ardupilot/Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param

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# parameters for Foxtech GreatShark
# https://www.foxtechfpv.com/foxtech-great-shark-330-vtol.html
# airspeed
ARSPD_FBW_MAX 35
ARSPD_FBW_MIN 18
TRIM_ARSPD_CM 2300
TRIM_THROTTLE 60
# notch filter
INS_HNTCH_ENABLE 1
INS_HNTCH_ATT 50.000000
INS_HNTCH_BW 38.000000
INS_HNTCH_ENABLE 1.000000
INS_HNTCH_FREQ 75.000000
INS_HNTCH_HMNCS 15.000000
INS_HNTCH_MODE 1.000000
INS_HNTCH_REF 0.337000
# fixed wing limits
LIM_PITCH_MIN -2000
LIM_ROLL_CD 4000
LEVEL_ROLL_LIMIT 12
FBWB_CLIMB_RATE 5
WP_LOITER_RAD 250
WP_RADIUS 200
RTL_RADIUS 200
# fixed wing tune
RLL2SRV_RMAX 75
RLL_RATE_D 0.009886
RLL_RATE_FF 0.442834
RLL_RATE_FLTD 12.5
RLL_RATE_FLTT 3.183099
RLL_RATE_I 0.442834
RLL_RATE_P 0.385863
RLL_RATE_SMAX 100
PTCH2SRV_RMAX_DN 75
PTCH2SRV_RMAX_UP 75
PTCH2SRV_TCONST 0.75
PTCH_RATE_D 0.027
PTCH_RATE_FF 1.835124
PTCH_RATE_FLTD 12.5
PTCH_RATE_FLTT 2.122066
PTCH_RATE_I 1.835124
PTCH_RATE_P 1.113065
PTCH_RATE_SMAX 100
# quadplane parameters
Q_ENABLE 1
Q_FRAME_CLASS 1
Q_FRAME_TYPE 1
Q_ANGLE_MAX 1500
Q_ASSIST_ANGLE 30
Q_ASSIST_SPEED 15
Q_A_ACCEL_P_MAX 30000
Q_A_ACCEL_R_MAX 30000
Q_A_ACCEL_Y_MAX 9000
Q_A_ANG_PIT_P 3
Q_A_ANG_RLL_P 3
Q_A_ANG_YAW_P 3
Q_A_RATE_P_MAX 60
Q_A_RATE_R_MAX 60
Q_A_RATE_Y_MAX 60
Q_A_RAT_PIT_D 0.005523
Q_A_RAT_PIT_FLTD 12.5
Q_A_RAT_PIT_FLTT 12.5
Q_A_RAT_PIT_I 0.198349
Q_A_RAT_PIT_P 0.198349
Q_A_RAT_RLL_D 0.003301
Q_A_RAT_RLL_FLTD 12.5
Q_A_RAT_RLL_FLTT 12.5
Q_A_RAT_RLL_I 0.233438
Q_A_RAT_RLL_P 0.233438
Q_A_RAT_YAW_D 0.01
Q_A_RAT_YAW_FLTD 12.5
Q_A_RAT_YAW_FLTE 2
Q_A_RAT_YAW_FLTT 12.5
Q_A_RAT_YAW_P 1
Q_A_SLEW_YAW 3000
Q_LAND_FINAL_ALT 12
Q_LAND_SPEED 40
Q_M_BAT_IDX 1
Q_M_BAT_VOLT_MAX 50.4
Q_M_BAT_VOLT_MIN 40
Q_M_THST_HOVER 0.338
# soften VTOL position controller
Q_P_POSXY_P 0.5
Q_P_VELXY_D 0.17
Q_P_VELXY_I 0.35
Q_P_VELXY_P 0.7
Q_RTL_ALT 40
Q_TRANS_DECEL 1.5
Q_TRANS_FAIL 20
Q_VELZ_MAX 200
Q_VELZ_MAX_DN 130
Q_VFWD_ALT 6
Q_VFWD_GAIN 0.05
Q_WVANE_GAIN 0.3
Q_WVANE_TAKEOFF 0
# servo setup
SERVO1_REVERSED 1
SERVO2_FUNCTION 79
SERVO2_REVERSED 1
SERVO4_FUNCTION 80
SERVO_AUTO_TRIM 1