FEATURE: Add ReadyToSky ZD550 template by Yuri Rage

vehicle_templates/ArduCopter/ReadyToSkyZD550/02_imu_temperature_calibration_setup.param

@@ -0,0 +1,10 @@
+INS_LOG_BAT_MASK,7  # Cube Orange has 3 IMUs
+INS_TCAL1_ENABLE,2  # Activates the temperature calibration for IMU 1 at the next start
+INS_TCAL1_TMAX,64  # heated IMU
+INS_TCAL2_ENABLE,2  # Activates the temperature calibration for IMU 2 at the next start
+INS_TCAL2_TMAX,64  # heated IMU
+INS_TCAL3_ENABLE,2  # Activates the temperature calibration for IMU 2 at the next start
+INS_TCAL3_TMAX,50  # non-heated IMU
+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
+BRD_HEAT_TARG,65 # Cube seems to deny anything greater than 65

vehicle_templates/ArduCopter/ReadyToSkyZD550/03_imu_temperature_calibration_results.param

@@ -0,0 +1,63 @@
+INS_TCAL1_ACC1_X,2220.411335
+INS_TCAL1_ACC1_Y,-3058.332779
+INS_TCAL1_ACC1_Z,2526.895511
+INS_TCAL1_ACC2_X,-21.968947
+INS_TCAL1_ACC2_Y,12.729448
+INS_TCAL1_ACC2_Z,-66.687499
+INS_TCAL1_ACC3_X,-0.451188
+INS_TCAL1_ACC3_Y,0.00607
+INS_TCAL1_ACC3_Z,-1.269422
+INS_TCAL1_ENABLE,1
+INS_TCAL1_GYR1_X,-381.800609
+INS_TCAL1_GYR1_Y,-232.736303
+INS_TCAL1_GYR1_Z,-9.24318
+INS_TCAL1_GYR2_X,1.055333
+INS_TCAL1_GYR2_Y,2.840928
+INS_TCAL1_GYR2_Z,1.39822
+INS_TCAL1_GYR3_X,0.105866
+INS_TCAL1_GYR3_Y,0.018437
+INS_TCAL1_GYR3_Z,0.071915
+INS_TCAL1_TMAX,65.3
+INS_TCAL1_TMIN,-2.2
+INS_TCAL2_ACC1_X,1331.940478
+INS_TCAL2_ACC1_Y,-1208.392092
+INS_TCAL2_ACC1_Z,-1817.191457
+INS_TCAL2_ACC2_X,5.217852
+INS_TCAL2_ACC2_Y,-4.707933
+INS_TCAL2_ACC2_Z,-7.504891
+INS_TCAL2_ACC3_X,0.473862
+INS_TCAL2_ACC3_Y,0.900516
+INS_TCAL2_ACC3_Z,-1.098098
+INS_TCAL2_ENABLE,1
+INS_TCAL2_GYR1_X,138.791702
+INS_TCAL2_GYR1_Y,-467.599736
+INS_TCAL2_GYR1_Z,-241.009486
+INS_TCAL2_GYR2_X,3.738361
+INS_TCAL2_GYR2_Y,0.772821
+INS_TCAL2_GYR2_Z,-0.747185
+INS_TCAL2_GYR3_X,-0.053827
+INS_TCAL2_GYR3_Y,0.071296
+INS_TCAL2_GYR3_Z,-0.008893
+INS_TCAL2_TMAX,64.9
+INS_TCAL2_TMIN,-3.2
+INS_TCAL3_ACC1_X,-2179.130614
+INS_TCAL3_ACC1_Y,671.616171
+INS_TCAL3_ACC1_Z,2740.434023
+INS_TCAL3_ACC2_X,14.4775
+INS_TCAL3_ACC2_Y,18.27559
+INS_TCAL3_ACC2_Z,-73.775101
+INS_TCAL3_ACC3_X,1.17174
+INS_TCAL3_ACC3_Y,-0.601298
+INS_TCAL3_ACC3_Z,-3.108488
+INS_TCAL3_ENABLE,1
+INS_TCAL3_GYR1_X,-267.226371
+INS_TCAL3_GYR1_Y,212.573647
+INS_TCAL3_GYR1_Z,258.380215
+INS_TCAL3_GYR2_X,1.739527
+INS_TCAL3_GYR2_Y,0.372621
+INS_TCAL3_GYR2_Z,2.823337
+INS_TCAL3_GYR3_X,0.041586
+INS_TCAL3_GYR3_Y,-0.036498
+INS_TCAL3_GYR3_Z,0.071622
+INS_TCAL3_TMAX,49.8
+INS_TCAL3_TMIN,-5.7

vehicle_templates/ArduCopter/ReadyToSkyZD550/04_board_orientation.param

@@ -0,0 +1,3 @@
+AHRS_ORIENTATION,0  # Point forward in the direction of travel
+LOG_DISARMED,0  # Log disarmed was only required for offline IMU temperature calibration
+BRD_HEAT_TARG,45 # reset to default after temp calibration

vehicle_templates/ArduCopter/ReadyToSkyZD550/05_remote_controller.param

@@ -0,0 +1,20 @@
+RC_OPTIONS,8992  # ExpressLRS
+RC_PROTOCOLS,512  # Selected in the component editor
+RC1_OPTION,0
+RC2_OPTION,0
+RC3_OPTION,0
+RC4_OPTION,0
+RC5_OPTION,0
+RC6_OPTION,0
+RC7_OPTION,4 # RTL
+RC8_OPTION,18 # Land
+RC9_OPTION,0
+RC10_OPTION,17 # Autotune
+RC11_OPTION,0
+RC12_OPTION,0
+RC13_OPTION,300 # Scripting
+RC14_OPTION,0
+RC15_OPTION,0
+RC16_OPTION,0
+RSSI_TYPE,3  # ExpressLRS RSSI
+SERIAL4_PROTOCOL,23 # Serial4 RC input

vehicle_templates/ArduCopter/ReadyToSkyZD550/06_telemetry.param

@@ -0,0 +1,3 @@
+BRD_SER1_RTSCTS,2  # default to auto
+SERIAL1_BAUD,115 # 115200 baud
+SERIAL1_PROTOCOL,2 # MAVLink 2

vehicle_templates/ArduCopter/ReadyToSkyZD550/07_esc.param

@@ -0,0 +1,38 @@
+ATC_RAT_PIT_SMAX,25  # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html
+ATC_RAT_RLL_SMAX,25  # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html
+ATC_RAT_YAW_SMAX,25  # 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  # default
+NTF_BUZZ_TYPES,3  # the 4-in-1 ESC uses this
+NTF_LED_TYPES,1057  # Built-in, DroneCAN, Scripting
+PSC_ACCZ_SMAX,25  # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html
+SERIAL3_BAUD,115  # bi-directional DShot telemetry data rate
+SERIAL3_PROTOCOL,16  # bi-directional DShot telemetry pin is connected to SERIAL3
+SERVO_BLH_AUTO,1  # Enables BLHeli pass-thru
+SERVO_BLH_BDMASK,3840  # All four of our ESC support bi-directional DShot
+SERVO_BLH_POLES,14  # Specified in component editor window
+SERVO_BLH_RVMASK,256  # Ch9
+SERVO_BLH_TRATE,5  # 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,2  # Sends DShot control signals to the ESC twice per control loop
+SERVO10_FUNCTION,34
+SERVO10_MAX,2000  # Use the full available 1000-2000 DShot range
+SERVO10_MIN,1000  # Use the full available 1000-2000 DShot range
+SERVO10_TRIM,1000  # Use the full available 1000-2000 DShot range
+SERVO11_FUNCTION,35
+SERVO11_MAX,2000  # Use the full available 1000-2000 DShot range
+SERVO11_MIN,1000  # Use the full available 1000-2000 DShot range
+SERVO11_TRIM,1000  # Use the full available 1000-2000 DShot range
+SERVO12_FUNCTION,36
+SERVO12_MAX,2000  # Use the full available 1000-2000 DShot range
+SERVO12_MIN,1000  # Use the full available 1000-2000 DShot range
+SERVO12_TRIM,1000  # Use the full available 1000-2000 DShot range
+SERVO9_FUNCTION,33
+SERVO9_MAX,2000  # Use the full available 1000-2000 DShot range
+SERVO9_MIN,1000  # Use the full available 1000-2000 DShot range
+SERVO9_TRIM,1000  # Use the full available 1000-2000 DShot range
+TKOFF_RPM_MIN,600  # idle RPM https://ardupilot.org/copter/docs/tkoff-rpm-min.html
+TKOFF_SLEW_TIME,1.5  # default

vehicle_templates/ArduCopter/ReadyToSkyZD550/08_batt1.param

@@ -0,0 +1,12 @@
+BATT_AMP_PERVLT,29.87824  # measured/calibrated
+BATT_ARM_VOLT,23.6  # Don’t allow arming below this voltage
+BATT_CAPACITY,6500  # Total battery capacity
+BATT_CRT_MAH,1625  # trigger critical failsafe at 25% remaining
+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,2000  # trigger low failsafe just below 33% remaining
+BATT_LOW_VOLT,21.6  # (Low voltage + 0.0) x no. of cells
+BATT_MONITOR,4
+BATT_VOLT_MULT,18.97948  # measured/calibrated

vehicle_templates/ArduCopter/ReadyToSkyZD550/09_batt2.param

@@ -0,0 +1 @@
+BATT2_MONITOR,0 # use only first batt monitor

vehicle_templates/ArduCopter/ReadyToSkyZD550/10_gnss.param

@@ -0,0 +1,9 @@
+BRD_SAFETY_DEFLT,0  # do not use safety switch
+CAN_D1_PROTOCOL,1  # Here3
+CAN_P1_DRIVER,1  # Here3
+GPS_GNSS_MODE,7  # limit the constalations to ensure an update rate higher than 5Hz
+GPS_POS1_X,0  # GNSS antenna pahse center location relative to CG
+GPS_POS1_Y,0  # GNSS antenna pahse center location relative to CG
+GPS_POS1_Z,0  # GNSS antenna pahse center location relative to CG
+GPS_TYPE,9  # Defined in component editor
+WPNAV_RADIUS,100  # RTK GPS should allow for precise flying

vehicle_templates/ArduCopter/ReadyToSkyZD550/11_initial_atc.param

@@ -0,0 +1,18 @@
+ATC_ACCEL_P_MAX,107900  # Derived from vehicle component editor propeller size
+ATC_ACCEL_R_MAX,107900  # Derived from vehicle component editor propeller size
+ATC_ACCEL_Y_MAX,26100  # Derived from vehicle component editor propeller size
+ATC_ANG_YAW_P,4.3  # Derived from vehicle component editor propeller size
+ATC_RAT_PIT_FLTD,19.5  # INS_GYRO_FILTER / 2
+ATC_RAT_PIT_FLTE,0  # Initial value, will be improved at a later step
+ATC_RAT_PIT_FLTT,19.5  # INS_GYRO_FILTER / 2
+ATC_RAT_RLL_FLTD,19.5  # INS_GYRO_FILTER / 2
+ATC_RAT_RLL_FLTE,0  # Initial value, will be improved at a later step
+ATC_RAT_RLL_FLTT,19.5  # 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,19.5  # 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,39  # Derived from vehicle component editor propeller size
+MOT_THST_EXPO,0.61  # Derived from vehicle component editor propeller size
+MOT_THST_HOVER,0.2  # Hover learn will improve this initial guess

vehicle_templates/ArduCopter/ReadyToSkyZD550/12_mp_setup_mandatory_hardware.param

@@ -0,0 +1,79 @@
+AHRS_TRIM_X,-0.013559
+AHRS_TRIM_Y,-0.011209
+ATC_ACCEL_P_MAX,107900
+ATC_ACCEL_R_MAX,107900
+ATC_ACCEL_Y_MAX,26100
+ATC_RAT_PIT_FLTD,19.5  # INS_GYRO_FILTER / 2
+ATC_RAT_PIT_FLTT,19.5  # INS_GYRO_FILTER / 2
+ATC_RAT_RLL_FLTD,19.5  # INS_GYRO_FILTER / 2
+ATC_RAT_RLL_FLTT,19.5  # INS_GYRO_FILTER / 2
+ATC_RAT_YAW_FLTE,2
+ATC_RAT_YAW_FLTT,19.5  # INS_GYRO_FILTER / 2
+COMPASS_EXTERNAL,0
+COMPASS_ORIENT,0
+COMPASS_PRIO1_ID,590114
+COMPASS_USE2,1
+COMPASS_USE3,1
+FENCE_ACTION,3
+FENCE_ALT_MAX,120
+FENCE_ENABLE,1
+FENCE_RADIUS,150
+FLTMODE1,0
+FLTMODE2,0
+FLTMODE3,0
+FLTMODE4,0
+FLTMODE5,0
+FLTMODE6,0
+FRAME_CLASS,1
+FRAME_TYPE,1
+INS_ACC1_CALTEMP,22.206173
+INS_ACC2_CALTEMP,21.331842
+INS_ACC2SCAL_X,0.997637
+INS_ACC2SCAL_Y,0.999714
+INS_ACC2SCAL_Z,0.996573
+INS_ACC3SCAL_X,0.9996
+INS_ACC3SCAL_Y,0.998437
+INS_ACC3SCAL_Z,0.993946
+INS_ACCSCAL_X,0.999844
+INS_ACCSCAL_Y,1.042271
+INS_ACCSCAL_Z,0.998003
+INS_GYRO_FILTER,39
+INS_USE3,1
+MOT_BAT_VOLT_MAX,26.1
+MOT_BAT_VOLT_MIN,19.799999
+MOT_SPIN_ARM,0.1
+MOT_SPIN_MAX,0.95
+MOT_SPIN_MIN,0.15
+MOT_THST_EXPO,0.61
+MOT_THST_HOVER,0.2
+RC1_MAX,1900
+RC1_MIN,1100
+RC1_TRIM,1500
+RC2_MAX,1900
+RC2_MIN,1100
+RC2_TRIM,1500
+RC3_MAX,1900
+RC3_MIN,1100
+RC3_TRIM,1500
+RC4_MAX,1900
+RC4_MIN,1100
+RC4_TRIM,1500
+RC5_MAX,1900
+RC5_MIN,1100
+RC5_TRIM,1500
+RC6_MAX,1900
+RC6_MIN,1100
+RC6_TRIM,1500
+RC7_MAX,1900
+RC7_MIN,1100
+RC7_TRIM,1500
+RC8_MAX,1900
+RC8_MIN,1100
+RC8_TRIM,1500
+RC9_MAX,1900
+RC9_MIN,1100
+RC9_TRIM,1500
+SERVO1_FUNCTION,0
+SERVO2_FUNCTION,0
+SERVO3_FUNCTION,0
+SERVO4_FUNCTION,0

vehicle_templates/ArduCopter/ReadyToSkyZD550/13_general_configuration.param

@@ -0,0 +1,30 @@
+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 Time Zone
+FENCE_TYPE,7  # cylinder and max altitude, to obey local regulations and safety measures
+INS_ACCEL_FILTER,10  # the default is 20 and that lets too much noise in
+INS_POS1_X,0  # was -0.005
+INS_POS1_Y,0  # was -0.011
+INS_POS2_X,0  # was -0.011
+INS_POS2_Y,0  # was -0.01
+LAND_ALT_LOW,1000
+PILOT_TKOFF_ALT,300 # climb to 3m on take-off
+RTL_ALT,1500
+RTL_LOIT_TIME,5000
+RNGFND1_ADDR,49
+RNGFND1_FUNCTION,0
+RNGFND1_GNDCLEAR,23
+RNGFND1_MAX_CM,6000
+RNGFND1_MIN_CM,50
+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,14
+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/ReadyToSkyZD550/14_logging.param

@@ -0,0 +1,5 @@
+INS_LOG_BAT_MASK,7  # 3 IMUs on Cube
+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/ReadyToSkyZD550/15_motor.param

@@ -0,0 +1,4 @@
+MOT_SPIN_ARM,0.03  # this works
+MOT_SPIN_MAX,0.95  # this works
+MOT_SPIN_MIN,0.04  # this works
+MOT_THST_EXPO,0.66  # init params

vehicle_templates/ArduCopter/ReadyToSkyZD550/16_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,0.15
+ATC_RAT_PIT_D,0.003334  #  = 0.925972 * (0.0036 default)
+ATC_RAT_PIT_I,0.173229  #  = 1.283176 * (0.135 default)
+ATC_RAT_PIT_P,0.173229  #  = 1.283176 * (0.135 default)
+ATC_RAT_RLL_D,0.002486  #  = 0.690593 * (0.0036 default)
+ATC_RAT_RLL_I,0.143237  #  = 1.061015 * (0.135 default)
+ATC_RAT_RLL_P,0.143237  #  = 1.061015 * (0.135 default)
+ATC_RAT_YAW_D,0  #  = 1 * (0 default)
+ATC_RAT_YAW_I,0.045252  #  = 2.514026 * (0.018 default)
+ATC_RAT_YAW_P,0.452525  #  = 2.514026 * (0.18 default)

vehicle_templates/ArduCopter/ReadyToSkyZD550/17_remote_id.param

@@ -0,0 +1,7 @@
+FLTMODE_CH,6 # Ch 6 on this rig (putting these in remote ID since it'd be otherwise blank)
+FLTMODE1,0 # stabilize
+FLTMODE2,2 # alt hold
+FLTMODE3,5 # loiter
+FLTMODE4,0 # stabilize (future use)
+FLTMODE5,0 # stabilize (future use)
+FLTMODE6,0 # stabilize (future use)

vehicle_templates/ArduCopter/ReadyToSkyZD550/18_notch_filter_setup.param

@@ -0,0 +1,10 @@
+INS_FAST_SAMPLE,7  # IMUs can run fast on the H743
+INS_GYRO_RATE,2  # H743 can do 4KHz here
+INS_HNTCH_ATT,40  # this is just a hunch, it must be improved after the first flight (by the next file)
+INS_HNTCH_BW,27  # 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,54.6  # 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/ReadyToSkyZD550/19_notch_filter_results.param

@@ -0,0 +1,6 @@
+INS_HNTCH_ATT,20  # 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,50  # the minimum frequency that the motors are expected to operate at
+INS_HNTCH_HMNCS,1  # the motors produce secondary harmonics on this vehicle
+INS_HNTCH_OPTS,6  # One Notch per motor, update at loop rate

vehicle_templates/ArduCopter/ReadyToSkyZD550/20_throttle_controller.param

@@ -0,0 +1,3 @@
+ATC_THR_MIX_MAN,0.5  # because we have learned the MOT_THST_HOVER value
+PSC_ACCZ_I,0.25  # Use 2 * MOT_THST_HOVER assuming MOT_THST_HOVER has been correctly learned
+PSC_ACCZ_P,0.125  # Use MOT_THST_HOVER assuming MOT_THST_HOVER has been correctly learned

vehicle_templates/ArduCopter/ReadyToSkyZD550/21_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/ReadyToSkyZD550/22_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/ReadyToSkyZD550/23_quick_tune_results.param

@@ -0,0 +1,10 @@
+ATC_RAT_PIT_D,0.002667  # tuned outside in light wind
+ATC_RAT_PIT_I,0.138583  # tuned outside in light wind
+ATC_RAT_PIT_P,0.138583  # tuned outside in light wind
+ATC_RAT_RLL_D,0.001989  # tuned outside in light wind
+ATC_RAT_RLL_I,0.11459  # tuned outside in light wind
+ATC_RAT_RLL_P,0.11459  # tuned outside in light wind
+ATC_RAT_YAW_D,0.01  # tuned outside in light wind
+ATC_RAT_YAW_FLTD,19.5  # tuned outside in light wind
+ATC_RAT_YAW_I,0.05  # tuned outside in light wind
+ATC_RAT_YAW_P,0.5  # tuned outside in light wind

vehicle_templates/ArduCopter/ReadyToSkyZD550/24_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