加入参数修改说明
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10
定制编队飞控_参数V2.0.1R2.param
Normal file
10
定制编队飞控_参数V2.0.1R2.param
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@ -0,0 +1,10 @@
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ARMING_ACCTHRESH,1.5
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ARMING_GYRTHRESH,10
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DISARM_DELAY,0
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RTL_LOIT_TIME,1000
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ARMING_CHECK,414
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BRD_RTC_TZ_MIN,480
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BRD_SAFETY_DEFLT,0
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BRD_SER1_RTSCTS ,0
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BRD_SER2_RTSCTS ,0
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FC_LOG_LEVEL,4
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116
编队修改参数说明.param
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116
编队修改参数说明.param
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名称 原值 新值 说明
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//杂项
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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
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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
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ARMING_CHECK 1 414 // 没接遥控时可以解锁
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ARMING_GYRTHRESH 5 10 //经常出现陀螺仪不一致，增加阈值
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BRD_OPTIONS 1 3 //允许看门狗，关闭tftp用于mavlink通讯
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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
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BRD_SAFETY_DEFLT 1 0 //没有安装安全开关
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BRD_SER1_RTSCTS 2 0 //关闭流控，以前不关有bug
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BRD_SER2_RTSCTS 2 0 //关闭流控，以前不关有bug
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DISARM_DELAY 10 0 //解锁后永远不会自动上锁
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WP_YAW_BEHAVIOR 2 0 //航点飞行时不改变机头
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FC_LOG_LEVEL 1 4 //只记录错误日志
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FRAME_CLASS 0 1
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MOT_PWM_MAX 2000 1900
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MOT_PWM_MIN 1000 1100
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MOT_SPIN_ARM 0.1 0 //怠速为0
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//故障相关
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FS_THR_ENABLE 1 0 //关闭油门保护
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FS_EKF_THRESH 0.8 1 //防止ekf保护故障频繁出现
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//PID相关
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ATC_RAT_PIT_D 0.0036 0.002
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ATC_RAT_PIT_I 0.135 0.04
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ATC_RAT_PIT_P 0.135 0.035
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ATC_RAT_RLL_D 0.0036 0.002
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ATC_RAT_RLL_I 0.135 0.04
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ATC_RAT_RLL_P 0.135 0.035
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//位置控制相关
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PSC_ACCZ_I 1 0.5 //为了航点高度更准
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PSC_ACCZ_P 0.5 0.25 //为了航点高度更准
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PSC_POSXY_P 1 5 //为了航点位置更准
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PSC_POSZ_P 1 5 //为了航点高度更准
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PSC_VELZ_P 5 7 //为了航点高度更准
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PSC_VELXY_D 0.5 1
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PSC_VELXY_I 1 3
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PSC_VELXY_P 2 3
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PSC_VELZ_D 0 0.7
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PSC_VELZ_I 0 7
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//EKF3相关
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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
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EK3_POS_I_GATE 500 600 //同上https://ardupilots.org/copter/docs/parameters.html
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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
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EK3_VEL_I_GATE 500 600 //同EK3_GLITCH_RAD https://ardupilots.org/copter/docs/parameters.html
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EK3_ALT_GPS 5 6 //实测一旦没有固定解，气压计是马上调整到另外一个高度，但高度不会偏差太大，大概2-3米，但用gps会相对较慢的改变高度，但偏差可能很大，有可能十几米
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EK3_IMU_MASK 3 1 //不做ekf land切换，因为这个切换逻辑不成熟，可能切换过去的更差，比如切换导致yaw突然几十度变化
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EK3_HGT_I_GATE 500 1000
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EK3_VELD_M_NSE 0.5 0.02
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EK3_VELNE_M_NSE 0.3 0.02
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//GPS设置
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GPS_AUTO_CONFIG 1 0
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GPS_HDOP_GOOD 140 200
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GPS_POS1_X 0 0.04 //RTK安装位置中心靠前4cm
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GPS_RATE_MS 200 100 //rtk时10hz
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GPS_SAVE_CFG 2 0
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//遥控器/键盘控制
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LOIT_ACC_MAX 500 200 //柔和一些
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LOIT_BRK_ACCEL 250 200 //柔和一些
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LOIT_SPEED 1250 800 //不影响编队速度，这个是操控速度
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//串口相关
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SERIAL1_BAUD 57 115 //通讯模块用mavlinkV1
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SERIAL1_PROTOCOL 2 1
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SERIAL2_BAUD 57 115 //RTK
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SERIAL2_PROTOCOL 2 5
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SERIAL3_BAUD 38 57 //备用通讯模块57600,mavlinkV1
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SERIAL3_PROTOCOL 5 1
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SERIAL4_PROTOCOL 5 -1
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//导航速度相关
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WPNAV_ACCEL_Z 100 200 //上升快一些
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WPNAV_RADIUS 200 100 //提高航点到达的精度
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WPNAV_SPEED 1000 1200 //航点飞行最大速度
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WPNAV_SPEED_DN 150 500 //航点飞行最大下降速度
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WPNAV_SPEED_UP 250 500 //航点飞行最大上升速度
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//返航降落相关
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RTL_ALT 1500 3000 //返航最低高度
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RTL_LOIT_TIME 5000 1000 //返航到起飞点等1s就开始降落
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LAND_ALT_LOW 1000 500 //使用降落速度的高度改为5m
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LAND_SPEED_HIGH 0 250 //降落时速度
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LAND_SPEED_NOPOS 0 500 //无gps时降落速度--好像没起作用，看日志是300cm/s
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//电池监控相关
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BATT_MONITOR 0 4
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BATT_FS_LOW_ACT 0 2
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BATT_LOW_VOLT 10.5 13.6
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BATT_VOLT_MULT 10.1 11.06664
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//围栏预设，未启用,启用只需要设置 FENCE_ENABLE =1
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FENCE_ALT_MAX 100 250
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FENCE_RADIUS 300 500
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FENCE_TYPE 7 3
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//默认模式
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FLTMODE4 0 2
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FLTMODE6 0 5
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@ -1,98 +0,0 @@
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名称 原值 新值 说明
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//杂项
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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
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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
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ARMING_CHECK 1 414 // 没接遥控时可以解锁
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ARMING_GYRTHRESH 5 10 //经常出现陀螺仪不一致，增加阈值
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BRD_OPTIONS 1 3 //允许看门狗，关闭tftp用于mavlink通讯
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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
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BRD_SAFETY_DEFLT 1 0 //没有安装安全开关
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BRD_SER1_RTSCTS 2 0 //关闭流控，以前不关有bug
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BRD_SER2_RTSCTS 2 0 //关闭流控，以前不关有bug
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DISARM_DELAY 10 0 //解锁后永远不会自动上锁
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WP_YAW_BEHAVIOR 2 0 //航点飞行时不改变机头
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FC_LOG_LEVEL 1 4 //只记录错误日志
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FRAME_CLASS 0 1
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MOT_PWM_MAX 2000 1900
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MOT_PWM_MIN 1000 1100
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MOT_SPIN_ARM 0.1 0 //怠速为0
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//故障相关
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FS_THR_ENABLE 1 0 //关闭油门保护
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//PID相关
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ATC_RAT_PIT_D 0.0036 0.002
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ATC_RAT_PIT_I 0.135 0.04
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ATC_RAT_PIT_P 0.135 0.035
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ATC_RAT_RLL_D 0.0036 0.002
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ATC_RAT_RLL_I 0.135 0.04
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ATC_RAT_RLL_P 0.135 0.035
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//位置控制相关
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PSC_ACCZ_I 1 0.5 //为了航点高度更准
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PSC_ACCZ_P 0.5 0.25 //为了航点高度更准
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PSC_POSXY_P 1 3 //为了航点位置更准
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PSC_POSZ_P 1 2 //为了航点高度更准
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PSC_VELZ_P 5 8 //为了航点高度更准
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//EKF3相关
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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
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EK3_POS_I_GATE 500 300 //同上https://ardupilots.org/copter/docs/parameters.html
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EK3_RNG_I_GATE 500 300 //同上https://ardupilots.org/copter/docs/parameters.html
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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
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EK3_VEL_I_GATE 500 300 //同EK3_GLITCH_RAD https://ardupilots.org/copter/docs/parameters.html
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//GPS设置
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GPS_AUTO_CONFIG 1 0
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GPS_HDOP_GOOD 140 200
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GPS_POS1_X 0 0.04 //RTK安装位置中心靠前4cm
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GPS_RATE_MS 200 100 //rtk时10hz
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GPS_SAVE_CFG 2 0
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//遥控器/键盘控制
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LOIT_ACC_MAX 500 200 //柔和一些
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LOIT_BRK_ACCEL 250 200 //柔和一些
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LOIT_SPEED 1250 800 //不影响编队速度，这个是操控速度
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//串口相关
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SERIAL1_BAUD 57 115 //通讯模块用mavlinkV1
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SERIAL1_PROTOCOL 2 1
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SERIAL2_BAUD 57 115 //RTK
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SERIAL2_PROTOCOL 2 5
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SERIAL3_BAUD 38 57 //备用通讯模块57600,mavlinkV1
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SERIAL3_PROTOCOL 5 1
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SERIAL4_PROTOCOL 5 -1
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//导航速度相关
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WPNAV_ACCEL_Z 100 200 //上升快一些
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WPNAV_RADIUS 200 100 //提高航点到达的精度
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WPNAV_SPEED 1000 1200 //航点飞行最大速度
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WPNAV_SPEED_DN 150 500 //航点飞行最大下降速度
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WPNAV_SPEED_UP 250 500 //航点飞行最大上升速度
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//返航降落相关
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RTL_ALT 1500 3000 //返航最低高度
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RTL_LOIT_TIME 5000 1000 //返航到起飞点等1s就开始降落
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LAND_ALT_LOW 1000 500 //使用降落速度的高度改为5m
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LAND_SPEED_HIGH 0 250 //降落时速度
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LAND_SPEED_NOPOS 0 500 //无gps时降落速度--好像没起作用，看日志是300cm/s
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//电池监控相关
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BATT_MONITOR 0 4
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BATT_FS_LOW_ACT 0 2
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BATT_LOW_VOLT 10.5 13.6
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BATT_VOLT_MULT 10.1 11.06664
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//围栏预设，未启用,启用只需要设置 FENCE_ENABLE =1
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FENCE_ALT_MAX 100 250
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FENCE_RADIUS 300 500
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FENCE_TYPE 7 3
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//默认模式
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FLTMODE4 0 2
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FLTMODE6 0 5
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31
编队关键参数.param
31
编队关键参数.param
@ -2,6 +2,33 @@ AHRS_GPS_USE,2
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ARMING_ACCTHRESH,1.5
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ARMING_GYRTHRESH,10
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DISARM_DELAY,0
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EK3_SRC1_POSZ,3
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RTL_LOIT_TIME,1000
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WP_YAW_BEHAVIOR,0
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WP_YAW_BEHAVIOR,0
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FC_LOG_LEVEL,4
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FS_EKF_THRESH,1
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PSC_ACCZ_I,0.5
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PSC_ACCZ_P, 0.25
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PSC_POSXY_P ,5
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PSC_POSZ_P,5
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PSC_VELZ_P ,7
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PSC_VELXY_D, 1
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PSC_VELXY_I , 3
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PSC_VELXY_P ,3
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PSC_VELZ_D , 0.7
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PSC_VELZ_I ,7
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EK3_SRC1_POSZ,3
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EK3_IMU_MASK,1
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EK3_ALT_GPS,6
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EK3_POS_I_GATE,600
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EK3_VEL_I_GATE,600
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EK3_HGT_I_GATE ,1000
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EK3_VELD_M_NSE ,0.02
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EK3_VELNE_M_NSE, 0.02
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EK3_GLITCH_RAD,0
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WPNAV_ACCEL_Z,200
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WPNAV_RADIUS, 100
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WPNAV_SPEED,1200
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WPNAV_SPEED_DN,500
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WPNAV_SPEED_UP, 500
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FC_WP_ACC_XY ,200
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FC_WP_LEADPER, 0.15
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