ardupilot-methodic-configurator 1.4.4__py3-none-any.whl → 1.4.6__py3-none-any.whl

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/02_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,70  # CubeOrange has an heater that heats up the board to almost 70 deg
+INS_TCAL2_ENABLE,2  # Activates the temperature calibration for IMU 2 at the next start
+INS_TCAL2_TMAX,70  # CubeOrange has an heater that heats up the board to almost 70 deg
+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/Hoverit_X13/03_imu_temperature_calibration_results.param

@@ -0,0 +1,63 @@
+INS_TCAL1_ACC1_X,-981.931577
+INS_TCAL1_ACC1_Y,501.824409
+INS_TCAL1_ACC1_Z,-2205.525175
+INS_TCAL1_ACC2_X,-3.973013
+INS_TCAL1_ACC2_Y,-9.298222
+INS_TCAL1_ACC2_Z,17.560017
+INS_TCAL1_ACC3_X,-0.318079
+INS_TCAL1_ACC3_Y,0.004993
+INS_TCAL1_ACC3_Z,0.754828
+INS_TCAL1_ENABLE,1
+INS_TCAL1_GYR1_X,42.94071
+INS_TCAL1_GYR1_Y,-11.637129
+INS_TCAL1_GYR1_Z,-12.423374
+INS_TCAL1_GYR2_X,-0.036763
+INS_TCAL1_GYR2_Y,-0.070749
+INS_TCAL1_GYR2_Z,1.055227
+INS_TCAL1_GYR3_X,-0.012243
+INS_TCAL1_GYR3_Y,-0.005644
+INS_TCAL1_GYR3_Z,-0.013425
+INS_TCAL1_TMAX,65.3
+INS_TCAL1_TMIN,-17.5
+INS_TCAL2_ACC1_X,348.909297
+INS_TCAL2_ACC1_Y,-224.768911
+INS_TCAL2_ACC1_Z,393.055595
+INS_TCAL2_ACC2_X,-8.652614
+INS_TCAL2_ACC2_Y,-1.386447
+INS_TCAL2_ACC2_Z,-21.849104
+INS_TCAL2_ACC3_X,-0.367539
+INS_TCAL2_ACC3_Y,-0.143096
+INS_TCAL2_ACC3_Z,0.279419
+INS_TCAL2_ENABLE,1
+INS_TCAL2_GYR1_X,41.890863
+INS_TCAL2_GYR1_Y,70.825463
+INS_TCAL2_GYR1_Z,-117.340257
+INS_TCAL2_GYR2_X,-0.07093
+INS_TCAL2_GYR2_Y,0.647659
+INS_TCAL2_GYR2_Z,-0.710809
+INS_TCAL2_GYR3_X,-0.0312
+INS_TCAL2_GYR3_Y,0.015407
+INS_TCAL2_GYR3_Z,-0.020841
+INS_TCAL2_TMAX,66.7
+INS_TCAL2_TMIN,-16.3
+INS_TCAL3_ACC1_X,18717.084716
+INS_TCAL3_ACC1_Y,61993.74611
+INS_TCAL3_ACC1_Z,-58323.274886
+INS_TCAL3_ACC2_X,496.84714
+INS_TCAL3_ACC2_Y,1616.373309
+INS_TCAL3_ACC2_Z,-1321.008423
+INS_TCAL3_ACC3_X,4.201324
+INS_TCAL3_ACC3_Y,13.777702
+INS_TCAL3_ACC3_Z,-9.109706
+INS_TCAL3_ENABLE,1
+INS_TCAL3_GYR1_X,7861.718659
+INS_TCAL3_GYR1_Y,-8647.78844
+INS_TCAL3_GYR1_Z,-2050.561113
+INS_TCAL3_GYR2_X,197.728548
+INS_TCAL3_GYR2_Y,-223.914021
+INS_TCAL3_GYR2_Z,-49.59948
+INS_TCAL3_GYR3_X,1.699285
+INS_TCAL3_GYR3_Y,-1.9217
+INS_TCAL3_GYR3_Z,-0.397194
+INS_TCAL3_TMAX,0.2
+INS_TCAL3_TMIN,-9.7

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/04_board_orientation.param

@@ -0,0 +1,4 @@
+AHRS_ORIENTATION,6  # Point 90* left  in the direction of travel Yaw 270*right
+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/Hoverit_X13/05_remote_controller.param

@@ -0,0 +1,10 @@
+ARMING_RUDDER,2  # THAT 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
+BRD_ALT_CONFIG,0
+RC_OPTIONS,32
+RC_PROTOCOLS,8  # Selected in the component editor
+RC10_OPTION,0  # I DONT NEED AS OF YET
+RC6_OPTION,0  # I DONT NEED AS OF YET
+RC7_OPTION,0  # I DONT NEED AS OF YET
+RC8_OPTION,0  # I DONT NEED AS OF YET
+RC9_OPTION,0  # I DONT NEED AS OF YET
+RSSI_TYPE,0  # radio without RSSI

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/06_telemetry.param

@@ -0,0 +1,2 @@
+BRD_SER1_RTSCTS,2  # we have no RTS/CTS pins connected
+SERIAL1_BAUD,57  # MK32 telemetry baud.

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/07_esc.param

@@ -0,0 +1,28 @@
+ATC_RAT_PIT_SMAX,0  # 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,0  # 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,0  # 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
+ESC_HW_POLES,14  # Specified in component editor window
+MOT_HOVER_LEARN,2  # So that it can tune the throttle controller on 20_throttle_controller.param file
+MOT_PWM_MAX,1950  # HOBBYWING X13 Plus operating pulse width: 1050-1950us (fixed and cannot be programmed)
+MOT_PWM_MIN,1050  # HOBBYWING X13 Plus operating pulse width: 1050-1950us (fixed and cannot be programmed)
+MOT_PWM_TYPE,0  # Specified in component editor window
+MOT_SPOOL_TIME,2  # Big props take longer to spool
+NTF_BUZZ_TYPES,5  # Our CubeOrangePlus have it self buzzer.
+NTF_LED_TYPES,231  # want to keep default
+PSC_ACCZ_SMAX,0  # 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
+SERVO_BLH_POLES,14  # Specified in component editor window
+SERVO_FTW_POLES,14  # Specified in component editor window
+SERVO1_MAX,1950  # HOBBYWING X13 Plus operating pulse width: 1050-1950us (fixed and cannot be programmed)
+SERVO1_MIN,1050  # HOBBYWING X13 Plus operating pulse width: 1050-1950us (fixed and cannot be programmed)
+SERVO1_TRIM,1500  # HOBBYWING X13 Plus operating pulse width: 1050-1950us (fixed and cannot be programmed)
+SERVO2_MAX,1950  # HOBBYWING X13 Plus operating pulse width: 1050-1950us (fixed and cannot be programmed)
+SERVO2_MIN,1050  # HOBBYWING X13 Plus operating pulse width: 1050-1950us (fixed and cannot be programmed)
+SERVO2_TRIM,1500  # HOBBYWING X13 Plus operating pulse width: 1050-1950us (fixed and cannot be programmed)
+SERVO3_MAX,1950  # HOBBYWING X13 Plus operating pulse width: 1050-1950us (fixed and cannot be programmed)
+SERVO3_MIN,1050  # HOBBYWING X13 Plus operating pulse width: 1050-1950us (fixed and cannot be programmed)
+SERVO3_TRIM,1500  # HOBBYWING X13 Plus operating pulse width: 1050-1950us (fixed and cannot be programmed)
+SERVO4_MAX,1950  # HOBBYWING X13 Plus operating pulse width: 1050-1950us (fixed and cannot be programmed)
+SERVO4_MIN,1050  # HOBBYWING X13 Plus operating pulse width: 1050-1950us (fixed and cannot be programmed)
+SERVO4_TRIM,1500  # HOBBYWING X13 Plus operating pulse width: 1050-1950us (fixed and cannot be programmed)
+TKOFF_RPM_MIN,200  # Abort takeoff if one of the motors fails to spool
+TKOFF_SLEW_TIME,4  # Big drone needs time to takeoff

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/08_batt1.param

@@ -0,0 +1,15 @@
+BATT_AMP_PERVLT,0  # WE TAKE DATA FROM ESC TELEMETRY, so this can stay at 0
+BATT_ARM_VOLT,55.2  # Do not allow arming below this voltage
+BATT_CAPACITY,160000  # Total battery capacity specified in the component editor
+BATT_CRT_MAH,0  # WE DONT HAVE MAH READING SENSOR
+BATT_CRT_VOLT,49.7  # (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  # AS PER OUR PREVIOUS DRONE SETUP
+BATT_I2C_BUS,4  # Selected in component editor window
+BATT_LOW_MAH,0  # WE DONT HAVE A MAH SENSOR
+BATT_LOW_VOLT,50.4  # (Low voltage + 0.0) x no. of cells
+BATT_MONITOR,9  # Selected in component editor window
+BATT_VOLT_MULT,0  # WE TAKE DATA FROM ESC TELEMETRY, so this can stay at 0
+MOT_BAT_VOLT_MAX,58.8  # (Max voltage + 0.0) x no. of cells
+MOT_BAT_VOLT_MIN,49.7  # (Critical voltage + 0.0) x no. of cells

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/10_gnss.param

@@ -0,0 +1,16 @@
+BRD_SAFETY_DEFLT,1  # Use a safety switch
+COMPASS_ORIENT,0  # none
+COMPASS_ORIENT2,0  # none
+GPS_AUTO_SWITCH,1  # because in our region lots of gps jamming and spoofing happening
+GPS_GNSS_MODE,69  # BEST OVER INDIA , AND KEEPING LESS
+GPS_POS1_X,0.3  # Here4 GPS1is 30 cm front cg and fc
+GPS_POS1_Y,-0.16  # Here4 GPS1  IS 16cm left of fc and cg
+GPS_POS1_Z,-0.2  # Here4 GPS1  IS 20cm CM ABOVE OF AUTOPILOT AXIS
+GPS_POS2_X,0.3  # Here4 GPS2 is 30 cm front cg and fc
+GPS_POS2_Y,0.16  # Here4 GPS2  IS 16cm right of fc and cg
+GPS_POS2_Z,-0.2  # Here4 GPS2  IS 20cm CM ABOVE OF AUTOPILOT AXIS
+GPS_TYPE,9  # Defined in component editor
+NTF_LED_TYPES,32  # DRONECAN LED
+SERIAL3_PROTOCOL,-1  # NO SERIAL 3
+SERIAL4_PROTOCOL,-1  # NO SERIAL 4
+WPNAV_RADIUS,1000  # 10 METER RADIUS TO WAYPOINT IS GOOD KEEING INERTIA IN MIND

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/11_initial_atc.param

@@ -0,0 +1,18 @@
+ATC_ACCEL_P_MAX,10000  # Derived from vehicle component editor propeller size
+ATC_ACCEL_R_MAX,10000  # Derived from vehicle component editor propeller size
+ATC_ACCEL_Y_MAX,8000  # Derived from vehicle component editor propeller size
+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
+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  # Derived from vehicle component editor propeller size
+MOT_THST_EXPO,0.8  # 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/Hoverit_X13/12_mp_setup_mandatory_hardware.param

@@ -0,0 +1,82 @@
+AHRS_TRIM_X,0
+AHRS_TRIM_Y,0
+ATC_ACCEL_P_MAX,14300
+ATC_ACCEL_R_MAX,14300
+ATC_ACCEL_Y_MAX,8000
+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_FLTE,2
+ATC_RAT_YAW_FLTT,10  # INS_GYRO_FILTER / 2
+COMPASS_EXTERNAL,1  # HERE 4  WE HAVE PUT 2 GPS IN CAN SPLITTER MODULE INTO CAN 2 PORT
+COMPASS_ORIENT,0
+COMPASS_PRIO1_ID,97027
+COMPASS_USE2,1  # HERE 4  WE HAVE PUT 2 GPS IN CAN SPLITTER MODULE INTO CAN 2 PORT
+COMPASS_USE3,0  # WE DONT WANT TO USE CUBE AUTOPILTO COMPASS BECAUSE OF LOTS OF WIRES GOING AROUND IT
+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
+FLTMODE1,0
+FLTMODE2,0
+FLTMODE3,2
+FLTMODE4,2
+FLTMODE5,5
+FLTMODE6,5
+FRAME_CLASS,1
+FRAME_TYPE,1
+INS_ACC1_CALTEMP,47.705315
+INS_ACC2_CALTEMP,48.412403
+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_ACCSCAL_X,1
+INS_ACCSCAL_Y,1
+INS_ACCSCAL_Z,1
+INS_GYRO_FILTER,20
+INS_USE3,1
+MOT_BAT_VOLT_MAX,58.799999  # 14S LION PACK
+MOT_BAT_VOLT_MIN,46.200001  # AS PER BATTERY SPECS
+MOT_SPIN_ARM,0.08  # AS PER OUR PREVIOUS SAME DRONE BUILDS
+MOT_SPIN_MAX,0.95  # WE WOULD NEVER GO AROUND 80% ALSO SO DEFAULT VALUE IS GOOD
+MOT_SPIN_MIN,0.1  # ABOVE SPIN ARM AND BELOW MIN THST HOVER
+MOT_THST_EXPO,0.75  # AS PER OUR PREVIOUS SAME DRONE BUILDS
+MOT_THST_HOVER,0.13  # WHEN THE DRONE IS WIHTOUT ANY ADDITONAL PAYLOAD THE HOVER THST IS REALLY LOW
+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_TRIM,1425  # RADIO CALIBRATION MK32
+RC2_MAX,1945  # RADIO CALIBRATION MK32
+RC2_MIN,1045  # RADIO CALIBRATION MK32
+RC2_TRIM,1495  # RADIO CALIBRATION MK32
+RC3_MAX,1945  # RADIO CALIBRATION MK32
+RC3_MIN,1045  # RADIO CALIBRATION MK32
+RC3_TRIM,1045  # RADIO CALIBRATION MK32
+RC4_MAX,1945  # RADIO CALIBRATION MK32
+RC4_MIN,1045  # RADIO CALIBRATION MK32
+RC4_TRIM,1495  # RADIO CALIBRATION MK32
+RC5_MAX,1945  # RADIO CALIBRATION MK32
+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_TRIM,1945  # RADIO CALIBRATION MK32
+RC7_MAX,1895  # RADIO CALIBRATION MK32
+RC7_MIN,1425  # RADIO CALIBRATION MK32
+RC7_TRIM,1425  # RADIO CALIBRATION MK32
+RC8_MAX,1945  # RADIO CALIBRATION MK32
+RC8_MIN,1045  # RADIO CALIBRATION MK32
+RC8_TRIM,1045  # RADIO CALIBRATION MK32
+RC9_MAX,1795  # RADIO CALIBRATION MK32
+RC9_MIN,1425  # RADIO CALIBRATION MK32
+RC9_TRIM,1425  # RADIO CALIBRATION MK32
+SERVO1_FUNCTION,33  # X13 PLUS MOTOR IS BEING CONTROLED VIA SERVO LANE AND DATA VIA CAN PORT
+SERVO2_FUNCTION,34  # X13 PLUS MOTOR IS BEING CONTROLED VIA SERVO LANE AND DATA VIA CAN PORT
+SERVO3_FUNCTION,35  # X13 PLUS MOTOR IS BEING CONTROLED VIA SERVO LANE AND DATA VIA CAN PORT
+SERVO4_FUNCTION,36  # X13 PLUS MOTOR IS BEING CONTROLED VIA SERVO LANE AND DATA VIA CAN PORT

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/13_general_configuration.param

@@ -0,0 +1,18 @@
+ARMING_CHECK,1  # Perform all arming checks. If you have a problem fix its source. Do NOT change this
+AUTO_OPTIONS,0  # I JUST WANT TO ARM THE DORNE IN AUTO MODE
+BRD_HEAT_TARG,48  # Operate at a constant IMU temperature
+BRD_RTC_TZ_MIN,330  # INDIA time zone
+EK3_SRC1_POSZ,1  # FROM BARO
+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
+INS_ACCEL_FILTER,10  # AS PER OUR PRECIOUS SAME SETUP DRONE
+INS_POS1_X,0
+INS_POS1_Y,0
+INS_POS2_X,0
+INS_POS2_Y,0
+LAND_ALT_LOW,500  # I WANT IT TO SLOW DOWN LATER ENOUGH SPACE AND DUAL GPS
+RTL_ALT,10000  # This vehicle WILL FLY IN TERRAIN AREA AT TIMES
+RTL_LOIT_TIME,5000  # PERFECT IN MY CASE
+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,-1  # WE DONT USE

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/14_logging.param

@@ -0,0 +1,6 @@
+INS_LOG_BAT_CNT,512  # the default of 1024 causes some problems with https://firmware.ardupilot.org/Tools/WebTools/FilterReview/
+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_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/Hoverit_X13/15_motor.param

@@ -0,0 +1,4 @@
+MOT_SPIN_ARM,0.1  # lower than spin min
+MOT_SPIN_MAX,0.9  # as per previous drone setup similar specs
+MOT_SPIN_MIN,0.13  # since hover thst is around 18.
+MOT_THST_EXPO,0.75  # as per previous drone setup similar specs

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/16_pid_adjustment.param

@@ -0,0 +1,15 @@
+ATC_ANG_PIT_P,4.5
+ATC_ANG_RLL_P,5.2
+ATC_ANG_YAW_P,4.5
+ATC_INPUT_TC,0.3  # i want it to be softer
+ATC_RAT_PIT_D,0.003619  # .007239/2 ( as per docs there was osciallion in pitch rate outs
+ATC_RAT_PIT_I,0.046944  # .093889/2
+ATC_RAT_PIT_P,0.046944  # .093889/2
+ATC_RAT_RLL_D,0.00309  # = 0.690593 * (0.0036 default)
+ATC_RAT_RLL_I,0.095506  # = 1.061015 * (0.135 default)
+ATC_RAT_RLL_P,0.095506  # = 1.061015 * (0.135 default)
+ATC_RAT_YAW_D,0  # = 1 * (0 default)
+ATC_RAT_YAW_I,0.025  # = 2.514026 * (0.018 default)
+ATC_RAT_YAW_P,0.25  # = 2.514026 * (0.18 default)
+PSC_POSXY_P,1
+PSC_POSZ_P,1

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/17_remote_id.param

@@ -0,0 +1,4 @@
+DID_CANDRIVER,0  # WE DID NOT USE
+DID_ENABLE,0  # WE DID NOT USE
+DID_MAVPORT,2  # WE DID NOT USE
+DID_OPTIONS,0  # WE DID NOT USE

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/18_notch_filter_setup.param

@@ -0,0 +1,10 @@
+INS_FAST_SAMPLE,7  # Both IMUs can run fast on the CubeOrange+ flight controller
+INS_GYRO_RATE,2  # The CubeOrange+ can do 4KHz here
+INS_HNTCH_ATT,40  # based on a similar drone build
+INS_HNTCH_BW,22  # based on a similar drone build
+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,3  # based on a similar drone build
+INS_HNTCH_MODE,3  # ESC RPM telemetry
+INS_HNTCH_OPTS,2  # based on a similar drone build
+INS_HNTCH_REF,1  # ESC RPM telemetry

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/19_notch_filter_results.param

@@ -0,0 +1,8 @@
+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
+INS_HNTCH_FM_RAT,0.7  # go below the hover frequency
+INS_HNTCH_FREQ,43  # central hover frequency noise peak
+INS_HNTCH_HMNCS,3  # Only the first two harmonics are above -50 dB after filtering
+INS_HNTCH_OPTS,2  # ESC telemetry provides pre motor RPM data, use it
+INS_HNTCH_REF,1  # use ESC-telemetry RPM data

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/20_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,0.35619  # Use 2 * MOT_THST_HOVER assuming MOT_THST_HOVER has been correctly learned
+PSC_ACCZ_P,0.178095  # Use MOT_THST_HOVER assuming MOT_THST_HOVER has been correctly learned

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/21_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(default)

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/22_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,70  # because we got too much oscialltion on 60% reduction
+QUIK_MAX_REDUCE,25  # vehicle osciallates a bit
+QUIK_OPTIONS,0
+QUIK_OSC_SMAX,3  # as per docs 60kgs mtow
+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/Hoverit_X13/23_quick_tune_results.param

@@ -0,0 +1,10 @@
+ATC_RAT_PIT_D,0.005067  # Tuned in nil winds
+ATC_RAT_PIT_I,0.148442  # Tuned in nil winds
+ATC_RAT_PIT_P,0.148442  # Tuned in nil winds
+ATC_RAT_RLL_D,0.007578  # Tuned in nil winds
+ATC_RAT_RLL_I,0.135159  # Tuned in nil winds
+ATC_RAT_RLL_P,0.135159  # Tuned in nil winds
+ATC_RAT_YAW_D,0.01  # Tuned in nil winds
+ATC_RAT_YAW_FLTD,10  # Tuned in nil winds
+ATC_RAT_YAW_I,0.05  # Tuned in nil winds
+ATC_RAT_YAW_P,0.5  # Tuned in nil winds

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/24_inflight_magnetometer_fit_setup.param

@@ -0,0 +1,8 @@
+MAGH_ALT_DELTA,20  # Height difference INCREASED BECAUSE LARGE COPTER AND MORE CURRENT CHANGE ETC
+MAGH_B,1.4  # Geometric factor for the width of the eight
+MAGH_CMD,117  # Script_Time command value for identification of the script
+MAGH_COUNT,6  # Number of times the drone repeats the eight
+MAGH_LOG_ENABLE,1  # Activates the logging of the MAGH.Active message
+MAGH_MIN_SPEED,6  # 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,1  # Sets a Loiter_unlimited command at the beginning of the mission to check the generated waypoints

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/24_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/Hoverit_X13/25_inflight_magnetometer_fit_results.param

@@ -0,0 +1,43 @@
+COMPASS_DIA_X,1
+COMPASS_DIA_Y,1
+COMPASS_DIA_Z,1
+COMPASS_DIA2_X,1
+COMPASS_DIA2_Y,1
+COMPASS_DIA2_Z,1
+COMPASS_DIA3_X,1
+COMPASS_DIA3_Y,1
+COMPASS_DIA3_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_MOT3_X,0
+COMPASS_MOT3_Y,0
+COMPASS_MOT3_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_ODI3_X,0
+COMPASS_ODI3_Y,0
+COMPASS_ODI3_Z,0
+COMPASS_OFS_X,-19.97556  # as per webtool
+COMPASS_OFS_Y,-72.33902
+COMPASS_OFS_Z,32.342266
+COMPASS_OFS2_X,-95.48271
+COMPASS_OFS2_Y,87.54403
+COMPASS_OFS2_Z,45.680996
+COMPASS_OFS3_X,-228.35738
+COMPASS_OFS3_Y,116.251724
+COMPASS_OFS3_Z,-282.025
+COMPASS_ORIENT,0
+COMPASS_ORIENT2,0
+COMPASS_ORIENT3,0
+COMPASS_SCALE,1
+COMPASS_SCALE2,1
+COMPASS_SCALE3,1

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/26_quick_tune_setup.param

@@ -0,0 +1,16 @@
+INS_RAW_LOG_OPT,0  # Notch filters are configured, log less
+LOG_BITMASK,145406  # Notch filters are configured, log less
+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,70
+QUIK_MAX_REDUCE,25
+QUIK_OPTIONS,0
+QUIK_OSC_SMAX,3
+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/Hoverit_X13/27_quick_tune_results.param

@@ -0,0 +1,10 @@
+ATC_RAT_PIT_D,0.00473
+ATC_RAT_PIT_I,0.182583
+ATC_RAT_PIT_P,0.182583
+ATC_RAT_RLL_D,0.006052
+ATC_RAT_RLL_I,0.160861
+ATC_RAT_RLL_P,0.160861
+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/vehicle_templates/ArduCopter/Hoverit_X13/28_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/Hoverit_X13/29_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/Hoverit_X13/30_autotune_roll_setup.param

@@ -0,0 +1,2 @@
+AUTOTUNE_AGGR,0.1  # Use the default for now
+AUTOTUNE_AXES,1  # Autotune roll axis

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/31_autotune_roll_results.param

@@ -0,0 +1,5 @@
+ATC_ACCEL_R_MAX,32809.25
+ATC_ANG_RLL_P,9.259468  # higher value mean a tighter tune
+ATC_RAT_RLL_D,0.011372
+ATC_RAT_RLL_I,0.177568
+ATC_RAT_RLL_P,0.177568

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/32_autotune_pitch_setup.param

@@ -0,0 +1,2 @@
+AUTOTUNE_AGGR,0.1  # Use the default for now
+AUTOTUNE_AXES,2  # Autotune pitch axis

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/33_autotune_pitch_results.param

@@ -0,0 +1,5 @@
+ATC_ACCEL_P_MAX,20258.871094
+ATC_ANG_PIT_P,4.241869  # higher value mean a tighter tune
+ATC_RAT_PIT_D,0.016818
+ATC_RAT_PIT_I,0.1591
+ATC_RAT_PIT_P,0.1591

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/34_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 the default for now
+AUTOTUNE_AXES,4  # Autotune yaw axis

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/35_autotune_yaw_results.param

@@ -0,0 +1,5 @@
+ATC_ACCEL_Y_MAX,6975.051758
+ATC_ANG_YAW_P,3.565831  # higher value mean a tighter tune
+ATC_RAT_YAW_FLTE,1
+ATC_RAT_YAW_I,0.123843
+ATC_RAT_YAW_P,1.238425

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/36_autotune_yawd_setup.param

@@ -0,0 +1,3 @@
+AUTOTUNE_AGGR,0.1  # Use the default for now
+AUTOTUNE_AXES,8  # Autotune yaw D axis
+AUTOTUNE_MIN_D,0.0001  # not required for this big craft hence not doing yaw d autotune

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/37_autotune_yawd_results.param

@@ -0,0 +1,5 @@
+ATC_ACCEL_Y_MAX,91119.27
+ATC_ANG_YAW_P,14.52818
+ATC_RAT_YAW_D,0.003508  # we did not do yaw d autotune due to beign a big craft
+ATC_RAT_YAW_I,0.090505
+ATC_RAT_YAW_P,0.905049

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/38_autotune_roll_pitch_retune_setup.param

@@ -0,0 +1,2 @@
+AUTOTUNE_AGGR,0.1  # Use the default for now
+AUTOTUNE_AXES,3  # Autotune roll and pitch axis

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/39_autotune_roll_pitch_retune_results.param

@@ -0,0 +1,10 @@
+ATC_ACCEL_P_MAX,33212.75
+ATC_ACCEL_R_MAX,31209.464844
+ATC_ANG_PIT_P,8.750198  # higher value mean a tighter tune
+ATC_ANG_RLL_P,6.787705  # higher value mean a tighter tune
+ATC_RAT_PIT_D,0.013599
+ATC_RAT_PIT_I,0.161706
+ATC_RAT_PIT_P,0.161706
+ATC_RAT_RLL_D,0.009897
+ATC_RAT_RLL_I,0.189976
+ATC_RAT_RLL_P,0.189976

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X13/40_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/Hoverit_X13/41_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/Hoverit_X13/42_system_id_roll.param

@@ -0,0 +1,21 @@
+ANGLE_MAX,2000  # limit the angle to limit the speed at SID-chirp low-frequencies
+ARMING_CHECK,540126  # 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  # prevent the rate controllers from compensating too much of the frequency-sweep signal
+ATC_RATE_FF_ENAB,0  # prevent the rate controllers from compensating too much of the frequency-sweep signal
+FLTMODE5,25  # Activate sysid instead of autotune
+LOG_BITMASK,176127  # 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,0.4  # System identification max magnitude
+TUNE_MIN,0.02  # System identification min magnitude