL_P_MAX 70000 +Q_A_ACCEL_R_MAX 70000 +Q_A_ACCEL_Y_MAX 20000 +Q_A_ANG_PIT_P 5.500000 +Q_A_ANG_RLL_P 6 +Q_A_ANG_YAW_P 3 +Q_A_RATE_P_MAX 75 +Q_A_RATE_R_MAX 75 +Q_A_RATE_Y_MAX 75 +Q_A_RAT_PIT_D 0.004961 +Q_A_RAT_PIT_FF 0 +Q_A_RAT_PIT_FLTD 15 +Q_A_RAT_PIT_FLTT 15 +Q_A_RAT_PIT_I 0.257666 +Q_A_RAT_PIT_IMAX 0.500000 +Q_A_RAT_PIT_P 0.257666 +Q_A_RAT_PIT_SMAX 20 +Q_A_RAT_RLL_D 0.001420 +Q_A_RAT_RLL_FF 0 +Q_A_RAT_RLL_FLTD 15 +Q_A_RAT_RLL_FLTT 15 +Q_A_RAT_RLL_I 0.198000 +Q_A_RAT_RLL_IMAX 0.500000 +Q_A_RAT_RLL_P 0.198000 +Q_A_RAT_RLL_SMAX 20 +Q_A_RAT_YAW_D 0.003001 +Q_A_RAT_YAW_FF 0 +Q_A_RAT_YAW_FLTD 15 +Q_A_RAT_YAW_FLTE 2 +Q_A_RAT_YAW_FLTT 15 +Q_A_RAT_YAW_I 0.015000 +Q_A_RAT_YAW_IMAX 0.500000 +Q_A_RAT_YAW_P 0.150000 +Q_A_RAT_YAW_SMAX 20 +Q_A_THR_MIX_MAN 0.500000 +Q_A_THR_MIX_MAX 0.850000 +Q_A_THR_MIX_MIN 0.400000 +Q_FRAME_CLASS 1 +Q_FRAME_TYPE 1 +Q_M_BAT_IDX 0 +Q_M_BAT_VOLT_MAX 25.200001 +Q_M_BAT_VOLT_MIN 19.200001 +Q_M_THST_EXPO 0.650000 +Q_M_THST_HOVER 0.247719 +Q_RTL_ALT 30 +Q_TRANS_DECEL 1.700000 +Q_VELZ_MAX 150 +Q_VFWD_ALT 5 +Q_VFWD_GAIN 0.050000 +Q_WVANE_ENABLE 1 +Q_WVANE_GAIN 0.200000 +Q_WVANE_LAND 1 +Q_WVANE_TAKEOFF 0 + + diff --git a/Tools/Frame_params/QuadPlanes/Mugin_EV350.parm b/Tools/Frame_params/QuadPlanes/Mugin_EV350.parm new file mode 100644 index 0000000000..3797d77010 --- /dev/null +++ b/Tools/Frame_params/QuadPlanes/Mugin_EV350.parm @@ -0,0 +1,127 @@ +# parameter file for Mugin EV350 quadplane + +# https://www.muginuav.com/product/mugin-ev350-carbon-fiber-full-electric-vtol-uav-platform/ + +ALT_HOLD_RTL 8000 +LIM_PITCH_MAX 2000 +LIM_PITCH_MIN -2000 +LIM_ROLL_CD 4000 +NAVL1_PERIOD 17 +PTCH2SRV_TCONST 0.75 +RTL_RADIUS 180 +SCALING_SPEED 15 +TRIM_THROTTLE 50 +WP_LOITER_RAD 300 +WP_RADIUS 220 + +# harmonic notch filter +INS_HNTCH_ENABLE 1 +INS_HNTCH_ATT 50 +INS_HNTCH_BW 30 +INS_HNTCH_FREQ 51 +INS_HNTCH_HMNCS 15 +INS_HNTCH_MODE 1 +INS_HNTCH_REF 0.245000 + +# airspeed +TRIM_ARSPD_CM 2300 +ARSPD_FBW_MAX 28 +ARSPD_FBW_MIN 18 + +# FW pitch tuning +PTCH_RATE_D 0.021381 +PTCH_RATE_FF 1.093860 +PTCH_RATE_FLTD 10 +PTCH_RATE_FLTE 0 +PTCH_RATE_FLTT 2.122066 +PTCH_RATE_I 1.093860 +PTCH_RATE_IMAX 0.666 +PTCH_RATE_P 0.786900 +PTCH_RATE_SMAX 100 + +# FW roll tuning +RLL2SRV_TCONST 0.5 +RLL_RATE_D 0.021381 +RLL_RATE_FF 0.541178 +RLL_RATE_FLTD 12 +RLL_RATE_FLTE 0 +RLL_RATE_FLTT 3 +RLL_RATE_I 0.541178 +RLL_RATE_IMAX 0.666 +RLL_RATE_P 0.325935 +RLL_RATE_SMAX 150 + +# quadplane parameters +Q_ENABLE 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 15000 +Q_A_RATE_P_MAX 60 +Q_A_RATE_R_MAX 60 +Q_A_RATE_Y_MAX 30 +Q_A_RAT_PIT_D 0.015 +Q_A_RAT_PIT_FF 0 +Q_A_RAT_PIT_FLTD 10 +Q_A_RAT_PIT_FLTE 0 +Q_A_RAT_PIT_FLTT 20 +Q_A_RAT_PIT_I 0.3 +Q_A_RAT_PIT_IMAX 0.5 +Q_A_RAT_PIT_P 0.3 +Q_A_RAT_PIT_SMAX 20 +Q_A_RAT_RLL_D 0.004 +Q_A_RAT_RLL_FF 0 +Q_A_RAT_RLL_FLTD 10 +Q_A_RAT_RLL_FLTE 0 +Q_A_RAT_RLL_FLTT 10 +Q_A_RAT_RLL_I 0.1 +Q_A_RAT_RLL_IMAX 0.5 +Q_A_RAT_RLL_P 0.1 +Q_A_RAT_RLL_SMAX 20 +Q_A_RAT_YAW_D 0.01 +Q_A_RAT_YAW_FF 0 +Q_A_RAT_YAW_FLTD 0 +Q_A_RAT_YAW_FLTE 2.5 +Q_A_RAT_YAW_FLTT 20 +Q_A_RAT_YAW_I 0.018 +Q_A_RAT_YAW_IMAX 0.5 +Q_A_RAT_YAW_P 0.5 +Q_A_RAT_YAW_SMAX 10 +Q_A_THR_MIX_MAX 0.9 +Q_FRAME_CLASS 1 +Q_FRAME_TYPE 1 +Q_LAND_FINAL_ALT 12 +Q_LAND_SPEED 40 +Q_LOIT_ANG_MAX 20 +Q_LOIT_BRK_ACCEL 40 +Q_LOIT_BRK_JERK 200 +Q_LOIT_SPEED 600 +Q_M_BAT_IDX 0 +Q_M_BAT_VOLT_MAX 50.4 +Q_M_BAT_VOLT_MIN 39.0 +Q_M_THST_EXPO 0.7 +Q_M_THST_HOVER 0.264 +Q_M_YAW_HEADROOM 200 +Q_P_JERK_XY 2 +Q_P_POSXY_P 0.5 +Q_P_VELXY_D 0.17 +Q_P_VELXY_I 0.37 +Q_P_VELXY_P 0.7 +Q_RTL_ALT 40 +Q_THROTTLE_EXPO 0.2 +Q_TRANS_DECEL 1.5 +Q_TRAN_PIT_MAX 7 +Q_VELZ_MAX 200 +Q_VELZ_MAX_DN 130 +Q_VFWD_ALT 5 +Q_VFWD_GAIN 0.05 +Q_WP_RADIUS 300 +Q_WP_SPEED 600 +Q_WP_SPEED_DN 150 +Q_WP_SPEED_UP 220 +Q_WVANE_ANG_MIN 3 +Q_WVANE_ENABLE 1 +Q_WVANE_GAIN 0.3 +Q_WVANE_TAKEOFF 0