FEATURE: Support ArduPilot traditional Heli vehicles

Many thanks to Allister Scheiber

vehicle_templates/Heli/Allister/02_imu_temperature_calibration_setup.param

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+BRD_HEAT_TARG,65  # Reasonable for most places on this planet
+INS_LOG_BAT_MASK,7  # Calculate IMU calibration for all IMUs, irrespective of their usage in a future step. Saves the trouble of recalibrating an inactive IMU if you later decide to activate it
+INS_TCAL1_ENABLE,2  # Activates the temperature calibration for IMU 1 at the next start
+INS_TCAL1_TMAX,65  # CubeOrange has an heater that heats up the board to almost 70 deg
+INS_TCAL2_ENABLE,2  # Activates the temperature calibration for IMU 2 at the next start
+INS_TCAL2_TMAX,65  # 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
+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

vehicle_templates/Heli/Allister/03_imu_temperature_calibration_results.param

@@ -0,0 +1,63 @@
+INS_TCAL1_ACC1_X,-940.540894
+INS_TCAL1_ACC1_Y,274.553375
+INS_TCAL1_ACC1_Z,-3712.647705
+INS_TCAL1_ACC2_X,6.756036
+INS_TCAL1_ACC2_Y,-16.502184
+INS_TCAL1_ACC2_Z,-12.091681
+INS_TCAL1_ACC3_X,0.218629
+INS_TCAL1_ACC3_Y,-1.069348
+INS_TCAL1_ACC3_Z,0.573851
+INS_TCAL1_ENABLE,1
+INS_TCAL1_GYR1_X,-480.346069
+INS_TCAL1_GYR1_Y,9.009283
+INS_TCAL1_GYR1_Z,-56.848328
+INS_TCAL1_GYR2_X,74.190918
+INS_TCAL1_GYR2_Y,-35.16431
+INS_TCAL1_GYR2_Z,-2.668966
+INS_TCAL1_GYR3_X,1.776504
+INS_TCAL1_GYR3_Y,-1.017865
+INS_TCAL1_GYR3_Z,0.014865
+INS_TCAL1_TMAX,64.599998
+INS_TCAL1_TMIN,-14.7
+INS_TCAL2_ACC1_X,6649.077148
+INS_TCAL2_ACC1_Y,1555.664062
+INS_TCAL2_ACC1_Z,-6349.13916
+INS_TCAL2_ACC2_X,-25.260532
+INS_TCAL2_ACC2_Y,-13.881091
+INS_TCAL2_ACC2_Z,10.675395
+INS_TCAL2_ACC3_X,-0.592201
+INS_TCAL2_ACC3_Y,-0.260141
+INS_TCAL2_ACC3_Z,0.579426
+INS_TCAL2_ENABLE,1
+INS_TCAL2_GYR1_X,-158.147049
+INS_TCAL2_GYR1_Y,-137.744614
+INS_TCAL2_GYR1_Z,2.657249
+INS_TCAL2_GYR2_X,0.037288
+INS_TCAL2_GYR2_Y,-0.209617
+INS_TCAL2_GYR2_Z,0.216658
+INS_TCAL2_GYR3_X,-0.018463
+INS_TCAL2_GYR3_Y,-0.028847
+INS_TCAL2_GYR3_Z,0.005903
+INS_TCAL2_TMAX,64.5
+INS_TCAL2_TMIN,-14
+INS_TCAL3_ACC1_X,-1465.066631
+INS_TCAL3_ACC1_Y,458.876384
+INS_TCAL3_ACC1_Z,2544.281946
+INS_TCAL3_ACC2_X,3.881862
+INS_TCAL3_ACC2_Y,6.304407
+INS_TCAL3_ACC2_Z,16.704325
+INS_TCAL3_ACC3_X,1.217049
+INS_TCAL3_ACC3_Y,-0.670616
+INS_TCAL3_ACC3_Z,-1.336885
+INS_TCAL3_ENABLE,0
+INS_TCAL3_GYR1_X,-311.394615
+INS_TCAL3_GYR1_Y,44.271917
+INS_TCAL3_GYR1_Z,46.22566
+INS_TCAL3_GYR2_X,-0.843643
+INS_TCAL3_GYR2_Y,1.902223
+INS_TCAL3_GYR2_Z,-0.561675
+INS_TCAL3_GYR3_X,0.004107
+INS_TCAL3_GYR3_Y,-0.061594
+INS_TCAL3_GYR3_Z,0.019881
+INS_TCAL3_TMAX,57.3
+INS_TCAL3_TMIN,-27.7

vehicle_templates/Heli/Allister/04_board_orientation.param

@@ -0,0 +1,3 @@
+AHRS_ORIENTATION,4  # Point forward in the direction of travel
+BRD_HEAT_TARG,45  # Reset to default after offline IMU temperature calibration
+LOG_DISARMED,0  # Log disarmed was only required for offline IMU temperature calibration

vehicle_templates/Heli/Allister/05_remote_controller.param

@@ -0,0 +1,9 @@
+ARMING_RUDDER,2
+RC_OPTIONS,800
+RC_PROTOCOLS,1  # Selected in the component editor
+RC10_OPTION,0
+RC6_OPTION,0
+RC7_OPTION,32
+RC8_OPTION,0
+RC9_OPTION,0
+RSSI_TYPE,3

vehicle_templates/Heli/Allister/06_telemetry.param

@@ -0,0 +1,2 @@
+BRD_SER1_RTSCTS,2
+SERIAL2_BAUD,115

vehicle_templates/Heli/Allister/07_esc.param

@@ -0,0 +1,22 @@
+ATC_RAT_PIT_SMAX,0  # 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  # 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  # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html
+NTF_BUZZ_TYPES,5
+NTF_LED_TYPES,123079
+PSC_ACCZ_SMAX,0  # 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,2000  # Operating Pulse Width:1050-1950us(Fixed or cannot be Programmed)
+SERVO1_MIN,1000  # Operating Pulse Width:1050-1950us(Fixed or cannot be Programmed)
+SERVO1_TRIM,1500  # Operating Pulse Width:1050-1950us(Fixed or cannot be Programmed)
+SERVO13_FUNCTION,0  # For matek H743Slim v3 board
+SERVO2_MAX,2000  # Operating Pulse Width:1050-1950us(Fixed or cannot be Programmed)
+SERVO2_MIN,1000  # Operating Pulse Width:1050-1950us(Fixed or cannot be Programmed)
+SERVO2_TRIM,1500  # Operating Pulse Width:1050-1950us(Fixed or cannot be Programmed)
+SERVO3_MAX,2000  # Operating Pulse Width:1050-1950us(Fixed or cannot be Programmed)
+SERVO3_MIN,1000  # Operating Pulse Width:1050-1950us(Fixed or cannot be Programmed)
+SERVO3_TRIM,1485
+SERVO4_MAX,885
+SERVO4_MIN,620
+SERVO4_TRIM,750
+TKOFF_SLEW_TIME,2

vehicle_templates/Heli/Allister/08_batt1.param

@@ -0,0 +1,12 @@
+BATT_AMP_PERVLT,36.360001
+BATT_ARM_VOLT,23.6  # Don’t allow arming below this voltage
+BATT_CAPACITY,30000  # Total battery capacity specified in the component editor
+BATT_CRT_MAH,0
+BATT_CRT_VOLT,21.3  # (Critical voltage + 0.0) x no. 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
+BATT_LOW_MAH,0
+BATT_LOW_VOLT,21.6  # (Low voltage + 0.0) x no. of cells
+BATT_MONITOR,4
+BATT_VOLT_MULT,18.454201

vehicle_templates/Heli/Allister/10_gnss.param

@@ -0,0 +1,10 @@
+BRD_SAFETY_DEFLT,0  # CubeOrange has no safety switch
+CAN_D1_PROTOCOL,1  # set virtual driver of CAN1 to DRONECAN for Here3
+CAN_P1_DRIVER,0  # Enable CAN1 bus for Here3
+GPS_GNSS_MODE,0  # limit the constellations to ensure an update rate higher than 5Hz
+GPS_POS1_X,0
+GPS_POS1_Y,0
+GPS_POS1_Z,0
+GPS_TYPE,1  # Defined in component editor
+NTF_LED_TYPES,123079
+WPNAV_RADIUS,200

vehicle_templates/Heli/Allister/11_initial_atc.param

@@ -0,0 +1,15 @@
+ATC_ACCEL_P_MAX,14300  # Derived from vehicle component editor propeller size
+ATC_ACCEL_R_MAX,14300  # Derived from vehicle component editor propeller size
+ATC_ACCEL_Y_MAX,8000  # Derived from vehicle component editor propeller size
+ATC_ANG_YAW_P,1.3  # Derived from vehicle component editor propeller size
+ATC_RAT_PIT_FLTD,10  # INS_GYRO_FILTER / 2
+ATC_RAT_PIT_FLTE,0  # Initial value, will be improved at a later step
+ATC_RAT_PIT_FLTT,10  # INS_GYRO_FILTER / 2
+ATC_RAT_RLL_FLTD,10  # INS_GYRO_FILTER / 2
+ATC_RAT_RLL_FLTE,0  # Initial value, will be improved at a later step
+ATC_RAT_RLL_FLTT,10  # INS_GYRO_FILTER / 2
+ATC_RAT_YAW_FLTD,0  # Initial value, will be improved at a later step
+ATC_RAT_YAW_FLTE,2  # Initial value, will be improved at a later step
+ATC_RAT_YAW_FLTT,10  # INS_GYRO_FILTER / 2
+INS_ACCEL_FILTER,10  # The default is 20Hz but that is too high in most situations
+INS_GYRO_FILTER,20  # Derived from vehicle component editor propeller size

vehicle_templates/Heli/Allister/12_mp_setup_mandatory_hardware.param

@@ -0,0 +1,82 @@
+AHRS_TRIM_X,-0.033033
+AHRS_TRIM_Y,-0.023843
+ATC_ACCEL_P_MAX,110000
+ATC_ACCEL_R_MAX,110000
+ATC_ACCEL_Y_MAX,80000
+ATC_RAT_PIT_FLTD,0  # INS_GYRO_FILTER / 2
+ATC_RAT_PIT_FLTT,20  # INS_GYRO_FILTER / 2
+ATC_RAT_RLL_FLTD,0  # INS_GYRO_FILTER / 2
+ATC_RAT_RLL_FLTT,20  # INS_GYRO_FILTER / 2
+ATC_RAT_YAW_FLTE,20
+ATC_RAT_YAW_FLTT,20  # INS_GYRO_FILTER / 2
+COMPASS_EXTERNAL,1
+COMPASS_ORIENT,6
+COMPASS_PRIO1_ID,658961
+COMPASS_USE2,1
+COMPASS_USE3,0
+FENCE_ACTION,1
+FENCE_ALT_MAX,100
+FENCE_ENABLE,1
+FENCE_RADIUS,300
+FLTMODE1,0
+FLTMODE2,2
+FLTMODE3,5
+FLTMODE4,5
+FLTMODE5,15
+FLTMODE6,6
+FRAME_CLASS,6
+FRAME_TYPE,1
+INS_ACC1_CALTEMP,44.806763
+INS_ACC2_CALTEMP,47
+INS_ACC2SCAL_X,0.982365
+INS_ACC2SCAL_Y,0.99757
+INS_ACC2SCAL_Z,0.961732
+INS_ACC3SCAL_X,1
+INS_ACC3SCAL_Y,1
+INS_ACC3SCAL_Z,1
+INS_ACCSCAL_X,0.998809
+INS_ACCSCAL_Y,0.996635
+INS_ACCSCAL_Z,0.998027
+INS_GYRO_FILTER,20
+INS_USE3,1
+MOT_BAT_VOLT_MAX,26.1
+MOT_BAT_VOLT_MIN,19.799999
+MOT_SPIN_ARM,0.06
+MOT_SPIN_MAX,0.95
+MOT_SPIN_MIN,0.09
+MOT_THST_EXPO,0.82
+MOT_THST_HOVER,0.2
+RC1_MAX,2011
+RC1_MIN,988
+RC1_TRIM,1500
+RC10_MAX,1900
+RC10_MIN,1100
+RC10_TRIM,1500
+RC2_MAX,2011
+RC2_MIN,988
+RC2_TRIM,1500
+RC3_MAX,2011
+RC3_MIN,988
+RC3_TRIM,988
+RC4_MAX,2011
+RC4_MIN,988
+RC4_TRIM,1497
+RC5_MAX,1900
+RC5_MIN,1100
+RC5_TRIM,1500
+RC6_MAX,1900
+RC6_MIN,1100
+RC6_TRIM,1500
+RC7_MAX,1900
+RC7_MIN,1100
+RC7_TRIM,1500
+RC8_MAX,1900
+RC8_MIN,1100
+RC8_TRIM,1500
+RC9_MAX,1900
+RC9_MIN,1100
+RC9_TRIM,1500
+SERVO1_FUNCTION,33
+SERVO2_FUNCTION,34
+SERVO3_FUNCTION,35
+SERVO4_FUNCTION,36

vehicle_templates/Heli/Allister/13_general_configuration.param

@@ -0,0 +1,18 @@
+ARMING_CHECK,1  # Perform all arming checks. If you have a problem fix its source. Do NOT change this
+AUTO_OPTIONS,0
+BRD_HEAT_TARG,45  # Operate at a constant IMU temperature
+BRD_RTC_TZ_MIN,0
+EK3_SRC1_POSZ,1
+FENCE_TYPE,7
+FS_EKF_ACTION,1
+INS_ACCEL_FILTER,20  # the default is 20 and that lets too much noise in
+INS_POS1_X,0
+INS_POS1_Y,0
+INS_POS2_X,0
+INS_POS2_Y,0
+LAND_ALT_LOW,1000
+RTL_ALT,2000
+RTL_LOIT_TIME,5000
+SCHED_LOOP_RATE,400
+SCR_ENABLE,1  # Use lua scripting for VTOL-Quicktune, MagFit automation and Windspeed Estimation automation
+SERIAL7_PROTOCOL,2  # Do not use CubeOrange ADSB receiver

vehicle_templates/Heli/Allister/14_logging.param

@@ -0,0 +1,6 @@
+INS_LOG_BAT_CNT,1024  # the default of 1024 causes some problems with https://firmware.ardupilot.org/Tools/WebTools/FilterReview/
+INS_LOG_BAT_MASK,3  # Will use 2 of 3 IMU
+INS_LOG_BAT_OPT,4  # Logs measured data both before and after the filters for Filter Review Webtool usage
+INS_RAW_LOG_OPT,0
+LOG_BITMASK,2242524  # Logs Notch filter data and other control signals
+LOG_FILE_DSRMROT,1  # One .bin log file per flight, not per battery/reboot

vehicle_templates/Heli/Allister/15_initial_yaw.param

@@ -0,0 +1,16 @@
+ATC_ACCEL_Y_MAX,80000
+
+ATC_ANG_YAW_P,4.5
+
+ATC_RAT_YAW_D,0.003
+ATC_RAT_YAW_FLTD,0
+ATC_RAT_YAW_FLTE,20
+ATC_RAT_YAW_FLTT,20
+
+ATC_RAT_YAW_I,0.12
+ATC_RAT_YAW_ILMI,0.0
+ATC_RAT_YAW_IMAX,0.33
+
+ATC_RAT_YAW_P,0.18
+
+ATC_RAT_YAW_FF,0.0

vehicle_templates/Heli/Allister/16_initial_PR.param

@@ -0,0 +1,27 @@
+ATC_ACCEL_P_MAX,110000
+ATC_ACCEL_R_MAX,110000
+
+ATC_ANG_PIT_P,4.5
+ATC_ANG_RLL_P,4.5
+
+ATC_RAT_PIT_D,0
+ATC_RAT_PIT_FLTD,0
+ATC_RAT_PIT_FLTE,20
+ATC_RAT_PIT_FLTT,20
+ATC_RAT_PIT_I,0.1
+ATC_RAT_PIT_ILMI,0.05
+ATC_RAT_PIT_IMAX,0.40
+ATC_RAT_PIT_P,0
+ATC_RAT_PIT_FF,0.15
+
+ATC_RAT_RLL_D,0
+ATC_RAT_RLL_FLTD,0
+ATC_RAT_RLL_FLTE,20
+ATC_RAT_RLL_FLTT,20
+ATC_RAT_RLL_I,0.1
+ATC_RAT_RLL_ILMI,0.05
+ATC_RAT_RLL_IMAX,0.40
+ATC_RAT_RLL_P,0
+ATC_RAT_RLL_FF,0.15
+
+ATC_INPUT_TC,0.15

vehicle_templates/Heli/Allister/17_remote_id.param

@@ -0,0 +1,4 @@
+DID_CANDRIVER,0
+DID_ENABLE,0  # Our RemoteID module does not communicate with ArduPilot
+DID_MAVPORT,2  # The serial port attached to the OpenDroneID module
+DID_OPTIONS,0

vehicle_templates/Heli/Allister/18_notch_filter_setup.param

@@ -0,0 +1,10 @@
+INS_FAST_SAMPLE,3  # Two IMUs can run fast on the CubeOrange flight controller
+INS_GYRO_RATE,1  # The CubeOrange can do 2KHz here
+INS_HNTCH_ATT,40  # this is just a hunch, it must be improved after the first flight (by the next file)
+INS_HNTCH_BW,10  # this is just a hunch, it must be improved after the first flight (by the next file)
+INS_HNTCH_ENABLE,1  # Use the first notch filter to filter the noise created by the motors/propellers
+INS_HNTCH_FREQ,28  # Use 1.4 * INS_GYRO_FILTER as a first guess
+INS_HNTCH_HMNCS,3  # start with a single frequency
+INS_HNTCH_MODE,0  # Trottle based notch
+INS_HNTCH_OPTS,0
+INS_HNTCH_REF,0  # Calculate and change this according to the wiki

vehicle_templates/Heli/Allister/19_notch_filter_results.param

@@ -0,0 +1,7 @@
+INS_HNTCH_ATT,40  # just enough to filter the noise created by the motors/propellers
+INS_HNTCH_BW,10  # just enough to filter the noise created by the motors/propellers
+INS_HNTCH_FM_RAT,0.9  # Allowed undercutting of the base frequency of the first notch filter
+INS_HNTCH_FREQ,33.299999  # the minimum frequency that the motors are expected to operate at
+INS_HNTCH_HMNCS,3  # the motors produce secondary harmonics on this vehicle
+INS_HNTCH_OPTS,0
+INS_HNTCH_REF,0  # MOT_THST_HOVER * SQUARE(min_freq / hover_freq)

vehicle_templates/Heli/Allister/20_throttle_controller.param

@@ -0,0 +1,3 @@
+ATC_THR_MIX_MAN,0.5
+PSC_ACCZ_I,1
+PSC_ACCZ_P,0.28

vehicle_templates/Heli/Allister/21_ekf_config.param

@@ -0,0 +1,2 @@
+EK3_ACC_P_NSE,0.35  # higher value -> trust accelerometer less, compared to other sources
+EK3_ALT_M_NSE,2  # lower value -> trust baro more, compared to other sources

vehicle_templates/Heli/Allister/22_quick_tune_setup.param

@@ -0,0 +1,14 @@
+QUIK_AUTO_FILTER,1
+QUIK_AUTO_SAVE,0
+QUIK_AXES,7
+QUIK_DOUBLE_TIME,10
+QUIK_ENABLE,1  # Use VTOL-Quicktune lua script to estimate a good PID starting values
+QUIK_GAIN_MARGIN,60
+QUIK_MAX_REDUCE,20
+QUIK_OPTIONS,0
+QUIK_OSC_SMAX,5
+QUIK_RC_FUNC,300  # the script uses this value to listen to RC switch
+QUIK_RP_PI_RATIO,1
+QUIK_Y_PI_RATIO,10
+QUIK_YAW_D_MAX,0.01
+QUIK_YAW_P_MAX,0.5

vehicle_templates/Heli/Allister/23_quick_tune_results.param

@@ -0,0 +1,10 @@
+ATC_RAT_PIT_D,0.000267  # Tuned in a Hangar
+ATC_RAT_PIT_I,0.054859  # Tuned in a Hangar
+ATC_RAT_PIT_P,0.028604  # Tuned in a Hangar
+ATC_RAT_RLL_D,0.00024  # Tuned in a Hangar
+ATC_RAT_RLL_I,0.06414  # Tuned in a Hangar
+ATC_RAT_RLL_P,0.045  # Tuned in a Hangar
+ATC_RAT_YAW_D,0.004231  # Tuned in a Hangar
+ATC_RAT_YAW_FLTD,0  # Tuned in a Hangar
+ATC_RAT_YAW_I,0.020179  # Tuned in a Hangar
+ATC_RAT_YAW_P,0.201791  # Tuned in a Hangar

vehicle_templates/Heli/Allister/24_inflight_magnetometer_fit_setup.param

@@ -0,0 +1,8 @@
+MAGH_ALT_DELTA,10  # Height difference between the highest and lowest point of the eight
+MAGH_B,1.2  # Geometric factor for the width of the eight
+MAGH_CMD,117  # Script_Time command value for identification of the script
+MAGH_COUNT,6  # Number of times the drone repeats the eight
+MAGH_LOG_ENABLE,1  # Activates the logging of the MAGH.Active message
+MAGH_MIN_SPEED,5  # Starting speed for the mission; slowly adjusts to the general speed in auto-missions
+MAGH_NUM_WP,18  # Number of waypoints from which the eight is built
+MAGH_USE_LOITER,0  # Sets a Loiter_unlimited command at the beginning of the mission to check the generated waypoints