mirror of https://github.com/ArduPilot/ardupilot
160 lines
3.0 KiB
Plaintext
160 lines
3.0 KiB
Plaintext
# this is a dual-canard IC quadplane Altair 370
|
|
# https://www.foxtechfpv.com/foxtech-altair-370-tandem-wing-hybrid-vtol.html
|
|
|
|
# the dual canard design is setup with the front two canards setup as elevons
|
|
# with MIXING_OFFSET used to give 75% elevator control and 25% roll control
|
|
|
|
# the rear two elevons are setup for roll only (ailerons)
|
|
|
|
# setup airspeed range
|
|
ARSPD_FBW_MAX 35
|
|
ARSPD_FBW_MIN 22
|
|
TRIM_ARSPD_CM 2700
|
|
|
|
# fixed wing limits
|
|
LIM_PITCH_MAX 1500
|
|
LIM_PITCH_MIN -1500
|
|
LIM_ROLL_CD 2500
|
|
|
|
# setup elevons as 75% elevator and 25% aileron
|
|
MIXING_GAIN 0.25
|
|
MIXING_OFFSET -200
|
|
|
|
# fixed wing pitch tune
|
|
PTCH_RATE_D 0.01
|
|
PTCH_RATE_FF 0.15
|
|
PTCH_RATE_FLTT 6
|
|
PTCH_RATE_I 0.27
|
|
PTCH_RATE_P 0.54
|
|
|
|
# fixed wing roll tune
|
|
RLL_RATE_D 0.004
|
|
RLL_RATE_FF 0.2
|
|
RLL_RATE_I 0.2
|
|
RLL_RATE_P 0.5
|
|
|
|
# vtol motor notch filter
|
|
INS_HNTCH_ENABLE 1
|
|
INS_HNTCH_ATT 60
|
|
INS_HNTCH_BW 31
|
|
INS_HNTCH_FREQ 62
|
|
INS_HNTCH_HMNCS 3
|
|
INS_HNTCH_MODE 1
|
|
INS_HNTCH_OPTS 1
|
|
INS_HNTCH_REF 0.332000
|
|
|
|
# IC motor notch filter. Note that
|
|
# you need to setup RPM with EFI or pin input
|
|
INS_HNTC2_ENABLE 1
|
|
INS_HNTC2_ATT 50
|
|
INS_HNTC2_BW 15
|
|
INS_HNTC2_FREQ 30
|
|
INS_HNTC2_HMNCS 3
|
|
INS_HNTC2_MODE 2
|
|
INS_HNTC2_OPTS 1
|
|
INS_HNTC2_REF 1
|
|
|
|
# enable quadplane as X frame
|
|
Q_ENABLE 1
|
|
Q_FRAME_CLASS 1
|
|
Q_FRAME_TYPE 1
|
|
|
|
# adjust rates
|
|
Q_ACRO_PIT_RATE 150
|
|
Q_ACRO_RLL_RATE 300
|
|
Q_ACRO_YAW_RATE 15
|
|
|
|
# small angle max
|
|
Q_ANGLE_MAX 1000
|
|
|
|
# setup assistance
|
|
Q_ASSIST_ANGLE 35
|
|
Q_ASSIST_SPEED 22
|
|
|
|
# lower rate accels
|
|
Q_A_ACCEL_P_MAX 25000
|
|
Q_A_ACCEL_R_MAX 25000
|
|
Q_A_ACCEL_Y_MAX 9000
|
|
Q_WP_ACCEL 173
|
|
|
|
Q_A_ANG_PIT_P 4
|
|
Q_A_ANG_RLL_P 4
|
|
Q_A_ANG_YAW_P 3
|
|
|
|
Q_A_RATE_FF_ENAB 0
|
|
|
|
# pitch PID gains
|
|
Q_A_RAT_PIT_D 0.018
|
|
Q_A_RAT_PIT_FLTT 10
|
|
Q_A_RAT_PIT_I 0.227
|
|
Q_A_RAT_PIT_P 0.454
|
|
|
|
# roll PID gains
|
|
Q_A_RAT_RLL_D 0.0108
|
|
Q_A_RAT_RLL_FLTT 10
|
|
Q_A_RAT_RLL_I 0.156
|
|
Q_A_RAT_RLL_P 0.312
|
|
Q_A_RAT_YAW_FLTE 2
|
|
Q_A_RAT_YAW_FLTT 10
|
|
Q_A_RAT_YAW_P 1.5
|
|
|
|
# adjust loiter break
|
|
Q_LOIT_BRK_DELAY 0.5
|
|
Q_LOIT_BRK_JERK 500
|
|
|
|
# approx expo and hover
|
|
Q_M_THST_EXPO 0.7
|
|
Q_M_THST_HOVER 0.383955
|
|
|
|
# adjust transition time
|
|
Q_TRANSITION_MS 3000
|
|
|
|
|
|
# rear canards on servos 9 and 10, setup as ailerons
|
|
SERVO9_FUNCTION 4
|
|
SERVO10_FUNCTION 4
|
|
|
|
# front canards on servos 11 and 12, setup as elevons, with
|
|
# 75% elevator and 25% aileron.
|
|
# servo11 as right elevon, servo12 as left elevon
|
|
SERVO11_FUNCTION 78
|
|
SERVO11_REVERSED 1
|
|
SERVO12_FUNCTION 77
|
|
|
|
# VTOL motors on outputs 1 to 4
|
|
SERVO1_FUNCTION 33
|
|
SERVO2_FUNCTION 34
|
|
SERVO3_FUNCTION 35
|
|
SERVO4_FUNCTION 36
|
|
|
|
# rudder on servo5
|
|
SERVO5_FUNCTION 21
|
|
SERVO5_REVERSED 1
|
|
|
|
# throttle on servo7
|
|
SERVO7_FUNCTION 70
|
|
|
|
# motor start on servo8
|
|
SERVO8_FUNCTION 69
|
|
|
|
TECS_PTCH_DAMP 0.1
|
|
|
|
WP_LOITER_RAD 300
|
|
WP_RADIUS 100
|
|
|
|
# enable ICE subsystem
|
|
ICE_ENABLE 1
|
|
ICE_IDLE_DB 50
|
|
ICE_IDLE_PCT 15
|
|
ICE_IDLE_RPM 2200
|
|
ICE_IDLE_SLEW 1
|
|
ICE_OPTIONS 4
|
|
ICE_RPM_CHAN 1
|
|
|
|
# cut ICE engine on landing
|
|
Q_LAND_ICE_CUT 1
|
|
|
|
# setup RPM as interrupt on AUX6
|
|
RPM1_TYPE 2
|
|
RPM1_PIN 55
|