# param file for MFD CrossWind VTOL

# http://myflydream.com/products/c-0/369.html

# airspeed
AIRSPEED_MAX    29
AIRSPEED_MIN    16
AIRSPEED_CRUISE 20.00
TRIM_THROTTLE    52

# fixed wing limits
PTCH_LIM_MAX_DEG 22.00
ROLL_LIMIT_DEG 35.00
NAVL1_PERIOD     24
RTL_ALTITUDE 90.00
FBWB_CLIMB_RATE  5
WP_LOITER_RAD    150
WP_RADIUS        150

# fixed wing tuning
RLL2SRV_RMAX     90
RLL2SRV_TCONST   0.3
RLL_RATE_D       0.001916
RLL_RATE_FF      0.473694
RLL_RATE_FLTD    10
RLL_RATE_FLTT    7.957747
RLL_RATE_I       0.473694
RLL_RATE_P       0.01

PTCH2SRV_RLL     1.2
PTCH2SRV_RMAX_DN 75
PTCH2SRV_RMAX_UP 75
PTCH_RATE_D      0.012
PTCH_RATE_FF     0.329676
PTCH_RATE_FLTD   15
PTCH_RATE_FLTT   5.305164
PTCH_RATE_I      0.329676
PTCH_RATE_P      0.148952
PTCH_RATE_SMAX   300

# actuators
SERVO1_REVERSED  1
SERVO2_REVERSED  1
SERVO_AUTO_TRIM  1
SERVO_RATE       150

# harmonic notch filter
INS_HNTCH_ENABLE 1
INS_HNTCH_ATT    40
INS_HNTCH_BW     40
INS_HNTCH_FREQ   81
INS_HNTCH_HMNCS  3
INS_HNTCH_MODE   1
INS_HNTCH_REF    0.39

# quadplane parameters
Q_ENABLE         1
Q_FRAME_CLASS    1
Q_FRAME_TYPE     1

Q_ANGLE_MAX      2000
Q_ASSIST_ANGLE   45
Q_ASSIST_SPEED   14

# vtol tune
Q_A_ANG_PIT_P    4
Q_A_ANG_RLL_P    4
Q_A_RAT_PIT_D    0.0105
Q_A_RAT_PIT_FLTD 15
Q_A_RAT_PIT_I    0.2
Q_A_RAT_PIT_P    0.2
Q_A_RAT_PIT_SMAX 40
Q_A_RAT_RLL_D    0.0198
Q_A_RAT_RLL_I    0.225
Q_A_RAT_RLL_P    0.225
Q_A_RAT_RLL_SMAX 40

Q_M_BAT_VOLT_MAX 25.2
Q_M_BAT_VOLT_MIN 18.6

Q_M_THST_EXPO    0.7
Q_M_THST_HOVER   0.445192
Q_P_JERK_Z       2
Q_P_POSXY_P      0.7
Q_P_VELXY_P      1

Q_RTL_ALT        60

Q_TRANSITION_MS  8000
Q_TRANS_DECEL    1.2
Q_TRANS_FAIL     20
Q_TRAN_PIT_MAX   5
Q_VFWD_ALT       5
Q_VFWD_GAIN      0.05

Q_WP_RADIUS      500
Q_WP_RFND_USE    0
Q_WP_SPEED       800
Q_WP_SPEED_DN    100
Q_WVANE_ANG_MIN  3
Q_WVANE_GAIN     0.2

# TECS tuning
TECS_CLMB_MAX    3
TECS_PTCH_DAMP   0.2
TECS_THR_DAMP    0.6
TECS_TIME_CONST  6