电池设置

必须确保你的VTOL的推力 仍旧是线性的仍旧是线性推力曲线的意思 电动机产生的实际推力的变化是直接的 at at at at鲨 at at at at at at at at at at at at at at at at at at 我可不想 at at at at at at at at at at at at at at at at at at at at at at at at at at at at at at at at at. - i at sub鲨? - i - i - i at - i at - i at 曲子不是线性的 那样你就不会韵律好 在某些情况下,你的车可能 会有这么糟糕的曲调 变得完全不稳定和崩溃。

非线性推力曲线共有3个常见原因.

• 节流阀的电压增加
• 您使用到您的 ESC 的 PWM 范围内的端点设置不正确( 见下文“ 移动器设置 ”)
• 由螺旋桨、ESC和电动机组合产生的推力的非线研讨

开始设置电压范围以应对电压sag. 用来线化你的运动推力曲线的参数。

• ** MOT BAT VOLT MAX ** 应设定为电池的最大电压,例如标准LiPos的4.2v x 号电池,或者如果使用不同的电池类型,则酌情设置。
• **MOT BAT VOLT MIN (中文(简体) ). ** 应设定为电池的最小电压,例如标准LiPos的3.3v x 号电池,或者如果使用不同的电池类型,则酌情设定。
• 选择 = 0 (default). The default is to use sag compensated voltage for the above and during tuning computations. It can be set to 1 to use raw voltage instead of sag compensated voltage, which may improve tuning results for light vehicles.

Next setup the thrust expo. If you are setting up a professional aircraft then you should invest in a thrust stand so you can accurately measure the true thrust for your motor/ESC/propeller combination as you vary the throttle. Then you will adjust the expo value along with the endpoints (given by motors setup below) so that the thrust between the endpoints is as linear as possible. Do not trust manufacturer data for the thrust curve as they are frequently inaccurate. See motor-thrust-scaling for details on thrust scaling.

If you are setting up a hobby grade vehicle then you can use the graph below to estimate the correct **MOT_THST_EXPO ** value for your aircraft.

• **MOT_THST_EXPO **: 0.55 for 5 inch props, 0.65 for 10 inch props, 0.75 for 20 inch props (or larger). This parameter should be derived by thrust stand measurements for best results (don’t trust manufacturer data).

Motors setup

The motor parameters define the PWM output range sent to the ESCs. This is critical to ensure that the entire range of throttle values used in flight is within the linear range of your propulsion system.

Parameters used to define the output range sent to the ESC.

• **MOT_PWM_MAX **: Check ESC manual for fixed range or 2000us
• **MOT_PWM_MIN **: Check ESC manual for fixed range or 1000us
• **MOT_SPIN_ARM **: use the **motor test feature ** to determine a value which will reliably start the motors spinning at a low rpm as an indication of the armed state.
• **MOT_SPIN_MAX **: 0.95
• **MOT_SPIN_MIN **: use the **motor test feature ** and motor test data, if available, to set the lower range of linear thrust. The default value is usually adequate for hobby uses.
• **MOT_THST_HOVER **: 0.25 or below the expected actual hover thrust percentage (lower is safe)

PID Controller Initial Setup

The settings below are meant to get your PID controller acceleration and filter settings into the right approximate range for your vehicle. These parameters are critical to the tuning process. The PID controller default values for axis P/D/I values are usually safe for first test hovers of most vehicles.

• **INS_ACCEL_FILTER **: 10Hz
• **INS_GYRO_FILTER **: 80Hz for 5 inch props, 40Hz for 10 inch props, 20Hz for 20 inch props (or larger)
• ATC_ACC_P_MAX: 1100 for 10 inch props, 500 for 20 inch props, 200 for 30 inch props
• ATC_ACC_R_MAX: 1100 for 10 inch props, 500 for 20 inch props, 200 for 30 inch props
• ATC_ACC_Y_MAX: 200 for 10 inch props, 100 for 20 inch props, 90 for 30 inch props
• **ATC_RAT_PIT_FLTD **: **INS_GYRO_FILTER ** / 2
• **ATC_RAT_PIT_FLTT **: **INS_GYRO_FILTER ** / 2
• **ATC_RAT_RLL_FLTD **: **INS_GYRO_FILTER ** / 2
• **ATC_RAT_RLL_FLTT **: **INS_GYRO_FILTER ** / 2
• **ATC_RAT_YAW_FLTE **: 2
• **ATC_RAT_YAW_FLTT **: **INS_GYRO_FILTER ** / 2