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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
76 lines
1.8 KiB
Plaintext
76 lines
1.8 KiB
Plaintext
# Default setup and tuning parameters for TradHeli - load with QGC
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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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# Vehicle-Id Component-Id Name Value Type
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1 1 ATC_ACCEL_P_MAX 52000 9
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1 1 ATC_ACCEL_R_MAX 52000 9
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1 1 ATC_ACCEL_Y_MAX 20000 9
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1 1 ATC_ANG_PIT_P 4.5 9
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1 1 ATC_ANG_RLL_P 4.5 9
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1 1 ATC_ANG_YAW_P 4.5 9
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1 1 ATC_RATE_FF_ENAB 1 2
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1 1 ATC_RATE_P_MAX 270 9
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1 1 ATC_RATE_R_MAX 360 9
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1 1 ATC_RATE_Y_MAX 180 9
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1 1 ATC_RAT_PIT_D 0.0008 9
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1 1 ATC_RAT_PIT_FILT 12 9
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1 1 ATC_RAT_PIT_I 0.35 9
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1 1 ATC_RAT_PIT_ILMI 0.04 9
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1 1 ATC_RAT_PIT_IMAX 0.44 9
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1 1 ATC_RAT_PIT_P 0.040 9
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1 1 ATC_RAT_PIT_VFF 0.15 9
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1 1 ATC_RAT_RLL_D 0.0005 9
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1 1 ATC_RAT_RLL_FILT 13 9
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1 1 ATC_RAT_RLL_I 0.32 9
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1 1 ATC_RAT_RLL_ILMI 0.03 9
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1 1 ATC_RAT_RLL_IMAX 0.44 9
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1 1 ATC_RAT_RLL_P 0.035 9
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1 1 ATC_RAT_RLL_VFF 0.15 9
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1 1 ATC_RAT_YAW_D 0.003 9
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1 1 ATC_RAT_YAW_FILT 20 9
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1 1 ATC_RAT_YAW_I 0.30 9
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1 1 ATC_RAT_YAW_ILMI 0.001 9
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1 1 ATC_RAT_YAW_IMAX 0.33 9
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1 1 ATC_RAT_YAW_P 0.22 9
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1 1 ATC_RAT_YAW_VFF 0.09 9
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1 1 ATC_SLEW_YAW 6000 9
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1 1 DISARM_DELAY 0 2
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1 1 FRAME_CLASS 6 2
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1 1 FS_CRASH_CHECK 0 2
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1 1 GND_EFFECT_COMP 1 2
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1 1 H_COLYAW 3 9
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1 1 LOIT_ACC_MAX 500 9
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1 1 LOIT_ANG_MAX 0 9
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1 1 LOIT_BRK_ACCEL 125 9
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1 1 LOIT_BRK_DELAY 1 9
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1 1 LOIT_BRK_JERK 250 9
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1 1 LOIT_SPEED 3000 9
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1 1 PHLD_BRAKE_ANGLE 800 4
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1 1 PHLD_BRAKE_RATE 4 4
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1 1 PSC_ACCZ_D 0 9
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1 1 PSC_ACCZ_FF 0 9
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1 1 PSC_ACCZ_FILT 20 9
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1 1 PSC_ACCZ_I 1 9
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1 1 PSC_ACCZ_IMAX 800 9
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1 1 PSC_ACCZ_P 0.30 9
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1 1 PSC_ACC_XY_FILT 2 9
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1 1 PSC_ANGLE_MAX 0 9
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1 1 PSC_POSXY_P 1 9
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1 1 PSC_POSZ_P 1 9
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1 1 PSC_VELXY_D 0.5 9
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1 1 PSC_VELXY_D_FILT 5 9
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1 1 PSC_VELXY_FILT 5 9
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1 1 PSC_VELXY_I 1 9
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1 1 PSC_VELXY_IMAX 1000 9
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1 1 PSC_VELXY_P 2 9
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1 1 PSC_VELZ_P 5 9
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1 1 WPNAV_ACCEL 220 9
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1 1 WPNAV_ACCEL_Z 100 9
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1 1 WPNAV_RADIUS 200 9
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1 1 WPNAV_SPEED_DN 150 9
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1 1 WPNAV_SPEED_UP 250 9
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1 1 WP_NAVALT_MIN 5 9
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1 1 WP_YAW_BEHAVIOR 3 2
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