From b670dcd816ef07f6753f55e08da2afa537aeda02 Mon Sep 17 00:00:00 2001 From: Willian Galvani Date: Tue, 21 Jul 2026 11:22:54 -0300 Subject: [PATCH 1/4] params: add parameters for sub 4.7 --- params/ardupilot/ArduSub/4.7/base.params | 22 +++++++++++++++++++ params/ardupilot/ArduSub/4.7/heavy.params | 12 ++++++++++ .../4.7/navigator/Heavy BlueROV2.params | 17 ++++++++++++++ .../4.7/navigator/Standard BlueROV2.params | 17 ++++++++++++++ .../4.7/navigator64/Heavy BlueROV2.params | 3 +++ .../4.7/navigator64/Standard BlueROV2.params | 2 ++ .../4.7/pixhawk1/Heavy BlueROV2.params | 5 +++++ .../4.7/pixhawk1/Standard BlueROV2.params | 3 +++ params/ardupilot/ArduSub/4.7/standard.params | 2 ++ 9 files changed, 83 insertions(+) create mode 100644 params/ardupilot/ArduSub/4.7/base.params create mode 100644 params/ardupilot/ArduSub/4.7/heavy.params create mode 100755 params/ardupilot/ArduSub/4.7/navigator/Heavy BlueROV2.params create mode 100755 params/ardupilot/ArduSub/4.7/navigator/Standard BlueROV2.params create mode 100755 params/ardupilot/ArduSub/4.7/navigator64/Heavy BlueROV2.params create mode 100755 params/ardupilot/ArduSub/4.7/navigator64/Standard BlueROV2.params create mode 100644 params/ardupilot/ArduSub/4.7/pixhawk1/Heavy BlueROV2.params create mode 100755 params/ardupilot/ArduSub/4.7/pixhawk1/Standard BlueROV2.params create mode 100644 params/ardupilot/ArduSub/4.7/standard.params diff --git a/params/ardupilot/ArduSub/4.7/base.params b/params/ardupilot/ArduSub/4.7/base.params new file mode 100644 index 0000000..b13b1b6 --- /dev/null +++ b/params/ardupilot/ArduSub/4.7/base.params @@ -0,0 +1,22 @@ +%include '../hardware/power_sense_module.params' + +AHRS_ORIENTATION: 16, +BRD_RTC_TYPES: 3, +MNT1_TYPE: 1, +SERIAL0_PROTOCOL: 2, // MAVLink2 +MNT1_PITCH_MAX: 45, +MNT1_PITCH_MIN: -45, +RNGFND1_TYPE: 10, +EK3_SRC1_POSXY: 0, +// first 6 motors always match +SERVO1_FUNCTION: 33, +SERVO2_FUNCTION: 34, +SERVO3_FUNCTION: 35, +SERVO4_FUNCTION: 36, +SERVO5_FUNCTION: 37, +SERVO6_FUNCTION: 38, +SERVO14_FUNCTION: -1, +// updates to 4.7 to recover previous behavior +ATC_ANGLE_MAX: 45 +// Faster user response +ATC_INPUT_TC: 0.1 \ No newline at end of file diff --git a/params/ardupilot/ArduSub/4.7/heavy.params b/params/ardupilot/ArduSub/4.7/heavy.params new file mode 100644 index 0000000..a54daf5 --- /dev/null +++ b/params/ardupilot/ArduSub/4.7/heavy.params @@ -0,0 +1,12 @@ +ATC_ANG_PIT_P: 6.0, +ATC_ANG_RLL_P: 6.0, +ATC_ANG_YAW_P: 6.0, +FRAME_CONFIG: 2, +SERVO1_FUNCTION: 33, +SERVO2_FUNCTION: 34, +SERVO3_FUNCTION: 35, +SERVO4_FUNCTION: 36, +SERVO5_FUNCTION: 37, +SERVO6_FUNCTION: 38, +SERVO7_FUNCTION: 39, +SERVO8_FUNCTION: 40, diff --git a/params/ardupilot/ArduSub/4.7/navigator/Heavy BlueROV2.params b/params/ardupilot/ArduSub/4.7/navigator/Heavy BlueROV2.params new file mode 100755 index 0000000..6713f4d --- /dev/null +++ b/params/ardupilot/ArduSub/4.7/navigator/Heavy BlueROV2.params @@ -0,0 +1,17 @@ +%include "../../hardware/boards/navigator.params" +%include "../base.params" +%include "../heavy.params" + +// based on https://bluerobotics.com/learn/bluerov2-operation/#autopilot-output-channel-configuration + +// aux channels all disabled +SERVO9_FUNCTION: 0, // aux 1 +SERVO10_FUNCTION: 0, // aux 2 +SERVO11_FUNCTION: 0, // aux 3 + +SERVO12_FUNCTION: 0, // unused + +SERVO13_FUNCTION: 59, // lights 1 +SERVO14_FUNCTION: 60, // lights 2 +SERVO15_FUNCTION: 0, // unused +SERVO16_FUNCTION: 7, // mount pitch diff --git a/params/ardupilot/ArduSub/4.7/navigator/Standard BlueROV2.params b/params/ardupilot/ArduSub/4.7/navigator/Standard BlueROV2.params new file mode 100755 index 0000000..f403c2e --- /dev/null +++ b/params/ardupilot/ArduSub/4.7/navigator/Standard BlueROV2.params @@ -0,0 +1,17 @@ +%include "../../hardware/boards/navigator.params" +%include "../base.params" +%include "../standard.params" + +// based on https://bluerobotics.com/learn/bluerov2-operation/#autopilot-output-channel-configuration + +// aux channels all disabled +SERVO9_FUNCTION: 0, // aux 1 +SERVO10_FUNCTION: 0, // aux 2 +SERVO11_FUNCTION: 0, // aux 3 + +SERVO12_FUNCTION: 0, // unused + +SERVO13_FUNCTION: 59, // lights 1 +SERVO14_FUNCTION: 60, // lights 2 +SERVO15_FUNCTION: 0, // unused +SERVO16_FUNCTION: 7, // mount pitch diff --git a/params/ardupilot/ArduSub/4.7/navigator64/Heavy BlueROV2.params b/params/ardupilot/ArduSub/4.7/navigator64/Heavy BlueROV2.params new file mode 100755 index 0000000..033e664 --- /dev/null +++ b/params/ardupilot/ArduSub/4.7/navigator64/Heavy BlueROV2.params @@ -0,0 +1,3 @@ +%include "../base.params" +%include "../navigator/Heavy BlueROV2.params" +%include "../heavy.params" diff --git a/params/ardupilot/ArduSub/4.7/navigator64/Standard BlueROV2.params b/params/ardupilot/ArduSub/4.7/navigator64/Standard BlueROV2.params new file mode 100755 index 0000000..121c321 --- /dev/null +++ b/params/ardupilot/ArduSub/4.7/navigator64/Standard BlueROV2.params @@ -0,0 +1,2 @@ +%include "../base.params" +%include "../navigator/Standard BlueROV2.params" diff --git a/params/ardupilot/ArduSub/4.7/pixhawk1/Heavy BlueROV2.params b/params/ardupilot/ArduSub/4.7/pixhawk1/Heavy BlueROV2.params new file mode 100644 index 0000000..24fd9dc --- /dev/null +++ b/params/ardupilot/ArduSub/4.7/pixhawk1/Heavy BlueROV2.params @@ -0,0 +1,5 @@ +%include "../../hardware/boards/pixhawk1.params" +%include "../base.params" +%include "../heavy.params" +SERVO10_FUNCTION: 7.0 +SERVO9_FUNCTION: 59.0 diff --git a/params/ardupilot/ArduSub/4.7/pixhawk1/Standard BlueROV2.params b/params/ardupilot/ArduSub/4.7/pixhawk1/Standard BlueROV2.params new file mode 100755 index 0000000..51ef143 --- /dev/null +++ b/params/ardupilot/ArduSub/4.7/pixhawk1/Standard BlueROV2.params @@ -0,0 +1,3 @@ +%include "../../hardware/boards/pixhawk1.params" +%include "../base.params" +%include "../standard.params" diff --git a/params/ardupilot/ArduSub/4.7/standard.params b/params/ardupilot/ArduSub/4.7/standard.params new file mode 100644 index 0000000..6a8c950 --- /dev/null +++ b/params/ardupilot/ArduSub/4.7/standard.params @@ -0,0 +1,2 @@ +ATC_ANG_RLL_P: 0.0, +FRAME_CONFIG: 1, From d3c146642bb098d4778fd8b3736f3066cb0633d4 Mon Sep 17 00:00:00 2001 From: Willian Galvani Date: Tue, 21 Jul 2026 11:43:42 -0300 Subject: [PATCH 2/4] params: rover 4.7 copied from 4.6 --- .../4.7/Navigator/BlueBoat120.params | 971 ++++++++++++++++++ .../4.7/Navigator64/BlueBoat120.params | 1 + 2 files changed, 972 insertions(+) create mode 100644 params/ardupilot/ArduRover/4.7/Navigator/BlueBoat120.params create mode 100644 params/ardupilot/ArduRover/4.7/Navigator64/BlueBoat120.params diff --git a/params/ardupilot/ArduRover/4.7/Navigator/BlueBoat120.params b/params/ardupilot/ArduRover/4.7/Navigator/BlueBoat120.params new file mode 100644 index 0000000..2d57e19 --- /dev/null +++ b/params/ardupilot/ArduRover/4.7/Navigator/BlueBoat120.params @@ -0,0 +1,971 @@ +# Date: Tue Jun 03 2025 16:54:40 GMT-0300 (Brasilia Standard Time) +# Vehicle: Surface Boat +# Platform: platform +# Version: 4.6.0-STABLE + +# Parameters +ACRO_TURN_RATE 45 +AHRS_COMP_BETA 0.1 +AHRS_EKF_TYPE 3 +AHRS_GPS_GAIN 1 +AHRS_GPS_MINSATS 6 +AHRS_GPS_USE 1 +AHRS_OPTIONS 0 +AHRS_ORIENTATION 8 +AHRS_RP_P 0.2 +AHRS_TRIM_X 0 +AHRS_TRIM_Y 0 +AHRS_TRIM_Z 0 +AHRS_WIND_MAX 0 +AHRS_YAW_P 0.2 +AIS_TYPE 0 +ARMING_ACCTHRESH 0.75 +ARMING_CHECK 4124 +ARMING_MAGTHRESH 100 +ARMING_MIS_ITEMS 0 +ARMING_OPTIONS 0 +ARMING_REQUIRE 1 +ARMING_RUDDER 0 +ARSPD_ENABLE 0 +ATC_ACCEL_MAX 0.7 +ATC_BAL_D 0 +ATC_BAL_D_FF 0 +ATC_BAL_FF 0 +ATC_BAL_FLTD 0 +ATC_BAL_FLTE 10 +ATC_BAL_FLTT 0 +ATC_BAL_I 1.5 +ATC_BAL_IMAX 1 +ATC_BAL_LIM_TC 0.5 +ATC_BAL_LIM_THR 0.6 +ATC_BAL_NEF 0 +ATC_BAL_NTF 0 +ATC_BAL_P 1.8 +ATC_BAL_PDMX 0 +ATC_BAL_PIT_FF 0.4 +ATC_BAL_SMAX 0 +ATC_BRAKE 1 +ATC_DECEL_MAX 1 +ATC_SAIL_D 0 +ATC_SAIL_D_FF 0 +ATC_SAIL_FF 0 +ATC_SAIL_FLTD 0 +ATC_SAIL_FLTE 10 +ATC_SAIL_FLTT 0 +ATC_SAIL_I 0.1 +ATC_SAIL_IMAX 1 +ATC_SAIL_NEF 0 +ATC_SAIL_NTF 0 +ATC_SAIL_P 1 +ATC_SAIL_PDMX 0 +ATC_SAIL_SMAX 0 +ATC_SPEED_D 0 +ATC_SPEED_D_FF 0 +ATC_SPEED_FF 0 +ATC_SPEED_FLTD 0 +ATC_SPEED_FLTE 10 +ATC_SPEED_FLTT 0 +ATC_SPEED_I 0.2 +ATC_SPEED_IMAX 1 +ATC_SPEED_NEF 0 +ATC_SPEED_NTF 0 +ATC_SPEED_P 1 +ATC_SPEED_PDMX 0 +ATC_SPEED_SMAX 0 +ATC_STOP_SPEED 0.1 +ATC_STR_ACC_MAX 30 +ATC_STR_ANG_P 1.2 +ATC_STR_RAT_D 0 +ATC_STR_RAT_D_FF 0 +ATC_STR_RAT_FF 0.8 +ATC_STR_RAT_FLTD 0 +ATC_STR_RAT_FLTE 10 +ATC_STR_RAT_FLTT 0 +ATC_STR_RAT_I 0 +ATC_STR_RAT_IMAX 0 +ATC_STR_RAT_MAX 30 +ATC_STR_RAT_NEF 0 +ATC_STR_RAT_NTF 0 +ATC_STR_RAT_P 1 +ATC_STR_RAT_PDMX 0 +ATC_STR_RAT_SMAX 0 +ATC_TURN_MAX_G 0.1 +AUTO_KICKSTART 0 +AUTO_TRIGGER_PIN -1 +AVOID_ACCEL_MAX 1 +AVOID_BACKUP_DZ 0.1 +AVOID_BACKUP_SPD 0.75 +AVOID_BACKZ_SPD 0.75 +AVOID_BEHAVE 1 +AVOID_ENABLE 3 +AVOID_MARGIN 2 +BAL_PITCH_MAX 10 +BAL_PITCH_TRIM 0 +BARO1_WCF_ENABLE 0 +BARO2_WCF_ENABLE 0 +BARO3_WCF_ENABLE 0 +BARO_ALT_OFFSET 0 +BARO_EXT_BUS 6 +BARO_FIELD_ELV 0 +BARO_FLTR_RNG 0 +BARO_GND_TEMP 0 +BARO_PRIMARY 0 +BARO_PROBE_EXT 0 +BATT2_MONITOR 0 +BATT3_MONITOR 0 +BATT4_MONITOR 0 +BATT5_MONITOR 0 +BATT6_MONITOR 0 +BATT7_MONITOR 0 +BATT8_MONITOR 0 +BATT9_MONITOR 0 +BATT_AMP_OFFSET 1.638 +BATT_AMP_PERVLT 100 +BATT_ARM_MAH 0 +BATT_ARM_VOLT 0 +BATT_CAPACITY 0 +BATT_CRT_MAH 0 +BATT_CRT_VOLT 0 +BATT_CURR_PIN 4 +BATT_FS_CRT_ACT 0 +BATT_FS_LOW_ACT 0 +BATT_FS_VOLTSRC 0 +BATT_LOW_MAH 0 +BATT_LOW_TIMER 10 +BATT_LOW_VOLT 0 +BATT_MONITOR 4 +BATT_OPTIONS 0 +BATT_SERIAL_NUM -1 +BATT_VLT_OFFSET 0 +BATT_VOLT_MULT 11.3 +BATT_VOLT_PIN 5 +BCN_TYPE 0 +BRD_BOOT_DELAY 0 +BRD_OPTIONS 0 +BRD_RTC_TYPES 1 +BRD_RTC_TZ_MIN 0 +BRD_SAFETYOPTION 3 +BRD_SAFETY_DEFLT 0 +BRD_SAFETY_MASK 0 +BRD_SD_FENCE 0 +BRD_SD_MISSION 0 +BRD_SERIAL_NUM 0 +BRD_VBUS_MIN 4.3 +BTN_ENABLE 0 +CAM1_TYPE 0 +CAM2_TYPE 0 +CAM_AUTO_ONLY 0 +CAM_MAX_ROLL 0 +CAM_RC_TYPE 0 +CIRC_DIR 0 +CIRC_RADIUS 20 +CIRC_SPEED 0 +COMPASS_AUTODEC 1 +COMPASS_AUTO_ROT 0 +COMPASS_CAL_FIT 16 +COMPASS_DEC 0 +COMPASS_DIA2_X 1 +COMPASS_DIA2_Y 1 +COMPASS_DIA2_Z 1 +COMPASS_DIA3_X 1 +COMPASS_DIA3_Y 1 +COMPASS_DIA3_Z 1 +COMPASS_DIA_X 1 +COMPASS_DIA_Y 1 +COMPASS_DIA_Z 1 +COMPASS_DISBLMSK 0 +COMPASS_ENABLE 1 +COMPASS_EXTERN2 0 +COMPASS_EXTERN3 0 +COMPASS_EXTERNAL 1 +COMPASS_FLTR_RNG 0 +COMPASS_LEARN 0 +COMPASS_MOT2_X 0 +COMPASS_MOT2_Y 0 +COMPASS_MOT2_Z 0 +COMPASS_MOT3_X 0 +COMPASS_MOT3_Y 0 +COMPASS_MOT3_Z 0 +COMPASS_MOTCT 0 +COMPASS_MOT_X 0 +COMPASS_MOT_Y 0 +COMPASS_MOT_Z 0 +COMPASS_ODI2_X 0 +COMPASS_ODI2_Y 0 +COMPASS_ODI2_Z 0 +COMPASS_ODI3_X 0 +COMPASS_ODI3_Y 0 +COMPASS_ODI3_Z 0 +COMPASS_ODI_X 0 +COMPASS_ODI_Y 0 +COMPASS_ODI_Z 0 +COMPASS_OFFS_MAX 1800 +COMPASS_OFS2_X 0 +COMPASS_OFS2_Y 0 +COMPASS_OFS2_Z 0 +COMPASS_OFS3_X 0 +COMPASS_OFS3_Y 0 +COMPASS_OFS3_Z 0 +COMPASS_OFS_X 0 +COMPASS_OFS_Y 0 +COMPASS_OFS_Z 0 +COMPASS_OPTIONS 0 +COMPASS_ORIENT 12 +COMPASS_ORIENT2 8 +COMPASS_ORIENT3 8 +COMPASS_PMOT_EN 0 +COMPASS_PRIO1_ID 1051697 +COMPASS_PRIO2_ID 1245450 +COMPASS_PRIO3_ID 1379337 +COMPASS_SCALE 0 +COMPASS_SCALE2 0 +COMPASS_SCALE3 0 +COMPASS_USE 1 +COMPASS_USE2 1 +COMPASS_USE3 1 +CRASH_ANGLE 0 +CRUISE_SPEED 1 +CRUISE_THROTTLE 16 +CUST_ROT_ENABLE 0 +DOCK_DIR -1 +DOCK_HDG_CORR_EN 0 +DOCK_HDG_CORR_WT 0.75 +DOCK_SPEED 0 +DOCK_STOP_DIST 0.3 +EAHRS_TYPE 0 +EFI_TYPE 0 +EK3_ABIAS_P_NSE 0.02 +EK3_ACC_BIAS_LIM 1 +EK3_ACC_P_NSE 0.35 +EK3_AFFINITY 0 +EK3_ALT_M_NSE 2 +EK3_BCN_DELAY 50 +EK3_BCN_I_GTE 500 +EK3_BCN_M_NSE 1 +EK3_BETA_MASK 0 +EK3_CHECK_SCALE 100 +EK3_DRAG_BCOEF_X 0 +EK3_DRAG_BCOEF_Y 0 +EK3_DRAG_MCOEF 0 +EK3_DRAG_M_NSE 0.5 +EK3_EAS_I_GATE 400 +EK3_EAS_M_NSE 1.4 +EK3_ENABLE 1 +EK3_ERR_THRESH 0.2 +EK3_FLOW_DELAY 10 +EK3_FLOW_I_GATE 300 +EK3_FLOW_M_NSE 0.25 +EK3_FLOW_USE 1 +EK3_GBIAS_P_NSE 0.001 +EK3_GLITCH_RAD 25 +EK3_GND_EFF_DZ 4 +EK3_GPS_CHECK 3 +EK3_GPS_VACC_MAX 0 +EK3_GSF_RST_MAX 2 +EK3_GSF_RUN_MASK 3 +EK3_GSF_USE_MASK 3 +EK3_GYRO_P_NSE 0.015 +EK3_HGT_DELAY 60 +EK3_HGT_I_GATE 500 +EK3_HRT_FILT 2 +EK3_IMU_MASK 1 +EK3_LOG_LEVEL 0 +EK3_MAGB_P_NSE 0.0001 +EK3_MAGE_P_NSE 0.001 +EK3_MAG_CAL 2 +EK3_MAG_EF_LIM 50 +EK3_MAG_I_GATE 300 +EK3_MAG_MASK 0 +EK3_MAG_M_NSE 0.05 +EK3_MAX_FLOW 2.5 +EK3_NOAID_M_NSE 10 +EK3_OGNM_TEST_SF 2 +EK3_OGN_HGT_MASK 0 +EK3_OPTIONS 0 +EK3_POSNE_M_NSE 0.5 +EK3_POS_I_GATE 500 +EK3_PRIMARY 0 +EK3_RNG_I_GATE 500 +EK3_RNG_M_NSE 0.5 +EK3_RNG_USE_HGT -1 +EK3_RNG_USE_SPD 2 +EK3_SRC1_POSXY 3 +EK3_SRC1_POSZ 1 +EK3_SRC1_VELXY 3 +EK3_SRC1_VELZ 3 +EK3_SRC1_YAW 1 +EK3_SRC2_POSXY 0 +EK3_SRC2_POSZ 1 +EK3_SRC2_VELXY 0 +EK3_SRC2_VELZ 0 +EK3_SRC2_YAW 0 +EK3_SRC3_POSXY 0 +EK3_SRC3_POSZ 1 +EK3_SRC3_VELXY 0 +EK3_SRC3_VELZ 0 +EK3_SRC3_YAW 0 +EK3_SRC_OPTIONS 1 +EK3_TAU_OUTPUT 25 +EK3_TERR_GRAD 0.1 +EK3_VELD_M_NSE 0.7 +EK3_VELNE_M_NSE 0.5 +EK3_VEL_I_GATE 500 +EK3_VIS_VERR_MAX 0.9 +EK3_VIS_VERR_MIN 0.1 +EK3_WENC_VERR 0.1 +EK3_WIND_PSCALE 1 +EK3_WIND_P_NSE 0.1 +EK3_YAW_I_GATE 300 +EK3_YAW_M_NSE 0.5 +FENCE_ACTION 5 +FENCE_ENABLE 0 +FENCE_MARGIN 2 +FENCE_RADIUS 300 +FENCE_TOTAL 0 +FENCE_TYPE 6 +FILT1_TYPE 0 +FILT2_TYPE 0 +FILT3_TYPE 0 +FILT4_TYPE 0 +FILT5_TYPE 0 +FILT6_TYPE 0 +FILT7_TYPE 0 +FILT8_TYPE 0 +FLOW_TYPE 0 +FLTMODE_GCSBLOCK 0 +FOLL_ENABLE 0 +FORMAT_VERSION 16 +FRAME_CLASS 2 +FRAME_TYPE 0 +FRSKY_DNLINK1_ID 20 +FRSKY_DNLINK2_ID 7 +FRSKY_DNLINK_ID 27 +FRSKY_OPTIONS 0 +FRSKY_UPLINK_ID 13 +FS_ACTION 4 +FS_CRASH_CHECK 0 +FS_EKF_ACTION 0 +FS_EKF_THRESH 0.8 +FS_GCS_ENABLE 2 +FS_GCS_TIMEOUT 5 +FS_OPTIONS 0 +FS_THR_ENABLE 0 +FS_THR_VALUE 910 +FS_TIMEOUT 5 +GCS_PID_MASK 1 +GEN_TYPE 0 +GPS1_COM_PORT 1 +GPS1_DELAY_MS 0 +GPS1_GNSS_MODE 0 +GPS1_MB_TYPE 0 +GPS1_POS_X 0 +GPS1_POS_Y 0 +GPS1_POS_Z 0 +GPS1_RATE_MS 200 +GPS1_TYPE 1 +GPS2_TYPE 0 +GPS_AUTO_CONFIG 1 +GPS_AUTO_SWITCH 0 +GPS_BLEND_MASK 5 +GPS_DRV_OPTIONS 0 +GPS_INJECT_TO 127 +GPS_MIN_ELEV -100 +GPS_NAVFILTER 5 +GPS_PRIMARY 0 +GPS_RAW_DATA 0 +GPS_SAVE_CFG 1 +GPS_SBAS_MODE 2 +GPS_SBP_LOGMASK -256 +GRIP_ENABLE 0 +GUID_OPTIONS 0 +INITIAL_MODE 0 +INS_ACC1_CALTEMP -300 +INS_ACC2OFFS_X 0 +INS_ACC2OFFS_Y 0 +INS_ACC2OFFS_Z 0 +INS_ACC2SCAL_X 1 +INS_ACC2SCAL_Y 1 +INS_ACC2SCAL_Z 1 +INS_ACC2_CALTEMP -300 +INS_ACC3OFFS_X 0 +INS_ACC3OFFS_Y 0 +INS_ACC3OFFS_Z 0 +INS_ACC3SCAL_X 1 +INS_ACC3SCAL_Y 1 +INS_ACC3SCAL_Z 1 +INS_ACC3_CALTEMP -300 +INS_ACCEL_FILTER 10 +INS_ACCOFFS_X 0 +INS_ACCOFFS_Y 0 +INS_ACCOFFS_Z 0 +INS_ACCSCAL_X 1 +INS_ACCSCAL_Y 1 +INS_ACCSCAL_Z 1 +INS_ACC_BODYFIX 2 +INS_ENABLE_MASK 127 +INS_FAST_SAMPLE 1 +INS_GYR1_CALTEMP -300 +INS_GYR2OFFS_X 0 +INS_GYR2OFFS_Y 0 +INS_GYR2OFFS_Z 0 +INS_GYR2_CALTEMP -300 +INS_GYR3OFFS_X 0 +INS_GYR3OFFS_Y 0 +INS_GYR3OFFS_Z 0 +INS_GYR3_CALTEMP -300 +INS_GYROFFS_X -0.0005 +INS_GYROFFS_Y -0.0093 +INS_GYROFFS_Z 0.0021 +INS_GYRO_FILTER 4 +INS_GYRO_RATE 0 +INS_GYR_CAL 0 +INS_HNTC2_ENABLE 0 +INS_HNTCH_ENABLE 0 +INS_LOG_BAT_CNT 1024 +INS_LOG_BAT_LGCT 32 +INS_LOG_BAT_LGIN 20 +INS_LOG_BAT_MASK 0 +INS_LOG_BAT_OPT 0 +INS_POS1_X 0 +INS_POS1_Y 0 +INS_POS1_Z 0 +INS_POS2_X 0 +INS_POS2_Y 0 +INS_POS2_Z 0 +INS_POS3_X 0 +INS_POS3_Y 0 +INS_POS3_Z 0 +INS_RAW_LOG_OPT 0 +INS_STILL_THRESH 0.1 +INS_TCAL1_ENABLE 0 +INS_TCAL2_ENABLE 0 +INS_TCAL3_ENABLE 0 +INS_TCAL_OPTIONS 0 +INS_TRIM_OPTION 1 +INS_USE 1 +INS_USE2 1 +INS_USE3 1 +LOG_BACKEND_TYPE 1 +LOG_BITMASK 61438 +LOG_DARM_RATEMAX 0 +LOG_DISARMED 0 +LOG_FILE_BUFSIZE 200 +LOG_FILE_DSRMROT 1 +LOG_FILE_MB_FREE 500 +LOG_FILE_RATEMAX 0 +LOG_FILE_TIMEOUT 1 +LOG_MAV_BUFSIZE 8 +LOG_MAV_RATEMAX 0 +LOG_MAX_FILES 500 +LOG_REPLAY 0 +LOIT_RADIUS 1 +LOIT_SPEED_GAIN 0.5 +LOIT_TYPE 0 +MANUAL_OPTIONS 0 +MANUAL_STR_EXPO 0 +MIS_DONE_BEHAVE 1 +MIS_OPTIONS 0 +MIS_RESTART 0 +MNT1_TYPE 0 +MNT2_TYPE 0 +MODE1 0 +MODE2 0 +MODE3 0 +MODE4 0 +MODE5 0 +MODE6 0 +MODE_CH 8 +MOT_PWM_FREQ 16 +MOT_PWM_TYPE 0 +MOT_SAFE_DISARM 0 +MOT_SLEWRATE 200 +MOT_SPD_SCA_BASE 0 +MOT_STR_THR_MIX 0.6 +MOT_THR_MAX 100 +MOT_THR_MIN 0 +MOT_THST_ASYM 1.6 +MOT_THST_EXPO 0 +MOT_VEC_ANGLEMAX 0 +MSP_OPTIONS 0 +MSP_OSD_NCELLS 0 +NET_ENABLE 0 +NET_P1_TYPE 0 +NET_P2_TYPE 0 +NET_P3_TYPE 0 +NET_P4_TYPE 0 +NL_ACRO_BLINKS 1 +NL_ACRO_IDLE 500 +NL_ACRO_OFF_TM 150 +NL_ACRO_ON_TM 20 +NL_AUTO_BLINKS 3 +NL_AUTO_IDLE 1000 +NL_AUTO_OFF_TM 150 +NL_AUTO_ON_TM 20 +NL_DOCK_BLINKS 3 +NL_DOCK_IDLE 1000 +NL_DOCK_OFF_TM 150 +NL_DOCK_ON_TM 20 +NL_DSRM_BLINKS 1 +NL_DSRM_IDLE 2000 +NL_DSRM_OFF_TM 150 +NL_DSRM_ON_TM 20 +NL_FOLL_BLINKS 0 +NL_FOLL_IDLE 0 +NL_FOLL_OFF_TM 0 +NL_FOLL_ON_TM 0 +NL_GUID_BLINKS 3 +NL_GUID_IDLE 1000 +NL_GUID_OFF_TM 150 +NL_GUID_ON_TM 20 +NL_HOLD_BLINKS 1 +NL_HOLD_IDLE 2000 +NL_HOLD_OFF_TM 150 +NL_HOLD_ON_TM 20 +NL_LOIT_BLINKS 0 +NL_LOIT_IDLE 0 +NL_LOIT_OFF_TM 0 +NL_LOIT_ON_TM 0 +NL_MANU_BLINKS 1 +NL_MANU_IDLE 500 +NL_MANU_OFF_TM 150 +NL_MANU_ON_TM 20 +NL_RTL_BLINKS 3 +NL_RTL_IDLE 1000 +NL_RTL_OFF_TM 150 +NL_RTL_ON_TM 20 +NL_SIMP_BLINKS 1 +NL_SIMP_IDLE 500 +NL_SIMP_OFF_TM 150 +NL_SIMP_ON_TM 20 +NL_SMAR_BLINKS 3 +NL_SMAR_IDLE 1000 +NL_SMAR_OFF_TM 150 +NL_SMAR_ON_TM 20 +NL_STEE_BLINKS 1 +NL_STEE_IDLE 500 +NL_STEE_OFF_TM 150 +NL_STEE_ON_TM 20 +NMEA_MSG_EN 3 +NMEA_RATE_MS 100 +NTF_BUZZ_ON_LVL 1 +NTF_BUZZ_PIN -1 +NTF_BUZZ_TYPES 1 +NTF_BUZZ_VOLUME 100 +NTF_DISPLAY_TYPE 0 +NTF_LED_BRIGHT 3 +NTF_LED_LEN 1 +NTF_LED_OVERRIDE 0 +NTF_LED_TYPES 123079 +OA_TYPE 0 +OSD_TYPE 0 +PILOT_STEER_TYPE 3 +PLND_ENABLED 0 +PRX1_TYPE 0 +PRX2_TYPE 0 +PRX3_TYPE 0 +PRX4_TYPE 0 +PRX5_TYPE 0 +PRX_FILT 0.25 +PRX_LOG_RAW 0 +PSC_POS_P 0.2 +PSC_VEL_D 0 +PSC_VEL_FF 0 +PSC_VEL_FLTD 5 +PSC_VEL_FLTE 5 +PSC_VEL_I 0 +PSC_VEL_IMAX 1 +PSC_VEL_P 1 +RALLY_INCL_HOME 1 +RALLY_LIMIT_KM 0.5 +RALLY_TOTAL 0 +RC10_DZ 0 +RC10_MAX 1900 +RC10_MIN 1100 +RC10_OPTION 0 +RC10_REVERSED 0 +RC10_TRIM 1500 +RC11_DZ 0 +RC11_MAX 1900 +RC11_MIN 1100 +RC11_OPTION 0 +RC11_REVERSED 0 +RC11_TRIM 1500 +RC12_DZ 0 +RC12_MAX 1900 +RC12_MIN 1100 +RC12_OPTION 0 +RC12_REVERSED 0 +RC12_TRIM 1500 +RC13_DZ 0 +RC13_MAX 1900 +RC13_MIN 1100 +RC13_OPTION 0 +RC13_REVERSED 0 +RC13_TRIM 1500 +RC14_DZ 0 +RC14_MAX 1900 +RC14_MIN 1100 +RC14_OPTION 0 +RC14_REVERSED 0 +RC14_TRIM 1500 +RC15_DZ 0 +RC15_MAX 1900 +RC15_MIN 1100 +RC15_OPTION 0 +RC15_REVERSED 0 +RC15_TRIM 1500 +RC16_DZ 0 +RC16_MAX 1900 +RC16_MIN 1100 +RC16_OPTION 0 +RC16_REVERSED 0 +RC16_TRIM 1500 +RC1_DZ 30 +RC1_MAX 1901 +RC1_MIN 1100 +RC1_OPTION 0 +RC1_REVERSED 0 +RC1_TRIM 1500 +RC2_DZ 0 +RC2_MAX 1900 +RC2_MIN 1100 +RC2_OPTION 0 +RC2_REVERSED 0 +RC2_TRIM 1500 +RC3_DZ 30 +RC3_MAX 1900 +RC3_MIN 1100 +RC3_OPTION 0 +RC3_REVERSED 0 +RC3_TRIM 1500 +RC4_DZ 30 +RC4_MAX 1900 +RC4_MIN 1100 +RC4_OPTION 0 +RC4_REVERSED 0 +RC4_TRIM 1500 +RC5_DZ 0 +RC5_MAX 1900 +RC5_MIN 1100 +RC5_OPTION 0 +RC5_REVERSED 0 +RC5_TRIM 1500 +RC6_DZ 0 +RC6_MAX 1900 +RC6_MIN 1100 +RC6_OPTION 0 +RC6_REVERSED 0 +RC6_TRIM 1500 +RC7_DZ 0 +RC7_MAX 1900 +RC7_MIN 1100 +RC7_OPTION 0 +RC7_REVERSED 0 +RC7_TRIM 1500 +RC8_DZ 0 +RC8_MAX 1900 +RC8_MIN 1100 +RC8_OPTION 0 +RC8_REVERSED 0 +RC8_TRIM 1500 +RC9_DZ 0 +RC9_MAX 1900 +RC9_MIN 1100 +RC9_OPTION 0 +RC9_REVERSED 0 +RC9_TRIM 1500 +RCMAP_PITCH 2 +RCMAP_ROLL 1 +RCMAP_THROTTLE 3 +RCMAP_YAW 4 +RC_OPTIONS 37 +RC_OVERRIDE_TIME 3 +RC_PROTOCOLS 1 +RELAY1_FUNCTION 0 +RELAY2_FUNCTION 0 +RELAY3_FUNCTION 0 +RELAY4_FUNCTION 0 +RELAY5_FUNCTION 0 +RELAY6_FUNCTION 0 +RNGFND1_ADDR 0 +RNGFND1_FUNCTION 0 +RNGFND1_GNDCLEAR 10 +RNGFND1_MAX_CM 20000 +RNGFND1_MIN_CM 20 +RNGFND1_OFFSET 0 +RNGFND1_ORIENT 25 +RNGFND1_PIN -1 +RNGFND1_POS_X 0 +RNGFND1_POS_Y 0 +RNGFND1_POS_Z 0 +RNGFND1_PWRRNG 0 +RNGFND1_RMETRIC 1 +RNGFND1_SCALING 3 +RNGFND1_STOP_PIN -1 +RNGFND1_TYPE 10 +RNGFND2_TYPE 0 +RNGFND3_TYPE 0 +RNGFND4_TYPE 0 +RNGFND5_TYPE 0 +RNGFND6_TYPE 0 +RNGFND7_TYPE 0 +RNGFND8_TYPE 0 +RNGFND9_TYPE 0 +RNGFNDA_TYPE 0 +RPM1_TYPE 0 +RPM2_TYPE 0 +RSSI_TYPE 0 +RST_SWITCH_CH 0 +RTL_SPEED 1 +SAIL_ENABLE 0 +SCHED_DEBUG 0 +SCHED_LOOP_RATE 50 +SCHED_OPTIONS 0 +SCR_DEBUG_OPTS 0 +SCR_DIR_DISABLE 0 +SCR_ENABLE 1 +SCR_HEAP_SIZE 204800 +SCR_LD_CHECKSUM -1 +SCR_RUN_CHECKSUM -1 +SCR_SDEV_EN 0 +SCR_THD_PRIORITY 0 +SCR_USER1 0 +SCR_USER2 0 +SCR_USER3 0 +SCR_USER4 0 +SCR_USER5 0 +SCR_USER6 0 +SCR_VM_I_COUNT 10000 +SERIAL0_BAUD 115 +SERIAL0_PROTOCOL 2 +SERIAL1_BAUD 57 +SERIAL1_OPTIONS 0 +SERIAL1_PROTOCOL 2 +SERIAL2_BAUD 57 +SERIAL2_OPTIONS 0 +SERIAL2_PROTOCOL 2 +SERIAL3_BAUD 57 +SERIAL3_OPTIONS 0 +SERIAL3_PROTOCOL -1 +SERIAL4_BAUD 115 +SERIAL4_OPTIONS 0 +SERIAL4_PROTOCOL 9 +SERIAL5_BAUD 57 +SERIAL5_OPTIONS 0 +SERIAL5_PROTOCOL 5 +SERIAL6_BAUD 57 +SERIAL6_OPTIONS 0 +SERIAL6_PROTOCOL 21 +SERIAL7_BAUD 57 +SERIAL7_OPTIONS 0 +SERIAL7_PROTOCOL 21 +SERIAL_PASS1 0 +SERIAL_PASS2 -1 +SERIAL_PASSTIMO 15 +SERVO10_FUNCTION 0 +SERVO10_MAX 1900 +SERVO10_MIN 1100 +SERVO10_REVERSED 0 +SERVO10_TRIM 1500 +SERVO11_FUNCTION 0 +SERVO11_MAX 1900 +SERVO11_MIN 1100 +SERVO11_REVERSED 0 +SERVO11_TRIM 1500 +SERVO12_FUNCTION 0 +SERVO12_MAX 1900 +SERVO12_MIN 1100 +SERVO12_REVERSED 0 +SERVO12_TRIM 1500 +SERVO13_FUNCTION 0 +SERVO13_MAX 1900 +SERVO13_MIN 1100 +SERVO13_REVERSED 0 +SERVO13_TRIM 1500 +SERVO14_FUNCTION 0 +SERVO14_MAX 1900 +SERVO14_MIN 1100 +SERVO14_REVERSED 0 +SERVO14_TRIM 1500 +SERVO15_FUNCTION 0 +SERVO15_MAX 1900 +SERVO15_MIN 1100 +SERVO15_REVERSED 0 +SERVO15_TRIM 1500 +SERVO16_FUNCTION 0 +SERVO16_MAX 1900 +SERVO16_MIN 1100 +SERVO16_REVERSED 0 +SERVO16_TRIM 1500 +SERVO1_FUNCTION 74 +SERVO1_MAX 1900 +SERVO1_MIN 1100 +SERVO1_REVERSED 0 +SERVO1_TRIM 1510 +SERVO2_FUNCTION 0 +SERVO2_MAX 1900 +SERVO2_MIN 1100 +SERVO2_REVERSED 0 +SERVO2_TRIM 1500 +SERVO3_FUNCTION 73 +SERVO3_MAX 1900 +SERVO3_MIN 1100 +SERVO3_REVERSED 1 +SERVO3_TRIM 1510 +SERVO4_FUNCTION 0 +SERVO4_MAX 1900 +SERVO4_MIN 1100 +SERVO4_REVERSED 0 +SERVO4_TRIM 1500 +SERVO5_FUNCTION 0 +SERVO5_MAX 1900 +SERVO5_MIN 1100 +SERVO5_REVERSED 0 +SERVO5_TRIM 1500 +SERVO6_FUNCTION 0 +SERVO6_MAX 1900 +SERVO6_MIN 1100 +SERVO6_REVERSED 0 +SERVO6_TRIM 1500 +SERVO7_FUNCTION 0 +SERVO7_MAX 1900 +SERVO7_MIN 1100 +SERVO7_REVERSED 0 +SERVO7_TRIM 1500 +SERVO8_FUNCTION 0 +SERVO8_MAX 1900 +SERVO8_MIN 1100 +SERVO8_REVERSED 0 +SERVO8_TRIM 1500 +SERVO9_FUNCTION 0 +SERVO9_MAX 1900 +SERVO9_MIN 1100 +SERVO9_REVERSED 0 +SERVO9_TRIM 1500 +SERVO_32_ENABLE 0 +SERVO_DSHOT_ESC 0 +SERVO_DSHOT_RATE 0 +SERVO_FTW_MASK 0 +SERVO_FTW_RVMASK 0 +SERVO_GPIO_MASK 0 +SERVO_RATE 50 +SERVO_RC_FS_MSK 0 +SERVO_ROB_POSMAX 4095 +SERVO_ROB_POSMIN 0 +SERVO_SBUS_RATE 50 +SERVO_VOLZ_MASK 0 +SERVO_VOLZ_RANGE 200 +SIMPLE_TYPE 0 +SPEED_MAX 3 +SPRAY_ENABLE 0 +SR0_ADSB 0 +SR0_EXTRA1 10 +SR0_EXTRA2 10 +SR0_EXTRA3 3 +SR0_EXT_STAT 10 +SR0_PARAMS 10 +SR0_POSITION 10 +SR0_RAW_CTRL 10 +SR0_RAW_SENS 10 +SR0_RC_CHAN 10 +SR1_ADSB 0 +SR1_EXTRA1 1 +SR1_EXTRA2 1 +SR1_EXTRA3 1 +SR1_EXT_STAT 1 +SR1_PARAMS 10 +SR1_POSITION 1 +SR1_RAW_CTRL 1 +SR1_RAW_SENS 1 +SR1_RC_CHAN 1 +SR2_ADSB 0 +SR2_EXTRA1 1 +SR2_EXTRA2 1 +SR2_EXTRA3 1 +SR2_EXT_STAT 1 +SR2_PARAMS 10 +SR2_POSITION 1 +SR2_RAW_CTRL 1 +SR2_RAW_SENS 1 +SR2_RC_CHAN 1 +SR3_ADSB 0 +SR3_EXTRA1 1 +SR3_EXTRA2 1 +SR3_EXTRA3 1 +SR3_EXT_STAT 1 +SR3_PARAMS 10 +SR3_POSITION 1 +SR3_RAW_CTRL 1 +SR3_RAW_SENS 1 +SR3_RC_CHAN 1 +SR4_ADSB 0 +SR4_EXTRA1 1 +SR4_EXTRA2 1 +SR4_EXTRA3 1 +SR4_EXT_STAT 1 +SR4_PARAMS 10 +SR4_POSITION 1 +SR4_RAW_CTRL 1 +SR4_RAW_SENS 1 +SR4_RC_CHAN 1 +SR5_ADSB 0 +SR5_EXTRA1 1 +SR5_EXTRA2 1 +SR5_EXTRA3 1 +SR5_EXT_STAT 1 +SR5_PARAMS 10 +SR5_POSITION 1 +SR5_RAW_CTRL 1 +SR5_RAW_SENS 1 +SR5_RC_CHAN 1 +SR6_ADSB 0 +SR6_EXTRA1 1 +SR6_EXTRA2 1 +SR6_EXTRA3 1 +SR6_EXT_STAT 1 +SR6_PARAMS 10 +SR6_POSITION 1 +SR6_RAW_CTRL 1 +SR6_RAW_SENS 1 +SR6_RC_CHAN 1 +SRTL_ACCURACY 2 +SRTL_OPTIONS 0 +SRTL_POINTS 300 +STICK_MIXING 0 +SYSID_ENFORCE 0 +SYSID_MYGCS 255 +SYSID_THISMAV 1 +TELEM_DELAY 0 +TEMP1_TYPE 0 +TEMP2_TYPE 0 +TEMP3_TYPE 0 +TEMP_LOG 0 +TRQ1_TYPE 0 +TRQ2_TYPE 0 +TURN_RADIUS 0.1 +VISO_TYPE 0 +VTX_ENABLE 0 +WENC_TYPE 0 +WNDVN_CAL 0 +WNDVN_DIR_DZ 0 +WNDVN_DIR_FILT 0.5 +WNDVN_DIR_OFS 0 +WNDVN_DIR_PIN -1 +WNDVN_DIR_V_MAX 3.3 +WNDVN_DIR_V_MIN 0 +WNDVN_SPEED_FILT 0.5 +WNDVN_SPEED_MIN 0 +WNDVN_SPEED_OFS 1.346 +WNDVN_SPEED_PIN -1 +WNDVN_SPEED_TYPE 4 +WNDVN_TEMP_PIN -1 +WNDVN_TRUE_FILT 0.05 +WNDVN_TYPE 4 +WP_ACCEL 0 +WP_JERK 0 +WP_PIVOT_ANGLE 45 +WP_PIVOT_DELAY 0 +WP_PIVOT_RATE 15 +WP_RADIUS 1 +WP_SPEED 1 +WRC_ENABLE 0 diff --git a/params/ardupilot/ArduRover/4.7/Navigator64/BlueBoat120.params b/params/ardupilot/ArduRover/4.7/Navigator64/BlueBoat120.params new file mode 100644 index 0000000..a5bacd4 --- /dev/null +++ b/params/ardupilot/ArduRover/4.7/Navigator64/BlueBoat120.params @@ -0,0 +1 @@ +%include "../Navigator/BlueBoat120.params" From 0a0ddad52cdfa93082c968cf0d92ace467841d4c Mon Sep 17 00:00:00 2001 From: Willian Galvani Date: Tue, 21 Jul 2026 11:54:52 -0300 Subject: [PATCH 3/4] params: update 4.7 boat parameters --- .../4.7/Navigator/BlueBoat120.params | 168 ++++++++---------- 1 file changed, 74 insertions(+), 94 deletions(-) diff --git a/params/ardupilot/ArduRover/4.7/Navigator/BlueBoat120.params b/params/ardupilot/ArduRover/4.7/Navigator/BlueBoat120.params index 2d57e19..701b17c 100644 --- a/params/ardupilot/ArduRover/4.7/Navigator/BlueBoat120.params +++ b/params/ardupilot/ArduRover/4.7/Navigator/BlueBoat120.params @@ -1,7 +1,7 @@ -# Date: Tue Jun 03 2025 16:54:40 GMT-0300 (Brasilia Standard Time) +# Date: Tue Jul 21 2026 11:52:39 GMT-0300 (Brasilia Standard Time) # Vehicle: Surface Boat -# Platform: platform -# Version: 4.6.0-STABLE +# Platform: navigator +# Version: 4.7.0-BETA # Parameters ACRO_TURN_RATE 45 @@ -12,6 +12,9 @@ AHRS_GPS_MINSATS 6 AHRS_GPS_USE 1 AHRS_OPTIONS 0 AHRS_ORIENTATION 8 +AHRS_ORIGIN_ALT 0 +AHRS_ORIGIN_LAT 0 +AHRS_ORIGIN_LON 0 AHRS_RP_P 0.2 AHRS_TRIM_X 0 AHRS_TRIM_Y 0 @@ -20,12 +23,13 @@ AHRS_WIND_MAX 0 AHRS_YAW_P 0.2 AIS_TYPE 0 ARMING_ACCTHRESH 0.75 -ARMING_CHECK 4124 ARMING_MAGTHRESH 100 ARMING_MIS_ITEMS 0 +ARMING_NEED_LOC 0 ARMING_OPTIONS 0 ARMING_REQUIRE 1 ARMING_RUDDER 0 +ARMING_SKIPCHK 1043938 ARSPD_ENABLE 0 ATC_ACCEL_MAX 0.7 ATC_BAL_D 0 @@ -75,6 +79,7 @@ ATC_SPEED_SMAX 0 ATC_STOP_SPEED 0.1 ATC_STR_ACC_MAX 30 ATC_STR_ANG_P 1.2 +ATC_STR_DEC_MAX 0 ATC_STR_RAT_D 0 ATC_STR_RAT_D_FF 0 ATC_STR_RAT_FF 0.8 @@ -139,6 +144,7 @@ BATT_SERIAL_NUM -1 BATT_VLT_OFFSET 0 BATT_VOLT_MULT 11.3 BATT_VOLT_PIN 5 +BATT_WATT_MAX 0 BCN_TYPE 0 BRD_BOOT_DELAY 0 BRD_OPTIONS 0 @@ -156,7 +162,6 @@ CAM1_TYPE 0 CAM2_TYPE 0 CAM_AUTO_ONLY 0 CAM_MAX_ROLL 0 -CAM_RC_TYPE 0 CIRC_DIR 0 CIRC_RADIUS 20 CIRC_SPEED 0 @@ -224,6 +229,10 @@ COMPASS_USE 1 COMPASS_USE2 1 COMPASS_USE3 1 CRASH_ANGLE 0 +CRASH_THR_MIN 5 +CRASH_TIMEOUT 2 +CRASH_TRAT_MIN 10 +CRASH_VEL_MIN 0.08 CRUISE_SPEED 1 CRUISE_THROTTLE 16 CUST_ROT_ENABLE 0 @@ -254,6 +263,7 @@ EK3_ENABLE 1 EK3_ERR_THRESH 0.2 EK3_FLOW_DELAY 10 EK3_FLOW_I_GATE 300 +EK3_FLOW_MAX 2.5 EK3_FLOW_M_NSE 0.25 EK3_FLOW_USE 1 EK3_GBIAS_P_NSE 0.001 @@ -277,7 +287,6 @@ EK3_MAG_EF_LIM 50 EK3_MAG_I_GATE 300 EK3_MAG_MASK 0 EK3_MAG_M_NSE 0.05 -EK3_MAX_FLOW 2.5 EK3_NOAID_M_NSE 10 EK3_OGNM_TEST_SF 2 EK3_OGN_HGT_MASK 0 @@ -320,6 +329,9 @@ EK3_YAW_M_NSE 0.5 FENCE_ACTION 5 FENCE_ENABLE 0 FENCE_MARGIN 2 +FENCE_MARGIN_XY 0 +FENCE_NTF_FREQ 1 +FENCE_OPTIONS 0 FENCE_RADIUS 300 FENCE_TOTAL 0 FENCE_TYPE 6 @@ -342,7 +354,7 @@ FRSKY_DNLINK2_ID 7 FRSKY_DNLINK_ID 27 FRSKY_OPTIONS 0 FRSKY_UPLINK_ID 13 -FS_ACTION 4 +FS_ACTION 6 FS_CRASH_CHECK 0 FS_EKF_ACTION 0 FS_EKF_THRESH 0.8 @@ -358,9 +370,9 @@ GPS1_COM_PORT 1 GPS1_DELAY_MS 0 GPS1_GNSS_MODE 0 GPS1_MB_TYPE 0 -GPS1_POS_X 0 -GPS1_POS_Y 0 -GPS1_POS_Z 0 +GPS1_POS_X 0.16 +GPS1_POS_Y 0.365 +GPS1_POS_Z -0.22 GPS1_RATE_MS 200 GPS1_TYPE 1 GPS2_TYPE 0 @@ -413,22 +425,23 @@ INS_GYR3OFFS_X 0 INS_GYR3OFFS_Y 0 INS_GYR3OFFS_Z 0 INS_GYR3_CALTEMP -300 -INS_GYROFFS_X -0.0005 -INS_GYROFFS_Y -0.0093 -INS_GYROFFS_Z 0.0021 +INS_GYROFFS_X 0 +INS_GYROFFS_Y 0 +INS_GYROFFS_Z 0 INS_GYRO_FILTER 4 INS_GYRO_RATE 0 INS_GYR_CAL 0 INS_HNTC2_ENABLE 0 +INS_HNTC3_ENABLE 0 INS_HNTCH_ENABLE 0 INS_LOG_BAT_CNT 1024 INS_LOG_BAT_LGCT 32 INS_LOG_BAT_LGIN 20 INS_LOG_BAT_MASK 0 INS_LOG_BAT_OPT 0 -INS_POS1_X 0 -INS_POS1_Y 0 -INS_POS1_Z 0 +INS_POS1_X 0.16 +INS_POS1_Y 0.365 +INS_POS1_Z -0.12 INS_POS2_X 0 INS_POS2_Y 0 INS_POS2_Z 0 @@ -463,6 +476,44 @@ LOIT_SPEED_GAIN 0.5 LOIT_TYPE 0 MANUAL_OPTIONS 0 MANUAL_STR_EXPO 0 +MAV1_ADSB 0 +MAV1_EXTRA1 1 +MAV1_EXTRA2 1 +MAV1_EXTRA3 1 +MAV1_EXT_STAT 1 +MAV1_OPTIONS 0 +MAV1_PARAMS 10 +MAV1_POSITION 1 +MAV1_RAW_CTRL 1 +MAV1_RAW_SENS 1 +MAV1_RC_CHAN 1 +MAV2_ADSB 0 +MAV2_EXTRA1 1 +MAV2_EXTRA2 1 +MAV2_EXTRA3 1 +MAV2_EXT_STAT 1 +MAV2_OPTIONS 0 +MAV2_PARAMS 10 +MAV2_POSITION 1 +MAV2_RAW_CTRL 1 +MAV2_RAW_SENS 1 +MAV2_RC_CHAN 1 +MAV3_ADSB 0 +MAV3_EXTRA1 1 +MAV3_EXTRA2 1 +MAV3_EXTRA3 1 +MAV3_EXT_STAT 1 +MAV3_OPTIONS 0 +MAV3_PARAMS 10 +MAV3_POSITION 1 +MAV3_RAW_CTRL 1 +MAV3_RAW_SENS 1 +MAV3_RC_CHAN 1 +MAV_GCS_SYSID 255 +MAV_GCS_SYSID_HI 0 +MAV_OPTIONS 0 +MAV_SYSID 1 +MAV_TELEM_DELAY 0 MIS_DONE_BEHAVE 1 MIS_OPTIONS 0 MIS_RESTART 0 @@ -475,8 +526,10 @@ MODE4 0 MODE5 0 MODE6 0 MODE_CH 8 +MOT_BAT_WATT_TC 2 MOT_PWM_FREQ 16 MOT_PWM_TYPE 0 +MOT_REV_DELAY 0 MOT_SAFE_DISARM 0 MOT_SLEWRATE 200 MOT_SPD_SCA_BASE 0 @@ -678,6 +731,7 @@ RCMAP_PITCH 2 RCMAP_ROLL 1 RCMAP_THROTTLE 3 RCMAP_YAW 4 +RC_FS_TIMEOUT 1 RC_OPTIONS 37 RC_OVERRIDE_TIME 3 RC_PROTOCOLS 1 @@ -689,9 +743,9 @@ RELAY5_FUNCTION 0 RELAY6_FUNCTION 0 RNGFND1_ADDR 0 RNGFND1_FUNCTION 0 -RNGFND1_GNDCLEAR 10 -RNGFND1_MAX_CM 20000 -RNGFND1_MIN_CM 20 +RNGFND1_GNDCLR 0.1 +RNGFND1_MAX 100 +RNGFND1_MIN 0.2 RNGFND1_OFFSET 0 RNGFND1_ORIENT 25 RNGFND1_PIN -1 @@ -858,88 +912,14 @@ SERVO_VOLZ_RANGE 200 SIMPLE_TYPE 0 SPEED_MAX 3 SPRAY_ENABLE 0 -SR0_ADSB 0 -SR0_EXTRA1 10 -SR0_EXTRA2 10 -SR0_EXTRA3 3 -SR0_EXT_STAT 10 -SR0_PARAMS 10 -SR0_POSITION 10 -SR0_RAW_CTRL 10 -SR0_RAW_SENS 10 -SR0_RC_CHAN 10 -SR1_ADSB 0 -SR1_EXTRA1 1 -SR1_EXTRA2 1 -SR1_EXTRA3 1 -SR1_EXT_STAT 1 -SR1_PARAMS 10 -SR1_POSITION 1 -SR1_RAW_CTRL 1 -SR1_RAW_SENS 1 -SR1_RC_CHAN 1 -SR2_ADSB 0 -SR2_EXTRA1 1 -SR2_EXTRA2 1 -SR2_EXTRA3 1 -SR2_EXT_STAT 1 -SR2_PARAMS 10 -SR2_POSITION 1 -SR2_RAW_CTRL 1 -SR2_RAW_SENS 1 -SR2_RC_CHAN 1 -SR3_ADSB 0 -SR3_EXTRA1 1 -SR3_EXTRA2 1 -SR3_EXTRA3 1 -SR3_EXT_STAT 1 -SR3_PARAMS 10 -SR3_POSITION 1 -SR3_RAW_CTRL 1 -SR3_RAW_SENS 1 -SR3_RC_CHAN 1 -SR4_ADSB 0 -SR4_EXTRA1 1 -SR4_EXTRA2 1 -SR4_EXTRA3 1 -SR4_EXT_STAT 1 -SR4_PARAMS 10 -SR4_POSITION 1 -SR4_RAW_CTRL 1 -SR4_RAW_SENS 1 -SR4_RC_CHAN 1 -SR5_ADSB 0 -SR5_EXTRA1 1 -SR5_EXTRA2 1 -SR5_EXTRA3 1 -SR5_EXT_STAT 1 -SR5_PARAMS 10 -SR5_POSITION 1 -SR5_RAW_CTRL 1 -SR5_RAW_SENS 1 -SR5_RC_CHAN 1 -SR6_ADSB 0 -SR6_EXTRA1 1 -SR6_EXTRA2 1 -SR6_EXTRA3 1 -SR6_EXT_STAT 1 -SR6_PARAMS 10 -SR6_POSITION 1 -SR6_RAW_CTRL 1 -SR6_RAW_SENS 1 -SR6_RC_CHAN 1 SRTL_ACCURACY 2 SRTL_OPTIONS 0 SRTL_POINTS 300 STICK_MIXING 0 -SYSID_ENFORCE 0 -SYSID_MYGCS 255 -SYSID_THISMAV 1 -TELEM_DELAY 0 TEMP1_TYPE 0 TEMP2_TYPE 0 TEMP3_TYPE 0 -TEMP_LOG 0 +TEMP_LOG 1 TRQ1_TYPE 0 TRQ2_TYPE 0 TURN_RADIUS 0.1 From 2c44e55f77fe32cb3d78e8d7de1804e71b48a2a7 Mon Sep 17 00:00:00 2001 From: Willian Galvani Date: Wed, 22 Jul 2026 12:57:52 -0300 Subject: [PATCH 4/4] blacklist: add mission COMPASS_PRIO params --- blacklist.txt | 3 +++ 1 file changed, 3 insertions(+) diff --git a/blacklist.txt b/blacklist.txt index a4b39cc..73ce0ca 100644 --- a/blacklist.txt +++ b/blacklist.txt @@ -32,6 +32,9 @@ COMPASS_OFS2_Z COMPASS_OFS3_X COMPASS_OFS3_Y COMPASS_OFS3_Z +COMPASS_PRIO1_ID +COMPASS_PRIO2_ID +COMPASS_PRIO3_ID COMPASS_SCALE COMPASS_SCALE2 COMPASS_SCALE3