Frame_Params: Fix Solo params for copter 4

Tools/Frame_params/Solo_Copter-4.param

@@ -1,4 +1,4 @@
-# 3DR Solo with stock or black cube on Copter 3.7 only
+# 3DR Solo with stock or black cube on Copter 4 only
 ACRO_RP_P,4
 ACRO_THR_MID,0.4
 ACRO_YAW_P,1
@@ -39,6 +39,7 @@ BATT_LOW_MAH,520
 BATT_LOW_TIMER,10
 BATT_LOW_VOLT,14
 BATT_MONITOR,5
+PWM_VOLT_SEL,1
 BRD_SAFETY_MASK,16368
 BRD_SAFETYENABLE,0
 BRD_TYPE,3

Tools/Frame_params/Solo_Copter-4_GreenCube.param

@@ -1,4 +1,4 @@
-# 3DR Solo with Green Cube on Copter 3.7 only
+# 3DR Solo with Green Cube on Copter 4.0+ only
 ACRO_RP_P,4
 ACRO_THR_MID,0.4
 ACRO_YAW_P,1
@@ -39,6 +39,7 @@ BATT_LOW_MAH,520
 BATT_LOW_TIMER,10
 BATT_LOW_VOLT,14
 BATT_MONITOR,5
+PWM_VOLT_SEL,1
 BRD_SAFETY_MASK,16368
 BRD_SAFETYENABLE,0
 CIRCLE_RADIUS,3000

Tools/Frame_params/test params stock solo.param

@@ -1,10 +0,0 @@
-# New stock cube notch params for chris to try
-INS_HNTCH_ATT,40
-INS_HNTCH_ENABLE,1
-INS_HNTCH_REF,0.26
-INS_HNTCH_FREQ,200
-INS_HNTCH_BW,100
-INS_NOTCH_ATT,40
-INS_NOTCH_ENABLE,1
-INS_NOTCH_FREQ,98
-INS_NOTCH_BW,49

Tools/Frame_params/test params.param

@@ -1,16 +0,0 @@
-# New Green Cube tuning and notch params for chris to try
-ATC_RAT_PIT_D,0.008
-ATC_RAT_PIT_I,0.280
-ATC_RAT_PIT_P,0.280
-ATC_RAT_RLL_D,0.005
-ATC_RAT_RLL_I,0.108
-ATC_RAT_RLL_P,0.108
-INS_HNTCH_ATT,40
-INS_HNTCH_ENABLE,1
-INS_HNTCH_REF,0.26
-INS_HNTCH_FREQ,200
-INS_HNTCH_BW,100
-INS_NOTCH_ATT,40
-INS_NOTCH_ENABLE,1
-INS_NOTCH_FREQ,98
-INS_NOTCH_BW,49

libraries/AP_HAL_ChibiOS/hwdef/CubeGreen-solo/hwdef.dat

@@ -2,10 +2,10 @@
 # for The CUBE Green hardware in a 3DR Solo
 # this is based on the CubeBlack hwdef, with Solo's required parameter defaults
 # The CUBE green is identical to a CUBE Black, but uses 5v signalling for the Solo ESC issues
-# do not use this hwdef with any configuration other than a 3DR Solo with a Green Cube running Copter 3.7.
+# do not use this hwdef with any configuration other than a 3DR Solo with a Green Cube running Copter 4.
 
 include ../CubeBlack/hwdef.dat
 
 # pull Solo's default parameters from /Tools/Frame_params
-# these are parameters the Solo requires for proper operation that are differnet from the 3.7 standard defaults.
+# these are parameters the Solo requires for proper operation that are different from the 4 standard defaults.
-env DEFAULT_PARAMETERS 'Tools/Frame_params/Solo_Copter-3.7_GreenCube.param'
+env DEFAULT_PARAMETERS 'Tools/Frame_params/Solo_Copter-4_GreenCube.param'

libraries/AP_HAL_ChibiOS/hwdef/CubeSolo/hwdef.dat

@@ -1,7 +1,7 @@
 # hw definition file for processing by chibios_hwdef.py
-# for The CUBE Black and the Cube Purple hardware in a 3DR Solo
+# for stock Pixhawk 2 cube, or the hex CUBE Black in a 3DR Solo
-# this is based on the CubeBlack hwdef, with Solo's required parameter defaults
+# this is based on the FMUv3 hwdef, with Solo's required parameter defaults
-# do not use this hwdef with any configuration other than a 3DR Solo with a stock or black cube running Copter 3.7.
+# do not use this hwdef for any other vehicle or configuration
 
 include ../fmuv3/hwdef.dat
 
@@ -11,8 +11,8 @@ SPIDEV icm20948_ext   SPI4 DEVID1  MPU_EXT_CS   MODE3  4*MHZ  8*MHZ
 SPIDEV icm20602_ext   SPI4 DEVID3  GYRO_EXT_CS  MODE3  4*MHZ  8*MHZ
 
 # pull Solo's default parameters from /Tools/Frame_params
-# these are parameters the Solo requires for proper operation that are differnet from the 3.7 standard defaults.
+# these are parameters the Solo requires for proper operation that are different from the copter defaults.
-env DEFAULT_PARAMETERS 'Tools/Frame_params/Solo_Copter-3.7_BlackCube.param'
+env DEFAULT_PARAMETERS 'Tools/Frame_params/Solo_Copter-4.param'
 
 # three IMUs, but allow for different varients. First two IMUs are
 # isolated, 3rd isn't