From 6437a2eb582e4ab48d01fade1bb4c286ef7e3658 Mon Sep 17 00:00:00 2001 From: amilcarlucas <24453563+amilcarlucas@users.noreply.github.com> Date: Fri, 30 Oct 2026 15:41:14 +0000 Subject: [PATCH] chore(templates): Update vehicle templates with latest parameters --- ..._imu_temperature_calibration_results.param | 4 +-- .../06_remote_controller_controller.param | 10 +++---- .../ArduCopter/AirCar_v1/10_battery.param | 4 +-- .../AirCar_v1/11_servo_outputs.param | 4 +-- .../ArduCopter/AirCar_v1/13_initial_atc.param | 2 +- .../16_accelerometer_calibration.param | 22 +++++++------- .../AirCar_v1/22_flight_modes.param | 2 +- .../AirCar_v1/24_safety_setup.param | 8 ++--- .../29_motor_notch_filter_results.param | 12 ++++---- .../AirCar_v1/vehicle_components.json | 2 +- ..._imu_temperature_calibration_results.param | 4 +-- .../06_remote_controller_controller.param | 10 +++---- .../ArduCopter/Big_Owl/10_battery.param | 4 +-- .../ArduCopter/Big_Owl/11_servo_outputs.param | 4 +-- .../ArduCopter/Big_Owl/13_initial_atc.param | 2 +- .../16_accelerometer_calibration.param | 22 +++++++------- .../ArduCopter/Big_Owl/22_flight_modes.param | 2 +- .../ArduCopter/Big_Owl/24_safety_setup.param | 8 ++--- .../29_motor_notch_filter_results.param | 12 ++++---- .../Big_Owl/vehicle_components.json | 2 +- ..._imu_temperature_calibration_results.param | 4 +-- .../06_remote_controller_controller.param | 8 ++--- .../ArduCopter/Chimera7/10_battery.param | 4 +-- .../Chimera7/11_servo_outputs.param | 4 +-- .../ArduCopter/Chimera7/13_initial_atc.param | 2 +- .../16_accelerometer_calibration.param | 22 +++++++------- .../ArduCopter/Chimera7/22_flight_modes.param | 2 +- .../ArduCopter/Chimera7/24_safety_setup.param | 8 ++--- .../29_motor_notch_filter_results.param | 2 +- .../Chimera7/vehicle_components.json | 2 +- ..._imu_temperature_calibration_results.param | 6 ++-- .../06_remote_controller_controller.param | 10 +++---- .../Demo32Motor_PeterHall/10_battery.param | 4 +-- .../11_servo_outputs.param | 4 +-- .../13_initial_atc.param | 2 +- .../16_accelerometer_calibration.param | 24 +++++++-------- .../22_flight_modes.param | 2 +- .../24_safety_setup.param | 8 ++--- .../29_motor_notch_filter_results.param | 10 +++---- .../vehicle_components.json | 2 +- ..._imu_temperature_calibration_results.param | 4 +-- .../06_remote_controller_controller.param | 10 +++---- .../ArduCopter/ESM450X-Des/10_battery.param | 4 +-- .../ESM450X-Des/11_servo_outputs.param | 4 +-- .../ESM450X-Des/13_initial_atc.param | 2 +- .../16_accelerometer_calibration.param | 16 +++++----- .../ESM450X-Des/22_flight_modes.param | 2 +- .../ESM450X-Des/24_safety_setup.param | 8 ++--- .../29_motor_notch_filter_results.param | 12 ++++---- .../ESM450X-Des/vehicle_components.json | 2 +- ..._imu_temperature_calibration_results.param | 4 +-- .../06_remote_controller_controller.param | 22 +++++++------- .../ArduCopter/FETtec-5/10_battery.param | 4 +-- .../FETtec-5/11_servo_outputs.param | 4 +-- .../ArduCopter/FETtec-5/13_initial_atc.param | 2 +- .../16_accelerometer_calibration.param | 22 +++++++------- .../ArduCopter/FETtec-5/22_flight_modes.param | 2 +- .../ArduCopter/FETtec-5/24_safety_setup.param | 8 ++--- .../29_motor_notch_filter_results.param | 12 ++++---- .../FETtec-5/vehicle_components.json | 2 +- ..._imu_temperature_calibration_results.param | 4 +-- .../06_remote_controller_controller.param | 8 ++--- .../10_battery.param | 4 +-- .../11_servo_outputs.param | 4 +-- .../13_initial_atc.param | 2 +- .../16_accelerometer_calibration.param | 22 +++++++------- .../22_flight_modes.param | 2 +- .../24_safety_setup.param | 8 ++--- .../29_motor_notch_filter_results.param | 2 +- .../vehicle_components.json | 2 +- ..._imu_temperature_calibration_results.param | 4 +-- .../06_remote_controller_controller.param | 18 +++++------ .../Holybro_X500/11_servo_outputs.param | 2 +- .../16_accelerometer_calibration.param | 22 +++++++------- .../Holybro_X500/24_safety_setup.param | 2 +- .../29_motor_notch_filter_results.param | 10 +++---- .../Holybro_X500/vehicle_components.json | 2 +- ..._imu_temperature_calibration_results.param | 4 +-- .../06_remote_controller_controller.param | 10 +++---- .../Holybro_X500_V2/10_battery.param | 4 +-- .../Holybro_X500_V2/11_servo_outputs.param | 4 +-- .../Holybro_X500_V2/13_initial_atc.param | 2 +- .../16_accelerometer_calibration.param | 22 +++++++------- .../Holybro_X500_V2/22_flight_modes.param | 2 +- .../Holybro_X500_V2/24_safety_setup.param | 8 ++--- .../29_motor_notch_filter_results.param | 12 ++++---- .../Holybro_X500_V2/vehicle_components.json | 2 +- ..._imu_temperature_calibration_results.param | 4 +-- .../06_remote_controller_controller.param | 10 +++---- .../Holybro_X650_LTE/10_battery.param | 4 +-- .../Holybro_X650_LTE/11_servo_outputs.param | 4 +-- .../Holybro_X650_LTE/13_initial_atc.param | 2 +- .../16_accelerometer_calibration.param | 18 +++++------ .../Holybro_X650_LTE/22_flight_modes.param | 2 +- .../23_general_configuration.param | 18 +++++------ .../Holybro_X650_LTE/24_safety_setup.param | 8 ++--- .../29_motor_notch_filter_results.param | 14 ++++----- .../Holybro_X650_LTE/vehicle_components.json | 2 +- ..._imu_temperature_calibration_results.param | 4 +-- .../06_remote_controller_controller.param | 10 +++---- .../ArduCopter/Hoverit_X11+/10_battery.param | 4 +-- .../Hoverit_X11+/11_servo_outputs.param | 4 +-- .../Hoverit_X11+/13_initial_atc.param | 2 +- .../16_accelerometer_calibration.param | 22 +++++++------- .../Hoverit_X11+/22_flight_modes.param | 2 +- .../Hoverit_X11+/24_safety_setup.param | 8 ++--- .../29_motor_notch_filter_results.param | 10 +++---- .../Hoverit_X11+/vehicle_components.json | 2 +- ..._imu_temperature_calibration_results.param | 4 +-- .../06_remote_controller_controller.param | 10 +++---- .../ArduCopter/Hoverit_X13/10_battery.param | 4 +-- .../Hoverit_X13/11_servo_outputs.param | 4 +-- .../Hoverit_X13/13_initial_atc.param | 2 +- .../16_accelerometer_calibration.param | 22 +++++++------- .../Hoverit_X13/22_flight_modes.param | 2 +- .../Hoverit_X13/24_safety_setup.param | 8 ++--- .../29_motor_notch_filter_results.param | 10 +++---- .../Hoverit_X13/vehicle_components.json | 2 +- ..._imu_temperature_calibration_results.param | 4 +-- .../06_remote_controller_controller.param | 8 ++--- .../ArduCopter/Marmotte5v2/10_battery.param | 4 +-- .../Marmotte5v2/11_servo_outputs.param | 4 +-- .../Marmotte5v2/13_initial_atc.param | 2 +- .../16_accelerometer_calibration.param | 22 +++++++------- .../Marmotte5v2/22_flight_modes.param | 2 +- .../Marmotte5v2/24_safety_setup.param | 8 ++--- .../29_motor_notch_filter_results.param | 12 ++++---- .../Marmotte5v2/vehicle_components.json | 2 +- ..._imu_temperature_calibration_results.param | 4 +-- .../06_remote_controller_controller.param | 22 +++++++------- .../ReadyToSkyZD550/10_battery.param | 4 +-- .../ReadyToSkyZD550/11_servo_outputs.param | 4 +-- .../ReadyToSkyZD550/13_initial_atc.param | 2 +- .../16_accelerometer_calibration.param | 22 +++++++------- .../ReadyToSkyZD550/22_flight_modes.param | 2 +- .../ReadyToSkyZD550/24_safety_setup.param | 8 ++--- .../29_motor_notch_filter_results.param | 12 ++++---- .../ReadyToSkyZD550/vehicle_components.json | 2 +- ..._imu_temperature_calibration_results.param | 4 +-- .../06_remote_controller_controller.param | 12 ++++---- .../TarotFY680Hexacopter/10_battery.param | 4 +-- .../11_servo_outputs.param | 4 +-- .../TarotFY680Hexacopter/13_initial_atc.param | 2 +- .../16_accelerometer_calibration.param | 24 +++++++-------- .../22_flight_modes.param | 2 +- .../23_general_configuration.param | 11 ++++--- .../24_safety_setup.param | 8 ++--- .../29_motor_notch_filter_results.param | 12 ++++---- .../vehicle_components.json | 2 +- ..._imu_temperature_calibration_results.param | 4 +-- .../06_remote_controller_controller.param | 10 +++---- .../ArduCopter/Tarot_X4/10_battery.param | 4 +-- .../Tarot_X4/11_servo_outputs.param | 4 +-- .../ArduCopter/Tarot_X4/13_initial_atc.param | 2 +- .../16_accelerometer_calibration.param | 22 +++++++------- .../ArduCopter/Tarot_X4/22_flight_modes.param | 2 +- .../ArduCopter/Tarot_X4/24_safety_setup.param | 8 ++--- .../29_motor_notch_filter_results.param | 12 ++++---- .../Tarot_X4/vehicle_components.json | 2 +- ..._imu_temperature_calibration_results.param | 4 +-- .../06_remote_controller_controller.param | 10 +++---- .../ArduCopter/X11_plus/10_battery.param | 4 +-- .../X11_plus/11_servo_outputs.param | 4 +-- .../ArduCopter/X11_plus/13_initial_atc.param | 2 +- .../16_accelerometer_calibration.param | 22 +++++++------- .../ArduCopter/X11_plus/22_flight_modes.param | 2 +- .../ArduCopter/X11_plus/24_safety_setup.param | 8 ++--- .../29_motor_notch_filter_results.param | 12 ++++---- .../X11_plus/vehicle_components.json | 2 +- ..._imu_temperature_calibration_results.param | 4 +-- .../06_remote_controller_controller.param | 8 ++--- .../4.4.4-params/10_battery.param | 4 +-- .../4.4.4-params/11_servo_outputs.param | 4 +-- .../4.4.4-params/13_initial_atc.param | 2 +- .../16_accelerometer_calibration.param | 22 +++++++------- .../4.4.4-params/22_flight_modes.param | 2 +- .../4.4.4-params/24_safety_setup.param | 8 ++--- .../29_motor_notch_filter_results.param | 12 ++++---- .../4.4.4-params/vehicle_components.json | 2 +- ..._imu_temperature_calibration_results.param | 4 +-- .../06_remote_controller_controller.param | 8 ++--- .../4.5.x-params/10_battery.param | 4 +-- .../4.5.x-params/11_servo_outputs.param | 4 +-- .../4.5.x-params/13_initial_atc.param | 2 +- .../16_accelerometer_calibration.param | 22 +++++++------- .../4.5.x-params/22_flight_modes.param | 2 +- .../4.5.x-params/24_safety_setup.param | 8 ++--- .../29_motor_notch_filter_results.param | 12 ++++---- .../4.5.x-params/vehicle_components.json | 2 +- .../4.6.x-params/11_servo_outputs.param | 2 +- .../4.6.x-params/22_flight_modes.param | 2 +- .../4.6.x-params/vehicle_components.json | 2 +- ..._imu_temperature_calibration_results.param | 4 +-- .../06_remote_controller_controller.param | 10 +++---- .../empty_4.4.x/11_servo_outputs.param | 2 +- .../16_accelerometer_calibration.param | 22 +++++++------- .../empty_4.4.x/22_flight_modes.param | 2 +- .../empty_4.4.x/24_safety_setup.param | 4 +-- .../29_motor_notch_filter_results.param | 10 +++---- .../empty_4.4.x/vehicle_components.json | 2 +- ...02_imu_temperature_calibration_setup.param | 6 ++-- ..._imu_temperature_calibration_results.param | 4 +-- .../06_remote_controller_controller.param | 10 +++---- .../empty_4.5.x/11_servo_outputs.param | 2 +- .../16_accelerometer_calibration.param | 22 +++++++------- .../empty_4.5.x/22_flight_modes.param | 2 +- .../empty_4.5.x/24_safety_setup.param | 4 +-- .../25_motor_notch_filter_setup.param | 2 +- .../empty_4.5.x/28_throttle_controller.param | 2 +- .../29_motor_notch_filter_results.param | 10 +++---- .../empty_4.5.x/33_quick_tune_setup.param | 2 +- .../empty_4.5.x/51_windspeed_estimation.param | 4 +-- .../empty_4.5.x/vehicle_components.json | 2 +- ...02_imu_temperature_calibration_setup.param | 6 ++-- ..._imu_temperature_calibration_results.param | 4 +-- .../05_remote_controller_receiver.param | 2 +- .../ArduCopter/empty_4.6.x/07_telemetry.param | 2 +- .../empty_4.6.x/08_esc_telemetry.param | 2 +- .../ArduCopter/empty_4.6.x/10_battery.param | 4 +-- .../empty_4.6.x/11_servo_outputs.param | 2 +- .../empty_4.6.x/13_initial_atc.param | 16 +++++----- .../ArduCopter/empty_4.6.x/18_gnss.param | 2 +- .../25_motor_notch_filter_setup.param | 4 +-- .../empty_4.6.x/26_motor_notch_logging.param | 8 ++--- .../empty_4.6.x/28_throttle_controller.param | 2 +- .../31_pid_notch_filter_logging.param | 6 ++-- .../empty_4.6.x/33_quick_tune_setup.param | 4 +-- .../35_inflight_magnetometer_fit_setup.param | 6 ++-- ...valuate_the_aircraft_tune_ff_disable.param | 9 +++--- .../empty_4.6.x/39_autotune_roll_setup.param | 2 +- .../empty_4.6.x/41_autotune_pitch_setup.param | 2 +- .../empty_4.6.x/43_autotune_yaw_setup.param | 2 +- .../empty_4.6.x/45_autotune_yawd_setup.param | 2 +- .../47_autotune_roll_pitch_retune_setup.param | 2 +- .../empty_4.6.x/49_autotune_finish.param | 2 +- .../empty_4.6.x/51_windspeed_estimation.param | 4 +-- .../53_windspeed_estimation_finish.param | 4 +-- .../empty_4.6.x/54_system_id_input_roll.param | 2 +- .../55_system_id_input_pitch.param | 2 +- .../empty_4.6.x/56_system_id_input_yaw.param | 2 +- .../empty_4.6.x/57_system_id_mixer_roll.param | 2 +- .../58_system_id_mixer_pitch.param | 2 +- .../empty_4.6.x/59_system_id_mixer_yaw.param | 2 +- .../60_system_id_mixer_thrust.param | 2 +- .../empty_4.6.x/64_position_controller.param | 2 +- .../empty_4.6.x/vehicle_components.json | 2 +- ...02_imu_temperature_calibration_setup.param | 6 ++-- ..._imu_temperature_calibration_results.param | 4 +-- .../06_remote_controller_controller.param | 10 +++---- .../ArduCopter/empty_4.7.x/10_battery.param | 4 +-- .../empty_4.7.x/11_servo_outputs.param | 2 +- .../empty_4.7.x/13_initial_atc.param | 6 ++-- .../16_accelerometer_calibration.param | 22 +++++++------- .../empty_4.7.x/22_flight_modes.param | 2 +- .../empty_4.7.x/24_safety_setup.param | 4 +-- .../25_motor_notch_filter_setup.param | 2 +- .../29_motor_notch_filter_results.param | 10 +++---- .../empty_4.7.x/33_quick_tune_setup.param | 2 +- .../empty_4.7.x/51_windspeed_estimation.param | 4 +-- .../empty_4.7.x/vehicle_components.json | 2 +- ...02_imu_temperature_calibration_setup.param | 6 ++-- ..._imu_temperature_calibration_results.param | 4 +-- .../06_remote_controller_controller.param | 10 +++---- .../ArduCopter/empty_4.8.x/10_battery.param | 4 +-- .../empty_4.8.x/11_servo_outputs.param | 2 +- .../empty_4.8.x/13_initial_atc.param | 6 ++-- .../16_accelerometer_calibration.param | 22 +++++++------- .../empty_4.8.x/22_flight_modes.param | 2 +- .../empty_4.8.x/24_safety_setup.param | 4 +-- .../25_motor_notch_filter_setup.param | 2 +- .../29_motor_notch_filter_results.param | 10 +++---- .../empty_4.8.x/33_quick_tune_setup.param | 2 +- .../empty_4.8.x/51_windspeed_estimation.param | 4 +-- .../empty_4.8.x/vehicle_components.json | 2 +- .../06_remote_controller_controller.param | 10 +++---- .../16_accelerometer_calibration.param | 4 +-- .../empty_4.7.x/22_flight_modes.param | 2 +- .../empty_4.7.x/24_safety_setup.param | 4 +-- .../29_motor_notch_filter_results.param | 2 +- .../empty_4.7.x/vehicle_components.json | 2 +- .../06_remote_controller_controller.param | 10 +++---- .../normal_plane/24_safety_setup.param | 4 +-- .../29_motor_notch_filter_results.param | 2 +- .../normal_plane/vehicle_components.json | 2 +- ..._imu_temperature_calibration_results.param | 4 +-- .../10_remote_controller_controller.param | 10 +++---- .../Heli/OMP_M4/18_battery.param | 6 ++++ .../Heli/OMP_M4/24_initial_atc.param | 12 ++++++++ .../45_autotune_pitch_rate_pd_setup.param | 2 +- .../49_autotune_roll_rate_pd_setup.param | 2 +- ...53_autotune_roll_pitch_angle_p_setup.param | 2 +- .../56_inflight_magnetometer_fit_setup.param | 1 + .../57_autotune_yaw_rate_pd_setup.param | 2 +- .../60_autotune_yaw_angle_p_setup.param | 2 +- .../Heli/OMP_M4/vehicle_components.json | 2 +- .../Heli/empty_4.7.x/vehicle_components.json | 2 +- ..._imu_temperature_calibration_results.param | 30 +++++++++---------- .../09_remote_controller_controller.param | 8 ++--- .../Rover/AION_R1/17_initial_atc.param | 8 ++--- .../Rover/AION_R1/20_safety_setup.param | 4 +-- .../Rover/AION_R1/24_esc.param | 8 ++--- .../29_motor_notch_filter_results.param | 12 ++++---- .../Rover/AION_R1/vehicle_components.json | 2 +- ..._imu_temperature_calibration_results.param | 30 +++++++++---------- .../09_remote_controller_controller.param | 8 ++--- .../Rover/Carisma_SCA-1E/17_initial_atc.param | 8 ++--- .../Carisma_SCA-1E/20_safety_setup.param | 4 +-- .../Rover/Carisma_SCA-1E/24_esc.param | 8 ++--- .../29_motor_notch_filter_results.param | 12 ++++---- .../Carisma_SCA-1E/vehicle_components.json | 2 +- .../Rover/empty_4.7.x/vehicle_components.json | 2 +- 311 files changed, 1001 insertions(+), 982 deletions(-) diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/03_imu_temperature_calibration_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/03_imu_temperature_calibration_results.param index 3f336ea55..7eecb6600 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/03_imu_temperature_calibration_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/03_imu_temperature_calibration_results.param @@ -1,3 +1,5 @@ +INS_ACC1_CALTEMP,44.806763 +INS_ACC2_CALTEMP,51.328587 INS_TCAL1_ACC1_X,-15.861753 INS_TCAL1_ACC1_Y,-360.859406 INS_TCAL1_ACC1_Z,1308.402832 @@ -61,5 +63,3 @@ INS_TCAL3_GYR3_Y,-0.117517 INS_TCAL3_GYR3_Z,0.049234 INS_TCAL3_TMAX,49.700001 INS_TCAL3_TMIN,-5.9 -INS_ACC1_CALTEMP,44.806763 -INS_ACC2_CALTEMP,51.328587 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/06_remote_controller_controller.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/06_remote_controller_controller.param index 79f69e2fa..1d190a308 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/06_remote_controller_controller.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/06_remote_controller_controller.param @@ -1,14 +1,10 @@ ARMING_RUDDER,2 -RC10_OPTION,0 -RC6_OPTION,81 -RC7_OPTION,0 -RC8_OPTION,0 -RC9_OPTION,0 RC1_MAX,2010 RC1_MIN,1017 RC1_TRIM,1499 RC10_MAX,2000 RC10_MIN,1000 +RC10_OPTION,0 RC10_TRIM,1500 RC2_MAX,2006 RC2_MIN,988 @@ -24,13 +20,17 @@ RC5_MIN,982 RC5_TRIM,982 RC6_MAX,2006 RC6_MIN,982 +RC6_OPTION,81 RC6_TRIM,2006 RC7_MAX,1997 RC7_MIN,998 +RC7_OPTION,0 RC7_TRIM,998 RC8_MAX,2006 RC8_MIN,982 +RC8_OPTION,0 RC8_TRIM,1495 RC9_MAX,2006 RC9_MIN,982 +RC9_OPTION,0 RC9_TRIM,982 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/10_battery.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/10_battery.param index 106a7dbea..26202e473 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/10_battery.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/10_battery.param @@ -7,5 +7,5 @@ BATT_FS_LOW_ACT,2 # Return and land at home or rally point BATT_FS_VOLTSRC,0 BATT_LOW_MAH,0 BATT_LOW_VOLT,79.2 # Low failsafe voltage x nr. of cells -MOT_BAT_VOLT_MAX,92.4 # (Max voltage + 0.0) x no. of cells -MOT_BAT_VOLT_MIN,67.199997 +MOT_BAT_VOLT_MAX,92.4 # Scale the PIDs up when battery voltage is below this threshold +MOT_BAT_VOLT_MIN,67.199 # Scale the PIDs up when battery voltage is above this threshold diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/11_servo_outputs.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/11_servo_outputs.param index 94c7b8ba3..bc91f903f 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/11_servo_outputs.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/11_servo_outputs.param @@ -1,6 +1,6 @@ +FRAME_CLASS,4 # Selected in the component editor +FRAME_TYPE,1 SERVO1_FUNCTION,33 SERVO2_FUNCTION,34 SERVO3_FUNCTION,35 SERVO4_FUNCTION,36 -FRAME_TYPE,1 -FRAME_CLASS,4 # Selected in the component editor diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/13_initial_atc.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/13_initial_atc.param index 84998a227..ce84b0e81 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/13_initial_atc.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/13_initial_atc.param @@ -15,4 +15,4 @@ ATC_THR_MIX_MAN,0.1 # Value for the first couple of flights will be changed lat INS_ACCEL_FILTER,10 # The default is 20Hz but that is too high in most situations INS_GYRO_FILTER,20 # Derived from vehicle component editor propeller size MOT_THST_EXPO,0.8 # Derived from vehicle component editor propeller size -MOT_THST_HOVER,0.4 +MOT_THST_HOVER,0.2 # Hover learn will improve this initial guess diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/16_accelerometer_calibration.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/16_accelerometer_calibration.param index 43b0da86a..1cad30242 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/16_accelerometer_calibration.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/16_accelerometer_calibration.param @@ -1,26 +1,26 @@ +AHRS_TRIM_X,-0.000037 +AHRS_TRIM_Y,-0.000067 AHRS_TRIM_Z,0 +INS_ACC1_CALTEMP,44.806763 +INS_ACC2_CALTEMP,51.328587 INS_ACC2OFFS_X,0 INS_ACC2OFFS_Y,0 INS_ACC2OFFS_Z,0 +INS_ACC2SCAL_X,1 +INS_ACC2SCAL_Y,1 +INS_ACC2SCAL_Z,1 INS_ACC3_CALTEMP,-300 INS_ACC3OFFS_X,0 INS_ACC3OFFS_Y,0 INS_ACC3OFFS_Z,0 -INS_ACCOFFS_X,0 -INS_ACCOFFS_Y,0 -INS_ACCOFFS_Z,0 -INS_USE2,1 -INS_ACC2SCAL_X,1 -INS_ACC2SCAL_Y,1 -INS_ACC2SCAL_Z,1 INS_ACC3SCAL_X,1 INS_ACC3SCAL_Y,1 INS_ACC3SCAL_Z,1 +INS_ACCOFFS_X,0 +INS_ACCOFFS_Y,0 +INS_ACCOFFS_Z,0 INS_ACCSCAL_X,1 INS_ACCSCAL_Y,1 INS_ACCSCAL_Z,1 +INS_USE2,1 INS_USE3,1 -INS_ACC1_CALTEMP,44.806763 -INS_ACC2_CALTEMP,51.328587 -AHRS_TRIM_X,-0.000037 -AHRS_TRIM_Y,-0.000067 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/22_flight_modes.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/22_flight_modes.param index 17102a229..433503e0f 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/22_flight_modes.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/22_flight_modes.param @@ -1,7 +1,7 @@ -INITIAL_MODE,0 FLTMODE1,0 FLTMODE2,0 FLTMODE3,0 FLTMODE4,2 FLTMODE5,0 FLTMODE6,5 +INITIAL_MODE,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/24_safety_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/24_safety_setup.param index c87fa5e32..5b57470f5 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/24_safety_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/24_safety_setup.param @@ -2,12 +2,12 @@ ARMING_CHECK,1 # Perform all arming checks. If you have a problem fix its sourc ATC_RAT_PIT_SMAX,0 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html ATC_RAT_RLL_SMAX,0 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html ATC_RAT_YAW_SMAX,0 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html +FENCE_ACTION,0 +FENCE_ALT_MAX,10 +FENCE_ENABLE,1 +FENCE_RADIUS,30 FENCE_TYPE,3 # cylinder and max altitude, to obey local regulations and safety measures FS_EKF_ACTION,1 LAND_ALT_LOW,1000 PSC_ACCZ_SMAX,0 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html RTL_ALT,1000 -FENCE_ALT_MAX,10 -FENCE_RADIUS,30 -FENCE_ACTION,0 -FENCE_ENABLE,1 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/29_motor_notch_filter_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/29_motor_notch_filter_results.param index 817a77614..eb02fa85a 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/29_motor_notch_filter_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/29_motor_notch_filter_results.param @@ -1,3 +1,9 @@ +ATC_RAT_PIT_FLTD,10 # INS_GYRO_FILTER / 2 +ATC_RAT_PIT_FLTT,10 # INS_GYRO_FILTER / 2 +ATC_RAT_RLL_FLTD,10 # INS_GYRO_FILTER / 2 +ATC_RAT_RLL_FLTT,10 # INS_GYRO_FILTER / 2 +ATC_RAT_YAW_FLTT,8 # INS_GYRO_FILTER / 2 +INS_GYRO_FILTER,16 INS_HNTCH_ATT,30 # just enough to filter the noise created by the motors/propellers INS_HNTCH_BW,87 # just enough to filter the noise created by the motors/propellers INS_HNTCH_FM_RAT,1 # Allowed undercutting of the base frequency of the first notch filter @@ -5,9 +11,3 @@ INS_HNTCH_FREQ,92 # the minimum frequency that the motors are expected to opera INS_HNTCH_HMNCS,3 # the motors produce secondary harmonics on this vehicle INS_HNTCH_OPTS,12 INS_HNTCH_REF,0.13 # MOT_THST_HOVER * SQUARE(min_freq / hover_freq) -ATC_RAT_PIT_FLTD,10 # INS_GYRO_FILTER / 2 -ATC_RAT_PIT_FLTT,10 # INS_GYRO_FILTER / 2 -ATC_RAT_RLL_FLTD,10 # INS_GYRO_FILTER / 2 -ATC_RAT_RLL_FLTT,10 # INS_GYRO_FILTER / 2 -ATC_RAT_YAW_FLTT,8 # INS_GYRO_FILTER / 2 -INS_GYRO_FILTER,16 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/vehicle_components.json index 1feb5857c..89f5c713d 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/vehicle_components.json @@ -190,5 +190,5 @@ "Notes": "" } }, - "Program version": "4.4.4" + "Program version": "5.0.1" } diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/03_imu_temperature_calibration_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/03_imu_temperature_calibration_results.param index 0b6bb39a4..3ad6ff349 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/03_imu_temperature_calibration_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/03_imu_temperature_calibration_results.param @@ -1,3 +1,5 @@ +INS_ACC1_CALTEMP,44.323673 +INS_ACC2_CALTEMP,45.5 INS_TCAL1_ACC1_X,1008.507844 INS_TCAL1_ACC1_Y,505.028098 INS_TCAL1_ACC1_Z,2110.303258 @@ -61,5 +63,3 @@ INS_TCAL3_GYR3_Y,0.803663 INS_TCAL3_GYR3_Z,-1.953931 INS_TCAL3_TMAX,25.2 INS_TCAL3_TMIN,15.1 -INS_ACC1_CALTEMP,44.323673 -INS_ACC2_CALTEMP,45.5 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/06_remote_controller_controller.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/06_remote_controller_controller.param index 89caaac95..1a717079c 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/06_remote_controller_controller.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/06_remote_controller_controller.param @@ -1,9 +1,4 @@ ARMING_RUDDER,2 # Vehicle uses arm/disarm via sticks as well as emergency motor stop switch (shoulder switch of Radiomaster Boxer assigned to channel 5) -RC5_OPTION,0 -RC6_OPTION,0 -RC7_OPTION,0 -RC8_OPTION,19 # Gripper release -RC9_OPTION,0 RC1_MAX,1951 RC1_MIN,1051 RC1_TRIM,1507 @@ -18,16 +13,21 @@ RC4_MIN,1051 RC4_TRIM,1051 RC5_MAX,1951 RC5_MIN,1051 +RC5_OPTION,0 RC5_TRIM,1051 RC6_MAX,1951 RC6_MIN,1051 +RC6_OPTION,0 RC6_TRIM,1051 RC7_MAX,1951 RC7_MIN,1051 +RC7_OPTION,0 RC7_TRIM,1051 RC8_MAX,1951 RC8_MIN,1051 +RC8_OPTION,19 # Gripper release RC8_TRIM,1051 RC9_MAX,1951 RC9_MIN,1051 +RC9_OPTION,0 RC9_TRIM,1571 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/10_battery.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/10_battery.param index f2290f807..a2b587f88 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/10_battery.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/10_battery.param @@ -7,5 +7,5 @@ BATT_FS_LOW_ACT,2 # Return and land at home or rally point BATT_FS_VOLTSRC,0 # Using only RAW voltage BATT_LOW_MAH,0 # Energy consumption not measured BATT_LOW_VOLT,46.8 # Low failsafe voltage x nr. of cells -MOT_BAT_VOLT_MAX,52.200001 -MOT_BAT_VOLT_MIN,45.599998 +MOT_BAT_VOLT_MAX,52.2 # Scale the PIDs up when battery voltage is below this threshold +MOT_BAT_VOLT_MIN,45.6 # Scale the PIDs up when battery voltage is above this threshold diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/11_servo_outputs.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/11_servo_outputs.param index 18e7aca0e..3dbbdd71e 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/11_servo_outputs.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/11_servo_outputs.param @@ -1,6 +1,6 @@ +FRAME_CLASS,1 # Selected in the component editor +FRAME_TYPE,1 SERVO1_FUNCTION,33 SERVO2_FUNCTION,34 SERVO3_FUNCTION,35 SERVO4_FUNCTION,36 -FRAME_TYPE,1 -FRAME_CLASS,1 # Selected in the component editor diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/13_initial_atc.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/13_initial_atc.param index 057e64824..a427d4c6d 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/13_initial_atc.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/13_initial_atc.param @@ -15,4 +15,4 @@ ATC_THR_MIX_MAN,0.1 # Value for the first couple of flights will be changed lat INS_ACCEL_FILTER,10 # The default is 20Hz but that is too high in most situations INS_GYRO_FILTER,21 # Derived from vehicle component editor propeller size MOT_THST_EXPO,0.73 # Derived from vehicle component editor propeller size -MOT_THST_HOVER,0.268556 # 0.26 is a good guess. +MOT_THST_HOVER,0.2 # Hover learn will improve this initial guess diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/16_accelerometer_calibration.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/16_accelerometer_calibration.param index 7932eac77..2a3d23944 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/16_accelerometer_calibration.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/16_accelerometer_calibration.param @@ -1,26 +1,26 @@ +AHRS_TRIM_X,-0.017153 +AHRS_TRIM_Y,0.013513 AHRS_TRIM_Z,0 +INS_ACC1_CALTEMP,44.323673 +INS_ACC2_CALTEMP,45.5 INS_ACC2OFFS_X,0 INS_ACC2OFFS_Y,0 INS_ACC2OFFS_Z,0 +INS_ACC2SCAL_X,0.984298 +INS_ACC2SCAL_Y,0.979282 +INS_ACC2SCAL_Z,0.982654 INS_ACC3_CALTEMP,-300 INS_ACC3OFFS_X,0 INS_ACC3OFFS_Y,0 INS_ACC3OFFS_Z,0 -INS_ACCOFFS_X,0 -INS_ACCOFFS_Y,0 -INS_ACCOFFS_Z,0 -INS_USE2,1 -INS_ACC2SCAL_X,0.984298 -INS_ACC2SCAL_Y,0.979282 -INS_ACC2SCAL_Z,0.982654 INS_ACC3SCAL_X,0 INS_ACC3SCAL_Y,0 INS_ACC3SCAL_Z,0 +INS_ACCOFFS_X,0 +INS_ACCOFFS_Y,0 +INS_ACCOFFS_Z,0 INS_ACCSCAL_X,0.99818 INS_ACCSCAL_Y,0.99789 INS_ACCSCAL_Z,0.999454 +INS_USE2,1 INS_USE3,1 -INS_ACC1_CALTEMP,44.323673 -INS_ACC2_CALTEMP,45.5 -AHRS_TRIM_X,-0.017153 -AHRS_TRIM_Y,0.013513 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/22_flight_modes.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/22_flight_modes.param index 64ec4567f..33ed00462 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/22_flight_modes.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/22_flight_modes.param @@ -1,7 +1,7 @@ -INITIAL_MODE,0 FLTMODE1,5 # We use a tri-state-switch FLTMODE2,0 # We use a tri-state-switch FLTMODE3,0 # We use a tri-state-switch FLTMODE4,6 # We use a tri-state-switch FLTMODE5,0 # We use a tri-state-switch FLTMODE6,0 # We use a tri-state-switch +INITIAL_MODE,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/24_safety_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/24_safety_setup.param index a89732f47..b0e0ce4da 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/24_safety_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/24_safety_setup.param @@ -2,11 +2,11 @@ ARMING_CHECK,1 # Perform all arming checks. If you have a problem fix its sourc ATC_RAT_PIT_SMAX,50 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html ATC_RAT_RLL_SMAX,50 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html ATC_RAT_YAW_SMAX,50 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html +FENCE_ACTION,3 +FENCE_ALT_MAX,100 +FENCE_ENABLE,1 +FENCE_RADIUS,300 # Initially you should start with a 150m fence radius. FENCE_TYPE,7 # cylinder and max altitude, to obey local regulations and safety measures LAND_ALT_LOW,1000 PSC_ACCZ_SMAX,200 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html RTL_ALT,10000 # 100 m goes above trees -FENCE_ALT_MAX,100 -FENCE_RADIUS,300 # Initially you should start with a 150m fence radius. -FENCE_ACTION,3 -FENCE_ENABLE,1 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/29_motor_notch_filter_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/29_motor_notch_filter_results.param index 38e5e4926..a26f5840e 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/29_motor_notch_filter_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/29_motor_notch_filter_results.param @@ -1,3 +1,9 @@ +ATC_RAT_PIT_FLTD,10.5 # INS_GYRO_FILTER / 2 +ATC_RAT_PIT_FLTT,10.5 # INS_GYRO_FILTER / 2 +ATC_RAT_RLL_FLTD,10.5 # INS_GYRO_FILTER / 2 +ATC_RAT_RLL_FLTT,10.5 # INS_GYRO_FILTER / 2 +ATC_RAT_YAW_FLTT,10.5 # INS_GYRO_FILTER / 2 +INS_GYRO_FILTER,21 INS_HNTC2_ATT,15 INS_HNTC2_BW,28 INS_HNTC2_ENABLE,1 @@ -15,9 +21,3 @@ INS_HNTCH_HMNCS,3 # the motors produce secondary harmonics on this vehicle INS_HNTCH_MODE,1 INS_HNTCH_OPTS,1 # Double Notch INS_HNTCH_REF,0.263 # dynamically track noise created by the motors/propellers -ATC_RAT_PIT_FLTD,10.5 # INS_GYRO_FILTER / 2 -ATC_RAT_PIT_FLTT,10.5 # INS_GYRO_FILTER / 2 -ATC_RAT_RLL_FLTD,10.5 # INS_GYRO_FILTER / 2 -ATC_RAT_RLL_FLTT,10.5 # INS_GYRO_FILTER / 2 -ATC_RAT_YAW_FLTT,10.5 # INS_GYRO_FILTER / 2 -INS_GYRO_FILTER,21 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/vehicle_components.json index 023b9e804..4d1a6e7e9 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/vehicle_components.json @@ -190,6 +190,6 @@ "Notes": "" } }, - "Program version": "4.4.4", + "Program version": "5.0.1", "Configuration template": "Tarot_X4" } diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/03_imu_temperature_calibration_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/03_imu_temperature_calibration_results.param index 87ed1a2aa..3a0afbc0f 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/03_imu_temperature_calibration_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/03_imu_temperature_calibration_results.param @@ -1,3 +1,5 @@ +INS_ACC1_CALTEMP,38.5239 +INS_ACC2_CALTEMP,41.52057 INS_TCAL1_ACC1_X,1301.73 INS_TCAL1_ACC1_Y,-276.2358 INS_TCAL1_ACC1_Z,4492.894 @@ -40,5 +42,3 @@ INS_TCAL2_GYR3_Y,0.053868 INS_TCAL2_GYR3_Z,-0.014967 INS_TCAL2_TMAX,70.18773 INS_TCAL2_TMIN,19.41754 -INS_ACC1_CALTEMP,38.5239 -INS_ACC2_CALTEMP,41.52057 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/06_remote_controller_controller.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/06_remote_controller_controller.param index 4a85d7692..ed9b2f82a 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/06_remote_controller_controller.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/06_remote_controller_controller.param @@ -1,8 +1,4 @@ ARMING_RUDDER,2 -RC6_OPTION,0 -RC7_OPTION,0 -RC8_OPTION,4 -RC9_OPTION,31 # To stop all motors immediately if the vehicle starts moving dangerously RC1_MAX,2010 RC1_MIN,988 RC1_TRIM,1500 @@ -20,13 +16,17 @@ RC5_MIN,1110 RC5_TRIM,1871 RC6_MAX,2010 RC6_MIN,987 +RC6_OPTION,0 RC6_TRIM,987 RC7_MAX,2010 RC7_MIN,987 +RC7_OPTION,0 RC7_TRIM,987 RC8_MAX,2010 RC8_MIN,987 +RC8_OPTION,4 RC8_TRIM,987 RC9_MAX,2010 RC9_MIN,987 +RC9_OPTION,31 # To stop all motors immediately if the vehicle starts moving dangerously RC9_TRIM,987 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/10_battery.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/10_battery.param index 04fc6b887..064c26c62 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/10_battery.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/10_battery.param @@ -7,5 +7,5 @@ BATT_FS_LOW_ACT,2 # Return and land at home or rally point BATT_FS_VOLTSRC,1 # Let the firmware handle the nasty business of variable and battery dependent internal resistance BATT_LOW_MAH,600 # When only 600mAh out of the total 3000mAh remain, trigger low failsafe BATT_LOW_VOLT,21.6 # Low failsafe voltage x nr. of cells -MOT_BAT_VOLT_MAX,25.2 -MOT_BAT_VOLT_MIN,19.8 +MOT_BAT_VOLT_MAX,25.2 # Scale the PIDs up when battery voltage is below this threshold +MOT_BAT_VOLT_MIN,19.8 # Scale the PIDs up when battery voltage is above this threshold diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/11_servo_outputs.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/11_servo_outputs.param index 119ea3d42..2e1770838 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/11_servo_outputs.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/11_servo_outputs.param @@ -1,6 +1,6 @@ +FRAME_CLASS,1 # Selected in the component editor +FRAME_TYPE,12 SERVO1_FUNCTION,33 SERVO2_FUNCTION,34 SERVO3_FUNCTION,35 SERVO4_FUNCTION,36 -FRAME_TYPE,12 -FRAME_CLASS,1 # Selected in the component editor diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/13_initial_atc.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/13_initial_atc.param index 3fc975e01..ed052390f 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/13_initial_atc.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/13_initial_atc.param @@ -15,4 +15,4 @@ ATC_THR_MIX_MAN,0.1 # Value for the first couple of flights will be changed lat INS_ACCEL_FILTER,10 # The default is 20Hz but that is too high in most situations INS_GYRO_FILTER,57 # Derived from vehicle component editor propeller size MOT_THST_EXPO,0.54 # Derived from vehicle component editor propeller size -MOT_THST_HOVER,0.12 +MOT_THST_HOVER,0.2 # Hover learn will improve this initial guess diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/16_accelerometer_calibration.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/16_accelerometer_calibration.param index 490cb9742..b4096bdf0 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/16_accelerometer_calibration.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/16_accelerometer_calibration.param @@ -1,26 +1,26 @@ +AHRS_TRIM_X,0.003997 +AHRS_TRIM_Y,0.003987 AHRS_TRIM_Z,0 +INS_ACC1_CALTEMP,38.5239 +INS_ACC2_CALTEMP,41.52057 INS_ACC2OFFS_X,0 INS_ACC2OFFS_Y,0 INS_ACC2OFFS_Z,0 +INS_ACC2SCAL_X,0.999874 +INS_ACC2SCAL_Y,0.998588 +INS_ACC2SCAL_Z,0.982762 INS_ACC3_CALTEMP,-300 INS_ACC3OFFS_X,0 INS_ACC3OFFS_Y,0 INS_ACC3OFFS_Z,0 -INS_ACCOFFS_X,0 -INS_ACCOFFS_Y,0 -INS_ACCOFFS_Z,0 -INS_USE2,1 -INS_ACC2SCAL_X,0.999874 -INS_ACC2SCAL_Y,0.998588 -INS_ACC2SCAL_Z,0.982762 INS_ACC3SCAL_X,1 INS_ACC3SCAL_Y,1 INS_ACC3SCAL_Z,1 +INS_ACCOFFS_X,0 +INS_ACCOFFS_Y,0 +INS_ACCOFFS_Z,0 INS_ACCSCAL_X,0.997798 INS_ACCSCAL_Y,1.025593 INS_ACCSCAL_Z,0.996169 +INS_USE2,1 INS_USE3,1 -INS_ACC1_CALTEMP,38.5239 -INS_ACC2_CALTEMP,41.52057 -AHRS_TRIM_X,0.003997 -AHRS_TRIM_Y,0.003987 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/22_flight_modes.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/22_flight_modes.param index 82d413337..68ca2529c 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/22_flight_modes.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/22_flight_modes.param @@ -1,7 +1,7 @@ -INITIAL_MODE,0 FLTMODE1,1 FLTMODE2,0 FLTMODE3,0 FLTMODE4,0 FLTMODE5,2 FLTMODE6,5 +INITIAL_MODE,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/24_safety_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/24_safety_setup.param index f632b4523..bddae350c 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/24_safety_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/24_safety_setup.param @@ -2,11 +2,11 @@ ARMING_CHECK,1 # Perform all arming checks. If you have a problem fix its sourc ATC_RAT_PIT_SMAX,0 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html ATC_RAT_RLL_SMAX,0 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html ATC_RAT_YAW_SMAX,0 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html +FENCE_ACTION,1 +FENCE_ALT_MAX,100 +FENCE_ENABLE,0 +FENCE_RADIUS,300 FENCE_TYPE,7 # cylinder and max altitude, to obey local regulations and safety measures LAND_ALT_LOW,1000 # The default is OK PSC_ACCZ_SMAX,0 # No slew rate limit on throttle controller RTL_ALT,2000 # The default is too low for the kind of flights we do. -FENCE_ALT_MAX,100 -FENCE_RADIUS,300 -FENCE_ACTION,1 -FENCE_ENABLE,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/29_motor_notch_filter_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/29_motor_notch_filter_results.param index e2e61a65f..b302a217f 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/29_motor_notch_filter_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/29_motor_notch_filter_results.param @@ -1,9 +1,9 @@ -INS_GYRO_FILTER,150 ATC_RAT_PIT_FLTD,60 ATC_RAT_PIT_FLTT,0 ATC_RAT_RLL_FLTD,75 ATC_RAT_RLL_FLTT,0 ATC_RAT_YAW_FLTT,0 +INS_GYRO_FILTER,150 INS_HNTCH_ATT,40 # just enough to filter the noise created by the motors/propellers INS_HNTCH_BW,10 # just enough to filter the noise created by the motors/propellers INS_HNTCH_FM_RAT,1 # Allowed undercutting of the base frequency of the first notch filter diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/vehicle_components.json index 2c77f43f8..ae1f97209 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Chimera7/vehicle_components.json @@ -190,5 +190,5 @@ "Notes": "A cheap WiFi alternative to the more commonly used 3DR and RFDesigns telemetry modems" } }, - "Program version": "4.4.4" + "Program version": "5.0.1" } diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/03_imu_temperature_calibration_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/03_imu_temperature_calibration_results.param index 111dc599e..3f4ef6cf7 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/03_imu_temperature_calibration_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/03_imu_temperature_calibration_results.param @@ -1,3 +1,6 @@ +INS_ACC1_CALTEMP,44.323673 +INS_ACC2_CALTEMP,48.389957 +INS_ACC3_CALTEMP,42.5732 INS_TCAL1_ACC1_X,12096.02 INS_TCAL1_ACC1_Y,-9118.709 INS_TCAL1_ACC1_Z,6902.792 @@ -61,6 +64,3 @@ INS_TCAL3_GYR3_Y,-1.719939 INS_TCAL3_GYR3_Z,2.257922 INS_TCAL3_TMAX,0 INS_TCAL3_TMIN,-12.6 -INS_ACC1_CALTEMP,44.323673 -INS_ACC2_CALTEMP,48.389957 -INS_ACC3_CALTEMP,42.5732 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/06_remote_controller_controller.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/06_remote_controller_controller.param index da8a86993..29e2a6245 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/06_remote_controller_controller.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/06_remote_controller_controller.param @@ -1,14 +1,10 @@ ARMING_RUDDER,2 -RC10_OPTION,0 -RC6_OPTION,31 # To stop all motors immediately if the vehicle starts moving dangerously -RC7_OPTION,0 -RC8_OPTION,0 -RC9_OPTION,300 RC1_MAX,2000 RC1_MIN,986 RC1_TRIM,1495 RC10_MAX,2006 RC10_MIN,982 +RC10_OPTION,0 RC10_TRIM,2006 RC11_MAX,2006 RC11_MIN,982 @@ -27,13 +23,17 @@ RC5_MIN,982 RC5_TRIM,2006 RC6_MAX,2006 RC6_MIN,982 +RC6_OPTION,31 # To stop all motors immediately if the vehicle starts moving dangerously RC6_TRIM,982 RC7_MAX,2006 RC7_MIN,982 +RC7_OPTION,0 RC7_TRIM,2006 RC8_MAX,2006 RC8_MIN,982 +RC8_OPTION,0 RC8_TRIM,2006 RC9_MAX,1495 RC9_MIN,982 +RC9_OPTION,300 RC9_TRIM,1495 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/10_battery.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/10_battery.param index f4b8a21f8..8a4acf2fb 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/10_battery.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/10_battery.param @@ -21,5 +21,5 @@ BATT5_SERIAL_NUM,103 BATT6_CAPACITY,0 BATT6_LOW_VOLT,14 BATT6_SERIAL_NUM,104 -MOT_BAT_VOLT_MAX,16.8 -MOT_BAT_VOLT_MIN,13.2 +MOT_BAT_VOLT_MAX,16.8 # Scale the PIDs up when battery voltage is below this threshold +MOT_BAT_VOLT_MIN,13.2 # Scale the PIDs up when battery voltage is above this threshold diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/11_servo_outputs.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/11_servo_outputs.param index 4ecbef379..a5730ad17 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/11_servo_outputs.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/11_servo_outputs.param @@ -1,3 +1,5 @@ +FRAME_CLASS,15 # Selected in the component editor +FRAME_TYPE,1 SERVO_32_ENABLE,1 SERVO1_FUNCTION,33 SERVO10_FUNCTION,83 @@ -31,5 +33,3 @@ SERVO6_FUNCTION,38 SERVO7_FUNCTION,39 SERVO8_FUNCTION,40 SERVO9_FUNCTION,82 -FRAME_TYPE,1 -FRAME_CLASS,15 # Selected in the component editor diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/13_initial_atc.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/13_initial_atc.param index 1f787c802..accea8d3b 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/13_initial_atc.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/13_initial_atc.param @@ -15,4 +15,4 @@ ATC_THR_MIX_MAN,0.1 # Value for the first couple of flights will be changed lat INS_ACCEL_FILTER,10 # The default is 20Hz but that is too high in most situations INS_GYRO_FILTER,42 # Derived from vehicle component editor propeller size MOT_THST_EXPO,0.6 # Derived from vehicle component editor propeller size -MOT_THST_HOVER,0.426966 +MOT_THST_HOVER,0.2 # Hover learn will improve this initial guess diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/16_accelerometer_calibration.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/16_accelerometer_calibration.param index 2d7424517..fe14dbfd4 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/16_accelerometer_calibration.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/16_accelerometer_calibration.param @@ -1,26 +1,26 @@ +AHRS_TRIM_X,-0.003758 +AHRS_TRIM_Y,0.016177 AHRS_TRIM_Z,0 +INS_ACC1_CALTEMP,44.323673 +INS_ACC2_CALTEMP,48.389957 INS_ACC2OFFS_X,0 INS_ACC2OFFS_Y,0 INS_ACC2OFFS_Z,0 -INS_ACC3OFFS_X,0 -INS_ACC3OFFS_Y,0 -INS_ACC3OFFS_Z,0 -INS_ACCOFFS_X,0 -INS_ACCOFFS_Y,0 -INS_ACCOFFS_Z,0 -INS_USE2,1 INS_ACC2SCAL_X,0.996159 INS_ACC2SCAL_Y,0.997572 INS_ACC2SCAL_Z,0.997672 +INS_ACC3_CALTEMP,42.5732 +INS_ACC3OFFS_X,0 +INS_ACC3OFFS_Y,0 +INS_ACC3OFFS_Z,0 INS_ACC3SCAL_X,0.997651 INS_ACC3SCAL_Y,0.995914 INS_ACC3SCAL_Z,0.993367 +INS_ACCOFFS_X,0 +INS_ACCOFFS_Y,0 +INS_ACCOFFS_Z,0 INS_ACCSCAL_X,1.000212 INS_ACCSCAL_Y,0.997076 INS_ACCSCAL_Z,0.998865 +INS_USE2,1 INS_USE3,1 -INS_ACC1_CALTEMP,44.323673 -INS_ACC2_CALTEMP,48.389957 -INS_ACC3_CALTEMP,42.5732 -AHRS_TRIM_X,-0.003758 -AHRS_TRIM_Y,0.016177 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/22_flight_modes.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/22_flight_modes.param index 513e32bb2..33679005c 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/22_flight_modes.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/22_flight_modes.param @@ -1,7 +1,7 @@ -INITIAL_MODE,0 FLTMODE1,5 FLTMODE2,5 FLTMODE3,2 FLTMODE4,2 FLTMODE5,0 FLTMODE6,0 +INITIAL_MODE,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/24_safety_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/24_safety_setup.param index 3605b366b..6044f281d 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/24_safety_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/24_safety_setup.param @@ -2,12 +2,12 @@ ARMING_CHECK,1 # Perform all arming checks. If you have a problem fix its sourc ATC_RAT_PIT_SMAX,0 ATC_RAT_RLL_SMAX,0 ATC_RAT_YAW_SMAX,0 +FENCE_ACTION,1 +FENCE_ALT_MAX,100 +FENCE_ENABLE,1 +FENCE_RADIUS,300 FENCE_TYPE,4 FS_EKF_ACTION,1 LAND_ALT_LOW,1000 PSC_ACCZ_SMAX,0 RTL_ALT,1500 -FENCE_ALT_MAX,100 -FENCE_RADIUS,300 -FENCE_ACTION,1 -FENCE_ENABLE,1 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/29_motor_notch_filter_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/29_motor_notch_filter_results.param index 7e1dad6e6..9bfd524b0 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/29_motor_notch_filter_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/29_motor_notch_filter_results.param @@ -1,3 +1,8 @@ +ATC_RAT_PIT_FLTD,20 +ATC_RAT_PIT_FLTT,30 +ATC_RAT_RLL_FLTD,20 +ATC_RAT_RLL_FLTT,30 +ATC_RAT_YAW_FLTT,20 INS_GYRO_FILTER,60 INS_HNTCH_ATT,5 INS_HNTCH_BW,40 @@ -6,8 +11,3 @@ INS_HNTCH_FREQ,120 INS_HNTCH_HMNCS,1 INS_HNTCH_OPTS,2 INS_HNTCH_REF,0.38 -ATC_RAT_PIT_FLTD,20 -ATC_RAT_PIT_FLTT,30 -ATC_RAT_RLL_FLTD,20 -ATC_RAT_RLL_FLTT,30 -ATC_RAT_YAW_FLTT,20 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/vehicle_components.json index 00766699e..25ee73320 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Demo32Motor_PeterHall/vehicle_components.json @@ -190,5 +190,5 @@ "Notes": "" } }, - "Program version": "4.4.4" + "Program version": "5.0.1" } diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ESM450X-Des/03_imu_temperature_calibration_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ESM450X-Des/03_imu_temperature_calibration_results.param index b42a55318..90cd14a52 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ESM450X-Des/03_imu_temperature_calibration_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ESM450X-Des/03_imu_temperature_calibration_results.param @@ -1,3 +1,5 @@ +INS_ACC1_CALTEMP,28.864735 +INS_ACC2_CALTEMP,-300 INS_TCAL1_ACC1_X,-1903.435269 INS_TCAL1_ACC1_Y,-1420.410673 INS_TCAL1_ACC1_Z,7946.21983 @@ -20,5 +22,3 @@ INS_TCAL1_GYR3_Z,0.041206 INS_TCAL1_TMAX,56.5 INS_TCAL1_TMIN,-3.9 INS_TCAL2_ENABLE,0 # Copied from the connected flight controller -INS_ACC1_CALTEMP,28.864735 -INS_ACC2_CALTEMP,-300 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ESM450X-Des/06_remote_controller_controller.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ESM450X-Des/06_remote_controller_controller.param index a2d8e7741..a9aa96288 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ESM450X-Des/06_remote_controller_controller.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ESM450X-Des/06_remote_controller_controller.param @@ -1,14 +1,10 @@ ARMING_RUDDER,2 -RC10_OPTION,0 -RC6_OPTION,0 -RC7_OPTION,0 -RC8_OPTION,0 -RC9_OPTION,0 RC1_MAX,2000 RC1_MIN,999 RC1_TRIM,1501 RC10_MAX,1900 RC10_MIN,1100 +RC10_OPTION,0 RC10_TRIM,1500 RC2_MAX,2000 RC2_MIN,1000 @@ -24,13 +20,17 @@ RC5_MIN,1099 RC5_TRIM,1100 RC6_MAX,2000 RC6_MIN,999 +RC6_OPTION,0 RC6_TRIM,1000 RC7_MAX,2000 RC7_MIN,999 +RC7_OPTION,0 RC7_TRIM,1000 RC8_MAX,2000 RC8_MIN,999 +RC8_OPTION,0 RC8_TRIM,1500 RC9_MAX,1900 RC9_MIN,1100 +RC9_OPTION,0 RC9_TRIM,1500 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ESM450X-Des/10_battery.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ESM450X-Des/10_battery.param index a1d75bb49..11e153c1e 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ESM450X-Des/10_battery.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ESM450X-Des/10_battery.param @@ -7,5 +7,5 @@ BATT_FS_LOW_ACT,2 # Return and land at home or rally point BATT_LOW_MAH,0 # No capacity based failsafes, unreliable BATT_LOW_TIMER,5 BATT_LOW_VOLT,10.5 # Low failsafe voltage x nr. of cells -MOT_BAT_VOLT_MAX,12.6 -MOT_BAT_VOLT_MIN,9.9 +MOT_BAT_VOLT_MAX,12.6 # Scale the PIDs up when battery voltage is below this threshold +MOT_BAT_VOLT_MIN,9.9 # Scale the PIDs up when battery voltage is above this threshold diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ESM450X-Des/11_servo_outputs.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ESM450X-Des/11_servo_outputs.param index 03acace0b..42b552b4f 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ESM450X-Des/11_servo_outputs.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ESM450X-Des/11_servo_outputs.param @@ -1,3 +1,5 @@ +FRAME_CLASS,1 # Selected in the component editor +FRAME_TYPE,1 SERVO1_FUNCTION,36 SERVO10_FUNCTION,94 SERVO2_FUNCTION,33 @@ -6,5 +8,3 @@ SERVO4_FUNCTION,35 SERVO5_FUNCTION,95 SERVO5_MAX,2000 SERVO5_MIN,1000 -FRAME_TYPE,1 -FRAME_CLASS,1 # Selected in the component editor diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ESM450X-Des/13_initial_atc.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ESM450X-Des/13_initial_atc.param index 3b56e6088..accea8d3b 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ESM450X-Des/13_initial_atc.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ESM450X-Des/13_initial_atc.param @@ -15,4 +15,4 @@ ATC_THR_MIX_MAN,0.1 # Value for the first couple of flights will be changed lat INS_ACCEL_FILTER,10 # The default is 20Hz but that is too high in most situations INS_GYRO_FILTER,42 # Derived from vehicle component editor propeller size MOT_THST_EXPO,0.6 # Derived from vehicle component editor propeller size -MOT_THST_HOVER,0.273569 +MOT_THST_HOVER,0.2 # Hover learn will improve this initial guess diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ESM450X-Des/16_accelerometer_calibration.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ESM450X-Des/16_accelerometer_calibration.param index b5bca0ff5..e5522e177 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ESM450X-Des/16_accelerometer_calibration.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ESM450X-Des/16_accelerometer_calibration.param @@ -1,7 +1,14 @@ +AHRS_TRIM_X,0.006752 +AHRS_TRIM_Y,-0.014986 AHRS_TRIM_Z,0 +INS_ACC1_CALTEMP,28.864735 +INS_ACC2_CALTEMP,-300 INS_ACC2OFFS_X,0 INS_ACC2OFFS_Y,0 INS_ACC2OFFS_Z,0 +INS_ACC2SCAL_X,0 # Copied from the connected flight controller +INS_ACC2SCAL_Y,0 # Copied from the connected flight controller +INS_ACC2SCAL_Z,0 # Copied from the connected flight controller INS_ACC3_CALTEMP,-300 INS_ACC3OFFS_X,0 INS_ACC3OFFS_Y,0 @@ -12,15 +19,8 @@ INS_ACC3SCAL_Z,1 INS_ACCOFFS_X,0 INS_ACCOFFS_Y,0 INS_ACCOFFS_Z,0 -INS_USE2,1 -INS_ACC2SCAL_X,0 # Copied from the connected flight controller -INS_ACC2SCAL_Y,0 # Copied from the connected flight controller -INS_ACC2SCAL_Z,0 # Copied from the connected flight controller INS_ACCSCAL_X,1.001432 INS_ACCSCAL_Y,1.00492 INS_ACCSCAL_Z,1.004548 +INS_USE2,1 INS_USE3,1 -INS_ACC1_CALTEMP,28.864735 -INS_ACC2_CALTEMP,-300 -AHRS_TRIM_X,0.006752 -AHRS_TRIM_Y,-0.014986 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ESM450X-Des/22_flight_modes.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ESM450X-Des/22_flight_modes.param index 561c66adc..1c5983c40 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ESM450X-Des/22_flight_modes.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ESM450X-Des/22_flight_modes.param @@ -1,7 +1,7 @@ -INITIAL_MODE,0 FLTMODE1,5 FLTMODE2,3 FLTMODE3,6 FLTMODE4,0 FLTMODE5,2 FLTMODE6,9 +INITIAL_MODE,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ESM450X-Des/24_safety_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ESM450X-Des/24_safety_setup.param index 8c8aa339e..5cc3cc215 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ESM450X-Des/24_safety_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ESM450X-Des/24_safety_setup.param @@ -2,12 +2,12 @@ ARMING_CHECK,1 # Perform all arming checks. If you have a problem fix its sourc ATC_RAT_PIT_SMAX,25 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html ATC_RAT_RLL_SMAX,25 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html ATC_RAT_YAW_SMAX,25 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html +FENCE_ACTION,3 +FENCE_ALT_MAX,120 +FENCE_ENABLE,1 +FENCE_RADIUS,1500 FENCE_TYPE,7 # cylinder and max altitude, to obey local regulations and safety measures FS_EKF_ACTION,1 # Use the default, it is safer LAND_ALT_LOW,1000 # GPS is only 2.0m CEP PSC_ACCZ_SMAX,1000 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html RTL_ALT,500 # RTL at 5m is fine. -FENCE_ALT_MAX,120 -FENCE_RADIUS,1500 -FENCE_ACTION,3 -FENCE_ENABLE,1 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ESM450X-Des/29_motor_notch_filter_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ESM450X-Des/29_motor_notch_filter_results.param index 7947c208c..0d721aa04 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ESM450X-Des/29_motor_notch_filter_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ESM450X-Des/29_motor_notch_filter_results.param @@ -1,3 +1,9 @@ +ATC_RAT_PIT_FLTD,21 # INS_GYRO_FILTER / 2 +ATC_RAT_PIT_FLTT,21 # INS_GYRO_FILTER / 2 +ATC_RAT_RLL_FLTD,21 # INS_GYRO_FILTER / 2 +ATC_RAT_RLL_FLTT,21 # INS_GYRO_FILTER / 2 +ATC_RAT_YAW_FLTT,21 # INS_GYRO_FILTER / 2 +INS_GYRO_FILTER,42 INS_HNTCH_ATT,10 # just enough to filter the noise created by the motors/propellers INS_HNTCH_BW,18 # just enough to filter the noise created by the motors/propellers INS_HNTCH_FM_RAT,0.65 # Allowed undercutting of the base frequency of the first notch filter @@ -5,9 +11,3 @@ INS_HNTCH_FREQ,64 # the minimum frequency that the motors are expected to opera INS_HNTCH_HMNCS,3 # the motors produce secondary harmonics on this vehicle INS_HNTCH_OPTS,6 # two notches (1st and 2nd Harmonic) per motor INS_HNTCH_REF,1 # Should be set to 1 to enable seeing Motor RPM through ESC Telem -ATC_RAT_PIT_FLTD,21 # INS_GYRO_FILTER / 2 -ATC_RAT_PIT_FLTT,21 # INS_GYRO_FILTER / 2 -ATC_RAT_RLL_FLTD,21 # INS_GYRO_FILTER / 2 -ATC_RAT_RLL_FLTT,21 # INS_GYRO_FILTER / 2 -ATC_RAT_YAW_FLTT,21 # INS_GYRO_FILTER / 2 -INS_GYRO_FILTER,42 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ESM450X-Des/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ESM450X-Des/vehicle_components.json index b2790442a..8b6f28c7a 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ESM450X-Des/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ESM450X-Des/vehicle_components.json @@ -190,6 +190,6 @@ "Notes": "" } }, - "Program version": "4.4.4", + "Program version": "5.0.1", "Configuration template": "Holybro_X500_V2" } diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/03_imu_temperature_calibration_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/03_imu_temperature_calibration_results.param index 107533bf9..605f6940a 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/03_imu_temperature_calibration_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/03_imu_temperature_calibration_results.param @@ -1,3 +1,5 @@ +INS_ACC1_CALTEMP,25.48309 +INS_ACC2_CALTEMP,30.46596 INS_TCAL1_ACC1_X,12096.02 INS_TCAL1_ACC1_Y,-9118.709 INS_TCAL1_ACC1_Z,6902.792 @@ -61,5 +63,3 @@ INS_TCAL3_GYR3_Y,-1.719939 INS_TCAL3_GYR3_Z,2.257922 INS_TCAL3_TMAX,0 INS_TCAL3_TMIN,-12.6 -INS_ACC1_CALTEMP,25.48309 -INS_ACC2_CALTEMP,30.46596 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/06_remote_controller_controller.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/06_remote_controller_controller.param index ca042a346..7e35b71ea 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/06_remote_controller_controller.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/06_remote_controller_controller.param @@ -1,4 +1,7 @@ +RC1_MAX,1999 +RC1_MIN,987 RC1_OPTION,0 +RC1_TRIM,1520 RC10_OPTION,17 # Autotune RC11_OPTION,94 RC12_OPTION,0 @@ -6,38 +9,35 @@ RC13_OPTION,0 RC14_OPTION,0 RC15_OPTION,0 RC16_OPTION,0 -RC2_OPTION,0 -RC3_OPTION,0 -RC4_OPTION,0 -RC5_OPTION,0 -RC6_OPTION,31 # To stop all motors immediately if the vehicle starts moving dangerously -RC7_OPTION,16 -RC8_OPTION,4 -RC9_OPTION,0 -RC1_MAX,1999 -RC1_MIN,987 -RC1_TRIM,1520 RC2_MAX,2011 RC2_MIN,987 +RC2_OPTION,0 RC2_TRIM,1500 RC3_MAX,2011 RC3_MIN,987 +RC3_OPTION,0 RC3_TRIM,987 RC4_MAX,2011 RC4_MIN,987 +RC4_OPTION,0 RC4_TRIM,1496 RC5_MAX,2011 RC5_MIN,987 +RC5_OPTION,0 RC5_TRIM,987 RC6_MAX,2011 RC6_MIN,987 +RC6_OPTION,31 # To stop all motors immediately if the vehicle starts moving dangerously RC6_TRIM,987 RC7_MAX,2011 RC7_MIN,987 +RC7_OPTION,16 RC7_TRIM,987 RC8_MAX,2011 RC8_MIN,987 +RC8_OPTION,4 RC8_TRIM,987 RC9_MAX,2011 RC9_MIN,987 +RC9_OPTION,0 RC9_TRIM,1543 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/10_battery.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/10_battery.param index f22376867..16951e871 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/10_battery.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/10_battery.param @@ -7,5 +7,5 @@ BATT_FS_LOW_ACT,2 # Return and land at home or rally point BATT_FS_VOLTSRC,0 BATT_LOW_MAH,900 # trigger low failsafe just below 33% remaining BATT_LOW_VOLT,21 # Low failsafe voltage x nr. of cells -MOT_BAT_VOLT_MAX,25.2 -MOT_BAT_VOLT_MIN,19.8 +MOT_BAT_VOLT_MAX,25.2 # Scale the PIDs up when battery voltage is below this threshold +MOT_BAT_VOLT_MIN,19.8 # Scale the PIDs up when battery voltage is above this threshold diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/11_servo_outputs.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/11_servo_outputs.param index 86dbbce2c..92a078f71 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/11_servo_outputs.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/11_servo_outputs.param @@ -1,6 +1,6 @@ +FRAME_CLASS,1 # Selected in the component editor +FRAME_TYPE,1 SERVO1_FUNCTION,36 SERVO2_FUNCTION,34 SERVO3_FUNCTION,35 SERVO4_FUNCTION,33 -FRAME_TYPE,1 -FRAME_CLASS,1 # Selected in the component editor diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/13_initial_atc.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/13_initial_atc.param index c1b6d0d6b..76c0e7b78 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/13_initial_atc.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/13_initial_atc.param @@ -15,4 +15,4 @@ ATC_THR_MIX_MAN,0.1 # Value for the first couple of flights will be changed lat INS_ACCEL_FILTER,10 # The default is 20Hz but that is too high in most situations INS_GYRO_FILTER,75 # Derived from vehicle component editor propeller size MOT_THST_EXPO,0.49 # Derived from vehicle component editor propeller size -MOT_THST_HOVER,0.181719 +MOT_THST_HOVER,0.2 # Hover learn will improve this initial guess diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/16_accelerometer_calibration.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/16_accelerometer_calibration.param index e253b4caf..238a54fd0 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/16_accelerometer_calibration.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/16_accelerometer_calibration.param @@ -1,26 +1,26 @@ +AHRS_TRIM_X,-0.001391 +AHRS_TRIM_Y,-0.006049 AHRS_TRIM_Z,0 +INS_ACC1_CALTEMP,25.48309 +INS_ACC2_CALTEMP,30.46596 INS_ACC2OFFS_X,0 INS_ACC2OFFS_Y,0 INS_ACC2OFFS_Z,0 +INS_ACC2SCAL_X,0.99832 +INS_ACC2SCAL_Y,0.997605 +INS_ACC2SCAL_Z,0.99482 INS_ACC3_CALTEMP,-300 INS_ACC3OFFS_X,0 INS_ACC3OFFS_Y,0 INS_ACC3OFFS_Z,0 -INS_ACCOFFS_X,0 -INS_ACCOFFS_Y,0 -INS_ACCOFFS_Z,0 -INS_USE2,1 -INS_ACC2SCAL_X,0.99832 -INS_ACC2SCAL_Y,0.997605 -INS_ACC2SCAL_Z,0.99482 INS_ACC3SCAL_X,0.998666 INS_ACC3SCAL_Y,0.997085 INS_ACC3SCAL_Z,0.990825 +INS_ACCOFFS_X,0 +INS_ACCOFFS_Y,0 +INS_ACCOFFS_Z,0 INS_ACCSCAL_X,0.999626 INS_ACCSCAL_Y,0.99902 INS_ACCSCAL_Z,0.999754 +INS_USE2,1 INS_USE3,1 -INS_ACC1_CALTEMP,25.48309 -INS_ACC2_CALTEMP,30.46596 -AHRS_TRIM_X,-0.001391 -AHRS_TRIM_Y,-0.006049 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/22_flight_modes.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/22_flight_modes.param index 17102a229..433503e0f 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/22_flight_modes.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/22_flight_modes.param @@ -1,7 +1,7 @@ -INITIAL_MODE,0 FLTMODE1,0 FLTMODE2,0 FLTMODE3,0 FLTMODE4,2 FLTMODE5,0 FLTMODE6,5 +INITIAL_MODE,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/24_safety_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/24_safety_setup.param index d8ff9bc6e..00ab374b7 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/24_safety_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/24_safety_setup.param @@ -2,11 +2,11 @@ ARMING_CHECK,1 # Perform all arming checks. If you have a problem fix its sourc ATC_RAT_PIT_SMAX,50 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html ATC_RAT_RLL_SMAX,50 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html ATC_RAT_YAW_SMAX,50 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html +FENCE_ACTION,3 +FENCE_ALT_MAX,100 +FENCE_ENABLE,0 +FENCE_RADIUS,150 FENCE_TYPE,7 # cylinder and max altitude, to obey local regulations and safety measures LAND_ALT_LOW,1000 PSC_ACCZ_SMAX,0 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html RTL_ALT,2000 -FENCE_ALT_MAX,100 -FENCE_RADIUS,150 -FENCE_ACTION,3 -FENCE_ENABLE,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/29_motor_notch_filter_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/29_motor_notch_filter_results.param index 8db9a6695..09133089c 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/29_motor_notch_filter_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/29_motor_notch_filter_results.param @@ -1,12 +1,12 @@ -INS_HNTCH_ATT,40 # just enough to filter the noise created by the motors/propellers -INS_HNTCH_BW,65 # just enough to filter the noise created by the motors/propellers -INS_HNTCH_FM_RAT,1 # Allowed undercutting of the base frequency of the first notch filter -INS_HNTCH_FREQ,170 # the minimum frequency that the motors are expected to operate at -INS_HNTCH_HMNCS,7 # the motors produce secondary harmonics on this vehicle -INS_HNTCH_OPTS,7 # One Notch per motor, update at loop rate ATC_RAT_PIT_FLTD,57.5 # INS_GYRO_FILTER / 2 ATC_RAT_PIT_FLTT,57.5 # INS_GYRO_FILTER / 2 ATC_RAT_RLL_FLTD,57.5 # INS_GYRO_FILTER / 2 ATC_RAT_RLL_FLTT,57.5 # INS_GYRO_FILTER / 2 ATC_RAT_YAW_FLTT,57.5 # INS_GYRO_FILTER / 2 INS_GYRO_FILTER,115 +INS_HNTCH_ATT,40 # just enough to filter the noise created by the motors/propellers +INS_HNTCH_BW,65 # just enough to filter the noise created by the motors/propellers +INS_HNTCH_FM_RAT,1 # Allowed undercutting of the base frequency of the first notch filter +INS_HNTCH_FREQ,170 # the minimum frequency that the motors are expected to operate at +INS_HNTCH_HMNCS,7 # the motors produce secondary harmonics on this vehicle +INS_HNTCH_OPTS,7 # One Notch per motor, update at loop rate diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/vehicle_components.json index 61e71d4f4..ef5831b93 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/FETtec-5/vehicle_components.json @@ -190,6 +190,6 @@ "Notes": "" } }, - "Program version": "4.4.4", + "Program version": "5.0.1", "Configuration template": "ReadyToSkyZD550" } diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/03_imu_temperature_calibration_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/03_imu_temperature_calibration_results.param index 6b1a60b8a..4819e317d 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/03_imu_temperature_calibration_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/03_imu_temperature_calibration_results.param @@ -1,3 +1,5 @@ +INS_ACC1_CALTEMP,-300 +INS_ACC2_CALTEMP,-300 INS_TCAL1_ACC1_X,115.946591 INS_TCAL1_ACC1_Y,498.256973 INS_TCAL1_ACC1_Z,-381.446152 @@ -40,5 +42,3 @@ INS_TCAL2_GYR3_Y,-0.002373 INS_TCAL2_GYR3_Z,-0.028351 INS_TCAL2_TMAX,56.5 INS_TCAL2_TMIN,-13.3 -INS_ACC1_CALTEMP,-300 -INS_ACC2_CALTEMP,-300 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/06_remote_controller_controller.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/06_remote_controller_controller.param index 695b14f83..a8d054175 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/06_remote_controller_controller.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/06_remote_controller_controller.param @@ -1,8 +1,4 @@ ARMING_RUDDER,2 # We find it safer to use only a switch to arm instead of through rudder inputs -RC6_OPTION,212 -RC7_OPTION,213 -RC8_OPTION,214 -RC9_OPTION,0 RC1_MAX,2000 RC1_MIN,1000 RC1_TRIM,1500 @@ -20,13 +16,17 @@ RC5_MIN,1000 RC5_TRIM,1500 RC6_MAX,1900 RC6_MIN,1100 +RC6_OPTION,212 RC6_TRIM,1500 RC7_MAX,1900 RC7_MIN,1100 +RC7_OPTION,213 RC7_TRIM,1500 RC8_MAX,1900 RC8_MIN,1100 +RC8_OPTION,214 RC8_TRIM,1500 RC9_MAX,1900 RC9_MIN,1100 +RC9_OPTION,0 RC9_TRIM,1500 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/10_battery.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/10_battery.param index 2d337865b..7e48ad946 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/10_battery.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/10_battery.param @@ -16,5 +16,5 @@ BATT2_FS_LOW_ACT,1 # flying indoors, just land ASAP, no need to hit the ceiling BATT2_FS_VOLTSRC,1 # In our build this is a redundant monitor for batt1 so == BATT_FS_VOLTSRC BATT2_LOW_MAH,600 # In our build this is a redundant monitor for batt1 so == BATT_LOW_MAH BATT2_LOW_VOLT,14.4 # In our build this is a redundant monitor for batt1 so == BATT_LOW_VOLT -MOT_BAT_VOLT_MAX,12.8 -MOT_BAT_VOLT_MIN,9.6 +MOT_BAT_VOLT_MAX,12.8001 # Scale the PIDs up when battery voltage is below this threshold +MOT_BAT_VOLT_MIN,9.6 # Scale the PIDs up when battery voltage is above this threshold diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/11_servo_outputs.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/11_servo_outputs.param index 18e7aca0e..3dbbdd71e 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/11_servo_outputs.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/11_servo_outputs.param @@ -1,6 +1,6 @@ +FRAME_CLASS,1 # Selected in the component editor +FRAME_TYPE,1 SERVO1_FUNCTION,33 SERVO2_FUNCTION,34 SERVO3_FUNCTION,35 SERVO4_FUNCTION,36 -FRAME_TYPE,1 -FRAME_CLASS,1 # Selected in the component editor diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/13_initial_atc.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/13_initial_atc.param index 4dab84da9..d10dbd53c 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/13_initial_atc.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/13_initial_atc.param @@ -15,4 +15,4 @@ ATC_THR_MIX_MAN,0.1 # Value for the first couple of flights will be changed lat INS_ACCEL_FILTER,10 # The default is 20Hz but that is too high in most situations INS_GYRO_FILTER,115 # Derived from vehicle component editor propeller size MOT_THST_EXPO,0.41 # Derived from vehicle component editor propeller size -MOT_THST_HOVER,0.333855 +MOT_THST_HOVER,0.2 # Hover learn will improve this initial guess diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/16_accelerometer_calibration.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/16_accelerometer_calibration.param index cd458e06c..4a70a9305 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/16_accelerometer_calibration.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/16_accelerometer_calibration.param @@ -1,26 +1,26 @@ +AHRS_TRIM_X,0 +AHRS_TRIM_Y,0 AHRS_TRIM_Z,0 +INS_ACC1_CALTEMP,-300 +INS_ACC2_CALTEMP,-300 INS_ACC2OFFS_X,0 INS_ACC2OFFS_Y,0 INS_ACC2OFFS_Z,0 +INS_ACC2SCAL_X,1.001 +INS_ACC2SCAL_Y,1.001 +INS_ACC2SCAL_Z,1.001 INS_ACC3_CALTEMP,-300 INS_ACC3OFFS_X,0 INS_ACC3OFFS_Y,0 INS_ACC3OFFS_Z,0 -INS_ACCOFFS_X,0 -INS_ACCOFFS_Y,0 -INS_ACCOFFS_Z,0 -INS_USE2,1 -INS_ACC2SCAL_X,1.001 -INS_ACC2SCAL_Y,1.001 -INS_ACC2SCAL_Z,1.001 INS_ACC3SCAL_X,1 INS_ACC3SCAL_Y,1 INS_ACC3SCAL_Z,1 +INS_ACCOFFS_X,0 +INS_ACCOFFS_Y,0 +INS_ACCOFFS_Z,0 INS_ACCSCAL_X,1.001 INS_ACCSCAL_Y,1.001 INS_ACCSCAL_Z,1.001 +INS_USE2,1 INS_USE3,1 -INS_ACC1_CALTEMP,-300 -INS_ACC2_CALTEMP,-300 -AHRS_TRIM_X,0 -AHRS_TRIM_Y,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/22_flight_modes.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/22_flight_modes.param index 5c8368d8f..770ffc22d 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/22_flight_modes.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/22_flight_modes.param @@ -1,7 +1,7 @@ -INITIAL_MODE,0 FLTMODE1,7 FLTMODE2,9 FLTMODE3,6 FLTMODE4,3 FLTMODE5,5 FLTMODE6,0 +INITIAL_MODE,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/24_safety_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/24_safety_setup.param index cb3d6e80f..bfdc12522 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/24_safety_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/24_safety_setup.param @@ -2,11 +2,11 @@ ARMING_CHECK,1 # Perform all arming checks. If you have a problem fix its sourc ATC_RAT_PIT_SMAX,0 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html ATC_RAT_RLL_SMAX,0 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html ATC_RAT_YAW_SMAX,0 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html +FENCE_ACTION,1 +FENCE_ALT_MAX,100 +FENCE_ENABLE,0 +FENCE_RADIUS,150 FENCE_TYPE,7 # cylinder and max altitude, to obey local regulations and safety measures LAND_ALT_LOW,1000 # come down fast and only slow down close to the ground. We have a good GNSS receiver, so thrust it PSC_ACCZ_SMAX,0 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html RTL_ALT,1500 # The default is too high for the kind of flights we do. This reduces the altitude for indoors -FENCE_ALT_MAX,100 -FENCE_RADIUS,150 -FENCE_ACTION,1 -FENCE_ENABLE,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/29_motor_notch_filter_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/29_motor_notch_filter_results.param index 7d4c3ea9b..ee12384b3 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/29_motor_notch_filter_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/29_motor_notch_filter_results.param @@ -1,9 +1,9 @@ -INS_GYRO_FILTER,20 ATC_RAT_PIT_FLTD,20 ATC_RAT_PIT_FLTT,20 ATC_RAT_RLL_FLTD,20 ATC_RAT_RLL_FLTT,20 ATC_RAT_YAW_FLTT,20 +INS_GYRO_FILTER,20 INS_HNTCH_ATT,30 # just enough to filter the noise created by the motors/propellers INS_HNTCH_BW,30 # just enough to filter the noise created by the motors/propellers INS_HNTCH_FM_RAT,1 # Allowed undercutting of the base frequency of the first notch filter diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/vehicle_components.json index 2f875d408..7d244dc7d 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/vehicle_components.json @@ -190,6 +190,6 @@ "Notes": "" } }, - "Program version": "4.4.4", + "Program version": "5.0.1", "Configuration template": "4.5.x-params" } diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/03_imu_temperature_calibration_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/03_imu_temperature_calibration_results.param index c5b1e0ce3..6e5f56737 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/03_imu_temperature_calibration_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/03_imu_temperature_calibration_results.param @@ -1,3 +1,5 @@ +INS_ACC1_CALTEMP,43.062431 +INS_ACC2_CALTEMP,34.5 INS_TCAL1_ACC1_X,1256.403338 INS_TCAL1_ACC1_Y,93.973534 INS_TCAL1_ACC1_Z,-2916.686814 @@ -41,5 +43,3 @@ INS_TCAL2_GYR3_Z,-0.344826 INS_TCAL2_TMAX,38.9 INS_TCAL2_TMIN,-2.4 INS_TCAL3_ENABLE,0 # After a successful IMU temperature calibration, the FC will automatically set this to 1 -INS_ACC1_CALTEMP,43.062431 -INS_ACC2_CALTEMP,34.5 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/06_remote_controller_controller.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/06_remote_controller_controller.param index 107d273af..3073f7eba 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/06_remote_controller_controller.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/06_remote_controller_controller.param @@ -1,19 +1,11 @@ ARMING_RUDDER,2 -RCMAP_PITCH,2 -RCMAP_ROLL,1 -RCMAP_THROTTLE,3 -RCMAP_YAW,4 FS_THR_VALUE,970 # A bit lower to be on the safe side -RC10_OPTION,0 -RC6_OPTION,17 # To control PID autotune, after quicktune is done -RC7_OPTION,300 # To trigger PID quicktune -RC8_OPTION,31 # To stop all motors immediately if the vehicle starts moving dangerously -RC9_OPTION,0 RC1_MAX,2006 RC1_MIN,982 RC1_TRIM,1500 RC10_MAX,1900 RC10_MIN,1100 +RC10_OPTION,0 RC10_TRIM,1500 RC2_MAX,2006 RC2_MIN,982 @@ -29,13 +21,21 @@ RC5_MIN,982 RC5_TRIM,2006 RC6_MAX,2006 RC6_MIN,982 +RC6_OPTION,17 # To control PID autotune, after quicktune is done RC6_TRIM,982 RC7_MAX,2006 RC7_MIN,982 +RC7_OPTION,300 # To trigger PID quicktune RC7_TRIM,982 RC8_MAX,2006 RC8_MIN,982 +RC8_OPTION,31 # To stop all motors immediately if the vehicle starts moving dangerously RC8_TRIM,982 RC9_MAX,1900 RC9_MIN,1100 +RC9_OPTION,0 RC9_TRIM,1500 +RCMAP_PITCH,2 +RCMAP_ROLL,1 +RCMAP_THROTTLE,3 +RCMAP_YAW,4 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/11_servo_outputs.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/11_servo_outputs.param index 1dad56948..92e7481a3 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/11_servo_outputs.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/11_servo_outputs.param @@ -1,5 +1,5 @@ +FRAME_CLASS,1 # Selected in the component editor SERVO1_FUNCTION,33 SERVO2_FUNCTION,34 SERVO3_FUNCTION,35 SERVO4_FUNCTION,36 -FRAME_CLASS,1 # Selected in the component editor diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/16_accelerometer_calibration.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/16_accelerometer_calibration.param index b02f6d73f..2439cbc5c 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/16_accelerometer_calibration.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/16_accelerometer_calibration.param @@ -1,26 +1,26 @@ +AHRS_TRIM_X,-0.018507 +AHRS_TRIM_Y,-0.001495 AHRS_TRIM_Z,0 +INS_ACC1_CALTEMP,43.062431 +INS_ACC2_CALTEMP,34.5 INS_ACC2OFFS_X,0 INS_ACC2OFFS_Y,0 INS_ACC2OFFS_Z,0 +INS_ACC2SCAL_X,0.977191 +INS_ACC2SCAL_Y,0.990294 +INS_ACC2SCAL_Z,0.991804 INS_ACC3_CALTEMP,-300 INS_ACC3OFFS_X,0 INS_ACC3OFFS_Y,0 INS_ACC3OFFS_Z,0 -INS_ACCOFFS_X,0 -INS_ACCOFFS_Y,0 -INS_ACCOFFS_Z,0 -INS_USE2,1 -INS_ACC2SCAL_X,0.977191 -INS_ACC2SCAL_Y,0.990294 -INS_ACC2SCAL_Z,0.991804 INS_ACC3SCAL_X,0 INS_ACC3SCAL_Y,0 INS_ACC3SCAL_Z,0 +INS_ACCOFFS_X,0 +INS_ACCOFFS_Y,0 +INS_ACCOFFS_Z,0 INS_ACCSCAL_X,0.998941 INS_ACCSCAL_Y,0.998003 INS_ACCSCAL_Z,0.99054 +INS_USE2,1 INS_USE3,1 -INS_ACC1_CALTEMP,43.062431 -INS_ACC2_CALTEMP,34.5 -AHRS_TRIM_X,-0.018507 -AHRS_TRIM_Y,-0.001495 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/24_safety_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/24_safety_setup.param index 590cb3925..abfa6a7cd 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/24_safety_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/24_safety_setup.param @@ -8,6 +8,7 @@ BRD_SAFETYOPTION,0 FENCE_ALT_MAX,120 FENCE_ENABLE,1 FENCE_MARGIN,1 +FENCE_RADIUS,150 FENCE_TYPE,7 # obey local regulations and safety measures FS_EKF_ACTION,1 FS_OPTIONS,24 @@ -15,4 +16,3 @@ FS_THR_VALUE,970 LAND_ALT_LOW,1000 PSC_ACCZ_SMAX,1000 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html RTL_ALT,500 # RTL at 5m is needed inside the hangar -FENCE_RADIUS,150 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/29_motor_notch_filter_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/29_motor_notch_filter_results.param index 1f2ecfc6e..486ee82e0 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/29_motor_notch_filter_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/29_motor_notch_filter_results.param @@ -1,3 +1,8 @@ +ATC_RAT_PIT_FLTD,21 # INS_GYRO_FILTER / 2 +ATC_RAT_PIT_FLTT,21 # INS_GYRO_FILTER / 2 +ATC_RAT_RLL_FLTD,21 # INS_GYRO_FILTER / 2 +ATC_RAT_RLL_FLTT,21 # INS_GYRO_FILTER / 2 +ATC_RAT_YAW_FLTT,21 # INS_GYRO_FILTER / 2 INS_GYRO_FILTER,42 INS_HNTCH_ATT,6 # just enough to filter the noise created by the motors/propellers INS_HNTCH_BW,25 # just enough to filter the noise created by the motors/propellers @@ -7,8 +12,3 @@ INS_HNTCH_FREQ,97 # the minimum frequency that the motors are expected to opera INS_HNTCH_HMNCS,3 INS_HNTCH_OPTS,2 INS_HNTCH_REF,0.35 -ATC_RAT_PIT_FLTD,21 # INS_GYRO_FILTER / 2 -ATC_RAT_PIT_FLTT,21 # INS_GYRO_FILTER / 2 -ATC_RAT_RLL_FLTD,21 # INS_GYRO_FILTER / 2 -ATC_RAT_RLL_FLTT,21 # INS_GYRO_FILTER / 2 -ATC_RAT_YAW_FLTT,21 # INS_GYRO_FILTER / 2 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/vehicle_components.json index 1f739d220..6cc7e6331 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/vehicle_components.json @@ -190,5 +190,5 @@ "Notes": "100mW at 433MHz, 13.6g without antenna + \n7.4g for 433MHz antenna" } }, - "Program version": "4.4.3" + "Program version": "5.0.1" } diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/03_imu_temperature_calibration_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/03_imu_temperature_calibration_results.param index d9f4f5d4c..945cd537b 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/03_imu_temperature_calibration_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/03_imu_temperature_calibration_results.param @@ -1,3 +1,5 @@ +INS_ACC1_CALTEMP,44.806763 +INS_ACC2_CALTEMP,43.5 INS_TCAL1_ACC1_X,1256.403338 INS_TCAL1_ACC1_Y,93.973534 INS_TCAL1_ACC1_Z,-2916.686814 @@ -40,5 +42,3 @@ INS_TCAL2_GYR3_Y,0.069658 INS_TCAL2_GYR3_Z,-0.344826 INS_TCAL2_TMAX,38.9 INS_TCAL2_TMIN,-2.4 -INS_ACC1_CALTEMP,44.806763 -INS_ACC2_CALTEMP,43.5 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/06_remote_controller_controller.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/06_remote_controller_controller.param index c93d2071a..626e23907 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/06_remote_controller_controller.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/06_remote_controller_controller.param @@ -1,14 +1,10 @@ ARMING_RUDDER,2 -RC10_OPTION,0 -RC6_OPTION,0 -RC7_OPTION,0 -RC8_OPTION,0 -RC9_OPTION,0 RC1_MAX,2000 RC1_MIN,1000 RC1_TRIM,1499 RC10_MAX,1900 RC10_MIN,1100 +RC10_OPTION,0 RC10_TRIM,1500 RC2_MAX,2000 RC2_MIN,1000 @@ -24,13 +20,17 @@ RC5_MIN,1000 RC5_TRIM,1000 RC6_MAX,2000 RC6_MIN,1000 +RC6_OPTION,0 RC6_TRIM,1000 RC7_MAX,2000 RC7_MIN,1000 +RC7_OPTION,0 RC7_TRIM,1000 RC8_MAX,2000 RC8_MIN,1000 +RC8_OPTION,0 RC8_TRIM,1000 RC9_MAX,1900 RC9_MIN,1100 +RC9_OPTION,0 RC9_TRIM,1500 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/10_battery.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/10_battery.param index a003bd861..c75fef7c0 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/10_battery.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/10_battery.param @@ -7,5 +7,5 @@ BATT_FS_LOW_ACT,2 # Return and land at home or rally point BATT_FS_VOLTSRC,0 BATT_LOW_MAH,1000 # Fail-safe needs to be responsive at 1000 mAh, no risk taking BATT_LOW_VOLT,13.6 # Low failsafe voltage x nr. of cells -MOT_BAT_VOLT_MAX,16.799999 -MOT_BAT_VOLT_MIN,13.2 +MOT_BAT_VOLT_MAX,16.8 # Scale the PIDs up when battery voltage is below this threshold +MOT_BAT_VOLT_MIN,13.2 # Scale the PIDs up when battery voltage is above this threshold diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/11_servo_outputs.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/11_servo_outputs.param index 18e7aca0e..3dbbdd71e 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/11_servo_outputs.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/11_servo_outputs.param @@ -1,6 +1,6 @@ +FRAME_CLASS,1 # Selected in the component editor +FRAME_TYPE,1 SERVO1_FUNCTION,33 SERVO2_FUNCTION,34 SERVO3_FUNCTION,35 SERVO4_FUNCTION,36 -FRAME_TYPE,1 -FRAME_CLASS,1 # Selected in the component editor diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/13_initial_atc.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/13_initial_atc.param index 4f418de93..accea8d3b 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/13_initial_atc.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/13_initial_atc.param @@ -15,4 +15,4 @@ ATC_THR_MIX_MAN,0.1 # Value for the first couple of flights will be changed lat INS_ACCEL_FILTER,10 # The default is 20Hz but that is too high in most situations INS_GYRO_FILTER,42 # Derived from vehicle component editor propeller size MOT_THST_EXPO,0.6 # Derived from vehicle component editor propeller size -MOT_THST_HOVER,0.2 +MOT_THST_HOVER,0.2 # Hover learn will improve this initial guess diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/16_accelerometer_calibration.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/16_accelerometer_calibration.param index 28ed39b16..cc72a81bb 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/16_accelerometer_calibration.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/16_accelerometer_calibration.param @@ -1,26 +1,26 @@ +AHRS_TRIM_X,0.021139 +AHRS_TRIM_Y,-0.024273 AHRS_TRIM_Z,0 +INS_ACC1_CALTEMP,44.806763 +INS_ACC2_CALTEMP,43.5 INS_ACC2OFFS_X,0 INS_ACC2OFFS_Y,0 INS_ACC2OFFS_Z,0 +INS_ACC2SCAL_X,0.981343 +INS_ACC2SCAL_Y,0.985371 +INS_ACC2SCAL_Z,0.980833 INS_ACC3_CALTEMP,-300 INS_ACC3OFFS_X,0 INS_ACC3OFFS_Y,0 INS_ACC3OFFS_Z,0 -INS_ACCOFFS_X,0 -INS_ACCOFFS_Y,0 -INS_ACCOFFS_Z,0 -INS_USE2,1 -INS_ACC2SCAL_X,0.981343 -INS_ACC2SCAL_Y,0.985371 -INS_ACC2SCAL_Z,0.980833 INS_ACC3SCAL_X,0 INS_ACC3SCAL_Y,0 INS_ACC3SCAL_Z,0 +INS_ACCOFFS_X,0 +INS_ACCOFFS_Y,0 +INS_ACCOFFS_Z,0 INS_ACCSCAL_X,0.998609 INS_ACCSCAL_Y,0.999291 INS_ACCSCAL_Z,1.002667 +INS_USE2,1 INS_USE3,1 -INS_ACC1_CALTEMP,44.806763 -INS_ACC2_CALTEMP,43.5 -AHRS_TRIM_X,0.021139 -AHRS_TRIM_Y,-0.024273 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/22_flight_modes.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/22_flight_modes.param index 671c17638..30a886f48 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/22_flight_modes.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/22_flight_modes.param @@ -1,7 +1,7 @@ -INITIAL_MODE,0 FLTMODE1,0 FLTMODE2,0 FLTMODE3,0 FLTMODE4,2 FLTMODE5,0 FLTMODE6,9 +INITIAL_MODE,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/24_safety_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/24_safety_setup.param index a9fe1630c..5c10292d5 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/24_safety_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/24_safety_setup.param @@ -2,12 +2,12 @@ ARMING_CHECK,1 # Perform all arming checks. If you have a problem fix its sourc ATC_RAT_PIT_SMAX,25 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html ATC_RAT_RLL_SMAX,25 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html ATC_RAT_YAW_SMAX,25 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html +FENCE_ACTION,1 +FENCE_ALT_MAX,100 +FENCE_ENABLE,0 +FENCE_RADIUS,300 FENCE_TYPE,7 # cylinder and max altitude, to obey local regulations and safety measures FS_EKF_ACTION,1 # Use the default, it is safer LAND_ALT_LOW,1000 # GPS is only 2.0m CEP PSC_ACCZ_SMAX,1000 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html RTL_ALT,500 # RTL at 5m is fine. -FENCE_ALT_MAX,100 -FENCE_RADIUS,300 -FENCE_ACTION,1 -FENCE_ENABLE,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/29_motor_notch_filter_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/29_motor_notch_filter_results.param index 665b2c806..d5eb67e39 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/29_motor_notch_filter_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/29_motor_notch_filter_results.param @@ -1,3 +1,9 @@ +ATC_RAT_PIT_FLTD,21 # INS_GYRO_FILTER / 2 +ATC_RAT_PIT_FLTT,21 # INS_GYRO_FILTER / 2 +ATC_RAT_RLL_FLTD,21 # INS_GYRO_FILTER / 2 +ATC_RAT_RLL_FLTT,21 # INS_GYRO_FILTER / 2 +ATC_RAT_YAW_FLTT,21 # INS_GYRO_FILTER / 2 +INS_GYRO_FILTER,42 INS_HNTCH_ATT,40 # just enough to filter the noise created by the motors/propellers INS_HNTCH_BW,12 # just enough to filter the noise created by the motors/propellers INS_HNTCH_FM_RAT,0.5 # Allowed undercutting of the base frequency of the first notch filter @@ -5,9 +11,3 @@ INS_HNTCH_FREQ,27 # the minimum frequency that the motors are expected to opera INS_HNTCH_HMNCS,3 # the motors produce secondary harmonics on this vehicle INS_HNTCH_OPTS,1 INS_HNTCH_REF,0.125018 # MOT_THST_HOVER * SQUARE(min_freq / hover_freq) -ATC_RAT_PIT_FLTD,21 # INS_GYRO_FILTER / 2 -ATC_RAT_PIT_FLTT,21 # INS_GYRO_FILTER / 2 -ATC_RAT_RLL_FLTD,21 # INS_GYRO_FILTER / 2 -ATC_RAT_RLL_FLTT,21 # INS_GYRO_FILTER / 2 -ATC_RAT_YAW_FLTT,21 # INS_GYRO_FILTER / 2 -INS_GYRO_FILTER,42 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/vehicle_components.json index 1186e3bf4..bc305724a 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500_V2/vehicle_components.json @@ -190,6 +190,6 @@ "Notes": "100mW at 433MHz, 13.6g without antenna + \n7.4g for 433MHz antenna" } }, - "Program version": "4.4.4", + "Program version": "5.0.1", "Configuration template": "X11_plus" } diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/03_imu_temperature_calibration_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/03_imu_temperature_calibration_results.param index 5eb82f403..2ba966d70 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/03_imu_temperature_calibration_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/03_imu_temperature_calibration_results.param @@ -1,3 +1,5 @@ +INS_ACC1_CALTEMP,44.806763 +INS_ACC2_CALTEMP,41.5 INS_TCAL1_ACC1_X,1256.403338 INS_TCAL1_ACC1_Y,93.973534 INS_TCAL1_ACC1_Z,-2916.686814 @@ -40,5 +42,3 @@ INS_TCAL2_GYR3_Y,0.069658 INS_TCAL2_GYR3_Z,-0.344826 INS_TCAL2_TMAX,38.9 INS_TCAL2_TMIN,-2.4 -INS_ACC1_CALTEMP,44.806763 -INS_ACC2_CALTEMP,41.5 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/06_remote_controller_controller.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/06_remote_controller_controller.param index c3cdf5c01..54c6b08c6 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/06_remote_controller_controller.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/06_remote_controller_controller.param @@ -1,14 +1,10 @@ ARMING_RUDDER,2 -RC10_OPTION,0 -RC6_OPTION,0 -RC7_OPTION,0 -RC8_OPTION,19 # release bait -RC9_OPTION,0 RC1_MAX,1900 RC1_MIN,1100 RC1_TRIM,1510 RC10_MAX,1900 RC10_MIN,1100 +RC10_OPTION,0 RC10_TRIM,1500 RC2_MAX,1900 RC2_MIN,1100 @@ -24,13 +20,17 @@ RC5_MIN,1100 RC5_TRIM,1500 RC6_MAX,1900 RC6_MIN,1100 +RC6_OPTION,0 RC6_TRIM,1500 RC7_MAX,1900 RC7_MIN,1100 +RC7_OPTION,0 RC7_TRIM,1500 RC8_MAX,1900 RC8_MIN,1100 +RC8_OPTION,19 # release bait RC8_TRIM,1500 RC9_MAX,1900 RC9_MIN,1100 +RC9_OPTION,0 RC9_TRIM,1500 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/10_battery.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/10_battery.param index 3efa451c5..715b6c136 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/10_battery.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/10_battery.param @@ -7,5 +7,5 @@ BATT_FS_LOW_ACT,2 # Return and land at home or rally point BATT_FS_VOLTSRC,0 # no current monitor BATT_LOW_MAH,0 # No capacity based failsafes, no current monitor BATT_LOW_VOLT,20.4 # Low failsafe voltage x nr. of cells -MOT_BAT_VOLT_MAX,25.200001 -MOT_BAT_VOLT_MIN,19.799999 +MOT_BAT_VOLT_MAX,25.2 # Scale the PIDs up when battery voltage is below this threshold +MOT_BAT_VOLT_MIN,19.8 # Scale the PIDs up when battery voltage is above this threshold diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/11_servo_outputs.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/11_servo_outputs.param index 18e7aca0e..3dbbdd71e 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/11_servo_outputs.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/11_servo_outputs.param @@ -1,6 +1,6 @@ +FRAME_CLASS,1 # Selected in the component editor +FRAME_TYPE,1 SERVO1_FUNCTION,33 SERVO2_FUNCTION,34 SERVO3_FUNCTION,35 SERVO4_FUNCTION,36 -FRAME_TYPE,1 -FRAME_CLASS,1 # Selected in the component editor diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/13_initial_atc.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/13_initial_atc.param index 42bc8fa60..380dbcc99 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/13_initial_atc.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/13_initial_atc.param @@ -15,4 +15,4 @@ ATC_THR_MIX_MAN,0.1 # Value for the first couple of flights will be changed lat INS_ACCEL_FILTER,10 # The default is 20Hz but that is too high in most situations INS_GYRO_FILTER,29 # Derived from vehicle component editor propeller size MOT_THST_EXPO,0.67 # Derived from vehicle component editor propeller size -MOT_THST_HOVER,0.2 +MOT_THST_HOVER,0.2 # Hover learn will improve this initial guess diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/16_accelerometer_calibration.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/16_accelerometer_calibration.param index 3c8c8def1..f25452bee 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/16_accelerometer_calibration.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/16_accelerometer_calibration.param @@ -1,15 +1,18 @@ +AHRS_TRIM_X,0.01157 +AHRS_TRIM_Y,-0.047535 AHRS_TRIM_Z,0 -INS_ACC3_CALTEMP,-300 -INS_ACC3OFFS_X,0 -INS_ACC3OFFS_Y,0 -INS_ACC3OFFS_Z,0 -INS_USE2,1 +INS_ACC1_CALTEMP,44.806763 +INS_ACC2_CALTEMP,41.5 INS_ACC2OFFS_X,-0.260936 INS_ACC2OFFS_Y,0.439903 INS_ACC2OFFS_Z,0.182458 INS_ACC2SCAL_X,0.999752 INS_ACC2SCAL_Y,0.991634 INS_ACC2SCAL_Z,0.980642 +INS_ACC3_CALTEMP,-300 +INS_ACC3OFFS_X,0 +INS_ACC3OFFS_Y,0 +INS_ACC3OFFS_Z,0 INS_ACC3SCAL_X,0 INS_ACC3SCAL_Y,0 INS_ACC3SCAL_Z,0 @@ -19,8 +22,5 @@ INS_ACCOFFS_Z,-0.01992 INS_ACCSCAL_X,0.995622 INS_ACCSCAL_Y,0.996019 INS_ACCSCAL_Z,0.999418 +INS_USE2,1 INS_USE3,1 -INS_ACC1_CALTEMP,44.806763 -INS_ACC2_CALTEMP,41.5 -AHRS_TRIM_X,0.01157 -AHRS_TRIM_Y,-0.047535 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/22_flight_modes.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/22_flight_modes.param index fa6667399..727b9dfa2 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/22_flight_modes.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/22_flight_modes.param @@ -1,7 +1,7 @@ -INITIAL_MODE,0 FLTMODE1,5 FLTMODE2,5 FLTMODE3,5 FLTMODE4,5 FLTMODE5,5 FLTMODE6,5 +INITIAL_MODE,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/23_general_configuration.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/23_general_configuration.param index c9eea7c43..6251ef75b 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/23_general_configuration.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/23_general_configuration.param @@ -1,16 +1,8 @@ AUTO_OPTIONS,0 +BARO1_DEVID,751361 BRD_HEAT_TARG,45 # Operate at a constant IMU temperature BRD_RTC_TZ_MIN,0 # UTC EK3_SRC1_POSZ,1 # Use the default, it is safer, only barometer will be used -INS_POS1_X,0 -INS_POS1_Y,0 -INS_POS2_X,0 -INS_POS2_Y,0 -RTL_LOIT_TIME,2000 # The default is too long. This reduces the time -SCHED_LOOP_RATE,400 # Stay on default loop rate, this is a slow vehicle -SCR_ENABLE,1 # Use lua scripting for VTOL-Quicktune, MagFit automation and wind speed estimation automation -SERIAL7_PROTOCOL,2 # MavLink 2 is supported. -BARO1_DEVID,751361 FS_GCS_ENABLE,1 INS_ACC_ID,3408650 INS_ACC2_ID,2687498 @@ -25,3 +17,11 @@ INS_GYR2OFFS_Z,0.000067 INS_GYROFFS_X,0.010204 INS_GYROFFS_Y,-0.034151 INS_GYROFFS_Z,0.004063 +INS_POS1_X,0 +INS_POS1_Y,0 +INS_POS2_X,0 +INS_POS2_Y,0 +RTL_LOIT_TIME,2000 # The default is too long. This reduces the time +SCHED_LOOP_RATE,400 # Stay on default loop rate, this is a slow vehicle +SCR_ENABLE,1 # Use lua scripting for VTOL-Quicktune, MagFit automation and wind speed estimation automation +SERIAL7_PROTOCOL,2 # MavLink 2 is supported. diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/24_safety_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/24_safety_setup.param index 85f7e70b2..2321e8381 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/24_safety_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/24_safety_setup.param @@ -2,13 +2,13 @@ ARMING_CHECK,1 # Perform all arming checks. If you have a problem fix its sourc ATC_RAT_PIT_SMAX,0 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html ATC_RAT_RLL_SMAX,0 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html ATC_RAT_YAW_SMAX,0 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html +FENCE_ACTION,3 +FENCE_ALT_MAX,120 +FENCE_ENABLE,1 +FENCE_RADIUS,150 FENCE_TYPE,7 # cylinder and max altitude, to obey local regulations and safety measures FS_EKF_ACTION,1 # Use the default, it is safer FS_GCS_ENABLE,1 LAND_ALT_LOW,1000 # GPS is only 2.0m CEP PSC_ACCZ_SMAX,0 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html RTL_ALT,10000 # RTL at 100m -FENCE_ALT_MAX,120 -FENCE_RADIUS,150 -FENCE_ACTION,3 -FENCE_ENABLE,1 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/29_motor_notch_filter_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/29_motor_notch_filter_results.param index 8ff2876f0..14d54f3cc 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/29_motor_notch_filter_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/29_motor_notch_filter_results.param @@ -1,10 +1,3 @@ -INS_HNTCH_ATT,20 # just enough to filter the noise created by the motors/propellers -INS_HNTCH_BW,14 # just enough to filter the noise created by the motors/propellers -INS_HNTCH_FM_RAT,0.9 # Allowed undercutting of the base frequency of the first notch filter -INS_HNTCH_FREQ,31 # the minimum frequency that the motors are expected to operate at -INS_HNTCH_HMNCS,11 # the motors produce secondary harmonics on this vehicle -INS_HNTCH_OPTS,1 -INS_HNTCH_REF,0.324 # MOT_THST_HOVER * SQUAREROOT(min_freq / hover_freq) ----> we assume min_freq == hover_freq for now ATC_RAT_PIT_FLTD,14.5 # INS_GYRO_FILTER / 2 ATC_RAT_PIT_FLTT,14.5 # INS_GYRO_FILTER / 2 ATC_RAT_RLL_FLTD,14.5 # INS_GYRO_FILTER / 2 @@ -12,3 +5,10 @@ ATC_RAT_RLL_FLTT,14.5 # INS_GYRO_FILTER / 2 ATC_RAT_YAW_FLTD,0 ATC_RAT_YAW_FLTT,14.5 # INS_GYRO_FILTER / 2 INS_GYRO_FILTER,29 +INS_HNTCH_ATT,20 # just enough to filter the noise created by the motors/propellers +INS_HNTCH_BW,14 # just enough to filter the noise created by the motors/propellers +INS_HNTCH_FM_RAT,0.9 # Allowed undercutting of the base frequency of the first notch filter +INS_HNTCH_FREQ,31 # the minimum frequency that the motors are expected to operate at +INS_HNTCH_HMNCS,11 # the motors produce secondary harmonics on this vehicle +INS_HNTCH_OPTS,1 +INS_HNTCH_REF,0.324 # MOT_THST_HOVER * SQUAREROOT(min_freq / hover_freq) ----> we assume min_freq == hover_freq for now diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/vehicle_components.json index a85ae7a93..74bac9067 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X650_LTE/vehicle_components.json @@ -190,6 +190,6 @@ "Notes": "" } }, - "Program version": "4.4.4", + "Program version": "5.0.1", "Configuration template": "Holybro_X500_V2" } diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/03_imu_temperature_calibration_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/03_imu_temperature_calibration_results.param index 50e5c55f2..98782bdb3 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/03_imu_temperature_calibration_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/03_imu_temperature_calibration_results.param @@ -1,3 +1,5 @@ +INS_ACC1_CALTEMP,47.705315 +INS_ACC2_CALTEMP,48.412403 INS_TCAL1_ACC1_X,245.099898 INS_TCAL1_ACC1_Y,-1074.106052 INS_TCAL1_ACC1_Z,-431.330994 @@ -61,5 +63,3 @@ INS_TCAL3_GYR3_Y,-0.012503 INS_TCAL3_GYR3_Z,0.019841 INS_TCAL3_TMAX,52.2 INS_TCAL3_TMIN,-8.3 -INS_ACC1_CALTEMP,47.705315 -INS_ACC2_CALTEMP,48.412403 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/06_remote_controller_controller.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/06_remote_controller_controller.param index bee70649a..e68db1fad 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/06_remote_controller_controller.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/06_remote_controller_controller.param @@ -1,14 +1,10 @@ ARMING_RUDDER,2 # IS EASIER TO ARM AND DISARM A DRONE FROM A SAFE DISTANCE WITHOUT A GCS OR A RC SWITCH/ SAFER BECAUSE LESS CHANCES TO DISARM DRONE IN AIR VIA GCS OR SWITCH -RC10_OPTION,0 -RC6_OPTION,0 -RC7_OPTION,0 -RC8_OPTION,0 -RC9_OPTION,300 # trigger lua script execution (magFit and quicktune) RC1_MAX,1945 # RADIO CALIBRATION MK32 RC1_MIN,1045 # RADIO CALIBRATION MK32 RC1_TRIM,1495 # RADIO CALIBRATION MK32 RC10_MAX,1895 # RADIO CALIBRATION MK32 RC10_MIN,1425 # RADIO CALIBRATION MK32 +RC10_OPTION,0 RC10_TRIM,1425 # RADIO CALIBRATION MK32 RC2_MAX,1945 # RADIO CALIBRATION MK32 RC2_MIN,1045 # RADIO CALIBRATION MK32 @@ -24,13 +20,17 @@ RC5_MIN,1045 # RADIO CALIBRATION MK32 RC5_TRIM,1045 # RADIO CALIBRATION MK32 RC6_MAX,1945 # RADIO CALIBRATION MK32 RC6_MIN,1045 # RADIO CALIBRATION MK32 +RC6_OPTION,0 RC6_TRIM,1945 # RADIO CALIBRATION MK32 RC7_MAX,1895 # RADIO CALIBRATION MK32 RC7_MIN,1425 # RADIO CALIBRATION MK32 +RC7_OPTION,0 RC7_TRIM,1425 # RADIO CALIBRATION MK32 RC8_MAX,1945 # RADIO CALIBRATION MK32 RC8_MIN,1045 # RADIO CALIBRATION MK32 +RC8_OPTION,0 RC8_TRIM,1045 # RADIO CALIBRATION MK32 RC9_MAX,1795 # RADIO CALIBRATION MK32 RC9_MIN,1425 # RADIO CALIBRATION MK32 +RC9_OPTION,300 # trigger lua script execution (magFit and quicktune) RC9_TRIM,1425 # RADIO CALIBRATION MK32 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/10_battery.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/10_battery.param index 1e9599063..1a7e4016d 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/10_battery.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/10_battery.param @@ -7,5 +7,5 @@ BATT_FS_LOW_ACT,2 # Return and land at home or rally point BATT_FS_VOLTSRC,0 BATT_LOW_MAH,0 # Datalink V2 ESC telemetry does provide current measurement, but we do not want to use it BATT_LOW_VOLT,50.4 # Low failsafe voltage x nr. of cells -MOT_BAT_VOLT_MAX,58.8 # 14S LION PACK -MOT_BAT_VOLT_MIN,46.2 # AS PER BATTERY SPECS +MOT_BAT_VOLT_MAX,58.8 # Scale the PIDs up when battery voltage is below this threshold +MOT_BAT_VOLT_MIN,46.2 # Scale the PIDs up when battery voltage is above this threshold diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/11_servo_outputs.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/11_servo_outputs.param index ec77af80d..5085aa66c 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/11_servo_outputs.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/11_servo_outputs.param @@ -1,6 +1,6 @@ +FRAME_CLASS,1 # Selected in the component editor +FRAME_TYPE,1 SERVO1_FUNCTION,33 # X11 PLUS MOTOR IS BEING CONTROLLED VIA SERVO LANE AND DATA VIA CAN PORT SERVO2_FUNCTION,34 # X11 PLUS MOTOR IS BEING CONTROLLED VIA SERVO LANE AND DATA VIA CAN PORT SERVO3_FUNCTION,35 # X11 PLUS MOTOR IS BEING CONTROLLED VIA SERVO LANE AND DATA VIA CAN PORT SERVO4_FUNCTION,36 # X11 PLUS MOTOR IS BEING CONTROLLED VIA SERVO LANE AND DATA VIA CAN PORT -FRAME_TYPE,1 -FRAME_CLASS,1 # Selected in the component editor diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/13_initial_atc.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/13_initial_atc.param index bd9c61c9e..23c91ed60 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/13_initial_atc.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/13_initial_atc.param @@ -15,4 +15,4 @@ ATC_THR_MIX_MAN,0.1 # Value for the first couple of flights will be changed lat INS_ACCEL_FILTER,10 # The default is 20Hz but that is too high in most situations INS_GYRO_FILTER,20 # Derived from vehicle component editor propeller size MOT_THST_EXPO,0.8 # Derived from vehicle component editor propeller size -MOT_THST_HOVER,0.17 # WHEN THE DRONE IS WITHOUT ANY ADDITIONAL PAYLOAD THE HOVER THST IS REALLY LOW +MOT_THST_HOVER,0.2 # Hover learn will improve this initial guess diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/16_accelerometer_calibration.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/16_accelerometer_calibration.param index 15e15c474..40f820474 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/16_accelerometer_calibration.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/16_accelerometer_calibration.param @@ -1,26 +1,26 @@ +AHRS_TRIM_X,0 +AHRS_TRIM_Y,0 AHRS_TRIM_Z,0 +INS_ACC1_CALTEMP,47.705315 +INS_ACC2_CALTEMP,48.412403 INS_ACC2OFFS_X,0 INS_ACC2OFFS_Y,0 INS_ACC2OFFS_Z,0 +INS_ACC2SCAL_X,1 +INS_ACC2SCAL_Y,1 +INS_ACC2SCAL_Z,1 INS_ACC3_CALTEMP,-300 INS_ACC3OFFS_X,0 INS_ACC3OFFS_Y,0 INS_ACC3OFFS_Z,0 -INS_ACCOFFS_X,0 -INS_ACCOFFS_Y,0 -INS_ACCOFFS_Z,0 -INS_USE2,1 -INS_ACC2SCAL_X,1 -INS_ACC2SCAL_Y,1 -INS_ACC2SCAL_Z,1 INS_ACC3SCAL_X,1 INS_ACC3SCAL_Y,1 INS_ACC3SCAL_Z,1 +INS_ACCOFFS_X,0 +INS_ACCOFFS_Y,0 +INS_ACCOFFS_Z,0 INS_ACCSCAL_X,1 INS_ACCSCAL_Y,1 INS_ACCSCAL_Z,1 +INS_USE2,1 INS_USE3,1 -INS_ACC1_CALTEMP,47.705315 -INS_ACC2_CALTEMP,48.412403 -AHRS_TRIM_X,0 -AHRS_TRIM_Y,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/22_flight_modes.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/22_flight_modes.param index 891ab49a9..da01befa2 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/22_flight_modes.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/22_flight_modes.param @@ -1,7 +1,7 @@ -INITIAL_MODE,0 FLTMODE1,0 FLTMODE2,0 FLTMODE3,2 FLTMODE4,2 FLTMODE5,5 FLTMODE6,5 +INITIAL_MODE,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/24_safety_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/24_safety_setup.param index e3af31f8d..c160ef118 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/24_safety_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/24_safety_setup.param @@ -2,12 +2,12 @@ ARMING_CHECK,1 # Perform all arming checks. If you have a problem fix its sourc ATC_RAT_PIT_SMAX,25 # want to keep it default and then check with developers to limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html ATC_RAT_RLL_SMAX,25 # want to keep it default and then check with developers to limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html ATC_RAT_YAW_SMAX,25 # want to keep it default and then check with developers to limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html +FENCE_ACTION,3 +FENCE_ALT_MAX,300 # AS PER OUR REGION AND REQUIRNMENTS +FENCE_ENABLE,1 +FENCE_RADIUS,5500 # SIYI MK32 GIVES A GOOD RANGE OF 8KMS AND DNDURANCE OF DRONE IS 10KM RADIUS SO WANT TO KEEP A GOOD MARGIN FOR BOTH CASES FENCE_TYPE,3 # RANGE AND max altitude FS_EKF_ACTION,2 # I WOULD WANT IT TO BE STABILIZED IN ALT MODE AND NOT LAND IN NO MAN LAND LAND_ALT_LOW,500 # I WANT IT TO SLOW DOWN LATER ENOUGH SPACE AND DUAL GPS PSC_ACCZ_SMAX,1000 # want to keep it default and then check with developers to limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html RTL_ALT,10000 # This vehicle WILL FLY IN TERRAIN AREA AT TIMES -FENCE_ALT_MAX,300 # AS PER OUR REGION AND REQUIRNMENTS -FENCE_RADIUS,5500 # SIYI MK32 GIVES A GOOD RANGE OF 8KMS AND DNDURANCE OF DRONE IS 10KM RADIUS SO WANT TO KEEP A GOOD MARGIN FOR BOTH CASES -FENCE_ACTION,3 -FENCE_ENABLE,1 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/29_motor_notch_filter_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/29_motor_notch_filter_results.param index b821eb405..ea81c3aa9 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/29_motor_notch_filter_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/29_motor_notch_filter_results.param @@ -1,3 +1,8 @@ +ATC_RAT_PIT_FLTD,10 # INS_GYRO_FILTER / 2 +ATC_RAT_PIT_FLTT,10 # INS_GYRO_FILTER / 2 +ATC_RAT_RLL_FLTD,10 # INS_GYRO_FILTER / 2 +ATC_RAT_RLL_FLTT,10 # INS_GYRO_FILTER / 2 +ATC_RAT_YAW_FLTT,10 # INS_GYRO_FILTER / 2 INS_GYRO_FILTER,20 # as per initial parameter config INS_HNTCH_ATT,20 # just enough to filter the noise created by the motors/propellers INS_HNTCH_BW,9 # just enough to filter the noise created by the motors/propellers @@ -7,8 +12,3 @@ INS_HNTCH_HMNCS,3 # only the first two peaks are above -50dB after filtering INS_HNTCH_OPTS,2 # ESC telemetry delivers per motor RPM so use it to improve filter tracking INS_HNTCH_REF,1 # Using ESC RPM data from ESC telemetry to track noise LOG_BITMASK,145118 # Log all but fast att, Nav, Mission, OF, camera, fast IMU, raw, IMU, video stabilization. These are not needed now -ATC_RAT_PIT_FLTD,10 # INS_GYRO_FILTER / 2 -ATC_RAT_PIT_FLTT,10 # INS_GYRO_FILTER / 2 -ATC_RAT_RLL_FLTD,10 # INS_GYRO_FILTER / 2 -ATC_RAT_RLL_FLTT,10 # INS_GYRO_FILTER / 2 -ATC_RAT_YAW_FLTT,10 # INS_GYRO_FILTER / 2 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/vehicle_components.json index 86f8784bc..9f7120154 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/vehicle_components.json @@ -190,6 +190,6 @@ "Notes": "mk32 COMBO RADIO" } }, - "Program version": "4.4.4", + "Program version": "5.0.1", "Configuration template": "Hoverit_X11+" } diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/03_imu_temperature_calibration_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/03_imu_temperature_calibration_results.param index a63406e66..1101052c1 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/03_imu_temperature_calibration_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/03_imu_temperature_calibration_results.param @@ -1,3 +1,5 @@ +INS_ACC1_CALTEMP,47.705315 +INS_ACC2_CALTEMP,48.412403 INS_TCAL1_ACC1_X,-981.931577 INS_TCAL1_ACC1_Y,501.824409 INS_TCAL1_ACC1_Z,-2205.525175 @@ -61,5 +63,3 @@ INS_TCAL3_GYR3_Y,-1.9217 INS_TCAL3_GYR3_Z,-0.397194 INS_TCAL3_TMAX,0.2 INS_TCAL3_TMIN,-9.7 -INS_ACC1_CALTEMP,47.705315 -INS_ACC2_CALTEMP,48.412403 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/06_remote_controller_controller.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/06_remote_controller_controller.param index bee70649a..e68db1fad 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/06_remote_controller_controller.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/06_remote_controller_controller.param @@ -1,14 +1,10 @@ ARMING_RUDDER,2 # IS EASIER TO ARM AND DISARM A DRONE FROM A SAFE DISTANCE WITHOUT A GCS OR A RC SWITCH/ SAFER BECAUSE LESS CHANCES TO DISARM DRONE IN AIR VIA GCS OR SWITCH -RC10_OPTION,0 -RC6_OPTION,0 -RC7_OPTION,0 -RC8_OPTION,0 -RC9_OPTION,300 # trigger lua script execution (magFit and quicktune) RC1_MAX,1945 # RADIO CALIBRATION MK32 RC1_MIN,1045 # RADIO CALIBRATION MK32 RC1_TRIM,1495 # RADIO CALIBRATION MK32 RC10_MAX,1895 # RADIO CALIBRATION MK32 RC10_MIN,1425 # RADIO CALIBRATION MK32 +RC10_OPTION,0 RC10_TRIM,1425 # RADIO CALIBRATION MK32 RC2_MAX,1945 # RADIO CALIBRATION MK32 RC2_MIN,1045 # RADIO CALIBRATION MK32 @@ -24,13 +20,17 @@ RC5_MIN,1045 # RADIO CALIBRATION MK32 RC5_TRIM,1045 # RADIO CALIBRATION MK32 RC6_MAX,1945 # RADIO CALIBRATION MK32 RC6_MIN,1045 # RADIO CALIBRATION MK32 +RC6_OPTION,0 RC6_TRIM,1945 # RADIO CALIBRATION MK32 RC7_MAX,1895 # RADIO CALIBRATION MK32 RC7_MIN,1425 # RADIO CALIBRATION MK32 +RC7_OPTION,0 RC7_TRIM,1425 # RADIO CALIBRATION MK32 RC8_MAX,1945 # RADIO CALIBRATION MK32 RC8_MIN,1045 # RADIO CALIBRATION MK32 +RC8_OPTION,0 RC8_TRIM,1045 # RADIO CALIBRATION MK32 RC9_MAX,1795 # RADIO CALIBRATION MK32 RC9_MIN,1425 # RADIO CALIBRATION MK32 +RC9_OPTION,300 # trigger lua script execution (magFit and quicktune) RC9_TRIM,1425 # RADIO CALIBRATION MK32 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/10_battery.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/10_battery.param index 49df3eb6f..09f34f58c 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/10_battery.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/10_battery.param @@ -7,5 +7,5 @@ BATT_FS_LOW_ACT,2 # Return and land at home or rally point BATT_FS_VOLTSRC,0 BATT_LOW_MAH,0 # Datalink V2 ESC telemetry does provide current measurement, but we do not want to use it BATT_LOW_VOLT,50.4 # Low failsafe voltage x nr. of cells -MOT_BAT_VOLT_MAX,58.799999 # 14S LION PACK -MOT_BAT_VOLT_MIN,46.200001 # AS PER BATTERY SPECS +MOT_BAT_VOLT_MAX,58.8 # Scale the PIDs up when battery voltage is below this threshold +MOT_BAT_VOLT_MIN,46.2 # Scale the PIDs up when battery voltage is above this threshold diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/11_servo_outputs.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/11_servo_outputs.param index ed9c861d4..a525daca9 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/11_servo_outputs.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/11_servo_outputs.param @@ -1,6 +1,6 @@ +FRAME_CLASS,1 # Selected in the component editor +FRAME_TYPE,1 SERVO1_FUNCTION,33 # X13 PLUS MOTOR IS BEING CONTROLLED VIA SERVO LANE AND DATA VIA CAN PORT SERVO2_FUNCTION,34 # X13 PLUS MOTOR IS BEING CONTROLLED VIA SERVO LANE AND DATA VIA CAN PORT SERVO3_FUNCTION,35 # X13 PLUS MOTOR IS BEING CONTROLLED VIA SERVO LANE AND DATA VIA CAN PORT SERVO4_FUNCTION,36 # X13 PLUS MOTOR IS BEING CONTROLLED VIA SERVO LANE AND DATA VIA CAN PORT -FRAME_TYPE,1 -FRAME_CLASS,1 # Selected in the component editor diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/13_initial_atc.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/13_initial_atc.param index 992d7f726..65739e468 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/13_initial_atc.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/13_initial_atc.param @@ -15,4 +15,4 @@ ATC_THR_MIX_MAN,0.1 # Value for the first couple of flights will be changed lat INS_ACCEL_FILTER,10 # The default is 20Hz but that is too high in most situations INS_GYRO_FILTER,20 # Derived from vehicle component editor propeller size MOT_THST_EXPO,0.8 # Derived from vehicle component editor propeller size -MOT_THST_HOVER,0.13 # WHEN THE DRONE IS WITHOUT ANY ADDITIONAL PAYLOAD THE HOVER THST IS REALLY LOW +MOT_THST_HOVER,0.2 # Hover learn will improve this initial guess diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/16_accelerometer_calibration.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/16_accelerometer_calibration.param index 15e15c474..40f820474 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/16_accelerometer_calibration.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/16_accelerometer_calibration.param @@ -1,26 +1,26 @@ +AHRS_TRIM_X,0 +AHRS_TRIM_Y,0 AHRS_TRIM_Z,0 +INS_ACC1_CALTEMP,47.705315 +INS_ACC2_CALTEMP,48.412403 INS_ACC2OFFS_X,0 INS_ACC2OFFS_Y,0 INS_ACC2OFFS_Z,0 +INS_ACC2SCAL_X,1 +INS_ACC2SCAL_Y,1 +INS_ACC2SCAL_Z,1 INS_ACC3_CALTEMP,-300 INS_ACC3OFFS_X,0 INS_ACC3OFFS_Y,0 INS_ACC3OFFS_Z,0 -INS_ACCOFFS_X,0 -INS_ACCOFFS_Y,0 -INS_ACCOFFS_Z,0 -INS_USE2,1 -INS_ACC2SCAL_X,1 -INS_ACC2SCAL_Y,1 -INS_ACC2SCAL_Z,1 INS_ACC3SCAL_X,1 INS_ACC3SCAL_Y,1 INS_ACC3SCAL_Z,1 +INS_ACCOFFS_X,0 +INS_ACCOFFS_Y,0 +INS_ACCOFFS_Z,0 INS_ACCSCAL_X,1 INS_ACCSCAL_Y,1 INS_ACCSCAL_Z,1 +INS_USE2,1 INS_USE3,1 -INS_ACC1_CALTEMP,47.705315 -INS_ACC2_CALTEMP,48.412403 -AHRS_TRIM_X,0 -AHRS_TRIM_Y,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/22_flight_modes.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/22_flight_modes.param index 891ab49a9..da01befa2 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/22_flight_modes.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/22_flight_modes.param @@ -1,7 +1,7 @@ -INITIAL_MODE,0 FLTMODE1,0 FLTMODE2,0 FLTMODE3,2 FLTMODE4,2 FLTMODE5,5 FLTMODE6,5 +INITIAL_MODE,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/24_safety_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/24_safety_setup.param index e3af31f8d..c160ef118 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/24_safety_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/24_safety_setup.param @@ -2,12 +2,12 @@ ARMING_CHECK,1 # Perform all arming checks. If you have a problem fix its sourc ATC_RAT_PIT_SMAX,25 # want to keep it default and then check with developers to limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html ATC_RAT_RLL_SMAX,25 # want to keep it default and then check with developers to limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html ATC_RAT_YAW_SMAX,25 # want to keep it default and then check with developers to limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html +FENCE_ACTION,3 +FENCE_ALT_MAX,300 # AS PER OUR REGION AND REQUIRNMENTS +FENCE_ENABLE,1 +FENCE_RADIUS,5500 # SIYI MK32 GIVES A GOOD RANGE OF 8KMS AND DNDURANCE OF DRONE IS 10KM RADIUS SO WANT TO KEEP A GOOD MARGIN FOR BOTH CASES FENCE_TYPE,3 # RANGE AND max altitude FS_EKF_ACTION,2 # I WOULD WANT IT TO BE STABILIZED IN ALT MODE AND NOT LAND IN NO MAN LAND LAND_ALT_LOW,500 # I WANT IT TO SLOW DOWN LATER ENOUGH SPACE AND DUAL GPS PSC_ACCZ_SMAX,1000 # want to keep it default and then check with developers to limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html RTL_ALT,10000 # This vehicle WILL FLY IN TERRAIN AREA AT TIMES -FENCE_ALT_MAX,300 # AS PER OUR REGION AND REQUIRNMENTS -FENCE_RADIUS,5500 # SIYI MK32 GIVES A GOOD RANGE OF 8KMS AND DNDURANCE OF DRONE IS 10KM RADIUS SO WANT TO KEEP A GOOD MARGIN FOR BOTH CASES -FENCE_ACTION,3 -FENCE_ENABLE,1 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/29_motor_notch_filter_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/29_motor_notch_filter_results.param index 73327c9f6..7f80a189e 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/29_motor_notch_filter_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/29_motor_notch_filter_results.param @@ -1,3 +1,8 @@ +ATC_RAT_PIT_FLTD,10 # INS_GYRO_FILTER / 2 +ATC_RAT_PIT_FLTT,10 # INS_GYRO_FILTER / 2 +ATC_RAT_RLL_FLTD,10 # INS_GYRO_FILTER / 2 +ATC_RAT_RLL_FLTT,10 # INS_GYRO_FILTER / 2 +ATC_RAT_YAW_FLTT,10 # INS_GYRO_FILTER / 2 INS_GYRO_FILTER,20 # as per initial parameter config INS_HNTCH_ATT,30 # just enough to filter the noise created by the motors/propellers INS_HNTCH_BW,11 # just enough to filter the noise created by the motors/propellers @@ -6,8 +11,3 @@ INS_HNTCH_FREQ,43 # central hover frequency noise peak INS_HNTCH_HMNCS,3 # only the first two peaks are above -50 dB after filtering INS_HNTCH_OPTS,2 # ESC telemetry delivers per motor RPM so use it to improve filter tracking INS_HNTCH_REF,1 # Using ESC RPM data from ESC telemetry to track noise -ATC_RAT_PIT_FLTD,10 # INS_GYRO_FILTER / 2 -ATC_RAT_PIT_FLTT,10 # INS_GYRO_FILTER / 2 -ATC_RAT_RLL_FLTD,10 # INS_GYRO_FILTER / 2 -ATC_RAT_RLL_FLTT,10 # INS_GYRO_FILTER / 2 -ATC_RAT_YAW_FLTT,10 # INS_GYRO_FILTER / 2 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/vehicle_components.json index be9b51f9b..401fdd522 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/vehicle_components.json @@ -190,6 +190,6 @@ "Notes": "mk32 COMBO RADIO" } }, - "Program version": "4.4.4", + "Program version": "5.0.1", "Configuration template": "Hoverit_X11+" } diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/03_imu_temperature_calibration_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/03_imu_temperature_calibration_results.param index cc12341a4..a187db6f1 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/03_imu_temperature_calibration_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/03_imu_temperature_calibration_results.param @@ -1,3 +1,5 @@ +INS_ACC1_CALTEMP,45.77295 +INS_ACC2_CALTEMP,42.3913 INS_TCAL1_ACC1_X,115.946591 INS_TCAL1_ACC1_Y,498.256973 INS_TCAL1_ACC1_Z,-381.446152 @@ -40,5 +42,3 @@ INS_TCAL2_GYR3_Y,-0.002373 INS_TCAL2_GYR3_Z,-0.028351 INS_TCAL2_TMAX,56.5 INS_TCAL2_TMIN,-13.3 -INS_ACC1_CALTEMP,45.77295 -INS_ACC2_CALTEMP,42.3913 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/06_remote_controller_controller.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/06_remote_controller_controller.param index 4a85d7692..ed9b2f82a 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/06_remote_controller_controller.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/06_remote_controller_controller.param @@ -1,8 +1,4 @@ ARMING_RUDDER,2 -RC6_OPTION,0 -RC7_OPTION,0 -RC8_OPTION,4 -RC9_OPTION,31 # To stop all motors immediately if the vehicle starts moving dangerously RC1_MAX,2010 RC1_MIN,988 RC1_TRIM,1500 @@ -20,13 +16,17 @@ RC5_MIN,1110 RC5_TRIM,1871 RC6_MAX,2010 RC6_MIN,987 +RC6_OPTION,0 RC6_TRIM,987 RC7_MAX,2010 RC7_MIN,987 +RC7_OPTION,0 RC7_TRIM,987 RC8_MAX,2010 RC8_MIN,987 +RC8_OPTION,4 RC8_TRIM,987 RC9_MAX,2010 RC9_MIN,987 +RC9_OPTION,31 # To stop all motors immediately if the vehicle starts moving dangerously RC9_TRIM,987 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/10_battery.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/10_battery.param index cd190a867..0fcc01133 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/10_battery.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/10_battery.param @@ -7,5 +7,5 @@ BATT_FS_LOW_ACT,2 # Return and land at home or rally point BATT_FS_VOLTSRC,1 # Let the firmware handle the nasty business of variable and battery dependent internal resistance BATT_LOW_MAH,300 # When only 300mAh out of the total 1400mAh remain, trigger low failsafe BATT_LOW_VOLT,21.6 # Low failsafe voltage x nr. of cells -MOT_BAT_VOLT_MAX,25.2 -MOT_BAT_VOLT_MIN,19.8 +MOT_BAT_VOLT_MAX,25.2 # Scale the PIDs up when battery voltage is below this threshold +MOT_BAT_VOLT_MIN,19.8 # Scale the PIDs up when battery voltage is above this threshold diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/11_servo_outputs.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/11_servo_outputs.param index c69bb49be..d123323f2 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/11_servo_outputs.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/11_servo_outputs.param @@ -1,6 +1,6 @@ +FRAME_CLASS,1 # Selected in the component editor +FRAME_TYPE,12 SERVO1_FUNCTION,34 SERVO2_FUNCTION,33 SERVO3_FUNCTION,36 SERVO4_FUNCTION,35 -FRAME_TYPE,12 -FRAME_CLASS,1 # Selected in the component editor diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/13_initial_atc.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/13_initial_atc.param index 615a5c016..76c0e7b78 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/13_initial_atc.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/13_initial_atc.param @@ -15,4 +15,4 @@ ATC_THR_MIX_MAN,0.1 # Value for the first couple of flights will be changed lat INS_ACCEL_FILTER,10 # The default is 20Hz but that is too high in most situations INS_GYRO_FILTER,75 # Derived from vehicle component editor propeller size MOT_THST_EXPO,0.49 # Derived from vehicle component editor propeller size -MOT_THST_HOVER,0.095 +MOT_THST_HOVER,0.2 # Hover learn will improve this initial guess diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/16_accelerometer_calibration.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/16_accelerometer_calibration.param index d21a04b98..e6e3e1db8 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/16_accelerometer_calibration.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/16_accelerometer_calibration.param @@ -1,26 +1,26 @@ +AHRS_TRIM_X,0.003529 +AHRS_TRIM_Y,-0.029776 AHRS_TRIM_Z,0 +INS_ACC1_CALTEMP,45.77295 +INS_ACC2_CALTEMP,42.3913 INS_ACC2OFFS_X,0 INS_ACC2OFFS_Y,0 INS_ACC2OFFS_Z,0 +INS_ACC2SCAL_X,0.999079 +INS_ACC2SCAL_Y,0.996705 +INS_ACC2SCAL_Z,0.997806 INS_ACC3_CALTEMP,-300 INS_ACC3OFFS_X,0 INS_ACC3OFFS_Y,0 INS_ACC3OFFS_Z,0 -INS_ACCOFFS_X,0 -INS_ACCOFFS_Y,0 -INS_ACCOFFS_Z,0 -INS_USE2,1 -INS_ACC2SCAL_X,0.999079 -INS_ACC2SCAL_Y,0.996705 -INS_ACC2SCAL_Z,0.997806 INS_ACC3SCAL_X,0 INS_ACC3SCAL_Y,0 INS_ACC3SCAL_Z,0 +INS_ACCOFFS_X,0 +INS_ACCOFFS_Y,0 +INS_ACCOFFS_Z,0 INS_ACCSCAL_X,0.997226 INS_ACCSCAL_Y,0.999176 INS_ACCSCAL_Z,0.998247 +INS_USE2,1 INS_USE3,1 -INS_ACC1_CALTEMP,45.77295 -INS_ACC2_CALTEMP,42.3913 -AHRS_TRIM_X,0.003529 -AHRS_TRIM_Y,-0.029776 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/22_flight_modes.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/22_flight_modes.param index 82d413337..68ca2529c 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/22_flight_modes.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/22_flight_modes.param @@ -1,7 +1,7 @@ -INITIAL_MODE,0 FLTMODE1,1 FLTMODE2,0 FLTMODE3,0 FLTMODE4,0 FLTMODE5,2 FLTMODE6,5 +INITIAL_MODE,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/24_safety_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/24_safety_setup.param index 4f99d0c2a..240611e5b 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/24_safety_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/24_safety_setup.param @@ -2,11 +2,11 @@ ARMING_CHECK,1 # Perform all arming checks. If you have a problem fix its sourc ATC_RAT_PIT_SMAX,40 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html ATC_RAT_RLL_SMAX,40 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html ATC_RAT_YAW_SMAX,30 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html +FENCE_ACTION,1 +FENCE_ALT_MAX,100 +FENCE_ENABLE,0 +FENCE_RADIUS,300 FENCE_TYPE,7 # cylinder and max altitude, to obey local regulations and safety measures LAND_ALT_LOW,1000 # The default is OK PSC_ACCZ_SMAX,0 # No slew rate limit on throttle controller RTL_ALT,2000 # The default is too low for the kind of flights we do. -FENCE_ALT_MAX,100 -FENCE_RADIUS,300 -FENCE_ACTION,1 -FENCE_ENABLE,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/29_motor_notch_filter_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/29_motor_notch_filter_results.param index fea84ea55..df66ffe52 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/29_motor_notch_filter_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/29_motor_notch_filter_results.param @@ -1,12 +1,12 @@ -INS_HNTCH_ATT,40 # just enough to filter the noise created by the motors/propellers -INS_HNTCH_BW,8 # just enough to filter the noise created by the motors/propellers -INS_HNTCH_FM_RAT,1 # Allowed undercutting of the base frequency of the first notch filter -INS_HNTCH_FREQ,40 # the minimum frequency that the motors are expected to operate at -INS_HNTCH_HMNCS,7 # the motors produce harmonics on this vehicle -INS_HNTCH_OPTS,22 # Triple Notch per motor, update at loop rate ATC_RAT_PIT_FLTD,90 # INS_GYRO_FILTER / 2 ATC_RAT_PIT_FLTT,30 # INS_GYRO_FILTER / 2 ATC_RAT_RLL_FLTD,90 # INS_GYRO_FILTER / 2 ATC_RAT_RLL_FLTT,30 # INS_GYRO_FILTER / 2 ATC_RAT_YAW_FLTT,30 # INS_GYRO_FILTER / 2 INS_GYRO_FILTER,180 +INS_HNTCH_ATT,40 # just enough to filter the noise created by the motors/propellers +INS_HNTCH_BW,8 # just enough to filter the noise created by the motors/propellers +INS_HNTCH_FM_RAT,1 # Allowed undercutting of the base frequency of the first notch filter +INS_HNTCH_FREQ,40 # the minimum frequency that the motors are expected to operate at +INS_HNTCH_HMNCS,7 # the motors produce harmonics on this vehicle +INS_HNTCH_OPTS,22 # Triple Notch per motor, update at loop rate diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/vehicle_components.json index ef3370ba8..7e7088908 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Marmotte5v2/vehicle_components.json @@ -190,5 +190,5 @@ "Notes": "A cheap WiFi alternative to the more commonly used 3DR and RFDesigns telemetry modems" } }, - "Program version": "4.4.4" + "Program version": "5.0.1" } diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/03_imu_temperature_calibration_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/03_imu_temperature_calibration_results.param index cce55b0ee..f50b131ed 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/03_imu_temperature_calibration_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/03_imu_temperature_calibration_results.param @@ -1,3 +1,5 @@ +INS_ACC1_CALTEMP,22.206173 +INS_ACC2_CALTEMP,21.331842 INS_TCAL1_ACC1_X,2220.411335 INS_TCAL1_ACC1_Y,-3058.332779 INS_TCAL1_ACC1_Z,2526.895511 @@ -61,5 +63,3 @@ INS_TCAL3_GYR3_Y,-0.036498 INS_TCAL3_GYR3_Z,0.071622 INS_TCAL3_TMAX,49.8 INS_TCAL3_TMIN,-5.7 -INS_ACC1_CALTEMP,22.206173 -INS_ACC2_CALTEMP,21.331842 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/06_remote_controller_controller.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/06_remote_controller_controller.param index 4ee0d67cf..8602f4607 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/06_remote_controller_controller.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/06_remote_controller_controller.param @@ -1,4 +1,7 @@ +RC1_MAX,1900 +RC1_MIN,1100 RC1_OPTION,0 +RC1_TRIM,1500 RC10_OPTION,17 # Autotune RC11_OPTION,0 RC12_OPTION,0 @@ -6,38 +9,35 @@ RC13_OPTION,300 # Scripting RC14_OPTION,0 RC15_OPTION,0 RC16_OPTION,0 -RC2_OPTION,0 -RC3_OPTION,0 -RC4_OPTION,0 -RC5_OPTION,0 -RC6_OPTION,0 -RC7_OPTION,4 # RTL -RC8_OPTION,18 # Land -RC9_OPTION,0 -RC1_MAX,1900 -RC1_MIN,1100 -RC1_TRIM,1500 RC2_MAX,1900 RC2_MIN,1100 +RC2_OPTION,0 RC2_TRIM,1500 RC3_MAX,1900 RC3_MIN,1100 +RC3_OPTION,0 RC3_TRIM,1500 RC4_MAX,1900 RC4_MIN,1100 +RC4_OPTION,0 RC4_TRIM,1500 RC5_MAX,1900 RC5_MIN,1100 +RC5_OPTION,0 RC5_TRIM,1500 RC6_MAX,1900 RC6_MIN,1100 +RC6_OPTION,0 RC6_TRIM,1500 RC7_MAX,1900 RC7_MIN,1100 +RC7_OPTION,4 # RTL RC7_TRIM,1500 RC8_MAX,1900 RC8_MIN,1100 +RC8_OPTION,18 # Land RC8_TRIM,1500 RC9_MAX,1900 RC9_MIN,1100 +RC9_OPTION,0 RC9_TRIM,1500 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/10_battery.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/10_battery.param index 44996c14f..a5c9ccb80 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/10_battery.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/10_battery.param @@ -7,5 +7,5 @@ BATT_FS_LOW_ACT,2 # Return and land at home or rally point BATT_FS_VOLTSRC,1 # Let the firmware handle the nasty business of variable and battery dependent internal resistance BATT_LOW_MAH,2000 # trigger low failsafe just below 33% remaining BATT_LOW_VOLT,21.6 # Low failsafe voltage x nr. of cells -MOT_BAT_VOLT_MAX,26.1 -MOT_BAT_VOLT_MIN,19.799999 +MOT_BAT_VOLT_MAX,26.1 # Scale the PIDs up when battery voltage is below this threshold +MOT_BAT_VOLT_MIN,19.8 # Scale the PIDs up when battery voltage is above this threshold diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/11_servo_outputs.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/11_servo_outputs.param index 743b69b2a..936e855b8 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/11_servo_outputs.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/11_servo_outputs.param @@ -1,6 +1,6 @@ +FRAME_CLASS,1 # Selected in the component editor +FRAME_TYPE,1 SERVO1_FUNCTION,0 SERVO2_FUNCTION,0 SERVO3_FUNCTION,0 SERVO4_FUNCTION,0 -FRAME_TYPE,1 -FRAME_CLASS,1 # Selected in the component editor diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/13_initial_atc.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/13_initial_atc.param index 60f8764df..c06f1f90c 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/13_initial_atc.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/13_initial_atc.param @@ -15,4 +15,4 @@ ATC_THR_MIX_MAN,0.1 # Value for the first couple of flights will be changed lat INS_ACCEL_FILTER,10 # The default is 20Hz but that is too high in most situations INS_GYRO_FILTER,39 # Derived from vehicle component editor propeller size MOT_THST_EXPO,0.61 # Derived from vehicle component editor propeller size -MOT_THST_HOVER,0.2 +MOT_THST_HOVER,0.2 # Hover learn will improve this initial guess diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/16_accelerometer_calibration.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/16_accelerometer_calibration.param index f8863327a..04eea983b 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/16_accelerometer_calibration.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/16_accelerometer_calibration.param @@ -1,26 +1,26 @@ +AHRS_TRIM_X,-0.013559 +AHRS_TRIM_Y,-0.011209 AHRS_TRIM_Z,0 +INS_ACC1_CALTEMP,22.206173 +INS_ACC2_CALTEMP,21.331842 INS_ACC2OFFS_X,0 INS_ACC2OFFS_Y,0 INS_ACC2OFFS_Z,0 +INS_ACC2SCAL_X,0.997637 +INS_ACC2SCAL_Y,0.999714 +INS_ACC2SCAL_Z,0.996573 INS_ACC3_CALTEMP,-300 INS_ACC3OFFS_X,0 INS_ACC3OFFS_Y,0 INS_ACC3OFFS_Z,0 -INS_ACCOFFS_X,0 -INS_ACCOFFS_Y,0 -INS_ACCOFFS_Z,0 -INS_USE2,1 -INS_ACC2SCAL_X,0.997637 -INS_ACC2SCAL_Y,0.999714 -INS_ACC2SCAL_Z,0.996573 INS_ACC3SCAL_X,0.9996 INS_ACC3SCAL_Y,0.998437 INS_ACC3SCAL_Z,0.993946 +INS_ACCOFFS_X,0 +INS_ACCOFFS_Y,0 +INS_ACCOFFS_Z,0 INS_ACCSCAL_X,0.999844 INS_ACCSCAL_Y,1.042271 INS_ACCSCAL_Z,0.998003 +INS_USE2,1 INS_USE3,1 -INS_ACC1_CALTEMP,22.206173 -INS_ACC2_CALTEMP,21.331842 -AHRS_TRIM_X,-0.013559 -AHRS_TRIM_Y,-0.011209 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/22_flight_modes.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/22_flight_modes.param index 1854842c0..21e225593 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/22_flight_modes.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/22_flight_modes.param @@ -1,7 +1,7 @@ -INITIAL_MODE,0 FLTMODE1,0 # stabilize FLTMODE2,2 # alt hold FLTMODE3,5 # loiter FLTMODE4,0 # stabilize (future use) FLTMODE5,0 # stabilize (future use) FLTMODE6,0 # stabilize (future use) +INITIAL_MODE,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/24_safety_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/24_safety_setup.param index 1528b4c60..dcfedb4af 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/24_safety_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/24_safety_setup.param @@ -2,11 +2,11 @@ ARMING_CHECK,1 # Perform all arming checks. If you have a problem fix its sourc ATC_RAT_PIT_SMAX,25 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html ATC_RAT_RLL_SMAX,25 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html ATC_RAT_YAW_SMAX,25 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html +FENCE_ACTION,3 +FENCE_ALT_MAX,120 +FENCE_ENABLE,1 +FENCE_RADIUS,150 FENCE_TYPE,7 # cylinder and max altitude, to obey local regulations and safety measures LAND_ALT_LOW,1000 PSC_ACCZ_SMAX,25 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html RTL_ALT,1500 -FENCE_ALT_MAX,120 -FENCE_RADIUS,150 -FENCE_ACTION,3 -FENCE_ENABLE,1 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/29_motor_notch_filter_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/29_motor_notch_filter_results.param index 406afb43b..c8fc5bb82 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/29_motor_notch_filter_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/29_motor_notch_filter_results.param @@ -1,12 +1,12 @@ -INS_HNTCH_ATT,20 # just enough to filter the noise created by the motors/propellers -INS_HNTCH_BW,20 # just enough to filter the noise created by the motors/propellers -INS_HNTCH_FM_RAT,1 # Allowed undercutting of the base frequency of the first notch filter -INS_HNTCH_FREQ,50 # the minimum frequency that the motors are expected to operate at -INS_HNTCH_HMNCS,1 # the motors produce secondary harmonics on this vehicle -INS_HNTCH_OPTS,6 # One Notch per motor, update at loop rate ATC_RAT_PIT_FLTD,19.5 # INS_GYRO_FILTER / 2 ATC_RAT_PIT_FLTT,19.5 # INS_GYRO_FILTER / 2 ATC_RAT_RLL_FLTD,19.5 # INS_GYRO_FILTER / 2 ATC_RAT_RLL_FLTT,19.5 # INS_GYRO_FILTER / 2 ATC_RAT_YAW_FLTT,19.5 # INS_GYRO_FILTER / 2 INS_GYRO_FILTER,39 +INS_HNTCH_ATT,20 # just enough to filter the noise created by the motors/propellers +INS_HNTCH_BW,20 # just enough to filter the noise created by the motors/propellers +INS_HNTCH_FM_RAT,1 # Allowed undercutting of the base frequency of the first notch filter +INS_HNTCH_FREQ,50 # the minimum frequency that the motors are expected to operate at +INS_HNTCH_HMNCS,1 # the motors produce secondary harmonics on this vehicle +INS_HNTCH_OPTS,6 # One Notch per motor, update at loop rate diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/vehicle_components.json index 3e4c2fe69..1f938e9c5 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/ReadyToSkyZD550/vehicle_components.json @@ -190,5 +190,5 @@ "Notes": "" } }, - "Program version": "4.4.4" + "Program version": "5.0.1" } diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/03_imu_temperature_calibration_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/03_imu_temperature_calibration_results.param index c9bfc5b16..60937a1af 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/03_imu_temperature_calibration_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/03_imu_temperature_calibration_results.param @@ -1,3 +1,5 @@ +INS_ACC1_CALTEMP,-300 +INS_ACC2_CALTEMP,-300 INS_TCAL1_ACC1_X,1393.313447 INS_TCAL1_ACC1_Y,260.532235 INS_TCAL1_ACC1_Z,-1218.879163 @@ -40,5 +42,3 @@ INS_TCAL2_GYR3_Y,-0.064316 INS_TCAL2_GYR3_Z,0.038994 INS_TCAL2_TMAX,51.4 INS_TCAL2_TMIN,-0.1 -INS_ACC1_CALTEMP,-300 -INS_ACC2_CALTEMP,-300 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/06_remote_controller_controller.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/06_remote_controller_controller.param index e01163093..eff28f06d 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/06_remote_controller_controller.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/06_remote_controller_controller.param @@ -1,15 +1,10 @@ ARMING_RUDDER,2 # It's was arming method from begin so I keep it -RC10_OPTION,0 -RC5_OPTION,0 # Can change to ArmorDisarm but I'll leaveit to avoid another MagFit Crash. -RC6_OPTION,0 # I use this for the flight mode selection at FLTMODE_CH. -RC7_OPTION,301 # SCRIPTING2 to do quicktune without MAVLink connection -RC8_OPTION,18 # 18, LAND Mode -RC9_OPTION,300 # SCRIPTING1 to do MagFit without MAVLink connection RC1_MAX,1900 RC1_MIN,1100 RC1_TRIM,1500 RC10_MAX,1900 RC10_MIN,1100 +RC10_OPTION,0 RC10_TRIM,1500 RC2_MAX,1900 RC2_MIN,1100 @@ -22,16 +17,21 @@ RC4_MIN,1100 RC4_TRIM,1500 RC5_MAX,1900 RC5_MIN,1100 +RC5_OPTION,0 # Can change to ArmorDisarm but I'll leaveit to avoid another MagFit Crash. RC5_TRIM,1500 RC6_MAX,1900 RC6_MIN,1100 +RC6_OPTION,0 # I use this for the flight mode selection at FLTMODE_CH. RC6_TRIM,1500 RC7_MAX,1900 RC7_MIN,1100 +RC7_OPTION,301 # SCRIPTING2 to do quicktune without MAVLink connection RC7_TRIM,1500 RC8_MAX,1900 RC8_MIN,1100 +RC8_OPTION,18 # 18, LAND Mode RC8_TRIM,1500 RC9_MAX,1900 RC9_MIN,1100 +RC9_OPTION,300 # SCRIPTING1 to do MagFit without MAVLink connection RC9_TRIM,1500 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/10_battery.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/10_battery.param index a05626304..e0eafe6f9 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/10_battery.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/10_battery.param @@ -7,5 +7,5 @@ BATT_FS_LOW_ACT,2 # Return and land at home or rally point BATT_FS_VOLTSRC,0 BATT_LOW_MAH,100 # Fail-safe needs to be responsive at 1000 mAh, no risk taking BATT_LOW_VOLT,21 # Low failsafe voltage x nr. of cells -MOT_BAT_VOLT_MAX,25.200001 -MOT_BAT_VOLT_MIN,20.700001 +MOT_BAT_VOLT_MAX,25.2 # Scale the PIDs up when battery voltage is below this threshold +MOT_BAT_VOLT_MIN,20.7 # Scale the PIDs up when battery voltage is above this threshold diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/11_servo_outputs.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/11_servo_outputs.param index dd1417bfa..879872ccb 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/11_servo_outputs.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/11_servo_outputs.param @@ -1,3 +1,5 @@ +FRAME_CLASS,2 # Selected in the component editor +FRAME_TYPE,1 SERVO1_FUNCTION,34 SERVO10_FUNCTION,22 SERVO2_FUNCTION,35 @@ -5,5 +7,3 @@ SERVO3_FUNCTION,33 SERVO4_FUNCTION,37 SERVO5_FUNCTION,36 SERVO6_FUNCTION,38 -FRAME_TYPE,1 -FRAME_CLASS,2 # Selected in the component editor diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/13_initial_atc.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/13_initial_atc.param index 4c2cf3365..accea8d3b 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/13_initial_atc.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/13_initial_atc.param @@ -15,4 +15,4 @@ ATC_THR_MIX_MAN,0.1 # Value for the first couple of flights will be changed lat INS_ACCEL_FILTER,10 # The default is 20Hz but that is too high in most situations INS_GYRO_FILTER,42 # Derived from vehicle component editor propeller size MOT_THST_EXPO,0.6 # Derived from vehicle component editor propeller size -MOT_THST_HOVER,0.09 +MOT_THST_HOVER,0.2 # Hover learn will improve this initial guess diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/16_accelerometer_calibration.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/16_accelerometer_calibration.param index 455b460d1..f4869fd09 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/16_accelerometer_calibration.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/16_accelerometer_calibration.param @@ -1,26 +1,26 @@ +AHRS_TRIM_X,0.001169 +AHRS_TRIM_Y,0.005876 AHRS_TRIM_Z,0 +INS_ACC1_CALTEMP,-300 +INS_ACC2_CALTEMP,-300 INS_ACC2OFFS_X,0 INS_ACC2OFFS_Y,0 INS_ACC2OFFS_Z,0 +INS_ACC2SCAL_X,1 +INS_ACC2SCAL_Y,1 +INS_ACC2SCAL_Z,1 INS_ACC3_CALTEMP,-300 INS_ACC3OFFS_X,0 INS_ACC3OFFS_Y,0 INS_ACC3OFFS_Z,0 -INS_ACCOFFS_X,0 -INS_ACCOFFS_Y,0 -INS_ACCOFFS_Z,0 -INS_USE2,1 -INS_USE3,1 -INS_ACC2SCAL_X,1 -INS_ACC2SCAL_Y,1 -INS_ACC2SCAL_Z,1 INS_ACC3SCAL_X,0 INS_ACC3SCAL_Y,0 INS_ACC3SCAL_Z,0 +INS_ACCOFFS_X,0 +INS_ACCOFFS_Y,0 +INS_ACCOFFS_Z,0 INS_ACCSCAL_X,1 INS_ACCSCAL_Y,1 INS_ACCSCAL_Z,1 -INS_ACC1_CALTEMP,-300 -INS_ACC2_CALTEMP,-300 -AHRS_TRIM_X,0.001169 -AHRS_TRIM_Y,0.005876 +INS_USE2,1 +INS_USE3,1 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/22_flight_modes.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/22_flight_modes.param index cf5fa2783..f04b15b01 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/22_flight_modes.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/22_flight_modes.param @@ -1,7 +1,7 @@ -INITIAL_MODE,0 FLTMODE1,0 FLTMODE2,2 FLTMODE3,2 FLTMODE4,5 FLTMODE5,0 FLTMODE6,3 +INITIAL_MODE,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/23_general_configuration.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/23_general_configuration.param index 653731443..d95a59786 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/23_general_configuration.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/23_general_configuration.param @@ -1,16 +1,12 @@ AUTO_OPTIONS,1 # Allow arming in auto to avoid another disaster... WARNING, must be CAREFUL to be away from vehicle BRD_RTC_TZ_MIN,0 # UTC EK3_SRC1_POSZ,1 # Use the default, it is safer, only barometer will be used +FLOW_TYPE,0 # Change to 5 to enable Optical Flow INS_ACCEL_FILTER,10 # the default is 20 and that lets too much noise in INS_POS1_X,0 INS_POS1_Y,0 INS_POS2_X,0 INS_POS2_Y,0 -RTL_LOIT_TIME,5000 # The default is too long. This reduces the time -SCHED_LOOP_RATE,400 # Stay on default loop rate, this is a slow vehicle -SCR_ENABLE,1 # Use lua scripting for VTOL-Quicktune, MagFit automation and wind speed estimation automation -SERIAL7_PROTOCOL,16 # 16, ESC Telemetry -FLOW_TYPE,0 # Change to 5 to enable Optical Flow RNGFND1_MAX_CM,800 # from MicoAir guide RNGFND1_MIN_CM,1 # from MicoAir guide RNGFND1_ORIENT,25 # 25, Down, for altitude and optical flow. @@ -21,7 +17,10 @@ RNGFND2_MAX_CM,360 # 3.6m max according to docs RNGFND2_MIN_CM,5 # docs say 0.05 but I think that is meters RNGFND2_SCALING,1 # Scaling factor between reading and distance (for analog readings?) RNGFND2_TYPE,16 # 16, VL531X -ARMING_CHECK,947710 # 1>947710 Disable rangefinder because of intermittent fault, no safety-switch or camera. +RTL_LOIT_TIME,5000 # The default is too long. This reduces the time +SCHED_LOOP_RATE,400 # Stay on default loop rate, this is a slow vehicle +SCR_ENABLE,1 # Use lua scripting for VTOL-Quicktune, MagFit automation and wind speed estimation automation SERIAL4_BAUD,115 # 115, for MTF-01P SERIAL4_PROTOCOL,1 # 1, MAVLink1 for MTF-01P +SERIAL7_PROTOCOL,16 # 16, ESC Telemetry SPRAY_ENABLE,1 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/24_safety_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/24_safety_setup.param index 450776b3d..4cbc0a7b7 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/24_safety_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/24_safety_setup.param @@ -2,12 +2,12 @@ ARMING_CHECK,1 # Perform all arming checks. If you have a problem fix its sourc ATC_RAT_PIT_SMAX,50 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html ATC_RAT_RLL_SMAX,50 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html ATC_RAT_YAW_SMAX,50 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html +FENCE_ACTION,3 +FENCE_ALT_MAX,100 +FENCE_ENABLE,1 +FENCE_RADIUS,300 FENCE_TYPE,7 # cylinder and max altitude, to obey local regulations and safety measures FS_EKF_ACTION,1 # Use the default, it is safer LAND_ALT_LOW,1000 # GPS is only 2.0m CEP PSC_ACCZ_SMAX,0 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html RTL_ALT,1500 # RTL at 15m is fine. -FENCE_ALT_MAX,100 -FENCE_RADIUS,300 -FENCE_ACTION,3 -FENCE_ENABLE,1 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/29_motor_notch_filter_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/29_motor_notch_filter_results.param index 8199b79f9..d32a8a3b0 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/29_motor_notch_filter_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/29_motor_notch_filter_results.param @@ -1,3 +1,9 @@ +ATC_RAT_PIT_FLTD,21 # INS_GYRO_FILTER / 2 +ATC_RAT_PIT_FLTT,21 # INS_GYRO_FILTER / 2 +ATC_RAT_RLL_FLTD,21 # INS_GYRO_FILTER / 2 +ATC_RAT_RLL_FLTT,21 # INS_GYRO_FILTER / 2 +ATC_RAT_YAW_FLTT,21 # INS_GYRO_FILTER / 2 +INS_GYRO_FILTER,42 INS_HNTCH_ATT,15 # just enough to filter the noise created by the motors/propellers INS_HNTCH_BW,10.6 # just enough to filter the noise created by the motors/propellers INS_HNTCH_FM_RAT,1 # Allowed undercutting of the base frequency of the first notch filter @@ -5,9 +11,3 @@ INS_HNTCH_FREQ,64 # the minimum frequency that the motors are expected to opera INS_HNTCH_HMNCS,1 # insignificant secondary harmonics on this vehicle INS_HNTCH_OPTS,6 # Multi-Source (RPM data from each motor), update rate = loop rate INS_HNTCH_REF,1 # for RPM-based ESC telemetry -ATC_RAT_PIT_FLTD,21 # INS_GYRO_FILTER / 2 -ATC_RAT_PIT_FLTT,21 # INS_GYRO_FILTER / 2 -ATC_RAT_RLL_FLTD,21 # INS_GYRO_FILTER / 2 -ATC_RAT_RLL_FLTT,21 # INS_GYRO_FILTER / 2 -ATC_RAT_YAW_FLTT,21 # INS_GYRO_FILTER / 2 -INS_GYRO_FILTER,42 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/vehicle_components.json index b1951bb72..dfdec1bfa 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/vehicle_components.json @@ -190,6 +190,6 @@ "Notes": "UART1 For Telemetry Module. Bluetooth Telem is UART8." } }, - "Program version": "4.4.4", + "Program version": "5.0.1", "Configuration template": "Holybro_X500_V2" } diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/03_imu_temperature_calibration_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/03_imu_temperature_calibration_results.param index ea0cf7873..63fde6f72 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/03_imu_temperature_calibration_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/03_imu_temperature_calibration_results.param @@ -1,3 +1,5 @@ +INS_ACC1_CALTEMP,45.229469 +INS_ACC2_CALTEMP,42.25 INS_TCAL1_ACC1_X,1008.507844 INS_TCAL1_ACC1_Y,505.028098 INS_TCAL1_ACC1_Z,2110.303258 @@ -61,5 +63,3 @@ INS_TCAL3_GYR3_Y,0.803663 INS_TCAL3_GYR3_Z,-1.953931 INS_TCAL3_TMAX,25.2 INS_TCAL3_TMIN,15.1 -INS_ACC1_CALTEMP,45.229469 -INS_ACC2_CALTEMP,42.25 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/06_remote_controller_controller.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/06_remote_controller_controller.param index a75952a03..19b832715 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/06_remote_controller_controller.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/06_remote_controller_controller.param @@ -1,9 +1,4 @@ ARMING_RUDDER,2 # Vehicle uses arm/disarm via sticks as well as emergency motor stop switch (shoulder switch of Radiomaster Boxer assigned to channel 5) -RC5_OPTION,31 # To stop all motors immediately if the vehicle starts moving dangerously - mapped to channel 5 / left shoulder toggle button (inverted on RC sender) because ELRS can transmit only 2 positions on channel 5 -RC6_OPTION,0 # Used for flight mode selection -RC7_OPTION,0 -RC8_OPTION,4 # force RTL -RC9_OPTION,0 RC1_MAX,2011 RC1_MIN,987 RC1_TRIM,1500 @@ -18,16 +13,21 @@ RC4_MIN,987 RC4_TRIM,1500 RC5_MAX,2011 RC5_MIN,987 +RC5_OPTION,31 # To stop all motors immediately if the vehicle starts moving dangerously - mapped to channel 5 / left shoulder toggle button (inverted on RC sender) because ELRS can transmit only 2 positions on channel 5 RC5_TRIM,2011 RC6_MAX,2011 RC6_MIN,987 +RC6_OPTION,0 # Used for flight mode selection RC6_TRIM,987 RC7_MAX,2011 RC7_MIN,987 +RC7_OPTION,0 RC7_TRIM,987 RC8_MAX,2011 RC8_MIN,987 +RC8_OPTION,4 # force RTL RC8_TRIM,987 RC9_MAX,2011 RC9_MIN,987 +RC9_OPTION,0 RC9_TRIM,987 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/10_battery.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/10_battery.param index 1ed5a50c6..1c0109b95 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/10_battery.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/10_battery.param @@ -7,5 +7,5 @@ BATT_FS_LOW_ACT,2 # Return and land at home or rally point BATT_FS_VOLTSRC,0 # Using only RAW voltage BATT_LOW_MAH,0 # Energy consumption not measured BATT_LOW_VOLT,18.6 # Low failsafe voltage x nr. of cells -MOT_BAT_VOLT_MAX,24.6 -MOT_BAT_VOLT_MIN,16.5 +MOT_BAT_VOLT_MAX,24.6 # Scale the PIDs up when battery voltage is below this threshold +MOT_BAT_VOLT_MIN,16.5 # Scale the PIDs up when battery voltage is above this threshold diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/11_servo_outputs.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/11_servo_outputs.param index 18e7aca0e..3dbbdd71e 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/11_servo_outputs.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/11_servo_outputs.param @@ -1,6 +1,6 @@ +FRAME_CLASS,1 # Selected in the component editor +FRAME_TYPE,1 SERVO1_FUNCTION,33 SERVO2_FUNCTION,34 SERVO3_FUNCTION,35 SERVO4_FUNCTION,36 -FRAME_TYPE,1 -FRAME_CLASS,1 # Selected in the component editor diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/13_initial_atc.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/13_initial_atc.param index d01f079cf..587c19a1f 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/13_initial_atc.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/13_initial_atc.param @@ -15,4 +15,4 @@ ATC_THR_MIX_MAN,0.1 # Value for the first couple of flights will be changed lat INS_ACCEL_FILTER,10 # The default is 20Hz but that is too high in most situations INS_GYRO_FILTER,20 # Derived from vehicle component editor propeller size MOT_THST_EXPO,0.74 # Derived from vehicle component editor propeller size -MOT_THST_HOVER,0.200263 # 0.2 is a good guess. +MOT_THST_HOVER,0.2 # Hover learn will improve this initial guess diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/16_accelerometer_calibration.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/16_accelerometer_calibration.param index bc8717084..9948ac529 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/16_accelerometer_calibration.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/16_accelerometer_calibration.param @@ -1,26 +1,26 @@ +AHRS_TRIM_X,0 +AHRS_TRIM_Y,0 AHRS_TRIM_Z,0 +INS_ACC1_CALTEMP,45.229469 +INS_ACC2_CALTEMP,42.25 INS_ACC2OFFS_X,0 INS_ACC2OFFS_Y,0 INS_ACC2OFFS_Z,0 +INS_ACC2SCAL_X,1 +INS_ACC2SCAL_Y,1 +INS_ACC2SCAL_Z,1 INS_ACC3_CALTEMP,-300 INS_ACC3OFFS_X,0 INS_ACC3OFFS_Y,0 INS_ACC3OFFS_Z,0 -INS_ACCOFFS_X,0 -INS_ACCOFFS_Y,0 -INS_ACCOFFS_Z,0 -INS_USE2,1 -INS_ACC2SCAL_X,1 -INS_ACC2SCAL_Y,1 -INS_ACC2SCAL_Z,1 INS_ACC3SCAL_X,1 INS_ACC3SCAL_Y,1 INS_ACC3SCAL_Z,1 +INS_ACCOFFS_X,0 +INS_ACCOFFS_Y,0 +INS_ACCOFFS_Z,0 INS_ACCSCAL_X,1 INS_ACCSCAL_Y,1 INS_ACCSCAL_Z,1 +INS_USE2,1 INS_USE3,1 -INS_ACC1_CALTEMP,45.229469 -INS_ACC2_CALTEMP,42.25 -AHRS_TRIM_X,0 -AHRS_TRIM_Y,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/22_flight_modes.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/22_flight_modes.param index 02569832b..15bef5edc 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/22_flight_modes.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/22_flight_modes.param @@ -1,7 +1,7 @@ -INITIAL_MODE,0 FLTMODE1,0 # We use a tri-state-switch FLTMODE2,0 # We use a tri-state-switch FLTMODE3,2 # We use a tri-state-switch FLTMODE4,2 # We use a tri-state-switch FLTMODE5,5 # We use a tri-state-switch FLTMODE6,5 # We use a tri-state-switch +INITIAL_MODE,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/24_safety_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/24_safety_setup.param index 97897d759..d8a30b1d6 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/24_safety_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/24_safety_setup.param @@ -2,11 +2,11 @@ ARMING_CHECK,1 # Perform all arming checks. If you have a problem fix its sourc ATC_RAT_PIT_SMAX,0 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html ATC_RAT_RLL_SMAX,0 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html ATC_RAT_YAW_SMAX,0 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html +FENCE_ACTION,3 +FENCE_ALT_MAX,120 +FENCE_ENABLE,1 +FENCE_RADIUS,350 # Initially you should start with a 150m fence radius. FENCE_TYPE,7 # cylinder and max altitude, to obey local regulations and safety measures LAND_ALT_LOW,1000 # come down fast and only slow down close to the ground. Baro could be off by 5m PSC_ACCZ_SMAX,0 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html RTL_ALT,3500 # 35 m goes above trees -FENCE_ALT_MAX,120 -FENCE_RADIUS,350 # Initially you should start with a 150m fence radius. -FENCE_ACTION,3 -FENCE_ENABLE,1 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/29_motor_notch_filter_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/29_motor_notch_filter_results.param index e640e247f..badbac212 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/29_motor_notch_filter_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/29_motor_notch_filter_results.param @@ -1,12 +1,12 @@ -INS_HNTCH_ATT,30 # just enough to filter the noise created by the motors/propellers -INS_HNTCH_BW,20 # just enough to filter the noise created by the motors/propellers -INS_HNTCH_FM_RAT,1 # Allowed undercutting of the base frequency of the first notch filter -INS_HNTCH_FREQ,35 # the minimum frequency that the motors are expected to operate at hover -INS_HNTCH_HMNCS,3 # the motors produce secondary harmonics on this vehicle -INS_HNTCH_OPTS,2 # One Notch per motor, multisource ATC_RAT_PIT_FLTD,10 # INS_GYRO_FILTER / 2 ATC_RAT_PIT_FLTT,10 # INS_GYRO_FILTER / 2 ATC_RAT_RLL_FLTD,10 # INS_GYRO_FILTER / 2 ATC_RAT_RLL_FLTT,10 # INS_GYRO_FILTER / 2 ATC_RAT_YAW_FLTT,10 # INS_GYRO_FILTER / 2 INS_GYRO_FILTER,20 +INS_HNTCH_ATT,30 # just enough to filter the noise created by the motors/propellers +INS_HNTCH_BW,20 # just enough to filter the noise created by the motors/propellers +INS_HNTCH_FM_RAT,1 # Allowed undercutting of the base frequency of the first notch filter +INS_HNTCH_FREQ,35 # the minimum frequency that the motors are expected to operate at hover +INS_HNTCH_HMNCS,3 # the motors produce secondary harmonics on this vehicle +INS_HNTCH_OPTS,2 # One Notch per motor, multisource diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/vehicle_components.json index 6500b4df1..1a8821df7 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Tarot_X4/vehicle_components.json @@ -190,5 +190,5 @@ "Notes": "A cheap ESP Now based alternative to the more commonly used 3DR and RFDesigns telemetry modems. Custom developed firmware." } }, - "Program version": "4.4.4" + "Program version": "5.0.1" } diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/03_imu_temperature_calibration_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/03_imu_temperature_calibration_results.param index f252893fe..f63b02567 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/03_imu_temperature_calibration_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/03_imu_temperature_calibration_results.param @@ -1,3 +1,5 @@ +INS_ACC1_CALTEMP,45.290325 +INS_ACC2_CALTEMP,43.810135 INS_TCAL1_ACC1_X,1247.871253 INS_TCAL1_ACC1_Y,-892.049074 INS_TCAL1_ACC1_Z,1207.190784 @@ -61,5 +63,3 @@ INS_TCAL3_GYR3_Y,-0.061594 INS_TCAL3_GYR3_Z,0.019881 INS_TCAL3_TMAX,57.3 INS_TCAL3_TMIN,-27.7 -INS_ACC1_CALTEMP,45.290325 -INS_ACC2_CALTEMP,43.810135 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/06_remote_controller_controller.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/06_remote_controller_controller.param index 9aae8cf89..6adff0302 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/06_remote_controller_controller.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/06_remote_controller_controller.param @@ -1,14 +1,10 @@ ARMING_RUDDER,0 -RC10_OPTION,17 -RC6_OPTION,0 -RC7_OPTION,0 -RC8_OPTION,0 -RC9_OPTION,99 # RC9 option will do AUTO RTL RC1_MAX,1931 RC1_MIN,1068 RC1_TRIM,1497 RC10_MAX,1932 RC10_MIN,1057 +RC10_OPTION,17 RC10_TRIM,1057 RC2_MAX,1918 RC2_MIN,1068 @@ -24,13 +20,17 @@ RC5_MIN,1066 RC5_TRIM,1066 RC6_MAX,1900 RC6_MIN,1100 +RC6_OPTION,0 RC6_TRIM,1500 RC7_MAX,1395 RC7_MIN,1378 +RC7_OPTION,0 RC7_TRIM,1395 RC8_MAX,1900 RC8_MIN,1100 +RC8_OPTION,0 RC8_TRIM,1500 RC9_MAX,1933 RC9_MIN,1066 +RC9_OPTION,99 # RC9 option will do AUTO RTL RC9_TRIM,1066 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/10_battery.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/10_battery.param index 77a0ec872..813cb2b70 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/10_battery.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/10_battery.param @@ -7,5 +7,5 @@ BATT_FS_LOW_ACT,2 # Return and land at home or rally point BATT_FS_VOLTSRC,1 # Use sag-compensated voltage limits BATT_LOW_MAH,0 # No capacity based failsafes, too unreliable BATT_LOW_VOLT,21.6 # Low failsafe voltage x nr. of cells -MOT_BAT_VOLT_MAX,26.1 -MOT_BAT_VOLT_MIN,19.799999 +MOT_BAT_VOLT_MAX,26.1 # Scale the PIDs up when battery voltage is below this threshold +MOT_BAT_VOLT_MIN,19.8 # Scale the PIDs up when battery voltage is above this threshold diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/11_servo_outputs.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/11_servo_outputs.param index 18e7aca0e..3dbbdd71e 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/11_servo_outputs.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/11_servo_outputs.param @@ -1,6 +1,6 @@ +FRAME_CLASS,1 # Selected in the component editor +FRAME_TYPE,1 SERVO1_FUNCTION,33 SERVO2_FUNCTION,34 SERVO3_FUNCTION,35 SERVO4_FUNCTION,36 -FRAME_TYPE,1 -FRAME_CLASS,1 # Selected in the component editor diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/13_initial_atc.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/13_initial_atc.param index d1d2717ea..23c91ed60 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/13_initial_atc.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/13_initial_atc.param @@ -15,4 +15,4 @@ ATC_THR_MIX_MAN,0.1 # Value for the first couple of flights will be changed lat INS_ACCEL_FILTER,10 # The default is 20Hz but that is too high in most situations INS_GYRO_FILTER,20 # Derived from vehicle component editor propeller size MOT_THST_EXPO,0.8 # Derived from vehicle component editor propeller size -MOT_THST_HOVER,0.2 +MOT_THST_HOVER,0.2 # Hover learn will improve this initial guess diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/16_accelerometer_calibration.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/16_accelerometer_calibration.param index 217692957..d028d9990 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/16_accelerometer_calibration.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/16_accelerometer_calibration.param @@ -1,26 +1,26 @@ +AHRS_TRIM_X,0 +AHRS_TRIM_Y,0 AHRS_TRIM_Z,0 +INS_ACC1_CALTEMP,45.290325 +INS_ACC2_CALTEMP,43.810135 INS_ACC2OFFS_X,0 INS_ACC2OFFS_Y,0 INS_ACC2OFFS_Z,0 +INS_ACC2SCAL_X,1 +INS_ACC2SCAL_Y,1 +INS_ACC2SCAL_Z,1 INS_ACC3_CALTEMP,-300 INS_ACC3OFFS_X,0 INS_ACC3OFFS_Y,0 INS_ACC3OFFS_Z,0 -INS_ACCOFFS_X,0 -INS_ACCOFFS_Y,0 -INS_ACCOFFS_Z,0 -INS_USE2,1 -INS_ACC2SCAL_X,1 -INS_ACC2SCAL_Y,1 -INS_ACC2SCAL_Z,1 INS_ACC3SCAL_X,1 INS_ACC3SCAL_Y,1 INS_ACC3SCAL_Z,1 +INS_ACCOFFS_X,0 +INS_ACCOFFS_Y,0 +INS_ACCOFFS_Z,0 INS_ACCSCAL_X,1 INS_ACCSCAL_Y,1 INS_ACCSCAL_Z,1 +INS_USE2,1 INS_USE3,1 -INS_ACC1_CALTEMP,45.290325 -INS_ACC2_CALTEMP,43.810135 -AHRS_TRIM_X,0 -AHRS_TRIM_Y,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/22_flight_modes.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/22_flight_modes.param index 17102a229..433503e0f 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/22_flight_modes.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/22_flight_modes.param @@ -1,7 +1,7 @@ -INITIAL_MODE,0 FLTMODE1,0 FLTMODE2,0 FLTMODE3,0 FLTMODE4,2 FLTMODE5,0 FLTMODE6,5 +INITIAL_MODE,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/24_safety_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/24_safety_setup.param index 19b26b24a..a21016adc 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/24_safety_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/24_safety_setup.param @@ -2,12 +2,12 @@ ARMING_CHECK,1 # Perform all arming checks. If you have a problem fix its sourc ATC_RAT_PIT_SMAX,25 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html ATC_RAT_RLL_SMAX,25 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html ATC_RAT_YAW_SMAX,25 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html +FENCE_ACTION,1 +FENCE_ALT_MAX,100 +FENCE_ENABLE,0 +FENCE_RADIUS,300 FENCE_TYPE,7 # cylinder and max altitude, to obey local regulations and safety measures FS_EKF_ACTION,1 LAND_ALT_LOW,200 # come down fast and only slow down close to the ground. We have a good GNSS receiver, so thrust it PSC_ACCZ_SMAX,2500 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html RTL_ALT,500 # This vehicle will never fly indoors -FENCE_ALT_MAX,100 -FENCE_RADIUS,300 -FENCE_ACTION,1 -FENCE_ENABLE,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/29_motor_notch_filter_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/29_motor_notch_filter_results.param index b2574bb0a..e0412597e 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/29_motor_notch_filter_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/29_motor_notch_filter_results.param @@ -1,3 +1,9 @@ +ATC_RAT_PIT_FLTD,10 # INS_GYRO_FILTER / 2 +ATC_RAT_PIT_FLTT,10 # INS_GYRO_FILTER / 2 +ATC_RAT_RLL_FLTD,10 # INS_GYRO_FILTER / 2 +ATC_RAT_RLL_FLTT,10 # INS_GYRO_FILTER / 2 +ATC_RAT_YAW_FLTT,10 # INS_GYRO_FILTER / 2 +INS_GYRO_FILTER,20 INS_HNTCH_ATT,30 # just enough to filter the noise created by the motors/propellers INS_HNTCH_BW,6 # just enough to filter the noise created by the motors/propellers INS_HNTCH_FM_RAT,0.5 # Allowed undercutting of the base frequency of the first notch filter @@ -5,9 +11,3 @@ INS_HNTCH_FREQ,27 # the minimum frequency that the motors are expected to opera INS_HNTCH_HMNCS,3 # the motors produce secondary harmonics on this vehicle INS_HNTCH_OPTS,2 # Use hobbywing datalink ESC RPM telemetry and one notch per motor INS_HNTCH_REF,1 # Required by the ESC RPM telemetry -ATC_RAT_PIT_FLTD,10 # INS_GYRO_FILTER / 2 -ATC_RAT_PIT_FLTT,10 # INS_GYRO_FILTER / 2 -ATC_RAT_RLL_FLTD,10 # INS_GYRO_FILTER / 2 -ATC_RAT_RLL_FLTT,10 # INS_GYRO_FILTER / 2 -ATC_RAT_YAW_FLTT,10 # INS_GYRO_FILTER / 2 -INS_GYRO_FILTER,20 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/vehicle_components.json index 507208ec6..325046f1a 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/X11_plus/vehicle_components.json @@ -190,5 +190,5 @@ "Notes": "High range and strength telemetry." } }, - "Program version": "4.4.4" + "Program version": "5.0.1" } diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/03_imu_temperature_calibration_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/03_imu_temperature_calibration_results.param index 0502e0d7e..b44c7ec71 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/03_imu_temperature_calibration_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/03_imu_temperature_calibration_results.param @@ -1,3 +1,5 @@ +INS_ACC1_CALTEMP,55.434784 +INS_ACC2_CALTEMP,55.917877 INS_TCAL1_ACC1_X,115.946591 INS_TCAL1_ACC1_Y,498.256973 INS_TCAL1_ACC1_Z,-381.446152 @@ -40,5 +42,3 @@ INS_TCAL2_GYR3_Y,-0.002373 INS_TCAL2_GYR3_Z,-0.028351 INS_TCAL2_TMAX,56.5 INS_TCAL2_TMIN,-13.3 -INS_ACC1_CALTEMP,55.434784 -INS_ACC2_CALTEMP,55.917877 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/06_remote_controller_controller.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/06_remote_controller_controller.param index 27133b46c..4a810537e 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/06_remote_controller_controller.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/06_remote_controller_controller.param @@ -1,8 +1,4 @@ ARMING_RUDDER,0 # We find it safer to use only a switch to arm instead of through rudder inputs -RC6_OPTION,153 # "Arm/Disarm", to use an arming switch (here Channel 6) -RC7_OPTION,31 # To stop all motors immediately if the vehicle starts moving dangerously -RC8_OPTION,30 # "Lost Copter Sound", generates a loud tone from the buzzer at a high signal to locate a lost multicopter -RC9_OPTION,300 # Used to jump to the next waypoint RC1_MAX,2011 RC1_MIN,988 RC1_TRIM,1500 @@ -20,13 +16,17 @@ RC5_MIN,1141 RC5_TRIM,1570 RC6_MAX,2011 RC6_MIN,988 +RC6_OPTION,153 # "Arm/Disarm", to use an arming switch (here Channel 6) RC6_TRIM,988 RC7_MAX,2011 RC7_MIN,988 +RC7_OPTION,31 # To stop all motors immediately if the vehicle starts moving dangerously RC7_TRIM,988 RC8_MAX,2011 RC8_MIN,988 +RC8_OPTION,30 # "Lost Copter Sound", generates a loud tone from the buzzer at a high signal to locate a lost multicopter RC8_TRIM,988 RC9_MAX,2011 RC9_MIN,988 +RC9_OPTION,300 # Used to jump to the next waypoint RC9_TRIM,988 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/10_battery.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/10_battery.param index 71c133225..ea1c3b830 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/10_battery.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/10_battery.param @@ -16,5 +16,5 @@ BATT2_FS_LOW_ACT,1 # flying indoors, just land ASAP, no need to hit the ceiling BATT2_FS_VOLTSRC,1 # In our build this is a redundant monitor for batt1 so == BATT_FS_VOLTSRC BATT2_LOW_MAH,600 # In our build this is a redundant monitor for batt1 so == BATT_LOW_MAH BATT2_LOW_VOLT,14.4 # In our build this is a redundant monitor for batt1 so == BATT_LOW_VOLT -MOT_BAT_VOLT_MAX,16.799999 -MOT_BAT_VOLT_MIN,13.2 +MOT_BAT_VOLT_MAX,16.8 # Scale the PIDs up when battery voltage is below this threshold +MOT_BAT_VOLT_MIN,13.2 # Scale the PIDs up when battery voltage is above this threshold diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/11_servo_outputs.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/11_servo_outputs.param index 18e7aca0e..3dbbdd71e 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/11_servo_outputs.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/11_servo_outputs.param @@ -1,6 +1,6 @@ +FRAME_CLASS,1 # Selected in the component editor +FRAME_TYPE,1 SERVO1_FUNCTION,33 SERVO2_FUNCTION,34 SERVO3_FUNCTION,35 SERVO4_FUNCTION,36 -FRAME_TYPE,1 -FRAME_CLASS,1 # Selected in the component editor diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/13_initial_atc.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/13_initial_atc.param index f79714412..d10dbd53c 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/13_initial_atc.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/13_initial_atc.param @@ -15,4 +15,4 @@ ATC_THR_MIX_MAN,0.1 # Value for the first couple of flights will be changed lat INS_ACCEL_FILTER,10 # The default is 20Hz but that is too high in most situations INS_GYRO_FILTER,115 # Derived from vehicle component editor propeller size MOT_THST_EXPO,0.41 # Derived from vehicle component editor propeller size -MOT_THST_HOVER,0.2 +MOT_THST_HOVER,0.2 # Hover learn will improve this initial guess diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/16_accelerometer_calibration.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/16_accelerometer_calibration.param index 2fff1e727..9623fd9ab 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/16_accelerometer_calibration.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/16_accelerometer_calibration.param @@ -1,26 +1,26 @@ +AHRS_TRIM_X,0.005101 +AHRS_TRIM_Y,0.010857 AHRS_TRIM_Z,0 +INS_ACC1_CALTEMP,55.434784 +INS_ACC2_CALTEMP,55.917877 INS_ACC2OFFS_X,0 INS_ACC2OFFS_Y,0 INS_ACC2OFFS_Z,0 +INS_ACC2SCAL_X,0.997852 +INS_ACC2SCAL_Y,0.99634 +INS_ACC2SCAL_Z,0.996792 INS_ACC3_CALTEMP,-300 INS_ACC3OFFS_X,0 INS_ACC3OFFS_Y,0 INS_ACC3OFFS_Z,0 -INS_ACCOFFS_X,0 -INS_ACCOFFS_Y,0 -INS_ACCOFFS_Z,0 -INS_USE2,1 -INS_ACC2SCAL_X,0.997852 -INS_ACC2SCAL_Y,0.99634 -INS_ACC2SCAL_Z,0.996792 INS_ACC3SCAL_X,0 INS_ACC3SCAL_Y,0 INS_ACC3SCAL_Z,0 +INS_ACCOFFS_X,0 +INS_ACCOFFS_Y,0 +INS_ACCOFFS_Z,0 INS_ACCSCAL_X,0.998643 INS_ACCSCAL_Y,1.000264 INS_ACCSCAL_Z,0.996767 +INS_USE2,1 INS_USE3,1 -INS_ACC1_CALTEMP,55.434784 -INS_ACC2_CALTEMP,55.917877 -AHRS_TRIM_X,0.005101 -AHRS_TRIM_Y,0.010857 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/22_flight_modes.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/22_flight_modes.param index dbb9a28b3..e091137c5 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/22_flight_modes.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/22_flight_modes.param @@ -1,7 +1,7 @@ -INITIAL_MODE,0 FLTMODE1,0 FLTMODE2,2 FLTMODE3,5 FLTMODE4,3 FLTMODE5,15 FLTMODE6,6 +INITIAL_MODE,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/24_safety_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/24_safety_setup.param index d36f71813..49c33e64e 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/24_safety_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/24_safety_setup.param @@ -2,11 +2,11 @@ ARMING_CHECK,1 # Perform all arming checks. If you have a problem fix its sourc ATC_RAT_PIT_SMAX,25 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html ATC_RAT_RLL_SMAX,25 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html ATC_RAT_YAW_SMAX,25 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html +FENCE_ACTION,3 +FENCE_ALT_MAX,80 +FENCE_ENABLE,0 +FENCE_RADIUS,150 FENCE_TYPE,7 # cylinder and max altitude, to obey local regulations and safety measures LAND_ALT_LOW,200 # come down fast and only slow down close to the ground. We have a good GNSS receiver, so thrust it PSC_ACCZ_SMAX,25 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html RTL_ALT,300 # The default is too high for the kind of flights we do. This reduces the altitude for indoors -FENCE_ALT_MAX,80 -FENCE_RADIUS,150 -FENCE_ACTION,3 -FENCE_ENABLE,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/29_motor_notch_filter_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/29_motor_notch_filter_results.param index 4d5a92d21..38b9afa16 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/29_motor_notch_filter_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/29_motor_notch_filter_results.param @@ -1,12 +1,12 @@ -INS_HNTCH_ATT,30 # just enough to filter the noise created by the motors/propellers -INS_HNTCH_BW,30 # just enough to filter the noise created by the motors/propellers -INS_HNTCH_FM_RAT,1 # Allowed undercutting of the base frequency of the first notch filter -INS_HNTCH_FREQ,115 # the minimum frequency that the motors are expected to operate at -INS_HNTCH_HMNCS,3 # the motors produce secondary harmonics on this vehicle -INS_HNTCH_OPTS,6 # One Notch per motor, update at loop rate ATC_RAT_PIT_FLTD,57.5 # INS_GYRO_FILTER / 2 ATC_RAT_PIT_FLTT,57.5 # INS_GYRO_FILTER / 2 ATC_RAT_RLL_FLTD,57.5 # INS_GYRO_FILTER / 2 ATC_RAT_RLL_FLTT,57.5 # INS_GYRO_FILTER / 2 ATC_RAT_YAW_FLTT,57.5 # INS_GYRO_FILTER / 2 INS_GYRO_FILTER,115 +INS_HNTCH_ATT,30 # just enough to filter the noise created by the motors/propellers +INS_HNTCH_BW,30 # just enough to filter the noise created by the motors/propellers +INS_HNTCH_FM_RAT,1 # Allowed undercutting of the base frequency of the first notch filter +INS_HNTCH_FREQ,115 # the minimum frequency that the motors are expected to operate at +INS_HNTCH_HMNCS,3 # the motors produce secondary harmonics on this vehicle +INS_HNTCH_OPTS,6 # One Notch per motor, update at loop rate diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/vehicle_components.json index e965d34fb..efb1ece20 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.4.4-params/vehicle_components.json @@ -190,5 +190,5 @@ "Notes": "A cheap WiFi alternative to the more commonly used 3DR and RFDesigns telemetry modems" } }, - "Program version": "4.4.4" + "Program version": "5.0.1" } diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/03_imu_temperature_calibration_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/03_imu_temperature_calibration_results.param index 0502e0d7e..b44c7ec71 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/03_imu_temperature_calibration_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/03_imu_temperature_calibration_results.param @@ -1,3 +1,5 @@ +INS_ACC1_CALTEMP,55.434784 +INS_ACC2_CALTEMP,55.917877 INS_TCAL1_ACC1_X,115.946591 INS_TCAL1_ACC1_Y,498.256973 INS_TCAL1_ACC1_Z,-381.446152 @@ -40,5 +42,3 @@ INS_TCAL2_GYR3_Y,-0.002373 INS_TCAL2_GYR3_Z,-0.028351 INS_TCAL2_TMAX,56.5 INS_TCAL2_TMIN,-13.3 -INS_ACC1_CALTEMP,55.434784 -INS_ACC2_CALTEMP,55.917877 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/06_remote_controller_controller.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/06_remote_controller_controller.param index 27133b46c..4a810537e 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/06_remote_controller_controller.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/06_remote_controller_controller.param @@ -1,8 +1,4 @@ ARMING_RUDDER,0 # We find it safer to use only a switch to arm instead of through rudder inputs -RC6_OPTION,153 # "Arm/Disarm", to use an arming switch (here Channel 6) -RC7_OPTION,31 # To stop all motors immediately if the vehicle starts moving dangerously -RC8_OPTION,30 # "Lost Copter Sound", generates a loud tone from the buzzer at a high signal to locate a lost multicopter -RC9_OPTION,300 # Used to jump to the next waypoint RC1_MAX,2011 RC1_MIN,988 RC1_TRIM,1500 @@ -20,13 +16,17 @@ RC5_MIN,1141 RC5_TRIM,1570 RC6_MAX,2011 RC6_MIN,988 +RC6_OPTION,153 # "Arm/Disarm", to use an arming switch (here Channel 6) RC6_TRIM,988 RC7_MAX,2011 RC7_MIN,988 +RC7_OPTION,31 # To stop all motors immediately if the vehicle starts moving dangerously RC7_TRIM,988 RC8_MAX,2011 RC8_MIN,988 +RC8_OPTION,30 # "Lost Copter Sound", generates a loud tone from the buzzer at a high signal to locate a lost multicopter RC8_TRIM,988 RC9_MAX,2011 RC9_MIN,988 +RC9_OPTION,300 # Used to jump to the next waypoint RC9_TRIM,988 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/10_battery.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/10_battery.param index 71c133225..ea1c3b830 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/10_battery.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/10_battery.param @@ -16,5 +16,5 @@ BATT2_FS_LOW_ACT,1 # flying indoors, just land ASAP, no need to hit the ceiling BATT2_FS_VOLTSRC,1 # In our build this is a redundant monitor for batt1 so == BATT_FS_VOLTSRC BATT2_LOW_MAH,600 # In our build this is a redundant monitor for batt1 so == BATT_LOW_MAH BATT2_LOW_VOLT,14.4 # In our build this is a redundant monitor for batt1 so == BATT_LOW_VOLT -MOT_BAT_VOLT_MAX,16.799999 -MOT_BAT_VOLT_MIN,13.2 +MOT_BAT_VOLT_MAX,16.8 # Scale the PIDs up when battery voltage is below this threshold +MOT_BAT_VOLT_MIN,13.2 # Scale the PIDs up when battery voltage is above this threshold diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/11_servo_outputs.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/11_servo_outputs.param index 18e7aca0e..3dbbdd71e 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/11_servo_outputs.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/11_servo_outputs.param @@ -1,6 +1,6 @@ +FRAME_CLASS,1 # Selected in the component editor +FRAME_TYPE,1 SERVO1_FUNCTION,33 SERVO2_FUNCTION,34 SERVO3_FUNCTION,35 SERVO4_FUNCTION,36 -FRAME_TYPE,1 -FRAME_CLASS,1 # Selected in the component editor diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/13_initial_atc.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/13_initial_atc.param index f79714412..d10dbd53c 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/13_initial_atc.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/13_initial_atc.param @@ -15,4 +15,4 @@ ATC_THR_MIX_MAN,0.1 # Value for the first couple of flights will be changed lat INS_ACCEL_FILTER,10 # The default is 20Hz but that is too high in most situations INS_GYRO_FILTER,115 # Derived from vehicle component editor propeller size MOT_THST_EXPO,0.41 # Derived from vehicle component editor propeller size -MOT_THST_HOVER,0.2 +MOT_THST_HOVER,0.2 # Hover learn will improve this initial guess diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/16_accelerometer_calibration.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/16_accelerometer_calibration.param index 2fff1e727..9623fd9ab 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/16_accelerometer_calibration.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/16_accelerometer_calibration.param @@ -1,26 +1,26 @@ +AHRS_TRIM_X,0.005101 +AHRS_TRIM_Y,0.010857 AHRS_TRIM_Z,0 +INS_ACC1_CALTEMP,55.434784 +INS_ACC2_CALTEMP,55.917877 INS_ACC2OFFS_X,0 INS_ACC2OFFS_Y,0 INS_ACC2OFFS_Z,0 +INS_ACC2SCAL_X,0.997852 +INS_ACC2SCAL_Y,0.99634 +INS_ACC2SCAL_Z,0.996792 INS_ACC3_CALTEMP,-300 INS_ACC3OFFS_X,0 INS_ACC3OFFS_Y,0 INS_ACC3OFFS_Z,0 -INS_ACCOFFS_X,0 -INS_ACCOFFS_Y,0 -INS_ACCOFFS_Z,0 -INS_USE2,1 -INS_ACC2SCAL_X,0.997852 -INS_ACC2SCAL_Y,0.99634 -INS_ACC2SCAL_Z,0.996792 INS_ACC3SCAL_X,0 INS_ACC3SCAL_Y,0 INS_ACC3SCAL_Z,0 +INS_ACCOFFS_X,0 +INS_ACCOFFS_Y,0 +INS_ACCOFFS_Z,0 INS_ACCSCAL_X,0.998643 INS_ACCSCAL_Y,1.000264 INS_ACCSCAL_Z,0.996767 +INS_USE2,1 INS_USE3,1 -INS_ACC1_CALTEMP,55.434784 -INS_ACC2_CALTEMP,55.917877 -AHRS_TRIM_X,0.005101 -AHRS_TRIM_Y,0.010857 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/22_flight_modes.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/22_flight_modes.param index dbb9a28b3..e091137c5 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/22_flight_modes.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/22_flight_modes.param @@ -1,7 +1,7 @@ -INITIAL_MODE,0 FLTMODE1,0 FLTMODE2,2 FLTMODE3,5 FLTMODE4,3 FLTMODE5,15 FLTMODE6,6 +INITIAL_MODE,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/24_safety_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/24_safety_setup.param index d36f71813..49c33e64e 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/24_safety_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/24_safety_setup.param @@ -2,11 +2,11 @@ ARMING_CHECK,1 # Perform all arming checks. If you have a problem fix its sourc ATC_RAT_PIT_SMAX,25 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html ATC_RAT_RLL_SMAX,25 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html ATC_RAT_YAW_SMAX,25 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html +FENCE_ACTION,3 +FENCE_ALT_MAX,80 +FENCE_ENABLE,0 +FENCE_RADIUS,150 FENCE_TYPE,7 # cylinder and max altitude, to obey local regulations and safety measures LAND_ALT_LOW,200 # come down fast and only slow down close to the ground. We have a good GNSS receiver, so thrust it PSC_ACCZ_SMAX,25 # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html RTL_ALT,300 # The default is too high for the kind of flights we do. This reduces the altitude for indoors -FENCE_ALT_MAX,80 -FENCE_RADIUS,150 -FENCE_ACTION,3 -FENCE_ENABLE,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/29_motor_notch_filter_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/29_motor_notch_filter_results.param index 4d5a92d21..38b9afa16 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/29_motor_notch_filter_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/29_motor_notch_filter_results.param @@ -1,12 +1,12 @@ -INS_HNTCH_ATT,30 # just enough to filter the noise created by the motors/propellers -INS_HNTCH_BW,30 # just enough to filter the noise created by the motors/propellers -INS_HNTCH_FM_RAT,1 # Allowed undercutting of the base frequency of the first notch filter -INS_HNTCH_FREQ,115 # the minimum frequency that the motors are expected to operate at -INS_HNTCH_HMNCS,3 # the motors produce secondary harmonics on this vehicle -INS_HNTCH_OPTS,6 # One Notch per motor, update at loop rate ATC_RAT_PIT_FLTD,57.5 # INS_GYRO_FILTER / 2 ATC_RAT_PIT_FLTT,57.5 # INS_GYRO_FILTER / 2 ATC_RAT_RLL_FLTD,57.5 # INS_GYRO_FILTER / 2 ATC_RAT_RLL_FLTT,57.5 # INS_GYRO_FILTER / 2 ATC_RAT_YAW_FLTT,57.5 # INS_GYRO_FILTER / 2 INS_GYRO_FILTER,115 +INS_HNTCH_ATT,30 # just enough to filter the noise created by the motors/propellers +INS_HNTCH_BW,30 # just enough to filter the noise created by the motors/propellers +INS_HNTCH_FM_RAT,1 # Allowed undercutting of the base frequency of the first notch filter +INS_HNTCH_FREQ,115 # the minimum frequency that the motors are expected to operate at +INS_HNTCH_HMNCS,3 # the motors produce secondary harmonics on this vehicle +INS_HNTCH_OPTS,6 # One Notch per motor, update at loop rate diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/vehicle_components.json index a3327724f..741ddc63c 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.5.x-params/vehicle_components.json @@ -190,5 +190,5 @@ "Notes": "A cheap WiFi alternative to the more commonly used 3DR and RFDesigns telemetry modems" } }, - "Program version": "4.4.4" + "Program version": "5.0.1" } diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.6.x-params/11_servo_outputs.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.6.x-params/11_servo_outputs.param index 6508da805..7f7b67b39 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.6.x-params/11_servo_outputs.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.6.x-params/11_servo_outputs.param @@ -1,6 +1,6 @@ +FRAME_CLASS,1 # Selected in the component editor SERVO1_FUNCTION,33 SERVO13_FUNCTION,120 SERVO2_FUNCTION,34 SERVO3_FUNCTION,35 SERVO4_FUNCTION,36 -FRAME_CLASS,1 # Selected in the component editor diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.6.x-params/22_flight_modes.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.6.x-params/22_flight_modes.param index dbb9a28b3..e091137c5 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.6.x-params/22_flight_modes.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.6.x-params/22_flight_modes.param @@ -1,7 +1,7 @@ -INITIAL_MODE,0 FLTMODE1,0 FLTMODE2,2 FLTMODE3,5 FLTMODE4,3 FLTMODE5,15 FLTMODE6,6 +INITIAL_MODE,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.6.x-params/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.6.x-params/vehicle_components.json index b07620fcd..f4aae4f67 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.6.x-params/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/diatone_taycan_mxc/4.6.x-params/vehicle_components.json @@ -190,5 +190,5 @@ "Notes": "A cheap WiFi alternative to the more commonly used 3DR and RFDesigns telemetry modems" } }, - "Program version": "4.4.4" + "Program version": "5.0.1" } diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.4.x/03_imu_temperature_calibration_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.4.x/03_imu_temperature_calibration_results.param index 1cf8c60b1..4d334cf22 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.4.x/03_imu_temperature_calibration_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.4.x/03_imu_temperature_calibration_results.param @@ -1,3 +1,5 @@ +INS_ACC1_CALTEMP,-300 +INS_ACC2_CALTEMP,-300 INS_TCAL1_ACC1_X,0 INS_TCAL1_ACC1_Y,0 INS_TCAL1_ACC1_Z,0 @@ -61,5 +63,3 @@ INS_TCAL3_GYR3_Y,0 INS_TCAL3_GYR3_Z,0 INS_TCAL3_TMAX,70 INS_TCAL3_TMIN,0 -INS_ACC1_CALTEMP,-300 -INS_ACC2_CALTEMP,-300 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.4.x/06_remote_controller_controller.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.4.x/06_remote_controller_controller.param index e6b0bff95..4bfa402b7 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.4.x/06_remote_controller_controller.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.4.x/06_remote_controller_controller.param @@ -1,14 +1,10 @@ ARMING_RUDDER,2 -RC10_OPTION,0 -RC6_OPTION,0 -RC7_OPTION,0 -RC8_OPTION,0 -RC9_OPTION,0 RC1_MAX,1900 RC1_MIN,1100 RC1_TRIM,1500 RC10_MAX,1900 RC10_MIN,1100 +RC10_OPTION,0 RC10_TRIM,1500 RC2_MAX,1900 RC2_MIN,1100 @@ -24,13 +20,17 @@ RC5_MIN,1100 RC5_TRIM,1500 RC6_MAX,1900 RC6_MIN,1100 +RC6_OPTION,0 RC6_TRIM,1500 RC7_MAX,1900 RC7_MIN,1100 +RC7_OPTION,0 RC7_TRIM,1500 RC8_MAX,1900 RC8_MIN,1100 +RC8_OPTION,0 RC8_TRIM,1500 RC9_MAX,1900 RC9_MIN,1100 +RC9_OPTION,0 RC9_TRIM,1500 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.4.x/11_servo_outputs.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.4.x/11_servo_outputs.param index 0db021442..507f3ebb1 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.4.x/11_servo_outputs.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.4.x/11_servo_outputs.param @@ -1,5 +1,5 @@ +FRAME_CLASS,0 # Selected in the component editor SERVO1_FUNCTION,0 SERVO2_FUNCTION,0 SERVO3_FUNCTION,0 SERVO4_FUNCTION,0 -FRAME_CLASS,0 # Selected in the component editor diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.4.x/16_accelerometer_calibration.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.4.x/16_accelerometer_calibration.param index 61463709e..3fdbe71ad 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.4.x/16_accelerometer_calibration.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.4.x/16_accelerometer_calibration.param @@ -1,26 +1,26 @@ +AHRS_TRIM_X,0 +AHRS_TRIM_Y,0 AHRS_TRIM_Z,0 +INS_ACC1_CALTEMP,-300 +INS_ACC2_CALTEMP,-300 INS_ACC2OFFS_X,0 INS_ACC2OFFS_Y,0 INS_ACC2OFFS_Z,0 +INS_ACC2SCAL_X,1 +INS_ACC2SCAL_Y,1 +INS_ACC2SCAL_Z,1 INS_ACC3_CALTEMP,-300 INS_ACC3OFFS_X,0 INS_ACC3OFFS_Y,0 INS_ACC3OFFS_Z,0 -INS_ACCOFFS_X,0 -INS_ACCOFFS_Y,0 -INS_ACCOFFS_Z,0 -INS_USE2,1 -INS_ACC2SCAL_X,1 -INS_ACC2SCAL_Y,1 -INS_ACC2SCAL_Z,1 INS_ACC3SCAL_X,1 INS_ACC3SCAL_Y,1 INS_ACC3SCAL_Z,1 +INS_ACCOFFS_X,0 +INS_ACCOFFS_Y,0 +INS_ACCOFFS_Z,0 INS_ACCSCAL_X,1 INS_ACCSCAL_Y,1 INS_ACCSCAL_Z,1 +INS_USE2,1 INS_USE3,1 -INS_ACC1_CALTEMP,-300 -INS_ACC2_CALTEMP,-300 -AHRS_TRIM_X,0 -AHRS_TRIM_Y,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.4.x/22_flight_modes.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.4.x/22_flight_modes.param index f4d9e124a..045e24a40 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.4.x/22_flight_modes.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.4.x/22_flight_modes.param @@ -1,7 +1,7 @@ -INITIAL_MODE,0 FLTMODE1,0 FLTMODE2,0 FLTMODE3,0 FLTMODE4,0 FLTMODE5,0 FLTMODE6,0 +INITIAL_MODE,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.4.x/24_safety_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.4.x/24_safety_setup.param index 9cc1d960f..10718bd40 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.4.x/24_safety_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.4.x/24_safety_setup.param @@ -2,10 +2,10 @@ ARMING_CHECK,1 # Perform all arming checks. If you have a problem fix its sourc ATC_RAT_PIT_SMAX,0 ATC_RAT_RLL_SMAX,0 ATC_RAT_YAW_SMAX,0 +FENCE_ALT_MAX,100 +FENCE_RADIUS,300 FENCE_TYPE,7 FS_EKF_ACTION,1 LAND_ALT_LOW,1000 PSC_ACCZ_SMAX,0 RTL_ALT,1500 -FENCE_ALT_MAX,100 -FENCE_RADIUS,300 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.4.x/29_motor_notch_filter_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.4.x/29_motor_notch_filter_results.param index f4d906269..332f6d8ed 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.4.x/29_motor_notch_filter_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.4.x/29_motor_notch_filter_results.param @@ -1,3 +1,8 @@ +ATC_RAT_PIT_FLTD,20 +ATC_RAT_PIT_FLTT,20 +ATC_RAT_RLL_FLTD,20 +ATC_RAT_RLL_FLTT,20 +ATC_RAT_YAW_FLTT,20 INS_GYRO_FILTER,20 INS_HNTCH_ATT,30 INS_HNTCH_BW,11 @@ -6,8 +11,3 @@ INS_HNTCH_FREQ,43 INS_HNTCH_HMNCS,3 INS_HNTCH_OPTS,2 INS_HNTCH_REF,1 -ATC_RAT_PIT_FLTD,20 -ATC_RAT_PIT_FLTT,20 -ATC_RAT_RLL_FLTD,20 -ATC_RAT_RLL_FLTT,20 -ATC_RAT_YAW_FLTT,20 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.4.x/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.4.x/vehicle_components.json index 2b7f22d66..8362e3bc7 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.4.x/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.4.x/vehicle_components.json @@ -190,5 +190,5 @@ "Notes": "" } }, - "Program version": "4.4.4" + "Program version": "5.0.1" } diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/02_imu_temperature_calibration_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/02_imu_temperature_calibration_setup.param index 03a5b4892..cdeda27d6 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/02_imu_temperature_calibration_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/02_imu_temperature_calibration_setup.param @@ -1,9 +1,9 @@ BRD_HEAT_TARG,60 # Reasonable for most places on this planet INS_RAW_LOG_OPT,0 # No need to log raw data for IMU temperature calibration -INS_TCAL1_ENABLE,0 # Activates the temperature calibration for IMU 1 at the next start +INS_TCAL1_ENABLE,2 # Activates the temperature calibration for IMU 1 at the next start INS_TCAL1_TMAX,70 INS_TCAL2_ENABLE,0 # Activates the temperature calibration for IMU 2 at the next start INS_TCAL2_TMAX,70 INS_TCAL3_ENABLE,0 # Activates the temperature calibration for IMU 3 at the next start -LOG_BITMASK,180222 # Only for IMU and Raw-IMU -LOG_DISARMED,0 # Gather data for the offline IMU temperature calibration while the FC is disarmed +LOG_BITMASK,524416 # Only for IMU and Raw-IMU +LOG_DISARMED,1 # Gather data for the offline IMU temperature calibration while the FC is disarmed diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/03_imu_temperature_calibration_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/03_imu_temperature_calibration_results.param index 1cf8c60b1..4d334cf22 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/03_imu_temperature_calibration_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/03_imu_temperature_calibration_results.param @@ -1,3 +1,5 @@ +INS_ACC1_CALTEMP,-300 +INS_ACC2_CALTEMP,-300 INS_TCAL1_ACC1_X,0 INS_TCAL1_ACC1_Y,0 INS_TCAL1_ACC1_Z,0 @@ -61,5 +63,3 @@ INS_TCAL3_GYR3_Y,0 INS_TCAL3_GYR3_Z,0 INS_TCAL3_TMAX,70 INS_TCAL3_TMIN,0 -INS_ACC1_CALTEMP,-300 -INS_ACC2_CALTEMP,-300 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/06_remote_controller_controller.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/06_remote_controller_controller.param index e6b0bff95..4bfa402b7 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/06_remote_controller_controller.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/06_remote_controller_controller.param @@ -1,14 +1,10 @@ ARMING_RUDDER,2 -RC10_OPTION,0 -RC6_OPTION,0 -RC7_OPTION,0 -RC8_OPTION,0 -RC9_OPTION,0 RC1_MAX,1900 RC1_MIN,1100 RC1_TRIM,1500 RC10_MAX,1900 RC10_MIN,1100 +RC10_OPTION,0 RC10_TRIM,1500 RC2_MAX,1900 RC2_MIN,1100 @@ -24,13 +20,17 @@ RC5_MIN,1100 RC5_TRIM,1500 RC6_MAX,1900 RC6_MIN,1100 +RC6_OPTION,0 RC6_TRIM,1500 RC7_MAX,1900 RC7_MIN,1100 +RC7_OPTION,0 RC7_TRIM,1500 RC8_MAX,1900 RC8_MIN,1100 +RC8_OPTION,0 RC8_TRIM,1500 RC9_MAX,1900 RC9_MIN,1100 +RC9_OPTION,0 RC9_TRIM,1500 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/11_servo_outputs.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/11_servo_outputs.param index 0db021442..507f3ebb1 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/11_servo_outputs.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/11_servo_outputs.param @@ -1,5 +1,5 @@ +FRAME_CLASS,0 # Selected in the component editor SERVO1_FUNCTION,0 SERVO2_FUNCTION,0 SERVO3_FUNCTION,0 SERVO4_FUNCTION,0 -FRAME_CLASS,0 # Selected in the component editor diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/16_accelerometer_calibration.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/16_accelerometer_calibration.param index 61463709e..3fdbe71ad 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/16_accelerometer_calibration.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/16_accelerometer_calibration.param @@ -1,26 +1,26 @@ +AHRS_TRIM_X,0 +AHRS_TRIM_Y,0 AHRS_TRIM_Z,0 +INS_ACC1_CALTEMP,-300 +INS_ACC2_CALTEMP,-300 INS_ACC2OFFS_X,0 INS_ACC2OFFS_Y,0 INS_ACC2OFFS_Z,0 +INS_ACC2SCAL_X,1 +INS_ACC2SCAL_Y,1 +INS_ACC2SCAL_Z,1 INS_ACC3_CALTEMP,-300 INS_ACC3OFFS_X,0 INS_ACC3OFFS_Y,0 INS_ACC3OFFS_Z,0 -INS_ACCOFFS_X,0 -INS_ACCOFFS_Y,0 -INS_ACCOFFS_Z,0 -INS_USE2,1 -INS_ACC2SCAL_X,1 -INS_ACC2SCAL_Y,1 -INS_ACC2SCAL_Z,1 INS_ACC3SCAL_X,1 INS_ACC3SCAL_Y,1 INS_ACC3SCAL_Z,1 +INS_ACCOFFS_X,0 +INS_ACCOFFS_Y,0 +INS_ACCOFFS_Z,0 INS_ACCSCAL_X,1 INS_ACCSCAL_Y,1 INS_ACCSCAL_Z,1 +INS_USE2,1 INS_USE3,1 -INS_ACC1_CALTEMP,-300 -INS_ACC2_CALTEMP,-300 -AHRS_TRIM_X,0 -AHRS_TRIM_Y,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/22_flight_modes.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/22_flight_modes.param index f4d9e124a..045e24a40 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/22_flight_modes.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/22_flight_modes.param @@ -1,7 +1,7 @@ -INITIAL_MODE,0 FLTMODE1,0 FLTMODE2,0 FLTMODE3,0 FLTMODE4,0 FLTMODE5,0 FLTMODE6,0 +INITIAL_MODE,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/24_safety_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/24_safety_setup.param index 9cc1d960f..10718bd40 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/24_safety_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/24_safety_setup.param @@ -2,10 +2,10 @@ ARMING_CHECK,1 # Perform all arming checks. If you have a problem fix its sourc ATC_RAT_PIT_SMAX,0 ATC_RAT_RLL_SMAX,0 ATC_RAT_YAW_SMAX,0 +FENCE_ALT_MAX,100 +FENCE_RADIUS,300 FENCE_TYPE,7 FS_EKF_ACTION,1 LAND_ALT_LOW,1000 PSC_ACCZ_SMAX,0 RTL_ALT,1500 -FENCE_ALT_MAX,100 -FENCE_RADIUS,300 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/25_motor_notch_filter_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/25_motor_notch_filter_setup.param index 74cefc725..8450335e3 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/25_motor_notch_filter_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/25_motor_notch_filter_setup.param @@ -2,7 +2,7 @@ INS_FAST_SAMPLE,1 INS_GYRO_RATE,1 INS_HNTCH_ATT,40 INS_HNTCH_BW,40 -INS_HNTCH_ENABLE,0 +INS_HNTCH_ENABLE,1 # Use the first notch filter to filter the noise created by the motors/propellers INS_HNTCH_FM_RAT,1 INS_HNTCH_FREQ,80 INS_HNTCH_HMNCS,1 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/28_throttle_controller.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/28_throttle_controller.param index ca38f862b..198f1fce6 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/28_throttle_controller.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/28_throttle_controller.param @@ -1,4 +1,4 @@ -ATC_THR_MIX_MAN,0.1 +ATC_THR_MIX_MAN,0.5 # Because ALTHOLD flight mode was used for more than 30 seconds to correctly learn the MOT_THST_HOVER value MOT_BAT_VOLT_MAX,0 MOT_BAT_VOLT_MIN,0 MOT_SPOOL_TIME,0.5 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/29_motor_notch_filter_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/29_motor_notch_filter_results.param index f4d906269..332f6d8ed 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/29_motor_notch_filter_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/29_motor_notch_filter_results.param @@ -1,3 +1,8 @@ +ATC_RAT_PIT_FLTD,20 +ATC_RAT_PIT_FLTT,20 +ATC_RAT_RLL_FLTD,20 +ATC_RAT_RLL_FLTT,20 +ATC_RAT_YAW_FLTT,20 INS_GYRO_FILTER,20 INS_HNTCH_ATT,30 INS_HNTCH_BW,11 @@ -6,8 +11,3 @@ INS_HNTCH_FREQ,43 INS_HNTCH_HMNCS,3 INS_HNTCH_OPTS,2 INS_HNTCH_REF,1 -ATC_RAT_PIT_FLTD,20 -ATC_RAT_PIT_FLTT,20 -ATC_RAT_RLL_FLTD,20 -ATC_RAT_RLL_FLTT,20 -ATC_RAT_YAW_FLTT,20 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/33_quick_tune_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/33_quick_tune_setup.param index 0e156e5f6..64c8eea2e 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/33_quick_tune_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/33_quick_tune_setup.param @@ -12,4 +12,4 @@ QUIK_RP_PI_RATIO,1 QUIK_Y_PI_RATIO,10 QUIK_YAW_D_MAX,0.01 QUIK_YAW_P_MAX,0.5 -SCR_ENABLE,0 # Use lua scripting for VTOL-Quicktune +SCR_ENABLE,1 # Use lua scripting for VTOL-Quicktune diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/51_windspeed_estimation.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/51_windspeed_estimation.param index a0a2c616b..dcb80529d 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/51_windspeed_estimation.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/51_windspeed_estimation.param @@ -1,5 +1,5 @@ EK3_DRAG_BCOEF_X,0 EK3_DRAG_BCOEF_Y,0 EK3_DRAG_MCOEF,0 -LOG_DISARMED,0 # allow post flight tuning with Replay -LOG_REPLAY,0 # allow post flight tuning with Replay +LOG_DISARMED,1 # allow post flight tuning with Replay +LOG_REPLAY,1 # allow post flight tuning with Replay diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/vehicle_components.json index be5fbc963..ef6cb579e 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/vehicle_components.json @@ -190,5 +190,5 @@ "Notes": "" } }, - "Program version": "4.4.4" + "Program version": "5.0.1" } diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/02_imu_temperature_calibration_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/02_imu_temperature_calibration_setup.param index bc91ecba1..477720095 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/02_imu_temperature_calibration_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/02_imu_temperature_calibration_setup.param @@ -1,8 +1,8 @@ INS_RAW_LOG_OPT,0 # No need to log raw data for IMU temperature calibration -INS_TCAL1_ENABLE,0 # Activates the temperature calibration for IMU 1 at the next start +INS_TCAL1_ENABLE,2 # Activates the temperature calibration for IMU 1 at the next start INS_TCAL1_TMAX,70 INS_TCAL2_ENABLE,0 # Activates the temperature calibration for IMU 2 at the next start INS_TCAL2_TMAX,70 INS_TCAL3_ENABLE,0 # Activates the temperature calibration for IMU 3 at the next start -LOG_BITMASK,180222 # Only for IMU and Raw-IMU -LOG_DISARMED,0 # Gather data for the offline IMU temperature calibration while the FC is disarmed +LOG_BITMASK,524416 # Only for IMU and Raw-IMU +LOG_DISARMED,1 # Gather data for the offline IMU temperature calibration while the FC is disarmed diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/03_imu_temperature_calibration_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/03_imu_temperature_calibration_results.param index 1cf8c60b1..4d334cf22 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/03_imu_temperature_calibration_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/03_imu_temperature_calibration_results.param @@ -1,3 +1,5 @@ +INS_ACC1_CALTEMP,-300 +INS_ACC2_CALTEMP,-300 INS_TCAL1_ACC1_X,0 INS_TCAL1_ACC1_Y,0 INS_TCAL1_ACC1_Z,0 @@ -61,5 +63,3 @@ INS_TCAL3_GYR3_Y,0 INS_TCAL3_GYR3_Z,0 INS_TCAL3_TMAX,70 INS_TCAL3_TMIN,0 -INS_ACC1_CALTEMP,-300 -INS_ACC2_CALTEMP,-300 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/05_remote_controller_receiver.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/05_remote_controller_receiver.param index 5c39a25d3..aefcee5f7 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/05_remote_controller_receiver.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/05_remote_controller_receiver.param @@ -1,6 +1,6 @@ FS_THR_VALUE,975 RC_OPTIONS,32 -RC_PROTOCOLS,1 +RC_PROTOCOLS,1 # Selected in the component editor RSSI_TYPE,0 SERIAL2_BAUD,57 SERIAL2_OPTIONS,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/07_telemetry.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/07_telemetry.param index 9656eb4a0..5717d5f91 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/07_telemetry.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/07_telemetry.param @@ -1,4 +1,4 @@ BRD_SER1_RTSCTS,0 SERIAL1_BAUD,57 SERIAL1_OPTIONS,0 -SERIAL1_PROTOCOL,2 +SERIAL1_PROTOCOL,2 # Telemetry on SERIAL1 protocol defined in component editor diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/08_esc_telemetry.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/08_esc_telemetry.param index a7e42827f..1e43bff4f 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/08_esc_telemetry.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/08_esc_telemetry.param @@ -1 +1 @@ -MOT_PWM_TYPE,0 +MOT_PWM_TYPE,0 # Specified in component editor window diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/10_battery.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/10_battery.param index bf4413d4b..c5a20a6bc 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/10_battery.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/10_battery.param @@ -2,8 +2,8 @@ BATT_ARM_VOLT,0 # Only arm above this voltage, to avoid taking off with insuffi BATT_CAPACITY,0 # Total battery capacity specified in the component editor BATT_CRT_MAH,0 BATT_CRT_VOLT,0 # Critical failsafe voltage x nr. of cells -BATT_FS_CRT_ACT,0 # Land ASAP -BATT_FS_LOW_ACT,0 # Return and land at home or rally point +BATT_FS_CRT_ACT,1 # Land ASAP +BATT_FS_LOW_ACT,2 # Return and land at home or rally point BATT_FS_VOLTSRC,0 BATT_LOW_MAH,0 BATT_LOW_VOLT,0 # Low failsafe voltage x nr. of cells diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/11_servo_outputs.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/11_servo_outputs.param index a33fd64dd..507f3ebb1 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/11_servo_outputs.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/11_servo_outputs.param @@ -1,4 +1,4 @@ -FRAME_CLASS,0 +FRAME_CLASS,0 # Selected in the component editor SERVO1_FUNCTION,0 SERVO2_FUNCTION,0 SERVO3_FUNCTION,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/13_initial_atc.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/13_initial_atc.param index 61a27db89..098649d6f 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/13_initial_atc.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/13_initial_atc.param @@ -1,18 +1,18 @@ ATC_ACCEL_P_MAX,110000 ATC_ACCEL_R_MAX,110000 ATC_ACCEL_Y_MAX,27000 -ATC_ANG_YAW_P,4.5 +ATC_ANG_YAW_P,6 # Derived from vehicle component editor propeller size ATC_RAT_PIT_FLTD,20 -ATC_RAT_PIT_FLTE,0 +ATC_RAT_PIT_FLTE,0 # Initial value, will be improved at a later step ATC_RAT_PIT_FLTT,20 ATC_RAT_RLL_FLTD,20 -ATC_RAT_RLL_FLTE,0 +ATC_RAT_RLL_FLTE,0 # Initial value, will be improved at a later step ATC_RAT_RLL_FLTT,20 -ATC_RAT_YAW_FLTD,20 -ATC_RAT_YAW_FLTE,2.5 +ATC_RAT_YAW_FLTD,0 # Initial value, will be improved at a later step +ATC_RAT_YAW_FLTE,2 # Initial value, will be improved at a later step ATC_RAT_YAW_FLTT,20 -ATC_THR_MIX_MAN,0.1 -INS_ACCEL_FILTER,20 +ATC_THR_MIX_MAN,0.1 # Value for the first couple of flights will be changed later once MOT_THST_HOVER is learned +INS_ACCEL_FILTER,10 # The default is 20Hz but that is too high in most situations INS_GYRO_FILTER,20 MOT_THST_EXPO,0.65 -MOT_THST_HOVER,0.35 +MOT_THST_HOVER,0.2 # Hover learn will improve this initial guess diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/18_gnss.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/18_gnss.param index 6ecbcdade..eeb9c4b38 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/18_gnss.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/18_gnss.param @@ -7,7 +7,7 @@ GPS1_GNSS_MODE,0 GPS1_POS_X,0 GPS1_POS_Y,0 GPS1_POS_Z,0 -GPS1_TYPE,1 +GPS1_TYPE,1 # Defined in component editor NTF_LED_TYPES,123079 SERIAL3_PROTOCOL,5 SERIAL4_PROTOCOL,5 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/25_motor_notch_filter_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/25_motor_notch_filter_setup.param index 74cefc725..1ebedbc8f 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/25_motor_notch_filter_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/25_motor_notch_filter_setup.param @@ -2,10 +2,10 @@ INS_FAST_SAMPLE,1 INS_GYRO_RATE,1 INS_HNTCH_ATT,40 INS_HNTCH_BW,40 -INS_HNTCH_ENABLE,0 +INS_HNTCH_ENABLE,1 # Use the first notch filter to filter the noise created by the motors/propellers INS_HNTCH_FM_RAT,1 INS_HNTCH_FREQ,80 INS_HNTCH_HMNCS,1 -INS_HNTCH_MODE,1 +INS_HNTCH_MODE,1 # Use throttle-based dynamic notch filter to reduce propeller noise INS_HNTCH_OPTS,0 INS_HNTCH_REF,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/26_motor_notch_logging.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/26_motor_notch_logging.param index 96999a27c..293faa1bc 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/26_motor_notch_logging.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/26_motor_notch_logging.param @@ -1,8 +1,8 @@ INS_LOG_BAT_CNT,1024 INS_LOG_BAT_MASK,0 -INS_LOG_BAT_OPT,0 -INS_RAW_LOG_OPT,0 -LOG_BITMASK,180222 +INS_LOG_BAT_OPT,0 # Use pre and post filters acc and gyro batch logging on F4 processors or big props, pre-post gyro raw logging on others +INS_RAW_LOG_OPT,9 # Use pre and post filters acc and gyro batch logging on F4 processors or big props, pre-post gyro raw logging on others +LOG_BITMASK,145374 # Log relevant data for dynamic notch filter tuning. Later on we'll change this to other subsystems LOG_FILE_BUFSIZE,80 -LOG_FILE_DSRMROT,0 +LOG_FILE_DSRMROT,1 # One .bin log file per flight, not per battery/reboot MOT_HOVER_LEARN,2 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/28_throttle_controller.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/28_throttle_controller.param index 2a7fecccf..198f1fce6 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/28_throttle_controller.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/28_throttle_controller.param @@ -1,4 +1,4 @@ -ATC_THR_MIX_MAN,0.1 # Because ALTHOLD flight mode was used for more than 30 seconds to correctly learn the MOT_THST_HOVER value +ATC_THR_MIX_MAN,0.5 # Because ALTHOLD flight mode was used for more than 30 seconds to correctly learn the MOT_THST_HOVER value MOT_BAT_VOLT_MAX,0 MOT_BAT_VOLT_MIN,0 MOT_SPOOL_TIME,0.5 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/31_pid_notch_filter_logging.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/31_pid_notch_filter_logging.param index fb2ed3000..d678608c2 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/31_pid_notch_filter_logging.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/31_pid_notch_filter_logging.param @@ -1,7 +1,7 @@ INS_LOG_BAT_CNT,1024 INS_LOG_BAT_MASK,0 -INS_LOG_BAT_OPT,0 -INS_RAW_LOG_OPT,0 -LOG_BITMASK,180222 +INS_LOG_BAT_OPT,4 # PID notch filters require batch pre- and post- filters logging +INS_RAW_LOG_OPT,0 # PID notch filters require batch logging, not raw logging +LOG_BITMASK,407517 # Log relevant data for PID notch filters tuning. Later on we'll change this to other subsystems LOG_FILE_BUFSIZE,80 LOG_FILE_DSRMROT,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/33_quick_tune_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/33_quick_tune_setup.param index b9ed12988..d63ac7b8c 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/33_quick_tune_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/33_quick_tune_setup.param @@ -2,7 +2,7 @@ QUIK_AUTO_FILTER,1 QUIK_AUTO_SAVE,0 QUIK_AXES,7 QUIK_DOUBLE_TIME,10 -QUIK_ENABLE,0 # Use VTOL-Quicktune lua script to estimate a good PID starting values +QUIK_ENABLE,1 # Use VTOL-Quicktune lua script to estimate a good PID starting values QUIK_GAIN_MARGIN,60 QUIK_MAX_REDUCE,20 QUIK_OPTIONS,0 @@ -12,4 +12,4 @@ QUIK_RP_PI_RATIO,1 QUIK_Y_PI_RATIO,10 QUIK_YAW_D_MAX,0.01 QUIK_YAW_P_MAX,0.5 -SCR_ENABLE,0 # Use lua scripting for VTOL-Quicktune +SCR_ENABLE,1 # Use lua scripting for VTOL-Quicktune diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/35_inflight_magnetometer_fit_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/35_inflight_magnetometer_fit_setup.param index 39bd1b9a3..03f5bd6f4 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/35_inflight_magnetometer_fit_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/35_inflight_magnetometer_fit_setup.param @@ -2,9 +2,9 @@ MAGH_ALT_DELTA,10 MAGH_B,1.2 MAGH_CMD,117 MAGH_COUNT,6 -MAGH_LOG_ENABLE,1 +MAGH_LOG_ENABLE,1 # Activates the logging of the MAGH.Active message MAGH_MIN_SPEED,0.4 MAGH_NUM_WP,18 MAGH_USE_LOITER,1 -QUIK_ENABLE,0 -SCR_ENABLE,0 +QUIK_ENABLE,0 # Quiktune is now completed. Disable it so that we can use the same RC switch to operate the advance-wp script +SCR_ENABLE,1 # Use lua scripting for MagFit flight path automation diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/37_evaluate_the_aircraft_tune_ff_disable.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/37_evaluate_the_aircraft_tune_ff_disable.param index a8690ccc7..cc8cc29ce 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/37_evaluate_the_aircraft_tune_ff_disable.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/37_evaluate_the_aircraft_tune_ff_disable.param @@ -1,5 +1,6 @@ -ATC_RATE_FF_ENAB,1 # test the stabilization loops independent of the input shaping +ATC_RATE_FF_ENAB,0 # test the stabilization loops independent of the input shaping INS_LOG_BAT_CNT,1024 # IMU batch logging no longer required, notch filter setup is complete, this reduces processor load and log file size -INS_LOG_BAT_MASK,0 # Gyro raw logging no longer required, notch filter setup is complete, this reduces processor load and log file size -INS_RAW_LOG_OPT,0 # Disable fast harmonic notch logging -LOG_BITMASK,180222 # The vehicle TOW weight does not change, so no need to save it +INS_LOG_BAT_MASK,0 # IMU batch logging no longer required, notch filter setup is complete, this reduces processor load and log file size +INS_RAW_LOG_OPT,0 # Gyro raw logging no longer required, notch filter setup is complete, this reduces processor load and log file size +LOG_BITMASK,145118 # Disable fast harmonic notch logging +MOT_HOVER_LEARN,1 # The vehicle TOW weight does not change, so no need to save it diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/39_autotune_roll_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/39_autotune_roll_setup.param index 54b4970c2..98aeb4193 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/39_autotune_roll_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/39_autotune_roll_setup.param @@ -1,3 +1,3 @@ AUTOTUNE_AGGR,0.075 -AUTOTUNE_AXES,7 +AUTOTUNE_AXES,1 # Autotune roll axis RC6_OPTION,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/41_autotune_pitch_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/41_autotune_pitch_setup.param index bd72cb15e..a6f2f403a 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/41_autotune_pitch_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/41_autotune_pitch_setup.param @@ -1,2 +1,2 @@ AUTOTUNE_AGGR,0.075 -AUTOTUNE_AXES,7 +AUTOTUNE_AXES,2 # Autotune pitch axis diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/43_autotune_yaw_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/43_autotune_yaw_setup.param index 7c3c7de32..664865a90 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/43_autotune_yaw_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/43_autotune_yaw_setup.param @@ -1,3 +1,3 @@ ATC_RAT_YAW_FLTD,20 AUTOTUNE_AGGR,0.075 -AUTOTUNE_AXES,7 +AUTOTUNE_AXES,4 # Autotune yaw axis diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/45_autotune_yawd_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/45_autotune_yawd_setup.param index b1564492f..0de06f467 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/45_autotune_yawd_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/45_autotune_yawd_setup.param @@ -1,3 +1,3 @@ AUTOTUNE_AGGR,0.075 -AUTOTUNE_AXES,7 +AUTOTUNE_AXES,8 # Autotune yaw D axis AUTOTUNE_MIN_D,0.0005 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/47_autotune_roll_pitch_retune_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/47_autotune_roll_pitch_retune_setup.param index bd72cb15e..8d2b9867b 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/47_autotune_roll_pitch_retune_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/47_autotune_roll_pitch_retune_setup.param @@ -1,2 +1,2 @@ AUTOTUNE_AGGR,0.075 -AUTOTUNE_AXES,7 +AUTOTUNE_AXES,3 # Autotune roll and pitch axis diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/49_autotune_finish.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/49_autotune_finish.param index 3707b1d47..270802a8c 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/49_autotune_finish.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/49_autotune_finish.param @@ -1 +1 @@ -ATC_THR_MIX_MAX,0.5 # Maximize attitude control authority at high throttle +ATC_THR_MIX_MAX,0.9 # Maximize attitude control authority at high throttle diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/51_windspeed_estimation.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/51_windspeed_estimation.param index a0a2c616b..dcb80529d 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/51_windspeed_estimation.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/51_windspeed_estimation.param @@ -1,5 +1,5 @@ EK3_DRAG_BCOEF_X,0 EK3_DRAG_BCOEF_Y,0 EK3_DRAG_MCOEF,0 -LOG_DISARMED,0 # allow post flight tuning with Replay -LOG_REPLAY,0 # allow post flight tuning with Replay +LOG_DISARMED,1 # allow post flight tuning with Replay +LOG_REPLAY,1 # allow post flight tuning with Replay diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/53_windspeed_estimation_finish.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/53_windspeed_estimation_finish.param index fd13eacd6..6cb6b9f84 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/53_windspeed_estimation_finish.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/53_windspeed_estimation_finish.param @@ -1,2 +1,2 @@ -LOG_DISARMED,0 -LOG_REPLAY,0 +LOG_DISARMED,0 # was only needed for wind speed estimation +LOG_REPLAY,0 # was only needed for wind speed estimation diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/54_system_id_input_roll.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/54_system_id_input_roll.param index b0d472c7e..e0220f393 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/54_system_id_input_roll.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/54_system_id_input_roll.param @@ -9,7 +9,7 @@ ATC_RAT_YAW_I,0.018 ATC_RATE_FF_ENAB,1 FLTMODE6,0 LOG_BITMASK,180222 -SID_AXIS,0 +SID_AXIS,1 # Inject chip on the input roll signal SID_F_START_HZ,0.5 SID_F_STOP_HZ,40 SID_MAGNITUDE,15 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/55_system_id_input_pitch.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/55_system_id_input_pitch.param index b0d472c7e..ab94333be 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/55_system_id_input_pitch.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/55_system_id_input_pitch.param @@ -9,7 +9,7 @@ ATC_RAT_YAW_I,0.018 ATC_RATE_FF_ENAB,1 FLTMODE6,0 LOG_BITMASK,180222 -SID_AXIS,0 +SID_AXIS,2 # Inject chip on the input pitch signal SID_F_START_HZ,0.5 SID_F_STOP_HZ,40 SID_MAGNITUDE,15 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/56_system_id_input_yaw.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/56_system_id_input_yaw.param index b0d472c7e..140939d66 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/56_system_id_input_yaw.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/56_system_id_input_yaw.param @@ -9,7 +9,7 @@ ATC_RAT_YAW_I,0.018 ATC_RATE_FF_ENAB,1 FLTMODE6,0 LOG_BITMASK,180222 -SID_AXIS,0 +SID_AXIS,3 # Inject chip on the input yaw signal SID_F_START_HZ,0.5 SID_F_STOP_HZ,40 SID_MAGNITUDE,15 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/57_system_id_mixer_roll.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/57_system_id_mixer_roll.param index bd4a35f60..93bd3559c 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/57_system_id_mixer_roll.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/57_system_id_mixer_roll.param @@ -11,7 +11,7 @@ FLTMODE6,0 LOG_BITMASK,180222 LOG_DISARMED,0 LOG_REPLAY,0 -SID_AXIS,0 +SID_AXIS,10 # Inject chip on the mixer roll signal SID_F_START_HZ,0.5 SID_F_STOP_HZ,40 SID_MAGNITUDE,15 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/58_system_id_mixer_pitch.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/58_system_id_mixer_pitch.param index 23550e419..23f5d96a2 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/58_system_id_mixer_pitch.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/58_system_id_mixer_pitch.param @@ -1,7 +1,7 @@ ATC_RAT_PIT_I,0.135 ATC_RAT_RLL_I,0.135 ATC_RATE_FF_ENAB,1 -SID_AXIS,0 +SID_AXIS,11 # Inject chip on the mixer pitch signal SID_F_START_HZ,0.5 SID_F_STOP_HZ,40 SID_MAGNITUDE,15 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/59_system_id_mixer_yaw.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/59_system_id_mixer_yaw.param index 125ae792c..449526fa2 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/59_system_id_mixer_yaw.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/59_system_id_mixer_yaw.param @@ -1,7 +1,7 @@ ATC_RAT_PIT_I,0.135 ATC_RAT_YAW_I,0.018 ATC_RATE_FF_ENAB,1 -SID_AXIS,0 +SID_AXIS,12 # Inject chip on the mixer yaw signal SID_F_START_HZ,0.5 SID_F_STOP_HZ,40 SID_MAGNITUDE,15 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/60_system_id_mixer_thrust.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/60_system_id_mixer_thrust.param index 467ab535a..b46ccaaab 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/60_system_id_mixer_thrust.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/60_system_id_mixer_thrust.param @@ -1,7 +1,7 @@ ATC_RAT_YAW_I,0.018 ATC_RATE_FF_ENAB,1 PSC_ACCZ_I,1 -SID_AXIS,0 +SID_AXIS,13 # Inject chip on the mixer thrust signal SID_F_START_HZ,0.5 SID_F_STOP_HZ,40 SID_MAGNITUDE,15 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/64_position_controller.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/64_position_controller.param index 18a7453d8..4b0e39a6c 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/64_position_controller.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/64_position_controller.param @@ -1,5 +1,5 @@ ANGLE_MAX,3000 -LOG_BITMASK,180222 +LOG_BITMASK,145150 # Add Navigation logging LOIT_ACC_MAX,500 LOIT_BRK_ACCEL,250 LOIT_BRK_DELAY,1 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/vehicle_components.json index c97a6775a..c789729c1 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/vehicle_components.json @@ -190,5 +190,5 @@ "Notes": "" } }, - "Program version": "4.4.4" + "Program version": "5.0.1" } diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/02_imu_temperature_calibration_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/02_imu_temperature_calibration_setup.param index bc91ecba1..477720095 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/02_imu_temperature_calibration_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/02_imu_temperature_calibration_setup.param @@ -1,8 +1,8 @@ INS_RAW_LOG_OPT,0 # No need to log raw data for IMU temperature calibration -INS_TCAL1_ENABLE,0 # Activates the temperature calibration for IMU 1 at the next start +INS_TCAL1_ENABLE,2 # Activates the temperature calibration for IMU 1 at the next start INS_TCAL1_TMAX,70 INS_TCAL2_ENABLE,0 # Activates the temperature calibration for IMU 2 at the next start INS_TCAL2_TMAX,70 INS_TCAL3_ENABLE,0 # Activates the temperature calibration for IMU 3 at the next start -LOG_BITMASK,180222 # Only for IMU and Raw-IMU -LOG_DISARMED,0 # Gather data for the offline IMU temperature calibration while the FC is disarmed +LOG_BITMASK,524416 # Only for IMU and Raw-IMU +LOG_DISARMED,1 # Gather data for the offline IMU temperature calibration while the FC is disarmed diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/03_imu_temperature_calibration_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/03_imu_temperature_calibration_results.param index 1cf8c60b1..4d334cf22 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/03_imu_temperature_calibration_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/03_imu_temperature_calibration_results.param @@ -1,3 +1,5 @@ +INS_ACC1_CALTEMP,-300 +INS_ACC2_CALTEMP,-300 INS_TCAL1_ACC1_X,0 INS_TCAL1_ACC1_Y,0 INS_TCAL1_ACC1_Z,0 @@ -61,5 +63,3 @@ INS_TCAL3_GYR3_Y,0 INS_TCAL3_GYR3_Z,0 INS_TCAL3_TMAX,70 INS_TCAL3_TMIN,0 -INS_ACC1_CALTEMP,-300 -INS_ACC2_CALTEMP,-300 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/06_remote_controller_controller.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/06_remote_controller_controller.param index e6b0bff95..4bfa402b7 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/06_remote_controller_controller.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/06_remote_controller_controller.param @@ -1,14 +1,10 @@ ARMING_RUDDER,2 -RC10_OPTION,0 -RC6_OPTION,0 -RC7_OPTION,0 -RC8_OPTION,0 -RC9_OPTION,0 RC1_MAX,1900 RC1_MIN,1100 RC1_TRIM,1500 RC10_MAX,1900 RC10_MIN,1100 +RC10_OPTION,0 RC10_TRIM,1500 RC2_MAX,1900 RC2_MIN,1100 @@ -24,13 +20,17 @@ RC5_MIN,1100 RC5_TRIM,1500 RC6_MAX,1900 RC6_MIN,1100 +RC6_OPTION,0 RC6_TRIM,1500 RC7_MAX,1900 RC7_MIN,1100 +RC7_OPTION,0 RC7_TRIM,1500 RC8_MAX,1900 RC8_MIN,1100 +RC8_OPTION,0 RC8_TRIM,1500 RC9_MAX,1900 RC9_MIN,1100 +RC9_OPTION,0 RC9_TRIM,1500 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/10_battery.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/10_battery.param index bf4413d4b..c5a20a6bc 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/10_battery.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/10_battery.param @@ -2,8 +2,8 @@ BATT_ARM_VOLT,0 # Only arm above this voltage, to avoid taking off with insuffi BATT_CAPACITY,0 # Total battery capacity specified in the component editor BATT_CRT_MAH,0 BATT_CRT_VOLT,0 # Critical failsafe voltage x nr. of cells -BATT_FS_CRT_ACT,0 # Land ASAP -BATT_FS_LOW_ACT,0 # Return and land at home or rally point +BATT_FS_CRT_ACT,1 # Land ASAP +BATT_FS_LOW_ACT,2 # Return and land at home or rally point BATT_FS_VOLTSRC,0 BATT_LOW_MAH,0 BATT_LOW_VOLT,0 # Low failsafe voltage x nr. of cells diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/11_servo_outputs.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/11_servo_outputs.param index 0db021442..507f3ebb1 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/11_servo_outputs.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/11_servo_outputs.param @@ -1,5 +1,5 @@ +FRAME_CLASS,0 # Selected in the component editor SERVO1_FUNCTION,0 SERVO2_FUNCTION,0 SERVO3_FUNCTION,0 SERVO4_FUNCTION,0 -FRAME_CLASS,0 # Selected in the component editor diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/13_initial_atc.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/13_initial_atc.param index c3ab9b06c..2acc3c365 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/13_initial_atc.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/13_initial_atc.param @@ -1,3 +1,6 @@ +ATC_ACC_P_MAX,1100 # Derived from vehicle component editor propeller size +ATC_ACC_R_MAX,1100 # Derived from vehicle component editor propeller size +ATC_ACC_Y_MAX,270 # Derived from vehicle component editor propeller size ATC_ANG_YAW_P,6 # Derived from vehicle component editor propeller size ATC_RAT_PIT_FLTD,21 # INS_GYRO_FILTER / 2 ATC_RAT_PIT_FLTE,0 # Initial value, will be improved at a later step @@ -13,6 +16,3 @@ INS_ACCEL_FILTER,10 # The default is 20Hz but that is too high in most situatio INS_GYRO_FILTER,42 # Derived from vehicle component editor propeller size MOT_THST_EXPO,0.6 # Derived from vehicle component editor propeller size MOT_THST_HOVER,0.2 # Hover learn will improve this initial guess -ATC_ACC_P_MAX,1100 # Derived from vehicle component editor propeller size -ATC_ACC_R_MAX,1100 # Derived from vehicle component editor propeller size -ATC_ACC_Y_MAX,270 # Derived from vehicle component editor propeller size diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/16_accelerometer_calibration.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/16_accelerometer_calibration.param index 61463709e..3fdbe71ad 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/16_accelerometer_calibration.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/16_accelerometer_calibration.param @@ -1,26 +1,26 @@ +AHRS_TRIM_X,0 +AHRS_TRIM_Y,0 AHRS_TRIM_Z,0 +INS_ACC1_CALTEMP,-300 +INS_ACC2_CALTEMP,-300 INS_ACC2OFFS_X,0 INS_ACC2OFFS_Y,0 INS_ACC2OFFS_Z,0 +INS_ACC2SCAL_X,1 +INS_ACC2SCAL_Y,1 +INS_ACC2SCAL_Z,1 INS_ACC3_CALTEMP,-300 INS_ACC3OFFS_X,0 INS_ACC3OFFS_Y,0 INS_ACC3OFFS_Z,0 -INS_ACCOFFS_X,0 -INS_ACCOFFS_Y,0 -INS_ACCOFFS_Z,0 -INS_USE2,1 -INS_ACC2SCAL_X,1 -INS_ACC2SCAL_Y,1 -INS_ACC2SCAL_Z,1 INS_ACC3SCAL_X,1 INS_ACC3SCAL_Y,1 INS_ACC3SCAL_Z,1 +INS_ACCOFFS_X,0 +INS_ACCOFFS_Y,0 +INS_ACCOFFS_Z,0 INS_ACCSCAL_X,1 INS_ACCSCAL_Y,1 INS_ACCSCAL_Z,1 +INS_USE2,1 INS_USE3,1 -INS_ACC1_CALTEMP,-300 -INS_ACC2_CALTEMP,-300 -AHRS_TRIM_X,0 -AHRS_TRIM_Y,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/22_flight_modes.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/22_flight_modes.param index f4d9e124a..045e24a40 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/22_flight_modes.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/22_flight_modes.param @@ -1,7 +1,7 @@ -INITIAL_MODE,0 FLTMODE1,0 FLTMODE2,0 FLTMODE3,0 FLTMODE4,0 FLTMODE5,0 FLTMODE6,0 +INITIAL_MODE,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/24_safety_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/24_safety_setup.param index 180a1639e..347a0f612 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/24_safety_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/24_safety_setup.param @@ -2,10 +2,10 @@ ARMING_SKIPCHK,0 # Perform all arming checks. If you have a problem fix its sou ATC_RAT_PIT_SMAX,0 ATC_RAT_RLL_SMAX,0 ATC_RAT_YAW_SMAX,0 +FENCE_ALT_MAX,100 +FENCE_RADIUS,300 FENCE_TYPE,7 FS_EKF_ACTION,1 LAND_ALT_LOW_M,10 PSC_D_ACC_SMAX,0 RTL_ALT_M,15 -FENCE_ALT_MAX,100 -FENCE_RADIUS,300 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/25_motor_notch_filter_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/25_motor_notch_filter_setup.param index 74cefc725..8450335e3 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/25_motor_notch_filter_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/25_motor_notch_filter_setup.param @@ -2,7 +2,7 @@ INS_FAST_SAMPLE,1 INS_GYRO_RATE,1 INS_HNTCH_ATT,40 INS_HNTCH_BW,40 -INS_HNTCH_ENABLE,0 +INS_HNTCH_ENABLE,1 # Use the first notch filter to filter the noise created by the motors/propellers INS_HNTCH_FM_RAT,1 INS_HNTCH_FREQ,80 INS_HNTCH_HMNCS,1 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/29_motor_notch_filter_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/29_motor_notch_filter_results.param index 2d23f9820..842445b50 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/29_motor_notch_filter_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/29_motor_notch_filter_results.param @@ -1,3 +1,8 @@ +ATC_RAT_PIT_FLTD,20 +ATC_RAT_PIT_FLTT,20 +ATC_RAT_RLL_FLTD,20 +ATC_RAT_RLL_FLTT,20 +ATC_RAT_YAW_FLTT,20 INS_GYRO_FILTER,20 INS_HNTCH_ATT,40 INS_HNTCH_BW,40 @@ -7,8 +12,3 @@ INS_HNTCH_FREQ,80 INS_HNTCH_HMNCS,1 INS_HNTCH_OPTS,0 INS_HNTCH_REF,0 -ATC_RAT_PIT_FLTD,20 -ATC_RAT_PIT_FLTT,20 -ATC_RAT_RLL_FLTD,20 -ATC_RAT_RLL_FLTT,20 -ATC_RAT_YAW_FLTT,20 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/33_quick_tune_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/33_quick_tune_setup.param index 0e156e5f6..64c8eea2e 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/33_quick_tune_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/33_quick_tune_setup.param @@ -12,4 +12,4 @@ QUIK_RP_PI_RATIO,1 QUIK_Y_PI_RATIO,10 QUIK_YAW_D_MAX,0.01 QUIK_YAW_P_MAX,0.5 -SCR_ENABLE,0 # Use lua scripting for VTOL-Quicktune +SCR_ENABLE,1 # Use lua scripting for VTOL-Quicktune diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/51_windspeed_estimation.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/51_windspeed_estimation.param index a0a2c616b..dcb80529d 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/51_windspeed_estimation.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/51_windspeed_estimation.param @@ -1,5 +1,5 @@ EK3_DRAG_BCOEF_X,0 EK3_DRAG_BCOEF_Y,0 EK3_DRAG_MCOEF,0 -LOG_DISARMED,0 # allow post flight tuning with Replay -LOG_REPLAY,0 # allow post flight tuning with Replay +LOG_DISARMED,1 # allow post flight tuning with Replay +LOG_REPLAY,1 # allow post flight tuning with Replay diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/vehicle_components.json index 1e8f8f2b3..86288dc8b 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.7.x/vehicle_components.json @@ -190,5 +190,5 @@ "Notes": "" } }, - "Program version": "4.4.4" + "Program version": "5.0.1" } diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/02_imu_temperature_calibration_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/02_imu_temperature_calibration_setup.param index bc91ecba1..477720095 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/02_imu_temperature_calibration_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/02_imu_temperature_calibration_setup.param @@ -1,8 +1,8 @@ INS_RAW_LOG_OPT,0 # No need to log raw data for IMU temperature calibration -INS_TCAL1_ENABLE,0 # Activates the temperature calibration for IMU 1 at the next start +INS_TCAL1_ENABLE,2 # Activates the temperature calibration for IMU 1 at the next start INS_TCAL1_TMAX,70 INS_TCAL2_ENABLE,0 # Activates the temperature calibration for IMU 2 at the next start INS_TCAL2_TMAX,70 INS_TCAL3_ENABLE,0 # Activates the temperature calibration for IMU 3 at the next start -LOG_BITMASK,180222 # Only for IMU and Raw-IMU -LOG_DISARMED,0 # Gather data for the offline IMU temperature calibration while the FC is disarmed +LOG_BITMASK,524416 # Only for IMU and Raw-IMU +LOG_DISARMED,1 # Gather data for the offline IMU temperature calibration while the FC is disarmed diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/03_imu_temperature_calibration_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/03_imu_temperature_calibration_results.param index 1cf8c60b1..4d334cf22 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/03_imu_temperature_calibration_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/03_imu_temperature_calibration_results.param @@ -1,3 +1,5 @@ +INS_ACC1_CALTEMP,-300 +INS_ACC2_CALTEMP,-300 INS_TCAL1_ACC1_X,0 INS_TCAL1_ACC1_Y,0 INS_TCAL1_ACC1_Z,0 @@ -61,5 +63,3 @@ INS_TCAL3_GYR3_Y,0 INS_TCAL3_GYR3_Z,0 INS_TCAL3_TMAX,70 INS_TCAL3_TMIN,0 -INS_ACC1_CALTEMP,-300 -INS_ACC2_CALTEMP,-300 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/06_remote_controller_controller.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/06_remote_controller_controller.param index e6b0bff95..4bfa402b7 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/06_remote_controller_controller.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/06_remote_controller_controller.param @@ -1,14 +1,10 @@ ARMING_RUDDER,2 -RC10_OPTION,0 -RC6_OPTION,0 -RC7_OPTION,0 -RC8_OPTION,0 -RC9_OPTION,0 RC1_MAX,1900 RC1_MIN,1100 RC1_TRIM,1500 RC10_MAX,1900 RC10_MIN,1100 +RC10_OPTION,0 RC10_TRIM,1500 RC2_MAX,1900 RC2_MIN,1100 @@ -24,13 +20,17 @@ RC5_MIN,1100 RC5_TRIM,1500 RC6_MAX,1900 RC6_MIN,1100 +RC6_OPTION,0 RC6_TRIM,1500 RC7_MAX,1900 RC7_MIN,1100 +RC7_OPTION,0 RC7_TRIM,1500 RC8_MAX,1900 RC8_MIN,1100 +RC8_OPTION,0 RC8_TRIM,1500 RC9_MAX,1900 RC9_MIN,1100 +RC9_OPTION,0 RC9_TRIM,1500 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/10_battery.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/10_battery.param index bf4413d4b..c5a20a6bc 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/10_battery.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/10_battery.param @@ -2,8 +2,8 @@ BATT_ARM_VOLT,0 # Only arm above this voltage, to avoid taking off with insuffi BATT_CAPACITY,0 # Total battery capacity specified in the component editor BATT_CRT_MAH,0 BATT_CRT_VOLT,0 # Critical failsafe voltage x nr. of cells -BATT_FS_CRT_ACT,0 # Land ASAP -BATT_FS_LOW_ACT,0 # Return and land at home or rally point +BATT_FS_CRT_ACT,1 # Land ASAP +BATT_FS_LOW_ACT,2 # Return and land at home or rally point BATT_FS_VOLTSRC,0 BATT_LOW_MAH,0 BATT_LOW_VOLT,0 # Low failsafe voltage x nr. of cells diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/11_servo_outputs.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/11_servo_outputs.param index 0db021442..507f3ebb1 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/11_servo_outputs.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/11_servo_outputs.param @@ -1,5 +1,5 @@ +FRAME_CLASS,0 # Selected in the component editor SERVO1_FUNCTION,0 SERVO2_FUNCTION,0 SERVO3_FUNCTION,0 SERVO4_FUNCTION,0 -FRAME_CLASS,0 # Selected in the component editor diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/13_initial_atc.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/13_initial_atc.param index c3ab9b06c..2acc3c365 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/13_initial_atc.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/13_initial_atc.param @@ -1,3 +1,6 @@ +ATC_ACC_P_MAX,1100 # Derived from vehicle component editor propeller size +ATC_ACC_R_MAX,1100 # Derived from vehicle component editor propeller size +ATC_ACC_Y_MAX,270 # Derived from vehicle component editor propeller size ATC_ANG_YAW_P,6 # Derived from vehicle component editor propeller size ATC_RAT_PIT_FLTD,21 # INS_GYRO_FILTER / 2 ATC_RAT_PIT_FLTE,0 # Initial value, will be improved at a later step @@ -13,6 +16,3 @@ INS_ACCEL_FILTER,10 # The default is 20Hz but that is too high in most situatio INS_GYRO_FILTER,42 # Derived from vehicle component editor propeller size MOT_THST_EXPO,0.6 # Derived from vehicle component editor propeller size MOT_THST_HOVER,0.2 # Hover learn will improve this initial guess -ATC_ACC_P_MAX,1100 # Derived from vehicle component editor propeller size -ATC_ACC_R_MAX,1100 # Derived from vehicle component editor propeller size -ATC_ACC_Y_MAX,270 # Derived from vehicle component editor propeller size diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/16_accelerometer_calibration.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/16_accelerometer_calibration.param index 61463709e..3fdbe71ad 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/16_accelerometer_calibration.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/16_accelerometer_calibration.param @@ -1,26 +1,26 @@ +AHRS_TRIM_X,0 +AHRS_TRIM_Y,0 AHRS_TRIM_Z,0 +INS_ACC1_CALTEMP,-300 +INS_ACC2_CALTEMP,-300 INS_ACC2OFFS_X,0 INS_ACC2OFFS_Y,0 INS_ACC2OFFS_Z,0 +INS_ACC2SCAL_X,1 +INS_ACC2SCAL_Y,1 +INS_ACC2SCAL_Z,1 INS_ACC3_CALTEMP,-300 INS_ACC3OFFS_X,0 INS_ACC3OFFS_Y,0 INS_ACC3OFFS_Z,0 -INS_ACCOFFS_X,0 -INS_ACCOFFS_Y,0 -INS_ACCOFFS_Z,0 -INS_USE2,1 -INS_ACC2SCAL_X,1 -INS_ACC2SCAL_Y,1 -INS_ACC2SCAL_Z,1 INS_ACC3SCAL_X,1 INS_ACC3SCAL_Y,1 INS_ACC3SCAL_Z,1 +INS_ACCOFFS_X,0 +INS_ACCOFFS_Y,0 +INS_ACCOFFS_Z,0 INS_ACCSCAL_X,1 INS_ACCSCAL_Y,1 INS_ACCSCAL_Z,1 +INS_USE2,1 INS_USE3,1 -INS_ACC1_CALTEMP,-300 -INS_ACC2_CALTEMP,-300 -AHRS_TRIM_X,0 -AHRS_TRIM_Y,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/22_flight_modes.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/22_flight_modes.param index f4d9e124a..045e24a40 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/22_flight_modes.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/22_flight_modes.param @@ -1,7 +1,7 @@ -INITIAL_MODE,0 FLTMODE1,0 FLTMODE2,0 FLTMODE3,0 FLTMODE4,0 FLTMODE5,0 FLTMODE6,0 +INITIAL_MODE,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/24_safety_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/24_safety_setup.param index 180a1639e..347a0f612 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/24_safety_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/24_safety_setup.param @@ -2,10 +2,10 @@ ARMING_SKIPCHK,0 # Perform all arming checks. If you have a problem fix its sou ATC_RAT_PIT_SMAX,0 ATC_RAT_RLL_SMAX,0 ATC_RAT_YAW_SMAX,0 +FENCE_ALT_MAX,100 +FENCE_RADIUS,300 FENCE_TYPE,7 FS_EKF_ACTION,1 LAND_ALT_LOW_M,10 PSC_D_ACC_SMAX,0 RTL_ALT_M,15 -FENCE_ALT_MAX,100 -FENCE_RADIUS,300 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/25_motor_notch_filter_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/25_motor_notch_filter_setup.param index 74cefc725..8450335e3 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/25_motor_notch_filter_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/25_motor_notch_filter_setup.param @@ -2,7 +2,7 @@ INS_FAST_SAMPLE,1 INS_GYRO_RATE,1 INS_HNTCH_ATT,40 INS_HNTCH_BW,40 -INS_HNTCH_ENABLE,0 +INS_HNTCH_ENABLE,1 # Use the first notch filter to filter the noise created by the motors/propellers INS_HNTCH_FM_RAT,1 INS_HNTCH_FREQ,80 INS_HNTCH_HMNCS,1 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/29_motor_notch_filter_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/29_motor_notch_filter_results.param index 2d23f9820..842445b50 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/29_motor_notch_filter_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/29_motor_notch_filter_results.param @@ -1,3 +1,8 @@ +ATC_RAT_PIT_FLTD,20 +ATC_RAT_PIT_FLTT,20 +ATC_RAT_RLL_FLTD,20 +ATC_RAT_RLL_FLTT,20 +ATC_RAT_YAW_FLTT,20 INS_GYRO_FILTER,20 INS_HNTCH_ATT,40 INS_HNTCH_BW,40 @@ -7,8 +12,3 @@ INS_HNTCH_FREQ,80 INS_HNTCH_HMNCS,1 INS_HNTCH_OPTS,0 INS_HNTCH_REF,0 -ATC_RAT_PIT_FLTD,20 -ATC_RAT_PIT_FLTT,20 -ATC_RAT_RLL_FLTD,20 -ATC_RAT_RLL_FLTT,20 -ATC_RAT_YAW_FLTT,20 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/33_quick_tune_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/33_quick_tune_setup.param index 0e156e5f6..64c8eea2e 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/33_quick_tune_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/33_quick_tune_setup.param @@ -12,4 +12,4 @@ QUIK_RP_PI_RATIO,1 QUIK_Y_PI_RATIO,10 QUIK_YAW_D_MAX,0.01 QUIK_YAW_P_MAX,0.5 -SCR_ENABLE,0 # Use lua scripting for VTOL-Quicktune +SCR_ENABLE,1 # Use lua scripting for VTOL-Quicktune diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/51_windspeed_estimation.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/51_windspeed_estimation.param index a0a2c616b..dcb80529d 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/51_windspeed_estimation.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/51_windspeed_estimation.param @@ -1,5 +1,5 @@ EK3_DRAG_BCOEF_X,0 EK3_DRAG_BCOEF_Y,0 EK3_DRAG_MCOEF,0 -LOG_DISARMED,0 # allow post flight tuning with Replay -LOG_REPLAY,0 # allow post flight tuning with Replay +LOG_DISARMED,1 # allow post flight tuning with Replay +LOG_REPLAY,1 # allow post flight tuning with Replay diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/vehicle_components.json index 9831f71db..c3601a973 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.8.x/vehicle_components.json @@ -190,5 +190,5 @@ "Notes": "" } }, - "Program version": "4.4.4" + "Program version": "5.0.1" } diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/empty_4.7.x/06_remote_controller_controller.param b/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/empty_4.7.x/06_remote_controller_controller.param index d95c2870d..95f18dd4e 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/empty_4.7.x/06_remote_controller_controller.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/empty_4.7.x/06_remote_controller_controller.param @@ -1,9 +1,4 @@ ARMING_RUDDER,1 -RC5_OPTION,0 -RC6_OPTION,0 -RC7_OPTION,0 -RC8_OPTION,0 -RC9_OPTION,0 RC1_MAX,1900 RC1_MIN,1100 RC1_TRIM,1500 @@ -18,16 +13,21 @@ RC4_MIN,1100 RC4_TRIM,1500 RC5_MAX,1900 RC5_MIN,1100 +RC5_OPTION,0 RC5_TRIM,1500 RC6_MAX,1900 RC6_MIN,1100 +RC6_OPTION,0 RC6_TRIM,1500 RC7_MAX,1900 RC7_MIN,1100 +RC7_OPTION,0 RC7_TRIM,1500 RC8_MAX,1900 RC8_MIN,1100 +RC8_OPTION,0 RC8_TRIM,1500 RC9_MAX,1900 RC9_MIN,1100 +RC9_OPTION,0 RC9_TRIM,1500 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/empty_4.7.x/16_accelerometer_calibration.param b/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/empty_4.7.x/16_accelerometer_calibration.param index c002937b5..3fdbe71ad 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/empty_4.7.x/16_accelerometer_calibration.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/empty_4.7.x/16_accelerometer_calibration.param @@ -19,8 +19,8 @@ INS_ACC3SCAL_Z,1 INS_ACCOFFS_X,0 INS_ACCOFFS_Y,0 INS_ACCOFFS_Z,0 -INS_USE2,1 -INS_USE3,1 INS_ACCSCAL_X,1 INS_ACCSCAL_Y,1 INS_ACCSCAL_Z,1 +INS_USE2,1 +INS_USE3,1 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/empty_4.7.x/22_flight_modes.param b/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/empty_4.7.x/22_flight_modes.param index c61a9cdc8..be6152314 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/empty_4.7.x/22_flight_modes.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/empty_4.7.x/22_flight_modes.param @@ -1,7 +1,7 @@ -INITIAL_MODE,0 FLTMODE1,11 FLTMODE2,11 FLTMODE3,5 FLTMODE4,5 FLTMODE5,0 FLTMODE6,0 +INITIAL_MODE,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/empty_4.7.x/24_safety_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/empty_4.7.x/24_safety_setup.param index 54cc71183..de26cb5bd 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/empty_4.7.x/24_safety_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/empty_4.7.x/24_safety_setup.param @@ -1,6 +1,6 @@ ARMING_CHECK,1 -FENCE_TYPE,4 FENCE_ACTION,1 -FENCE_ENABLE,0 FENCE_ALT_MAX,100 +FENCE_ENABLE,0 FENCE_RADIUS,300 +FENCE_TYPE,4 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/empty_4.7.x/29_motor_notch_filter_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/empty_4.7.x/29_motor_notch_filter_results.param index a33f5cde4..5e2ba76e4 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/empty_4.7.x/29_motor_notch_filter_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/empty_4.7.x/29_motor_notch_filter_results.param @@ -1,7 +1,7 @@ +INS_GYRO_FILTER,20 INS_HNTCH_ATT,30 INS_HNTCH_BW,20 INS_HNTCH_FM_RAT,1 INS_HNTCH_FREQ,35 INS_HNTCH_HMNCS,3 INS_HNTCH_OPTS,2 -INS_GYRO_FILTER,20 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/empty_4.7.x/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/empty_4.7.x/vehicle_components.json index 55a7daf33..92998b2ed 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/empty_4.7.x/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/empty_4.7.x/vehicle_components.json @@ -190,6 +190,6 @@ "Notes": "" } }, - "Program version": "4.4.4", + "Program version": "5.0.1", "Configuration template": "normal_plane" } diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/normal_plane/06_remote_controller_controller.param b/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/normal_plane/06_remote_controller_controller.param index 9382bdad3..d68714ab7 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/normal_plane/06_remote_controller_controller.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/normal_plane/06_remote_controller_controller.param @@ -1,9 +1,4 @@ ARMING_RUDDER,2 -RC5_OPTION,0 -RC6_OPTION,51 -RC7_OPTION,16 -RC8_OPTION,0 -RC9_OPTION,165 RC1_MAX,2010 RC1_MIN,987 RC1_TRIM,1494 @@ -18,16 +13,21 @@ RC4_MIN,987 RC4_TRIM,1498 RC5_MAX,2010 RC5_MIN,987 +RC5_OPTION,0 RC5_TRIM,987 RC6_MAX,2010 RC6_MIN,987 +RC6_OPTION,51 RC6_TRIM,987 RC7_MAX,2010 RC7_MIN,987 +RC7_OPTION,16 RC7_TRIM,987 RC8_MAX,1428 RC8_MIN,990 +RC8_OPTION,0 RC8_TRIM,1038 RC9_MAX,2010 RC9_MIN,987 +RC9_OPTION,165 RC9_TRIM,987 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/normal_plane/24_safety_setup.param b/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/normal_plane/24_safety_setup.param index 6998b5482..2ee558580 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/normal_plane/24_safety_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/normal_plane/24_safety_setup.param @@ -1,6 +1,6 @@ ARMING_CHECK,1 # Perform all arming checks. If you have a problem fix its source. Do NOT change this -FENCE_TYPE,4 FENCE_ACTION,1 -FENCE_ENABLE,0 FENCE_ALT_MAX,100 +FENCE_ENABLE,0 FENCE_RADIUS,300 # Initially you should start with a 150m fence radius. +FENCE_TYPE,4 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/normal_plane/29_motor_notch_filter_results.param b/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/normal_plane/29_motor_notch_filter_results.param index 2f052550d..520a22506 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/normal_plane/29_motor_notch_filter_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/normal_plane/29_motor_notch_filter_results.param @@ -1,7 +1,7 @@ +INS_GYRO_FILTER,20 INS_HNTCH_ATT,30 # just enough to filter the noise created by the motors/propellers INS_HNTCH_BW,20 # just enough to filter the noise created by the motors/propellers INS_HNTCH_FM_RAT,1 # Allowed undercutting of the base frequency of the first notch filter INS_HNTCH_FREQ,35 # the minimum frequency that the motors are expected to operate at hover INS_HNTCH_HMNCS,3 # the motors produce secondary harmonics on this vehicle INS_HNTCH_OPTS,2 # One Notch per motor, multisource -INS_GYRO_FILTER,20 diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/normal_plane/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/normal_plane/vehicle_components.json index 456f6d625..0d301cea5 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/normal_plane/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/ArduPlane/normal_plane/vehicle_components.json @@ -190,5 +190,5 @@ "Notes": "" } }, - "Program version": "4.4.4" + "Program version": "5.0.1" } diff --git a/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/03_imu_temperature_calibration_results.param b/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/03_imu_temperature_calibration_results.param index 9524ee429..9f280453e 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/03_imu_temperature_calibration_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/03_imu_temperature_calibration_results.param @@ -1,3 +1,5 @@ +INS_ACC1_CALTEMP,44.806763 +INS_ACC2_CALTEMP,47 INS_TCAL1_ACC1_X,-940.540894 INS_TCAL1_ACC1_Y,274.553375 INS_TCAL1_ACC1_Z,-3712.647705 @@ -61,5 +63,3 @@ INS_TCAL3_GYR3_Y,-0.061594 INS_TCAL3_GYR3_Z,0.019881 INS_TCAL3_TMAX,57.3 INS_TCAL3_TMIN,-27.7 -INS_ACC1_CALTEMP,44.806763 -INS_ACC2_CALTEMP,47 diff --git a/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/10_remote_controller_controller.param b/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/10_remote_controller_controller.param index 438ab04d3..7e671face 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/10_remote_controller_controller.param +++ b/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/10_remote_controller_controller.param @@ -1,14 +1,10 @@ ARMING_RUDDER,2 # Use Rudder Arming/disarming -RC10_OPTION,0 -RC6_OPTION,0 -RC7_OPTION,32 # Motor Interlock required to get blades turning. -RC8_OPTION,0 -RC9_OPTION,0 RC1_MAX,2011 RC1_MIN,988 RC1_TRIM,1500 RC10_MAX,1900 RC10_MIN,1100 +RC10_OPTION,0 RC10_TRIM,1500 RC2_MAX,2011 RC2_MIN,988 @@ -24,13 +20,17 @@ RC5_MIN,1100 RC5_TRIM,1500 RC6_MAX,1900 RC6_MIN,1100 +RC6_OPTION,0 RC6_TRIM,1500 RC7_MAX,1900 RC7_MIN,1100 +RC7_OPTION,32 # Motor Interlock required to get blades turning. RC7_TRIM,1500 RC8_MAX,1900 RC8_MIN,1100 +RC8_OPTION,0 RC8_TRIM,1500 RC9_MAX,1900 RC9_MIN,1100 +RC9_OPTION,0 RC9_TRIM,1500 diff --git a/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/18_battery.param b/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/18_battery.param index c651b4773..c2355ad6d 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/18_battery.param +++ b/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/18_battery.param @@ -1,2 +1,8 @@ +BATT_ARM_VOLT,23.8998 # Only arm above this voltage, to avoid taking off with insufficient battery capacity +BATT_CAPACITY,2000 # Total battery capacity specified in the component editor +BATT_CRT_VOLT,21.6 # Critical failsafe voltage x nr. of cells +BATT_FS_CRT_ACT,1 # Land ASAP +BATT_FS_LOW_ACT,2 # Return and land at home or rally point +BATT_LOW_VOLT,22.2 # Low failsafe voltage x nr. of cells MOT_BAT_VOLT_MAX,26.1 MOT_BAT_VOLT_MIN,19.799999 diff --git a/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/24_initial_atc.param b/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/24_initial_atc.param index 8c9f36637..9099fc9fa 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/24_initial_atc.param +++ b/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/24_initial_atc.param @@ -1 +1,13 @@ +ATC_ANG_YAW_P,1.3 # Derived from vehicle component editor propeller size +ATC_RAT_PIT_FLTD,10 # INS_GYRO_FILTER / 2 +ATC_RAT_PIT_FLTE,0 # Initial value, will be improved at a later step +ATC_RAT_PIT_FLTT,10 # INS_GYRO_FILTER / 2 +ATC_RAT_RLL_FLTD,10 # INS_GYRO_FILTER / 2 +ATC_RAT_RLL_FLTE,0 # Initial value, will be improved at a later step +ATC_RAT_RLL_FLTT,10 # INS_GYRO_FILTER / 2 +ATC_RAT_YAW_FLTD,0 # Initial value, will be improved at a later step +ATC_RAT_YAW_FLTE,2 # Initial value, will be improved at a later step +ATC_RAT_YAW_FLTT,10 # INS_GYRO_FILTER / 2 +INS_ACCEL_FILTER,10 # The default is 20Hz but that is too high in most situations +INS_GYRO_FILTER,20 # Derived from vehicle component editor propeller size MOT_THST_HOVER,0.2 diff --git a/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/45_autotune_pitch_rate_pd_setup.param b/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/45_autotune_pitch_rate_pd_setup.param index 4fb1411bf..2d7cd17fc 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/45_autotune_pitch_rate_pd_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/45_autotune_pitch_rate_pd_setup.param @@ -1,3 +1,3 @@ AUTOTUNE_AXES,2 # Pitch -AUTOTUNE_GN_MAX,1.8 +AUTOTUNE_GN_MAX,1.8 # Limit the gain increase for helicopter rate tuning AUTOTUNE_SEQ,2 # Rate D and Rate P diff --git a/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/49_autotune_roll_rate_pd_setup.param b/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/49_autotune_roll_rate_pd_setup.param index 1528df4cc..31bf64efe 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/49_autotune_roll_rate_pd_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/49_autotune_roll_rate_pd_setup.param @@ -1,3 +1,3 @@ AUTOTUNE_AXES,1 # Roll -AUTOTUNE_GN_MAX,1.8 +AUTOTUNE_GN_MAX,1.8 # Limit the gain increase for helicopter rate tuning AUTOTUNE_SEQ,2 # Rate D and Rate P diff --git a/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/53_autotune_roll_pitch_angle_p_setup.param b/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/53_autotune_roll_pitch_angle_p_setup.param index 807d4e9d4..932680b9e 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/53_autotune_roll_pitch_angle_p_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/53_autotune_roll_pitch_angle_p_setup.param @@ -1,3 +1,3 @@ AUTOTUNE_AXES,3 # Roll and Pitch -AUTOTUNE_GN_MAX,1.8 +AUTOTUNE_GN_MAX,1.8 # Limit the gain increase for helicopter angle tuning AUTOTUNE_SEQ,4 # Angle P diff --git a/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/56_inflight_magnetometer_fit_setup.param b/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/56_inflight_magnetometer_fit_setup.param index e69de29bb..aefb85892 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/56_inflight_magnetometer_fit_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/56_inflight_magnetometer_fit_setup.param @@ -0,0 +1 @@ +SCR_ENABLE,1 # Use lua scripting for MagFit flight path automation diff --git a/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/57_autotune_yaw_rate_pd_setup.param b/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/57_autotune_yaw_rate_pd_setup.param index d57d6ba7f..43a3f6e74 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/57_autotune_yaw_rate_pd_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/57_autotune_yaw_rate_pd_setup.param @@ -1,3 +1,3 @@ AUTOTUNE_AXES,4 # Yaw -AUTOTUNE_GN_MAX,1 +AUTOTUNE_GN_MAX,1 # Limit the gain increase for helicopter yaw rate tuning AUTOTUNE_SEQ,2 # Rate D and Rate P diff --git a/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/60_autotune_yaw_angle_p_setup.param b/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/60_autotune_yaw_angle_p_setup.param index 62a3cd9ce..ecbf65eeb 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/60_autotune_yaw_angle_p_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/60_autotune_yaw_angle_p_setup.param @@ -1,3 +1,3 @@ AUTOTUNE_AXES,4 # Yaw -AUTOTUNE_GN_MAX,1.8 +AUTOTUNE_GN_MAX,1.8 # Limit the gain increase for helicopter yaw angle tuning AUTOTUNE_SEQ,4 # Angle P diff --git a/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/vehicle_components.json index d20cd0892..9f090b975 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/Heli/OMP_M4/vehicle_components.json @@ -190,5 +190,5 @@ "Notes": "No telemetry installed." } }, - "Program version": "4.4.4" + "Program version": "5.0.1" } diff --git a/ardupilot_methodic_configurator/vehicle_templates/Heli/empty_4.7.x/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/Heli/empty_4.7.x/vehicle_components.json index 0353d5923..ce443e0c2 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/Heli/empty_4.7.x/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/Heli/empty_4.7.x/vehicle_components.json @@ -190,5 +190,5 @@ "Notes": "" } }, - "Program version": "4.5.7" + "Program version": "5.0.1" } diff --git a/ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/03_imu_temperature_calibration_results.param b/ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/03_imu_temperature_calibration_results.param index 688f7bc67..6bf55f0fe 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/03_imu_temperature_calibration_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/03_imu_temperature_calibration_results.param @@ -1,3 +1,18 @@ +INS_ACC1_CALTEMP,45.750572 +INS_ACC2_CALTEMP,45.297253 +INS_ACC3_CALTEMP,42.118389 +INS_GYR1_CALTEMP,25.648605 +INS_GYR2_CALTEMP,25.111439 +INS_GYR2OFFS_X,-0.007131 +INS_GYR2OFFS_Y,-0.018305 +INS_GYR2OFFS_Z,0.005591 +INS_GYR3_CALTEMP,25.550026 +INS_GYR3OFFS_X,-0.00944 +INS_GYR3OFFS_Y,-0.019364 +INS_GYR3OFFS_Z,-0.012767 +INS_GYROFFS_X,0.026914 +INS_GYROFFS_Y,-0.008542 +INS_GYROFFS_Z,0.007501 INS_TCAL1_ACC1_X,115.946591 INS_TCAL1_ACC1_Y,498.256973 INS_TCAL1_ACC1_Z,-381.446152 @@ -40,19 +55,4 @@ INS_TCAL2_GYR3_Y,-0.002373 INS_TCAL2_GYR3_Z,-0.028351 INS_TCAL2_TMAX,56.5 INS_TCAL2_TMIN,-13.3 -INS_ACC1_CALTEMP,45.750572 -INS_ACC2_CALTEMP,45.297253 -INS_ACC3_CALTEMP,42.118389 -INS_GYR1_CALTEMP,25.648605 -INS_GYR2_CALTEMP,25.111439 -INS_GYR2OFFS_X,-0.007131 -INS_GYR2OFFS_Y,-0.018305 -INS_GYR2OFFS_Z,0.005591 -INS_GYR3_CALTEMP,25.550026 -INS_GYR3OFFS_X,-0.00944 -INS_GYR3OFFS_Y,-0.019364 -INS_GYR3OFFS_Z,-0.012767 -INS_GYROFFS_X,0.026914 -INS_GYROFFS_Y,-0.008542 -INS_GYROFFS_Z,0.007501 INS_TCAL3_ENABLE,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/09_remote_controller_controller.param b/ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/09_remote_controller_controller.param index c12e21a03..af59789a4 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/09_remote_controller_controller.param +++ b/ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/09_remote_controller_controller.param @@ -1,8 +1,4 @@ ARMING_RUDDER,2 -RC6_OPTION,0 -RC7_OPTION,153 # "Motor Emergency Stop", stops all motors immediately at a high signal -RC8_OPTION,30 # "Lost rover Sound", generates a loud tone from the buzzer at a high signal to locate a lost multicopter -RC9_OPTION,0 RC1_MAX,1937 RC1_MIN,1106 RC1_TRIM,1525 @@ -30,15 +26,19 @@ RC5_MIN,965 RC5_TRIM,965 RC6_MAX,2071 RC6_MIN,964 +RC6_OPTION,0 RC6_TRIM,1506 RC7_MAX,1998 RC7_MIN,1003 +RC7_OPTION,153 # "Motor Emergency Stop", stops all motors immediately at a high signal RC7_TRIM,1003 RC8_MAX,2064 RC8_MIN,964 +RC8_OPTION,30 # "Lost rover Sound", generates a loud tone from the buzzer at a high signal to locate a lost multicopter RC8_TRIM,964 RC9_MAX,2064 RC9_MIN,964 +RC9_OPTION,0 RC9_TRIM,964 RCMAP_PITCH,3 RCMAP_ROLL,4 diff --git a/ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/17_initial_atc.param b/ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/17_initial_atc.param index ab29c2f33..c78e3b4b7 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/17_initial_atc.param +++ b/ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/17_initial_atc.param @@ -1,3 +1,6 @@ +ATC_ACCEL_P_MAX,193500 +ATC_ACCEL_R_MAX,193500 +ATC_ACCEL_Y_MAX,33300 ATC_ANG_YAW_P,5.8 # Derived from vehicle component editor propeller size ATC_RAT_PIT_FLTD,144.5 # INS_GYRO_FILTER / 2 ATC_RAT_PIT_FLTE,0 # Initial value, will be improved at a later step @@ -6,13 +9,10 @@ ATC_RAT_RLL_FLTD,144.5 # INS_GYRO_FILTER / 2 ATC_RAT_RLL_FLTE,0 # Initial value, will be improved at a later step ATC_RAT_RLL_FLTT,144.5 # INS_GYRO_FILTER / 2 ATC_RAT_YAW_FLTD,0 # Initial value, will be improved at a later step +ATC_RAT_YAW_FLTE,2 ATC_RAT_YAW_FLTT,144.5 # INS_GYRO_FILTER / 2 ATC_THR_MIX_MAN,0.1 # Value for the first couple of flights will be changed later once MOT_THST_HOVER is learned INS_ACCEL_FILTER,10 # The default is 20Hz but that is too high in most situations INS_GYRO_FILTER,289 # Derived from vehicle component editor propeller size MOT_THST_EXPO,0.24 # Derived from vehicle component editor propeller size -ATC_ACCEL_P_MAX,193500 -ATC_ACCEL_R_MAX,193500 -ATC_ACCEL_Y_MAX,33300 -ATC_RAT_YAW_FLTE,2 MOT_THST_HOVER,0.2 diff --git a/ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/20_safety_setup.param b/ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/20_safety_setup.param index 6ce9ce28d..3f7677b08 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/20_safety_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/20_safety_setup.param @@ -1,6 +1,6 @@ ARMING_CHECK,1 # Perform all arming checks. If you have a problem fix its source. Do NOT change this -FENCE_TYPE,6 # circle to obey local regulations and safety measures FENCE_ACTION,1 +FENCE_ALT_MAX,80 FENCE_ENABLE,0 FENCE_RADIUS,300 -FENCE_ALT_MAX,80 +FENCE_TYPE,6 # circle to obey local regulations and safety measures diff --git a/ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/24_esc.param b/ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/24_esc.param index 537a50f25..5c1c5f9dd 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/24_esc.param +++ b/ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/24_esc.param @@ -1,4 +1,8 @@ +MOT_SPIN_ARM,0.02 +MOT_SPIN_MAX,0.95 +MOT_SPIN_MIN,0.05 MOT_THR_MIN,4 # It reliably starts spinning at this level +MOT_THST_EXPO,0 NTF_BUZZ_TYPES,5 NTF_LED_TYPES,24807 # Adds DroneCAN LED support for Here4 SERVO_BLH_AUTO,0 @@ -20,7 +24,3 @@ SERVO3_TRIM,1500 # Restrict to 1100-1900 PWM range SERVO4_MAX,1900 # Restrict to 1100-1900 PWM range SERVO4_MIN,1100 # Restrict to 1100-1900 PWM range SERVO4_TRIM,1500 # Restrict to 1100-1900 PWM range -MOT_SPIN_ARM,0.02 -MOT_SPIN_MAX,0.95 -MOT_SPIN_MIN,0.05 -MOT_THST_EXPO,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/29_motor_notch_filter_results.param b/ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/29_motor_notch_filter_results.param index 62455c39d..4b2137e5e 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/29_motor_notch_filter_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/29_motor_notch_filter_results.param @@ -1,12 +1,12 @@ -INS_HNTCH_ATT,30 # just enough to filter the noise created by the motors/propellers -INS_HNTCH_BW,30 # just enough to filter the noise created by the motors/propellers -INS_HNTCH_FM_RAT,1 # Allowed undercutting of the base frequency of the first notch filter -INS_HNTCH_FREQ,115 # the minimum frequency that the motors are expected to operate at -INS_HNTCH_HMNCS,3 # the motors produce secondary harmonics on this vehicle -INS_HNTCH_OPTS,6 # One Notch per motor, update at loop rate ATC_RAT_PIT_FLTD,57.5 # INS_GYRO_FILTER / 2 ATC_RAT_PIT_FLTT,57.5 # INS_GYRO_FILTER / 2 ATC_RAT_RLL_FLTD,57.5 # INS_GYRO_FILTER / 2 ATC_RAT_RLL_FLTT,57.5 # INS_GYRO_FILTER / 2 ATC_RAT_YAW_FLTT,57.5 # INS_GYRO_FILTER / 2 INS_GYRO_FILTER,4 +INS_HNTCH_ATT,30 # just enough to filter the noise created by the motors/propellers +INS_HNTCH_BW,30 # just enough to filter the noise created by the motors/propellers +INS_HNTCH_FM_RAT,1 # Allowed undercutting of the base frequency of the first notch filter +INS_HNTCH_FREQ,115 # the minimum frequency that the motors are expected to operate at +INS_HNTCH_HMNCS,3 # the motors produce secondary harmonics on this vehicle +INS_HNTCH_OPTS,6 # One Notch per motor, update at loop rate diff --git a/ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/vehicle_components.json index 994e94655..83a2a0656 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/Rover/AION_R1/vehicle_components.json @@ -190,5 +190,5 @@ "Notes": "Integrated in the herelink controller and airunit" } }, - "Program version": "4.4.4" + "Program version": "5.0.1" } diff --git a/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/03_imu_temperature_calibration_results.param b/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/03_imu_temperature_calibration_results.param index 688f7bc67..6bf55f0fe 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/03_imu_temperature_calibration_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/03_imu_temperature_calibration_results.param @@ -1,3 +1,18 @@ +INS_ACC1_CALTEMP,45.750572 +INS_ACC2_CALTEMP,45.297253 +INS_ACC3_CALTEMP,42.118389 +INS_GYR1_CALTEMP,25.648605 +INS_GYR2_CALTEMP,25.111439 +INS_GYR2OFFS_X,-0.007131 +INS_GYR2OFFS_Y,-0.018305 +INS_GYR2OFFS_Z,0.005591 +INS_GYR3_CALTEMP,25.550026 +INS_GYR3OFFS_X,-0.00944 +INS_GYR3OFFS_Y,-0.019364 +INS_GYR3OFFS_Z,-0.012767 +INS_GYROFFS_X,0.026914 +INS_GYROFFS_Y,-0.008542 +INS_GYROFFS_Z,0.007501 INS_TCAL1_ACC1_X,115.946591 INS_TCAL1_ACC1_Y,498.256973 INS_TCAL1_ACC1_Z,-381.446152 @@ -40,19 +55,4 @@ INS_TCAL2_GYR3_Y,-0.002373 INS_TCAL2_GYR3_Z,-0.028351 INS_TCAL2_TMAX,56.5 INS_TCAL2_TMIN,-13.3 -INS_ACC1_CALTEMP,45.750572 -INS_ACC2_CALTEMP,45.297253 -INS_ACC3_CALTEMP,42.118389 -INS_GYR1_CALTEMP,25.648605 -INS_GYR2_CALTEMP,25.111439 -INS_GYR2OFFS_X,-0.007131 -INS_GYR2OFFS_Y,-0.018305 -INS_GYR2OFFS_Z,0.005591 -INS_GYR3_CALTEMP,25.550026 -INS_GYR3OFFS_X,-0.00944 -INS_GYR3OFFS_Y,-0.019364 -INS_GYR3OFFS_Z,-0.012767 -INS_GYROFFS_X,0.026914 -INS_GYROFFS_Y,-0.008542 -INS_GYROFFS_Z,0.007501 INS_TCAL3_ENABLE,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/09_remote_controller_controller.param b/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/09_remote_controller_controller.param index 3aa5184af..860a7ba98 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/09_remote_controller_controller.param +++ b/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/09_remote_controller_controller.param @@ -1,8 +1,4 @@ ARMING_RUDDER,0 -RC6_OPTION,153 -RC7_OPTION,0 -RC8_OPTION,0 -RC9_OPTION,0 RC1_MAX,1937 RC1_MIN,1106 RC1_TRIM,1525 @@ -30,15 +26,19 @@ RC5_MIN,965 RC5_TRIM,965 RC6_MAX,2071 RC6_MIN,964 +RC6_OPTION,153 RC6_TRIM,1506 RC7_MAX,1998 RC7_MIN,1003 +RC7_OPTION,0 RC7_TRIM,1003 RC8_MAX,2064 RC8_MIN,964 +RC8_OPTION,0 RC8_TRIM,964 RC9_MAX,2064 RC9_MIN,964 +RC9_OPTION,0 RC9_TRIM,964 RCMAP_PITCH,3 RCMAP_ROLL,4 diff --git a/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/17_initial_atc.param b/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/17_initial_atc.param index 8eb954614..2457c38b1 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/17_initial_atc.param +++ b/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/17_initial_atc.param @@ -1,3 +1,6 @@ +ATC_ACCEL_P_MAX,193500 +ATC_ACCEL_R_MAX,193500 +ATC_ACCEL_Y_MAX,33300 ATC_ANG_YAW_P,5.8 ATC_RAT_PIT_FLTD,144.5 ATC_RAT_PIT_FLTE,0 @@ -6,13 +9,10 @@ ATC_RAT_RLL_FLTD,144.5 ATC_RAT_RLL_FLTE,0 ATC_RAT_RLL_FLTT,144.5 ATC_RAT_YAW_FLTD,0 +ATC_RAT_YAW_FLTE,2 ATC_RAT_YAW_FLTT,144.5 ATC_THR_MIX_MAN,0.1 INS_ACCEL_FILTER,10 # The default is 20Hz but that is too high in most situations INS_GYRO_FILTER,115 # Derived from vehicle component editor propeller size MOT_THST_EXPO,0.41 # Derived from vehicle component editor propeller size -ATC_ACCEL_P_MAX,193500 -ATC_ACCEL_R_MAX,193500 -ATC_ACCEL_Y_MAX,33300 -ATC_RAT_YAW_FLTE,2 MOT_THST_HOVER,0.2 diff --git a/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/20_safety_setup.param b/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/20_safety_setup.param index f7943b254..9047589b0 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/20_safety_setup.param +++ b/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/20_safety_setup.param @@ -1,6 +1,6 @@ ARMING_CHECK,1 # Perform all arming checks. If you have a problem fix its source. Do NOT change this -FENCE_TYPE,6 FENCE_ACTION,1 +FENCE_ALT_MAX,80 FENCE_ENABLE,0 FENCE_RADIUS,300 -FENCE_ALT_MAX,80 +FENCE_TYPE,6 diff --git a/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/24_esc.param b/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/24_esc.param index e83c28180..75830bf0a 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/24_esc.param +++ b/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/24_esc.param @@ -1,4 +1,8 @@ +MOT_SPIN_ARM,0.02 +MOT_SPIN_MAX,0.95 +MOT_SPIN_MIN,0.05 MOT_THR_MIN,4 +MOT_THST_EXPO,0 NTF_BUZZ_TYPES,5 NTF_LED_TYPES,0 SERVO_BLH_AUTO,0 @@ -20,7 +24,3 @@ SERVO3_TRIM,1500 SERVO4_MAX,1900 SERVO4_MIN,1100 SERVO4_TRIM,1500 -MOT_SPIN_ARM,0.02 -MOT_SPIN_MAX,0.95 -MOT_SPIN_MIN,0.05 -MOT_THST_EXPO,0 diff --git a/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/29_motor_notch_filter_results.param b/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/29_motor_notch_filter_results.param index de623da4d..58218743d 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/29_motor_notch_filter_results.param +++ b/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/29_motor_notch_filter_results.param @@ -1,12 +1,12 @@ -INS_HNTCH_ATT,30 -INS_HNTCH_BW,30 -INS_HNTCH_FM_RAT,1 -INS_HNTCH_FREQ,115 -INS_HNTCH_HMNCS,3 -INS_HNTCH_OPTS,6 ATC_RAT_PIT_FLTD,57.5 ATC_RAT_PIT_FLTT,57.5 ATC_RAT_RLL_FLTD,57.5 ATC_RAT_RLL_FLTT,57.5 ATC_RAT_YAW_FLTT,57.5 INS_GYRO_FILTER,4 +INS_HNTCH_ATT,30 +INS_HNTCH_BW,30 +INS_HNTCH_FM_RAT,1 +INS_HNTCH_FREQ,115 +INS_HNTCH_HMNCS,3 +INS_HNTCH_OPTS,6 diff --git a/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/vehicle_components.json index 287774cfc..9f530160f 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/Rover/Carisma_SCA-1E/vehicle_components.json @@ -190,6 +190,6 @@ "Notes": "" } }, - "Program version": "4.4.4", + "Program version": "5.0.1", "Configuration template": "AION_R1" } diff --git a/ardupilot_methodic_configurator/vehicle_templates/Rover/empty_4.7.x/vehicle_components.json b/ardupilot_methodic_configurator/vehicle_templates/Rover/empty_4.7.x/vehicle_components.json index 5cfc26173..b03e18bee 100644 --- a/ardupilot_methodic_configurator/vehicle_templates/Rover/empty_4.7.x/vehicle_components.json +++ b/ardupilot_methodic_configurator/vehicle_templates/Rover/empty_4.7.x/vehicle_components.json @@ -190,5 +190,5 @@ "Notes": "" } }, - "Program version": "4.5.7" + "Program version": "5.0.1" }