amilcarlucas/MethodicConfigurator

ATC_RAT_PIT_SMAX,40  # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html
ATC_RAT_RLL_SMAX,40  # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html
ATC_RAT_YAW_SMAX,30  # 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,2000
MOT_PWM_MIN,1000
MOT_PWM_TYPE,6  # Specified in component editor window
MOT_SPOOL_TIME,0.5  # left at default because copter is small
NTF_BUZZ_TYPES,3  # the 4-in-1 ESC uses this
NTF_LED_TYPES,2305  # Built-in LED, NCP5623 External (Holybro F9P), Neopixel (Matek H743 slim v3), and DShot (4-in-1 ESC)
PSC_ACCZ_SMAX,0  # No slew rate limit on throttle controller
SERIAL5_BAUD,57  # bi-directional DShot telemetry data rate from T-Motor F45 4in1 ESC V2
SERIAL5_PROTOCOL,-1  # bi-directional DShot telemetry pin is connected to SERIAL5
SERVO_BLH_AUTO,1  # Enables BLHeli pass-thru
SERVO_BLH_BDMASK,15  # All four of our ESC support bi-directional DShot
SERVO_BLH_POLES,14  # Specified in component editor window
SERVO_BLH_TRATE,10  # Set to a low value because the RPM telemetry uses bi-directional DShot telemetry instead of this UART telemetry
SERVO_DSHOT_ESC,1  # BLHeli32
SERVO_DSHOT_RATE,3  # Sends DShot control signals to the ESC twice per control loop
SERVO1_MAX,2000  # Use the full available 1000-2000 DShot range
SERVO1_MIN,1000  # Use the full available 1000-2000 DShot range
SERVO1_TRIM,1000  # Use the full available 1000-2000 DShot range
SERVO13_FUNCTION,0
SERVO2_MAX,2000  # Use the full available 1000-2000 DShot range
SERVO2_MIN,1000  # Use the full available 1000-2000 DShot range
SERVO2_TRIM,1000  # Use the full available 1000-2000 DShot range
SERVO3_MAX,2000  # Use the full available 1000-2000 DShot range
SERVO3_MIN,1000  # Use the full available 1000-2000 DShot range
SERVO3_TRIM,1000  # Use the full available 1000-2000 DShot range
SERVO4_MAX,2000  # Use the full available 1000-2000 DShot range
SERVO4_MIN,1000  # Use the full available 1000-2000 DShot range
SERVO4_TRIM,1000  # Use the full available 1000-2000 DShot range
TKOFF_RPM_MIN,1000  # Our motors should idle at around 1000 RPM, see https://ardupilot.org/copter/docs/tkoff-rpm-min.html
TKOFF_SLEW_TIME,0.5  # faster because copter is small