D0013.parm

# parameters for the Stinger drone

# flight modes
FLTMODE1         5
FLTMODE4         2
FLTMODE_CH       6

# enable PID logging
LOG_BITMASK      65535

# mag field varies quite a lot between batteries
ARMING_MAGTHRESH 200

# IMU orientation
# 4 = YAW 180
AHRS_ORIENTATION 4

# Forced external compass
COMPASS_EXTERNAL 2
# compass orientation
# 2 = YAW 90
COMPASS_ORIENT 8

# filtering
INS_GYRO_FILTER  40
INS_HNTCH_ENABLE 1
INS_HNTCH_ATT 40.0
INS_HNTCH_BW 50.0
INS_HNTCH_FM_RAT 1.0
INS_HNTCH_FREQ 100.0
INS_HNTCH_HMNCS 7
INS_HNTCH_MODE 3
INS_HNTCH_OPTS 2
INS_HNTCH_REF 1.0

# run IMU at 2kHz
INS_GYRO_RATE    1

# a bit more agressive loiter
PILOT_SPEED_UP   500
LOIT_BRK_ACCEL   500
LOIT_BRK_JERK    1000
LOIT_BRK_DELAY   0.200000

# Tune parameters from Quik Tune
ATC_ACCEL_Y_MAX  30000.0
ATC_ACCEL_R_MAX  125000.0
ATC_ACCEL_P_MAX  125000.0
ATC_RAT_PIT_D 0.002856164472177625
ATC_RAT_PIT_FLTD 40.0
ATC_RAT_PIT_FLTT 40.0
ATC_RAT_PIT_I 0.124929137527942657
ATC_RAT_PIT_P 0.124929137527942657
ATC_RAT_PIT_SMAX 50.0
ATC_RAT_RLL_D 0.001519999350421131
ATC_RAT_RLL_FLTD 40.0
ATC_RAT_RLL_FLTT 40.0
ATC_RAT_RLL_I 0.075611755251884460
ATC_RAT_RLL_P 0.075611755251884460
ATC_RAT_RLL_SMAX 50.0
ATC_RAT_YAW_D 0.010000008158385754
ATC_RAT_YAW_FLTD 40.0
ATC_RAT_YAW_FLTE 2.0
ATC_RAT_YAW_FLTT 40.0
ATC_RAT_YAW_I 0.050000030547380447
ATC_RAT_YAW_P 0.500000298023223877
ATC_RAT_YAW_SMAX 50.0

# battery setup
BATT_LOW_VOLT    14.2
BATT_OPTIONS     64
BATT_VOLT_PIN    1
BATT_CURR_PIN    2
BATT_VOLT_MULT   1
BATT_AMP_PERVLT  1
BATT_AMP_OFFSET 0.0

# 4S battery range
MOT_BAT_VOLT_MAX 16.800000
MOT_BAT_VOLT_MIN 13.200000

# Learned hover thrust
MOT_THST_EXPO 0.550000011920928955
MOT_THST_HOVER 0.130549192428588867

# quad-X
FRAME_CLASS      1

# tweak R/C inputs
RC1_MIN          1000
RC1_MAX          2000
RC1_DZ           40
RC2_MIN          1000
RC2_MAX          2000
RC2_REVERSED     1
RC3_MIN          1000
RC3_MAX          2000
RC4_MIN          1000
RC4_MAX          2000
RC4_DZ           40

# add arming on right switch
RC7_OPTION       153

# Motor mappings
SERVO1_FUNCTION 33
SERVO2_FUNCTION 36
SERVO3_FUNCTION 34
SERVO4_FUNCTION 35