#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. #Note 4: If you miss some parameters, first set Q_TILT_ENABLE 1 before writing. #MFE-2023-4-6 Firmware:ArduPlane V4.3.3 Plane: Freeman2100 VTOL 自由者2100 #Fixed-wing PID related parameters RLL_RATE_D,0 RLL_RATE_FF,0.325 RLL_RATE_FLTD,12 RLL_RATE_FLTE,0 RLL_RATE_FLTT,3 RLL_RATE_I,0.15 RLL_RATE_IMAX,0.6666667 RLL_RATE_P,0.1 RLL_RATE_SMAX,150 RLL2SRV_RMAX,120 RLL2SRV_TCONST,0.5 PTCH_RATE_D,0 PTCH_RATE_FF,0.395 PTCH_RATE_FLTD,12 PTCH_RATE_FLTE,0 PTCH_RATE_FLTT,3 PTCH_RATE_I,0.15 PTCH_RATE_IMAX,0.6666667 PTCH_RATE_P,0.08 PTCH_RATE_SMAX,150 PTCH2SRV_RLL,1.3 PTCH2SRV_RMAX_DN,60 PTCH2SRV_RMAX_UP,60 PTCH2SRV_TCONST,0.5 YAW2SRV_DAMP,0.08 YAW2SRV_IMAX,3000 YAW2SRV_INT,0.15 YAW2SRV_RLL,1 YAW2SRV_SLIP,0 AHRS_EKF_TYPE,3 EK3_ENABLE,1 EK3_IMU_MASK,3 ALT_HOLD_RTL,-1 ARMING_CHECK,1 ARMING_REQUIRE,1 ARMING_RUDDER,2 ARSPD_FBW_MAX,25 ARSPD_FBW_MIN,12 LAND_THEN_NEUTRL,1 LIM_PITCH_MAX,1500 LIM_PITCH_MIN,-2500 LIM_ROLL_CD,3000 NAVL1_DAMPING,0.85 NAVL1_PERIOD,17 SCHED_LOOP_RATE,200 TERRAIN_ENABLE,0 TRIM_ARSPD_CM,1800 WP_LOITER_RAD,90 WP_RADIUS,90 RTL_RADIUS,120 BATT_CAPACITY,22000 #Multi-rotor PID related parameters Q_A_ACCEL_P_MAX,30000 Q_A_ACCEL_R_MAX,30000 Q_A_ACCEL_Y_MAX,27000 Q_A_ANG_LIM_TC,1 Q_A_ANG_PIT_P,6 Q_A_ANG_RLL_P,8 Q_A_ANG_YAW_P,3 Q_A_ANGLE_BOOST,1 Q_A_INPUT_TC,0.2 Q_A_RAT_PIT_D,0.004 Q_A_RAT_PIT_FF,0 Q_A_RAT_PIT_FLTD,15 Q_A_RAT_PIT_FLTE,0 Q_A_RAT_PIT_FLTT,15 Q_A_RAT_PIT_I,0.2 Q_A_RAT_PIT_IMAX,0.5 Q_A_RAT_PIT_P,0.33 Q_A_RAT_PIT_SMAX,50 Q_A_RAT_RLL_D,0.012 Q_A_RAT_RLL_FF,0 Q_A_RAT_RLL_FLTD,15 Q_A_RAT_RLL_FLTE,0 Q_A_RAT_RLL_FLTT,15 Q_A_RAT_RLL_I,0.25 Q_A_RAT_RLL_IMAX,0.5 Q_A_RAT_RLL_P,0.3 Q_A_RAT_RLL_SMAX,50 Q_A_RAT_YAW_D,0 Q_A_RAT_YAW_FF,0 Q_A_RAT_YAW_FLTD,0 Q_A_RAT_YAW_FLTE,2 Q_A_RAT_YAW_FLTT,15 Q_A_RAT_YAW_I,0.018 Q_A_RAT_YAW_IMAX,0.5 Q_A_RAT_YAW_P,0.3 Q_A_RAT_YAW_SMAX,50 Q_A_RATE_FF_ENAB,1 Q_A_RATE_P_MAX,75 Q_A_RATE_R_MAX,75 Q_A_RATE_Y_MAX,75 Q_A_SLEW_YAW,6000 Q_A_THR_MIX_MAN,0.5 Q_A_THR_MIX_MAX,0.5 Q_A_THR_MIX_MIN,0.1 Q_ACCEL_Z,200 Q_ACRO_PIT_RATE,180 Q_ACRO_RLL_RATE,360 Q_ACRO_YAW_RATE,90 Q_ANGLE_MAX,1500 Q_ASSIST_ALT,20 Q_ASSIST_ANGLE,45 Q_ASSIST_DELAY,0.5 Q_ASSIST_SPEED,14 Q_AUTOTUNE_AGGR,0.075 Q_AUTOTUNE_AXES,2 Q_AUTOTUNE_MIN_D,0.001 Q_BACKTRANS_MS,3000 Q_ENABLE,1 Q_ESC_CAL,0 Q_FRAME_CLASS,1 Q_FRAME_TYPE,1 Q_FW_LND_APR_RAD,0 Q_FWD_MANTHR_MAX,0 Q_GUIDED_MODE,0 Q_LAND_ALTCHG,0.2 Q_LAND_FINAL_ALT,6 Q_LAND_ICE_CUT,1 Q_LAND_SPEED,40 Q_LOIT_ACC_MAX,100 Q_LOIT_ANG_MAX,15 Q_LOIT_BRK_ACCEL,100 Q_LOIT_BRK_DELAY,0.5 Q_LOIT_BRK_JERK,500 Q_LOIT_SPEED,500 Q_M_BAT_CURR_MAX,0 Q_M_BAT_CURR_TC,5 Q_M_BAT_IDX,0 Q_M_BAT_VOLT_MAX,0 Q_M_BAT_VOLT_MIN,0 Q_M_BOOST_SCALE,0 Q_M_HOVER_LEARN,2 Q_M_PWM_MAX,2000 Q_M_PWM_MIN,1000 Q_M_PWM_TYPE,0 Q_M_SAFE_DISARM,0 Q_M_SAFE_TIME,1 Q_M_SLEW_DN_TIME,0 Q_M_SLEW_UP_TIME,0 Q_M_SPIN_ARM,0.1 Q_M_SPIN_MAX,0.95 Q_M_SPIN_MIN,0.15 Q_M_SPOOL_TIME,0.25 Q_M_THST_EXPO,0.65 Q_M_THST_HOVER,0.4587819 Q_M_YAW_HEADROOM,200 Q_MAV_TYPE,0 Q_NAVALT_MIN,0 Q_OPTIONS,0 Q_P_ACCZ_D,0 Q_P_ACCZ_FF,0 Q_P_ACCZ_FLTD,0 Q_P_ACCZ_FLTE,10 Q_P_ACCZ_FLTT,0 Q_P_ACCZ_I,1 Q_P_ACCZ_IMAX,800 Q_P_ACCZ_P,0.3 Q_P_ACCZ_SMAX,0 Q_P_ANGLE_MAX,0 Q_P_JERK_XY,2 Q_P_JERK_Z,5 Q_P_POSXY_P,0.5 Q_P_POSZ_P,1 Q_P_VELXY_D,0.17 Q_P_VELXY_FF,0 Q_P_VELXY_FLTD,5 Q_P_VELXY_FLTE,5 Q_P_VELXY_I,0.35 Q_P_VELXY_IMAX,1000 Q_P_VELXY_P,0.7 Q_P_VELZ_D,0 Q_P_VELZ_FF,0 Q_P_VELZ_FLTD,5 Q_P_VELZ_FLTE,5 Q_P_VELZ_I,0 Q_P_VELZ_IMAX,1000 Q_P_VELZ_P,5 Q_PLT_Y_EXPO,0.25 Q_PLT_Y_RATE,50 Q_PLT_Y_RATE_TC,0.25 Q_RC_SPEED,490 Q_RTL_ALT,15 Q_RTL_MODE,1 Q_TAILSIT_ENABLE,0 Q_THROTTLE_EXPO,0.2 Q_TILT_ENABLE,1 Q_TILT_FIX_ANGLE,0 Q_TILT_FIX_GAIN,0 Q_TILT_MASK,5 Q_TILT_MAX,32 Q_TILT_RATE_DN,12 Q_TILT_RATE_UP,45 Q_TILT_TYPE,2 Q_TILT_WING_FLAP,0 Q_TILT_YAW_ANGLE,10 Q_TKOFF_ARSP_LIM,0 Q_TKOFF_FAIL_SCL,0 Q_TRAN_PIT_MAX,5 Q_TRANS_DECEL,1 Q_TRANS_FAIL,0 Q_TRANS_FAIL_ACT,0 Q_TRANSITION_MS,3000 Q_TRIM_PITCH,0 Q_VELZ_MAX,150 Q_VELZ_MAX_DN,0 Q_VFWD_ALT,0 Q_VFWD_GAIN,0 Q_WP_ACCEL,100 Q_WP_ACCEL_Z,100 Q_WP_JERK,1 Q_WP_RADIUS,200 Q_WP_RFND_USE,1 Q_WP_SPEED,500 Q_WP_SPEED_DN,150 Q_WP_SPEED_UP,250 Q_WP_TER_MARGIN,10 Q_WVANE_ANG_MIN,0 Q_WVANE_ENABLE,1 Q_WVANE_GAIN,0.5 Q_WVANE_HGT_MIN,0 Q_WVANE_LAND,-1 Q_WVANE_OPTIONS,0 Q_WVANE_SPD_MAX,0 Q_WVANE_TAKEOFF,-1 Q_WVANE_VELZ_MAX,0 #Flight Control Mode Configuration FLTMODE_CH,5 FLTMODE1,19 FLTMODE2,19 FLTMODE3,19 FLTMODE4,19 FLTMODE5,19 FLTMODE6,19 #Flight control output channel configuration SERVO1_FUNCTION,4 SERVO2_FUNCTION,79 SERVO3_FUNCTION,4 SERVO4_FUNCTION,80 SERVO5_FUNCTION,75 SERVO6_FUNCTION,76 SERVO9_FUNCTION,33 SERVO10_FUNCTION,34 SERVO11_FUNCTION,35 SERVO12_FUNCTION,36