hwdef: Ottano defaults: fixed-wing tuning

CarbonixUAV · Nov 29, 2024 · ebdd61b · ebdd61b
1 parent ddb6c43
commit ebdd61b
Showing 1 changed file with 26 additions and 29 deletions.
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Ottano/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Ottano/defaults.parm
@@ -110,21 +110,22 @@ INS_POS2_X,0.82
 INS_POS3_X,0.82
 KFF_RDDRMIX,1
 NAVL1_LIM_BANK,35 # Set to match ROLL_LIMIT_DEG
-NAVL1_PERIOD,27
-PTCH_LIM_MAX_DEG,16
-PTCH_LIM_MIN_DEG,-13
-PTCH_RATE_D,0.0065
-PTCH_RATE_FF,0.7402687
+NAVL1_PERIOD,25
+PTCH_LIM_MAX_DEG,8
+PTCH_LIM_MIN_DEG,-10
+PTCH_RATE_D,0.0019006
+PTCH_RATE_FF,0.7802848
 PTCH_RATE_FLTD,11
-PTCH_RATE_FLTT,3.183099
-PTCH_RATE_I,0.7402687 # DISABLE_CHECKS: it is recommended for RATE_I to match RATE_FF on planes, but the metadata gives a limit of 0.6 for this and 3.0 for FF
+PTCH_RATE_FLTT,1.768388 # DISABLE_CHECKS: slightly below recommended 2.0
+PTCH_RATE_I,0.7802848 # DISABLE_CHECKS: it is recommended for RATE_I to match RATE_FF on planes, but the metadata gives a limit of 0.6 for this and 3.0 for FF
 PTCH_RATE_IMAX,0.4
-PTCH_RATE_P,0.2194594
+PTCH_RATE_P,0.2409001
 PTCH_RATE_SMAX,110
-PTCH_TRIM_DEG,3
-PTCH2SRV_RLL,1.05
-PTCH2SRV_RMAX_DN,45
-PTCH2SRV_RMAX_UP,75
+PTCH_TRIM_DEG,1
+PTCH2SRV_RLL,1.5
+PTCH2SRV_RMAX_DN,60
+PTCH2SRV_RMAX_UP,60
+PTCH2SRV_TCONST,0.9
 Q_A_ACCEL_P_MAX,8800
 Q_A_ACCEL_R_MAX,9000
 Q_A_ACCEL_Y_MAX,4000
@@ -200,15 +201,16 @@ Q_WVANE_GAIN,1
 RELAY1_FUNCTION,4
 RELAY2_FUNCTION,2
 RELAY2_PIN,108
-RLL_RATE_D,0.001917198
-RLL_RATE_FF,0.7728607
+RLL_RATE_D,0.0077308
+RLL_RATE_FF,0.6552786
 RLL_RATE_FLTD,11
-RLL_RATE_FLTT,3.183099
-RLL_RATE_I,0.7728607 # DISABLE_CHECKS: it is recommended for RATE_I to match RATE_FF on planes, but the metadata gives a limit of 0.6 for this and 3.0 for FF
+RLL_RATE_FLTT,2.652582
+RLL_RATE_I,0.2274013
 RLL_RATE_IMAX,0.4
-RLL_RATE_P,0.09429314
+RLL_RATE_P,0.2274013
 RLL_RATE_SMAX,125
-RLL2SRV_RMAX,75
+RLL2SRV_RMAX,60
+RLL2SRV_TCONST,0.6
 RNGFND1_GNDCLEAR,27
 RNGFND1_POS_X,0.93
 RNGFND1_TYPE,24
@@ -259,19 +261,14 @@ SERVO8_MAX,2000
 SERVO8_MIN,1000
 SERVO9_MAX,2000
 SERVO9_MIN,1000
-TECS_CLMB_MAX,4
-TECS_INTEG_GAIN,0.15
+TECS_CLMB_MAX,3.5
 TECS_LAND_ARSPD,24
-TECS_PITCH_MAX,16
-TECS_PITCH_MIN,-8
-TECS_PTCH_DAMP,0.4
-TECS_RLL2THR,20
-TECS_SINK_MAX,2.7
-TECS_SINK_MIN,2.4
-TECS_SPDWEIGHT,0.5
-TECS_THR_DAMP,0.4
+TECS_PITCH_MAX,0
+TECS_PTCH_DAMP,0.5
+TECS_RLL2THR,5
+TECS_SINK_MAX,4.2
+TECS_SINK_MIN,3
 TECS_TIME_CONST,4
-TECS_VERT_ACC,6
 THR_SLEWRATE,50
 TRIM_THROTTLE,60
 WP_LOITER_RAD,250