# parameters for Foxtech GreatShark # https://www.foxtechfpv.com/foxtech-great-shark-330-vtol.html # airspeed ARSPD_FBW_MAX 35 ARSPD_FBW_MIN 18 TRIM_ARSPD_CM 2300 TRIM_THROTTLE 60 # notch filter INS_HNTCH_ENABLE 1 INS_HNTCH_ATT 50.000000 INS_HNTCH_BW 38.000000 INS_HNTCH_ENABLE 1.000000 INS_HNTCH_FREQ 75.000000 INS_HNTCH_HMNCS 15.000000 INS_HNTCH_MODE 1.000000 INS_HNTCH_REF 0.337000 # fixed wing limits LIM_PITCH_MIN -2000 LIM_ROLL_CD 4000 LEVEL_ROLL_LIMIT 12 FBWB_CLIMB_RATE 5 WP_LOITER_RAD 250 WP_RADIUS 200 RTL_RADIUS 200 # fixed wing tune RLL2SRV_RMAX 75 RLL_RATE_D 0.009886 RLL_RATE_FF 0.442834 RLL_RATE_FLTD 12.5 RLL_RATE_FLTT 3.183099 RLL_RATE_I 0.442834 RLL_RATE_P 0.385863 RLL_RATE_SMAX 100 PTCH2SRV_RMAX_DN 75 PTCH2SRV_RMAX_UP 75 PTCH2SRV_TCONST 0.75 PTCH_RATE_D 0.027 PTCH_RATE_FF 1.835124 PTCH_RATE_FLTD 12.5 PTCH_RATE_FLTT 2.122066 PTCH_RATE_I 1.835124 PTCH_RATE_P 1.113065 PTCH_RATE_SMAX 100 # quadplane parameters Q_ENABLE 1 Q_FRAME_CLASS 1 Q_FRAME_TYPE 1 Q_ANGLE_MAX 1500 Q_ASSIST_ANGLE 30 Q_ASSIST_SPEED 15 Q_A_ACCEL_P_MAX 30000 Q_A_ACCEL_R_MAX 30000 Q_A_ACCEL_Y_MAX 9000 Q_A_ANG_PIT_P 3 Q_A_ANG_RLL_P 3 Q_A_ANG_YAW_P 3 Q_A_RATE_P_MAX 60 Q_A_RATE_R_MAX 60 Q_A_RATE_Y_MAX 60 Q_A_RAT_PIT_D 0.005523 Q_A_RAT_PIT_FLTD 12.5 Q_A_RAT_PIT_FLTT 12.5 Q_A_RAT_PIT_I 0.198349 Q_A_RAT_PIT_P 0.198349 Q_A_RAT_RLL_D 0.003301 Q_A_RAT_RLL_FLTD 12.5 Q_A_RAT_RLL_FLTT 12.5 Q_A_RAT_RLL_I 0.233438 Q_A_RAT_RLL_P 0.233438 Q_A_RAT_YAW_D 0.01 Q_A_RAT_YAW_FLTD 12.5 Q_A_RAT_YAW_FLTE 2 Q_A_RAT_YAW_FLTT 12.5 Q_A_RAT_YAW_P 1 Q_A_SLEW_YAW 3000 Q_LAND_FINAL_ALT 12 Q_LAND_SPEED 40 Q_M_BAT_IDX 1 Q_M_BAT_VOLT_MAX 50.4 Q_M_BAT_VOLT_MIN 40 Q_M_THST_HOVER 0.338 # soften VTOL position controller Q_P_POSXY_P 0.5 Q_P_VELXY_D 0.17 Q_P_VELXY_I 0.35 Q_P_VELXY_P 0.7 Q_RTL_ALT 40 Q_TRANS_DECEL 1.5 Q_TRANS_FAIL 20 Q_VELZ_MAX 200 Q_VELZ_MAX_DN 130 Q_VFWD_ALT 6 Q_VFWD_GAIN 0.05 Q_WVANE_GAIN 0.3 Q_WVANE_TAKEOFF 0 # servo setup SERVO1_REVERSED 1 SERVO2_FUNCTION 79 SERVO2_REVERSED 1 SERVO4_FUNCTION 80 SERVO_AUTO_TRIM 1