之前一直玩四轴MWC飞控，现在想转电固，很少见到有关于MWC飞控设置固定翼模式方面的资料，查了点国外论坛资料，现搬运过来大家共享：
Multiwii Airplane
How to setup a Multiwii Airplane
updated 2012-11-06
Airplane uses same Hardware as a MultiWii copter.
Arduino PRO MINI. 5V 16MHz or Arduino Mega.
- Gyro
- Accelerometer (Optional)
Acc only needed forAutoleveling.
Information about MultiWii can be found here.
MultiWii Forum
Download the latest Version for MWii
Start with a trimmed suitable plane.
Dynam EZ-Hawk was my choice but any airplane will work.
Connect servos to the Arduino.
My Installation
Nunchuck and Wmp mounted stacked together.
Close to CG with multible layers of double-sided foam tape.
Arduino Pro Mini is temporarily taped on top of the battery
sensors connected via I2C cable.
Setup Transmitter
Set TX channels to full rates it shoud reach between 1000-2000us in the Gui.
Correct the servo directions in the TX.
Servo setup
Set EXPO to 0 in gui.
Setup in PassThruMode.
Set all TX trims to zero and check the value when the sticks centers.
If it's not 1500 change #MIDRC in the code.
* Adjust ServoOffset in the code to center the ControlSurfaces.
* Set the ServoRates to maximum possible for the model.
The settings is done in Config.h .
=========================
Servosettings
*********************************************************************************
Servos used in Airplane mode is
2 =>Only if Conventional Flaps If Activated
3=>Wing1
4=>Wing2
5=>Rudder
6=>Elevator
Se the servo Pinout in the connectiondiagram
In the original servomix for airplane servos 3 -7 is used.
{ 0, 1, Flaps, Wing1, Wing2, Rudd, Elev, Thro }
Servo numbering -->{ 0, 1, 2, 3, 4, 5, 6, 7 }
#define SERVO_OFFSET { 0, 0, 0, -20, 40, 0, 20, 0 } // MID Offset on servo
#define SERVO_RATES {100, 100, 100, 100, 100, 100, 100, 100 } // Rates in %
#define SERVO_DIRECTION { 1, 1, 1, 1, 1, 1, 1, 1 } // Invert servos setting -1
********************************************************************************
Flaps Settings
Conventional Flaps
Using servo[2] (A2 on ProMini )
//#define FLAPS AUX4 // Define the Channel who controls the Flaps .
#define FLAP_EP { 1500, 1650 } // Endpooints for flaps with a 2 way switch .
//#define FLAPPERON_EP { 1200, 1500 } // Or Flapperons up for CrowMix
Flapperons
//#define FLAPPERONS AUX4 // Use Aileroins as Flaps .
#define FLAPPERON_EP { 1500, 1700 } // Endpooints for flaps on a 2 way switch
#define FLAPPERON_INVERT { 1, -1 } // Change direction of flaps
Make flaps move slow Higher value is Higher Speed. Effects Both types of flaps.
//#define FLAPSPEED 3
********************************************************************************
Gyro or Acc assisted Mode.
Check if Gyro move servos in right directions.
Lift a wingtip and Ailerion goes up.
Lift the tail and Elevator goes up.
Rudder moves in same direction as the tail.
Reverse servos if needed.
!! Important Note !!
In versions after dev-06-04 there's been a change.
It's effecting GyroSmoothening and Servo_offset.
If you change any of the values in the ConfigFile The RESET button in the Gui
must be pressed before the changes will be applyed!.
GyroSmooting
If the gyros feels oversensitive (Hysteric) Try smoothing.
#define GYRO_SMOOTHING {20, 20, 3} // separate averaging ranges for roll, pitch, yaw.
Values must never be below 1.
Flaps (Flapperons)*
Select a channel to controll your flaps with.
Endpoints is the preprogrammed positions for the flapperons .
Endpooints for flaps can also be programmed in the TX .
Then set FLAP_EP { 1020, 2000} in the code.
Change direction of flaps that both go down when activated.
The flap function is a direct passthru, But ailerions can still be assisted.
Servos
Totally 8 servos is available.
Default mix uses.
2 Wingservos
1 Elevator
1 Rudder
1 Trottelservo or esc.
There's 3 free servos to use. A0,A1 & A2
A2 Is used for conventional Flaps.
For use of a gimbal or other functions.
The mixes in outputfile can be modified for more advanced setups.
Passthru
Sends Rc commands direct to servos.
GyroMode
The plane should feel stable but still be able to loop & roll.
Stallspeed is lower and it can be necessary to "Push" it down in landings.
AccMode
Levels the plane when sticks is in center.
LevelMode also limits how much the plane can tilt.
Preflight setup
After you have changed the servotRates in the code
you can set Dualrates and Expos in the Transmitter.
Engine must be Armed to prevent motorstart by accident..
It can be Armed from AXU-channel if it's setup in the gui . (recomended)
Or with stick combination min throttle & max rudder.
First Flight.
Take of in Passthru.
Switch mode on safe height.
Activate Assisted modes and feel the difference.
Initial settings for first testflight.
Level-P value will Reduce the maximum throw in Level-Mode.
P=9 Will give similar throws as Gyro-Mode.
(*)
Flapperons:
A mix where ailerons also works as flaps for simpler models without separate flaps.
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发表于 2013-4-8 11:55
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