AP_HAL_ChibiOS: update default params for SWAN-K1

Icatme · Sep 5, 2021 · 854697f · 854697f
1 parent 159d172
commit 854697f
Showing 1 changed file with 11 additions and 5 deletions.
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Swan-K1/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/Swan-K1/defaults.parm
@@ -6,7 +6,8 @@ BATT_CAPACITY  5500
 
 Q_ENABLE 1
 Q_FRAME_CLASS 1
-Q_TAILSIT_MOTMX 15
+Q_TAILSIT_ENABLE 2
+
 SERVO1_FUNCTION 33
 SERVO2_FUNCTION 34
 SERVO3_FUNCTION 35
@@ -23,8 +24,9 @@ RC2_MIN 1050
 RC2_MAX 1950
 RC3_MIN 1050
 RC3_MAX 1950
-RC4_MIN 1050
-RC4_MAX 1950
+RC3_TRIM 1500
+RC4_MIN 1125
+RC4_MAX 1875
 
 THR_MIN 5
 
@@ -71,6 +73,7 @@ LOG_FILE_RATEMAX 50
 
 # tuning
 RLL2SRV_TCONST 0.25
+PTCH2SRV_TCONST 0.5
 Q_A_ACCEL_P_MAX    40000
 Q_A_ACCEL_R_MAX    20000
 Q_A_ANG_PIT_P          8
@@ -91,12 +94,14 @@ Q_A_RAT_YAW_P          0.7
 Q_A_RAT_YAW_SMAX      15
 Q_A_ACCEL_P_MAX    40000
 Q_A_ACCEL_R_MAX    20000
+Q_A_ACCEL_Y_MAX    27000
 Q_P_ACCZ_P            0.8
 Q_P_POSZ_P            1.5
 Q_P_VELZ_P            8.0
 Q_M_THST_HOVER        0.45
 Q_M_BAT_VOLT_MAX   16.8
 Q_M_BAT_VOLT_MIN   13.2
+Q_TAILSIT_RAT_VT 30
 
 Q_WP_ACCEL 250
 Q_WP_ACCEL_Z 300
@@ -110,8 +115,8 @@ Q_A_THR_MIX_MIN  0.3
 Q_RTL_MODE 3
 Q_TRANS_DECEL 2.5
 
-# QRTL on 'D' button
-RC10_OPTION 4
+# QRTL on 'B' button
+RC8_OPTION 4
 
 RC_OPTIONS 32
 
@@ -120,6 +125,7 @@ TECS_LAND_ARSPD 8
 
 # 16 m/s target airspeed in auto modes
 TRIM_ARSPD_CM 1600
+TRIM_THROTTLE 29
 
 # 2nd lane tends to be better
 EK3_PRIMARY 1