From de0f215319bf31253cf9be8abea5f4c953e1fc2a 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