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140 lines
2.5 KiB
140 lines
2.5 KiB
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BATT_MONITOR 4 |
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BATT_VOLT_MULT 6.52 |
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BATT_AMP_PERVLT 15.7 |
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BATT_CAPACITY 5500 |
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Q_ENABLE 1 |
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Q_FRAME_CLASS 1 |
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Q_TAILSIT_ENABLE 2 |
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SERVO1_FUNCTION 33 |
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SERVO2_FUNCTION 34 |
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SERVO3_FUNCTION 35 |
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SERVO4_FUNCTION 36 |
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Q_OPTIONS 128 |
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#Second IMU seems to give better results on this board |
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EK3_PRIMARY 1 |
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# RC input is SBUS on serial4 TX pin |
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SERIAL4_PROTOCOL 23 |
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SERIAL4_OPTIONS 8 |
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RC1_MIN 1050 |
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RC1_MAX 1950 |
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RC2_MIN 1050 |
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RC2_MAX 1950 |
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RC3_MIN 1050 |
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RC3_MAX 1950 |
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RC3_TRIM 1500 |
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RC4_MIN 1125 |
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RC4_MAX 1875 |
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THR_MIN 5 |
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ARMING_RUDDER 2 |
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ARSPD_TUBE_ORDER 0 |
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ARSPD_USE 1 |
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ALT_HOLD_RTL 3000 |
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ARSPD_FBW_MAX 25 |
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ARSPD_FBW_MIN 8 |
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ARSPD_RATIO 1.9 |
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LIM_ROLL_CD 4000 |
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# the HWing can become unstable at high speeds. Limit pitch angle |
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# to prevent overspeed |
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LIM_PITCH_MAX 4500 |
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LIM_PITCH_MIN -1500 |
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# setup left 3-pos switch for QHOVER, QLOITER and FBWA |
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FLTMODE1 18 |
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FLTMODE4 19 |
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FLTMODE6 5 |
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FLTMODE_CH 5 |
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# setup a harmonic notch filter to reduce noise |
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INS_GYRO_FILTER 30 |
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INS_HNTCH_ATT 40 |
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INS_HNTCH_BW 49 |
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INS_HNTCH_ENABLE 1 |
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INS_HNTCH_FREQ 99 |
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INS_HNTCH_HMNCS 7 |
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INS_HNTCH_MODE 1 |
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INS_HNTCH_OPTS 1 |
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INS_HNTCH_REF 0.4560 |
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# no rudder mixing |
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KFF_RDDRMIX 0 |
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# reasonable attitude limits |
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LIM_PITCH_MAX 4000 |
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LOG_FILE_DSRMROT 1 |
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# lower logging rate a bit to make logs faster to fetch |
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# using a USB cable |
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LOG_FILE_RATEMAX 50 |
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# tuning |
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RLL2SRV_TCONST 0.25 |
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PTCH2SRV_TCONST 0.5 |
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Q_A_ACCEL_P_MAX 40000 |
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Q_A_ACCEL_R_MAX 20000 |
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Q_A_ANG_PIT_P 8 |
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Q_A_ANG_RLL_P 8 |
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Q_A_RAT_PIT_D 0.01 |
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Q_A_RAT_PIT_FLTD 15 |
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Q_A_RAT_PIT_P 0.3 |
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Q_A_RAT_PIT_SMAX 15 |
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Q_A_RAT_RLL_D 0.015 |
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Q_A_RAT_RLL_FLTD 15 |
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Q_A_RAT_RLL_P 0.35 |
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Q_A_RAT_RLL_SMAX 15 |
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Q_A_RAT_YAW_FF 0.2 |
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Q_A_RAT_YAW_D 0.1 |
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Q_A_RAT_YAW_FLTD 15 |
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Q_A_RAT_YAW_I 0.07 |
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Q_A_RAT_YAW_P 0.7 |
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Q_A_RAT_YAW_SMAX 15 |
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Q_A_ACCEL_P_MAX 40000 |
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Q_A_ACCEL_R_MAX 20000 |
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Q_A_ACCEL_Y_MAX 27000 |
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Q_P_ACCZ_P 0.8 |
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Q_P_POSZ_P 1.5 |
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Q_P_VELZ_P 8.0 |
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Q_M_THST_HOVER 0.45 |
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Q_M_BAT_VOLT_MAX 16.8 |
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Q_M_BAT_VOLT_MIN 13.2 |
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Q_TAILSIT_RAT_VT 30 |
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Q_A_RATE_Y_MAX 100 |
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Q_A_RATE_R_MAX 100 |
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Q_A_RATE_P_MAX 100 |
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Q_WP_ACCEL 250 |
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Q_WP_ACCEL_Z 300 |
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Q_WP_JERK 2 |
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Q_WP_SPEED 900 |
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Q_A_THR_MIX_MAN 2 |
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Q_A_THR_MIX_MAX 2 |
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Q_A_THR_MIX_MIN 0.3 |
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# Q flight options |
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Q_RTL_MODE 3 |
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Q_TRANS_DECEL 2.5 |
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# QRTL on 'B' button |
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RC8_OPTION 4 |
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RC_OPTIONS 32 |
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# slow down for landing approach |
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TECS_LAND_ARSPD 8 |
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# 16 m/s target airspeed in auto modes |
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TRIM_ARSPD_CM 1600 |
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TRIM_THROTTLE 29 |
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# 2nd lane tends to be better |
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EK3_PRIMARY 1
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