ardupilot-methodic-configurator 2.0.6__py3-none-any.whl → 2.1.0__py3-none-any.whl

ardupilot_methodic_configurator-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/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
+INS_TCAL2_ENABLE,2  # Activates the temperature calibration for IMU 2 at the next start
+INS_TCAL2_TMAX,70
+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-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/04_board_orientation.param

@@ -0,0 +1,4 @@
+AHRS_ORIENTATION,0
+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-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/05_remote_controller.param

@@ -0,0 +1,10 @@
+ARMING_RUDDER,2
+BRD_ALT_CONFIG,0
+RC_OPTIONS,32
+RC_PROTOCOLS,1  # Selected in the component editor
+RC10_OPTION,0
+RC6_OPTION,0
+RC7_OPTION,0
+RC8_OPTION,0
+RC9_OPTION,0
+RSSI_TYPE,0

ardupilot_methodic_configurator-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/06_telemetry.param

@@ -0,0 +1,2 @@
+BRD_SER1_RTSCTS,2
+SERIAL1_BAUD,57

ardupilot_methodic_configurator-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/07_esc.param

@@ -0,0 +1,28 @@
+ATC_RAT_PIT_SMAX,0
+ATC_RAT_RLL_SMAX,0
+ATC_RAT_YAW_SMAX,0
+ESC_HW_POLES,14
+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,0.5
+NTF_BUZZ_TYPES,5
+NTF_LED_TYPES,123079
+PSC_ACCZ_SMAX,0
+SERVO_BLH_POLES,14  # Specified in component editor window
+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
+TKOFF_SLEW_TIME,2

ardupilot_methodic_configurator-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/08_batt1.param

@@ -0,0 +1,15 @@
+BATT_AMP_PERVLT,0
+BATT_ARM_VOLT,55.2
+BATT_CAPACITY,160000
+BATT_CRT_MAH,0
+BATT_CRT_VOLT,49.7
+BATT_FS_CRT_ACT,1
+BATT_FS_LOW_ACT,2
+BATT_FS_VOLTSRC,0
+BATT_I2C_BUS,4
+BATT_LOW_MAH,0
+BATT_LOW_VOLT,50.4
+BATT_MONITOR,0
+BATT_VOLT_MULT,0
+MOT_BAT_VOLT_MAX,0  # (Max voltage + 0.0) x no. of cells
+MOT_BAT_VOLT_MIN,0  # (Critical voltage + 0.0) x no. of cells

ardupilot_methodic_configurator-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/10_gnss.param

@@ -0,0 +1,16 @@
+BRD_SAFETY_DEFLT,1
+COMPASS_ORIENT,0
+COMPASS_ORIENT2,0
+GPS_AUTO_SWITCH,1
+GPS1_GNSS_MODE,0
+GPS1_POS_X,0
+GPS1_POS_Y,0
+GPS1_POS_Z,0
+GPS2_POS_X,0
+GPS2_POS_Y,0
+GPS2_POS_Z,0
+GPS1_TYPE,1
+NTF_LED_TYPES,123079
+SERIAL3_PROTOCOL,5
+SERIAL4_PROTOCOL,5
+WPNAV_RADIUS,200

ardupilot_methodic_configurator-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/11_initial_atc.param

@@ -0,0 +1,18 @@
+ATC_ACCEL_P_MAX,221000  # Derived from vehicle component editor propeller size
+ATC_ACCEL_R_MAX,221000  # Derived from vehicle component editor propeller size
+ATC_ACCEL_Y_MAX,35100  # Derived from vehicle component editor propeller size
+ATC_ANG_YAW_P,5.8  # Derived from vehicle component editor propeller size
+ATC_RAT_PIT_FLTD,144.5  # INS_GYRO_FILTER / 2
+ATC_RAT_PIT_FLTE,0  # Initial value, will be improved at a later step
+ATC_RAT_PIT_FLTT,144.5  # INS_GYRO_FILTER / 2
+ATC_RAT_RLL_FLTD,144.5  # INS_GYRO_FILTER / 2
+ATC_RAT_RLL_FLTE,0  # Initial value, will be improved at a later step
+ATC_RAT_RLL_FLTT,144.5  # 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,144.5  # 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,289  # Derived from vehicle component editor propeller size
+MOT_THST_EXPO,0.24  # Derived from vehicle component editor propeller size
+MOT_THST_HOVER,0.2  # Hover learn will improve this initial guess

ardupilot_methodic_configurator-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/12_mp_setup_mandatory_hardware.param

@@ -0,0 +1,82 @@
+AHRS_TRIM_X,0
+AHRS_TRIM_Y,0
+ATC_ACCEL_P_MAX,110000
+ATC_ACCEL_R_MAX,110000
+ATC_ACCEL_Y_MAX,27000
+ATC_RAT_PIT_FLTD,20
+ATC_RAT_PIT_FLTT,20
+ATC_RAT_RLL_FLTD,20
+ATC_RAT_RLL_FLTT,20
+ATC_RAT_YAW_FLTE,2.5
+ATC_RAT_YAW_FLTT,20
+COMPASS_EXTERNAL,0
+COMPASS_ORIENT,0
+COMPASS_PRIO1_ID,131874
+COMPASS_USE2,1
+COMPASS_USE3,1
+FENCE_ACTION,1
+FENCE_ALT_MAX,100
+FENCE_ENABLE,0
+FENCE_RADIUS,300
+FLTMODE1,0
+FLTMODE2,0
+FLTMODE3,0
+FLTMODE4,0
+FLTMODE5,0
+FLTMODE6,0
+FRAME_CLASS,0
+FRAME_TYPE,1
+INS_ACC1_CALTEMP,-300
+INS_ACC2_CALTEMP,-300
+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,0
+MOT_BAT_VOLT_MIN,0
+MOT_SPIN_ARM,0.1
+MOT_SPIN_MAX,0.95
+MOT_SPIN_MIN,0.15
+MOT_THST_EXPO,0.65
+MOT_THST_HOVER,0.35
+RC1_MAX,1900
+RC1_MIN,1100
+RC1_TRIM,1500
+RC10_MAX,1900
+RC10_MIN,1100
+RC10_TRIM,1500
+RC2_MAX,1900
+RC2_MIN,1100
+RC2_TRIM,1500
+RC3_MAX,1900
+RC3_MIN,1100
+RC3_TRIM,1500
+RC4_MAX,1900
+RC4_MIN,1100
+RC4_TRIM,1500
+RC5_MAX,1900
+RC5_MIN,1100
+RC5_TRIM,1500
+RC6_MAX,1900
+RC6_MIN,1100
+RC6_TRIM,1500
+RC7_MAX,1900
+RC7_MIN,1100
+RC7_TRIM,1500
+RC8_MAX,1900
+RC8_MIN,1100
+RC8_TRIM,1500
+RC9_MAX,1900
+RC9_MIN,1100
+RC9_TRIM,1500
+SERVO1_FUNCTION,0
+SERVO2_FUNCTION,0
+SERVO3_FUNCTION,0
+SERVO4_FUNCTION,0

ardupilot_methodic_configurator-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/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
+BRD_HEAT_TARG,-1
+BRD_RTC_TZ_MIN,0
+EK3_SRC1_POSZ,1
+FENCE_TYPE,7
+FS_EKF_ACTION,1
+INS_ACCEL_FILTER,20
+INS_POS1_X,0
+INS_POS1_Y,0
+INS_POS2_X,0
+INS_POS2_Y,0
+LAND_ALT_LOW,1000
+RTL_ALT,1500
+RTL_LOIT_TIME,5000
+SCHED_LOOP_RATE,400
+SCR_ENABLE,1  # Use lua scripting for VTOL-Quicktune, MagFit automation and wind speed estimation automation
+SERIAL7_PROTOCOL,-1

ardupilot_methodic_configurator-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/14_logging.param

@@ -0,0 +1,6 @@
+INS_LOG_BAT_CNT,1024
+INS_LOG_BAT_MASK,1  # Use acc and gyro batch logging on F4 processors, gyro raw logging on others
+INS_LOG_BAT_OPT,4  # Use pre and post filters acc and gyro batch logging on F4 processors, pre-post gyro raw logging on others
+INS_RAW_LOG_OPT,0  # 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-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/15_motor.param

@@ -0,0 +1,4 @@
+MOT_SPIN_ARM,0.1
+MOT_SPIN_MAX,0.95
+MOT_SPIN_MIN,0.15
+MOT_THST_EXPO,0.65

ardupilot_methodic_configurator-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/16_pid_adjustment.param

@@ -0,0 +1,15 @@
+ATC_ANG_PIT_P,4.5
+ATC_ANG_RLL_P,4.5
+ATC_ANG_YAW_P,4.5
+ATC_INPUT_TC,0.15
+ATC_RAT_PIT_D,0.0036
+ATC_RAT_PIT_I,0.135
+ATC_RAT_PIT_P,0.135
+ATC_RAT_RLL_D,0.0036
+ATC_RAT_RLL_I,0.135
+ATC_RAT_RLL_P,0.135
+ATC_RAT_YAW_D,0
+ATC_RAT_YAW_I,0.018
+ATC_RAT_YAW_P,0.18
+PSC_POSXY_P,1
+PSC_POSZ_P,1

ardupilot_methodic_configurator-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/17_remote_id.param

@@ -0,0 +1,4 @@
+DID_CANDRIVER,0
+DID_ENABLE,0
+DID_MAVPORT,2
+DID_OPTIONS,0

ardupilot_methodic_configurator-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/18_notch_filter_setup.param

@@ -0,0 +1,10 @@
+INS_FAST_SAMPLE,5
+INS_GYRO_RATE,0
+INS_HNTCH_ATT,40
+INS_HNTCH_BW,22
+INS_HNTCH_ENABLE,1  # Use the first notch filter to filter the noise created by the motors/propellers
+INS_HNTCH_FREQ,28
+INS_HNTCH_HMNCS,3
+INS_HNTCH_MODE,3
+INS_HNTCH_OPTS,2
+INS_HNTCH_REF,1

ardupilot_methodic_configurator-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/19_notch_filter_results.param

@@ -0,0 +1,8 @@
+INS_GYRO_FILTER,20
+INS_HNTCH_ATT,30
+INS_HNTCH_BW,11
+INS_HNTCH_FM_RAT,0.7
+INS_HNTCH_FREQ,43
+INS_HNTCH_HMNCS,3
+INS_HNTCH_OPTS,2
+INS_HNTCH_REF,1

ardupilot_methodic_configurator-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/20_throttle_controller.param

@@ -0,0 +1,3 @@
+ATC_THR_MIX_MAN,0.1
+PSC_ACCZ_I,1
+PSC_ACCZ_P,0.5

ardupilot_methodic_configurator-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/21_ekf_config.param

@@ -0,0 +1,2 @@
+EK3_ACC_P_NSE,0.35
+EK3_ALT_M_NSE,2

ardupilot_methodic_configurator-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/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
+QUIK_GAIN_MARGIN,70
+QUIK_MAX_REDUCE,25
+QUIK_OPTIONS,0
+QUIK_OSC_SMAX,3
+QUIK_RC_FUNC,300
+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-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/23_quick_tune_results.param

@@ -0,0 +1,10 @@
+ATC_RAT_PIT_D,0.0036
+ATC_RAT_PIT_I,0.135
+ATC_RAT_PIT_P,0.135
+ATC_RAT_RLL_D,0.0036
+ATC_RAT_RLL_I,0.135
+ATC_RAT_RLL_P,0.135
+ATC_RAT_YAW_D,0
+ATC_RAT_YAW_FLTD,20
+ATC_RAT_YAW_I,0.018
+ATC_RAT_YAW_P,0.18

ardupilot_methodic_configurator-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/24_inflight_magnetometer_fit_setup.param

@@ -0,0 +1,8 @@
+MAGH_ALT_DELTA,20
+MAGH_B,1.4
+MAGH_CMD,117
+MAGH_COUNT,6
+MAGH_LOG_ENABLE,1
+MAGH_MIN_SPEED,6
+MAGH_NUM_WP,18
+MAGH_USE_LOITER,1

ardupilot_methodic_configurator-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/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,0
+COMPASS_OFS_Y,0
+COMPASS_OFS_Z,0
+COMPASS_OFS2_X,0
+COMPASS_OFS2_Y,0
+COMPASS_OFS2_Z,0
+COMPASS_OFS3_X,0
+COMPASS_OFS3_Y,0
+COMPASS_OFS3_Z,0
+COMPASS_ORIENT,0
+COMPASS_ORIENT2,0
+COMPASS_ORIENT3,0
+COMPASS_SCALE,0
+COMPASS_SCALE2,0
+COMPASS_SCALE3,0

ardupilot_methodic_configurator-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/26_quick_tune_setup.param

@@ -0,0 +1,16 @@
+INS_RAW_LOG_OPT,0
+LOG_BITMASK,176126
+QUIK_AUTO_FILTER,1
+QUIK_AUTO_SAVE,0
+QUIK_AXES,7
+QUIK_DOUBLE_TIME,10
+QUIK_ENABLE,1
+QUIK_GAIN_MARGIN,70
+QUIK_MAX_REDUCE,25
+QUIK_OPTIONS,0
+QUIK_OSC_SMAX,3
+QUIK_RC_FUNC,300
+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-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/27_quick_tune_results.param

@@ -0,0 +1,10 @@
+ATC_RAT_PIT_D,0.0036
+ATC_RAT_PIT_I,0.135
+ATC_RAT_PIT_P,0.135
+ATC_RAT_RLL_D,0.0036
+ATC_RAT_RLL_I,0.135
+ATC_RAT_RLL_P,0.135
+ATC_RAT_YAW_D,0
+ATC_RAT_YAW_FLTD,20
+ATC_RAT_YAW_I,0.018
+ATC_RAT_YAW_P,0.18

ardupilot_methodic_configurator-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/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-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/30_autotune_roll_setup.param

@@ -0,0 +1,2 @@
+AUTOTUNE_AGGR,0.1
+AUTOTUNE_AXES,1  # Autotune roll axis

ardupilot_methodic_configurator-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/31_autotune_roll_results.param

@@ -0,0 +1,5 @@
+ATC_ACCEL_R_MAX,110000
+ATC_ANG_RLL_P,4.5
+ATC_RAT_RLL_D,0.0036
+ATC_RAT_RLL_I,0.135
+ATC_RAT_RLL_P,0.135

ardupilot_methodic_configurator-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/32_autotune_pitch_setup.param

@@ -0,0 +1,2 @@
+AUTOTUNE_AGGR,0.1
+AUTOTUNE_AXES,2  # Autotune pitch axis

ardupilot_methodic_configurator-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/33_autotune_pitch_results.param

@@ -0,0 +1,5 @@
+ATC_ACCEL_P_MAX,110000
+ATC_ANG_PIT_P,4.5
+ATC_RAT_PIT_D,0.0036
+ATC_RAT_PIT_I,0.135
+ATC_RAT_PIT_P,0.135

ardupilot_methodic_configurator-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/34_autotune_yaw_setup.param

@@ -0,0 +1,3 @@
+ATC_RAT_YAW_FLTD,20
+AUTOTUNE_AGGR,0.1
+AUTOTUNE_AXES,4  # Autotune yaw axis

ardupilot_methodic_configurator-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/35_autotune_yaw_results.param

@@ -0,0 +1,5 @@
+ATC_ACCEL_Y_MAX,27000
+ATC_ANG_YAW_P,4.5
+ATC_RAT_YAW_FLTE,2.5
+ATC_RAT_YAW_I,0.018
+ATC_RAT_YAW_P,0.18

ardupilot_methodic_configurator-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/36_autotune_yawd_setup.param

@@ -0,0 +1,3 @@
+AUTOTUNE_AGGR,0.1
+AUTOTUNE_AXES,8  # Autotune yaw D axis
+AUTOTUNE_MIN_D,0.001

ardupilot_methodic_configurator-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/37_autotune_yawd_results.param

@@ -0,0 +1,5 @@
+ATC_ACCEL_Y_MAX,27000
+ATC_ANG_YAW_P,4.5
+ATC_RAT_YAW_D,0
+ATC_RAT_YAW_I,0.018
+ATC_RAT_YAW_P,0.18

ardupilot_methodic_configurator-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/38_autotune_roll_pitch_retune_setup.param

@@ -0,0 +1,2 @@
+AUTOTUNE_AGGR,0.1
+AUTOTUNE_AXES,3  # Autotune roll and pitch axis

ardupilot_methodic_configurator-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/39_autotune_roll_pitch_retune_results.param

@@ -0,0 +1,10 @@
+ATC_ACCEL_P_MAX,110000
+ATC_ACCEL_R_MAX,110000
+ATC_ANG_PIT_P,4.5
+ATC_ANG_RLL_P,4.5
+ATC_RAT_PIT_D,0.0036
+ATC_RAT_PIT_I,0.135
+ATC_RAT_PIT_P,0.135
+ATC_RAT_RLL_D,0.0036
+ATC_RAT_RLL_I,0.135
+ATC_RAT_RLL_P,0.135

ardupilot_methodic_configurator-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/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-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/42_system_id_roll.param

@@ -0,0 +1,21 @@
+ANGLE_MAX,3000
+ARMING_CHECK,1
+ATC_ANG_PIT_P,4.5
+ATC_ANG_RLL_P,4.5
+ATC_ANG_YAW_P,4.5
+ATC_RAT_RLL_I,0.135
+ATC_RATE_FF_ENAB,1
+FLTMODE5,0
+LOG_BITMASK,176126
+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
+TUNE_MAX,0
+TUNE_MIN,0

ardupilot_methodic_configurator-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/43_system_id_pitch.param

@@ -0,0 +1,10 @@
+ATC_RAT_PIT_I,0.135
+ATC_RAT_RLL_I,0.135
+ATC_RATE_FF_ENAB,1
+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-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/44_system_id_yaw.param

@@ -0,0 +1,10 @@
+ATC_RAT_PIT_I,0.135
+ATC_RAT_YAW_I,0.018
+ATC_RATE_FF_ENAB,1
+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-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/45_system_id_thrust.param

@@ -0,0 +1,10 @@
+ATC_RAT_YAW_I,0.018
+ATC_RATE_FF_ENAB,1
+PSC_ACCZ_I,1
+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-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/46_analytical_pid_optimization.param

@@ -0,0 +1,4 @@
+ARMING_CHECK,1  # Normal state for everyday use
+ATC_RATE_FF_ENAB,1  # Restore value now that system identification is done
+PSC_ACCZ_I,1
+SID_AXIS,0  # No more system identification chip injections

ardupilot_methodic_configurator-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/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,1
+LOIT_BRK_JERK,500
+PSC_VELXY_FF,0
+WPNAV_ACCEL,250
+WPNAV_ACCEL_C,0
+WPNAV_ACCEL_Z,100
+WPNAV_JERK,1
+WPNAV_SPEED,1000
+WPNAV_SPEED_DN,150

ardupilot_methodic_configurator-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/49_precision_land.param

@@ -0,0 +1,27 @@
+EK3_RNG_M_NSE,0.5
+EK3_RNG_USE_HGT,-1
+LAND_ALT_LOW,1000
+LAND_SPEED,50
+PLND_ACC_P_NSE,2.5
+PLND_ALT_MAX,8
+PLND_ALT_MIN,0.75
+PLND_BUS,-1
+PLND_CAM_POS_X,0.14
+PLND_CAM_POS_Y,0
+PLND_CAM_POS_Z,0.05
+PLND_ENABLED,0
+PLND_EST_TYPE,0
+PLND_LAG,0.24
+PLND_LAND_OFS_X,0
+PLND_LAND_OFS_Y,0
+PLND_OPTIONS,0
+PLND_RET_BEHAVE,0
+PLND_RET_MAX,4
+PLND_STRICT,1
+PLND_TIMEOUT,4
+PLND_TYPE,1
+PLND_XY_DIST_MAX,0
+PLND_YAW_ALIGN,0
+PSC_POSXY_P,1
+RC10_OPTION,0
+RC11_OPTION,0

ardupilot_methodic_configurator-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/50_optical_flow_setup.param

@@ -0,0 +1,19 @@
+EK3_FLOW_DELAY,10
+EK3_SRC_OPTIONS,1
+EK3_SRC1_POSXY,3
+EK3_SRC1_POSZ,1
+EK3_SRC1_VELXY,3
+EK3_SRC1_VELZ,3
+EK3_SRC1_YAW,1
+EK3_SRC2_POSXY,0
+EK3_SRC2_POSZ,1
+EK3_SRC2_VELXY,0
+EK3_SRC2_VELZ,0
+EK3_SRC2_YAW,0
+FLOW_ORIENT_YAW,0
+FLOW_POS_X,0
+FLOW_POS_Y,0
+FLOW_POS_Z,0
+FLOW_TYPE,0
+RC8_OPTION,0
+RC9_OPTION,0

ardupilot_methodic_configurator-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/51_optical_flow_results.param

@@ -0,0 +1,3 @@
+FLOW_FXSCALER,0
+FLOW_FYSCALER,0
+FLOW_ORIENT_YAW,0

ardupilot_methodic_configurator-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/52_use_optical_flow_instead_of_gnss.param

@@ -0,0 +1,8 @@
+EK3_SRC_OPTIONS,1
+EK3_SRC1_POSXY,3
+EK3_SRC1_POSZ,1
+EK3_SRC1_VELXY,3
+EK3_SRC1_VELZ,3
+EK3_SRC1_YAW,1
+RC8_OPTION,0
+RC9_OPTION,0

ardupilot_methodic_configurator-2.1.0.data/data/vehicle_templates/ArduCopter/empty_4.6.x/53_everyday_use.param

@@ -0,0 +1,7 @@
+ATC_THR_MIX_MAX,0.5
+BATT_FS_LOW_ACT,2
+BATT2_FS_LOW_ACT,2
+LOG_BITMASK,176126
+MIS_OPTIONS,0
+RTL_ALT,1500
+RTL_CLIMB_MIN,0