From fcc4203e5bab622631a0bdae861553a0cbb04599 Mon Sep 17 00:00:00 2001
From: Lokesh-Ramina <loki077@gmail.com>
Date: Wed, 24 Jul 2024 18:04:11 -0700
Subject: [PATCH 1/3] 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

From ba1398d4c63afbee2295709ff7ad5f0c767bc1d8 Mon Sep 17 00:00:00 2001
From: Lokesh-Ramina <loki077@gmail.com>
Date: Wed, 24 Jul 2024 18:14:59 -0700
Subject: [PATCH 2/3] Volanti Defaults: Q_WP_SPEED_DN set  to be 200

This will increase descent time before it hits land final alt.
 https://carbonix.atlassian.net/browse/SW-285

SW-291
---
 libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/defaults.parm | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/defaults.parm
index 75cdd6ea61..76d5eca485 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/defaults.parm
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/defaults.parm
@@ -166,7 +166,7 @@ Q_PLT_Y_RATE,12
 Q_TRANS_DECEL,0.8
 Q_VFWD_GAIN,0.05
 Q_WP_JERK,0.7
-Q_WP_SPEED_DN,120
+Q_WP_SPEED_DN,200
 Q_WVANE_GAIN,3
 RLL_RATE_D,0.012262
 RLL_RATE_FF,0.27

From 003c4a13f9805cf36b5b481edfaa52c30f6b3c2b Mon Sep 17 00:00:00 2001
From: Lokesh-Ramina <loki077@gmail.com>
Date: Wed, 24 Jul 2024 18:29:37 -0700
Subject: [PATCH 3/3] CxPilot-5.2.1 Release

SW-291
---
 ArduPlane/ReleaseNotes.txt      | 6 ++++++
 libraries/AP_Common/CxVersion.h | 2 +-
 2 files changed, 7 insertions(+), 1 deletion(-)

diff --git a/ArduPlane/ReleaseNotes.txt b/ArduPlane/ReleaseNotes.txt
index 8a4679d860..391183c5bf 100644
--- a/ArduPlane/ReleaseNotes.txt
+++ b/ArduPlane/ReleaseNotes.txt
@@ -1,3 +1,9 @@
+Release 5.2.1 25th July 2024
+------------------------------
+ - Volanti specific changes
+  - FFT has been re enabled and Pitch rate D and I gain have been changed to support it. 
+  - Q_WP_SPEED_DN set to be 200 this will increase descent time before it hits land final alt.
+
 Release 5.2.0 21th June 2024
 ------------------------------
  - Added a prearm check for a crash dump file. If one is found, arming will be blocked by the prearm. 
diff --git a/libraries/AP_Common/CxVersion.h b/libraries/AP_Common/CxVersion.h
index 25790e6fd8..737f55f531 100644
--- a/libraries/AP_Common/CxVersion.h
+++ b/libraries/AP_Common/CxVersion.h
@@ -1,5 +1,5 @@
 #ifdef CARBOPILOT
 #ifndef AP_CUSTOM_FIRMWARE_STRING
-#define AP_CUSTOM_FIRMWARE_STRING "CxPilot-5.2.0"
+#define AP_CUSTOM_FIRMWARE_STRING "CxPilot-5.2.1"
 #endif
 #endif