From a4bfab8cdc762609ff6df03a0d07450ad657d22f Mon Sep 17 00:00:00 2001 From: Eric Katzfey Date: Mon, 15 Jul 2024 17:32:17 -0700 Subject: [PATCH] Tools: Added default parameter file for ModalAI D0013 drone --- Tools/Frame_params/ModalAI/D0013.parm | 109 ++++++++++++++++++++++++++ 1 file changed, 109 insertions(+) create mode 100644 Tools/Frame_params/ModalAI/D0013.parm diff --git a/Tools/Frame_params/ModalAI/D0013.parm b/Tools/Frame_params/ModalAI/D0013.parm new file mode 100644 index 0000000000..1d3fcf6513 --- /dev/null +++ b/Tools/Frame_params/ModalAI/D0013.parm @@ -0,0 +1,109 @@ +# parameters for the Stinger drone + +# flight modes +FLTMODE1 5 +FLTMODE4 2 +FLTMODE_CH 6 + +# enable PID logging +LOG_BITMASK 65535 + +# mag field varies quite a lot between batteries +ARMING_MAGTHRESH 200 + +# IMU orientation +# 4 = YAW 180 +AHRS_ORIENTATION 4 + +# Forced external compass +COMPASS_EXTERNAL 2 +# compass orientation +# 2 = YAW 90 +COMPASS_ORIENT 8 + +# filtering +INS_GYRO_FILTER 40 +INS_HNTCH_ENABLE 1 +INS_HNTCH_ATT 40.0 +INS_HNTCH_BW 50.0 +INS_HNTCH_FM_RAT 1.0 +INS_HNTCH_FREQ 100.0 +INS_HNTCH_HMNCS 7 +INS_HNTCH_MODE 3 +INS_HNTCH_OPTS 2 +INS_HNTCH_REF 1.0 + +# run IMU at 2kHz +INS_GYRO_RATE 1 + +# a bit more agressive loiter +PILOT_SPEED_UP 500 +LOIT_BRK_ACCEL 500 +LOIT_BRK_JERK 1000 +LOIT_BRK_DELAY 0.200000 + +# Tune parameters from Quik Tune +ATC_ACCEL_Y_MAX 30000.0 +ATC_ACCEL_R_MAX 125000.0 +ATC_ACCEL_P_MAX 125000.0 +ATC_RAT_PIT_D 0.002856164472177625 +ATC_RAT_PIT_FLTD 40.0 +ATC_RAT_PIT_FLTT 40.0 +ATC_RAT_PIT_I 0.124929137527942657 +ATC_RAT_PIT_P 0.124929137527942657 +ATC_RAT_PIT_SMAX 50.0 +ATC_RAT_RLL_D 0.001519999350421131 +ATC_RAT_RLL_FLTD 40.0 +ATC_RAT_RLL_FLTT 40.0 +ATC_RAT_RLL_I 0.075611755251884460 +ATC_RAT_RLL_P 0.075611755251884460 +ATC_RAT_RLL_SMAX 50.0 +ATC_RAT_YAW_D 0.010000008158385754 +ATC_RAT_YAW_FLTD 40.0 +ATC_RAT_YAW_FLTE 2.0 +ATC_RAT_YAW_FLTT 40.0 +ATC_RAT_YAW_I 0.050000030547380447 +ATC_RAT_YAW_P 0.500000298023223877 +ATC_RAT_YAW_SMAX 50.0 + +# battery setup +BATT_LOW_VOLT 14.2 +BATT_OPTIONS 64 +BATT_VOLT_PIN 1 +BATT_CURR_PIN 2 +BATT_VOLT_MULT 1 +BATT_AMP_PERVLT 1 +BATT_AMP_OFFSET 0.0 + +# 4S battery range +MOT_BAT_VOLT_MAX 16.800000 +MOT_BAT_VOLT_MIN 13.200000 + +# Learned hover thrust +MOT_THST_EXPO 0.550000011920928955 +MOT_THST_HOVER 0.130549192428588867 + +# quad-X +FRAME_CLASS 1 + +# tweak R/C inputs +RC1_MIN 1000 +RC1_MAX 2000 +RC1_DZ 40 +RC2_MIN 1000 +RC2_MAX 2000 +RC2_REVERSED 1 +RC3_MIN 1000 +RC3_MAX 2000 +RC4_MIN 1000 +RC4_MAX 2000 +RC4_DZ 40 + +# add arming on right switch +RC7_OPTION 153 + +# Motor mappings +SERVO1_FUNCTION 33 +SERVO2_FUNCTION 36 +SERVO3_FUNCTION 34 +SERVO4_FUNCTION 35