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Merged
amilcarlucas merged 1 commit into from
Nov 6, 2025
Merged

chore(X500): update the template #1024

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6 changes: 3 additions & 3 deletions ...ethodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/05_remote_controller.param
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Original file line number Diff line number Diff line change
Expand Up @@ -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
18 changes: 9 additions & 9 deletions ...t_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/16_pid_adjustment.param
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Original file line number Diff line number Diff line change
@@ -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

Copilot AI Nov 6, 2025

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[nitpick] The comment 'It's a small (too fast) copter' is unclear. Consider revising to explain why a larger time constant (0.2 vs 0.15) is appropriate, e.g., 'Increased time constant for smoother control response on this small, agile copter'.

Suggested change
ATC_INPUT_TC,0.2 # It's a small (too fast) copter
ATC_INPUT_TC,0.2 # Increased time constant for smoother control response on this small, agile copter

Copilot uses AI. Check for mistakes.
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)
23 changes: 23 additions & 0 deletions ...methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/46_a_system_id_roll.param
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Original file line number Diff line number Diff line change
@@ -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

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Corrected spelling of 'chip' to 'chirp' in comment. The term 'chirp' refers to the frequency-sweep signal used in system identification.

Suggested change
SID_AXIS,1 # Inject chip on the input roll signal
SID_AXIS,1 # Inject chirp on the input roll signal

Copilot uses AI. Check for mistakes.
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
23 changes: 23 additions & 0 deletions ...ethodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/46_b_system_id_pitch.param
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Original file line number Diff line number Diff line change
@@ -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

Copilot AI Nov 6, 2025

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Corrected spelling of 'chip' to 'chirp' in comment. The term 'chirp' refers to the frequency-sweep signal used in system identification.

Suggested change
SID_AXIS,2 # Inject chip on the input pitch signal
SID_AXIS,2 # Inject chirp on the input pitch signal

Copilot uses AI. Check for mistakes.
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
23 changes: 23 additions & 0 deletions ..._methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/46_c_system_id_yaw.param
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Original file line number Diff line number Diff line change
@@ -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

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Corrected spelling of 'chip' to 'chirp' in comment. The term 'chirp' refers to the frequency-sweep signal used in system identification.

Suggested change
SID_AXIS,3 # Inject chip on the input yaw signal
SID_AXIS,3 # Inject chirp on the input yaw signal

Copilot uses AI. Check for mistakes.
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
16 changes: 8 additions & 8 deletions ardupilot_methodic_configurator/vehicle_templates/ArduCopter/Holybro_X500/tuning_report.csv
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Expand Up @@ -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,,,,,,,
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