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63 lines
1.0 KiB
Plaintext
63 lines
1.0 KiB
Plaintext
# Parameters for Starling 2 Max drone
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# https://www.modalai.com/products/starling-2-max?variant=48172375310640
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# IMU orientation is ROLL_180
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AHRS_ORIENTATION 8
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# Mag orientation is ROLL_180
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COMPASS_ORIENT 8
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# quad-X
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FRAME_CLASS 1
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# R/C inputs
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RC1_DZ 40
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RC2_DZ 40
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RC2_REVERSED 1
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RC4_DZ 40
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# Left 3-pos switch is RC6
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FLTMODE_CH 6
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# Flight mode channel mapping
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FLTMODE1 0
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FLTMODE3 2
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FLTMODE6 5
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# Motor mapping
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SERVO1_FUNCTION 34
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SERVO2_FUNCTION 35
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SERVO3_FUNCTION 33
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SERVO4_FUNCTION 36
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# Motor spin
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MOT_SPIN_ARM 0.05
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MOT_SPIN_MIN 0.15
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# Visual Inertial Odometry setup
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VISO_TYPE 3
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EK3_SRC1_POSXY 6
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EK3_SRC1_VELXY 6
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EK3_SRC1_POSZ 6
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EK3_SRC1_VELZ 6
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EK3_SRC1_YAW 6
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# To improve Mavlink connection disable forwarding from camera/viso
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SERIAL2_OPTIONS 1024
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# PID tuning
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ATC_RAT_RLL_P 0.07
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ATC_RAT_RLL_I 0.07
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ATC_RAT_RLL_D 0.0015
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ATC_RAT_PIT_P 0.07
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ATC_RAT_PIT_I 0.07
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ATC_RAT_PIT_D 0.0015
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# battery setup
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BATT_LOW_VOLT 14.2
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BATT_OPTIONS 64
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# 4S battery range
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MOT_BAT_VOLT_MAX 16.800000
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MOT_BAT_VOLT_MIN 13.200000
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