github-actions · Oct 30, 2026
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -1,7 +1,7 @@
-INITIAL_MODE,0
 FLTMODE1,0
 FLTMODE2,0
 FLTMODE3,0
 FLTMODE4,2
 FLTMODE5,0
 FLTMODE6,5
+INITIAL_MODE,0
@@ -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
@@ -1,13 +1,13 @@
+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
 INS_HNTCH_FREQ,92  # 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,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
@@ -190,5 +190,5 @@
             "Notes": ""
         }
     },
-    "Program version": "4.4.4"
+    "Program version": "5.0.1"
 }
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -190,6 +190,6 @@
             "Notes": ""
         }
     },
-    "Program version": "4.4.4",
+    "Program version": "5.0.1",
     "Configuration template": "Tarot_X4"
 }
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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