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初始调参飞行

飞行员的首飞准备

Sung)的首次起飞是飞机生命中最危险的一秒. 这里的飞机可能非常不稳定,导致动力突然增强,然后导致飞机跳入空中,或者可能调制得很差,一旦飞机升空,你就对飞机控制不足.崽子驾驶员在调试飞行中应当非常勤奋,避免出现可能造成伤害或破坏的情况.

在早期调试 别说了,飞行员可以做一些事情来尽量减少风险:

  1. 飞行员应进行运动编号和定向检查(见**通过任务计划车试验检查运动编号**)。 应注意确保选择正确的框架类型。 不正确的帧类型可能导致非常快的yaw旋转或完全失去控制.乍现时的光谱光谱. 注意到旋转螺抉择所需的产出百分比,并确保:
  • **MOT SPIN 亚美尼亚 ** 设置的高度足以使马达能干净地旋转.
  • **MOT SPIN MIN (中文(简体) ). Court. ** 设置的高度足以使马达以最小的推力旋转.
  1. 经过重大调整后,所有飞行均应在稳定状态下进行。 在姿态控制器不稳定的情况下,稳定化为飞行员的整个飞机提供了显著的 好啊,这让飞行员对飞机拥有更大的控制权.
  2. 在飞行中高度控制器经过测试之前,飞行员不应在阿尔特霍尔德起飞. 这应该通过在稳定区起飞和转投阿尔特霍尔德来完成. Alt Hold很少成为问题,除非飞机有很低的悬浮油门。
  3. 对于最初的飞行,飞行员应确保设定这些参数喽:
  • ** ATC THR MIX MAN**至0.1
  • **MOT THST Hover ** 到 0.25(或低于预期的悬浮油气)
  1. 使用无线电并正确校准无线电(见common-radio-control-calibration).
  2. Configure an Emergency Stop Motors switch and test it (see **Auxiliary Functions **).
  3. Do tuning flights in low-wind condition and normal weather (no rain and between 15°C/59°F and 25°C/77°F).
  4. Practice STABILIZE flight in simulator or on a low-end drone first, you should be confident to be able to takeoff and land with your untuned aircraft.

First Flight

The first take off is the most dangerous time for any multirotor. Care must be taken to ensure the aircraft is not destroyed in the first seconds of flight and nobody is injured.

  • Ensure that all spectators are at a safe distance.
  • Ensure the pilot is at a safe distance and position.
  • The pilot should refresh themselves on the method used to disarm the aircraft (using **Auxiliary Functions ** for Motor Interlock or Arm/Disarm may be beneficial).

This flight will allow to setup your aircraft in a "flyable for tuning" state.

  1. Ensure the aircraft is in STABILIZE mode
  2. Arm the aircraft
  3. Immediately disarm the aircraft to ensure your disarm procedure is correct
  4. Arm the aircraft
  5. Slowly increase the throttle looking for signs of oscillation. (long or flexible landing gear may cause some landing gear oscillation that will only go away after the aircraft leaves the ground)
  6. As soon as the aircraft lifts off the ground immediately put the aircraft back down as gently as possible
  7. Disarm the aircraft
  8. Evaluate what you observed to decide if you need to make adjustments to the tuning parameters or if it is safe to take off again
  9. Arm and increase the throttle to initiate a takeoff
  10. Hover at approximately 1m altitude and apply small (5 degrees) control inputs into roll and pitch
  11. Immediately land if any oscillation is observed

Next section will explain how to remove the oscillations.

Initial aircraft tune

The first priority when tuning an multirotor aircraft is to establish a stable tune, free of oscillations, that can be used to do further tests.

  1. Arm the aircraft in STABILIZE
  2. Increase the throttle slowly until the aircraft leaves the ground
  3. If the aircraft starts to oscillate immediately abort the takeoff and/or land the aircraft
  4. Reduce all the following parameters by 50%
  1. **ATC_RAT_PIT_P **
  2. **ATC_RAT_PIT_I **
  3. **ATC_RAT_PIT_D **
  4. **ATC_RAT_RLL_P **
  5. **ATC_RAT_RLL_I **
  6. **ATC_RAT_RLL_D **

This process is repeated until the aircraft can hover without oscillations being detectable visually or audibly.

If the aircraft has very long or flexible landing gear then you may need to leave the ground before ground resonance stops.

Be aware that in this state the aircraft may be very slow to respond to large control inputs and disturbances. The pilot should be extremely careful to put minimal stick inputs into the aircraft to avoid the possibility of a crash.

Test AltHold

This test will allow to test the altitude controller and ensure the stability of your aircraft.

  1. Check **MOT_HOVER_LEARN ** is set to 2. This will allow the controller to learn by itself the correct hover value when flying.
  2. Take off in STABILIZE and increase altitude to 5m. Switch to AltHold and be ready to switch back to STABILIZE. If the aircraft is hovering at a very low hover throttle value you may hear a reasonably fast oscillation in the motors. Ensure the aircraft has spent at least 30 seconds in hover to let the hover throttle parameter converge to the correct value. Land and disarm the aircraft.
  3. Set these parameters on ground and preferably disarm (A confident pilot could set them in flight with GCS or CH6 tuning knob):
  • PSC_D_ACC_I to 0.2 x **MOT_THST_HOVER **
  • PSC_D_ACC_P to 0.1 x **MOT_THST_HOVER **

说明

In Copter 4.6 and earlier these parameters were named PSC_ACCZ_I and PSC_ACCZ_P and were scaled 10x larger:

  • PSC_D_ACC_I to 2 x **MOT_THST_HOVER **
  • PSC_D_ACC_P to **MOT_THST_HOVER **

if AltHold starts to oscillate up and down the position and velocity controllers may need to be reduced by 50%. These values are: PSC_D_POS_P and PSC_D_VEL_P.

说明

In Copter 4.6 and earlier PSC_D_VEL_P was named PSC_VELZ_P and PSC_D_POS_P was named PSC_POSZ_P.

Harmonic Notch Filtering

After you have a hover without oscillations the next step is to get get a good notch filter setup to reduce noise to the PID controllers. A good set of notch filtering parameters is critical to a good tune.

To get a notch filter setup you need to hover your vehicle for at least 30 seconds with no pilot input and with INS_LOG_BAT_MASK set to 1. This will enable FFT logging which will guide the correct setup of the notch filters. You should then carefully read the common-imu-notch-filtering documentation and setup a harmonic notch to remove the noise from your gyros.

Eliminating noise with the notch filters will dramatically improve the quality of your tune.

【本页后半部分仍为英文原文摘录，补译中。】

译自 ArduPilot Copter「Initial Tuning Flight」· 查看原文 · CC BY-SA 3.0