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100 lines
1.9 KiB
100 lines
1.9 KiB
# parameters for SparkleTech EagleHero VTOL |
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# http://www.sparkletech.hk/%E9%B9%B0%E7%9C%BC-%E6%97%A0%E4%BA%BA%E6%9C%BA/electric-power/eagle-plus-vtol/ |
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# airspeed |
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ARSPD_FBW_MAX 31 |
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ARSPD_FBW_MIN 22 |
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TRIM_ARSPD_CM 2400 |
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SCALING_SPEED 20 |
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TRIM_THROTTLE 55 |
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LIM_ROLL_CD 5000 |
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# fixed wing tuning |
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RLL2SRV_RMAX 75 |
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RLL_RATE_D 0.002386 |
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RLL_RATE_FF 0.377393 |
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RLL_RATE_FLTD 10 |
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RLL_RATE_FLTT 3.183099 |
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RLL_RATE_I 0.377393 |
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RLL_RATE_P 0.045467 |
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RLL_RATE_SMAX 100 |
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PTCH2SRV_RMAX_DN 75 |
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PTCH2SRV_RMAX_UP 75 |
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PTCH2SRV_TCONST 0.75 |
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PTCH_RATE_D 0.004031 |
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PTCH_RATE_FF 0.627938 |
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PTCH_RATE_FLTD 10 |
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PTCH_RATE_FLTT 2.122066 |
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PTCH_RATE_I 0.627938 |
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PTCH_RATE_P 0.076867 |
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PTCH_RATE_SMAX 100 |
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# notch filter |
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INS_HNTCH_ENABLE 1 |
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INS_HNTCH_ATT 60 |
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INS_HNTCH_BW 50 |
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INS_HNTCH_FREQ 100 |
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INS_HNTCH_HMNCS 7 |
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INS_HNTCH_MODE 1 |
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INS_HNTCH_REF 0.21 |
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# quadplane setup |
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Q_ENABLE 1 |
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Q_FRAME_CLASS 1 |
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Q_FRAME_TYPE 1 |
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Q_ANGLE_MAX 1300 |
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Q_ASSIST_SPEED 17 |
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Q_A_ACCEL_P_MAX 55000 |
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Q_A_ACCEL_R_MAX 55000 |
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Q_A_ACCEL_Y_MAX 20000 |
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# VTOL rate tuning |
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Q_A_ANG_PIT_P 4 |
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Q_A_ANG_RLL_P 4 |
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Q_A_RAT_PIT_D 0.008 |
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Q_A_RAT_PIT_I 0.1 |
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Q_A_RAT_PIT_P 0.1 |
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Q_A_RAT_PIT_SMAX 15 |
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Q_A_RAT_RLL_D 0.008 |
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Q_A_RAT_RLL_I 0.14084 |
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Q_A_RAT_RLL_P 0.14084 |
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Q_A_RAT_RLL_SMAX 15 |
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Q_A_RAT_YAW_D 0.018 |
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Q_A_RAT_YAW_I 0.028 |
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Q_A_RAT_YAW_P 0.2835 |
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Q_A_RAT_YAW_SMAX 10 |
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# VTOL battery on 2nd battery connector |
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Q_M_BAT_IDX 1 |
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Q_M_BAT_VOLT_MAX 33.6 |
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Q_M_BAT_VOLT_MIN 26.4 |
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# ESC range |
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Q_M_PWM_MAX 1850 |
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Q_M_PWM_MIN 1100 |
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# slow down ESC rates |
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Q_M_SLEW_DN_TIME 0.2 |
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Q_M_SLEW_UP_TIME 0.2 |
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Q_M_THST_EXPO 0.7 |
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Q_M_THST_HOVER 0.19841 |
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Q_P_ACCZ_I 0.5 |
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Q_P_ACCZ_P 0.15 |
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Q_P_POSZ_P 0.5 |
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Q_P_VELZ_P 2.5 |
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Q_TRANS_DECEL 1.5 |
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# weathervaning on landing only |
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Q_WVANE_ENABLE 1 |
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Q_WVANE_GAIN 0.2 |
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Q_WVANE_TAKEOFF 0 |
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# auto-trim servos |
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SERVO_AUTO_TRIM 1
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