ardupilot-methodic-configurator 2.5.0__py3-none-any.whl → 2.6.0__py3-none-any.whl

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/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,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,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/vehicle_templates/ArduCopter/TarotFY680Hexacopter/04_board_orientation.param

@@ -0,0 +1,4 @@
+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/vehicle_templates/ArduCopter/TarotFY680Hexacopter/06_telemetry.param

@@ -0,0 +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)

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/11_initial_atc.param

@@ -0,0 +1,18 @@
+ATC_ACCEL_P_MAX,116700  # Derived from vehicle component editor propeller size
+ATC_ACCEL_R_MAX,116700  # Derived from vehicle component editor propeller size
+ATC_ACCEL_Y_MAX,27000  # Derived from vehicle component editor propeller size
+ATC_ANG_YAW_P,4.5  # Derived from vehicle component editor propeller size
+ATC_RAT_PIT_FLTD,21  # INS_GYRO_FILTER / 2
+ATC_RAT_PIT_FLTE,0  # Initial value, will be improved at a later step
+ATC_RAT_PIT_FLTT,21  # INS_GYRO_FILTER / 2
+ATC_RAT_RLL_FLTD,21  # INS_GYRO_FILTER / 2
+ATC_RAT_RLL_FLTE,0  # Initial value, will be improved at a later step
+ATC_RAT_RLL_FLTT,21  # 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,21  # 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,42  # Derived from vehicle component editor propeller size
+MOT_THST_EXPO,0.6  # 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/TarotFY680Hexacopter/12_mp_setup_mandatory_hardware.param

@@ -0,0 +1,99 @@
+AHRS_TRIM_X,0.001169
+AHRS_TRIM_Y,0.005876
+ARMING_CHECK,947710  # 1>947710 Disable rangefinder because of intermittent fault, no safety-switch or camera.
+ATC_ACCEL_P_MAX,116700
+ATC_ACCEL_R_MAX,116700
+ATC_ACCEL_Y_MAX,27000
+ATC_RAT_PIT_FLTD,21  # INS_GYRO_FILTER / 2
+ATC_RAT_PIT_FLTT,21  # INS_GYRO_FILTER / 2
+ATC_RAT_RLL_FLTD,21  # INS_GYRO_FILTER / 2
+ATC_RAT_RLL_FLTT,21  # INS_GYRO_FILTER / 2
+ATC_RAT_YAW_FLTE,2
+ATC_RAT_YAW_FLTT,21  # INS_GYRO_FILTER / 2
+COMPASS_EXTERNAL,1
+COMPASS_ORIENT,0
+COMPASS_PRIO1_ID,658953
+COMPASS_USE2,0
+COMPASS_USE3,0
+FENCE_ACTION,3
+FENCE_ALT_MAX,100
+FENCE_ENABLE,1
+FENCE_RADIUS,300
+FLOW_TYPE,0  # Change to 5 to enable Optical Flow
+FLTMODE1,0
+FLTMODE2,2
+FLTMODE3,2
+FLTMODE4,5
+FLTMODE5,0
+FLTMODE6,3
+FRAME_CLASS,2
+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,0
+INS_ACC3SCAL_Y,0
+INS_ACC3SCAL_Z,0
+INS_ACCSCAL_X,1
+INS_ACCSCAL_Y,1
+INS_ACCSCAL_Z,1
+INS_GYRO_FILTER,42
+MOT_BAT_VOLT_MAX,25.200001
+MOT_BAT_VOLT_MIN,20.700001
+MOT_SPIN_ARM,0.04
+MOT_SPIN_MAX,1
+MOT_SPIN_MIN,0.043
+MOT_THST_EXPO,0.6
+MOT_THST_HOVER,0.09
+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
+RNGFND1_MAX_CM,800  # from MicoAir guide
+RNGFND1_MIN_CM,1  # from MicoAir guide
+RNGFND1_ORIENT,25  # 25, Down, for altitude and optical flow.
+RNGFND1_TYPE,10  # 10, MAVLink
+RNGFND2_ADDR,41  # Decimal version of default I2C address
+RNGFND2_GNDCLEAR,10
+RNGFND2_MAX_CM,360  # 3.6m max according to docs
+RNGFND2_MIN_CM,5  # docs say 0.05 but I think that is meters
+RNGFND2_SCALING,1  # Scaling factor between reading and distance (for analog readings?)
+RNGFND2_TYPE,16  # 16, VL531X
+SERIAL4_BAUD,115  # 115, for MTF-01P
+SERIAL4_PROTOCOL,1  # 1, MAVLink1 for MTF-01P
+SERVO1_FUNCTION,34
+SERVO10_FUNCTION,22
+SERVO2_FUNCTION,35
+SERVO3_FUNCTION,33
+SERVO4_FUNCTION,37
+SERVO5_FUNCTION,36
+SERVO6_FUNCTION,38
+SPRAY_ENABLE,1

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/13_general_configuration.param

@@ -0,0 +1,17 @@
+ARMING_CHECK,1  # Perform all arming checks. If you have a problem fix its source. Do NOT change this
+AUTO_OPTIONS,1  # Allow arming in auto to avoid another disaster... WARNING, must be CAREFUL to be away from vehicle
+BRD_RTC_TZ_MIN,0  # UTC
+EK3_SRC1_POSZ,1  # Use the default, it is safer, only barometer will be used
+FENCE_TYPE,7  # cylinder and max altitude, to obey local regulations and safety measures
+FS_EKF_ACTION,1  # Use the default, it is safer
+INS_ACCEL_FILTER,10  # the default is 20 and that lets too much noise in
+INS_POS1_X,0
+INS_POS1_Y,0
+INS_POS2_X,0
+INS_POS2_Y,0
+LAND_ALT_LOW,1000  # GPS is only 2.0m CEP
+RTL_ALT,1500  # RTL at 15m is fine.
+RTL_LOIT_TIME,5000  # The default is too long. This reduces the time
+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,16  # 16, ESC Telemetry

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/14_logging.param

@@ -0,0 +1,6 @@
+INS_LOG_BAT_CNT,2048  # more samples per batch
+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/TarotFY680Hexacopter/15_motor.param

@@ -0,0 +1,4 @@
+MOT_SPIN_ARM,0.04
+MOT_SPIN_MAX,1
+MOT_SPIN_MIN,0.043
+MOT_THST_EXPO,0.6

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/16_pid_adjustment.param

@@ -0,0 +1,13 @@
+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  # 1.0 * (0.0036 default)
+ATC_RAT_PIT_I,0.135  # = 1.0 * (0.135 default)
+ATC_RAT_PIT_P,0.135  # = 1.0 * (0.135 default)
+ATC_RAT_RLL_D,0.0036  # = 1.0 * (0.0036 default)
+ATC_RAT_RLL_I,0.135  # = 1.0 * (0.135 default)
+ATC_RAT_RLL_P,0.135  # = 1.0 * (0.135 default)
+ATC_RAT_YAW_D,0  # = 1.0 * (0 default)
+ATC_RAT_YAW_I,0.018  # = 1.0 * (0.018 default)
+ATC_RAT_YAW_P,0.18  # = 1.0 * (0.18 default)

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/17_remote_id.param

@@ -0,0 +1,4 @@
+DID_CANDRIVER,0  # I don't use a remote id.
+DID_ENABLE,0  # I don't use a remote id.
+DID_MAVPORT,-1  # I don't use a remote id.
+DID_OPTIONS,0  # I don't use a remote id.

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/18_notch_filter_setup.param

@@ -0,0 +1,10 @@
+INS_FAST_SAMPLE,3  # Both IMUs can run fast on the the FC
+INS_GYRO_RATE,0  # The fc supports up until 8kHz.
+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,58.8  # Use 1.4 * INS_GYRO_FILTER as a first guess
+INS_HNTCH_HMNCS,1  # Harmonic notch filter to first harmonics.
+INS_HNTCH_MODE,3  # ESC telemetry mode; each motor will have a notch assigned
+INS_HNTCH_OPTS,6  # Multi-Source (RPM data from each motor), update rate = loop rate
+INS_HNTCH_REF,1  # For RPM telemetry ESC notch filtering

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/19_notch_filter_results.param

@@ -0,0 +1,7 @@
+INS_HNTCH_ATT,15  # just enough to filter the noise created by the motors/propellers
+INS_HNTCH_BW,10.6  # 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,64  # the minimum frequency that the motors are expected to operate at
+INS_HNTCH_HMNCS,1  # insignificant secondary harmonics on this vehicle
+INS_HNTCH_OPTS,6  # Multi-Source (RPM data from each motor), update rate = loop rate
+INS_HNTCH_REF,1  # for RPM-based ESC telemetry

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/20_throttle_controller.param

@@ -0,0 +1,5 @@
+ATC_THR_MIX_MAN,0.5  # because we have learned the MOT_THST_HOVER value
+MOT_HOVER_LEARN,0  # Disabled because hover thrust is < 0.125
+MOT_THST_HOVER,0.08
+PSC_ACCZ_I,0.16  # Use 2 * MOT_THST_HOVER assuming MOT_THST_HOVER has been correctly learned
+PSC_ACCZ_P,0.08  # Use MOT_THST_HOVER assuming MOT_THST_HOVER has been correctly learned

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/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

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/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,60
+QUIK_MAX_REDUCE,20
+QUIK_OPTIONS,0
+QUIK_OSC_SMAX,5
+QUIK_RC_FUNC,301  # 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/TarotFY680Hexacopter/23_quick_tune_results.param

@@ -0,0 +1,10 @@
+ATC_RAT_PIT_D,0.00288  # Tuned in a Hangar
+ATC_RAT_PIT_I,0.123894  # Tuned in a Hangar
+ATC_RAT_PIT_P,0.123894  # Tuned in a Hangar
+ATC_RAT_RLL_D,0.003251  # Tuned in a Hangar
+ATC_RAT_RLL_I,0.164047  # Tuned in a Hangar
+ATC_RAT_RLL_P,0.164047  # Tuned in a Hangar
+ATC_RAT_YAW_D,0.01  # Tuned in a Hangar
+ATC_RAT_YAW_FLTD,21  # Tuned in a Hangar
+ATC_RAT_YAW_I,0.05  # Tuned in a Hangar
+ATC_RAT_YAW_P,0.5  # Tuned in a Hangar

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/24_inflight_magnetometer_fit_setup.param

@@ -0,0 +1,8 @@
+MAGH_ALT_DELTA,10  # Height difference between the highest and lowest point of the eight
+MAGH_B,1.2  # 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,5  # 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/TarotFY680Hexacopter/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/TarotFY680Hexacopter/25_inflight_magnetometer_fit_results.param

@@ -0,0 +1,15 @@
+COMPASS_DIA_X,1
+COMPASS_DIA_Y,1
+COMPASS_DIA_Z,1
+COMPASS_MOT_X,-4.122038
+COMPASS_MOT_Y,0.169252
+COMPASS_MOT_Z,0.920219
+COMPASS_MOTCT,2
+COMPASS_ODI_X,0
+COMPASS_ODI_Y,0
+COMPASS_ODI_Z,0
+COMPASS_OFS_X,107.2242
+COMPASS_OFS_Y,97.657684
+COMPASS_OFS_Z,-7.479781
+COMPASS_ORIENT,6
+COMPASS_SCALE,0.90058

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/26_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,60
+QUIK_MAX_REDUCE,20
+QUIK_OPTIONS,0
+QUIK_OSC_SMAX,5
+QUIK_RC_FUNC,301  # 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/TarotFY680Hexacopter/27_quick_tune_results.param

@@ -0,0 +1,10 @@
+ATC_RAT_PIT_D,0.002561
+ATC_RAT_PIT_I,0.147198
+ATC_RAT_PIT_P,0.147198
+ATC_RAT_RLL_D,0.00327
+ATC_RAT_RLL_I,0.179588
+ATC_RAT_RLL_P,0.179588
+ATC_RAT_YAW_D,0.01
+ATC_RAT_YAW_FLTD,21
+ATC_RAT_YAW_I,0.05
+ATC_RAT_YAW_P,0.5

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/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/TarotFY680Hexacopter/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/TarotFY680Hexacopter/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/TarotFY680Hexacopter/31_autotune_roll_results.param

@@ -0,0 +1,5 @@
+ATC_ACCEL_R_MAX,116700
+ATC_ANG_RLL_P,4.5  # higher value mean a tighter tune
+ATC_RAT_RLL_D,0.0036
+ATC_RAT_RLL_I,0.135
+ATC_RAT_RLL_P,0.135

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/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/TarotFY680Hexacopter/33_autotune_pitch_results.param

@@ -0,0 +1,5 @@
+ATC_ACCEL_P_MAX,116700
+ATC_ANG_PIT_P,4.5  # higher value mean a tighter tune
+ATC_RAT_PIT_D,0.0036
+ATC_RAT_PIT_I,0.135
+ATC_RAT_PIT_P,0.135

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/34_autotune_yaw_setup.param

@@ -0,0 +1,3 @@
+ATC_RAT_YAW_FLTD,10.5  # 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/TarotFY680Hexacopter/35_autotune_yaw_results.param

@@ -0,0 +1,5 @@
+ATC_ACCEL_Y_MAX,27000
+ATC_ANG_YAW_P,4.5  # higher value mean a tighter tune
+ATC_RAT_YAW_FLTE,2
+ATC_RAT_YAW_I,0.018
+ATC_RAT_YAW_P,0.18

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/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,0.001  # small copters need small D parameters

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/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  # if == to AUTOTUNE_MIN_D, autotune failed
+ATC_RAT_YAW_I,0.018
+ATC_RAT_YAW_P,0.18

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/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/TarotFY680Hexacopter/39_autotune_roll_pitch_retune_results.param

@@ -0,0 +1,10 @@
+ATC_ACCEL_P_MAX,116700
+ATC_ACCEL_R_MAX,116700
+ATC_ANG_PIT_P,4.5  # higher value mean a tighter tune
+ATC_ANG_RLL_P,4.5  # higher value mean a tighter tune
+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/TarotFY680Hexacopter/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/TarotFY680Hexacopter/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/TarotFY680Hexacopter/42_system_id_roll.param

@@ -0,0 +1,21 @@
+ANGLE_MAX,3000  # limit the angle to limit the speed at SID-chirp low-frequencies
+ARMING_CHECK,30174  # disable Parameter check because we need to set ATC_RAT_RLL_I out-of-range (was 1)
+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
+FLTMODE6,25  # Activate sysid instead of loiter
+LOG_BITMASK,704510  # 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,0.1
+SID_F_STOP_HZ,10
+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,0.3  # System identification max magnitude
+TUNE_MIN,0.05  # System identification min magnitude

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/43_system_id_pitch.param

@@ -0,0 +1,10 @@
+ATC_RAT_PIT_I,0  # prevent the rate controllers from compensating too much of the frequency-sweep signal
+ATC_RAT_RLL_I,0.135  # we are not performing system identification on the roll axis, so restore it to the autotuned value
+ATC_RATE_FF_ENAB,0  # prevent the rate controllers from compensating too much of the frequency-sweep signal
+SID_AXIS,11  # Inject chip on the mixer pitch signal
+SID_F_START_HZ,0.1
+SID_F_STOP_HZ,10
+SID_MAGNITUDE,0.15
+SID_T_FADE_IN,5
+SID_T_FADE_OUT,5
+SID_T_REC,130

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/TarotFY680Hexacopter/44_system_id_yaw.param

@@ -0,0 +1,10 @@
+ATC_RAT_PIT_I,0.135  # we are not performing system identification on the pitch axis, so restore it to the autotuned value
+ATC_RAT_YAW_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
+SID_AXIS,12  # Inject chip on the mixer yaw signal
+SID_F_START_HZ,0.1
+SID_F_STOP_HZ,10
+SID_MAGNITUDE,0.55
+SID_T_FADE_IN,5
+SID_T_FADE_OUT,5
+SID_T_REC,130