From e8182355abdf077f34d3b3bafa2e525df5bf69d9 Mon Sep 17 00:00:00 2001
From: Bob Long <robertlong13@gmail.com>
Date: Tue, 26 Nov 2024 11:45:02 +1100
Subject: [PATCH 1/2] hwdef: Volanti defaults: reduce filtering

We have multiple dynamic notches with deep attenuation. We have been
hitting some edge cases where the notch filters are locking onto low
frequencies and causing issues/crashes. We are reducing the filtering
to the bare minimum: reducing attenuation and bandwidth as much as
possible.

This also required a reduction in our rate gains.

SW-456
---
 .../hwdef/CubeOrange-Volanti/defaults.parm    | 32 +++++++++++--------
 1 file changed, 18 insertions(+), 14 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/defaults.parm
index 76d5eca485..bafcab3c77 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/defaults.parm
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/defaults.parm
@@ -57,18 +57,19 @@ 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
-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
@@ -102,16 +103,19 @@ 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,0.012
-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
 Q_A_RAT_YAW_FLTE,2

From 54b06f8af30bc70a86fc8b4e1712ec3a672f365e Mon Sep 17 00:00:00 2001
From: Bob Long <robertlong13@gmail.com>
Date: Tue, 26 Nov 2024 11:49:58 +1100
Subject: [PATCH 2/2] hwdef: Volanti defaults: increase angle gains

The previous reductions in filtering allowed us to increase the angle
gains significantly. This should improve gust rejection.

SW-456
---
 .../AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/defaults.parm     | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/defaults.parm
index bafcab3c77..aa11e5f3b8 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/defaults.parm
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/defaults.parm
@@ -100,8 +100,8 @@ 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
-Q_A_ANG_RLL_P,2
+Q_A_ANG_PIT_P,5.5
+Q_A_ANG_RLL_P,5
 Q_A_ANG_YAW_P,2.4
 Q_A_RAT_PIT_D,0.00448
 Q_A_RAT_PIT_FLTD,15