mirror of https://github.com/ArduPilot/ardupilot
250 lines
4.4 KiB
Plaintext
250 lines
4.4 KiB
Plaintext
# defaults for SkyRocket streaming GPS board
|
|
BRD_TYPE 21
|
|
BRD_IO_ENABLE 0
|
|
BRD_PWM_COUNT 4
|
|
MOT_PWM_TYPE 3
|
|
MOT_PWM_MIN 1000
|
|
MOT_PWM_MAX 2000
|
|
RC_SPEED 16000
|
|
# TERRAIN_ENABLE 0
|
|
|
|
# toy mode setup
|
|
TMODE_ENABLE 1
|
|
TMODE_MODE1 5
|
|
TMODE_MODE2 2
|
|
TMODE_ACTION1 2
|
|
TMODE_ACTION2 1
|
|
TMODE_ACTION3 18
|
|
TMODE_ACTION4 0
|
|
TMODE_ACTION5 0
|
|
TMODE_ACTION6 0
|
|
TMODE_FLAGS 23
|
|
TMODE_TMIN 0.9
|
|
|
|
# LEDs. pin54 is green, pin55 is red
|
|
RELAY_PIN 54
|
|
RELAY_PIN2 55
|
|
RELAY_DEFAULT 1
|
|
# Set to GPIO so they are used as RELAY
|
|
SERVO5_FUNCTION -1
|
|
SERVO6_FUNCTION -1
|
|
|
|
AHRS_ORIENTATION 12
|
|
COMPASS_EXTERNAL 1
|
|
COMPASS_ORIENT 10
|
|
COMPASS_USE2 0
|
|
COMPASS_USE3 0
|
|
COMPASS_OFFS_MAX 2000
|
|
COMPASS_DIA_X 1.20
|
|
COMPASS_DIA_Y 1.11
|
|
COMPASS_DIA_Z 0.89
|
|
COMPASS_ODI_X -0.051
|
|
COMPASS_ODI_Y 0.141
|
|
COMPASS_ODI_Z 0.091
|
|
|
|
# battery setup
|
|
BATT_MONITOR 3
|
|
BATT_VOLT_PIN 4
|
|
BATT_VOLT_MULT 0.8485
|
|
|
|
# motor compensation
|
|
COMPASS_MOTCT 3
|
|
COMPASS_PMOT_EN 1
|
|
COMPASS_PMOT_EXP 0.65
|
|
COMPASS_LEARN 2
|
|
|
|
BRD_SER1_RTSCTS 0
|
|
BRD_SER2_RTSCTS 0
|
|
BRD_SAFETYENABLE 0
|
|
|
|
SERIAL0_PROTOCOL 2
|
|
SERIAL1_BAUD 625000
|
|
SERIAL1_PROTOCOL 2
|
|
SERIAL2_BAUD 115
|
|
SERIAL2_PROTOCOL 2
|
|
|
|
# radio setup
|
|
BRD_RADIO_TYPE 1
|
|
BRD_RADIO_PROT 1
|
|
BRD_RADIO_PPSCH 8
|
|
BRD_RADIO_SIGCH 9
|
|
BRD_RADIO_TPPSCH 10
|
|
BRD_RADIO_TSIGCH 11
|
|
BRD_RADIO_TELEM 1
|
|
BRD_RADIO_ABTIME 10
|
|
BRD_RADIO_ABLVL 25
|
|
RSSI_TYPE 2
|
|
RSSI_CHANNEL 8
|
|
RSSI_CHAN_LOW 0
|
|
RSSI_CHAN_HIGH 200
|
|
|
|
|
|
# non-standard motor ordering
|
|
SERVO1_FUNCTION 36
|
|
SERVO2_FUNCTION 33
|
|
SERVO3_FUNCTION 34
|
|
SERVO4_FUNCTION 35
|
|
|
|
# H class quad
|
|
FRAME_CLASS 1
|
|
FRAME_TYPE 1
|
|
|
|
# enable EK2
|
|
EK2_ENABLE 1
|
|
EK2_CHECK_SCALE 150
|
|
|
|
# EK3 disabled for flight
|
|
AHRS_EKF_TYPE 2
|
|
EK3_ENABLE 0
|
|
#EK3_CHECK_SCALE 120
|
|
#EK3_ACC_BIAS_LIM 1.0
|
|
#EK3_ABIAS_P_NSE 0.01
|
|
#EK3_MAG_CAL = 0
|
|
|
|
# setup EK2 limits
|
|
EK2_CHECK_SCALE 120
|
|
EK2_ALT_M_NSE 2.0
|
|
|
|
# fence
|
|
FENCE_TYPE 3
|
|
FENCE_ENABLE 0
|
|
FENCE_RADIUS 100
|
|
FENCE_ALT_MAX 50
|
|
FENCE_MARGIN 3
|
|
|
|
# arming
|
|
ARMING_CHECK 32767
|
|
DISARM_DELAY 8
|
|
|
|
# IMU
|
|
INS_FAST_SAMPLE 1
|
|
INS_GYRO_FILTER 20
|
|
LOG_BITMASK 65534
|
|
INS_HNTC2_ENABLE 1
|
|
INS_HNTC2_ATT 30
|
|
INS_HNTC2_BW 60
|
|
INS_HNTC2_FREQ 80
|
|
|
|
# rate controllers
|
|
ANGLE_MAX 3500
|
|
ATC_ACCEL_R_MAX 160000
|
|
ATC_ACCEL_P_MAX 160000
|
|
ATC_ACCEL_Y_MAX 54000
|
|
ATC_ANG_PIT_P 8.0
|
|
ATC_ANG_RLL_P 8.0
|
|
ATC_ANG_YAW_P 7.16
|
|
ATC_RAT_PIT_D 0.0069
|
|
ATC_RAT_PIT_FILT 10
|
|
ATC_RAT_PIT_FLTD 10
|
|
ATC_RAT_PIT_IMAX 0.5
|
|
ATC_RAT_PIT_I 0.0834
|
|
ATC_RAT_PIT_P 0.0834
|
|
ATC_RAT_RLL_D 0.007
|
|
ATC_RAT_RLL_FILT 10
|
|
ATC_RAT_RLL_FLTD 10
|
|
ATC_RAT_RLL_I 0.0966
|
|
ATC_RAT_RLL_P 0.0966
|
|
ATC_RAT_RLL_IMAX 0.5
|
|
ATC_RAT_YAW_P 0.6887
|
|
ATC_RAT_YAW_I 0.0689
|
|
ATC_RAT_YAW_IMAX 0.3
|
|
ATC_RAT_YAW_D 0.0
|
|
ATC_RAT_YAW_FILT 4.5125
|
|
ATC_RAT_YAW_FLTE 4.5125
|
|
ATC_SLEW_YAW 3250
|
|
ATC_THR_MIX_MAN 4
|
|
ATC_THR_MIX_MAX 0.9
|
|
|
|
# tuning
|
|
ACRO_RP_EXPO 0.3
|
|
ACRO_RP_P 8
|
|
ACRO_YAW_P 4
|
|
|
|
# flight modes
|
|
FLTMODE_CH 0
|
|
FLTMODE1 2
|
|
FLTMODE2 2
|
|
FLTMODE3 2
|
|
FLTMODE4 2
|
|
FLTMODE5 2
|
|
FLTMODE6 2
|
|
|
|
# failsafes
|
|
FS_THR_ENABLE 1
|
|
BATT_LOW_VOLT 3.43
|
|
BATT_FS_LOW_ACT 2
|
|
FS_GCS_ENABLE 0
|
|
|
|
# baro
|
|
TCAL_ENABLED 2
|
|
TCAL_BARO_EXP 1.2
|
|
|
|
# landing
|
|
LAND_SPEED_HIGH 350
|
|
|
|
# logging
|
|
LOG_BACKEND_TYPE 2
|
|
LOG_FILE_BUFSIZE 1
|
|
|
|
# voltages
|
|
MOT_BAT_VOLT_MAX 4.2
|
|
MOT_BAT_VOLT_MIN 3.3
|
|
MOT_THST_HOVER 0.3514
|
|
MOT_THST_EXPO -0.56
|
|
MOT_SPIN_ARM 0.03
|
|
MOT_SPIN_MIN 0.03
|
|
MOT_SPIN_MAX 1.0
|
|
MOT_SPOOL_TIME 0
|
|
MOT_HOVER_LEARN 1
|
|
|
|
# control inputs
|
|
PILOT_THR_BHV 3
|
|
PILOT_ACCEL_Z 400
|
|
PILOT_SPEED_DN 500
|
|
RC_FEEL_RP 50
|
|
RC1_MIN 1000
|
|
RC1_MAX 2000
|
|
RC2_MIN 1000
|
|
RC2_MAX 2000
|
|
RC3_MIN 1000
|
|
RC3_MAX 2000
|
|
RC4_MIN 1000
|
|
RC4_MAX 2000
|
|
RC3_TRIM 1500
|
|
RTL_ALT 400
|
|
GND_EFFECT_COMP 1
|
|
|
|
# deadzones, with auto-trim
|
|
RC1_DZ 15
|
|
RC2_DZ 15
|
|
RC3_DZ 15
|
|
RC4_DZ 15
|
|
|
|
# pos control
|
|
PSC_POSXY_P 0.7
|
|
PSC_VELXY_I 0.3
|
|
PSC_VELXY_P 0.6
|
|
PSC_VELXY_FLTE 1.0
|
|
WPNAV_LOIT_JERK 4000
|
|
WPNAV_LOIT_MAXA 800
|
|
WPNAV_LOIT_MINA 250
|
|
WPNAV_LOIT_SPEED 800
|
|
WPNAV_SPEED 750
|
|
RTL_SPEED 600
|
|
|
|
# GPS
|
|
GPS_NAVFILTER 6
|
|
GPS_SAVE_CFG 2
|
|
GPS_TYPE 2
|
|
GPS_HDOP_GOOD 160
|
|
|
|
# throw mode
|
|
THROW_NEXTMODE 5
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|