204 lines
2.8 KiB
Plaintext
204 lines
2.8 KiB
Plaintext
|
||
AHRS_GPS_USE,2
|
||
ARMING_ACCTHRESH,1.5
|
||
ARMING_CHECK,414
|
||
ARMING_GYRTHRESH,10
|
||
BATT_FS_CRT_ACT,0
|
||
BATT_FS_LOW_ACT,2
|
||
BATT_FS_VOLTSRC,0
|
||
BATT_LOW_MAH,0
|
||
BATT_LOW_TIMER,10
|
||
BATT_LOW_VOLT,13.6
|
||
BATT_MONITOR,4
|
||
BATT_OPTIONS,0
|
||
BATT_SERIAL_NUM,-1
|
||
BATT_VLT_OFFSET,0
|
||
BRD_OPTIONS,3
|
||
BRD_RTC_TZ_MIN,480
|
||
BRD_SAFETY_DEFLT,0
|
||
BRD_SER1_RTSCTS,0
|
||
BRD_SER2_RTSCTS,0
|
||
DISARM_DELAY,0
|
||
EK3_ALT_GPS,6
|
||
EK3_GLITCH_RAD,0
|
||
EK3_HGT_I_GATE,1000
|
||
EK3_IMU_MASK,1
|
||
EK3_POS_I_GATE,600
|
||
EK3_RNG_I_GATE,300
|
||
EK3_SRC1_POSZ,3
|
||
EK3_VEL_I_GATE,600
|
||
EK3_VELD_M_NSE,0.02
|
||
EK3_VELNE_M_NSE,0.02
|
||
FC_LOG_LEVEL,4
|
||
FC_WP_TYPE,2
|
||
FC_WP_ACC_XY,200
|
||
FC_WP_ACC_Z,150
|
||
FC_WP_LEADPER,0.15
|
||
FC_WP_LEADTIME,1500
|
||
FC_WP_STEP,50
|
||
FENCE_ALT_MAX,250
|
||
FENCE_RADIUS,500
|
||
FENCE_TYPE,3
|
||
FLTMODE2,2
|
||
FLTMODE3,5
|
||
FLTMODE4,2
|
||
FLTMODE6,5
|
||
FRAME_CLASS,1
|
||
FRAME_TYPE,1
|
||
FS_EKF_THRESH,1
|
||
|
||
FS_THR_ENABLE,0
|
||
|
||
GPS_AUTO_CONFIG,0
|
||
|
||
|
||
GPS_HDOP_GOOD,200
|
||
|
||
GPS_POS1_X,0.04
|
||
GPS_RATE_MS,100
|
||
|
||
GPS_SAVE_CFG,0
|
||
|
||
INS_ACCEL_FILTER,10
|
||
|
||
|
||
|
||
INS_HNTCH_ATT,40
|
||
INS_HNTCH_BW,42
|
||
INS_HNTCH_ENABLE,1
|
||
INS_HNTCH_FM_RAT,0.7
|
||
INS_HNTCH_FREQ,84
|
||
INS_HNTCH_HMNCS,3
|
||
INS_HNTCH_MODE,1
|
||
INS_HNTCH_OPTS,0
|
||
INS_HNTCH_REF,0.075
|
||
|
||
|
||
|
||
|
||
LAND_ALT_LOW,500
|
||
|
||
LAND_SPEED_HIGH,250
|
||
LAND_SPEED_NOPOS,500
|
||
|
||
MOT_BAT_VOLT_MAX,16.8
|
||
MOT_BAT_VOLT_MIN,13.2
|
||
|
||
|
||
|
||
|
||
MOT_SPIN_ARM,0
|
||
|
||
MOT_THST_EXPO,0.62
|
||
RC3_TRIM,1100
|
||
|
||
|
||
|
||
RTL_ALT,3000
|
||
RTL_LOIT_TIME,1000
|
||
|
||
|
||
|
||
WP_YAW_BEHAVIOR,0
|
||
WPNAV_ACCEL_Z,200
|
||
|
||
WPNAV_RADIUS,100
|
||
|
||
WPNAV_SPEED,1200
|
||
WPNAV_SPEED_DN,500
|
||
WPNAV_SPEED_UP,500
|
||
|
||
|
||
INS_GYRO_FILTER,49
|
||
#姿态控制
|
||
ATC_RAT_PIT_D,0.0025
|
||
ATC_RAT_PIT_I,0.08
|
||
ATC_RAT_PIT_P,0.08
|
||
|
||
ATC_RAT_RLL_D,0.002
|
||
ATC_RAT_RLL_I,0.08
|
||
ATC_RAT_RLL_P,0.08
|
||
|
||
ATC_RAT_YAW_D,0.03
|
||
ATC_RAT_YAW_I,2
|
||
ATC_RAT_YAW_P,1
|
||
|
||
|
||
ATC_ACCEL_P_MAX,132700
|
||
ATC_ACCEL_R_MAX,132700
|
||
ATC_ACCEL_Y_MAX,28500
|
||
ATC_ANG_LIM_TC,1
|
||
ATC_ANG_PIT_P,4.5
|
||
ATC_ANG_RLL_P,4.5
|
||
ATC_ANG_YAW_P,4.5
|
||
ATC_ANGLE_BOOST,1
|
||
ATC_INPUT_TC,0.15
|
||
|
||
ATC_RAT_PIT_FF,0
|
||
ATC_RAT_PIT_FLTD,24.5
|
||
ATC_RAT_PIT_FLTE,0
|
||
ATC_RAT_PIT_FLTT,24.5
|
||
|
||
ATC_RAT_PIT_IMAX,0.5
|
||
|
||
ATC_RAT_PIT_SMAX,0
|
||
|
||
ATC_RAT_RLL_FF,0
|
||
ATC_RAT_RLL_FLTD,24.5
|
||
ATC_RAT_RLL_FLTE,0
|
||
ATC_RAT_RLL_FLTT,24.5
|
||
|
||
ATC_RAT_RLL_IMAX,0.5
|
||
|
||
ATC_RAT_RLL_SMAX,0
|
||
|
||
ATC_RAT_YAW_FF,0
|
||
ATC_RAT_YAW_FLTD,0
|
||
ATC_RAT_YAW_FLTE,2
|
||
ATC_RAT_YAW_FLTT,24.5
|
||
|
||
ATC_RAT_YAW_IMAX,0.5
|
||
|
||
ATC_RAT_YAW_SMAX,0
|
||
ATC_RATE_FF_ENAB,1
|
||
ATC_RATE_P_MAX,0
|
||
ATC_RATE_R_MAX,0
|
||
ATC_RATE_Y_MAX,0
|
||
ATC_SLEW_YAW,6000
|
||
ATC_THR_G_BOOST,0
|
||
ATC_THR_MIX_MAN,0.9
|
||
ATC_THR_MIX_MAX,0.9
|
||
ATC_THR_MIX_MIN,0.1
|
||
|
||
#位置控制相关
|
||
PSC_ACCZ_D,0
|
||
PSC_ACCZ_FF,0
|
||
PSC_ACCZ_FLTD,0
|
||
PSC_ACCZ_FLTE,20
|
||
PSC_ACCZ_FLTT,0
|
||
PSC_ACCZ_I,0.5
|
||
PSC_ACCZ_IMAX,800
|
||
PSC_ACCZ_P,0.25
|
||
PSC_ACCZ_SMAX,0
|
||
PSC_ANGLE_MAX,0
|
||
PSC_JERK_XY,5
|
||
PSC_JERK_Z,5
|
||
PSC_POSXY_P,5
|
||
PSC_POSZ_P,5
|
||
PSC_VELXY_D,1
|
||
PSC_VELXY_FF,0
|
||
PSC_VELXY_FLTD,5
|
||
PSC_VELXY_FLTE,5
|
||
PSC_VELXY_I,3
|
||
PSC_VELXY_IMAX,1000
|
||
PSC_VELXY_P,3
|
||
PSC_VELZ_D,0.7
|
||
PSC_VELZ_FF,0
|
||
PSC_VELZ_FLTD,5
|
||
PSC_VELZ_FLTE,5
|
||
PSC_VELZ_I,7
|
||
PSC_VELZ_IMAX,1000
|
||
PSC_VELZ_P,7
|
||
#为了不写多余的日志，有些飞机可能在调参时开了这两个参数，会消耗cpu
|
||
LOG_BITMASK,176126
|
||
INS_LOG_BAT_OPT,0 |