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AP_HAL_ChibiOS: update default params for SWAN-K1

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Hwurzburg 2021-09-02 13:40:36 -05:00 committed by Andrew Tridgell
parent 159d172ade
commit 854697f870
1 changed files with 11 additions and 5 deletions
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16
libraries/AP_HAL_ChibiOS/hwdef/Swan-K1/defaults.parm
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@ -6,7 +6,8 @@ BATT_CAPACITY 5500
Q_ENABLE 1
Q_FRAME_CLASS 1
Q_TAILSIT_MOTMX 15
Q_TAILSIT_ENABLE 2
SERVO1_FUNCTION 33
SERVO2_FUNCTION 34
SERVO3_FUNCTION 35
@ -23,8 +24,9 @@ RC2_MIN 1050
RC2_MAX 1950
RC3_MIN 1050
RC3_MAX 1950
RC4_MIN 1050
RC4_MAX 1950
RC3_TRIM 1500
RC4_MIN 1125
RC4_MAX 1875
THR_MIN 5
@ -71,6 +73,7 @@ LOG_FILE_RATEMAX 50
# tuning
RLL2SRV_TCONST 0.25
PTCH2SRV_TCONST 0.5
Q_A_ACCEL_P_MAX 40000
Q_A_ACCEL_R_MAX 20000
Q_A_ANG_PIT_P 8
@ -91,12 +94,14 @@ Q_A_RAT_YAW_P 0.7
Q_A_RAT_YAW_SMAX 15
Q_A_ACCEL_P_MAX 40000
Q_A_ACCEL_R_MAX 20000
Q_A_ACCEL_Y_MAX 27000
Q_P_ACCZ_P 0.8
Q_P_POSZ_P 1.5
Q_P_VELZ_P 8.0
Q_M_THST_HOVER 0.45
Q_M_BAT_VOLT_MAX 16.8
Q_M_BAT_VOLT_MIN 13.2
Q_TAILSIT_RAT_VT 30
Q_WP_ACCEL 250
Q_WP_ACCEL_Z 300
@ -110,8 +115,8 @@ Q_A_THR_MIX_MIN 0.3
Q_RTL_MODE 3
Q_TRANS_DECEL 2.5
# QRTL on 'D' button
RC10_OPTION 4
# QRTL on 'B' button
RC8_OPTION 4
RC_OPTIONS 32
@ -120,6 +125,7 @@ TECS_LAND_ARSPD 8
# 16 m/s target airspeed in auto modes
TRIM_ARSPD_CM 1600
TRIM_THROTTLE 29
# 2nd lane tends to be better
EK3_PRIMARY 1