一、刷入固件：王俊凯个人资料
a)打开地面站，进入“Firmware”页面，点击“rescue”。会出现一个倒计时的进度条。
b)在进度条退掉之前，连接飞控。连接成功后会出现飞控的信息。
c)点击“Open Files”，去到地面站目录下找到名为：quanton的固件，打开。
d)点击”flash”，即可刷入，刷入后重启即可。
二、校准
a)温度校准，扔冰箱里到温度范围下限，然后拿出来，立即通电，跑校准。大约15分
钟，可选。温度漂移还是有的，建议校准。可以用吹风加速。
b)6点校准的时候，飞控指向应满足下列要求之一，
i.机头水平时，机头应指向同一方向
ii.机头向上时，机腹应指向同一方向
iii.机头向上时，机背应指向同一方向
就好比飞控放在一个立方体的六个面上一样，方向一定要弄对，否则校准不通
过。如果校准失败，就是有一个或几个值是inf，就去nsortting里，把bias
弄成0，scal弄成1，重启就好。否则无法起飞哦。
c)水平校准，静置飞机于水平面，开始校准，中间请勿移动。
d)空中水平微调，如果飞机脱控状态下漂移，则打遥控微调至理想悬停状态，落地加
锁，连接地面站，点击Vehicle —— Airframe trimming —— Set level angle ，记录当
前微调，然后遥控微调清零。
芽苗菜如何种植e)自动调参。
三、飞行模式
a)建议模式尝试顺序为：
1.stabilized（pitch&roll：attitude；yaw：rate）——基础自稳模式
2.stabilized（pitch&roll：horizon；yaw：rate）——摇杆中间自稳，两侧翻滚
模式，可以进行翻滚
3.altitude hold（推荐参数见b-ii ）——定高模式，这个模式应该是定点模式，
航点模式，返航模式的基础，需要仔细调节。常见优化措施是减震，海绵，
外壳。
4.position hold——定点模式，飞控优越功能的体现之一，需要航向解算正常，
定高模式工作稳定，gps信号良好。能否稳定的定点，是衡量飞控工作能
力的首要指标。
尝试，这是远航的关键模式，设置失控保护到此模式，可以保证极端情况
下飞机的安全返航。
6.pathplanner——路径点模式，需要在地面站上把航点设好，写入飞控，一
般会用电台跟随飞机数据，期间要保证至少遥控器信号畅通稳定，可以随
时接管。飞控技术含量最高的功能，也是衡量飞控能力的标准之二。
b)当上述模式都调通测试正常后，可以用遥控器混控通道5，用6段开关来设置在上
述6个模式间进行切换，至此，飞控调试完全通过。
c)主要备忘以下模式：
Stabilized 1,2,3 ; altitude hold ; position hold ; rtl ; pathplanner
i.Stabilized, 有三种模式，每一种模式中，都可以单独设置每个轴的控制模式，
主要有
1.None:
No stabilization on this axis. Inputs are directly pasd to outputs.
2.Rate:
TauLabs will aim for a target rate of turn around the axis. This target is defined
by the manual control. When the manual control is neutral, TauLabs will try to
maintain zero rotation. E.g. on a multirotor, in "rate mode", the angle of the
elevation/aileron sticks determines the rate of change of the pitch and roll axis.
If you let go and return to a neutral position, the airframe will keep going in在我心灵深处
that (possibly inverted) direction. It's up to the pilot to return the craft to level,
冲锋陷阵造句
so it behaves like a "real" aircraft.
3.Attitude:
TauLabs will aim for a target attitude. This target is defined by the manual
control. When the manual control is neutral, TauLabs will steer towards level
flight. This applies an offt (from TrimAnglesSettings) to the requested
attitude. For details on how to trim this go here
< on a multirotor, in "attitude mode", the angle of the elevation/aileron
sticks directly determines the t point for the pitch and the roll axis of the
multirotor. If you let go and return the stick to a neutral position the multirotor
would level and drift to a halt in hover.
4.AxisLock:
TauLabs will try to keep the total amount of rotation on the lected axis on 0
when the stick is not touched. When TauLabs detects 5 degrees of rotation, it
will try and undo that. Axis lock esntially grabs the current position of the
axis when you let go of the stick and tries to stay there.
This feels similar to rate mode but can provide a more locked in feeling.
5.WeakLeveling:
Weak leveling is basically rate mode with a slow component to make the
高中教师职称attitude go towards zero. In weak leveling your aircraft slowly drifts back to
level - sort of rate mode with an assist. Note that it's not recommended for
yaw becau it basically will turn your no facing forward again.
6.VirtualBar:
This mode is relead in the upcoming firmware, for helis it can be compared
to a standard flybarless controller and for multi rotors a much more aggressive
roll and flip rate can be achieved. More information can be found here.
7.Horizon:
Horizon is bad on MultiiWii Horizon mode. It smoothly transitions from
attitude mode in the middle to rate mode on the stick extremes. It us the
tuning from the parate modes so once they are both well tuned it should
work well. This is uful for FPV where you might want tight lf leveling and
control plus rate mode.
8.RateMW:
RateMW is bad on MultiiWii Acro mode. This mode has is own PID ttings.
Plea e Stabilization / MultiWiiRate
9.SystemIdent:
??? The modes are ud by relay tuning for automatically tuning your
airframe. Not recommended for normal u.
10.POI:
This is ud for tracking a point-of-interest, usually provided by a tablet.
11.CoordinatedFlight:
This mode is ud for planes with a rudder and will apply rudder during turns
to try and have zero side slip. This mode should only be ud on planes yaw
axis.
ii.对定高模式（altitude hold）而言，需要注意参数，分别是油门补偿，外环控制，内环控制，指数化。
目前实验得出参数是：外环p：1.5
内环p：0.27
内环I：0.15
补偿：200%
黑豆怎么煮
指数：45
死区：6.5
初始值备份如下：
原文引用如下：
Altitude Hold Settings
∙AltitudeHoldSettings.TiltCompensation: In Altitude Hold mode there is compensation for the bank angle to allow the MR to hold altitude as it flies
forward. This can be disabled by tting AltitudeHoldSettings.TiltCompensation
to 0. TiltCompensation can also be adjusted if you find it drops as you start flying
forward, by tting it to greater than 100%. Often values like 200% are needed.宏基笔记本
∙AltitudeHoldSettings.MaxRate: To change the stick nsitivity, change AltitudeHoldSettings.MaxRate. Set this to zero if you do not want to be able to
climb or descend and just want it to hold altitude.
∙AltitudeHoldSettings.Expo: adjustable exponential on the throttle around 50%.
Increa to make it less nsitive near the middle.
∙AltitudeHoldSettings.{PositionKp,VelocityKp,VelocityKi}: PID ttings for the altitude controller. Ther
e is an outer loop (that is tuned by PositionKp) that
requests a faster desired velocity (up to MaxRate) the further from the t point
the FC is. There is a VelocityKp and VelocityKi for the inner loop that goes from
velocity error to throttle position. When moving the stick (requesting a change
in height) only VelocityKp and VelocityKi matter as the stick ts the desired
velocity.
∙AltitudeHoldSettings.Deadband: (not in the current relea) deadband near the center position where the board will just hold altitude
四、Filter tting
参考自openpilot revolution 相关说明，引用如下
GyroTau: This is a low pass filter that removes high frequency components of the gyro signal before it enters the stabilization system. (See the controller diagram above.) If your controls jitter too much
becau of gyro "noi" caud by vibration, increasing this tting can help (though addressing the mechanical cau of the vibration first is recommended).
However, if you t GyroTau too high, it can limit how quickly your craft can make corrections and could even make it unstable.
Initially GyroTau is t at 0.05 but you can increa it to 0.20 or even to 0.40 on helicopters.
AccelKp: This is the weight given to the accelerometer signals versus the gyro signals.
If this value is too low, you will notice your ship has a lot of drift in Attitude mode.
Increasing this value is a tradeoff becau accelerometers are noisier than gyros. Setting this value too high can make your aircraft twitchy.
If you mostly hover, you can probably make this tting as high as 0.1. If you mostly fly aggressively and don't care as much about that perfect level flight as that it's fairly robust, a lower value is better.
See this link on the forums for a practical example of how to t AccelKp.
Starting values for AccelKp:
∙
∙Multirotors: around 0.05 or 0.06 (On planes, a tting this high can cau
a problem becau it can make the filter think it's level when it's actually in a
constant-G turn. In that ca, you want CopterControl to listen to the gyros more
than the accelerometers.)
∙Planes: around 0.03.
∙Helicopters: (Default tting is 0.05.)
a)Accel tau 应该是加速度计的滤波，调高会过滤掉震动
b)Accelerometer Kp是加速度跟Gryo 的混合比例，调高会增大加速度计的权重。
五、Position hold
a)关于定点，要注意算法选择，首先在attitude 页面里，navigation 算法必须有，一
般推荐INS。Attitude 算法官方推荐INSOutdoor，个人推荐compensation。因为关
于高度的估算，还是compensation靠谱些，起码不会持续漂移，而且INSOutdoor
需要7颗星，一般6h 不容易达标。建议使用m8n，格洛纳斯和gps双模，很轻易
可以16星。
b)然后是pid，默认就好，positionD默认是0，小飞机弄大了一点就会抽抽。
c)Position hold 开始高度是不定的，靠油门，防止调试时候出现意料之外的情况而使
飞机失去高度。
d)调好了之后就可以把throttlecontrol选项改为true，此时高度锁定，不能人为改变。
六、RTH模式
a)Return to home。首先要确定home点，一般是在机器里清除掉homelocation，然后
等gps第一次锁定。注意，一旦记录了home点，之后只能在gcs（地面站）里修
改，即断电后，在另一地点上电，依然会使用上次设置的home坐标。
b)切到rth时，会先悬停10秒左右，然后返航，返航过程中不对头（机头指向不变），
回到home上空也会悬停几秒，然后下降。
c)此过程中随时可以切模式获得控制权。
七、飞控记录日志
独的成语
a)首先开启日志功能，在modulesSetting里开启logging，重启，在logging里选择记
录的起点，一般是解锁记录。
b)导出，接电脑，option里的download。然后就可以选择序号，导出对应日志。
八、Autotune
a)Modules里需要打开vibration analysis 模块
b)在autotune页面勾选“Enable autotune”选项
c)在stabilized 模式下切换飞行模式到autotune
d)调完后直接落地，上锁，不断电，拿到电脑上写入。
九、关于参数
