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APM飞行模式的参数
命令值单位选项解释说明 rate at which pitch angle returns to level in acro mode. ?A higher value causes the vehicle to return to level faster.A
CRO_BAL _PITCH10 3ACRO_BAL _ROLL10 3rate at which roll angle returns to level in acro mode. ?A higher value causes the vehicle to return to level faster.ACRO_EXP O0.30:Disabl ed 0.1:Very Low Acro roll/pitch Expo to allow 0.2:Low faster rotation when stick at 0.3:Medi edges um 0.4:High 0.5:Very HighACRO_RP_ P4.51 10Converts pilot roll and pitch into a desired rate of rotation in ACRO and SPORT mode. ?Higher values mean faster rate of rotation.ACRO_TRA INER20:Disabl ed 1:Leveli ng Type of trainer used in acro mode 2:Leveli ng and LimitedACRO_YAW _P4.5AHRS_COM P_BETA0.1AHRS_GPS _GAIN1AHRS_GPS _MINSATS6AHRS_GPS _USE1Converts pilot yaw input into a desired rate of rotation in ACRO, 1 10 Stabilize and SPORT modes. ? Higher values mean faster rate of rotation. This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate 0.001 ground velocity. Time constant is 0.5 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less. This controls how how much to use the GPS to correct the attitude. This should never be set to zero 0.0 1.0 for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0. Minimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, 0 10 which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers. This controls whether to use dead-reckoning or GPS based 0:Disabl navigation. If set to 0 then the ed GPS won&#39;t be used for navigation, 1:Enable and only dead reckoning will be d used. A value of zero should never be used for normal flight.AHRS_ORI ENTATION00:None 1:Yaw45 2:Yaw90 3:Yaw135 4:Yaw180 5:Yaw225 6:Yaw270 7:Yaw315 8:Roll18 0 9:Roll18 0Yaw45 10:Roll1 80Yaw90 11:Roll1 80Yaw135 12:Pitch 180 13:Roll1 80Yaw225 14:Roll1 80Yaw270 15:Roll1 80Yaw315 16:Roll9 0 17:Roll9 0Yaw45 18:Roll9Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. This option takes affect on next boot. After changing you will need to re-level your vehicle.AHRS_RP_ P0.1AHRS_TRI -0.02442 Radians M_XAHRS_TRI 0.003719 Radians M_Y AHRS_TRI M_ZThis controls how fast the 0.1 0.4 accelerometers correct the attitude Compensates for the roll angle difference between the control 0 board and the frame. Positive values make the vehicle roll right. Compensates for the pitch angle difference between the control 0 board and the frame. Positive values make the vehicle pitch up/back. 0 Not Used0 RadiansAHRS_WIN D_MAX0 m/s0 127This sets the maximum allowable difference between ground speed and airspeed. This allows the plane to cope with a failing airspeed sensor. A value of zero means to use the airspeed as is.AHRS_YAW _P ANGLE_MA X0.10.1 0.4This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly. 在所有的飞行模式的最大倾斜角度4500CentidegreesARMING_C HECK10:禁用 ? 1:启用 ? -3:跳过 气压 ?5:跳过罗 盘 ?-9: 跳过gps 可以启用或禁用的接收器，加速度 ?-17:跳 计，气压计，罗盘和GPS预先解锁检查 过加速度 计 ?-33: 跳过参数 ?-65:跳 过遥控器 ?127:跳 过电压ATC_ACCE L_RP_MAXATC_ACCE L_Y_MAXATC_RATE _FF_ENAB0 1800000: Disabled ? Centi72000:Sl 0 Degrees/ ow ? Sec/Sec 108000:M edium ? 162000:F ast 0 720000:D isabled ? Centi18000:Sl 0 Degrees/ ow ? Sec/Sec 36000:Me dium ? 54000:Fa st 0:Disabl ed ? 0 1:Enable d Centi Degrees/ 36000 SecMaximum acceleration in roll/pitch axisMaximum acceleration in yaw axisControls whether body-frame rate feedfoward is enabled or disabled maximum rotation rate in roll/pitch axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes maximum rotation rate in roll/pitch axis requested by angle controller used in stabilize, loiter, rtl, auto flight modesATC_RATE _RP_MAXATC_RATE _Y_MAXCenti Degrees/ 18000 SecATC_SLEW _YAWCenti500 1000 Degrees/ 18000 SecMaximum rate the yaw target can be updated in Loiter, RTL, Auto flight modesBAROGLTC H_ACCEL1500 cm/s/s100 2000Baro glitch protection&#39;s max vehicle acceleration assumptionBAROGLTC H_DIST BAROGLTC H_ENABLE BATT_AMP _OFFSETBATT_AMP _PERVOLTBATT_CAP ACITYBATT_CUR R_PINBATT_MON 0 ITORBaro glitch protection distance 100 2000 within which alt update is immediately accepted 0:Disabl Allows you to enable (1) or ed 1 disable (0) baro glitch 1:Enable protection d Voltage offset at zero current on 0 Volts current sensor Number of amps that a 1V reading on the current sensor corresponds to. On the APM2 or Pixhawk using Amps/Vol 17 the 3DR Power brick this should t be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. Capacity of the battery in mAh 3300 mAh when full Setting this to 0 ~ 13 will 1:Disabl enable battery current sensing on ed ?1:A1 pins A0 ~ A13. For the 3DR power ?2:A2 ? brick on APM2.5 it should be set 12 3:Pixhaw to 12. On the PX4 it should be k ? set to 101. On the Pixhawk 12:A12 ? powered from the PM connector it 101:PX4 should be set to 3. 0:Disabl ed 3:Voltag Controls enabling monitoring of e Only the battery&#39;s voltage and current 4:Voltag e and Current 500 cmBATT_VOL 10.1 T_MULTUsed to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery&#39;s voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX4 using the PX4IO power supply this should be set to 1.BATT_VOL 13 T_PIN1:Disabl ed ?0:A0 ?1:A1 ? 2:Pixhaw k ? 13:A13 ? 100:PX4BATT_VOL 1 T2_MULTBATT_VOL -1 T2_PINCAM_DURA 10 TION CAM_SERV 1100 O_OFF CAM_SERV 1300 O_ONseconds0 50 00 2000pwmSetting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 13. On the PX4 it should be set to 100. On the Pixhawk powered from the PM connector it should be set to 2. Used to convert the voltage of the VOLT2_PIN to the actual battery&#39;s voltage (pin_voltage * VOLT_MULT). This sets the pin for sensing the voltage on a 2nd battery. Set to -1 to disable sensing of a second battery How long the shutter will be held open in 10ths of a second (i.e. enter 10 for 1second, 50 for 5seconds) PWM value to move servo to when shutter is deactivated PWM value to move servo to when shutter is activatedpwmCAM_TRIG 0 G_DISTmeters0 1000CAM_TRIG 0 G_TYPECH7_OPT00:Servo 1:Relay 0:Do Nothing ?2:Flip ? 3:Simple Mode ? 4:RTL ? 5:Save 如果在CH7超过1800 PWM进行选择哪些 Trim ? 功能 7:Save WP ? 8:Multi Mode ? 9:Camera Trigger ? 10:RangeDistance in meters between camera triggers. If this value is nonzero then the camera will trigger whenever the GPS position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight. how to trigger the camera to take a pictureCH8_OPT0CIRCLE_R 1000 ADIUS CIRCLE_R 20 ATEcmdeg/sCOMPASS_ AUTODEC COMPASS_ DEC10 Radians0:Do Nothing ?2:Flip ? 3:Simple Mode ? 4:RTL ? 5:Save Trim ? 7:Save WP ? 8:Multi Mode ? 9:Camera 如果在CH8超过1800 PWM进行选择哪些 Trigger 功能 ? 10:Range Finder ? 11:Fence ? 12:Reset ToArmedY aw ? 13:Super Simple Mode ? 14:Acro Trainer ?16:Auto Defines the radius of the circle 0 10000 the vehicle will fly when in Circle flight mode Circle mode&#39;s turn rate in deg/sec. ?Positive to turn -90 90 clockwise, negative for counter clockwise 0:Disabl Enable or disable the automatic ed calculation of the declination 1:Enable based on gps location d -3.142 An angle to compensate between 3.142 the true north and magnetic northCOMPASS_ EXTERNAL1COMPASS_ LEARN0Configure compass so it is attached externally. This is auto-detected on PX4 and Pixhawk, but must be set correctly on an 0:Intern APM2. Set to 1 if the compass is al externally connected. When 1:Extern externally connected the al COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option 0:Disabl ed Enable or disable the automatic 1:Enable learning of compass offsets d Multiplied by the current throttle and added to the compass&#39;s x-axis values to compensate for motor interferenceCOMPASS_ MOT_XOffset per Amp -1000 0 or at 1000 Full ThrottleCOMPASS_ MOT_YOffset per Amp -1000 0 or at 1000 Full ThrottleMultiplied by the current throttle and added to the compass&#39;s y-axis values to compensate for motor interferenceCOMPASS_ MOT_ZOffset per Amp -1000 0 or at 1000 Full ThrottleMultiplied by the current throttle and added to the compass&#39;s z-axis values to compensate for motor interferenceCOMPASS_ MOTCT00:Disabl ed 1:Use Throttle 2:Use CurrentSet motor interference compensation type to disabled, throttle or current. ?Do not change manually.COMPASS_ OFS_X COMPASS_ OFS_Y COMPASS_ OFS_Z-122-3673COMPASS_ ORIENT8COMPASS_ USE1DCM_CHEC K_THRESH0.8Offset to be added to the compass -400 400 x-axis values to compensate for metal in the frame Offset to be added to the compass -400 400 y-axis values to compensate for metal in the frame Offset to be added to the compass -400 400 z-axis values to compensate for metal in the frame 0:None 1:Yaw45 2:Yaw90 3:Yaw135 4:Yaw180 The orientation of the compass 5:Yaw225 relative to the autopilot board. 6:Yaw270 This will default to the right 7:Yaw315 value for each board type, but 8:Roll18 can be changed if you have an external compass. See the 0 9:Roll18 documentation for your external compass for the right value. The 0Yaw45 10:Roll1 correct orientation should give 80Yaw90 the X axis forward, the Y axis to 11:Roll1 the right and the Z axis down. So 80Yaw135 if your aircraft is pointing west 12:Pitch it should show a positive value for the Y axis, and a value close 180 13:Roll1 to zero for the X axis. On a PX4 80Yaw225 or Pixhawk with an external 14:Roll1 compass the correct value is zero 80Yaw270 if the compass is correctly 15:Roll1 oriented. NOTE: This orientation 80Yaw315 is combined with any 16:Roll9 AHRS_ORIENTATION setting. 0 17:Roll9 0Yaw45 18:Roll9 0:Disabl Enable or disable the use of the ed compass (instead of the GPS) for 1:Enable determining heading d 0:禁用 ? 0.8:默认 允许设置可接受的最大偏航误差作为 ?0.98:舒 偏航误差（0禁用检查） 适的EKF_CHEC K_THRESH0.8ESC0FENCE_AC TION FENCE_AL T_MAX FENCE_EN ABLE FENCE_MA RGIN FENCE_RA DIUS10:禁用 ? 0.8:默认 ?1.0:舒 适的 0:Normal Start-up ? 1:Startup in ESC Calibrat ion mode if throttle high ? 2:Startup in ESC Calibrat ion mode regardle ss of throttle 0:Report Only 1:RTL or Land 10 1000允许设置的最大可接受罗盘和速度变 化（0禁用检查）控制ArduCopter是否会在下一个重启 时进入电调校准。不要手动调整该参 数。What action should be taken when fence is breached Maximum altitude allowed before geofence triggers100 Meters02 Meters 300 MetersFENCE_TY PE30:Disabl Allows you to enable (1) or ed disable (0) the fence 1:Enable functionality d Distance that autopilot&#39;s should 1 10 maintain from the fence to avoid a breach Circle fence radius which when 30 10000 breached will cause an RTL 0:None 1:Altitu de Enabled fence types held as 2:Circle bitmask 3:Altitu de and CircleFLOW_ENA BLE0FLTMODE120:Disabl ed 1:Enable d 0:自稳 Stabiliz e 1:特技 Acro 2: 定高 AltHold 3:自动 Auto 4: 引导 Guided 5:留待 Loiter 6:返航 RTL 7:绕 圈Circle 9:降落 Land 10: 光流留待 OF_Loite r 11:飘 移Drift 13:运动 Sport 16:定点 PosHoldSetting this to Enabled(1) will enable optical flow. Setting this to Disabled(0) will disable optical flow当5通道 pwm &= 1230时的飞行模式是FLTMODE200:自稳 Stabiliz e 1:特技 Acro 2: 定高 AltHold 3:自动 Auto 4: 引导 Guided 5:留待 Loiter 当通道5 pwm &1230, &= 1360时的飞 6:返航 行模式是 RTL 7:绕 圈Circle 9:降落 Land 10: 光流留待 OF_Loite r 11:飘 移Drift 13:运动 Sport 16:定点 PosHoldFLTMODE300:自稳 Stabiliz e 1:特技 Acro 2: 定高 AltHold 3:自动 Auto 4: 引导 Guided 5:留待 Loiter 当5通道 5 pwm &1360, &= 1490时的 6:返航 飞行模式是 RTL 7:绕 圈Circle 9:降落 Land 10: 光流留待 OF_Loite r 11:飘 移Drift 13:运动 Sport 16:定点 PosHoldFLTMODE400:自稳 Stabiliz e 1:特技 Acro 2: 定高 AltHold 3:自动 Auto 4: 引导 Guided 5:留待 Loiter 当通道5 pwm &1490, &= 1620时的飞 6:返航 行模式是 RTL 7:绕 圈Circle 9:降落 Land 10: 光流留待 OF_Loite r 11:飘 移Drift 13:运动 Sport 16:定点 PosHoldFLTMODE500:自稳 Stabiliz e 1:特技 Acro 2: 定高 AltHold 3:自动 Auto 4: 引导 Guided 5:留待 Loiter 当通道5 pwm &1620, &= 1749时的飞 6:返航 行模式是 RTL 7:绕 圈Circle 9:降落 Land 10: 光流留待 OF_Loite r 11:飘 移Drift 13:运动 Sport 16:定点 PosHoldFLTMODE60FRAME1FS_BATT_ ENABLE00:自稳 Stabiliz e 1:特技 Acro 2: 定高 AltHold 3:自动 Auto 4: 引导 Guided 5:留待 Loiter 6:返航 RTL 7:绕 圈Circle 9:降落 Land 10: 光流留待 OF_Loite r 11:飘 移Drift 13:运动 Sport 16:定点 PosHold 0:Plus ? 1:X ?2:V ?3:H ? 4:V-Tail ?5:ATail ? 10:Y6B (New) 0:禁用 1:降落 2:RTL返 航当通道5 pwm &=1750时的飞行模式是控制混合电机的多轴飞行器.不能用在 三轴或传统直升机上当电池电压或电流较低的运行时用于 控制是否调用失控保护 电池剩余容量引发失控保护. 设置为0 来禁用电池剩余电量的失控保护. 如 果电池余下电量低于此水平，那么该 飞行器将RTL 电池电压触发失控保护.设置为0禁用 电池电压失控保护. 如果电池电压低 于这个电压,那么这架飞机将RTLFS_BATT_ MAH FS_BATT_ VOLTAGE500 mAh10.1 VoltsFS_GCS_E NABLE1FS_GPS_E NABLE1FS_THR_E NABLE00:禁用 1:始终启 用RTL 2: 启用在自 动模式下 继续执行 任务 0:禁用 1:降落 2:定高 3:Land even from Stabiliz e 0:禁用 1:启用总 是RTL 2: 启用自动 模式继续 任务 3: 启用总是 降落 925 1100控制失控保护是否会被调用（以及采 取什么样的行动）时，失去了至少5秒 与地面站的连接. NB. GCS失控保护只 有当RC_OVERRIDE被用来控制车辆。控制飞行器采取什么行动，如果GPS信 号丢失超过5秒这个油门失控保护允许你配置软件失 控保护激活设置的油门输出通道上FS_THR_V 975 pwm ALUE GND_ABS_
pascals PRESSGND_ALT_ OFFSET0 metersGND_TEMP 19.73821 GPS_HDOP _GOOD 230degrees celsius3通道上的PWM水平低于油门失控保护 的值 calibrated ground pressure in Pascals altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The -128 127 value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed. calibrated ground temperature in degrees Celsius GPS Hdop值等于或者低于这个值代表 100 900 一个好的方位.用来解锁检查。GPS_NAVF ILTER8GPS_TYPE1GPSGLITC H_ACCEL GPSGLITC H_ENABLE GPSGLITC H_RADIUS1000 cm/s/s1200 cmHLD_LAT_ P1INAV_TC_ XY2.50:Portab le 2:Statio nary 3:Pedest rian 4:Automo tive Navigation filter engine setting 5:Sea 6:Airbor ne1G 7:Airbor ne2G 8:Airbor ne4G 0:None 1:AUTO 2:uBlox 3:MTK 4:MTK19 5:NMEA 6:SiRF GPS type 7:HIL 8:SwiftN av 9:PX4EXP ERIMENTA L GPS glitch protection&#39;s max 100 2000 vehicle acceleration assumption 0:Disabl ed Allows you to enable (1) or 1:Enable disable (0) gps glitch protection d GPS glitch protection radius 100 2000 within which all new positions are accepted Loiter position controller P gain. ?Converts the distance (in 0.500 the latitude direction) to the 2.000 target location into a desired speed which is then passed to the loiter latitude rate controller Time constant for GPS and accel 0 10 mixing. Higher TC decreases GPS impact on position estimateINAV_TC_ Z50 10INS_ACCO -0.19064 m/s/s FFS_X-300 300INS_ACCO FFS_Y0.4156 m/s/s-300 300INS_ACCO 0.777399 m/s/s FFS_Z INS_ACCS CAL_X-300 3001.004550.8 1.2INS_ACCS 0.997563 CAL_Y INS_ACCS 0.983053 CAL_Z INS_GYRO -0.00098 rad/s FFS_X INS_GYRO -0.02394 rad/s FFS_Y INS_GYRO -0.00815 rad/s FFS_Z0.8 1.20.8 1.2INS_MPU6 K_FILTER0 Hz0:Defaul t 5:5Hz 10:10Hz 20:20Hz 42:42Hz 98:98HzTime constant for baro and accel mixing. Higher TC decreases barometers impact on altitude estimate Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations Accelerometer scaling of X axis. ?Calculated during acceleration calibration routine Accelerometer scaling of Y axis ? Calculated during acceleration calibration routine Accelerometer scaling of Z axis ? Calculated during acceleration calibration routine Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations Filter frequency to ask the MPU6000 to apply to samples. This can be set to a lower value to try to cope with very high vibration levels in aircraft. The default value on ArduPlane, APMrover2 and ArduCopter is 20Hz. This option takes effect on the next reboot or gyro initialisationINS_PROD UCT_ID0LAND_REP OSITION LAND_SPE ED1 50 cm/s0:Unknow n 1:APM11280 2:APM12560 88:APM2 3:SITL 4:PX4v1 5:PX4v2 256:Flym aple 257:Linu x 0:不重新 定位 ?1: 重新定位 30 200Which type of IMU is installed (read-only).启用用户输入在LAND模式，RTL的着陆 阶段和自动模式降落 着陆的最后阶段的下降速度cm/sLOG_BITM ASK894LOITER_L AT_D0LOITER_L AT_I0.5830:默认 894:Defa ult+RCIN 958:Defa ult+IMU 1854:Def ault+Mot ors 6146:Nea 4字节位映射的日志类型启用 rlyAllAC315 43006:Ne arlyAll 131070:A ll+Disar medLoggi ng 0:禁 用 Loiter latitude rate controller D gain. ?Compensates for short-term 0.0 0.6 change in desired speed vs actual speed Loiter latitude rate controller I gain. ?Corrects long-term 0.02 difference in desired speed and 1.00 actual speed in the latitude directionLOITER_L AT_IMAX1000CentiDegrees0 4500LOITER_L AT_P10.1 6.0LOITER_L ON_D00.0 0.6LOITER_L ON_I0.50.02 1.00LOITER_L ON_IMAX1000CentiDegrees0 4500LOITER_L ON_P MAG_ENAB LE10.1 6.01MIS_REST ART00:禁用 1:启用 0:Resume Mission ? 1:Restar t Mission 0 3 1 1 1 17999Loiter rate controller I gain maximum. ?Constrains the lean angle that the I gain will output Loiter latitude rate controller P gain. ?Converts the difference between desired speed and actual speed into a lean angle in the latitude direction Loiter longitude rate controller D gain. ?Compensates for shortterm change in desired speed vs actual speed Loiter longitude rate controller I gain. ?Corrects long-term difference in desired speed and actual speed in the longitude direction Loiter longitude rate controller I gain maximum. ?Constrains the lean angle that the I gain will output Loiter longitude rate controller P gain. ?Converts the difference between desired speed and actual speed into a lean angle in the longitude direction 设置为（1）将启用罗盘。设置（0） 将禁用罗盘。 Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run) The number of mission mission items that has been loaded by the ground station. Do not change this manually. Maximum physical pan (yaw) angular position of the mount Maximum physical roll angular position of the mount Maximum physical tilt (pitch) angular position of the mount Minimum physical pan (yaw) angular position of mount.MIS_TOTA L MNT_ANGM AX_PAN MNT_ANGM AX_ROL MNT_ANGM AX_TIL MNT_ANGM IN_PAN0 CentiDegrees Centi4500 Degrees Centi4500 Degrees Centi-4500 Degrees 4500MNT_ANGM IN_ROL MNT_ANGM IN_TIL MNT_CONT ROL_X MNT_CONT ROL_Y MNT_CONT ROL_ZCentiDegrees Centi-4500 Degrees -4500 0 Degrees 0 Degrees- - -180.00 179.99 -180.00 179.99 -180.00 179.990 DegreesMNT_JSTI CK_SPD00 100Minimum physical roll angular position of mount. Minimum physical tilt (pitch) angular position of mount. Mount roll angle when in MavLink or RC control operation mode Mount tilt/pitch angle when in MavLink or RC control operation mode Mount pan/yaw angle when in MavLink or RC control operation mode 0 for position control, small for low speeds, 100 for max speed. A good general value is 10 which gives a movement speed of 3 degrees per second.MNT_MODE0MNT_NEUT RAL_X MNT_NEUT RAL_Y MNT_NEUT RAL_Z MNT_RC_I N_PAN0 Degrees 0 Degrees 0 Degrees0MNT_RC_I N_ROLL00:retrac t 1:neutra l 2:MavLin k_target ing 3:RC_tar geting 4:GPS_po int -180.00 179.99 -180.00 179.99 -180.00 179.99 0:Disabl ed 5:RC5 6:RC6 7:RC7 8:RC8 0:Disabl ed 5:RC5 6:RC6 7:RC7 8:RC8Camera or antenna mount operation modeMount roll angle when in neutral position Mount tilt/pitch angle when in neutral position Mount pan/yaw angle when in neutral position 0 for none, any other for the RC channel to be used to control pan (yaw) movements0 for none, any other for the RC channel to be used to control roll movementsMNT_RC_I N_TILT MNT_RETR ACT_X MNT_RETR ACT_Y MNT_RETR ACT_Z MNT_STAB _PAN00 Degrees 0 Degrees 0 Degrees0MNT_STAB _ROLL0MNT_STAB _TILT0MOT_SPIN _ARMED70MOT_TCRV _ENABLE10:Disabl ed 5:RC5 6:RC6 7:RC7 8:RC8 -180.00 179.99 -180.00 179.99 -180.00 179.99 0:Disabl ed 1:Enable d 0:Disabl ed 1:Enable d 0:Disabl ed 1:Enable d 0:Do Not Spin 70:VeryS low 100:Slow 130:Medi um 150:Fast 0:Disabl ed 1:Enable0 for none, any other for the RC channel to be used to control tilt (pitch) movements Mount roll angle when in retracted position Mount tilt/pitch angle when in retracted position Mount yaw/pan angle when in retracted position enable pan/yaw stabilisation relative to Earthenable roll stabilisation relative to Earthenable tilt/pitch stabilisation relative to EarthControls whether motors always spin when armed (must be below THR_MIN)MOT_TCRV _MAXPCT9320 80MOT_TCRV _MIDPCT5220 80OF_PIT_D0.120.100 0.140Controls whether a curve is used to linearize the thrust produced by the motors Set to the lowest pwm position that produces the maximum thrust of the motors. ?Most motors produce maximum thrust below the maximum pwm value that they accept. Set the pwm position that produces half the maximum thrust of the motors Optical Flow based loiter controller pitch axis D gain. ? Compensates for short-term change in speed in the pitch directionOF_PIT_I0.50.250 0.750OF_PIT_I MAX100CentiDegrees0 4500OF_PIT_P2.52.000 3.000OF_RLL_D0.120.100 0.140OF_RLL_I0.50.250 0.750OF_RLL_I MAX100CentiDegrees0 4500OF_RLL_P PHLD_BRA KE_ANGLE PHLD_BRA KE_RATE PILOT_AC CEL_Z PILOT_VE LZ_MAX2.5 Centidegrees2.000 3.000
12 50 50030008 deg/sec 250 cm/s/sOptical Flow based loiter controller pitch axis I gain. ? Corrects long-term position error by more persistently pitching left or right Optical Flow based loiter controller pitch axis I gain maximum. ?Constrains the maximum pitch angle that the I term will generate Optical Flow based loiter controller pitch axis P gain. ? Converts the position error from the target point to a pitch angle Optical Flow based loiter controller roll axis D gain. ? Compensates for short-term change in speed in the roll direction Optical Flow based loiter controller roll axis I gain. ? Corrects long-term position error by more persistently rolling left or right Optical Flow based loiter controller roll axis I gain maximum. ?Constrains the maximum roll angle that the I term will generate Optical Flow based loiter controller roll axis P gain. ? Converts the position error from the target point to a roll angle poshold飞行模式的最大倾斜角度，以 多少角度制动 poshold飞行模式的旋转速度以多少度 /秒制动 当驾驶仪使用的垂直加速度控制高度 驾驶仪可以要求的最大垂直速度以 cm/s The autopilot&#39;s estimate of the throttle required to maintain a level hover. ?Calculated automatically from the pilot&#39;s throttle input while in stabilize modeCentimet 250 ers/Seco 50 500 ndPOSCON_T HR_HOVER350Percent* 0 1000 10RATE_PIT _DRATE_PIT _IRATE_PIT _IMAXRATE_PIT _PRATE_RLL _DRATE_RLL _IRATE_RLL _IMAXRATE_RLL _PRATE_YAW _DRATE_YAW _IRATE_YAW _IMAXPitch axis rate controller D gain. ?Compensates for short-term 0.004 change in desired pitch rate vs actual pitch rate Pitch axis rate controller I gain. ?Corrects long-term 0.1 0.01 0.5 difference in desired pitch rate vs actual pitch rate Pitch axis rate controller I gain Percent* maximum. ?Constrains the maximum 0 10 motor output that the I gain will output Pitch axis rate controller P gain. ?Converts the difference 0.08 0.15 between desired pitch rate and 0.25 actual pitch rate into a motor speed output Roll axis rate controller D gain. 0.001 ?Compensates for short-term 0.004 0.02 change in desired roll rate vs actual roll rate Roll axis rate controller I gain. ?Corrects long-term difference in 0.1 0.01 0.5 desired roll rate vs actual roll rate Roll axis rate controller I gain Percent* maximum. ?Constrains the maximum 0 10 motor output that the I gain will output Roll axis rate controller P gain. 0.08 ?Converts the difference between 0.15 0.25 desired roll rate and actual roll rate into a motor speed output Yaw axis rate controller D gain. 0.000 ?Compensates for short-term 0 0.02 change in desired yaw rate vs actual yaw rate Yaw axis rate controller I gain. 0.010 ?Corrects long-term difference in 0.02 0.05 desired yaw rate vs actual yaw rate Yaw axis rate controller I gain Percent* maximum. ?Constrains the maximum 0 10 motor output that the I gain will output 0.001 0.02RATE_YAW _P0.20.150 0.50Yaw axis rate controller P gain. ?Converts the difference between desired yaw rate and actual yaw rate into a motor speed outputRC_FEEL_ RP100RC_SPEED RC1_DZ RC1_MAX RC1_MIN RC1_REV RC1_TRIM 1518 RC10_DZ 0490 Hz 30 pwm 2023 pwm 1016 pwm 1 pwm pwm0 1000: 很柔和 ? 25:柔和 roll/pitch的遥控手感，用于控制载 ?50:中等 具对用户输入的反应，设为0变得极度 ?75:干脆 柔和，100会变得极度干脆 ?100:很 干脆 This is the speed in Hertz that 50 490 your ESCs will receive updates 0 200 中点周围的死区。 遥控最大PWM脉冲宽度。通常1000为下 800 2200 限，1500为中点，2000为上限。 遥控最小PWM脉冲宽度。通常1000为下 800 2200 限，1500为中点，2000为上限。 -1:反向 反转伺服操作。设为1则正常（向前） 1:正常 操作。设为-1反转这个通道。 遥控微调（中点）PWM脉冲宽度。通常 800 为下限，1500为中点，2000为上 限。 0 200 中点周围的死区。RC10_FUN 0 CTIONRC10_MAX 1900 RC10_MIN 1100 RC10_REV 1 RC10_TRI 1500 M RC11_DZ 0pwm pwm0:禁用 1:RCPass Thru 2:Flap 3:Flap_a uto 4:Ailero n 6:mount_ pan 7:mount_ tilt 8:mount_ roll 9:mount_ open 10:camer a_trigge r 11:relea se 12:mount 2_pan 13:mount 2_tilt 14:mount 2_roll 15:mount 2_open 800 2200将此设为禁用(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding functionpwm pwm遥控最大PWM脉冲宽度。通常1000为下 限，1500为中点，2000为上限。 遥控最小PWM脉冲宽度。通常1000为下 800 2200 限，1500为中点，2000为上限。 -1:反向 反转伺服操作。设为1则正常（向前） 1:正常 操作。设为-1反转这个通道。 遥控微调（中点）PWM脉冲宽度。通常 800 为下限，1500为中点，2000为上 限。 0 200 中点周围的死区。RC11_FUN 0 CTIONRC11_MAX 1900 RC11_MIN 1100 RC11_REV 1 RC11_TRI 1500 M RC2_DZ RC2_MAX RC2_MIN RC2_REV 30 pwm pwm0:禁用 1:RCPass Thru 2:Flap 3:Flap_a uto 4:Ailero n 6:mount_ pan 7:mount_ tilt 8:mount_ roll 9:mount_ open 10:camer a_trigge r 11:relea se 12:mount 2_pan 13:mount 2_tilt 14:mount 2_roll 15:mount 2_open 800 0 -1:反向 1:正常将此设为禁用(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding functionpwm pwm pwm pwm800
800 0 -1:反向 1:正常遥控最大PWM脉冲宽度。通常1000为下 限，1500为中点，2000为上限。 遥控最小PWM脉冲宽度。通常1000为下 限，1500为中点，2000为上限。 反转伺服操作。设为1则正常（向前） 操作。设为-1反转这个通道。 遥控微调（中点）PWM脉冲宽度。通常 1000为下限，1500为中点，2000为上 限。 中点周围的死区。 遥控最大PWM脉冲宽度。通常1000为下 限，1500为中点，2000为上限。 遥控最小PWM脉冲宽度。通常1000为下 限，1500为中点，2000为上限。 反转伺服操作。设为1则正常（向前） 操作。设为-1反转这个通道。RC2_TRIM 1518 RC3_DZ RC3_MAX RC3_MIN RC3_REV 30 pwm pwm pwm pwmRC3_TRIM 1457 RC4_DZ RC4_MAX RC4_MIN RC4_REV 40 pwm pwm pwm pwmRC4_TRIM 1518 RC5_DZ 0pwm pwm遥控微调（中点）PWM脉冲宽度。通常 800 为下限，1500为中点，2000为上 限。 0 200 中点周围的死区。 遥控最大PWM脉冲宽度。通常1000为下 800 2200 限，1500为中点，2000为上限。 遥控最小PWM脉冲宽度。通常1000为下 800 2200 限，1500为中点，2000为上限。 -1:反向 反转伺服操作。设为1则正常（向前） 1:正常 操作。设为-1反转这个通道。 遥控微调（中点）PWM脉冲宽度。通常 800 为下限，1500为中点，2000为上 限。 0 200 中点周围的死区。 遥控最大PWM脉冲宽度。通常1000为下 800 2200 限，1500为中点，2000为上限。 遥控最小PWM脉冲宽度。通常1000为下 800 2200 限，1500为中点，2000为上限。 -1:反向 反转伺服操作。设为1则正常（向前） 1:正常 操作。设为-1反转这个通道。 遥控微调（中点）PWM脉冲宽度。通常 800 为下限，1500为中点，2000为上 限。 0 200 中点周围的死区。RC5_FUNC 0 TIONRC5_MAX RC5_MIN RC5_REVpwm pwm0:禁用 1:RCPass Thru 2:Flap 3:Flap_a uto 4:Ailero n 6:mount_ pan 7:mount_ tilt 8:mount_ roll 9:mount_ open 10:camer a_trigge r 11:relea se 12:mount 2_pan 13:mount 2_tilt 14:mount 2_roll 15:mount 2_open 800 2200将此设为禁用(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding functionRC5_TRIM 1016 RC6_DZ 0pwm pwm遥控最大PWM脉冲宽度。通常1000为下 限，1500为中点，2000为上限。 遥控最小PWM脉冲宽度。通常1000为下 800 2200 限，1500为中点，2000为上限。 -1:反向 反转伺服操作。设为1则正常（向前） 1:正常 操作。设为-1反转这个通道。 遥控微调（中点）PWM脉冲宽度。通常 800 为下限，1500为中点，2000为上 限。 0 200 中点周围的死区。RC6_FUNC 0 TIONRC6_MAX RC6_MIN RC6_REVpwm pwm0:禁用 1:RCPass Thru 2:Flap 3:Flap_a uto 4:Ailero n 6:mount_ pan 7:mount_ tilt 8:mount_ roll 9:mount_ open 10:camer a_trigge r 11:relea se 12:mount 2_pan 13:mount 2_tilt 14:mount 2_roll 15:mount 2_open 800 2200将此设为禁用(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding functionRC6_TRIM 1016 RC7_DZ 0pwm pwm遥控最大PWM脉冲宽度。通常1000为下 限，1500为中点，2000为上限。 遥控最小PWM脉冲宽度。通常1000为下 800 2200 限，1500为中点，2000为上限。 -1:反向 反转伺服操作。设为1则正常（向前） 1:正常 操作。设为-1反转这个通道。 遥控微调（中点）PWM脉冲宽度。通常 800 为下限，1500为中点，2000为上 限。 0 200 中点周围的死区。RC7_FUNC 0 TIONRC7_MAX RC7_MIN RC7_REVpwm pwm0:禁用 1:RCPass Thru 2:Flap 3:Flap_a uto 4:Ailero n 6:mount_ pan 7:mount_ tilt 8:mount_ roll 9:mount_ open 10:camer a_trigge r 11:relea se 12:mount 2_pan 13:mount 2_tilt 14:mount 2_roll 15:mount 2_open 800 2200将此设为禁用(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding functionRC7_TRIM 1016 RC8_DZ 0pwm pwm遥控最大PWM脉冲宽度。通常1000为下 限，1500为中点，2000为上限。 遥控最小PWM脉冲宽度。通常1000为下 800 2200 限，1500为中点，2000为上限。 -1:反向 反转伺服操作。设为1则正常（向前） 1:正常 操作。设为-1反转这个通道。 遥控微调（中点）PWM脉冲宽度。通常 800 为下限，1500为中点，2000为上 限。 0 200 中点周围的死区。RC8_FUNC 0 TIONRC8_MAX RC8_MIN RC8_REVpwm pwm0:禁用 1:RCPass Thru 2:Flap 3:Flap_a uto 4:Ailero n 6:mount_ pan 7:mount_ tilt 8:mount_ roll 9:mount_ open 10:camer a_trigge r 11:relea se 12:mount 2_pan 13:mount 2_tilt 14:mount 2_roll 15:mount 2_open 800 2200将此设为禁用(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding functionRC8_TRIM 1498pwmRCMAP_PI 2 TCH遥控最大PWM脉冲宽度。通常1000为下 限，1500为中点，2000为上限。 遥控最小PWM脉冲宽度。通常1000为下 800 2200 限，1500为中点，2000为上限。 -1:反向 反转伺服操作。设为1则正常（向前） 1:正常 操作。设为-1反转这个通道。 遥控微调（中点）PWM脉冲宽度。通常 800 为下限，1500为中点，2000为上 限。 Pitch channel number. This is useful when you have a RC transmitter that can&#39;t change the 1 8 channel order easily. Pitch is normally on channel 2, but you can move it to any channel with this parameter.RCMAP_RO 1 LL1 8RCMAP_TH 3 ROTTLE1 8RCMAP_YA 4 W1 8Roll channel number. This is useful when you have a RC transmitter that can&#39;t change the channel order easily. Roll is normally on channel 1, but you can move it to any channel with this parameter. Throttle channel number. This is useful when you have a RC transmitter that can&#39;t change the channel order easily. Throttle is normally on channel 3, but you can move it to any channel with this parameter. Warning APM 2.X: Changing the throttle channel could produce unexpected failsafe results if connection between receiver and on-board PPM Encoder is lost. Disabling onboard PPM Encoder is recommended. Yaw channel number. This is useful when you have a RC transmitter that can&#39;t change the channel order easily. Yaw (also known as rudder) is normally on channel 4, but you can move it to any channel with this parameter.RELAY_PI 13 N1:Disabl ed 13:APM2 A9 pin 47:APM1 relay 50:Pixha wk AUXOUT1 51:Pixha wk AUXOUT2 52:Pixha Digital pin number for first relay control. This is the pin wk AUXOUT3 used for camera control. 53:Pixha wk AUXOUT4 54:Pixha wk AUXOUT5 55:Pixha wk AUXOUT6 111:PX4 FMU Relay1 112:PX4RELAY_PI -1 N2RNGFND_F 0 UNCTIONRNGFND_G 0.8 AIN RNGFND_M 700 AX_CM RNGFND_M 20 IN_CM1:Disabl ed 13:APM2 A9 pin 47:APM1 relay 50:Pixha wk AUXOUT1 51:Pixha wk AUXOUT2 52:Pixha Digital pin number for 2nd relay wk control. AUXOUT3 53:Pixha wk AUXOUT4 54:Pixha wk AUXOUT5 55:Pixha wk AUXOUT6 111:PX4 FMU Relay1 112:PX4 Control over what function is used to calculate distance. For a linear function, the distance is 0:Linear (voltage-offset)*scaling. For a 1:Invert inverted function the distance is ed (offset-voltage)*scaling. For a 2:Hyperb hyperbolic function the distance olic is scaling/(voltage-offset). The functions return the distance in meters. 当检测目标在飞行器下方时用来改变 0.01 2.0 和调节速度和目标高度 Maximum distance in centimeters centimet that rangefinder can reliably ers read Minimum distance in centimeters centimet that rangefinder can reliably ers readRNGFND_O 0 FFSETVoltsOffset in volts for zero distance Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated &#39;airspeed&#39; port on the end of the board. Set to 11 on PX4 for the analog &#39;airspeed&#39; port. Set to 15 on the Pixhawk for the analog &#39;airspeed&#39; port. This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric. Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.RNGFND_P -1 INRNGFND_R 1 METRIC0:No 1:YesRNGFND_S 3 CALINGmeters/V oltRNGFND_S 0 ETTLE_MS Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don&#39;t interfere with each other.RNGFND_S -1 TOP_PINRNGFND_T 0 YPERSSI_PIN -1RSSI_RAN 5 GEVolt0:None 1:Analog 2:APM2Maxbotix I2C 3:APM2PulsedLi ghtI2C 4:PX4I2C -1:禁用 ?0:APM2 A0 ? 1:APM2 A1 ? 2:APM2 A2 ? 13:APM2 A13 ? 103:Pixh awk SBUS 3.3:3.3V ?5:5VWhat type of rangefinder device that is connected这将选择一个模拟引脚接收RSSI电压. 它假定这个电压是RSSI_RANGE为最大 RSSI, 0V最小接收机RSSI电压范围最低海拔高度飞机将移动并返回到之 RTL_ALT 1500 前的起飞点.设置为0则保持目前的高 度返回. 这里的高度是指当飞行器完成任务移 RTL_ALT_ Centimet 0 -1 1000 动并返回到起飞点的最后阶段的高度. FINAL ers 设置为0则降落。 RTL_LOIT 在开始最后下降前悬停在家的上方的 5000 ms 0 60000 _TIME 时间(毫秒) Set to non-zero to enable scheduler debug messages. When 0:Disabl set to show &Slips& the scheduler ed will display a message whenever a SCHED_DE 2:ShowSl scheduled task is delayed due to 0 BUG ips too much CPU load. When set to 3:ShowOv ShowOverruns the scheduled will erruns display a message whenever a task takes longer than the limit promised in the task table. Centimet 0 8000 ersSERIAL0_ BAUD115SERIAL1_ BAUD571:0 4:0 19:00 57:11 00 115:::0:150 0 2:0 9:00 38:00 111::::0:150 0000在USB控制台上使用的波特率. APM2可 以支持所有波特率高达115, 也可以支 持500. PX4可以支持多达1500. 如果 你设置一个速率不支持APM2然后不能 连接到你的飞机应该从不同的模型加 载固件. 这将重置所有默认值参数.第一个遥测端口上使用的波特率. APM2可以支持所有波特率高达115, 也 可以支持500. PX4可以支持多达1500. 如果你设置一个速率不支持APM2然后 不能连接到你的飞机应该从不同的模 型加载固件. 这将重置所有默认值参 数.SIMPLE SR0_EXT_ STAT SR0_EXTR A1 SR0_EXTR A2 SR0_EXTR A3 SR0_PARA MS0 0 0 0 0 10位映射持有这飞行模式使用简单的标 题模式(如位0 = 1意味着飞行模式0使 用简单的模式)SR0_POSI TION SR0_RAW_ CTRL SR0_RAW_ SENS SR0_RC_C HAN SR1_EXT_ STAT SR1_EXTR A1 SR1_EXTR A2 SR1_EXTR A3 SR1_PARA MS SR1_POSI TION SR1_RAW_ CTRL SR1_RAW_ SENS SR1_RC_C HAN STB_PIT_ P0 0 0 0 0 0 0 0 0 0 0 0 0 Pitch axis stabilize (i.e. angle) controller P gain. ?Converts the error between the desired pitch angle and actual angle to a desired pitch rate Roll axis stabilize (i.e. angle) controller P gain. ?Converts the error between the desired roll angle and actual angle to a desired roll rate Yaw axis stabilize (i.e. angle) controller P gain. ?Converts the error between the desired yaw angle and actual angle to a desired yaw rate4.53.000 12.000STB_RLL_ P4.53.000 12.000STB_YAW_ P4.53.000 6.000SUPER_SI MPLE0SYSID_MY GCS SYSID_SW _MREV255 1200:禁用 1:Mode1 2:Mode2 3:Mode1+ 2 4:Mode3 5:Mode1+ 3 6:Mode2+ 3 7:Mode1+ 2+3 8:Mode4 9:Mode1+ 4 10:Mode2 +4 11:Mode1 +2+4 12:Mode3 +4 13:Mode1 +3+4 14:Mode2 +3+4 15:Mode1 +2+3+4 16:Mode5 17:Mode1 1 255对于一些飞行模式选位代码来启用超 级简单模式. 此设置为Disabled（0） 将禁用超级简单模式允许限制无线电覆盖，只能来自于我 的地面站 This value is incremented when changes are made to the eeprom formatSYSID_SW _TYPE10SYSID_TH ISMAV TELEM_DE LAY1 0 seconds0:ArduPl ane 4:Antenn This is used by the ground aTracker station to recognise the software 10:Copte type (eg ArduPlane vs ArduCopter) r 20:Rover Allows reconising the mavlink 1 255 version 这个时间量 (以秒为单位)来推迟无线 0 10 电遥测，防止Xbee上电的时候变砖THR_ACCE L_DTHR_ACCE L_ITHR_ACCE L_IMAXTHR_ACCE L_PTHR_ALT_ PTHR_DZ THR_MAX THR_MID THR_MINTHR_RATE _PTRIM_THR OTTLEThrottle acceleration controller D gain. ?Compensates for short0.000 0 term change in desired vertical 0.400 acceleration vs actual acceleration Throttle acceleration controller I gain. ?Corrects long-term 0.000 1 difference in desired vertical 3.000 acceleration and actual acceleration Throttle acceleration controller Percent* I gain maximum. ?Constrains the 800 0 1000 10 maximum pwm that the I term will generate Throttle acceleration controller P gain. ?Converts the difference 0.500 0.5 between desired vertical 1.500 acceleration and actual acceleration into a motor output Altitude controller P gain. ? Converts the difference between 1.000 the desired altitude and actual 1 3.000 altitude into a climb or descent rate which is passed to the throttle rate controller 油门中位的上和下的死区. 用于 100 pwm 0 300 AltHold, Loiter, PosHold 飞行模式 Percent* 最大油门桨发送给电机.这通常应保留 0 10 为1000。 油门输出（0?1000），当油门处于中 Percent* 500 300 700 间位置.用于按比例手动油门，使中间 10 油门位置接近悬停所需的油门 Percent* 最小油门值将发送到电机以保持他们 130 0 300 10 旋转 Throttle rate controller P gain. ?Converts the difference between 1.000 desired vertical speed and actual 5 8.000 speed into a desired acceleration that is passed to the throttle acceleration controller 自动驾驶仪估算的油门要求保持一个 Percent* 350 0 1000 水平悬停. 自动计算自动驾驶仪的油 10 门输入同时在自稳模式下TUNE0TUNE_HIG H TUNE_LOW1000 0WP_YAW_B EHAVIOR2WPNAV_AC CEL100 cm/s/s0:None 1:Stab Roll/Pit ch kP 4:Rate Roll/Pit ch kP 5:Rate Roll/Pit ch kI 21:Rate Roll/Pit ch kD 3:Stab 控制哪些参数（通常PID收益）正在调 Yaw kP 整与发射器的频道6旋钮 6:Rate Yaw kP 26:Rate Yaw kD 14:Altit ude Hold kP 7:Thrott le Rate kP 34:Throt tle Accel kP 35:Throt 通道6旋钮的参数的最大值将被应用到 0 32767 当前被调整的发射器上 通道6旋钮的参数的最小值将被应用到 0 32767 当前被调整的发射器上 0:机头不 改变方向 ?1:机头 朝着下一 个航点 ? 判断自动驾驶仪如何控制yaw的动作在 2:机头朝 执行任务和RTL时 着下一个 航点除了 RTL ?3: 机头沿着 gps方向 Defines the horizontal 50 500 acceleration in cm/s/s used during missionsWPNAV_AC CEL_Z WPNAV_LO IT_JERK WPNAV_LO IT_SPEED WPNAV_RA DIUS WPNAV_SP EED100 cm/s/s50 500Defines the vertical acceleration in cm/s/s used during missions1000 cm/s/s/s 500 2000 Loiter maximum jerk in cm/s/s/s 500 cm/s Defines the maximum speed in cm/s 0 2000 which the aircraft will travel horizontally while in loiter mode Defines the distance from a 100 1000 waypoint, that when crossed indicates the wp has been hit. Defines the speed in cm/s which the aircraft will attempt to 0 2000 maintain horizontally during a WP mission Defines the speed in cm/s which the aircraft will attempt to 0 500 maintain while descending during a WP mission Defines the speed in cm/s which the aircraft will attempt to 0 1000 maintain while climbing during a WP mission200 cm500 cm/sWPNAV_SP EED_DN150 cm/sWPNAV_SP EED_UP250 cm/s
Stabilize 自稳模式自稳模式是 APM:Copter 中最常用的的飞行模式。 本页面提供...最大值由飞行参数 PILOT_VELZ_MAX 设定。 定高模式下, AC3.1 以及之后的...APM 飞行模式注解 1、稳定模式 Stabilize 稳定模式是使用得最多的飞行模式,也是...圆的半径可以通过高级参数设置调整。 9、指导模式 Guided 此模式需要地面站软件...APM 飞行模式注解 ELEV 是俯仰或升降 1 通道 对 Pitch AILE 是横滚或副翼 2...多大的水平角反应依赖于 FBWB_CLIMB_RATE 参数,默认为 2 米/秒。 FBWB_...6、Loiter(光流定点模式) 光流定点,就是利用 APM 的光流传感器进行定点,这种...飞行器垂直下降,当下降到 10m 时,使用常规定高控制器,通过设置的 参数控制下降...APM 飞行模式注解新 1、稳定模式 Stabilize 稳定模式是使用得最多的飞行模式,...圆的半径可以通过高级参数设置调整。 9、指导模式 Guided 此模式需要地面站软件...这一节讲述如何向 APM 代码中添加新的飞行模式。 通过这里我们可以对飞行模式...中向 FLTMODE1 ~ FLTMODE6 参数中正确的 增加你的新飞行模式到@Values 列表...APM Pixhawk飞行模式_信息与通信_工程科技_专业资料。特技模式 Acro Mode 特技...参数 ACRO_P:映射控制杆到所需的速度旋转。 ? 例如: ACRO_P 等于 4 就...DX8 设置 6 种模式的可供选择的方法这个方法用到了齿轮开关和飞行模式开关。其他...save Way Point or RTL, auto trim or other settings in APM configuration....六、 一定将第五通道的开关设置一个“定高”飞行模式。将第七通 道设为调参...七、 APM 自动调参功能非常有用,不但能够将飞机调稳定,还能够 将飞机调的...一、Mission planner 中用户可调节的标准 APM 参数 APM Mission Planner(标准...飞行模式 2 (FLTMODE2) 飞行模式 3 (FLTMODE3) 飞行模式 4 (FLTMODE4) ...
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