*** HeliPlane 说明 *** 这是一种以直升机为基础的垂直起降固定翼,目前有四种结构,如下: 1.变距多轴垂起(纯变距多轴/纯油动变距4+1 / V44变距倾转 / Y3变距倾转) 关键参数: SERVO5_FUNCTION=46 变距舵机-1(位置同多轴电机1) SERVO6_FUNCTION=47 变距舵机-2(位置同多轴电机2) SERVO7_FUNCTION=49 变距舵机-3(位置同多轴电机3) SERVO8_FUNCTION=50 变距舵机-4(位置同多轴电机4) SERVO9_FUNCTION=48 油门(如果是油动则为油门舵机,电动为电调油门) Q_M_VP_MASK=15 那些电机是变距,二进制的电机编号(1111=15,表示4个电机皆为变距) Q_TILT_MASK=15 那些电机会倾转(设置同上),若为4+1(不倾转)则设为0 多轴油门曲线设置: 如下例为线性(一斜线),将A+B组合成6个点=0%-20%-40%-60%-80%-99% Q_M_VP_M_THR_A=002040 Q_M_VP_M_THR_B=608099 多轴螺距曲线设置: 如下例为线性(一斜线),将A+B组合成6个点=0%-20%-40%-60%-80%-99% Q_M_VP_M_COL_A=002040 Q_M_VP_M_COL_B=608099 定翼模式的油门及螺距曲线设置同上例,只是参数名称开头为"Q_M_VP_F_" 调试方式: 1.参数设置好重新开机,未重新开机前不要插上舵机,因为默认是490Hz的电调PWM输出. 2.不解锁推油门,此时舵机行程参照遥控器油门,将舵机行程(Servo?_Min/Max)调好来. -------------------------------------------------------------------------------------------- 2.单纯的变距:只有一个舵机的变距结构,仅变总距(collective pitch). 会使用到的Servo_Function编号:46/47/48 3.变距+升降:除了变距再加上Pitch轴的矢量,由2个舵机组成的结构. 会使用到的Servo_Function编号:46/47/48/49/50 4.CCPM:直升机120度斜盘为基础的垂起. 会使用到的Servo_Function编号:42/43/44/46/48/49 以上2&3需要左右两个结构,可为2个电机也可为单电机同时带动左右,可油动也可电动, 3则只要1个结构,但必须有左右两个反扭电机以控制反扭. HeliPlane Servo_Function(HeliPlane 功能编号表) ============================================================================================== No Name(程序内的变量) Description(英文说明) 中文说明(用途) ============================================================================================== 42 k_pd_left_motor Pandora VTOL motor-left(Anti-Torque) Pandora VTOL 左电机(锁尾) 43 k_pd_right_motor Pandora VTOL motor-right(Anti-Torque) Pandora VTOL 右电机(锁尾) 44 k_vp_roll Variable pitch VTOL(roll for Pandora) VTOL斜盘舵机(横滚斜盘) 46 k_vp_left Variable pitch VTOL(pitch-left) VTOL变距左舵机(总距) 47 k_vp_right Variable pitch VTOL(pitch-right) VTOL变距右舵机(总距) 48 k_vp_throttle Variable pitch VTOL(throttle) VTOL变距油门 49 k_vp_left_ele Variable pitch VTOL(Elevator-left) VTOL斜盘左舵机(升降斜盘) 50 k_vp_right_ele Variable pitch VTOL(Elevator-right) VTOL斜盘右舵机(升降斜盘) 新增的参数 ============================================================================================== 参数名称 说明 范例 ============================================================================================== Q_M_VP_F_COL_A 固定翼模式的螺距曲线1-3(总距) 103040 Q_M_VP_F_COL_B 固定翼模式的螺距曲线4-6(总距) 507090合并为=>(10,30,40,50,70,90) Q_M_VP_F_THR_A 固定翼模式的油门曲线1-3 505050 Q_M_VP_F_THR_B 固定翼模式的油门曲线4-6 505050合并为=>(50,50,50,50,50,50) Q_M_VP_M_COL_A 多轴模式的螺距曲线1-3(总距) 2040 Q_M_VP_M_COL_B 多轴模式的螺距曲线4-6(总距) 507099合并为=>(0,20,40,50,70,100),注:99表示100 Q_M_VP_M_THR_A 多轴模式的油门曲线1-3 305060 Q_M_VP_M_THR_B 多轴模式的油门曲线4-6 607099合并为=>(30,50,60,60,70,100),注:99表示100 Q_M_VP_RAT_RLL 多轴ROLL对螺距的反应大小(0.01~1.00) 0.25 注:固定翼为RUDD_DT_GAIN(相同作用) Q_M_VP_RAT_YAW 多轴YAWL对斜盘的反应大小(0.01~1.00) 0.25 Q_M_VP_RAT_PIT 多轴PITCH对斜盘的反应大小(0.01~1.00) 0.25 曲线设置说明: 每组曲线共有6个点组成,分别以两组参数(A=前,B=后)所组成. 而每个参数(A,H)以6个数字表示3个点,每个点2个数字. 以这种方式来设置6个点的曲线. 例1: Q_M_VP_F_COL_A=103040 Q_M_VP_F_COL_B=507090 则A+B合并为=>(10%,30%,40%,50%,70%,90%) 例2: Q_M_VP_F_COL_A=2040 Q_M_VP_F_COL_B=507099 则A+B合并为=>(0%,20%,40%,50%,70%,100%) 注: *位数不足6位则前面会自动补零,例如2040=002040 *99这个数字为例外,是表示100% *曲线只能由小到大(或与前面相等),不能后面比前面还小. 测试方法(目前只能地面测试,因为我不确定能不能飞,我的结构还没搞好,无法试,只能模 拟): 1.按照尾坐教程把参数设定好,就是一架普通的尾座式. 2.更改Servo?_Function把46~49接到你的斜盘(或变距)舵机,左右不要搞错. 3.注意斜盘的升降方向与飞机的方向. 4.试反馈方向,如果方向不对则修改 Servo?_REVERSED(0=正向,1=反向),如果怎么改都不对 ,那有可能斜盘搞错了方向,如果确定没错,那有可能结构不一样请连系我,告知什么样的结 构,我会看情况修改代码. 5.遥控器打舵看看,如果方向错误则改变遥控器内的通道正反向. 6.试着调整曲线看看反应对不对. 7.试着调整Q_M_VP_RAT_YAW/Q_M_VP_RAT_PIT感度看反应对不对. 8.试运转(不装桨) 以下为测试参数(不一定对,因为我没有结构可试,等结构中...) 测试参数可以剪下另存一个文件来导入(或比较)Pixhawk内 ===================================================================== #NOTE: 2018/04/07 21:41:31 Plane: Tailsitter_VP AHRS_EKF_TYPE,3 AHRS_ORIENTATION,0 AHRS_RP_P,0.2 AHRS_YAW_P,0.2 ARMING_ACCTHRESH,0.8 ARMING_CHECK,6 ARMING_REQUIRE,1 ARMING_RUDDER,2 ARSPD_FBW_MAX,35 ARSPD_FBW_MIN,10 BRD_PWM_COUNT,6 BRD_SAFETY_MASK,0 BRD_SAFETYENABLE,0 EK2_ENABLE,0 EK3_ABIAS_P_NSE,0.003 EK3_ACC_BIAS_LIM,1 EK3_ACC_P_NSE,0.35 EK3_ALT_M_NSE,3 EK3_ALT_SOURCE,0 EK3_BCN_DELAY,50 EK3_BCN_I_GTE,500 EK3_BCN_M_NSE,1 EK3_CHECK_SCALE,100 EK3_EAS_I_GATE,400 EK3_EAS_M_NSE,1.4 EK3_ENABLE,1 EK3_FLOW_DELAY,10 EK3_FLOW_I_GATE,300 EK3_FLOW_M_NSE,0.25 EK3_GBIAS_P_NSE,0.001 EK3_GLITCH_RAD,25 EK3_GPS_CHECK,31 EK3_GPS_TYPE,0 EK3_GYRO_P_NSE,0.015 EK3_HGT_DELAY,60 EK3_HGT_I_GATE,500 EK3_IMU_MASK,3 EK3_LOG_MASK,1 EK3_MAG_CAL,0 EK3_MAG_I_GATE,300 EK3_MAG_M_NSE,0.05 EK3_MAG_MASK,0 EK3_MAGB_P_NSE,0.0001 EK3_MAGE_P_NSE,0.001 EK3_MAX_FLOW,2.5 EK3_NOAID_M_NSE,10 EK3_OGN_HGT_MASK,0 EK3_POS_I_GATE,500 EK3_POSNE_M_NSE,0.5 EK3_RNG_I_GATE,500 EK3_RNG_M_NSE,0.5 EK3_RNG_USE_HGT,-1 EK3_RNG_USE_SPD,2 EK3_TAU_OUTPUT,25 EK3_TERR_GRAD,0.1 EK3_VEL_I_GATE,500 EK3_VELD_M_NSE,0.7 EK3_VELNE_M_NSE,0.5 EK3_VIS_VERR_MAX,0.9 EK3_VIS_VERR_MIN,0.1 EK3_WENC_VERR,0.1 EK3_WIND_P_NSE,0.1 EK3_WIND_PSCALE,0.5 EK3_YAW_I_GATE,300 EK3_YAW_M_NSE,0.5 FBWA_TDRAG_CHAN,0 FBWB_CLIMB_RATE,2 FBWB_ELEV_REV,0 FLTMODE_CH,5 FS_GCS_ENABL,0 FS_LONG_ACTN,0 FS_LONG_TIMEOUT,5 FS_SHORT_ACTN,0 FS_SHORT_TIMEOUT,1.5 INVERTEDFLT_CH,0 KFF_RDDRMIX,0.4 KFF_THR2PTCH,0 LEVEL_ROLL_LIMIT,5 LIM_PITCH_MAX,4000 LIM_PITCH_MIN,-3600 LIM_ROLL_CD,4500 MAG_ENABLE,1 MANUAL_RCMASK,0 MIN_GNDSPD_CM,0 MIXING_GAIN,1 MIXING_OFFSET,0 NAV_CONTROLLER,1 NAVL1_DAMPING,0.75 NAVL1_LIM_BANK,0 NAVL1_PERIOD,14 NAVL1_XTRACK_I,0.02 PTCH2SRV_D,0.0225 PTCH2SRV_FF,0 PTCH2SRV_I,0.01666667 PTCH2SRV_IMAX,3000 PTCH2SRV_P,0.6 PTCH2SRV_RLL,1 PTCH2SRV_RMAX_DN,75 PTCH2SRV_RMAX_UP,75 PTCH2SRV_TCONST,0.45 Q_A_ACCEL_P_MAX,100000 Q_A_ACCEL_R_MAX,100000 Q_A_ACCEL_Y_MAX,27000 Q_A_ANG_LIM_TC,1 Q_A_ANG_PIT_P,4.5 Q_A_ANG_RLL_P,4.5 Q_A_ANG_YAW_P,4.5 Q_A_ANGLE_BOOST,0 Q_A_INPUT_TC,0.2 Q_A_RAT_PIT_D,0.01 Q_A_RAT_PIT_FF,0.02 Q_A_RAT_PIT_FILT,10 Q_A_RAT_PIT_I,0.15 Q_A_RAT_PIT_IMAX,0.5 Q_A_RAT_PIT_P,0.15 Q_A_RAT_RLL_D,0.03 Q_A_RAT_RLL_FF,0.2 Q_A_RAT_RLL_FILT,10 Q_A_RAT_RLL_I,0.15 Q_A_RAT_RLL_IMAX,0.5 Q_A_RAT_RLL_P,0.15 Q_A_RAT_YAW_D,0.01 Q_A_RAT_YAW_FF,0.02 Q_A_RAT_YAW_FILT,2.5 Q_A_RAT_YAW_I,0.18 Q_A_RAT_YAW_IMAX,0.5 Q_A_RAT_YAW_P,0.25 Q_A_RATE_FF_ENAB,1 Q_A_RATE_P_MAX,0 Q_A_RATE_R_MAX,0 Q_A_RATE_Y_MAX,0 Q_A_SLEW_YAW,6000 Q_A_THR_MIX_MAN,0.5 Q_A_THR_MIX_MAX,0.7 Q_A_THR_MIX_MIN,0.17 Q_ACCEL_Z,250 Q_ANGLE_MAX,4500 Q_ASSIST_ANGLE,30 Q_ASSIST_SPEED,0 Q_ENABLE,1 Q_ESC_CAL,0 Q_FRAME_CLASS,10 Q_FRAME_TYPE,1 Q_GUIDED_MODE,0 Q_LAND_FINAL_ALT,6 Q_LAND_ICE_CUT,1 Q_LAND_SPEED,50 Q_LOIT_ACC_MAX,500 Q_LOIT_ANG_MAX,0 Q_LOIT_BRK_ACCEL,250 Q_LOIT_BRK_DELAY,1 Q_LOIT_BRK_JERK,500 Q_LOIT_SPEED,1250 Q_M_BAT_CURR_MAX,60 Q_M_BAT_CURR_TC,2 Q_M_BAT_IDX,0 Q_M_BAT_VOLT_MAX,0 Q_M_BAT_VOLT_MIN,0 Q_M_BOOST_SCALE,0 Q_M_HOVER_LEARN,2 Q_M_PWM_MAX,0 Q_M_PWM_MIN,0 Q_M_PWM_TYPE,0 Q_M_SAFE_DISARM,0 Q_M_SPIN_ARM,0.1 Q_M_SPIN_MAX,0.95 Q_M_SPIN_MIN,0.15 Q_M_SPOOL_TIME,0.25 Q_M_THST_EXPO,0.65 Q_M_THST_HOVER,0.5 Q_M_YAW_HEADROOM,200 Q_MAV_TYPE,0 Q_OPTIONS,0 Q_P_ACC_XY_FILT,2 Q_P_ACCZ_D,0 Q_P_ACCZ_FF,0 Q_P_ACCZ_FILT,10 Q_P_ACCZ_I,1 Q_P_ACCZ_IMAX,800 Q_P_ACCZ_P,0.3 Q_P_ANGLE_MAX,0 Q_P_POSXY_P,1 Q_P_POSZ_P,1 Q_P_VELXY_D,0.35 Q_P_VELXY_D_FILT,5 Q_P_VELXY_FILT,5 Q_P_VELXY_I,0.7 Q_P_VELXY_IMAX,1000 Q_P_VELXY_P,1.4 Q_P_VELZ_P,5 Q_RC_SPEED,490 Q_RTL_ALT,15 Q_RTL_MODE,0 Q_TAILSIT_ANGLE,45 Q_TAILSIT_INPUT,1 Q_TAILSIT_MASK,0 Q_TAILSIT_MASKCH,0 Q_TAILSIT_VFGAIN,0.2 Q_TAILSIT_VHGAIN,0.4 Q_TAILSIT_VHPOW,2.5 Q_THR_MAX_PWM,2000 Q_THR_MIN_PWM,1000 Q_TILT_FIX_ANGLE,0 Q_TILT_FIX_GAIN,0 Q_TILT_MASK,0 Q_TILT_MAX,45 Q_TILT_RATE_DN,0 Q_TILT_RATE_UP,40 Q_TILT_TYPE,0 Q_TILT_YAW_ANGLE,0 Q_TRAN_PIT_MAX,30 Q_TRANS_DECEL,2 Q_TRANSITION_MS,2000 Q_VELZ_MAX,100 Q_VFWD_ALT,0 Q_VFWD_GAIN,0 Q_WP_ACCEL,100 Q_WP_ACCEL_Z,100 Q_WP_RADIUS,200 Q_WP_RFND_USE,1 Q_WP_SPEED,500 Q_WP_SPEED_DN,150 Q_WP_SPEED_UP,250 Q_WVANE_GAIN,0 Q_WVANE_MINROLL,1 Q_YAW_RATE_MAX,100 RLL2SRV_D,0.0225 RLL2SRV_FF,0 RLL2SRV_I,0.025 RLL2SRV_IMAX,3000 RLL2SRV_P,0.6 RLL2SRV_RMAX,75 RLL2SRV_TCONST,0.45 RUDD_DT_GAIN,20 RUDDER_ONLY,0 SCALING_SPEED,15 SERVO_RATE,50 SERVO_SBUS_RATE,50 SERVO_VOLZ_MASK,0 SERVO1_FUNCTION,46 SERVO1_MAX,1900 SERVO1_MIN,1000 SERVO1_REVERSED,1 SERVO1_TRIM,1500 SERVO10_FUNCTION,0 SERVO10_MAX,1900 SERVO10_MIN,1100 SERVO10_REVERSED,0 SERVO10_TRIM,1500 SERVO11_FUNCTION,0 SERVO11_MAX,1900 SERVO11_MIN,1100 SERVO11_REVERSED,0 SERVO11_TRIM,1500 SERVO12_FUNCTION,0 SERVO12_MAX,1900 SERVO12_MIN,1100 SERVO12_REVERSED,0 SERVO12_TRIM,1500 SERVO13_FUNCTION,0 SERVO13_MAX,1900 SERVO13_MIN,1100 SERVO13_REVERSED,0 SERVO13_TRIM,1500 SERVO14_FUNCTION,0 SERVO14_MAX,1900 SERVO14_MIN,1100 SERVO14_REVERSED,0 SERVO14_TRIM,1500 SERVO15_FUNCTION,0 SERVO15_MAX,1900 SERVO15_MIN,1100 SERVO15_REVERSED,0 SERVO15_TRIM,1500 SERVO16_FUNCTION,0 SERVO16_MAX,1900 SERVO16_MIN,1100 SERVO16_REVERSED,0 SERVO16_TRIM,1500 SERVO2_FUNCTION,47 SERVO2_MAX,2050 SERVO2_MIN,1130 SERVO2_REVERSED,0 SERVO2_TRIM,1500 SERVO3_FUNCTION,77 SERVO3_MAX,1900 SERVO3_MIN,1100 SERVO3_REVERSED,0 SERVO3_TRIM,1500 SERVO4_FUNCTION,78 SERVO4_MAX,1900 SERVO4_MIN,1100 SERVO4_REVERSED,0 SERVO4_TRIM,1500 SERVO5_FUNCTION,49 SERVO5_MAX,2040 SERVO5_MIN,1150 SERVO5_REVERSED,1 SERVO5_TRIM,1500 SERVO6_FUNCTION,50 SERVO6_MAX,1900 SERVO6_MIN,1100 SERVO6_REVERSED,0 SERVO6_TRIM,1100 SERVO7_FUNCTION,48 SERVO7_MAX,1900 SERVO7_MIN,1100 SERVO7_REVERSED,0 SERVO7_TRIM,1500 SERVO8_FUNCTION,0 SERVO8_MAX,1900 SERVO8_MIN,1100 SERVO8_REVERSED,0 SERVO8_TRIM,1500 SERVO9_FUNCTION,0 SERVO9_MAX,1900 SERVO9_MIN,1100 SERVO9_REVERSED,0 SERVO9_TRIM,1500 SR0_ADSB,5 SR0_EXT_STAT,2 SR0_EXTRA1,4 SR0_EXTRA2,4 SR0_EXTRA3,2 SR0_PARAMS,10 SR0_POSITION,2 SR0_RAW_CTRL,1 SR0_RAW_SENS,2 SR0_RC_CHAN,2 SR1_ADSB,5 SR1_EXT_STAT,5 SR1_EXTRA1,5 SR1_EXTRA2,5 SR1_EXTRA3,5 SR1_PARAMS,10 SR1_POSITION,5 SR1_RAW_CTRL,5 SR1_RAW_SENS,5 SR1_RC_CHAN,5 SR2_ADSB,5 SR2_EXT_STAT,1 SR2_EXTRA1,1 SR2_EXTRA2,1 SR2_EXTRA3,1 SR2_PARAMS,10 SR2_POSITION,1 SR2_RAW_CTRL,1 SR2_RAW_SENS,1 SR2_RC_CHAN,1 SR3_ADSB,5 SR3_EXT_STAT,1 SR3_EXTRA1,1 SR3_EXTRA2,1 SR3_EXTRA3,1 SR3_PARAMS,10 SR3_POSITION,1 SR3_RAW_CTRL,1 SR3_RAW_SENS,1 SR3_RC_CHAN,1 STAB_PITCH_DOWN,2 STALL_PREVENTION,1 STICK_MIXING,1 TECS_APPR_SMAX,0 TECS_CLMB_MAX,5 TECS_HGT_OMEGA,3 TECS_INTEG_GAIN,0.1 TECS_LAND_ARSPD,-1 TECS_LAND_DAMP,0.5 TECS_LAND_IGAIN,0 TECS_LAND_PDAMP,0 TECS_LAND_PMAX,10 TECS_LAND_SINK,0.25 TECS_LAND_SPDWGT,-1 TECS_LAND_SRC,0 TECS_LAND_TCONST,2 TECS_LAND_TDAMP,0 TECS_LAND_THR,-1 TECS_PITCH_MAX,30 TECS_PITCH_MIN,-30 TECS_PTCH_DAMP,0 TECS_RLL2THR,10 TECS_SINK_MAX,5 TECS_SINK_MIN,2.3 TECS_SPD_OMEGA,2 TECS_SPDWEIGHT,1 TECS_SYNAIRSPEED,0 TECS_THR_DAMP,0.5 TECS_TIME_CONST,5 TECS_TKOFF_IGAIN,0 TECS_VERT_ACC,7 TERRAIN_ENABLE,0 TERRAIN_FOLLOW,0 TERRAIN_LOOKAHD,2000 THR_FAILSAFE,1 THR_FS_VALUE,980 THR_MAX,90 THR_MIN,0 THR_PASS_STAB,0 THR_SLEWRATE,100 THR_SUPP_MAN,0 THROTTLE_NUDGE,1 TRIM_ARSPD_CM,1400 TRIM_AUTO,0 TRIM_PITCH_CD,0 TRIM_THROTTLE,45 USE_REV_THRUST,2 WP_LOITER_RAD,60 WP_MAX_RADIUS,0 WP_RADIUS,90 YAW2SRV_DAMP,0 YAW2SRV_IMAX,1500 YAW2SRV_INT,0 YAW2SRV_RLL,1 YAW2SRV_SLIP,0