Tools: update default Solo parameters running AC3.5

Tools/Frame_params/Solo_AC35.param

@@ -1,89 +1,97 @@
-# Solo with AC3.5
+#NOTE: 4/13/2017: All required 3DR Solo parameters for ArduCopter 3.5
+ACCEL_Z_I,1.5
+ACCEL_Z_P,0.75
+ACRO_RP_P,4
+ACRO_THR_MID,0.4
+ACRO_YAW_P,1
 AHRS_ORIENTATION,12
-ANGLE_MAX,2333
+ANGLE_MAX,2000
-ATC_ACCEL_P_MAX,110000
+ARMING_CHECK,7166
-ATC_ACCEL_R_MAX,110000
+ATC_ACCEL_P_MAX,36000
-ATC_ACCEL_Y_MAX,27000
+ATC_ACCEL_R_MAX,36000
+ATC_ACCEL_Y_MAX,7000
 ATC_ANG_PIT_P,4.5
 ATC_ANG_RLL_P,4.5
-ATC_ANG_YAW_P,4.5
+ATC_ANG_YAW_P,3.42
-ATC_RAT_PIT_D,0.008
+ATC_RAT_PIT_D,0.0036
-ATC_RAT_PIT_FILT,10
+ATC_RAT_PIT_I,0.09
-ATC_RAT_PIT_I,0.0168
+ATC_RAT_PIT_P,0.135
-ATC_RAT_PIT_P,0.168
+ATC_RAT_RLL_D,0.0036
-ATC_RAT_RLL_D,0.001
+ATC_RAT_RLL_I,0.09
-ATC_RAT_RLL_FILT,20
+ATC_RAT_RLL_P,0.135
-ATC_RAT_RLL_I,0.116
+ATC_RAT_YAW_FILT,3.151
-ATC_RAT_RLL_P,0.116
+ATC_RAT_YAW_I,0.092
-ATC_RAT_YAW_FILT,7.6
+ATC_RAT_YAW_P,0.92
-ATC_RAT_YAW_I,0.066
+BATT_CAPACITY,5200
-ATC_RAT_YAW_P,0.66
 BATT_MONITOR,5
 BRD_IMU_TARGTEMP,60
 BRD_SAFETY_MASK,16368
 BRD_SAFETYENABLE,0
 BRD_SER1_RTSCTS,1
-BRD_SER2_RTSCTS,2
+BRD_TYPE,3
+COMPASS_LEARN,0
 COMPASS_ORIENT,38
-COMPASS_USE,1
-COMPASS_USE2,1
 COMPASS_USE3,0
+DISARM_DELAY,5
 FENCE_ACTION,0
-FENCE_ALT_MAX,123
+FENCE_ALT_MAX,122
 FENCE_ENABLE,1
-FENCE_MARGIN,5
+FENCE_TYPE,1
-FENCE_RADIUS,680
+FLTMODE1,5
-FENCE_TYPE,3
+FLTMODE2,5
+FLTMODE3,5
+FLTMODE4,5
+FLTMODE5,5
+FLTMODE6,5
 FRAME_CLASS,1
 FRAME_TYPE,1
 FS_BATT_ENABLE,2
 FS_BATT_MAH,520
-FS_BATT_VOLTAGE,13.81
+FS_BATT_VOLTAGE,13.9
 FS_EKF_ACTION,2
-FS_EKF_THRESH,0.8
 FS_THR_ENABLE,1
-FS_THR_VALUE,925
+FS_THR_VALUE,950
 GND_EFFECT_COMP,1
-GPS_AUTO_CONFIG,1
+GPS_HDOP_GOOD,200
-GPS_HDOP_GOOD,180
 GPS_NAVFILTER,6
-GPS_TYPE,2
+INS_ACC_BODYFIX,3
-INS_USE,1
+INS_TRIM_OPTION,2
-INS_USE2,1
+LAND_SPEED,45
-INS_USE3,0
+LAND_SPEED_HIGH,245
 LOG_BACKEND_TYPE,3
 LOG_BITMASK,131070
-LOG_FILE_DSRMROT,1
+LOG_DISARMED,1
-MIS_RESTART,0
+LOG_FILE_BUFSIZE,32
+MNT_ANGMAX_PAN,4500
+MNT_ANGMAX_ROL,4500
 MNT_ANGMAX_TIL,0
+MNT_ANGMIN_PAN,-4500
+MNT_ANGMIN_ROL,-4500
 MNT_ANGMIN_TIL,-9000
 MNT_DEFLT_MODE,3
-MNT_RC_IN_TILT,6
 MNT_TYPE,2
-MOT_BAT_CURR_MAX,40
+MOT_BAT_CURR_MAX,45
-MOT_BAT_CURR_TC,5
+MOT_BAT_VOLT_MAX,16.8
-MOT_BAT_VOLT_MAX,16.18
 MOT_BAT_VOLT_MIN,12
-MOT_PWM_MAX,1860
+MOT_PWM_MAX,1869
 MOT_PWM_MIN,1000
-MOT_PWM_TYPE,0
+MOT_SPIN_ARM,0.08
-MOT_SPIN_ARM,0.1
 MOT_SPIN_MAX,0.95
 MOT_SPIN_MIN,0.15
+MOT_SPOOL_TIME,1
 MOT_THST_EXPO,0.8
-MOT_THST_HOVER,0.3027163
+MOT_THST_HOVER,0.37
+PILOT_ACCEL_Z,100
 PILOT_THR_BHV,1
 PILOT_THR_FILT,2
-PILOT_TKOFF_ALT,75
+PILOT_TKOFF_ALT,214
 PILOT_TKOFF_DZ,250
-PILOT_VELZ_MAX,186
+PILOT_VELZ_MAX,133
-POS_XY_P,0.7
+RC_FEEL_RP,20
-POS_Z_P,1
-PSC_ACC_XY_FILT,2
-RC_FEEL_RP,28
 RC1_DZ,10
 RC1_MAX,1998
 RC1_MIN,1000
+RC1_TRIM,1500
 RC2_DZ,10
 RC2_MAX,2000
 RC2_MIN,1006
@@ -96,34 +104,25 @@ RC4_DZ,10
 RC4_MAX,2000
 RC4_MIN,1006
 RC4_TRIM,1499
-RTL_ALT,4000
+RC6_DZ,0
+RC6_MAX,1520
+RC6_MIN,1000
+RC6_TRIM,1000
+RTL_ALT,4500
+RTL_ALT_FINAL,0
 RTL_CLIMB_MIN,1000
-RTL_CONE_SLOPE,3
+RTL_LOIT_TIME,3000
-RTL_LOIT_TIME,1000
 RTL_SPEED,1000
-SERIAL0_BAUD,115
-SERIAL0_PROTOCOL,1
 SERIAL1_BAUD,921
 SERIAL1_PROTOCOL,1
-SERIAL2_BAUD,57
 SERIAL2_PROTOCOL,0
-SERIAL3_BAUD,38
-SERIAL3_PROTOCOL,5
 SERIAL4_BAUD,230
 SERIAL4_PROTOCOL,1
-SERIAL5_BAUD,57
+SERVO1_FUNCTION,33
-SERIAL5_PROTOCOL,-1
+SERVO2_FUNCTION,34
-SR0_ADSB,5
+SERVO3_FUNCTION,35
-SR0_EXT_STAT,0
+SERVO4_FUNCTION,36
-SR0_EXTRA1,0
+SERVO7_FUNCTION,1
-SR0_EXTRA2,0
-SR0_EXTRA3,0
-SR0_PARAMS,0
-SR0_POSITION,0
-SR0_RAW_CTRL,0
-SR0_RAW_SENS,10
-SR0_RC_CHAN,0
-SR1_ADSB,5
 SR1_EXT_STAT,2
 SR1_EXTRA1,5
 SR1_EXTRA2,5
@@ -133,40 +132,14 @@ SR1_POSITION,1
 SR1_RAW_CTRL,3
 SR1_RAW_SENS,1
 SR1_RC_CHAN,1
-SR2_ADSB,5
+TERRAIN_ENABLE,0
-SR2_EXT_STAT,0
+TERRAIN_FOLLOW,0
-SR2_EXTRA1,0
-SR2_EXTRA2,0
-SR2_EXTRA3,0
-SR2_PARAMS,0
-SR2_POSITION,0
-SR2_RAW_CTRL,0
-SR2_RAW_SENS,0
-SR2_RC_CHAN,0
-SR3_ADSB,5
-SR3_EXT_STAT,0
-SR3_EXTRA1,0
-SR3_EXTRA2,0
-SR3_EXTRA3,0
-SR3_PARAMS,0
-SR3_POSITION,0
-SR3_RAW_CTRL,0
-SR3_RAW_SENS,0
-SR3_RC_CHAN,0
 THR_DZ,10
-VEL_XY_FILT_HZ,5
+WP_YAW_BEHAVIOR,3
-VEL_XY_I,0.5
-VEL_XY_IMAX,1000
-VEL_XY_P,1.4
-VEL_Z_P,5
-WP_YAW_BEHAVIOR,2
-WPNAV_ACCEL,340
-WPNAV_ACCEL_Z,160
 WPNAV_LOIT_JERK,1400
 WPNAV_LOIT_MAXA,321
 WPNAV_LOIT_MINA,138
 WPNAV_LOIT_SPEED,700
-WPNAV_RADIUS,200
+WPNAV_SPEED,500
-WPNAV_SPEED,1100
 WPNAV_SPEED_DN,240
 WPNAV_SPEED_UP,320