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401 lines
7.4 KiB
401 lines
7.4 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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MOT_PWM_TYPE 3 |
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MOT_PWM_MIN 1000 |
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MOT_PWM_MAX 2000 |
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#TERRAIN_ENABLE 0 |
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# RC_SPEED at 7.1kHz for minimal radio interference, without |
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# being a multiple of IMU sample rate |
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RC_SPEED 7100 |
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# toy mode setup |
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TMODE_ENABLE 2 |
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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 63 |
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TMODE_TMIN 0.9 |
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# LEDs. pin0 is green, pin1 is red |
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RELAY_PIN 0 |
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RELAY_PIN2 1 |
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RELAY_DEFAULT 1 |
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AHRS_ORIENTATION 2 |
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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 9 |
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BATT_VOLT_MULT 1 |
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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_BAUD 115 |
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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_PROTOCOL -1 |
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SERIAL4_PROTOCOL -1 |
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SERIAL5_PROTOCOL -1 |
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# radio setup (auto-detect beken vs cc2500) |
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BRD_RADIO_TYPE 100 |
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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 40 |
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BRD_RADIO_TXMAX 5 |
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BRD_RADIO_TXPOW 6 |
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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 35 |
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SERVO2_FUNCTION 33 |
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SERVO3_FUNCTION 34 |
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SERVO4_FUNCTION 36 |
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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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# EK3 disabled for flight |
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AHRS_EKF_TYPE 2 |
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TMODE_INAV_EN 1 |
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TMODE_INAV_TC_Z 1.0 |
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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 0.5 |
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EK2_HGT_I_GATE 1000 |
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EK2_ABIAS_P_NSE 0.01 |
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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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# arming |
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ARMING_CHECK 25586 |
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DISARM_DELAY 8 |
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# IMU |
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INS_FAST_SAMPLE 0 |
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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 50 |
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INS_NOTCH_BW 80 |
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INS_NOTCH_FREQ 80 |
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# profile parameters |
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TMODE_P1_ANG_MAX 2500 |
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TMODE_P1_MODE 5 |
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TMODE_P1_FEEL_RP 75 |
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TMODE_P1_A_BAL_P 1 |
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TMODE_P1_A_BAL_R 1 |
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TMODE_P1_A_RP_P 8.0 |
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TMODE_P1_A_RP_XP 0.3 |
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TMODE_P1_A_THR_M 0 |
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TMODE_P1_A_TRNR 2 |
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TMODE_P1_A_YAW_P 4.0 |
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TMODE_P1_A_Y_XP 0 |
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TMODE_P1_LTR_SPD 800 |
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TMODE_P1_LTR_JRK 4000 |
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TMODE_P1_LTR_MNA 250 |
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TMODE_P1_LTR_MXA 800 |
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TMODE_P1_PL_V_UP 250 |
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TMODE_P1_WP_RAD 200 |
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TMODE_P1_WP_SPD 750 |
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TMODE_P1_WP_V_DN 150 |
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TMODE_P1_WP_V_UP 250 |
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TMODE_P1_WP_RAD 200 |
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TMODE_P1_WP_SPD 750 |
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TMODE_P1_WP_V_DN 150 |
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TMODE_P1_WP_V_UP 250 |
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TMODE_P1_WP_XL 100 |
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TMODE_P1_WP_XL_Z 100 |
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TMODE_P1_XL_P_MX 108000 |
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TMODE_P1_XL_R_MX 108000 |
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TMODE_P1_XL_Y_MX 36000 |
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TMODE_P2_ANG_MAX 3500 |
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TMODE_P2_MODE 5 |
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TMODE_P2_FEEL_RP 100 |
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TMODE_P2_A_BAL_P 1 |
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TMODE_P2_A_BAL_R 1 |
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TMODE_P2_A_RP_P 8.0 |
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TMODE_P2_A_RP_XP 0.3 |
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TMODE_P2_A_THR_M 0 |
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TMODE_P2_A_TRNR 2 |
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TMODE_P2_A_YAW_P 4.0 |
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TMODE_P2_A_Y_XP 0 |
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TMODE_P2_LTR_SPD 800 |
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TMODE_P2_LTR_JRK 4000 |
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TMODE_P2_LTR_MNA 250 |
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TMODE_P2_LTR_MXA 800 |
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TMODE_P2_PL_V_UP 250 |
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TMODE_P2_WP_RAD 200 |
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TMODE_P2_WP_SPD 750 |
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TMODE_P2_WP_V_DN 150 |
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TMODE_P2_WP_V_UP 250 |
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TMODE_P2_WP_RAD 200 |
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TMODE_P2_WP_SPD 750 |
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TMODE_P2_WP_V_DN 150 |
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TMODE_P2_WP_V_UP 250 |
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TMODE_P2_WP_XL 100 |
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TMODE_P2_WP_XL_Z 100 |
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TMODE_P2_XL_P_MX 108000 |
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TMODE_P2_XL_R_MX 108000 |
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TMODE_P2_XL_Y_MX 36000 |
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TMODE_P3_MODE 2 |
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TMODE_P3_ANG_MAX 2500 |
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TMODE_P3_FEEL_RP 75 |
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TMODE_P3_A_BAL_P 1 |
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TMODE_P3_A_BAL_R 1 |
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TMODE_P3_A_RP_P 8.0 |
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TMODE_P3_A_RP_XP 0.3 |
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TMODE_P3_A_THR_M 0 |
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TMODE_P3_A_TRNR 2 |
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TMODE_P3_A_YAW_P 4.0 |
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TMODE_P3_A_Y_XP 0 |
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TMODE_P3_LTR_SPD 800 |
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TMODE_P3_LTR_JRK 4000 |
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TMODE_P3_LTR_MNA 250 |
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TMODE_P3_LTR_MXA 800 |
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TMODE_P3_PL_V_UP 250 |
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TMODE_P3_WP_RAD 200 |
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TMODE_P3_WP_SPD 750 |
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TMODE_P3_WP_V_DN 150 |
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TMODE_P3_WP_V_UP 250 |
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TMODE_P3_WP_RAD 200 |
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TMODE_P3_WP_SPD 750 |
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TMODE_P3_WP_V_DN 150 |
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TMODE_P3_WP_V_UP 250 |
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TMODE_P3_WP_XL 100 |
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TMODE_P3_WP_XL_Z 100 |
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TMODE_P3_XL_P_MX 108000 |
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TMODE_P3_XL_R_MX 108000 |
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TMODE_P3_XL_Y_MX 36000 |
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TMODE_P4_MODE 2 |
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TMODE_P4_ANG_MAX 3500 |
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TMODE_P4_FEEL_RP 100 |
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TMODE_P4_A_BAL_P 1 |
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TMODE_P4_A_BAL_R 1 |
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TMODE_P4_A_RP_P 8.0 |
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TMODE_P4_A_RP_XP 0.3 |
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TMODE_P4_A_THR_M 0 |
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TMODE_P4_A_TRNR 2 |
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TMODE_P4_A_YAW_P 4.0 |
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TMODE_P4_A_Y_XP 0 |
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TMODE_P4_LTR_SPD 800 |
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TMODE_P4_LTR_JRK 4000 |
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TMODE_P4_LTR_MNA 250 |
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TMODE_P4_LTR_MXA 800 |
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TMODE_P4_PL_V_UP 250 |
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TMODE_P4_WP_RAD 200 |
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TMODE_P4_WP_SPD 750 |
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TMODE_P4_WP_V_DN 150 |
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TMODE_P4_WP_V_UP 250 |
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TMODE_P4_WP_RAD 200 |
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TMODE_P4_WP_SPD 750 |
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TMODE_P4_WP_V_DN 150 |
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TMODE_P4_WP_V_UP 250 |
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TMODE_P4_WP_XL 100 |
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TMODE_P4_WP_XL_Z 100 |
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TMODE_P4_XL_P_MX 108000 |
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TMODE_P4_XL_R_MX 108000 |
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TMODE_P4_XL_Y_MX 36000 |
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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_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_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_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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FS_BATT_ENABLE 2 |
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FS_BATT_VOLTAGE 3.46 |
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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 150 |
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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 0.045 |
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MOT_SPIN_MIN 0.045 |
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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_VELZ_MAX 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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# 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_FLTE 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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# disable optical flow |
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FLOW_ENABLE 0 |
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# flip params |
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FLIP_RAMP_CD 500 |
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FLIP_RAMP_MS 350 |
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FLIP_ROT_RATE 3000 |
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FLIP_ACCEL_MAX 3000 |
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# extra parameters for GPS |
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BRD_RADIO_TYPE 2 |
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BRD_RADIO_ABLVL 40 |
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TMODE_ACTION1 2 |
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TMODE_ACTION2 16 |
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TMODE_MODE1 5 |
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TMODE_MODE2 2 |
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TMODE_TOFF_HGT 1.2 |
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TMODE_TOFF_TIME 5.0 |
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TMODE_TOFF_ACC 75 |
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ATC_ACCEL_P_MAX 108000 |
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ATC_ACCEL_R_MAX 108000 |
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MOT_SPOOL_TIME 0.0500 |
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MOT_THST_HOVER 0.3398 |
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PSC_ACCZ_FILT 5.0000 |
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PSC_ACCZ_P 1.0000 |
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PSC_POSZ_P 0.5000 |
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PSC_VELZ_P 1.0000 |
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RC_FEEL_RP 75.0000 |
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# default to GPS frame |
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SYSID_SW_TYPE 100 |
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