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Tools: update AION R1 params

This commit is contained in:
Randy Mackay 2024-02-12 12:16:39 +09:00 committed by Andrew Tridgell
parent 43adaf3714
commit c449c71286
1 changed files with 30 additions and 54 deletions
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84
Tools/Frame_params/AION_R1_Rover.param
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@ -1,72 +1,46 @@
#NOTE: AION Robotics Params for Rover V3.2.0 #NOTE: AION Robotics Params for Rover V4.5.0 (and higher)
ACRO_TURN_RATE,120 ACRO_TURN_RATE,120
#most users will want manual capabilites on boot without the need for a GCS to arm ATC_ACCEL_MAX,0.75
ARMING_REQUIRE,0 ATC_DECEL_MAX,1.5
#MIN 4S SOLO BATTERY ATC_SPEED_P,0.5
ARMING_VOLT_MIN,13 ATC_SPEED_I,0.5
ATC_ACCEL_MAX,2.0 ATC_SPEED_D,0.018
ATC_SPEED_P,0.2 ATC_SPEED_FLTE,10
ATC_SPEED_I,0.2 ATC_STR_ACC_MAX,120
ATC_SPEED_D,0.0 ATC_STR_ANG_P,2
ATC_SPEED_FILT,10 ATC_STR_RAT_FF,0.25
ATC_STR_ACC_MAX,180 ATC_STR_RAT_P,0.13
ATC_STR_ANG_P,2.5 ATC_STR_RAT_I,0.13
ATC_STR_RAT_FF,0.2
ATC_STR_RAT_P,0.0
ATC_STR_RAT_I,0.1
ATC_STR_RAT_D,0.0 ATC_STR_RAT_D,0.0
ATC_STR_RAT_FILT,20 ATC_STR_RAT_FLTD,2
ATC_STR_RAT_FLTE,10
ATC_STR_RAT_FLTT,2
ATC_STR_RAT_MAX,120 ATC_STR_RAT_MAX,120
#default aux ch to match documentation ATC_TURN_MAX_G,0.3
AUX_CH,7
#cube power brick - 4s solo battery - SMBus hardware side not yet supported
BATT_AMP_OFFSET,0
BATT_AMP_PERVOLT,0.1
BATT_CAPACITY,5200
BATT_CURR_PIN,3
BATT_LOW_TIMER,10
BATT_LOW_TYPE,0
BATT_MONITOR,4 BATT_MONITOR,4
BATT_SERIAL_NUM,-1
BATT_VOLT_MULT,13.99818
BATT_VOLT_PIN,2
BRD_PWM_COUNT,2 BRD_PWM_COUNT,2
#default save waypoint BRD_SAFETY_DEFLT,0
RC7_OPTION,1
COMPASS_OFFS_MAX,2000 COMPASS_OFFS_MAX,2000
#default use only first (hopefully external) compass
COMPASS_USE,1 COMPASS_USE,1
COMPASS_USE2,0 COMPASS_USE2,0
COMPASS_USE3,0 COMPASS_USE3,0
CRUISE_SPEED,1.0 CRUISE_SPEED,1.0
CRUISE_THROTTLE,70 CRUISE_THROTTLE,70
EK2_YAW_M_NSE,0.7 FRAME_CLASS,1
FS_CRASH_CHECK,1 FRAME_TYPE,0
#default modes PSC_POS_P,0.2
MODE_CH,5 PSC_VEL_FLTD,5
MODE1,0 PSC_VEL_FLTE,5
MODE2,3 PSC_VEL_I,0
MODE3,10 PSC_VEL_P,1
MODE4,12 WP_PIVOT_ANGLE,60
NAVL1_PERIOD,6 WP_PIVOT_RATE,60
NAVL1_DAMPING,0.7 SERVO1_FUNCTION,73
NAVL1_XTRACK_I,0.02
PIVOT_TURN_ANGLE,30
#default telem radio
SERIAL1_BAUD,57
SERIAL1_PROTOCOL,1
#default APSync
SERIAL2_BAUD,921
SERIAL2_PROTOCOL,1
SERVO1_FUNCTION,74
SERVO1_MAX,2000 SERVO1_MAX,2000
SERVO1_MIN,1000 SERVO1_MIN,1000
SERVO3_FUNCTION,73 SERVO3_FUNCTION,74
SERVO3_MAX,2000 SERVO3_MAX,2000
SERVO3_MIN,1000 SERVO3_MIN,1000
SPEED_TURN_GAIN,50
ATC_TURN_MAX_G,0.3
TURN_RADIUS,0.9
WENC_CPR,1120 WENC_CPR,1120
WENC_PINA,55 WENC_PINA,55
WENC_PINB,54 WENC_PINB,54
@ -83,3 +57,5 @@ WENC2_POS_Y,0.16
WENC2_POS_Z,0 WENC2_POS_Z,0
WENC_RADIUS,0.0775 WENC_RADIUS,0.0775
WENC2_TYPE,0 WENC2_TYPE,0
WP_RADIUS,2
WP_SPEED,1