高级配置

高级参数与配置

高级配置
模拟引脚

高级配置

本节将带你通过更高级的配置和调车选项。

[网站维使它们能够="copter"谐音].: 也该程序程序, 也该程序, 也该程序, 程序程序, 所 , 所 , 所 , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , 该 , 该该 , 该该 , 自动调试( A) 辅助函数开关 < 通用辅助函数 > 巴罗温度补偿 < common-baro- temp-comp > Baro 脉冲补偿 < common baro thrust 补偿> 船模式 < 船模式 > bootloader 更新 < common-bootloader- update >

[/现场] 从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从还好从从从从从的记录从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从 peanut从从从从从从从从从凤从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从正是从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从从

自动驾驶输出映射 < common- rcoutput- mapping > 委员会将使用“通用辅助功能” 带有矢量推力的船体 bootloader 更新 < common-bootloader- up 孩子 :

[是与[现场] [站点维基="飞机"].

高级无保障 < 高级无保障配置 > 自动驾驶输出映射 < common- rcoutput- mapping > 委员会将使用“通用辅助功能” 电池电压补偿<电池电压补偿> bootloader 更新 < common-bootloader- up 孩子 :

[/现场] [站点维基="sub"].

自动驾驶输出映射 < common- 弧度映射 > 辅助函数 < 普通辅助函数 > 演员 < actuator > bootloader 更新 < common-bootloader- update >

[/现场]: BLHELI ES的唯一途径: 普通-知名度32-passthru ( 舜 ( 搁 compass 设置 (Advanced)编写关于常用的 compass 设置 (Advanced)
[站点维基="飞机,copter,rover"].: Compass-less Operation<common-compassless>

[/site] [site wiki="copter"]

Current Limiting and Voltage Scaling <current-limiting-and-voltage-scaling>

[/site] [site wiki="plane"]

Crash Detection <crash-detect>

[/site] [site wiki="plane,copter"]

Damaged Motor/Prop RPM Checks <common-tkoff-rpm-min>

[/site]: DisplayPort <common-displayport> DroneCAN Setup <common-uavcan-setup-advanced> EKF (Extended Kalman Filter) <common-apm-navigation-extended-kalman-filter-overview> EKF Affinity & Lane Switching <common-ek3-affinity-lane-switching> EKF Sources and Selection <common-ekf-sources> Ethernet/Network Setup <common-network> Network Capture <common-network-capture>
[site wiki="copter,rover,sub"]: Fence Failsafes <common-geofencing-landing-page>

[/site] [site wiki="copter"]

Flight Options <flight-options>

[/site]: Flight Time Recorder <common-flight-time-recorder>
[site wiki="plane"]: Flight Options <flight-options> Fly-By-Wire Low Altitude Limit <fly-by-wire-low-altitude-limit>
[/site]: FPort Setup <common-FPort-receivers>
[site wiki="plane"]: GeoFencing Failsafe <common-geofencing-landing-page>
[/site]: GPIOs <common-gpios>
[site wiki="plane,copter,rover"]: GPS for Yaw (aka Moving Baseline) <common-gps-for-yaw> GPS for Altitude <common-gps-for-alt>

[/site] [site wiki="copter,plane,rover,blimp,sub"]

GPS/Non-GPS Transitions <common-non-gps-to-gps>

[/site]: Ground Control Station Only Operation <common-gcs-only-operation>
[site wiki="copter"]: Ground Effect Compensation <ground-effect-compensation> In-Flight FTT and filter control <common-imu-fft>
[/site]: IMU Temperature Calibration <common-imutempcal> Independent Watchdog <common-watchdog>
[site wiki="plane"]: In-Flight FTT and filter control <common-imu-fft>

[/site] [site wiki="plane,rover"]

Limiting Maximum Power Draw <common-batt-watt-max>

[/site] [site wiki="rover"]

Limiting Maximum Power Draw <batt-watt-max>

[/site]: Limit Cycle Prevention <common-servo-limit-cycle-detection> LUA Scripting <common-lua-scripts> Magnetic Interference <common-magnetic-interference> Magnetometer GeoPhys Array <common-hires-mag-array> MAVLink <common-mavlink-configuration> MAVLink2 Packet Signing (Security) <common-MAVLink2-signing>
[site wiki="rover"]: Motor Thrust Scaling <rover-motor-thrust-scaling>

[/site] [site wiki="copter"]

Motor Thrust Scaling <motor-thrust-scaling>

[/site]: Moving Vehicle Initialization <common-moving-vehicle-initialization> Multiple Radio Control Receivers <common-multiple-rx> Multi-Vehicle Flying <common-multi-vehicle-flying>
[site wiki="copter,plane,rover,blimp,sub"]: Non-GPS Navigation <common-non-gps-navigation-landing-page>
[/site]: Notification Devices (LEDs,Buzzer,etc.) <common-ntf-devices>
[site wiki="copter,plane"]: Notch Filter Configuration <common-imu-notch-filtering>

[/site] [site wiki="copter,plane,rover"]

Object Avoidance <common-object-avoidance-landing-page> Optical Flow Sensor <common-optical-flow-sensors-landingpage>

[/site]: On Screen Displays (OSD) <common-osd-overview> OSD Parameter Editor <common-paramosd> Parameter List (Full) <parameters> Parameter Lockdown <common-parameter-lockdown> Parameter Name Changes <common-param-name-changes> Parameter Reset <common-parameter-reset>
[site wiki="copter"]: Precision Landing and Loiter <precision-landing-and-loiter>
[/site]: RC Input Channel Mapping (RCMAP) <common-rcmap> RC Options <common-rc-options> Received Signal Strength Indication (RSSI) <common-rssi-received-signal-strength-indication> Redundant Telemetry <common-redundant-telemetry>
[site wiki="plane"]: Reverse Thrust Setup<reverse-thrust-setup>
[/site]: RunCam Camera Configuration and Control <common-camera-runcam> Safety Switch <common-safety-switch-pixhawk> Sensor Position Offset Compensation <common-sensor-offset-compensation> Sensor Testing <common-sensor-testing> Serial Forwarding to DroneCAN <common-serial-over-DroneCAN> Serial Port to Port Passthrough <common-serial-passthrough> Serial Port Configuration <common-serial-options>
[site wiki="plane"]: Ship(Moving Vehicle) Takeoff/Landing <common-ship-landing>

[/site] [site wiki="copter"]

Slung Payload <slung-payload> Surface Tracking <terrain-following-manual-modes>

[/site] [site wiki="rover"]

Steering Input Type and Reversing Behaviour <rover-steering-input-type-and-reversing-behaviour>

[/site]: Telemetry Port Setup <common-telemetry-port-setup>
[site wiki="copter,planner"]: Terrain Following (Autonomous modes) <terrain-following> Tuning <common-tuning>

[/site] [site wiki="plane"]

Terrain Following <common-terrain-following> Transmitter Based Tuning <common-transmitter-tuning>

[/site]: Video Stabilization (Gyroflow) <common-gyroflow> Video Transmitter Control <common-vtx>
[site wiki="copter,plane,rover,sub,planner"]: UBlox GPS Configuration <common-ublox-gps>

[/site] [site wiki="plane,planner,rover,sub"]

Vibration Damping <common-vibration-damping>

[/site] [site wiki="copter"]

Weathervaning <weathervaning> Windspeed Estimation and Baro Compensation <airspeed-estimation>

[/site]

【本页后半部分仍为英文原文摘录，补译中。】

译自 ArduPilot Copter「Advanced Configuration」· 查看原文 · CC BY-SA 3.0

模拟引脚

除了数字输入和输出披针外,自动驾驶还有模拟输入披针,可以精确测量电压. 这些通常用于电源显示器电压和电流感知输入,但有时会提供其他的针头:

RSSI( 收到信号强度输入)
类似速度传感器输入 50.
类似燃料级传感器输入
类似声纳/ 光谱输入
类似温度传感器输入

说明：

所有披针都可以接受0-3.3v输入. 除非文档(所开展的OEM 86. 或 Wiki)具体规定了6.6V输入范围,否则只能应用最大3.3!

如果这些投入中的任何一种是通过适当的传感器类型选择而允许的,a输入( P)需要输入参数来指定使用自动驾驶器上的哪个“pin”。通常,自动驾驶员模拟输入的正确针号会被记录在此处的Wiki页面,或者OEM的文档中.

如果没有,然后检查自动驾驶的hwdef玲珑 file here can provide the information. The process is a bit difficult but manageable.

For example, the CUAV-X7 autopilot hwdef.dat has a section designating its internal A-to-D converters:

# analog in
PA0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PA1 BATT_CURRENT_SENS ADC1 SCALE(1)

# ADC3.3/ADC6.6
PC4 SPARE1_ADC1 ADC1 SCALE(1)

# Note that this should be SCALE(2), but we don't want to break existing setups
# See: https://github.com/ArduPilot/ardupilot/pull/22831
PA4 SPARE2_ADC1 ADC1 SCALE(1)

PF12 RSSI_IN ADC1 SCALE(1)

PC5 VDD_5V_SENS ADC1 SCALE(2)
PC1 SCALED_V3V3 ADC1 SCALE(2)

PB1 FMU_SERVORAIL_VCC_SENS ADC1 SCALE(3)

The last three lines define inputs used internally on the board to monitor various board supply voltages. The first two lines define the voltage and current sense inputs, the next define user analog inputs and the RSSI input. In order to determine which pins numbers are used in ArduPilot parameters, one more lookup step is required:

After determining which cpu is used in the autopilot, the pin numbers corresponding to the cpu pins can be determined from the cpu's definition table here. In the above example, the cpu is STM32H743, and looking at the bottom of its definition file, you can find its cpu to ardupilot pin tables:

ADC1_map = {
# format is PIN : ADC1_CHAN
"PF11"  :   2,
"PA6"   :   3,
"PC4"   :   4,
"PB1"   :   5,
"PF12"  :   6,
"PA7"   :   7,
"PC5"   :   8,
"PB0"   :   9,
"PC0"   :   10,
"PC1"   :   11,
"PC2"   :   12,
"PC3"   :   13,
"PA2"   :   14,
"PA3"   :   15,
"PA0"   :   16,
"PA1"   :   17,
"PA4"   :   18,
"PA5"   :   19,
}

and for ADC1, the power monitor voltage input, PA0, would be ArduPilot pin "16", the RSSI input, PF12, would correspond to ArduPilot pin "6", etc. and these pin values would be used in the appropriate _PIN parameter.

【本页后半部分仍为英文原文摘录，补译中。】

译自 ArduPilot Copter「Analog Input Pins」· 查看原文 · CC BY-SA 3.0