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标题: 【 无 聊 贴 个 1 3 0 的 P I D ， 是 挺 好 飞 的 】 [打印本页]

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作者: long0001    时间: 2016-3-15 23:29
标题: 【 无 聊 贴 个 1 3 0 的 P I D ， 是 挺 好 飞 的 】


手机随便录了个像，中途内存不够了自动停机。。。







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GT130
1306-KV3100
3045
XM20A-Multishot_14.4.01
minicc3d-Betaflight2.5.2
R4FA-SB
WR-200
CMOS




Entering CLI Mode, type 'exit' to return, or 'help'

# dump

# version
# BetaFlight/CC3D 2.5.2 Mar  5 2016 / 22:35:37 (37bd1d6)
# dump master

# mixer
mixer CUSTOM
mmix reset
mmix 0 1.000 -1.000 0.804 -1.000
mmix 1 1.000 -1.000 -0.804 1.000
mmix 2 1.000 1.000 0.804 1.000
mmix 3 1.000 1.000 -0.804 -1.000
smix reset


# feature
feature -RX_PPM
feature -VBAT
feature -INFLIGHT_ACC_CAL
feature -RX_SERIAL
feature -MOTOR_STOP
feature -SERVO_TILT
feature -SOFTSERIAL
feature -GPS
feature -FAILSAFE
feature -SONAR
feature -TELEMETRY
feature -CURRENT_METER
feature -3D
feature -RX_PARALLEL_PWM
feature -RX_MSP
feature -RSSI_ADC
feature -LED_STRIP
feature -DISPLAY
feature -ONESHOT125
feature -BLACKBOX
feature -CHANNEL_FORWARDING
feature RX_SERIAL
feature MOTOR_STOP
feature ONESHOT125


# beeper
beeper  GYRO_CALIBRATED
beeper  RX_LOST
beeper  RX_LOST_LANDING
beeper  DISARMING
beeper  ARMING
beeper  ARMING_GPS_FIX
beeper  BAT_CRIT_LOW
beeper  BAT_LOW
beeper  GPS_STATUS
beeper  RX_SET
beeper  ACC_CALIBRATION
beeper  ACC_CALIBRATION_FAIL
beeper  READY_BEEP
beeper  MULTI_BEEPS
beeper  DISARM_REPEAT
beeper  ARMED
beeper  SYSTEM_INIT
beeper  ON_USB


# map
map AETR1234


# serial
serial 20 1 115200 57600 0 115200
serial 0 64 115200 57600 0 115200
serial 2 0 115200 57600 0 115200


# led
led 0 15,15:ES:IA:0
led 1 15,8:E:WF:0
led 2 15,7:E:WF:0
led 3 15,0:NE:IA:0
led 4 8,0:N:F:0
led 5 7,0:N:F:0
led 6 0,0:NW:IA:0
led 7 0,7:W:WF:0
led 8 0,8:W:WF:0
led 9 0,15:SW:IA:0
led 10 7,15:S:WF:0
led 11 8,15:S:WF:0
led 12 7,7:U:WF:0
led 13 8,7:U:WF:0
led 14 7,8:D:WF:0
led 15 8,8:D:WF:0
led 16 8,9::R:3
led 17 9,10::R:3
led 18 10,11::R:3
led 19 10,12::R:3
led 20 9,13::R:3
led 21 8,14::R:3
led 22 7,14::R:3
led 23 6,13::R:3
led 24 5,12::R:3
led 25 5,11::R:3
led 26 6,10::R:3
led 27 7,9::R:3
led 28 0,0:::0
led 29 0,0:::0
led 30 0,0:::0
led 31 0,0:::0


# color
color 0 0,0,0
color 1 0,255,255
color 2 0,0,255
color 3 30,0,255
color 4 60,0,255
color 5 90,0,255
color 6 120,0,255
color 7 150,0,255
color 8 180,0,255
color 9 210,0,255
color 10 240,0,255
color 11 270,0,255
color 12 300,0,255
color 13 330,0,255
color 14 0,0,0
color 15 0,0,0

# aux
aux 0 0 1 1300 2100
aux 1 27 0 1700 2100
aux 2 28 0 1300 1700
aux 3 0 0 900 900
aux 4 0 0 900 900
aux 5 0 0 900 900
aux 6 0 0 900 900
aux 7 0 0 900 900
aux 8 0 0 900 900
aux 9 0 0 900 900
aux 10 0 0 900 900
aux 11 0 0 900 900
aux 12 0 0 900 900
aux 13 0 0 900 900
aux 14 0 0 900 900
aux 15 0 0 900 900
aux 16 0 0 900 900
aux 17 0 0 900 900
aux 18 0 0 900 900
aux 19 0 0 900 900

# adjrange
adjrange 0 0 0 900 900 0 0
adjrange 1 0 0 900 900 0 0
adjrange 2 0 0 900 900 0 0
adjrange 3 0 0 900 900 0 0
adjrange 4 0 0 900 900 0 0
adjrange 5 0 0 900 900 0 0
adjrange 6 0 0 900 900 0 0
adjrange 7 0 0 900 900 0 0
adjrange 8 0 0 900 900 0 0
adjrange 9 0 0 900 900 0 0
adjrange 10 0 0 900 900 0 0
adjrange 11 0 0 900 900 0 0
adjrange 12 0 0 900 900 0 0
adjrange 13 0 0 900 900 0 0
adjrange 14 0 0 900 900 0 0

# rxrange
rxrange 0 1000 2000
rxrange 1 1000 2000
rxrange 2 1000 2000
rxrange 3 1000 2000

# servo
servo 0 1000 2000 1500 90 90 100 -1
servo 1 1000 2000 1500 90 90 100 -1
servo 2 1000 2000 1500 90 90 100 -1
servo 3 1000 2000 1500 90 90 100 -1
servo 4 1000 2000 1500 90 90 100 -1
servo 5 1000 2000 1500 90 90 100 -1
servo 6 1000 2000 1500 90 90 100 -1
servo 7 1000 2000 1500 90 90 100 -1

set mid_rc = 1520
set min_check = 1000
set max_check = 2000
set rssi_channel = 0
set rssi_scale = 30
set rssi_ppm_invert = OFF
set input_filtering_mode = OFF
set rc_smoothing = OFF
set roll_yaw_cam_mix_degrees = 0
set max_aux_channels = 6
set debug_mode = NONE
set min_throttle = 1050
set max_throttle = 2000
set min_command = 1000
set servo_center_pulse = 1500
set 3d_deadband_low = 1406
set 3d_deadband_high = 1514
set 3d_neutral = 1460
set 3d_deadband_throttle = 50
set use_oneshot42 = OFF
set use_multishot = ON
set enable_buzzer_p6 = OFF
set motor_pwm_rate = 400
set servo_pwm_rate = 50
set disarm_kill_switch = ON
set auto_disarm_delay = 30
set small_angle = 25
set fixedwing_althold_dir = 1
set reboot_character = 82
set serialrx_provider = SBUS
set sbus_inversion = ON
set spektrum_sat_bind = 0
set spektrum_sat_bind_autoreset = 1
set telemetry_switch = OFF
set telemetry_inversion = OFF
set frsky_default_lattitude =  0.000
set frsky_default_longitude =  0.000
set frsky_coordinates_format = 0
set frsky_unit = IMPERIAL
set frsky_vfas_precision = 0
set frsky_vfas_cell_voltage = OFF
set hott_alarm_sound_interval = 5
set battery_capacity = 0
set vbat_scale = 110
set vbat_max_cell_voltage = 43
set vbat_min_cell_voltage = 33
set vbat_warning_cell_voltage = 35
set vbat_pid_compensation = OFF
set current_meter_scale = 400
set current_meter_offset = 0
set multiwii_current_meter_output = OFF
set current_meter_type = ADC
set align_gyro = DEFAULT
set align_acc = DEFAULT
set align_mag = DEFAULT
set align_board_roll = 180
set align_board_pitch = 0
set align_board_yaw = 180
set max_angle_inclination = 700
set gyro_lpf = OFF
set gyro_sync_denom = 3
set gyro_soft_lpf =  60.000
set moron_threshold = 32
set imu_dcm_kp = 2500
set imu_dcm_ki = 0
set alt_hold_deadband = 40
set alt_hold_fast_change = ON
set deadband = 6
set yaw_deadband = 6
set throttle_correction_value = 0
set throttle_correction_angle = 800
set yaw_control_direction = 1
set yaw_motor_direction = 1
set yaw_jump_prevention_limit = 200
set tri_unarmed_servo = ON
set servo_lowpass_freq = 400
set servo_lowpass_enable = OFF
set acro_plus_factor = 30
set acro_plus_offset = 40
set failsafe_delay = 10
set failsafe_off_delay = 10
set failsafe_throttle = 1000
set failsafe_kill_switch = OFF
set failsafe_throttle_low_delay = 100
set failsafe_procedure = OFF
set rx_min_usec = 885
set rx_max_usec = 2115
set gimbal_mode = NORMAL
set acc_hardware = NONE
set acc_lpf_hz =  10.000
set accxy_deadband = 40
set accz_deadband = 40
set acc_unarmedcal = ON
set acc_trim_pitch = 0
set acc_trim_roll = 0
set baro_tab_size = 21
set baro_noise_lpf =  0.600
set baro_cf_vel =  0.985
set baro_cf_alt =  0.965
set baro_hardware = NONE
set mag_hardware = NONE
set mag_declination = 0
set pid_process_denom = 1
set blackbox_rate_num = 0
set blackbox_rate_denom = 0
set blackbox_device = SERIAL
set magzero_x = 0
set magzero_y = 0
set magzero_z = 0

# rxfail
rxfail 0 a
rxfail 1 a
rxfail 2 a
rxfail 3 a
rxfail 4 s 1000
rxfail 5 s 1000
rxfail 6 h
rxfail 7 h
rxfail 8 h
rxfail 9 h
rxfail 10 h
rxfail 11 h
rxfail 12 h
rxfail 13 h
rxfail 14 h
rxfail 15 h
rxfail 16 h
rxfail 17 h

# dump profile

# profile
profile 0

set yaw_p_limit = 500
set pid_delta_method = MEASUREMENT
set dterm_lpf_hz =  0.000
set dterm_average_count = 4
set pid_controller = MWREWRITE
set p_pitch = 54
set i_pitch = 40
set d_pitch = 46
set p_roll = 50
set i_roll = 40
set d_roll = 42
set p_yaw = 70
set i_yaw = 45
set d_yaw = 50
set p_pitchf =  1.400
set i_pitchf =  0.400
set d_pitchf =  0.010
set p_rollf =  1.100
set i_rollf =  0.400
set d_rollf =  0.010
set p_yawf =  4.000
set i_yawf =  0.400
set d_yawf =  0.000
set level_horizon =  4.000
set level_angle =  4.000
set sensitivity_horizon = 75
set p_alt = 50
set i_alt = 0
set d_alt = 0
set p_level = 30
set i_level = 30
set d_level = 100
set p_vel = 120
set i_vel = 45
set d_vel = 1

# rateprofile
rateprofile 0

set rc_rate = 135
set rc_expo = 70
set rc_yaw_expo = 35
set thr_mid = 50
set thr_expo = 0
set roll_rate = 100
set pitch_rate = 100
set yaw_rate = 150
set tpa_rate = 40
set tpa_breakpoint = 1650

# dump rates

# rateprofile
rateprofile 0

set rc_rate = 135
set rc_expo = 70
set rc_yaw_expo = 35
set thr_mid = 50
set thr_expo = 0
set roll_rate = 100
set pitch_rate = 100
set yaw_rate = 150
set tpa_rate = 40
set tpa_breakpoint = 1650

#

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作者: dwman    时间: 2016-3-15 23:57

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作者: prowerboy    时间: 2016-3-16 00:32
请教acro plus什么作用

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作者: chanomatic    时间: 2016-3-16 01:19
看不懂

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作者: firair    时间: 2016-3-16 02:09
同问 acro plus 是干嘛的

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作者: 老晋    时间: 2016-3-16 02:50
牛逼的小机器！

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作者: 丹东大屁股    时间: 2016-3-16 07:49
配置挺高端啊，不少淘宝上都搜不到。

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作者: lijikun    时间: 2016-3-16 08:04
太小看不清楚

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作者: joh123    时间: 2016-3-16 08:50
MINI穿越结构紧凑代表，不错

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作者: xxz1858    时间: 2016-3-16 08:51
小巧，值得拥有，分享精神赞一个！

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作者: long0001    时间: 2016-3-16 10:00

prowerboy 发表于 2016-3-16 00:32
请教acro plus什么作用

这个也搞不清楚，和手动比没什么区别多少。
设置下面两个参数可能有变化，具体还没仔细研究。
set acro_plus_factor = 30
set acro_plus_offset = 40

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作者: long0001    时间: 2016-3-16 10:00

firair 发表于 2016-3-16 02:09
同问 acro plus 是干嘛的

这个也搞不清楚，和手动比没什么区别多少。
设置下面两个参数可能有变化，具体还没仔细研究。
set acro_plus_factor = 30
set acro_plus_offset = 40

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作者: asxz    时间: 2016-3-16 12:38



你用的R4FA接收机和我一样，我的低空300米左右有断断续续失控的感觉你的有吗？

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作者: long0001    时间: 2016-3-16 12:48

asxz 发表于 2016-3-16 12:38
你用的R4FA接收机和我一样，我的低空300米左右有断断续续失控的感觉你的有吗？

我还没飞过那么远，远了图传就图像太花了。

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作者: asxz    时间: 2016-3-16 13:12

long0001 发表于 2016-3-16 12:48
我还没飞过那么远，远了图传就图像太花了。

你啥图传这么差劲，才300米而已

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