From c373926886c16fc826fde695a694954f9fc35c0e Mon Sep 17 00:00:00 2001 From: xu Date: Sat, 21 Sep 2024 19:40:34 +0800 Subject: [PATCH] =?UTF-8?q?=E5=8A=A0=E5=85=A5=E5=8F=82=E6=95=B0=E4=BF=AE?= =?UTF-8?q?=E6=94=B9=E8=AF=B4=E6=98=8E?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- 定制编队飞控_参数V2.0.1R2.param | 10 +++ 编队修改参数说明.param | 116 ++++++++++++++++++++++++++++++++ 编队修改的参数.param | 98 --------------------------- 编队关键参数.param | 31 ++++++++- 4 files changed, 155 insertions(+), 100 deletions(-) create mode 100644 定制编队飞控_参数V2.0.1R2.param create mode 100644 编队修改参数说明.param delete mode 100644 编队修改的参数.param diff --git a/定制编队飞控_参数V2.0.1R2.param b/定制编队飞控_参数V2.0.1R2.param new file mode 100644 index 0000000..24adb91 --- /dev/null +++ b/定制编队飞控_参数V2.0.1R2.param @@ -0,0 +1,10 @@ +ARMING_ACCTHRESH,1.5 +ARMING_GYRTHRESH,10 +DISARM_DELAY,0 +RTL_LOIT_TIME,1000 +ARMING_CHECK,414 +BRD_RTC_TZ_MIN,480 +BRD_SAFETY_DEFLT,0 +BRD_SER1_RTSCTS ,0 +BRD_SER2_RTSCTS ,0 +FC_LOG_LEVEL,4 \ No newline at end of file diff --git a/编队修改参数说明.param b/编队修改参数说明.param new file mode 100644 index 0000000..0102362 --- /dev/null +++ b/编队修改参数说明.param @@ -0,0 +1,116 @@ +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 +MOT_PWM_MAX 2000 1900 +MOT_PWM_MIN 1000 1100 +MOT_SPIN_ARM 0.1 0 //怠速为0 + +//故障相关 +FS_THR_ENABLE 1 0 //关闭油门保护 +FS_EKF_THRESH 0.8 1 //防止ekf保护故障频繁出现 + +//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 5 //为了航点位置更准 +PSC_POSZ_P 1 5 //为了航点高度更准 +PSC_VELZ_P 5 7 //为了航点高度更准 +PSC_VELXY_D 0.5 1 +PSC_VELXY_I 1 3 +PSC_VELXY_P 2 3 +PSC_VELZ_D 0 0.7 +PSC_VELZ_I 0 7 + + + + + +//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 500 600 //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 500 600 //同EK3_GLITCH_RAD https://ardupilots.org/copter/docs/parameters.html +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 +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 +EK3_HGT_I_GATE 500 1000 +EK3_VELD_M_NSE 0.5 0.02 +EK3_VELNE_M_NSE 0.3 0.02 + + + + + + + + +//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 diff --git a/编队修改的参数.param b/编队修改的参数.param deleted file mode 100644 index c1bc374..0000000 --- a/编队修改的参数.param +++ /dev/null @@ -1,98 +0,0 @@ - ԭֵ ֵ ˵ -// -AHRS_GPS_USE 1 2 // ΪʹGPSΪ߶Դhttps://ardupilot.org/copter/docs/common-gps-for-alt.html -ARMING_ACCTHRESH 0.75 1.5 //¶ȱ仯ʱּټƲһ£ֵ -ARMING_CHECK 1 414 // ûңʱԽ -ARMING_GYRTHRESH 5 10 //Dzһ£ֵ -BRD_OPTIONS 1 3 //ŹرtftpmavlinkͨѶ -BRD_RTC_TZ_MIN 0 480 //ڲʱȷʱ--Ϊ˺Ͷ8ʱԸʱһ -BRD_SAFETY_DEFLT 1 0 //ûаװȫ -BRD_SER1_RTSCTS 2 0 //رأǰbug -BRD_SER2_RTSCTS 2 0 //رأǰbug -DISARM_DELAY 10 0 //ԶԶ -WP_YAW_BEHAVIOR 2 0 //ʱıͷ -FC_LOG_LEVEL 1 4 //ֻ¼־ -FRAME_CLASS 0 1 -MOT_PWM_MAX 2000 1900 -MOT_PWM_MIN 1000 1100 -MOT_SPIN_ARM 0.1 0 //Ϊ0 - -// -FS_THR_ENABLE 1 0 //رű - - -//PID -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 - -//λÿ -PSC_ACCZ_I 1 0.5 //Ϊ˺߶ȸ׼ -PSC_ACCZ_P 0.5 0.25 //Ϊ˺߶ȸ׼ -PSC_POSXY_P 1 3 //Ϊ˺λø׼ -PSC_POSZ_P 1 2 //Ϊ˺߶ȸ׼ -PSC_VELZ_P 5 8 //Ϊ˺߶ȸ׼ - - -//EKF3 -EK3_GLITCH_RAD 25 0 //ΪgpsһЩë̻ΧƯʱüλ https://ardupilots.org/copter/docs/parameters.html -EK3_POS_I_GATE 500 300 //ͬhttps://ardupilots.org/copter/docs/parameters.html -EK3_RNG_I_GATE 500 300 //ͬhttps://ardupilots.org/copter/docs/parameters.html -EK3_SRC1_POSZ 1 3 //ʹGPSΪ߶Դ GPS ֹϣEKF ˻صʹѹ -EK3_VEL_I_GATE 500 300 //ͬEK3_GLITCH_RAD https://ardupilots.org/copter/docs/parameters.html - - -//GPS -GPS_AUTO_CONFIG 1 0 -GPS_HDOP_GOOD 140 200 -GPS_POS1_X 0 0.04 //RTKװλĿǰ4cm -GPS_RATE_MS 200 100 //rtkʱ10hz -GPS_SAVE_CFG 2 0 - - -//ң/̿ -LOIT_ACC_MAX 500 200 //һЩ -LOIT_BRK_ACCEL 250 200 //һЩ -LOIT_SPEED 1250 800 //ӰٶȣDzٿٶ - - -// -SERIAL1_BAUD 57 115 //ͨѶģmavlinkV1 -SERIAL1_PROTOCOL 2 1 -SERIAL2_BAUD 57 115 //RTK -SERIAL2_PROTOCOL 2 5 -SERIAL3_BAUD 38 57 //ͨѶģ57600,mavlinkV1 -SERIAL3_PROTOCOL 5 1 -SERIAL4_PROTOCOL 5 -1 - - //ٶ -WPNAV_ACCEL_Z 100 200 //һЩ -WPNAV_RADIUS 200 100 //ߺ㵽ľ -WPNAV_SPEED 1000 1200 //ٶ -WPNAV_SPEED_DN 150 500 //½ٶ -WPNAV_SPEED_UP 250 500 //ٶ - -// -RTL_ALT 1500 3000 //͸߶ -RTL_LOIT_TIME 5000 1000 //ɵ1sͿʼ -LAND_ALT_LOW 1000 500 //ʹýٶȵĸ߶ȸΪ5m -LAND_SPEED_HIGH 0 250 //ʱٶ -LAND_SPEED_NOPOS 0 500 //gpsʱٶ--ûã־300cm/s - - //ؼ -BATT_MONITOR 0 4 -BATT_FS_LOW_ACT 0 2 -BATT_LOW_VOLT 10.5 13.6 -BATT_VOLT_MULT 10.1 11.06664 - -//ΧԤ裬δ,ֻҪ FENCE_ENABLE =1 -FENCE_ALT_MAX 100 250 -FENCE_RADIUS 300 500 -FENCE_TYPE 7 3 - -//Ĭģʽ -FLTMODE4 0 2 -FLTMODE6 0 5 diff --git a/编队关键参数.param b/编队关键参数.param index b11c1a4..eb14846 100644 --- a/编队关键参数.param +++ b/编队关键参数.param @@ -2,6 +2,33 @@ 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 \ No newline at end of file +WP_YAW_BEHAVIOR,0 +FC_LOG_LEVEL,4 +FS_EKF_THRESH,1 +PSC_ACCZ_I,0.5 +PSC_ACCZ_P, 0.25 +PSC_POSXY_P ,5 +PSC_POSZ_P,5 +PSC_VELZ_P ,7 +PSC_VELXY_D, 1 +PSC_VELXY_I , 3 +PSC_VELXY_P ,3 +PSC_VELZ_D , 0.7 +PSC_VELZ_I ,7 +EK3_SRC1_POSZ,3 +EK3_IMU_MASK,1 +EK3_ALT_GPS,6 +EK3_POS_I_GATE,600 +EK3_VEL_I_GATE,600 +EK3_HGT_I_GATE ,1000 +EK3_VELD_M_NSE ,0.02 +EK3_VELNE_M_NSE, 0.02 +EK3_GLITCH_RAD,0 +WPNAV_ACCEL_Z,200 +WPNAV_RADIUS, 100 +WPNAV_SPEED,1200 +WPNAV_SPEED_DN,500 +WPNAV_SPEED_UP, 500 +FC_WP_ACC_XY ,200 +FC_WP_LEADPER, 0.15 \ No newline at end of file