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130 lines
2.6 KiB
130 lines
2.6 KiB
EK2_ENABLE 1 |
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FRAME_TYPE 0 |
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FS_THR_ENABLE 1 |
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BATT_MONITOR 4 |
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COMPASS_OFS_X 5 |
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COMPASS_OFS_Y 13 |
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COMPASS_OFS_Z -18 |
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COMPASS_OFS2_X 5 |
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COMPASS_OFS2_Y 13 |
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COMPASS_OFS2_Z -18 |
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COMPASS_OFS3_X 5 |
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COMPASS_OFS3_Y 13 |
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COMPASS_OFS3_Z -18 |
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FRAME_CLASS 1 |
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RC1_MAX 2000 |
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RC1_MIN 1000 |
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RC1_TRIM 1500 |
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RC2_MAX 2000 |
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RC2_MIN 1000 |
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RC2_TRIM 1500 |
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RC3_MAX 2000 |
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RC3_MIN 1000 |
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RC3_TRIM 1500 |
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RC4_MAX 2000 |
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RC4_MIN 1000 |
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RC4_TRIM 1500 |
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RC5_MAX 2000 |
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RC5_MIN 1000 |
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RC5_TRIM 1500 |
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RC6_MAX 2000 |
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RC6_MIN 1000 |
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RC6_TRIM 1500 |
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RC7_MAX 2000 |
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RC7_MIN 1000 |
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RC7_TRIM 1500 |
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RC8_MAX 2000 |
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RC8_MIN 1000 |
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RC8_TRIM 1500 |
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# setting servo functions for the four fins |
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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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FLTMODE1 0 |
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FLTMODE2 1 |
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FLTMODE3 2 |
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FLTMODE4 3 |
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FLTMODE5 1 |
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FLTMODE6 1 |
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SIM_BARO_RND 0 |
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# we need small INS_ACC offsets so INS is recognised as being calibrated |
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INS_ACCOFFS_X 0.001 |
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INS_ACCOFFS_Y 0.001 |
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INS_ACCOFFS_Z 0.001 |
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INS_ACCSCAL_X 1.001 |
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INS_ACCSCAL_Y 1.001 |
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INS_ACCSCAL_Z 1.001 |
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INS_ACC2OFFS_X 0.001 |
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INS_ACC2OFFS_Y 0.001 |
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INS_ACC2OFFS_Z 0.001 |
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INS_ACC2SCAL_X 1.001 |
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INS_ACC2SCAL_Y 1.001 |
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INS_ACC2SCAL_Z 1.001 |
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INS_ACC3OFFS_X 0.000 |
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INS_ACC3OFFS_Y 0.000 |
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INS_ACC3OFFS_Z 0.000 |
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INS_ACC3SCAL_X 1.000 |
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INS_ACC3SCAL_Y 1.000 |
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INS_ACC3SCAL_Z 1.000 |
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ARMING_RUDDER 0 |
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GCS_PID_MASK 255 |
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# default PID params for position and velocity-controlled modes |
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MAX_POS_XY 0.3 |
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MAX_POS_YAW 0.3 |
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MAX_POS_Z 0.15 |
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MAX_VEL_XY 0.4 |
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MAX_VEL_YAW 0.5 |
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MAX_VEL_Z 0.2 |
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VELXY_D 0.0 |
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VELXY_FF 0.0 |
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VELXY_FLTD 3.0 |
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VELXY_FLTE 3.0 |
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VELXY_I 1.5 |
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VELXY_IMAX 5.0 |
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VELXY_P 5.0 |
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VELYAW_D 0.0 |
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VELYAW_FF 0.0 |
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VELYAW_FLTD 3.0 |
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VELYAW_FLTE 3.0 |
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VELYAW_I 0.8 |
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VELYAW_IMAX 5.0 |
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VELYAW_P 15.0 |
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VELZ_D 0.0 |
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VELZ_FF 0.0 |
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VELZ_FLTD 3.0 |
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VELZ_FLTE 3.0 |
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VELZ_I 1.0 |
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VELZ_IMAX 2.0 |
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VELZ_P 15.0 |
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POSXY_D 0.0 |
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POSXY_FF 0.0 |
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POSXY_FLTD 3.0 |
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POSXY_FLTE 3.0 |
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POSXY_I 0.05 |
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POSXY_IMAX 0.1 |
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POSXY_P 1.0 |
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POSYAW_D 0.0 |
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POSYAW_FF 0.0 |
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POSYAW_FLTD 3.0 |
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POSYAW_FLTE 3.0 |
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POSYAW_FLTT 3.0 |
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POSYAW_I 0.1 |
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POSYAW_IMAX 1.0 |
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POSYAW_P 1.0 |
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POSYAW_SMAX 0.0 |
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POSZ_D 0.0 |
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POSZ_FF 0.0 |
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POSZ_FLTD 3.0 |
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POSZ_FLTE 3.0 |
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POSZ_I 0.0 |
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POSZ_IMAX 0.0 |
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POSZ_P 0.7
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