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Tools: added frame parameters for two quadplanes

This commit is contained in:
Andrew Tridgell 2022-05-02 14:22:42 +10:00
parent 6eaf2c545a
commit 8c1c948e24
2 changed files with 238 additions and 0 deletions
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111
Tools/Frame_params/QuadPlanes/MFE_StriverMini.parm Normal file
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# 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

127
Tools/Frame_params/QuadPlanes/Mugin_EV350.parm Normal file
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# 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