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246 lines
4.4 KiB
246 lines
4.4 KiB
# defaults for SkyRocket streaming GPS board |
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BRD_TYPE 21 |
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BRD_IO_ENABLE 0 |
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BRD_PWM_COUNT 4 |
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MOT_PWM_TYPE 3 |
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MOT_PWM_MIN 1000 |
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MOT_PWM_MAX 2000 |
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RC_SPEED 16000 |
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# TERRAIN_ENABLE 0 |
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# toy mode setup |
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TMODE_ENABLE 1 |
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TMODE_MODE1 5 |
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TMODE_MODE2 2 |
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TMODE_ACTION1 2 |
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TMODE_ACTION2 1 |
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TMODE_ACTION3 18 |
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TMODE_ACTION4 0 |
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TMODE_ACTION5 0 |
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TMODE_ACTION6 0 |
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TMODE_FLAGS 23 |
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TMODE_TMIN 0.9 |
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# LEDs. pin54 is green, pin55 is red |
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RELAY_PIN 54 |
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RELAY_PIN2 55 |
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RELAY_DEFAULT 1 |
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AHRS_ORIENTATION 12 |
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COMPASS_EXTERNAL 1 |
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COMPASS_ORIENT 10 |
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COMPASS_USE2 0 |
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COMPASS_USE3 0 |
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COMPASS_OFFS_MAX 2000 |
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COMPASS_DIA_X 1.20 |
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COMPASS_DIA_Y 1.11 |
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COMPASS_DIA_Z 0.89 |
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COMPASS_ODI_X -0.051 |
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COMPASS_ODI_Y 0.141 |
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COMPASS_ODI_Z 0.091 |
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# battery setup |
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BATT_MONITOR 3 |
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BATT_VOLT_PIN 4 |
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BATT_VOLT_MULT 0.8485 |
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# motor compensation |
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COMPASS_MOTCT 3 |
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COMPASS_PMOT_EN 1 |
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COMPASS_PMOT_EXP 0.65 |
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COMPASS_LEARN 2 |
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BRD_SER1_RTSCTS 0 |
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BRD_SER2_RTSCTS 0 |
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BRD_SAFETYENABLE 0 |
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SERIAL0_PROTOCOL 2 |
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SERIAL1_BAUD 625000 |
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SERIAL1_PROTOCOL 2 |
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SERIAL2_BAUD 115 |
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SERIAL2_PROTOCOL 2 |
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# radio setup |
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BRD_RADIO_TYPE 1 |
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BRD_RADIO_PROT 1 |
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BRD_RADIO_PPSCH 8 |
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BRD_RADIO_SIGCH 9 |
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BRD_RADIO_TPPSCH 10 |
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BRD_RADIO_TSIGCH 11 |
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BRD_RADIO_TELEM 1 |
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BRD_RADIO_ABTIME 10 |
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BRD_RADIO_ABLVL 25 |
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RSSI_TYPE 2 |
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RSSI_CHANNEL 8 |
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RSSI_CHAN_LOW 0 |
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RSSI_CHAN_HIGH 200 |
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# non-standard motor ordering |
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SERVO1_FUNCTION 36 |
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SERVO2_FUNCTION 33 |
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SERVO3_FUNCTION 34 |
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SERVO4_FUNCTION 35 |
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# H class quad |
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FRAME_CLASS 1 |
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FRAME_TYPE 1 |
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# enable EK2 |
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EK2_ENABLE 1 |
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EK2_CHECK_SCALE 150 |
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# EK3 disabled for flight |
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AHRS_EKF_TYPE 2 |
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EK3_ENABLE 0 |
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#EK3_CHECK_SCALE 120 |
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#EK3_ACC_BIAS_LIM 1.0 |
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#EK3_ABIAS_P_NSE 0.01 |
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#EK3_MAG_CAL = 0 |
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# setup EK2 limits |
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EK2_CHECK_SCALE 120 |
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EK2_ALT_M_NSE 2.0 |
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# fence |
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FENCE_TYPE 3 |
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FENCE_ENABLE 0 |
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FENCE_RADIUS 100 |
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FENCE_ALT_MAX 50 |
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FENCE_MARGIN 3 |
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# arming |
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ARMING_CHECK 32767 |
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DISARM_DELAY 8 |
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# IMU |
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INS_FAST_SAMPLE 1 |
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INS_GYRO_FILTER 20 |
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LOG_BITMASK 65534 |
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INS_NOTCH_ENABLE 1 |
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INS_NOTCH_ATT 30 |
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INS_NOTCH_BW 60 |
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INS_NOTCH_FREQ 80 |
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# rate controllers |
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ANGLE_MAX 3500 |
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ATC_ACCEL_R_MAX 160000 |
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ATC_ACCEL_P_MAX 160000 |
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ATC_ACCEL_Y_MAX 54000 |
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ATC_ANG_PIT_P 8.0 |
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ATC_ANG_RLL_P 8.0 |
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ATC_ANG_YAW_P 7.16 |
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ATC_RAT_PIT_D 0.0069 |
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ATC_RAT_PIT_FILT 10 |
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ATC_RAT_PIT_FLTD 10 |
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ATC_RAT_PIT_IMAX 0.5 |
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ATC_RAT_PIT_I 0.0834 |
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ATC_RAT_PIT_P 0.0834 |
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ATC_RAT_RLL_D 0.007 |
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ATC_RAT_RLL_FILT 10 |
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ATC_RAT_RLL_FLTD 10 |
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ATC_RAT_RLL_I 0.0966 |
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ATC_RAT_RLL_P 0.0966 |
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ATC_RAT_RLL_IMAX 0.5 |
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ATC_RAT_YAW_P 0.6887 |
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ATC_RAT_YAW_I 0.0689 |
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ATC_RAT_YAW_IMAX 0.3 |
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ATC_RAT_YAW_D 0.0 |
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ATC_RAT_YAW_FILT 4.5125 |
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ATC_RAT_YAW_FLTE 4.5125 |
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ATC_SLEW_YAW 3250 |
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ATC_THR_MIX_MAN 4 |
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ATC_THR_MIX_MAX 0.9 |
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# tuning |
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ACRO_RP_EXPO 0.3 |
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ACRO_RP_P 8 |
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ACRO_YAW_P 4 |
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# flight modes |
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FLTMODE_CH 0 |
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FLTMODE1 2 |
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FLTMODE2 2 |
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FLTMODE3 2 |
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FLTMODE4 2 |
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FLTMODE5 2 |
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FLTMODE6 2 |
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# failsafes |
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FS_THR_ENABLE 1 |
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BATT_LOW_VOLT 3.43 |
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BATT_FS_LOW_ACT 2 |
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FS_GCS_ENABLE 0 |
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# baro |
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TCAL_ENABLED 2 |
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TCAL_BARO_EXP 1.2 |
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# landing |
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LAND_SPEED_HIGH 350 |
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# logging |
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LOG_BACKEND_TYPE 2 |
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LOG_FILE_BUFSIZE 1 |
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# voltages |
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MOT_BAT_VOLT_MAX 4.2 |
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MOT_BAT_VOLT_MIN 3.3 |
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MOT_THST_HOVER 0.3514 |
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MOT_THST_EXPO -0.56 |
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MOT_SPIN_ARM 0.03 |
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MOT_SPIN_MIN 0.03 |
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MOT_SPIN_MAX 1.0 |
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MOT_SPOOL_TIME 0 |
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MOT_HOVER_LEARN 1 |
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# control inputs |
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PILOT_THR_BHV 3 |
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PILOT_ACCEL_Z 400 |
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PILOT_SPEED_DN 500 |
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RC_FEEL_RP 50 |
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RC1_MIN 1000 |
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RC1_MAX 2000 |
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RC2_MIN 1000 |
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RC2_MAX 2000 |
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RC3_MIN 1000 |
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RC3_MAX 2000 |
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RC4_MIN 1000 |
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RC4_MAX 2000 |
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RC3_TRIM 1500 |
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RTL_ALT 400 |
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GND_EFFECT_COMP 1 |
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# deadzones, with auto-trim |
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RC1_DZ 15 |
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RC2_DZ 15 |
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RC3_DZ 15 |
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RC4_DZ 15 |
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# pos control |
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PSC_POSXY_P 0.7 |
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PSC_VELXY_I 0.3 |
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PSC_VELXY_P 0.6 |
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PSC_VELXY_FILT 1.0 |
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WPNAV_LOIT_JERK 4000 |
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WPNAV_LOIT_MAXA 800 |
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WPNAV_LOIT_MINA 250 |
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WPNAV_LOIT_SPEED 800 |
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WPNAV_SPEED 750 |
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RTL_SPEED 600 |
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# GPS |
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GPS_NAVFILTER 6 |
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GPS_SAVE_CFG 2 |
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GPS_TYPE 2 |
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GPS_HDOP_GOOD 160 |
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# throw mode |
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THROW_NEXTMODE 5 |
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