From daa3a33789366a563bfb3b766afb85a0bb7d0ac7 Mon Sep 17 00:00:00 2001 From: bnsgeyer Date: Sun, 17 Nov 2024 22:35:02 -0500 Subject: [PATCH] SITL: add default params for bell 206 --- .../default_params/copter-heli-bell206.parm | 105 ++++++++++++++++++ 1 file changed, 105 insertions(+) create mode 100644 Tools/autotest/default_params/copter-heli-bell206.parm diff --git a/Tools/autotest/default_params/copter-heli-bell206.parm b/Tools/autotest/default_params/copter-heli-bell206.parm new file mode 100644 index 0000000000000..36f4df7d5b75e --- /dev/null +++ b/Tools/autotest/default_params/copter-heli-bell206.parm @@ -0,0 +1,105 @@ +BATT_MONITOR 4.0000 +COMPASS_OFS2_X 5.0000 +COMPASS_OFS2_Y 13.0000 +COMPASS_OFS2_Z -18.0000 +COMPASS_OFS3_X 1.0000 +COMPASS_OFS3_Y 1.0000 +COMPASS_OFS3_Z 1.0000 +COMPASS_OFS_X 2.8749 +COMPASS_OFS_Y -21.8262 +COMPASS_OFS_Z -21.8422 +FLTMODE1 7.0000 +FLTMODE2 9.0000 +FLTMODE3 6.0000 +FLTMODE4 3.0000 +FLTMODE5 5.0000 +FRAME_CLASS 6 +# we need small INS_ACC offsets so INS is recognised as being calibrated +INS_ACCOFFS_X 0.001 +INS_ACCOFFS_Y 0.001 +INS_ACCOFFS_Z 0.001 +INS_ACCSCAL_X 1.001 +INS_ACCSCAL_Y 1.001 +INS_ACCSCAL_Z 1.001 +INS_ACC2OFFS_X 0.001 +INS_ACC2OFFS_Y 0.001 +INS_ACC2OFFS_Z 0.001 +INS_ACC2SCAL_X 1.001 +INS_ACC2SCAL_Y 1.001 +INS_ACC2SCAL_Z 1.001 +INS_ACC3OFFS_X 0.000 +INS_ACC3OFFS_Y 0.000 +INS_ACC3OFFS_Z 0.000 +INS_ACC3SCAL_X 1.000 +INS_ACC3SCAL_Y 1.000 +INS_ACC3SCAL_Z 1.000 +ATC_INPUT_TC 0.50 +ATC_ANG_PIT_P 6 +ATC_ANG_RLL_P 4 +ATC_ANG_YAW_P 5.8 +ATC_RAT_PIT_D 0.002 +ATC_RAT_PIT_FLTD 0 +ATC_RAT_PIT_FLTE 20 +ATC_RAT_PIT_FLTT 20 +ATC_RAT_PIT_I 0.095 +ATC_RAT_PIT_ILMI 0.1 +ATC_RAT_PIT_IMAX 0.4 +ATC_RAT_PIT_P 0.024 +ATC_RAT_PIT_FF 0.19 +ATC_RAT_RLL_D 0.0001 +ATC_RAT_RLL_FLTD 0 +ATC_RAT_RLL_FLTE 20 +ATC_RAT_RLL_FLTT 20 +ATC_RAT_RLL_I 0.105 +ATC_RAT_RLL_ILMI 0.1 +ATC_RAT_RLL_IMAX 0.4 +ATC_RAT_RLL_P 0.06 +ATC_RAT_RLL_FF 0.21 +ATC_RAT_YAW_D 0.0039 +ATC_RAT_YAW_FLTD 0 +ATC_RAT_YAW_FLTE 0 +ATC_RAT_YAW_FLTT 20 +ATC_RAT_YAW_I 0.0245 +ATC_RAT_YAW_ILMI 0 +ATC_RAT_YAW_IMAX 1 +ATC_RAT_YAW_P 0.24685 +ATC_RAT_YAW_FF 0.000000 +ATC_ACCEL_P_MAX 10000 +ATC_ACCEL_R_MAX 10000 +ATC_ACCEL_Y_MAX 10000 +ATC_HOVR_ROL_TRM -320 +H_COL_MAX 1740 +H_COL_MIN 1460 +H_COL_ANG_MAX 12 +H_COL_ANG_MIN -2 +H_RSC_MODE 2 +H_RSC_SETPOINT 100 +RC1_MAX 2000.000000 +RC1_MIN 1000.000000 +RC1_TRIM 1500.000000 +RC2_MAX 2000.000000 +RC2_MIN 1000.000000 +RC2_TRIM 1500.000000 +RC3_MAX 2000.000000 +RC3_MIN 1000.000000 +RC3_TRIM 1500.000000 +RC4_MAX 2000.000000 +RC4_MIN 1000.000000 +RC4_TRIM 1500.000000 +RC5_MAX 2000.000000 +RC5_MIN 1000.000000 +RC5_TRIM 1500.000000 +RC6_MAX 2000.000000 +RC6_MIN 1000.000000 +RC6_TRIM 1500.000000 +RC7_MAX 2000.000000 +RC7_MIN 1000.000000 +RC7_TRIM 1500.000000 +RC8_MAX 2000.000000 +RC8_MIN 1000.000000 +RC8_TRIM 1500.000000 +RPM1_TYPE 10 +IM_ACRO_COL_EXP 0.2 +PSC_VELXY_D 0.5 +SERVO8_MIN 1000.000000 +SERVO8_MAX 2000.000000