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New standard tunes for Holybro QAV250 and X500v2 #25717

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merged 1 commit into from
Dec 12, 2023
Merged

New standard tunes for Holybro QAV250 and X500v2 #25717

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55 changes: 55 additions & 0 deletions Tools/Frame_params/Holybro-QAV250-bdshot.param
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Original file line number Diff line number Diff line change
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ANGLE_MAX 7500
ATC_ACCEL_P_MAX 247932.2
ATC_ACCEL_R_MAX 280459.7
ATC_ACCEL_Y_MAX 70449.61
ATC_ANG_PIT_P 20.62971
ATC_ANG_RLL_P 21.77228
ATC_ANG_YAW_P 12.07662
ATC_RAT_PIT_D 0.001443983
ATC_RAT_PIT_FLTD 40
ATC_RAT_PIT_FLTT 40
ATC_RAT_PIT_I 0.05448329
ATC_RAT_PIT_P 0.05448329
ATC_RAT_PIT_SMAX 30
ATC_RAT_RLL_D 0.001218464
ATC_RAT_RLL_FLTD 40
ATC_RAT_RLL_FLTT 40
ATC_RAT_RLL_I 0.03652912
ATC_RAT_RLL_P 0.03652912
ATC_RAT_RLL_SMAX 30
ATC_RAT_YAW_D 0.004205064
ATC_RAT_YAW_FLTD 20
ATC_RAT_YAW_FLTE 2
ATC_RAT_YAW_I 0.02155114
ATC_RAT_YAW_P 0.2155114
ATC_RAT_YAW_SMAX 30
INS_HNTC2_ATT 40
INS_HNTC2_BW 8
INS_HNTC2_ENABLE 1
INS_HNTC2_FM_RAT 1
INS_HNTC2_FREQ 47
INS_HNTC2_HMNCS 3
INS_HNTC2_MODE 1
INS_HNTC2_OPTS 16
INS_HNTC2_REF 1
INS_HNTCH_ATT 40
INS_HNTCH_BW 20
INS_HNTCH_ENABLE 1
INS_HNTCH_FM_RAT 1
INS_HNTCH_FREQ 80
INS_HNTCH_HMNCS 1
INS_HNTCH_MODE 3
INS_HNTCH_OPTS 22
INS_HNTCH_REF 1
MOT_BAT_VOLT_MAX 16.8
MOT_BAT_VOLT_MIN 13.2
MOT_PWM_TYPE 6
MOT_SPIN_ARM 0.06
MOT_SPIN_MIN 0.08
MOT_THST_EXPO 0.55
MOT_THST_HOVER 0.125
PSC_ACCZ_I 0.168
PSC_ACCZ_P 0.084
SERVO_BLH_AUTO 1
SERVO_DSHOT_ESC 2
SERVO_DSHOT_RATE 3
54 changes: 54 additions & 0 deletions Tools/Frame_params/Holybro-QAV250.param
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Original file line number Diff line number Diff line change
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ANGLE_MAX 7500
ATC_ACCEL_P_MAX 278477.8
ATC_ACCEL_R_MAX 344115.3
ATC_ACCEL_Y_MAX 51274.09
ATC_ANG_PIT_P 25.66075
ATC_ANG_RLL_P 28.50734
ATC_ANG_YAW_P 8.258418
ATC_RAT_PIT_D 0.001949416
ATC_RAT_PIT_FLTD 40
ATC_RAT_PIT_FLTT 40
ATC_RAT_PIT_I 0.07421205
ATC_RAT_PIT_P 0.07421205
ATC_RAT_PIT_SMAX 30
ATC_RAT_RLL_D 0.00120043
ATC_RAT_RLL_FLTD 40
ATC_RAT_RLL_FLTT 40
ATC_RAT_RLL_I 0.04598495
ATC_RAT_RLL_P 0.04598495
ATC_RAT_RLL_SMAX 30
ATC_RAT_YAW_D 0.009076501
ATC_RAT_YAW_FLTD 40
ATC_RAT_YAW_FLTE 1.3176
ATC_RAT_YAW_I 0.02884508
ATC_RAT_YAW_P 0.2884507
ATC_RAT_YAW_SMAX 30
INS_HNTC2_ATT 40
INS_HNTC2_BW 8
INS_HNTC2_ENABLE 1
INS_HNTC2_FM_RAT 1
INS_HNTC2_FREQ 47
INS_HNTC2_HMNCS 1
INS_HNTC2_MODE 1
INS_HNTC2_OPTS 16
INS_HNTC2_REF 1
INS_HNTCH_ATT 40
INS_HNTCH_BW 75
INS_HNTCH_ENABLE 1
INS_HNTCH_FM_RAT 0.7
INS_HNTCH_FREQ 150
INS_HNTCH_HMNCS 3
INS_HNTCH_MODE 1
INS_HNTCH_OPTS 0
INS_HNTCH_REF 0.125
MOT_BAT_VOLT_MAX 16.8
MOT_BAT_VOLT_MIN 13.2
MOT_PWM_TYPE 5
MOT_SPIN_ARM 0.06
MOT_SPIN_MIN 0.08
MOT_THST_EXPO 0.55
MOT_THST_HOVER 0.125
PSC_ACCZ_I 0.168
PSC_ACCZ_P 0.084
SERVO_DSHOT_ESC 2
SERVO_DSHOT_RATE 3
44 changes: 44 additions & 0 deletions Tools/Frame_params/Holybro-X500v2-bdshot.param
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Original file line number Diff line number Diff line change
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ANGLE_MAX 3500
ATC_ACCEL_P_MAX 165167.5
ATC_ACCEL_R_MAX 176726.4
ATC_ACCEL_Y_MAX 35955.46
ATC_ANG_PIT_P 21.2236
ATC_ANG_RLL_P 26.35878
ATC_ANG_YAW_P 8.53887
ATC_RAT_PIT_D 0.005201788
ATC_RAT_PIT_FLTD 21
ATC_RAT_PIT_FLTT 21
ATC_RAT_PIT_I 0.1466683
ATC_RAT_PIT_P 0.1466683
ATC_RAT_RLL_D 0.004905871
ATC_RAT_RLL_FLTD 21
ATC_RAT_RLL_FLTT 21
ATC_RAT_RLL_I 0.1255951
ATC_RAT_RLL_P 0.1255951
ATC_RAT_YAW_D 0.02224096
ATC_RAT_YAW_FLTD 10
ATC_RAT_YAW_FLTE 1.3176
ATC_RAT_YAW_FLTT 21
ATC_RAT_YAW_I 0.1204564
ATC_RAT_YAW_P 1.204564
INS_HNTCH_ATT 40
INS_HNTCH_BW 40
INS_HNTCH_ENABLE 1
INS_HNTCH_FM_RAT 1
INS_HNTCH_FREQ 80
INS_HNTCH_HMNCS 3
INS_HNTCH_MODE 3
INS_HNTCH_OPTS 22
INS_HNTCH_REF 1
MOT_BAT_VOLT_MAX 16.8
MOT_BAT_VOLT_MIN 13.2
MOT_SPIN_ARM 0.07
MOT_SPIN_MIN 0.09
MOT_THST_HOVER 0.2905434
PSC_ACCZ_I 0.6
PSC_ACCZ_P 0.3
SERVO_BLH_AUTO 1
SERVO_BLH_MASK 3840
SERVO_BLH_OTYPE 5
SERVO_DSHOT_ESC 2
TKOFF_RPM_MIN 1000