A, PID regulation
ATC_RAT_PIT_P pitch axis control rate P gain
ATC_RAT_RLL_P roll axis rate control P gain
ATC_RAT_YAW_P heading rate control axis P gain
ATC_RAT_PIT_I pitch axis rate control I gain
ATC_RAT_RLL_I roll axis rate control I gain
ATC_RAT_YAW_I heading rate control shaft I gain
ATC_RAT_PIT_D pitch axis control rate D gain
ATC_RAT_RLL_D roll axis rate control D gain
ATC_RAT_YAW_D course axis control rate D gain
And then transferred to the final adjustment value P I tone value D
P values: sensitivity to external interference in aircraft induction.
P value is too low: slow shaking on an axis, it is weak.
P value is too high: a shaft of high frequency jitter.
D value: Brake be understood as
Operation: hit a rudder shaft after gyrus, watch the reaction of the aircraft, the ideal state is just back to the middle position and no jitter.
D value is too low: state aircraft repeatedly shake shocks in the neutral position.
D value is too high: the strength of the recovery is very slow.
I value: speed of reaction, met outside interference, the speed of recovery.
I value is too low: aircraft recovery slower.
I value is too high: faster recovery, may overshoot.
Experience obtained: I value P value as close as possible.
two,
Adjust acceleration
ATC_ACCEL_P_MAX maximum acceleration of pitch
ATC_ACCEL_R_MAX roll maximum acceleration
ATC_ACCEL_Y_MAX maximum acceleration yaw
three,
1 , the handpiece is provided to automatically route the steering action
WP_YAW_BEHAVIOR
0 ● : never turned around, keeping the aircraft heading into the automatic route is the route;
● toward the next waypoint;
● In addition to the RTL , toward the next waypoint;
● toward GPS track direction;
2, AHRS_ORIENTATION : attitude rotation
We set to 0
3, automatically lock the length of time
DISARM_DELAY: Lock delay time before automatically locks
Unit: seconds.
( . 4 seconds)
4, set the speed of the idle rotation after unlocking the motor
MOT_SPIN_ARM:
0: very low
0.15: Medium
0.3 : high
（0.1）
5, reducing the braking distance, fixed-point mode sticks return to center to make aircraft faster to stop
LOIT_ACC_MAX: maximum acceleration, the larger value will make aircraft faster acceleration and deceleration; ( 500 )
LOIT_BRK_ACCEL: maximum braking acceleration (centering rocker remote controller), a larger value will aircraft braking more violent; ( 250 )
LOIT_BRK_DELAY: After centering the remote control joystick, the delay value determined number of seconds, the aircraft begins braking, brake for faster, smaller tone value; ( 1 )
LOIT_BRK_JERK: maximum "jerk" (that is, the acceleration of acceleration), this value increases when braking, brake more violent. ( 500 )
6, Loiter mode rotor speed
ACRO_YAW_P default value is 4.5 , the code can be seen, this value is used to remote control the amount of rocker heading, heading linearly converted to the target angular speed, by reducing this value, the case where the same amount of a rod, a target angle becomes small. ( 1 )
7, locked logging
LOG_DISARMED parameter is set to 1