#Note: 1. The firmware version and parameters of the flight controller are consistent. #Note 2: Please configure battery monitoring, airspeed, camera shutter by yourself #Note 3: After some parameters are written, the flight controller needs to be powered on again to take effect. #MFE-2023-4-6 Firmware:ArduPlane V4.3.3 Plane: Believer信仰者 #Fixed-wing PID related parameters RLL_RATE_D,0 RLL_RATE_FF,0.5706093 RLL_RATE_FLTD,12 RLL_RATE_FLTE,0 RLL_RATE_FLTT,3 RLL_RATE_I,0.02416181 RLL_RATE_IMAX,0.6666667 RLL_RATE_P,0.1162964 RLL_RATE_SMAX,150 RLL2SRV_RMAX,75 RLL2SRV_TCONST,0.45 PTCH_RATE_D,0 PTCH_RATE_FF,0.5171807 PTCH_RATE_FLTD,12 PTCH_RATE_FLTE,0 PTCH_RATE_FLTT,3 PTCH_RATE_I,0.05415507 PTCH_RATE_IMAX,0.6666667 PTCH_RATE_P,0.1083102 PTCH_RATE_SMAX,150 PTCH2SRV_RLL,1.05 PTCH2SRV_RMAX_DN,75 PTCH2SRV_RMAX_UP,75 PTCH2SRV_TCONST,0.45 YAW_RATE_ENABLE,0 YAW2SRV_DAMP,0.13 YAW2SRV_IMAX,2000 YAW2SRV_INT,0.085 YAW2SRV_RLL,1.2 YAW2SRV_SLIP,0 #Fixed-wing navigation related parameters AHRS_EKF_TYPE,3 EK3_ENABLE,1 LIM_PITCH_MAX,1500 LIM_PITCH_MIN,-2500 LIM_ROLL_CD,3000 ALT_HOLD_RTL,-1 ARMING_CHECK,1 ARMING_REQUIRE,1 ARMING_RUDDER,2 ARSPD_FBW_MAX,25 ARSPD_FBW_MIN,12 TERRAIN_ENABLE,0 TRIM_ARSPD_CM,1900 WP_LOITER_RAD,120 WP_RADIUS,120 RTL_RADIUS,150 SCHED_LOOP_RATE,100 MIXING_GAIN,1 BATT_CAPACITY,22000 #Flight Control Mode Configuration FLTMODE_CH,5 FLTMODE1,10 FLTMODE2,11 FLTMODE3,11 FLTMODE4,5 FLTMODE5,11 FLTMODE6,0 #Flight control output channel configuration SERVO1_FUNCTION,4 SERVO2_FUNCTION,79 SERVO3_FUNCTION,70 SERVO4_FUNCTION,80 SERVO5_FUNCTION,4 SERVO6_FUNCTION,70