FEATURE: Add a vehicle template from an Andy Piper vehicle

vehicle_templates/ArduCopter/Marmotte5v2/02_imu_temperature_calibration_setup.param

@@ -0,0 +1,7 @@
+INS_LOG_BAT_MASK,3  # the Matek H743 fligth controller only has two IMUs
+INS_TCAL1_ENABLE,2  # Activates the temperature calibration for IMU 1 at the next start
+INS_TCAL1_TMAX,60  # our H7 processor acts as a heater and heats up the board to almost 60 deg
+INS_TCAL2_ENABLE,2  # Activates the temperature calibration for IMU 2 at the next start
+INS_TCAL2_TMAX,60  # our H7 processor acts as a heater and heats up the board to almost 60 deg
+LOG_BITMASK,524416  # Only for IMU and Raw-IMU
+LOG_DISARMED,1  # Gather data for the offline IMU temperature compensation while the FC is disarmed

vehicle_templates/ArduCopter/Marmotte5v2/03_imu_temperature_calibration_results.param

@@ -0,0 +1,42 @@
+INS_TCAL1_ACC1_X,115.946591
+INS_TCAL1_ACC1_Y,498.256973
+INS_TCAL1_ACC1_Z,-381.446152
+INS_TCAL1_ACC2_X,-22.931569
+INS_TCAL1_ACC2_Y,13.578689
+INS_TCAL1_ACC2_Z,19.36129
+INS_TCAL1_ACC3_X,-0.601406
+INS_TCAL1_ACC3_Y,0.213799
+INS_TCAL1_ACC3_Z,0.011622
+INS_TCAL1_ENABLE,0
+INS_TCAL1_GYR1_X,-32.634221
+INS_TCAL1_GYR1_Y,79.655005
+INS_TCAL1_GYR1_Z,-151.124203
+INS_TCAL1_GYR2_X,-0.611429
+INS_TCAL1_GYR2_Y,-2.040989
+INS_TCAL1_GYR2_Z,1.23833
+INS_TCAL1_GYR3_X,-0.009728
+INS_TCAL1_GYR3_Y,0.019492
+INS_TCAL1_GYR3_Z,0.00141
+INS_TCAL1_TMAX,56
+INS_TCAL1_TMIN,-14.6
+INS_TCAL2_ACC1_X,-1088.4156
+INS_TCAL2_ACC1_Y,806.840522
+INS_TCAL2_ACC1_Z,327.521202
+INS_TCAL2_ACC2_X,-13.630366
+INS_TCAL2_ACC2_Y,6.347961
+INS_TCAL2_ACC2_Z,9.967253
+INS_TCAL2_ACC3_X,-0.376738
+INS_TCAL2_ACC3_Y,0.002642
+INS_TCAL2_ACC3_Z,-0.065861
+INS_TCAL2_ENABLE,0
+INS_TCAL2_GYR1_X,-44.455146
+INS_TCAL2_GYR1_Y,-8.833006
+INS_TCAL2_GYR1_Z,88.004539
+INS_TCAL2_GYR2_X,1.435061
+INS_TCAL2_GYR2_Y,-0.204453
+INS_TCAL2_GYR2_Z,-2.086232
+INS_TCAL2_GYR3_X,-0.048141
+INS_TCAL2_GYR3_Y,-0.002373
+INS_TCAL2_GYR3_Z,-0.028351
+INS_TCAL2_TMAX,56.5
+INS_TCAL2_TMIN,-13.3

vehicle_templates/ArduCopter/Marmotte5v2/04_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/Marmotte5v2/05_remote_controller.param

@@ -0,0 +1,10 @@
+ARMING_RUDDER,2
+BRD_ALT_CONFIG,1  # Matek H743-specific: Hardware-Pin Rx6 is Rx from UART 7
+RC_OPTIONS,288  # Enables Crossfire Telemetry
+RC_PROTOCOLS,1  # Selected in the component editor
+RC6_OPTION,0
+RC7_OPTION,0
+RC8_OPTION,4
+RC9_OPTION,31  # "Motor Emergency Stop", stops all motors immediately at a high signal
+RSSI_TYPE,3  # TBS Crossfire protocol provides RSSI
+SERIAL1_PROTOCOL,23  # Specifies the serial port 1 as RC-Input

vehicle_templates/ArduCopter/Marmotte5v2/06_telemetry.param

@@ -0,0 +1,2 @@
+BRD_SER1_RTSCTS,1  # we have RTS/CTS pins connected
+SERIAL1_BAUD,115  # The MAVLink telemetry

vehicle_templates/ArduCopter/Marmotte5v2/07_esc.param

@@ -0,0 +1,34 @@
+ATC_RAT_PIT_SMAX,40  # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html
+ATC_RAT_RLL_SMAX,40  # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html
+ATC_RAT_YAW_SMAX,30  # 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
+MOT_PWM_MIN,1000
+MOT_PWM_TYPE,6  # Specified in component editor window
+MOT_SPOOL_TIME,0.5  # left at default because copter is small
+NTF_BUZZ_TYPES,3  # the 4-in-1 ESC uses this
+NTF_LED_TYPES,2305  # Built-in LED, NCP5623 External (Holybro F9P), Neopixel (Matek H743 slim v3), and DShot (4-in-1 ESC)
+PSC_ACCZ_SMAX,0  # No slew rate limit on throttle controller
+SERIAL5_BAUD,57  # bi-directional DShot telemetry data rate from T-Motor F45 4in1 ESC V2
+SERIAL5_PROTOCOL,-1  # bi-directional DShot telemetry pin is connected to SERIAL5
+SERVO_BLH_AUTO,1  # Enables BLHeli pass-thru
+SERVO_BLH_BDMASK,15  # All four of our ESC support bi-directional DShot
+SERVO_BLH_POLES,14  # Specified in component editor window
+SERVO_BLH_TRATE,10  # Set to a low value because the RPM telemetry uses bi-directional DShot telemetry instead of this UART telemetry
+SERVO_DSHOT_ESC,1  # BLHeli32
+SERVO_DSHOT_RATE,3  # Sends DShot control signals to the ESC twice per control loop
+SERVO1_MAX,2000  # Use the full available 1000-2000 DShot range
+SERVO1_MIN,1000  # Use the full available 1000-2000 DShot range
+SERVO1_TRIM,1000  # Use the full available 1000-2000 DShot range
+SERVO13_FUNCTION,0
+SERVO2_MAX,2000  # Use the full available 1000-2000 DShot range
+SERVO2_MIN,1000  # Use the full available 1000-2000 DShot range
+SERVO2_TRIM,1000  # Use the full available 1000-2000 DShot range
+SERVO3_MAX,2000  # Use the full available 1000-2000 DShot range
+SERVO3_MIN,1000  # Use the full available 1000-2000 DShot range
+SERVO3_TRIM,1000  # Use the full available 1000-2000 DShot range
+SERVO4_MAX,2000  # Use the full available 1000-2000 DShot range
+SERVO4_MIN,1000  # Use the full available 1000-2000 DShot range
+SERVO4_TRIM,1000  # Use the full available 1000-2000 DShot range
+TKOFF_RPM_MIN,1000  # Our motors should idle at around 1000 RPM, see https://ardupilot.org/copter/docs/tkoff-rpm-min.html
+TKOFF_SLEW_TIME,0.5  # faster because copter is small

vehicle_templates/ArduCopter/Marmotte5v2/08_batt1.param

@@ -0,0 +1,12 @@
+BATT_AMP_PERVLT,64  # new calibrated value for Mamba F45_128k 4in1 ESC
+BATT_ARM_VOLT,23.6  # Don’t allow arming below this voltage
+BATT_CAPACITY,1400  # Total battery capacity
+BATT_CRT_MAH,100  # When only 100mAh out of the total 1400mAh remain, trigger critical failsafe
+BATT_CRT_VOLT,21.3  # (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,1  # Let the firmware handle the nasty business of variable and battery dependent internal resistance
+BATT_LOW_MAH,300  # When only 300mAh out of the total 1400mAh remain, trigger low failsafe
+BATT_LOW_VOLT,21.6  # (Low voltage + 0.0) x no. of cells
+BATT_MONITOR,4
+BATT_VOLT_MULT,11.1  # Use a power source with a voltage close to BATT_LOW_VOLT measure with a calibrated voltimeter and adapt this parameter so that the telemetry voltage reading matches it

vehicle_templates/ArduCopter/Marmotte5v2/10_gnss.param

@@ -0,0 +1,7 @@
+BRD_SAFETY_DEFLT,0  # Matek H743 Slim has no safety switch
+GPS_GNSS_MODE,5  # limit the constalations to ensure an update rate higher than 5Hz
+GPS_POS1_X,0  # HX-CH7604A GNSS antenna pahse center location relative to CG
+GPS_POS1_Y,0  # HX-CH7604A GNSS antenna pahse center location relative to CG
+GPS_POS1_Z,0  # HX-CH7604A GNSS antenna pahse center location relative to CG
+GPS_TYPE,2  # Defined in component editor
+SERIAL7_PROTOCOL,5  # GNSS receiver is connected to serial7

vehicle_templates/ArduCopter/Marmotte5v2/11_initial_atc.param

@@ -0,0 +1,18 @@
+ATC_ACCEL_P_MAX,180800  # Derived from vehicle component editor propeller size
+ATC_ACCEL_R_MAX,180800  # Derived from vehicle component editor propeller size
+ATC_ACCEL_Y_MAX,32400  # Derived from vehicle component editor propeller size
+ATC_ANG_YAW_P,5.4  # Derived from vehicle component editor propeller size
+ATC_RAT_PIT_FLTD,45.5  # INS_GYRO_FILTER / 2
+ATC_RAT_PIT_FLTE,0  # Initial value, will be improved at a later step
+ATC_RAT_PIT_FLTT,45.5  # INS_GYRO_FILTER / 2
+ATC_RAT_RLL_FLTD,45.5  # INS_GYRO_FILTER / 2
+ATC_RAT_RLL_FLTE,0  # Initial value, will be improved at a later step
+ATC_RAT_RLL_FLTT,45.5  # 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,45.5  # 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,91  # Derived from vehicle component editor propeller size
+MOT_THST_EXPO,0.45  # Derived from vehicle component editor propeller size
+MOT_THST_HOVER,0.2  # Hover learn will improve this initial guess

vehicle_templates/ArduCopter/Marmotte5v2/12_mp_setup_mandatory_hardware.param

@@ -0,0 +1,79 @@
+AHRS_TRIM_X,0.003529
+AHRS_TRIM_Y,-0.029776
+ATC_ACCEL_P_MAX,561277.6
+ATC_ACCEL_R_MAX,659415.3
+ATC_ACCEL_Y_MAX,287426.9
+ATC_RAT_PIT_FLTD,90  # INS_GYRO_FILTER / 2
+ATC_RAT_PIT_FLTT,30  # INS_GYRO_FILTER / 2
+ATC_RAT_RLL_FLTD,90  # INS_GYRO_FILTER / 2
+ATC_RAT_RLL_FLTT,30  # INS_GYRO_FILTER / 2
+ATC_RAT_YAW_FLTE,1.615021
+ATC_RAT_YAW_FLTT,30  # INS_GYRO_FILTER / 2
+COMPASS_EXTERNAL,1
+COMPASS_ORIENT,102
+COMPASS_PRIO1_ID,855297
+COMPASS_USE2,0
+COMPASS_USE3,0
+FENCE_ACTION,1
+FENCE_ALT_MAX,100
+FENCE_ENABLE,0
+FENCE_RADIUS,300
+FLTMODE1,1
+FLTMODE2,0
+FLTMODE3,0
+FLTMODE4,0
+FLTMODE5,2
+FLTMODE6,5
+FRAME_CLASS,1
+FRAME_TYPE,12
+INS_ACC1_CALTEMP,45.77295
+INS_ACC2_CALTEMP,42.3913
+INS_ACC2SCAL_X,0.999079
+INS_ACC2SCAL_Y,0.996705
+INS_ACC2SCAL_Z,0.997806
+INS_ACC3SCAL_X,0
+INS_ACC3SCAL_Y,0
+INS_ACC3SCAL_Z,0
+INS_ACCSCAL_X,0.997226
+INS_ACCSCAL_Y,0.999176
+INS_ACCSCAL_Z,0.998247
+INS_GYRO_FILTER,180
+INS_USE3,1
+MOT_BAT_VOLT_MAX,25.2
+MOT_BAT_VOLT_MIN,19.8
+MOT_SPIN_ARM,0.03
+MOT_SPIN_MAX,0.95
+MOT_SPIN_MIN,0.05
+MOT_THST_EXPO,0.55
+MOT_THST_HOVER,0.095
+RC1_MAX,2010
+RC1_MIN,988
+RC1_TRIM,1500
+RC2_MAX,2010
+RC2_MIN,987
+RC2_TRIM,1500
+RC3_MAX,2010
+RC3_MIN,988
+RC3_TRIM,988
+RC4_MAX,2009
+RC4_MIN,987
+RC4_TRIM,1496
+RC5_MAX,1871
+RC5_MIN,1110
+RC5_TRIM,1871
+RC6_MAX,2010
+RC6_MIN,987
+RC6_TRIM,987
+RC7_MAX,2010
+RC7_MIN,987
+RC7_TRIM,987
+RC8_MAX,2010
+RC8_MIN,987
+RC8_TRIM,987
+RC9_MAX,2010
+RC9_MIN,987
+RC9_TRIM,987
+SERVO1_FUNCTION,34
+SERVO2_FUNCTION,33
+SERVO3_FUNCTION,36
+SERVO4_FUNCTION,35

vehicle_templates/ArduCopter/Marmotte5v2/13_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  # London time zone
+FENCE_TYPE,7  # cylinder and max altitude, to obey local regulations and safety measures
+INS_ACCEL_FILTER,20  # the default is 20 and that lets too much noise in
+INS_POS1_X,0
+INS_POS1_Y,0
+INS_POS2_X,0
+INS_POS2_Y,0
+LAND_ALT_LOW,1000  # The default is OK
+RTL_ALT,2000  # The default is too low for the kind of flights we do.
+RTL_LOIT_TIME,5000  # The default is OK
+SCHED_LOOP_RATE,800  # On our vehicle the propellers rotate at speeds higher than 400Hz and we have a powerful STM32 H7 family processor. So we increase this for added performance.
+SCR_ENABLE,1  # Use lua scripting for VTOL-Quicktune, MagFit automation and Windspeed Estimation automation

vehicle_templates/ArduCopter/Marmotte5v2/14_logging.param

@@ -0,0 +1,5 @@
+INS_LOG_BAT_MASK,3  # The Matek H743 Slim flight controller only has two IMUs
+INS_LOG_BAT_OPT,4  # Logs measured data both before and after the filters for Filter Review Webtool usage
+INS_RAW_LOG_OPT,9  # To get more Notch filter data
+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/Marmotte5v2/15_motor.param

@@ -0,0 +1,4 @@
+MOT_SPIN_ARM,0.03  # The Mamba F45_128K ESCs reliably start spinning with this value
+MOT_SPIN_MAX,0.95  # Upper dead zone of the Mamba F45_128K ESC
+MOT_SPIN_MIN,0.05  # MOT_SPIN_ARM + 0.02
+MOT_THST_EXPO,0.55  # Measured with the motor test stand RCBenchmark Series 1780 from Tyto Robotics

vehicle_templates/ArduCopter/Marmotte5v2/16_pid_adjustment.param

@@ -0,0 +1,15 @@
+# If you have a very small, or a very large vehicle that requires non-default PID values for a safe flight, change them here
+#
+# Usually, smaller vehicles require lower than default PID rate values.
+# Larger vehicles usually require higher than default PID rate values.
+
+ATC_INPUT_TC,0.08
+ATC_RAT_PIT_D,0.001044  # = 0.925972 * (0.0036 default)
+ATC_RAT_PIT_I,0.089312  # = 1.283176 * (0.135 default)
+ATC_RAT_PIT_P,0.089312  # = 1.283176 * (0.135 default)
+ATC_RAT_RLL_D,0.000734  # = 0.690593 * (0.0036 default)
+ATC_RAT_RLL_I,0.059487  # = 1.061015 * (0.135 default)
+ATC_RAT_RLL_P,0.059487  # = 1.061015 * (0.135 default)
+ATC_RAT_YAW_D,0.004533  # = 1 * (0 default)
+ATC_RAT_YAW_I,0.039443  # = 2.514026 * (0.018 default)
+ATC_RAT_YAW_P,0.394428  # = 2.514026 * (0.18 default)

vehicle_templates/ArduCopter/Marmotte5v2/17_remote_id.param

@@ -0,0 +1,4 @@
+DID_CANDRIVER,0
+DID_ENABLE,0  # Our RemoteID module does not communicate with ArduPilot
+DID_MAVPORT,2  # The serial port attached to the OpenDroneID module
+DID_OPTIONS,0

vehicle_templates/ArduCopter/Marmotte5v2/18_notch_filter_setup.param

@@ -0,0 +1,10 @@
+INS_FAST_SAMPLE,3  # Both IMUs can run fast on the Matek H743 Slim flight controller
+INS_GYRO_RATE,2  # The Matek H743 Slim can do 4KHz here
+INS_HNTCH_ATT,20  # this is just a hunch, it must be improved after the first flight (by the next file)
+INS_HNTCH_BW,10  # 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,252  # Use 1.4 * INS_GYRO_FILTER as a first guess
+INS_HNTCH_HMNCS,1  # start with a single frequency
+INS_HNTCH_MODE,3  # Use the BDshot600 RPM telemetry to dynamicaly track noise created by the motors/propellers
+INS_HNTCH_OPTS,6  # One Notch per motor, update at loop rate
+INS_HNTCH_REF,1  # Use the BDshot600 RPM telemetry to dynamicaly track noise created by the motors/propellers

vehicle_templates/ArduCopter/Marmotte5v2/19_notch_filter_results.param

@@ -0,0 +1,6 @@
+INS_HNTCH_ATT,40  # just enough to filter the noise created by the motors/propellers
+INS_HNTCH_BW,8  # 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,40  # the minimum frequency that the motors are expected to operate at
+INS_HNTCH_HMNCS,7  # the motors produce harmonics on this vehicle
+INS_HNTCH_OPTS,22  # Tripple Notch per motor, update at loop rate

vehicle_templates/ArduCopter/Marmotte5v2/20_throttle_controller.param

@@ -0,0 +1,3 @@
+ATC_THR_MIX_MAN,4  # because we have learned the MOT_THST_HOVER value
+PSC_ACCZ_I,0.19  # Use 2 * MOT_THST_HOVER assuming MOT_THST_HOVER has been correctly learned
+PSC_ACCZ_P,0.095  # Use MOT_THST_HOVER assuming MOT_THST_HOVER has been correctly learned

vehicle_templates/ArduCopter/Marmotte5v2/21_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/Marmotte5v2/22_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/Marmotte5v2/23_quick_tune_results.param

@@ -0,0 +1,10 @@
+ATC_RAT_PIT_D,0.001044  # Tuned by Andy Piper
+ATC_RAT_PIT_I,0.089312  # Tuned by Andy Piper
+ATC_RAT_PIT_P,0.089312  # Tuned by Andy Piper
+ATC_RAT_RLL_D,0.000734  # Tuned by Andy Piper
+ATC_RAT_RLL_I,0.059487  # Tuned by Andy Piper
+ATC_RAT_RLL_P,0.059487  # Tuned by Andy Piper
+ATC_RAT_YAW_D,0.004533  # Tuned by Andy Piper
+ATC_RAT_YAW_FLTD,45  # Tuned by Andy Piper
+ATC_RAT_YAW_I,0.039443  # Tuned by Andy Piper
+ATC_RAT_YAW_P,0.394428  # Tuned by Andy Piper

vehicle_templates/ArduCopter/Marmotte5v2/24_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/Marmotte5v2/24_inflight_magnetometer_fit_setup.pdef.xml

@@ -0,0 +1,41 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Dynamically generated list of documented parameters (generated by param_parse.py) -->
+<paramfile>
+    <vehicles>
+        <parameters name="ArduCopter">
+            <param name="MAGH_ALT_DELTA" humanName="Altitude change" documentation="Altitude change to be commanded during the figure-8 pattern to capture mag field changes during throttle changes. Starting altitude is based upon the entry waypoint’s altitude, and the Copter will climb this amount ABOVE that starting altitude on occasion.">
+                <field name="Units">m</field>
+                <field name="Range">0 100</field>
+                <field name="Default">10</field>
+            </param>
+            <param name="MAGH_B" humanName="Figure 8 Geometric factor" documentation="Geometric factor to adjust the width of the figure-8. Values of 1.2-1.5 should be more than adequate.">
+                <field name="Range">1.2 1.5</field>
+                <field name="Default">1.2</field>
+            </param>
+            <param name="MAGH_CMD" humanName="SCRIPT_TIME command" documentation="The SCRIPT_TIME command value used to initiate the scripted pattern. Defaults to 117.">
+                <field name="Range">0 255</field>
+                <field name="Default">117</field>
+            </param>
+            <param name="MAGH_COUNT" humanName="Repeat count" documentation="Number of times to repeat the figure-8. If battery failsafes are properly configured, you can make this number somewhat high so that the figure-8 will be repeated until failsafe.">
+                <field name="Range">1 20</field>
+                <field name="Default">6</field>
+            </param>
+            <param name="MAGH_LOG_ENABLE" humanName="Enable MAGH.Active logging" documentation="Enable a MAGH.Active value to be logged in dataflash for later consumption. Set 0 for no logging.">
+                <field name="Range">0 1</field>
+                <field name="Default">1</field>
+            </param>
+            <param name="MAGH_MIN_SPEED" humanName="Minimum speed" documentation="Starting speed (m/s) for the figure-8. Speed will slowly increment to WPNAV_SPEED as the pattern is repeated. Defaults to 1/2 of WPNAV_SPEED.">
+                <field name="Units">m/s</field>
+                <field name="Default">1/2 of WPNAV_SPEED</field>
+            </param>
+            <param name="MAGH_NUM_WP" humanName="Number of waypoint in figure 8" documentation="The number of waypoints to be used in defining the figure-8. Use more points for a smoother path at the cost of potentially slower speed during navigation. Defaults to 18. 16-24 should be adequate for most cases.">
+                <field name="Range">16 24</field>
+                <field name="Default">18</field>
+            </param>
+            <param name="MAGH_USE_LOITER" humanName="Use loiter" documentation="Insert a LOITER_UNLIMITED waypoint prior to the figure-8 so that the new waypoints can be downloaded and verified prior to continuing. Set 0 to disable (not recommended). See the end of the writeup for a helper script to advance waypoints via an RC switch.">
+                <field name="Range">0 1</field>
+                <field name="Default">1</field>
+            </param>
+        </parameters>
+    </vehicles>
+</paramfile>

vehicle_templates/ArduCopter/Marmotte5v2/25_inflight_magnetometer_fit_results.param

@@ -0,0 +1,15 @@
+COMPASS_DIA_X,1.054
+COMPASS_DIA_Y,1.057
+COMPASS_DIA_Z,0.972
+COMPASS_MOT_X,-0.64
+COMPASS_MOT_Y,0.996
+COMPASS_MOT_Z,0.643
+COMPASS_MOTCT,2
+COMPASS_ODI_X,0.013
+COMPASS_ODI_Y,0.02
+COMPASS_ODI_Z,0.006
+COMPASS_OFS_X,28
+COMPASS_OFS_Y,-187
+COMPASS_OFS_Z,-15
+COMPASS_ORIENT,102
+COMPASS_SCALE,0.93