[fix] 新发布的固件和参数

固件主要是RTK通讯问题，目前的最稳定测试，但通讯没有检验需要观察
参数组要改了ARMING_ACCTHRESH，为了减少加速计不一致的提示，目前看是安全的
修改降落速度过快，减少返航头顶等待时间

# 类型 包含:
# feat：新功能（feature）
# fix：修补bug
# docs：文档（documentation）
# style： 格式（不影响代码运行的变动）
# refactor：重构（即不是新增功能，也不是修改bug的代码变动）
# test：增加测试
# chore：构建过程或辅助工具的变动

新飞机_模板V2.param

@@ -21,7 +21,7 @@ AHRS_TRIM_Z,0
 AHRS_WIND_MAX,0
 AHRS_YAW_P,0.2
 ANGLE_MAX,3000
-ARMING_ACCTHRESH,0.75
+ARMING_ACCTHRESH,1.5
 ARMING_CHECK,414
 ARMING_MIS_ITEMS,0
 ARMING_OPTIONS,0
@@ -113,7 +113,7 @@ BATT_FS_LOW_ACT,2
 BATT_FS_VOLTSRC,0
 BATT_LOW_MAH,0
 BATT_LOW_TIMER,10
-BATT_LOW_VOLT,12.8
+BATT_LOW_VOLT,13.6
 BATT_MONITOR,4
 BATT_OPTIONS,0
 BATT_SERIAL_NUM,-1
@@ -361,7 +361,7 @@ INS_USE3,1
 LAND_ALT_LOW,500
 LAND_REPOSITION,1
 LAND_SPEED,50
-LAND_SPEED_HIGH,300
+LAND_SPEED_HIGH,250
 LAND_SPEED_NOPOS,500
 LGR_ENABLE,0
 LOG_BACKEND_TYPE,1
@@ -534,7 +534,7 @@ RTL_ALT_FINAL,0
 RTL_ALT_TYPE,0
 RTL_CLIMB_MIN,0
 RTL_CONE_SLOPE,3
-RTL_LOIT_TIME,5000
+RTL_LOIT_TIME,1000
 RTL_OPTIONS,0
 RTL_SPEED,0
 SCHED_DEBUG,0
@@ -751,6 +751,8 @@ WPNAV_SPEED_UP,500
 WPNAV_TER_MARGIN,10
 WVANE_ENABLE,0
 ZIGZ_AUTO_ENABLE,0
-
 FC_WP_TYPE,2
+FC_WP_LEADPER,0.15
+FC_WP_ACC_XY,200
+FC_WP_ACC_Z,150
 

老飞机3线_all.param

@@ -21,7 +21,7 @@ AHRS_TRIM_Z,0
 AHRS_WIND_MAX,0
 AHRS_YAW_P,0.2
 ANGLE_MAX,3000
-ARMING_ACCTHRESH,0.75
+ARMING_ACCTHRESH,1.5
 ARMING_CHECK,414
 ARMING_MIS_ITEMS,0
 ARMING_OPTIONS,0
@@ -113,12 +113,11 @@ BATT_FS_LOW_ACT,2
 BATT_FS_VOLTSRC,0
 BATT_LOW_MAH,0
 BATT_LOW_TIMER,10
-BATT_LOW_VOLT,12.8
+BATT_LOW_VOLT,13.6
 BATT_MONITOR,4
 BATT_OPTIONS,0
 BATT_SERIAL_NUM,-1
 BATT_VLT_OFFSET,0
-BATT_VOLT_MULT,8.97
 BATT2_MONITOR,0
 BATT3_MONITOR,0
 BATT4_MONITOR,0
@@ -361,7 +360,7 @@ INS_USE3,1
 LAND_ALT_LOW,500
 LAND_REPOSITION,1
 LAND_SPEED,50
-LAND_SPEED_HIGH,300
+LAND_SPEED_HIGH,250
 LAND_SPEED_NOPOS,500
 LGR_ENABLE,0
 LOG_BACKEND_TYPE,1
@@ -534,7 +533,7 @@ RTL_ALT_FINAL,0
 RTL_ALT_TYPE,0
 RTL_CLIMB_MIN,0
 RTL_CONE_SLOPE,3
-RTL_LOIT_TIME,5000
+RTL_LOIT_TIME,1000
 RTL_OPTIONS,0
 RTL_SPEED,0
 SCHED_DEBUG,0
@@ -756,4 +755,7 @@ WVANE_ENABLE,0
 ZIGZ_AUTO_ENABLE,0
 
 FC_WP_TYPE,2
+FC_WP_LEADPER,0.15
+FC_WP_ACC_XY,200
+FC_WP_ACC_Z,150
 

老飞机5线_all.param

@@ -21,7 +21,7 @@ AHRS_TRIM_Z,0
 AHRS_WIND_MAX,0
 AHRS_YAW_P,0.2
 ANGLE_MAX,3000
-ARMING_ACCTHRESH,0.75
+ARMING_ACCTHRESH,1.5
 ARMING_CHECK,414
 ARMING_MIS_ITEMS,0
 ARMING_OPTIONS,0
@@ -113,7 +113,7 @@ BATT_FS_LOW_ACT,2
 BATT_FS_VOLTSRC,0
 BATT_LOW_MAH,0
 BATT_LOW_TIMER,10
-BATT_LOW_VOLT,12.8
+BATT_LOW_VOLT,13.6
 BATT_MONITOR,4
 BATT_OPTIONS,0
 BATT_SERIAL_NUM,-1