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Hover tune improvements #253

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merged 2 commits into from
Nov 26, 2024
+20 −16
Merged

Hover tune improvements #253

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4ab5652
hwdef: Volanti defaults: reduce filtering
robertlong13 Nov 26, 2024
ef0c94e
hwdef: Volanti defaults: increase angle gains
robertlong13 Nov 26, 2024
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36 changes: 20 additions & 16 deletions libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/defaults.parm
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Original file line number Diff line number Diff line change
Expand Up @@ -56,18 +56,19 @@ GPS_POS2_X,-0.12
GPS_POS2_Y,0.17
GPS_POS2_Z,-0.06
INS_ACCEL_FILTER,6
INS_HNTC2_ATT,50
INS_HNTC2_BW,6
INS_GYRO_FILTER,30
INS_HNTC2_ATT,8
INS_HNTC2_BW,5
INS_HNTC2_ENABLE,1
INS_HNTC2_FREQ,8 # DISABLE_CHECKS: we are only slightly below the recommended 10Hz
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_ATT,5
INS_HNTCH_BW,30
INS_HNTCH_ENABLE,1
INS_HNTCH_FREQ,95
INS_HNTCH_HMNCS,3
INS_HNTCH_MODE,3
INS_HNTCH_OPTS,3
INS_HNTCH_REF,1
Expand Down Expand Up @@ -98,19 +99,22 @@ PTCH2SRV_RMAX_UP,75
Q_A_ACCEL_P_MAX,30000
Q_A_ACCEL_R_MAX,30000
Q_A_ACCEL_Y_MAX,4500
Q_A_ANG_PIT_P,1.2 # DISABLE_CHECKS: AP limits are based on small quadcopters
Q_A_ANG_RLL_P,2 # DISABLE_CHECKS: AP limits are based on small quadcopters
Q_A_ANG_PIT_P,5.5
Q_A_ANG_RLL_P,5
Q_A_ANG_YAW_P,2.4 # DISABLE_CHECKS: AP limits are based on small quadcopters
Q_A_RAT_PIT_D,0.012
Q_A_RAT_PIT_FLTE,7
Q_A_RAT_PIT_FLTT,10
Q_A_RAT_PIT_I,0.33
Q_A_RAT_PIT_D,0.00448
Q_A_RAT_PIT_FLTD,15
Q_A_RAT_PIT_FLTE,15
Q_A_RAT_PIT_FLTT,15
Q_A_RAT_PIT_I,0.233
Q_A_RAT_PIT_P,0.233
Q_A_RAT_PIT_SMAX,10
Q_A_RAT_RLL_D,0.007
Q_A_RAT_RLL_FLTE,7
Q_A_RAT_RLL_FLTT,10
Q_A_RAT_RLL_I,0.34
Q_A_RAT_RLL_P,0.3
Q_A_RAT_RLL_D,0.00256
Q_A_RAT_RLL_FLTD,15
Q_A_RAT_RLL_FLTE,15
Q_A_RAT_RLL_FLTT,15
Q_A_RAT_RLL_I,0.288
Q_A_RAT_RLL_P,0.288
Q_A_RAT_RLL_SMAX,10
Q_A_RAT_YAW_D,0.026 # DISABLE_CHECKS: AP limits are based on small quadcopters
Q_A_RAT_YAW_FLTE,2
Expand Down