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Tools: update parameter files after PID upgrade

This commit is contained in:
Leonard Hall 2019-06-28 15:15:06 +09:30 committed by Randy Mackay
parent ad4b6fdeae
commit fb790cadda
30 changed files with 72 additions and 9 deletions
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3
Tools/Frame_params/3DR_Iris+_AC34.param
View File

@ -14,16 +14,19 @@ ATC_ANG_RLL_P,11.25
ATC_ANG_YAW_P,6 ATC_ANG_YAW_P,6
ATC_RAT_PIT_D,0.008325 ATC_RAT_PIT_D,0.008325
ATC_RAT_PIT_FILT,20 ATC_RAT_PIT_FILT,20
ATC_RAT_PIT_FLTD,20
ATC_RAT_PIT_I,0.126 ATC_RAT_PIT_I,0.126
ATC_RAT_PIT_IMAX,0.2222222 ATC_RAT_PIT_IMAX,0.2222222
ATC_RAT_PIT_P,0.126 ATC_RAT_PIT_P,0.126
ATC_RAT_RLL_D,0.01125 ATC_RAT_RLL_D,0.01125
ATC_RAT_RLL_FILT,20 ATC_RAT_RLL_FILT,20
ATC_RAT_RLL_FLTD,20
ATC_RAT_RLL_I,0.18225 ATC_RAT_RLL_I,0.18225
ATC_RAT_RLL_IMAX,0.2222222 ATC_RAT_RLL_IMAX,0.2222222
ATC_RAT_RLL_P,0.18225 ATC_RAT_RLL_P,0.18225
ATC_RAT_YAW_D,0.0036 ATC_RAT_YAW_D,0.0036
ATC_RAT_YAW_FILT,5 ATC_RAT_YAW_FILT,5
ATC_RAT_YAW_FLTE,5
ATC_RAT_YAW_I,0.036 ATC_RAT_YAW_I,0.036
ATC_RAT_YAW_IMAX,0.222 ATC_RAT_YAW_IMAX,0.222
ATC_RAT_YAW_P,0.36 ATC_RAT_YAW_P,0.36

1
Tools/Frame_params/ArduRoller-balancebot.param
View File

@ -5,6 +5,7 @@ ATC_ACCEL_MAX,1
ATC_BAL_D,0.01 ATC_BAL_D,0.01
ATC_BAL_FF,0 ATC_BAL_FF,0
ATC_BAL_FILT,0 ATC_BAL_FILT,0
ATC_BAL_FLTE,0
ATC_BAL_I,7 ATC_BAL_I,7
ATC_BAL_IMAX,1 ATC_BAL_IMAX,1
ATC_BAL_P,1.2 ATC_BAL_P,1.2

3
Tools/Frame_params/EFlight_Convergence.param
View File

@ -15,16 +15,19 @@ PTCH2SRV_IMAX,4000
PTCH2SRV_P,1.1 PTCH2SRV_P,1.1
Q_A_RAT_PIT_D,0.005 Q_A_RAT_PIT_D,0.005
Q_A_RAT_PIT_FILT,10 Q_A_RAT_PIT_FILT,10
Q_A_RAT_PIT_FLTD,10
Q_A_RAT_PIT_I,0.25 Q_A_RAT_PIT_I,0.25
Q_A_RAT_PIT_P,0.3 Q_A_RAT_PIT_P,0.3
Q_A_RAT_RLL_D,0.005 Q_A_RAT_RLL_D,0.005
Q_A_RAT_RLL_FILT,10 Q_A_RAT_RLL_FILT,10
Q_A_RAT_RLL_FLTD,10
Q_A_RAT_RLL_I,0.25 Q_A_RAT_RLL_I,0.25
Q_A_RAT_RLL_IMAX,0.5 Q_A_RAT_RLL_IMAX,0.5
Q_A_RAT_RLL_P,0.3 Q_A_RAT_RLL_P,0.3
Q_A_RAT_YAW_D,0 Q_A_RAT_YAW_D,0
Q_A_RAT_YAW_FF,0 Q_A_RAT_YAW_FF,0
Q_A_RAT_YAW_FILT,2 Q_A_RAT_YAW_FILT,2
Q_A_RAT_YAW_FLTE,2
Q_A_RAT_YAW_I,0.018 Q_A_RAT_YAW_I,0.018
Q_A_RAT_YAW_IMAX,0.7 Q_A_RAT_YAW_IMAX,0.7
Q_A_RAT_YAW_P,0.1 Q_A_RAT_YAW_P,0.1

3
Tools/Frame_params/Holybro-kospi1.param
View File

@ -12,13 +12,16 @@ ATC_ANG_YAW_P,14.1
ATC_INPUT_TC,0.05 ATC_INPUT_TC,0.05
ATC_RAT_PIT_D,0.001486 ATC_RAT_PIT_D,0.001486
ATC_RAT_PIT_FILT,40 ATC_RAT_PIT_FILT,40
ATC_RAT_PIT_FLTD,40
ATC_RAT_PIT_I,0.066914 ATC_RAT_PIT_I,0.066914
ATC_RAT_PIT_P,0.066914 ATC_RAT_PIT_P,0.066914
ATC_RAT_RLL_D,0.001125 ATC_RAT_RLL_D,0.001125
ATC_RAT_RLL_FILT,40 ATC_RAT_RLL_FILT,40
ATC_RAT_RLL_FLTD,40
ATC_RAT_RLL_I,0.054774 ATC_RAT_RLL_I,0.054774
ATC_RAT_RLL_P,0.054774 ATC_RAT_RLL_P,0.054774
ATC_RAT_YAW_FILT,3.491686 ATC_RAT_YAW_FILT,3.491686
ATC_RAT_YAW_FLTE,3.491686
ATC_RAT_YAW_I,0.02087 ATC_RAT_YAW_I,0.02087
ATC_RAT_YAW_P,0.208696 ATC_RAT_YAW_P,0.208696
BATT_MONITOR,4 BATT_MONITOR,4

3
Tools/Frame_params/Parrot_Bebop.param
View File

@ -5,14 +5,17 @@ ATC_ACCEL_R_MAX,220000
ATC_ACCEL_Y_MAX,56000 ATC_ACCEL_Y_MAX,56000
ATC_RAT_PIT_D,0.0022 ATC_RAT_PIT_D,0.0022
ATC_RAT_PIT_FILT,40 ATC_RAT_PIT_FILT,40
ATC_RAT_PIT_FLTD,40
ATC_RAT_PIT_I,0.126 ATC_RAT_PIT_I,0.126
ATC_RAT_PIT_P,0.126 ATC_RAT_PIT_P,0.126
ATC_RAT_RLL_D,0.0005 ATC_RAT_RLL_D,0.0005
ATC_RAT_RLL_FILT,40 ATC_RAT_RLL_FILT,40
ATC_RAT_RLL_FLTD,40
ATC_RAT_RLL_I,0.11 ATC_RAT_RLL_I,0.11
ATC_RAT_RLL_P,0.11 ATC_RAT_RLL_P,0.11
ATC_RAT_YAW_D,0 ATC_RAT_YAW_D,0
ATC_RAT_YAW_FILT,3.0 ATC_RAT_YAW_FILT,3.0
ATC_RAT_YAW_FLTE,3.0
ATC_RAT_YAW_I,0.103 ATC_RAT_YAW_I,0.103
ATC_RAT_YAW_P,1.03 ATC_RAT_YAW_P,1.03
ATC_ANG_PIT_P,15 ATC_ANG_PIT_P,15

3
Tools/Frame_params/Parrot_Bebop2.param
View File

@ -5,14 +5,17 @@ ATC_ACCEL_R_MAX,220000
ATC_ACCEL_Y_MAX,56000 ATC_ACCEL_Y_MAX,56000
ATC_RAT_PIT_D,0.000662 ATC_RAT_PIT_D,0.000662
ATC_RAT_PIT_FILT,40 ATC_RAT_PIT_FILT,40
ATC_RAT_PIT_FLTD,40
ATC_RAT_PIT_I,0.0888 ATC_RAT_PIT_I,0.0888
ATC_RAT_PIT_P,0.0888 ATC_RAT_PIT_P,0.0888
ATC_RAT_RLL_D,0.000439 ATC_RAT_RLL_D,0.000439
ATC_RAT_RLL_FILT,40 ATC_RAT_RLL_FILT,40
ATC_RAT_RLL_FLTD,40
ATC_RAT_RLL_I,0.1066 ATC_RAT_RLL_I,0.1066
ATC_RAT_RLL_P,0.1066 ATC_RAT_RLL_P,0.1066
ATC_RAT_YAW_D,0 ATC_RAT_YAW_D,0
ATC_RAT_YAW_FILT,1.001376 ATC_RAT_YAW_FILT,1.001376
ATC_RAT_YAW_FLTE,1.001376
ATC_RAT_YAW_I,0.08411 ATC_RAT_YAW_I,0.08411
ATC_RAT_YAW_P,0.8411 ATC_RAT_YAW_P,0.8411
ATC_ANG_PIT_P,15 ATC_ANG_PIT_P,15

3
Tools/Frame_params/SkyViper-2450GPS/defaults.parm
View File

@ -132,11 +132,13 @@ ATC_ANG_RLL_P 8.0
ATC_ANG_YAW_P 7.16 ATC_ANG_YAW_P 7.16
ATC_RAT_PIT_D 0.0069 ATC_RAT_PIT_D 0.0069
ATC_RAT_PIT_FILT 10 ATC_RAT_PIT_FILT 10
ATC_RAT_PIT_FLTD 10
ATC_RAT_PIT_IMAX 0.5 ATC_RAT_PIT_IMAX 0.5
ATC_RAT_PIT_I 0.0834 ATC_RAT_PIT_I 0.0834
ATC_RAT_PIT_P 0.0834 ATC_RAT_PIT_P 0.0834
ATC_RAT_RLL_D 0.007 ATC_RAT_RLL_D 0.007
ATC_RAT_RLL_FILT 10 ATC_RAT_RLL_FILT 10
ATC_RAT_RLL_FLTD 10
ATC_RAT_RLL_I 0.0966 ATC_RAT_RLL_I 0.0966
ATC_RAT_RLL_P 0.0966 ATC_RAT_RLL_P 0.0966
ATC_RAT_RLL_IMAX 0.5 ATC_RAT_RLL_IMAX 0.5
@ -145,6 +147,7 @@ ATC_RAT_YAW_I 0.0689
ATC_RAT_YAW_IMAX 0.3 ATC_RAT_YAW_IMAX 0.3
ATC_RAT_YAW_D 0.0 ATC_RAT_YAW_D 0.0
ATC_RAT_YAW_FILT 4.5125 ATC_RAT_YAW_FILT 4.5125
ATC_RAT_YAW_FLTE 4.5125
ATC_SLEW_YAW 3250 ATC_SLEW_YAW 3250
ATC_THR_MIX_MAN 4 ATC_THR_MIX_MAN 4
ATC_THR_MIX_MAX 0.9 ATC_THR_MIX_MAX 0.9

3
Tools/Frame_params/SkyViper-F412/defaults.parm
View File

@ -131,11 +131,13 @@ ATC_ANG_RLL_P 8.0
ATC_ANG_YAW_P 7.16 ATC_ANG_YAW_P 7.16
ATC_RAT_PIT_D 0.0069 ATC_RAT_PIT_D 0.0069
ATC_RAT_PIT_FILT 10 ATC_RAT_PIT_FILT 10
ATC_RAT_PIT_FLTD 10
ATC_RAT_PIT_IMAX 0.5 ATC_RAT_PIT_IMAX 0.5
ATC_RAT_PIT_I 0.0834 ATC_RAT_PIT_I 0.0834
ATC_RAT_PIT_P 0.0834 ATC_RAT_PIT_P 0.0834
ATC_RAT_RLL_D 0.007 ATC_RAT_RLL_D 0.007
ATC_RAT_RLL_FILT 10 ATC_RAT_RLL_FILT 10
ATC_RAT_RLL_FLTD 10
ATC_RAT_RLL_I 0.0966 ATC_RAT_RLL_I 0.0966
ATC_RAT_RLL_P 0.0966 ATC_RAT_RLL_P 0.0966
ATC_RAT_RLL_IMAX 0.5 ATC_RAT_RLL_IMAX 0.5
@ -144,6 +146,7 @@ ATC_RAT_YAW_I 0.0689
ATC_RAT_YAW_IMAX 0.3 ATC_RAT_YAW_IMAX 0.3
ATC_RAT_YAW_D 0.0 ATC_RAT_YAW_D 0.0
ATC_RAT_YAW_FILT 4.5125 ATC_RAT_YAW_FILT 4.5125
ATC_RAT_YAW_FLTE 4.5125
ATC_SLEW_YAW 3250 ATC_SLEW_YAW 3250
ATC_THR_MIX_MAN 4 ATC_THR_MIX_MAN 4
ATC_THR_MIX_MAX 0.9 ATC_THR_MIX_MAX 0.9

1
Tools/Frame_params/Solo_Copter-3.5_GreenCube.param
View File

@ -21,6 +21,7 @@ ATC_RAT_RLL_I,0.12
ATC_RAT_RLL_IMAX,0.444 ATC_RAT_RLL_IMAX,0.444
ATC_RAT_RLL_P,0.086 ATC_RAT_RLL_P,0.086
ATC_RAT_YAW_FILT,5 ATC_RAT_YAW_FILT,5
ATC_RAT_YAW_FLTE,5
ATC_RAT_YAW_I,0.061 ATC_RAT_YAW_I,0.061
ATC_RAT_YAW_IMAX,0.222 ATC_RAT_YAW_IMAX,0.222
ATC_RAT_YAW_P,0.617 ATC_RAT_YAW_P,0.617

1
Tools/Frame_params/Solo_Copter-3.6_GreenCube.param
View File

@ -22,6 +22,7 @@ ATC_RAT_RLL_I,0.12
ATC_RAT_RLL_IMAX,0.444 ATC_RAT_RLL_IMAX,0.444
ATC_RAT_RLL_P,0.086 ATC_RAT_RLL_P,0.086
ATC_RAT_YAW_FILT,5 ATC_RAT_YAW_FILT,5
ATC_RAT_YAW_FLTE,5
ATC_RAT_YAW_I,0.05 ATC_RAT_YAW_I,0.05
ATC_RAT_YAW_IMAX,0.222 ATC_RAT_YAW_IMAX,0.222
ATC_RAT_YAW_P,0.5 ATC_RAT_YAW_P,0.5

1
Tools/Frame_params/Solo_Copter-3.7_BlackCube.param
View File

@ -24,6 +24,7 @@ ATC_RAT_RLL_I,0.091
ATC_RAT_RLL_IMAX,0.666 ATC_RAT_RLL_IMAX,0.666
ATC_RAT_RLL_P,0.091 ATC_RAT_RLL_P,0.091
ATC_RAT_YAW_FILT,7.6 ATC_RAT_YAW_FILT,7.6
ATC_RAT_YAW_FLTE,7.6
ATC_RAT_YAW_I,0.0594 ATC_RAT_YAW_I,0.0594
ATC_RAT_YAW_IMAX,0.222 ATC_RAT_YAW_IMAX,0.222
ATC_RAT_YAW_P,0.5949 ATC_RAT_YAW_P,0.5949

1
Tools/Frame_params/Solo_Copter-3.7_GreenCube.param
View File

@ -24,6 +24,7 @@ ATC_RAT_RLL_I,0.12
ATC_RAT_RLL_IMAX,0.444 ATC_RAT_RLL_IMAX,0.444
ATC_RAT_RLL_P,0.086 ATC_RAT_RLL_P,0.086
ATC_RAT_YAW_FILT,5 ATC_RAT_YAW_FILT,5
ATC_RAT_YAW_FLTE,5
ATC_RAT_YAW_I,0.05 ATC_RAT_YAW_I,0.05
ATC_RAT_YAW_IMAX,0.222 ATC_RAT_YAW_IMAX,0.222
ATC_RAT_YAW_P,0.5 ATC_RAT_YAW_P,0.5

4
Tools/Frame_params/Sub/bluerov2-3_5.params
View File

@ -1,6 +1,7 @@
ACCEL_Z_D,0.000000000000000000 ACCEL_Z_D,0.000000000000000000
ACCEL_Z_FF,0.000000000000000000 ACCEL_Z_FF,0.000000000000000000
ACCEL_Z_FILT,20.000000000000000000 ACCEL_Z_FILT,20.000000000000000000
ACCEL_Z_FLTD,20.000000000000000000
ACCEL_Z_I,0.100000001490116119 ACCEL_Z_I,0.100000001490116119
ACCEL_Z_IMAX,100.000000000000000000 ACCEL_Z_IMAX,100.000000000000000000
ACCEL_Z_P,0.500000000000000000 ACCEL_Z_P,0.500000000000000000
@ -36,18 +37,21 @@ ATC_RATE_FF_ENAB,1
ATC_RAT_PIT_D,0.003599999938160181 ATC_RAT_PIT_D,0.003599999938160181
ATC_RAT_PIT_FF,0.000000000000000000 ATC_RAT_PIT_FF,0.000000000000000000
ATC_RAT_PIT_FILT,30.000000000000000000 ATC_RAT_PIT_FILT,30.000000000000000000
ATC_RAT_PIT_FLTD,30.000000000000000000
ATC_RAT_PIT_I,0.090000003576278687 ATC_RAT_PIT_I,0.090000003576278687
ATC_RAT_PIT_IMAX,0.444000005722045898 ATC_RAT_PIT_IMAX,0.444000005722045898
ATC_RAT_PIT_P,0.135000005364418030 ATC_RAT_PIT_P,0.135000005364418030
ATC_RAT_RLL_D,0.003599999938160181 ATC_RAT_RLL_D,0.003599999938160181
ATC_RAT_RLL_FF,0.000000000000000000 ATC_RAT_RLL_FF,0.000000000000000000
ATC_RAT_RLL_FILT,30.000000000000000000 ATC_RAT_RLL_FILT,30.000000000000000000
ATC_RAT_RLL_FLTD,30.000000000000000000
ATC_RAT_RLL_I,0.090000003576278687 ATC_RAT_RLL_I,0.090000003576278687
ATC_RAT_RLL_IMAX,0.444000005722045898 ATC_RAT_RLL_IMAX,0.444000005722045898
ATC_RAT_RLL_P,0.135000005364418030 ATC_RAT_RLL_P,0.135000005364418030
ATC_RAT_YAW_D,0.000000000000000000 ATC_RAT_YAW_D,0.000000000000000000
ATC_RAT_YAW_FF,0.000000000000000000 ATC_RAT_YAW_FF,0.000000000000000000
ATC_RAT_YAW_FILT,5.000000000000000000 ATC_RAT_YAW_FILT,5.000000000000000000
ATC_RAT_YAW_FLTE,5.000000000000000000
ATC_RAT_YAW_I,0.017999999225139618 ATC_RAT_YAW_I,0.017999999225139618
ATC_RAT_YAW_IMAX,0.222000002861022949 ATC_RAT_YAW_IMAX,0.222000002861022949
ATC_RAT_YAW_P,0.180000007152557373 ATC_RAT_YAW_P,0.180000007152557373

3
Tools/Frame_params/Sub/bluerov2-3_5_2.params
View File

@ -36,18 +36,21 @@ ATC_RATE_FF_ENAB,1
ATC_RAT_PIT_D,0.00359999993816 ATC_RAT_PIT_D,0.00359999993816
ATC_RAT_PIT_FF,0.0 ATC_RAT_PIT_FF,0.0
ATC_RAT_PIT_FILT,30.0 ATC_RAT_PIT_FILT,30.0
ATC_RAT_PIT_FLTD,30.0
ATC_RAT_PIT_I,0.0900000035763 ATC_RAT_PIT_I,0.0900000035763
ATC_RAT_PIT_IMAX,0.444000005722 ATC_RAT_PIT_IMAX,0.444000005722
ATC_RAT_PIT_P,0.135000005364 ATC_RAT_PIT_P,0.135000005364
ATC_RAT_RLL_D,0.00359999993816 ATC_RAT_RLL_D,0.00359999993816
ATC_RAT_RLL_FF,0.0 ATC_RAT_RLL_FF,0.0
ATC_RAT_RLL_FILT,30.0 ATC_RAT_RLL_FILT,30.0
ATC_RAT_RLL_FLTD,30.0
ATC_RAT_RLL_I,0.0900000035763 ATC_RAT_RLL_I,0.0900000035763
ATC_RAT_RLL_IMAX,0.444000005722 ATC_RAT_RLL_IMAX,0.444000005722
ATC_RAT_RLL_P,0.135000005364 ATC_RAT_RLL_P,0.135000005364
ATC_RAT_YAW_D,0.0 ATC_RAT_YAW_D,0.0
ATC_RAT_YAW_FF,0.0 ATC_RAT_YAW_FF,0.0
ATC_RAT_YAW_FILT,5.0 ATC_RAT_YAW_FILT,5.0
ATC_RAT_YAW_FLTE,5.0
ATC_RAT_YAW_I,0.0179999992251 ATC_RAT_YAW_I,0.0179999992251
ATC_RAT_YAW_IMAX,0.222000002861 ATC_RAT_YAW_IMAX,0.222000002861
ATC_RAT_YAW_P,0.180000007153 ATC_RAT_YAW_P,0.180000007153

4
Tools/Frame_params/Sub/bluerov2-heavy-3_5_2.params
View File

@ -1,6 +1,7 @@
ACCEL_Z_D,0.000000000000000000 ACCEL_Z_D,0.000000000000000000
ACCEL_Z_FF,0.000000000000000000 ACCEL_Z_FF,0.000000000000000000
ACCEL_Z_FILT,20.000000000000000000 ACCEL_Z_FILT,20.000000000000000000
ACCEL_Z_FLTD,20.000000000000000000
ACCEL_Z_I,0.100000001490116119 ACCEL_Z_I,0.100000001490116119
ACCEL_Z_IMAX,100.000000000000000000 ACCEL_Z_IMAX,100.000000000000000000
ACCEL_Z_P,0.500000000000000000 ACCEL_Z_P,0.500000000000000000
@ -36,18 +37,21 @@ ATC_RATE_FF_ENAB,1
ATC_RAT_PIT_D,0.003599999938160181 ATC_RAT_PIT_D,0.003599999938160181
ATC_RAT_PIT_FF,0.000000000000000000 ATC_RAT_PIT_FF,0.000000000000000000
ATC_RAT_PIT_FILT,30.000000000000000000 ATC_RAT_PIT_FILT,30.000000000000000000
ATC_RAT_PIT_FLTD,30.000000000000000000
ATC_RAT_PIT_I,0.090000003576278687 ATC_RAT_PIT_I,0.090000003576278687
ATC_RAT_PIT_IMAX,0.444000005722045898 ATC_RAT_PIT_IMAX,0.444000005722045898
ATC_RAT_PIT_P,0.135000005364418030 ATC_RAT_PIT_P,0.135000005364418030
ATC_RAT_RLL_D,0.003599999938160181 ATC_RAT_RLL_D,0.003599999938160181
ATC_RAT_RLL_FF,0.000000000000000000 ATC_RAT_RLL_FF,0.000000000000000000
ATC_RAT_RLL_FILT,30.000000000000000000 ATC_RAT_RLL_FILT,30.000000000000000000
ATC_RAT_RLL_FLTD,30.000000000000000000
ATC_RAT_RLL_I,0.090000003576278687 ATC_RAT_RLL_I,0.090000003576278687
ATC_RAT_RLL_IMAX,0.444000005722045898 ATC_RAT_RLL_IMAX,0.444000005722045898
ATC_RAT_RLL_P,0.135000005364418030 ATC_RAT_RLL_P,0.135000005364418030
ATC_RAT_YAW_D,0.000000000000000000 ATC_RAT_YAW_D,0.000000000000000000
ATC_RAT_YAW_FF,0.000000000000000000 ATC_RAT_YAW_FF,0.000000000000000000
ATC_RAT_YAW_FILT,5.000000000000000000 ATC_RAT_YAW_FILT,5.000000000000000000
ATC_RAT_YAW_FLTE,5.000000000000000000
ATC_RAT_YAW_I,0.017999999225139618 ATC_RAT_YAW_I,0.017999999225139618
ATC_RAT_YAW_IMAX,0.222000002861022949 ATC_RAT_YAW_IMAX,0.222000002861022949
ATC_RAT_YAW_P,0.180000007152557373 ATC_RAT_YAW_P,0.180000007152557373

4
Tools/Frame_params/TradHeli_Copter36_Setup-MP.param
View File

@ -15,6 +15,7 @@ ATC_RATE_R_MAX, 360
ATC_RATE_Y_MAX, 180 ATC_RATE_Y_MAX, 180
ATC_RAT_PIT_D 0.0008 ATC_RAT_PIT_D 0.0008
ATC_RAT_PIT_FILT, 12 ATC_RAT_PIT_FILT, 12
ATC_RAT_PIT_FLTE, 12
ATC_RAT_PIT_I, 0.35 ATC_RAT_PIT_I, 0.35
ATC_RAT_PIT_ILMI, 0.04 ATC_RAT_PIT_ILMI, 0.04
ATC_RAT_PIT_IMAX, 0.44 ATC_RAT_PIT_IMAX, 0.44
@ -22,6 +23,7 @@ ATC_RAT_PIT_P, 0.04
ATC_RAT_PIT_VFF, 0.15 ATC_RAT_PIT_VFF, 0.15
ATC_RAT_RLL_D, 0.0005 ATC_RAT_RLL_D, 0.0005
ATC_RAT_RLL_FILT, 13 ATC_RAT_RLL_FILT, 13
ATC_RAT_RLL_FLTE, 13
ATC_RAT_RLL_I, 0.32 ATC_RAT_RLL_I, 0.32
ATC_RAT_RLL_ILMI, 0.03 ATC_RAT_RLL_ILMI, 0.03
ATC_RAT_RLL_IMAX, 0.44 ATC_RAT_RLL_IMAX, 0.44
@ -29,6 +31,7 @@ ATC_RAT_RLL_P, 0.035
ATC_RAT_RLL_VFF, 0.15 ATC_RAT_RLL_VFF, 0.15
ATC_RAT_YAW_D, 0.003 ATC_RAT_YAW_D, 0.003
ATC_RAT_YAW_FILT, 20 ATC_RAT_YAW_FILT, 20
ATC_RAT_YAW_FLTE, 20
ATC_RAT_YAW_I, 0.30 ATC_RAT_YAW_I, 0.30
ATC_RAT_YAW_ILMI, 0.01 ATC_RAT_YAW_ILMI, 0.01
ATC_RAT_YAW_IMAX, 0.33 ATC_RAT_YAW_IMAX, 0.33
@ -51,6 +54,7 @@ PHLD_BRAKE_RATE, 4
PSC_ACCZ_D, 0.0 PSC_ACCZ_D, 0.0
PSC_ACCZ_FF, 0.0 PSC_ACCZ_FF, 0.0
PSC_ACCZ_FILT, 20 PSC_ACCZ_FILT, 20
PSC_ACCZ_FLTD, 20
PSC_ACCZ_I, 1 PSC_ACCZ_I, 1
PSC_ACCZ_IMAX, 800 PSC_ACCZ_IMAX, 800
PSC_ACCZ_P, 0.28 PSC_ACCZ_P, 0.28

4
Tools/Frame_params/TradHeli_Copter36_Setup-QGC.params
View File

@ -16,6 +16,7 @@
1 1 ATC_RATE_Y_MAX 180 9 1 1 ATC_RATE_Y_MAX 180 9
1 1 ATC_RAT_PIT_D 0.0008 9 1 1 ATC_RAT_PIT_D 0.0008 9
1 1 ATC_RAT_PIT_FILT 12 9 1 1 ATC_RAT_PIT_FILT 12 9
1 1 ATC_RAT_PIT_FLTE 12 9
1 1 ATC_RAT_PIT_I 0.35 9 1 1 ATC_RAT_PIT_I 0.35 9
1 1 ATC_RAT_PIT_ILMI 0.04 9 1 1 ATC_RAT_PIT_ILMI 0.04 9
1 1 ATC_RAT_PIT_IMAX 0.44 9 1 1 ATC_RAT_PIT_IMAX 0.44 9
@ -23,6 +24,7 @@
1 1 ATC_RAT_PIT_VFF 0.15 9 1 1 ATC_RAT_PIT_VFF 0.15 9
1 1 ATC_RAT_RLL_D 0.0005 9 1 1 ATC_RAT_RLL_D 0.0005 9
1 1 ATC_RAT_RLL_FILT 13 9 1 1 ATC_RAT_RLL_FILT 13 9
1 1 ATC_RAT_RLL_FLTE 13 9
1 1 ATC_RAT_RLL_I 0.32 9 1 1 ATC_RAT_RLL_I 0.32 9
1 1 ATC_RAT_RLL_ILMI 0.03 9 1 1 ATC_RAT_RLL_ILMI 0.03 9
1 1 ATC_RAT_RLL_IMAX 0.44 9 1 1 ATC_RAT_RLL_IMAX 0.44 9
@ -30,6 +32,7 @@
1 1 ATC_RAT_RLL_VFF 0.15 9 1 1 ATC_RAT_RLL_VFF 0.15 9
1 1 ATC_RAT_YAW_D 0.003 9 1 1 ATC_RAT_YAW_D 0.003 9
1 1 ATC_RAT_YAW_FILT 20 9 1 1 ATC_RAT_YAW_FILT 20 9
1 1 ATC_RAT_YAW_FLTE 20 9
1 1 ATC_RAT_YAW_I 0.30 9 1 1 ATC_RAT_YAW_I 0.30 9
1 1 ATC_RAT_YAW_ILMI 0.001 9 1 1 ATC_RAT_YAW_ILMI 0.001 9
1 1 ATC_RAT_YAW_IMAX 0.33 9 1 1 ATC_RAT_YAW_IMAX 0.33 9
@ -52,6 +55,7 @@
1 1 PSC_ACCZ_D 0 9 1 1 PSC_ACCZ_D 0 9
1 1 PSC_ACCZ_FF 0 9 1 1 PSC_ACCZ_FF 0 9
1 1 PSC_ACCZ_FILT 20 9 1 1 PSC_ACCZ_FILT 20 9
1 1 PSC_ACCZ_FLTD 20 9
1 1 PSC_ACCZ_I 1 9 1 1 PSC_ACCZ_I 1 9
1 1 PSC_ACCZ_IMAX 800 9 1 1 PSC_ACCZ_IMAX 800 9
1 1 PSC_ACCZ_P 0.28 9 1 1 PSC_ACCZ_P 0.28 9

1
Tools/Frame_params/TradHeli_Copter36_Upgrade-MP.param
View File

@ -14,6 +14,7 @@ PHLD_BRAKE_RATE, 4
PSC_ACCZ_D, 0.0 PSC_ACCZ_D, 0.0
PSC_ACCZ_FF, 0.0 PSC_ACCZ_FF, 0.0
PSC_ACCZ_FILT, 20 PSC_ACCZ_FILT, 20
PSC_ACCZ_FLTD, 20
PSC_ACCZ_I, 1 PSC_ACCZ_I, 1
PSC_ACCZ_IMAX, 800 PSC_ACCZ_IMAX, 800
PSC_ACCZ_P, 0.28 PSC_ACCZ_P, 0.28

1
Tools/Frame_params/TradHeli_Copter36_Upgrade-QGC.params
View File

@ -15,6 +15,7 @@
1 1 PSC_ACCZ_D 0 9 1 1 PSC_ACCZ_D 0 9
1 1 PSC_ACCZ_FF 0 9 1 1 PSC_ACCZ_FF 0 9
1 1 PSC_ACCZ_FILT 20 9 1 1 PSC_ACCZ_FILT 20 9
1 1 PSC_ACCZ_FLTD 20 9
1 1 PSC_ACCZ_I 1 9 1 1 PSC_ACCZ_I 1 9
1 1 PSC_ACCZ_IMAX 800 9 1 1 PSC_ACCZ_IMAX 800 9
1 1 PSC_ACCZ_P 0.28 9 1 1 PSC_ACCZ_P 0.28 9

3
Tools/Frame_params/WLToys_V383_HeliQuad.param
View File

@ -7,6 +7,7 @@ ATC_ANG_YAW_P 4.5
ATC_HOVR_ROL_TRM 0 ATC_HOVR_ROL_TRM 0
ATC_RAT_PIT_D 0.005 ATC_RAT_PIT_D 0.005
ATC_RAT_PIT_FILT 20.0 ATC_RAT_PIT_FILT 20.0
ATC_RAT_PIT_FLTE 20.0
ATC_RAT_PIT_I 0.125 ATC_RAT_PIT_I 0.125
ATC_RAT_PIT_ILMI 0.4 ATC_RAT_PIT_ILMI 0.4
ATC_RAT_PIT_IMAX 0.7 ATC_RAT_PIT_IMAX 0.7
@ -14,6 +15,7 @@ ATC_RAT_PIT_P 0.125
ATC_RAT_PIT_VFF 0.0 ATC_RAT_PIT_VFF 0.0
ATC_RAT_RLL_D 0.0008 ATC_RAT_RLL_D 0.0008
ATC_RAT_RLL_FILT 20.0 ATC_RAT_RLL_FILT 20.0
ATC_RAT_RLL_FLTE 20.0
ATC_RAT_RLL_I 0.095 ATC_RAT_RLL_I 0.095
ATC_RAT_RLL_ILMI 0.3 ATC_RAT_RLL_ILMI 0.3
ATC_RAT_RLL_IMAX 0.5 ATC_RAT_RLL_IMAX 0.5
@ -21,6 +23,7 @@ ATC_RAT_RLL_P 0.095
ATC_RAT_RLL_VFF 0.0 ATC_RAT_RLL_VFF 0.0
ATC_RAT_YAW_D 0.040000 ATC_RAT_YAW_D 0.040000
ATC_RAT_YAW_FILT 2.5 ATC_RAT_YAW_FILT 2.5
ATC_RAT_YAW_FLTE 2.5
ATC_RAT_YAW_I 0.018000 ATC_RAT_YAW_I 0.018000
ATC_RAT_YAW_ILMI 0.0 ATC_RAT_YAW_ILMI 0.0
ATC_RAT_YAW_IMAX 0.1 ATC_RAT_YAW_IMAX 0.1

2
Tools/Frame_params/eLAB_EX1050_AC34.param
View File

@ -9,11 +9,13 @@ ATC_ANG_RLL_P,6.3
ATC_ANG_YAW_P,4.5 ATC_ANG_YAW_P,4.5
ATC_RAT_PIT_D,0.0128 ATC_RAT_PIT_D,0.0128
ATC_RAT_PIT_FILT,10.0 ATC_RAT_PIT_FILT,10.0
ATC_RAT_PIT_FLTD,10.0
ATC_RAT_PIT_I,0.144 ATC_RAT_PIT_I,0.144
ATC_RAT_PIT_IMAX,0.2 ATC_RAT_PIT_IMAX,0.2
ATC_RAT_PIT_P,0.144 ATC_RAT_PIT_P,0.144
ATC_RAT_RLL_D,0.01386 ATC_RAT_RLL_D,0.01386
ATC_RAT_RLL_FILT,10.0 ATC_RAT_RLL_FILT,10.0
ATC_RAT_RLL_FLTD,10.0
ATC_RAT_RLL_I,0.1523 ATC_RAT_RLL_I,0.1523
ATC_RAT_RLL_P,0.1523 ATC_RAT_RLL_P,0.1523
ATC_RAT_YAW_I,0.018 ATC_RAT_YAW_I,0.018

2
Tools/Frame_params/eLAB_EX700_AC34.param
View File

@ -10,10 +10,12 @@ ATC_ANG_RLL_P,6.01
ATC_ANG_YAW_P,5.48 ATC_ANG_YAW_P,5.48
ATC_RAT_PIT_D,0.01636 ATC_RAT_PIT_D,0.01636
ATC_RAT_PIT_FILT,10.0 ATC_RAT_PIT_FILT,10.0
ATC_RAT_PIT_FLTD,10.0
ATC_RAT_PIT_I,0.1379 ATC_RAT_PIT_I,0.1379
ATC_RAT_PIT_P,0.1379 ATC_RAT_PIT_P,0.1379
ATC_RAT_RLL_D,0.00683 ATC_RAT_RLL_D,0.00683
ATC_RAT_RLL_FILT,10.0 ATC_RAT_RLL_FILT,10.0
ATC_RAT_RLL_FLTD,10.0
ATC_RAT_RLL_I,0.0814 ATC_RAT_RLL_I,0.0814
ATC_RAT_RLL_P,0.0814 ATC_RAT_RLL_P,0.0814
ATC_RAT_YAW_I,0.044 ATC_RAT_YAW_I,0.044

3
Tools/Frame_params/eLAB_LAB470_AC35.param
View File

@ -11,14 +11,17 @@ ATC_ANG_RLL_P,8
ATC_ANG_YAW_P,4.5 ATC_ANG_YAW_P,4.5
ATC_RAT_PIT_D,0.009977 ATC_RAT_PIT_D,0.009977
ATC_RAT_PIT_FILT,10 ATC_RAT_PIT_FILT,10
ATC_RAT_PIT_FLTD,10
ATC_RAT_PIT_I,0.1022741 ATC_RAT_PIT_I,0.1022741
ATC_RAT_PIT_P,0.1022741 ATC_RAT_PIT_P,0.1022741
ATC_RAT_RLL_D,0.009617 ATC_RAT_RLL_D,0.009617
ATC_RAT_RLL_FILT,10 ATC_RAT_RLL_FILT,10
ATC_RAT_RLL_FLTD,10
ATC_RAT_RLL_I,0.0827849 ATC_RAT_RLL_I,0.0827849
ATC_RAT_RLL_P,0.0827849 ATC_RAT_RLL_P,0.0827849
ATC_RAT_YAW_D,0 ATC_RAT_YAW_D,0
ATC_RAT_YAW_FILT,2.5 ATC_RAT_YAW_FILT,2.5
ATC_RAT_YAW_FLTE,2.5
ATC_RAT_YAW_I,0.018 ATC_RAT_YAW_I,0.018
ATC_RAT_YAW_P,0.18 ATC_RAT_YAW_P,0.18
ATC_RATE_FF_ENAB,1 ATC_RATE_FF_ENAB,1

3
Tools/Frame_params/intel-aero-rtf-cb.param
View File

@ -10,18 +10,21 @@ ATC_ANG_YAW_P,6.0
ATC_RAT_PIT_D,0.0017 ATC_RAT_PIT_D,0.0017
ATC_RAT_PIT_FF,0 ATC_RAT_PIT_FF,0
ATC_RAT_PIT_FILT,20 ATC_RAT_PIT_FILT,20
ATC_RAT_PIT_FLTD,20
ATC_RAT_PIT_I,0.13 ATC_RAT_PIT_I,0.13
ATC_RAT_PIT_IMAX,0.444 ATC_RAT_PIT_IMAX,0.444
ATC_RAT_PIT_P,0.13 ATC_RAT_PIT_P,0.13
ATC_RAT_RLL_D,0.001 ATC_RAT_RLL_D,0.001
ATC_RAT_RLL_FF,0 ATC_RAT_RLL_FF,0
ATC_RAT_RLL_FILT,20 ATC_RAT_RLL_FILT,20
ATC_RAT_RLL_FLTD,20
ATC_RAT_RLL_I,0.109 ATC_RAT_RLL_I,0.109
ATC_RAT_RLL_IMAX,0.444 ATC_RAT_RLL_IMAX,0.444
ATC_RAT_RLL_P,0.109 ATC_RAT_RLL_P,0.109
ATC_RAT_YAW_D,0 ATC_RAT_YAW_D,0
ATC_RAT_YAW_FF,0 ATC_RAT_YAW_FF,0
ATC_RAT_YAW_FILT,1.38 ATC_RAT_YAW_FILT,1.38
ATC_RAT_YAW_FLTE,1.38
EK2_ALT_M_NSE,5 EK2_ALT_M_NSE,5
EK3_ALT_M_NSE,5 EK3_ALT_M_NSE,5
FLTMODE1,5 FLTMODE1,5

3
Tools/Frame_params/intel-aero-rtf.param
View File

@ -12,18 +12,21 @@ ATC_ANG_YAW_P,6.0
ATC_RAT_PIT_D,0.0017 ATC_RAT_PIT_D,0.0017
ATC_RAT_PIT_FF,0 ATC_RAT_PIT_FF,0
ATC_RAT_PIT_FILT,20 ATC_RAT_PIT_FILT,20
ATC_RAT_PIT_FLTD,20
ATC_RAT_PIT_I,0.13 ATC_RAT_PIT_I,0.13
ATC_RAT_PIT_IMAX,0.444 ATC_RAT_PIT_IMAX,0.444
ATC_RAT_PIT_P,0.13 ATC_RAT_PIT_P,0.13
ATC_RAT_RLL_D,0.001 ATC_RAT_RLL_D,0.001
ATC_RAT_RLL_FF,0 ATC_RAT_RLL_FF,0
ATC_RAT_RLL_FILT,20 ATC_RAT_RLL_FILT,20
ATC_RAT_RLL_FLTD,20
ATC_RAT_RLL_I,0.109 ATC_RAT_RLL_I,0.109
ATC_RAT_RLL_IMAX,0.444 ATC_RAT_RLL_IMAX,0.444
ATC_RAT_RLL_P,0.109 ATC_RAT_RLL_P,0.109
ATC_RAT_YAW_D,0 ATC_RAT_YAW_D,0
ATC_RAT_YAW_FF,0 ATC_RAT_YAW_FF,0
ATC_RAT_YAW_FILT,1.38 ATC_RAT_YAW_FILT,1.38
ATC_RAT_YAW_FLTE,1.38
ATC_INPUT_TC,0.05 ATC_INPUT_TC,0.05
BATT_MONITOR,3 BATT_MONITOR,3
BATT_VOLT_MULT,9.116 BATT_VOLT_MULT,9.116

2
Tools/autotest/default_params/copter-hexa.parm
View File

@ -14,7 +14,7 @@ ATC_RAT_RLL_I 0.3180474
ATC_RAT_RLL_IMAX 0.5 ATC_RAT_RLL_IMAX 0.5
ATC_RAT_RLL_P 0.3180474 ATC_RAT_RLL_P 0.3180474
ATC_RAT_YAW_D 0 ATC_RAT_YAW_D 0
ATC_RAT_YAW_FILT 5 ATC_RAT_YAW_FLTD 5
ATC_RAT_YAW_I 0.06603496 ATC_RAT_YAW_I 0.06603496
ATC_RAT_YAW_IMAX 0.25 ATC_RAT_YAW_IMAX 0.25
ATC_RAT_YAW_P 0.6603495 ATC_RAT_YAW_P 0.6603495

2
Tools/autotest/default_params/copter-octaquad.parm
View File

@ -14,7 +14,7 @@ ATC_RAT_RLL_I 0.1232151
ATC_RAT_RLL_IMAX 1 ATC_RAT_RLL_IMAX 1
ATC_RAT_RLL_P 0.1232151 ATC_RAT_RLL_P 0.1232151
ATC_RAT_YAW_D 0 ATC_RAT_YAW_D 0
ATC_RAT_YAW_FILT 5 ATC_RAT_YAW_FLTD 5
ATC_RAT_YAW_I 0.04692981 ATC_RAT_YAW_I 0.04692981
ATC_RAT_YAW_IMAX 0.5 ATC_RAT_YAW_IMAX 0.5
ATC_RAT_YAW_P 0.4692981 ATC_RAT_YAW_P 0.4692981

6
Tools/autotest/default_params/copter-single.parm
View File

@ -60,17 +60,17 @@ RC8_TRIM 1500.000000
# autotune values # autotune values
ATC_RATE_FF_ENAB 1.000000 ATC_RATE_FF_ENAB 1.000000
ATC_RAT_PIT_D 0.200000 ATC_RAT_PIT_D 0.200000
ATC_RAT_PIT_FILT 20.000000 ATC_RAT_PIT_FLTD 20.000000
ATC_RAT_PIT_I 2.000000 ATC_RAT_PIT_I 2.000000
ATC_RAT_PIT_IMAX 1.000000 ATC_RAT_PIT_IMAX 1.000000
ATC_RAT_PIT_P 2.000000 ATC_RAT_PIT_P 2.000000
ATC_RAT_RLL_D 0.200000 ATC_RAT_RLL_D 0.200000
ATC_RAT_RLL_FILT 20.000000 ATC_RAT_RLL_FLTD 20.000000
ATC_RAT_RLL_I 2.000000 ATC_RAT_RLL_I 2.000000
ATC_RAT_RLL_IMAX 1.000000 ATC_RAT_RLL_IMAX 1.000000
ATC_RAT_RLL_P 2.000000 ATC_RAT_RLL_P 2.000000
ATC_RAT_YAW_D 0.000000 ATC_RAT_YAW_D 0.000000
ATC_RAT_YAW_FILT 5.000000 ATC_RAT_YAW_FLTE 5.000000
ATC_RAT_YAW_I 0.139709 ATC_RAT_YAW_I 0.139709
ATC_RAT_YAW_IMAX 0.222000 ATC_RAT_YAW_IMAX 0.222000
ATC_RAT_YAW_P 1.397085 ATC_RAT_YAW_P 1.397085

2
Tools/autotest/default_params/copter-y6.parm
View File

@ -14,7 +14,7 @@ ATC_RAT_RLL_I 0.315668
ATC_RAT_RLL_IMAX 0.75 ATC_RAT_RLL_IMAX 0.75
ATC_RAT_RLL_P 0.315668 ATC_RAT_RLL_P 0.315668
ATC_RAT_YAW_D 0 ATC_RAT_YAW_D 0
ATC_RAT_YAW_FILT 5 ATC_RAT_YAW_FLTE 5
ATC_RAT_YAW_I 0.06521364 ATC_RAT_YAW_I 0.06521364
ATC_RAT_YAW_IMAX 0.5 ATC_RAT_YAW_IMAX 0.5
ATC_RAT_YAW_P 0.6521364 ATC_RAT_YAW_P 0.6521364

6
libraries/SITL/examples/Morse/quadcopter.parm
View File

@ -8,19 +8,19 @@ ATC_ANG_RLL_P 6.125903
ATC_ANG_YAW_P 3.144684 ATC_ANG_YAW_P 3.144684
ATC_RAT_PIT_D 0.006864 ATC_RAT_PIT_D 0.006864
ATC_RAT_PIT_FF 0.000000 ATC_RAT_PIT_FF 0.000000
ATC_RAT_PIT_FILT 20.000000 ATC_RAT_PIT_FLTD 20.000000
ATC_RAT_PIT_I 0.292808 ATC_RAT_PIT_I 0.292808
ATC_RAT_PIT_IMAX 0.500000 ATC_RAT_PIT_IMAX 0.500000
ATC_RAT_PIT_P 0.292808 ATC_RAT_PIT_P 0.292808
ATC_RAT_RLL_D 0.007893 ATC_RAT_RLL_D 0.007893
ATC_RAT_RLL_FF 0.000000 ATC_RAT_RLL_FF 0.000000
ATC_RAT_RLL_FILT 20.000000 ATC_RAT_RLL_FLTD 20.000000
ATC_RAT_RLL_I 0.255515 ATC_RAT_RLL_I 0.255515
ATC_RAT_RLL_IMAX 0.500000 ATC_RAT_RLL_IMAX 0.500000
ATC_RAT_RLL_P 0.255515 ATC_RAT_RLL_P 0.255515
ATC_RAT_YAW_D 0.000000 ATC_RAT_YAW_D 0.000000
ATC_RAT_YAW_FF 0.000000 ATC_RAT_YAW_FF 0.000000
ATC_RAT_YAW_FILT 5.000000 ATC_RAT_YAW_FLTE 5.000000
ATC_RAT_YAW_I 0.093384 ATC_RAT_YAW_I 0.093384
ATC_RAT_YAW_IMAX 0.500000 ATC_RAT_YAW_IMAX 0.500000
ATC_RAT_YAW_P 0.933841 ATC_RAT_YAW_P 0.933841