AHRS 自动转盘恰当地

使用AHRS AutoTrim,在稳定盘旋中飞行时,卷与各国的校正被捕获. 设置 a通用辅助功能切换到"在飞行AHRS修剪调整中"("182")的一点是. 我们将使用CH7如下:

1. 等等 请检查url=值 (帮助) 那么您的CH7开关在1800以上

2. 设置您所选择的频道RCx 选择至"AHRS Auto Trim" (182),使用Mission Planner的Aux函数屏幕并按下""Write Params"按钮. 见通用辅助功能关于指定任何RC频道选项的细节。
3. Find a wind free environment with sufficient space to fly your copter without crashing into something.
4. Put the vehicle in manual Stabilize/AltHold mode or a position hold Loiter/PosHold mode (recommended).
5. Arm the vehicle and lift into a hover. The vehicle must be flying in order to enable autotrim. Flip the switch that you setup (CH7) to its High position (>1800us). "Autotrim running" message will be sent to the GCS.
6. If in a manual mode, fly your copter for about 25 seconds in a stable hover in position, keeping it from drifting with the pitch and roll sticks. As the trim is adjusted, less and less corrections with the sticks will be required. If using a position hold mode, take off and let the copter hover in place while not touching the sticks.
7. Once satisfied, flip the switch low, saving the trims, and land. "Trim save" message will be sent to the GCS.
8. Take off in AltHold mode and check if your copter is flying level now. If not repeat steps 4 - 7 again.

Save Trim

Save trim involves essentially transferring your radio transmitter's trims into the autopilot's AHRS trim (the AHRS_TRIM_X ** and **AHRS_TRIM_Y ** parameters), the same values that the AHRS AutoTrim method above adjusts. Normally, once **common-accelerometer-calibration is done, you never want to change the transmitter's trims, but in this case it is done temporarily. The "Save Trim" function ("5") is assigned to any free RC channel, usually a switch based one, using an common-auxiliary-functions. For the example below, Channel 7 will be used.

1. Check that your CH7 switch goes above 1800 on the MissionPlanner's Setup > Mandatory Hardware > Radio Calibration screen

2. Set your chosen channel's RCx_OPTION to "Save Trim" (5) using Mission Planner's Aux Function screen and press the "Write Params" button. See common-auxiliary-functions for details on assigning options to any RC channel.

3. With your CH7 switch in the off (Low) position, fly your copter in Stabilize or AltHold mode and use your transmitter's roll and pitch trim to get it flying level
4. Land and put your throttle to zero
5. Release the roll and pitch sticks and switch the CH7 switch high for at least 1 second. The words "Trim saved" should appear in the MP's Flight Data screen's Messages tab
6. Reset your transmitters roll and pitch trims back to the center and fly again and it should fly level now. If it does not repeat steps 3, 4 & 5

Desktop method

The trim can also be updated by setting the vehicle level, connecting to the Mission Planner (or perhaps other ground stations) and selecting Initial Setup, Mandatory Hardware, Accel Calibration and pushing the lower "Calibrate Level" button.

Please note though that making the HUD level while the vehicle is on the ground does not necessarily mean it won't drift horizontally while flying because of other small frame issues including the flight controller not being perfectly level on the frame, CG placement, an/ord slightly tilted motors.