FEATURE: add a Tarot X4 template that uses FFT based notch filter

vehicle_templates/ArduCopter/Tarot_X4/02_imu_temperature_calibration_setup.param

@@ -0,0 +1,9 @@
+BRD_HEAT_TARG,65  # Reasonable for most places on this planet
+INS_LOG_BAT_MASK,7  # Calculate IMU calibration for all IMUs, irrespective of their usage in a future step. Saves the trouble of recalibrating an inactive IMU if you later decide to activate it
+INS_TCAL1_ENABLE,2  # Activates the temperature calibration for IMU 1 at the next start
+INS_TCAL1_TMAX,60  # Pixhawk 6X has integrated IMU heating
+INS_TCAL2_ENABLE,2  # Activates the temperature calibration for IMU 2 at the next start
+INS_TCAL2_TMAX,60  # Pixhawk 6X has integrated IMU heating
+INS_TCAL3_ENABLE,2  # Activates the temperature calibration for IMU 3 at the next start
+LOG_BITMASK,524416  # Only for IMU and Raw-IMU
+LOG_DISARMED,1  # Gather data for the offline IMU temperature calibration while the FC is disarmed

vehicle_templates/ArduCopter/Tarot_X4/03_imu_temperature_calibration_results.param

@@ -0,0 +1,63 @@
+INS_TCAL1_ACC1_X,1008.507844
+INS_TCAL1_ACC1_Y,505.028098
+INS_TCAL1_ACC1_Z,2110.303258
+INS_TCAL1_ACC2_X,12.134173
+INS_TCAL1_ACC2_Y,-0.180665
+INS_TCAL1_ACC2_Z,8.243756
+INS_TCAL1_ACC3_X,-0.409631
+INS_TCAL1_ACC3_Y,-0.054657
+INS_TCAL1_ACC3_Z,0.706557
+INS_TCAL1_ENABLE,1
+INS_TCAL1_GYR1_X,142.342596
+INS_TCAL1_GYR1_Y,98.017184
+INS_TCAL1_GYR1_Z,70.542303
+INS_TCAL1_GYR2_X,3.328674
+INS_TCAL1_GYR2_Y,3.270675
+INS_TCAL1_GYR2_Z,-0.89795
+INS_TCAL1_GYR3_X,-0.16581
+INS_TCAL1_GYR3_Y,-0.136828
+INS_TCAL1_GYR3_Z,0.05735
+INS_TCAL1_TMAX,59.5
+INS_TCAL1_TMIN,13
+INS_TCAL2_ACC1_X,-238.660179
+INS_TCAL2_ACC1_Y,-2378.446833
+INS_TCAL2_ACC1_Z,2518.994921
+INS_TCAL2_ACC2_X,18.680889
+INS_TCAL2_ACC2_Y,-17.010887
+INS_TCAL2_ACC2_Z,-7.279485
+INS_TCAL2_ACC3_X,0.031184
+INS_TCAL2_ACC3_Y,0.1771
+INS_TCAL2_ACC3_Z,0.549584
+INS_TCAL2_ENABLE,1
+INS_TCAL2_GYR1_X,61.379101
+INS_TCAL2_GYR1_Y,-24.160771
+INS_TCAL2_GYR1_Z,26.890803
+INS_TCAL2_GYR2_X,-0.725999
+INS_TCAL2_GYR2_Y,0.536831
+INS_TCAL2_GYR2_Z,-0.161731
+INS_TCAL2_GYR3_X,-0.008922
+INS_TCAL2_GYR3_Y,0.015921
+INS_TCAL2_GYR3_Z,-0.030287
+INS_TCAL2_TMAX,60
+INS_TCAL2_TMIN,12
+INS_TCAL3_ACC1_X,5537.138407
+INS_TCAL3_ACC1_Y,-13144.717457
+INS_TCAL3_ACC1_Z,-37021.246814
+INS_TCAL3_ACC2_X,316.718696
+INS_TCAL3_ACC2_Y,-956.863247
+INS_TCAL3_ACC2_Z,-2414.185632
+INS_TCAL3_ACC3_X,7.644001
+INS_TCAL3_ACC3_Y,-22.809174
+INS_TCAL3_ACC3_Z,-54.57293
+INS_TCAL3_ENABLE,1
+INS_TCAL3_GYR1_X,5166.646813
+INS_TCAL3_GYR1_Y,903.833297
+INS_TCAL3_GYR1_Z,-915.84359
+INS_TCAL3_GYR2_X,355.381273
+INS_TCAL3_GYR2_Y,50.403139
+INS_TCAL3_GYR2_Z,-85.389639
+INS_TCAL3_GYR3_X,7.97312
+INS_TCAL3_GYR3_Y,0.803663
+INS_TCAL3_GYR3_Z,-1.953931
+INS_TCAL3_TMAX,25.2
+INS_TCAL3_TMIN,15.1

vehicle_templates/ArduCopter/Tarot_X4/04_board_orientation.param

@@ -0,0 +1,2 @@
+AHRS_ORIENTATION,0  # Point forward in the direction of travel
+LOG_DISARMED,0  # Log disarmed was only required for offline IMU temperature calibration

vehicle_templates/ArduCopter/Tarot_X4/05_remote_controller.param

@@ -0,0 +1,10 @@
+ARMING_RUDDER,2  # Vehicle uses arm/disarm via sticks as well as emergency motor stop switch (shoulder switch of Radiomaster Boxer assigned to channel 5)
+RC_OPTIONS,11040  # Enables Crossfire Telemetry and 420 kBaud for ELRS
+RC_PROTOCOLS,512  # Selected in the component editor
+RC5_OPTION,31  # "Motor Emergency Stop", stops all motors immediately at a high signal - mapped to channel 5 / left shoulder toggle button (inverted on RC sender) because ELRS can transmit only 2 postions on channel 5
+RC6_OPTION,0  # Used for flight mode selection
+RC7_OPTION,0
+RC8_OPTION,4  # force RTL
+RC9_OPTION,0
+RSSI_TYPE,3  # TBS Crossfire protocol provides RSSI
+SERIAL6_PROTOCOL,23  # Specifies the serial port 6 as RC-Input

vehicle_templates/ArduCopter/Tarot_X4/06_telemetry.param

@@ -0,0 +1,3 @@
+BRD_SER1_RTSCTS,2  # Auto detect (currently RTS/CTS are not connected)
+SERIAL2_BAUD,921  # The MAVLink over ESP32 telemetry
+SERIAL2_PROTOCOL,2  # Use MAVLink 2 for telemetry

vehicle_templates/ArduCopter/Tarot_X4/07_esc.param

@@ -0,0 +1,33 @@
+ATC_RAT_PIT_SMAX,0  # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html
+ATC_RAT_RLL_SMAX,0  # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html
+ATC_RAT_YAW_SMAX,0  # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html
+MOT_HOVER_LEARN,2  # So that it can tune the throttle controller on 20_throttle_controller.param file
+MOT_PWM_MAX,2000  # 1940 recommended for T-Motor, but 2000 should not make things worse
+MOT_PWM_MIN,1100  # 1100 recommended for T-Motor ESCs
+MOT_PWM_TYPE,0  # Specified in component editor window
+MOT_SPOOL_TIME,0.5  # left at default because props are lightweight and motors strong enough
+NTF_BUZZ_TYPES,5  # left default - don't know, if the T-Motor STAR ESCs provide options
+NTF_LED_TYPES,123079  # Left default
+PSC_ACCZ_SMAX,0  # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html
+SERIAL5_BAUD,57  # left default (no DShot telemetry available)
+SERIAL5_PROTOCOL,-1  # no DShot telemetry available
+SERVO_BLH_AUTO,0  # BLHeli pass-thru not availble with T-Motor ESCs
+SERVO_BLH_BDMASK,0  # no bidirectional DShot available
+SERVO_BLH_POLES,28  # Specified in component editor window
+SERVO_BLH_TRATE,10  # Left default (no RPM telemetry / bi-directional DShot telemetry available)
+SERVO_DSHOT_ESC,0  # using PWM
+SERVO_DSHOT_RATE,0  # Default
+SERVO1_MAX,1940  # Recommended by T-Motor
+SERVO1_MIN,1100  # Recommended by T-Motor
+SERVO1_TRIM,1500
+SERVO2_MAX,1940  # Recommended by T-Motor
+SERVO2_MIN,1100  # Recommended by T-Motor
+SERVO2_TRIM,1500
+SERVO3_MAX,1940  # Recommended by T-Motor
+SERVO3_MIN,1100  # Recommended by T-Motor
+SERVO3_TRIM,1500
+SERVO4_MAX,1940  # Recommended by T-Motor
+SERVO4_MIN,1100  # Recommended by T-Motor
+SERVO4_TRIM,1500
+TKOFF_RPM_MIN,0  # no RPM feedback
+TKOFF_SLEW_TIME,2  # left at default because copter is small

vehicle_templates/ArduCopter/Tarot_X4/08_batt1.param

@@ -0,0 +1,10 @@
+BATT_ARM_VOLT,18.8  # Don’t allow arming below this voltage
+BATT_CAPACITY,30000  # Total battery capacity specified in the component editor
+BATT_CRT_MAH,0  # Energy consumption not measured
+BATT_CRT_VOLT,16.5  # (Critical voltage + 0.0) x no. of cells
+BATT_FS_CRT_ACT,1  # Land ASAP
+BATT_FS_LOW_ACT,2  # Return and land at home or rally point
+BATT_FS_VOLTSRC,0  # Using only RAW voltage
+BATT_LOW_MAH,0  # Energy consumption not measured
+BATT_LOW_VOLT,18.6  # (Low voltage + 0.0) x no. of cells
+BATT_MONITOR,21  # I2C based (PM02D)

vehicle_templates/ArduCopter/Tarot_X4/09_batt2.param

@@ -0,0 +1 @@
+BATT2_MONITOR,0

vehicle_templates/ArduCopter/Tarot_X4/10_gnss.param

@@ -0,0 +1,8 @@
+BRD_SAFETY_DEFLT,1  # Use Holybro M9N module safety switch
+GPS_GNSS_MODE,0  # leave default
+GPS_POS1_X,0.04  # Antenna 4 cm in front of CoG
+GPS_POS1_Y,0.11  # Antenna 11 cm right from CoG
+GPS_POS1_Z,-0.08  # Antenna 8 cm above CoG
+GPS_TYPE,1  # Defined in component editor
+SERIAL3_PROTOCOL,5  # GNSS receiver is connected to serial3
+WPNAV_RADIUS,200  # leave default

vehicle_templates/ArduCopter/Tarot_X4/11_initial_atc.param

@@ -0,0 +1,18 @@
+ATC_ACCEL_P_MAX,35400  # Derived from vehicle component editor propeller size
+ATC_ACCEL_R_MAX,35400  # Derived from vehicle component editor propeller size
+ATC_ACCEL_Y_MAX,14400  # Derived from vehicle component editor propeller size
+ATC_ANG_YAW_P,2.4  # Derived from vehicle component editor propeller size
+ATC_RAT_PIT_FLTD,10  # INS_GYRO_FILTER / 2
+ATC_RAT_PIT_FLTE,0  # Initial value, will be improved at a later step
+ATC_RAT_PIT_FLTT,10  # INS_GYRO_FILTER / 2
+ATC_RAT_RLL_FLTD,10  # INS_GYRO_FILTER / 2
+ATC_RAT_RLL_FLTE,0  # Initial value, will be improved at a later step
+ATC_RAT_RLL_FLTT,10  # INS_GYRO_FILTER / 2
+ATC_RAT_YAW_FLTD,0  # Initial value, will be improved at a later step
+ATC_RAT_YAW_FLTE,2  # Initial value, will be improved at a later step
+ATC_RAT_YAW_FLTT,10  # INS_GYRO_FILTER / 2
+ATC_THR_MIX_MAN,0.1  # Value for the first couple of flights will be changed later once MOT_THST_HOVER is learned
+INS_ACCEL_FILTER,10  # The default is 20Hz but that is too high in most situations
+INS_GYRO_FILTER,20  # Derived from vehicle component editor propeller size
+MOT_THST_EXPO,0.74  # Derived from vehicle component editor propeller size
+MOT_THST_HOVER,0.2  # Hover learn will improve this initial guess

vehicle_templates/ArduCopter/Tarot_X4/12_mp_setup_mandatory_hardware.param

@@ -0,0 +1,79 @@
+AHRS_TRIM_X,0
+AHRS_TRIM_Y,0
+ATC_ACCEL_P_MAX,48000  # manually adjusted later (you should start with the initally calculated values)
+ATC_ACCEL_R_MAX,48000  # manually adjusted later (you should start with the initally calculated values)
+ATC_ACCEL_Y_MAX,14400  # manually adjusted later (you should start with the initally calculated values)
+ATC_RAT_PIT_FLTD,10  # INS_GYRO_FILTER / 2
+ATC_RAT_PIT_FLTT,10  # INS_GYRO_FILTER / 2
+ATC_RAT_RLL_FLTD,10  # INS_GYRO_FILTER / 2
+ATC_RAT_RLL_FLTT,10  # INS_GYRO_FILTER / 2
+ATC_RAT_YAW_FLTE,2
+ATC_RAT_YAW_FLTT,10  # INS_GYRO_FILTER / 2
+COMPASS_EXTERNAL,1
+COMPASS_ORIENT,6
+COMPASS_PRIO1_ID,658953
+COMPASS_USE2,0
+COMPASS_USE3,1
+FENCE_ACTION,3
+FENCE_ALT_MAX,120
+FENCE_ENABLE,1
+FENCE_RADIUS,350  # Initially you should start with a 150m fence radius.
+FLTMODE1,0  # We use a tri-state-switch
+FLTMODE2,0  # We use a tri-state-switch
+FLTMODE3,2  # We use a tri-state-switch
+FLTMODE4,2  # We use a tri-state-switch
+FLTMODE5,5  # We use a tri-state-switch
+FLTMODE6,5  # We use a tri-state-switch
+FRAME_CLASS,1
+FRAME_TYPE,1
+INS_ACC1_CALTEMP,45.229469
+INS_ACC2_CALTEMP,42.25
+INS_ACC2SCAL_X,1
+INS_ACC2SCAL_Y,1
+INS_ACC2SCAL_Z,1
+INS_ACC3SCAL_X,1
+INS_ACC3SCAL_Y,1
+INS_ACC3SCAL_Z,1
+INS_ACCSCAL_X,1
+INS_ACCSCAL_Y,1
+INS_ACCSCAL_Z,1
+INS_GYRO_FILTER,20
+INS_USE3,1
+MOT_BAT_VOLT_MAX,24.6
+MOT_BAT_VOLT_MIN,16.5
+MOT_SPIN_ARM,0.1  # Derived from motor test
+MOT_SPIN_MAX,0.95
+MOT_SPIN_MIN,0.13  # Derived from motor test
+MOT_THST_EXPO,0.5  # There was no explicit recommendation for T-Motor iESCs so I used a value in the middle between recommendation for Flame and for ALPHA ESCs
+MOT_THST_HOVER,0.200263  # 0.2 is a good guess.
+RC1_MAX,2011
+RC1_MIN,987
+RC1_TRIM,1500
+RC2_MAX,2011
+RC2_MIN,987
+RC2_TRIM,1500
+RC3_MAX,2011
+RC3_MIN,987
+RC3_TRIM,1500
+RC4_MAX,2011
+RC4_MIN,987
+RC4_TRIM,1500
+RC5_MAX,2011
+RC5_MIN,987
+RC5_TRIM,2011
+RC6_MAX,2011
+RC6_MIN,987
+RC6_TRIM,987
+RC7_MAX,2011
+RC7_MIN,987
+RC7_TRIM,987
+RC8_MAX,2011
+RC8_MIN,987
+RC8_TRIM,987
+RC9_MAX,2011
+RC9_MIN,987
+RC9_TRIM,987
+SERVO1_FUNCTION,33
+SERVO2_FUNCTION,34
+SERVO3_FUNCTION,35
+SERVO4_FUNCTION,36

vehicle_templates/ArduCopter/Tarot_X4/13_general_configuration.param

@@ -0,0 +1,13 @@
+ARMING_CHECK,1  # Perform all arming checks. If you have a problem fix its source. Do NOT change this
+BRD_RTC_TZ_MIN,0  # UTC
+FENCE_TYPE,7  # cylinder and max altitude, to obey local regulations and safety measures
+INS_ACCEL_FILTER,20  # Suggested bei MP
+INS_POS1_X,0
+INS_POS1_Y,0
+INS_POS2_X,0
+INS_POS2_Y,0
+LAND_ALT_LOW,1000  # come down fast and only slow down close to the ground. Baro could be off by 5m
+RTL_ALT,3500  # 35 m goes above trees
+RTL_LOIT_TIME,5000  # The default is too long. This reduces the time
+SCHED_LOOP_RATE,400  # we have a powerful STM32 H7 family processor. But the vehicle is big, so leave it at default
+SCR_ENABLE,1  # Use lua scripting for VTOL-Quicktune, MagFit automation and Windspeed Estimation automation

vehicle_templates/ArduCopter/Tarot_X4/14_logging.param

@@ -0,0 +1,5 @@
+INS_LOG_BAT_MASK,1  # Pixhawk 6X has 3 IMUs, but for notch based on inflight FFT, 1 is sufficient
+INS_LOG_BAT_OPT,4  # Logs measured data both before and after the filters for Filter Review Webtool usage
+INS_RAW_LOG_OPT,0  # To get more Notch filter data change this to 9
+LOG_BITMASK,2242524  # Logs Notch filter data and other control signals
+LOG_FILE_DSRMROT,1  # One .bin log file per flight, not per battery/reboot

vehicle_templates/ArduCopter/Tarot_X4/15_motor.param

@@ -0,0 +1,4 @@
+MOT_SPIN_ARM,0.1  # The T-Motor iESCs reliably start spinning with this value (based on motor test)
+MOT_SPIN_MAX,0.95  # Upper dead zone of the ESC
+MOT_SPIN_MIN,0.13  # MOT_SPIN_ARM + 0.03
+MOT_THST_EXPO,0.5  # According to discussions about T-Motor Alpha / Flame / Star ESCs

vehicle_templates/ArduCopter/Tarot_X4/16_pid_adjustment.param

@@ -0,0 +1,10 @@
+ATC_INPUT_TC,0.15
+ATC_RAT_PIT_D,0.0036  # (0.0036 default)
+ATC_RAT_PIT_I,0.135  # 0.115 recommendet for that drone (0.135 default)
+ATC_RAT_PIT_P,0.135  # 0.115 recommendet for that drone (0.135 default)
+ATC_RAT_RLL_D,0.0036  # (0.0036 default)
+ATC_RAT_RLL_I,0.135  # 0.115 recommendet for that drone (0.135 default)
+ATC_RAT_RLL_P,0.135  # 0.115 recommendet for that drone (0.135 default)
+ATC_RAT_YAW_D,0  # = 1 * (0 default)
+ATC_RAT_YAW_I,0.018  # 0.05 for that drone (0.018 default)
+ATC_RAT_YAW_P,0.18  # 0.5 for that drone (0.18 default)

vehicle_templates/ArduCopter/Tarot_X4/17_remote_id.param

@@ -0,0 +1,4 @@
+DID_CANDRIVER,0  # N/A
+DID_ENABLE,0  # N/A
+DID_MAVPORT,2  # N/A
+DID_OPTIONS,0

vehicle_templates/ArduCopter/Tarot_X4/18_notch_filter_setup.param

@@ -0,0 +1,11 @@
+FFT_ENABLE,1  # As we use INS_HNOTCH_MODE 4 (FFT), this must be enabled
+INS_FAST_SAMPLE,7  # IMUs can run fast on Pixhawk 6X flight controller
+INS_GYRO_RATE,1  # the H7 can do 4KHz here but we stick to the default (see also ArduCopter change log for version 4.5.5!)
+INS_HNTCH_ATT,20  # this is just a hunch, it must be improved after the first flight (by the next file)
+INS_HNTCH_BW,20  # this is just a hunch, it must be improved after the first flight (by the next file)
+INS_HNTCH_ENABLE,1  # Use the first notch filter to filter the noise created by the motors/propellers
+INS_HNTCH_FREQ,28  # Use 1.4 * INS_GYRO_FILTER as a first guess
+INS_HNTCH_HMNCS,1  # start with a single frequency
+INS_HNTCH_MODE,4  # T-Motor Star iESCs do not provide RPM telemetry, so use FFT
+INS_HNTCH_OPTS,6  # One Notch per motor, update at loop rate
+INS_HNTCH_REF,1  # dynamicaly track noise created by the motors/propellers

vehicle_templates/ArduCopter/Tarot_X4/19_notch_filter_results.param

@@ -0,0 +1,6 @@
+INS_HNTCH_ATT,30  # just enough to filter the noise created by the motors/propellers
+INS_HNTCH_BW,20  # just enough to filter the noise created by the motors/propellers
+INS_HNTCH_FM_RAT,1  # Allowed undercutting of the base frequency of the first notch filter
+INS_HNTCH_FREQ,35  # the minimum frequency that the motors are expected to operate at hover
+INS_HNTCH_HMNCS,3  # the motors produce secondary harmonics on this vehicle
+INS_HNTCH_OPTS,2  # One Notch per motor, multisource

vehicle_templates/ArduCopter/Tarot_X4/20_throttle_controller.param

@@ -0,0 +1,3 @@
+ATC_THR_MIX_MAN,0.1  # because we have learned the MOT_THST_HOVER value
+PSC_ACCZ_I,0.400526  # Use 2 * MOT_THST_HOVER assuming MOT_THST_HOVER has been correctly learned
+PSC_ACCZ_P,0.200263  # Use MOT_THST_HOVER assuming MOT_THST_HOVER has been correctly learned

vehicle_templates/ArduCopter/Tarot_X4/21_ekf_config.param

@@ -0,0 +1,2 @@
+EK3_ACC_P_NSE,0.35  # higher value -> trust accelerometer less, compared to other sources
+EK3_ALT_M_NSE,2  # lower value -> trust baro more, compared to other sources

vehicle_templates/ArduCopter/Tarot_X4/22_quick_tune_setup.param

@@ -0,0 +1,14 @@
+QUIK_AUTO_FILTER,1
+QUIK_AUTO_SAVE,0
+QUIK_AXES,7
+QUIK_DOUBLE_TIME,10
+QUIK_ENABLE,1  # Use VTOL-Quicktune lua script to estimate a good PID starting values
+QUIK_GAIN_MARGIN,60
+QUIK_MAX_REDUCE,20
+QUIK_OPTIONS,0
+QUIK_OSC_SMAX,5
+QUIK_RC_FUNC,300  # the script uses this value to listen to RC switch
+QUIK_RP_PI_RATIO,1
+QUIK_Y_PI_RATIO,10
+QUIK_YAW_D_MAX,0.01
+QUIK_YAW_P_MAX,0.5

vehicle_templates/ArduCopter/Tarot_X4/23_quick_tune_results.param

@@ -0,0 +1,10 @@
+ATC_RAT_PIT_D,0.003343  # Tuned outdoor at low wind
+ATC_RAT_PIT_I,0.108  # Tuned outdoor at low wind
+ATC_RAT_PIT_P,0.108  # Tuned outdoor at low wind
+ATC_RAT_RLL_D,0.003308  # Tuned outdoor at low wind
+ATC_RAT_RLL_I,0.108  # Tuned outdoor at low wind
+ATC_RAT_RLL_P,0.108  # Tuned outdoor at low wind
+ATC_RAT_YAW_D,0.01  # Tuned outdoor at low wind
+ATC_RAT_YAW_FLTD,10  # Tuned outdoor at low wind
+ATC_RAT_YAW_I,0.05  # Tuned outdoor at low wind
+ATC_RAT_YAW_P,0.5  # Tuned outdoor at low wind

vehicle_templates/ArduCopter/Tarot_X4/24_inflight_magnetometer_fit_setup.param

@@ -0,0 +1,8 @@
+MAGH_ALT_DELTA,10  # Height difference between the highest and lowest point of the eight
+MAGH_B,1.2  # Geometric factor for the width of the eight
+MAGH_CMD,117  # Script_Time command value for identification of the script
+MAGH_COUNT,6  # Number of times the drone repeats the eight
+MAGH_LOG_ENABLE,1  # Activates the logging of the MAGH.Active message
+MAGH_MIN_SPEED,5  # Starting speed for the mission; slowly adjusts to the general speed in auto-missions
+MAGH_NUM_WP,18  # Number of waypoints from which the eight is built
+MAGH_USE_LOITER,0  # Sets a Loiter_unlimited command at the beginning of the mission to check the generated waypoints

vehicle_templates/ArduCopter/Tarot_X4/25_inflight_magnetometer_fit_results.param

@@ -0,0 +1,15 @@
+COMPASS_DIA_X,1
+COMPASS_DIA_Y,1
+COMPASS_DIA_Z,1
+COMPASS_MOT_X,0
+COMPASS_MOT_Y,0
+COMPASS_MOT_Z,0
+COMPASS_MOTCT,0
+COMPASS_ODI_X,0
+COMPASS_ODI_Y,0
+COMPASS_ODI_Z,0
+COMPASS_OFS_X,0
+COMPASS_OFS_Y,0
+COMPASS_OFS_Z,0
+COMPASS_ORIENT,0
+COMPASS_SCALE,0

vehicle_templates/ArduCopter/Tarot_X4/26_quick_tune_setup.param

@@ -0,0 +1,14 @@
+QUIK_AUTO_FILTER,1
+QUIK_AUTO_SAVE,0
+QUIK_AXES,7
+QUIK_DOUBLE_TIME,10
+QUIK_ENABLE,1  # Use VTOL-Quicktune lua script to estimate a good PID starting values
+QUIK_GAIN_MARGIN,60
+QUIK_MAX_REDUCE,20
+QUIK_OPTIONS,0
+QUIK_OSC_SMAX,5
+QUIK_RC_FUNC,300  # the script uses this value to listen to RC switch
+QUIK_RP_PI_RATIO,1
+QUIK_Y_PI_RATIO,10
+QUIK_YAW_D_MAX,0.01
+QUIK_YAW_P_MAX,0.5

vehicle_templates/ArduCopter/Tarot_X4/27_quick_tune_results.param

@@ -0,0 +1,10 @@
+ATC_RAT_PIT_D,0.003
+ATC_RAT_PIT_I,0.115
+ATC_RAT_PIT_P,0.115
+ATC_RAT_RLL_D,0.002858
+ATC_RAT_RLL_I,0.115
+ATC_RAT_RLL_P,0.115
+ATC_RAT_YAW_D,0.01
+ATC_RAT_YAW_FLTD,10
+ATC_RAT_YAW_I,0.05
+ATC_RAT_YAW_P,0.5

vehicle_templates/ArduCopter/Tarot_X4/28_evaluate_the_aircraft_tune_ff_disable.param

@@ -0,0 +1 @@
+ATC_RATE_FF_ENAB,0  # test the stabilization loops independent of the input shaping

vehicle_templates/ArduCopter/Tarot_X4/29_evaluate_the_aircraft_tune_ff_enable.param

@@ -0,0 +1 @@
+ATC_RATE_FF_ENAB,1  # re-enable normal operation, activate input shaping

vehicle_templates/ArduCopter/Tarot_X4/30_autotune_roll_setup.param

@@ -0,0 +1,2 @@
+AUTOTUNE_AGGR,0.1  # Use smaller than default on this frame: 0.075
+AUTOTUNE_AXES,1  # Autotune roll axis