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https://github.com/ArduPilot/ardupilot
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cbe68b4a91
add new Copter3.5 to 3.6 upgrade params to set the PSC, LOIT and NAV controllers for New Loiter and new Position Controller
75 lines
1.5 KiB
Plaintext
75 lines
1.5 KiB
Plaintext
# Default setup and tuning parameters for TradHeli - load with MP
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# Tunes the PSC, LOIT, NAV and ATC for New Loiter and Auto
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# Stack: ArduPilot
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# Vehicle: Helicopter
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# Version: 3.6
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ATC_ACCEL_P_MAX, 52000
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ATC_ACCEL_R_MAX, 52000
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ATC_ACCEL_Y_MAX, 20000
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ATC_ANG_PIT_P, 4.5
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ATC_ANG_RLL_P, 4.5
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ATC_ANG_YAW_P, 4.5
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ATC_RATE_FF_ENAB, 1
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ATC_RATE_P_MAX, 270
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ATC_RATE_R_MAX, 360
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ATC_RATE_Y_MAX, 180
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ATC_RAT_PIT_D 0.0008
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ATC_RAT_PIT_FILT, 12
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ATC_RAT_PIT_I, 0.35
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ATC_RAT_PIT_ILMI, 0.04
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ATC_RAT_PIT_IMAX, 0.44
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ATC_RAT_PIT_P, 0.04
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ATC_RAT_PIT_VFF, 0.15
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ATC_RAT_RLL_D, 0.0005
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ATC_RAT_RLL_FILT, 13
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ATC_RAT_RLL_I, 0.32
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ATC_RAT_RLL_ILMI, 0.03
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ATC_RAT_RLL_IMAX, 0.44
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ATC_RAT_RLL_P, 0.035
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ATC_RAT_RLL_VFF, 0.15
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ATC_RAT_YAW_D, 0.003
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ATC_RAT_YAW_FILT, 20
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ATC_RAT_YAW_I, 0.30
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ATC_RAT_YAW_ILMI, 0.01
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ATC_RAT_YAW_IMAX, 0.33
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ATC_RAT_YAW_P, 0.22
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ATC_RAT_YAW_VFF, 0.09
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ATC_SLEW_YAW, 6000
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DISARM_DELAY, 0
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FRAME_CLASS, 6
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FS_CRASH_CHECK, 0
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GND_EFFECT_COMP,1
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H_COLYAW, 3
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LOIT_ACC_MAX, 500
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LOIT_ANG_MAX, 0.0
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LOIT_BRK_ACCEL, 125
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LOIT_BRK_DELAY, 1
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LOIT_BRK_JERK, 250
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LOIT_SPEED, 3000
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PHLD_BRAKE_ANGLE, 800
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PHLD_BRAKE_RATE, 4
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PSC_ACCZ_D, 0.0
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PSC_ACCZ_FF, 0.0
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PSC_ACCZ_FILT, 20
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PSC_ACCZ_I, 1
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PSC_ACCZ_IMAX, 800
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PSC_ACCZ_P, 0.30
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PSC_ACC_XY_FILT, 2
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PSC_ANGLE_MAX, 0.0
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PSC_POSXY_P, 1
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PSC_POSZ_P, 1
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PSC_VELXY_D, 0.5
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PSC_VELXY_D_FILT, 5
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PSC_VELXY_FILT, 5
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PSC_VELXY_I, 1
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PSC_VELXY_IMAX, 1000
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PSC_VELXY_P, 2
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PSC_VELZ_P, 5
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WPNAV_ACCEL, 220
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WPNAV_ACCEL_Z, 100
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WPNAV_RADIUS, 200
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WPNAV_SPEED_DN, 150
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WPNAV_SPEED_UP, 250
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WP_NAVALT_MIN, 5
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WP_YAW_BEHAVIOR, 3
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