FEATURE: Added Gazebo Iris Model with gimbal

Thanks to khanasif786 Asif Khan

vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/02_imu_temperature_calibration_setup.param

@@ -0,0 +1,7 @@
+INS_LOG_BAT_MASK,3  # the Matek H743 fligth controller only has two IMUs
+INS_TCAL1_ENABLE,2  # Activates the temperature calibration for IMU 1 at the next start
+INS_TCAL1_TMAX,60  # our H7 processor acts as a heater and heats up the board to almost 60 deg
+INS_TCAL2_ENABLE,2  # Activates the temperature calibration for IMU 2 at the next start
+INS_TCAL2_TMAX,60  # our H7 processor acts as a heater and heats up the board to almost 60 deg
+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/ArduCopter/GazeboIrisWithTargetFollow/03_imu_temperature_calibration_results.param

@@ -0,0 +1,42 @@
+INS_TCAL1_ACC1_X,115.946591
+INS_TCAL1_ACC1_Y,498.256973
+INS_TCAL1_ACC1_Z,-381.446152
+INS_TCAL1_ACC2_X,-22.931569
+INS_TCAL1_ACC2_Y,13.578689
+INS_TCAL1_ACC2_Z,19.36129
+INS_TCAL1_ACC3_X,-0.601406
+INS_TCAL1_ACC3_Y,0.213799
+INS_TCAL1_ACC3_Z,0.011622
+INS_TCAL1_ENABLE,0
+INS_TCAL1_GYR1_X,-32.634221
+INS_TCAL1_GYR1_Y,79.655005
+INS_TCAL1_GYR1_Z,-151.124203
+INS_TCAL1_GYR2_X,-0.611429
+INS_TCAL1_GYR2_Y,-2.040989
+INS_TCAL1_GYR2_Z,1.23833
+INS_TCAL1_GYR3_X,-0.009728
+INS_TCAL1_GYR3_Y,0.019492
+INS_TCAL1_GYR3_Z,0.00141
+INS_TCAL1_TMAX,56
+INS_TCAL1_TMIN,-14.6
+INS_TCAL2_ACC1_X,-1088.4156
+INS_TCAL2_ACC1_Y,806.840522
+INS_TCAL2_ACC1_Z,327.521202
+INS_TCAL2_ACC2_X,-13.630366
+INS_TCAL2_ACC2_Y,6.347961
+INS_TCAL2_ACC2_Z,9.967253
+INS_TCAL2_ACC3_X,-0.376738
+INS_TCAL2_ACC3_Y,0.002642
+INS_TCAL2_ACC3_Z,-0.065861
+INS_TCAL2_ENABLE,0
+INS_TCAL2_GYR1_X,-44.455146
+INS_TCAL2_GYR1_Y,-8.833006
+INS_TCAL2_GYR1_Z,88.004539
+INS_TCAL2_GYR2_X,1.435061
+INS_TCAL2_GYR2_Y,-0.204453
+INS_TCAL2_GYR2_Z,-2.086232
+INS_TCAL2_GYR3_X,-0.048141
+INS_TCAL2_GYR3_Y,-0.002373
+INS_TCAL2_GYR3_Z,-0.028351
+INS_TCAL2_TMAX,56.5
+INS_TCAL2_TMIN,-13.3

vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/04_board_orientation.param

@@ -0,0 +1,2 @@
+AHRS_ORIENTATION,0  # Point forward in the direction of travel
+LOG_DISARMED,0  # Log disarmed was only required for offline IMU temperature calibration

vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/05_remote_controller.param

@@ -0,0 +1,9 @@
+ARMING_RUDDER,2  # We find it safer to use only a switch to arm instead of through rudder inputs
+BRD_ALT_CONFIG,0
+RC_OPTIONS,32  # Enables Crossfire Telemetry
+RC_PROTOCOLS,1  # Selected in the component editor
+RC6_OPTION,212
+RC7_OPTION,213
+RC8_OPTION,214
+RC9_OPTION,0
+RSSI_TYPE,0

vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/06_telemetry.param

@@ -0,0 +1,3 @@
+BRD_SER1_RTSCTS,1  # we have RTS/CTS pins connected
+SERIAL1_BAUD,57  # The MAVLink over ESP32 telemetry
+SERIAL1_PROTOCOL,2  # Use MAVLink 2 for telemetry

vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/07_esc.param

@@ -0,0 +1,34 @@
+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
+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,0  # Specified in component editor window
+MOT_SPOOL_TIME,0.5  # left at default because copter is small
+NTF_BUZZ_TYPES,5  # the 4-in-1 ESC uses this
+NTF_LED_TYPES,123079  # Built-in LED, NCP5623 External (Holybro F9P), Neopixel (Matek H743 slim v3), and DShot (4-in-1 ESC)
+PSC_ACCZ_SMAX,0  # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html
+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,3  # Specified in component editor window
+SERVO_BLH_TRATE,5  # Set to a low value because the RPM telemetry uses bi-directional DShot telemetry instead of this UART telemetry
+SERVO_DSHOT_ESC,0  # BLHeli32
+SERVO_DSHOT_RATE,0  # Sends DShot control signals to the ESC twice per control loop
+SERVO1_MAX,1900  # Use the full available 1000-2000 DShot range
+SERVO1_MIN,1100  # Use the full available 1000-2000 DShot range
+SERVO1_TRIM,1500  # Use the full available 1000-2000 DShot range
+SERVO13_FUNCTION,0  # For matek H743Slim v3 board
+SERVO2_MAX,1900  # Use the full available 1000-2000 DShot range
+SERVO2_MIN,1100  # Use the full available 1000-2000 DShot range
+SERVO2_TRIM,1500  # Use the full available 1000-2000 DShot range
+SERVO3_MAX,1900  # Use the full available 1000-2000 DShot range
+SERVO3_MIN,1100  # Use the full available 1000-2000 DShot range
+SERVO3_TRIM,1500  # Use the full available 1000-2000 DShot range
+SERVO4_MAX,1900  # Use the full available 1000-2000 DShot range
+SERVO4_MIN,1100  # Use the full available 1000-2000 DShot range
+SERVO4_TRIM,1500  # Use the full available 1000-2000 DShot range
+TKOFF_RPM_MIN,0  # Our motors should idle at around 1400 RPM, see https://ardupilot.org/copter/docs/tkoff-rpm-min.html
+TKOFF_SLEW_TIME,2  # left at default because copter is small

vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/08_batt1.param

@@ -0,0 +1,12 @@
+BATT_AMP_PERVLT,17  # new calibrated value for Mamba F45_128k 4in1 ESC
+BATT_ARM_VOLT,15.7  # Don’t allow arming below this voltage
+BATT_CAPACITY,1800  # Total battery capacity specified in the component editor
+BATT_CRT_MAH,0  # When only 450mAh out of the total 1800mAh remain, trigger critical failsafe
+BATT_CRT_VOLT,14.2  # (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  # Let the firmware handle the nasty business of variable and battery dependent internal resistance
+BATT_LOW_MAH,0  # When only 450mAh out of the total 1800mAh remain, trigger low failsafe
+BATT_LOW_VOLT,14.4  # (Low voltage + 0.0) x no. of cells
+BATT_MONITOR,4  # Selected in component editor window
+BATT_VOLT_MULT,10.1  # Use a power source with a voltage close to BATT_LOW_VOLT measure with a calibrated voltimeter and adapt this parameter so that the telemetry voltage reading matches it

vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/09_batt2.param

@@ -0,0 +1,14 @@
+BATT2_AMP_PERVLT,17.73  # calibrated using batt charger
+BATT2_ARM_VOLT,15  # In our build this is a redundant monitor for batt1 so == BATT_ARM_VOLT
+BATT2_CAPACITY,1800  # In our build this is a redundant monitor for batt1 so == BATT_CAPACITY
+BATT2_CRT_MAH,450  # In our build this is a redundant monitor for batt1 so == BATT_CRT_MAH
+BATT2_CRT_VOLT,14  # In our build this is a redundant monitor for batt1 so == BATT_CRT_VOLT
+BATT2_CURR_PIN,7
+BATT2_FS_CRT_ACT,1  # flying indoors, just land ASAP, no need to hit the ceiling while doing RTL
+BATT2_FS_LOW_ACT,1  # flying indoors, just land ASAP, no need to hit the ceiling while doing RTL
+BATT2_FS_VOLTSRC,1  # In our build this is a redundant monitor for batt1 so == BATT_FS_VOLTSRC
+BATT2_LOW_MAH,600  # In our build this is a redundant monitor for batt1 so == BATT_LOW_MAH
+BATT2_LOW_VOLT,14.4  # In our build this is a redundant monitor for batt1 so == BATT_LOW_VOLT
+BATT2_MONITOR,0
+BATT2_VOLT_MULT,228.342  # Use a power source with a voltage close to BATT2_LOW_VOLT measure with a calibrated voltimeter and adapt this parameter so that the telemetry voltage reading matches it
+BATT2_VOLT_PIN,18

vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/10_gnss.param

@@ -0,0 +1,8 @@
+BRD_SAFETY_DEFLT,0  # Matek H743 Slim has no safety switch
+GPS_GNSS_MODE,7  # limit the constalations to ensure an update rate higher than 5Hz
+GPS_POS1_X,0.056  # HX-CH7604A GNSS antenna pahse center location relative to CG
+GPS_POS1_Y,0  # HX-CH7604A GNSS antenna pahse center location relative to CG
+GPS_POS1_Z,-0.07  # HX-CH7604A GNSS antenna pahse center location relative to CG
+GPS_TYPE,2  # Defined in component editor
+SERIAL3_PROTOCOL,5  # GNSS receiver is connected to serial3
+WPNAV_RADIUS,200  # we have a good GNSS receiver so we can afford to fly precisely

vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/11_initial_atc.param

@@ -0,0 +1,18 @@
+ATC_ACCEL_P_MAX,193500  # Derived from vehicle component editor propeller size
+ATC_ACCEL_R_MAX,193500  # Derived from vehicle component editor propeller size
+ATC_ACCEL_Y_MAX,33300  # Derived from vehicle component editor propeller size
+ATC_ANG_YAW_P,5.5  # Derived from vehicle component editor propeller size
+ATC_RAT_PIT_FLTD,57.5  # INS_GYRO_FILTER / 2
+ATC_RAT_PIT_FLTE,0  # Initial value, will be improved at a later step
+ATC_RAT_PIT_FLTT,57.5  # INS_GYRO_FILTER / 2
+ATC_RAT_RLL_FLTD,57.5  # INS_GYRO_FILTER / 2
+ATC_RAT_RLL_FLTE,0  # Initial value, will be improved at a later step
+ATC_RAT_RLL_FLTT,57.5  # 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,57.5  # INS_GYRO_FILTER / 2
+ATC_THR_MIX_MAN,0.1  # Value for the first couple of flights will be changed later once MOT_THST_HOVER is learned
+INS_ACCEL_FILTER,10  # The default is 20Hz but that is too high in most situations
+INS_GYRO_FILTER,115  # Derived from vehicle component editor propeller size
+MOT_THST_EXPO,0.41  # Derived from vehicle component editor propeller size
+MOT_THST_HOVER,0.2  # Hover learn will improve this initial guess

vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/12_mp_setup_mandatory_hardware.param

@@ -0,0 +1,79 @@
+AHRS_TRIM_X,0
+AHRS_TRIM_Y,0
+ATC_ACCEL_P_MAX,110000
+ATC_ACCEL_R_MAX,110000
+ATC_ACCEL_Y_MAX,27000
+ATC_RAT_PIT_FLTD,20  # INS_GYRO_FILTER / 2
+ATC_RAT_PIT_FLTT,20  # INS_GYRO_FILTER / 2
+ATC_RAT_RLL_FLTD,20  # INS_GYRO_FILTER / 2
+ATC_RAT_RLL_FLTT,20  # INS_GYRO_FILTER / 2
+ATC_RAT_YAW_FLTE,2.5
+ATC_RAT_YAW_FLTT,20  # INS_GYRO_FILTER / 2
+COMPASS_EXTERNAL,1
+COMPASS_ORIENT,0
+COMPASS_PRIO1_ID,97539
+COMPASS_USE2,1
+COMPASS_USE3,1
+FENCE_ACTION,1
+FENCE_ALT_MAX,100
+FENCE_ENABLE,0
+FENCE_RADIUS,150
+FLTMODE1,7
+FLTMODE2,9
+FLTMODE3,6
+FLTMODE4,3
+FLTMODE5,5
+FLTMODE6,0
+FRAME_CLASS,1
+FRAME_TYPE,1
+INS_ACC1_CALTEMP,-300
+INS_ACC2_CALTEMP,-300
+INS_ACC2SCAL_X,1.001
+INS_ACC2SCAL_Y,1.001
+INS_ACC2SCAL_Z,1.001
+INS_ACC3SCAL_X,1
+INS_ACC3SCAL_Y,1
+INS_ACC3SCAL_Z,1
+INS_ACCSCAL_X,1.001
+INS_ACCSCAL_Y,1.001
+INS_ACCSCAL_Z,1.001
+INS_GYRO_FILTER,20
+INS_USE3,1
+MOT_BAT_VOLT_MAX,12.8
+MOT_BAT_VOLT_MIN,9.6
+MOT_SPIN_ARM,0.1
+MOT_SPIN_MAX,0.95
+MOT_SPIN_MIN,0.15
+MOT_THST_EXPO,0.65
+MOT_THST_HOVER,0.333855
+RC1_MAX,2000
+RC1_MIN,1000
+RC1_TRIM,1500
+RC2_MAX,2000
+RC2_MIN,1000
+RC2_TRIM,1500
+RC3_MAX,2000
+RC3_MIN,1000
+RC3_TRIM,1500
+RC4_MAX,2000
+RC4_MIN,1000
+RC4_TRIM,1500
+RC5_MAX,2000
+RC5_MIN,1000
+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/ArduCopter/GazeboIrisWithTargetFollow/13_general_configuration.param

@@ -0,0 +1,40 @@
+ARMING_CHECK,1  # Perform all arming checks. If you have a problem fix its source. Do NOT change this
+BRD_RTC_TZ_MIN,0  # Berlin time zone
+CAM1_TRK_COMPID,0
+CAM1_TRK_ENABLE,1
+CAM1_TRK_SYSID,245
+CAM1_TYPE,1
+FENCE_TYPE,7  # cylinder and max altitude, to obey local regulations and safety measures
+FOLL_DIST_MAX,100
+FOLL_ENABLE,1
+FOLL_OPTIONS,2
+FOLL_POS_P,0.1
+FOLL_YAW_BEHAVE,1
+INS_ACCEL_FILTER,20  # the default is 20 and that lets too much noise in
+INS_POS1_X,0  # was -0.005
+INS_POS1_Y,0  # was -0.011
+INS_POS2_X,0  # was -0.011
+INS_POS2_Y,0  # was -0.01
+LAND_ALT_LOW,1000  # come down fast and only slow down close to the ground. We have a good GNSS receiver, so thrust it
+NET_ENABLE,1
+NET_OPTIONS,0
+NET_P1_IP0,127
+NET_P1_IP1,0
+NET_P1_IP2,0
+NET_P1_IP3,1
+NET_P1_PORT,14560
+NET_P1_TYPE,1
+NET_P2_IP0,127
+NET_P2_IP1,0
+NET_P2_IP2,0
+NET_P2_IP3,1
+NET_P2_PORT,14570
+NET_P2_PROTOCOL,2
+NET_P2_TYPE,1
+RTL_ALT,1500  # The default is too high for the kind of flights we do. This reduces the altitude for indoors
+RTL_LOIT_TIME,5000  # The default is too long. This reduces the time
+SCHED_LOOP_RATE,400  # On our vehicle the propellers rotate at speeds higher than 400Hz and we have a powerful STM32 H7 family processor. So we increase this for added performance.
+SCR_ENABLE,1  # Use lua scripting for VTOL-Quicktune, MagFit automation and Windspeed Estimation automation
+SERVO10_FUNCTION,7
+SERVO11_FUNCTION,6
+SERVO9_FUNCTION,8

vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/14_logging.param

@@ -0,0 +1,5 @@
+INS_LOG_BAT_MASK,0  # The Matek H743 Slim flight controller only has two IMUs
+INS_LOG_BAT_OPT,4  # Logs measured data both before and after the filters for Filter Review Webtool usage
+INS_RAW_LOG_OPT,0  # To get more Notch filter data
+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/ArduCopter/GazeboIrisWithTargetFollow/15_motor.param

@@ -0,0 +1,4 @@
+MOT_SPIN_ARM,0.1  # The Mamba F45_128K ESCs reliably start spinning with this value
+MOT_SPIN_MAX,0.95  # Upper dead zone of the Mamba F45_128K ESC
+MOT_SPIN_MIN,0.15  # MOT_SPIN_ARM + 0.03
+MOT_THST_EXPO,0.65  # Measured with the motor test stand RCBenchmark Series 1780 from Tyto Robotics

vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/16_pid_adjustment.param

@@ -0,0 +1,10 @@
+ATC_INPUT_TC,0.15
+ATC_RAT_PIT_D,0.0036  # = 0.925972 * (0.0036 default)
+ATC_RAT_PIT_I,0.135  # = 1.283176 * (0.135 default)
+ATC_RAT_PIT_P,0.135  # = 1.283176 * (0.135 default)
+ATC_RAT_RLL_D,0.0036  # = 0.690593 * (0.0036 default)
+ATC_RAT_RLL_I,0.135  # = 1.061015 * (0.135 default)
+ATC_RAT_RLL_P,0.135  # = 1.061015 * (0.135 default)
+ATC_RAT_YAW_D,0  # = 1 * (0 default)
+ATC_RAT_YAW_I,0.02  # = 2.514026 * (0.018 default)
+ATC_RAT_YAW_P,0.3  # = 2.514026 * (0.18 default)

vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/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/ArduCopter/GazeboIrisWithTargetFollow/18_notch_filter_setup.param

@@ -0,0 +1,10 @@
+INS_FAST_SAMPLE,1  # Both IMUs can run fast on the Matek H743 Slim flight controller
+INS_GYRO_RATE,0  # the H743 can do 4KHz here
+INS_HNTCH_ATT,20  # this is just a hunch, it must be improved after the first flight (by the next file)
+INS_HNTCH_BW,20  # 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,161  # Use 1.4 * INS_GYRO_FILTER as a first guess
+INS_HNTCH_HMNCS,1  # start with a single frequency
+INS_HNTCH_MODE,3  # Use the BDshot600 RPM telemetry to dynamicaly track noise created by the motors/propellers
+INS_HNTCH_OPTS,6  # One Notch per motor, update at loop rate
+INS_HNTCH_REF,1  # Use the BDshot600 RPM telemetry to dynamicaly track noise created by the motors/propellers

vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/19_notch_filter_results.param

@@ -0,0 +1,6 @@
+INS_HNTCH_ATT,30  # just enough to filter the noise created by the motors/propellers
+INS_HNTCH_BW,30  # just enough to filter the noise created by the motors/propellers
+INS_HNTCH_FM_RAT,1  # Allowed undercutting of the base frequency of the first notch filter
+INS_HNTCH_FREQ,115  # 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,6  # One Notch per motor, update at loop rate

vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/20_throttle_controller.param

@@ -0,0 +1,3 @@
+ATC_THR_MIX_MAN,0.1  # because we have learned the MOT_THST_HOVER value
+PSC_ACCZ_I,1  # Use 2 * MOT_THST_HOVER assuming MOT_THST_HOVER has been correctly learned
+PSC_ACCZ_P,0.5  # Use MOT_THST_HOVER assuming MOT_THST_HOVER has been correctly learned

vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/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/ArduCopter/GazeboIrisWithTargetFollow/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/ArduCopter/GazeboIrisWithTargetFollow/23_quick_tune_results.param

@@ -0,0 +1,10 @@
+ATC_RAT_PIT_D,0.0036  # Tuned in a Hangar
+ATC_RAT_PIT_I,0.135  # Tuned in a Hangar
+ATC_RAT_PIT_P,0.135  # Tuned in a Hangar
+ATC_RAT_RLL_D,0.0036  # Tuned in a Hangar
+ATC_RAT_RLL_I,0.135  # Tuned in a Hangar
+ATC_RAT_RLL_P,0.135  # Tuned in a Hangar
+ATC_RAT_YAW_D,0  # Tuned in a Hangar
+ATC_RAT_YAW_FLTD,20  # Tuned in a Hangar
+ATC_RAT_YAW_I,0.02  # Tuned in a Hangar
+ATC_RAT_YAW_P,0.3  # Tuned in a Hangar

vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/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