1.9 tuning params

wattsinnovations · Sep 7, 2023 · 7deb624 · 7deb624
1 parent c1af2c1
commit 7deb624
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Showing 2 changed files with 21 additions and 21 deletions.
diff --git a/ArduCopter/version.h b/ArduCopter/version.h
@@ -6,7 +6,7 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "PRISM Lite v1.8"
+#define THISFIRMWARE "PRISM Lite v1.9"
 
 // the following line is parsed by the autotest scripts
 #define FIRMWARE_VERSION 4,3,6,FIRMWARE_VERSION_TYPE_OFFICIAL

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Watts/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Watts/defaults.parm
@@ -71,23 +71,23 @@ AUTO_OPTIONS 3
 
 # flight behavior
 INITIAL_MODE 5
-ANGLE_MAX 3500
-ATC_ACCEL_P_MAX 110000
-ATC_ACCEL_R_MAX 110000
-ATC_ACCEL_Y_MAX 27000
-ATC_ANG_PIT_P 6.5
-ATC_ANG_RLL_P 6.5
+ANGLE_MAX 2500
+ATC_ACCEL_P_MAX 30000
+ATC_ACCEL_R_MAX 30000
+ATC_ACCEL_Y_MAX 16000
+ATC_ANG_PIT_P 8
+ATC_ANG_RLL_P 8
 ATC_ANG_YAW_P 5
 ATC_ANGLE_BOOST 1
-ATC_INPUT_TC 0.15
-ATC_RAT_PIT_D 0.012
+ATC_INPUT_TC 0.2
+ATC_RAT_PIT_D 0.015
 ATC_RAT_PIT_FF 0
 ATC_RAT_PIT_FLTD 20
 ATC_RAT_PIT_FLTE 0
 ATC_RAT_PIT_FLTT 20
 ATC_RAT_PIT_I 0.05
 ATC_RAT_PIT_IMAX 0.5
-ATC_RAT_PIT_P 0.08
+ATC_RAT_PIT_P 0.1
 ATC_RAT_PIT_SMAX 0
 ATC_RAT_RLL_D 0.015
 ATC_RAT_RLL_FF 0
@@ -96,7 +96,7 @@ ATC_RAT_RLL_FLTE 0
 ATC_RAT_RLL_FLTT 20
 ATC_RAT_RLL_I 0.05
 ATC_RAT_RLL_IMAX 0.5
-ATC_RAT_RLL_P 0.09
+ATC_RAT_RLL_P 0.1
 ATC_RAT_RLL_SMAX 0
 ATC_RAT_YAW_D 0
 ATC_RAT_YAW_FF 0
@@ -120,7 +120,7 @@ LAND_ALT_LOW 700
 LAND_REPOSITION 1
 LAND_SPEED 50
 LAND_SPEED_HIGH 100
-LOIT_ACC_MAX 600
+LOIT_ACC_MAX 457
 LOIT_BRK_ACCEL 300
 LOIT_BRK_DELAY 0
 LOIT_BRK_JERK 300
@@ -131,7 +131,7 @@ MOT_SLEW_DN_TIME 0
 MOT_SLEW_UP_TIME 0
 MOT_SPIN_ARM 0.15
 MOT_SPIN_MAX 0.95
-MOT_SPIN_MIN 0.25
+MOT_SPIN_MIN 0.22
 MOT_SPOOL_TIME 0.5
 PILOT_ACCEL_Z 250
 PILOT_SPEED_DN 180
@@ -142,19 +142,19 @@ PILOT_TKOFF_ALT 0
 PILOT_Y_EXPO 0
 PILOT_Y_RATE 100
 PILOT_Y_RATE_TC 0
-PSC_ACCZ_D 0
+PSC_ACCZ_D 0.001
 PSC_ACCZ_FF 0
-PSC_ACCZ_FLTD 0
-PSC_ACCZ_FLTE 20
-PSC_ACCZ_FLTT 0
-PSC_ACCZ_I 1
-PSC_ACCZ_IMAX 800
-PSC_ACCZ_P 0.5
+PSC_ACCZ_FLTD 20
+PSC_ACCZ_FLTE 0
+PSC_ACCZ_FLTT 30
+PSC_ACCZ_I 0.1
+PSC_ACCZ_IMAX 5000
+PSC_ACCZ_P 0.75
 PSC_ACCZ_SMAX 0
 PSC_ANGLE_MAX 0
 PSC_JERK_XY 5
 PSC_JERK_Z 5
-PSC_POSXY_P .5
+PSC_POSXY_P .7
 PSC_POSZ_P 1.7
 PSC_VELXY_D 0.5
 PSC_VELXY_FF 0