Frame_params: added defaults for SkyViper-F412

Tools/Frame_params/SkyViper-F412/defaults.parm

@@ -0,0 +1,235 @@
+# defaults for SkyRocket streaming GPS board
+#BRD_TYPE 21
+#BRD_IO_ENABLE 0
+MOT_PWM_TYPE 3
+MOT_PWM_MIN 1000
+MOT_PWM_MAX 2000
+RC_SPEED 16000
+#TERRAIN_ENABLE 0
+
+# toy mode setup
+TMODE_ENABLE 1
+TMODE_MODE1  5
+TMODE_MODE2  2
+TMODE_ACTION1 2
+TMODE_ACTION2 1
+TMODE_ACTION3 18
+TMODE_ACTION4 0
+TMODE_ACTION5 0
+TMODE_ACTION6 0
+TMODE_FLAGS   15
+TMODE_TMIN    0.9
+
+# LEDs. pin0 is green, pin1 is red
+RELAY_PIN 0
+RELAY_PIN2 1
+RELAY_DEFAULT 1
+
+AHRS_ORIENTATION 12
+COMPASS_EXTERNAL 1
+COMPASS_ORIENT   10
+COMPASS_USE2     0
+COMPASS_USE3     0
+COMPASS_OFFS_MAX 2000
+COMPASS_DIA_X    1.20
+COMPASS_DIA_Y    1.11
+COMPASS_DIA_Z    0.89
+COMPASS_ODI_X   -0.051
+COMPASS_ODI_Y    0.141
+COMPASS_ODI_Z    0.091
+
+# battery setup
+BATT_MONITOR     3
+BATT_VOLT_PIN    9
+BATT_VOLT_MULT   1
+
+# motor compensation
+COMPASS_MOTCT    3
+COMPASS_PMOT_EN  1
+COMPASS_PMOT_EXP 0.65
+COMPASS_LEARN    2
+
+#BRD_SER1_RTSCTS 0
+#BRD_SER2_RTSCTS 0
+#BRD_SAFETYENABLE 0
+
+SERIAL0_BAUD     115
+SERIAL0_PROTOCOL 2
+SERIAL1_BAUD     625000
+SERIAL1_PROTOCOL 2
+
+# radio setup
+BRD_RADIO_TYPE 1
+BRD_RADIO_PROT 1
+BRD_RADIO_PPSCH 8
+BRD_RADIO_SIGCH 9
+BRD_RADIO_TPPSCH 10
+BRD_RADIO_TSIGCH 11
+BRD_RADIO_TELEM 1
+BRD_RADIO_ABTIME 10
+BRD_RADIO_ABLVL 25
+RSSI_TYPE 2
+RSSI_CHANNEL 8
+RSSI_CHAN_LOW 0
+RSSI_CHAN_HIGH 200
+
+
+# non-standard motor ordering
+SERVO1_FUNCTION  35
+SERVO2_FUNCTION  34
+SERVO3_FUNCTION  33
+SERVO4_FUNCTION  36
+
+# H class quad
+FRAME_CLASS 1
+FRAME_TYPE 1
+
+# enable EK2
+EK2_ENABLE 1
+
+# EK3 disabled for flight
+AHRS_EKF_TYPE 2
+EK3_ENABLE 0
+#EK3_CHECK_SCALE 120
+#EK3_ACC_BIAS_LIM 1.0
+#EK3_ABIAS_P_NSE 0.01
+#EK3_MAG_CAL = 0
+
+# setup EK2 limits
+EK2_CHECK_SCALE 120
+EK2_ALT_M_NSE 2.0
+
+# fence
+FENCE_TYPE      3
+FENCE_ENABLE    0
+FENCE_RADIUS  100
+FENCE_ALT_MAX  50
+
+# arming
+ARMING_CHECK 32767
+DISARM_DELAY   8
+
+# IMU
+INS_FAST_SAMPLE 0
+INS_GYRO_FILTER 20
+LOG_BITMASK     65534
+INS_NOTCH_ENABLE 1
+INS_NOTCH_ATT   30
+INS_NOTCH_BW    60
+INS_NOTCH_FREQ  80
+
+# rate controllers
+ANGLE_MAX 3500
+ATC_ACCEL_R_MAX    160000
+ATC_ACCEL_P_MAX    160000
+ATC_ACCEL_Y_MAX     54000
+ATC_ANG_PIT_P          8.0
+ATC_ANG_RLL_P          8.0
+ATC_ANG_YAW_P          7.16
+ATC_RAT_PIT_D          0.0069
+ATC_RAT_PIT_FILT      10
+ATC_RAT_PIT_IMAX       0.5
+ATC_RAT_PIT_I          0.0834
+ATC_RAT_PIT_P          0.0834
+ATC_RAT_RLL_D          0.007
+ATC_RAT_RLL_FILT      10
+ATC_RAT_RLL_I          0.0966
+ATC_RAT_RLL_P          0.0966
+ATC_RAT_RLL_IMAX       0.5
+ATC_RAT_YAW_P          0.6887
+ATC_RAT_YAW_I          0.0689
+ATC_RAT_YAW_IMAX       0.3
+ATC_RAT_YAW_D          0.0
+ATC_RAT_YAW_FILT       4.5125
+ATC_SLEW_YAW        3250
+ATC_THR_MIX_MAN        4
+ATC_THR_MIX_MAX        0.9
+
+# tuning
+ACRO_RP_EXPO           0.3
+ACRO_RP_P              8
+ACRO_YAW_P             4
+
+# flight modes
+FLTMODE_CH             0
+FLTMODE1               2
+FLTMODE2               2
+FLTMODE3               2
+FLTMODE4               2
+FLTMODE5               2
+FLTMODE6               2
+
+# failsafes
+FS_THR_ENABLE          1
+FS_BATT_ENABLE         2
+FS_BATT_VOLTAGE      3.4
+FS_GCS_ENABLE          0
+
+# baro
+TCAL_ENABLED           2
+TCAL_BARO_EXP        1.2
+
+# landing
+LAND_SPEED_HIGH      150
+
+# logging
+LOG_BACKEND_TYPE       2
+LOG_FILE_BUFSIZE       1
+
+# voltages
+MOT_BAT_VOLT_MAX      4.2
+MOT_BAT_VOLT_MIN      3.3
+MOT_THST_HOVER        0.3514
+MOT_THST_EXPO        -0.56
+MOT_SPIN_ARM          0.03
+MOT_SPIN_MIN          0.03
+MOT_SPIN_MAX          1.0
+MOT_SPOOL_TIME        0
+MOT_HOVER_LEARN       1
+
+# control inputs
+PILOT_THR_BHV          3
+PILOT_ACCEL_Z        400
+PILOT_VELZ_MAX       500
+RC_FEEL_RP            50
+RC1_MIN             1000
+RC1_MAX             2000
+RC2_MIN             1000
+RC2_MAX             2000
+RC3_MIN             1000
+RC3_MAX             2000
+RC4_MIN             1000
+RC4_MAX             2000
+RC3_TRIM            1500
+RTL_ALT              400
+GND_EFFECT_COMP     1
+
+# deadzones, with auto-trim
+RC1_DZ              15
+RC2_DZ              15
+RC3_DZ              15
+RC4_DZ              15
+
+# pos control
+POS_XY_P              0.7
+VEL_XY_I              0.3
+VEL_XY_P              0.6
+VEL_XY_FILT_HZ        1.0
+WPNAV_LOIT_JERK     4000
+WPNAV_LOIT_MAXA      800
+WPNAV_LOIT_MINA      250
+WPNAV_LOIT_SPEED     800
+WPNAV_SPEED          750
+RTL_SPEED            600
+
+# GPS
+GPS_NAVFILTER        6
+GPS_SAVE_CFG         2
+GPS_TYPE             2
+GPS_HDOP_GOOD        160
+
+# throw mode
+THROW_NEXTMODE       5
+
+# enable optical flow
+FLOW_ENABLE          1