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Frame_Params: Bebop 2 tuning by Leonard

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This commit is contained in:
Julien BERAUD 2016-01-20 15:53:49 +01:00 committed by Lucas De Marchi
parent 2d9b230be1
commit 90d266698d
1 changed files with 29 additions and 19 deletions
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48
Tools/Frame_params/Parrot_Bebop2.param
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@ -1,5 +1,7 @@
#NOTE: Bebop2 parameter defaults (Copter-3.4)
#NOTE: 17/01/2016 5:01:51 PM Frame :
ARMING_CHECK,126
ACRO_YAW_P,4.5
ANGLE_MAX,4500
ATC_ACCEL_P_MAX,220000
ATC_ACCEL_R_MAX,220000
ATC_ACCEL_Y_MAX,56000
@ -8,27 +10,35 @@ BATT_CAPACITY,2700
COMPASS_EXTERNAL,1
COMPASS_ORIENT,2
FRAME,3
INS_GYRO_FILTER,40
MOT_THST_EXPO,0.05
MOT_THST_MAX,1.00
ATC_RATE_FF_ENAB,1
ATC_SLEW_YAW,1000
INS_ACCEL_FILTER,20
INS_GYRO_FILTER,20
MOT_CURR_MAX,0
MOT_SPIN_ARMED,70
MOT_THR_MIX_MAX,0.5
MOT_THR_MIX_MIN,0.1
MOT_THST_BAT_MAX,0
MOT_THST_BAT_MIN,0
MOT_THST_EXPO,0.3
MOT_THST_MAX,1
MOT_YAW_HEADROOM,200
POS_XY_P,1
RATE_PIT_D,0.0022
RATE_PIT_FILT_HZ,40
RATE_PIT_I,0.126
RATE_PIT_D,0.0007353554
RATE_PIT_FILT_HZ,20
RATE_PIT_I,0.09863888
RATE_PIT_IMAX,2000
RATE_PIT_P,0.126
RATE_RLL_D,0.0005
RATE_RLL_FILT_HZ,40
RATE_RLL_I,0.11
RATE_PIT_P,0.09863888
RATE_RLL_D,0.0004876749
RATE_RLL_FILT_HZ,20
RATE_RLL_I,0.1183951
RATE_RLL_IMAX,2000
RATE_RLL_P,0.11
RATE_RLL_P,0.1183951
RATE_YAW_D,0
RATE_YAW_FILT_HZ,3.0
RATE_YAW_I,0.103
RATE_YAW_FILT_HZ,1.001376
RATE_YAW_I,0.09345812
RATE_YAW_IMAX,1000
RATE_YAW_P,1.03
RATE_YAW_P,0.9345812
RC_FEEL_RP,50
STB_PIT_P,15
STB_RLL_P,10
STB_YAW_P,12
THR_MIN,130
STB_RLL_P,15
STB_YAW_P,14.25551