[feature] 加入新固件，重新整理参数表
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FC_GROUP_V2.0.1R2.apj
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19
FC_GROUP_V2.0.1R2.apj
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File diff suppressed because one or more lines are too long
979
V2.0.1R2_默认值.param
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979
V2.0.1R2_默认值.param
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@ -0,0 +1,979 @@
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ACRO_BAL_PITCH,1
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ACRO_BAL_ROLL,1
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ACRO_OPTIONS,0
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ACRO_RP_EXPO,0.3
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ACRO_RP_RATE,360
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ACRO_RP_RATE_TC,0
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ACRO_THR_MID,0
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ACRO_TRAINER,2
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ACRO_Y_EXPO,0
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ACRO_Y_RATE,202.5
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ACRO_Y_RATE_TC,0
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ADSB_TYPE,0
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AHRS_COMP_BETA,0.1
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AHRS_EKF_TYPE,3
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AHRS_GPS_GAIN,1
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AHRS_GPS_MINSATS,6
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AHRS_GPS_USE,1
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AHRS_ORIENTATION,0
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AHRS_RP_P,0.2
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AHRS_TRIM_X,0
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AHRS_TRIM_Y,0
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AHRS_TRIM_Z,0
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AHRS_WIND_MAX,0
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AHRS_YAW_P,0.2
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ANGLE_MAX,3000
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ARMING_ACCTHRESH,0.75
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ARMING_CHECK,1
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ARMING_GYRTHRESH,5
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ARMING_MIS_ITEMS,0
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ARMING_OPTIONS,0
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ARMING_RUDDER,2
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ARSPD_ENABLE,0
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ATC_ACCEL_P_MAX,110000
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ATC_ACCEL_R_MAX,110000
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ATC_ACCEL_Y_MAX,27000
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ATC_ANG_LIM_TC,1
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ATC_ANG_PIT_P,4.5
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ATC_ANG_RLL_P,4.5
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ATC_ANG_YAW_P,4.5
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ATC_ANGLE_BOOST,1
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ATC_INPUT_TC,0.15
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ATC_RAT_PIT_D,0.0036
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ATC_RAT_PIT_FF,0
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ATC_RAT_PIT_FLTD,20
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ATC_RAT_PIT_FLTE,0
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ATC_RAT_PIT_FLTT,20
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ATC_RAT_PIT_I,0.135
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ATC_RAT_PIT_IMAX,0.5
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ATC_RAT_PIT_P,0.135
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ATC_RAT_PIT_SMAX,0
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ATC_RAT_RLL_D,0.0036
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ATC_RAT_RLL_FF,0
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ATC_RAT_RLL_FLTD,20
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ATC_RAT_RLL_FLTE,0
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ATC_RAT_RLL_FLTT,20
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ATC_RAT_RLL_I,0.135
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ATC_RAT_RLL_IMAX,0.5
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ATC_RAT_RLL_P,0.135
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ATC_RAT_RLL_SMAX,0
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ATC_RAT_YAW_D,0
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ATC_RAT_YAW_FF,0
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ATC_RAT_YAW_FLTD,0
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ATC_RAT_YAW_FLTE,2.5
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ATC_RAT_YAW_FLTT,20
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ATC_RAT_YAW_I,0.018
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ATC_RAT_YAW_IMAX,0.5
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ATC_RAT_YAW_P,0.18
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ATC_RAT_YAW_SMAX,0
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ATC_RATE_FF_ENAB,1
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ATC_RATE_P_MAX,0
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ATC_RATE_R_MAX,0
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ATC_RATE_Y_MAX,0
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ATC_SLEW_YAW,6000
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ATC_THR_G_BOOST,0
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ATC_THR_MIX_MAN,0.1
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ATC_THR_MIX_MAX,0.5
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ATC_THR_MIX_MIN,0.1
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AUTO_OPTIONS,0
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AUTOTUNE_AGGR,0.1
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AUTOTUNE_AXES,7
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AUTOTUNE_MIN_D,0.001
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AVD_ENABLE,0
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AVOID_ACCEL_MAX,3
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AVOID_ALT_MIN,0
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AVOID_ANGLE_MAX,1000
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AVOID_BACKUP_DZ,0.1
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AVOID_BACKUP_SPD,0.75
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AVOID_BEHAVE,0
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AVOID_DIST_MAX,5
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AVOID_ENABLE,3
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AVOID_MARGIN,2
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BARO_ALT_OFFSET,0
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BARO_ALTERR_MAX,2000
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BARO_EXT_BUS,-1
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BARO_FIELD_ELV,0
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BARO_FLTR_RNG,0
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BARO_GND_TEMP,0
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BARO_OPTIONS,0
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BARO_PRIMARY,0
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BARO_PROBE_EXT,0
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BARO1_DEVID,721674
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BARO1_GND_PRESS,101540
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BARO1_WCF_ENABLE,0
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BARO2_DEVID,0
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BARO2_GND_PRESS,0
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BARO2_WCF_ENABLE,0
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BARO3_DEVID,0
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BARO3_GND_PRESS,0
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BARO3_WCF_ENABLE,0
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BATT_MONITOR,0
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BATT2_MONITOR,0
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BATT3_MONITOR,0
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BATT4_MONITOR,0
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BATT5_MONITOR,0
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BATT6_MONITOR,0
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BATT7_MONITOR,0
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BATT8_MONITOR,0
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BATT9_MONITOR,0
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BCN_TYPE,0
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BRD_BOOT_DELAY,0
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BRD_HEAT_I,0.3
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BRD_HEAT_IMAX,70
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BRD_HEAT_LOWMGN,0
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BRD_HEAT_P,200
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BRD_HEAT_TARG,-1
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BRD_IO_ENABLE,1
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BRD_OPTIONS,1
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BRD_RTC_TYPES,1
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BRD_RTC_TZ_MIN,0
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BRD_SAFETY_DEFLT,1
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BRD_SAFETY_MASK,16383
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BRD_SAFETYOPTION,3
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BRD_SBUS_OUT,0
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BRD_SD_SLOWDOWN,0
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BRD_SER1_RTSCTS,2
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BRD_SER2_RTSCTS,2
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BRD_SERIAL_NUM,0
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BRD_TYPE,2
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BRD_VBUS_MIN,4.3
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BRD_VSERVO_MIN,0
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BTN_ENABLE,0
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CAM_AUTO_ONLY,0
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CAM_MAX_ROLL,0
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CAM_RC_TYPE,0
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CAM1_TYPE,0
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CAM2_TYPE,0
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CAN_D1_PROTOCOL,1
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CAN_D2_PROTOCOL,1
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CAN_LOGLEVEL,0
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CAN_P1_DRIVER,0
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CAN_P2_DRIVER,0
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CAN_SLCAN_CPORT,0
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CAN_SLCAN_SDELAY,1
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CAN_SLCAN_SERNUM,-1
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CAN_SLCAN_TIMOUT,0
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CHUTE_ENABLED,0
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CIRCLE_OPTIONS,1
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CIRCLE_RADIUS,1000
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CIRCLE_RATE,20
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COMPASS_AUTO_ROT,2
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COMPASS_AUTODEC,1
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COMPASS_CAL_FIT,16
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COMPASS_DEC,0
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COMPASS_DEV_ID,855305
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COMPASS_DEV_ID2,131594
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COMPASS_DEV_ID3,0
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COMPASS_DEV_ID4,0
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COMPASS_DEV_ID5,0
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COMPASS_DEV_ID6,0
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COMPASS_DEV_ID7,0
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COMPASS_DEV_ID8,0
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COMPASS_DIA_X,1
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COMPASS_DIA_Y,1
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COMPASS_DIA_Z,1
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COMPASS_DIA2_X,1
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COMPASS_DIA2_Y,1
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COMPASS_DIA2_Z,1
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COMPASS_DIA3_X,1
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COMPASS_DIA3_Y,1
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COMPASS_DIA3_Z,1
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COMPASS_ENABLE,1
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COMPASS_EXTERN2,0
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COMPASS_EXTERN3,0
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COMPASS_EXTERNAL,1
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COMPASS_FLTR_RNG,0
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COMPASS_LEARN,0
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COMPASS_MOT_X,0
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COMPASS_MOT_Y,0
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COMPASS_MOT_Z,0
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COMPASS_MOT2_X,0
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COMPASS_MOT2_Y,0
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COMPASS_MOT2_Z,0
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COMPASS_MOT3_X,0
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COMPASS_MOT3_Y,0
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COMPASS_MOT3_Z,0
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COMPASS_MOTCT,0
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COMPASS_ODI_X,0
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COMPASS_ODI_Y,0
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COMPASS_ODI_Z,0
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COMPASS_ODI2_X,0
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COMPASS_ODI2_Y,0
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COMPASS_ODI2_Z,0
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COMPASS_ODI3_X,0
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COMPASS_ODI3_Y,0
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COMPASS_ODI3_Z,0
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COMPASS_OFFS_MAX,1800
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COMPASS_OFS_X,0
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COMPASS_OFS_Y,0
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COMPASS_OFS_Z,0
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COMPASS_OFS2_X,0
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COMPASS_OFS2_Y,0
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COMPASS_OFS2_Z,0
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COMPASS_OFS3_X,0
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COMPASS_OFS3_Y,0
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COMPASS_OFS3_Z,0
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COMPASS_OPTIONS,0
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COMPASS_ORIENT,0
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COMPASS_ORIENT2,0
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COMPASS_ORIENT3,0
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COMPASS_PMOT_EN,0
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COMPASS_PRIO1_ID,855305
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COMPASS_PRIO2_ID,131594
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COMPASS_PRIO3_ID,0
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COMPASS_SCALE,0
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COMPASS_SCALE2,0
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COMPASS_SCALE3,0
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COMPASS_TYPEMASK,0
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COMPASS_USE,1
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COMPASS_USE2,1
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COMPASS_USE3,1
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CUST_ROT_ENABLE,0
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DEV_OPTIONS,0
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DISARM_DELAY,10
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EAHRS_TYPE,0
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EFI_TYPE,0
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EK2_ENABLE,0
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EK3_ABIAS_P_NSE,0.02
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EK3_ACC_BIAS_LIM,1
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EK3_ACC_P_NSE,0.35
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EK3_AFFINITY,0
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EK3_ALT_GPS,5
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EK3_ALT_M_NSE,2
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EK3_BCN_DELAY,50
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EK3_BCN_I_GTE,500
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EK3_BCN_M_NSE,1
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EK3_BETA_MASK,0
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EK3_CHECK_SCALE,100
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EK3_DRAG_BCOEF_X,0
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EK3_DRAG_BCOEF_Y,0
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EK3_DRAG_M_NSE,0.5
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EK3_DRAG_MCOEF,0
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EK3_EAS_I_GATE,400
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EK3_EAS_M_NSE,1.4
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EK3_ENABLE,1
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EK3_ERR_THRESH,0.2
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EK3_FLOW_DELAY,10
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EK3_FLOW_I_GATE,300
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EK3_FLOW_M_NSE,0.25
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EK3_FLOW_USE,1
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EK3_GBIAS_P_NSE,0.001
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EK3_GLITCH_RAD,25
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EK3_GND_EFF_DZ,4
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EK3_GPS_CHECK,31
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EK3_GPS_VACC_MAX,0
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EK3_GSF_RST_MAX,2
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EK3_GSF_RUN_MASK,3
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EK3_GSF_USE_MASK,3
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EK3_GYRO_P_NSE,0.015
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EK3_HGT_DELAY,60
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EK3_HGT_I_GATE,500
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EK3_HRT_FILT,2
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EK3_IMU_MASK,3
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EK3_LOG_LEVEL,0
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EK3_MAG_CAL,3
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EK3_MAG_EF_LIM,50
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EK3_MAG_I_GATE,300
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EK3_MAG_M_NSE,0.05
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EK3_MAG_MASK,0
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EK3_MAGB_P_NSE,0.0001
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EK3_MAGE_P_NSE,0.001
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EK3_MAX_FLOW,2.5
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EK3_NOAID_M_NSE,10
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EK3_OGN_HGT_MASK,0
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EK3_OGNM_TEST_SF,2
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EK3_POS_I_GATE,500
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EK3_POSNE_M_NSE,0.5
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EK3_PRIMARY,0
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EK3_RNG_I_GATE,500
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EK3_RNG_M_NSE,0.5
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EK3_RNG_USE_HGT,-1
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EK3_RNG_USE_SPD,2
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EK3_RTK_POSNOISE,0.01
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EK3_SRC_OPTIONS,1
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EK3_SRC1_POSXY,3
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EK3_SRC1_POSZ,1
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EK3_SRC1_VELXY,3
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EK3_SRC1_VELZ,3
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EK3_SRC1_YAW,1
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EK3_SRC2_POSXY,0
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EK3_SRC2_POSZ,1
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EK3_SRC2_VELXY,0
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EK3_SRC2_VELZ,0
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EK3_SRC2_YAW,0
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EK3_SRC3_POSXY,0
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EK3_SRC3_POSZ,1
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EK3_SRC3_VELXY,0
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EK3_SRC3_VELZ,0
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EK3_SRC3_YAW,0
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EK3_TAU_OUTPUT,25
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EK3_TERR_GRAD,0.1
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EK3_VEL_I_GATE,500
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EK3_VELD_M_NSE,0.5
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EK3_VELNE_M_NSE,0.3
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EK3_VIS_VERR_MAX,0.9
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EK3_VIS_VERR_MIN,0.1
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EK3_WENC_VERR,0.1
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EK3_WIND_P_NSE,0.2
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EK3_WIND_PSCALE,1
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EK3_YAW_I_GATE,300
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EK3_YAW_M_NSE,0.5
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ESC_CALIBRATION,0
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ESC_TLM_MAV_OFS,0
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FC_LOG_LEVEL,1
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FC_LOG_TYPE,15
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FC_WP_ACC_XY,200
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FC_WP_ACC_Z,150
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FC_WP_LEADPER,0.15
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FC_WP_LEADTIME,1500
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FC_WP_STEP,50
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FC_WP_TAKEOFF_CA,100
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FC_WP_TAKEOFF_CT,4000
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FC_WP_TYPE,2
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FENCE_ACTION,1
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FENCE_ALT_MAX,100
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FENCE_ALT_MIN,-10
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FENCE_ENABLE,0
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FENCE_MARGIN,2
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FENCE_RADIUS,300
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FENCE_TOTAL,0
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FENCE_TYPE,7
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FFT_ENABLE,0
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FHLD_BRAKE_RATE,8
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FHLD_FILT_HZ,5
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FHLD_FLOW_MAX,0.6
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FHLD_QUAL_MIN,10
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FHLD_XY_FILT_HZ,5
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FHLD_XY_I,0.3
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FHLD_XY_IMAX,3000
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FHLD_XY_P,0.2
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FLIGHT_OPTIONS,0
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FLOW_TYPE,0
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FLTMODE_CH,5
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FLTMODE1,0
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FLTMODE2,0
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FLTMODE3,0
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FLTMODE4,0
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FLTMODE5,0
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FLTMODE6,0
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FOLL_ENABLE,0
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FORMAT_VERSION,120
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FRAME_CLASS,0
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FRAME_TYPE,1
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FRSKY_DNLINK_ID,27
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FRSKY_DNLINK1_ID,20
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FRSKY_DNLINK2_ID,7
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FRSKY_OPTIONS,0
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FRSKY_UPLINK_ID,13
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FS_CRASH_CHECK,1
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FS_DR_ENABLE,2
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FS_DR_TIMEOUT,30
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FS_EKF_ACTION,1
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FS_EKF_THRESH,0.8
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FS_GCS_ENABLE,0
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FS_GCS_TIMEOUT,5
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FS_OPTIONS,16
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FS_THR_ENABLE,1
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FS_THR_VALUE,975
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FS_VIBE_ENABLE,1
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GCS_PID_MASK,0
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GEN_TYPE,0
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GND_EFFECT_COMP,1
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GPS_AUTO_CONFIG,1
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GPS_AUTO_SWITCH,1
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GPS_BLEND_MASK,5
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GPS_BLEND_TC,10
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GPS_CAN_NODEID1,0
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GPS_CAN_NODEID2,0
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GPS_COM_PORT,1
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GPS_COM_PORT2,1
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GPS_DELAY_MS,0
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GPS_DELAY_MS2,0
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GPS_DRV_OPTIONS,0
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GPS_GNSS_MODE,0
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GPS_GNSS_MODE2,0
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GPS_HDOP_GOOD,140
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GPS_INJECT_TO,127
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GPS_MB1_TYPE,0
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GPS_MB2_TYPE,0
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GPS_MIN_DGPS,100
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GPS_MIN_ELEV,-100
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GPS_NAVFILTER,8
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GPS_POS1_X,0
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GPS_POS1_Y,0
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GPS_POS1_Z,0
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GPS_POS2_X,0
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GPS_POS2_Y,0
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GPS_POS2_Z,0
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GPS_PRIMARY,0
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GPS_RATE_MS,200
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GPS_RATE_MS2,200
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GPS_RAW_DATA,0
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GPS_SAVE_CFG,2
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GPS_SBAS_MODE,2
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GPS_SBP_LOGMASK,-256
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GPS_TYPE,1
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GPS_TYPE2,0
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GPS1_CAN_OVRIDE,0
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GPS2_CAN_OVRIDE,0
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GRIP_ENABLE,0
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GUID_OPTIONS,0
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GUID_TIMEOUT,3
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INITIAL_MODE,0
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INS_303ACC_EN,1
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INS_ACC_BODYFIX,2
|
||||
INS_ACC_ID,1246218
|
||||
INS_ACC1_CALTEMP,-300
|
||||
INS_ACC2_CALTEMP,-300
|
||||
INS_ACC2_ID,1114634
|
||||
INS_ACC2OFFS_X,0
|
||||
INS_ACC2OFFS_Y,0
|
||||
INS_ACC2OFFS_Z,0
|
||||
INS_ACC2SCAL_X,1
|
||||
INS_ACC2SCAL_Y,1
|
||||
INS_ACC2SCAL_Z,1
|
||||
INS_ACC3_CALTEMP,-300
|
||||
INS_ACC3_ID,0
|
||||
INS_ACC3OFFS_X,0
|
||||
INS_ACC3OFFS_Y,0
|
||||
INS_ACC3OFFS_Z,0
|
||||
INS_ACC3SCAL_X,1
|
||||
INS_ACC3SCAL_Y,1
|
||||
INS_ACC3SCAL_Z,1
|
||||
INS_ACCEL_FILTER,20
|
||||
INS_ACCOFFS_X,0
|
||||
INS_ACCOFFS_Y,0
|
||||
INS_ACCOFFS_Z,0
|
||||
INS_ACCSCAL_X,1
|
||||
INS_ACCSCAL_Y,1
|
||||
INS_ACCSCAL_Z,1
|
||||
INS_ENABLE_MASK,127
|
||||
INS_FAST_SAMPLE,1
|
||||
INS_GYR_CAL,1
|
||||
INS_GYR_ID,2163722
|
||||
INS_GYR1_CALTEMP,56.15215
|
||||
INS_GYR2_CALTEMP,62.18368
|
||||
INS_GYR2_ID,2228490
|
||||
INS_GYR2OFFS_X,0.0813631
|
||||
INS_GYR2OFFS_Y,0.03796165
|
||||
INS_GYR2OFFS_Z,0.05726685
|
||||
INS_GYR3_CALTEMP,-300
|
||||
INS_GYR3_ID,0
|
||||
INS_GYR3OFFS_X,0
|
||||
INS_GYR3OFFS_Y,0
|
||||
INS_GYR3OFFS_Z,0
|
||||
INS_GYRO_FILTER,20
|
||||
INS_GYRO_RATE,0
|
||||
INS_GYROFFS_X,-0.02464493
|
||||
INS_GYROFFS_Y,0.0247166
|
||||
INS_GYROFFS_Z,0.002938064
|
||||
INS_HNTC2_ENABLE,0
|
||||
INS_HNTCH_ENABLE,0
|
||||
INS_LOG_BAT_CNT,1024
|
||||
INS_LOG_BAT_LGCT,32
|
||||
INS_LOG_BAT_LGIN,20
|
||||
INS_LOG_BAT_MASK,0
|
||||
INS_LOG_BAT_OPT,0
|
||||
INS_POS1_X,0
|
||||
INS_POS1_Y,0
|
||||
INS_POS1_Z,0
|
||||
INS_POS2_X,0
|
||||
INS_POS2_Y,0
|
||||
INS_POS2_Z,0
|
||||
INS_POS3_X,0
|
||||
INS_POS3_Y,0
|
||||
INS_POS3_Z,0
|
||||
INS_STILL_THRESH,2.5
|
||||
INS_TCAL_OPTIONS,0
|
||||
INS_TCAL1_ENABLE,0
|
||||
INS_TCAL2_ENABLE,0
|
||||
INS_TCAL3_ENABLE,0
|
||||
INS_TRIM_OPTION,1
|
||||
INS_USE,1
|
||||
INS_USE2,1
|
||||
INS_USE3,1
|
||||
LAND_ALT_LOW,1000
|
||||
LAND_REPOSITION,1
|
||||
LAND_SPEED,50
|
||||
LAND_SPEED_HIGH,0
|
||||
LAND_SPEED_NOPOS,0
|
||||
LGR_ENABLE,0
|
||||
LOG_BACKEND_TYPE,1
|
||||
LOG_BITMASK,176126
|
||||
LOG_DARM_RATEMAX,0
|
||||
LOG_DISARMED,0
|
||||
LOG_FILE_BUFSIZE,16
|
||||
LOG_FILE_DSRMROT,0
|
||||
LOG_FILE_MB_FREE,500
|
||||
LOG_FILE_RATEMAX,0
|
||||
LOG_FILE_TIMEOUT,5
|
||||
LOG_MAV_BUFSIZE,8
|
||||
LOG_MAV_RATEMAX,0
|
||||
LOG_REPLAY,0
|
||||
LOIT_ACC_MAX,500
|
||||
LOIT_ANG_MAX,0
|
||||
LOIT_BRK_ACCEL,250
|
||||
LOIT_BRK_DELAY,1
|
||||
LOIT_BRK_JERK,500
|
||||
LOIT_SPEED,1250
|
||||
MIS_OPTIONS,0
|
||||
MIS_RESTART,0
|
||||
MIS_TOTAL,0
|
||||
MNT1_TYPE,0
|
||||
MNT2_TYPE,0
|
||||
MOT_BAT_CURR_MAX,0
|
||||
MOT_BAT_CURR_TC,5
|
||||
MOT_BAT_IDX,0
|
||||
MOT_BAT_VOLT_MAX,0
|
||||
MOT_BAT_VOLT_MIN,0
|
||||
MOT_BOOST_SCALE,0
|
||||
MOT_HOVER_LEARN,2
|
||||
MOT_PWM_MAX,2000
|
||||
MOT_PWM_MIN,1000
|
||||
MOT_PWM_TYPE,0
|
||||
MOT_SAFE_DISARM,0
|
||||
MOT_SAFE_TIME,1
|
||||
MOT_SLEW_DN_TIME,0
|
||||
MOT_SLEW_UP_TIME,0
|
||||
MOT_SPIN_ARM,0.1
|
||||
MOT_SPIN_MAX,0.95
|
||||
MOT_SPIN_MIN,0.15
|
||||
MOT_SPOOL_TIME,0.5
|
||||
MOT_THST_EXPO,0.65
|
||||
MOT_THST_HOVER,0.35
|
||||
MOT_YAW_HEADROOM,200
|
||||
MSP_OPTIONS,0
|
||||
MSP_OSD_NCELLS,0
|
||||
NMEA_MSG_EN,3
|
||||
NMEA_RATE_MS,100
|
||||
NTF_BUZZ_ON_LVL,1
|
||||
NTF_BUZZ_PIN,-1
|
||||
NTF_BUZZ_TYPES,5
|
||||
NTF_BUZZ_VOLUME,100
|
||||
NTF_DISPLAY_TYPE,0
|
||||
NTF_G_OFF,0
|
||||
NTF_G_RTKTEST,0
|
||||
NTF_G_RTKTIMEOUT,5
|
||||
NTF_G_RTLOFF,1
|
||||
NTF_LED_BRIGHT,3
|
||||
NTF_LED_LEN,1
|
||||
NTF_LED_OVERRIDE,0
|
||||
NTF_LED_TYPES,417991
|
||||
NTF_OREO_THEME,0
|
||||
OA_TYPE,0
|
||||
OSD_TYPE,0
|
||||
PHLD_BRAKE_ANGLE,3000
|
||||
PHLD_BRAKE_RATE,8
|
||||
PILOT_ACCEL_Z,250
|
||||
PILOT_SPEED_DN,0
|
||||
PILOT_SPEED_UP,250
|
||||
PILOT_THR_BHV,0
|
||||
PILOT_THR_FILT,0
|
||||
PILOT_TKOFF_ALT,0
|
||||
PILOT_Y_EXPO,0
|
||||
PILOT_Y_RATE,202.5
|
||||
PILOT_Y_RATE_TC,0
|
||||
PLDP_DELAY,0
|
||||
PLDP_RNG_MIN,0
|
||||
PLDP_SPEED_DN,0
|
||||
PLDP_THRESH,0.9
|
||||
PLND_ENABLED,0
|
||||
PRX_ALT_MIN,1
|
||||
PRX_FILT,0.25
|
||||
PRX_IGN_GND,0
|
||||
PRX_LOG_RAW,0
|
||||
PRX1_TYPE,0
|
||||
PRX2_TYPE,0
|
||||
PRX3_TYPE,0
|
||||
PSC_ACCZ_D,0
|
||||
PSC_ACCZ_FF,0
|
||||
PSC_ACCZ_FLTD,0
|
||||
PSC_ACCZ_FLTE,20
|
||||
PSC_ACCZ_FLTT,0
|
||||
PSC_ACCZ_I,1
|
||||
PSC_ACCZ_IMAX,800
|
||||
PSC_ACCZ_P,0.5
|
||||
PSC_ACCZ_SMAX,0
|
||||
PSC_ANGLE_MAX,0
|
||||
PSC_JERK_XY,5
|
||||
PSC_JERK_Z,5
|
||||
PSC_POSXY_P,1
|
||||
PSC_POSZ_P,1
|
||||
PSC_VELXY_D,0.5
|
||||
PSC_VELXY_FF,0
|
||||
PSC_VELXY_FLTD,5
|
||||
PSC_VELXY_FLTE,5
|
||||
PSC_VELXY_I,1
|
||||
PSC_VELXY_IMAX,1000
|
||||
PSC_VELXY_P,2
|
||||
PSC_VELZ_D,0
|
||||
PSC_VELZ_FF,0
|
||||
PSC_VELZ_FLTD,5
|
||||
PSC_VELZ_FLTE,5
|
||||
PSC_VELZ_I,0
|
||||
PSC_VELZ_IMAX,1000
|
||||
PSC_VELZ_P,5
|
||||
RALLY_INCL_HOME,1
|
||||
RALLY_LIMIT_KM,0.3
|
||||
RALLY_TOTAL,0
|
||||
RC_FS_TIMEOUT,1
|
||||
RC_OPTIONS,32
|
||||
RC_OVERRIDE_TIME,3
|
||||
RC_PROTOCOLS,1
|
||||
RC_SPEED,490
|
||||
RC1_DZ,20
|
||||
RC1_MAX,1900
|
||||
RC1_MIN,1100
|
||||
RC1_OPTION,0
|
||||
RC1_REVERSED,0
|
||||
RC1_TRIM,1500
|
||||
RC10_DZ,0
|
||||
RC10_MAX,1900
|
||||
RC10_MIN,1100
|
||||
RC10_OPTION,0
|
||||
RC10_REVERSED,0
|
||||
RC10_TRIM,1500
|
||||
RC11_DZ,0
|
||||
RC11_MAX,1900
|
||||
RC11_MIN,1100
|
||||
RC11_OPTION,0
|
||||
RC11_REVERSED,0
|
||||
RC11_TRIM,1500
|
||||
RC12_DZ,0
|
||||
RC12_MAX,1900
|
||||
RC12_MIN,1100
|
||||
RC12_OPTION,0
|
||||
RC12_REVERSED,0
|
||||
RC12_TRIM,1500
|
||||
RC13_DZ,0
|
||||
RC13_MAX,1900
|
||||
RC13_MIN,1100
|
||||
RC13_OPTION,0
|
||||
RC13_REVERSED,0
|
||||
RC13_TRIM,1500
|
||||
RC14_DZ,0
|
||||
RC14_MAX,1900
|
||||
RC14_MIN,1100
|
||||
RC14_OPTION,0
|
||||
RC14_REVERSED,0
|
||||
RC14_TRIM,1500
|
||||
RC15_DZ,0
|
||||
RC15_MAX,1900
|
||||
RC15_MIN,1100
|
||||
RC15_OPTION,0
|
||||
RC15_REVERSED,0
|
||||
RC15_TRIM,1500
|
||||
RC16_DZ,0
|
||||
RC16_MAX,1900
|
||||
RC16_MIN,1100
|
||||
RC16_OPTION,0
|
||||
RC16_REVERSED,0
|
||||
RC16_TRIM,1500
|
||||
RC2_DZ,20
|
||||
RC2_MAX,1900
|
||||
RC2_MIN,1100
|
||||
RC2_OPTION,0
|
||||
RC2_REVERSED,0
|
||||
RC2_TRIM,1500
|
||||
RC3_DZ,30
|
||||
RC3_MAX,1900
|
||||
RC3_MIN,1100
|
||||
RC3_OPTION,0
|
||||
RC3_REVERSED,0
|
||||
RC3_TRIM,1500
|
||||
RC4_DZ,20
|
||||
RC4_MAX,1900
|
||||
RC4_MIN,1100
|
||||
RC4_OPTION,0
|
||||
RC4_REVERSED,0
|
||||
RC4_TRIM,1500
|
||||
RC5_DZ,0
|
||||
RC5_MAX,1900
|
||||
RC5_MIN,1100
|
||||
RC5_OPTION,0
|
||||
RC5_REVERSED,0
|
||||
RC5_TRIM,1500
|
||||
RC6_DZ,0
|
||||
RC6_MAX,1900
|
||||
RC6_MIN,1100
|
||||
RC6_OPTION,0
|
||||
RC6_REVERSED,0
|
||||
RC6_TRIM,1500
|
||||
RC7_DZ,0
|
||||
RC7_MAX,1900
|
||||
RC7_MIN,1100
|
||||
RC7_OPTION,0
|
||||
RC7_REVERSED,0
|
||||
RC7_TRIM,1500
|
||||
RC8_DZ,0
|
||||
RC8_MAX,1900
|
||||
RC8_MIN,1100
|
||||
RC8_OPTION,0
|
||||
RC8_REVERSED,0
|
||||
RC8_TRIM,1500
|
||||
RC9_DZ,0
|
||||
RC9_MAX,1900
|
||||
RC9_MIN,1100
|
||||
RC9_OPTION,0
|
||||
RC9_REVERSED,0
|
||||
RC9_TRIM,1500
|
||||
RCMAP_PITCH,2
|
||||
RCMAP_ROLL,1
|
||||
RCMAP_THROTTLE,3
|
||||
RCMAP_YAW,4
|
||||
RELAY_DEFAULT,0
|
||||
RELAY_PIN,-1
|
||||
RELAY_PIN2,-1
|
||||
RELAY_PIN3,-1
|
||||
RELAY_PIN4,-1
|
||||
RELAY_PIN5,-1
|
||||
RELAY_PIN6,-1
|
||||
RNGFND_FILT,0.5
|
||||
RNGFND1_TYPE,0
|
||||
RNGFND2_TYPE,0
|
||||
RNGFND3_TYPE,0
|
||||
RNGFND4_TYPE,0
|
||||
RNGFND5_TYPE,0
|
||||
RNGFND6_TYPE,0
|
||||
RNGFND7_TYPE,0
|
||||
RNGFND8_TYPE,0
|
||||
RNGFND9_TYPE,0
|
||||
RNGFNDA_TYPE,0
|
||||
RPM1_TYPE,0
|
||||
RPM2_TYPE,0
|
||||
RSSI_TYPE,0
|
||||
RTL_ALT,1500
|
||||
RTL_ALT_FINAL,0
|
||||
RTL_ALT_TYPE,0
|
||||
RTL_CLIMB_MIN,0
|
||||
RTL_CONE_SLOPE,3
|
||||
RTL_LOIT_TIME,5000
|
||||
RTL_OPTIONS,0
|
||||
RTL_SPEED,0
|
||||
SCHED_DEBUG,0
|
||||
SCHED_LOOP_RATE,400
|
||||
SCHED_OPTIONS,0
|
||||
SCR_ENABLE,0
|
||||
SERIAL_PASS1,0
|
||||
SERIAL_PASS2,-1
|
||||
SERIAL_PASSTIMO,15
|
||||
SERIAL0_BAUD,115
|
||||
SERIAL0_PROTOCOL,2
|
||||
SERIAL1_BAUD,57
|
||||
SERIAL1_OPTIONS,0
|
||||
SERIAL1_PROTOCOL,2
|
||||
SERIAL2_BAUD,57
|
||||
SERIAL2_OPTIONS,0
|
||||
SERIAL2_PROTOCOL,2
|
||||
SERIAL3_BAUD,38
|
||||
SERIAL3_OPTIONS,0
|
||||
SERIAL3_PROTOCOL,5
|
||||
SERIAL4_BAUD,38
|
||||
SERIAL4_OPTIONS,0
|
||||
SERIAL4_PROTOCOL,5
|
||||
SERIAL5_BAUD,57
|
||||
SERIAL5_OPTIONS,0
|
||||
SERIAL5_PROTOCOL,-1
|
||||
SERVO_32_ENABLE,0
|
||||
SERVO_BLH_3DMASK,0
|
||||
SERVO_BLH_AUTO,0
|
||||
SERVO_BLH_DEBUG,0
|
||||
SERVO_BLH_MASK,0
|
||||
SERVO_BLH_OTYPE,0
|
||||
SERVO_BLH_POLES,14
|
||||
SERVO_BLH_PORT,0
|
||||
SERVO_BLH_RVMASK,0
|
||||
SERVO_BLH_TEST,0
|
||||
SERVO_BLH_TMOUT,0
|
||||
SERVO_BLH_TRATE,10
|
||||
SERVO_DSHOT_ESC,0
|
||||
SERVO_DSHOT_RATE,0
|
||||
SERVO_FTW_MASK,0
|
||||
SERVO_FTW_POLES,14
|
||||
SERVO_FTW_RVMASK,0
|
||||
SERVO_GPIO_MASK,0
|
||||
SERVO_RATE,50
|
||||
SERVO_ROB_POSMAX,4095
|
||||
SERVO_ROB_POSMIN,0
|
||||
SERVO_SBUS_RATE,50
|
||||
SERVO_VOLZ_MASK,0
|
||||
SERVO1_FUNCTION,0
|
||||
SERVO1_MAX,1900
|
||||
SERVO1_MIN,1100
|
||||
SERVO1_REVERSED,0
|
||||
SERVO1_TRIM,1500
|
||||
SERVO10_FUNCTION,0
|
||||
SERVO10_MAX,1900
|
||||
SERVO10_MIN,1100
|
||||
SERVO10_REVERSED,0
|
||||
SERVO10_TRIM,1500
|
||||
SERVO11_FUNCTION,0
|
||||
SERVO11_MAX,1900
|
||||
SERVO11_MIN,1100
|
||||
SERVO11_REVERSED,0
|
||||
SERVO11_TRIM,1500
|
||||
SERVO12_FUNCTION,0
|
||||
SERVO12_MAX,1900
|
||||
SERVO12_MIN,1100
|
||||
SERVO12_REVERSED,0
|
||||
SERVO12_TRIM,1500
|
||||
SERVO13_FUNCTION,0
|
||||
SERVO13_MAX,1900
|
||||
SERVO13_MIN,1100
|
||||
SERVO13_REVERSED,0
|
||||
SERVO13_TRIM,1500
|
||||
SERVO14_FUNCTION,0
|
||||
SERVO14_MAX,1900
|
||||
SERVO14_MIN,1100
|
||||
SERVO14_REVERSED,0
|
||||
SERVO14_TRIM,1500
|
||||
SERVO15_FUNCTION,0
|
||||
SERVO15_MAX,1900
|
||||
SERVO15_MIN,1100
|
||||
SERVO15_REVERSED,0
|
||||
SERVO15_TRIM,1500
|
||||
SERVO16_FUNCTION,0
|
||||
SERVO16_MAX,1900
|
||||
SERVO16_MIN,1100
|
||||
SERVO16_REVERSED,0
|
||||
SERVO16_TRIM,1500
|
||||
SERVO2_FUNCTION,0
|
||||
SERVO2_MAX,1900
|
||||
SERVO2_MIN,1100
|
||||
SERVO2_REVERSED,0
|
||||
SERVO2_TRIM,1500
|
||||
SERVO3_FUNCTION,0
|
||||
SERVO3_MAX,1900
|
||||
SERVO3_MIN,1100
|
||||
SERVO3_REVERSED,0
|
||||
SERVO3_TRIM,1500
|
||||
SERVO4_FUNCTION,0
|
||||
SERVO4_MAX,1900
|
||||
SERVO4_MIN,1100
|
||||
SERVO4_REVERSED,0
|
||||
SERVO4_TRIM,1500
|
||||
SERVO5_FUNCTION,0
|
||||
SERVO5_MAX,1900
|
||||
SERVO5_MIN,1100
|
||||
SERVO5_REVERSED,0
|
||||
SERVO5_TRIM,1500
|
||||
SERVO6_FUNCTION,0
|
||||
SERVO6_MAX,1900
|
||||
SERVO6_MIN,1100
|
||||
SERVO6_REVERSED,0
|
||||
SERVO6_TRIM,1500
|
||||
SERVO7_FUNCTION,0
|
||||
SERVO7_MAX,1900
|
||||
SERVO7_MIN,1100
|
||||
SERVO7_REVERSED,0
|
||||
SERVO7_TRIM,1500
|
||||
SERVO8_FUNCTION,0
|
||||
SERVO8_MAX,1900
|
||||
SERVO8_MIN,1100
|
||||
SERVO8_REVERSED,0
|
||||
SERVO8_TRIM,1500
|
||||
SERVO9_FUNCTION,0
|
||||
SERVO9_MAX,1900
|
||||
SERVO9_MIN,1100
|
||||
SERVO9_REVERSED,0
|
||||
SERVO9_TRIM,1500
|
||||
SID_AXIS,0
|
||||
SIMPLE,0
|
||||
SPRAY_ENABLE,0
|
||||
SR0_ADSB,0
|
||||
SR0_EXT_STAT,2
|
||||
SR0_EXTRA1,2
|
||||
SR0_EXTRA2,2
|
||||
SR0_EXTRA3,4
|
||||
SR0_PARAMS,0
|
||||
SR0_POSITION,2
|
||||
SR0_RAW_CTRL,0
|
||||
SR0_RAW_SENS,4
|
||||
SR0_RC_CHAN,2
|
||||
SR1_ADSB,0
|
||||
SR1_EXT_STAT,0
|
||||
SR1_EXTRA1,0
|
||||
SR1_EXTRA2,0
|
||||
SR1_EXTRA3,0
|
||||
SR1_PARAMS,0
|
||||
SR1_POSITION,0
|
||||
SR1_RAW_CTRL,0
|
||||
SR1_RAW_SENS,0
|
||||
SR1_RC_CHAN,0
|
||||
SR2_ADSB,0
|
||||
SR2_EXT_STAT,0
|
||||
SR2_EXTRA1,0
|
||||
SR2_EXTRA2,0
|
||||
SR2_EXTRA3,0
|
||||
SR2_PARAMS,0
|
||||
SR2_POSITION,0
|
||||
SR2_RAW_CTRL,0
|
||||
SR2_RAW_SENS,0
|
||||
SR2_RC_CHAN,0
|
||||
SR3_ADSB,0
|
||||
SR3_EXT_STAT,0
|
||||
SR3_EXTRA1,0
|
||||
SR3_EXTRA2,0
|
||||
SR3_EXTRA3,0
|
||||
SR3_PARAMS,0
|
||||
SR3_POSITION,0
|
||||
SR3_RAW_CTRL,0
|
||||
SR3_RAW_SENS,0
|
||||
SR3_RC_CHAN,0
|
||||
SR4_ADSB,0
|
||||
SR4_EXT_STAT,0
|
||||
SR4_EXTRA1,0
|
||||
SR4_EXTRA2,0
|
||||
SR4_EXTRA3,0
|
||||
SR4_PARAMS,0
|
||||
SR4_POSITION,0
|
||||
SR4_RAW_CTRL,0
|
||||
SR4_RAW_SENS,0
|
||||
SR4_RC_CHAN,0
|
||||
SRTL_ACCURACY,2
|
||||
SRTL_OPTIONS,0
|
||||
SRTL_POINTS,300
|
||||
STAT_BOOTCNT,1
|
||||
STAT_FLTTIME,0
|
||||
STAT_RESET,0
|
||||
STAT_RUNTIME,0
|
||||
SUPER_SIMPLE,0
|
||||
SURFTRAK_MODE,1
|
||||
SURFTRAK_TC,1
|
||||
SYSID_ENFORCE,0
|
||||
SYSID_MYGCS,255
|
||||
SYSID_THISMAV,1
|
||||
TCAL_ENABLED,0
|
||||
TELEM_DELAY,0
|
||||
TERRAIN_ENABLE,1
|
||||
TERRAIN_MARGIN,0.05
|
||||
TERRAIN_OFS_MAX,30
|
||||
TERRAIN_OPTIONS,0
|
||||
TERRAIN_SPACING,100
|
||||
THR_DZ,100
|
||||
THROW_MOT_START,0
|
||||
THROW_NEXTMODE,18
|
||||
THROW_TYPE,0
|
||||
TKOFF_RPM_MIN,0
|
||||
TKOFF_SLEW_TIME,2
|
||||
TUNE,0
|
||||
TUNE_MAX,0
|
||||
TUNE_MIN,0
|
||||
VISO_TYPE,0
|
||||
VTX_ENABLE,0
|
||||
WAYPOINT_GLED,0
|
||||
WINCH_TYPE,0
|
||||
WP_NAVALT_MIN,0
|
||||
WP_YAW_BEHAVIOR,2
|
||||
WPNAV_ACCEL,250
|
||||
WPNAV_ACCEL_C,0
|
||||
WPNAV_ACCEL_Z,100
|
||||
WPNAV_JERK,1
|
||||
WPNAV_RADIUS,200
|
||||
WPNAV_RFND_USE,1
|
||||
WPNAV_SPEED,1000
|
||||
WPNAV_SPEED_DN,150
|
||||
WPNAV_SPEED_UP,250
|
||||
WPNAV_TER_MARGIN,10
|
||||
WVANE_ENABLE,0
|
||||
ZIGZ_AUTO_ENABLE,0
|
||||
96
编队修改的参数.param
Normal file
96
编队修改的参数.param
Normal file
@ -0,0 +1,96 @@
|
||||
名称 原值 新值 说明
|
||||
//杂项
|
||||
AHRS_GPS_USE 1 2 // 为了使用GPS作为高度源https://ardupilot.org/copter/docs/common-gps-for-alt.html
|
||||
ARMING_ACCTHRESH 0.75 1.5 //温度变化时，经常出现加速计不一致，增加阈值
|
||||
ARMING_CHECK 1 414 // 没接遥控时可以解锁
|
||||
ARMING_GYRTHRESH 5 10 //经常出现陀螺仪不一致，增加阈值
|
||||
BRD_OPTIONS 1 3 //允许看门狗，关闭tftp用于mavlink通讯
|
||||
BRD_RTC_TZ_MIN 0 480 //用做内部时钟确定时间--为了和东8区时间电脑给的起飞时间一致
|
||||
BRD_SAFETY_DEFLT 1 0 //没有安装安全开关
|
||||
BRD_SER1_RTSCTS 2 0 //关闭流控，以前不关有bug
|
||||
BRD_SER2_RTSCTS 2 0 //关闭流控，以前不关有bug
|
||||
DISARM_DELAY 10 0 //解锁后永远不会自动上锁
|
||||
WP_YAW_BEHAVIOR 2 0 //航点飞行时不改变机头
|
||||
FC_LOG_LEVEL 1 4 //只记录错误日志
|
||||
FRAME_CLASS 0 1
|
||||
FS_THR_ENABLE 1 0 //关闭油门保护
|
||||
MOT_PWM_MAX 2000 1900
|
||||
MOT_PWM_MIN 1000 1100
|
||||
MOT_SPIN_ARM 0.1 0 //怠速为0
|
||||
|
||||
|
||||
//PID相关
|
||||
ATC_RAT_PIT_D 0.0036 0.002
|
||||
ATC_RAT_PIT_I 0.135 0.04
|
||||
ATC_RAT_PIT_P 0.135 0.035
|
||||
ATC_RAT_RLL_D 0.0036 0.002
|
||||
ATC_RAT_RLL_I 0.135 0.04
|
||||
ATC_RAT_RLL_P 0.135 0.035
|
||||
|
||||
//位置控制相关
|
||||
PSC_ACCZ_I 1 0.5 //为了航点高度更准
|
||||
PSC_ACCZ_P 0.5 0.25 //为了航点高度更准
|
||||
PSC_POSXY_P 1 3 //为了航点位置更准
|
||||
PSC_POSZ_P 1 2 //为了航点高度更准
|
||||
PSC_VELZ_P 5 8 //为了航点高度更准
|
||||
|
||||
|
||||
//EKF3相关
|
||||
EK3_GLITCH_RAD 25 0 //为了在gps出现一些毛刺或大范围漂移时，裁剪位置 https://ardupilots.org/copter/docs/parameters.html
|
||||
EK3_POS_I_GATE 500 300 //同上https://ardupilots.org/copter/docs/parameters.html
|
||||
EK3_RNG_I_GATE 500 300 //同上https://ardupilots.org/copter/docs/parameters.html
|
||||
EK3_SRC1_POSZ 1 3 //使用GPS作为高度源，如果 GPS 出现故障，EKF 将退回到使用气压计
|
||||
EK3_VEL_I_GATE 500 300 //同EK3_GLITCH_RAD https://ardupilots.org/copter/docs/parameters.html
|
||||
|
||||
|
||||
//GPS设置
|
||||
GPS_AUTO_CONFIG 1 0
|
||||
GPS_HDOP_GOOD 140 200
|
||||
GPS_POS1_X 0 0.04 //RTK安装位置中心靠前4cm
|
||||
GPS_RATE_MS 200 100 //rtk时10hz
|
||||
GPS_SAVE_CFG 2 0
|
||||
|
||||
|
||||
//遥控器/键盘控制
|
||||
LOIT_ACC_MAX 500 200 //柔和一些
|
||||
LOIT_BRK_ACCEL 250 200 //柔和一些
|
||||
LOIT_SPEED 1250 800 //不影响编队速度，这个是操控速度
|
||||
|
||||
|
||||
//串口相关
|
||||
SERIAL1_BAUD 57 115 //通讯模块用mavlinkV1
|
||||
SERIAL1_PROTOCOL 2 1
|
||||
SERIAL2_BAUD 57 115 //RTK
|
||||
SERIAL2_PROTOCOL 2 5
|
||||
SERIAL3_BAUD 38 57 //备用通讯模块57600,mavlinkV1
|
||||
SERIAL3_PROTOCOL 5 1
|
||||
SERIAL4_PROTOCOL 5 -1
|
||||
|
||||
//导航速度相关
|
||||
WPNAV_ACCEL_Z 100 200 //上升快一些
|
||||
WPNAV_RADIUS 200 100 //提高航点到达的精度
|
||||
WPNAV_SPEED 1000 1200 //航点飞行最大速度
|
||||
WPNAV_SPEED_DN 150 500 //航点飞行最大下降速度
|
||||
WPNAV_SPEED_UP 250 500 //航点飞行最大上升速度
|
||||
|
||||
//返航降落相关
|
||||
RTL_ALT 1500 3000 //返航最低高度
|
||||
RTL_LOIT_TIME 5000 1000 //返航到起飞点等1s就开始降落
|
||||
LAND_ALT_LOW 1000 500 //使用降落速度的高度改为5m
|
||||
LAND_SPEED_HIGH 0 250 //降落时速度
|
||||
LAND_SPEED_NOPOS 0 500 //无gps时降落速度--好像没起作用，看日志是300cm/s
|
||||
|
||||
//电池监控相关
|
||||
BATT_MONITOR 0 4
|
||||
BATT_FS_LOW_ACT 0 2
|
||||
BATT_LOW_VOLT 10.5 13.6
|
||||
BATT_VOLT_MULT 10.1 11.06664
|
||||
|
||||
//围栏预设，未启用,启用只需要设置 FENCE_ENABLE =1
|
||||
FENCE_ALT_MAX 100 250
|
||||
FENCE_RADIUS 300 500
|
||||
FENCE_TYPE 7 3
|
||||
|
||||
//默认模式
|
||||
FLTMODE4 0 2
|
||||
FLTMODE6 0 5
|
||||
7
编队关键参数.param
Normal file
7
编队关键参数.param
Normal file
@ -0,0 +1,7 @@
|
||||
AHRS_GPS_USE,2
|
||||
ARMING_ACCTHRESH,1.5
|
||||
ARMING_GYRTHRESH,10
|
||||
DISARM_DELAY,0
|
||||
EK3_SRC1_POSZ,3
|
||||
RTL_LOIT_TIME,1000
|
||||
WP_YAW_BEHAVIOR,0
|
||||
Loading…
Reference in New Issue
Block a user