rover版本号调整：4.3.1

parameter增加zr_app参数
GCS_MAVLink:增加发送设备ID
AC_ZR_App:增加获取版本号、ID号

.gitignore

@@ -144,3 +144,5 @@ dumpstack_*out
 build.tmp.binaries/
 tasklist.json
 modules/esp_idf
+.vscode/
+bd*.sh

.pydevproject

@@ -1,5 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<?eclipse-pydev version="1.0"?><pydev_project>
-<pydev_property name="org.python.pydev.PYTHON_PROJECT_INTERPRETER">Default</pydev_property>
-<pydev_property name="org.python.pydev.PYTHON_PROJECT_VERSION">python 2.7</pydev_property>
-</pydev_project>

.vscode/extensions.json

@@ -1,11 +0,0 @@
-{
-    "recommendations": [
-        "ms-vscode.cpptools",
-        "sumneko.lua",
-        "ms-python.python",
-        "ms-python.vscode-pylance",
-        "streetsidesoftware.code-spell-checker",
-        "chiehyu.vscode-astyle",
-        "ardupilot-org.ardupilot-devenv"
-    ]
-}

.vscode/settings.json

@@ -1,4 +0,0 @@
-{
-    "cSpell.language": "en-GB",
-    "astyle.astylerc": "${workspaceFolder}/Tools/CodeStyle/astylerc"
-}

ArduCopter/APM_Config.h

@@ -13,18 +13,18 @@
 //#define PARACHUTE             DISABLED            // disable parachute release to save 1k of flash
 //#define NAV_GUIDED            DISABLED            // disable external navigation computer ability to control vehicle through MAV_CMD_NAV_GUIDED mission commands
 //#define PRECISION_LANDING     DISABLED            // disable precision landing using companion computer or IRLock sensor
-//#define BEACON_ENABLED        DISABLED            // disable beacon support
-//#define SPRAYER_ENABLED       DISABLED            // disable the crop sprayer feature (two ESC controlled pumps the speed of which depends upon the vehicle's horizontal velocity)
+#define BEACON_ENABLED        DISABLED            // disable beacon support
+#define SPRAYER_ENABLED       DISABLED            // disable the crop sprayer feature (two ESC controlled pumps the speed of which depends upon the vehicle's horizontal velocity)
 //#define WINCH_ENABLED         DISABLED            // disable winch support
-//#define GRIPPER_ENABLED       DISABLED            // disable gripper support
+#define GRIPPER_ENABLED       DISABLED            // disable gripper support
 //#define RPM_ENABLED           DISABLED            // disable rotations per minute sensor support
 //#define STATS_ENABLED         DISABLED            // disable statistics support
 //#define MODE_ACRO_ENABLED     DISABLED            // disable acrobatic mode support
 //#define MODE_AUTO_ENABLED     DISABLED            // disable auto mode support
 //#define MODE_BRAKE_ENABLED    DISABLED            // disable brake mode support
 //#define MODE_CIRCLE_ENABLED   DISABLED            // disable circle mode support
-//#define MODE_DRIFT_ENABLED    DISABLED            // disable drift mode support
-//#define MODE_FLIP_ENABLED     DISABLED            // disable flip mode support
+#define MODE_DRIFT_ENABLED    DISABLED            // disable drift mode support
+#define MODE_FLIP_ENABLED     DISABLED            // disable flip mode support
 //#define MODE_FOLLOW_ENABLED   DISABLED            // disable follow mode support
 //#define MODE_GUIDED_ENABLED   DISABLED            // disable guided mode support
 //#define MODE_GUIDED_NOGPS_ENABLED   DISABLED      // disable guided/nogps mode support
@@ -34,8 +34,8 @@
 //#define MODE_SMARTRTL_ENABLED DISABLED            // disable smartrtl mode support
 //#define MODE_SPORT_ENABLED    DISABLED            // disable sport mode support
 //#define MODE_SYSTEMID_ENABLED DISABLED            // disable system ID mode support
-//#define MODE_THROW_ENABLED    DISABLED            // disable throw mode support
-//#define MODE_ZIGZAG_ENABLED   DISABLED            // disable zigzag mode support
+#define MODE_THROW_ENABLED    DISABLED            // disable throw mode support
+#define MODE_ZIGZAG_ENABLED   DISABLED            // disable zigzag mode support
 //#define OSD_ENABLED           DISABLED            // disable on-screen-display support
 //#define LANDING_GEAR_ENABLED  DISABLED            // disable landing gear support
 
@@ -51,11 +51,11 @@
 // Put your variable definitions into the UserVariables.h file (or another file name and then change the #define below).
 //#define USERHOOK_VARIABLES "UserVariables.h"
 // Put your custom code into the UserCode.cpp with function names matching those listed below and ensure the appropriate #define below is uncommented below
-//#define USERHOOK_INIT userhook_init();                      // for code to be run once at startup
-//#define USERHOOK_FASTLOOP userhook_FastLoop();            // for code to be run at 100hz
-//#define USERHOOK_50HZLOOP userhook_50Hz();                  // for code to be run at 50hz
-//#define USERHOOK_MEDIUMLOOP userhook_MediumLoop();        // for code to be run at 10hz
-//#define USERHOOK_SLOWLOOP userhook_SlowLoop();            // for code to be run at 3.3hz
-//#define USERHOOK_SUPERSLOWLOOP userhook_SuperSlowLoop();  // for code to be run at 1hz
-//#define USERHOOK_AUXSWITCH ENABLED                        // for code to handle user aux switches
+#define USERHOOK_INIT userhook_init();                      // for code to be run once at startup
+#define USERHOOK_FASTLOOP userhook_FastLoop();            // for code to be run at 100hz
+#define USERHOOK_50HZLOOP userhook_50Hz();                  // for code to be run at 50hz
+#define USERHOOK_MEDIUMLOOP userhook_MediumLoop();        // for code to be run at 10hz
+#define USERHOOK_SLOWLOOP userhook_SlowLoop();            // for code to be run at 3.3hz
+#define USERHOOK_SUPERSLOWLOOP userhook_SuperSlowLoop();  // for code to be run at 1hz
+// #define USERHOOK_AUXSWITCH ENABLED                        // for code to handle user aux switches
 //#define USER_PARAMS_ENABLED ENABLED                       // to enable user parameters

ArduCopter/AP_Arming.cpp

@@ -550,7 +550,11 @@ bool AP_Arming_Copter::alt_checks(bool display_failure)
 //  has side-effect that logging is started
 bool AP_Arming_Copter::arm_checks(AP_Arming::Method method)
 {
+
     const auto &ahrs = AP::ahrs();
+    if(!mandatory_deadline_checks(false)){  // 检查注册是否到期
+        return false;
+    }
 
     // always check if inertial nav has started and is ready
     if (!ahrs.healthy()) {
@@ -840,3 +844,22 @@ bool AP_Arming_Copter::disarm(const AP_Arming::Method method, bool do_disarm_che
 
     return true;
 }
+
+bool AP_Arming_Copter::mandatory_deadline_checks(bool display_failure)
+{
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+    return true;
+#else
+    uint32_t date;
+    if (!copter.zr_app.check_deadline(date))
+    {
+        // check_failed(true, "无法解锁，授权于 %u-%u-%u 到期!", date / 10000, (date % 10000) / 100, date % 100);
+        check_failed(true, "Trial time has expired at %lu-%lu-%lu", date / 10000, (date % 10000) / 100, date % 100);
+       // check_failed(display_failure, "Trial time has expired at %d-%d-%d !", date / 10000, (date % 10000) / 100, date % 100);
+        return false;
+    }else{
+        return true;
+    }
+    
+#endif
+}

ArduCopter/AP_Arming.h

@@ -48,9 +48,10 @@ protected:
     bool gcs_failsafe_check(bool display_failure);
     bool winch_checks(bool display_failure) const;
     bool alt_checks(bool display_failure);
-
     void set_pre_arm_check(bool b);
 
+    bool mandatory_deadline_checks(bool display_failure);   // 飞机到期时间检查
+
 private:
 
     // actually contains the pre-arm checks.  This is wrapped so that

ArduCopter/Copter.h

@@ -70,6 +70,8 @@
 #include <AP_ADSB/AP_ADSB.h>                // ADS-B RF based collision avoidance module library
 #include <AP_Proximity/AP_Proximity.h>      // ArduPilot proximity sensor library
 
+#include <AC_ZR_APP/AC_ZR_App.h>
+
 // Configuration
 #include "defines.h"
 #include "config.h"
@@ -1000,8 +1002,14 @@ private:
     Mode *mode_from_mode_num(const Mode::Number mode);
     void exit_mode(Mode *&old_flightmode, Mode *&new_flightmode);
 
+    AC_ZR_App zr_app;
 public:
     void failsafe_check();      // failsafe.cpp
+    
+    void zr_app_50hz();
+    void zr_app_10hz();
+    void zr_app_1hz();
+
 };
 
 extern Copter copter;

ArduCopter/GCS_Mavlink.cpp

@@ -607,6 +607,15 @@ void GCS_MAVLINK_Copter::send_banner()
     char frame_and_type_string[30];
     copter.motors->get_frame_and_type_string(frame_and_type_string, ARRAY_SIZE(frame_and_type_string));
     send_text(MAV_SEVERITY_INFO, "%s", frame_and_type_string);
+
+#if CONFIG_HAL_BOARD != HAL_BOARD_SITL
+    uint32_t deadline = 0;
+    copter.zr_app.get_deadline_params(deadline);
+    send_text(MAV_SEVERITY_INFO, "Date:%lu",deadline);
+    send_text(MAV_SEVERITY_INFO, "ID:%lu",copter.zr_app.get_zr_sysid());
+    
+#endif
+    
 }
 
 void GCS_MAVLINK_Copter::handle_command_ack(const mavlink_message_t &msg)

ArduCopter/Parameters.cpp

@@ -722,6 +722,8 @@ const AP_Param::Info Copter::var_info[] = {
     // @Path: Parameters.cpp
     GOBJECT(g2, "",  ParametersG2),
 
+    GOBJECT(zr_app, "ZR",  AC_ZR_App),
+
     // @Group:
     // @Path: ../libraries/AP_Vehicle/AP_Vehicle.cpp
     { AP_PARAM_GROUP, "", Parameters::k_param_vehicle, (const void *)&copter, {group_info : AP_Vehicle::var_info} },

ArduCopter/Parameters.h

@@ -376,6 +376,7 @@ public:
         // 254,255: reserved
 
         k_param_vehicle = 257, // vehicle common block of parameters
+        k_param_zr_app = 258, // 253 - Logging Group
 
         // the k_param_* space is 9-bits in size
         // 511: reserved

ArduCopter/UserCode.cpp

@@ -19,6 +19,7 @@ void Copter::userhook_FastLoop()
 void Copter::userhook_50Hz()
 {
     // put your 50Hz code here
+    zr_app_50hz();
 }
 #endif
 
@@ -26,6 +27,7 @@ void Copter::userhook_50Hz()
 void Copter::userhook_MediumLoop()
 {
     // put your 10Hz code here
+    zr_app_10hz();
 }
 #endif
 
@@ -40,6 +42,7 @@ void Copter::userhook_SlowLoop()
 void Copter::userhook_SuperSlowLoop()
 {
     // put your 1Hz code here
+    zr_app_1hz();
 }
 #endif
 

ArduCopter/mode.cpp

@@ -575,8 +575,11 @@ void Mode::land_run_vertical_control(bool pause_descent)
     bool ignore_descent_limit = false;
     if (!pause_descent) {
 
+        // @Brown, loiter land auto deceleration
+        int16_t  land_speed_now = get_land_deceleration();
+
         // do not ignore limits until we have slowed down for landing
-        ignore_descent_limit = (MAX(g2.land_alt_low,100) > get_alt_above_ground_cm()) || copter.ap.land_complete_maybe;
+        ignore_descent_limit = (MAX(g2.land_alt_low,2000) > get_alt_above_ground_cm()) || copter.ap.land_complete_maybe; // 最低高度100改2000,最低20m开始降速
 
         float max_land_descent_velocity;
         if (g.land_speed_high > 0) {
@@ -592,7 +595,8 @@ void Mode::land_run_vertical_control(bool pause_descent)
         cmb_rate = sqrt_controller(MAX(g2.land_alt_low,100)-get_alt_above_ground_cm(), pos_control->get_pos_z_p().kP(), pos_control->get_max_accel_z_cmss(), G_Dt);
 
         // Constrain the demanded vertical velocity so that it is between the configured maximum descent speed and the configured minimum descent speed.
-        cmb_rate = constrain_float(cmb_rate, max_land_descent_velocity, -abs(g.land_speed));
+        // cmb_rate = constrain_float(cmb_rate, max_land_descent_velocity, -abs(g.land_speed));
+        cmb_rate = constrain_float(cmb_rate, max_land_descent_velocity, -abs(land_speed_now));  // 替换速度
 
 #if PRECISION_LANDING == ENABLED
         const bool navigating = pos_control->is_active_xy();
@@ -1024,3 +1028,12 @@ uint16_t Mode::get_pilot_speed_dn()
 {
     return copter.get_pilot_speed_dn();
 }
+/**
+ * @brief 根据高度，获取降落减速速度
+ * @author ZRZK
+ * @return uint16_t 降落速度
+ */
+uint16_t Mode::get_land_deceleration()
+{
+    return copter.zr_app.get_land_deceleration(get_alt_above_ground_cm(),get_pilot_speed_dn());
+}

ArduCopter/mode.h

@@ -295,6 +295,8 @@ public:
     GCS_Copter &gcs();
     void set_throttle_takeoff(void);
     uint16_t get_pilot_speed_dn(void);
+
+    uint16_t get_land_deceleration();
     // end pass-through functions
 };
 

ArduCopter/mode_loiter.cpp

@@ -87,8 +87,11 @@ void ModeLoiter::run()
     float target_yaw_rate = 0.0f;
     float target_climb_rate = 0.0f;
 
+    // @Brown, loiter land auto deceleration
+    int16_t  land_speed_now = get_land_deceleration();
     // set vertical speed and acceleration limits
-    pos_control->set_max_speed_accel_z(-get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
+    // pos_control->set_max_speed_accel_z(-get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
+    pos_control->set_max_speed_accel_z(-land_speed_now, g.pilot_speed_up, g.pilot_accel_z);  // 替换速度
 
     // process pilot inputs unless we are in radio failsafe
     if (!copter.failsafe.radio) {
@@ -106,7 +109,8 @@ void ModeLoiter::run()
 
         // get pilot desired climb rate
         target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_control_in());
-        target_climb_rate = constrain_float(target_climb_rate, -get_pilot_speed_dn(), g.pilot_speed_up);
+        // target_climb_rate = constrain_float(target_climb_rate, -get_pilot_speed_dn(), g.pilot_speed_up);
+        target_climb_rate = constrain_float(target_climb_rate, -land_speed_now, g.pilot_speed_up);  // 替换速度
     } else {
         // clear out pilot desired acceleration in case radio failsafe event occurs and we do not switch to RTL for some reason
         loiter_nav->clear_pilot_desired_acceleration();

ArduCopter/wscript

@@ -31,6 +31,7 @@ def build(bld):
             'AP_OSD',
             'AC_AutoTune',
             'AP_KDECAN',
+            'AC_ZR_APP',
         ],
     )
 

ArduCopter/zr_app.cpp

@@ -0,0 +1,31 @@
+#include "Copter.h"
+
+
+void Copter::zr_app_1hz()
+{
+    static bool before_fly = true;
+    if(motors->armed()){
+         if(before_fly){
+            before_fly = false;
+        }
+        relay.on(3);    // 电子开关，保持通路
+        // camera.set_in_arm_mode(true);
+    }else{
+        relay.off(3);
+        if(before_fly){
+            uint8_t bat_cnt = zr_app.get_battery_capacity(1,battery.voltage());
+            battery.reset_remaining(0,(float)bat_cnt );
+            // gcs().send_text(MAV_SEVERITY_INFO, "bat:%.2f,pst%d,%.2f",battery.voltage(),bat_cnt,(float)bat_cnt);
+        }
+    }
+
+}
+
+void Copter::zr_app_10hz()
+{
+
+
+}
+void Copter::zr_app_50hz(){
+
+}

Rover/GCS_Mavlink.cpp

@@ -1133,3 +1133,15 @@ uint8_t GCS_MAVLINK_Rover::high_latency_wind_direction() const
     return 0;
 }
 #endif // HAL_HIGH_LATENCY2_ENABLED
+
+/**
+ * @brief send device id
+ * @
+ * @return char* 
+ */
+char* GCS_MAVLINK_Rover::gcs_get_sysid_id()
+{
+    static char  buf[50];
+    memcpy(buf,rover.zr_app.get_sysid_board_id(),50);
+    return buf;
+}

Rover/GCS_Mavlink.h

@@ -30,6 +30,8 @@ protected:
 
     void send_nav_controller_output() const override;
     void send_pid_tuning() override;
+    
+    char* gcs_get_sysid_id() override ;
 
 private:
 

Rover/Log.cpp

@@ -77,6 +77,26 @@ void Rover::Log_Write_Depth()
                             loc.lng,
                             (double)(s->distance()),
                             temp_C);
+
+        // @LoggerMessage: UDSR
+        // @Description: Depth messages on boats with downwards facing range finder
+        // @Field: TimeUS: Time since system startup
+        // @Field: Inst: Instance
+        // @Field: Lat: Latitude 
+        // @Field: Lng: Longitude   
+        // @Field: Deep: Depth as detected by the sensor
+        // @Field: Temp: Temperature
+        logger.Write("UDSR", "TimeUS,Lat,Lng,Alt,Temp,Deep,GLat,GLng,GAlt",
+                            "sDUm--DUm", "FGGB--GGB", "QLLeffLLe",
+                            AP_HAL::micros64(),
+                            loc.lat,
+                            loc.lat,
+                            loc.alt,
+                            temp_C,
+                            (s->distance()),
+                            gps.location().lat,
+                            gps.location().lng,
+                            gps.location().alt);
     }
     // send water depth and temp to ground station
     gcs().send_message(MSG_WATER_DEPTH);

Rover/Parameters.cpp

@@ -382,6 +382,7 @@ const AP_Param::Info Rover::var_info[] = {
     // @Path: ../libraries/AP_OSD/AP_OSD.cpp
     GOBJECT(osd, "OSD", AP_OSD),
 #endif
+    GOBJECT(zr_app, "ZR",  AC_ZR_App),
 
     // @Group:
     // @Path: ../libraries/AP_Vehicle/AP_Vehicle.cpp

Rover/Parameters.h

@@ -226,6 +226,8 @@ public:
         // 254,255: reserved
 
         k_param_vehicle = 257, // vehicle common block of parameters
+        
+        k_param_zr_app = 258, // 253 - Logging Group
         };
 
     AP_Int16    format_version;

Rover/Rover.cpp

@@ -129,6 +129,11 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
 #if ADVANCED_FAILSAFE == ENABLED
     SCHED_TASK(afs_fs_check,           10,    200, 129),
 #endif
+
+
+    SCHED_TASK(zr_app_50hz, 50,     200, 132),
+    SCHED_TASK(zr_app_10hz, 10,     200, 135),
+    SCHED_TASK(zr_app_1hz, 1,     200, 138),
 };
 
 

Rover/Rover.h

@@ -37,6 +37,7 @@
 #include <AP_Logger/AP_Logger.h>
 #include <AP_OSD/AP_OSD.h>
 #include <AR_Motors/AP_MotorsUGV.h>
+#include <AC_ZR_APP/AC_ZR_App.h>
 
 #if AP_SCRIPTING_ENABLED
 #include <AP_Scripting/AP_Scripting.h>
@@ -374,6 +375,7 @@ private:
                   "_failsafe_priorities is missing the sentinel");
 
 
+    AC_ZR_App zr_app;
 public:
     void failsafe_check();
     // Motor test
@@ -388,6 +390,10 @@ public:
 
     // Simple mode
     float simple_sin_yaw;
+
+    void zr_app_50hz();
+    void zr_app_10hz();
+    void zr_app_1hz();
 };
 
 extern Rover rover;

Rover/version.h

@@ -6,14 +6,14 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduRover V4.3.0-dev"
+#define THISFIRMWARE "AUSV V4.3.1"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,3,0,FIRMWARE_VERSION_TYPE_DEV
+#define FIRMWARE_VERSION 4,3,1,FIRMWARE_VERSION_TYPE_DEV
 
 #define FW_MAJOR 4
 #define FW_MINOR 3
-#define FW_PATCH 0
+#define FW_PATCH 1
 #define FW_TYPE FIRMWARE_VERSION_TYPE_DEV
 
 #include <AP_Common/AP_FWVersionDefine.h>

Rover/wscript

@@ -25,6 +25,7 @@ def build(bld):
             'AP_WindVane',
             'AR_Motors',
             'AP_Torqeedo',
+            'AC_ZR_APP',
         ],
     )
 

Rover/zr_app.cpp

@@ -0,0 +1,27 @@
+#include "Rover.h"
+
+
+void Rover::zr_app_1hz()
+{
+    static bool before_fly = true;
+    if(arming.is_armed()){
+         if(before_fly){
+            before_fly = false;
+            gcs().send_text(MAV_SEVERITY_INFO,"%s",zr_app.get_sysid_board_id());
+        }
+        relay.on(3);    // 电子开关，保持通路
+        // camera.set_in_arm_mode(true);
+    }else{
+        relay.off(3);
+    }
+
+}
+
+void Rover::zr_app_10hz()
+{
+
+
+}
+void Rover::zr_app_50hz(){
+
+}

Tools/Frame_params/AION_R1_Rover.param

@@ -1,85 +1,85 @@
-#NOTE: AION Robotics Params for Rover V3.2.0
-ACRO_TURN_RATE,120
-#most users will want manual capabilites on boot without the need for a GCS to arm
-ARMING_REQUIRE,0
-#MIN 4S SOLO BATTERY
-ARMING_VOLT_MIN,13
-ATC_ACCEL_MAX,2.0
-ATC_SPEED_P,0.2
-ATC_SPEED_I,0.2
-ATC_SPEED_D,0.0
-ATC_SPEED_FILT,10
-ATC_STR_ACC_MAX,180
-ATC_STR_ANG_P,2.5
-ATC_STR_RAT_FF,0.2
-ATC_STR_RAT_P,0.0
-ATC_STR_RAT_I,0.1
-ATC_STR_RAT_D,0.0
-ATC_STR_RAT_FILT,20
-ATC_STR_RAT_MAX,120
-#default aux ch to match documentation
-AUX_CH,7
-#cube power brick - 4s solo battery - SMBus hardware side not yet supported
-BATT_AMP_OFFSET,0
-BATT_AMP_PERVOLT,0.1
-BATT_CAPACITY,5200
-BATT_CURR_PIN,3
-BATT_LOW_TIMER,10
-BATT_LOW_TYPE,0
-BATT_MONITOR,4
-BATT_SERIAL_NUM,-1
-BATT_VOLT_MULT,13.99818
-BATT_VOLT_PIN,2
-BRD_PWM_COUNT,2
-#default save waypoint
-RC7_OPTION,1
-COMPASS_OFFS_MAX,2000
-#default use only first (hopefully external) compass
-COMPASS_USE,1
-COMPASS_USE2,0
-COMPASS_USE3,0
-CRUISE_SPEED,1.0
-CRUISE_THROTTLE,70
-EK2_YAW_M_NSE,0.7
-FS_CRASH_CHECK,1
-#default modes
-MODE_CH,5
-MODE1,0
-MODE2,3
-MODE3,10
-MODE4,12
-NAVL1_PERIOD,6
-NAVL1_DAMPING,0.7
-NAVL1_XTRACK_I,0.02
-PIVOT_TURN_ANGLE,30
-#default telem radio
-SERIAL1_BAUD,57
-SERIAL1_PROTOCOL,1
-#default APSync
-SERIAL2_BAUD,921
-SERIAL2_PROTOCOL,1
-SERVO1_FUNCTION,74
-SERVO1_MAX,2000
-SERVO1_MIN,1000
-SERVO3_FUNCTION,73
-SERVO3_MAX,2000
-SERVO3_MIN,1000
-SPEED_TURN_GAIN,50
-ATC_TURN_MAX_G,0.3
-TURN_RADIUS,0.9
-WENC_CPR,1120
-WENC_PINA,55
-WENC_PINB,54
-WENC_POS_X,-0.15
-WENC_POS_Y,-0.16
-WENC_POS_Z,0
-WENC_RADIUS,0.0775
-WENC_TYPE,0
-WENC2_CPR,1120
-WENC2_PINA,53
-WENC2_PINB,52
-WENC2_POS_X,-0.15
-WENC2_POS_Y,0.16
-WENC2_POS_Z,0
-WENC_RADIUS,0.0775
-WENC2_TYPE,0
+#NOTE: AION Robotics Params for Rover V3.2.0
+ACRO_TURN_RATE,120
+#most users will want manual capabilites on boot without the need for a GCS to arm
+ARMING_REQUIRE,0
+#MIN 4S SOLO BATTERY
+ARMING_VOLT_MIN,13
+ATC_ACCEL_MAX,2.0
+ATC_SPEED_P,0.2
+ATC_SPEED_I,0.2
+ATC_SPEED_D,0.0
+ATC_SPEED_FILT,10
+ATC_STR_ACC_MAX,180
+ATC_STR_ANG_P,2.5
+ATC_STR_RAT_FF,0.2
+ATC_STR_RAT_P,0.0
+ATC_STR_RAT_I,0.1
+ATC_STR_RAT_D,0.0
+ATC_STR_RAT_FILT,20
+ATC_STR_RAT_MAX,120
+#default aux ch to match documentation
+AUX_CH,7
+#cube power brick - 4s solo battery - SMBus hardware side not yet supported
+BATT_AMP_OFFSET,0
+BATT_AMP_PERVOLT,0.1
+BATT_CAPACITY,5200
+BATT_CURR_PIN,3
+BATT_LOW_TIMER,10
+BATT_LOW_TYPE,0
+BATT_MONITOR,4
+BATT_SERIAL_NUM,-1
+BATT_VOLT_MULT,13.99818
+BATT_VOLT_PIN,2
+BRD_PWM_COUNT,2
+#default save waypoint
+RC7_OPTION,1
+COMPASS_OFFS_MAX,2000
+#default use only first (hopefully external) compass
+COMPASS_USE,1
+COMPASS_USE2,0
+COMPASS_USE3,0
+CRUISE_SPEED,1.0
+CRUISE_THROTTLE,70
+EK2_YAW_M_NSE,0.7
+FS_CRASH_CHECK,1
+#default modes
+MODE_CH,5
+MODE1,0
+MODE2,3
+MODE3,10
+MODE4,12
+NAVL1_PERIOD,6
+NAVL1_DAMPING,0.7
+NAVL1_XTRACK_I,0.02
+PIVOT_TURN_ANGLE,30
+#default telem radio
+SERIAL1_BAUD,57
+SERIAL1_PROTOCOL,1
+#default APSync
+SERIAL2_BAUD,921
+SERIAL2_PROTOCOL,1
+SERVO1_FUNCTION,74
+SERVO1_MAX,2000
+SERVO1_MIN,1000
+SERVO3_FUNCTION,73
+SERVO3_MAX,2000
+SERVO3_MIN,1000
+SPEED_TURN_GAIN,50
+ATC_TURN_MAX_G,0.3
+TURN_RADIUS,0.9
+WENC_CPR,1120
+WENC_PINA,55
+WENC_PINB,54
+WENC_POS_X,-0.15
+WENC_POS_Y,-0.16
+WENC_POS_Z,0
+WENC_RADIUS,0.0775
+WENC_TYPE,0
+WENC2_CPR,1120
+WENC2_PINA,53
+WENC2_PINB,52
+WENC2_POS_X,-0.15
+WENC2_POS_Y,0.16
+WENC2_POS_Z,0
+WENC_RADIUS,0.0775
+WENC2_TYPE,0

Tools/Frame_params/ArduRoller-balancebot.param

@@ -1,72 +1,72 @@
-#NOTE: ArduRoller balance bot parameters for Rover-4.3 and higher
-ACRO_TURN_RATE,90
-AHRS_ORIENTATION,29
-ATC_ACCEL_MAX,5
-ATC_BAL_D,0.18
-ATC_BAL_FF,0
-ATC_BAL_FLTD,0
-ATC_BAL_FILT,0
-ATC_BAL_FLTE,0
-ATC_BAL_I,7
-ATC_BAL_IMAX,1
-ATC_BAL_P,5
-ATC_BAL_SPD_FF,1.0
-ATC_BRAKE,1
-ATC_STR_ACC_MAX,120
-BAL_PITCH_MAX,10
-CRASH_ANGLE,45
-CRUISE_SPEED,0.4
-CRUISE_THROTTLE,50
-FRAME_CLASS,3
-FS_CRASH_CHECK,1
-MOT_PWM_TYPE,0
-MOT_SLEWRATE,0
-MOT_THR_MIN,6
-MOT_THST_EXPO,-0.5
-RELAY_PIN,-1
-RELAY_PIN2,-1
-SCHED_LOOP_RATE,200
-SERVO1_FUNCTION,73
-SERVO1_MAX,2000
-SERVO1_MIN,1000
-SERVO1_REVERSED,0
-SERVO1_TRIM,1500
-SERVO3_FUNCTION,74
-SERVO3_MAX,2000
-SERVO3_MIN,1000
-SERVO3_REVERSED,1
-SERVO3_TRIM,1500
-SERVO11_FUNCTION,-1
-SERVO12_FUNCTION,-1
-SERVO13_FUNCTION,-1
-SERVO14_FUNCTION,-1
-ATC_TURN_MAX_G,0.2
-WENC_CPR,1600
-WENC_PINA,55
-WENC_PINB,54
-WENC_POS_X,0
-WENC_POS_Y,-0.1
-WENC_POS_Z,0
-WENC_RADIUS,0.06
-WENC_TYPE,1
-WENC2_CPR,1600
-WENC2_PINA,53
-WENC2_PINB,52
-WENC2_POS_X,0
-WENC2_POS_Y,0.1
-WENC2_POS_Z,0
-WENC2_RADIUS,0.06
-WENC2_TYPE,1
-WRC_RATE_D,0.2
-WRC_RATE_FF,4.2
-WRC_RATE_FLTD,50
-WRC_RATE_I,4
-WRC_RATE_IMAX,1
-WRC_RATE_MAX,12
-WRC_RATE_P,0
-WRC2_RATE_D,0.2
-WRC2_RATE_FF,4.2
-WRC2_RATE_FLTD,50
-WRC2_RATE_I,4
-WRC2_RATE_IMAX,1
-WRC2_RATE_P,0
+#NOTE: ArduRoller balance bot parameters for Rover-4.3 and higher
+ACRO_TURN_RATE,90
+AHRS_ORIENTATION,29
+ATC_ACCEL_MAX,5
+ATC_BAL_D,0.18
+ATC_BAL_FF,0
+ATC_BAL_FLTD,0
+ATC_BAL_FILT,0
+ATC_BAL_FLTE,0
+ATC_BAL_I,7
+ATC_BAL_IMAX,1
+ATC_BAL_P,5
+ATC_BAL_SPD_FF,1.0
+ATC_BRAKE,1
+ATC_STR_ACC_MAX,120
+BAL_PITCH_MAX,10
+CRASH_ANGLE,45
+CRUISE_SPEED,0.4
+CRUISE_THROTTLE,50
+FRAME_CLASS,3
+FS_CRASH_CHECK,1
+MOT_PWM_TYPE,0
+MOT_SLEWRATE,0
+MOT_THR_MIN,6
+MOT_THST_EXPO,-0.5
+RELAY_PIN,-1
+RELAY_PIN2,-1
+SCHED_LOOP_RATE,200
+SERVO1_FUNCTION,73
+SERVO1_MAX,2000
+SERVO1_MIN,1000
+SERVO1_REVERSED,0
+SERVO1_TRIM,1500
+SERVO3_FUNCTION,74
+SERVO3_MAX,2000
+SERVO3_MIN,1000
+SERVO3_REVERSED,1
+SERVO3_TRIM,1500
+SERVO11_FUNCTION,-1
+SERVO12_FUNCTION,-1
+SERVO13_FUNCTION,-1
+SERVO14_FUNCTION,-1
+ATC_TURN_MAX_G,0.2
+WENC_CPR,1600
+WENC_PINA,55
+WENC_PINB,54
+WENC_POS_X,0
+WENC_POS_Y,-0.1
+WENC_POS_Z,0
+WENC_RADIUS,0.06
+WENC_TYPE,1
+WENC2_CPR,1600
+WENC2_PINA,53
+WENC2_PINB,52
+WENC2_POS_X,0
+WENC2_POS_Y,0.1
+WENC2_POS_Z,0
+WENC2_RADIUS,0.06
+WENC2_TYPE,1
+WRC_RATE_D,0.2
+WRC_RATE_FF,4.2
+WRC_RATE_FLTD,50
+WRC_RATE_I,4
+WRC_RATE_IMAX,1
+WRC_RATE_MAX,12
+WRC_RATE_P,0
+WRC2_RATE_D,0.2
+WRC2_RATE_FF,4.2
+WRC2_RATE_FLTD,50
+WRC2_RATE_I,4
+WRC2_RATE_IMAX,1
+WRC2_RATE_P,0

Tools/Frame_params/DJI_AGRAS_MG-1_AC413.param

@@ -1,27 +1,27 @@
-#NOTE: DJI AGRAS MG-1params for ArduPilot Copter 4.1.3, Provided by Axel Weckschmied
-ACRO_YAW_P,1.9
-ATC_ACCEL_P_MAX,46200
-ATC_ACCEL_R_MAX,46200
-ATC_ACCEL_Y_MAX,17100
-ATC_RAT_PIT_FLTD,11.5
-ATC_RAT_PIT_FLTT,11.5
-ATC_RAT_RLL_FLTD,11.5
-ATC_RAT_RLL_FLTT,11.5
-ATC_RAT_YAW_FLTE,2
-ATC_RAT_YAW_FLTT,11.5
-BATT_AMP_PERVLT,36
-BATT_CAPACITY,12000
-BATT_MONITOR,3
-BATT_VOLT_MULT,18.1
-BRD_IMU_TARGTEMP,60
-BRD_PWM_COUNT,5
-FRAME_CLASS,3
-INS_GYRO_FILTER,23
-MOT_BAT_VOLT_MAX,50.4
-MOT_BAT_VOLT_MIN,39.6
-MOT_SPIN_ARM,0.15
-MOT_SPIN_MIN,0.2
-MOT_THST_EXPO,0.75
-MOT_THST_HOVER,0.1869573
-PSC_ACCZ_I,0.4
-PSC_ACCZ_P,0.2
+#NOTE: DJI AGRAS MG-1params for ArduPilot Copter 4.1.3, Provided by Axel Weckschmied
+ACRO_YAW_P,1.9
+ATC_ACCEL_P_MAX,46200
+ATC_ACCEL_R_MAX,46200
+ATC_ACCEL_Y_MAX,17100
+ATC_RAT_PIT_FLTD,11.5
+ATC_RAT_PIT_FLTT,11.5
+ATC_RAT_RLL_FLTD,11.5
+ATC_RAT_RLL_FLTT,11.5
+ATC_RAT_YAW_FLTE,2
+ATC_RAT_YAW_FLTT,11.5
+BATT_AMP_PERVLT,36
+BATT_CAPACITY,12000
+BATT_MONITOR,3
+BATT_VOLT_MULT,18.1
+BRD_IMU_TARGTEMP,60
+BRD_PWM_COUNT,5
+FRAME_CLASS,3
+INS_GYRO_FILTER,23
+MOT_BAT_VOLT_MAX,50.4
+MOT_BAT_VOLT_MIN,39.6
+MOT_SPIN_ARM,0.15
+MOT_SPIN_MIN,0.2
+MOT_THST_EXPO,0.75
+MOT_THST_HOVER,0.1869573
+PSC_ACCZ_I,0.4
+PSC_ACCZ_P,0.2

Tools/Frame_params/HK-HydroProInception-Rover350.param

@@ -1,47 +1,47 @@
-ACRO_TURN_RATE	180
-ARMING_RUDDER	0
-ATC_ACCEL_MAX	1
-ATC_SPEED_D	0
-ATC_SPEED_FILT	10
-ATC_SPEED_I	0.3
-ATC_SPEED_IMAX	1
-ATC_SPEED_P	0.4
-ATC_STR_ACC_MAX	360
-ATC_STR_RAT_D	0
-ATC_STR_RAT_FF	1.7
-ATC_STR_RAT_FILT	10
-ATC_STR_RAT_I	0.5
-ATC_STR_RAT_MAX	180
-ATC_STR_RAT_P	0.5
-BRD_SAFETYENABLE	0
-COMPASS_CAL_FIT	32
-COMPASS_USE	1
-COMPASS_USE2	0
-COMPASS_USE3	0
-CRUISE_SPEED	5
-CRUISE_THROTTLE	50
-FRAME_CLASS	2
-FRAME_TYPE	0
-FS_ACTION	2
-FS_CRASH_CHECK	0
-FS_THR_ENABLE	1
-FS_THR_VALUE	910
-FS_TIMEOUT	1.5
-MOT_THR_MAX	80
-NTF_BUZZ_ENABLE	0
-PILOT_STEER_TYPE	0
-SERVO1_FUNCTION	26
-SERVO1_MAX	2000
-SERVO1_MIN	1000
-SERVO1_REVERSED	0
-SERVO1_TRIM	1500
-SERVO3_FUNCTION	70
-SERVO3_MAX	1900
-SERVO3_MIN	1100
-SERVO3_REVERSED	0
-SERVO3_TRIM	1500
-ATC_TURN_MAX_G	0.1
-TURN_RADIUS	3
-WP_OVERSHOOT	6
-WP_RADIUS	2
-WP_SPEED	10
+ACRO_TURN_RATE	180
+ARMING_RUDDER	0
+ATC_ACCEL_MAX	1
+ATC_SPEED_D	0
+ATC_SPEED_FILT	10
+ATC_SPEED_I	0.3
+ATC_SPEED_IMAX	1
+ATC_SPEED_P	0.4
+ATC_STR_ACC_MAX	360
+ATC_STR_RAT_D	0
+ATC_STR_RAT_FF	1.7
+ATC_STR_RAT_FILT	10
+ATC_STR_RAT_I	0.5
+ATC_STR_RAT_MAX	180
+ATC_STR_RAT_P	0.5
+BRD_SAFETYENABLE	0
+COMPASS_CAL_FIT	32
+COMPASS_USE	1
+COMPASS_USE2	0
+COMPASS_USE3	0
+CRUISE_SPEED	5
+CRUISE_THROTTLE	50
+FRAME_CLASS	2
+FRAME_TYPE	0
+FS_ACTION	2
+FS_CRASH_CHECK	0
+FS_THR_ENABLE	1
+FS_THR_VALUE	910
+FS_TIMEOUT	1.5
+MOT_THR_MAX	80
+NTF_BUZZ_ENABLE	0
+PILOT_STEER_TYPE	0
+SERVO1_FUNCTION	26
+SERVO1_MAX	2000
+SERVO1_MIN	1000
+SERVO1_REVERSED	0
+SERVO1_TRIM	1500
+SERVO3_FUNCTION	70
+SERVO3_MAX	1900
+SERVO3_MIN	1100
+SERVO3_REVERSED	0
+SERVO3_TRIM	1500
+ATC_TURN_MAX_G	0.1
+TURN_RADIUS	3
+WP_OVERSHOOT	6
+WP_RADIUS	2
+WP_SPEED	10

Tools/Frame_params/HK-hydrotek-Rover331.param

@@ -1,33 +1,33 @@
-#NOTE: HobbyKing Hydrotek using Rover-3.3.1
-ACRO_TURN_RATE,120
-ATC_ACCEL_MAX,2
-ATC_SPEED_I,0.2
-ATC_SPEED_P,0.2
-ATC_STR_ACC_MAX,360
-ATC_STR_ANG_P,2
-ATC_STR_RAT_FF,0.6
-ATC_STR_RAT_I,0.2
-ATC_STR_RAT_MAX,90
-ATC_STR_RAT_P,0.2
-BRD_SAFETYENABLE,0
-RC7_OPTION,3
-COMPASS_ORIENT,4
-CRUISE_SPEED,2
-CRUISE_THROTTLE,20
-FRAME_CLASS,2
-NAVL1_DAMPING,0.75
-NAVL1_PERIOD,8
-NAVL1_XTRACK_I,0.02
-SERVO1_FUNCTION,26
-SERVO1_MAX,1900
-SERVO1_MIN,1100
-SERVO1_REVERSED,1
-SERVO1_TRIM,1500
-SERVO3_FUNCTION,70
-SERVO3_MAX,1900
-SERVO3_MIN,1100
-SERVO3_REVERSED,0
-SERVO3_TRIM,1500
-SPEED_TURN_GAIN,50
-ATC_TURN_MAX_G,0.4
-WP_SPEED,4
+#NOTE: HobbyKing Hydrotek using Rover-3.3.1
+ACRO_TURN_RATE,120
+ATC_ACCEL_MAX,2
+ATC_SPEED_I,0.2
+ATC_SPEED_P,0.2
+ATC_STR_ACC_MAX,360
+ATC_STR_ANG_P,2
+ATC_STR_RAT_FF,0.6
+ATC_STR_RAT_I,0.2
+ATC_STR_RAT_MAX,90
+ATC_STR_RAT_P,0.2
+BRD_SAFETYENABLE,0
+RC7_OPTION,3
+COMPASS_ORIENT,4
+CRUISE_SPEED,2
+CRUISE_THROTTLE,20
+FRAME_CLASS,2
+NAVL1_DAMPING,0.75
+NAVL1_PERIOD,8
+NAVL1_XTRACK_I,0.02
+SERVO1_FUNCTION,26
+SERVO1_MAX,1900
+SERVO1_MIN,1100
+SERVO1_REVERSED,1
+SERVO1_TRIM,1500
+SERVO3_FUNCTION,70
+SERVO3_MAX,1900
+SERVO3_MIN,1100
+SERVO3_REVERSED,0
+SERVO3_TRIM,1500
+SPEED_TURN_GAIN,50
+ATC_TURN_MAX_G,0.4
+WP_SPEED,4

Tools/Frame_params/Holybro-S500.param

@@ -1,36 +1,36 @@
-#Note: Holybro S500 param for ArduPilot Copter 4.1
-ACRO_YAW_P,1.5
-ANGLE_MAX,3500
-ATC_ACCEL_P_MAX,70000
-ATC_ACCEL_R_MAX,70000
-ATC_ACCEL_Y_MAX,12000
-ATC_ANG_PIT_P,11
-ATC_ANG_RLL_P,11
-ATC_ANG_YAW_P,7.2
-ATC_RAT_PIT_D,0.003
-ATC_RAT_PIT_I,0.110
-ATC_RAT_PIT_P,0.110
-ATC_RAT_RLL_D,0.003
-ATC_RAT_RLL_I,0.110
-ATC_RAT_RLL_P,0.110
-ATC_RAT_YAW_FLTE,1
-ATC_RAT_YAW_I,0.031
-ATC_RAT_YAW_P,0.31
-BATT_AMP_PERVLT,39.877
-BATT_CURR_PIN,1
-BATT_LOW_VOLT,14
-BATT_MONITOR,4
-BATT_VOLT_MULT,18.182
-BATT_VOLT_PIN,0
-BRD_SAFETYENABLE,0
-EK3_DRAG_BCOEF_X,80
-EK3_DRAG_BCOEF_Y,54
-EK3_DRAG_MCOEF,0.11
-FRAME_CLASS,1
-FRAME_TYPE,1
-INS_GYRO_FILTER,40
-MOT_BAT_VOLT_MAX,16.8
-MOT_BAT_VOLT_MIN,13.2
-MOT_SPIN_ARM,0.07
-MOT_SPIN_MIN,0.09
-MOT_THST_HOVER,0.25
+#Note: Holybro S500 param for ArduPilot Copter 4.1
+ACRO_YAW_P,1.5
+ANGLE_MAX,3500
+ATC_ACCEL_P_MAX,70000
+ATC_ACCEL_R_MAX,70000
+ATC_ACCEL_Y_MAX,12000
+ATC_ANG_PIT_P,11
+ATC_ANG_RLL_P,11
+ATC_ANG_YAW_P,7.2
+ATC_RAT_PIT_D,0.003
+ATC_RAT_PIT_I,0.110
+ATC_RAT_PIT_P,0.110
+ATC_RAT_RLL_D,0.003
+ATC_RAT_RLL_I,0.110
+ATC_RAT_RLL_P,0.110
+ATC_RAT_YAW_FLTE,1
+ATC_RAT_YAW_I,0.031
+ATC_RAT_YAW_P,0.31
+BATT_AMP_PERVLT,39.877
+BATT_CURR_PIN,1
+BATT_LOW_VOLT,14
+BATT_MONITOR,4
+BATT_VOLT_MULT,18.182
+BATT_VOLT_PIN,0
+BRD_SAFETYENABLE,0
+EK3_DRAG_BCOEF_X,80
+EK3_DRAG_BCOEF_Y,54
+EK3_DRAG_MCOEF,0.11
+FRAME_CLASS,1
+FRAME_TYPE,1
+INS_GYRO_FILTER,40
+MOT_BAT_VOLT_MAX,16.8
+MOT_BAT_VOLT_MIN,13.2
+MOT_SPIN_ARM,0.07
+MOT_SPIN_MIN,0.09
+MOT_THST_HOVER,0.25

Tools/Frame_params/Holybro-kospi1.param

@@ -1,54 +1,54 @@
-#NOTE: Holybro Kospi1 default params for Copter-3.6 (and higher)
-ACRO_RP_P,9
-ACRO_TRAINER,0
-AHRS_EKF_TYPE,3
-ATC_ACCEL_P_MAX,256000
-ATC_ACCEL_R_MAX,364000
-ATC_ACCEL_Y_MAX,89000
-ATC_ANGLE_BOOST,0
-ATC_ANG_PIT_P,25.0
-ATC_ANG_RLL_P,25.0
-ATC_ANG_YAW_P,14.1
-ATC_INPUT_TC,0.05
-ATC_RAT_PIT_D,0.001486
-ATC_RAT_PIT_FILT,40
-ATC_RAT_PIT_FLTD,40
-ATC_RAT_PIT_I,0.066914
-ATC_RAT_PIT_P,0.066914
-ATC_RAT_RLL_D,0.001125
-ATC_RAT_RLL_FILT,40
-ATC_RAT_RLL_FLTD,40
-ATC_RAT_RLL_I,0.054774
-ATC_RAT_RLL_P,0.054774
-ATC_RAT_YAW_FILT,3.491686
-ATC_RAT_YAW_FLTE,3.491686
-ATC_RAT_YAW_I,0.02087
-ATC_RAT_YAW_P,0.208696
-BATT_MONITOR,4
-BRD_PWM_COUNT,8
-EK2_ENABLE,0
-EK3_ENABLE,1
-FRAME_CLASS,1
-INS_ACCEL_FILTER,10
-INS_GYRO_FILTER,80
-LOG_BITMASK,65534
-MOT_PWM_MAX,2000
-MOT_PWM_MIN,1000
-MOT_PWM_TYPE,4
-MOT_SPIN_MIN,0.1
-MOT_THST_EXPO,0.5
-MOT_THST_HOVER,0.125
-PILOT_ACCEL_Z,800
-PILOT_SPEED_UP,500
-PSC_ACCZ_P,0.3
-PSC_POSZ_P,2
-PSC_VELZ_P,7
-SCHED_LOOP_RATE,500
-SERVO_BLH_AUTO,1
-SERVO_BLH_DEBUG,1
-BATT_AMP_PERVLT,17
-BATT_CAPACITY,3300
-BATT_CURR_PIN,12
-BATT_LOW_VOLT,10
-BATT_VOLT_MULT,11
-BATT_VOLT_PIN,13
+#NOTE: Holybro Kospi1 default params for Copter-3.6 (and higher)
+ACRO_RP_P,9
+ACRO_TRAINER,0
+AHRS_EKF_TYPE,3
+ATC_ACCEL_P_MAX,256000
+ATC_ACCEL_R_MAX,364000
+ATC_ACCEL_Y_MAX,89000
+ATC_ANGLE_BOOST,0
+ATC_ANG_PIT_P,25.0
+ATC_ANG_RLL_P,25.0
+ATC_ANG_YAW_P,14.1
+ATC_INPUT_TC,0.05
+ATC_RAT_PIT_D,0.001486
+ATC_RAT_PIT_FILT,40
+ATC_RAT_PIT_FLTD,40
+ATC_RAT_PIT_I,0.066914
+ATC_RAT_PIT_P,0.066914
+ATC_RAT_RLL_D,0.001125
+ATC_RAT_RLL_FILT,40
+ATC_RAT_RLL_FLTD,40
+ATC_RAT_RLL_I,0.054774
+ATC_RAT_RLL_P,0.054774
+ATC_RAT_YAW_FILT,3.491686
+ATC_RAT_YAW_FLTE,3.491686
+ATC_RAT_YAW_I,0.02087
+ATC_RAT_YAW_P,0.208696
+BATT_MONITOR,4
+BRD_PWM_COUNT,8
+EK2_ENABLE,0
+EK3_ENABLE,1
+FRAME_CLASS,1
+INS_ACCEL_FILTER,10
+INS_GYRO_FILTER,80
+LOG_BITMASK,65534
+MOT_PWM_MAX,2000
+MOT_PWM_MIN,1000
+MOT_PWM_TYPE,4
+MOT_SPIN_MIN,0.1
+MOT_THST_EXPO,0.5
+MOT_THST_HOVER,0.125
+PILOT_ACCEL_Z,800
+PILOT_SPEED_UP,500
+PSC_ACCZ_P,0.3
+PSC_POSZ_P,2
+PSC_VELZ_P,7
+SCHED_LOOP_RATE,500
+SERVO_BLH_AUTO,1
+SERVO_BLH_DEBUG,1
+BATT_AMP_PERVLT,17
+BATT_CAPACITY,3300
+BATT_CURR_PIN,12
+BATT_LOW_VOLT,10
+BATT_VOLT_MULT,11
+BATT_VOLT_PIN,13

Tools/Frame_params/ThunderTiger-ToyotaHilux-Rover.param

@@ -1,39 +1,39 @@
-#NOTE: Thunder Tiger Toyota Hilux Rover param file
-ACRO_TURN_RATE,80
-ATC_ACCEL_MAX,1
-ATC_BRAKE,1
-ATC_SPEED_I,0.2
-ATC_SPEED_P,0.2
-ATC_STR_RAT_FF,1.2
-ATC_STR_RAT_I,0.4
-ATC_STR_RAT_P,0.4
-COMPASS_ORIENT,4
-CRUISE_SPEED,1.43
-CRUISE_THROTTLE,70
-EK2_YAW_M_NSE,0.7
-FRAME_CLASS,1
-MOT_PWM_FREQ,16
-MOT_PWM_TYPE,0
-MOT_SAFE_DISARM,0
-MOT_SLEWRATE,100
-MOT_THR_MAX,100
-MOT_THR_MIN,20
-MOT_THST_EXPO,0
-MOT_VEC_THR_BASE,0
-NAVL1_DAMPING,0.75
-NAVL1_PERIOD,8
-NAVL1_XTRACK_I,0.02
-PILOT_STEER_TYPE,0
-SERIAL1_BAUD,921
-SERIAL1_PROTOCOL,2
-SERVO1_FUNCTION,26
-SERVO1_MAX,1900
-SERVO1_MIN,1100
-SERVO1_REVERSED,1
-SERVO1_TRIM,1500
-SERVO3_FUNCTION,70
-SERVO3_MAX,2000
-SERVO3_MIN,1000
-SERVO3_REVERSED,0
-SERVO3_TRIM,1500
-ATC_TURN_MAX_G,0.3
+#NOTE: Thunder Tiger Toyota Hilux Rover param file
+ACRO_TURN_RATE,80
+ATC_ACCEL_MAX,1
+ATC_BRAKE,1
+ATC_SPEED_I,0.2
+ATC_SPEED_P,0.2
+ATC_STR_RAT_FF,1.2
+ATC_STR_RAT_I,0.4
+ATC_STR_RAT_P,0.4
+COMPASS_ORIENT,4
+CRUISE_SPEED,1.43
+CRUISE_THROTTLE,70
+EK2_YAW_M_NSE,0.7
+FRAME_CLASS,1
+MOT_PWM_FREQ,16
+MOT_PWM_TYPE,0
+MOT_SAFE_DISARM,0
+MOT_SLEWRATE,100
+MOT_THR_MAX,100
+MOT_THR_MIN,20
+MOT_THST_EXPO,0
+MOT_VEC_THR_BASE,0
+NAVL1_DAMPING,0.75
+NAVL1_PERIOD,8
+NAVL1_XTRACK_I,0.02
+PILOT_STEER_TYPE,0
+SERIAL1_BAUD,921
+SERIAL1_PROTOCOL,2
+SERVO1_FUNCTION,26
+SERVO1_MAX,1900
+SERVO1_MIN,1100
+SERVO1_REVERSED,1
+SERVO1_TRIM,1500
+SERVO3_FUNCTION,70
+SERVO3_MAX,2000
+SERVO3_MIN,1000
+SERVO3_REVERSED,0
+SERVO3_TRIM,1500
+ATC_TURN_MAX_G,0.3

Tools/Frame_params/amovlab-p200.param

@@ -1,32 +1,32 @@
-#NOTE: Amovlab P200 params for ArduPilot Copter 4.0.0
-ANGLE_MAX,3500
-ACRO_YAW_P,1.8
-ATC_ACCEL_P_MAX,110000
-ATC_ACCEL_R_MAX,110000
-ATC_ACCEL_Y_MAX,17000
-ATC_ANG_PIT_P,7.6
-ATC_ANG_RLL_P,7.6
-ATC_ANG_YAW_P,4.7
-ATC_RAT_PIT_D,0.0015
-ATC_RAT_PIT_I,0.09
-ATC_RAT_PIT_P,0.09
-ATC_RAT_RLL_D,0.0015
-ATC_RAT_RLL_I,0.09
-ATC_RAT_RLL_P,0.09
-ATC_RAT_YAW_P,0.8
-ATC_RAT_YAW_I,0.08
-ATC_RAT_YAW_FLTE,1.0
-BATT_AMP_PERVLT,39.877
-BATT_CAPACITY,3300
-BATT_MONITOR,4
-BRD_SAFETYENABLE,0
-FRAME_CLASS,1
-FRAME_TYPE,1
-GPS_TYPE,2
-INS_GYRO_FILTER,40
-MOT_BAT_VOLT_MAX,12.6
-MOT_BAT_VOLT_MIN,9.9
-MOT_SPIN_ARM,0.08
-MOT_SPIN_MIN,0.11
-MOT_THST_HOVER,0.36
-
+#NOTE: Amovlab P200 params for ArduPilot Copter 4.0.0
+ANGLE_MAX,3500
+ACRO_YAW_P,1.8
+ATC_ACCEL_P_MAX,110000
+ATC_ACCEL_R_MAX,110000
+ATC_ACCEL_Y_MAX,17000
+ATC_ANG_PIT_P,7.6
+ATC_ANG_RLL_P,7.6
+ATC_ANG_YAW_P,4.7
+ATC_RAT_PIT_D,0.0015
+ATC_RAT_PIT_I,0.09
+ATC_RAT_PIT_P,0.09
+ATC_RAT_RLL_D,0.0015
+ATC_RAT_RLL_I,0.09
+ATC_RAT_RLL_P,0.09
+ATC_RAT_YAW_P,0.8
+ATC_RAT_YAW_I,0.08
+ATC_RAT_YAW_FLTE,1.0
+BATT_AMP_PERVLT,39.877
+BATT_CAPACITY,3300
+BATT_MONITOR,4
+BRD_SAFETYENABLE,0
+FRAME_CLASS,1
+FRAME_TYPE,1
+GPS_TYPE,2
+INS_GYRO_FILTER,40
+MOT_BAT_VOLT_MAX,12.6
+MOT_BAT_VOLT_MIN,9.9
+MOT_SPIN_ARM,0.08
+MOT_SPIN_MIN,0.11
+MOT_THST_HOVER,0.36
+

Tools/Frame_params/boogie-board-boat.param

@@ -1,23 +1,23 @@
-#NOTE: BoogieBoard Boat Sep2020
-ATC_ACCEL_MAX,1
-ATC_SPEED_I,0.1
-ATC_SPEED_P,0.1
-ATC_STR_RAT_FF,0.18
-ATC_STR_RAT_MAX,200
-ATC_STR_RAT_P,0.2
-BRD_SAFETYENABLE,0
-CRUISE_SPEED,1.90
-CRUISE_THROTTLE,75
-FRAME_CLASS,2
-FRAME_TYPE,0
-FS_ACTION,1
-MOT_THR_MIN,5
-NAVL1_DAMPING,0.75
-NAVL1_PERIOD,8
-NAVL1_XTRACK_I,0.02
-PILOT_STEER_TYPE,0
-SERVO1_FUNCTION,73
-SERVO3_FUNCTION,74
-ATC_TURN_MAX_G,0.3
-WP_OVERSHOOT,2
-WP_SPEED,1.5
+#NOTE: BoogieBoard Boat Sep2020
+ATC_ACCEL_MAX,1
+ATC_SPEED_I,0.1
+ATC_SPEED_P,0.1
+ATC_STR_RAT_FF,0.18
+ATC_STR_RAT_MAX,200
+ATC_STR_RAT_P,0.2
+BRD_SAFETYENABLE,0
+CRUISE_SPEED,1.90
+CRUISE_THROTTLE,75
+FRAME_CLASS,2
+FRAME_TYPE,0
+FS_ACTION,1
+MOT_THR_MIN,5
+NAVL1_DAMPING,0.75
+NAVL1_PERIOD,8
+NAVL1_XTRACK_I,0.02
+PILOT_STEER_TYPE,0
+SERVO1_FUNCTION,73
+SERVO3_FUNCTION,74
+ATC_TURN_MAX_G,0.3
+WP_OVERSHOOT,2
+WP_SPEED,1.5

Tools/Frame_params/deset-mapping-boat.param

@@ -1,42 +1,42 @@
-#NOTE: JapanDrones DeSET mapping boat parameters for ArduPilor Rover-4.2 (or higher). Serial1:Herelink receiver,  Serial2:Torqeedo motor adapter, Serial3:dAISy2+, Serial4:NMEA Sonar
-ACRO_TURN_RATE,60
-AIS_TYPE,1
-ATC_ACCEL_MAX,0.3
-ATC_BRAKE,0
-ATC_SPEED_FLTE,5
-ATC_SPEED_I,0.2
-ATC_SPEED_IMAX,0.5
-ATC_SPEED_P,0.2
-ATC_STR_ACC_MAX,120
-ATC_STR_ANG_P,2
-ATC_STR_RAT_FF,0.4
-ATC_STR_RAT_FLTE,5
-ATC_STR_RAT_I,0.2
-ATC_STR_RAT_MAX,90
-ATC_STR_RAT_P,0.15
-ATC_TURN_MAX_G,0.2
-BATT_MONITOR,23
-BRD_SAFETYENABLE,0
-CRUISE_SPEED,3.1
-CRUISE_THROTTLE,100
-FRAME_CLASS,2
-FRAME_TYPE,0
-MOT_SLEWRATE,25
-MOT_VEC_ANGLEMAX,30
-NAVL1_DAMPING,0.8
-NAVL1_PERIOD,16
-RNGFND1_MAX_CM,20000
-RNGFND1_MIN_CM,0
-RNGFND1_TYPE,17
-SERIAL2_BAUD,19
-SERIAL2_PROTOCOL,39
-SERIAL3_BAUD,38
-SERIAL3_PROTOCOL,40
-SERIAL4_BAUD,9
-SERIAL4_PROTOCOL,9
-SR0_ADSB,1
-SR1_ADSB,1
-TRQD_SLEW_TIME,3
-TRQD_TYPE,2
-WP_RADIUS,2
-WP_SPEED,1.5
+#NOTE: JapanDrones DeSET mapping boat parameters for ArduPilor Rover-4.2 (or higher). Serial1:Herelink receiver,  Serial2:Torqeedo motor adapter, Serial3:dAISy2+, Serial4:NMEA Sonar
+ACRO_TURN_RATE,60
+AIS_TYPE,1
+ATC_ACCEL_MAX,0.3
+ATC_BRAKE,0
+ATC_SPEED_FLTE,5
+ATC_SPEED_I,0.2
+ATC_SPEED_IMAX,0.5
+ATC_SPEED_P,0.2
+ATC_STR_ACC_MAX,120
+ATC_STR_ANG_P,2
+ATC_STR_RAT_FF,0.4
+ATC_STR_RAT_FLTE,5
+ATC_STR_RAT_I,0.2
+ATC_STR_RAT_MAX,90
+ATC_STR_RAT_P,0.15
+ATC_TURN_MAX_G,0.2
+BATT_MONITOR,23
+BRD_SAFETYENABLE,0
+CRUISE_SPEED,3.1
+CRUISE_THROTTLE,100
+FRAME_CLASS,2
+FRAME_TYPE,0
+MOT_SLEWRATE,25
+MOT_VEC_ANGLEMAX,30
+NAVL1_DAMPING,0.8
+NAVL1_PERIOD,16
+RNGFND1_MAX_CM,20000
+RNGFND1_MIN_CM,0
+RNGFND1_TYPE,17
+SERIAL2_BAUD,19
+SERIAL2_PROTOCOL,39
+SERIAL3_BAUD,38
+SERIAL3_PROTOCOL,40
+SERIAL4_BAUD,9
+SERIAL4_PROTOCOL,9
+SR0_ADSB,1
+SR1_ADSB,1
+TRQD_SLEW_TIME,3
+TRQD_TYPE,2
+WP_RADIUS,2
+WP_SPEED,1.5

Tools/Frame_params/eLAB_EX1050_AC34.param

@@ -1,45 +1,45 @@
-#NOTE: EnRoute EX1050 parameter defaults (Copter-3.4 and higher)
-ACRO_YAW_P,2.0
-ANGLE_MAX,3000
-ATC_ACCEL_P_MAX,41300
-ATC_ACCEL_R_MAX,43600
-ATC_ACCEL_Y_MAX,10800
-ATC_ANG_PIT_P,7.2
-ATC_ANG_RLL_P,6.3
-ATC_ANG_YAW_P,4.5
-ATC_RAT_PIT_D,0.0128
-ATC_RAT_PIT_FILT,10.0
-ATC_RAT_PIT_FLTD,10.0
-ATC_RAT_PIT_I,0.144
-ATC_RAT_PIT_IMAX,0.2
-ATC_RAT_PIT_P,0.144
-ATC_RAT_RLL_D,0.01386
-ATC_RAT_RLL_FILT,10.0
-ATC_RAT_RLL_FLTD,10.0
-ATC_RAT_RLL_I,0.1523
-ATC_RAT_RLL_P,0.1523
-ATC_RAT_YAW_I,0.018
-ATC_RAT_YAW_IMAX,0.17
-ATC_RAT_YAW_P,0.18
-BATT_MONITOR,3
-BATT_VOLT_MULT,15.8191
-BATT_AMP_PERVOLT,54.64
-BATT_CAPACITY,13500
-BRD_SAFETYENABLE,0
-FRAME,1
-FRAME_CLASS,1
-FS_BATT_ENABLE,1
-FS_BATT_VOLTAGE,43
-GND_EFFECT_COMP,1
-GPS_TYPE,2
-MOT_SPIN_ARM,0.08
-MOT_SPIN_MIN,0.11
-MOT_THST_HOVER,0.30
-MOT_THST_EXPO,0.7
-MOT_BAT_VOLT_MAX,25.2
-MOT_BAT_VOLT_MIN,21.0
-PILOT_THR_BHV,1
-WPNAV_SPEED,500
-WPNAV_LOIT_SPEED,800
-WPNAV_LOIT_MAXA,250
-WPNAV_LOIT_MINA,25
+#NOTE: EnRoute EX1050 parameter defaults (Copter-3.4 and higher)
+ACRO_YAW_P,2.0
+ANGLE_MAX,3000
+ATC_ACCEL_P_MAX,41300
+ATC_ACCEL_R_MAX,43600
+ATC_ACCEL_Y_MAX,10800
+ATC_ANG_PIT_P,7.2
+ATC_ANG_RLL_P,6.3
+ATC_ANG_YAW_P,4.5
+ATC_RAT_PIT_D,0.0128
+ATC_RAT_PIT_FILT,10.0
+ATC_RAT_PIT_FLTD,10.0
+ATC_RAT_PIT_I,0.144
+ATC_RAT_PIT_IMAX,0.2
+ATC_RAT_PIT_P,0.144
+ATC_RAT_RLL_D,0.01386
+ATC_RAT_RLL_FILT,10.0
+ATC_RAT_RLL_FLTD,10.0
+ATC_RAT_RLL_I,0.1523
+ATC_RAT_RLL_P,0.1523
+ATC_RAT_YAW_I,0.018
+ATC_RAT_YAW_IMAX,0.17
+ATC_RAT_YAW_P,0.18
+BATT_MONITOR,3
+BATT_VOLT_MULT,15.8191
+BATT_AMP_PERVOLT,54.64
+BATT_CAPACITY,13500
+BRD_SAFETYENABLE,0
+FRAME,1
+FRAME_CLASS,1
+FS_BATT_ENABLE,1
+FS_BATT_VOLTAGE,43
+GND_EFFECT_COMP,1
+GPS_TYPE,2
+MOT_SPIN_ARM,0.08
+MOT_SPIN_MIN,0.11
+MOT_THST_HOVER,0.30
+MOT_THST_EXPO,0.7
+MOT_BAT_VOLT_MAX,25.2
+MOT_BAT_VOLT_MIN,21.0
+PILOT_THR_BHV,1
+WPNAV_SPEED,500
+WPNAV_LOIT_SPEED,800
+WPNAV_LOIT_MAXA,250
+WPNAV_LOIT_MINA,25

Tools/Frame_params/eLAB_EX700_AC34.param

@@ -1,67 +1,67 @@
-#NOTE: EnRoute EX700 parameter defaults (Copter-3.4 and higher)
-ACRO_YAW_P,3.0
-ANGLE_MAX,3000
-AUTOTUNE_AGGR,0.1
-ATC_ACCEL_P_MAX,41300
-ATC_ACCEL_R_MAX,43600
-ATC_ACCEL_Y_MAX,10800
-ATC_ANG_PIT_P,6.89
-ATC_ANG_RLL_P,6.01
-ATC_ANG_YAW_P,5.48
-ATC_RAT_PIT_D,0.01636
-ATC_RAT_PIT_FILT,10.0
-ATC_RAT_PIT_FLTD,10.0
-ATC_RAT_PIT_I,0.1379
-ATC_RAT_PIT_P,0.1379
-ATC_RAT_RLL_D,0.00683
-ATC_RAT_RLL_FILT,10.0
-ATC_RAT_RLL_FLTD,10.0
-ATC_RAT_RLL_I,0.0814
-ATC_RAT_RLL_P,0.0814
-ATC_RAT_YAW_I,0.044
-ATC_RAT_YAW_P,0.441
-BATT_MONITOR,4
-BATT_AMP_PERVOLT,54.64
-BATT_CAPACITY,13500
-BRD_SAFETYENABLE,0
-BRD_SER1_RTSCTS,0
-BRD_SER2_RTSCTS,0
-FLOW_ORIENT_YAW,-9000
-FRAME,1
-FRAME_CLASS,1
-FS_BATT_ENABLE,1
-FS_BATT_VOLTAGE,21
-GND_EFFECT_COMP,1
-GPS_TYPE,2
-MOT_SPIN_ARM,0.08
-MOT_SPIN_MIN,0.12
-MOT_THST_HOVER,0.25
-MOT_THST_EXPO,0.7
-MOT_BAT_VOLT_MAX,25.2
-MOT_BAT_VOLT_MIN,21.0
-RNGFND_MAX_CM,5000
-RNGFND_MIN_CM,5
-RNGFND_SCALING,1
-RNGFND_TYPE,8
-PILOT_THR_BHV,1
-PRX_ORIENT,1
-PRX_TYPE,1
-PRX_YAW_CORR,28
-PRX_IGN_ANG1,52
-PRX_IGN_WID2,10
-PRX_IGN_ANG2,144
-PRX_IGN_WID2,10
-PRX_IGN_ANG3,222
-PRX_IGN_WID3,10
-PRX_IGN_ANG3,312
-PRX_IGN_WID3,10
-SERIAL1_PROTOCOL,9
-SERIAL1_BAUD,19200
-SERIAL2_PROTOCOL,1
-SERIAL2_BAUD,921
-SERIAL4_PROTOCOL,11
-SERIAL4_BAUD,115
-WPNAV_SPEED,1000
-WPNAV_LOIT_SPEED,1000
-WPNAV_LOIT_MAXA,230
-WPNAV_LOIT_MINA,100
+#NOTE: EnRoute EX700 parameter defaults (Copter-3.4 and higher)
+ACRO_YAW_P,3.0
+ANGLE_MAX,3000
+AUTOTUNE_AGGR,0.1
+ATC_ACCEL_P_MAX,41300
+ATC_ACCEL_R_MAX,43600
+ATC_ACCEL_Y_MAX,10800
+ATC_ANG_PIT_P,6.89
+ATC_ANG_RLL_P,6.01
+ATC_ANG_YAW_P,5.48
+ATC_RAT_PIT_D,0.01636
+ATC_RAT_PIT_FILT,10.0
+ATC_RAT_PIT_FLTD,10.0
+ATC_RAT_PIT_I,0.1379
+ATC_RAT_PIT_P,0.1379
+ATC_RAT_RLL_D,0.00683
+ATC_RAT_RLL_FILT,10.0
+ATC_RAT_RLL_FLTD,10.0
+ATC_RAT_RLL_I,0.0814
+ATC_RAT_RLL_P,0.0814
+ATC_RAT_YAW_I,0.044
+ATC_RAT_YAW_P,0.441
+BATT_MONITOR,4
+BATT_AMP_PERVOLT,54.64
+BATT_CAPACITY,13500
+BRD_SAFETYENABLE,0
+BRD_SER1_RTSCTS,0
+BRD_SER2_RTSCTS,0
+FLOW_ORIENT_YAW,-9000
+FRAME,1
+FRAME_CLASS,1
+FS_BATT_ENABLE,1
+FS_BATT_VOLTAGE,21
+GND_EFFECT_COMP,1
+GPS_TYPE,2
+MOT_SPIN_ARM,0.08
+MOT_SPIN_MIN,0.12
+MOT_THST_HOVER,0.25
+MOT_THST_EXPO,0.7
+MOT_BAT_VOLT_MAX,25.2
+MOT_BAT_VOLT_MIN,21.0
+RNGFND_MAX_CM,5000
+RNGFND_MIN_CM,5
+RNGFND_SCALING,1
+RNGFND_TYPE,8
+PILOT_THR_BHV,1
+PRX_ORIENT,1
+PRX_TYPE,1
+PRX_YAW_CORR,28
+PRX_IGN_ANG1,52
+PRX_IGN_WID2,10
+PRX_IGN_ANG2,144
+PRX_IGN_WID2,10
+PRX_IGN_ANG3,222
+PRX_IGN_WID3,10
+PRX_IGN_ANG3,312
+PRX_IGN_WID3,10
+SERIAL1_PROTOCOL,9
+SERIAL1_BAUD,19200
+SERIAL2_PROTOCOL,1
+SERIAL2_BAUD,921
+SERIAL4_PROTOCOL,11
+SERIAL4_BAUD,115
+WPNAV_SPEED,1000
+WPNAV_LOIT_SPEED,1000
+WPNAV_LOIT_MAXA,230
+WPNAV_LOIT_MINA,100

Tools/Frame_params/eLAB_LAB470_AC35.param

@@ -1,96 +1,96 @@
-#NOTE: eLAB LAB470 quadcopter on Copter-3.5
-ACRO_YAW_P,3.0
-AHRS_ORIENTATION,14
-ANGLE_MAX,3000
-ARMING_VOLT_MIN,22
-ATC_ACCEL_P_MAX,38000
-ATC_ACCEL_R_MAX,41000
-ATC_ACCEL_Y_MAX,18000
-ATC_ANG_PIT_P,8
-ATC_ANG_RLL_P,8
-ATC_ANG_YAW_P,4.5
-ATC_RAT_PIT_D,0.009977
-ATC_RAT_PIT_FILT,10
-ATC_RAT_PIT_FLTD,10
-ATC_RAT_PIT_I,0.1022741
-ATC_RAT_PIT_P,0.1022741
-ATC_RAT_RLL_D,0.009617
-ATC_RAT_RLL_FILT,10
-ATC_RAT_RLL_FLTD,10
-ATC_RAT_RLL_I,0.0827849
-ATC_RAT_RLL_P,0.0827849
-ATC_RAT_YAW_D,0
-ATC_RAT_YAW_FILT,2.5
-ATC_RAT_YAW_FLTE,2.5
-ATC_RAT_YAW_I,0.018
-ATC_RAT_YAW_P,0.18
-ATC_RATE_FF_ENAB,1
-BATT_CAPACITY,5400
-BATT_CURR_PIN,3
-BATT_MONITOR,3
-BATT_VOLT_MULT,7.699197
-BATT_VOLT_PIN,2
-RC7_OPTION,4
-FENCE_ACTION,1
-FENCE_ALT_MAX,100
-FENCE_ENABLE,0
-FENCE_RADIUS,300
-FLTMODE1,0
-FLTMODE2,0
-FLTMODE3,0
-FLTMODE4,2
-FLTMODE5,0
-FLTMODE6,5
-FRAME_CLASS,1
-FRAME_TYPE,1
-FS_BATT_ENABLE,1
-FS_BATT_MAH,0
-FS_BATT_VOLTAGE,21
-FS_THR_ENABLE,1
-GND_EFFECT_COMP,0
-GPS_POS1_X,0
-GPS_POS1_Y,0
-GPS_POS1_Z,0
-GPS_TYPE,2
-LOG_BACKEND_TYPE,1
-MNT_ANGMAX_PAN,4500
-MNT_ANGMAX_ROL,3000
-MNT_ANGMAX_TIL,0
-MNT_ANGMIN_PAN,-4500
-MNT_ANGMIN_ROL,-3000
-MNT_ANGMIN_TIL,-9000
-MNT_LEAD_PTCH,0
-MNT_LEAD_RLL,0
-MNT_RC_IN_TILT,6
-MNT_TYPE,3
-MOT_SPIN_ARM,0.08
-MOT_SPIN_MAX,0.95
-MOT_SPIN_MIN,0.12
-MOT_THST_EXPO,0.65
-MOT_THST_HOVER,0.22
-PILOT_THR_BHV,1
-PILOT_VELZ_MAX,250
-RC_FEEL_RP,50
-RTL_ALT,2000
-SERIAL1_BAUD,57
-SERIAL1_PROTOCOL,1
-SERIAL2_BAUD,921
-SERIAL2_PROTOCOL,1
-SERIAL3_BAUD,57
-SERIAL3_PROTOCOL,5
-SERIAL4_BAUD,115
-SERIAL4_PROTOCOL,7
-TERRAIN_ENABLE,1
-TERRAIN_FOLLOW,0
-TERRAIN_SPACING,30
-WP_YAW_BEHAVIOR,1
-WPNAV_ACCEL,100
-WPNAV_ACCEL_Z,100
-WPNAV_LOIT_JERK,1000
-WPNAV_LOIT_MAXA,450
-WPNAV_LOIT_MINA,175
-WPNAV_LOIT_SPEED,1000
-WPNAV_RADIUS,200
-WPNAV_SPEED,1000
-WPNAV_SPEED_DN,150
-WPNAV_SPEED_UP,250
+#NOTE: eLAB LAB470 quadcopter on Copter-3.5
+ACRO_YAW_P,3.0
+AHRS_ORIENTATION,14
+ANGLE_MAX,3000
+ARMING_VOLT_MIN,22
+ATC_ACCEL_P_MAX,38000
+ATC_ACCEL_R_MAX,41000
+ATC_ACCEL_Y_MAX,18000
+ATC_ANG_PIT_P,8
+ATC_ANG_RLL_P,8
+ATC_ANG_YAW_P,4.5
+ATC_RAT_PIT_D,0.009977
+ATC_RAT_PIT_FILT,10
+ATC_RAT_PIT_FLTD,10
+ATC_RAT_PIT_I,0.1022741
+ATC_RAT_PIT_P,0.1022741
+ATC_RAT_RLL_D,0.009617
+ATC_RAT_RLL_FILT,10
+ATC_RAT_RLL_FLTD,10
+ATC_RAT_RLL_I,0.0827849
+ATC_RAT_RLL_P,0.0827849
+ATC_RAT_YAW_D,0
+ATC_RAT_YAW_FILT,2.5
+ATC_RAT_YAW_FLTE,2.5
+ATC_RAT_YAW_I,0.018
+ATC_RAT_YAW_P,0.18
+ATC_RATE_FF_ENAB,1
+BATT_CAPACITY,5400
+BATT_CURR_PIN,3
+BATT_MONITOR,3
+BATT_VOLT_MULT,7.699197
+BATT_VOLT_PIN,2
+RC7_OPTION,4
+FENCE_ACTION,1
+FENCE_ALT_MAX,100
+FENCE_ENABLE,0
+FENCE_RADIUS,300
+FLTMODE1,0
+FLTMODE2,0
+FLTMODE3,0
+FLTMODE4,2
+FLTMODE5,0
+FLTMODE6,5
+FRAME_CLASS,1
+FRAME_TYPE,1
+FS_BATT_ENABLE,1
+FS_BATT_MAH,0
+FS_BATT_VOLTAGE,21
+FS_THR_ENABLE,1
+GND_EFFECT_COMP,0
+GPS_POS1_X,0
+GPS_POS1_Y,0
+GPS_POS1_Z,0
+GPS_TYPE,2
+LOG_BACKEND_TYPE,1
+MNT_ANGMAX_PAN,4500
+MNT_ANGMAX_ROL,3000
+MNT_ANGMAX_TIL,0
+MNT_ANGMIN_PAN,-4500
+MNT_ANGMIN_ROL,-3000
+MNT_ANGMIN_TIL,-9000
+MNT_LEAD_PTCH,0
+MNT_LEAD_RLL,0
+MNT_RC_IN_TILT,6
+MNT_TYPE,3
+MOT_SPIN_ARM,0.08
+MOT_SPIN_MAX,0.95
+MOT_SPIN_MIN,0.12
+MOT_THST_EXPO,0.65
+MOT_THST_HOVER,0.22
+PILOT_THR_BHV,1
+PILOT_VELZ_MAX,250
+RC_FEEL_RP,50
+RTL_ALT,2000
+SERIAL1_BAUD,57
+SERIAL1_PROTOCOL,1
+SERIAL2_BAUD,921
+SERIAL2_PROTOCOL,1
+SERIAL3_BAUD,57
+SERIAL3_PROTOCOL,5
+SERIAL4_BAUD,115
+SERIAL4_PROTOCOL,7
+TERRAIN_ENABLE,1
+TERRAIN_FOLLOW,0
+TERRAIN_SPACING,30
+WP_YAW_BEHAVIOR,1
+WPNAV_ACCEL,100
+WPNAV_ACCEL_Z,100
+WPNAV_LOIT_JERK,1000
+WPNAV_LOIT_MAXA,450
+WPNAV_LOIT_MINA,175
+WPNAV_LOIT_SPEED,1000
+WPNAV_RADIUS,200
+WPNAV_SPEED,1000
+WPNAV_SPEED_DN,150
+WPNAV_SPEED_UP,250

Tools/Frame_params/eLAB_VEK_AI_Rover.param

@@ -1,45 +1,45 @@
-#NOTE: eLAB VEK AI - APM:Rover V3.2
-AHRS_EKF_TYPE,3
-ATC_STR_RAT_FF,0.15
-ATC_STR_RAT_P,0.0
-ATC_STR_RAT_I,0.2
-BATT_CURR_PIN,-1
-BATT_VOLT_PIN,-1
-CRUISE_SPEED,1.0
-EK2_ENABLE,0
-EK3_ENABLE,1
-GPS_TYPE,2
-MIS_RESTART,1
-MODE_CH,5
-MODE1,10
-MODE2,0
-MODE3,0
-MODE4,3
-MODE5,10
-MODE6,0
-MOT_THST_EXPO,-0.5
-NAVL1_PERIOD,12
-PIVOT_TURN_ANGLE,60
-SERIAL2_BAUD,921
-SERIAL2_PROTOCOL,1
-SERVO1_FUNCTION,73
-SERVO1_MAX,1920
-SERVO1_MIN,1120
-SERVO1_REVERSED,0
-SERVO1_TRIM,1520
-SERVO3_FUNCTION,74
-SERVO3_MAX,1920
-SERVO3_MIN,1120
-SERVO3_REVERSED,1
-SERVO3_TRIM,1533
-SPEED_TURN_GAIN,25
-STEER2SRV_D,0.01
-STEER2SRV_I,0.003
-STEER2SRV_P,0.3
-THR_SLEWRATE,50
-ATC_TURN_MAX_G,0.21
-VISO_ORIENT,0
-VISO_POS_X,0
-VISO_POS_Y,0
-VISO_POS_Z,0
-VISO_TYPE,1
+#NOTE: eLAB VEK AI - APM:Rover V3.2
+AHRS_EKF_TYPE,3
+ATC_STR_RAT_FF,0.15
+ATC_STR_RAT_P,0.0
+ATC_STR_RAT_I,0.2
+BATT_CURR_PIN,-1
+BATT_VOLT_PIN,-1
+CRUISE_SPEED,1.0
+EK2_ENABLE,0
+EK3_ENABLE,1
+GPS_TYPE,2
+MIS_RESTART,1
+MODE_CH,5
+MODE1,10
+MODE2,0
+MODE3,0
+MODE4,3
+MODE5,10
+MODE6,0
+MOT_THST_EXPO,-0.5
+NAVL1_PERIOD,12
+PIVOT_TURN_ANGLE,60
+SERIAL2_BAUD,921
+SERIAL2_PROTOCOL,1
+SERVO1_FUNCTION,73
+SERVO1_MAX,1920
+SERVO1_MIN,1120
+SERVO1_REVERSED,0
+SERVO1_TRIM,1520
+SERVO3_FUNCTION,74
+SERVO3_MAX,1920
+SERVO3_MIN,1120
+SERVO3_REVERSED,1
+SERVO3_TRIM,1533
+SPEED_TURN_GAIN,25
+STEER2SRV_D,0.01
+STEER2SRV_I,0.003
+STEER2SRV_P,0.3
+THR_SLEWRATE,50
+ATC_TURN_MAX_G,0.21
+VISO_ORIENT,0
+VISO_POS_X,0
+VISO_POS_Y,0
+VISO_POS_Z,0
+VISO_TYPE,1

Tools/Frame_params/hexsoon-edu450.param

@@ -1,29 +1,29 @@
-#NOTE: Hexsoon EDU450 params for ArduPilot Copter 4.0.0
-ANGLE_MAX,3500
-ACRO_YAW_P,1.5
-ATC_ACCEL_P_MAX,70000
-ATC_ACCEL_R_MAX,70000
-ATC_ACCEL_Y_MAX,12000
-ATC_ANG_PIT_P,11
-ATC_ANG_RLL_P,11
-ATC_ANG_YAW_P,7.2
-ATC_RAT_PIT_D,0.00602
-ATC_RAT_PIT_I,0.17
-ATC_RAT_PIT_P,0.17
-ATC_RAT_RLL_D,0.00602
-ATC_RAT_RLL_I,0.17
-ATC_RAT_RLL_P,0.17
-ATC_RAT_YAW_P,0.6
-ATC_RAT_YAW_I,0.06
-ATC_RAT_YAW_FLTE,1.0
-BATT_AMP_PERVLT,39.877
-BATT_CAPACITY,5300
-BATT_MONITOR,4
-FRAME_CLASS,1
-FRAME_TYPE,1
-INS_GYRO_FILTER,40
-MOT_BAT_VOLT_MAX,12.6
-MOT_BAT_VOLT_MIN,9.9
-MOT_SPIN_ARM,0.11
-MOT_SPIN_MIN,0.13
-MOT_THST_HOVER,0.36
+#NOTE: Hexsoon EDU450 params for ArduPilot Copter 4.0.0
+ANGLE_MAX,3500
+ACRO_YAW_P,1.5
+ATC_ACCEL_P_MAX,70000
+ATC_ACCEL_R_MAX,70000
+ATC_ACCEL_Y_MAX,12000
+ATC_ANG_PIT_P,11
+ATC_ANG_RLL_P,11
+ATC_ANG_YAW_P,7.2
+ATC_RAT_PIT_D,0.00602
+ATC_RAT_PIT_I,0.17
+ATC_RAT_PIT_P,0.17
+ATC_RAT_RLL_D,0.00602
+ATC_RAT_RLL_I,0.17
+ATC_RAT_RLL_P,0.17
+ATC_RAT_YAW_P,0.6
+ATC_RAT_YAW_I,0.06
+ATC_RAT_YAW_FLTE,1.0
+BATT_AMP_PERVLT,39.877
+BATT_CAPACITY,5300
+BATT_MONITOR,4
+FRAME_CLASS,1
+FRAME_TYPE,1
+INS_GYRO_FILTER,40
+MOT_BAT_VOLT_MAX,12.6
+MOT_BAT_VOLT_MIN,9.9
+MOT_SPIN_ARM,0.11
+MOT_SPIN_MIN,0.13
+MOT_THST_HOVER,0.36

Tools/Frame_params/hexsoon-td650.param

@@ -1,29 +1,29 @@
-#NOTE: Hexsoon TD650 params for ArduPilot Copter 4.1
-ANGLE_MAX,3500
-ACRO_YAW_P,2.6
-ATC_ACCEL_P_MAX,86000
-ATC_ACCEL_R_MAX,86000
-ATC_ACCEL_Y_MAX,23400
-ATC_RAT_PIT_FLTD,17
-ATC_RAT_PIT_FLTT,17
-ATC_RAT_PIT_D,0.0034
-ATC_RAT_PIT_I,0.12
-ATC_RAT_PIT_P,0.12
-ATC_RAT_RLL_D,0.0034
-ATC_RAT_RLL_FLTD,17
-ATC_RAT_RLL_FLTT,17
-ATC_RAT_RLL_I,0.12
-ATC_RAT_RLL_P,0.12
-ATC_RAT_YAW_FLTE,2
-BATT_MONITOR,4
-BATT_VOLT_MULT,12.02
-FRAME_CLASS,1
-FRAME_TYPE,1
-INS_GYRO_FILTER,34
-MOT_BAT_VOLT_MAX,25.2
-MOT_BAT_VOLT_MIN,19.8
-MOT_THST_EXPO,0.68
-MOT_THST_HOVER,0.2288489
-PSC_ACCZ_I,0.5
-PSC_ACCZ_P,0.3
-
+#NOTE: Hexsoon TD650 params for ArduPilot Copter 4.1
+ANGLE_MAX,3500
+ACRO_YAW_P,2.6
+ATC_ACCEL_P_MAX,86000
+ATC_ACCEL_R_MAX,86000
+ATC_ACCEL_Y_MAX,23400
+ATC_RAT_PIT_FLTD,17
+ATC_RAT_PIT_FLTT,17
+ATC_RAT_PIT_D,0.0034
+ATC_RAT_PIT_I,0.12
+ATC_RAT_PIT_P,0.12
+ATC_RAT_RLL_D,0.0034
+ATC_RAT_RLL_FLTD,17
+ATC_RAT_RLL_FLTT,17
+ATC_RAT_RLL_I,0.12
+ATC_RAT_RLL_P,0.12
+ATC_RAT_YAW_FLTE,2
+BATT_MONITOR,4
+BATT_VOLT_MULT,12.02
+FRAME_CLASS,1
+FRAME_TYPE,1
+INS_GYRO_FILTER,34
+MOT_BAT_VOLT_MAX,25.2
+MOT_BAT_VOLT_MIN,19.8
+MOT_THST_EXPO,0.68
+MOT_THST_HOVER,0.2288489
+PSC_ACCZ_I,0.5
+PSC_ACCZ_P,0.3
+

Tools/Frame_params/iflight-chimera7-4.2.param

@@ -1,73 +1,73 @@
-#NOTE: iFlight Chimera7 params for ArduPilot Copter 4.2
-
-ACRO_RP_EXPO,0.6
-ACRO_RP_RATE,600
-ACRO_Y_EXPO,0.6
-ACRO_Y_RATE,600
-ATC_ACCEL_P_MAX,281062.5
-ATC_ACCEL_R_MAX,301679.8
-ATC_ACCEL_Y_MAX,72000
-ATC_ANG_PIT_P,18
-ATC_ANG_RLL_P,18
-ATC_ANG_YAW_P,11
-ATC_RAT_PIT_D,0.001879093
-ATC_RAT_PIT_FLTD,60
-ATC_RAT_PIT_FLTT,30
-ATC_RAT_PIT_I,0.09663188
-ATC_RAT_PIT_P,0.09663188
-ATC_RAT_RLL_D,0.001453624
-ATC_RAT_RLL_FLTD,75
-ATC_RAT_RLL_FLTT,30
-ATC_RAT_RLL_I,0.07706726
-ATC_RAT_RLL_P,0.07706726
-ATC_RAT_YAW_D,0.02
-ATC_RAT_YAW_FF,0.0043
-ATC_RAT_YAW_FLTD,60
-ATC_RAT_YAW_FLTE,1.887445
-ATC_RAT_YAW_FLTT,30
-ATC_RAT_YAW_I,0.01927038
-ATC_RAT_YAW_P,0.1927038
-BATT_AMP_OFFSET,-0.04308
-BATT_AMP_PERVLT,52.706
-BATT_CURR_PIN,11
-BATT_LOW_VOLT,21.6
-BATT_MONITOR,4
-COMPASS_AUTO_ROT,0
-COMPASS_CUS_PIT,-15
-COMPASS_CUS_ROLL,0
-COMPASS_CUS_YAW,180
-COMPASS_ORIENT,100
-EK3_PRIMARY,1
-EK3_IMU_MASK,2
-FRAME_CLASS,1
-FRAME_TYPE,12
-INS_GYRO_FILTER,150
-INS_HNTCH_BW,20
-INS_HNTCH_ENABLE,1
-INS_HNTCH_FREQ,40
-INS_HNTCH_HMNCS,1
-INS_HNTCH_MODE,3
-INS_HNTCH_OPTS,6
-INS_HNTCH_REF,1
-INS_HNTC2_BW,75
-INS_HNTC2_ENABLE,1
-INS_HNTC2_FREQ,150
-INS_HNTC2_HMNCS,1
-INS_HNTC2_MODE,1
-INS_HNTC2_REF,1
-MOT_BAT_VOLT_MAX,25.2
-MOT_BAT_VOLT_MIN,19.8
-MOT_PWM_TYPE,6
-MOT_THST_EXPO,0.62
-MOT_THST_HOVER,0.12
-PILOT_Y_EXPO,0.4
-PILOT_Y_RATE,600
-PSC_ACCZ_I,0.24
-PSC_ACCZ_P,0.12
-SCHED_LOOP_RATE,800
-SERVO_BLH_AUTO,1
-SERVO_BLH_BDMASK,15
-SERVO_BLH_RVMASK,6
-SERVO_BLH_TRATE,5
-SERVO_DSHOT_ESC,1
-SERVO_DSHOT_RATE,2
+#NOTE: iFlight Chimera7 params for ArduPilot Copter 4.2
+
+ACRO_RP_EXPO,0.6
+ACRO_RP_RATE,600
+ACRO_Y_EXPO,0.6
+ACRO_Y_RATE,600
+ATC_ACCEL_P_MAX,281062.5
+ATC_ACCEL_R_MAX,301679.8
+ATC_ACCEL_Y_MAX,72000
+ATC_ANG_PIT_P,18
+ATC_ANG_RLL_P,18
+ATC_ANG_YAW_P,11
+ATC_RAT_PIT_D,0.001879093
+ATC_RAT_PIT_FLTD,60
+ATC_RAT_PIT_FLTT,30
+ATC_RAT_PIT_I,0.09663188
+ATC_RAT_PIT_P,0.09663188
+ATC_RAT_RLL_D,0.001453624
+ATC_RAT_RLL_FLTD,75
+ATC_RAT_RLL_FLTT,30
+ATC_RAT_RLL_I,0.07706726
+ATC_RAT_RLL_P,0.07706726
+ATC_RAT_YAW_D,0.02
+ATC_RAT_YAW_FF,0.0043
+ATC_RAT_YAW_FLTD,60
+ATC_RAT_YAW_FLTE,1.887445
+ATC_RAT_YAW_FLTT,30
+ATC_RAT_YAW_I,0.01927038
+ATC_RAT_YAW_P,0.1927038
+BATT_AMP_OFFSET,-0.04308
+BATT_AMP_PERVLT,52.706
+BATT_CURR_PIN,11
+BATT_LOW_VOLT,21.6
+BATT_MONITOR,4
+COMPASS_AUTO_ROT,0
+COMPASS_CUS_PIT,-15
+COMPASS_CUS_ROLL,0
+COMPASS_CUS_YAW,180
+COMPASS_ORIENT,100
+EK3_PRIMARY,1
+EK3_IMU_MASK,2
+FRAME_CLASS,1
+FRAME_TYPE,12
+INS_GYRO_FILTER,150
+INS_HNTCH_BW,20
+INS_HNTCH_ENABLE,1
+INS_HNTCH_FREQ,40
+INS_HNTCH_HMNCS,1
+INS_HNTCH_MODE,3
+INS_HNTCH_OPTS,6
+INS_HNTCH_REF,1
+INS_HNTC2_BW,75
+INS_HNTC2_ENABLE,1
+INS_HNTC2_FREQ,150
+INS_HNTC2_HMNCS,1
+INS_HNTC2_MODE,1
+INS_HNTC2_REF,1
+MOT_BAT_VOLT_MAX,25.2
+MOT_BAT_VOLT_MIN,19.8
+MOT_PWM_TYPE,6
+MOT_THST_EXPO,0.62
+MOT_THST_HOVER,0.12
+PILOT_Y_EXPO,0.4
+PILOT_Y_RATE,600
+PSC_ACCZ_I,0.24
+PSC_ACCZ_P,0.12
+SCHED_LOOP_RATE,800
+SERVO_BLH_AUTO,1
+SERVO_BLH_BDMASK,15
+SERVO_BLH_RVMASK,6
+SERVO_BLH_TRATE,5
+SERVO_DSHOT_ESC,1
+SERVO_DSHOT_RATE,2

Tools/Linux_HAL_Essentials/pru/rangefinderpru/HexUtil_PRU.cmd

@@ -1,9 +1,9 @@
--b
---image
-
-ROMS {
-                PAGE 0:
-                .text: o = 0x0, l = 0x2000, files={rangefinderprutext.bin}
-                PAGE 1:
-                .data: o = 0x0, l = 0x2000, files={rangefinderprudata.bin}
-}
+-b
+--image
+
+ROMS {
+                PAGE 0:
+                .text: o = 0x0, l = 0x2000, files={rangefinderprutext.bin}
+                PAGE 1:
+                .data: o = 0x0, l = 0x2000, files={rangefinderprudata.bin}
+}

Tools/ardupilotwaf/boards.py

@@ -278,7 +278,7 @@ class Board:
             '-Werror=unused-value',
             '-Werror=unused-variable',
             '-Werror=delete-non-virtual-dtor',
-            '-Wfatal-errors',
+            # '-Wfatal-errors',
             '-Wno-trigraphs',
             '-Werror=parentheses',
             '-DARDUPILOT_BUILD',
@@ -834,7 +834,7 @@ class chibios(Board):
             '-Wmissing-declarations',
             '-Wno-unused-parameter',
             '-Werror=array-bounds',
-            '-Wfatal-errors',
+            # '-Wfatal-errors',
             '-Werror=uninitialized',
             '-Werror=init-self',
             '-Werror=unused-but-set-variable',

Tools/autotest/ArduCopter_Tests/copter_terrain_mission.txt

@@ -1,6 +1,6 @@
-QGC WPL 110
-0	1	0	16	0.000000	0.000000	0.000000	0.000000	-35.363262	149.165237	985.000000	1
-1	0	3	22	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	25.000000	1
-2	0	10	16	0.000000	0.000000	0.000000	0.000000	36.319240	138.649993	25.000000	1
-3	0	10	16	0.000000	0.000000	0.000000	0.000000	36.320035	138.660250	25.000000	1
-4	0	3	20	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
+QGC WPL 110
+0	1	0	16	0.000000	0.000000	0.000000	0.000000	-35.363262	149.165237	985.000000	1
+1	0	3	22	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	25.000000	1
+2	0	10	16	0.000000	0.000000	0.000000	0.000000	36.319240	138.649993	25.000000	1
+3	0	10	16	0.000000	0.000000	0.000000	0.000000	36.320035	138.660250	25.000000	1
+4	0	3	20	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1

Tools/autotest/ArduRover_Tests/DepthFinder/rover1.txt

@@ -1,6 +1,6 @@
-QGC WPL 110
-0	1	0	16	0	0	0	0	40.071377	-105.229790	1583.700000	1
-1	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	40.07203730	-105.22771600	50.000000	1
-2	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	40.07168840	-105.22739950	50.000000	1
-3	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	40.07163090	-105.22847240	50.000000	1
-4	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	40.07118340	-105.22971150	50.000000	1
+QGC WPL 110
+0	1	0	16	0	0	0	0	40.071377	-105.229790	1583.700000	1
+1	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	40.07203730	-105.22771600	50.000000	1
+2	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	40.07168840	-105.22739950	50.000000	1
+3	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	40.07163090	-105.22847240	50.000000	1
+4	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	40.07118340	-105.22971150	50.000000	1

Tools/autotest/Generic_Missions/CMAC-copter-navtest.txt

@@ -1,22 +1,22 @@
-QGC WPL 110
-0	1	0	16	0	0	0	0	-35.363264	149.165235	584.080017	1
-1	0	3	22	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	30.000000	1
-2	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36213670	149.16523670	30.000000	1
-3	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36213670	149.16439980	30.000000	1
-4	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36237510	149.16477800	30.000000	1
-5	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36250840	149.16439980	30.000000	1
-6	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36267920	149.16477800	30.000000	1
-7	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36328290	149.16439980	30.000000	1
-8	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36383630	149.16487460	30.000000	1
-9	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36294370	149.16487460	30.000000	1
-10	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36281910	149.16487460	30.000000	1
-11	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36267700	149.16487460	30.000000	1
-12	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36267700	149.16497700	30.000000	1
-13	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36261240	149.16497700	30.000000	1
-14	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36261240	149.16487460	30.000000	1
-15	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36209730	149.16487460	30.000000	1
-16	0	3	82	0.00000000	0.00000000	0.00000000	0.00000000	-35.36209730	149.16509990	30.000000	1
-17	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36260690	149.16509990	30.000000	1
-18	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36326320	149.16509990	30.000000	1
-19	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36326320	149.16523930	30.000000	1
-20	0	3	21	0.00000000	0.00000000	0.00000000	1.00000000	0.00000000	0.00000000	0.000000	1
+QGC WPL 110
+0	1	0	16	0	0	0	0	-35.363264	149.165235	584.080017	1
+1	0	3	22	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	30.000000	1
+2	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36213670	149.16523670	30.000000	1
+3	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36213670	149.16439980	30.000000	1
+4	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36237510	149.16477800	30.000000	1
+5	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36250840	149.16439980	30.000000	1
+6	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36267920	149.16477800	30.000000	1
+7	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36328290	149.16439980	30.000000	1
+8	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36383630	149.16487460	30.000000	1
+9	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36294370	149.16487460	30.000000	1
+10	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36281910	149.16487460	30.000000	1
+11	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36267700	149.16487460	30.000000	1
+12	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36267700	149.16497700	30.000000	1
+13	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36261240	149.16497700	30.000000	1
+14	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36261240	149.16487460	30.000000	1
+15	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36209730	149.16487460	30.000000	1
+16	0	3	82	0.00000000	0.00000000	0.00000000	0.00000000	-35.36209730	149.16509990	30.000000	1
+17	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36260690	149.16509990	30.000000	1
+18	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36326320	149.16509990	30.000000	1
+19	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36326320	149.16523930	30.000000	1
+20	0	3	21	0.00000000	0.00000000	0.00000000	1.00000000	0.00000000	0.00000000	0.000000	1

Tools/autotest/XPlane/Soaring in Seattle.waypoints

@@ -1,8 +1,8 @@
-QGC WPL 110
-0	1	0	16	0	0	0	0	47.537849	-122.307327	4.510000	1
-1	0	3	16	0.000000	0.000000	0.000000	0.000000	47.471271	-122.358856	10000.000000	1
-2	0	3	16	0.000000	0.000000	0.000000	0.000000	47.510940	-122.347870	10000.000000	1
-3	0	3	16	0.000000	0.000000	0.000000	0.000000	47.494937	-122.301521	10000.000000	1
-4	0	3	16	0.000000	0.000000	0.000000	0.000000	47.457809	-122.206764	10000.000000	1
-5	0	3	16	0.000000	0.000000	0.000000	0.000000	47.391609	-122.236633	10000.000000	1
-6	0	3	17	0.000000	0.000000	0.000000	0.000000	47.407644	-122.323837	10000.000000	1
+QGC WPL 110
+0	1	0	16	0	0	0	0	47.537849	-122.307327	4.510000	1
+1	0	3	16	0.000000	0.000000	0.000000	0.000000	47.471271	-122.358856	10000.000000	1
+2	0	3	16	0.000000	0.000000	0.000000	0.000000	47.510940	-122.347870	10000.000000	1
+3	0	3	16	0.000000	0.000000	0.000000	0.000000	47.494937	-122.301521	10000.000000	1
+4	0	3	16	0.000000	0.000000	0.000000	0.000000	47.457809	-122.206764	10000.000000	1
+5	0	3	16	0.000000	0.000000	0.000000	0.000000	47.391609	-122.236633	10000.000000	1
+6	0	3	17	0.000000	0.000000	0.000000	0.000000	47.407644	-122.323837	10000.000000	1

Tools/autotest/fg_plane_view.bat

@@ -1,25 +1,25 @@
-set AUTOTESTDIR="%~dp0\aircraft"
-
-FOR /F "delims=" %%D in ('dir /b "\Program Files"\FlightGear*') DO set FGDIR=%%D
-echo "Using FlightGear %FGDIR%"
-cd "\Program Files\%FGDIR%\bin"
-fgfs ^
-    --native-fdm=socket,in,10,,5503,udp ^
-    --fdm=external ^
-    --aircraft=Rascal110-JSBSim ^
-    --fg-aircraft=%AUTOTESTDIR% ^
-    --airport=KSFO ^
-    --geometry=650x550 ^
-    --bpp=32 ^
-    --disable-hud-3d ^
-    --disable-horizon-effect ^
-    --timeofday=noon ^
-    --disable-sound ^
-    --disable-fullscreen ^
-    --disable-random-objects ^
-    --disable-ai-models ^
-    --fog-disable ^
-    --disable-specular-highlight ^
-    --disable-anti-alias-hud ^
-    --wind=0@0
-pause
+set AUTOTESTDIR="%~dp0\aircraft"
+
+FOR /F "delims=" %%D in ('dir /b "\Program Files"\FlightGear*') DO set FGDIR=%%D
+echo "Using FlightGear %FGDIR%"
+cd "\Program Files\%FGDIR%\bin"
+fgfs ^
+    --native-fdm=socket,in,10,,5503,udp ^
+    --fdm=external ^
+    --aircraft=Rascal110-JSBSim ^
+    --fg-aircraft=%AUTOTESTDIR% ^
+    --airport=KSFO ^
+    --geometry=650x550 ^
+    --bpp=32 ^
+    --disable-hud-3d ^
+    --disable-horizon-effect ^
+    --timeofday=noon ^
+    --disable-sound ^
+    --disable-fullscreen ^
+    --disable-random-objects ^
+    --disable-ai-models ^
+    --fog-disable ^
+    --disable-specular-highlight ^
+    --disable-anti-alias-hud ^
+    --wind=0@0
+pause

Tools/autotest/fg_quad_view.bat

@@ -1,26 +1,26 @@
-set AUTOTESTDIR="%~dp0\aircraft"
-c:
-FOR /F "delims=" %%D in ('dir /b "\Program Files"\FlightGear*') DO set FGDIR=%%D
-echo "Using FlightGear %FGDIR%"
-cd "\Program Files\%FGDIR%\bin"
-
-fgfs ^
-    --native-fdm=socket,in,10,,5503,udp ^
-    --fdm=external ^
-    --aircraft=arducopter ^
-    --fg-aircraft=%AUTOTESTDIR% ^
-    --airport=KSFO ^
-    --geometry=650x550 ^
-    --bpp=32 ^
-    --disable-hud-3d ^
-    --disable-horizon-effect ^
-    --timeofday=noon ^
-    --disable-sound ^
-    --disable-fullscreen ^
-    --disable-random-objects ^
-    --disable-ai-models ^
-    --fog-disable ^
-    --disable-specular-highlight ^
-    --disable-anti-alias-hud ^
-    --wind=0@0
-pause
+set AUTOTESTDIR="%~dp0\aircraft"
+c:
+FOR /F "delims=" %%D in ('dir /b "\Program Files"\FlightGear*') DO set FGDIR=%%D
+echo "Using FlightGear %FGDIR%"
+cd "\Program Files\%FGDIR%\bin"
+
+fgfs ^
+    --native-fdm=socket,in,10,,5503,udp ^
+    --fdm=external ^
+    --aircraft=arducopter ^
+    --fg-aircraft=%AUTOTESTDIR% ^
+    --airport=KSFO ^
+    --geometry=650x550 ^
+    --bpp=32 ^
+    --disable-hud-3d ^
+    --disable-horizon-effect ^
+    --timeofday=noon ^
+    --disable-sound ^
+    --disable-fullscreen ^
+    --disable-random-objects ^
+    --disable-ai-models ^
+    --fog-disable ^
+    --disable-specular-highlight ^
+    --disable-anti-alias-hud ^
+    --wind=0@0
+pause

Tools/autotest/locations.txt

@@ -1,4 +1,5 @@
 #NAME=latitude,longitude,absolute-altitude,heading
+CYDS=24.6187612,118.0383748,0,0
 OSRF0=37.4003371,-122.0800351,0,353
 OSRF0_PILOTSBOX=37.4003371,-122.0800351,2,270
 CMAC=-35.363261,149.165230,584,353

Tools/autotest/models/Callisto.param

@@ -1,60 +1,60 @@
-
-
-ACRO_Y_RATE,90
-ATC_ACCEL_P_MAX,30000
-ATC_ACCEL_R_MAX,30000
-ATC_ACCEL_Y_MAX,6000
-ATC_ANG_PIT_P,8
-ATC_ANG_RLL_P,8
-ATC_ANG_YAW_P,5
-ATC_INPUT_TC,0.25
-ATC_RAT_PIT_D,0.00375
-ATC_RAT_PIT_FLTD,10
-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,0.455
-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
-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_ANG_MAX,25
-MOT_BAT_CURR_TC,2
-MOT_BAT_VOLT_MAX,50.4
-MOT_BAT_VOLT_MIN,39.6
-MOT_HOVER_LEARN,0
-MOT_PWM_MAX,1940
-MOT_PWM_MIN,1000
-MOT_SPIN_ARM,0.16
-MOT_SPIN_MAX,0.975
-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,1.0
-PSC_ANGLE_MAX,45
-PSC_JERK_Z,10
-PSC_POSZ_P,0.5
-PSC_VELZ_P,2.5
-WP_YAW_BEHAVIOR,1
-WPNAV_RFND_USE,0
-WPNAV_SPEED,1500
-SIM_BATT_VOLTAGE 50
+
+
+ACRO_Y_RATE,90
+ATC_ACCEL_P_MAX,30000
+ATC_ACCEL_R_MAX,30000
+ATC_ACCEL_Y_MAX,6000
+ATC_ANG_PIT_P,8
+ATC_ANG_RLL_P,8
+ATC_ANG_YAW_P,5
+ATC_INPUT_TC,0.25
+ATC_RAT_PIT_D,0.00375
+ATC_RAT_PIT_FLTD,10
+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,0.455
+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
+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_ANG_MAX,25
+MOT_BAT_CURR_TC,2
+MOT_BAT_VOLT_MAX,50.4
+MOT_BAT_VOLT_MIN,39.6
+MOT_HOVER_LEARN,0
+MOT_PWM_MAX,1940
+MOT_PWM_MIN,1000
+MOT_SPIN_ARM,0.16
+MOT_SPIN_MAX,0.975
+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,1.0
+PSC_ANGLE_MAX,45
+PSC_JERK_Z,10
+PSC_POSZ_P,0.5
+PSC_VELZ_P,2.5
+WP_YAW_BEHAVIOR,1
+WPNAV_RFND_USE,0
+WPNAV_SPEED,1500
+SIM_BATT_VOLTAGE 50

Tools/autotest/web-firmware/Tools/FilterTool/index.html

@@ -1,357 +0,0 @@
-<!DOCTYPE html>
-<html lang="en">
-<head>
-<meta charset="utf-8" />
-<title>ArduPilot Filter Analysis</title>
-<script type="text/javascript" src="filters.js"></script>
-<script type="text/javascript" src="FileSaver.js"></script>
-<script type="text/javascript" src={{url_for('static', filename='filters.js')}}></script>
-<script type="text/javascript" src={{url_for('static', filename='FileSaver.js')}}></script>
-<script src="https://cdnjs.cloudflare.com/ajax/libs/Chart.js/2.9.4/Chart.js"></script>
-<script src="https://www.lactame.com/lib/ml/6.0.0/ml.min.js"></script>
-</head>
-<a href="https://ardupilot.org"><img src="logo.png"></a>
-<h1>ArduPilot Filter Analysis</h1>
-
-The following form will display the attenuation and phase lag for an
-ArduPilot 4.2 filter setup.
-<body onload="load_cookies(); fill_docs(); update_all_hidden(); calculate_filter(); calculate_pid(); ">
-  <canvas id="Attenuation" style="width:100%;max-width:1200px"></canvas>
-<p>
-  <input type="button" id="calculate" value="Calculate">
-  <input type="button" id="SaveParams" value="Save Parameters" onclick="save_parameters();">
-  <button class="styleClass" onclick="document.getElementById('param_file').click()">Load Parameters</button>
-  <input type='file' id="param_file" style="display:none" onchange="load_parameters(this.files[0]);">
-
-  <form id="params" action="">
-<fieldset style="max-width:1200px">
-  <legend>Graph Settings</legend>
-        <table>
-                <tr>
-                        <td>
-                                <fieldset style="width:150px">
-                                        <legend>Magnitude scale</legend>
-                                        <input type="radio" id="ScaleLog" name="Scale" value="Log" checked>
-                                        <label for="LogScale">dB</label><br>
-                                        <input type="radio" id="ScaleLinear" name="Scale" value="Linear">
-                                        <label for="LinearScale">Linear</label><br>
-                                </fieldset>
-                        </td>
-                        <td>
-                                <fieldset style="width:150px">
-                                        <legend>Frequency scale</legend>
-                                        <table>
-                                                <tr>
-                                                        <td>
-                                                                <input type="radio" id="freq_ScaleLog" name="feq_scale" value="Log" checked>
-                                                                <label for="LogScale">Log</label><br>
-                                                                <input type="radio" id="freq_ScaleLinear" name="feq_scale" value="Linear">
-                                                                <label for="LinearScale">Linear</label><br>
-                                                        </td>
-                                                        <td>
-                                                                <input type="radio" id="freq_Scale_Hz" name="feq_unit" value="Hz" checked>
-                                                                <label for="Scale_unit_Hz">Hz</label><br>
-                                                                <input type="radio" id="freq_Scale_RPM" name="feq_unit" value="RPM">
-                                                                <label for="Scale_unit_RPM">RPM</label><br>
-                                                        </td>
-                                                </tr>
-                                        </table>
-                                </fieldset>
-                        </td>
-                </tr>
-        </table>
-        <p>
-                <label for="MaxFreq">Maximum Displayed Frequency</label>
-                <input id="MaxFreq" name="MaxFreq" type="number" step="1" value="150" onchange="check_nyquist();"/>
-                <label id="MaxFreq_warning"></label>
-	</p>
-        <p>
-                <label for="MaxPhaseLag">Maximum Displayed Phase Lag</label>
-                <input id="MaxPhaseLag" name="MaxPhaseLag" type="number" step="1" value="360"/>
-	</p>
-</fieldset>
-<fieldset style="max-width:1200px">
-  <legend>INS Settings</legend>
-        <p>
-                <label for="GyroSampleRate">Gyro Sample Rate</label>
-                <input id="GyroSampleRate" name="GYRO_SAMPLE_RATE" type="number" step="1" value="2000"/>
-	</p>
-        <p>
-                <label for="INS_GYRO_FILTER">INS_GYRO_FILTER</label>
-                <input id="INS_GYRO_FILTER" name="INS_GYRO_FILTER" type="number" step="0.1" value="20.0"/>
-	</p>
-</fieldset>
-<fieldset style="max-width:1200px">
-  <legend>First Notch Filter</legend>
-        <p>
-                <label for="INS_HNTCH_ENABLE">INS_HNTCH_ENABLE</label>
-                <input id="INS_HNTCH_ENABLE" name="INS_HNTCH_ENABLE" type="number" step="1" value="0" onchange="update_hidden(this.id); fill_docs();"/>
-                <label id="INS_HNTCH_ENABLE.doc"></label>
-        </p>
-        <p>
-                <label for="INS_HNTCH_MODE">INS_HNTCH_MODE</label>
-                <input id="INS_HNTCH_MODE" name="INS_HNTCH_MODE" type="number" step="1" value="0" onchange="update_hidden_mode(); fill_docs();"/>
-                <label id="INS_HNTCH_MODE.doc"></label>
-        </p>
-        <p>
-                <label for="INS_HNTCH_FREQ">INS_HNTCH_FREQ</label>
-                <input id="INS_HNTCH_FREQ" name="INS_HNTCH_FREQ" type="number" step="0.1" value="0"/>
-        </p>
-        <p>
-                <label for="INS_HNTCH_BW">INS_HNTCH_BW</label>
-                <input id="INS_HNTCH_BW" name="INS_HNTCH_BW" type="number" step="0.1" value="0"/>
-        </p>
-        <p>
-                <label for="INS_HNTCH_ATT">INS_HNTCH_ATT</label>
-                <input id="INS_HNTCH_ATT" name="INS_HNTCH_ATT" type="number" step="0.1" value="0"/>
-	</p>
-        <p>
-                <label for="INS_HNTCH_REF">INS_HNTCH_REF</label>
-                <input id="INS_HNTCH_REF" name="INS_HNTCH_REF" type="number" step="0.01" value="0"/>
-	</p>
-        <p>
-                <label for="INS_HNTCH_FM_RAT">INS_HNTCH_FM_RAT</label>
-                <input id="INS_HNTCH_FM_RAT" name="INS_HNTCH_FM_RAT" type="number" step="0.01" value="1.0"/>
-	</p>
-        <p>
-                <label for="INS_HNTCH_HMNCS">INS_HNTCH_HMNCS</label>
-                <input id="INS_HNTCH_HMNCS" name="INS_HNTCH_HMNCS" type="number" step="1" value="1"/>
-                <label id="INS_HNTCH_HMNCS.doc"></label>
-        </p>
-        <p>
-                <label for="INS_HNTCH_OPTS">INS_HNTCH_OPTS</label>
-                <input id="INS_HNTCH_OPTS" name="INS_HNTCH_OPTS" type="number" step="1" value="0"/>
-                <label id="INS_HNTCH_OPTS.doc"></label>
-        </p>
-</fieldset>
-<fieldset style="max-width:1200px">
-  <legend>Second Notch Filter</legend>
-        <p>
-                <label for="INS_HNTC2_ENABLE">INS_HNTC2_ENABLE</label>
-                <input id="INS_HNTC2_ENABLE" name="INS_HNTC2_ENABLE" type="number" step="1" value="0" onchange="update_hidden(this.id); fill_docs();"/>
-                <label id="INS_HNTC2_ENABLE.doc"></label>
-        </p>
-        <p>
-                <label for="INS_HNTC2_MODE">INS_HNTC2_MODE</label>
-                <input id="INS_HNTC2_MODE" name="INS_HNTC2_MODE" type="number" step="1" value="0" onchange="update_hidden_mode(); fill_docs();"/>
-                <label id="INS_HNTC2_MODE.doc"></label>
-        </p>
-        <p>
-                <label for="INS_HNTC2_FREQ">INS_HNTC2_FREQ</label>
-                <input id="INS_HNTC2_FREQ" name="INS_HNTC2_FREQ" type="number" step="0.1" value="0"/>
-	</p>
-        <p>
-                <label for="INS_HNTC2_BW">INS_HNTC2_BW</label>
-                <input id="INS_HNTC2_BW" name="INS_HNTC2_BW" type="number" step="0.1" value="0"/>
-	</p>
-        <p>
-                <label for="INS_HNTC2_ATT">INS_HNTC2_ATT</label>
-                <input id="INS_HNTC2_ATT" name="INS_HNTC2_ATT" type="number" step="0.1" value="0"/>
-	</p>
-        <p>
-                <label for="INS_HNTC2_REF">INS_HNTC2_REF</label>
-                <input id="INS_HNTC2_REF" name="INS_HNTC2_REF" type="number" step="0.01" value="0"/>
-	</p>
-        <p>
-                <label for="INS_HNTC2_FM_RAT">INS_HNTC2_FM_RAT</label>
-                <input id="INS_HNTC2_FM_RAT" name="INS_HNTC2_FM_RAT" type="number" step="0.01" value="1.0"/>
-	</p>
-        <p>
-                <label for="INS_HNTC2_HMNCS">INS_HNTC2_HMNCS</label>
-                <input id="INS_HNTC2_HMNCS" name="INS_HNTC2_HMNCS" type="number" step="1" value="1"/>
-                <label id="INS_HNTC2_HMNCS.doc"></label>
-        </p>
-        <p>
-                <label for="INS_HNTC2_OPTS">INS_HNTC2_OPTS</label>
-                <input id="INS_HNTC2_OPTS" name="INS_HNTC2_OPTS" type="number" step="1" value="0"/>
-                <label id="INS_HNTC2_OPTS.doc"></label>
-        </p>
-</fieldset>
-<fieldset style="max-width:1200px" id="Throttle_input">
-        <legend>Throttle Based</legend>
-              <p>
-                      <label for="Throttle">Throttle</label>
-                      <input id="Throttle" name="Throttle" type="number" step="0.01" value="0.3"/>
-              </p>
-</fieldset>
-<fieldset style="max-width:1200px" id="ESC_input">
-        <legend>ESC Telemetry</legend>
-              <p>
-                      <label for="NUM_MOTORS">Number of Motors</label>
-                      <input id="NUM_MOTORS" name="NUM_MOTORS" type="number" step="1" value="1"/>
-              </p>
-              <p>
-                      <label for="ESC_RPM">ESC RPM</label>
-                      <input id="ESC_RPM" name="ESC_RPM" type="number" step="1" value="2500"/>
-              </p>
-</fieldset>
-<fieldset style="max-width:1200px" id="RPM_input">
-        <legend>RPM/EFI Based</legend>
-              <p>
-                      <label for="RPM1">RPM1</label>
-                      <input id="RPM1" name="RPM1" type="number" step="1" value="2500"/>
-              </p>
-              <p>
-                      <label for="RPM2">RPM2</label>
-                      <input id="RPM2" name="RPM2" type="number" step="1" value="2500"/>
-              </p>
-</fieldset>
-</form>
-
-<h2>PIDs</h2>
-<h3><label id="PID_title">Title</label></h3>
-<canvas id="PID_Attenuation" style="width:100%;max-width:1200px"></canvas>
-<p>
-<input type="button" id="CalculateRoll" value="Caculate Roll" onclick="calculate_pid(this.id);">
-<input type="button" id="CalculatePitch" value="Caculate Pitch" onclick="calculate_pid(this.id);">
-<input type="button" id="CalculateYaw" value="Caculate Yaw" onclick="calculate_pid(this.id);">
-</p>
-<form id="PID_params" action="">
-        <fieldset style="max-width:1200px">
-          <legend>Graph Settings</legend>
-                <p>
-                        <table>
-                                <tr>
-                                        <td>
-                                                <fieldset style="width:150px">
-                                                        <legend>Gain scale</legend>
-                                                        <input type="radio" id="PID_ScaleLog" name="PID_Scale" value="Log" checked>
-                                                        <label for="LogScale">dB</label><br>
-                                                        <input type="radio" id="PID_ScaleLinear" name="PID_Scale" value="Linear">
-                                                        <label for="LinearScale">Linear</label><br>
-                                                </fieldset>
-                                        </td>
-                                        <td>
-                                                <fieldset style="width:150px">
-                                                        <legend>Frequency scale</legend>
-                                                        <table>
-                                                                <tr>
-                                                                        <td>
-                                                                                <input type="radio" id="PID_freq_ScaleLog" name="PID_feq_scale" value="Log" checked>
-                                                                                <label for="LogScale">Log</label><br>
-                                                                                <input type="radio" id="PID_freq_ScaleLinear" name="PID_feq_scale" value="Linear">
-                                                                                <label for="LinearScale">Linear</label><br>
-                                                                        </td>
-                                                                        <td>
-                                                                                <input type="radio" id="PID_freq_Scale_Hz" name="PID_feq_unit" value="Hz" checked>
-                                                                                <label for="Scale_unit_Hz">Hz</label><br>
-                                                                                <input type="radio" id="PID_freq_Scale_RPM" name="PID_feq_unit" value="RPM">
-                                                                                <label for="Scale_unit_RPM">RPM</label><br>
-                                                                        </td>
-                                                                </tr>
-                                                        </table>
-                                                </fieldset>
-                                        </td>
-                                        <td>
-                                                <fieldset style="width:150px">
-                                                        <legend>Filtering</legend>
-                                                        <input type="radio" id="PID_filtering_Pre" name="filtering" value="Pre" checked>
-                                                        <label for="LogScale">Pre</label><br>
-                                                        <input type="radio" id="PID_filtering_Post" name="filtering" value="Post">
-                                                        <label for="LinearScale">Post</label><br>
-                                                </fieldset>
-                                        </td>
-                                </tr>
-                        </table> 
-                </p>
-                <p>
-                        <label for="PID_MaxFreq">Maximum Displayed Frequency</label>
-                        <input id="PID_MaxFreq" name="PID_MaxFreq" type="number" step="1" value="150" onchange="check_nyquist();"/>
-                        <label id="PID_MaxFreq_warning"></label>
-                </p>
-                <p>
-                        <label for="PID_MaxPhaseLag">Maximum Displayed Phase Lag</label>
-                        <input id="PID_MaxPhaseLag" name="PID_MaxPhaseLag" type="number" step="1" value="360"/>
-                </p>
-        </fieldset>
-        <fieldset style="max-width:1200px">
-        <legend>Loop Rate</legend>
-               <p>
-                        <label for="SCHED_LOOP_RATE">SCHED_LOOP_RATE</label>
-                        <input id="SCHED_LOOP_RATE" name="SCHED_LOOP_RATE" type="number" step="1" value="400"/>
-                </p>
-        </fieldset>
-        <fieldset style="max-width:1200px">
-        <legend>Roll</legend>
-                <p>
-                        <label for="ATC_RAT_RLL_P">ATC_RAT_RLL_P</label>
-                        <input id="ATC_RAT_RLL_P" name="ATC_RAT_RLL_P" type="number" step="0.01" value="0.135"/>
-                </p>
-                <p>
-                        <label for="ATC_RAT_RLL_I">ATC_RAT_RLL_I</label>
-                        <input id="ATC_RAT_RLL_I" name="ATC_RAT_RLL_I" type="number" step="0.01" value="0.135"/>
-                </p>
-                <p>
-                        <label for="ATC_RAT_RLL_D">ATC_RAT_RLL_D</label>
-                        <input id="ATC_RAT_RLL_D" name="ATC_RAT_RLL_D" type="number" step="0.0001" value="0.0036"/>
-                </p>
-                <p>
-                        <label for="ATC_RAT_RLL_FLTE">ATC_RAT_RLL_FLTE</label>
-                        <input id="ATC_RAT_RLL_FLTE" name="ATC_RAT_RLL_FLTE" type="number" step="0.01" value="0"/>
-                </p>
-                <p>
-                        <label for="ATC_RAT_RLL_FLTD">ATC_RAT_RLL_FLTD</label>
-                        <input id="ATC_RAT_RLL_FLTD" name="ATC_RAT_RLL_FLTD" type="number" step="0.01" value="20"/>
-                </p>
-        </fieldset>
-        <fieldset style="max-width:1200px">
-        <legend>Pitch</legend>
-                <p>
-                        <label for="ATC_RAT_PIT_P">ATC_RAT_PIT_P</label>
-                        <input id="ATC_RAT_PIT_P" name="ATC_RAT_PIT_P" type="number" step="0.01" value="0.135"/>
-                </p>
-                <p>
-                        <label for="ATC_RAT_PIT_I">ATC_RAT_PIT_I</label>
-                        <input id="ATC_RAT_PIT_I" name="ATC_RAT_PIT_I" type="number" step="0.01" value="0.135"/>
-                </p>
-                <p>
-                        <label for="ATC_RAT_PIT_D">ATC_RAT_PIT_D</label>
-                        <input id="ATC_RAT_PIT_D" name="ATC_RAT_PIT_D" type="number" step="0.0001" value="0.0036"/>
-                </p>
-                <p>
-                        <label for="ATC_RAT_PIT_FLTE">ATC_RAT_PIT_FLTE</label>
-                        <input id="ATC_RAT_PIT_FLTE" name="ATC_RAT_PIT_FLTE" type="number" step="0.01" value="0"/>
-                </p>
-                <p>
-                        <label for="ATC_RAT_PIT_FLTD">ATC_RAT_PIT_FLTD</label>
-                        <input id="ATC_RAT_PIT_FLTD" name="ATC_RAT_PIT_FLTD" type="number" step="0.01" value="20"/>
-                </p>
-        </fieldset>
-        <fieldset style="max-width:1200px">
-        <legend>Yaw</legend>
-                <p>
-                        <label for="ATC_RAT_YAW_P">ATC_RAT_YAW_P</label>
-                        <input id="ATC_RAT_YAW_P" name="ATC_RAT_YAW_P" type="number" step="0.01" value="0.09"/>
-                </p>
-                <p>
-                        <label for="ATC_RAT_YAW_I">ATC_RAT_YAW_I</label>
-                        <input id="ATC_RAT_YAW_I" name="ATC_RAT_YAW_I" type="number" step="0.01" value="0.009"/>
-                </p>
-                <p>
-                        <label for="ATC_RAT_YAW_D">ATC_RAT_YAW_D</label>
-                        <input id="ATC_RAT_YAW_D" name="ATC_RAT_YAW_D" type="number" step="0.0001" value="0"/>
-                </p>
-                <p>
-                        <label for="ATC_RAT_YAW_FLTE">ATC_RAT_YAW_FLTE</label>
-                        <input id="ATC_RAT_YAW_FLTE" name="ATC_RAT_YAW_FLTE" type="number" step="0.01" value="2.5"/>
-                </p>
-                <p>
-                        <label for="ATC_RAT_YAW_FLTD">ATC_RAT_YAW_FLTD</label>
-                        <input id="ATC_RAT_YAW_FLTD" name="ATC_RAT_YAW_FLTD" type="number" step="0.01" value="0"/>
-                </p>
-        </fieldset>
-</form>
-
-<script>
-  var calc_btn = document.getElementById('calculate');
-  calc_btn.onclick = function() {
-      calculate_filter();
-  }
-  //var clear_btn = document.getElementById('clear_cookies');
-  //clear_btn.onclick = function() {
-  //    clear_cookies();
-  //}
-</script>
-
-</body>
-</html>

Tools/autotest/web-firmware/index.html

@@ -1,160 +0,0 @@
-<!DOCTYPE HTML>
-<html lang="en">
-<head>
-<meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
-<title>ArduPilot Firmware Download</title>
-
-<!--CSS -->
-<link href="css/main.css" rel="stylesheet" type="text/css" />
-</head>
-
-<body>
-<div id="main">
-<a href="https://firmware.ardupilot.org/">
-<div id="logo">
-</div>
-</a>
-    
-<h2>ArduPilot Firmware builds</h2>
-
-These firmware builds are automatically generated by the
-<a href="https://autotest.ardupilot.org">ArduPilot autotest system</a>.<p>
-
-<h2>License</h2>
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.<p>
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-GNU General Public License for more details.<p>
-
-For details see <a href="http://www.gnu.org/licenses/gpl.html">http://www.gnu.org/licenses/gpl.html</a>
-
-<h2>Safety</h2>
-
-Operating a powered vehicle of any kind can be a lot of fun.  However,
-nothing will ruin your day at the park more quickly than an accident
-or running afoul of the law.  Since we want you to have a great
-experience, please make sure that you do all of the following:
-<ul>
-<li><b>Operate within all local laws and regulations</b>.  For
-example, in the United States, current regulations require you to
-operate most UAVs under 400 foot above ground level, within line of
-sight, and away from obstructions and populated areas.  Since these
-regulations vary from place to place, even within the same country,
-ensure that you understand what you need to do to stay compliant.</li>
-
-<li><b>Never operate the vehicle or software in a way that could be
-dangerous to you, other people, or property</b>. Propellers, while
-rotating, could easily cut you; if a UAV fell on a person or object,
-it could cause a lot of pain and damage; a UAV caught in power lines
-could cause an outage for many people.  As Ben Franklin said, "An
-ounce of prevention is worth a pound of cure."</li>
-
-<li><b>Always keep in mind that software and hardware failures
-happen</b>.  Although we design our products to minimize such issues,
-you should always operate with the understanding that a failure could
-occur at any point of time and without warning.  As such, you should
-take the appropriate precautions to minimize danger in case of
-failure.</li>
-
-<li><b>Never use the software or hardware for manned vehicles</b>.
-The software and hardware we provide is only for use in unmanned
- vehicles.</li>
-</ul>
-
-
-<h2>Firmwares</h2>
-
-<a href="Plane"><img src="images/plane.png" width="80"
-		     alt="Plane">Plane</a> - for fixed wing aircraft<p>
-<a href="Copter"><img src="images/copter.png" width="80"
-		      alt="Copter">Copter</a> - for multicopters and
-		      traditional helicopters<p>
-<a href="Rover"><img src="images/rover.png" width="80"
-		     alt="Rover">Rover</a> - for land vehicles and boats<p>
-<a href="Sub"><img src="images/sub.png" width="80"
-		     alt="Sub">Sub</a> - for ROVs and underwater vehicles<p>
-<a href="Blimp"><img src="images/blimp.png" width="80"
-					alt="Blimp">Blimp</a> - for lighter-than-air vehicles<p>
-<a href="AntennaTracker"><img src="images/antenna-tracker.png" width="80"
-		     alt="AntennaTracker">Antenna Tracker</a> -
-		     for antenna tracking of ArduPilot vehicles<p>
-<a href="Tools/MissionPlanner"><img src="images/planner.png" width="80"
-		     alt="MissionPlanner">MissionPlanner</a> - Mission Planner tool<p>
-<a href="Tools/APMPlanner"><img src="images/ap_rc.png" width="80"
-		     alt="APM Planner 2.0">APM Planner 2.0</a> - APM Planner 2.0 tool<p>
-<a href="SiK"><img src="images/3DR_Radio.jpg" width="80"
-                     alt="Radio">SiK</a> - SiK Radio Firmware<p>
-<a href="Tools"><img src="images/tools.png" width="80"
-		     alt="Tools">Tools</a> - Build and development tools<p>
-<a href="devbuild"><img src="images/tools.png" width="80"
-		     alt="Tools">DevBuild</a> - Developer builds<p> 
-<a href="http://github.com/ArduPilot/companion"><img src="images/companion.png" width="78" 
-             alt="Companion">Companion</a> - Companion Computer example code <a href="Companion">and Images</a></p><p>
-<a href="AP_Periph"><img src="images/tools.png" width="80"
-                     alt="AP_Periph">AP_Periph</a> - UAVCAN Peripheral Firmware<p>
-<a href="Tools/FilterTool"><img src="images/filter.png" width="80"
-                     alt="FilterTool">FilterTool</a> - Filter Analysis Tool<p>
-
-<h2>Types of firmware available</h2>
-
-To choose a firmware to download you need to choose:
-
-<ul>
-<li>The type of board that you have</li>
-<li>Whether you want the stable, beta or latest version of the
-  firmware</li>
-</ul>
-
-The meanings of the versions are
-
-<ul>
-<li><b>stable</b> - this is the version recommended for new users. It
-  has had the most testing.</li>
-<li><b>beta</b> - this is the firmware to choose if you want to be
-  part of beta testing of new versions prior to release as a stable
-  version. Note that during some development times the beta release
-  will be the same as the stable release.</li>
-<li><b>latest</b> - this is the latest version from our <a href="http://github.com/ArduPilot">git source
-  code repository</a>. This version is only for developers. The code
-  may have unknown bugs and extreme care should be taken by anyone
-  using it.</li>
-</ul>
-
-For each vehicle type a firmware image is available for each type of
-autopilot board supported by that vehicle type.
-
-<h2>Load your firmware using Mission Planner</h2>
-
-<ul>
-<li>You can load the <b>stable</b> version of the firmware by selecting the appropriate icon for your airframe from the Firmware Tab.</li>
-<li>You can load the <b>beta</b>  version of the firmware by selecting the "BETA firmware" button in the bottom right corner of the screen and then the appropriate icon.</li>
-<li>You can load the <b>latest</b> version of the firmware by downloading a firmware image from one of the links and selecting the "Load custom firmware" button in
-the bottom right corner of the screen.</li>
-</ul>
-
-<h2>Loading firmware on Linux or MacOS</h2>
-
-To load a firmware on a Linux or MacOS machine you will need to
-use
-the <a href="https://raw.github.com/ArduPilot/ardupilot/master/Tools/scripts/uploader.py">uploader.py</a>
-python script. You can run it like this:
-
-<pre>
-python Tools/scripts/uploader.py --port /dev/ttyACM0 build/Pixracer/bin/arducopter.apj
-</pre>
-
-After starting the script, press the reset button on your device to
-make it enter bootloader mode.
-
-<h2>Building the firmware yourself</h2>
-To build the firmware yourself please see the <a href="https://ardupilot.org/dev/index.html">ArduPilot development site</a>.
-
-</div>
-</body>
-</html>

Tools/autotest/web/index.html

@@ -1,64 +0,0 @@
-<!DOCTYPE HTML>
-<html lang="en">
-<head>
-<meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
-<title>ArduPilot Automatic Testing</title>
-
-<!--CSS -->
-<link rel="stylesheet" href="css/main.css" type="text/css" />
-</head>
-
-<body>
-<div class="main">
-<a href="https://autotest.ardupilot.org/">
-<div class="logo">
-</div>
-</a>
-
-<h2>Automatic test run at ${date}</h2>
-
-<div class="git">Test run on git commit <a href="https://github.com/ArduPilot/ardupilot/commit/${githash}">${githash}</a>
-</div>
-
-<h2>Test Results</h2>
-<img src="autotest-badge.svg" alt="missing autotest badge"/>
-
-<ul class="testresults">
-${{tests:<li>${name} - ${result} (${elapsed} seconds)</li>
-}}
-</ul>
-
-<h2>Test logs</h2>
-
-<ul class=testlogs>
-${{files:<li>${name} - <a href="${fname}">${fname}</a>
-}}
-</ul>
-
-<h2>Flight Tracks</h2>
-
-<ul class=testlogs>
-${{images:${fname}<br><img src="${fname}" alt="${name}" />
-}}
-</ul>
-
-<h2>Older results</h2>
-<div class="git">
-Older test results are <a href="history">available here</a>
-</div>
-</div>
-
-<!-- Global site tag (gtag.js) - Autotest statistics -->
-<script async src="https://www.googletagmanager.com/gtag/js?id=UA-75650032-5"></script>
-<script>
-  window.dataLayer = window.dataLayer || [];
-  function gtag(){dataLayer.push(arguments);}
-  gtag('js', new Date());
-
-  gtag('config', 'UA-75650032-5', { 'anonymize_ip': true });
-
-</script>
-
-
-</body>
-</html>