chore(X500): update the template

Author: amilcarlucas

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/05_remote_controller.param

@@ -3,8 +3,8 @@ FS_THR_VALUE,970  # A bit lower to be on the safe side
 RC_OPTIONS,32
 RC_PROTOCOLS,8  # Selected in the component editor
 RC10_OPTION,0
-RC6_OPTION,4  # Return home automatically if needed
-RC7_OPTION,300  # For emergencies, be able to stop all motors at once
-RC8_OPTION,31
+RC6_OPTION,17  # To control PID autotune, after quicktune is done
+RC7_OPTION,300  # To trigger PID quicktune
+RC8_OPTION,31  # For emergencies, be able to stop all motors at once
 RC9_OPTION,0
 RSSI_TYPE,0

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/16_pid_adjustment.param

@@ -1,13 +1,13 @@
 ATC_ANG_PIT_P,4.5
 ATC_ANG_RLL_P,4.5
 ATC_ANG_YAW_P,4.5
-ATC_INPUT_TC,0.15
-ATC_RAT_PIT_D,0.0036  # = 1* (0.0036 default)
-ATC_RAT_PIT_I,0.121  # = 0.896 * (0.135 default)
-ATC_RAT_PIT_P,0.121  # = 0.896 * (0.135 default)
-ATC_RAT_RLL_D,0.0036  # = 1 * (0.0036 default)
-ATC_RAT_RLL_I,0.121  # = 0.896 * (0.135 default)
-ATC_RAT_RLL_P,0.121  # = 0.896 * (0.135 default)
+ATC_INPUT_TC,0.2  # It's a small (too fast) copter
+ATC_RAT_PIT_D,0.00432  # = 1.2* (0.0036 default)
+ATC_RAT_PIT_I,0.162  # = 1.2 * (0.135 default)
+ATC_RAT_PIT_P,0.162  # = 1.2 * (0.135 default)
+ATC_RAT_RLL_D,0.00432  # = 1.2* (0.0036 default)
+ATC_RAT_RLL_I,0.162  # = 1.2 * (0.135 default)
+ATC_RAT_RLL_P,0.162  # = 1.2 * (0.135 default)
 ATC_RAT_YAW_D,0  # = 1 * (0 default)
-ATC_RAT_YAW_I,0.018  # = 1 * (0.018 default)
-ATC_RAT_YAW_P,0.18  # = 1 * (0.18 default)
+ATC_RAT_YAW_I,0.026  # = 1.2 * (0.018 default)
+ATC_RAT_YAW_P,0.26  # = 1.2 * (0.18 default)

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/46_a_system_id_roll.param

@@ -0,0 +1,23 @@
+ANGLE_MAX,3000  # limit the angle to limit the speed at SID-chirp low-frequencies
+ARMING_CHECK,30174  # disable Parameter check because we need to set ATC_RAT_RLL_I out-of-range (was 1)
+ATC_ANG_PIT_P,24.629694
+ATC_ANG_RLL_P,18.379057
+ATC_ANG_YAW_P,7.636879
+ATC_RAT_PIT_I,0.180513
+ATC_RAT_RLL_I,0.155054
+ATC_RAT_YAW_I,0.099616
+ATC_RATE_FF_ENAB,1  # normal operation
+FLTMODE6,25  # Activate sysid instead of loiter
+LOG_BITMASK,145119  # attitude sample rate at 400Hz rate
+LOG_DISARMED,0  # was only needed for wind speed estimation
+LOG_REPLAY,0  # was only needed for wind speed estimation
+SID_AXIS,1  # Inject chip on the input roll signal
+SID_F_START_HZ,0.05
+SID_F_STOP_HZ,11
+SID_MAGNITUDE,5
+SID_T_FADE_IN,5
+SID_T_FADE_OUT,1
+SID_T_REC,130
+TUNE,0  # System identification magnitude
+TUNE_MAX,0.3  # System identification max magnitude
+TUNE_MIN,0.05  # System identification min magnitude

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/46_b_system_id_pitch.param

@@ -0,0 +1,23 @@
+ANGLE_MAX,3000  # limit the angle to limit the speed at SID-chirp low-frequencies
+ARMING_CHECK,30174  # disable Parameter check because we need to set ATC_RAT_RLL_I out-of-range (was 1)
+ATC_ANG_PIT_P,24.629694
+ATC_ANG_RLL_P,18.379057
+ATC_ANG_YAW_P,7.636879
+ATC_RAT_PIT_I,0.180513
+ATC_RAT_RLL_I,0.155054
+ATC_RAT_YAW_I,0.099616
+ATC_RATE_FF_ENAB,1  # normal operation
+FLTMODE6,25  # Activate sysid instead of loiter
+LOG_BITMASK,145119  # attitude sample rate at 400Hz rate
+LOG_DISARMED,0  # was only needed for wind speed estimation
+LOG_REPLAY,0  # was only needed for wind speed estimation
+SID_AXIS,2  # Inject chip on the input pitch signal
+SID_F_START_HZ,0.05
+SID_F_STOP_HZ,11
+SID_MAGNITUDE,5
+SID_T_FADE_IN,5
+SID_T_FADE_OUT,1
+SID_T_REC,130
+TUNE,0  # System identification magnitude
+TUNE_MAX,0.3  # System identification max magnitude
+TUNE_MIN,0.05  # System identification min magnitude

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/46_c_system_id_yaw.param

@@ -0,0 +1,23 @@
+ANGLE_MAX,3000  # limit the angle to limit the speed at SID-chirp low-frequencies
+ARMING_CHECK,30174  # disable Parameter check because we need to set ATC_RAT_RLL_I out-of-range (was 1)
+ATC_ANG_PIT_P,24.629694
+ATC_ANG_RLL_P,18.379057
+ATC_ANG_YAW_P,7.636879
+ATC_RAT_PIT_I,0.180513
+ATC_RAT_RLL_I,0.155054
+ATC_RAT_YAW_I,0.099616
+ATC_RATE_FF_ENAB,1  # normal operation
+FLTMODE6,25  # Activate sysid instead of loiter
+LOG_BITMASK,145119  # attitude sample rate at 400Hz rate
+LOG_DISARMED,0  # was only needed for wind speed estimation
+LOG_REPLAY,0  # was only needed for wind speed estimation
+SID_AXIS,3  # Inject chip on the input yaw signal
+SID_F_START_HZ,0.05
+SID_F_STOP_HZ,11
+SID_MAGNITUDE,10
+SID_T_FADE_IN,5
+SID_T_FADE_OUT,1
+SID_T_REC,130
+TUNE,0  # System identification magnitude
+TUNE_MAX,0.3  # System identification max magnitude
+TUNE_MIN,0.05  # System identification min magnitude

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/tuning_report.csv

@@ -14,14 +14,14 @@ ATC_RAT_RLL_FLTT,20.0,21.0,,,,,,,
 ATC_RAT_YAW_FLTD,20.0,0.0,,21.0,,,,,
 ATC_RAT_YAW_FLTE,2.5,2.0,,,,,2.090602,,
 ATC_RAT_YAW_FLTT,20.0,21.0,,,,,,,
-ATC_RAT_PIT_D,0.0036,,0.0036,0.003372,,0.006718,,,
-ATC_RAT_PIT_I,0.135,,0.121,0.229527,,0.180513,,,
-ATC_RAT_PIT_P,0.135,,0.121,0.229527,,0.180513,,,
-ATC_RAT_RLL_D,0.0036,,0.0036,0.003207,0.00528,,,,
-ATC_RAT_RLL_I,0.135,,0.121,0.184505,0.155054,,,,
-ATC_RAT_RLL_P,0.135,,0.121,0.184505,0.155054,,,,
+ATC_RAT_PIT_D,0.0036,,0.00432,0.003372,,0.006718,,,
+ATC_RAT_PIT_I,0.135,,0.162,0.229527,,0.180513,,,
+ATC_RAT_PIT_P,0.135,,0.162,0.229527,,0.180513,,,
+ATC_RAT_RLL_D,0.0036,,0.00432,0.003207,0.00528,,,,
+ATC_RAT_RLL_I,0.135,,0.162,0.184505,0.155054,,,,
+ATC_RAT_RLL_P,0.135,,0.162,0.184505,0.155054,,,,
 ATC_RAT_YAW_D,0.0,,0.0,0.01,,,,0.01,
-ATC_RAT_YAW_I,0.018,,0.018,0.05,,,0.099616,0.099616,
-ATC_RAT_YAW_P,0.18,,0.18,0.5,,,0.99616,0.99616,
+ATC_RAT_YAW_I,0.018,,0.026,0.05,,,0.099616,0.099616,
+ATC_RAT_YAW_P,0.18,,0.26,0.5,,,0.99616,0.99616,
 INS_ACCEL_FILTER,20.0,10.0,,,,,,,
 INS_GYRO_FILTER,20.0,42.0,,,,,,,