IMPROVEMENT: Add AirCar 350Kg demonstrator template

With permission from Mehmet Turan and Eray Altunbozar

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/02_imu_temperature_calibration_setup.param

@@ -0,0 +1,10 @@
+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,55  # CubeOrange has an heater that heats up the board to almost 70 deg
+INS_TCAL2_ENABLE,2  # Activates the temperature calibration for IMU 2 at the next start
+INS_TCAL2_TMAX,55  # CubeOrange has an heater that heats up the board to almost 70 deg
+INS_TCAL3_ENABLE,2  # Activates the temperature calibration for IMU 3 at the next start
+INS_TCAL3_TMAX,55  # CubeOrange has an heater that heats up the board to almost 70 deg
+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

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/03_imu_temperature_calibration_results.param

@@ -0,0 +1,63 @@
+INS_TCAL1_ACC1_X,-15.861753
+INS_TCAL1_ACC1_Y,-360.859406
+INS_TCAL1_ACC1_Z,1308.402832
+INS_TCAL1_ACC2_X,-3.781446
+INS_TCAL1_ACC2_Y,25.216457
+INS_TCAL1_ACC2_Z,157.949524
+INS_TCAL1_ACC3_X,-0.139143
+INS_TCAL1_ACC3_Y,0.465461
+INS_TCAL1_ACC3_Z,2.596977
+INS_TCAL1_ENABLE,1
+INS_TCAL1_GYR1_X,13.449015
+INS_TCAL1_GYR1_Y,-138.883987
+INS_TCAL1_GYR1_Z,36.367893
+INS_TCAL1_GYR2_X,2.921141
+INS_TCAL1_GYR2_Y,-0.597139
+INS_TCAL1_GYR2_Z,7.560967
+INS_TCAL1_GYR3_X,0.044204
+INS_TCAL1_GYR3_Y,-0.052126
+INS_TCAL1_GYR3_Z,0.07335
+INS_TCAL1_TMAX,45.599998
+INS_TCAL1_TMIN,-13.2
+INS_TCAL2_ACC1_X,3209.574951
+INS_TCAL2_ACC1_Y,-2062.374512
+INS_TCAL2_ACC1_Z,-2101.243896
+INS_TCAL2_ACC2_X,35.514923
+INS_TCAL2_ACC2_Y,26.912216
+INS_TCAL2_ACC2_Z,6.441731
+INS_TCAL2_ACC3_X,-0.287428
+INS_TCAL2_ACC3_Y,1.368858
+INS_TCAL2_ACC3_Z,1.571195
+INS_TCAL2_ENABLE,1
+INS_TCAL2_GYR1_X,294.702271
+INS_TCAL2_GYR1_Y,-52.647114
+INS_TCAL2_GYR1_Z,-76.035866
+INS_TCAL2_GYR2_X,2.183096
+INS_TCAL2_GYR2_Y,2.407508
+INS_TCAL2_GYR2_Z,1.636659
+INS_TCAL2_GYR3_X,-0.049512
+INS_TCAL2_GYR3_Y,0.005394
+INS_TCAL2_GYR3_Z,-0.003237
+INS_TCAL2_TMAX,52.200001
+INS_TCAL2_TMIN,-5.5
+INS_TCAL3_ACC1_X,-1996.373169
+INS_TCAL3_ACC1_Y,1822.053711
+INS_TCAL3_ACC1_Z,3266.33374
+INS_TCAL3_ACC2_X,-14.410565
+INS_TCAL3_ACC2_Y,17.726282
+INS_TCAL3_ACC2_Z,-23.422005
+INS_TCAL3_ACC3_X,-0.100644
+INS_TCAL3_ACC3_Y,-0.557491
+INS_TCAL3_ACC3_Z,-1.641444
+INS_TCAL3_ENABLE,1
+INS_TCAL3_GYR1_X,-426.888672
+INS_TCAL3_GYR1_Y,174.289139
+INS_TCAL3_GYR1_Z,105.565384
+INS_TCAL3_GYR2_X,0.013572
+INS_TCAL3_GYR2_Y,-1.228021
+INS_TCAL3_GYR2_Z,0.312449
+INS_TCAL3_GYR3_X,-0.006201
+INS_TCAL3_GYR3_Y,-0.117517
+INS_TCAL3_GYR3_Z,0.049234
+INS_TCAL3_TMAX,49.700001
+INS_TCAL3_TMIN,-5.9

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/04_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

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/05_remote_controller.param

@@ -0,0 +1,10 @@
+ARMING_RUDDER,2
+BRD_ALT_CONFIG,0
+RC_OPTIONS,1056  # Enable multiple receiver support
+RC_PROTOCOLS,1  # Selected in the component editor
+RC10_OPTION,0
+RC6_OPTION,81
+RC7_OPTION,0
+RC8_OPTION,0
+RC9_OPTION,0
+RSSI_TYPE,0

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/06_telemetry.param

@@ -0,0 +1,2 @@
+BRD_SER1_RTSCTS,2
+SERIAL1_BAUD,57

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/07_esc.param

@@ -0,0 +1,27 @@
+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,1900  # Operating Pulse Width:1100-1900us(Fixed or cannot be Programmed)
+MOT_PWM_MIN,1100  # Operating Pulse Width:1100-1900us(Fixed or cannot be Programmed)
+MOT_PWM_TYPE,0  # Specified in component editor window
+MOT_SPOOL_TIME,0.5
+NTF_BUZZ_TYPES,5  # Our CubeOrange have it self buzzer.
+NTF_LED_TYPES,231
+PSC_ACCZ_SMAX,0  # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html
+SERVO_BLH_POLES,14  # Specified in component editor window
+SERVO_FTW_POLES,14  # Specified in component editor window
+SERVO1_MAX,1900  # Operating Pulse Width:1100-1900us(Fixed or cannot be Programmed)
+SERVO1_MIN,1100  # Operating Pulse Width:1100-1900us(Fixed or cannot be Programmed)
+SERVO1_TRIM,1500  # Operating Pulse Width:1100-1900us(Fixed or cannot be Programmed)
+SERVO2_MAX,1900  # Operating Pulse Width:1100-1900us(Fixed or cannot be Programmed)
+SERVO2_MIN,1100  # Operating Pulse Width:1100-1900us(Fixed or cannot be Programmed)
+SERVO2_TRIM,1500  # Operating Pulse Width:1100-1900us(Fixed or cannot be Programmed)
+SERVO3_MAX,1900  # Operating Pulse Width:1100-1900us(Fixed or cannot be Programmed)
+SERVO3_MIN,1100  # Operating Pulse Width:1100-1900us(Fixed or cannot be Programmed)
+SERVO3_TRIM,1500  # Operating Pulse Width:1100-1900us(Fixed or cannot be Programmed)
+SERVO4_MAX,1900  # Operating Pulse Width:1100-1900us(Fixed or cannot be Programmed)
+SERVO4_MIN,1100  # Operating Pulse Width:1100-1900us(Fixed or cannot be Programmed)
+SERVO4_TRIM,1500  # Operating Pulse Width:1100-1900us(Fixed or cannot be Programmed)
+TKOFF_RPM_MIN,0  # No esc telemtry to measure this
+TKOFF_SLEW_TIME,2

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/08_batt1.param

@@ -0,0 +1,12 @@
+BATT_AMP_PERVLT,0.02
+BATT_ARM_VOLT,86.8  # Don’t allow arming below this voltage
+BATT_CAPACITY,30000  # Total battery capacity specified in the component editor
+BATT_CRT_MAH,0
+BATT_CRT_VOLT,78.1  # (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
+BATT_LOW_MAH,0
+BATT_LOW_VOLT,79.2  # (Low voltage + 0.0) x no. of cells
+BATT_MONITOR,4  # Selected in component editor window
+BATT_VOLT_MULT,12.17

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/10_gnss.param

@@ -0,0 +1,11 @@
+BRD_SAFETY_DEFLT,0  # CubeOrange has no safety switch
+CAN_D1_PROTOCOL,1  # set virtual driver of CAN1 to DRONECAN for Here3
+CAN_P1_DRIVER,1  # Enable CAN1 bus for Here3
+GPS_GNSS_MODE,0  # limit the constellations to ensure an update rate higher than 5Hz
+GPS_POS1_X,-0.65  # Here3 GPS antenna is 65 cm back from CG
+GPS_POS1_Y,0  # Here3 GPS antenna is on CG
+GPS_POS1_Z,-0.85  # Here3 GPS antenna is 85 cm above CG
+GPS_TYPE,9  # Defined in component editor
+NTF_LED_TYPES,231  # Enable DRONECAN LED
+SERIAL3_PROTOCOL,5  # GNSS receiver is connected to CAN1
+WPNAV_RADIUS,200

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/11_initial_atc.param

@@ -0,0 +1,18 @@
+ATC_ACCEL_P_MAX,12500  # Derived from vehicle component editor propeller size
+ATC_ACCEL_R_MAX,12500  # Derived from vehicle component editor propeller size
+ATC_ACCEL_Y_MAX,8000  # Derived from vehicle component editor propeller size
+ATC_ANG_YAW_P,1.3  # 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,0.8  # Derived from vehicle component editor propeller size
+MOT_THST_HOVER,0.2  # Hover learn will improve this initial guess

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/12_mp_setup_mandatory_hardware.param

@@ -0,0 +1,82 @@
+AHRS_TRIM_X,-0.000037
+AHRS_TRIM_Y,-0.000067
+ATC_ACCEL_P_MAX,25000
+ATC_ACCEL_R_MAX,25000
+ATC_ACCEL_Y_MAX,4000
+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,8  # INS_GYRO_FILTER / 2
+COMPASS_EXTERNAL,1
+COMPASS_ORIENT,0
+COMPASS_PRIO1_ID,97539
+COMPASS_USE2,0
+COMPASS_USE3,0
+FENCE_ACTION,0
+FENCE_ALT_MAX,10
+FENCE_ENABLE,1
+FENCE_RADIUS,30
+FLTMODE1,0
+FLTMODE2,0
+FLTMODE3,0
+FLTMODE4,2
+FLTMODE5,0
+FLTMODE6,5
+FRAME_CLASS,4
+FRAME_TYPE,1
+INS_ACC1_CALTEMP,44.806763
+INS_ACC2_CALTEMP,51.328587
+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,16
+INS_USE3,1
+MOT_BAT_VOLT_MAX,98.400002
+MOT_BAT_VOLT_MIN,67.199997
+MOT_SPIN_ARM,0.08
+MOT_SPIN_MAX,0.95
+MOT_SPIN_MIN,0.11
+MOT_THST_EXPO,0.6
+MOT_THST_HOVER,0.4
+RC1_MAX,2010
+RC1_MIN,1017
+RC1_TRIM,1499
+RC10_MAX,2000
+RC10_MIN,1000
+RC10_TRIM,1500
+RC2_MAX,2006
+RC2_MIN,988
+RC2_TRIM,1501
+RC3_MAX,2000
+RC3_MIN,999
+RC3_TRIM,999
+RC4_MAX,2012
+RC4_MIN,992
+RC4_TRIM,1502
+RC5_MAX,2006
+RC5_MIN,982
+RC5_TRIM,982
+RC6_MAX,2006
+RC6_MIN,982
+RC6_TRIM,2006
+RC7_MAX,1997
+RC7_MIN,998
+RC7_TRIM,998
+RC8_MAX,2006
+RC8_MIN,982
+RC8_TRIM,1495
+RC9_MAX,2006
+RC9_MIN,982
+RC9_TRIM,982
+SERVO1_FUNCTION,33
+SERVO2_FUNCTION,34
+SERVO3_FUNCTION,35
+SERVO4_FUNCTION,36

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/13_general_configuration.param

@@ -0,0 +1,18 @@
+ARMING_CHECK,1  # Perform all arming checks. If you have a problem fix its source. Do NOT change this
+AUTO_OPTIONS,0
+BRD_HEAT_TARG,45  # Operate at a constant IMU temperature
+BRD_RTC_TZ_MIN,0
+EK3_SRC1_POSZ,1  # Use the default, it is safer
+FENCE_TYPE,3  # cylinder and max altitude, to obey local regulations and safety measures
+FS_EKF_ACTION,1
+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
+RTL_ALT,1000
+RTL_LOIT_TIME,2000
+SCHED_LOOP_RATE,400  # Stay on default loop rate, this is a slow vehicle
+SCR_ENABLE,1  # Use lua scripting for VTOL-Quicktune, MagFit automation and Windspeed Estimation automation
+SERIAL7_PROTOCOL,-1  # Do not use CubeOrange ADSB receiver

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/14_logging.param

@@ -0,0 +1,6 @@
+INS_LOG_BAT_CNT,1024  # the default of 1024 causes some problems with https://firmware.ardupilot.org/Tools/WebTools/FilterReview/
+INS_LOG_BAT_MASK,3  # Will use 2 of 3 IMU
+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,2242559  # Logs Notch filter data and other control signals
+LOG_FILE_DSRMROT,1  # One .bin log file per flight, not per battery/reboot

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/15_motor.param

@@ -0,0 +1,4 @@
+MOT_SPIN_ARM,0.08  # X11 plus dead zone is 0.05
+MOT_SPIN_MAX,0.95
+MOT_SPIN_MIN,0.11  # MOT_SPIN_ARM + 0.03
+MOT_THST_EXPO,0.6

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/16_pid_adjustment.param

@@ -0,0 +1,13 @@
+ATC_ANG_PIT_P,8
+ATC_ANG_RLL_P,8
+ATC_ANG_YAW_P,7
+ATC_INPUT_TC,0.2  # Make the RC feel a bit slower than default
+ATC_RAT_PIT_D,0.05  # (0.0036 default)
+ATC_RAT_PIT_I,0.03  # = 1.283176 * (0.135 default)
+ATC_RAT_PIT_P,0.19  # = 1.283176 * (0.135 default)
+ATC_RAT_RLL_D,0.035  # = 0.690593 * (0.0036 default)
+ATC_RAT_RLL_I,0.06  # = 1.061015 * (0.135 default)
+ATC_RAT_RLL_P,0.16  # = 1.061015 * (0.135 default)
+ATC_RAT_YAW_D,0  # = 1 * (0 default)
+ATC_RAT_YAW_I,0.01  # = 2.514026 * (0.018 default)
+ATC_RAT_YAW_P,0.8  # = 2.514026 * (0.18 default)

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/17_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

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/18_notch_filter_setup.param

@@ -0,0 +1,10 @@
+INS_FAST_SAMPLE,3  # Both IMUs can run fast on the CubeOrange flight controller
+INS_GYRO_RATE,1  # The CubeOrange can do 4KHz here
+INS_HNTCH_ATT,30  # this is just a hunch, it must be improved after the first flight (by the next file)
+INS_HNTCH_BW,87  # 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,92  # Use 1.4 * INS_GYRO_FILTER as a first guess
+INS_HNTCH_HMNCS,3  # start with a single frequency
+INS_HNTCH_MODE,1  # Trottle based notch
+INS_HNTCH_OPTS,12
+INS_HNTCH_REF,0.13  # Calculate and change this according to the wiki

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/19_notch_filter_results.param

@@ -0,0 +1,7 @@
+INS_HNTCH_ATT,30  # just enough to filter the noise created by the motors/propellers
+INS_HNTCH_BW,87  # 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,92  # the minimum frequency that the motors are expected to operate at
+INS_HNTCH_HMNCS,3  # the motors produce secondary harmonics on this vehicle
+INS_HNTCH_OPTS,12
+INS_HNTCH_REF,0.13  # MOT_THST_HOVER * SQUARE(min_freq / hover_freq)

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/20_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,0.6  # Use 2 * MOT_THST_HOVER assuming MOT_THST_HOVER has been correctly learned
+PSC_ACCZ_P,0.3  # Use MOT_THST_HOVER assuming MOT_THST_HOVER has been correctly learned

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/21_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

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/22_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

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/23_quick_tune_results.param

@@ -0,0 +1,10 @@
+ATC_RAT_PIT_D,0.05  # Tuned in a Hangar
+ATC_RAT_PIT_I,0.03  # Tuned in a Hangar
+ATC_RAT_PIT_P,0.19  # Tuned in a Hangar
+ATC_RAT_RLL_D,0.035  # Tuned in a Hangar
+ATC_RAT_RLL_I,0.06  # Tuned in a Hangar
+ATC_RAT_RLL_P,0.16  # Tuned in a Hangar
+ATC_RAT_YAW_D,0  # Tuned in a Hangar
+ATC_RAT_YAW_FLTD,0  # Tuned in a Hangar
+ATC_RAT_YAW_I,0.01  # Tuned in a Hangar
+ATC_RAT_YAW_P,0.8  # Tuned in a Hangar

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/24_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

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/AirCar_v1/24_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>