manual with pixhawk/qgroundcontrol

qgroundcontrol.pro

@@ -18,8 +18,8 @@ TARGET = qgroundcontrol
 BASEDIR = .
 BUILDDIR = build
 LANGUAGE = C++
-CONFIG +=  debug_and_release \
-    console
+CONFIG += debug_and_release
+    #console
 OBJECTS_DIR = $$BUILDDIR/obj
 MOC_DIR = $$BUILDDIR/moc
 UI_HEADERS_DIR = src/ui/generated
@@ -42,8 +42,8 @@ DEPENDPATH += . \
     plugins
 INCLUDEPATH += . \
     lib/QMapControl \
-    $$BASEDIR/../mavlink/include \
-    $$BASEDIR/../mavlink/contrib/slugs/include
+    $$BASEDIR/../mavlink/contrib/slugs/include \
+    $$BASEDIR/../mavlink/include
 
 # ../mavlink/include \
 # MAVLink/include \

settings/parameters_alpha.txt

 # Onboard parameters for system MAV 042
 #
 # MAV ID  COMPONENT ID  PARAM NAME  VALUE (FLOAT)
-42	1	POSFILTER	1
-42	1	PROTOCOLTIMEOUT¶	2e+06
-42	1	SETPOINTDELAY	1e+06
-42	1	YAWTOLERANCE	0.1745
-42	100	SYS_ID	42
-42	120	DOWN_PITCH	-0.025
-42	120	DOWN_ROLL	-0.01
-42	120	DOWN_X	0
-42	120	DOWN_Y	0
-42	120	DOWN_YAW	3.14159
-42	120	DOWN_Z	0
 42	200	ACC_NAV_OFFS_X	0
 42	200	ACC_NAV_OFFS_Y	0
 42	200	ACC_NAV_OFFS_Z	-1000
@@ -23,10 +12,18 @@
 42	200	CAL_ACC_X	0
 42	200	CAL_ACC_Y	0
 42	200	CAL_ACC_Z	0
-42	200	CAL_GYRO_X	29760
-42	200	CAL_GYRO_Y	29860
-42	200	CAL_GYRO_Z	29877
-42	200	CAL_TEMP	40
+42	200	CAL_FIT_ACTIVE	0
+42	200	CAL_FIT_GYRO_X	31496.8
+42	200	CAL_FIT_GYRO_Y	29383.4
+42	200	CAL_FIT_GYRO_Z	30151.1
+42	200	CAL_GYRO_X	29826
+42	200	CAL_GYRO_Y	30325
+42	200	CAL_GYRO_Z	29583
+42	200	CAL_MAG_X	0
+42	200	CAL_MAG_Y	0
+42	200	CAL_MAG_Z	0
+42	200	CAL_PRES_DIFF	10000
+42	200	CAL_TEMP	32
 42	200	CAM_EXP	1000
 42	200	CAM_INTERVAL	36000
 42	200	DEBUG_1	0
@@ -35,6 +32,7 @@
 42	200	DEBUG_4	0
 42	200	DEBUG_5	0
 42	200	DEBUG_6	0
+42	200	GPS_MODE	0
 42	200	MIX_OFFSET	0
 42	200	MIX_POSITION	0
 42	200	MIX_POS_YAW	0
@@ -66,9 +64,9 @@
 42	200	PID_YAWSPE_AWU	1
 42	200	PID_YAWSPE_LIM	50
 42	200	POS_SP_ACCEPT	1
-42	200	POS_SP_X	1.70917
-42	200	POS_SP_Y	0.479173
-42	200	POS_SP_YAW	1.5708
+42	200	POS_SP_X	1.3
+42	200	POS_SP_Y	0.7
+42	200	POS_SP_YAW	0
 42	200	POS_SP_Z	-0.7
 42	200	POS_TIMEOUT	2e+06
 42	200	RC_NICK_CHAN	1

settings/parameters_bravo_final.txt

+# Onboard parameters for system MAV 042
+#
+# MAV ID  COMPONENT ID  PARAM NAME  VALUE (FLOAT)
+42	1	POSFILTER	1
+42	1	PROTOCOLDELAY	40
+42	1	PROTOCOLTIMEOUT	2e+06
+42	1	SETPOINTDELAY	1e+06
+42	1	YAWTOLERANCE	0.1745
+42	100	SYS_ID	42
+42	120	DOWN_PITCH	-0.03
+42	120	DOWN_ROLL	0.05
+42	120	DOWN_X	0
+42	120	DOWN_Y	0
+42	120	DOWN_YAW	3.14159
+42	120	DOWN_Z	-0.088
+42	200	ACC_NAV_OFFS_X	0
+42	200	ACC_NAV_OFFS_Y	0
+42	200	ACC_NAV_OFFS_Z	-1000
+42	200	ATT_KAL_IYAW	1
+42	200	ATT_KAL_KACC	0.0033
+42	200	ATT_OFFSET_X	0
+42	200	ATT_OFFSET_Y	0
+42	200	ATT_OFFSET_Z	-0.08
+42	200	CAL_ACC_X	0
+42	200	CAL_ACC_Y	0
+42	200	CAL_ACC_Z	0
+42	200	CAL_FIT_ACTIVE	0
+42	200	CAL_FIT_GYRO_X	31500
+42	200	CAL_FIT_GYRO_Y	29370
+42	200	CAL_FIT_GYRO_Z	30230
+42	200	CAL_GYRO_X	29812
+42	200	CAL_GYRO_Y	29877
+42	200	CAL_GYRO_Z	29515
+42	200	CAL_MAG_X	0
+42	200	CAL_MAG_Y	0
+42	200	CAL_MAG_Z	0
+42	200	CAL_PRES_DIFF	10000
+42	200	CAM_EXP	1000
+42	200	CAM_INTERVAL	36000
+42	200	DEBUG_1	0
+42	200	DEBUG_2	0
+42	200	DEBUG_3	0
+42	200	DEBUG_4	0
+42	200	DEBUG_5	0
+42	200	DEBUG_6	0
+42	200	GPS_MODE	0
+42	200	MIX_OFFSET	0
+42	200	MIX_POSITION	0
+42	200	MIX_POS_YAW	0
+42	200	MIX_REMOTE	0
+42	200	MIX_Z_POSITION	0
+42	200	PID_ATT_AWU	0.3
+42	200	PID_ATT_D	30
+42	200	PID_ATT_I	60
+42	200	PID_ATT_LIM	100
+42	200	PID_ATT_P	90
+42	200	PID_POS_AWU	10
+42	200	PID_POS_D	1.8
+42	200	PID_POS_I	0.25
+42	200	PID_POS_LIM	0.15
+42	200	PID_POS_P	1.7
+42	200	PID_POS_Z_AWU	3
+42	200	PID_POS_Z_D	0.15
+42	200	PID_POS_Z_I	0.2
+42	200	PID_POS_Z_LIM	0.2
+42	200	PID_POS_Z_P	0.35
+42	200	PID_YAWPOS_AWU	1
+42	200	PID_YAWPOS_D	1
+42	200	PID_YAWPOS_I	0.1
+42	200	PID_YAWPOS_LIM	2
+42	200	PID_YAWPOS_P	5
+42	200	PID_YAWSPEED_D	0
+42	200	PID_YAWSPEED_I	5
+42	200	PID_YAWSPEED_P	15
+42	200	PID_YAWSPE_AWU	1
+42	200	PID_YAWSPE_LIM	20
+42	200	POS_SP_ACCEPT	1
+42	200	POS_SP_X	1.3
+42	200	POS_SP_Y	0.7
+42	200	POS_SP_YAW	1.5708
+42	200	POS_SP_Z	-0.7
+42	200	POS_TIMEOUT	2e+06
+42	200	POS_YAW_TRACK	1
+42	200	RC_NICK_CHAN	1
+42	200	RC_ROLL_CHAN	2
+42	200	RC_SAFETY_CHAN	5
+42	200	RC_THRUST_CHAN	3
+42	200	RC_TRIM_CHAN	0
+42	200	RC_TUNE_CHAN1	7
+42	200	RC_TUNE_CHAN2	5
+42	200	RC_TUNE_CHAN3	6
+42	200	RC_TUNE_CHAN4	8
+42	200	RC_YAW_CHAN	4
+42	200	SEND_DEBUGCHAN	0
+42	200	SLOT_ATTITUDE	0
+42	200	SLOT_CONTROL	0
+42	200	SLOT_RAW_IMU	0
+42	200	SLOT_RC	0
+42	200	SYS_COMP_ID	200
+42	200	SYS_ID	42
+42	200	SYS_IMU_RESET	0
+42	200	SYS_SW_VER	2001
+42	200	SYS_TYPE	2
+42	200	UART_0_BAUD	115200
+42	200	UART_1_BAUD	57600
+42	200	VEL_DAMP	0.95
+42	200	VEL_OFFSET_X	0
+42	200	VEL_OFFSET_Y	0
+42	200	VEL_OFFSET_Z	0
+42	200	VIS_OUTL_TRESH	0.2
+42	200	VIS_YAWCORR	0