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Ottano fixed wing improvements #259

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merged 7 commits into from
Nov 30, 2024
Merged

Ottano fixed wing improvements #259

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8318e10
hwdef: Ottano defaults: enable ADSB rx
robertlong13 Nov 29, 2024
d8ea67c
hwdef: Ottano defaults: tweak idle governor
robertlong13 Nov 29, 2024
2354887
hwdef: Ottano defaults: FBWB_CLIMB_RATE to 2
robertlong13 Nov 29, 2024
8c3b713
hwdef: Ottano defaults: increase ICE start thr
robertlong13 Nov 29, 2024
ddb6c43
hwdef: CarbonixCommon: move pitch limits out
robertlong13 Nov 29, 2024
ebdd61b
hwdef: Ottano defaults: fixed-wing tuning
robertlong13 Nov 29, 2024
04a0cca
hwdef: Ottano defaults: reduce hover gains
robertlong13 Nov 29, 2024
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2 changes: 0 additions & 2 deletions libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/defaults.parm
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Original file line number Diff line number Diff line change
Expand Up @@ -61,8 +61,6 @@ LOG_FILE_DSRMROT,1
LOG_FILE_MB_FREE,5000 # DISABLE_CHECKS: we want to reserve 5GB for logs; ArduPilot suggests max of 1GB
LOG_REPLAY,1
MIN_GROUNDSPEED,8
PTCH_LIM_MAX_DEG,16
PTCH_LIM_MIN_DEG,-13
Q_A_THR_MIX_MAN,0.25
Q_A_THR_MIX_MAX,0.65
Q_A_THR_MIX_MIN,0.25
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79 changes: 44 additions & 35 deletions libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Ottano/defaults.parm
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Original file line number Diff line number Diff line change
@@ -1,8 +1,17 @@
@include ../CarbonixCommon/defaults.parm
# Ottano-specific parameters
ADSB_LIST_ALT,3000
ADSB_LIST_MAX,40
ADSB_LIST_RADIUS,30000
ADSB_TYPE,1
AIRSPEED_CRUISE,26
AIRSPEED_MAX,36
AIRSPEED_MIN,23
AVD_ENABLE,1
AVD_F_DIST_XY,1000
AVD_F_DIST_Z,200
AVD_W_DIST_XY,5000
AVD_W_DIST_Z,1000
# Battery 1: VTOL Battery (Combined)
BATT_CAPACITY,30000 # Sum of BATT4_CAPACITY and BATT5_CAPACITY
BATT_MONITOR,10 # Sum
Expand Down Expand Up @@ -62,18 +71,19 @@ EFI_THRLIN_COEF3,0.0002301534
EFI_THRLIN_EN,1
EFI_THRLIN_OFS,6
EFI_TYPE,8
FBWB_CLIMB_RATE,2.4
GPS_POS1_X,-0.135
GPS_POS1_Y,-1.05
GPS_POS2_X,-0.135
GPS_POS2_Y,1.05
ICE_ENABLE,1
ICE_IDLE_DB,100
ICE_IDLE_RPM,2400
ICE_IDLE_SLEW,2
ICE_IDLE_SLEW,4
ICE_OPTIONS,4
ICE_RPM_CHAN,1
ICE_START_CHAN,6
ICE_START_DELAY,3
ICE_START_PCT,10
ICE_STARTCHN_MIN,950
ICE_STARTER_TIME,5
INS_ACCEL_FILTER,10
Expand All @@ -100,37 +110,40 @@ 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_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
Q_A_ANG_YAW_P,2 # DISABLE_CHECKS: AP limits are based on small quadcopters
Q_A_RAT_PIT_D,0.03447478
Q_A_RAT_PIT_D,0.02
Q_A_RAT_PIT_FLTD,11
Q_A_RAT_PIT_FLTE,8
Q_A_RAT_PIT_FLTT,11
Q_A_RAT_PIT_I,0.4894217
Q_A_RAT_PIT_I,0.45
Q_A_RAT_PIT_IMAX,0.4
Q_A_RAT_PIT_P,0.4894217
Q_A_RAT_PIT_P,0.45
Q_A_RAT_PIT_SMAX,15
Q_A_RAT_RLL_D,0.02028733
Q_A_RAT_RLL_D,0.01
Q_A_RAT_RLL_FLTD,11
Q_A_RAT_RLL_FLTE,8
Q_A_RAT_RLL_FLTT,11
Q_A_RAT_RLL_I,0.8448284
Q_A_RAT_RLL_P,0.8448284 # DISABLE_CHECKS: AP limits are based on small quadcopters
Q_A_RAT_RLL_I,0.75
Q_A_RAT_RLL_P,0.75 # DISABLE_CHECKS: AP limits are based on small quadcopters
Q_A_RAT_RLL_SMAX,15
Q_A_RAT_YAW_D,0.002
Q_A_RAT_YAW_FLTD,11
Expand Down Expand Up @@ -188,15 +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
Expand Down Expand Up @@ -247,19 +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
Expand Down
2 changes: 2 additions & 0 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 @@ -84,6 +84,8 @@ INS_POS3_Z,-0.03
KFF_RDDRMIX,0.9
NAVL1_LIM_BANK,40 # Set to match ROLL_LIMIT_DEG
NAVL1_PERIOD,19
PTCH_LIM_MAX_DEG,16
PTCH_LIM_MIN_DEG,-13
PTCH_RATE_D,0.0029344
PTCH_RATE_FF,0.36
PTCH_RATE_FLTD,10
Expand Down