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Tools:TradHeli - update Copter3.6 setup params and add param files for QGC

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add new Copter3.5 to 3.6 upgrade params to set the PSC, LOIT
and NAV controllers for New Loiter and new Position Controller
This commit is contained in:
ChristopherOlson 2018-07-13 17:33:50 -05:00 committed by Andrew Tridgell
parent 385f735799
commit cbe68b4a91
4 changed files with 151 additions and 8 deletions
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15
Tools/Frame_params/TradHeli_Copter36_Setup.param → Tools/Frame_params/TradHeli_Copter36_Setup-MP.param
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@ -1,4 +1,4 @@
# Default tuning parameters for TradHeli
# Default setup and tuning parameters for TradHeli - load with MP
# Tunes the PSC, LOIT, NAV and ATC for New Loiter and Auto
# Stack: ArduPilot
# Vehicle: Helicopter
@ -10,9 +10,9 @@ ATC_ANG_PIT_P, 4.5
ATC_ANG_RLL_P, 4.5
ATC_ANG_YAW_P, 4.5
ATC_RATE_FF_ENAB, 1
ATC_RATE_P_MAX, 0.0
ATC_RATE_R_MAX, 0.0
ATC_RATE_Y_MAX, 0.0
ATC_RATE_P_MAX, 270
ATC_RATE_R_MAX, 360
ATC_RATE_Y_MAX, 180
ATC_RAT_PIT_D 0.0008
ATC_RAT_PIT_FILT, 12
ATC_RAT_PIT_I, 0.35
@ -27,17 +27,16 @@ ATC_RAT_RLL_ILMI, 0.03
ATC_RAT_RLL_IMAX, 0.44
ATC_RAT_RLL_P, 0.035
ATC_RAT_RLL_VFF, 0.15
ATC_RAT_YAW_D, 0.007
ATC_RAT_YAW_D, 0.003
ATC_RAT_YAW_FILT, 20
ATC_RAT_YAW_I, 0.30
ATC_RAT_YAW_ILMI, 0.01
ATC_RAT_YAW_IMAX, 0.33
ATC_RAT_YAW_P, 0.28
ATC_RAT_YAW_VFF, 0.12
ATC_RAT_YAW_P, 0.22
ATC_RAT_YAW_VFF, 0.09
ATC_SLEW_YAW, 6000
DISARM_DELAY, 0
FRAME_CLASS, 6
FRAME_TYPE, 1
FS_CRASH_CHECK, 0
GND_EFFECT_COMP,1
H_COLYAW, 3

75
Tools/Frame_params/TradHeli_Copter36_Setup-QGC.params Normal file
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@ -0,0 +1,75 @@
# Default setup and tuning parameters for TradHeli - load with QGC
# Tunes the PSC, LOIT, NAV and ATC for New Loiter and Auto
# Stack: ArduPilot
# Vehicle: Helicopter
# Version: 3.6
# Vehicle-Id Component-Id Name Value Type
1 1 ATC_ACCEL_P_MAX 52000 9
1 1 ATC_ACCEL_R_MAX 52000 9
1 1 ATC_ACCEL_Y_MAX 20000 9
1 1 ATC_ANG_PIT_P 4.5 9
1 1 ATC_ANG_RLL_P 4.5 9
1 1 ATC_ANG_YAW_P 4.5 9
1 1 ATC_RATE_FF_ENAB 1 2
1 1 ATC_RATE_P_MAX 270 9
1 1 ATC_RATE_R_MAX 360 9
1 1 ATC_RATE_Y_MAX 180 9
1 1 ATC_RAT_PIT_D 0.0008 9
1 1 ATC_RAT_PIT_FILT 12 9
1 1 ATC_RAT_PIT_I 0.35 9
1 1 ATC_RAT_PIT_ILMI 0.04 9
1 1 ATC_RAT_PIT_IMAX 0.44 9
1 1 ATC_RAT_PIT_P 0.040 9
1 1 ATC_RAT_PIT_VFF 0.15 9
1 1 ATC_RAT_RLL_D 0.0005 9
1 1 ATC_RAT_RLL_FILT 13 9
1 1 ATC_RAT_RLL_I 0.32 9
1 1 ATC_RAT_RLL_ILMI 0.03 9
1 1 ATC_RAT_RLL_IMAX 0.44 9
1 1 ATC_RAT_RLL_P 0.035 9
1 1 ATC_RAT_RLL_VFF 0.15 9
1 1 ATC_RAT_YAW_D 0.003 9
1 1 ATC_RAT_YAW_FILT 20 9
1 1 ATC_RAT_YAW_I 0.30 9
1 1 ATC_RAT_YAW_ILMI 0.001 9
1 1 ATC_RAT_YAW_IMAX 0.33 9
1 1 ATC_RAT_YAW_P 0.22 9
1 1 ATC_RAT_YAW_VFF 0.09 9
1 1 ATC_SLEW_YAW 6000 9
1 1 DISARM_DELAY 0 2
1 1 FRAME_CLASS 6 2
1 1 FS_CRASH_CHECK 0 2
1 1 GND_EFFECT_COMP 1 2
1 1 H_COLYAW 3 9
1 1 LOIT_ACC_MAX 500 9
1 1 LOIT_ANG_MAX 0 9
1 1 LOIT_BRK_ACCEL 125 9
1 1 LOIT_BRK_DELAY 1 9
1 1 LOIT_BRK_JERK 250 9
1 1 LOIT_SPEED 3000 9
1 1 PHLD_BRAKE_ANGLE 800 4
1 1 PHLD_BRAKE_RATE 4 4
1 1 PSC_ACCZ_D 0 9
1 1 PSC_ACCZ_FF 0 9
1 1 PSC_ACCZ_FILT 20 9
1 1 PSC_ACCZ_I 1 9
1 1 PSC_ACCZ_IMAX 800 9
1 1 PSC_ACCZ_P 0.30 9
1 1 PSC_ACC_XY_FILT 2 9
1 1 PSC_ANGLE_MAX 0 9
1 1 PSC_POSXY_P 1 9
1 1 PSC_POSZ_P 1 9
1 1 PSC_VELXY_D 0.5 9
1 1 PSC_VELXY_D_FILT 5 9
1 1 PSC_VELXY_FILT 5 9
1 1 PSC_VELXY_I 1 9
1 1 PSC_VELXY_IMAX 1000 9
1 1 PSC_VELXY_P 2 9
1 1 PSC_VELZ_P 5 9
1 1 WPNAV_ACCEL 220 9
1 1 WPNAV_ACCEL_Z 100 9
1 1 WPNAV_RADIUS 200 9
1 1 WPNAV_SPEED_DN 150 9
1 1 WPNAV_SPEED_UP 250 9
1 1 WP_NAVALT_MIN 5 9
1 1 WP_YAW_BEHAVIOR 3 2

34
Tools/Frame_params/TradHeli_Copter36_Upgrade-MP.param Normal file
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@ -0,0 +1,34 @@
# TradHeli Copter3.5 to 3.6 upgrade settings - load with MP
# Tunes the PSC, LOIT, and Nav for New Loiter and Auto
# Stack: ArduPilot
# Vehicle: Helicopter
# Version: 3.6
LOIT_ACC_MAX, 500
LOIT_ANG_MAX, 0.0
LOIT_BRK_ACCEL, 125
LOIT_BRK_DELAY, 1
LOIT_BRK_JERK, 250
LOIT_SPEED, 3000
PHLD_BRAKE_ANGLE, 800
PHLD_BRAKE_RATE, 4
PSC_ACCZ_D, 0.0
PSC_ACCZ_FF, 0.0
PSC_ACCZ_FILT, 20
PSC_ACCZ_I, 1
PSC_ACCZ_IMAX, 800
PSC_ACCZ_P, 0.30
PSC_ACC_XY_FILT, 2
PSC_ANGLE_MAX, 0.0
PSC_POSXY_P, 1
PSC_POSZ_P, 1
PSC_VELXY_D, 0.5
PSC_VELXY_D_FILT, 5
PSC_VELXY_FILT, 5
PSC_VELXY_I, 1
PSC_VELXY_IMAX, 1000
PSC_VELXY_P, 2
PSC_VELZ_P, 5
WPNAV_ACCEL, 220
WPNAV_ACCEL_Z, 100
WPNAV_SPEED_DN, 150
WPNAV_SPEED_UP, 250

35
Tools/Frame_params/TradHeli_Copter36_Upgrade-QGC.params Normal file
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@ -0,0 +1,35 @@
# TradHeli Copter3.5 to 3.6 upgrade settings - load with QGC
# Tunes the PSC, LOIT, and Nav for New Loiter and Auto
# Stack: ArduPilot
# Vehicle: Helicopter
# Version: 3.6
# Vehicle-Id Component-Id Name Value Type
1 1 LOIT_ACC_MAX 500 9
1 1 LOIT_ANG_MAX 0 9
1 1 LOIT_BRK_ACCEL 125 9
1 1 LOIT_BRK_DELAY 1 9
1 1 LOIT_BRK_JERK 250 9
1 1 LOIT_SPEED 3000 9
1 1 PHLD_BRAKE_ANGLE 800 4
1 1 PHLD_BRAKE_RATE 4 4
1 1 PSC_ACCZ_D 0 9
1 1 PSC_ACCZ_FF 0 9
1 1 PSC_ACCZ_FILT 20 9
1 1 PSC_ACCZ_I 1 9
1 1 PSC_ACCZ_IMAX 800 9
1 1 PSC_ACCZ_P 0.3 9
1 1 PSC_ACC_XY_FILT 2 9
1 1 PSC_ANGLE_MAX 0 9
1 1 PSC_POSXY_P 1 9
1 1 PSC_POSZ_P 1 9
1 1 PSC_VELXY_D 0.5 9
1 1 PSC_VELXY_D_FILT 5 9
1 1 PSC_VELXY_FILT 5 9
1 1 PSC_VELXY_I 1 9
1 1 PSC_VELXY_IMAX 1000 9
1 1 PSC_VELXY_P 2 9
1 1 PSC_VELZ_P 5 9
1 1 WPNAV_ACCEL 220 9
1 1 WPNAV_ACCEL_Z 100 9
1 1 WPNAV_SPEED_DN 150 9
1 1 WPNAV_SPEED_UP 250 9