|
|
|
@ -11,10 +11,10 @@ presets.elementHelper = function (group, field, value) {
|
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
presets.defaultValues = {
|
|
|
|
|
INAV_PID_CONFIG: {"asynchronousMode": "0", "accelerometerTaskFrequency": 500, "attitudeTaskFrequency": 250, "magHoldRateLimit": 90, "magHoldErrorLpfFrequency": 2, "yawJumpPreventionLimit": 200, "gyroscopeLpf": "3", "accSoftLpfHz": 15},
|
|
|
|
|
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},
|
|
|
|
|
PID_ADVANCED: {"rollPitchItermIgnoreRate": 200, "yawItermIgnoreRate": 50, "yawPLimit": 300, "axisAccelerationLimitRollPitch": 0, "axisAccelerationLimitYaw": 1000},
|
|
|
|
|
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}
|
|
|
|
|
INAV_PID_CONFIG: { "asynchronousMode": "0", "accelerometerTaskFrequency": 500, "attitudeTaskFrequency": 250, "magHoldRateLimit": 90, "magHoldErrorLpfFrequency": 2, "yawJumpPreventionLimit": 200, "gyroscopeLpf": "3", "accSoftLpfHz": 15 },
|
|
|
|
|
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 },
|
|
|
|
|
PID_ADVANCED: { "rollPitchItermIgnoreRate": 200, "yawItermIgnoreRate": 50, "yawPLimit": 300, "axisAccelerationLimitRollPitch": 0, "axisAccelerationLimitYaw": 1000 },
|
|
|
|
|
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 }
|
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
presets.settings = {
|
|
|
|
@ -26,7 +26,7 @@ presets.settings = {
|
|
|
|
|
},
|
|
|
|
|
MR: {
|
|
|
|
|
},
|
|
|
|
|
get: function(mixerType) {
|
|
|
|
|
get: function (mixerType) {
|
|
|
|
|
var settings = {};
|
|
|
|
|
$.extend(settings, presets.settings.COMMON);
|
|
|
|
|
if (mixerType == 'multirotor') {
|
|
|
|
@ -942,344 +942,340 @@ presets.presets = [
|
|
|
|
|
],
|
|
|
|
|
type: 'multirotor'
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
name: 'Airplane with a tail',
|
|
|
|
|
{
|
|
|
|
|
name: 'Airplane with a tail',
|
|
|
|
|
description: "General setup for airplanes with tails.",
|
|
|
|
|
features: ["Adjusted gyro filtering", "Adjusted PIDs", "Adjusted rates"],
|
|
|
|
|
applyDefaults: ["INAV_PID_CONFIG", "RC_tuning", "PID_ADVANCED", "FILTER_CONFIG"],
|
|
|
|
|
settingsMSP: [],
|
|
|
|
|
type: 'airplane',
|
|
|
|
|
type: 'airplane',
|
|
|
|
|
settings: [
|
|
|
|
|
{
|
|
|
|
|
{
|
|
|
|
|
key: "platform_type",
|
|
|
|
|
value: "AIRPLANE"
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "applied_defaults",
|
|
|
|
|
value: 3
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "gyro_hardware_lpf",
|
|
|
|
|
value: "256HZ"
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "gyro_main_lpf_hz",
|
|
|
|
|
value: 25
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "dterm_lpf_hz",
|
|
|
|
|
value: 40
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
value: 10
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "d_boost_factor",
|
|
|
|
|
value: 1
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "gyro_main_lpf_type",
|
|
|
|
|
value: "BIQUAD"
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "dynamic_gyro_notch_enabled",
|
|
|
|
|
value: "ON"
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "dynamic_gyro_notch_q",
|
|
|
|
|
value: 250
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "dynamic_gyro_notch_min_hz",
|
|
|
|
|
value: 30
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "motor_pwm_protocol",
|
|
|
|
|
value: "STANDARD"
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "throttle_idle",
|
|
|
|
|
value: 5.0
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "rc_yaw_expo",
|
|
|
|
|
value: 30
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "rc_expo",
|
|
|
|
|
value: 30
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "roll_rate",
|
|
|
|
|
value: 18
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "pitch_rate",
|
|
|
|
|
value: 9
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "yaw_rate",
|
|
|
|
|
value: 3
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "nav_fw_pos_z_p",
|
|
|
|
|
value: 20
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
value: 20
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "nav_fw_pos_z_d",
|
|
|
|
|
value: 5
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "nav_fw_pos_xy_p",
|
|
|
|
|
value: 50
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
value: 60
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "fw_turn_assist_pitch_gain",
|
|
|
|
|
value: 0.5
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "max_angle_inclination_rll",
|
|
|
|
|
value: 350
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "nav_fw_bank_angle",
|
|
|
|
|
value: 35
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "fw_p_pitch",
|
|
|
|
|
value: 15
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "fw_i_pitch",
|
|
|
|
|
value: 10
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "fw_ff_pitch",
|
|
|
|
|
value: 60
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
value: 80
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "fw_p_roll",
|
|
|
|
|
value: 10
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "fw_i_roll",
|
|
|
|
|
value: 8
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "fw_ff_roll",
|
|
|
|
|
value: 40
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "fw_p_yaw",
|
|
|
|
|
value: 20
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "fw_i_yaw",
|
|
|
|
|
value: 5
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "fw_ff_yaw",
|
|
|
|
|
value: 100
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "imu_acc_ignore_rate",
|
|
|
|
|
value: 10
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
value: 9
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "imu_acc_ignore_slope",
|
|
|
|
|
value: 5
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "airmode_type",
|
|
|
|
|
value: "STICK_CENTER_ONCE"
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "small_angle",
|
|
|
|
|
value: 180
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "nav_fw_control_smoothness",
|
|
|
|
|
value: 2
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "nav_rth_allow_landing",
|
|
|
|
|
value: "FS_ONLY"
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "nav_rth_altitude",
|
|
|
|
|
value: 5000
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "failsafe_mission",
|
|
|
|
|
value: "ON"
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
value: "ON"
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "nav_wp_radius",
|
|
|
|
|
value: 1500
|
|
|
|
|
},
|
|
|
|
|
],
|
|
|
|
|
},
|
|
|
|
|
],
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
name: "Airplane without tail",
|
|
|
|
|
description: "General setup for airplanes without tails: Flying Wing, Delta, etc.",
|
|
|
|
|
features: ["Adjusted gyro filtering", "Adjusted PIDs", "Adjusted rates"],
|
|
|
|
|
features: ["Adjusted gyro filtering", "Adjusted PIDs", "Adjusted rates"],
|
|
|
|
|
applyDefaults: ["INAV_PID_CONFIG", "RC_tuning", "PID_ADVANCED", "FILTER_CONFIG"],
|
|
|
|
|
settingsMSP: [],
|
|
|
|
|
type: 'flyingwing',
|
|
|
|
|
type: 'flyingwing',
|
|
|
|
|
settings: [
|
|
|
|
|
{
|
|
|
|
|
{
|
|
|
|
|
key: "platform_type",
|
|
|
|
|
value: "AIRPLANE"
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "applied_defaults",
|
|
|
|
|
value: 3
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "gyro_hardware_lpf",
|
|
|
|
|
value: "256HZ"
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "gyro_main_lpf_hz",
|
|
|
|
|
value: 25
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "gyro_main_lpf_hz",
|
|
|
|
|
value: 25
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "dterm_lpf_hz",
|
|
|
|
|
value: 40
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
value: 10
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "d_boost_factor",
|
|
|
|
|
value: 1
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "gyro_main_lpf_type",
|
|
|
|
|
value: "BIQUAD"
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "dynamic_gyro_notch_enabled",
|
|
|
|
|
value: "ON"
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "dynamic_gyro_notch_q",
|
|
|
|
|
value: 250
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "dynamic_gyro_notch_min_hz",
|
|
|
|
|
value: 30
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "motor_pwm_protocol",
|
|
|
|
|
value: "STANDARD"
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "throttle_idle",
|
|
|
|
|
value: 5.0
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "rc_yaw_expo",
|
|
|
|
|
value: 30
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "rc_expo",
|
|
|
|
|
value: 30
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "roll_rate",
|
|
|
|
|
value: 18
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "pitch_rate",
|
|
|
|
|
value: 9
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "yaw_rate",
|
|
|
|
|
value: 3
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "nav_fw_pos_z_p",
|
|
|
|
|
value: 20
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "nav_fw_pos_z_d",
|
|
|
|
|
value: 5
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "nav_fw_pos_xy_p",
|
|
|
|
|
value: 50
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
value: 60
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "fw_turn_assist_pitch_gain",
|
|
|
|
|
value: 0.2
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "max_angle_inclination_rll",
|
|
|
|
|
value: 450
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "nav_fw_bank_angle",
|
|
|
|
|
value: 45
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "fw_p_pitch",
|
|
|
|
|
value: 10
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "fw_i_pitch",
|
|
|
|
|
value: 15
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "fw_ff_pitch",
|
|
|
|
|
value: 70
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "fw_p_roll",
|
|
|
|
|
value: 5
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "fw_i_roll",
|
|
|
|
|
value: 8
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "fw_ff_roll",
|
|
|
|
|
value: 35
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "fw_p_yaw",
|
|
|
|
|
value: 20
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "fw_i_yaw",
|
|
|
|
|
value: 5
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "fw_ff_yaw",
|
|
|
|
|
value: 100
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "imu_acc_ignore_rate",
|
|
|
|
|
value: 10
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
value: 9
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "imu_acc_ignore_slope",
|
|
|
|
|
value: 5
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "airmode_type",
|
|
|
|
|
value: "STICK_CENTER_ONCE"
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "small_angle",
|
|
|
|
|
value: 180
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "nav_fw_control_smoothness",
|
|
|
|
|
value: 2
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "nav_rth_allow_landing",
|
|
|
|
|
value: "FS_ONLY"
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "nav_rth_altitude",
|
|
|
|
|
value: 5000
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "failsafe_mission",
|
|
|
|
|
value: "ON"
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
},
|
|
|
|
|
{
|
|
|
|
|
key: "nav_wp_radius",
|
|
|
|
|
value: 1500
|
|
|
|
|
},
|
|
|
|
|
],
|
|
|
|
|
},
|
|
|
|
|
],
|
|
|
|
|
},
|
|
|
|
|
];
|
|
|
|
|