*** HeliPlane 說明 *** 這是一種以直升機為基礎的垂直起降固定翼,目前有三種結構,如下: 1.單純的變距:只有一個舵機的結構,僅變總距. 2.變距+升降:除了變距再加上Pitch軸的向量,由2個舵機組成的結構. 3.CCPM:直升機120度斜盤為基礎的垂起. 以上1&2需要左右兩個結構,可為2個電機也可為單電機帶動左右,可油動也可電動,3則只要 1個結構,但必須有反扭電機以控制反扭. 新增的 Servo_Function 編號表 ===================================================== 編號 英文名稱(程式內的變數) 中文說明(用途) ===================================================== 46 k_vp_left VTOL變距左舵機(總距) 47 k_vp_right VTOL變距右舵機(總距) 48 k_vp_throttle VTOL變距油門 49 k_vp_left_ele VTOL斜盤左舵機(升降斜盤) 50 k_vp_right_ele VTOL斜盤右舵機(升降斜盤) 新增的參數 ===================================================== 參數名稱 說明 範例 ===================================================== Q_M_VP_F_COL 固定翼模式的螺距曲線(總距) 255075 Q_M_VP_F_THR 固定翼模式的油門曲線 505050 Q_M_VP_M_COL 多軸模式的螺距曲線(總距) 255075 Q_M_VP_M_THR 多軸模式的油門曲線 305060 Q_M_VP_VECTOR 變距向量感度(0=關,1=100%) 0.5 Q_M_VP_LIMIT 最大螺距行程極限(最小最大) 0 曲線設置說明: 每組曲線以6個數位組成,每2個數字為一個點(所以總共有3個點), 再加上前後固定的0%及100%,於是5個點組成一條線. 例如:255075 則表示 0%,25%,50%,75%,100% (可想像為一斜線) 例如:505050 則表示 0%,50%,50%,50%,100% (0%,一橫線,100%) 由以上得知,最小及最大固定為0及100,如果要限制範圍則必須 由 Servo?_Min及Servo_Max去改. Q_M_VP_LIMIT設置說明: 以4個數位組成,前2個數字為最小行程%,後2個數字為最大行程% 例如1090則表示最小螺距限制>=10%,最大螺距限制在<=90% 例如90則表示最小螺距不限制,最大螺距限制在<=90% 例如1000則表示最小螺距限制>=10%,最大螺距不限制 例如0則表示不限制(以Servo?_Min及Servo?_Max為主) 測試方法(目前只能地面測試,因為我不確定能不能飛,我的結構還沒搞好,無法試,只能模 擬): 1.按照尾坐教程把參數設定好,就是一架普通的尾座式. 2.更改Servo?_Function把46~49接到你的斜盤(或變距)舵機,左右不要搞錯. 3.注意斜盤的升降方向與飛機的方向. 4.試反饋方向,如果方向不對則修改 Servo?_REVERSED(0=正向,1=反向),如果怎麼改都不對 ,那有可能斜盤搞錯了方向,如果確定沒錯,那有可能結構不一樣請連系我,告知什麼樣的結 構,我會看情況修改代碼. 5.遙控器打舵看看,如果方向錯誤則改變遙控器內的通道正反向. 6.試著調整曲線看看反應對不對. 7.試著調整Q_M_VP_VECTOR感度看反應對不對. 8.試運轉(不裝槳) 以下為測試參數(不一定對,因為我沒有結構可試,等結構中...) 測試參數可以剪下另存一個檔來導入(或比較)Pixhawk內 ===================================================================== #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_VP_F_COL,255075 Q_M_VP_F_THR,505050 Q_M_VP_M_COL,255075 Q_M_VP_M_THR,305060 Q_M_VP_VECTOR,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