输入整形（Input Shaping）

科普特有一套参数来定义飞机 那里飞行的感觉. 这使得飞机的设置具有极具攻击性的曲调,但仍感觉自己是一架非常温和友好的飞机可以飞行.

这些参数中最重要的是:

• 缩写 Y Rate: 理想的最大毛速率(德格/秒)
• ATC ACC P 地图: Pitch 速率加速
• ATC ACC R MAX 数据对全球
• ATC ACC Y 地图: Yaw 速率加速度
• 他会找到的 ATC ANGLE MAX:最大倾角
• **ATC_ANG_LIM_TC **: Aircraft smoothing time
• **ATC_INPUT_TC **: Time to achieve 63% seady state pitch and roll attitude. Multiply by 3 to determine time to achieve steady state attitude.
• **PILOT_Y_RATE_TC **: Time to achieve 63% steady state yaw rate. Multiply by 3 to determine time to achieve steady state rate.

Autotune will set the ATC_ACC_P_MAX, ATC_ACC_R_MAX and ATC_ACC_Y_MAX parameters to their maximum based on measurements done during the Autotune tests. These values should not be increased beyond what Autotune suggests without careful testing. In most cases pilots will want to reduce these values significantly.

For aircraft designed to carry large directly mounted payloads, the maximum values of ATC_ACC_P_MAX, ATC_ACC_R_MAX and ATC_ACC_Y_MAX should be reduced based on the minimum and maximum takeoff weight (TOW):

• ATC_ACC_P_MAX x (min_TOW / max_TOW)
• ATC_ACC_R_MAX x (min_TOW / max_TOW)
• ATC_ACC_Y_MAX x (min_TOW / max_TOW)

PILOT_Y_RATE should be set to be approximately 0.5 x ATC_ACC_Y_MAX to ensure that the aircraft can achieve full yaw rate in approximately half a second.

**ATC_ANG_LIM_TC ** may be increased to provide a very smooth feeling on the sticks at the expense of a slower reaction time.

Aerobatic aircraft should keep the ATC_ACC_P_MAX, ATC_ACC_R_MAX and ATC_ACC_Y_MAX provided by autotune and reduce **ATC_ANG_LIM_TC ** to achieve the stick feel desired by the pilot. For pilots wanting to fly ACRO the following input shaping parameters can be used to tune the feel of ACRO:

• **ACRO_BAL_PITCH **
• **ACRO_BAL_ROLL **
• **ACRO_RP_EXPO **
• **ACRO_RP_RATE **
• **ACRO_RP_RATE_TC **
• **ACRO_THR_MID **
• **ACRO_TRAINER **
• **ACRO_Y_EXPO **
• **ACRO_Y_RATE **
• ACRO_Y_RATE_TC

The full list of input shaping parameters are:

• **ACRO_BAL_PITCH **
• **ACRO_BAL_ROLL **
• **ACRO_RP_EXPO **
• **ACRO_RP_RATE **
• **ACRO_RP_RATE_TC **
• **ACRO_THR_MID **
• **ACRO_TRAINER **
• **ACRO_Y_EXPO **
• **ACRO_Y_RATE **
• **ACRO_Y_RATE_TC **
• ATC_ACC_P_MAX
• ATC_ACC_R_MAX
• ATC_ACC_Y_MAX
• ATC_ANGLE_MAX
• **ATC_INPUT_TC **
• **ATC_ANG_LIM_TC **
• **ATC_RATE_P_MAX **
• **ATC_RATE_R_MAX **
• **ATC_RATE_Y_MAX **
• **ATC_RATE_WPY_MAX **
• PILOT_ACC_Z
• PILOT_SPD_DN
• PILOT_SPD_UP
• **PILOT_THR_BHV **
• **PILOT_THR_FILT **
• PILOT_TKO_ALT_M
• **PILOT_Y_RATE **
• **PILOT_Y_RATE_TC **
• LOIT_ACC_MAX_M
• **LOIT_ANG_MAX **
• LOIT_BRK_ACC_M
• **LOIT_BRK_DELAY **
• LOIT_BRK_JRK_M
• LOIT_SPEED_MS

【本页后半部分仍为英文原文摘录，补译中。】

译自 ArduPilot Copter「Setting the input shaping parameters」· 查看原文 · CC BY-SA 3.0