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
35 lines
686 B
Plaintext
35 lines
686 B
Plaintext
# TradHeli Copter3.5 to 3.6 upgrade settings - load with MP
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# Tunes the PSC, LOIT, and Nav 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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LOIT_ACC_MAX, 500
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LOIT_ANG_MAX, 0.0
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LOIT_BRK_ACCEL, 125
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LOIT_BRK_DELAY, 1
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LOIT_BRK_JERK, 250
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LOIT_SPEED, 3000
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PHLD_BRAKE_ANGLE, 800
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PHLD_BRAKE_RATE, 4
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PSC_ACCZ_D, 0.0
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PSC_ACCZ_FF, 0.0
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PSC_ACCZ_FILT, 20
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PSC_ACCZ_I, 1
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PSC_ACCZ_IMAX, 800
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PSC_ACCZ_P, 0.30
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PSC_ACC_XY_FILT, 2
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PSC_ANGLE_MAX, 0.0
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PSC_POSXY_P, 1
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PSC_POSZ_P, 1
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PSC_VELXY_D, 0.5
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PSC_VELXY_D_FILT, 5
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PSC_VELXY_FILT, 5
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PSC_VELXY_I, 1
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PSC_VELXY_IMAX, 1000
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PSC_VELXY_P, 2
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PSC_VELZ_P, 5
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WPNAV_ACCEL, 220
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WPNAV_ACCEL_Z, 100
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WPNAV_SPEED_DN, 150
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WPNAV_SPEED_UP, 250
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