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1408 lines
40 KiB
JavaScript
1408 lines
40 KiB
JavaScript
5 years ago
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'use strict';
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var presets = presets || {};
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presets.elementHelper = function (group, field, value) {
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return {
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group: group,
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field: field,
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value: value
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}
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};
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presets.defaultValues = {
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PIDs: {
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mr: [
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[40, 30, 23, 0], //PID_ROLL
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[40, 30, 23, 0], //PID_PITCH
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[85, 45, 0, 0], //PID_YAW
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[50, 0, 0, 0], //PID_POS_Z
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[65, 120, 10, 0], //PID_POS_XY
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[40, 15, 100, 40], //PID_VEL_XY
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[0, 0, 0, 0], //PID_SURFACE
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[20, 15, 75, 0], //PID_LEVEL
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[60, 0, 0, 0], //PID_HEADING
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[100, 50, 10, 0] //PID_VEL_Z
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],
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fw: [
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[5, 7, 0, 50], //PID_ROLL
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[5, 7, 0, 50], //PID_PITCH
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[6, 10, 0, 60], //PID_YAW
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[40, 5, 10, 0], //PID_POS_Z
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[75, 5, 8, 0], //PID_POS_XY
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[0, 0, 0, 0], //PID_VEL_XY
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[0, 0, 0, 0], //PID_SURFACE
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[20, 5, 75, 0], //PID_LEVEL
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[60, 0, 0, 0], //PID_HEADING
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[0, 0, 0, 0] //PID_VEL_Z
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]},
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INAV_PID_CONFIG: {"asynchronousMode": "0", "accelerometerTaskFrequency": 500, "attitudeTaskFrequency": 250, "magHoldRateLimit": 90, "magHoldErrorLpfFrequency": 2, "yawJumpPreventionLimit": 200, "gyroscopeLpf": "3", "accSoftLpfHz": 15},
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ADVANCED_CONFIG: {"gyroSyncDenominator": 2, "pidProcessDenom": 1, "useUnsyncedPwm": 1, "motorPwmProtocol": 0, "motorPwmRate": 400, "servoPwmRate": 50, "gyroSync": 1},
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RC_tuning: {"RC_RATE": 1, "RC_EXPO": 0.7, "roll_pitch_rate": 0, "roll_rate": 200, "pitch_rate": 200, "yaw_rate": 200, "dynamic_THR_PID": 0, "throttle_MID": 0.5, "throttle_EXPO": 0, "dynamic_THR_breakpoint": 1500, "RC_YAW_EXPO": 0.2},
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PID_ADVANCED: {"rollPitchItermIgnoreRate": 200, "yawItermIgnoreRate": 50, "yawPLimit": 300, "axisAccelerationLimitRollPitch": 0, "axisAccelerationLimitYaw": 1000},
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FILTER_CONFIG: {"gyroSoftLpfHz": 60, "dtermLpfHz": 40, "yawLpfHz": 30, "gyroNotchHz1": 0, "gyroNotchCutoff1": 0, "dtermNotchHz": 0, "dtermNotchCutoff": 0, "gyroNotchHz2": 0, "gyroNotchCutoff2": 0, "accNotchHz": 0, "accNotchCutoff": 0, "gyroStage2LowpassHz": 0},
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FC_CONFIG: {"loopTime": 1000},
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MIXER_CONFIG: {
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"yawMotorDirection": 1,
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"yawJumpPreventionLimit": 200,
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"platformType": 0,
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"hasFlaps": false
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}
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};
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presets.settings = {
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COMMON: {
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},
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FW: {
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"small_angle": 180,
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},
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MR: {
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},
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get: function(mixerType) {
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var settings = {};
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$.extend(settings, presets.settings.COMMON);
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if (mixerType == 'multirotor') {
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$.extend(settings, presets.settings.MR);
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} else {
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$.extend(settings, presets.settings.FW);
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}
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return settings;
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},
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}
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/**
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* When defining a preset, following fields are required:
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*
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* BF_CONFIG::mixerConfiguration
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* MIXER_CONFIG::platformType
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*
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* @type {{name: string, description: string, features: string[], applyDefaults: string[], settingsMSP: *[], type: string}[]}
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*/
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presets.presets = [
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{
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name: '3-inch Multirotor Preset',
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description: "INAV Quad X configuration, 3-inch propellers. F4/F7 CPU.",
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features: ["DSHOT600", "4k mode", "Matrix Filter", "Improved mechanics", "Optimized filtering", "Optimized rates"],
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applyDefaults: ["PIDs", "INAV_PID_CONFIG", "ADVANCED_CONFIG", "RC_tuning", "PID_ADVANCED", "FILTER_CONFIG", "FC_CONFIG", "MIXER_CONFIG"],
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settingsMSP: [
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presets.elementHelper("BF_CONFIG", "mixerConfiguration", 3),
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presets.elementHelper("MIXER_CONFIG", "platformType", 0)
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],
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settings: [
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{
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key: "motor_pwm_protocol",
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value: "DSHOT600"
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},
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{
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key: "gyro_hardware_lpf",
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value: "256HZ"
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},
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{
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key: "looptime",
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value: 250
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},
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{
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key: "gyro_lpf_hz",
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value: 130
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},
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{
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key: "gyro_lpf_type",
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value: "PT1"
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},
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{
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key: "gyro_stage2_lowpass_hz",
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value: 150
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},
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{
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key: "gyro_stage2_lowpass_type",
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value: "PT1"
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},
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{
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key: "dterm_lpf_hz",
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value: 100
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},
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{
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key: "dterm_lpf_type",
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value: "PT1"
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},
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{
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key: "dterm_lpf2_hz",
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value: 150
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},
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{
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key: "dterm_lpf2_type",
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value: "PT1"
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},
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{
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key: "use_dterm_fir_filter",
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value: "OFF"
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},
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{
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key: "mc_iterm_relax_type",
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value: "SETPOINT"
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},
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{
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key: "mc_iterm_relax",
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value: "RP"
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},
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{
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key: "d_boost_factor",
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value: 1.5
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},
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{
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key: "d_boost_max_at_acceleration",
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value: 5000.000
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},
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{
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key: "d_boost_gyro_delta_lpf_hz",
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value: 80
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},
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{
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key: "antigravity_gain",
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value: 2
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},
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{
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key: "antigravity_accelerator",
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value: 5
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},
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{
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key: "rc_yaw_expo",
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value: 70
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},
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{
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key: "rc_expo",
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value: 70
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},
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{
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key: "roll_rate",
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value: 70
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},
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{
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key: "pitch_rate",
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value: 70
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},
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{
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key: "yaw_rate",
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value: 60
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},
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{
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key: "mc_p_pitch",
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value: 38
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},
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{
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key: "mc_i_pitch",
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value: 55
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},
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{
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key: "mc_d_pitch",
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value: 25
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},
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{
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key: "mc_p_roll",
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value: 35
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},
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{
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key: "mc_i_roll",
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value: 50
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},
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{
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key: "mc_d_roll",
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value: 25
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},
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{
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key: "mc_p_yaw",
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value: 45
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},
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{
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key: "mc_i_yaw",
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value: 70
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},
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{
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key: "mc_airmode_type",
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value: "THROTTLE_THRESHOLD"
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},
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{
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key: "dynamic_gyro_notch_enabled",
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value: "ON"
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},
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{
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key: "dynamic_gyro_notch_q",
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value: 150
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},
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{
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key: "dynamic_gyro_notch_min_hz",
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value: 150
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},
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{
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key: "min_check",
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value: 1050
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},
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{
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key: "throttle_idle",
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value: 12
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},
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{
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key: "dterm_setpoint_weight",
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value: 0.500
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}
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],
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type: 'multirotor'
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},
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{
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name: 'MegaBee Cinewoop',
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description: "iFlight MegaBee Preset",
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features: ["DSHOT600", "4k mode", "Matrix Filter", "Improved mechanics", "Optimized filtering", "Optimized rates"],
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applyDefaults: ["PIDs", "INAV_PID_CONFIG", "ADVANCED_CONFIG", "RC_tuning", "PID_ADVANCED", "FILTER_CONFIG", "FC_CONFIG", "MIXER_CONFIG"],
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settingsMSP: [
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presets.elementHelper("BF_CONFIG", "mixerConfiguration", 3),
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presets.elementHelper("MIXER_CONFIG", "platformType", 0)
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],
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settings: [
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{
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key: "motor_pwm_protocol",
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value: "DSHOT600"
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},
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{
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key: "gyro_hardware_lpf",
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value: "256HZ"
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},
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{
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key: "looptime",
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value: 250
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},
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{
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key: "gyro_lpf_hz",
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value: 130
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},
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{
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key: "gyro_lpf_type",
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value: "PT1"
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},
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{
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key: "gyro_stage2_lowpass_hz",
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value: 180
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},
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{
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key: "gyro_stage2_lowpass_type",
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value: "PT1"
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},
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{
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key: "gyro_notch1_hz",
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value: 200
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},
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{
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key: "gyro_notch1_cutoff",
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value: 175
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},
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{
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key: "dterm_lpf_hz",
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value: 100
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},
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{
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key: "dterm_lpf_type",
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value: "PT1"
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},
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{
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key: "dterm_lpf2_hz",
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value: 150
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},
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{
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key: "dterm_lpf2_type",
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value: "PT1"
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},
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{
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key: "use_dterm_fir_filter",
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value: "OFF"
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},
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{
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key: "mc_iterm_relax_type",
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value: "GYRO"
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},
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{
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key: "mc_iterm_relax",
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value: "RP"
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},
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{
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key: "d_boost_factor",
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value: 1.5
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},
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{
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key: "d_boost_max_at_acceleration",
|
||
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value: 5000.000
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},
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{
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key: "d_boost_gyro_delta_lpf_hz",
|
||
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value: 80
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},
|
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{
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key: "antigravity_gain",
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value: 2
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},
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||
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{
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key: "antigravity_accelerator",
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value: 5
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},
|
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{
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key: "rc_yaw_expo",
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value: 70
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},
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{
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key: "rc_expo",
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value: 70
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},
|
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{
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key: "roll_rate",
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value: 70
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},
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{
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key: "pitch_rate",
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||
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value: 70
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},
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||
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{
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key: "yaw_rate",
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||
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value: 60
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||
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},
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{
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key: "mc_p_pitch",
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value: 34
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},
|
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{
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key: "mc_i_pitch",
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value: 55
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},
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{
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key: "mc_d_pitch",
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||
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value: 35
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},
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{
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key: "mc_p_roll",
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value: 32
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},
|
||
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{
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key: "mc_i_roll",
|
||
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value: 45
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},
|
||
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{
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key: "mc_d_roll",
|
||
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value: 33
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},
|
||
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{
|
||
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key: "mc_p_yaw",
|
||
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value: 65
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||
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},
|
||
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{
|
||
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key: "mc_i_yaw",
|
||
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value: 70
|
||
|
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},
|
||
|
|
{
|
||
|
|
key: "mc_airmode_type",
|
||
|
|
value: "THROTTLE_THRESHOLD"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "dynamic_gyro_notch_enabled",
|
||
|
|
value: "ON"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "dynamic_gyro_notch_q",
|
||
|
|
value: 180
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "dynamic_gyro_notch_min_hz",
|
||
|
|
value: 150
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "min_check",
|
||
|
|
value: 1050
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "throttle_idle",
|
||
|
|
value: 12
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "dterm_setpoint_weight",
|
||
|
|
value: 0.400
|
||
|
|
}
|
||
|
|
],
|
||
|
|
type: 'multirotor'
|
||
|
|
},
|
||
|
|
{
|
||
|
|
name: '5-inch Multirotor Preset',
|
||
|
|
description: "INAV Quad X configuration, 5-inch propellers. F4/F7 CPU. GPS and Magnetometer are optional",
|
||
|
|
features: ["DSHOT600", "2k mode", "Matrix Filter", "Improved mechanics", "Optimized filtering", "Optimized rates"],
|
||
|
|
applyDefaults: ["PIDs", "INAV_PID_CONFIG", "ADVANCED_CONFIG", "RC_tuning", "PID_ADVANCED", "FILTER_CONFIG", "FC_CONFIG", "MIXER_CONFIG"],
|
||
|
|
settingsMSP: [
|
||
|
|
presets.elementHelper("BF_CONFIG", "mixerConfiguration", 3),
|
||
|
|
presets.elementHelper("MIXER_CONFIG", "platformType", 0)
|
||
|
|
],
|
||
|
|
settings: [
|
||
|
|
{
|
||
|
|
key: "motor_pwm_protocol",
|
||
|
|
value: "DSHOT600"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "gyro_hardware_lpf",
|
||
|
|
value: "256HZ"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "looptime",
|
||
|
|
value: 500
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "gyro_lpf_hz",
|
||
|
|
value: 110
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "gyro_lpf_type",
|
||
|
|
value: "PT1"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "gyro_stage2_lowpass_hz",
|
||
|
|
value: 250
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "gyro_stage2_lowpass_type",
|
||
|
|
value: "PT1"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "dterm_lpf_hz",
|
||
|
|
value: 100
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "dterm_lpf_type",
|
||
|
|
value: "PT1"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "use_dterm_fir_filter",
|
||
|
|
value: "OFF"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_iterm_relax_type",
|
||
|
|
value: "SETPOINT"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_iterm_relax",
|
||
|
|
value: "RP"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "d_boost_factor",
|
||
|
|
value: 1.5
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "d_boost_max_at_acceleration",
|
||
|
|
value: 7500.000
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "d_boost_gyro_delta_lpf_hz",
|
||
|
|
value: 80
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "antigravity_gain",
|
||
|
|
value: 2
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "antigravity_accelerator",
|
||
|
|
value: 5
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "rc_yaw_expo",
|
||
|
|
value: 70
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "rc_expo",
|
||
|
|
value: 70
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "roll_rate",
|
||
|
|
value: 70
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "pitch_rate",
|
||
|
|
value: 70
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "yaw_rate",
|
||
|
|
value: 60
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_p_pitch",
|
||
|
|
value: 44
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_i_pitch",
|
||
|
|
value: 60
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_d_pitch",
|
||
|
|
value: 25
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_p_roll",
|
||
|
|
value: 40
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_i_roll",
|
||
|
|
value: 50
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_d_roll",
|
||
|
|
value: 25
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_p_yaw",
|
||
|
|
value: 45
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_i_yaw",
|
||
|
|
value: 70
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_airmode_type",
|
||
|
|
value: "THROTTLE_THRESHOLD"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "dynamic_gyro_notch_enabled",
|
||
|
|
value: "ON"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "dynamic_gyro_notch_q",
|
||
|
|
value: 200
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "dynamic_gyro_notch_min_hz",
|
||
|
|
value: 150
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "min_check",
|
||
|
|
value: 1050
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "throttle_idle",
|
||
|
|
value: 12
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "dterm_setpoint_weight",
|
||
|
|
value: 0.850
|
||
|
|
}
|
||
|
|
],
|
||
|
|
type: 'multirotor'
|
||
|
|
},
|
||
|
|
{
|
||
|
|
name: '5-inch, 2208 2450KV motors',
|
||
|
|
description: "Overpowered freestyle kwad. 5-inch, 3 bladed propellers like HQProp S4, Nepal N1, 2208 2450KV motors, 4S, DSHOT600 ESC protocol. Optimized for smooth, freestyle or acrobatic flight.",
|
||
|
|
features: ["DSHOT600", "4k mode", "Matrix Filter", "Improved mechanics", "Optimized filtering", "Optimized rates"],
|
||
|
|
applyDefaults: ["PIDs", "INAV_PID_CONFIG", "ADVANCED_CONFIG", "RC_tuning", "PID_ADVANCED", "FILTER_CONFIG", "FC_CONFIG", "MIXER_CONFIG"],
|
||
|
|
settingsMSP: [
|
||
|
|
presets.elementHelper("BF_CONFIG", "mixerConfiguration", 3),
|
||
|
|
presets.elementHelper("MIXER_CONFIG", "platformType", 0)
|
||
|
|
],
|
||
|
|
settings: [
|
||
|
|
{
|
||
|
|
key: "motor_pwm_protocol",
|
||
|
|
value: "DSHOT600"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "gyro_hardware_lpf",
|
||
|
|
value: "256HZ"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "looptime",
|
||
|
|
value: 250
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "gyro_lpf_hz",
|
||
|
|
value: 115
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "gyro_lpf_type",
|
||
|
|
value: "PT1"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "gyro_stage2_lowpass_hz",
|
||
|
|
value: 250
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "gyro_stage2_lowpass_type",
|
||
|
|
value: "PT1"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "dterm_lpf_hz",
|
||
|
|
value: 110
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "dterm_lpf_type",
|
||
|
|
value: "PT1"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "dterm_lpf2_hz",
|
||
|
|
value: 250
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "dterm_lpf2_type",
|
||
|
|
value: "PT1"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "use_dterm_fir_filter",
|
||
|
|
value: "OFF"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_iterm_relax_type",
|
||
|
|
value: "SETPOINT"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_iterm_relax",
|
||
|
|
value: "RP"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "d_boost_factor",
|
||
|
|
value: 1.5
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "d_boost_max_at_acceleration",
|
||
|
|
value: 7500.000
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "d_boost_gyro_delta_lpf_hz",
|
||
|
|
value: 80
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "antigravity_gain",
|
||
|
|
value: 2
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "antigravity_accelerator",
|
||
|
|
value: 5
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "rc_yaw_expo",
|
||
|
|
value: 70
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "rc_expo",
|
||
|
|
value: 70
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "roll_rate",
|
||
|
|
value: 85
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "pitch_rate",
|
||
|
|
value: 85
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "yaw_rate",
|
||
|
|
value: 75
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_p_pitch",
|
||
|
|
value: 26
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_i_pitch",
|
||
|
|
value: 60
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_d_pitch",
|
||
|
|
value: 30
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_p_roll",
|
||
|
|
value: 22
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_i_roll",
|
||
|
|
value: 50
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_d_roll",
|
||
|
|
value: 26
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_p_yaw",
|
||
|
|
value: 44
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_i_yaw",
|
||
|
|
value: 70
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_airmode_type",
|
||
|
|
value: "THROTTLE_THRESHOLD"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "dynamic_gyro_notch_enabled",
|
||
|
|
value: "ON"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "dynamic_gyro_notch_q",
|
||
|
|
value: 200
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "dynamic_gyro_notch_min_hz",
|
||
|
|
value: 140
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "min_check",
|
||
|
|
value: 1050
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "throttle_idle",
|
||
|
|
value: 12
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "dterm_setpoint_weight",
|
||
|
|
value: 0.850
|
||
|
|
}
|
||
|
|
],
|
||
|
|
type: 'multirotor'
|
||
|
|
},
|
||
|
|
{
|
||
|
|
name: '6-inch, 2207 1700KV motors',
|
||
|
|
description: "6-inch, 3 bladed propellers, 2207 1700KV motors, 4S, DSHOT600 ESC protocol. Optimized for smooth, freestyle or acrobatic flight with GPS or not.",
|
||
|
|
features: ["DSHOT600", "2k mode", "Matrix Filter", "Improved mechanics", "Optimized filtering", "Optimized rates"],
|
||
|
|
applyDefaults: ["PIDs", "INAV_PID_CONFIG", "ADVANCED_CONFIG", "RC_tuning", "PID_ADVANCED", "FILTER_CONFIG", "FC_CONFIG", "MIXER_CONFIG"],
|
||
|
|
settingsMSP: [
|
||
|
|
presets.elementHelper("BF_CONFIG", "mixerConfiguration", 3),
|
||
|
|
presets.elementHelper("MIXER_CONFIG", "platformType", 0)
|
||
|
|
],
|
||
|
|
settings: [
|
||
|
|
{
|
||
|
|
key: "motor_pwm_protocol",
|
||
|
|
value: "DSHOT600"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "gyro_hardware_lpf",
|
||
|
|
value: "256HZ"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "looptime",
|
||
|
|
value: 500
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "gyro_lpf_hz",
|
||
|
|
value: 100
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "gyro_lpf_type",
|
||
|
|
value: "PT1"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "gyro_stage2_lowpass_hz",
|
||
|
|
value: 250
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "gyro_stage2_lowpass_type",
|
||
|
|
value: "PT1"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "dterm_lpf_hz",
|
||
|
|
value: 90
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "dterm_lpf_type",
|
||
|
|
value: "PT1"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "dterm_lpf2_hz",
|
||
|
|
value: 200
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "dterm_lpf2_type",
|
||
|
|
value: "PT1"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "use_dterm_fir_filter",
|
||
|
|
value: "OFF"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_iterm_relax_type",
|
||
|
|
value: "SETPOINT"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_iterm_relax",
|
||
|
|
value: "RP"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "d_boost_factor",
|
||
|
|
value: 1.5
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "d_boost_max_at_acceleration",
|
||
|
|
value: 5500.000
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "d_boost_gyro_delta_lpf_hz",
|
||
|
|
value: 70
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "antigravity_gain",
|
||
|
|
value: 2
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "antigravity_accelerator",
|
||
|
|
value: 5
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "rc_yaw_expo",
|
||
|
|
value: 70
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "rc_expo",
|
||
|
|
value: 70
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "roll_rate",
|
||
|
|
value: 70
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "pitch_rate",
|
||
|
|
value: 70
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "yaw_rate",
|
||
|
|
value: 60
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_p_pitch",
|
||
|
|
value: 37
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_i_pitch",
|
||
|
|
value: 70
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_d_pitch",
|
||
|
|
value: 22
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_p_roll",
|
||
|
|
value: 31
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_i_roll",
|
||
|
|
value: 50
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_d_roll",
|
||
|
|
value: 21
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_p_yaw",
|
||
|
|
value: 50
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_i_yaw",
|
||
|
|
value: 70
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_airmode_type",
|
||
|
|
value: "THROTTLE_THRESHOLD"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "dynamic_gyro_notch_enabled",
|
||
|
|
value: "ON"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "dynamic_gyro_notch_q",
|
||
|
|
value: 175
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "dynamic_gyro_notch_min_hz",
|
||
|
|
value: 110
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "min_check",
|
||
|
|
value: 1050
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "throttle_idle",
|
||
|
|
value: 12
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "dterm_setpoint_weight",
|
||
|
|
value: 0.700
|
||
|
|
}
|
||
|
|
],
|
||
|
|
type: 'multirotor'
|
||
|
|
},
|
||
|
|
{
|
||
|
|
name: '7-inch Multirotor Preset',
|
||
|
|
description: "General configuration for 7-inch propellers. Adjusted rates and filtering.",
|
||
|
|
features: ["DSHOT600", "2k mode", "Matrix Filter", "Improved mechanics", "Optimized filtering", "Optimized rates"],
|
||
|
|
applyDefaults: ["PIDs", "INAV_PID_CONFIG", "ADVANCED_CONFIG", "RC_tuning", "PID_ADVANCED", "FILTER_CONFIG", "FC_CONFIG", "MIXER_CONFIG"],
|
||
|
|
settingsMSP: [
|
||
|
|
presets.elementHelper("BF_CONFIG", "mixerConfiguration", 3),
|
||
|
|
presets.elementHelper("MIXER_CONFIG", "platformType", 0)
|
||
|
|
],
|
||
|
|
settings: [
|
||
|
|
{
|
||
|
|
key: "motor_pwm_protocol",
|
||
|
|
value: "DSHOT600"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "gyro_hardware_lpf",
|
||
|
|
value: "256HZ"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "looptime",
|
||
|
|
value: 500
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "gyro_lpf_hz",
|
||
|
|
value: 100
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "gyro_lpf_type",
|
||
|
|
value: "PT1"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "gyro_stage2_lowpass_hz",
|
||
|
|
value: 160
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "gyro_stage2_lowpass_type",
|
||
|
|
value: "PT1"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "dterm_lpf_hz",
|
||
|
|
value: 90
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "dterm_lpf_type",
|
||
|
|
value: "PT1"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "dterm_lpf2_hz",
|
||
|
|
value: 0
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "dterm_lpf2_type",
|
||
|
|
value: "PT1"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "use_dterm_fir_filter",
|
||
|
|
value: "OFF"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_iterm_relax_type",
|
||
|
|
value: "SETPOINT"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_iterm_relax",
|
||
|
|
value: "RPY"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "d_boost_factor",
|
||
|
|
value: 1.5
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "d_boost_max_at_acceleration",
|
||
|
|
value: 5000.000
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "d_boost_gyro_delta_lpf_hz",
|
||
|
|
value: 65
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "antigravity_gain",
|
||
|
|
value: 2
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "antigravity_accelerator",
|
||
|
|
value: 5
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "rc_yaw_expo",
|
||
|
|
value: 70
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "rc_expo",
|
||
|
|
value: 70
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "roll_rate",
|
||
|
|
value: 70
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "pitch_rate",
|
||
|
|
value: 70
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "yaw_rate",
|
||
|
|
value: 60
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_p_pitch",
|
||
|
|
value: 44
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_i_pitch",
|
||
|
|
value: 60
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_d_pitch",
|
||
|
|
value: 25
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_p_roll",
|
||
|
|
value: 40
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_i_roll",
|
||
|
|
value: 50
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_d_roll",
|
||
|
|
value: 25
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_p_yaw",
|
||
|
|
value: 45
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_i_yaw",
|
||
|
|
value: 70
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_airmode_type",
|
||
|
|
value: "THROTTLE_THRESHOLD"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "dynamic_gyro_notch_enabled",
|
||
|
|
value: "ON"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "dynamic_gyro_notch_q",
|
||
|
|
value: 200
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "dynamic_gyro_notch_min_hz",
|
||
|
|
value: 80
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "min_check",
|
||
|
|
value: 1050
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "throttle_idle",
|
||
|
|
value: 12
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "dterm_setpoint_weight",
|
||
|
|
value: 0.800
|
||
|
|
}
|
||
|
|
],
|
||
|
|
type: 'multirotor'
|
||
|
|
},
|
||
|
|
{
|
||
|
|
name: '10-inch Multirotor Preset',
|
||
|
|
description: "450-600 class general purpose multirotor with 10-inch 2-bladed propellers.",
|
||
|
|
features: [
|
||
|
|
"DSHOT600",
|
||
|
|
"400dps rates",
|
||
|
|
"Improved PID defaults",
|
||
|
|
"Adjusted filtering"
|
||
|
|
],
|
||
|
|
applyDefaults: ["PIDs", "INAV_PID_CONFIG", "ADVANCED_CONFIG", "RC_tuning", "PID_ADVANCED", "FILTER_CONFIG", "FC_CONFIG", "MIXER_CONFIG"],
|
||
|
|
settingsMSP: [
|
||
|
|
presets.elementHelper("BF_CONFIG", "mixerConfiguration", 3),
|
||
|
|
presets.elementHelper("MIXER_CONFIG", "platformType", 0)
|
||
|
|
],
|
||
|
|
settings: [
|
||
|
|
{
|
||
|
|
key: "motor_pwm_protocol",
|
||
|
|
value: "DSHOT600"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "gyro_hardware_lpf",
|
||
|
|
value: "256HZ"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "looptime",
|
||
|
|
value: 500
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "gyro_lpf_hz",
|
||
|
|
value: 60
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "gyro_lpf_type",
|
||
|
|
value: "PT1"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "gyro_stage2_lowpass_hz",
|
||
|
|
value: 120
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "gyro_stage2_lowpass_type",
|
||
|
|
value: "PT1"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "dterm_lpf_hz",
|
||
|
|
value: 60
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "dterm_lpf_type",
|
||
|
|
value: "PT1"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "dterm_lpf2_hz",
|
||
|
|
value: 0
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "dterm_lpf2_type",
|
||
|
|
value: "PT1"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "use_dterm_fir_filter",
|
||
|
|
value: "OFF"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_iterm_relax_type",
|
||
|
|
value: "SETPOINT"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_iterm_relax",
|
||
|
|
value: "RPY"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "d_boost_factor",
|
||
|
|
value: 1.5
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "d_boost_max_at_acceleration",
|
||
|
|
value: 5000.000
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "d_boost_gyro_delta_lpf_hz",
|
||
|
|
value: 50
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "antigravity_gain",
|
||
|
|
value: 2
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "antigravity_accelerator",
|
||
|
|
value: 5
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "rc_yaw_expo",
|
||
|
|
value: 70
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "rc_expo",
|
||
|
|
value: 70
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "roll_rate",
|
||
|
|
value: 70
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "pitch_rate",
|
||
|
|
value: 70
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "yaw_rate",
|
||
|
|
value: 60
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_p_pitch",
|
||
|
|
value: 44
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_i_pitch",
|
||
|
|
value: 60
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_d_pitch",
|
||
|
|
value: 25
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_p_roll",
|
||
|
|
value: 40
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_i_roll",
|
||
|
|
value: 50
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_d_roll",
|
||
|
|
value: 25
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_p_yaw",
|
||
|
|
value: 45
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_i_yaw",
|
||
|
|
value: 70
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "mc_airmode_type",
|
||
|
|
value: "THROTTLE_THRESHOLD"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "dynamic_gyro_notch_enabled",
|
||
|
|
value: "ON"
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "dynamic_gyro_notch_q",
|
||
|
|
value: 150
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "dynamic_gyro_notch_min_hz",
|
||
|
|
value: 60
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "min_check",
|
||
|
|
value: 1050
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "throttle_idle",
|
||
|
|
value: 12
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "dterm_setpoint_weight",
|
||
|
|
value: 0.300
|
||
|
|
},
|
||
|
|
{
|
||
|
|
key: "heading_hold_rate_limit",
|
||
|
|
value: 30
|
||
|
|
}
|
||
|
|
],
|
||
|
|
type: 'multirotor'
|
||
|
|
},
|
||
|
|
{
|
||
|
|
name: "Airplane General",
|
||
|
|
description: "General setup for airplanes",
|
||
|
|
features: [
|
||
|
|
"Adjusted gyro filtering",
|
||
|
|
"Adjusted PIDs",
|
||
|
|
"Adjusted rates"
|
||
|
|
],
|
||
|
|
applyDefaults: ["PIDs", "INAV_PID_CONFIG", "ADVANCED_CONFIG", "RC_tuning", "PID_ADVANCED", "FILTER_CONFIG", "FC_CONFIG", "MIXER_CONFIG"],
|
||
|
|
settingsMSP: [
|
||
|
|
presets.elementHelper("BF_CONFIG", "mixerConfiguration", 14),
|
||
|
|
presets.elementHelper("MIXER_CONFIG", "platformType", 1),
|
||
|
|
presets.elementHelper("RC_tuning", "roll_rate", 200),
|
||
|
|
presets.elementHelper("RC_tuning", "pitch_rate", 150),
|
||
|
|
presets.elementHelper("RC_tuning", "yaw_rate", 90),
|
||
|
|
presets.elementHelper("INAV_PID_CONFIG", "gyroscopeLpf", 1)
|
||
|
|
],
|
||
|
|
type: 'airplane'
|
||
|
|
},
|
||
|
|
{
|
||
|
|
name: "Flying wing Z84",
|
||
|
|
description: "Small flying wing on multirotor racer parts<br>" +
|
||
|
|
"<span>300g-500g weight, 3S-4S battery</span>",
|
||
|
|
features: [
|
||
|
|
"Adjusted gyro filtering",
|
||
|
|
"Adjusted PIDs",
|
||
|
|
"Adjusted rates"
|
||
|
|
],
|
||
|
|
applyDefaults: ["PIDs", "INAV_PID_CONFIG", "ADVANCED_CONFIG", "RC_tuning", "PID_ADVANCED", "FILTER_CONFIG", "FC_CONFIG", "MIXER_CONFIG"],
|
||
|
|
settingsMSP: [
|
||
|
|
presets.elementHelper("BF_CONFIG", "mixerConfiguration", 8),
|
||
|
|
presets.elementHelper("MIXER_CONFIG", "platformType", 1),
|
||
|
|
presets.elementHelper("PIDs", 0, [2, 15, 0, 30]), //ROLL PIDs
|
||
|
|
presets.elementHelper("PIDs", 1, [2, 15, 0, 70]), //PITCH PIDs
|
||
|
|
presets.elementHelper("PIDs", 7, [10, 15, 75, 0]), //LEVEL PIDs
|
||
|
|
presets.elementHelper("RC_tuning", "roll_rate", 350),
|
||
|
|
presets.elementHelper("RC_tuning", "pitch_rate", 90),
|
||
|
|
presets.elementHelper("RC_tuning", "dynamic_THR_PID", 33),
|
||
|
|
presets.elementHelper("RC_tuning", "dynamic_THR_breakpoint", 1300),
|
||
|
|
presets.elementHelper("INAV_PID_CONFIG", "gyroscopeLpf", 4)
|
||
|
|
],
|
||
|
|
type: 'flyingwing'
|
||
|
|
},
|
||
|
|
{
|
||
|
|
name: "Flying Wing S800 Sky Shadow",
|
||
|
|
description: "Flying wing on multirotor racer parts with 3S/4S battery and FPV equipment",
|
||
|
|
features: [
|
||
|
|
"Adjusted gyro filtering",
|
||
|
|
"Adjusted PIDs",
|
||
|
|
"Adjusted rates"
|
||
|
|
],
|
||
|
|
applyDefaults: ["PIDs", "INAV_PID_CONFIG", "ADVANCED_CONFIG", "RC_tuning", "PID_ADVANCED", "FILTER_CONFIG", "FC_CONFIG", "MIXER_CONFIG"],
|
||
|
|
settingsMSP: [
|
||
|
|
presets.elementHelper("BF_CONFIG", "mixerConfiguration", 8),
|
||
|
|
presets.elementHelper("MIXER_CONFIG", "platformType", 1),
|
||
|
|
presets.elementHelper("PIDs", 0, [6, 6, 0, 49]), //ROLL PIDs
|
||
|
|
presets.elementHelper("PIDs", 1, [6, 9, 0, 52]), //PITCH PIDs
|
||
|
|
presets.elementHelper("INAV_PID_CONFIG", "gyroscopeLpf", 0),
|
||
|
|
presets.elementHelper("FILTER_CONFIG", "gyroSoftLpfHz", 40),
|
||
|
|
presets.elementHelper("RC_tuning", "roll_rate", 280),
|
||
|
|
presets.elementHelper("RC_tuning", "pitch_rate", 140),
|
||
|
|
presets.elementHelper("RC_tuning", "dynamic_THR_PID", 20),
|
||
|
|
presets.elementHelper("RC_tuning", "dynamic_THR_breakpoint", 1600)
|
||
|
|
],
|
||
|
|
type: 'flyingwing'
|
||
|
|
},
|
||
|
|
{
|
||
|
|
name: "Ritewing Mini Drak",
|
||
|
|
description: "Amazig looking and flying airplane with 8x6 propeller, 2216 1400KV motor, powered with 4S LiPo. AUW above 1200g",
|
||
|
|
features: [
|
||
|
|
"Adjusted gyro filtering",
|
||
|
|
"Adjusted PIDs",
|
||
|
|
"Adjusted rates"
|
||
|
|
],
|
||
|
|
applyDefaults: ["PIDs", "INAV_PID_CONFIG", "ADVANCED_CONFIG", "RC_tuning", "PID_ADVANCED", "FILTER_CONFIG", "FC_CONFIG", "MIXER_CONFIG"],
|
||
|
|
settingsMSP: [
|
||
|
|
presets.elementHelper("BF_CONFIG", "mixerConfiguration", 8),
|
||
|
|
presets.elementHelper("MIXER_CONFIG", "platformType", 1),
|
||
|
|
presets.elementHelper("PIDs", 0, [7, 7, 0, 25]), //ROLL PIDs
|
||
|
|
presets.elementHelper("PIDs", 1, [5, 9, 0, 56]), //PITCH PIDs
|
||
|
|
presets.elementHelper("INAV_PID_CONFIG", "gyroscopeLpf", 0),
|
||
|
|
presets.elementHelper("FILTER_CONFIG", "gyroSoftLpfHz", 35),
|
||
|
|
presets.elementHelper("RC_tuning", "roll_rate", 260),
|
||
|
|
presets.elementHelper("RC_tuning", "pitch_rate", 140),
|
||
|
|
presets.elementHelper("RC_tuning", "dynamic_THR_PID", 30),
|
||
|
|
presets.elementHelper("RC_tuning", "dynamic_THR_breakpoint", 1550)
|
||
|
|
],
|
||
|
|
type: 'flyingwing'
|
||
|
|
},
|
||
|
|
{
|
||
|
|
name: "ZOHD Dart 250G",
|
||
|
|
description: "Small and light flying wing that can be build below 250g and as such be fully legal in many countries",
|
||
|
|
features: [
|
||
|
|
"Adjusted gyro filtering",
|
||
|
|
"Adjusted PIDs",
|
||
|
|
"Adjusted rates"
|
||
|
|
],
|
||
|
|
applyDefaults: ["PIDs", "INAV_PID_CONFIG", "ADVANCED_CONFIG", "RC_tuning", "PID_ADVANCED", "FILTER_CONFIG", "FC_CONFIG", "MIXER_CONFIG"],
|
||
|
|
settingsMSP: [
|
||
|
|
presets.elementHelper("BF_CONFIG", "mixerConfiguration", 8),
|
||
|
|
presets.elementHelper("MIXER_CONFIG", "platformType", 1),
|
||
|
|
presets.elementHelper("PIDs", 0, [9, 12, 0, 15]), //ROLL PIDs
|
||
|
|
presets.elementHelper("PIDs", 1, [9, 15, 0, 14]), //PITCH PIDs
|
||
|
|
presets.elementHelper("INAV_PID_CONFIG", "gyroscopeLpf", 0),
|
||
|
|
presets.elementHelper("FILTER_CONFIG", "gyroSoftLpfHz", 35),
|
||
|
|
presets.elementHelper("RC_tuning", "roll_rate", 360),
|
||
|
|
presets.elementHelper("RC_tuning", "pitch_rate", 130),
|
||
|
|
presets.elementHelper("RC_tuning", "dynamic_THR_PID", 30),
|
||
|
|
presets.elementHelper("RC_tuning", "dynamic_THR_breakpoint", 1500)
|
||
|
|
],
|
||
|
|
type: 'flyingwing'
|
||
|
|
},
|
||
|
|
{
|
||
|
|
name: "Mini AR Wing",
|
||
|
|
description: "Small, 600mm wingspan, FPV flying wing",
|
||
|
|
features: [
|
||
|
|
"Adjusted gyro filtering",
|
||
|
|
"Adjusted PIDs",
|
||
|
|
"Adjusted rates"
|
||
|
|
],
|
||
|
|
applyDefaults: ["PIDs", "INAV_PID_CONFIG", "ADVANCED_CONFIG", "RC_tuning", "PID_ADVANCED", "FILTER_CONFIG", "FC_CONFIG", "MIXER_CONFIG"],
|
||
|
|
settingsMSP: [
|
||
|
|
presets.elementHelper("BF_CONFIG", "mixerConfiguration", 8),
|
||
|
|
presets.elementHelper("MIXER_CONFIG", "platformType", 1),
|
||
|
|
presets.elementHelper("PIDs", 0, [8, 16, 0, 64]), //ROLL PIDs
|
||
|
|
presets.elementHelper("PIDs", 1, [5, 18, 0, 60]), //PITCH PIDs
|
||
|
|
presets.elementHelper("INAV_PID_CONFIG", "gyroscopeLpf", 0),
|
||
|
|
presets.elementHelper("FILTER_CONFIG", "gyroSoftLpfHz", 35),
|
||
|
|
presets.elementHelper("RC_tuning", "roll_rate", 280),
|
||
|
|
presets.elementHelper("RC_tuning", "pitch_rate", 120)
|
||
|
|
],
|
||
|
|
type: 'flyingwing'
|
||
|
|
}
|
||
|
|
];
|