fix(vehicle templates): improve cosistency and quality

Updates ArduCopter vehicle templates to reflect newer firmware/telemetry capabilities and to refine default/tuned parameter sets for specific frames.

- Bumps template firmware versions and updates component metadata (notably ESC telemetry wiring/protocol notes).
- Revises multiple tuning-related parameter files (notch filtering, autotune results, ESC/takeoff behavior, logging).
- Cleans up and rewords a number of template comments/notes for clarity.

Author: amilcarlucas

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/02_imu_temperature_calibration_setup.param

@@ -4,5 +4,6 @@ INS_TCAL1_TMAX,70  # CubeOrange has an heater that heats up the board to almost
 INS_TCAL2_ENABLE,2  # Activates the temperature calibration for IMU 2 at the next start
 INS_TCAL2_TMAX,70  # 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,56  # CubeOrange has an heater that heats up the board but but IMU3 is a bit away from it
 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/Hoverit_X11+/05_remote_controller.param

@@ -1,10 +1,10 @@
-ARMING_RUDDER,2  # THAT IS EASIER TO ARM AND DISARM A DRONE FROM A SAFE DISTANCE WITHOUT A GCS OR A RC SWITCH/ SAFER BECAUSE LESS CHANCES TO DISARM DRONE IN AIR VIA GCS OR SWITCH
+ARMING_RUDDER,2  # IS EASIER TO ARM AND DISARM A DRONE FROM A SAFE DISTANCE WITHOUT A GCS OR A RC SWITCH/ SAFER BECAUSE LESS CHANCES TO DISARM DRONE IN AIR VIA GCS OR SWITCH
 BRD_ALT_CONFIG,0
 RC_OPTIONS,32
 RC_PROTOCOLS,8  # Selected in the component editor
-RC10_OPTION,0  # I DONT NEED AS OF YET
-RC6_OPTION,0  # I DONT NEED AS OF YET
-RC7_OPTION,0  # I DONT NEED AS OF YET
-RC8_OPTION,0  # I DONT NEED AS OF YET
-RC9_OPTION,0  # I DONT NEED AS OF YET
+RC10_OPTION,0
+RC6_OPTION,0
+RC7_OPTION,0
+RC8_OPTION,0
+RC9_OPTION,300  # trigger lua script execution (magFit and quicktune)
 RSSI_TYPE,0  # radio without RSSI

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/06_telemetry.param

@@ -1,2 +1,2 @@
-BRD_SER1_RTSCTS,2  # we have no RTS/CTS pins connected
-SERIAL1_BAUD,57  # P840 telemetry baud.
+BRD_SER1_RTSCTS,2
+SERIAL1_BAUD,57  # MK32 telemetry baud.

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/07_esc.param

@@ -1,14 +1,15 @@
-ATC_RAT_PIT_SMAX,0  # want to keep it default and then check with developers to 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  # want to keep it default and then check with developers to 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  # want to keep it default and then check with developers to limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html
+ATC_RAT_PIT_SMAX,25  # want to keep it default and then check with developers to 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  # want to keep it default and then check with developers to 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  # want to keep it default and then check with developers to limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html
+ESC_HW_POLES,14  # Specified in component editor window
 MOT_HOVER_LEARN,2  # So that it can tune the throttle controller on 20_throttle_controller.param file
 MOT_PWM_MAX,1950  # HOBBYWING X11 Plus operating pulse width: 1050-1950us (fixed and cannot be programmed)
 MOT_PWM_MIN,1050  # HOBBYWING X11 Plus operating pulse width: 1050-1950us (fixed and cannot be programmed)
 MOT_PWM_TYPE,0  # Specified in component editor window
-MOT_SPOOL_TIME,0.5  # PREVIOUS SIMILAR DRONE HAD THIS VALUE
+MOT_SPOOL_TIME,2  # Big props take longer to spool
 NTF_BUZZ_TYPES,5  # Our CubeOrangePlus have it self buzzer.
-NTF_LED_TYPES,1  # WANT TO REDUCE LIGHTS
-PSC_ACCZ_SMAX,0  # want to keep it default and then check with developers to limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html
+NTF_LED_TYPES,231
+PSC_ACCZ_SMAX,1000  # want to keep it default and then check with developers to 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,1950  # HOBBYWING X11 Plus operating pulse width: 1050-1950us (fixed and cannot be programmed)
@@ -23,5 +24,6 @@ SERVO3_TRIM,1500  # HOBBYWING X11 Plus operating pulse width: 1050-1950us (fixed
 SERVO4_MAX,1950  # HOBBYWING X11 Plus operating pulse width: 1050-1950us (fixed and cannot be programmed)
 SERVO4_MIN,1050  # HOBBYWING X11 Plus operating pulse width: 1050-1950us (fixed and cannot be programmed)
 SERVO4_TRIM,1500  # HOBBYWING X11 Plus operating pulse width: 1050-1950us (fixed and cannot be programmed)
-TKOFF_RPM_MIN,200
-TKOFF_SLEW_TIME,2
+TKOFF_RPM_MIN,250  # Abort takeoff if one of the motors fails to spool
+TKOFF_SLEW_TIME,6  # This is a big copter, takeoff slower to avoid I term buildup
+TKOFF_THR_MAX,0.3  # Our hover throttle is ~0.2 and we do not want to overshoot the takeoff

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/08_batt1.param

@@ -1,15 +1,14 @@
-BATT_AMP_PERVLT,0  # WE DO NOT HAVE A VOLTAGE OR AMP SENSOR , WE TAKE DATA FROM ESC TELEMETRY. DONT KNOW HOW TO COMBINE THAT DATA HERE
-BATT_ARM_VOLT,55.2006  # Only arm above this voltage, to avoid taking off with insufficient battery capacity
+BATT_AMP_PERVLT,0  # WE TAKE DATA FROM ESC TELEMETRY, so this can stay at 0
+BATT_ARM_VOLT,55.2  # Only arm above this voltage, to avoid taking off with insufficient battery capacity
 BATT_CAPACITY,80000  # Total battery capacity specified in the component editor
-BATT_CRT_MAH,0  # WE DONT HAVE MAH READING SENSOR
+BATT_CRT_MAH,0  # Datalink V2 ESC telemetry does provide current measurement, but we do not want to use it
 BATT_CRT_VOLT,49.7  # Critical failsafe voltage x nr. 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  # AS EPR OUR PREVIOUS DRONE SETUP
-BATT_I2C_BUS,0  # Selected in component editor window
-BATT_LOW_MAH,0  # WE DONT HAVE A MAH SENSOR
+BATT_FS_VOLTSRC,0
+BATT_LOW_MAH,0  # Datalink V2 ESC telemetry does provide current measurement, but we do not want to use it
 BATT_LOW_VOLT,50.4  # Low failsafe voltage x nr. of cells
 BATT_MONITOR,9  # Selected in component editor window
-BATT_VOLT_MULT,0  # WE DONT HAVE A VOLT METER
+BATT_VOLT_MULT,0  # WE TAKE DATA FROM ESC TELEMETRY, so this can stay at 0
 MOT_BAT_VOLT_MAX,58.8  # Scale the PIDs up when battery voltage is below this threshold
-MOT_BAT_VOLT_MIN,46.2  # Scale the PIDs up when battery voltage is above this threshold
+MOT_BAT_VOLT_MIN,49.7  # Scale the PIDs up when battery voltage is above this threshold

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/10_gnss.param

@@ -1,14 +1,17 @@
+BRD_BOOT_DELAY,7000  # Make sure the Here4 GNSS receivers fully boot before the Autopilot boots
 BRD_SAFETY_DEFLT,1  # Use a safety switch
 CAN_D2_PROTOCOL,1
 CAN_P2_DRIVER,1
-GPS_GNSS_MODE,69  # BEST OVER INDIA, AND KEEPING LESS
-GPS_POS1_X,0  # HERE4 GPS1 IS ON SAME AUTOPILOT AXIS
-GPS_POS1_Y,0.11  # Here4 GPS1  IS 11 CM RIGHT OF AUTOPILOT AXIS
-GPS_POS1_Z,-0.05  # Here4 GPS1  IS 5 CM ABOVE OF AUTOPILOT AXIS
-GPS_POS2_X,0  # HERE4 GPS2  IS ON SAME AUTOPILOT AXIS
-GPS_POS2_Y,-0.11  # Here4 GPS2 IS 11 CM LEFT OF AUTOPILOT AXIS
-GPS_POS2_Z,-0.05  # Here4 GPS2  IS 5 CM ABOVE OF AUTOPILOT AXIS
-GPS_TYPE,9  # Defined in component editor
+GPS1_GNSS_MODE,69
+GPS1_POS_X,0
+GPS1_POS_Y,0
+GPS1_POS_Z,0
+GPS1_TYPE,9
+GPS2_GNSS_MODE,69
+GPS2_POS_X,0
+GPS2_POS_Y,0
+GPS2_POS_Z,0
+GPS2_TYPE,9
 NTF_LED_TYPES,32  # DRONECAN LED
 SERIAL3_PROTOCOL,-1  # NO SERIAL 3
 SERIAL4_PROTOCOL,-1  # NO SERIAL 4

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/12_mp_setup_mandatory_hardware.param

@@ -40,12 +40,12 @@ INS_ACCSCAL_Z,1
 INS_GYRO_FILTER,20
 INS_USE3,1
 MOT_BAT_VOLT_MAX,58.799999  # 14S LION PACK
-MOT_BAT_VOLT_MIN,46.200001  # AS PER BATTERY SPECS
+MOT_BAT_VOLT_MIN,49.700001  # AS PER BATTERY SPECS
 MOT_SPIN_ARM,0.08  # AS PER OUR PREVIOUS SAME DRONE BUILDS
 MOT_SPIN_MAX,0.95  # WE WOULD NEVER GO AROUND 80% ALSO SO DEFAULT VALUE IS GOOD
 MOT_SPIN_MIN,0.1  # ABOVE SPIN ARM AND BELOW MIN THST HOVER
 MOT_THST_EXPO,0.75  # AS PER OUR PREVIOUS SAME DRONE BUILDS
-MOT_THST_HOVER,0.13  # WHEN THE DRONE IS WITHOUT ANY ADDITIONAL PAYLOAD THE HOVER THST IS REALLY LOW
+MOT_THST_HOVER,0.17  # WHEN THE DRONE IS WITHOUT ANY ADDITIONAL PAYLOAD THE HOVER THST IS REALLY LOW
 RC1_MAX,1945  # RADIO CALIBRATION MK32
 RC1_MIN,1045  # RADIO CALIBRATION MK32
 RC1_TRIM,1495  # RADIO CALIBRATION MK32

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/13_general_configuration.param

@@ -1,11 +1,11 @@
 ARMING_CHECK,1  # Perform all arming checks. If you have a problem fix its source. Do NOT change this
-AUTO_OPTIONS,1  # I JUST WANT TO ARM THE DORNE IN AUTO MODE
+AUTO_OPTIONS,1  # TO ARM THE DORNE IN AUTO FLIGHT MODE
 BRD_HEAT_TARG,48  # Operate at a constant IMU temperature
 BRD_RTC_TZ_MIN,330  # INDIA time zone
 EK3_SRC1_POSZ,1  # FROM BARO
 FENCE_TYPE,3  # RANGE AND max altitude
 FS_EKF_ACTION,2  # I WOULD WANT IT TO BE STABILIZED IN ALT MODE AND NOT LAND IN NO MAN LAND
-INS_ACCEL_FILTER,10  # AS PER OUR PRECIOUS SAME SETUP DRONE
+INS_ACCEL_FILTER,10  # Big drone, slow dynamics, use this filter to reduce accelerometer noise
 INS_POS1_X,0
 INS_POS1_Y,0
 INS_POS2_X,0

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/14_logging.param

@@ -1,6 +1,6 @@
 INS_LOG_BAT_CNT,512  # the default of 1024 causes some problems with https://firmware.ardupilot.org/Tools/WebTools/FilterReview/
-INS_LOG_BAT_MASK,1  # Use acc and gyro batch logging on F4 processors or big props, gyro raw logging on others
-INS_LOG_BAT_OPT,4  # Use pre and post filters acc and gyro batch logging on F4 processors or big props, pre-post gyro raw logging on others
-INS_RAW_LOG_OPT,0  # Use pre and post filters acc and gyro batch logging on F4 processors or big props, pre-post gyro raw logging on others
+INS_LOG_BAT_MASK,0  # Use acc and gyro batch logging on F4 processors, gyro raw logging on others
+INS_LOG_BAT_OPT,0  # Use pre and post filters acc and gyro batch logging on F4 processors, pre-post gyro raw logging on others
+INS_RAW_LOG_OPT,9  # Use pre and post filters acc and gyro batch logging on F4 processors, pre-post gyro raw logging on others
 LOG_BITMASK,145118  # Log all but fast att, Nav, Mission, OF, camera, fast IMU, raw, IMU, video stabilization. These are not needed now
 LOG_FILE_DSRMROT,1  # One .bin log file per flight, not per battery/reboot

ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Hoverit_X11+/15_motor.param

@@ -1,4 +1,4 @@
-MOT_SPIN_ARM,0.105  # as per previous drone setup similar specs
-MOT_SPIN_MAX,0.9  # as per previous drone setup similar specs
-MOT_SPIN_MIN,0.125  # as per previous drone setup similar specs
-MOT_THST_EXPO,0.75  # as per previous drone setup similar specs
+MOT_SPIN_ARM,0.105  # Below this value the UAV arms vibrate a lot
+MOT_SPIN_MAX,0.9  # Acorning to the manufacturer thrust is mostly linear up-to 90%
+MOT_SPIN_MIN,0.125  # Must be at least a bit above the MOT_SPIN_ARM
+MOT_THST_EXPO,0.75  # As per previous drone setup similar specs