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78 lines
1.6 KiB
78 lines
1.6 KiB
# Default setup and tuning parameters for TradHeli - load with MP |
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# Tunes the PSC, LOIT, NAV and ATC for New Loiter and Auto |
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# Stack: ArduPilot |
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# Vehicle: Helicopter |
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# Version: 3.6 |
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ATC_ACCEL_P_MAX, 52000 |
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ATC_ACCEL_R_MAX, 52000 |
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ATC_ACCEL_Y_MAX, 20000 |
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ATC_ANG_PIT_P, 4.5 |
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ATC_ANG_RLL_P, 4.5 |
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ATC_ANG_YAW_P, 4.5 |
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ATC_RATE_FF_ENAB, 1 |
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ATC_RATE_P_MAX, 270 |
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ATC_RATE_R_MAX, 360 |
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ATC_RATE_Y_MAX, 180 |
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ATC_RAT_PIT_D 0.0008 |
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ATC_RAT_PIT_FILT, 12 |
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ATC_RAT_PIT_FLTE, 12 |
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ATC_RAT_PIT_I, 0.35 |
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ATC_RAT_PIT_ILMI, 0.04 |
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ATC_RAT_PIT_IMAX, 0.44 |
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ATC_RAT_PIT_P, 0.04 |
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ATC_RAT_PIT_VFF, 0.15 |
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ATC_RAT_RLL_D, 0.0005 |
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ATC_RAT_RLL_FILT, 13 |
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ATC_RAT_RLL_FLTE, 13 |
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ATC_RAT_RLL_I, 0.32 |
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ATC_RAT_RLL_ILMI, 0.03 |
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ATC_RAT_RLL_IMAX, 0.44 |
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ATC_RAT_RLL_P, 0.035 |
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ATC_RAT_RLL_VFF, 0.15 |
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ATC_RAT_YAW_D, 0.003 |
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ATC_RAT_YAW_FILT, 20 |
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ATC_RAT_YAW_FLTE, 20 |
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ATC_RAT_YAW_I, 0.30 |
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ATC_RAT_YAW_ILMI, 0.01 |
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ATC_RAT_YAW_IMAX, 0.33 |
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ATC_RAT_YAW_P, 0.22 |
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ATC_RAT_YAW_VFF, 0.09 |
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ATC_SLEW_YAW, 6000 |
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DISARM_DELAY, 0 |
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FRAME_CLASS, 6 |
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FS_CRASH_CHECK, 0 |
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GND_EFFECT_COMP,1 |
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H_COLYAW, 3 |
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LOIT_ACC_MAX, 500 |
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LOIT_ANG_MAX, 0.0 |
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LOIT_BRK_ACCEL, 125 |
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LOIT_BRK_DELAY, 1 |
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LOIT_BRK_JERK, 250 |
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LOIT_SPEED, 3000 |
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PHLD_BRAKE_ANGLE, 800 |
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PHLD_BRAKE_RATE, 4 |
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PSC_ACCZ_D, 0.0 |
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PSC_ACCZ_FF, 0.0 |
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PSC_ACCZ_FILT, 20 |
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PSC_ACCZ_FLTD, 20 |
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PSC_ACCZ_I, 1 |
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PSC_ACCZ_IMAX, 800 |
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PSC_ACCZ_P, 0.28 |
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PSC_ACC_XY_FILT, 2 |
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PSC_ANGLE_MAX, 0.0 |
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PSC_POSXY_P, 1 |
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PSC_POSZ_P, 1 |
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PSC_VELXY_D, 0.0 |
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PSC_VELXY_D_FILT, 5 |
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PSC_VELXY_FILT, 5 |
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PSC_VELXY_I, 0.5 |
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PSC_VELXY_IMAX, 1000 |
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PSC_VELXY_P, 1 |
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PSC_VELZ_P, 5 |
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WPNAV_ACCEL, 220 |
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WPNAV_ACCEL_Z, 100 |
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WPNAV_RADIUS, 200 |
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WPNAV_SPEED_DN, 150 |
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WPNAV_SPEED_UP, 250 |
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WP_NAVALT_MIN, 5 |
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WP_YAW_BEHAVIOR, 3
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