Harrier S1100

To make things easy for you guys, here’s a list on what’s inside Pairan’s Harrier.

But first some notes on whats setup here:

  • Buzzer
  • Air Mode, Horizon mode on channel
  • Auto trim and autotune
  • Multiple OSD screens on a wheelknob
  • Loiter/PosHold and RTH
  • no differential thrust – makes no sense as the wing handles great without it

Used components  (may contain affiliated links):

CG – center of gravity at 300mm-305mm

ignore the note that are with the Harrier and says something about 2xxmm from the nose. The good CG is about 300-305mm from the nose!

PID / PIFF

set fw_p_pitch = 9
set fw_i_pitch = 20
set fw_ff_pitch = 91
set fw_p_roll = 9
set fw_i_roll = 17
set fw_ff_roll = 85
set fw_i_yaw = 14
set fw_ff_yaw = 63
set dterm_setpoint_weight =  0.000
set nav_fw_pos_z_p = 35
set nav_fw_pos_z_d = 15

Latest iNav Diff

# version
# INAV/MATEKF405SE 2.2.1 Jul  3 2019 / 22:48:46 (a6d847482)
# GCC-8.2.1 20181213 (release) [gcc-8-branch revision 267074]

# resources

# mixer
mmix 0  1.000  0.000  0.000  0.000
mmix 1  1.000  0.000  0.000  0.000

# servo mix
smix 0 3 0 50 0 -1
smix 1 3 1 50 0 -1
smix 2 4 0 -50 0 -1
smix 3 4 1 50 0 -1
smix 4 5 8 100 0 -1
smix 5 6 9 100 0 -1
smix 6 7 10 100 0 -1

# servo
servo 3 1000 2000 1560 -80
servo 4 1000 2000 1450 80

# logic

# feature
feature -SOFTSERIAL
feature -TELEMETRY
feature BAT_PROF_AUTOSWITCH
feature MOTOR_STOP
feature GPS
feature PWM_OUTPUT_ENABLE

# beeper
beeper -RUNTIME_CALIBRATION
beeper -ON_USB

# map
map TARE

# serial
serial 0 1 115200 115200 0 115200
serial 3 2 115200 38400 0 115200
serial 4 1 115200 115200 0 115200
serial 5 2 115200 38400 0 115200

# aux
aux 0 0 1 1800 2100
aux 1 2 0 1400 2100
aux 2 3 0 1175 1225
aux 3 9 0 1150 1250
aux 4 8 0 1075 1175
aux 5 10 0 950 1075
aux 6 14 0 1800 2100
aux 7 27 3 1425 1600
aux 8 28 3 1800 2100
aux 9 11 5 1750 2100
aux 10 18 0 1075 1175
aux 11 32 11 975 1325
aux 12 33 11 1325 1800
aux 13 34 11 1800 2100

# adjrange
adjrange 0 0 6 900 1150 18 4
adjrange 1 0 6 1425 1600 19 4
adjrange 2 0 6 1900 2100 20 4

# osd_layout
osd_layout 0 0 26 2 V
osd_layout 0 1 1 10 V
osd_layout 0 2 0 0 V
osd_layout 0 7 21 1 V
osd_layout 0 9 23 14 H
osd_layout 0 11 1 12 V
osd_layout 0 12 1 11 V
osd_layout 0 13 2 7 V
osd_layout 0 14 25 1 V
osd_layout 0 15 23 6 V
osd_layout 0 22 5 2 V
osd_layout 0 23 0 2 V
osd_layout 0 24 12 11 V
osd_layout 0 26 23 7 V
osd_layout 0 28 22 11 V
osd_layout 0 29 0 1 V
osd_layout 0 30 0 0 V
osd_layout 0 33 23 12 V
osd_layout 0 34 10 12 V
osd_layout 0 38 1 9 V
osd_layout 0 40 0 3 V
osd_layout 0 46 22 12 H
osd_layout 0 47 22 9 H
osd_layout 1 11 2 13 V
osd_layout 1 15 23 12 V
osd_layout 1 22 6 1 V
osd_layout 1 23 1 1 V
osd_layout 1 30 1 0 V
osd_layout 1 31 1 14 V
osd_layout 1 35 22 13 V
osd_layout 1 45 0 0 V
osd_layout 1 48 1 11 V
osd_layout 1 49 1 12 V
osd_layout 1 98 23 1 V
osd_layout 1 99 25 3 V
osd_layout 2 2 0 0 V
osd_layout 2 3 8 6 V
osd_layout 2 7 24 1 V
osd_layout 2 15 1 1 V
osd_layout 2 16 1 1 H
osd_layout 2 22 23 1 V
osd_layout 2 26 6 1 V
osd_layout 2 41 1 2 H
osd_layout 2 45 0 0 V
osd_layout 2 63 1 2 H
osd_layout 2 98 0 0 V
osd_layout 2 99 1 3 V
osd_layout 3 1 9 12 V
osd_layout 3 12 9 11 V
osd_layout 3 16 7 4 V
osd_layout 3 17 7 5 V
osd_layout 3 18 7 6 V
osd_layout 3 20 13 3 H
osd_layout 3 21 13 4 H
osd_layout 3 22 7 1 V
osd_layout 3 23 2 1 V
osd_layout 3 37 9 12 H
osd_layout 3 41 2 2 V
osd_layout 3 42 7 2 V
osd_layout 3 46 2 11 V
osd_layout 3 47 2 12 V
osd_layout 3 56 7 7 V
osd_layout 3 58 7 8 V
osd_layout 3 63 18 12 V
osd_layout 3 97 8 10 V

# master
set acc_hardware = MPU6000
set acczero_x = 108
set acczero_y = -41
set acczero_z = -586
set accgain_y = 4089
set accgain_z = 4034
set mag_hardware = NONE
set baro_hardware = BMP280
set pitot_hardware = NONE
set rssi_channel = 12
set motor_pwm_rate = 1000
set motor_pwm_protocol = ONESHOT125
set failsafe_procedure = RTH
set align_board_pitch = 30
set model_preview_type = 8
set small_angle = 180
set imu_acc_ignore_rate = 10
set disarm_kill_switch = OFF
set gps_ublox_use_galileo = ON
set nav_rth_climb_first = OFF
set nav_rth_allow_landing = FS_ONLY
set nav_rth_altitude = 8000
set nav_fw_cruise_thr = 1450
set nav_fw_launch_thr = 1800
set nav_fw_launch_timeout = 10000
set nav_fw_launch_climb_angle = 20
set osd_rssi_alarm = 10
set osd_time_alarm = 35
set osd_alt_alarm = 1600
set osd_dist_alarm = 9000
set osd_crosshairs_style = TYPE6
set osd_hud_margin_h = 4
set osd_hud_homing = ON
set osd_hud_radar_disp = 4
set osd_hud_radar_range_min = 1
set osd_hud_radar_nearest = 1
set name = Pai Harrier

# profile
profile 1

set fw_p_pitch = 9
set fw_i_pitch = 20
set fw_ff_pitch = 91
set fw_p_roll = 9
set fw_i_roll = 17
set fw_ff_roll = 85
set fw_i_yaw = 14
set fw_ff_yaw = 63
set dterm_setpoint_weight =  0.000
set nav_fw_pos_z_p = 35
set nav_fw_pos_z_d = 15
set rc_expo = 20
set rc_yaw_expo = 40
set manual_rc_expo = 20
set manual_rc_yaw_expo = 40
set manual_pitch_rate = 80

# battery_profile
battery_profile 1

set vbat_cell_detect_voltage = 450
set vbat_max_cell_voltage = 450
set battery_capacity = 5200
set battery_capacity_warning = 780
set battery_capacity_critical = 520

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