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