ardupilot-methodic-configurator 2.0.6__py3-none-any.whl → 2.1.1__py3-none-any.whl

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.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/vehicle_templates/ArduCopter/empty_4.5.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/vehicle_templates/ArduCopter/empty_4.5.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/vehicle_templates/ArduCopter/empty_4.5.x/06_telemetry.param

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

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.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/vehicle_templates/ArduCopter/empty_4.5.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/vehicle_templates/ArduCopter/empty_4.5.x/10_gnss.param

@@ -0,0 +1,16 @@
+BRD_SAFETY_DEFLT,1
+COMPASS_ORIENT,0
+COMPASS_ORIENT2,0
+GPS_AUTO_SWITCH,1
+GPS_GNSS_MODE,0
+GPS_POS1_X,0
+GPS_POS1_Y,0
+GPS_POS1_Z,0
+GPS_POS2_X,0
+GPS_POS2_Y,0
+GPS_POS2_Z,0
+GPS_TYPE,1
+NTF_LED_TYPES,123079
+SERIAL3_PROTOCOL,5
+SERIAL4_PROTOCOL,5
+WPNAV_RADIUS,200

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.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/vehicle_templates/ArduCopter/empty_4.5.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/vehicle_templates/ArduCopter/empty_4.5.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/vehicle_templates/ArduCopter/empty_4.5.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/vehicle_templates/ArduCopter/empty_4.5.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/vehicle_templates/ArduCopter/empty_4.5.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/vehicle_templates/ArduCopter/empty_4.5.x/17_remote_id.param

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

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.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/vehicle_templates/ArduCopter/empty_4.5.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/vehicle_templates/ArduCopter/empty_4.5.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/vehicle_templates/ArduCopter/empty_4.5.x/21_ekf_config.param

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

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.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/vehicle_templates/ArduCopter/empty_4.5.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/vehicle_templates/ArduCopter/empty_4.5.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/vehicle_templates/ArduCopter/empty_4.5.x/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/empty_4.5.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/vehicle_templates/ArduCopter/empty_4.5.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/vehicle_templates/ArduCopter/empty_4.5.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/vehicle_templates/ArduCopter/empty_4.5.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/vehicle_templates/ArduCopter/empty_4.5.x/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/empty_4.5.x/30_autotune_roll_setup.param

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

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.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/vehicle_templates/ArduCopter/empty_4.5.x/32_autotune_pitch_setup.param

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

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.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/vehicle_templates/ArduCopter/empty_4.5.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/vehicle_templates/ArduCopter/empty_4.5.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/vehicle_templates/ArduCopter/empty_4.5.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/vehicle_templates/ArduCopter/empty_4.5.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/vehicle_templates/ArduCopter/empty_4.5.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/vehicle_templates/ArduCopter/empty_4.5.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/vehicle_templates/ArduCopter/empty_4.5.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/vehicle_templates/ArduCopter/empty_4.5.x/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/empty_4.5.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/vehicle_templates/ArduCopter/empty_4.5.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/vehicle_templates/ArduCopter/empty_4.5.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/vehicle_templates/ArduCopter/empty_4.5.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/vehicle_templates/ArduCopter/empty_4.5.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/vehicle_templates/ArduCopter/empty_4.5.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/vehicle_templates/ArduCopter/empty_4.5.x/48_guided_operation.param

@@ -0,0 +1,4 @@
+FS_GCS_ENABLE,0
+RALLY_INCL_HOME,1
+RALLY_TOTAL,0
+SYSID_MYGCS,255

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.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