mirror of https://github.com/ArduPilot/ardupilot
101 lines
1.9 KiB
Plaintext
101 lines
1.9 KiB
Plaintext
# parameters for SparkleTech EagleHero VTOL
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# http://www.sparkletech.hk/%E9%B9%B0%E7%9C%BC-%E6%97%A0%E4%BA%BA%E6%9C%BA/electric-power/eagle-plus-vtol/
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# airspeed
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ARSPD_FBW_MAX 31
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ARSPD_FBW_MIN 22
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TRIM_ARSPD_CM 2400
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SCALING_SPEED 20
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TRIM_THROTTLE 55
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LIM_ROLL_CD 5000
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# fixed wing tuning
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RLL2SRV_RMAX 75
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RLL_RATE_D 0.002386
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RLL_RATE_FF 0.377393
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RLL_RATE_FLTD 10
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RLL_RATE_FLTT 3.183099
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RLL_RATE_I 0.377393
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RLL_RATE_P 0.045467
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RLL_RATE_SMAX 100
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PTCH2SRV_RMAX_DN 75
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PTCH2SRV_RMAX_UP 75
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PTCH2SRV_TCONST 0.75
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PTCH_RATE_D 0.004031
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PTCH_RATE_FF 0.627938
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PTCH_RATE_FLTD 10
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PTCH_RATE_FLTT 2.122066
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PTCH_RATE_I 0.627938
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PTCH_RATE_P 0.076867
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PTCH_RATE_SMAX 100
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# notch filter
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INS_HNTCH_ENABLE 1
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INS_HNTCH_ATT 60
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INS_HNTCH_BW 50
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INS_HNTCH_FREQ 100
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INS_HNTCH_HMNCS 7
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INS_HNTCH_MODE 1
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INS_HNTCH_REF 0.21
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# quadplane setup
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Q_ENABLE 1
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Q_FRAME_CLASS 1
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Q_FRAME_TYPE 1
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Q_ANGLE_MAX 1300
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Q_ASSIST_SPEED 17
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Q_A_ACCEL_P_MAX 55000
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Q_A_ACCEL_R_MAX 55000
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Q_A_ACCEL_Y_MAX 20000
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# VTOL rate tuning
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Q_A_ANG_PIT_P 4
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Q_A_ANG_RLL_P 4
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Q_A_RAT_PIT_D 0.008
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Q_A_RAT_PIT_I 0.1
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Q_A_RAT_PIT_P 0.1
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Q_A_RAT_PIT_SMAX 15
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Q_A_RAT_RLL_D 0.008
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Q_A_RAT_RLL_I 0.14084
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Q_A_RAT_RLL_P 0.14084
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Q_A_RAT_RLL_SMAX 15
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Q_A_RAT_YAW_D 0.018
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Q_A_RAT_YAW_I 0.028
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Q_A_RAT_YAW_P 0.2835
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Q_A_RAT_YAW_SMAX 10
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# VTOL battery on 2nd battery connector
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Q_M_BAT_IDX 1
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Q_M_BAT_VOLT_MAX 33.6
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Q_M_BAT_VOLT_MIN 26.4
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# ESC range
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Q_M_PWM_MAX 1850
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Q_M_PWM_MIN 1100
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# slow down ESC rates
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Q_M_SLEW_DN_TIME 0.2
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Q_M_SLEW_UP_TIME 0.2
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Q_M_THST_EXPO 0.7
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Q_M_THST_HOVER 0.19841
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Q_P_ACCZ_I 0.5
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Q_P_ACCZ_P 0.15
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Q_P_POSZ_P 0.5
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Q_P_VELZ_P 2.5
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Q_TRANS_DECEL 1.5
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# weathervaning on landing only
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Q_WVANE_ENABLE 1
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Q_WVANE_GAIN 0.2
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Q_WVANE_TAKEOFF 0
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# auto-trim servos
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SERVO_AUTO_TRIM 1
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