diff --git a/Tools/Frame_params/SkyViper-F412/defaults.parm b/Tools/Frame_params/SkyViper-F412/defaults.parm new file mode 100644 index 0000000000..9d3298ab1a --- /dev/null +++ b/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