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Anger and flying, its wings if the cloud hanging days! I was angry fly.

UAV debugging problems, flight control hardware customization, firmware modification, log log analysis, flight control drive add

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After making three months, my "flight control firmware development tutorial" series of video finally on "NetEase cloud classroom" line, and this tutorial is based on Pixhawk APM firmware and hardware, from the beginning, about how to build flight control firmware development environment, how to compile firmware programming, how to modify the firmware, how to build flight control simulation environment, how to add custom information, custom log, how to add peripheral drivers, how to guide aircraft to use OpenMV image recognition equipment, please support .

First, set the nose under the automatic route steering action

WP_YAW_BEHAVIOR : Heading behavior under automatic route

0: never turned around, heading to keep her course when the plane into the automatic route;
1: toward the next waypoint;
2: In addition to RTL, toward the next waypoint;
3: GPS direction toward the track.

Second, the mounting direction of flight control settings

AHRS_ORIENTATION : attitude rotation

Specific rotation method in MissionPlanner have a comment after the argument, if you really do not understand, it is a brute-force method a try it.

Third, automatic locking the length of time

DISARM_DELAY : Lock delay time before automatically locks

Unit: seconds.

Fourth, the output of the mixing wing provided

SERVOx_FUNCTION : Function output channel x. Wherein, 77: Elevon left, referring to the left aileron elevator mixing, 78: Elevon right, referring to the right elevator aileron mixing.

Fifth, after setting the idle speed of rotation of the unlock click

MOT_SPIN_ARM : 0: very low; 0.15: Moderate; 0.3: high. Note that this value can not be greater than MOT_SPAIN_MIN.

Sixth, to reduce the braking distance, rocker gyrus fixed-point mode allows the aircraft to a halt faster

1, for Copter-3.6 (or more) firmware:

LOIT_ACC_MAX : maximum acceleration, the larger value will make aircraft faster acceleration and deceleration;

LOIT_BRK_ACCEL : maximum braking acceleration (when the remote control sticks return to center), larger values will make aircraft braking more violent;

LOIT_BRK_DELAY : the remote control sticks return to center after a delay to determine the value of seconds, the plane began to brake, brake for faster, transfer of small value;

LOIT_BRK_JERK : maximum "jerk" (that is, the acceleration of acceleration), this value increases when braking, brake more violent.

2, for Copter-3.5 (inclusive) Firmware:

WPNAV_LOIT_MAXA : maximum acceleration, the larger value will make aircraft faster acceleration and deceleration;

WPNAV_LOIT_MINA : minimum acceleration, the larger value will make the aircraft more quickly after the sticks return to center to stop, but suddenly shake can cause the aircraft to stop;

WPNAV_LOIT_JERK : maximum "jerk" (that is, the acceleration of acceleration), this value increases when braking, brake more violent.

Seven, under Loiter speed mode turned

Under APM default parameters, playing under the heading rocker loiter mode, the aircraft turned around and great speed, and we often do not need such a large rotor speed, the rotor speed is ACRO_YAW_P control of this parameter, the default value is 4.5, we can adjust it small, such as 2.2. As can be seen from the flight control code, 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 the lever, the target angle becomes smaller a.

Eight locked logging

Sometimes we in order to facilitate the new features indoor test aircraft, hoping to log in the case of aircraft not unlocked in order to analyze the problem, you can LOG_DISARMED parameter to 1 can be.