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127 lines
2.5 KiB
127 lines
2.5 KiB
# parameter file for Mugin EV350 quadplane |
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# https://www.muginuav.com/product/mugin-ev350-carbon-fiber-full-electric-vtol-uav-platform/ |
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ALT_HOLD_RTL 8000 |
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LIM_PITCH_MAX 2000 |
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LIM_PITCH_MIN -2000 |
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LIM_ROLL_CD 4000 |
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NAVL1_PERIOD 17 |
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PTCH2SRV_TCONST 0.75 |
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RTL_RADIUS 180 |
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SCALING_SPEED 15 |
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TRIM_THROTTLE 50 |
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WP_LOITER_RAD 300 |
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WP_RADIUS 220 |
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# harmonic notch filter |
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INS_HNTCH_ENABLE 1 |
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INS_HNTCH_ATT 50 |
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INS_HNTCH_BW 30 |
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INS_HNTCH_FREQ 51 |
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INS_HNTCH_HMNCS 15 |
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INS_HNTCH_MODE 1 |
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INS_HNTCH_REF 0.245000 |
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# airspeed |
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TRIM_ARSPD_CM 2300 |
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ARSPD_FBW_MAX 28 |
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ARSPD_FBW_MIN 18 |
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# FW pitch tuning |
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PTCH_RATE_D 0.021381 |
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PTCH_RATE_FF 1.093860 |
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PTCH_RATE_FLTD 10 |
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PTCH_RATE_FLTE 0 |
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PTCH_RATE_FLTT 2.122066 |
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PTCH_RATE_I 1.093860 |
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PTCH_RATE_IMAX 0.666 |
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PTCH_RATE_P 0.786900 |
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PTCH_RATE_SMAX 100 |
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# FW roll tuning |
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RLL2SRV_TCONST 0.5 |
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RLL_RATE_D 0.021381 |
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RLL_RATE_FF 0.541178 |
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RLL_RATE_FLTD 12 |
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RLL_RATE_FLTE 0 |
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RLL_RATE_FLTT 3 |
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RLL_RATE_I 0.541178 |
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RLL_RATE_IMAX 0.666 |
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RLL_RATE_P 0.325935 |
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RLL_RATE_SMAX 150 |
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# quadplane parameters |
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Q_ENABLE 1 |
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Q_ANGLE_MAX 1500 |
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Q_ASSIST_ANGLE 30 |
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Q_ASSIST_SPEED 15 |
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Q_A_ACCEL_P_MAX 30000 |
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Q_A_ACCEL_R_MAX 30000 |
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Q_A_ACCEL_Y_MAX 15000 |
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Q_A_RATE_P_MAX 60 |
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Q_A_RATE_R_MAX 60 |
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Q_A_RATE_Y_MAX 30 |
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Q_A_RAT_PIT_D 0.015 |
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Q_A_RAT_PIT_FF 0 |
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Q_A_RAT_PIT_FLTD 10 |
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Q_A_RAT_PIT_FLTE 0 |
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Q_A_RAT_PIT_FLTT 20 |
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Q_A_RAT_PIT_I 0.3 |
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Q_A_RAT_PIT_IMAX 0.5 |
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Q_A_RAT_PIT_P 0.3 |
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Q_A_RAT_PIT_SMAX 20 |
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Q_A_RAT_RLL_D 0.004 |
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Q_A_RAT_RLL_FF 0 |
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Q_A_RAT_RLL_FLTD 10 |
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Q_A_RAT_RLL_FLTE 0 |
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Q_A_RAT_RLL_FLTT 10 |
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Q_A_RAT_RLL_I 0.1 |
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Q_A_RAT_RLL_IMAX 0.5 |
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Q_A_RAT_RLL_P 0.1 |
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Q_A_RAT_RLL_SMAX 20 |
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Q_A_RAT_YAW_D 0.01 |
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Q_A_RAT_YAW_FF 0 |
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Q_A_RAT_YAW_FLTD 0 |
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Q_A_RAT_YAW_FLTE 2.5 |
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Q_A_RAT_YAW_FLTT 20 |
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Q_A_RAT_YAW_I 0.018 |
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Q_A_RAT_YAW_IMAX 0.5 |
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Q_A_RAT_YAW_P 0.5 |
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Q_A_RAT_YAW_SMAX 10 |
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Q_A_THR_MIX_MAX 0.9 |
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Q_FRAME_CLASS 1 |
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Q_FRAME_TYPE 1 |
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Q_LAND_FINAL_ALT 12 |
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Q_LAND_SPEED 40 |
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Q_LOIT_ANG_MAX 20 |
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Q_LOIT_BRK_ACCEL 40 |
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Q_LOIT_BRK_JERK 200 |
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Q_LOIT_SPEED 600 |
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Q_M_BAT_IDX 0 |
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Q_M_BAT_VOLT_MAX 50.4 |
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Q_M_BAT_VOLT_MIN 39.0 |
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Q_M_THST_EXPO 0.7 |
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Q_M_THST_HOVER 0.264 |
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Q_M_YAW_HEADROOM 200 |
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Q_P_JERK_XY 2 |
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Q_P_POSXY_P 0.5 |
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Q_P_VELXY_D 0.17 |
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Q_P_VELXY_I 0.37 |
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Q_P_VELXY_P 0.7 |
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Q_RTL_ALT 40 |
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Q_THROTTLE_EXPO 0.2 |
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Q_TRANS_DECEL 1.5 |
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Q_TRAN_PIT_MAX 7 |
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Q_VELZ_MAX 200 |
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Q_VELZ_MAX_DN 130 |
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Q_VFWD_ALT 5 |
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Q_VFWD_GAIN 0.05 |
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Q_WP_RADIUS 300 |
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Q_WP_SPEED 600 |
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Q_WP_SPEED_DN 150 |
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Q_WP_SPEED_UP 220 |
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Q_WVANE_ANG_MIN 3 |
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Q_WVANE_ENABLE 1 |
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Q_WVANE_GAIN 0.3 |
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Q_WVANE_TAKEOFF 0
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