ardupilot-methodic-configurator 1.4.2__py3-none-any.whl → 1.4.4__py3-none-any.whl

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/02_imu_temperature_calibration_setup.param

@@ -0,0 +1,9 @@
+BRD_HEAT_TARG,65  # Reasonable for most places on this planet
+INS_LOG_BAT_MASK,7  # Calculate IMU calibration for all IMUs, irrespective of their usage in a future step. Saves the trouble of recalibrating an inactive IMU if you later decide to activate it
+INS_TCAL1_ENABLE,2  # Activates the temperature calibration for IMU 1 at the next start
+INS_TCAL1_TMAX,60  # Pixhawk 6C has integrated IMU heating
+INS_TCAL2_ENABLE,2  # Activates the temperature calibration for IMU 2 at the next start
+INS_TCAL2_TMAX,60  # Pixhawk 6C has integrated IMU heating
+INS_TCAL3_ENABLE,2  # Activates the temperature calibration for IMU 3 at the next start
+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

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/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,0
+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,0
+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,0
+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/vehicle_templates/ArduCopter/Big_Owl/04_board_orientation.param

@@ -0,0 +1,4 @@
+AHRS_ORIENTATION,0  # Point forward in the direction of travel
+BRD_HEAT_TARG,45  # Reset to default after offline IMU temperature calibration
+LOG_BITMASK,145118  # 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/vehicle_templates/ArduCopter/Big_Owl/05_remote_controller.param

@@ -0,0 +1,10 @@
+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)
+RC_OPTIONS,32
+RC_PROTOCOLS,1  # Selected in the component editor
+RC5_OPTION,0
+RC6_OPTION,0
+RC7_OPTION,0
+RC8_OPTION,19  # Gripper release
+RC9_OPTION,0
+RSSI_TYPE,0
+SERIAL1_PROTOCOL,2

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/06_telemetry.param

@@ -0,0 +1,3 @@
+BRD_SER1_RTSCTS,2  # Auto detect (currently RTS/CTS are not connected)
+SERIAL1_BAUD,57  # The MAVLink over CUAV telemetry
+SERIAL1_PROTOCOL,2  # Use MAVLink 2 for telemetry

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/07_esc.param

@@ -0,0 +1,34 @@
+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
+MOT_HOVER_LEARN,2  # So that it can tune the throttle controller on 20_throttle_controller.param file
+MOT_PWM_MAX,2000
+MOT_PWM_MIN,1000
+MOT_PWM_TYPE,0  # Specified in component editor window
+MOT_SPOOL_TIME,2  # Spool slower becaus props are big and foldable
+NTF_BUZZ_TYPES,5
+NTF_LED_TYPES,199
+PSC_ACCZ_SMAX,200  # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html
+SERIAL5_BAUD,57  # left default (no DShot telemetry available)
+SERIAL5_PROTOCOL,-1  # no DShot telemetry available
+SERVO_BLH_AUTO,0  # BLHeli pass-thru not availble with T-Motor ESCs
+SERVO_BLH_BDMASK,0  # no bidirectional DShot available
+SERVO_BLH_POLES,14  # Specified in component editor window
+SERVO_BLH_TRATE,10
+SERVO_DSHOT_ESC,0  # using PWM
+SERVO_DSHOT_RATE,0
+SERVO_FTW_POLES,14  # Specified in component editor window
+SERVO1_MAX,1900
+SERVO1_MIN,1100
+SERVO1_TRIM,1500
+SERVO2_MAX,1900
+SERVO2_MIN,1100
+SERVO2_TRIM,1500
+SERVO3_MAX,1900
+SERVO3_MIN,1100
+SERVO3_TRIM,1500
+SERVO4_MAX,1900
+SERVO4_MIN,1100
+SERVO4_TRIM,1500
+TKOFF_RPM_MIN,0  # no RPM feedback
+TKOFF_SLEW_TIME,3  # Slow it down because the vehicle is big

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/08_batt1.param

@@ -0,0 +1,13 @@
+BATT_ARM_VOLT,50.3  # Do not allow arming below this voltage
+BATT_CAPACITY,17000  # Total battery capacity specified in the component editor
+BATT_CRT_MAH,0  # Energy consumption not measured
+BATT_CRT_VOLT,45.6  # (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  # Using only RAW voltage
+BATT_LOW_MAH,0  # Energy consumption not measured
+BATT_LOW_VOLT,46.8  # (Low voltage + 0.0) x no. of cells
+BATT_MONITOR,3  # Selected in component editor window
+BATT_VOLT_MULT,18.55167  # calibrated using a battery tester device
+MOT_BAT_VOLT_MAX,52.2  # (Max voltage + 0.0) x no. of cells
+MOT_BAT_VOLT_MIN,45.6  # (Critical voltage + 0.0) x no. of cells

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/10_gnss.param

@@ -0,0 +1,8 @@
+BRD_SAFETY_DEFLT,0  # Safety switch gets disabled.
+GPS_GNSS_MODE,7  # GPS and galileo
+GPS_POS1_X,0
+GPS_POS1_Y,0
+GPS_POS1_Z,0
+GPS_TYPE,2  # Defined in component editor
+SERIAL3_PROTOCOL,5  # GNSS receiver is connected to serial3
+WPNAV_RADIUS,200

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/11_initial_atc.param

@@ -0,0 +1,18 @@
+ATC_ACCEL_P_MAX,38700  # Derived from vehicle component editor propeller size
+ATC_ACCEL_R_MAX,38700  # Derived from vehicle component editor propeller size
+ATC_ACCEL_Y_MAX,15300  # Derived from vehicle component editor propeller size
+ATC_ANG_YAW_P,2.5  # Derived from vehicle component editor propeller size
+ATC_RAT_PIT_FLTD,10.5  # INS_GYRO_FILTER / 2
+ATC_RAT_PIT_FLTE,0  # Initial value, will be improved at a later step
+ATC_RAT_PIT_FLTT,10.5  # INS_GYRO_FILTER / 2
+ATC_RAT_RLL_FLTD,10.5  # INS_GYRO_FILTER / 2
+ATC_RAT_RLL_FLTE,0  # Initial value, will be improved at a later step
+ATC_RAT_RLL_FLTT,10.5  # 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,10.5  # 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,21  # Derived from vehicle component editor propeller size
+MOT_THST_EXPO,0.73  # Derived from vehicle component editor propeller size
+MOT_THST_HOVER,0.2  # Hover learn will improve this initial guess

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/12_mp_setup_mandatory_hardware.param

@@ -0,0 +1,79 @@
+AHRS_TRIM_X,-0.017153
+AHRS_TRIM_Y,0.013513
+ATC_ACCEL_P_MAX,38700  # manually adjusted later (you should start with the initally calculated values)
+ATC_ACCEL_R_MAX,38700  # manually adjusted later (you should start with the initally calculated values)
+ATC_ACCEL_Y_MAX,15300  # manually adjusted later (you should start with the initally calculated values)
+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_FLTE,2
+ATC_RAT_YAW_FLTT,10.5  # INS_GYRO_FILTER / 2
+COMPASS_EXTERNAL,1
+COMPASS_ORIENT,6
+COMPASS_PRIO1_ID,658953
+COMPASS_USE2,1
+COMPASS_USE3,1
+FENCE_ACTION,3
+FENCE_ALT_MAX,100
+FENCE_ENABLE,1
+FENCE_RADIUS,300  # Initially you should start with a 150m fence radius.
+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
+FRAME_CLASS,1
+FRAME_TYPE,1
+INS_ACC1_CALTEMP,44.323673
+INS_ACC2_CALTEMP,45.5
+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_ACCSCAL_X,0.99818
+INS_ACCSCAL_Y,0.99789
+INS_ACCSCAL_Z,0.999454
+INS_GYRO_FILTER,21
+INS_USE3,1
+MOT_BAT_VOLT_MAX,52.200001
+MOT_BAT_VOLT_MIN,45.599998
+MOT_SPIN_ARM,0.13  # Derived from motor test
+MOT_SPIN_MAX,0.95
+MOT_SPIN_MIN,0.16  # Derived from motor test
+MOT_THST_EXPO,0.73
+MOT_THST_HOVER,0.268556  # 0.26 is a good guess.
+RC1_MAX,1951
+RC1_MIN,1051
+RC1_TRIM,1507
+RC2_MAX,1951
+RC2_MIN,1051
+RC2_TRIM,1507
+RC3_MAX,1951
+RC3_MIN,1051
+RC3_TRIM,1507
+RC4_MAX,1951
+RC4_MIN,1051
+RC4_TRIM,1051
+RC5_MAX,1951
+RC5_MIN,1051
+RC5_TRIM,1051
+RC6_MAX,1951
+RC6_MIN,1051
+RC6_TRIM,1051
+RC7_MAX,1951
+RC7_MIN,1051
+RC7_TRIM,1051
+RC8_MAX,1951
+RC8_MIN,1051
+RC8_TRIM,1051
+RC9_MAX,1951
+RC9_MIN,1051
+RC9_TRIM,1571
+SERVO1_FUNCTION,33
+SERVO2_FUNCTION,34
+SERVO3_FUNCTION,35
+SERVO4_FUNCTION,36

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/13_general_configuration.param

@@ -0,0 +1,13 @@
+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,7  # cylinder and max altitude, to obey local regulations and safety measures
+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
+LAND_ALT_LOW,1000
+RTL_ALT,10000  # 100 m goes above trees
+RTL_LOIT_TIME,5000
+SCHED_LOOP_RATE,400  # we have a powerful STM32 H7 family processor. But the vehicle is big, so leave it at default
+SCR_ENABLE,1  # Use lua scripting for VTOL-Quicktune, MagFit automation and wind speed estimation automation

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/14_logging.param

@@ -0,0 +1,6 @@
+INS_LOG_BAT_MASK,0  # Use acc and gyro batch logging on F4 processors, gyro raw logging on others
+INS_LOG_BAT_OPT,0  # Use pre and post filters acc and gyro batch logging on F4 processors, 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, pre-post gyro raw logging on others
+LOG_BACKEND_TYPE,1  # we want to log data to the SDCard
+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/vehicle_templates/ArduCopter/Big_Owl/15_motor.param

@@ -0,0 +1,4 @@
+MOT_SPIN_ARM,0.13
+MOT_SPIN_MAX,0.95  # Upper dead zone of the ESC
+MOT_SPIN_MIN,0.16  # MOT_SPIN_ARM + 0.03
+MOT_THST_EXPO,0.73  # similiar to other Hobbywing X6 systems

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/16_pid_adjustment.param

@@ -0,0 +1,10 @@
+ATC_INPUT_TC,0.3  # Slow it down a bit because it is a big vehicle
+ATC_RAT_PIT_D,0.00288  # (0.0036 default)
+ATC_RAT_PIT_I,0.108  # 0.115 recommended for that drone (0.135 default)
+ATC_RAT_PIT_P,0.108  # 0.115 recommended for that drone (0.135 default)
+ATC_RAT_RLL_D,0.00288  # (0.0036 default)
+ATC_RAT_RLL_I,0.108  # 0.115 recommended for that drone (0.135 default)
+ATC_RAT_RLL_P,0.108  # 0.115 recommended for that drone (0.135 default)
+ATC_RAT_YAW_D,0.01  # = 1 * (0 default)
+ATC_RAT_YAW_I,0.05  # 0.05 for that drone (0.018 default)
+ATC_RAT_YAW_P,0.5  # 0.5 for that drone (0.18 default)

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/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/vehicle_templates/ArduCopter/Big_Owl/18_notch_filter_setup.param

@@ -0,0 +1,10 @@
+INS_FAST_SAMPLE,3  # IMUs can run fast on Pixhawk 6C flight controller
+INS_GYRO_RATE,1  # the H7 can do 4KHz here but we stick to the default
+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,29.4  # 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  # One Notch per motor, update at loop rate
+INS_HNTCH_REF,0.285  # dynamicaly track noise created by the motors/propellers

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/19_notch_filter_results.param

@@ -0,0 +1,17 @@
+INS_HNTC2_ATT,15
+INS_HNTC2_BW,28
+INS_HNTC2_ENABLE,1
+INS_HNTC2_FM_RAT,0.78
+INS_HNTC2_FREQ,58  # Use the second filter for the landing legs
+INS_HNTC2_HMNCS,3
+INS_HNTC2_MODE,1
+INS_HNTC2_OPTS,0
+INS_HNTC2_REF,0.263
+INS_HNTCH_ATT,21  # just enough to filter the noise created by the motors/propellers
+INS_HNTCH_BW,23  # just enough to filter the noise created by the motors/propellers
+INS_HNTCH_FM_RAT,0.78  # Allowed undercutting of the base frequency of the first notch filter
+INS_HNTCH_FREQ,47  # 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_MODE,1
+INS_HNTCH_OPTS,1  # Double Notch
+INS_HNTCH_REF,0.263  # dynamically track noise created by the motors/propellers

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/20_throttle_controller.param

@@ -0,0 +1,3 @@
+ATC_THR_MIX_MAN,0.5  # because we have learned the MOT_THST_HOVER value
+PSC_ACCZ_I,0.537112  # Use 2 * MOT_THST_HOVER assuming MOT_THST_HOVER has been correctly learned
+PSC_ACCZ_P,0.268556  # Use MOT_THST_HOVER assuming MOT_THST_HOVER has been correctly learned

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/21_ekf_config.param

@@ -0,0 +1,2 @@
+EK3_ACC_P_NSE,0.35  # higher value -> trust accelerometer less, compared to other sources
+EK3_ALT_M_NSE,2  # lower value -> trust baro more, compared to other sources

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/22_quick_tune_setup.param

@@ -0,0 +1,14 @@
+QUIK_AUTO_FILTER,1
+QUIK_AUTO_SAVE,0
+QUIK_AXES,7
+QUIK_DOUBLE_TIME,10
+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
+QUIK_OSC_SMAX,5
+QUIK_RC_FUNC,300  # the script uses this value to listen to RC switch
+QUIK_RP_PI_RATIO,1
+QUIK_Y_PI_RATIO,10
+QUIK_YAW_D_MAX,0.01
+QUIK_YAW_P_MAX,0.5

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/23_quick_tune_results.param

@@ -0,0 +1,10 @@
+ATC_RAT_PIT_D,0.00288  # 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,0.00288  # 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,21  # 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/vehicle_templates/ArduCopter/Big_Owl/24_inflight_magnetometer_fit_setup.param

@@ -0,0 +1,8 @@
+MAGH_ALT_DELTA,10  # Height difference between the highest and lowest point of the eight
+MAGH_B,1.2  # Geometric factor for the width of the eight
+MAGH_CMD,117  # Script_Time command value for identification of the script
+MAGH_COUNT,3  # Number of times the drone repeats the eight
+MAGH_LOG_ENABLE,1  # Activates the logging of the MAGH.Active message
+MAGH_MIN_SPEED,5  # Starting speed for the mission; slowly adjusts to the general speed in auto-missions
+MAGH_NUM_WP,18  # Number of waypoints from which the eight is built
+MAGH_USE_LOITER,0  # Sets a Loiter_unlimited command at the beginning of the mission to check the generated waypoints

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/24_inflight_magnetometer_fit_setup.pdef.xml

@@ -0,0 +1,57 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Dynamically generated list of documented parameters (generated by param_parse.py) -->
+<paramfile>
+    <vehicles>
+        <parameters name="ArduCopter">
+            <param name="MAGH_ALT_DELTA" humanName="Altitude change" documentation="Altitude change to be commanded during the figure-8 pattern to capture mag field changes during throttle changes. Starting altitude is based upon the entry waypoint’s altitude, and the Copter will climb this amount ABOVE that starting altitude on occasion.">
+                <field name="Units">m</field>
+                <field name="Range">0 100</field>
+                <field name="Default">10</field>
+            </param>
+            <param name="MAGH_B" humanName="Figure 8 Geometric factor" documentation="Geometric factor to adjust the width of the figure-8. Values of 1.2-1.5 should be more than adequate.">
+                <field name="Range">1.2 1.5</field>
+                <field name="Default">1.2</field>
+            </param>
+            <param name="MAGH_CMD" humanName="SCRIPT_TIME command" documentation="The SCRIPT_TIME command value used to initiate the scripted pattern. Defaults to 117.">
+                <field name="Range">0 255</field>
+                <field name="Default">117</field>
+            </param>
+            <param name="MAGH_COUNT" humanName="Repeat count" documentation="Number of times to repeat the figure-8. If battery failsafes are properly configured, you can make this number somewhat high so that the figure-8 will be repeated until failsafe.">
+                <field name="Range">1 20</field>
+                <field name="Default">6</field>
+            </param>
+            <param name="MAGH_LOG_ENABLE" humanName="Enable MAGH.Active logging" documentation="Enable a MAGH.Active value to be logged in dataflash for later consumption. Set 0 for no logging.">
+                <field name="Range">0 1</field>
+                <field name="Default">1</field>
+            </param>
+            <param name="MAGH_MIN_SPEED" humanName="Minimum speed" documentation="Starting speed (m/s) for the figure-8. Speed will slowly increment to WPNAV_SPEED as the pattern is repeated. Defaults to 1/2 of WPNAV_SPEED.">
+                <field name="Units">m/s</field>
+                <field name="Default">1/2 of WPNAV_SPEED</field>
+            </param>
+            <param name="MAGH_NUM_WP" humanName="Number of waypoints in figure 8" documentation="The number of waypoints to be used in defining the figure-8. Use more points for a smoother path at the cost of potentially slower speed during navigation. Defaults to 18. 16-24 should be adequate for most cases.">
+                <field name="Range">16 24</field>
+                <field name="Default">18</field>
+            </param>
+            <param name="MAGH_USE_LOITER" humanName="Use loiter" documentation="Insert a LOITER_UNLIMITED waypoint prior to the figure-8 so that the new waypoints can be downloaded and verified prior to continuing. Set 0 to disable (not recommended). See the end of the writeup for a helper script to advance waypoints via an RC switch.">
+                <field name="Range">0 1</field>
+                <field name="Default">1</field>
+            </param>
+            <param name="WAYPT_ADVANCE" humanName="Advance waypoint" documentation="Aux function assigned for manually advancing waypoints.">
+                <field name="Range">300 307</field>
+                <field name="Default">300</field>
+            </param>
+            <param name="WAYPT_ANNOUNCE" humanName="Waypoint announce" documentation="Aux function assigned to enable sending waypoint distance text messages.">
+                <field name="Range">300 307</field>
+                <field name="Default">301</field>
+            </param>
+            <param name="WAYPT_ANNOUNCE_S" humanName="Waypoint announce interval" documentation="How often to broadcast waypoint distance text messages (seconds).">
+                <field name="Range">0 3600</field>
+                <field name="Default">0</field>
+            </param>
+            <param name="WAYPT_BUZZ_ENABLE" humanName="Waypoint buzzer enable" documentation="Enable audio feedback for waypoint proximity (increasing pitch/frequency as waypoint distance closes).">
+                <field name="Range">0 1</field>
+                <field name="Default">0</field>
+            </param>
+        </parameters>
+    </vehicles>
+</paramfile>

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/25_inflight_magnetometer_fit_results.param

@@ -0,0 +1,29 @@
+COMPASS_DIA_X,1  # Just the main compass gets calibrated
+COMPASS_DIA_Y,1
+COMPASS_DIA_Z,1
+COMPASS_DIA2_X,1
+COMPASS_DIA2_Y,1
+COMPASS_DIA2_Z,1
+COMPASS_MOT_X,0
+COMPASS_MOT_Y,0
+COMPASS_MOT_Z,0
+COMPASS_MOT2_X,0
+COMPASS_MOT2_Y,0
+COMPASS_MOT2_Z,0
+COMPASS_MOTCT,0
+COMPASS_ODI_X,0
+COMPASS_ODI_Y,0
+COMPASS_ODI_Z,0
+COMPASS_ODI2_X,0
+COMPASS_ODI2_Y,0
+COMPASS_ODI2_Z,0
+COMPASS_OFS_X,91.965645
+COMPASS_OFS_Y,225.16553
+COMPASS_OFS_Z,387.73532
+COMPASS_OFS2_X,90.44737
+COMPASS_OFS2_Y,-13.778622
+COMPASS_OFS2_Z,924.2471
+COMPASS_ORIENT,6
+COMPASS_ORIENT2,0
+COMPASS_SCALE,0.940844
+COMPASS_SCALE2,1

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/26_quick_tune_setup.param

@@ -0,0 +1,14 @@
+QUIK_AUTO_FILTER,1
+QUIK_AUTO_SAVE,0
+QUIK_AXES,7
+QUIK_DOUBLE_TIME,10
+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
+QUIK_OSC_SMAX,5
+QUIK_RC_FUNC,300  # the script uses this value to listen to RC switch
+QUIK_RP_PI_RATIO,1
+QUIK_Y_PI_RATIO,10
+QUIK_YAW_D_MAX,0.01
+QUIK_YAW_P_MAX,0.5

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/27_quick_tune_results.param

@@ -0,0 +1,10 @@
+ATC_RAT_PIT_D,0.007929
+ATC_RAT_PIT_I,0.141447
+ATC_RAT_PIT_P,0.141447
+ATC_RAT_RLL_D,0.008209
+ATC_RAT_RLL_I,0.128811
+ATC_RAT_RLL_P,0.128811
+ATC_RAT_YAW_D,0.01
+ATC_RAT_YAW_FLTD,10.5
+ATC_RAT_YAW_I,0.05
+ATC_RAT_YAW_P,0.5

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/28_evaluate_the_aircraft_tune_ff_disable.param

@@ -0,0 +1,4 @@
+ATC_RATE_FF_ENAB,0  # test the stabilization loops independent of the input shaping
+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

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/29_evaluate_the_aircraft_tune_ff_enable.param

@@ -0,0 +1 @@
+ATC_RATE_FF_ENAB,1  # re-enable normal operation, activate input shaping

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/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/vehicle_templates/ArduCopter/Big_Owl/31_autotune_roll_results.param

@@ -0,0 +1,5 @@
+ATC_ACCEL_R_MAX,30000  # adjusted manually because there were some oscillations after autotune when switching to Loiter
+ATC_ANG_RLL_P,4.5  # adjusted manually because there were some oscillations after autotune when switching to Loiter
+ATC_RAT_RLL_D,0.0036
+ATC_RAT_RLL_I,0.135  # adjusted manually because there were some oscillations after autotune when switching to Loiter
+ATC_RAT_RLL_P,0.135  # adjusted manually because there were some oscillations after autotune when switching to Loiter

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/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/vehicle_templates/ArduCopter/Big_Owl/33_autotune_pitch_results.param

@@ -0,0 +1,5 @@
+ATC_ACCEL_P_MAX,30000  # adjusted manually because there were some oscillations after autotune when switching to Loiter
+ATC_ANG_PIT_P,4.5  # adjusted manually because there were some oscillations after autotune when switching to Loiter
+ATC_RAT_PIT_D,0.0036  # adjusted manually because there were some oscillations after autotune when switching to Loiter
+ATC_RAT_PIT_I,0.135  # adjusted manually because there were some oscillations after autotune when switching to Loiter
+ATC_RAT_PIT_P,0.135  # adjusted manually because there were some oscillations after autotune when switching to Loiter

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/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/vehicle_templates/ArduCopter/Big_Owl/35_autotune_yaw_results.param

@@ -0,0 +1,5 @@
+ATC_ACCEL_Y_MAX,9000  # adjusted manually because there were some oscillations after autotune when switching to Loiter
+ATC_ANG_YAW_P,4.5  # adjusted manually because there were some oscillations after autotune when switching to Loiter
+ATC_RAT_YAW_FLTE,2.5
+ATC_RAT_YAW_I,0.018
+ATC_RAT_YAW_P,0.18

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/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/vehicle_templates/ArduCopter/Big_Owl/37_autotune_yawd_results.param

@@ -0,0 +1,5 @@
+ATC_ACCEL_Y_MAX,9000  # adjusted manually because there were some oscillations after autotune when switching to Loiter
+ATC_ANG_YAW_P,4.5  # adjusted manually because there were some oscillations after autotune when switching to Loiter
+ATC_RAT_YAW_D,0  # if == to AUTOTUNE_MIN_D, autotune failed
+ATC_RAT_YAW_I,0.018  # adjusted manually because there were some oscillations after autotune when switching to Loiter
+ATC_RAT_YAW_P,0.18  # adjusted manually because there were some oscillations after autotune when switching to Loiter

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/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/vehicle_templates/ArduCopter/Big_Owl/39_autotune_roll_pitch_retune_results.param

@@ -0,0 +1,10 @@
+ATC_ACCEL_P_MAX,30000  # adjusted manually because there were some oscillations after autotune when switching to Loiter
+ATC_ACCEL_R_MAX,30000  # adjusted manually because there were some oscillations after autotune when switching to Loiter
+ATC_ANG_PIT_P,4.5  # adjusted manually because there were some oscillations after autotune when switching to Loiter
+ATC_ANG_RLL_P,4.5  # adjusted manually because there were some oscillations after autotune when switching to Loiter
+ATC_RAT_PIT_D,0.0036  # adjusted manually because there were some oscillations after autotune when switching to Loiter
+ATC_RAT_PIT_I,0.135  # adjusted manually because there were some oscillations after autotune when switching to Loiter
+ATC_RAT_PIT_P,0.135  # adjusted manually because there were some oscillations after autotune when switching to Loiter
+ATC_RAT_RLL_D,0.0036  # adjusted manually because there were some oscillations after autotune when switching to Loiter
+ATC_RAT_RLL_I,0.135  # adjusted manually because there were some oscillations after autotune when switching to Loiter
+ATC_RAT_RLL_P,0.135  # adjusted manually because there were some oscillations after autotune when switching to Loiter

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/40_windspeed_estimation.param

@@ -0,0 +1,5 @@
+EK3_DRAG_BCOEF_X,0
+EK3_DRAG_BCOEF_Y,0
+EK3_DRAG_MCOEF,0
+LOG_DISARMED,1  # allow post flight tuning with Replay
+LOG_REPLAY,1  # allow post flight tuning with Replay

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/41_barometer_compensation.param

@@ -0,0 +1,7 @@
+BARO1_WCF_BCK,0
+BARO1_WCF_DN,0
+BARO1_WCF_ENABLE,0
+BARO1_WCF_FWD,0
+BARO1_WCF_LFT,0
+BARO1_WCF_RGT,0
+BARO1_WCF_UP,0

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Big_Owl/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,29118  # 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
+FLTMODE5,0  # 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/vehicle_templates/ArduCopter/Big_Owl/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/vehicle_templates/ArduCopter/Big_Owl/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