# D-20C Personal Eagle II - UNIVERSAL parameter set v5 (2026-11-12)
# For use on third-party flight controllers (e.g. Matek H743/F405 Wing).
# Extracted from the factory NavPack D04 configuration - airframe tuning only.
#
# Requirements: ArduPlane 4.6+ (a board with QuadPlane support, >=2MB flash
# recommended), at least 10 PWM outputs (3x motor DShot, 2x tilt servo,
# 2x aileron, 1x elevator, + optional gimbal holder and camera tilt).
#
# What this file does NOT contain - you must do yourself on your board:
#   1. Accel + compass + RC calibration, AHRS_ORIENTATION of your FC
#   2. Battery monitor (BATT_MONITOR + pins/shunt per your board)
#   3. Airspeed sensor (ARSPD_TYPE etc.) + its calibration (ARSPD_RATIO)
#   4. SERIALx port mapping: GPS, RC-in, telemetry, and the Siyi gimbal
#      (one free UART: SERIALx_PROTOCOL=8, SERIALx_BAUD=115)
#   5. GPS type (NavPack uses DroneCAN - set yours accordingly)
#   6. LEDs / relays / buttons (board-specific pins)
#
# Procedure: flash ArduPlane -> calibrate (point 1) -> load this file ->
# Write Params -> REBOOT -> load + write this file ONCE MORE (MNT1_/LGR_
# sub-params are hidden until enabled) -> finish points 2-6 -> bench-check
# motor order, tilt directions and control surfaces WITHOUT PROPELLERS.
#
# WARNING: tuning was done on the factory airframe/motors/props. With other
# hardware verify hover (QHOVER) carefully and expect to re-run autotune.

#
# --- VTOL / QuadPlane (tiltrotor tricopter, tilt servos type 2) ---
# Q_M_PWM_TYPE=5 is DShot300 - motors must sit on DShot-capable outputs.
Q_A_ACCEL_P_MAX,40000
Q_A_ACCEL_R_MAX,40000
Q_A_ACCEL_Y_MAX,10000
Q_A_ANG_LIM_TC,1
Q_A_ANG_PIT_P,6
Q_A_ANG_RLL_P,3
Q_A_ANG_YAW_P,3
Q_A_ANGLE_BOOST,1
Q_A_INPUT_TC,0.1
Q_A_LAND_P_MULT,0.01
Q_A_LAND_R_MULT,0.01
Q_A_LAND_Y_MULT,0.01
Q_A_RAT_PIT_D,0.005999135
Q_A_RAT_PIT_D_FF,0
Q_A_RAT_PIT_FF,0
Q_A_RAT_PIT_FLTD,10
Q_A_RAT_PIT_FLTE,0
Q_A_RAT_PIT_FLTT,10
Q_A_RAT_PIT_I,0.1627654
Q_A_RAT_PIT_IMAX,0.5
Q_A_RAT_PIT_NEF,0
Q_A_RAT_PIT_NTF,0
Q_A_RAT_PIT_P,0.1627654
Q_A_RAT_PIT_PDMX,0
Q_A_RAT_PIT_SMAX,50
Q_A_RAT_RLL_D,0.004812198
Q_A_RAT_RLL_D_FF,0
Q_A_RAT_RLL_FF,0
Q_A_RAT_RLL_FLTD,10
Q_A_RAT_RLL_FLTE,0
Q_A_RAT_RLL_FLTT,10
Q_A_RAT_RLL_I,0.1453589
Q_A_RAT_RLL_IMAX,0.5
Q_A_RAT_RLL_NEF,0
Q_A_RAT_RLL_NTF,0
Q_A_RAT_RLL_P,0.1453589
Q_A_RAT_RLL_PDMX,0
Q_A_RAT_RLL_SMAX,50
Q_A_RAT_YAW_D,0.01
Q_A_RAT_YAW_D_FF,0
Q_A_RAT_YAW_FF,0.1
Q_A_RAT_YAW_FLTD,10
Q_A_RAT_YAW_FLTE,0
Q_A_RAT_YAW_FLTT,10
Q_A_RAT_YAW_I,0.1
Q_A_RAT_YAW_IMAX,0.5
Q_A_RAT_YAW_NEF,0
Q_A_RAT_YAW_NTF,0
Q_A_RAT_YAW_P,0.5000001
Q_A_RAT_YAW_PDMX,0
Q_A_RAT_YAW_SMAX,50
Q_A_RATE_FF_ENAB,1
Q_A_RATE_P_MAX,180
Q_A_RATE_R_MAX,180
Q_A_RATE_Y_MAX,90
Q_A_SLEW_YAW,6000
Q_A_THR_G_BOOST,0
Q_A_THR_MIX_MAN,0.4
Q_A_THR_MIX_MAX,0.5
Q_A_THR_MIX_MIN,0.1
Q_ACRO_PIT_RATE,180
Q_ACRO_RLL_RATE,360
Q_ACRO_YAW_RATE,120
Q_ANGLE_MAX,4500
Q_APPROACH_DIST,0
Q_ASSIST_ALT,0
Q_ASSIST_ANGLE,30
Q_ASSIST_DELAY,0.5
Q_ASSIST_SPEED,-1
Q_BACKTRANS_MS,1000
Q_BCK_PIT_LIM,0
Q_ENABLE,1
Q_ESC_CAL,0
Q_FRAME_CLASS,7
Q_FRAME_TYPE,0
Q_FW_LND_APR_RAD,1
Q_FWD_MANTHR_MAX,0
Q_FWD_PIT_LIM,40
Q_FWD_THR_GAIN,2
Q_FWD_THR_USE,2
Q_GUIDED_MODE,0
Q_LAND_ALTCHG,0.4
Q_LAND_FINAL_ALT,5
Q_LAND_FINAL_SPD,0.3
Q_LAND_ICE_CUT,1
Q_LOIT_ACC_MAX,450
Q_LOIT_ANG_MAX,0
Q_LOIT_BRK_ACCEL,100
Q_LOIT_BRK_DELAY,0.1
Q_LOIT_BRK_JERK,250
Q_LOIT_SPEED,900
Q_M_BAT_CURR_MAX,0
Q_M_BAT_CURR_TC,5
Q_M_BAT_IDX,0
Q_M_BAT_VOLT_MAX,24.6
Q_M_BAT_VOLT_MIN,18
Q_M_BOOST_SCALE,0
Q_M_HOVER_LEARN,2
Q_M_OPTIONS,0
Q_M_PWM_MAX,2000
Q_M_PWM_MIN,1000
Q_M_PWM_TYPE,5
Q_M_SAFE_DISARM,0
Q_M_SAFE_TIME,1
Q_M_SLEW_DN_TIME,0
Q_M_SLEW_UP_TIME,0
Q_M_SPIN_ARM,0.05
Q_M_SPIN_MAX,0.95
Q_M_SPIN_MIN,0.15
Q_M_SPOOL_TIM_DN,0
Q_M_SPOOL_TIME,0.5
Q_M_THST_EXPO,0.63
Q_M_THST_HOVER,0.2287218
Q_M_YAW_HEADROOM,200
Q_M_YAW_SV_ANGLE,30
Q_MAV_TYPE,21
Q_NAVALT_MIN,0
Q_OPTIONS,2752545
Q_P_ACCZ_D,0
Q_P_ACCZ_D_FF,0
Q_P_ACCZ_FF,0
Q_P_ACCZ_FLTD,0
Q_P_ACCZ_FLTE,10
Q_P_ACCZ_FLTT,0
Q_P_ACCZ_I,0.5
Q_P_ACCZ_IMAX,800
Q_P_ACCZ_NEF,0
Q_P_ACCZ_NTF,0
Q_P_ACCZ_P,0.2
Q_P_ACCZ_PDMX,0
Q_P_ACCZ_SMAX,0
Q_P_ANGLE_MAX,0
Q_P_JERK_XY,2
Q_P_JERK_Z,20
Q_P_POSXY_P,0.5
Q_P_POSZ_P,1
Q_P_VELXY_D,0.17
Q_P_VELXY_FF,0
Q_P_VELXY_FLTD,5
Q_P_VELXY_FLTE,5
Q_P_VELXY_I,0.35
Q_P_VELXY_IMAX,1000
Q_P_VELXY_P,0.7
Q_P_VELZ_D,0
Q_P_VELZ_FF,0
Q_P_VELZ_FLTD,5
Q_P_VELZ_FLTE,5
Q_P_VELZ_I,0
Q_P_VELZ_IMAX,1000
Q_P_VELZ_P,5
Q_PILOT_ACCEL_Z,3.5
Q_PILOT_SPD_DN,2
Q_PILOT_SPD_UP,3
Q_PLT_Y_EXPO,0.25
Q_PLT_Y_RATE,90
Q_PLT_Y_RATE_TC,0.2
Q_RC_SPEED,490
Q_RTL_ALT,20
Q_RTL_ALT_MIN,10
Q_RTL_MODE,3
Q_TAILSIT_ENABLE,0
Q_THROTTLE_EXPO,0.2
Q_TILT_ENABLE,1
Q_TILT_FIX_ANGLE,0
Q_TILT_FIX_GAIN,0
Q_TILT_MASK,3
Q_TILT_MAX,90
Q_TILT_RATE_DN,30
Q_TILT_RATE_UP,120
Q_TILT_TYPE,2
Q_TILT_WING_FLAP,0
Q_TILT_YAW_ANGLE,30
Q_TKOFF_ARSP_LIM,0
Q_TKOFF_FAIL_SCL,0
Q_TRAN_PIT_MAX,10
Q_TRANS_DECEL,3
Q_TRANS_FAIL,10
Q_TRANS_FAIL_ACT,1
Q_TRANSITION_MS,1000
Q_TRIM_PITCH,11
Q_VFWD_ALT,0
Q_VFWD_GAIN,0
Q_WP_ACCEL,100
Q_WP_ACCEL_C,0
Q_WP_ACCEL_Z,100
Q_WP_JERK,1
Q_WP_RADIUS,200
Q_WP_RFND_USE,0
Q_WP_SPEED,500
Q_WP_SPEED_DN,200
Q_WP_SPEED_UP,300
Q_WP_TER_MARGIN,10
Q_WVANE_ANG_MIN,1
Q_WVANE_ENABLE,1
Q_WVANE_GAIN,0.5
Q_WVANE_HGT_MIN,15
Q_WVANE_LAND,-1
Q_WVANE_OPTIONS,0
Q_WVANE_SPD_MAX,3
Q_WVANE_TAKEOFF,-1
Q_WVANE_VELZ_MAX,0
#
# --- Fixed-wing attitude tuning (autotuned on the real airframe) ---
ACRO_LOCKING,2
ACRO_PITCH_RATE,180
ACRO_ROLL_RATE,180
ACRO_YAW_RATE,90
KFF_RDDRMIX,0
KFF_THR2PTCH,0
LEVEL_ROLL_LIMIT,5
MAN_EXPO_PITCH,80
MAN_EXPO_ROLL,80
MAN_EXPO_RUDDER,80
MIXING_GAIN,0.5
MIXING_OFFSET,0
PTCH_LIM_MAX_DEG,35
PTCH_LIM_MIN_DEG,-30
PTCH_RATE_D,0.004
PTCH_RATE_D_FF,0
PTCH_RATE_FF,0.1701882
PTCH_RATE_FLTD,10
PTCH_RATE_FLTE,0
PTCH_RATE_FLTT,7.073553
PTCH_RATE_I,0.005
PTCH_RATE_IMAX,0.333
PTCH_RATE_NEF,0
PTCH_RATE_NTF,0
PTCH_RATE_P,0.3
PTCH_RATE_PDMX,0
PTCH_RATE_SMAX,150
PTCH_TRIM_DEG,4
PTCH2SRV_RLL,1.1
PTCH2SRV_RMAX_DN,160
PTCH2SRV_RMAX_UP,160
PTCH2SRV_TCONST,0.225
RLL_RATE_D,0.0022528
RLL_RATE_D_FF,0
RLL_RATE_FF,0.10331
RLL_RATE_FLTD,10
RLL_RATE_FLTE,0
RLL_RATE_FLTT,10.61033
RLL_RATE_I,0.0511387
RLL_RATE_IMAX,0.333
RLL_RATE_NEF,0
RLL_RATE_NTF,0
RLL_RATE_P,0.0511387
RLL_RATE_PDMX,0
RLL_RATE_SMAX,150
RLL2SRV_RMAX,160
RLL2SRV_TCONST,0.15
ROLL_LIMIT_DEG,50
RUDD_DT_GAIN,15
SCALING_SPEED,26
STAB_PITCH_DOWN,0
STALL_PREVENTION,0
STEER2SRV_D,0.005
STEER2SRV_DRTFCT,10
STEER2SRV_DRTMIN,4500
STEER2SRV_DRTSPD,0
STEER2SRV_FF,0
STEER2SRV_I,0.2
STEER2SRV_IMAX,1500
STEER2SRV_MINSPD,1
STEER2SRV_P,1.8
STEER2SRV_TCONST,0.75
STICK_MIXING,1
THROTTLE_NUDGE,0
YAW_RATE_D,0.005357062
YAW_RATE_D_FF,0
YAW_RATE_ENABLE,1
YAW_RATE_FF,0.7805504
YAW_RATE_FLTD,10
YAW_RATE_FLTE,0
YAW_RATE_FLTT,7.957747
YAW_RATE_I,0.7805504
YAW_RATE_IMAX,0.666
YAW_RATE_NEF,0
YAW_RATE_NTF,0
YAW_RATE_P,0.1207389
YAW_RATE_PDMX,0
YAW_RATE_SMAX,150
YAW2SRV_DAMP,0
YAW2SRV_IMAX,1500
YAW2SRV_INT,0
YAW2SRV_RLL,1
YAW2SRV_SLIP,0
#
# --- Speed / energy (TECS) ---
# Airspeed SENSOR setup (ARSPD_TYPE/BUS/PIN + calibration) is board/sensor
# specific - configure it for your hardware. The plane flies with these
# speeds; ARSPD_RATIO must be calibrated on your install.
AIRSPEED_CRUISE,21
AIRSPEED_MAX,35
AIRSPEED_MIN,19
AIRSPEED_STALL,0
TECS_APPR_SMAX,0
TECS_CLMB_MAX,15
TECS_FLARE_HGT,1
TECS_HDEM_TCONST,3
TECS_HGT_OMEGA,3
TECS_INTEG_GAIN,0.4
TECS_LAND_ARSPD,23
TECS_LAND_DAMP,0.5
TECS_LAND_IGAIN,0
TECS_LAND_PDAMP,0
TECS_LAND_PMAX,10
TECS_LAND_SINK,0.25
TECS_LAND_SPDWGT,-1
TECS_LAND_SRC,0
TECS_LAND_TCONST,4
TECS_LAND_TDAMP,0
TECS_LAND_THR,-1
TECS_OPTIONS,0
TECS_PITCH_MAX,30
TECS_PITCH_MIN,-15
TECS_PTCH_DAMP,0.1
TECS_PTCH_FF_K,0
TECS_PTCH_FF_V0,23
TECS_RLL2THR,10
TECS_SINK_MAX,17
TECS_SINK_MIN,7
TECS_SPD_OMEGA,2
TECS_SPDWEIGHT,0
TECS_SYNAIRSPEED,0
TECS_THR_DAMP,0.1
TECS_TIME_CONST,3
TECS_TKOFF_IGAIN,0
TECS_VERT_ACC,3.5
THR_MAX,100
THR_MIN,0
THR_SLEWRATE,75
TRIM_THROTTLE,60
USE_REV_THRUST,2
#
# --- Navigation ---
ALT_SLOPE_MAXHGT,5
ALT_SLOPE_MIN,15
CRUISE_ALT_FLOOR,0
MIN_GROUNDSPEED,0
NAVL1_DAMPING,0.75
NAVL1_LIM_BANK,0
NAVL1_PERIOD,8
NAVL1_XTRACK_I,0.02
RTL_ALTITUDE,100
RTL_AUTOLAND,0
RTL_CLIMB_MIN,0
RTL_RADIUS,1
WP_LOITER_RAD,100
WP_MAX_RADIUS,0
WP_RADIUS,60
#
# --- Takeoff / landing ---
AUTOLAND_CLIMB,0
AUTOLAND_DIR_OFF,0
AUTOLAND_OPTIONS,0
AUTOLAND_WP_ALT,55
AUTOLAND_WP_DIST,400
FBWB_CLIMB_RATE,50
FBWB_ELEV_REV,0
FLAP_SLEWRATE,75
LAND_ABORT_DEG,0
LAND_ABORT_THR,0
LAND_DISARMDELAY,1
LAND_FLAP_PERCNT,0
LAND_FLARE_AIM,50
LAND_FLARE_ALT,3
LAND_FLARE_SEC,2
LAND_OPTIONS,0
LAND_PF_ALT,2
LAND_PF_ARSPD,22
LAND_PF_SEC,6
LAND_PITCH_DEG,0
LAND_SLOPE_RCALC,2
LAND_THEN_NEUTRL,0
LAND_THR_SLEW,0
LAND_TYPE,0
LAND_WIND_COMP,50
TKOFF_ACCEL_CNT,1
TKOFF_ALT,5
TKOFF_DIST,200
TKOFF_FLAP_PCNT,0
TKOFF_GND_PITCH,5
TKOFF_LVL_ALT,10
TKOFF_LVL_PITCH,15
TKOFF_OPTIONS,0
TKOFF_PLIM_SEC,2
TKOFF_ROTATE_SPD,0
TKOFF_TDRAG_ELEV,0
TKOFF_TDRAG_SPD1,0
TKOFF_THR_DELAY,2
TKOFF_THR_IDLE,0
TKOFF_THR_MAX,100
TKOFF_THR_MAX_T,4
TKOFF_THR_MIN,0
TKOFF_THR_MINACC,0
TKOFF_THR_MINSPD,0
TKOFF_THR_SLEW,0
TKOFF_TIMEOUT,0
#
# --- Flight modes & RC functions ---
# RC min/max/trim/reversed come from YOUR radio calibration - not included.
# RC10=arm/disarm, RC11=gimbal pitch, RC12=gimbal yaw, RC14=camera photo,
# RC9=gimbal holder override, CH8=modes, CH7=tuning knob.
FLTMODE_CH,8
FLTMODE1,19
FLTMODE2,19
FLTMODE3,5
FLTMODE4,5
FLTMODE5,11
FLTMODE6,11
INITIAL_MODE,19
RC10_OPTION,153
RC11_OPTION,213
RC12_OPTION,214
RC14_OPTION,9
RC9_OPTION,29
RCMAP_PITCH,2
RCMAP_ROLL,1
RCMAP_THROTTLE,3
RCMAP_YAW,4
TUNE_CHAN,7
TUNE_CHAN_MAX,2000
TUNE_CHAN_MIN,1000
TUNE_ERR_THRESH,0.15
TUNE_MODE_REVERT,1
TUNE_PARAM,52
TUNE_RANGE,2
TUNE_SELECTOR,6
#
# --- Safety / failsafes / fence ---
ARMING_ACCTHRESH,0.75
ARMING_CHECK,12798
ARMING_CRSDP_IGN,0
ARMING_MAGTHRESH,100
ARMING_MIS_ITEMS,0
ARMING_OPTIONS,0
ARMING_REQUIRE,1
ARMING_RUDDER,1
CRASH_ACC_THRESH,0
CRASH_DETECT,0
FENCE_ACTION,1
FENCE_ALT_MAX,300
FENCE_ALT_MIN,30
FENCE_AUTOENABLE,0
FENCE_ENABLE,1
FENCE_MARGIN,2
FENCE_OPTIONS,0
FENCE_RADIUS,1000
FENCE_RET_ALT,0
FENCE_RET_RALLY,0
FENCE_TYPE,7
FLIGHT_OPTIONS,256
FS_EKF_THRESH,0
FS_GCS_ENABL,0
FS_LONG_ACTN,1
FS_LONG_TIMEOUT,5
FS_SHORT_ACTN,0
FS_SHORT_TIMEOUT,1
THR_FAILSAFE,0
THR_FS_VALUE,950
#
# --- Payload: Siyi A8 mini gimbal + gimbal holder retract ---
# Siyi A8 mini: pick a free UART and set SERIALx_PROTOCOL=8, SERIALx_BAUD=115.
# MNT1_ params appear only after MNT1_TYPE=8 is written and the FC rebooted -
# load this file, write, reboot, load + write ONCE MORE.
CAM1_TYPE,4
LGR_DEPLOY_ALT,20
LGR_ENABLE,1
LGR_OPTIONS,3
LGR_RETRACT_ALT,30
LGR_STARTUP,2
MNT1_DEFLT_MODE,2
MNT1_PITCH_MAX,25
MNT1_PITCH_MIN,-90
MNT1_RC_RATE,90
MNT1_ROLL_MAX,30
MNT1_ROLL_MIN,-30
MNT1_TYPE,8
MNT1_YAW_MAX,80
MNT1_YAW_MIN,-80
#
# --- Servo outputs (reference NavPack layout - remap freely to your board) ---
# Functions: 33/34/36=motors 1/2/4, 75/76=tilt left/right, 4=aileron,
# 19=elevator, 29=gimbal holder, 63=front camera tilt (RC13 passthrough). You
# may put any function on any output, but keep MIN/MAX/TRIM/REVERSED with its
# function (servo end points of the printed airframe!). SERVO_BLH_/RVMASK
# masks refer to outputs 3-5; adjust if you remap motors. Motor outputs need
# DShot300; tilt servos need a normal 50 Hz PWM group.
SERVO_BLH_BDMASK,28
SERVO_BLH_MASK,28
SERVO_BLH_OTYPE,5
SERVO_BLH_POLES,14
SERVO_BLH_RVMASK,4
SERVO_DSHOT_ESC,3
SERVO_RATE,50
SERVO1_FUNCTION,63
SERVO1_MAX,1900
SERVO1_MIN,1100
SERVO1_REVERSED,0
SERVO1_TRIM,1500
SERVO10_FUNCTION,4
SERVO10_MAX,2029
SERVO10_MIN,1254
SERVO10_REVERSED,1
SERVO10_TRIM,1500
SERVO11_FUNCTION,19
SERVO11_MAX,1850
SERVO11_MIN,1176
SERVO11_REVERSED,0
SERVO11_TRIM,1462
SERVO12_FUNCTION,4
SERVO12_MAX,1716
SERVO12_MIN,982
SERVO12_REVERSED,1
SERVO12_TRIM,1477
SERVO13_FUNCTION,76
SERVO13_MAX,2123
SERVO13_MIN,950
SERVO13_REVERSED,1
SERVO13_TRIM,1500
SERVO2_FUNCTION,29
SERVO2_MAX,1750
SERVO2_MIN,810
SERVO2_REVERSED,1
SERVO2_TRIM,810
SERVO3_FUNCTION,34
SERVO3_MAX,2000
SERVO3_MIN,1000
SERVO3_REVERSED,0
SERVO3_TRIM,1000
SERVO4_FUNCTION,36
SERVO4_MAX,2000
SERVO4_MIN,1000
SERVO4_REVERSED,0
SERVO4_TRIM,1000
SERVO5_FUNCTION,33
SERVO5_MAX,2000
SERVO5_MIN,1000
SERVO5_REVERSED,0
SERVO5_TRIM,1000
SERVO9_FUNCTION,75
SERVO9_MAX,2040
SERVO9_MIN,801
SERVO9_REVERSED,0
SERVO9_TRIM,1500
#
# --- Gyro filtering / harmonic notch ---
# Notch mode 3 tracks ESC telemetry (DShot). If your ESCs have no telemetry,
# set INS_HNTCH_MODE=1 (throttle based) and re-check logs.
INS_ACCEL_FILTER,10
INS_GYRO_FILTER,20
INS_HNTC2_ENABLE,0
INS_HNTCH_ATT,40
INS_HNTCH_BW,30
INS_HNTCH_ENABLE,1
INS_HNTCH_FM_RAT,0.9
INS_HNTCH_FREQ,80
INS_HNTCH_HMNCS,1
INS_HNTCH_MODE,3
INS_HNTCH_OPTS,6
INS_HNTCH_REF,1
#
# --- Misc ---
AUTOTUNE_AXES,4
AUTOTUNE_LEVEL,8
AUTOTUNE_OPTIONS,0
LOG_BITMASK,16318
SCHED_LOOP_RATE,300