Asgard: add default vehicle params

libraries/AP_HAL_ChibiOS/hwdef/Asgard_QAVR2/hwdef-bl.dat

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+include ../MatekH743/hwdef-bl.dat

libraries/AP_HAL_ChibiOS/hwdef/Asgard_QAVR2/hwdef.dat

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+# Asgard QAVR2
+
+# Flight Controller
+include ../MatekH743-bdshot/hwdef.dat

libraries/AP_HAL_ChibiOS/hwdef/Asgardian_Designs/ESCs/BDSHOT_EXT_BLHeli32_AM32.parm

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+# BLHeli & AM32 Base Parameters for all applicable ESCs
+
+# Defaults for DShot ESCs
+# MOT_PWM_MAX 2000
+# MOT_PWM_MIN 1000
+
+# Allow for BLHeli32, ESC-Configurator.com pass through support
+SERVO_BLH_AUTO 1
+
+# This assumes a sane motor ordering of using the first four servo outputs for the motors
+# Not ture for QUAD planes 
+# This needs to be un-defined and redfined on quad planes
+SERVO_BLH_BDMASK 15
+SERVO_BLH_MASK 15
+
+# Sets output port to be the first USB port, should default to mavlink
+# Defaults to the first USB port
+# SERVO_BLH_PORT 0
+
+# SET DShot ESC type
+#   1 : BLHeli32 Normal
+#   3 : BLHeli32 + Extended Telemetry
+# The ESC must support extended telemetry IE BLHeli 32.10 or greater
+SERVO_DSHOT_ESC 3
+
+# Set DShot Command Rate to double the loop rate ie (SCHED_LOOP_RATE)
+SERVO_DSHOT_RATE 2

libraries/AP_HAL_ChibiOS/hwdef/Asgardian_Designs/ESCs/TMotor_Alpha_60.parm

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+# TMotor Alpha 60A ESCs
+MOT_PWM_MAX 1940
+MOT_PWM_MIN 1100
+
+MOT_SPIN_ARM 0.06
+MOT_SPIN_MAX 1
+MOT_SPIN_MIN 0.08

libraries/AP_HAL_ChibiOS/hwdef/Asgardian_Designs/ESCs/TMotor_F55A_Pro_II.parm

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+# TMotor F55A Pro II ESC
+
+# Enable BDShot + Extended Telemetry Params 
+@include BDShot_Ext_BLHeli32_AM32.parm
+
+#
+MOT_SPIN_ARM 0.03
+MOT_SPIN_MAX 0.98
+MOT_SPIN_MIN 0.06

libraries/AP_HAL_ChibiOS/hwdef/Asgardian_Designs/Energy_Source/Battery/6S_Li_Ion.parm

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+
+# 6S Li-Ion values
+
+# BATT_ARM_VOLT 19.1
+# BATT_CRT_VOLT 18
+# BATT_LOW_VOLT 18.6
+
+# NOTE we must explicitly set the number of battery cells
+# Setting this automatically like BetaFlight does can never work and is dangerous when using LI-Ion cells.
+# BF assumes you are always starting with a fully charged packed, which obviously is not always the case
+MSP_OSD_NCELLS 6
+OSD_CELL_COUNT 6
+
+# Average cell voltage below which the OSD element flashes
+OSD_W_AVGCELLV 3.3

libraries/AP_HAL_ChibiOS/hwdef/Asgardian_Designs/Energy_Source/Battery/Tattu_12S_16000_mAh_Drone_CAN_2_Parallel.parm

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+# DRONECAN Battery Monitoring for when using fully electric mode.
+# Two batteries in parallel
+
+# Battery 1 (DRONECAN) Voltage & Current
+BATT_MONITOR 8
+BATT_CAPACITY 15800
+BATT_LOW_MAH 1600
+BATT_LOW_VOLT 43.75
+
+# Failsafe LOW Action is RTL
+BATT_FS_LOW_ACT 2
+
+# Battery 2 (DRONECAN)
+BATT2_MONITOR 8
+BATT2_CAPACITY 15800
+BATT2_LOW_MAH 1600
+BATT2_LOW_VOLT 43.75
+
+# Failsafe LOW Action is RTL
+BATT2_FS_LOW_ACT 2

libraries/AP_HAL_ChibiOS/hwdef/Asgardian_Designs/Energy_Source/Power_Monitor.parm

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+# Power Monitor Voltage & Current
+
+
+# Failsafe LOW Action is RTL
+#BATT_FS_LOW_ACT 2
+
+# add note later why use resting estimate for voltage fialsafe when you have accurate current cpacity used monitoring
+# need to set the failsafe for BATT_(low/critical)_MAH
+# BATT_FS_VOLTSRC 0
+
+BATT_MONITOR 4
+
+# These must be set by technicians on bring up using the Mauch Sensor parameters for each individual sensor
+# BATT_CURR_MULT 0
+# BATT_VOLT_MULT 0
+
+BATT_LOW_VOLT 47.5
+BATT_CAPACITY 0
+BATT_LOW_MAH 0

libraries/AP_HAL_ChibiOS/hwdef/Asgardian_Designs/Frames/QAV_R2_5in.parm

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+
+# Frame Class : QUAD
+FRAME_CLASS 1
+
+# Frame Type
+# Most useful class types that determine the motor order around the frame
+# Value : Name                 : Propeller Rotation Direction
+# 12    : BetaFlightX          : Propellers inward
+# 18    : BetaFlightX Reversed : Propellers outward
+FRAME_TYPE 12
+
+# Yaw PID
+ATC_ANG_YAW_P 11
+
+# Pitch PID
+ATC_RAT_PIT_D 0.0007
+ATC_RAT_PIT_FLTD 50
+ATC_RAT_PIT_FLTT 40
+ATC_RAT_PIT_I 0.092
+ATC_RAT_PIT_P 0.092
+
+# Roll PID
+ATC_RAT_RLL_D 0.0007
+ATC_RAT_RLL_FLTD 50
+ATC_RAT_RLL_FLTT 40
+ATC_RAT_RLL_I 0.072
+ATC_RAT_RLL_P 0.072
+
+# YAW PID
+ATC_RAT_YAW_D 0.012
+ATC_RAT_YAW_FLTD 5
+ATC_RAT_YAW_FLTE 7.5
+ATC_RAT_YAW_I 0.014
+ATC_RAT_YAW_P 0.14

libraries/AP_HAL_ChibiOS/hwdef/Asgardian_Designs/OSD/hd_zero.parm

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+# OSD Parameters
+# Set OSD_TYPE to MSP_Display port : ie HDZero, Walksnail, newer DJI systems
+OSD_TYPE 5
+
+OSD1_ALTITUDE_X 45
+OSD1_ARMING_X 0
+OSD1_ARMING_Y 15
+OSD1_BAT_VOLT_X 45
+OSD1_BAT_VOLT_Y 0
+OSD1_BATTBAR_EN 0
+OSD1_BATTBAR_X 2
+OSD1_BATTBAR_Y 2
+OSD1_BATUSED_X 45
+OSD1_BATUSED_Y 2
+OSD1_CELLVOLT_X 25
+OSD1_CELLVOLT_Y 5
+OSD1_COMPASS_X 25
+OSD1_COMPASS_Y 0
+OSD1_CURRENT_X 45
+OSD1_CURRENT_Y 1
+OSD1_ENABLE 1
+OSD1_FLTMODE_X 7
+OSD1_FLTMODE_Y 16
+OSD1_GPSLAT_X 38
+OSD1_GPSLAT_Y 15
+OSD1_GPSLONG_X 38
+OSD1_GPSLONG_Y 16
+OSD1_GSPEED_X 0
+OSD1_GSPEED_Y 16
+OSD1_HEADING_X 24
+OSD1_HEADING_Y 1
+OSD1_HOME_X 0
+OSD1_HOME_Y 12
+OSD1_HOMEDIR_EN 0
+OSD1_HOMEDIR_X 5
+OSD1_HOMEDIR_Y 5
+OSD1_HOMEDIST_EN 0
+OSD1_HOMEDIST_X 5
+OSD1_HOMEDIST_Y 4
+OSD1_HORIZON_X 25
+OSD1_MESSAGE_X 13
+OSD1_MESSAGE_Y 17
+OSD1_POWER_EN 0
+OSD1_POWER_X 0
+OSD1_POWER_Y 9
+OSD1_RSSI_X 0
+OSD1_SATS_X 0
+OSD1_SATS_Y 0
+OSD1_THROTTLE_EN 0
+
+# Set text resolution to 50x18 lines
+# HDZero :  Should be 1
+OSD1_TXT_RES 1
+OSD2_TXT_RES 1
+OSD3_TXT_RES 1
+OSD4_TXT_RES 1
+
+OSD1_VSPEED_X 45
+OSD1_VTX_PWR_EN 1
+OSD1_VTX_PWR_X 8

libraries/AP_HAL_ChibiOS/hwdef/Asgardian_Designs/Operations/acro.parm

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+
+# FIXME
+# Disable Air Mode instead set it on a switch
+ACRO_OPTIONS 0
+
+# Acro Rates
+ACRO_RP_EXPO 0.3
+ACRO_RP_RATE 670
+
+# Turn off Acro Trainer which is on by default
+# FIXME : Note acro trainer could be used to create BF horizon mode
+ACRO_TRAINER 0
+
+ACRO_Y_EXPO 0.3
+ACRO_Y_RATE 670
+
+# Acro yaw rate time constant,makes this quite small
+# FIXME check the related vars in BF
+ACRO_Y_RATE_TC 0.01
+

libraries/AP_HAL_ChibiOS/hwdef/Asgardian_Designs/RID/RID.parm

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+# RemoteID / OpenDroneID Parameters
+
+# TURN OFF READONLY AS THIS IS FOR DEVELOPMENT
+DID_ENABLE 1
+DID_OPTIONS 1
+DID_MAVPORT -1
+DID_CANDRIVER 1
+AHRS_EKF_TYPE 3
+
+
+# enforce OpenDroneID on DroneCAN. Note that we need to lock down key parameters
+# to ensure the integrity of the RemoteID system
+# DID_ENABLE 1 @READONLY
+# DID_OPTIONS 1 @READONLY
+# DID_MAVPORT -1 @READONLY
+# DID_CANDRIVER 1 @READONLY
+# AHRS_EKF_TYPE 3 @READONLY

libraries/AP_HAL_ChibiOS/hwdef/Asgardian_Designs/all_vehicles.parm

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+# Asgardian Designs
+# All Vehicles Params
+
+# Turn off arming by rudder it is dangerous for acro flying
+ARMING_RUDDER 0
+
+######### Filtering #########
+# Enable the onboard FFT
+# FIXME Check min and max 
+
+FFT_ENABLE 1
+FFT_MAXHZ 950
+FFT_MINHZ 16
+FFT_NUM_FRAMES 5
+
+# FFT_OPTIONS
+# Compute the FFT after the filtering: harmonic notch and low pass filter
+FFT_OPTIONS 3
+
+# Signal to Noise Ratio in dB
+FFT_SNR_REF 5
+
+FFT_WINDOW_SIZE 128
+
+######## RC Channel Mapping Common ########
+
+# Flight Mode Channel setup
+# ELRS asks flight mode be on channel 12
+FLTMODE_CH 12