已在 设置

跟随正常的ArduCopter 维基制定准则**。 然而,获得最佳业绩的关键将取决于**调音和噪声过滤装置的谨慎和精确度。。从过滤中获取最高性能的关键将是使用双直径DSHOT ESCs来提供单个的马达 rpm,用于设置单个的 Notch 备案器来跟踪每个马达(参见常识几何.

需要全球定位系统吗?

您不需要GPS来以许多科普特模式飞行(ACRO, STABILILZE, ALTHOLD, etc.). 但是,在使用GPS/Compass使需要位置信息(如LOITER或RTL)或栅栏等模式能够使用时,必须尽量考虑和补救单元的放置以避免动力系统的磁干扰和/或RC系统对GPS性能的RF干扰。

带有全球定位系统的侵略性飞行的后果

If you do include a GPS for the advance mode capabilities, then there are some potential consequences that can occur when switching to position holding/tracking modes after aggressive maneuvering in modes like ACRO. These are:

• EKF Failsafes occurring
• Large position errors, ie like switching to RTL and then overshooting HOME position by very large amount, or tracking waypoints in a mission with large positioning errors

Both of these are due to errors generated by high accelerations resulting in GPS miss-measurement of velocities, resulting in the navigation filter declaring itself unhealthy (EKF Failsafe), or very bad position estimates.

These issues CAN be reduced/eliminated by either setting the EK3_GLITCH_RAD = 0 , or increasing FS_EKF_THRESH, or both. But this should be used only if experiencing the above problems,and with caution, since it can degrade positioning accuracy rather then improve it in some cases, and/or allow EKF degradation to occur to the point of possible vehicle instability.

Optimal Tuning (Using fast attitude loop feature)

Once initial setup and tune has been done. high-loop-rate-tuning can be attempted to optimize the tune for aerobatics