From 854697f8703775d2b6dce9d97d35fd81e2d591f1 Mon Sep 17 00:00:00 2001 From: Hwurzburg Date: Thu, 2 Sep 2021 13:40:36 -0500 Subject: [PATCH] AP_HAL_ChibiOS: update default params for SWAN-K1 --- .../AP_HAL_ChibiOS/hwdef/Swan-K1/defaults.parm | 16 +++++++++++----- 1 file changed, 11 insertions(+), 5 deletions(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Swan-K1/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/Swan-K1/defaults.parm index ca28f55503eea8..628506e1436a1b 100644 --- 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