I have been asked if I would mind supplying the SET file for my Stryker. See attached. Please keep in mind if you plan on using this with a differnet AP other then Atto then P and D gains may be way far off. Our scaling factors may not meet eye to eye. I also have added rudders for active yaw dampening.
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$1,Mix Enable = 1 ' 0 or 1 allowed. Enable flag for Elevon/V-tail mixing. 0 = FALSE, 1 = TRUE
$2,Mix Servo1 Sign = -1 ' -1 or 1 allowed. If Mixing for Elevon/V-tail is enabled, this is Elevon 1 servo direction
$3,Mix Servo2 Sign = 1 ' -1 or 1 allowed. If Mixing for Elevon/V-tail is enabled, this is Elevon 2 servo direction
$4,Servo 1 Gain = 9 ' 0 to 100 integer allowed, is 10x format. Aileron, or with elevons it is the aileron component of the mix
$5,Servo 2 Gain = 18 ' 0 to 100 integer allowed, is 10x format. Elevator, or with elevons it is the elevator component of the mix
$6,Servo 3 Gain = 12 ' 0 to 100 integer allowed, is 10x format. Throttle
$7,Servo 4 Gain = 0 ' 0 to 100 integer allowed, is 10x format. Rudder
$8,Servo 5 Gain = 10 ' 0 to 100 integer allowed, is 10x format. Pan servo, or Elevon3
$9,Servo 6 Gain = 10 ' 0 to 100 integer allowed, is 10x format. Tilt servo, or Elevon4
$10,Servo 7 Gain = 10 ' 0 to 100 integer allowed, is 10x format. Trigger Servo
$11,Servo 1 direction Sign = -1 ' -1 or 1 allowed. Aileron, or for Elevons it is the aileron component of the mix
$12,Servo 2 dirdction Sign = 1 ' -1 or 1 allowed. Elevator, or for Elevons it is the elevator component of the mix
$13,Servo 3 direction Sign = 1 ' -1 or 1 allowed. Throttle. 1 would be standard for electronic speed controls.
$14,Servo 4 direction Sign = 1 ' -1 or 1 allowed. Rudder
$15,Servo 5 direction Sign = 1 ' -1 or 1 allowed. Aux_1
$16,Servo 6 direction Sign = 1 ' -1 or 1 allowed. Aux_2
$17,Servo 7 direction Sign = 1 ' -1 or 1 allowed. Aux_3
$18,Servo 1 Upper Limit = 1688 ' Pulse width in microseconds, from 900 to 2100 allowed. Aileron, or Elevon1
$19,Servo 2 Upper Limit = 1667 ' Pulse width in microseconds, from 900 to 2100 allowed. Elevator, or Elevon2
$20,Servo 3 Upper Limit = 1900 ' Pulse width in microseconds, from 900 to 2100 allowed. Throttle
$21,Servo 4 Upper Limit = 2000 ' Pulse width in microseconds, from 900 to 2100 allowed. Rudder
$22,Servo 5 Upper Limit = 2000 ' Pulse width in microseconds, from 900 to 2100 allowed. Aux_1
$23,Servo 6 Upper Limit = 2000 ' Pulse width in microseconds, from 900 to 2100 allowed. Aux_2
$24,Servo 7 Upper Limit = 2000 ' Pulse width in microseconds, from 900 to 2100 allowed. Aux_3
$25,Servo 1 Lower Limit = 1350 ' Pulse width in microseconds, from 900 to 2100 allowed. Aileron, or Elevon1
$26,Servo 2 Lower Limit = 1371 ' Pulse width in microseconds, from 900 to 2100 allowed. Elevator, or Elevon2
$27,Servo 3 Lower Limit = 1100 ' Pulse width in microseconds, from 900 to 2100 allowed. Throttle
$28,Servo 4 Lower Limit = 1200 ' Pulse width in microseconds, from 900 to 2100 allowed. Rudder
$29,Servo 5 Lower Limit = 1000 ' Pulse width in microseconds, from 900 to 2100 allowed. Aux_1
$30,Servo 6 Lower Limit = 1000 ' Pulse width in microseconds, from 900 to 2100 allowed. Aux_2
$31,Servo 7 Lower Limit = 1000 ' Pulse width in microseconds, from 900 to 2100 allowed. Aux_3
$32, Path Angle Max = 30 ' 0 to 90 allowed (in degrees). "Cone" is shown in ASCII art below. Use 0 to disable TruTrak, but 30 is a good value
$33, Path Merge Line distance = 60 ' 5 to infinity allowed in meters. This is the half width of "highway" that we merge onto the line over. See ASCII Art below
$34,Roll Angle Limit = 30 ' Max allowed roll in degrees, from 5 to 40 allowed
$35,Pitch Angle Limit = 25 ' Max allowed pitch in degrees, from 5 to 40 allowed
$36,Steer Proportional Band Width = 195 ' Width (in degrees) to spread proportional control of roll response. 5 to 360 degrees allowed.
$37,Alt Proportional Band Width = 210 ' Altitude window (in meters) to spread proportional pitch response. 1 to infinity meters allowed.
$38,Steer_D = 35 ' Gain factor for "D" dampening term of heading control. 0 to 100 integer allowed. 10 is a good start
$39,Alt_D = 2 ' Gain factor for "D" dampening term of altitude control. 0 to 100 integer allowed. 10 is a good start
$40,MaxRate = 50 ' Max allowed pitch and roll rate of change in deg/second. 1 to 120,000 is allowed (0.01 to 1200 deg/sec)
$41,WP Distance Satisfy = 100 ' For departure WP sequencing, minimum distance (meters) to activate WP for departure. 10 to infinity meters is allowed.
$42,Hold radius = 200 ' Radius (in meters) of holding pattern at end of flight. 1 to infinity meters is allowed.
$43,Hold Direction = 0 ' 0 or 1 is allowed. 1 is CCW flight direction, 0 is CW rotation for end of flight hold pattern
$44,Hold Alt = 125 ' User-specified altitude for the default RTL hold pattern. 25 to infinity meters is allowed
$45,XY TPile Orientation = 0 ' Describes orientation of XY thermopile head. 0-7 are valid. See ASCII art in comments section.
$46,ThrottMid = 1400 ' 900 to 2100 allowed. Initial PWM value for Throttle, user-definable to control ESC arming or not upon boot up.
$47,log_freq = 0 ' Number of 1 second delay intervals between writes to LOG.txt. 0 to infinity is allowed. 0 is 5Hz.
$48,Num_Pulses = 20 ' Number of consecutive good pulses on Aux1 Rx channel required to switch flight mode. 1 to infinity allowed
$49,VoltScale = 51810 ' Conversion factor for analog voltage sensor. Units are number of mV per entire 3.3V analog scale. E.g. 51810 for Atto V1.7
$50,CurrentScale = 92623 ' Conversion factor for analog current sensor. Units are number of mA per entire 3.3V analog scale. E.g. 92623 for Atto V1.7
$51,Plane mass in grams = 0 ' Flying mass in grams
$52,Motor Efficiency Percentage = 80 ' Estimated efficiency percentage of electric motor + speed control. 80 is a good value for brushless outrunner, perhaps 40 for brushed motor.
$53,mAh usage upper limit abort = 0 ' 0 = don't use this function, 1 to infinity means YES and tells the used mAh RTL trigger
$54,Pitot Present = 1 ' 0 = lock throttle in non-RC, 1 = use pitot airspeed control, 2 = use GPS for speed with Cosine(Pitch) corrections
$55,Test Mode = 0 ' 0 = NO, 1 is YES. Causes AttoPilot to start Rx/Servo object, start 50Hz IMU object, and then hold. No GPS startup, no WP loading
$56,Ground Launch = 30 ' 0 = NO, 1 to infinity means YES and hold roll angle to zero until specified AGL altitude in meters is reached after launch in AutoMode
$57,Servo 1 D_Term = 16 ' 0 to 100 integer allowed, is 10x format. Aileron, or with elevons it is the aileron component of the mix
$58,Servo 2 D_Term = 12 ' 0 to 100 integer allowed, is 10x format. Elevator, or with elevons it is the elevator component of the mix
$59,Servo 3 D_Term = 0 ' 0 to 100 integer allowed, is 10x format. Throttle (not implemented)
$60,Servo 4 D_Term = 50 ' 0 to 100 integer allowed, is 10x format. Rudder
$61,Servo 5 D_Term = 0 ' 0 to 100 integer allowed, is 10x format. Aux_1 (not implemented)
$62,Servo 6 D_Term = 0 ' 0 to 100 integer allowed, is 10x format. Aux_2 (not implemented)
$63,Servo 7 D_Term = 0 ' 0 to 100 integer allowed, is 10x format. Aux_3 (not implemented)
$64,Hold Speed = 60 ' 5 to 255 integer allowed. Hold pattern airspeed target in km/h for when PitotPresent = 1
$65,Min Speed = 50 ' 5 to 255 integer allowed. Min allowed aispeed target for when PitotPresent = 1
$66,Max Speed = 140 ' 5 to 255 integer allowed. Max allowed aispeed target for when PitotPresent = 1
$67,Telem Baud = 38400 ' User can set this to ANY integer from 4800 to 230400. If unspecified, it defaults to 38400 baud
$68,MaxDistance = 10000 ' User-defined max distance (meters) from home to force abort and go to home. Default is 300km, but user can make less
$69,LoiterRadius(1) = 50 ' User-defined loiter radius, in meters. 0 to 32767 is allowed
$70,LoiterRadius(2) = 100 '
$71,LoiterRadius(3) = 150 ' To specify this at a waypoint, make last trigger digit (the 8th one from left)
$72,LoiterRadius(4) = 200 ' set to 1 through 9. To disable, set this trigger to zero (0)
$73,LoiterRadius(5) = 300 ' MUST be used in conjunction with non-zero 7th trigger value, otherwise loiter has LIMITED affect
$74,LoiterRadius(6) = 500 ' and the result would be plane will circle ONLY UNTIL it is line up with next waypoint.
$75,LoiterRadius(7) = 1000 ' T2 field sets the loiter direction. 0 (default) is clockwise, 1 is counter clockwise
$76,LoiterRadius(8) = 2000 '
$77,LoiterRadius(9) = 10000 '
$78,LoiterTime(1) = 10 ' User-defined loiter time, in seconds. 0 to 32767 is allowed
$79,LoiterTime(2) = 20 '
$80,LoiterTime(3) = 40 ' To specify this at a waypoint, make 2nd last trigger digit (the 7th one from left)
$81,LoiterTime(4) = 60 ' set to 1 through 9. To disable, set this trigger to zero (0)
$82,LoiterTime(5) = 120 ' MUST be used in conjunction with a non-zero 8th trigger value, otherwise time has no effect
$83,LoiterTime(6) = 240 '
$84,LoiterTime(7) = 600 '
$85,LoiterTime(8) = 1200 '
$86,LoiterTime(9) = 3600 '
$87,Trigger time interval (2) = 5 ' Specify value between parenthesis for Trigger field 3 (4th from right)
$88,Trigger time interval (3) = 10 ' 0 is no trigger for that waypoint
$89,Trigger time interval (4) = 20 ' 1 is trigger at waypoint only
$90,Trigger time interval (5) = 60 ' 2-5 are time interval triggers, in seconds
$91,Trigger Distance interval (6) = 100 ' 6-9 are ground distance interval triggers, in meters
$92,Trigger Distance interval (7) = 150 ' Time interval allowed from 0 to 32767 seconds
$93,Trigger Distance interval (8) = 200 ' Distance interval allowed from 0 to 32767 meters
$94,Trigger Distance interval (9) = 500 '
$95,Trigger Type = 1 ' 0 is logic controller from servo7 signal line, 1 is PWM servo controller from servo7
$96,Trigger Active = 1400 ' If trigger is logic, enter a 1 or 0 here. If PWM servo driver, enter servo position in microseconds
$97,Trigger Rest = 1600 ' If trigger is logic, enter a 0 or 1 here. If PWM servo driver, enter servo position in microseconds
$98,Trigger Duration = 5 ' Number of 0.2 second time intervals to hold trigger in active state for each episode of the trigger, 0 to 32767 allowed
$99, Roll Expo = 30 ' 0 is no Expo, otherwise 10X units amount to add per 90 degrees attitude.
$100,Pitch Expo = 30 ' 0 is no Expo, otherwise 10X units amount to add per 90 degrees attitude.
$101,AutoLock Distance = 0 ' exceed this and mode is forced into Auto. 0 means disable the feature.
$102,RTL mAh autoLock = 0 ' 0 is DISABLE, 1 is ENABLE. If mAh cutoff happens lock out other modes and go Auto for RTL
$103,PhotoDeadPre = 0 ' 0 to 50 allowed and is number of 0.2 sec intervals (0 to 10 seconds) pre trigger to lock attitude at level and idle throttle
$104,PhotoDeadPost = 0 ' 0 to 50 allowed and is number of 0.2 sec intervals (0 to 10 seconds) post trigger start to lock attitude at level and idle throttle
$105,StopNav = 0 ' 0 or 1 allowed. 0 is continue nav during motor off period of photo, 1 is stop nav and hold flat attitude during photo
$106,Pitot Offset = 21 ' -200 to 200 allowed. Value derived from indoor session of Test Mode (line 55 in this SET). Corrects hardware bias for accurate low airpseed range
$107, GPS Altitude = 0 ' 0 is NO, 1 is YES. Generally DO NOT enable this unless your UAV has hermetic sealed cabin. Pressure altitude is MUCH better
$108, Telem Freq = 1 ' Number of 1 second delays between telemetry updates out from Atto. 0 means maximum which is 5 Hertz
$109, Roll Bias = 0 ' 1X degrees. Put in non-zero value to seed the bias at start
$110, Pitch Bias = 4 ' 1X degrees. Put in non-zero value to seed the bias at start
$111, RC Dampen Roll = 14 ' 0 to 100 allowed though generally don't exceed the D_term in line 57
$112, RC Dampen Pitch = 10 ' 0 to 100 allowed though generally don't exceed the D_term in line 58
$113, RC Dampen Yaw = 35 ' 0 to 100 allowed though generally don't exceed the D_term in line 60
$114, Min_RollRate% = 25 ' 1 to 100 allowed. Is percentage of MaxRate to use when roll error is zero for soft landing on target
$115, Min_PitchRate% = 25 ' 1 to 100 allowed. Is percentage of MaxRate to use when pitch error is zero for soft landing on target
$116, Altitude by Throttle = 0 ' 0 is no 1 is yes. If yes, the next 6 lines need a value
$117, PitchSpeedGain = 60 ' Terminal velocity in km/h with motor off and pitch at -30. 0 to 1000 allowed
$118, ThrottAltGain = 18 ' 0 to 100 allowed. Throttle gain in special case of throttle altitude. Seperate from airspeed throttle gain.
$119, DistNear = 20 ' meters from altitude target. MUST be no larger than DistFar
$120, DistFar = 100 ' meters from altitude target. MUST be no smaller than DistNear
$121, NearB% = 50 ' % mixing Pitch Airspeed when at or closer to target alt than the DistNear value. MUST be no larger than MaxB
$122, FarB% = 80 ' % mixing Pitch Airspeed when at or farther to target alt than the DistFar value. MUST be no smaller than MinB
$######## END OF SETTINGS
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