ardupilot-methodic-configurator 1.4.0__py3-none-any.whl → 1.4.2__py3-none-any.whl

ardupilot_methodic_configurator-1.4.2.data/data/vehicle_templates/ArduPlane/normal_plane/02_imu_temperature_calibration_setup.param

@@ -0,0 +1,8 @@
+BRD_HEAT_TARG,65  # Reasonable for most places on this planet
+INS_TCAL1_ENABLE,2  # Activates the temperature calibration for IMU 1 at the next start
+INS_TCAL1_TMAX,60
+INS_TCAL2_ENABLE,2  # Activates the temperature calibration for IMU 2 at the next start
+INS_TCAL2_TMAX,60
+INS_TCAL3_ENABLE,2  # Activates the temperature calibration for IMU 3 at the next start
+LOG_BITMASK,65535  # Only for IMU and Raw-IMU
+LOG_DISARMED,1  # Gather data for the offline IMU temperature calibration while the FC is disarmed

ardupilot_methodic_configurator-1.4.2.data/data/vehicle_templates/ArduPlane/normal_plane/03_imu_temperature_calibration_results.param

@@ -0,0 +1,63 @@
+INS_TCAL1_ACC1_X,1008.507844
+INS_TCAL1_ACC1_Y,505.028098
+INS_TCAL1_ACC1_Z,2110.303258
+INS_TCAL1_ACC2_X,12.134173
+INS_TCAL1_ACC2_Y,-0.180665
+INS_TCAL1_ACC2_Z,8.243756
+INS_TCAL1_ACC3_X,-0.409631
+INS_TCAL1_ACC3_Y,-0.054657
+INS_TCAL1_ACC3_Z,0.706557
+INS_TCAL1_ENABLE,1
+INS_TCAL1_GYR1_X,142.342596
+INS_TCAL1_GYR1_Y,98.017184
+INS_TCAL1_GYR1_Z,70.542303
+INS_TCAL1_GYR2_X,3.328674
+INS_TCAL1_GYR2_Y,3.270675
+INS_TCAL1_GYR2_Z,-0.89795
+INS_TCAL1_GYR3_X,-0.16581
+INS_TCAL1_GYR3_Y,-0.136828
+INS_TCAL1_GYR3_Z,0.05735
+INS_TCAL1_TMAX,59.5
+INS_TCAL1_TMIN,13
+INS_TCAL2_ACC1_X,-238.660179
+INS_TCAL2_ACC1_Y,-2378.446833
+INS_TCAL2_ACC1_Z,2518.994921
+INS_TCAL2_ACC2_X,18.680889
+INS_TCAL2_ACC2_Y,-17.010887
+INS_TCAL2_ACC2_Z,-7.279485
+INS_TCAL2_ACC3_X,0.031184
+INS_TCAL2_ACC3_Y,0.1771
+INS_TCAL2_ACC3_Z,0.549584
+INS_TCAL2_ENABLE,1
+INS_TCAL2_GYR1_X,61.379101
+INS_TCAL2_GYR1_Y,-24.160771
+INS_TCAL2_GYR1_Z,26.890803
+INS_TCAL2_GYR2_X,-0.725999
+INS_TCAL2_GYR2_Y,0.536831
+INS_TCAL2_GYR2_Z,-0.161731
+INS_TCAL2_GYR3_X,-0.008922
+INS_TCAL2_GYR3_Y,0.015921
+INS_TCAL2_GYR3_Z,-0.030287
+INS_TCAL2_TMAX,60
+INS_TCAL2_TMIN,12
+INS_TCAL3_ACC1_X,5537.138407
+INS_TCAL3_ACC1_Y,-13144.717457
+INS_TCAL3_ACC1_Z,-37021.246814
+INS_TCAL3_ACC2_X,316.718696
+INS_TCAL3_ACC2_Y,-956.863247
+INS_TCAL3_ACC2_Z,-2414.185632
+INS_TCAL3_ACC3_X,7.644001
+INS_TCAL3_ACC3_Y,-22.809174
+INS_TCAL3_ACC3_Z,-54.57293
+INS_TCAL3_ENABLE,1
+INS_TCAL3_GYR1_X,5166.646813
+INS_TCAL3_GYR1_Y,903.833297
+INS_TCAL3_GYR1_Z,-915.84359
+INS_TCAL3_GYR2_X,355.381273
+INS_TCAL3_GYR2_Y,50.403139
+INS_TCAL3_GYR2_Z,-85.389639
+INS_TCAL3_GYR3_X,7.97312
+INS_TCAL3_GYR3_Y,0.803663
+INS_TCAL3_GYR3_Z,-1.953931
+INS_TCAL3_TMAX,25.2
+INS_TCAL3_TMIN,15.1

ardupilot_methodic_configurator-1.4.2.data/data/vehicle_templates/ArduPlane/normal_plane/04_board_orientation.param

@@ -0,0 +1,3 @@
+AHRS_ORIENTATION,4
+LOG_BITMASK,65535  # Log all but fast att, Nav, Mission, OF, camera, fast IMU, raw, IMU, video stabilization. These are not needed now
+LOG_DISARMED,0  # Log disarmed was only required for offline IMU temperature calibration

ardupilot_methodic_configurator-1.4.2.data/data/vehicle_templates/ArduPlane/normal_plane/05_remote_controller.param

@@ -0,0 +1,10 @@
+ARMING_RUDDER,2
+RC_OPTIONS,2848
+RC_PROTOCOLS,1  # Selected in the component editor
+RC5_OPTION,0
+RC6_OPTION,51
+RC7_OPTION,16
+RC8_OPTION,0
+RC9_OPTION,165
+RSSI_TYPE,3
+SERIAL2_PROTOCOL,23

ardupilot_methodic_configurator-1.4.2.data/data/vehicle_templates/ArduPlane/normal_plane/06_telemetry.param

@@ -0,0 +1,3 @@
+BRD_SER2_RTSCTS,2
+SERIAL4_BAUD,38
+SERIAL4_PROTOCOL,5

ardupilot_methodic_configurator-1.4.2.data/data/vehicle_templates/ArduPlane/normal_plane/07_esc.param

@@ -0,0 +1,21 @@
+NTF_BUZZ_TYPES,1
+NTF_LED_TYPES,199
+SERIAL5_BAUD,115
+SERIAL5_PROTOCOL,42
+SERVO_BLH_AUTO,0
+SERVO_BLH_POLES,14  # Specified in component editor window
+SERVO_BLH_TRATE,10
+SERVO_DSHOT_ESC,0
+SERVO_DSHOT_RATE,0
+SERVO1_MAX,2000
+SERVO1_MIN,1000
+SERVO1_TRIM,1000
+SERVO2_MAX,2000
+SERVO2_MIN,1000
+SERVO2_TRIM,1480
+SERVO3_MAX,2000
+SERVO3_MIN,1000
+SERVO3_TRIM,1478
+SERVO4_MAX,2000
+SERVO4_MIN,1000
+SERVO4_TRIM,1446

ardupilot_methodic_configurator-1.4.2.data/data/vehicle_templates/ArduPlane/normal_plane/08_batt1.param

@@ -0,0 +1,10 @@
+BATT_ARM_VOLT,23.3  # Do not allow arming below this voltage
+BATT_CAPACITY,3300  # Total battery capacity specified in the component editor
+BATT_CRT_MAH,0
+BATT_CRT_VOLT,21  # (Critical voltage + 0.0) x no. of cells
+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,22.8  # (Low voltage + 0.0) x no. of cells
+BATT_MONITOR,4  # Selected in component editor window

ardupilot_methodic_configurator-1.4.2.data/data/vehicle_templates/ArduPlane/normal_plane/09_range_finder.param

@@ -0,0 +1,25 @@
+ARSPD_BUS,0
+ARSPD_DEVID,683265
+ARSPD_FBW_MAX,20
+ARSPD_OFFSET,-28.611134
+ARSPD_RATIO,1.012349
+ARSPD_TYPE,15
+ARSPD_USE,1
+FBWB_CLIMB_RATE,5
+LAND_ABORT_THR,1
+LAND_FLARE_ALT,4
+LAND_FLARE_SEC,3
+LIM_ROLL_CD,5500
+RNGFND_LANDING,1
+RNGFND1_MAX_CM,2200
+RNGFND1_MIN_CM,50
+RNGFND1_TYPE,35
+RSSI_TYPE,3
+RTL_AUTOLAND,2
+SERIAL1_BAUD,9
+SERIAL1_PROTOCOL,9
+THR_FS_VALUE,1000
+THR_MAX,80
+TRIM_ARSPD_CM,1450
+TRIM_PITCH_CD,300
+WP_RADIUS,18

ardupilot_methodic_configurator-1.4.2.data/data/vehicle_templates/ArduPlane/normal_plane/10_gnss.param

@@ -0,0 +1,7 @@
+BRD_SAFETY_DEFLT,0
+GPS_GNSS_MODE,0  # leave default
+GPS_POS1_X,0
+GPS_POS1_Y,0
+GPS_POS1_Z,0
+GPS_TYPE,1  # Defined in component editor
+SERIAL3_PROTOCOL,-1

ardupilot_methodic_configurator-1.4.2.data/data/vehicle_templates/ArduPlane/normal_plane/11_initial_atc.param

@@ -0,0 +1,2 @@
+INS_ACCEL_FILTER,10  # The default is 20Hz but that is too high in most situations
+INS_GYRO_FILTER,46  # Derived from vehicle component editor propeller size

ardupilot_methodic_configurator-1.4.2.data/data/vehicle_templates/ArduPlane/normal_plane/12_mp_setup_mandatory_hardware.param

@@ -0,0 +1,66 @@
+AHRS_TRIM_X,0.001296
+AHRS_TRIM_Y,-0.012084
+COMPASS_EXTERNAL,1
+COMPASS_ORIENT,0
+COMPASS_PRIO1_ID,855297
+COMPASS_USE2,1
+COMPASS_USE3,1
+FENCE_ACTION,1
+FENCE_ALT_MAX,100
+FENCE_ENABLE,0
+FENCE_RADIUS,300  # Initially you should start with a 150m fence radius.
+FLTMODE1,4  # We use a tri-state-switch
+FLTMODE2,2  # We use a tri-state-switch
+FLTMODE3,5  # We use a tri-state-switch
+FLTMODE4,6  # We use a tri-state-switch
+FLTMODE5,7  # We use a tri-state-switch
+FLTMODE6,8  # We use a tri-state-switch
+INS_ACCSCAL_X,0.992956
+INS_ACCSCAL_Y,0.994199
+INS_ACCSCAL_Z,0.990198
+INS_GYRO_FILTER,20
+RC1_MAX,2010
+RC1_MIN,987
+RC1_TRIM,1494
+RC2_MAX,2010
+RC2_MIN,987
+RC2_TRIM,1503
+RC3_MAX,2010
+RC3_MIN,1041
+RC3_TRIM,1041
+RC4_MAX,2010
+RC4_MIN,987
+RC4_TRIM,1498
+RC5_MAX,2010
+RC5_MIN,987
+RC5_TRIM,987
+RC6_MAX,2010
+RC6_MIN,987
+RC6_TRIM,987
+RC7_MAX,2010
+RC7_MIN,987
+RC7_TRIM,987
+RC8_MAX,1428
+RC8_MIN,990
+RC8_TRIM,1038
+RC9_MAX,2010
+RC9_MIN,987
+RC9_TRIM,987
+SERVO_AUTO_TRIM,1
+SERVO1_FUNCTION,70
+SERVO1_MAX,2000
+SERVO1_MIN,1000
+SERVO2_FUNCTION,4
+SERVO2_MAX,2000
+SERVO2_MIN,1000
+SERVO2_REVERSED,1
+SERVO2_TRIM,1480
+SERVO3_FUNCTION,19
+SERVO3_MAX,2000
+SERVO3_MIN,1000
+SERVO3_TRIM,1478
+SERVO4_FUNCTION,21
+SERVO4_MAX,2000
+SERVO4_MIN,1000
+SERVO4_REVERSED,1
+SERVO4_TRIM,1446

ardupilot_methodic_configurator-1.4.2.data/data/vehicle_templates/ArduPlane/normal_plane/13_general_configuration.param

@@ -0,0 +1,8 @@
+ARMING_CHECK,1  # Perform all arming checks. If you have a problem fix its source. Do NOT change this
+BRD_RTC_TZ_MIN,0  # UTC
+FENCE_TYPE,4
+INS_ACCEL_FILTER,20
+INS_POS1_X,0
+INS_POS1_Y,0
+SCHED_LOOP_RATE,50
+SCR_ENABLE,1  # Use lua scripting for VTOL-Quicktune, MagFit automation and wind speed estimation automation

ardupilot_methodic_configurator-1.4.2.data/data/vehicle_templates/ArduPlane/normal_plane/14_logging.param

@@ -0,0 +1,4 @@
+INS_LOG_BAT_MASK,0
+INS_LOG_BAT_OPT,4  # Logs measured data both before and after the filters for Filter Review Webtool usage
+LOG_BITMASK,145118  # Log all but fast att, Nav, Mission, OF, camera, fast IMU, raw, IMU, video stabilization. These are not needed now
+LOG_FILE_DSRMROT,1  # One .bin log file per flight, not per battery/reboot

ardupilot_methodic_configurator-1.4.2.data/data/vehicle_templates/ArduPlane/normal_plane/15_motor.param

@@ -0,0 +1,4 @@
+MOT_SPIN_ARM,0.1  # ESCs reliably start spinning with this value (based on motor test)
+MOT_SPIN_MAX,0.95  # Upper dead zone of the ESC
+MOT_SPIN_MIN,0.13  # MOT_SPIN_ARM + 0.03
+MOT_THST_EXPO,0.5

ardupilot_methodic_configurator-1.4.2.data/data/vehicle_templates/ArduPlane/normal_plane/15_osd.param

@@ -0,0 +1,91 @@
+OSD_CHAN,5
+OSD_SW_METHOD,1
+OSD_TYPE,5
+OSD_UNITS,1
+OSD1_ALTITUDE_X,40
+OSD1_ALTITUDE_Y,6
+OSD1_ARMING_EN,0
+OSD1_ARMING_X,12
+OSD1_ARMING_Y,9
+OSD1_ASPD1_X,1
+OSD1_ASPD1_Y,5
+OSD1_ASPEED_EN,1
+OSD1_ASPEED_X,0
+OSD1_ASPEED_Y,5
+OSD1_BAT_VOLT_X,0
+OSD1_BAT_VOLT_Y,16
+OSD1_BATTBAR_EN,0
+OSD1_BATTBAR_X,9
+OSD1_BATTBAR_Y,15
+OSD1_BATUSED_X,0
+OSD1_BATUSED_Y,15
+OSD1_CELLVOLT_EN,0
+OSD1_CHAN_MAX,2200
+OSD1_COMPASS_X,24
+OSD1_COMPASS_Y,0
+OSD1_CRSSHAIR_X,10
+OSD1_CRSSHAIR_Y,5
+OSD1_CURRENT_X,41
+OSD1_CURRENT_Y,16
+OSD1_DIST_EN,1
+OSD1_DIST_X,40
+OSD1_DIST_Y,14
+OSD1_EFF_X,24
+OSD1_EFF_Y,9
+OSD1_ENABLE,1
+OSD1_FLTIME_EN,1
+OSD1_FLTIME_X,39
+OSD1_FLTIME_Y,15
+OSD1_FLTMODE_X,0
+OSD1_FLTMODE_Y,1
+OSD1_GPSLAT_EN,0
+OSD1_GPSLAT_X,0
+OSD1_GPSLAT_Y,0
+OSD1_GPSLONG_EN,0
+OSD1_GPSLONG_X,0
+OSD1_GPSLONG_Y,0
+OSD1_GSPEED_X,0
+OSD1_GSPEED_Y,6
+OSD1_HDOP_EN,1
+OSD1_HDOP_X,40
+OSD1_HDOP_Y,1
+OSD1_HEADING_X,23
+OSD1_HEADING_Y,1
+OSD1_HOME_X,20
+OSD1_HOME_Y,16
+OSD1_HOMEDIR_EN,0
+OSD1_HOMEDIR_X,15
+OSD1_HOMEDIR_Y,12
+OSD1_HOMEDIST_EN,0
+OSD1_HOMEDIST_X,20
+OSD1_HOMEDIST_Y,12
+OSD1_HORIZON_X,24
+OSD1_HORIZON_Y,6
+OSD1_MESSAGE_X,10
+OSD1_MESSAGE_Y,8
+OSD1_POWER_EN,0
+OSD1_RNGF_EN,1
+OSD1_RNGF_X,40
+OSD1_RNGF_Y,8
+OSD1_RSSI_X,0
+OSD1_RSSI_Y,0
+OSD1_SATS_X,40
+OSD1_SATS_Y,0
+OSD1_SIDEBARS_X,9
+OSD1_SIDEBARS_Y,4
+OSD1_TER_HGT_EN,1
+OSD1_TER_HGT_X,40
+OSD1_THROTTLE_X,0
+OSD1_THROTTLE_Y,9
+OSD1_TXT_RES,1
+OSD1_VSPEED_X,40
+OSD1_VSPEED_Y,5
+OSD1_WAYPOINT_EN,1
+OSD1_WAYPOINT_X,20
+OSD1_WAYPOINT_Y,14
+OSD1_WIND_EN,1
+OSD1_WIND_X,0
+OSD1_WIND_Y,7
+OSD1_XTRACK_EN,1
+OSD1_XTRACK_X,20
+OSD1_XTRACK_Y,15

ardupilot_methodic_configurator-1.4.2.data/data/vehicle_templates/ArduPlane/normal_plane/16_pid_adjustment.param

@@ -0,0 +1,16 @@
+PTCH_RATE_D,0.006412
+PTCH_RATE_FF,0.346709
+PTCH_RATE_FLTD,10
+PTCH_RATE_FLTT,5.305164
+PTCH_RATE_I,0.346709
+PTCH_RATE_P,0.105929
+PTCH2SRV_RMAX_DN,120
+PTCH2SRV_RMAX_UP,120
+PTCH2SRV_TCONST,0.3
+RLL_RATE_D,0.00155
+RLL_RATE_FF,0.125276
+RLL_RATE_FLTD,10
+RLL_RATE_FLTT,3.183099
+RLL_RATE_I,0.087816
+RLL_RATE_P,0.087816
+RLL2SRV_RMAX,75

ardupilot_methodic_configurator-1.4.2.data/data/vehicle_templates/ArduPlane/normal_plane/17_remote_id.param

@@ -0,0 +1,4 @@
+DID_CANDRIVER,0  # N/A
+DID_ENABLE,0  # N/A
+DID_MAVPORT,2  # N/A
+DID_OPTIONS,0

ardupilot_methodic_configurator-1.4.2.data/data/vehicle_templates/ArduPlane/normal_plane/18_notch_filter_setup.param

@@ -0,0 +1,10 @@
+INS_FAST_SAMPLE,1
+INS_GYRO_RATE,0
+INS_HNTCH_ATT,20  # this is just a hunch, it must be improved after the first flight (by the next file)
+INS_HNTCH_BW,20  # this is just a hunch, it must be improved after the first flight (by the next file)
+INS_HNTCH_ENABLE,1  # Use the first notch filter to filter the noise created by the motors/propellers
+INS_HNTCH_FREQ,28  # Use 1.4 * INS_GYRO_FILTER as a first guess
+INS_HNTCH_HMNCS,1  # start with a single frequency
+INS_HNTCH_MODE,1
+INS_HNTCH_OPTS,0
+INS_HNTCH_REF,1

ardupilot_methodic_configurator-1.4.2.data/data/vehicle_templates/ArduPlane/normal_plane/19_notch_filter_results.param

@@ -0,0 +1,6 @@
+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

ardupilot_methodic_configurator-1.4.2.data/data/vehicle_templates/ArduPlane/normal_plane/20_throttle_controller.param

@@ -0,0 +1,3 @@
+ATC_THR_MIX_MAN,0.1  # because we have learned the MOT_THST_HOVER value
+PSC_ACCZ_I,0.400526  # Use 2 * MOT_THST_HOVER assuming MOT_THST_HOVER has been correctly learned
+PSC_ACCZ_P,0.200263  # Use MOT_THST_HOVER assuming MOT_THST_HOVER has been correctly learned

ardupilot_methodic_configurator-1.4.2.data/data/vehicle_templates/ArduPlane/normal_plane/23_quick_tune_results.param

@@ -0,0 +1,10 @@
+ATC_RAT_PIT_D,0.003343  # Tuned outdoor at low wind
+ATC_RAT_PIT_I,0.108  # Tuned outdoor at low wind
+ATC_RAT_PIT_P,0.108  # Tuned outdoor at low wind
+ATC_RAT_RLL_D,0.003308  # Tuned outdoor at low wind
+ATC_RAT_RLL_I,0.108  # Tuned outdoor at low wind
+ATC_RAT_RLL_P,0.108  # Tuned outdoor at low wind
+ATC_RAT_YAW_D,0.01  # Tuned outdoor at low wind
+ATC_RAT_YAW_FLTD,10  # Tuned outdoor at low wind
+ATC_RAT_YAW_I,0.05  # Tuned outdoor at low wind
+ATC_RAT_YAW_P,0.5  # Tuned outdoor at low wind

ardupilot_methodic_configurator-1.4.2.data/data/vehicle_templates/ArduPlane/normal_plane/25_inflight_magnetometer_fit_results.param

@@ -0,0 +1,15 @@
+COMPASS_DIA_X,1
+COMPASS_DIA_Y,1
+COMPASS_DIA_Z,1
+COMPASS_MOT_X,0
+COMPASS_MOT_Y,0
+COMPASS_MOT_Z,0
+COMPASS_MOTCT,0
+COMPASS_ODI_X,0
+COMPASS_ODI_Y,0
+COMPASS_ODI_Z,0
+COMPASS_OFS_X,0
+COMPASS_OFS_Y,0
+COMPASS_OFS_Z,0
+COMPASS_ORIENT,0
+COMPASS_SCALE,0

ardupilot_methodic_configurator-1.4.2.data/data/vehicle_templates/ArduPlane/normal_plane/27_quick_tune_results.param

@@ -0,0 +1,10 @@
+ATC_RAT_PIT_D,0.003
+ATC_RAT_PIT_I,0.115
+ATC_RAT_PIT_P,0.115
+ATC_RAT_RLL_D,0.002858
+ATC_RAT_RLL_I,0.115
+ATC_RAT_RLL_P,0.115
+ATC_RAT_YAW_D,0.01
+ATC_RAT_YAW_FLTD,10
+ATC_RAT_YAW_I,0.05
+ATC_RAT_YAW_P,0.5

ardupilot_methodic_configurator-1.4.2.data/data/vehicle_templates/ArduPlane/normal_plane/30_autotune_roll_setup.param

@@ -0,0 +1,2 @@
+AUTOTUNE_AGGR,0.1  # Use smaller than default on this frame: 0.075
+AUTOTUNE_AXES,1  # Autotune roll axis

ardupilot_methodic_configurator-1.4.2.data/data/vehicle_templates/ArduPlane/normal_plane/31_autotune_roll_results.param

@@ -0,0 +1,5 @@
+ATC_ACCEL_R_MAX,48000  # adjusted manually because there were some oscillations after autotune when switching to Loiter
+ATC_ANG_RLL_P,7  # adjusted manually because there were some oscillations after autotune when switching to Loiter
+ATC_RAT_RLL_D,0.002858
+ATC_RAT_RLL_I,0.115  # adjusted manually because there were some oscillations after autotune when switching to Loiter
+ATC_RAT_RLL_P,0.115  # adjusted manually because there were some oscillations after autotune when switching to Loiter

ardupilot_methodic_configurator-1.4.2.data/data/vehicle_templates/ArduPlane/normal_plane/32_autotune_pitch_setup.param

@@ -0,0 +1,2 @@
+AUTOTUNE_AGGR,0.1  # Use smaller than default on this frame: 0.075
+AUTOTUNE_AXES,2  # Autotune pitch axis

ardupilot_methodic_configurator-1.4.2.data/data/vehicle_templates/ArduPlane/normal_plane/33_autotune_pitch_results.param

@@ -0,0 +1,5 @@
+ATC_ACCEL_P_MAX,48000  # adjusted manually because there were some oscillations after autotune when switching to Loiter
+ATC_ANG_PIT_P,7  # adjusted manually because there were some oscillations after autotune when switching to Loiter
+ATC_RAT_PIT_D,0.003  # adjusted manually because there were some oscillations after autotune when switching to Loiter
+ATC_RAT_PIT_I,0.115  # adjusted manually because there were some oscillations after autotune when switching to Loiter
+ATC_RAT_PIT_P,0.115  # adjusted manually because there were some oscillations after autotune when switching to Loiter

ardupilot_methodic_configurator-1.4.2.data/data/vehicle_templates/ArduPlane/normal_plane/34_autotune_yaw_setup.param

@@ -0,0 +1,3 @@
+ATC_RAT_YAW_FLTD,5  # Use INS_GYRO_FILTER / 4 as a first guess
+AUTOTUNE_AGGR,0.1  # Use smaller than default value on this frame: 0.075
+AUTOTUNE_AXES,4  # Autotune yaw axis

ardupilot_methodic_configurator-1.4.2.data/data/vehicle_templates/ArduPlane/normal_plane/35_autotune_yaw_results.param

@@ -0,0 +1,5 @@
+ATC_ACCEL_Y_MAX,14400  # adjusted manually because there were some oscillations after autotune when switching to Loiter
+ATC_ANG_YAW_P,2.4  # adjusted manually because there were some oscillations after autotune when switching to Loiter
+ATC_RAT_YAW_FLTE,2
+ATC_RAT_YAW_I,0.05
+ATC_RAT_YAW_P,0.5

ardupilot_methodic_configurator-1.4.2.data/data/vehicle_templates/ArduPlane/normal_plane/36_autotune_yawd_setup.param

@@ -0,0 +1,3 @@
+AUTOTUNE_AGGR,0.1  # Use smaller than default on this frame: 0.075
+AUTOTUNE_AXES,8  # Autotune yaw D axis
+AUTOTUNE_MIN_D,0.001  # small copters need small D parameters but 0.001 fits also for the 24" prop frame

ardupilot_methodic_configurator-1.4.2.data/data/vehicle_templates/ArduPlane/normal_plane/37_autotune_yawd_results.param

@@ -0,0 +1,5 @@
+ATC_ACCEL_Y_MAX,14400  # adjusted manually because there were some oscillations after autotune when switching to Loiter
+ATC_ANG_YAW_P,2.4  # adjusted manually because there were some oscillations after autotune when switching to Loiter
+ATC_RAT_YAW_D,0.01  # if == to AUTOTUNE_MIN_D, autotune failed
+ATC_RAT_YAW_I,0.05  # adjusted manually because there were some oscillations after autotune when switching to Loiter
+ATC_RAT_YAW_P,0.5  # adjusted manually because there were some oscillations after autotune when switching to Loiter

ardupilot_methodic_configurator-1.4.2.data/data/vehicle_templates/ArduPlane/normal_plane/38_autotune_roll_pitch_retune_setup.param

@@ -0,0 +1,2 @@
+AUTOTUNE_AGGR,0.1  # Use smaller than default on this frame: 0.075
+AUTOTUNE_AXES,3  # Autotune roll and pitch axis

ardupilot_methodic_configurator-1.4.2.data/data/vehicle_templates/ArduPlane/normal_plane/39_autotune_roll_pitch_retune_results.param

@@ -0,0 +1,10 @@
+ATC_ACCEL_P_MAX,48000  # adjusted manually because there were some oscillations after autotune when switching to Loiter
+ATC_ACCEL_R_MAX,48000  # adjusted manually because there were some oscillations after autotune when switching to Loiter
+ATC_ANG_PIT_P,7  # adjusted manually because there were some oscillations after autotune when switching to Loiter
+ATC_ANG_RLL_P,7  # adjusted manually because there were some oscillations after autotune when switching to Loiter
+ATC_RAT_PIT_D,0.003  # adjusted manually because there were some oscillations after autotune when switching to Loiter
+ATC_RAT_PIT_I,0.115  # adjusted manually because there were some oscillations after autotune when switching to Loiter
+ATC_RAT_PIT_P,0.115  # adjusted manually because there were some oscillations after autotune when switching to Loiter
+ATC_RAT_RLL_D,0.002858  # adjusted manually because there were some oscillations after autotune when switching to Loiter
+ATC_RAT_RLL_I,0.115  # adjusted manually because there were some oscillations after autotune when switching to Loiter
+ATC_RAT_RLL_P,0.115  # adjusted manually because there were some oscillations after autotune when switching to Loiter

ardupilot_methodic_configurator-1.4.2.data/data/vehicle_templates/ArduPlane/normal_plane/42_system_id_roll.param

@@ -0,0 +1,21 @@
+ANGLE_MAX,3000  # limit the angle to limit the speed at SID-chirp low-frequencies
+ARMING_CHECK,1  # disable Parameter check because we need to set ATC_RAT_RLL_I out-of-range (was 30175)
+ATC_ANG_PIT_P,4.5  # reset to default to not interfere with sysID
+ATC_ANG_RLL_P,4.5  # reset to default to not interfere with sysID
+ATC_ANG_YAW_P,4.5  # reset to default to not interfere with sysID
+ATC_RAT_RLL_I,0.135  # prevent the rate controllers from compensating too much of the frequency-sweep signal
+ATC_RATE_FF_ENAB,1  # prevent the rate controllers from compensating too much of the frequency-sweep signal
+FLTMODE5,5  # Activate sysid instead of autotune
+LOG_BITMASK,176126  # attitude sample rate at loop rate
+LOG_DISARMED,0  # was only needed for wind speed estimation
+LOG_REPLAY,0  # was only needed for wind speed estimation
+SID_AXIS,10  # Inject chip on the mixer roll signal
+SID_F_START_HZ,0.05
+SID_F_STOP_HZ,5
+SID_MAGNITUDE,0.15
+SID_T_FADE_IN,5
+SID_T_FADE_OUT,5
+SID_T_REC,130
+TUNE,0  # System identification magnitude
+TUNE_MAX,0  # System identification max magnitude
+TUNE_MIN,0  # System identification min magnitude

ardupilot_methodic_configurator-1.4.2.data/data/vehicle_templates/ArduPlane/normal_plane/43_system_id_pitch.param

@@ -0,0 +1,10 @@
+ATC_RAT_PIT_I,0.135  # prevent the rate controllers from compensating too much of the frequency-sweep signal
+ATC_RAT_RLL_I,0.135  # we are not performing system identification on the roll axis, so restore it to the autotuned value
+ATC_RATE_FF_ENAB,1  # prevent the rate controllers from compensating too much of the frequency-sweep signal
+SID_AXIS,11  # Inject chip on the mixer pitch signal
+SID_F_START_HZ,0.05
+SID_F_STOP_HZ,5
+SID_MAGNITUDE,0.15
+SID_T_FADE_IN,5
+SID_T_FADE_OUT,5
+SID_T_REC,130

ardupilot_methodic_configurator-1.4.2.data/data/vehicle_templates/ArduPlane/normal_plane/44_system_id_yaw.param

@@ -0,0 +1,10 @@
+ATC_RAT_PIT_I,0.135  # we are not performing system identification on the pitch axis, so restore it to the autotuned value
+ATC_RAT_YAW_I,0.018  # prevent the rate controllers from compensating too much of the frequency-sweep signal
+ATC_RATE_FF_ENAB,1  # prevent the rate controllers from compensating too much of the frequency-sweep signal
+SID_AXIS,12  # Inject chip on the mixer yaw signal
+SID_F_START_HZ,0.05
+SID_F_STOP_HZ,5
+SID_MAGNITUDE,0.55
+SID_T_FADE_IN,5
+SID_T_FADE_OUT,5
+SID_T_REC,130

ardupilot_methodic_configurator-1.4.2.data/data/vehicle_templates/ArduPlane/normal_plane/45_system_id_thrust.param

@@ -0,0 +1,10 @@
+ATC_RAT_YAW_I,0.018  # we are not performing system identification on the yaw axis, so restore it to the autotuned value
+ATC_RATE_FF_ENAB,1  # prevent the rate controllers from compensating too much of the frequency-sweep signal
+PSC_ACCZ_I,1  # prevent the rate controllers from compensating too much of the frequency-sweep signal
+SID_AXIS,13  # Inject chip on the mixer thrust signal
+SID_F_START_HZ,0.2
+SID_F_STOP_HZ,10
+SID_MAGNITUDE,0.12
+SID_T_FADE_IN,10
+SID_T_FADE_OUT,5
+SID_T_REC,100

ardupilot_methodic_configurator-1.4.2.data/data/vehicle_templates/ArduPlane/normal_plane/47_position_controller.param

@@ -0,0 +1,13 @@
+ANGLE_MAX,3000
+LOG_BITMASK,145150  # Add Navigation logging
+LOIT_ACC_MAX,500
+LOIT_BRK_ACCEL,250
+LOIT_BRK_DELAY,0.5  # 0.3 s feels better
+LOIT_BRK_JERK,500
+PSC_VELXY_FF,0  # PSCN.AE/PSCN.VE if you have flown North-South or PSCE.AE/PSCE.VE if you have flown East-West
+WPNAV_ACCEL,250  # high speed missions in auto
+WPNAV_ACCEL_C,0  # 2 * WPNAV_ACCEL so that the cornering behaviour is mostly controlled by WPNAV_RADIUS https://github.com/ArduPilot/ardupilot/pull/25928
+WPNAV_ACCEL_Z,100  # high speed missions in auto
+WPNAV_JERK,1  # high speed missions in auto
+WPNAV_SPEED,500  # reduced to 5 m/s
+WPNAV_SPEED_DN,150  # high speed missions in auto

ardupilot_methodic_configurator-1.4.2.data/data/vehicle_templates/ArduPlane/normal_plane/53_everyday_use.param

@@ -0,0 +1,6 @@
+ATC_THR_MIX_MAX,0.5  # use default
+BATT_FS_LOW_ACT,2  # outdoors we want the drone to come back
+BATT2_FS_LOW_ACT,2  # outdoors we want the drone to come back
+LOG_BITMASK,176126  # 2:GPS,3:System Performance,4:Control Tuning,6:RC input,7:IMU,8:Mission Commands,9:Battery Monitor,12:PID,13:Compass,17:Motors
+RTL_ALT,3500  # For going above trees, you should set at least 35 m (3500 cm)
+RTL_CLIMB_MIN,0  # rising at least 1 meter could be a good visual indicator