From a8d1845bb567f2b66eb79fd6c7dcefbeae40feb3 Mon Sep 17 00:00:00 2001 From: xu Date: Sat, 11 Jan 2025 18:33:06 +0800 Subject: [PATCH] =?UTF-8?q?[=E7=B1=BB=E5=9E=8B]=20=E7=8E=B0=E5=9C=BA?= =?UTF-8?q?=E6=A3=80=E6=9F=A5=EF=BC=8C=E8=80=81=E9=A3=9E=E6=8E=A7=E4=B8=93?= =?UTF-8?q?=E7=94=A8?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- 现场检查/统一参数V3_老飞控.param | 213 +++++++++++++++++++++++++++++++ 1 file changed, 213 insertions(+) create mode 100644 现场检查/统一参数V3_老飞控.param diff --git a/现场检查/统一参数V3_老飞控.param b/现场检查/统一参数V3_老飞控.param new file mode 100644 index 0000000..38dc991 --- /dev/null +++ b/现场检查/统一参数V3_老飞控.param @@ -0,0 +1,213 @@ +AHRS_GPS_USE,2 +ARMING_ACCTHRESH,1.5 +ARMING_CHECK,414 +ARMING_GYRTHRESH,10 +BATT_FS_CRT_ACT,0 +BATT_FS_LOW_ACT,2 +BATT_FS_VOLTSRC,0 +BATT_LOW_MAH,0 +BATT_LOW_TIMER,10 +BATT_LOW_VOLT,13.6 +BATT_MONITOR,4 +BATT_OPTIONS,0 +BATT_SERIAL_NUM,-1 +BATT_VLT_OFFSET,0 +BRD_OPTIONS,3 +BRD_RTC_TZ_MIN,480 +BRD_SAFETY_DEFLT,0 +BRD_SER1_RTSCTS,0 +BRD_SER2_RTSCTS,0 +DISARM_DELAY,0 +EK3_ALT_GPS,6 +EK3_GLITCH_RAD,0 +EK3_HGT_I_GATE,1000 +EK3_IMU_MASK,1 +EK3_POS_I_GATE,600 +EK3_RNG_I_GATE,300 +EK3_SRC1_POSZ,3 +EK3_VEL_I_GATE,600 +EK3_VELD_M_NSE,0.02 +EK3_VELNE_M_NSE,0.02 +FC_LOG_LEVEL,4 +FC_WP_TYPE,2 +FC_WP_ACC_XY,200 +FC_WP_ACC_Z,150 +FC_WP_LEADPER,0.15 +FC_WP_LEADTIME,1500 +FC_WP_STEP,50 +FENCE_ALT_MAX,250 +FENCE_RADIUS,500 +FENCE_TYPE,3 +FLTMODE2,2 +FLTMODE3,5 +FLTMODE4,2 +FLTMODE6,5 +FRAME_CLASS,1 +FRAME_TYPE,1 +FS_EKF_THRESH,1 + +FS_THR_ENABLE,0 + +GPS_AUTO_CONFIG,0 + + +GPS_HDOP_GOOD,200 + +GPS_POS1_X,0.04 +GPS_RATE_MS,100 + +GPS_SAVE_CFG,0 + +INS_ACCEL_FILTER,10 + + + +INS_HNTCH_ATT,40 +INS_HNTCH_BW,42 +INS_HNTCH_ENABLE,1 +INS_HNTCH_FM_RAT,0.7 +INS_HNTCH_FREQ,84 +INS_HNTCH_HMNCS,3 +INS_HNTCH_MODE,1 +INS_HNTCH_OPTS,0 +INS_HNTCH_REF,0.075 + + + + +LAND_ALT_LOW,500 + +LAND_SPEED_HIGH,250 +LAND_SPEED_NOPOS,500 + +MOT_BAT_VOLT_MAX,16.8 +MOT_BAT_VOLT_MIN,13.2 + + + + +MOT_SPIN_ARM,0 + +MOT_THST_EXPO,0.62 +RC3_TRIM,1100 + + + +RTL_ALT,3000 +RTL_LOIT_TIME,1000 + + + +WP_YAW_BEHAVIOR,0 +WPNAV_ACCEL_Z,200 + +WPNAV_RADIUS,100 + +WPNAV_SPEED,1200 +WPNAV_SPEED_DN,500 +WPNAV_SPEED_UP,500 + + +INS_GYRO_FILTER,49 +#姿态控制 +ATC_RAT_PIT_D,0.0025 +ATC_RAT_PIT_I,0.08 +ATC_RAT_PIT_P,0.08 + +ATC_RAT_RLL_D,0.002 +ATC_RAT_RLL_I,0.08 +ATC_RAT_RLL_P,0.08 + +ATC_RAT_YAW_D,0.03 +ATC_RAT_YAW_I,2 +ATC_RAT_YAW_P,1 + + +ATC_ACCEL_P_MAX,132700 +ATC_ACCEL_R_MAX,132700 +ATC_ACCEL_Y_MAX,28500 +ATC_ANG_LIM_TC,1 +ATC_ANG_PIT_P,4.5 +ATC_ANG_RLL_P,4.5 +ATC_ANG_YAW_P,4.5 +ATC_ANGLE_BOOST,1 +ATC_INPUT_TC,0.15 + +ATC_RAT_PIT_FF,0 +ATC_RAT_PIT_FLTD,24.5 +ATC_RAT_PIT_FLTE,0 +ATC_RAT_PIT_FLTT,24.5 + +ATC_RAT_PIT_IMAX,0.5 + +ATC_RAT_PIT_SMAX,0 + +ATC_RAT_RLL_FF,0 +ATC_RAT_RLL_FLTD,24.5 +ATC_RAT_RLL_FLTE,0 +ATC_RAT_RLL_FLTT,24.5 + +ATC_RAT_RLL_IMAX,0.5 + +ATC_RAT_RLL_SMAX,0 + +ATC_RAT_YAW_FF,0 +ATC_RAT_YAW_FLTD,0 +ATC_RAT_YAW_FLTE,2 +ATC_RAT_YAW_FLTT,24.5 + +ATC_RAT_YAW_IMAX,0.5 + +ATC_RAT_YAW_SMAX,0 +ATC_RATE_FF_ENAB,1 +ATC_RATE_P_MAX,0 +ATC_RATE_R_MAX,0 +ATC_RATE_Y_MAX,0 +ATC_SLEW_YAW,6000 +ATC_THR_G_BOOST,0 +ATC_THR_MIX_MAN,0.9 +ATC_THR_MIX_MAX,0.9 +ATC_THR_MIX_MIN,0.1 + +#位置控制相关 +PSC_ACCZ_D,0 +PSC_ACCZ_FF,0 +PSC_ACCZ_FLTD,0 +PSC_ACCZ_FLTE,20 +PSC_ACCZ_FLTT,0 +PSC_ACCZ_I,0.5 +PSC_ACCZ_IMAX,800 +PSC_ACCZ_P,0.25 +PSC_ACCZ_SMAX,0 +PSC_ANGLE_MAX,0 +PSC_JERK_XY,5 +PSC_JERK_Z,5 +PSC_POSXY_P,5 +PSC_POSZ_P,5 +PSC_VELXY_D,1 +PSC_VELXY_FF,0 +PSC_VELXY_FLTD,5 +PSC_VELXY_FLTE,5 +PSC_VELXY_I,3 +PSC_VELXY_IMAX,1000 +PSC_VELXY_P,3 +PSC_VELZ_D,0.7 +PSC_VELZ_FF,0 +PSC_VELZ_FLTD,5 +PSC_VELZ_FLTE,5 +PSC_VELZ_I,7 +PSC_VELZ_IMAX,1000 +PSC_VELZ_P,7 + +# fmuv2/fmuv3版本飞控单独设置 +SERIAL1_BAUD,115 +SERIAL1_PROTOCOL,1 +SERIAL2_BAUD,115 +SERIAL2_PROTOCOL,5 +SERIAL3_BAUD,57 +SERIAL3_PROTOCOL,1 +SERIAL4_PROTOCOL,-1 + +#为了不写多余的日志，有些飞机可能在调参时开了这两个参数，会消耗cpu +LOG_BITMASK,176126 +INS_LOG_BAT_OPT,0 \ No newline at end of file