ardupilot-methodic-configurator 1.4.5__py3-none-any.whl → 1.4.7__py3-none-any.whl

ardupilot_methodic_configurator-1.4.7.data/data/vehicle_templates/ArduCopter/AirCar_v1/07_esc.param

@@ -0,0 +1,27 @@
+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
+MOT_HOVER_LEARN,2  # So that it can tune the throttle controller on 20_throttle_controller.param file
+MOT_PWM_MAX,1900  # Operating Pulse Width:1100-1900us(Fixed or cannot be Programmed)
+MOT_PWM_MIN,1100  # Operating Pulse Width:1100-1900us(Fixed or cannot be Programmed)
+MOT_PWM_TYPE,0  # Specified in component editor window
+MOT_SPOOL_TIME,0.5
+NTF_BUZZ_TYPES,5  # Our CubeOrange have it self buzzer.
+NTF_LED_TYPES,231
+PSC_ACCZ_SMAX,0  # 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,1900  # Operating Pulse Width:1100-1900us(Fixed or cannot be Programmed)
+SERVO1_MIN,1100  # Operating Pulse Width:1100-1900us(Fixed or cannot be Programmed)
+SERVO1_TRIM,1500  # Operating Pulse Width:1100-1900us(Fixed or cannot be Programmed)
+SERVO2_MAX,1900  # Operating Pulse Width:1100-1900us(Fixed or cannot be Programmed)
+SERVO2_MIN,1100  # Operating Pulse Width:1100-1900us(Fixed or cannot be Programmed)
+SERVO2_TRIM,1500  # Operating Pulse Width:1100-1900us(Fixed or cannot be Programmed)
+SERVO3_MAX,1900  # Operating Pulse Width:1100-1900us(Fixed or cannot be Programmed)
+SERVO3_MIN,1100  # Operating Pulse Width:1100-1900us(Fixed or cannot be Programmed)
+SERVO3_TRIM,1500  # Operating Pulse Width:1100-1900us(Fixed or cannot be Programmed)
+SERVO4_MAX,1900  # Operating Pulse Width:1100-1900us(Fixed or cannot be Programmed)
+SERVO4_MIN,1100  # Operating Pulse Width:1100-1900us(Fixed or cannot be Programmed)
+SERVO4_TRIM,1500  # Operating Pulse Width:1100-1900us(Fixed or cannot be Programmed)
+TKOFF_RPM_MIN,0  # No esc telemetry to measure this
+TKOFF_SLEW_TIME,2

ardupilot_methodic_configurator-1.4.7.data/data/vehicle_templates/ArduCopter/AirCar_v1/18_notch_filter_setup.param

@@ -0,0 +1,10 @@
+INS_FAST_SAMPLE,3  # Both IMUs can run fast on the CubeOrange flight controller
+INS_GYRO_RATE,1  # The CubeOrange can do 4KHz here
+INS_HNTCH_ATT,30  # this is just a hunch, it must be improved after the first flight (by the next file)
+INS_HNTCH_BW,87  # 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,92  # Use 1.4 * INS_GYRO_FILTER as a first guess
+INS_HNTCH_HMNCS,3  # start with a single frequency
+INS_HNTCH_MODE,1  # Throttle based notch
+INS_HNTCH_OPTS,12
+INS_HNTCH_REF,0.13  # Calculate and change this according to the wiki

ardupilot_methodic_configurator-1.4.7.data/data/vehicle_templates/ArduCopter/AirCar_v1/vehicle_components.json

@@ -0,0 +1,187 @@
+{
+    "Format version": 1,
+    "Components": {
+        "Flight Controller": {
+            "Product": {
+                "Manufacturer": "CubePilot",
+                "Model": "CubeOrange",
+                "URL": "https://www.robotshop.com/products/cubepilot-the-cube-orange-standard-set-ads-b-carrier-board",
+                "Version": "1.0"
+            },
+            "Firmware": {
+                "Type": "ArduCopter",
+                "Version": "4.5.3"
+            },
+            "Specifications": {
+                "MCU Series": "STM32H7xx"
+            },
+            "Notes": "This is CubeOrange with 94.5mm x 44.3mm x 17.3mm"
+        },
+        "Frame": {
+            "Product": {
+                "Manufacturer": "Aircar Technology and Aviation ",
+                "Model": "prototype",
+                "URL": "https://www.aircar.aero/",
+                "Version": "v1"
+            },
+            "Specifications": {
+                "TOW min Kg": 320,
+                "TOW max Kg": 500
+            },
+            "Notes": "Frame is custom, X type frame. Arm length is 2650mm."
+        },
+        "RC Controller": {
+            "Product": {
+                "Manufacturer": "",
+                "Model": "",
+                "URL": "",
+                "Version": ""
+            },
+            "Firmware": {
+                "Type": "",
+                "Version": ""
+            },
+            "Notes": ""
+        },
+        "RC Transmitter": {
+            "Product": {
+                "Manufacturer": "",
+                "Model": "",
+                "URL": "",
+                "Version": ""
+            },
+            "Firmware": {
+                "Type": "",
+                "Version": ""
+            },
+            "Notes": "integrated in RC controller"
+        },
+        "RC Receiver": {
+            "Product": {
+                "Manufacturer": "",
+                "Model": "",
+                "URL": "",
+                "Version": ""
+            },
+            "Firmware": {
+                "Type": "",
+                "Version": ""
+            },
+            "FC Connection": {
+                "Type": "RCin/SBUS",
+                "Protocol": "All"
+            },
+            "Notes": "This receiver is on the vehicle and is connected to the flight controller"
+        },
+        "Telemetry": {
+            "Product": {
+                "Manufacturer": "",
+                "Model": "",
+                "URL": "",
+                "Version": ""
+            },
+            "Firmware": {
+                "Type": "",
+                "Version": ""
+            },
+            "FC Connection": {
+                "Type": "SERIAL1",
+                "Protocol": "MAVLink2"
+            },
+            "Notes": ""
+        },
+        "Battery Monitor": {
+            "Product": {
+                "Manufacturer": "CubePilot",
+                "Model": "HX4-06008",
+                "URL": "https://docs.cubepilot.org/user-guides/autopilot/the-cube-user-manual#power-module-connection",
+                "Version": "PB01A21"
+            },
+            "Firmware": {
+                "Type": "",
+                "Version": ""
+            },
+            "FC Connection": {
+                "Type": "Analog",
+                "Protocol": "Analog Voltage and Current"
+            },
+            "Notes": "Voltage is done via the flight controller. Current is done via the ESC."
+        },
+        "Battery": {
+            "Product": {
+                "Manufacturer": "",
+                "Model": "",
+                "URL": "",
+                "Version": ""
+            },
+            "Specifications": {
+                "Chemistry": "LipoHV",
+                "Volt per cell max": 4.2,
+                "Volt per cell low": 3.6,
+                "Volt per cell crit": 3.55,
+                "Number of cells": 22,
+                "Capacity mAh": 30000
+            },
+            "Notes": ""
+        },
+        "ESC": {
+            "Product": {
+                "Manufacturer": "",
+                "Model": "",
+                "URL": "",
+                "Version": ""
+            },
+            "Firmware": {
+                "Type": "",
+                "Version": ""
+            },
+            "FC Connection": {
+                "Type": "Main Out",
+                "Protocol": "Normal"
+            },
+            "Notes": ""
+        },
+        "Motors": {
+            "Product": {
+                "Manufacturer": "",
+                "Model": "",
+                "URL": "",
+                "Version": ""
+            },
+            "Specifications": {
+                "Poles": 14
+            },
+            "Notes": ""
+        },
+        "Propellers": {
+            "Product": {
+                "Manufacturer": "",
+                "Model": "",
+                "URL": "",
+                "Version": ""
+            },
+            "Specifications": {
+                "Diameter_inches": 52
+            },
+            "Notes": ""
+        },
+        "GNSS Receiver": {
+            "Product": {
+                "Manufacturer": "CubePilot",
+                "Model": "Here 3",
+                "URL": "https://docs.cubepilot.org/user-guides/here-3/here-3-manual",
+                "Version": "1"
+            },
+            "Firmware": {
+                "Type": "UBlox",
+                "Version": "1.13.2"
+            },
+            "FC Connection": {
+                "Type": "SERIAL3",
+                "Protocol": "DroneCAN"
+            },
+            "Notes": "uBlox M8P GNSS with a patch antenna."
+        }
+    },
+    "Program version": "1.4.6"
+}

ardupilot_methodic_configurator-1.4.7.data/data/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 because 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 passthrough not available 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-1.4.7.data/data/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 initially calculated values)
+ATC_ACCEL_R_MAX,38700  # manually adjusted later (you should start with the initially calculated values)
+ATC_ACCEL_Y_MAX,15300  # manually adjusted later (you should start with the initially 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-1.4.7.data/data/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  # similar to other Hobbywing X6 systems

ardupilot_methodic_configurator-1.4.7.data/data/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  # dynamically track noise created by the motors/propellers

ardupilot_methodic_configurator-1.4.7.data/data/vehicle_templates/ArduCopter/Big_Owl/vehicle_components.json

@@ -0,0 +1,188 @@
+{
+    "Format version": 1,
+    "Components": {
+        "Flight Controller": {
+            "Product": {
+                "Manufacturer": "Holybro",
+                "Model": "Pixhawk6C",
+                "URL": "https://holybro.com/products/pixhawk-6c?srsltid=AfmBOoqx6fEclM8l4wICaZcGtR5ecABosliproB7TozPMEdYY7SG0A_t",
+                "Version": "1.0"
+            },
+            "Firmware": {
+                "Type": "ArduCopter",
+                "Version": "4.5.7 official"
+            },
+            "Specifications": {
+                "MCU Series": "STM32H7xx"
+            },
+            "Notes": "This is a custom build with a Holybro 6C mini flight controller with standard carrier board."
+        },
+        "Frame": {
+            "Product": {
+                "Manufacturer": "",
+                "Model": "Owls",
+                "URL": "",
+                "Version": "Custom"
+            },
+            "Specifications": {
+                "TOW min Kg": 7.0,
+                "TOW max Kg": 12.0
+            },
+            "Notes": ""
+        },
+        "RC Controller": {
+            "Product": {
+                "Manufacturer": "Sony",
+                "Model": "Dualsense wireless controller",
+                "URL": "https://www.playstation.com/de-de/accessories/dualsense-wireless-controller/",
+                "Version": "Playstation 5"
+            },
+            "Firmware": {
+                "Type": "",
+                "Version": ""
+            },
+            "Notes": ""
+        },
+        "RC Transmitter": {
+            "Product": {
+                "Manufacturer": "MP",
+                "Model": "Joystick support",
+                "URL": "https://ardupilot.org/copter/docs/common-joystick.html",
+                "Version": ""
+            },
+            "Firmware": {
+                "Type": "",
+                "Version": ""
+            },
+            "Notes": ""
+        },
+        "RC Receiver": {
+            "Product": {
+                "Manufacturer": "CUAV",
+                "Model": "LTE-Link SE",
+                "URL": "https://doc.cuav.net/link/lte-link/en/lte-link-se.html",
+                "Version": ""
+            },
+            "Firmware": {
+                "Type": "",
+                "Version": ""
+            },
+            "FC Connection": {
+                "Type": "SERIAL1",
+                "Protocol": "All"
+            },
+            "Notes": "This receiver is on the vehicle and is connected to the flight controller"
+        },
+        "Telemetry": {
+            "Product": {
+                "Manufacturer": "CUAV",
+                "Model": "LTE-Link SE",
+                "URL": "https://doc.cuav.net/link/lte-link/en/lte-link-se.html",
+                "Version": ""
+            },
+            "Firmware": {
+                "Type": "",
+                "Version": ""
+            },
+            "FC Connection": {
+                "Type": "SERIAL1",
+                "Protocol": "MAVLink2"
+            },
+            "Notes": ""
+        },
+        "Battery Monitor": {
+            "Product": {
+                "Manufacturer": "Holybro",
+                "Model": "PM02 V3 Power Module (12S)",
+                "URL": "https://holybro.com/products/pm02-v3-12s-power-module?srsltid=AfmBOoruyyy13wBspPFngCWD-IdOxUHiH3nfgUpN79MuVgugcMqUUxGK",
+                "Version": "V3"
+            },
+            "Firmware": {
+                "Type": "",
+                "Version": ""
+            },
+            "FC Connection": {
+                "Type": "Analog",
+                "Protocol": "Analog Voltage Only"
+            },
+            "Notes": "Supplies 5.2V to FC, providing current consumption and battery voltage measurements"
+        },
+        "Battery": {
+            "Product": {
+                "Manufacturer": "Gens ace",
+                "Model": "Tattu 17000mAh 22.8V 15C 6S1P HV",
+                "URL": "https://gensace.de/products/tattu-17000mah-22-8v-15c-6s1p-hv-high-voltage-lipo-battery-with-as150-xt150-plug",
+                "Version": ""
+            },
+            "Specifications": {
+                "Chemistry": "LipoHV",
+                "Volt per cell max": 4.35,
+                "Volt per cell low": 3.9,
+                "Volt per cell crit": 3.8,
+                "Number of cells": 12,
+                "Capacity mAh": 17000
+            },
+            "Notes": "uses 2 batteries in series hence the 12s"
+        },
+        "ESC": {
+            "Product": {
+                "Manufacturer": "hobbywing",
+                "Model": "X6 Plus",
+                "URL": "",
+                "Version": ""
+            },
+            "Firmware": {
+                "Type": "hobbywing",
+                "Version": ""
+            },
+            "FC Connection": {
+                "Type": "Main Out",
+                "Protocol": "Normal"
+            },
+            "Notes": "ESCs are integrated in the motor arm sets"
+        },
+        "Motors": {
+            "Product": {
+                "Manufacturer": "hobbywing",
+                "Model": "x6 plus",
+                "URL": "",
+                "Version": ""
+            },
+            "Specifications": {
+                "Poles": 14
+            },
+            "Notes": ""
+        },
+        "Propellers": {
+            "Product": {
+                "Manufacturer": "hobbywing",
+                "Model": "Paddle 2388",
+                "URL": "",
+                "Version": "2"
+            },
+            "Specifications": {
+                "Diameter_inches": 23
+            },
+            "Notes": ""
+        },
+        "GNSS Receiver": {
+            "Product": {
+                "Manufacturer": "Holybro",
+                "Model": "M10",
+                "URL": "https://holybro.com/products/m10-gps?srsltid=AfmBOootSZi5Pc_2XhliqsKy-u3_8l8SKZ8tzd5wDuPMENtL-ZeLngUL",
+                "Version": "1"
+            },
+            "Firmware": {
+                "Type": "Ublox",
+                "Version": "M10"
+            },
+            "FC Connection": {
+                "Type": "SERIAL3",
+                "Protocol": "uBlox"
+            },
+            "Notes": "uBlox M10 GNSS"
+        }
+    },
+    "Program version": "1.4.6",
+    "Configuration template": "Tarot_X4"
+}

ardupilot_methodic_configurator-1.4.7.data/data/vehicle_templates/ArduCopter/Chimera7/07_esc.param

@@ -0,0 +1,35 @@
+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
+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,6  # Specified in component editor window
+MOT_SPOOL_TIME,0.5  # left at default because copter is small
+NTF_BUZZ_TYPES,5  # the 4-in-1 ESC uses this
+NTF_LED_TYPES,2305  # Built-in LED, Neopixel (Matek H743 slim v3), and DShot (4-in-1 ESC)
+PSC_ACCZ_SMAX,0  # No slew rate limit on throttle controller
+SERIAL5_BAUD,115  # bi-directional DShot telemetry data rate from T-Motor F55 4in1 ESC
+SERIAL5_PROTOCOL,16  # bi-directional DShot telemetry pin is connected to SERIAL5
+SERVO_BLH_AUTO,1  # Enables BLHeli passthrough
+SERVO_BLH_BDMASK,15  # All four of our ESC support bi-directional DShot
+SERVO_BLH_POLES,14  # Specified in component editor window
+SERVO_BLH_TRATE,5  # Set to a low value because the RPM telemetry uses bi-directional DShot telemetry instead of this UART telemetry
+SERVO_DSHOT_ESC,1  # BLHeli32
+SERVO_DSHOT_RATE,2  # Sends DShot control signals to the ESC twice per control loop
+SERVO_FTW_POLES,14  # Specified in component editor window
+SERVO1_MAX,2000  # Use the full available 1000-2000 DShot range
+SERVO1_MIN,1000  # Use the full available 1000-2000 DShot range
+SERVO1_TRIM,1000  # Use the full available 1000-2000 DShot range
+SERVO13_FUNCTION,120
+SERVO2_MAX,2000  # Use the full available 1000-2000 DShot range
+SERVO2_MIN,1000  # Use the full available 1000-2000 DShot range
+SERVO2_TRIM,1000  # Use the full available 1000-2000 DShot range
+SERVO3_MAX,2000  # Use the full available 1000-2000 DShot range
+SERVO3_MIN,1000  # Use the full available 1000-2000 DShot range
+SERVO3_TRIM,1000  # Use the full available 1000-2000 DShot range
+SERVO4_MAX,2000  # Use the full available 1000-2000 DShot range
+SERVO4_MIN,1000  # Use the full available 1000-2000 DShot range
+SERVO4_TRIM,1000  # Use the full available 1000-2000 DShot range
+TKOFF_RPM_MIN,1000  # Our motors should idle at around 1000 RPM, see https://ardupilot.org/copter/docs/tkoff-rpm-min.html
+TKOFF_SLEW_TIME,2  # faster because copter is small

ardupilot_methodic_configurator-1.4.7.data/data/vehicle_templates/ArduCopter/Chimera7/18_notch_filter_setup.param

@@ -0,0 +1,10 @@
+INS_FAST_SAMPLE,3  # Both IMUs can run fast on the Matek H743 Slim flight controller
+INS_GYRO_RATE,1  # The Matek H743 Slim can do 2KHz here
+INS_HNTCH_ATT,40  # this is just a hunch, it must be improved after the first flight (by the next file)
+INS_HNTCH_BW,10  # 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,210  # Use 1.4 * INS_GYRO_FILTER as a first guess
+INS_HNTCH_HMNCS,1  # start with a single frequency
+INS_HNTCH_MODE,3  # Use the BDshot600 RPM telemetry to dynamically track noise created by the motors/propellers
+INS_HNTCH_OPTS,6  # One Notch per motor, update at loop rate
+INS_HNTCH_REF,1  # Use the BDshot600 RPM telemetry to dynamically track noise created by the motors/propellers

ardupilot_methodic_configurator-1.4.7.data/data/vehicle_templates/ArduCopter/Chimera7/19_notch_filter_results.param

@@ -0,0 +1,6 @@
+INS_HNTCH_ATT,40  # just enough to filter the noise created by the motors/propellers
+INS_HNTCH_BW,10  # just enough to filter the noise created by the motors/propellers
+INS_HNTCH_FM_RAT,1  # Allowed undercutting of the base frequency of the first notch filter
+INS_HNTCH_FREQ,40  # the minimum frequency that the motors are expected to operate at
+INS_HNTCH_HMNCS,7  # the motors produce harmonics on this vehicle
+INS_HNTCH_OPTS,22  # Triple Notch per motor, update at loop rate