From b3f518996f2d27c1034acb811d154dbf804036b4 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 7 Feb 2024 10:26:52 +0900
Subject: [PATCH] Tools: update hexsoon-edu650 params

---
 Tools/Frame_params/hexsoon-td650.param | 32 ++++++++++++++------------
 1 file changed, 17 insertions(+), 15 deletions(-)

diff --git a/Tools/Frame_params/hexsoon-td650.param b/Tools/Frame_params/hexsoon-td650.param
index 34a31ee3c7..a4d0c84800 100644
--- a/Tools/Frame_params/hexsoon-td650.param
+++ b/Tools/Frame_params/hexsoon-td650.param
@@ -1,21 +1,23 @@
-#NOTE: Hexsoon TD650 params for ArduPilot Copter 4.1
+#NOTE: Hexsoon EDU650 params for ArduPilot Copter 4.5 (and higher)
 ANGLE_MAX,3500
 ACRO_YAW_P,2.6
 ATC_ACCEL_P_MAX,86000
 ATC_ACCEL_R_MAX,86000
-ATC_ACCEL_Y_MAX,23400
-ATC_RAT_PIT_FLTD,17
-ATC_RAT_PIT_FLTT,17
-ATC_RAT_PIT_D,0.0034
-ATC_RAT_PIT_I,0.12
-ATC_RAT_PIT_P,0.12
-ATC_RAT_RLL_D,0.0034
-ATC_RAT_RLL_FLTD,17
-ATC_RAT_RLL_FLTT,17
-ATC_RAT_RLL_I,0.12
-ATC_RAT_RLL_P,0.12
+ATC_ACCEL_Y_MAX,15000
+ATC_RAT_PIT_FLTD,10
+ATC_RAT_PIT_FLTT,10
+ATC_RAT_PIT_D,0.0056
+ATC_RAT_PIT_I,0.11
+ATC_RAT_PIT_P,0.11
+ATC_RAT_RLL_D,0.0048
+ATC_RAT_RLL_FLTD,10
+ATC_RAT_RLL_FLTT,10
+ATC_RAT_RLL_I,0.10
+ATC_RAT_RLL_P,0.10
+ATC_RAT_YAW_FLTD,10
 ATC_RAT_YAW_FLTE,2
-BATT_MONITOR,4
+ATC_RAT_YAW_FLTT,10
+BATT_MONITOR,3
 BATT_VOLT_MULT,12.02
 FRAME_CLASS,1
 FRAME_TYPE,1
@@ -23,7 +25,7 @@ INS_GYRO_FILTER,34
 MOT_BAT_VOLT_MAX,25.2
 MOT_BAT_VOLT_MIN,19.8
 MOT_THST_EXPO,0.68
-MOT_THST_HOVER,0.2288489
+MOT_THST_HOVER,0.22
+PILOT_Y_RATE,60
 PSC_ACCZ_I,0.5
 PSC_ACCZ_P,0.3
-