From 7a5c71d8a478d5230de97c73af68c6b4d0ba6023 Mon Sep 17 00:00:00 2001
From: Leonard Hall <leonardthall@gmail.com>
Date: Thu, 14 Jul 2022 14:25:51 +0930
Subject: [PATCH] Tools: Update Callisto Model

---
 Tools/autotest/models/Callisto.json  |  4 +--
 Tools/autotest/models/Callisto.param | 44 ++++++++++++++++------------
 2 files changed, 27 insertions(+), 21 deletions(-)

diff --git a/Tools/autotest/models/Callisto.json b/Tools/autotest/models/Callisto.json
index c5e745ec90..100a994fce 100644
--- a/Tools/autotest/models/Callisto.json
+++ b/Tools/autotest/models/Callisto.json
@@ -10,8 +10,8 @@
     # the ref parameters should be taken from a test
     # with the copter flying at constant speed in zero wind. This is used
     # to estimate the drag coefficient
-    "refSpd" : 14.88,    # m/s
-    "refAngle" : 8.91,   # degrees
+    "refSpd" : 25.0,    # m/s
+    "refAngle" : 30.0,   # degrees
     "refVoltage" : 46.9, # volts
     "refCurrent" : 65.36, # Amps
     "refAlt" : 26,       # meters AMSL
diff --git a/Tools/autotest/models/Callisto.param b/Tools/autotest/models/Callisto.param
index 1454aff091..4da6a413fb 100644
--- a/Tools/autotest/models/Callisto.param
+++ b/Tools/autotest/models/Callisto.param
@@ -1,32 +1,36 @@
-ACRO_YAW_P,2
-ANGLE_MAX,3000
+
+
+ACRO_Y_RATE,90
 ATC_ACCEL_P_MAX,30000
 ATC_ACCEL_R_MAX,30000
 ATC_ACCEL_Y_MAX,6000
-ATC_ANG_PIT_P,6
-ATC_ANG_RLL_P,6
+ATC_ANG_PIT_P,8
+ATC_ANG_RLL_P,8
 ATC_ANG_YAW_P,5
 ATC_INPUT_TC,0.25
-ATC_RAT_PIT_D,0.0080
+ATC_RAT_PIT_D,0.00375
 ATC_RAT_PIT_FLTD,10
-ATC_RAT_PIT_I,0.1634
-ATC_RAT_PIT_IMAX,0.5
-ATC_RAT_PIT_P,0.1634
-ATC_RAT_RLL_D,0.0085
+ATC_RAT_PIT_I,0.455
+ATC_RAT_PIT_P,0.455
+ATC_RAT_RLL_D,0.00375
 ATC_RAT_RLL_FLTD,10
-ATC_RAT_RLL_I,0.1671
-ATC_RAT_RLL_IMAX,0.5
-ATC_RAT_RLL_P,0.1671
+ATC_RAT_RLL_I,0.455
+ATC_RAT_RLL_P,0.455
+ATC_RAT_YAW_FLTE,10
 ATC_RAT_YAW_I,0.05
 ATC_RAT_YAW_P,0.5
 ATC_SLEW_YAW,3000
 ATC_THR_MIX_MAX,2
-AUTOTUNE_AGGR,0.1
-AUTOTUNE_MIN_D,0.001
+EK3_DRAG_BCOEF_X,91.2220
+EK3_DRAG_BCOEF_Y,91.2220
+EK3_DRAG_MCOEF,0.0760
+FOLL_ALT_TYPE,1
+FOLL_DIST_MAX,10000
+FOLL_ENABLE,1
+FOLL_OFS_TYPE,1
 FRAME_CLASS,4
 FRAME_TYPE,1
 INS_ACCEL_FILTER,10
-LOIT_ACC_MAX,457.2916
 LOIT_ANG_MAX,25
 MOT_BAT_CURR_TC,2
 MOT_BAT_VOLT_MAX,50.4
@@ -40,15 +44,17 @@ MOT_SPIN_MIN,0.2
 MOT_THST_EXPO,0.5
 MOT_THST_HOVER,0.52
 MOT_YAW_HEADROOM,50
+PILOT_THR_BHV,3
+PILOT_Y_RATE,60
 PSC_ACCZ_FLTD,10
 PSC_ACCZ_FLTE,0
 PSC_ACCZ_FLTT,10
-PSC_ACCZ_I,0.5
-PSC_ACCZ_P,0.25
+PSC_ACCZ_I,1.0
 PSC_ANGLE_MAX,45
-PSC_POSXY_P,1
+PSC_JERK_Z,10
 PSC_POSZ_P,0.5
 PSC_VELZ_P,2.5
-WPNAV_ACCEL,250
+WP_YAW_BEHAVIOR,1
+WPNAV_RFND_USE,0
 WPNAV_SPEED,1500
 SIM_BATT_VOLTAGE 50