GCS , , / "Missoin Planner"
. GCS, APM , , . , APM MAVlink ( ) 20 , GCS Failsafe (FS_GCS_ENABL, 0 = , 1 = ) APM failsafe, RTL ( ).
.
1. FS_GCS_ENABL 1 .
2. "Missoin Planner" . HUD ( ) ( Manual, Stabilize, FBW).
3. USB. APM. ( APM failsafe 20 ).
4. APM "mission planner" RTL.
Short Failsafe. events.pde line 4
static void failsafe_short_on_event(){
// This is how to handle a short loss of control signal failsafe.
failsafe = FAILSAFE_SHORT;
ch3_failsafe_timer = millis();
gcs_send_text_P(SEVERITY_LOW, PSTR("Failsafe - Short event on"));
switch(control_mode)
{
case MANUAL:
case STABILIZE:
case FLY_BY_WIRE_A: // middle position
case FLY_BY_WIRE_B: // middle position
set_mode(CIRCLE);
break;
case AUTO:
case GUIDED:
case LOITER:
if(g.short_fs_action == 1) {
set_mode(RTL);
}
break;
case CIRCLE:
case RTL:
default:
break;
}
gcs_send_text_fmt(PSTR("flight mode = %u"), (unsigned)control_mode);
}
Long Failsafe. events.pde line 35
static void failsafe_long_on_event(){
// This is how to handle a long loss of control signal failsafe.
gcs_send_text_P(SEVERITY_LOW, PSTR("Failsafe - Long event on"));
APM_RC.clearOverride(); // If the GCS is locked up we allow control to revert to RC
switch(control_mode)
{
case MANUAL:
case STABILIZE:
case FLY_BY_WIRE_A: // middle position
case FLY_BY_WIRE_B: // middle position
case CIRCLE:
set_mode(RTL);
break;
case AUTO:
case GUIDED:
case LOITER:
if(g.long_fs_action == 1) {
set_mode(RTL);
}
break;
case RTL:
default:
break;
}
}
PID ArduPlane . , .
- PID "Mission Planner":
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( ) .
, - .
PID , , - P (I D , INT_MAX , I ).
(P) , "P". 1 1:1, 1 , 1 , 0 . I , . , P ( ) I IMAX , .. I - -. D ( ( )
( ) "Advanced Params". ( ), , . ( , . , "write paramerers" ( ), , EEPROM.
, , ! :
:
1. .
2. , , , , .
3. . SERVO_ROLL_P SERVO_PITCH_P () ( 10-15%) - .
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4. , 70%, , THR_MAX = 100. .
5. Throttle cruise (TRIM_THROTTLE). , , 50 , 60 . .
6. Fly-By-Wire A (FBW-A), . . . , 45 . SERVO_ROLL_P . SERVO_PITCH_P.
7. LIM_ROLL_CD - , LIM_PITCH_MAX - , LIM_PITCH_MIN . .
8. , Fly-By-Wire, , PITCH_COMP 0.10. .
9. RTL ( ). 50-100 , 30 . SERVO_ROLL_P . NAV_ROLL_P 25% . "" "" NAV_ROLL_P NAV_ROLL_I. XTRACK_GAIN.
10. , , . , 1/3 , , , . .