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调参流程说明

调制过程包括以下藜类步骤:

  1. 设定参数,为第一批调试飞行做准备
  2. **初调飞行**身分,以获得稳定但不一定优化的调.
  3. ** 初步稳定调制的评价**
  4. 设置 噪声noch过滤器,参见普通- 最小过滤
  5. 手动调制卷和皮奇和/或使用qui脚本(在尝试使用AUTOTUNE之前需要) !
  6. 非洲联盟.
  7. 设置Input Shaping parameters to obtain the desired "feel"

The initial tune of the aircraft should be done in the aircraft's most agile configuration. This generally means that the aircraft will be at its minimum take off weight with fully charged batteries.

说明：

Following each of the above steps will usually result in a safe tuning process and adequate tune for most users. Alternatively consider using the Methodic Configurator for step-by-step setup

Advanced Tuning

ArduCopter has an extremely flexible controller design that has been used with great results on aircraft from 100g to 500kg. There are a number of difficult control problems that provide a greater depth of understanding that can be provided here. Some of these issues include:

  • High gyro noise levels
  • Flexible airframes
  • Soft vibration dampers
  • Large payloads on flexible or loose mounts
  • Rate limited actuators
  • Non-Linear actuators
  • Extremely aggressive or dynamic flight

【本页后半部分仍为英文原文摘录，补译中。】

译自 ArduPilot Copter「Tuning Process Instructions」· 查看原文 · CC BY-SA 3.0

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