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Arming the motors 激活发动机，将发动机至于可以启动的状态。
Before arming the motors, make sure all people and objects are clear of the propellers. First, plug in your LiPo and wait until the green and red LEDs are blinking (red will blink until you get GPS lock; green will blink while the ESCs are disarmed). If you've kept the four-wire connector from APM to the power disconnected for safety, now is the time to connect it.
名词：
Armed：发动机处于“激活状态”。在这个状态，推动油门杆可以使发动机开始工作并加速转动。
Disarmed：发动机处于“保护状态”。此时，不论油门杆如何动，发动机都不会工作。
在激活发动机之前，确认旋翼附近完全没有人员和物体。先把电池插上，然后等待红色和绿色LED闪烁。红灯闪烁表示GPS还没锁定，绿灯闪烁表示电调和发动机处于保护状态。如果先前出于安全的考虑没有连接APM的四芯电源线，那么现在可以接上了。
注意：新版的APM2.5的电源接头，即PM接头改成了6芯线。
You arm the ESCs by holding the yaw stick on your transmitter hard right for two seconds while the throttle is at its lowest position. RC transmitters come in two varieties: Mode 2 (most common in North America) and Mode 1 (most common in Europe). They differ in that the throttle and elevator positions are reversed, as shown here:
激活发动机，应将偏航摇杆推到右侧极限位置，保持两秒，同时保持油门位置为最低。遥控器通常有两个模式：北美常用Mode2（美国手），欧洲常用Mode1（日本手）。两者的区别在于油门和升降舵的位置彼此对调，如下图所示：
Arming is done by applying Full-Right Yaw and No Throttle. On a Mode 2 transmitter, this means the left stick would be Down and to the Right. On Mode 1, the means the the right stick must be Down and the left stick Full-Right.
电调/发动机的激活需要航向最右和油门最小。对Mode2遥控器来说，需要将左侧摇杆推到右下角。对Mode1遥控器来说，左侧摇杆推到最右，右侧摇杆拉到底。
When the motors are armed, the green LED will turn solid.
电机处于激活状态的时候，绿色LED灯不再闪烁，而保持常亮。
Disarming is done by doing the reverse: applying Full-Left Yaw and No Throttle. On a Mode 2 transmitter, this means the left stick would be Down and to the Left.
开启保护状态的操作正好相反：航向最左，油门还是最小。对Mode2遥控器来说，意味着左侧摇杆拉到左下角。
Both the arming and disarming positions need to be held for a few seconds. This is a safety mechanism to prevent accidental disarming during flight and accidental arming during transportation.
激活和保护操作，都需要将摇杆移动到极限位置并保持两秒以上。这是一种安全机制，用于避免携行时意外启动和飞行中意外关闭。
注意：
每次启动激活时，APM气压计自动执行初始化操作，也就把当前高度记为原点高度。
First flight 首飞
Ensure that your RC mode toggle switch is in Stabilize mode. Slowly raise the throttle until the quad just lifts off the ground.
确认遥控器的模式切换开关处于稳定模式，缓慢推油门，直到飞机缓慢离地。
If it seems like it's going to flip or otherwise isn't lifting relatively straight up, drop the throttle and land it. Hold the quad firmly in your hand and level in the air and with the props clear of your body, advance the throttle a bit to get a feel for what's going on. When you move the stick forward, back, right and left, does the quad tilt that way? (If not, you've set the wrong +/x orientation, hooked up your motors in the wrong order or have the prop direction or pusher/puller order wrong).
如果看上去有要翻倒的趋势，或者没有向正上方起飞，赶紧收油门降落。改为手持，抓牢，举在空中，确保螺旋桨不会碰到身体或其他物体。给一点点油门，感受飞机的运转状态。分别测试油门、方向、俯仰和侧倾操作，用手感受飞机是否有正常的动作趋势。如果感觉不对，那么可能是下列原因：
1，设置了错误的X/+姿态指向模式。
2，电机的安装位置顺序不对。
3，螺旋桨的旋转方向不对。
4，摇杆的操作方向设置不对。
If it lifts off smoothly, you may see a little yaw. That shouldn't be more than about 30 degrees and will correct itself with more flying time. There should be no pronounced wobble (if there is, you may have an unbalanced prop or out-of-true motor).
如果飞机能够顺畅地起飞，你可能会看到小幅度横摇偏航。这个角度通常应该小于30度，并且应该在飞行中很快恢复。不应该出现显著的摇晃或者摆动。如果有摇摆现象，可能是因为螺旋桨不平衡或者电机内部不平衡。
The quad should also tend to stay in place, and you shouldn't have to fight strong tendencies to move left or right or forward or back. If you do see that behavior, do NOT use your RC trims to correct (this just thows off the calibration). Instead, it probably means that the quad wasn't flat when you calibrated it or the airframe is out of true (one motor tilted). Land and correct that.
飞机应该能否保持一定的稳定性，应该不需要额外的大幅度的摇杆的操作。如果确实出现了不稳定现象，请“不要”使用遥控器的修正拨杆去修正飞机姿态，这样的操作会导致先前的校准失效。正确的做法是将飞机赶紧降下来，放在平整的地方，重新进行校准操作，并检查机架是否存在松动或其他异常。
If you're having trouble and the copter is not hovering smoothly, run through the troubleshooting guide here.
有故障或飞机无法保持顺畅悬停，请参考“排障指南”：
http://code.google.com/p/arducopter/wiki/AC2_Troubleshooting
Assuming that all is fine so far, you're ready for more advanced modes, such as Alt Hold and Loiter.
假如前述步骤都正常或故障已经排除，即可进行高级模式，例如高度保持和悬停。
Tips for your first flight首飞提点
• Make sure you are in a wind free environment (wind will play against you on in air auto trim)
确保飞场无风。风会影响自动修正功能。
• Make sure you have no trim on your Radio. (the APM is what we want to trim, the radio should never get trimmed)
确保遥控器修正量为零，因为APM会执行修正。有APM就不再需要遥控器的修正功能。
• Get above ground effect (around 3-4 feet is enough on most models)
居于地效高度之上。对大多数模型来说，一米多高就差不多了。
• Make sure to practice a lot before you actually try the auto trim to find the sweet spot on the Radio right stick to have the copter super stable, not moving (this is where wind affect your inputs)
在操作右摇杆执行自动修正寻找姿态最佳平衡点之前，多做练习。
• We recommend not starting in Simple mode. Begin your flying in the basic Stabilize mode.
建议不要从“简单模式”开始，请在试飞中使用“稳定模式”。
Using the Auto Trim使用自动修正
Once you know where that sweet spot is you are ready for the 25 seconds auto trim procedure. More details can be found on the AutoTrim wiki page but the basics are also below.
找到平衡点之后，即可开始执行25秒的自动修正程序。更多细节请参考WIKI相关网页。
http://code.google.com/p/arducopter/wiki/AC2_AutoTrim
1. On the ground, hold the arming position for an extra 10-15 seconds (dont count, you will see the ABC LEDs flash in a new sequence when it's done)
在地面，保持发动机激活状态10到15秒。不需要读秒，三个LED灯的闪烁模式会自动变化，以作提示。
2. You now have 25 seconds to teach the APM the perfect in air level (auto trim of the APM)
下面进入25秒程序使APM执行空中悬停自动修正。
3. Take off, rise above ground effect (3-4 feet)
起飞，保持在地效高度之上（一米多高）。
4. Hold that sweet spot on the radio that you found earlier to put the copter in a steady stable state.
用摇杆使飞机保持在平衡状态。
5. During this 25 seconds, the APM is slowly adjusting it's estimate of "level" to match the angle that you're flying at.
在此25秒钟，APM会缓慢地调整其同平衡点相关的内部参数，以适应于飞机的水平状态。例如：在机身内部，APM板的安装可能会有少许倾斜。在这个自动修正的过程中，APM可以自动记录APM板相对机身的倾斜程度，并将当前位置，定义为“水平位置”。
6. Now you land as normal and these adjustments will be stored to the eeprom.
现在可以正常降落，那些内部参数将被自动保存在APM板上的内存中（关机不丢）。
7. Try to take off without any right stick input, it should rise square and stable.
再次起飞，应该就不再需要操作摇杆去保持平衡了。
8. If not, land and repeat from Arming for 15 sec, flying 25 sec. at will until your copter is perfect!
如果不成功，再来一次：地面激活15秒，飞25秒。。。。。。直到飞机能够自动修正。
Warning about low batteries 低电压报警
When flying ArduCopter, you need to keep in mind that it flies much differently than a winged airplane. In an airplane, lift is generated by the wing and you still have control surfaces for maneuvering if the motor were to stop. ArduCopter, as well as other quadcopters, generates lift solely from the thrust of the motors. If your battery were to go dead, you would have no lift and no control over your ArduCopter. It may flip over and crash without a gradual warning. During first flights, fly only short durations until you know your battery consumption. You may also program your ESCs to use a slow or no cutoff at low voltages.
飞旋翼机的时候要注意到，这比固定翼飞机要难一些。固定翼飞机的升力由机翼产生，那么即使发动机停转控制舵面仍然是有效的，飞机仍可操作。旋翼机升力完全由发动机产生，那么一旦电池用尽，则飞机无动力，也无任何操纵能力，立刻就会翻滚炸机。首飞时，一定不能持续太久，除非对耗电量有完全的把握。或者将电调设定为低速运转而不是低电压立即停止输出。
It is HIGHLY recommended you purchase a Battery Voltage Monitor such as the one found here for 3S LiPo batteries. The two wires can be soldered to the P-PCB directly, or you can connect to the balancing plug of your battery. The one linked above has a buzzer and LEDs that function as follows:
强烈建添置电池电压监视器。
Voltage LED Buzzer蜂鸣器
> 11.0v Solid Blue 蓝常亮 Off 关
10.0v - 11.0v Flashing Blue 蓝闪 Off关
9.8v - 10.0v Solid Red 红常亮 Off关
< 9.8v Flashing Red 红闪 On 开
Note: If you are using a battery monitor, always connect the main LiPo battery wire before connecting the balancing port wire to the APM.
提示：使用电池监视器，通常先链接电池输出线，然后再连接平衡插头。
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发表于 2013-5-17 21:16
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