copy of solo's defult prams, except with mavlinkv2 as the default

Tools/Frame_params/Solo_Copter-4-v2.param

@@ -0,0 +1,165 @@
+# 3DR Solo with stock or black cube on Copter 4 only
+ACRO_RP_P,4
+ACRO_THR_MID,0.4
+ACRO_YAW_P,1
+AHRS_EKF_TYPE,3
+AHRS_GPS_USE,1
+AHRS_ORIENTATION,12
+AHRS_RP_P,0.21
+AHRS_YAW_P,0.21
+ANGLE_MAX,2000
+ATC_ACCEL_P_MAX,36000
+ATC_ACCEL_R_MAX,36000
+ATC_ACCEL_Y_MAX,7000
+ATC_ANG_PIT_P,8
+ATC_ANG_RLL_P,9.5
+ATC_ANG_YAW_P,7
+ATC_INPUT_TC,0.25
+ATC_RAT_PIT_D,0.0088
+ATC_RAT_PIT_I,0.103
+ATC_RAT_PIT_IMAX,0.666
+ATC_RAT_PIT_P,0.103
+ATC_RAT_PIT_FLTT,20
+ATC_RAT_PIT_FLTD,20
+ATC_RAT_PIT_FLTE,0
+ATC_RAT_RLL_D,0.0065
+ATC_RAT_RLL_I,0.091
+ATC_RAT_RLL_IMAX,0.666
+ATC_RAT_RLL_P,0.091
+ATC_RAT_RLL_FLTT,20
+ATC_RAT_RLL_FLTD,20
+ATC_RAT_RLL_FLTE,0
+ATC_RAT_YAW_FLTE,7.6
+ATC_RAT_YAW_I,0.0594
+ATC_RAT_YAW_IMAX,0.222
+ATC_RAT_YAW_P,0.5949
+BATT_ARM_MAH,250
+BATT_ARM_VOLT,13.5
+BATT_CRT_MAH,250
+BATT_CRT_VOLT,13.5
+BATT_FS_CRT_ACT,2
+BATT_FS_LOW_ACT,2
+BATT_FS_VOLTSRC,1
+BATT_LOW_MAH,520
+BATT_LOW_TIMER,10
+BATT_LOW_VOLT,14
+BATT_MONITOR,5
+BRD_HEAT_LOWMGN,15
+BRD_PWM_VOLT_SEL,1
+BRD_SAFETY_MASK,16368
+BRD_SAFETYENABLE,0
+BRD_SAFETY_DEFLT,0
+BRD_TYPE,3
+CIRCLE_RADIUS,3000
+COMPASS_ORIENT,38
+COMPASS_TYPEMASK,15392
+COMPASS_USE3,0
+EK2_ENABLE,0
+EK3_ENABLE,1
+EK3_IMU_MASK,3
+FENCE_ACTION,0
+FENCE_ALT_MAX,122
+FENCE_ENABLE,1
+FENCE_RADIUS,0
+FENCE_MARGIN,0
+FENCE_TYPE,1
+FLTMODE1,5
+FLTMODE2,5
+FLTMODE3,5
+FLTMODE4,5
+FLTMODE5,5
+FLTMODE6,5
+FRAME_CLASS,1
+FRAME_TYPE,1
+FS_EKF_ACTION,2
+FS_GCS_ENABLE,0
+FS_THR_VALUE,950
+GPS_HDOP_GOOD,200
+GPS_NAVFILTER,6
+GPS_TYPE,1
+INS_ACC_BODYFIX,3
+INS_FAST_SAMPLE,3
+INS_GYR_FILTER,40
+INS_ACCEL_FILTER,10
+INS_HNTCH_ATT,40
+INS_HNTCH_ENABLE,1
+INS_HNTCH_REF,0.26
+INS_HNTCH_FREQ,200
+INS_HNTCH_BW,100
+INS_HNTC2_ATT,40
+INS_HNTC2_ENABLE,1
+INS_HNTC2_FREQ,98
+INS_HNTC2_BW,49
+INS_TRIM_OPTION,2
+LAND_ALT_LOW,600
+LAND_SPEED,45
+LAND_SPEED_HIGH,220
+LOG_BACKEND_TYPE,3
+LOG_FILE_BUFSIZE,8
+LOG_FILE_DSRMROT,1
+LOIT_ACC_MAX,200
+LOIT_ANG_MAX,30
+LOIT_BRK_ACCEL,175
+LOIT_BRK_DELAY,0.25
+LOIT_SPEED,500
+MNT_ANGMAX_TIL,0
+MNT_ANGMIN_TIL,-9000
+MNT_RC_IN_TILT,6
+MNT_TYPE,2
+MOT_BAT_CURR_MAX,40
+MOT_BAT_VOLT_MAX,16.8
+MOT_BAT_VOLT_MIN,13.2
+MOT_PWM_MAX,1900
+MOT_PWM_MIN,1000
+MOT_SLEW_UP_TIME,0.25
+MOT_SPIN_ARM,0.08
+MOT_SPIN_MIN,0.12
+MOT_SPIN_MAX,0.965
+MOT_THST_EXPO,0.8
+NTF_LED_TYPES,22
+NTF_OREO_THEME,1
+PHLD_BRAKE_ANGLE,2500
+PHLD_BRAKE_RATE,6
+PILOT_ACCEL_Z,100
+PILOT_SPEED_DN,133
+PILOT_SPEED_UP,133
+PILOT_THR_BHV,7
+PILOT_THR_FILT,2
+PILOT_TKOFF_ALT,214
+PILOT_TKOFF_DZ,250
+PSC_ACCZ_I,1.5
+PSC_ACCZ_P,0.75
+PSC_VELXY_I,0.51
+PSC_VELXY_P,1.41
+RC1_MAX,2000
+RC1_MIN,1000
+RC2_MAX,2000
+RC2_MIN,1000
+RC3_MAX,1890
+RC3_MIN,1008
+RC3_TRIM,1450
+RC4_MAX,2000
+RC4_MIN,1000
+RC6_MAX,1520
+RC6_MIN,1000
+RC6_TRIM,1260
+RC7_MAX,2000
+RC7_MIN,1000
+RTL_ALT,4500
+RTL_CLIMB_MIN,1000
+RTL_SPEED,800
+SERIAL1_BAUD,921
+SERIAL4_BAUD,230
+SERIAL4_PROTOCOL,2
+SERIAL1_PROTOCOL,2
+SERIAL1_OPTIONS,0
+SERVO1_FUNCTION,33
+SERVO2_FUNCTION,34
+SERVO3_FUNCTION,35
+SERVO4_FUNCTION,36
+SR1_PARAMS,100
+THR_DZ,10
+WP_YAW_BEHAVIOR,3
+WPNAV_SPEED,300
+WPNAV_SPEED_DN,240
+WPNAV_SPEED_UP,320

libraries/AP_HAL_ChibiOS/hwdef/CubeSolo/hwdef.dat

@@ -14,7 +14,7 @@ SPIDEV icm20602_ext   SPI4 DEVID3  GYRO_EXT_CS  MODE3  4*MHZ  8*MHZ
 
 # pull Solo's default parameters from /Tools/Frame_params
 # these are parameters the Solo requires for proper operation that are different from the copter defaults.
-env DEFAULT_PARAMETERS 'Tools/Frame_params/Solo_Copter-4.param'
+env DEFAULT_PARAMETERS 'Tools/Frame_params/Solo_Copter-4-v2.param'
 
 # three IMUs, but allow for different variants. First two IMUs are
 # isolated, 3rd isn't