Tools: add blade 360 helicopter default params

2025-01-08 17:08:28 -04:00 · 2021-05-26 22:50:52 -04:00 · 2021-05-26 22:50:52 -04:00 · a2932e8f36
commit a2932e8f36
parent 9a917abf76
1 changed files with 91 additions and 0 deletions
--- a/Tools/autotest/default_params/copter-heli-blade360.parm
+++ b/Tools/autotest/default_params/copter-heli-blade360.parm
@ -0,0 +1,91 @@
+BATT_MONITOR 4.0000
+COMPASS_OFS2_X 5.0000
+COMPASS_OFS2_Y 13.0000
+COMPASS_OFS2_Z -18.0000
+COMPASS_OFS3_X 1.0000
+COMPASS_OFS3_Y 1.0000
+COMPASS_OFS3_Z 1.0000
+COMPASS_OFS_X 2.8749
+COMPASS_OFS_Y -21.8262
+COMPASS_OFS_Z -21.8422
+FLTMODE1 7.0000
+FLTMODE2 9.0000
+FLTMODE3 6.0000
+FLTMODE4 3.0000
+FLTMODE5 5.0000
+FRAME_CLASS 6
+# we need small INS_ACC offsets so INS is recognised as being calibrated
+INS_ACCOFFS_X   0.001
+INS_ACCOFFS_Y   0.001
+INS_ACCOFFS_Z   0.001
+INS_ACCSCAL_X   1.001
+INS_ACCSCAL_Y   1.001
+INS_ACCSCAL_Z   1.001
+INS_ACC2OFFS_X   0.001
+INS_ACC2OFFS_Y   0.001
+INS_ACC2OFFS_Z   0.001
+INS_ACC2SCAL_X   1.001
+INS_ACC2SCAL_Y   1.001
+INS_ACC2SCAL_Z   1.001
+INS_ACC3OFFS_X   0.000
+INS_ACC3OFFS_Y   0.000
+INS_ACC3OFFS_Z   0.000
+INS_ACC3SCAL_X   1.000
+INS_ACC3SCAL_Y   1.000
+INS_ACC3SCAL_Z   1.000
+ATC_INPUT_TC 0.20
+ATC_RAT_PIT_P 0.05
+ATC_RAT_PIT_I 0.15
+ATC_RAT_PIT_D 0.006
+ATC_RAT_PIT_IMAX 0.4
+ATC_RAT_PIT_ILMI 0.1
+ATC_RAT_PIT_VFF 0.25
+ATC_RAT_RLL_P 0.05
+ATC_RAT_RLL_I 0.15
+ATC_RAT_RLL_D 0.003
+ATC_RAT_RLL_IMAX 0.4
+ATC_RAT_RLL_ILMI 0.1
+ATC_RAT_RLL_VFF 0.3
+ATC_RAT_YAW_P 0.35
+ATC_RAT_YAW_I 0.088
+ATC_RAT_YAW_D 0.02
+ATC_RAT_YAW_VFF 0.0
+ATC_ANG_PIT_P 6.0
+ATC_ANG_RLL_P 6.0
+ATC_ANG_YAW_P 4.5
+ATC_ACCEL_P_MAX 60000
+ATC_ACCEL_R_MAX 60000
+ATC_ACCEL_Y_MAX 27000
+ATC_HOVR_ROL_TRM 320
+H_COL_MAX 1740
+H_COL_MID 1500
+H_COL_MIN 1460
+H_RSC_MODE 2
+RC1_MAX         2000.000000
+RC1_MIN         1000.000000
+RC1_TRIM        1500.000000
+RC2_MAX         2000.000000
+RC2_MIN         1000.000000
+RC2_TRIM        1500.000000
+RC3_MAX         2000.000000
+RC3_MIN         1000.000000
+RC3_TRIM        1500.000000
+RC4_MAX         2000.000000
+RC4_MIN         1000.000000
+RC4_TRIM        1500.000000
+RC5_MAX         2000.000000
+RC5_MIN         1000.000000
+RC5_TRIM        1500.000000
+RC6_MAX         2000.000000
+RC6_MIN         1000.000000
+RC6_TRIM        1500.000000
+RC7_MAX         2000.000000
+RC7_MIN         1000.000000
+RC7_TRIM        1500.000000
+RC8_MAX         2000.000000
+RC8_MIN         1000.000000
+RC8_TRIM        1500.000000
+RPM_TYPE 10
+WP_YAW_BEHAVIOR 2
+IM_ACRO_COL_EXP 0.2
+PSC_VELXY_D 0.5