ardupilot-methodic-configurator 2.4.0__py3-none-any.whl → 2.6.0__py3-none-any.whl

{ardupilot_methodic_configurator-2.4.0.data/data/vehicle_templates/ArduCopter/Chimera7 → ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter}/00_default.param

@@ -26,8 +26,10 @@ AHRS_YAW_P,0.2
 ANGLE_MAX,3000
 ARMING_ACCTHRESH,0.75
 ARMING_CHECK,1
+ARMING_CRSDP_IGN,0
 ARMING_MAGTHRESH,100
 ARMING_MIS_ITEMS,0
+ARMING_NEED_LOC,0
 ARMING_OPTIONS,0
 ARMING_RUDDER,2
 ARSPD_ENABLE,0
@@ -40,6 +42,9 @@ ATC_ANG_RLL_P,4.5
 ATC_ANG_YAW_P,4.5
 ATC_ANGLE_BOOST,1
 ATC_INPUT_TC,0.15
+ATC_LAND_P_MULT,1
+ATC_LAND_R_MULT,1
+ATC_LAND_Y_MULT,1
 ATC_RAT_PIT_D,0.0036
 ATC_RAT_PIT_D_FF,0
 ATC_RAT_PIT_FF,0
@@ -69,7 +74,7 @@ ATC_RAT_RLL_SMAX,0
 ATC_RAT_YAW_D,0
 ATC_RAT_YAW_D_FF,0
 ATC_RAT_YAW_FF,0
-ATC_RAT_YAW_FLTD,0
+ATC_RAT_YAW_FLTD,20
 ATC_RAT_YAW_FLTE,2.5
 ATC_RAT_YAW_FLTT,20
 ATC_RAT_YAW_I,0.018
@@ -89,15 +94,16 @@ ATC_THR_MIX_MAN,0.1
 ATC_THR_MIX_MAX,0.5
 ATC_THR_MIX_MIN,0.1
 AUTO_OPTIONS,0
-AUTOTUNE_AGGR,0.1
+AUTOTUNE_AGGR,0.075
 AUTOTUNE_AXES,7
-AUTOTUNE_MIN_D,0.001
+AUTOTUNE_MIN_D,0.0005
 AVD_ENABLE,0
 AVOID_ACCEL_MAX,3
 AVOID_ALT_MIN,0
 AVOID_ANGLE_MAX,1000
 AVOID_BACKUP_DZ,0.1
 AVOID_BACKUP_SPD,0.75
+AVOID_BACKZ_SPD,0.75
 AVOID_BEHAVE,0
 AVOID_DIST_MAX,5
 AVOID_ENABLE,3
@@ -121,7 +127,7 @@ BARO3_DEVID,0
 BARO3_GND_PRESS,0
 BARO3_WCF_ENABLE,0
 BATT_AMP_OFFSET,0
-BATT_AMP_PERVLT,40
+BATT_AMP_PERVLT,40.200001
 BATT_ARM_MAH,0
 BATT_ARM_VOLT,0
 BATT_CAPACITY,3300
@@ -138,28 +144,9 @@ BATT_MONITOR,4
 BATT_OPTIONS,0
 BATT_SERIAL_NUM,-1
 BATT_VLT_OFFSET,0
-BATT_VOLT_MULT,11
+BATT_VOLT_MULT,21.120001
 BATT_VOLT_PIN,10
-BATT2_AMP_OFFSET,0
-BATT2_AMP_PERVLT,40
-BATT2_ARM_MAH,0
-BATT2_ARM_VOLT,0
-BATT2_CAPACITY,3300
-BATT2_CRT_MAH,0
-BATT2_CRT_VOLT,0
-BATT2_CURR_PIN,7
-BATT2_FS_CRT_ACT,0
-BATT2_FS_LOW_ACT,0
-BATT2_FS_VOLTSRC,0
-BATT2_LOW_MAH,0
-BATT2_LOW_TIMER,10
-BATT2_LOW_VOLT,10.5
 BATT2_MONITOR,0
-BATT2_OPTIONS,0
-BATT2_SERIAL_NUM,-1
-BATT2_VLT_OFFSET,0
-BATT2_VOLT_MULT,11
-BATT2_VOLT_PIN,18
 BATT3_MONITOR,0
 BATT4_MONITOR,0
 BATT5_MONITOR,0
@@ -168,17 +155,16 @@ BATT7_MONITOR,0
 BATT8_MONITOR,0
 BATT9_MONITOR,0
 BCN_TYPE,0
-BRD_ALT_CONFIG,0
 BRD_BOOT_DELAY,0
 BRD_OPTIONS,1
 BRD_RTC_TYPES,1
 BRD_RTC_TZ_MIN,0
 BRD_SAFETY_DEFLT,0
-BRD_SAFETY_MASK,16368
+BRD_SAFETY_MASK,16320
 BRD_SAFETYOPTION,3
+BRD_SD_FENCE,0
 BRD_SD_MISSION,0
 BRD_SD_SLOWDOWN,0
-BRD_SER1_RTSCTS,2
 BRD_SERIAL_NUM,0
 BTN_ENABLE,0
 CAM_AUTO_ONLY,0
@@ -186,14 +172,6 @@ CAM_MAX_ROLL,0
 CAM_RC_TYPE,0
 CAM1_TYPE,0
 CAM2_TYPE,0
-CAN_D1_PROTOCOL,1
-CAN_D1_PROTOCOL2,0
-CAN_LOGLEVEL,0
-CAN_P1_DRIVER,0
-CAN_SLCAN_CPORT,0
-CAN_SLCAN_SDELAY,1
-CAN_SLCAN_SERNUM,-1
-CAN_SLCAN_TIMOUT,0
 CHUTE_ENABLED,0
 CIRCLE_OPTIONS,1
 CIRCLE_RADIUS,1000
@@ -321,6 +299,7 @@ EK3_MAX_FLOW,2.5
 EK3_NOAID_M_NSE,10
 EK3_OGN_HGT_MASK,0
 EK3_OGNM_TEST_SF,2
+EK3_OPTIONS,0
 EK3_POS_I_GATE,500
 EK3_POSNE_M_NSE,0.5
 EK3_PRIMARY,0
@@ -361,8 +340,10 @@ ESC_TLM_MAV_OFS,0
 FENCE_ACTION,1
 FENCE_ALT_MAX,100
 FENCE_ALT_MIN,-10
+FENCE_AUTOENABLE,0
 FENCE_ENABLE,0
 FENCE_MARGIN,2
+FENCE_OPTIONS,0
 FENCE_RADIUS,300
 FENCE_TOTAL,0
 FENCE_TYPE,7
@@ -406,6 +387,7 @@ FS_CRASH_CHECK,1
 FS_DR_ENABLE,2
 FS_DR_TIMEOUT,30
 FS_EKF_ACTION,1
+FS_EKF_FILT,5
 FS_EKF_THRESH,0.8
 FS_GCS_ENABLE,0
 FS_GCS_TIMEOUT,5
@@ -419,39 +401,26 @@ GND_EFFECT_COMP,1
 GPS_AUTO_CONFIG,1
 GPS_AUTO_SWITCH,1
 GPS_BLEND_MASK,5
-GPS_CAN_NODEID1,0
-GPS_CAN_NODEID2,0
-GPS_COM_PORT,1
-GPS_COM_PORT2,1
-GPS_DELAY_MS,0
-GPS_DELAY_MS2,0
 GPS_DRV_OPTIONS,0
-GPS_GNSS_MODE,0
-GPS_GNSS_MODE2,0
 GPS_HDOP_GOOD,140
 GPS_INJECT_TO,127
-GPS_MB1_TYPE,0
-GPS_MB2_TYPE,0
-GPS_MIN_DGPS,100
 GPS_MIN_ELEV,-100
 GPS_NAVFILTER,8
-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_PRIMARY,0
-GPS_RATE_MS,200
-GPS_RATE_MS2,200
 GPS_RAW_DATA,0
 GPS_SAVE_CFG,2
 GPS_SBAS_MODE,2
 GPS_SBP_LOGMASK,-256
-GPS_TYPE,1
-GPS_TYPE2,0
-GPS1_CAN_OVRIDE,0
-GPS2_CAN_OVRIDE,0
+GPS1_COM_PORT,1
+GPS1_DELAY_MS,0
+GPS1_GNSS_MODE,0
+GPS1_MB_TYPE,0
+GPS1_POS_X,0
+GPS1_POS_Y,0
+GPS1_POS_Z,0
+GPS1_RATE_MS,200
+GPS1_TYPE,1
+GPS2_TYPE,0
 GRIP_ENABLE,0
 GUID_OPTIONS,0
 GUID_TIMEOUT,3
@@ -467,14 +436,6 @@ INS_ACC2OFFS_Z,0
 INS_ACC2SCAL_X,1
 INS_ACC2SCAL_Y,1
 INS_ACC2SCAL_Z,1
-INS_ACC3_CALTEMP,-300
-INS_ACC3_ID,0
-INS_ACC3OFFS_X,0
-INS_ACC3OFFS_Y,0
-INS_ACC3OFFS_Z,0
-INS_ACC3SCAL_X,1
-INS_ACC3SCAL_Y,1
-INS_ACC3SCAL_Z,1
 INS_ACCEL_FILTER,20
 INS_ACCOFFS_X,0
 INS_ACCOFFS_Y,0
@@ -492,11 +453,6 @@ INS_GYR2_ID,0
 INS_GYR2OFFS_X,0
 INS_GYR2OFFS_Y,0
 INS_GYR2OFFS_Z,0
-INS_GYR3_CALTEMP,-300
-INS_GYR3_ID,0
-INS_GYR3OFFS_X,0
-INS_GYR3OFFS_Y,0
-INS_GYR3OFFS_Z,0
 INS_GYRO_FILTER,20
 INS_GYRO_RATE,1
 INS_GYROFFS_X,0
@@ -523,9 +479,6 @@ INS_POS1_Z,0
 INS_POS2_X,0
 INS_POS2_Y,0
 INS_POS2_Z,0
-INS_POS3_X,0
-INS_POS3_Y,0
-INS_POS3_Z,0
 INS_RAW_LOG_OPT,0
 INS_STILL_THRESH,2.5
 INS_TCAL_OPTIONS,0
@@ -571,19 +524,16 @@ INS_TCAL2_GYR3_Y,0
 INS_TCAL2_GYR3_Z,0
 INS_TCAL2_TMAX,70
 INS_TCAL2_TMIN,0
-INS_TCAL3_ENABLE,0
 INS_TRIM_OPTION,1
 INS_USE,1
 INS_USE2,1
-INS_USE3,1
-KDE_NPOLE,14
 LAND_ALT_LOW,1000
 LAND_REPOSITION,1
 LAND_SPEED,50
 LAND_SPEED_HIGH,0
 LGR_ENABLE,0
 LOG_BACKEND_TYPE,1
-LOG_BITMASK,176126
+LOG_BITMASK,180222
 LOG_DARM_RATEMAX,0
 LOG_DISARMED,0
 LOG_FILE_BUFSIZE,200
@@ -634,8 +584,8 @@ MSP_OSD_NCELLS,0
 NMEA_MSG_EN,3
 NMEA_RATE_MS,100
 NTF_BUZZ_ON_LVL,1
-NTF_BUZZ_PIN,32
-NTF_BUZZ_TYPES,5
+NTF_BUZZ_PIN,61
+NTF_BUZZ_TYPES,1
 NTF_BUZZ_VOLUME,100
 NTF_DISPLAY_TYPE,0
 NTF_LED_BRIGHT,3
@@ -653,6 +603,8 @@ OSD_FS_SCR,0
 OSD_H_OFFSET,32
 OSD_MSG_TIME,10
 OSD_OPTIONS,1
+OSD_SB_H_OFS,0
+OSD_SB_V_EXT,0
 OSD_SW_METHOD,0
 OSD_TYPE,1
 OSD_TYPE2,0
@@ -739,7 +691,8 @@ OSD1_DIST_Y,11
 OSD1_EFF_EN,0
 OSD1_EFF_X,22
 OSD1_EFF_Y,10
-OSD1_ENABLE,0
+OSD1_ENABLE,1
+OSD1_ESC_IDX,0
 OSD1_ESCAMPS_EN,0
 OSD1_ESCAMPS_X,24
 OSD1_ESCAMPS_Y,14
@@ -851,18 +804,21 @@ OSD1_XTRACK_EN,0
 OSD1_XTRACK_X,0
 OSD1_XTRACK_Y,0
 OSD2_ENABLE,0
+OSD2_ESC_IDX,0
 OSD2_FONT,0
 OSD2_LINK_Q_EN,0
 OSD2_LINK_Q_X,1
 OSD2_LINK_Q_Y,1
 OSD2_TXT_RES,0
 OSD3_ENABLE,0
+OSD3_ESC_IDX,0
 OSD3_FONT,0
 OSD3_LINK_Q_EN,0
 OSD3_LINK_Q_X,1
 OSD3_LINK_Q_Y,1
 OSD3_TXT_RES,0
 OSD4_ENABLE,0
+OSD4_ESC_IDX,0
 OSD4_FONT,0
 OSD4_LINK_Q_EN,0
 OSD4_LINK_Q_X,1
@@ -882,7 +838,7 @@ PILOT_Y_EXPO,0
 PILOT_Y_RATE,202.5
 PILOT_Y_RATE_TC,0
 PLDP_DELAY,0
-PLDP_RNG_MIN,0
+PLDP_RNG_MAX,0
 PLDP_SPEED_DN,0
 PLDP_THRESH,0.9
 PLND_ENABLED,0
@@ -893,6 +849,8 @@ PRX_LOG_RAW,0
 PRX1_TYPE,0
 PRX2_TYPE,0
 PRX3_TYPE,0
+PRX4_TYPE,0
+PRX5_TYPE,0
 PSC_ACCZ_D,0
 PSC_ACCZ_D_FF,0
 PSC_ACCZ_FF,0
@@ -911,7 +869,7 @@ PSC_JERK_XY,5
 PSC_JERK_Z,5
 PSC_POSXY_P,1
 PSC_POSZ_P,1
-PSC_VELXY_D,0.5
+PSC_VELXY_D,0.25
 PSC_VELXY_FF,0
 PSC_VELXY_FLTD,5
 PSC_VELXY_FLTE,5
@@ -925,6 +883,20 @@ PSC_VELZ_FLTE,5
 PSC_VELZ_I,0
 PSC_VELZ_IMAX,1000
 PSC_VELZ_P,5
+QUIK_AUTO_FILTER,1
+QUIK_AUTO_SAVE,0
+QUIK_AXES,7
+QUIK_DOUBLE_TIME,10
+QUIK_ENABLE,0
+QUIK_GAIN_MARGIN,60
+QUIK_MAX_REDUCE,20
+QUIK_OPTIONS,0
+QUIK_OSC_SMAX,5
+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
 RALLY_INCL_HOME,1
 RALLY_LIMIT_KM,0.3
 RALLY_TOTAL,0
@@ -1040,7 +1012,37 @@ RELAY4_FUNCTION,0
 RELAY5_FUNCTION,0
 RELAY6_FUNCTION,0
 RNGFND_FILT,0.5
+RNGFND1_ADDR,0
+RNGFND1_FUNCTION,0
+RNGFND1_GNDCLEAR,10
+RNGFND1_MAX_CM,700
+RNGFND1_MIN_CM,20
+RNGFND1_OFFSET,0
+RNGFND1_ORIENT,25
+RNGFND1_PIN,-1
+RNGFND1_POS_X,0
+RNGFND1_POS_Y,0
+RNGFND1_POS_Z,0
+RNGFND1_PWRRNG,0
+RNGFND1_RMETRIC,1
+RNGFND1_SCALING,3
+RNGFND1_STOP_PIN,-1
 RNGFND1_TYPE,0
+RNGFND2_ADDR,0
+RNGFND2_FUNCTION,0
+RNGFND2_GNDCLEAR,10
+RNGFND2_MAX_CM,700
+RNGFND2_MIN_CM,20
+RNGFND2_OFFSET,0
+RNGFND2_ORIENT,25
+RNGFND2_PIN,-1
+RNGFND2_POS_X,0
+RNGFND2_POS_Y,0
+RNGFND2_POS_Z,0
+RNGFND2_PWRRNG,0
+RNGFND2_RMETRIC,1
+RNGFND2_SCALING,3
+RNGFND2_STOP_PIN,-1
 RNGFND2_TYPE,0
 RNGFND3_TYPE,0
 RNGFND4_TYPE,0
@@ -1050,14 +1052,15 @@ RNGFND7_TYPE,0
 RNGFND8_TYPE,0
 RNGFND9_TYPE,0
 RNGFNDA_TYPE,0
+RPM1_ESC_INDEX,0
+RPM1_ESC_MASK,0
+RPM1_MAX,100000
+RPM1_MIN,10
+RPM1_MIN_QUAL,0.5
+RPM1_PIN,-1
+RPM1_SCALING,1
 RPM1_TYPE,0
 RPM2_TYPE,0
-RSSI_ANA_PIN,8
-RSSI_CHAN_HIGH,2000
-RSSI_CHAN_LOW,1000
-RSSI_CHANNEL,0
-RSSI_PIN_HIGH,5
-RSSI_PIN_LOW,0
 RSSI_TYPE,0
 RTL_ALT,1500
 RTL_ALT_FINAL,0
@@ -1092,25 +1095,25 @@ SERIAL0_PROTOCOL,2
 SERIAL1_BAUD,57
 SERIAL1_OPTIONS,0
 SERIAL1_PROTOCOL,2
-SERIAL2_BAUD,57
+SERIAL2_BAUD,115
 SERIAL2_OPTIONS,0
-SERIAL2_PROTOCOL,2
-SERIAL3_BAUD,38
+SERIAL2_PROTOCOL,42
+SERIAL3_BAUD,230
 SERIAL3_OPTIONS,0
 SERIAL3_PROTOCOL,5
-SERIAL4_BAUD,38
+SERIAL4_BAUD,230
 SERIAL4_OPTIONS,0
-SERIAL4_PROTOCOL,5
-SERIAL5_BAUD,115
+SERIAL4_PROTOCOL,2
+SERIAL5_BAUD,57
 SERIAL5_OPTIONS,0
 SERIAL5_PROTOCOL,-1
 SERIAL6_BAUD,57
 SERIAL6_OPTIONS,0
-SERIAL6_PROTOCOL,-1
+SERIAL6_PROTOCOL,23
 SERIAL7_BAUD,115
 SERIAL7_OPTIONS,0
-SERIAL7_PROTOCOL,23
-SERIAL8_BAUD,115200
+SERIAL7_PROTOCOL,16
+SERIAL8_BAUD,115
 SERIAL8_OPTIONS,0
 SERIAL8_PROTOCOL,2
 SERVO_32_ENABLE,0
@@ -1138,6 +1141,7 @@ SERVO_ROB_POSMAX,4095
 SERVO_ROB_POSMIN,0
 SERVO_SBUS_RATE,50
 SERVO_VOLZ_MASK,0
+SERVO_VOLZ_RANGE,200
 SERVO1_FUNCTION,0
 SERVO1_MAX,2000
 SERVO1_MIN,1000
@@ -1194,15 +1198,15 @@ SERVO4_MIN,1000
 SERVO4_REVERSED,0
 SERVO4_TRIM,1000
 SERVO5_FUNCTION,0
-SERVO5_MAX,1900
-SERVO5_MIN,1100
+SERVO5_MAX,2000
+SERVO5_MIN,1000
 SERVO5_REVERSED,0
-SERVO5_TRIM,1500
+SERVO5_TRIM,1000
 SERVO6_FUNCTION,0
-SERVO6_MAX,1900
-SERVO6_MIN,1100
+SERVO6_MAX,2000
+SERVO6_MIN,1000
 SERVO6_REVERSED,0
-SERVO6_TRIM,1500
+SERVO6_TRIM,1000
 SERVO7_FUNCTION,0
 SERVO7_MAX,1900
 SERVO7_MIN,1100
@@ -1221,6 +1225,10 @@ SERVO9_TRIM,1500
 SID_AXIS,0
 SIMPLE,0
 SPRAY_ENABLE,0
+SPRAY_PUMP_MIN,0
+SPRAY_PUMP_RATE,10
+SPRAY_SPEED_MIN,100
+SPRAY_SPINNER,1300
 SR0_ADSB,0
 SR0_EXT_STAT,0
 SR0_EXTRA1,0
@@ -1271,6 +1279,26 @@ SR4_POSITION,0
 SR4_RAW_CTRL,0
 SR4_RAW_SENS,0
 SR4_RC_CHAN,0
+SR5_ADSB,0
+SR5_EXT_STAT,0
+SR5_EXTRA1,0
+SR5_EXTRA2,0
+SR5_EXTRA3,0
+SR5_PARAMS,0
+SR5_POSITION,0
+SR5_RAW_CTRL,0
+SR5_RAW_SENS,0
+SR5_RC_CHAN,0
+SR6_ADSB,0
+SR6_EXT_STAT,0
+SR6_EXTRA1,0
+SR6_EXTRA2,0
+SR6_EXTRA3,0
+SR6_PARAMS,0
+SR6_POSITION,0
+SR6_RAW_CTRL,0
+SR6_RAW_SENS,0
+SR6_RC_CHAN,0
 SRTL_ACCURACY,2
 SRTL_OPTIONS,0
 SRTL_POINTS,300
@@ -1286,6 +1314,7 @@ SYSID_MYGCS,255
 SYSID_THISMAV,1
 TCAL_ENABLED,0
 TELEM_DELAY,0
+TERRAIN_CACHE_SZ,12
 TERRAIN_ENABLE,1
 TERRAIN_MARGIN,0.05
 TERRAIN_OFS_MAX,30

{ardupilot_methodic_configurator-2.4.0.data/data/vehicle_templates/ArduCopter/Holybro_X500 → ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter}/02_imu_temperature_calibration_setup.param

@@ -1,8 +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_TCAL1_TMAX,55  # Log data shows a max temp of 43.66 on a warm day, before takeoff. This will probably time-out anyway.
 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_TCAL2_TMAX,55  # Log data shows a max temp of 43.66 on a warm day, before takeoff. This will probably time-out anyway.
 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/TarotFY680Hexacopter/03_imu_temperature_calibration_results.param

@@ -0,0 +1,42 @@
+INS_TCAL1_ACC1_X,1393.313447
+INS_TCAL1_ACC1_Y,260.532235
+INS_TCAL1_ACC1_Z,-1218.879163
+INS_TCAL1_ACC2_X,-16.804689
+INS_TCAL1_ACC2_Y,-49.702611
+INS_TCAL1_ACC2_Z,48.320738
+INS_TCAL1_ACC3_X,-1.983157
+INS_TCAL1_ACC3_Y,-1.194676
+INS_TCAL1_ACC3_Z,1.95358
+INS_TCAL1_ENABLE,1
+INS_TCAL1_GYR1_X,208.02654
+INS_TCAL1_GYR1_Y,61.78753
+INS_TCAL1_GYR1_Z,22.458697
+INS_TCAL1_GYR2_X,-2.116795
+INS_TCAL1_GYR2_Y,-4.518911
+INS_TCAL1_GYR2_Z,-5.353724
+INS_TCAL1_GYR3_X,-0.011204
+INS_TCAL1_GYR3_Y,-0.113608
+INS_TCAL1_GYR3_Z,-0.145466
+INS_TCAL1_TMAX,46.1
+INS_TCAL1_TMIN,-1.3
+INS_TCAL2_ACC1_X,-3626.277383
+INS_TCAL2_ACC1_Y,642.581404
+INS_TCAL2_ACC1_Z,6261.736235
+INS_TCAL2_ACC2_X,122.831919
+INS_TCAL2_ACC2_Y,-0.855697
+INS_TCAL2_ACC2_Z,-213.724969
+INS_TCAL2_ACC3_X,6.1389
+INS_TCAL2_ACC3_Y,2.147349
+INS_TCAL2_ACC3_Z,-9.264947
+INS_TCAL2_ENABLE,1
+INS_TCAL2_GYR1_X,396.937588
+INS_TCAL2_GYR1_Y,39.087646
+INS_TCAL2_GYR1_Z,-69.217533
+INS_TCAL2_GYR2_X,3.452375
+INS_TCAL2_GYR2_Y,-0.159121
+INS_TCAL2_GYR2_Z,0.471384
+INS_TCAL2_GYR3_X,0.06088
+INS_TCAL2_GYR3_Y,-0.064316
+INS_TCAL2_GYR3_Z,0.038994
+INS_TCAL2_TMAX,51.4
+INS_TCAL2_TMIN,-0.1

{ardupilot_methodic_configurator-2.4.0.data/data/vehicle_templates/ArduCopter/empty_4.5.x → ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter}/04_board_orientation.param

@@ -1,4 +1,4 @@
-AHRS_ORIENTATION,0
+AHRS_ORIENTATION,6  # Yaw270
 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/TarotFY680Hexacopter/05_remote_controller.param

@@ -0,0 +1,13 @@
+ARMING_RUDDER,2  # It's was arming method from begin so I keep it
+FLTMODE_CH,6
+RC_OPTIONS,288  # Crossfire telem, 429k baud, throttle check for arming
+RC_PROTOCOLS,512  # Selected in the component editor
+RC10_OPTION,0
+RC2_REVERSED,1  # "1" To reverse (and standardize) the Pitch Axis.
+RC5_OPTION,0  # Can change to ArmorDisarm but I'll leaveit to avoid another MagFit Crash.
+RC6_OPTION,0  # I use this for the flight mode selection at FLTMODE_CH.
+RC7_OPTION,301  #  SCRIPTING2 to do quicktune without MAVLink connection
+RC8_OPTION,18  # 18, LAND Mode
+RC9_OPTION,300  # SCRIPTING1 to do MagFit without MAVLink connection
+RSSI_TYPE,0  # radio without RSSI
+SERIAL6_PROTOCOL,23  # Added Serial6 RCIN (23)

{ardupilot_methodic_configurator-2.4.0.data/data/vehicle_templates/ArduCopter/Holybro_X500_V2 → ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter}/06_telemetry.param

@@ -1,2 +1,4 @@
 BRD_SER1_RTSCTS,2  # we have no RTS/CTS pins connected, telemetry was working fine already
 SERIAL1_BAUD,57  # 5760 baud rate is maximum
+SERIAL1_OPTIONS,0
+SERIAL1_PROTOCOL,2

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/07_esc.param

@@ -0,0 +1,43 @@
+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
+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,2000
+MOT_PWM_MIN,1000
+MOT_PWM_TYPE,6  # Specified in component editor window
+MOT_SPOOL_TIME,0.5
+NTF_BUZZ_TYPES,1  # Our CubeOrange have it self buzzer.
+NTF_LED_TYPES,123079
+PSC_ACCZ_SMAX,0  # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html
+RPM1_ESC_MASK,63  # All 6 motors
+RPM1_TYPE,5  # BDShot
+SERIAL5_BAUD,57  # left at default
+SERIAL5_PROTOCOL,-1
+SERVO_BLH_AUTO,1
+SERVO_BLH_BDMASK,63  # 6 motors
+SERVO_BLH_POLES,14  # Specified in component editor window
+SERVO_BLH_TRATE,10
+SERVO_DSHOT_ESC,2  # 2 BlueJay
+SERVO_DSHOT_RATE,0
+SERVO_FTW_POLES,14  # Specified in component editor window
+SERVO1_MAX,2000  # Operating Pulse Width:1100-1900us(Fixed or cannot be Programmed)
+SERVO1_MIN,1000  # Operating Pulse Width:1100-1900us(Fixed or cannot be Programmed)
+SERVO1_TRIM,1000  # Operating Pulse Width:1100-1900us(Fixed or cannot be Programmed)
+SERVO2_MAX,2000  # Operating Pulse Width:1100-1900us(Fixed or cannot be Programmed)
+SERVO2_MIN,1000  # Operating Pulse Width:1100-1900us(Fixed or cannot be Programmed)
+SERVO2_TRIM,1000  # Operating Pulse Width:1100-1900us(Fixed or cannot be Programmed)
+SERVO3_MAX,2000  # Operating Pulse Width:1100-1900us(Fixed or cannot be Programmed)
+SERVO3_MIN,1000  # Operating Pulse Width:1100-1900us(Fixed or cannot be Programmed)
+SERVO3_TRIM,1000  # Operating Pulse Width:1100-1900us(Fixed or cannot be Programmed)
+SERVO4_MAX,2000  # Operating Pulse Width:1100-1900us(Fixed or cannot be Programmed)
+SERVO4_MIN,1000  # Operating Pulse Width:1100-1900us(Fixed or cannot be Programmed)
+SERVO4_TRIM,1000  # Operating Pulse Width:1100-1900us(Fixed or cannot be Programmed)
+SERVO5_MAX,2000
+SERVO5_MIN,1000
+SERVO5_TRIM,1000
+SERVO6_MAX,2000
+SERVO6_MIN,1000
+SERVO6_TRIM,1000
+TKOFF_RPM_MIN,0  # I don't have esc telemetry to measure
+TKOFF_SLEW_TIME,3  # increased by 50% (by 1 second) because it would "pop" up in auto mode

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/08_batt1.param

@@ -0,0 +1,15 @@
+BATT_AMP_PERVLT,117.6  # 6 motors, but only 4 on the current sensing ESC, so 1.5*(1/((12.5mV/A)) = 117.6 A/V https://discuss.ardupilot.org/t/battery-monitoring-from-two-current-sensors-two-4-in-1-escs/133971/10
+BATT_ARM_VOLT,23  # Do not allow arming below this voltage
+BATT_CAPACITY,5500  # Total battery capacity specified in the component editor
+BATT_CRT_MAH,0  # No capacity based failsafes, too unreliable
+BATT_CRT_VOLT,20.7  # (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
+BATT_I2C_BUS,4  # Selected in component editor window
+BATT_LOW_MAH,100  # Fail-safe needs to be responsive at 1000 mAh, no risk taking
+BATT_LOW_VOLT,21  # (Low voltage + 0.0) x no. of cells
+BATT_MONITOR,4  # Selected in component editor window
+BATT_VOLT_MULT,21.35235  # measured with multimeter
+MOT_BAT_VOLT_MAX,25.2  # (Max voltage + 0.0) x no. of cells
+MOT_BAT_VOLT_MIN,20.7  # (Critical voltage + 0.0) x no. of cells

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/10_gnss.param

@@ -0,0 +1,11 @@
+BRD_SAFETY_DEFLT,0  # Safety switch gets disabled.
+CAN_D1_PROTOCOL,0  # Enable this when a CAN gps will be used in the future.
+CAN_P1_DRIVER,0  # No CAN drivers are required for now
+GPS1_GNSS_MODE,0
+GPS1_POS_X,0
+GPS1_POS_Y,0
+GPS1_POS_Z,0
+GPS1_TYPE,2  # Defined in component editor
+NTF_LED_TYPES,123079  # Enable DRONECAN LED
+SERIAL3_PROTOCOL,5  # GPS will be used.
+WPNAV_RADIUS,200  # The accuracy of the GPS is only 2.0m CEP, ranges 5 are maximum (1000 cm to waypoint)