From ab9d13f5dd608f8e5a3950b209830616930e1cd2 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 5 May 2022 17:29:40 +1000
Subject: [PATCH] Tools: added SparkleTech airframes

---
 .../QuadPlanes/SparkleTech-EagleHero.parm     | 91 +++++++++++++++++++
 1 file changed, 91 insertions(+)
 create mode 100644 Tools/Frame_params/QuadPlanes/SparkleTech-EagleHero.parm

diff --git a/Tools/Frame_params/QuadPlanes/SparkleTech-EagleHero.parm b/Tools/Frame_params/QuadPlanes/SparkleTech-EagleHero.parm
new file mode 100644
index 0000000000..2f762c5651
--- /dev/null
+++ b/Tools/Frame_params/QuadPlanes/SparkleTech-EagleHero.parm
@@ -0,0 +1,91 @@
+# parameters for SparkleTech EagleHero VTOL
+
+# http://www.sparkletech.hk/%E9%B9%B0%E7%9C%BC-%E6%97%A0%E4%BA%BA%E6%9C%BA/electric-power/eagle-plus-vtol/
+
+# airspeed
+ARSPD_FBW_MAX    31
+ARSPD_FBW_MIN    22
+TRIM_ARSPD_CM    2400
+SCALING_SPEED    20
+TRIM_THROTTLE    55
+
+LIM_ROLL_CD      5000
+
+# fixed wing tuning
+RLL2SRV_RMAX     75
+RLL_RATE_D       0.002386
+RLL_RATE_FF      0.377393
+RLL_RATE_FLTD    10
+RLL_RATE_FLTT    3.183099
+RLL_RATE_I       0.377393
+RLL_RATE_P       0.045467
+RLL_RATE_SMAX    100
+
+PTCH2SRV_RMAX_DN 75
+PTCH2SRV_RMAX_UP 75
+PTCH2SRV_TCONST  0.75
+PTCH_RATE_D      0.004031
+PTCH_RATE_FF     0.627938
+PTCH_RATE_FLTD   10
+PTCH_RATE_FLTT   2.122066
+PTCH_RATE_I      0.627938
+PTCH_RATE_P      0.076867
+PTCH_RATE_SMAX   100
+
+# quadplane setup
+Q_ENABLE         1
+Q_FRAME_CLASS    1
+Q_FRAME_TYPE     1
+
+Q_ANGLE_MAX      1300
+Q_ASSIST_SPEED   17
+Q_A_ACCEL_P_MAX  55000
+Q_A_ACCEL_R_MAX  55000
+Q_A_ACCEL_Y_MAX  20000
+
+# VTOL rate tuning
+Q_A_ANG_PIT_P    4
+Q_A_ANG_RLL_P    4
+Q_A_RAT_PIT_D    0.008
+Q_A_RAT_PIT_I    0.1
+Q_A_RAT_PIT_P    0.1
+Q_A_RAT_PIT_SMAX 15
+Q_A_RAT_RLL_D    0.008
+Q_A_RAT_RLL_I    0.14084
+Q_A_RAT_RLL_P    0.14084
+Q_A_RAT_RLL_SMAX 15
+Q_A_RAT_YAW_D    0.018
+Q_A_RAT_YAW_I    0.028
+Q_A_RAT_YAW_P    0.2835
+Q_A_RAT_YAW_SMAX 10
+
+# VTOL battery on 2nd battery connector
+Q_M_BAT_IDX      1
+Q_M_BAT_VOLT_MAX 33.6
+Q_M_BAT_VOLT_MIN 26.4
+
+# ESC range
+Q_M_PWM_MAX      1850
+Q_M_PWM_MIN      1100
+
+# slow down ESC rates
+Q_M_SLEW_DN_TIME 0.2
+Q_M_SLEW_UP_TIME 0.2
+
+Q_M_THST_EXPO    0.7
+Q_M_THST_HOVER   0.19841
+
+Q_P_ACCZ_I       0.5
+Q_P_ACCZ_P       0.15
+Q_P_POSZ_P       0.5
+Q_P_VELZ_P       2.5
+
+Q_TRANS_DECEL    1.5
+
+# weathervaning on landing only
+Q_WVANE_ENABLE   1
+Q_WVANE_GAIN     0.2
+Q_WVANE_TAKEOFF  0
+
+# auto-trim servos
+SERVO_AUTO_TRIM  1