mirror of https://github.com/ArduPilot/ardupilot
141 lines
2.5 KiB
Plaintext
141 lines
2.5 KiB
Plaintext
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BATT_MONITOR 4
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BATT_VOLT_MULT 6.52
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BATT_AMP_PERVLT 15.7
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BATT_CAPACITY 5500
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Q_ENABLE 1
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Q_FRAME_CLASS 1
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Q_TAILSIT_ENABLE 2
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SERVO1_FUNCTION 33
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SERVO2_FUNCTION 34
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SERVO3_FUNCTION 35
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SERVO4_FUNCTION 36
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Q_OPTIONS 128
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#Second IMU seems to give better results on this board
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EK3_PRIMARY 1
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# RC input is SBUS on serial4 TX pin
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SERIAL4_PROTOCOL 23
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SERIAL4_OPTIONS 8
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RC1_MIN 1050
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RC1_MAX 1950
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RC2_MIN 1050
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RC2_MAX 1950
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RC3_MIN 1050
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RC3_MAX 1950
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RC3_TRIM 1500
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RC4_MIN 1125
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RC4_MAX 1875
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THR_MIN 5
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ARMING_RUDDER 2
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ARSPD_TUBE_ORDER 0
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ARSPD_USE 1
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ALT_HOLD_RTL 3000
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ARSPD_FBW_MAX 25
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ARSPD_FBW_MIN 8
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ARSPD_RATIO 1.9
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LIM_ROLL_CD 4000
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# the HWing can become unstable at high speeds. Limit pitch angle
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# to prevent overspeed
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LIM_PITCH_MAX 4500
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LIM_PITCH_MIN -1500
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# setup left 3-pos switch for QHOVER, QLOITER and FBWA
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FLTMODE1 18
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FLTMODE4 19
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FLTMODE6 5
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FLTMODE_CH 5
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# setup a harmonic notch filter to reduce noise
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INS_GYRO_FILTER 30
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INS_HNTCH_ATT 40
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INS_HNTCH_BW 49
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INS_HNTCH_ENABLE 1
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INS_HNTCH_FREQ 99
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INS_HNTCH_HMNCS 63
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INS_HNTCH_MODE 1
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INS_HNTCH_OPTS 1
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INS_HNTCH_REF 0.4560
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# no rudder mixing
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KFF_RDDRMIX 0
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# reasonable attitude limits
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LIM_PITCH_MAX 4000
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LOG_FILE_DSRMROT 1
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# lower logging rate a bit to make logs faster to fetch
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# using a USB cable
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LOG_FILE_RATEMAX 50
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# tuning
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RLL2SRV_TCONST 0.25
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PTCH2SRV_TCONST 0.5
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Q_A_ACCEL_P_MAX 40000
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Q_A_ACCEL_R_MAX 20000
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Q_A_ANG_PIT_P 8
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Q_A_ANG_RLL_P 8
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Q_A_RAT_PIT_D 0.01
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Q_A_RAT_PIT_FLTD 15
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Q_A_RAT_PIT_P 0.3
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Q_A_RAT_PIT_SMAX 15
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Q_A_RAT_RLL_D 0.015
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Q_A_RAT_RLL_FLTD 15
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Q_A_RAT_RLL_P 0.35
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Q_A_RAT_RLL_SMAX 15
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Q_A_RAT_YAW_FF 0.2
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Q_A_RAT_YAW_D 0.1
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Q_A_RAT_YAW_FLTD 15
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Q_A_RAT_YAW_I 0.07
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Q_A_RAT_YAW_P 0.7
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Q_A_RAT_YAW_SMAX 15
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Q_A_ACCEL_P_MAX 40000
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Q_A_ACCEL_R_MAX 20000
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Q_A_ACCEL_Y_MAX 27000
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Q_P_ACCZ_P 0.8
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Q_P_POSZ_P 1.5
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Q_P_VELZ_P 8.0
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Q_M_THST_HOVER 0.45
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Q_M_BAT_VOLT_MAX 16.8
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Q_M_BAT_VOLT_MIN 13.2
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Q_TAILSIT_RAT_VT 30
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Q_A_RATE_Y_MAX 100
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Q_A_RATE_R_MAX 100
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Q_A_RATE_P_MAX 100
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Q_WP_ACCEL 250
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Q_WP_ACCEL_Z 300
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Q_WP_JERK 2
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Q_WP_SPEED 900
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Q_A_THR_MIX_MAN 2
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Q_A_THR_MIX_MAX 2
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Q_A_THR_MIX_MIN 0.3
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# Q flight options
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Q_RTL_MODE 3
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Q_TRANS_DECEL 2.5
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# QRTL on 'B' button
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RC8_OPTION 4
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RC_OPTIONS 32
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# slow down for landing approach
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TECS_LAND_ARSPD 8
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# 16 m/s target airspeed in auto modes
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TRIM_ARSPD_CM 1600
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TRIM_THROTTLE 29
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# 2nd lane tends to be better
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EK3_PRIMARY 1
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