Tools: Add Freestyle model for SITL

Tools/autotest/models/freestyle.json

@@ -0,0 +1,62 @@
+# 5 inch FPV Freestyle/Racing model
+
+{
+    # total vehicle mass in kg
+    "mass" : 0.8,
+
+    # vehicle diameter
+    "diagonal_size" : 0.25,
+
+    # the ref parameters should be taken from a test
+    # with the copter flying at constant speed in zero wind. This is used
+    # to estimate the drag coefficient
+    "refSpd" : 20.0,    # m/s
+    "refAngle" : 45.0,   # degrees
+    "refVoltage" : 23.2, # volts
+    "refCurrent" : 5, # Amps
+    "refAlt" : 607,       # meters AMSL
+    "refTempC" : 25,     # degrees C
+    "refBatRes" : 0.0226, # BAT.Res from log
+
+    # full battery voltage
+    "maxVoltage" : 25.2,
+
+    # full battery capacity, Ah
+    # 0 means unlimited
+    "battCapacityAh" : 0,
+
+    # MOT_THST_EXPO
+    "propExpo" : 0.7,
+
+    # approximate maximum yaw rate in deg/sec
+    "refRotRate" : 700,
+
+    # hover throttle from 0 to 1
+    "hoverThrOut" : 0.125,
+
+    # MOT_PWM_MIN
+    "pwmMin" : 1000,
+
+    # MOT_PWM_MAX
+    "pwmMax" : 2000,
+
+    # MOT_SPIN_MIN
+    "spin_min" : 0.01,
+
+    # MOT_SPIN_MAX
+    "spin_max" : 0.95,
+
+    # maximum motor slew rate, or zero to disable
+    "slew_max" : 0,
+
+    # total effective disc area in sq m for 4 x 5 inch diameter rotors
+    "disc_area" : 0.204,
+
+    # momentum drag coefficient
+    # ratio of momentum drag relative to a ducted rotor of the same effective disc area
+    "mdrag_coef" : 0.10,
+
+    # number of motors
+    "num_motors" : 4
+}
+

Tools/autotest/models/freestyle.param

@@ -0,0 +1,91 @@
+ACRO_OPTIONS     1.000000
+ACRO_RP_EXPO     0.400000
+ACRO_RP_RATE     533.000000
+ACRO_THR_MID     0.300000
+ACRO_TRAINER     0.000000
+ACRO_Y_EXPO      0.400000
+ACRO_Y_RATE      533.000000
+ANGLE_MAX        7000.000000
+ARMING_RUDDER    0.000000
+ATC_ACCEL_P_MAX  160000.000000
+ATC_ACCEL_R_MAX  160000.000000
+ATC_ACCEL_Y_MAX  120000.000000
+ATC_ANG_PIT_P    15.000000
+ATC_ANG_RLL_P    15.000000
+ATC_ANG_YAW_P    10.000000
+ATC_INPUT_TC     0.040000
+ATC_RAT_PIT_P    0.040000
+ATC_RAT_PIT_I    0.040000
+ATC_RAT_PIT_D    0.001200
+ATC_RAT_PIT_FLTD 60.000000
+ATC_RAT_PIT_FLTE 40.000000
+ATC_RAT_PIT_FLTT 60.000000
+ATC_RAT_PIT_SMAX 50.000000
+ATC_RAT_RLL_P    0.048000
+ATC_RAT_RLL_I    0.048000
+ATC_RAT_RLL_D    0.000800
+ATC_RAT_RLL_FLTD 60.000000
+ATC_RAT_RLL_FLTT 60.000000
+ATC_RAT_RLL_SMAX 50.000000
+ATC_RAT_YAW_P    0.500000
+ATC_RAT_YAW_I    0.050000
+ATC_RAT_YAW_D    0.010000
+ATC_RAT_YAW_FLTD 60.000000
+ATC_RAT_YAW_FLTE 2.000000
+ATC_RAT_YAW_FLTT 60.000000
+ATC_RAT_YAW_SMAX 50.000000
+ATC_SLEW_YAW     24000.000000
+ATC_THR_MIX_MAN  4.000000
+AUTO_OPTIONS     3.000000
+BATT_CAPACITY    1300.000000
+BATT_OPTIONS     64.000000
+CIRCLE_RATE      200.000000
+DISARM_DELAY     0.000000
+EK3_GLITCH_RAD   0.000000
+FLTMODE_CH       0.000000
+FRAME_CLASS      1.000000
+GCS_PID_MASK     7.000000
+INS_ACCEL_FILTER 15.000000
+INS_FAST_SAMPLE  3.000000
+INS_GYRO_FILTER  120.000000
+INS_HNTC2_ATT    60.000000
+INS_HNTC2_BW     10.000000
+INS_HNTC2_ENABLE 1.000000
+INS_HNTC2_FREQ   90.000000
+INS_HNTC2_HMNCS  15.000000
+INS_HNTC2_MODE   3.000000
+INS_HNTC2_OPTS   22.000000
+INS_HNTC2_REF    1.000000
+LAND_ALT_LOW     700.000000
+LOG_BITMASK      196607.000000
+LOG_DARM_RATEMAX 1.000000
+LOIT_SPEED       4000.000000
+LOIT_ACC_MAX     1000.000000
+LOIT_BRK_ACCEL   500.000000
+LOIT_BRK_JERK    1000.000000
+LOIT_BRK_DELAY   0.250000
+MOT_BAT_VOLT_MAX 25.200000
+MOT_BAT_VOLT_MIN 19.800000
+MOT_SPIN_ARM     0.010000
+MOT_SPIN_MIN     0.010000
+MOT_SPOOL_TIME   0.250000
+MOT_THST_EXPO    0.700000
+MOT_THST_HOVER   0.125000
+PILOT_SPEED_DN   500.000000
+PILOT_SPEED_UP   500.000000
+PILOT_Y_RATE     250.000000
+PSC_ACCZ_FLTD    40.000000
+PSC_ACCZ_FLTT    40.000000
+PSC_ACCZ_P       0.200000
+PSC_JERK_XY      10.000000
+PSC_VELZ_P       3.000000
+RC7_OPTION       0.000000
+RTL_ALT          700.000000
+RTL_LOIT_TIME    2000.000000
+RTL_SPEED        900.000000
+WPNAV_ACCEL      1100.000000
+WPNAV_ACCEL_Z    300.000000
+WPNAV_JERK       6.000000
+WPNAV_SPEED      3000.000000
+WPNAV_SPEED_DN   500.000000
+WPNAV_SPEED_UP   500.000000

Tools/autotest/pysim/vehicleinfo.py

@@ -190,6 +190,12 @@ def __init__(self):
                 "default_params_filename": ["default_params/copter.parm", "default_params/quad-can.parm"],
                 "periph_params_filename": ["default_params/periph.parm", "default_params/quad-periph.parm"],
             },
+            "freestyle": {
+                "model": "X:@ROMFS/models/freestyle.json",
+                "waf_target": "bin/arducopter",
+                "default_params_filename": ["default_params/copter.parm",
+                                            "models/freestyle.param"],
+            },
         },
     },
     "Helicopter": {