ArduCopter
( , DaveC, . )
, ArduCopter, , PID ( -- . ). .
PID, Mission Planner. ArduCopter Pids, , . Standard Params Advanced Params,
:
- Stabilize , Stabilize !
- ! , , . , , - .
, , (Rate Control P). (in-flight tuning) CH6 . , , . , . , .
: Rate Control P =0.1750. Jdrones/3DR Quadcopter 850 10 " . , 880 12" , , Rate Control P . Rate Control P 0,15 0,1, .
(Altitude hold). Rate Control P , .
, , . = .
- ( ), : (gain?) Rate Control P.
- ( ), : (gain?) Stabilize Control P.
- : Rate Control P. -, .
- : Stabilize Control P. .
- 15 , : ( ) ESC . , . ESC.
- : Stabilize Control P.
- 10 - 30 : , APM. , . , , , APM .
- : . ( 15 , .) - ( !) . , , 180 . , , . SIMPLE , . Yaw., .
- , : ESC. , . . ESC , . , . . , .
- Loiter, : Nav_P. I, , Nav_I Loiter_I . I 0, Nav_P.
- (Alt hold) 10 (3) 1-2: , . . , .
- Alt hold. : THROTTLE_P . P, . , , . ! , . I , .
- , . ESC. ESC , . , .
- , : , .
|
|
|
|
Mission planner ( USB) ( ) (Tx) 6 (CH6) ( , ) CH6, 6 .)
1: (. 2)
ArduCopter Configuration " Mission Planner, CH6, . CH6_RATE_KP.
v1.1.44 , Ch6. TUNE_HIGH TUNE_LOW Configuration > Adv Parameter List.
, + - 30-40% ( CH6_RATE_KP "" 0,100 "" 0,180 0,140)
"Write Params '. Refresh Params, (Parameter List tab TUNE_HIGH & TUNE_LOW) .
, : Refresh Params, , Refresh Params, . (Terminal), test , tune , , .
CH6 0 25%, , .
, , Refresh Params, Parameter List ( TUNE_HIGH & TUNE_LOW). Terminal , test, tune . Configuration.
, , , CH6_NONE ( !)
Rate_KP. :
- ( )
- ( )
- ( )
- ( )
- ( )
:
CH6_NONE 0
--- (Attitude)
CH6_STABILIZE_KP 1
CH6_STABILIZE_KI 2
CH6_STABILIZE_KD 29 / / CH6_DAMP
CH6_YAW_KP 3
CH6_YAW_KI 24
--- (() Rate)
CH6_ACRO_KP 25
CH6_RATE_KP 4
CH6_RATE_KI 5
CH6_RATE_KD 21
CH6_YAW_RATE_KP 6
CH6_YAW_RATE_KD 26
--- (Altitude rate controller)
CH6_THROTTLE_KP 7
--- (Extras)
CH6_TOP_BOTTOM_RATIO 8
CH6_RELAY 9
--- (Navigation)
CH6_TRAVERSE_SPEED 10 / /
CH6_NAV_KP 11
CH6_LOITER_KP 12
CH6_LOITER_KI 27
--- (Trad Heli specific)
CH6_HELI_EXTERNAL_GYRO 13
--- (altitude controller)
CH6_THR_HOLD_KP 14
CH6_Z_GAIN 15
CH6_DAMP 16 / / CH6_YAW_RATE_KD
--- (optical flow controller)
CH6_OPTFLOW_KP 17
CH6_OPTFLOW_KI 18
CH6_OPTFLOW_KD 19
CH6_NAV_I 20
CH6_LOITER_RATE_KP 22
CH6_LOITER_RATE_KI 28
CH6_LOITER_RATE_KD 23
CH6_AHRS_YAW_KP 30
|
|
2: Attitude Tuning CH6:
.
, , , 60 . , 10mx10m (30ftx30ft).
1 .
Rate_P + - 30% -40% ( Rate_P "" 0,100 "" 0,180 0,140) , . - 0,100 1,000 0,010!
1,5 (5 ) , , , , , " " . , , , .
1.
: ( I , , 0.000-0.100.)
P I:
AC2 . . ( ) Rate_P. . , , . - I, , .