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Feature/sw 291 reverting the fft disable change 5.2 #167

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merged 3 commits into from
Jul 30, 2024
Merged

Feature/sw 291 reverting the fft disable change 5.2 #167

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fcc4203
Volanti Defaults: Re Enabling FFT and other Tuning.
loki077 Jul 25, 2024
ba1398d
Volanti Defaults: Q_WP_SPEED_DN set to be 200
loki077 Jul 25, 2024
003c4a1
CxPilot-5.2.1 Release
loki077 Jul 25, 2024
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6 changes: 6 additions & 0 deletions ArduPlane/ReleaseNotes.txt
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Original file line number Diff line number Diff line change
@@ -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.
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2 changes: 1 addition & 1 deletion libraries/AP_Common/CxVersion.h
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Original file line number Diff line number Diff line change
@@ -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
28 changes: 23 additions & 5 deletions libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/defaults.parm
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Expand Up @@ -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
Expand Down Expand Up @@ -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
Expand Down Expand Up @@ -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
Expand Down Expand Up @@ -148,7 +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
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