From 15a149ea4f7411facf7557c6c263c2ac3ca42986 Mon Sep 17 00:00:00 2001
From: Lokesh-Ramina <loki077@gmail.com>
Date: Wed, 24 Jul 2024 18:04:11 -0700
Subject: [PATCH] Volanti Defaults: Re Enabling FFT and other Tuning.

Re Enable FFT as during testing we found tuning issues.

Adding back Harmonic Notch Filter as FFT is enabled.

PID Pitch Rate D and I are updated to support FFT.
INS_FAST_SAMPLE,3 removed as this is defaulted in in cubeOrange to 7 and we want to use that.
https://carbonix.atlassian.net/browse/SW-286

SW-291
---
 .../hwdef/CubeOrange-Volanti/defaults.parm    | 26 ++++++++++++++++---
 1 file changed, 22 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/defaults.parm
index f8ee18544c..75cdd6ea61 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/defaults.parm
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/defaults.parm
@@ -4,7 +4,18 @@ ARSPD_FBW_MIN,20            # 20m/s is the minimum airspeed demanded in automati
 BRD_SAFETYENABLE,1          # On boot the Safety state is ON "SAFE".
 COMPASS_PRIO1_ID,70403      # Compass from Drone CAN GPS 19 on CAN BUS 1 mounted left.
 COMPASS_PRIO2_ID,72963      # Compass from Drone CAN GPS 29 on CAN BUS 1 mounted right.
-# FFT_ENABLE,0              # Disable FFT as on lower Frequency it could create a major slew rate which could cause a crash. (Recommended by Tridge).  
+FFT_ENABLE,1                # Enabled FFT  
+FFT_BW_HOVER,8.673816
+FFT_ENABLE,1
+FFT_FREQ_HOVER,17.84392
+FFT_HMNC_FIT,20
+FFT_MAXHZ,30
+FFT_MINHZ,8
+FFT_SAMPLE_MODE,2
+FFT_SNR_REF,5
+FFT_THR_REF,0.0846776
+FFT_WINDOW_OLAP,0.65
+FFT_WINDOW_SIZE,256
 ARSPD_FBW_MAX,28
 BATT_CAPACITY,22000
 BATT_CRT_VOLT,44.4
@@ -46,7 +57,14 @@ GPS_POS2_X,-0.12
 GPS_POS2_Y,0.17
 GPS_POS2_Z,-0.06
 INS_ACCEL_FILTER,6
-INS_FAST_SAMPLE,3
+INS_HNTC2_ATT,50
+INS_HNTC2_BW,6
+INS_HNTC2_ENABLE,1
+INS_HNTC2_FREQ,8
+INS_HNTC2_HMNCS,3
+INS_HNTC2_MODE,4
+INS_HNTC2_OPTS,2
+INS_HNTC2_REF,1
 INS_HNTCH_ATT,50
 INS_HNTCH_BW,60
 INS_HNTCH_ENABLE,1
@@ -84,10 +102,10 @@ Q_A_ACCEL_Y_MAX,4500
 Q_A_ANG_PIT_P,1.2
 Q_A_ANG_RLL_P,2
 Q_A_ANG_YAW_P,2.4
-Q_A_RAT_PIT_D,0.01
+Q_A_RAT_PIT_D,0.012
 Q_A_RAT_PIT_FLTE,7
 Q_A_RAT_PIT_FLTT,10
-Q_A_RAT_PIT_I,0.25
+Q_A_RAT_PIT_I,0.33
 Q_A_RAT_PIT_SMAX,10
 Q_A_RAT_RLL_D,0.007
 Q_A_RAT_RLL_FLTE,7