freestyle.json

# 5 inch FPV Freestyle/Racing model

{
    # total vehicle mass in kg
    "mass" : 0.8,

    # vehicle diameter
    "diagonal_size" : 0.25,

    # the ref parameters should be taken from a test
    # with the copter flying at constant speed in zero wind. This is used
    # to estimate the drag coefficient
    "refSpd" : 20.0,    # m/s
    "refAngle" : 45.0,   # degrees
    "refVoltage" : 23.2, # volts
    "refCurrent" : 5, # Amps
    "refAlt" : 607,       # meters AMSL
    "refTempC" : 25,     # degrees C
    "refBatRes" : 0.0226, # BAT.Res from log

    # full battery voltage
    "maxVoltage" : 25.2,

    # full battery capacity, Ah
    # 0 means unlimited
    "battCapacityAh" : 0,

    # MOT_THST_EXPO
    "propExpo" : 0.7,

    # approximate maximum yaw rate in deg/sec
    "refRotRate" : 700,

    # hover throttle from 0 to 1
    "hoverThrOut" : 0.125,

    # MOT_PWM_MIN
    "pwmMin" : 1000,

    # MOT_PWM_MAX
    "pwmMax" : 2000,

    # MOT_SPIN_MIN
    "spin_min" : 0.01,

    # MOT_SPIN_MAX
    "spin_max" : 0.95,

    # maximum motor slew rate, or zero to disable
    "slew_max" : 0,

    # total effective disc area in sq m for 4 x 5 inch diameter rotors
    "disc_area" : 0.204,

    # momentum drag coefficient
    # ratio of momentum drag relative to a ducted rotor of the same effective disc area
    "mdrag_coef" : 0.10,

    # number of motors
    "num_motors" : 4
}