APM看上去不错，尝试做一套

axnzero

添置设备。

axnzero

制作一架KT板，纸飞机。飞翼构型，没有方向舵。

翼展1米，机长1米。
3S2000电池，30A电调，2216KV1250，8X4桨，9克舵机。

发现，只需要在遥控器把普通固定翼模式改成飞翼模式即可。无需其他特别设定。
注意：两个舵机的缺省通道不是1和2，而是1和6。油门通道仍然是3，通道2和通道3直接同步动作。

首次测试。
先立在地上，尝试直接推杆起飞，直接向前扑倒。没起来。
初次尝试手抛，比划了一下，发现问题：
没带遥控器挂带。
一只手拿着，还要推油门杆，动作就比较局促，容易误动作。
尝试了几个持握方式，看看四周比较空旷，直接大油门扔出去。就这样飞起来了。

开始的几秒比较混乱，在横滚方向比较剧烈地摇晃。
有了一定高度之后，心理比较平稳了，动作也比较舒缓了。

发现问题：
1，舵效太大。
2，动力太足。约20%油门就能正常飞。
3，手抛还需要更多练习。

KT纸飞机优点：
1，速度范围很宽，可以高速飞，也可以维持比MD赛斯纳低很多的速度，不失速。
2，对重心位置不敏感，电池的摆放和其他设备的布置比较方便。
3，机翼展弦比小，机翼机身对磕碰的容忍性比较好。
4，不仅机身便宜，舵机也仅需2个。

axnzero

RTL Mode 返回起飞点
In return to launch (RTL) mode, the copter navigates from its current position to hover above the home position. The behavior of RTL mode can be controlled by several adjustable parameters.
返回起飞点模式，飞行器从当前位置飞到起飞点上空，然后保持悬停。“回家模式”的具体动作由一些参数来控制。
Overview
When RTL mode is selected, the copter will return to the home location. By default the copter will first rise to at least 15m before returning home, or it will maintain the current altitude if it is higher.
切入回家模式，飞行器就向着起飞点的位置飞。在缺省模式下，飞行器先要把高度拉升到15米左右，然后向着起飞点飞。如果当前的高度高于15米，则维持当前高度，直接飞向起飞点。

RTL is a GPS-dependent move, so it is essential that GPS lock is acquired before attempting to use this mode. Before arming, ensure that the APM’s blue LED is solid and not blinking. For a GPS without compass, the LED will be solid blue when GPS lock is acquired. For the GPS+Compass module, the LED will be blinking blue when GPS is locked.
“回家模式”显然是依赖于GPS的定位数据的。所以使用这种模式就必须确认GPS数据已经稳定。具体来说，在“激活”发动机之前，请确保APM的蓝色LED灯常亮，而不是闪烁。对独立的GPS模块来说，GPS搜星完成，坐标锁定之后LED常亮。对GPS和罗盘双功能模块来说，GPS搜星完成时，蓝色LED是闪烁的。
RTL will command the copter to return to the home position, meaning that it will return to the location where it was armed. Therefore, the home position is always supposed to be your copter’s actual GPS takeoff location, unobstructed and away from people. For APM:Copter if you get GPS lock and then ARM your copter, the home position is the location the copter was in when it was armed. This means if you execute an RTL in APM:Copter, it will return to the location where it was armed.
“回家模式”的“家”指的是飞行器“激活”时候的位置，而不是GPS首次搜星定位成功的位置。
Warning: RTL travel speed is determined by WPNAV_SPEED. If you are using CH6 for WPNAV_SPEED setting from your RC radio, check that your CH6 receiver failsafe is set to a correct value or you could get a very slow RTL during a radio failsafe event.
警告，回家模式下，水平飞行的速度由参数WPNAV_SPEED设定。如果使用第6通道用于这个参数的控制，请确保本通道设定了恰当的失控保护参数，以免失控时出现意外的高速飞行的危险动作。
Warning: In RTL mode the flight controller uses a barometer which measures air pressure as the primary means for determining altitude (“Pressure Altitude”) and if the air pressure is changing in your flight area, the copter will follow the air pressure change rather than actual altitude (unless you are within 20 feet of the ground and have SONAR installed and enabled).
警告，在回家模式下，飞控使用气压高度作为主要的控制依据。如果在飞行空域的气压出现变化，飞行仍然会按照气压高度飞行，而不是实际的相对高度，除非配备了超声波高度计并且飞行高度小于20英尺。
Options (User Adjustable Parameters)
•        RTL_ALT: The minimum altitude the copter will move to before returning to launch.
o        Set to zero to return at the current altitude.
o        The return altitude can be set from 1 to 8000 centimeters.
o        The default return altitude Default is 15 meters (1500)
•        RTL_ALT_FINAL: The altitude the copter will move to at the final stage of “Returning to Launch” or after completing a Mission.
o        Set to zero to automatically land the copter.
o        The final return altitude may be adjusted from 0 to 1000 centimeters.
•        RTL_LOIT_TIME: Time in milliseconds to loiter above the “Home” position before beginning final descent.
o        The “Loiter” time may be adjusted from 0 to 60,000 milliseconds.
•        WP_YAW_BEHAVIOR: Sets how the autopilot controls the “Yaw” during Missions and RTL.
o        0 = Never change Yaw.
o        1 = Face Next Waypoint or for RTL face nose in (towards Home).
o        2 = Face Next Waypoint or for RTL face nose out (away from Home).
•        LAND_SPEED: The descent speed for the final stage of landing in centimeters per second.
o        The landing speed is adjustable from 20 to 200 centimeters per second.
________________________________________
Notes提示
•        Other navigation settings also have an influence over RTL mode:
其他参数也会对回家模式有影响
o        WPNAV_ACCEL         航点导航加速度
o        WPNAV_LOITER_SPEED  航点导航定点速度
o        WPNAV_SPEED_DN      航点导航加速
o        WPNAV_SPEED_UP      航点导航减速
•        To use RTL, GPS lock needs to be achieved (Blue GPS LED and Blue APM LED on solid not blinking) before arming and takeoff to establish the home or launch position.
使用回家模式，必须GPS工作正常。
•        Note on the UBLOX GPS module the LED is off while acguiring satellites and on blinking when satellites have been acquired.
搜星的时候，UBLOX GPS模块的LED灯是关闭的，搜星成功，LED闪烁。
•        Landing and re-arming the copter will reset home, which is a great feature for flying at airfields.
着陆之后，重新设置“激活”发动机会重置“家”的位置。
•        If you get lock for the first time while flying, your home will be set at the location of lock.
如果搜星较慢，即“激活”的时候尚未完成搜星过程。飞行器在飞行中GPS才锁定位置，则当时的锁定位置就是“家”的位置。
•        If you set the ALT_HOLD_RTL to a number at other than 0 it will go to and maintain that altitude while returning.
如果ALT_HOLD_RTL参数不是0，飞行器会先飞到这个高度，然后向家飞。
•        RTL uses the waypoint_speed to determine how fast it travels.
回家模式下，回家的飞行速度由参数waypoint_speed设定。
•        Once the copter arrives at the home location the copter will enter Loiter mode, timeout (AUTO_LAND), then land.
飞行器“到家”之后将保持定点悬停，超时之后（由AUTO_LAND参数设定），开始降落。
•        To prevent auto-landing, simply change modes with the control switch to clear the landing timer and resume normal flight.
为避免自动降落，只需要用遥控器拨杆重置飞控定时器，恢复到一般飞行模式。
•        The throttle stick controls the altitude while returning or loitering above home and not the motors directly.
在回家模式下的飞行途中或者在家的位置的悬停状态下，油门杆控制高度，不直接控制电机转速。

axnzero

Auto Mode 自动模式
In autonomous (auto) mode, the copter will follow a pre-programmed mission script stored by the autopilot, including autonomously navigated waypoints, commands, and events. This pages provides information for using auto mode. For information on creating a mission script, visit the Planning a mission with waypoints and events page for detailed information on setting up a flight plan.
在自动模式下，飞行按照预先设定好的任务脚本飞行。包括按照导航点自动飞行、自动执行指令和任务。编制任务脚本，请参阅: http://copter.ardupilot.com/wiki ... ypoints-and-events/
Overview
Auto mode allows the copter to follow internal mission scripting to control its actions. Mission scripts can be a set of waypoints or very complex actions such as, takeoff, spin X times, take a picture, etc.
自动模式允许飞行器按照预存的脚本执行。任务脚本可以是一套航点或者复杂的指令行为，例如：起飞、转若干圈、拍照片等等。

Since mission scripts depend on the GPS for location information, auto mode is GPS dependent and it is necessary to allow the GPS to achieve lock before arming and taking off. Always ensure that the LEDs on the autopilot and GPS module indicate that GPS lock has been acquired:
因此任务脚本需要GPS定位数据，自动模式必须依赖于GPS的正常工作，因此请确保在“激活”之前，GPS模块已经完成了搜星和位置锁定。
•        Blue LED on APM is solid.
•        Blue LED on GPS module is solid.
•        Blue LED on GPS+Compass module is blinking.
Warning: In Auto Mode the flight controller uses a barometer which measures air pressure as the primary means for determining altitude (“Pressure Altitude”) and if the air pressure is changing in your flight area, the copter will follow the air pressure change rather than actual altitude (unless you are within 20 feet of the ground and have SONAR installed and enabled).
警告：自动模式下，飞控使用气压高度计作为高度基准。如果在飞场的气压出现变化，飞行器的飞行高度将会受气压变化的影响而不再准确，飞行高度将不再是实际的相对高度。除非另外安装了超声波高度计，并且飞行高度小于20英尺。
Using Auto Mode from the Ground and from the Air
在空中和地面使用自动模式
There are two ways to enter auto mode: in the air or on the ground. If you are going to use auto mode to take off from the ground, a special safety prevents the execution of the mission script until you both arm and then raise the throttle for the first time. This is to prevent your copter from taking off on its own by accidentally flipping the mode switch. When using auto mode to takeoff from the ground, your most recent Alt_hold throttle value is used as a baseline for throttle control. Once the copter has taken off it will proceed to the first target altitude and to begin following the mission script.
有两种方式使用自动模式：空中与地面。
如果使用自动模式起飞，基于安全的考虑，在“激活”发动机之后，还需要推油门才能使飞行器进入自动模式。这样的设定是为了避免在“激活”发动机之后，意外触动模式切换拨杆，而造成飞行器的意外起飞。
Switching to auto mode when you are already in the air will cause your copter to go to your first target altitude and to begin following the current mission script.
在空中飞行的过程中切换到自动模式，飞行器首先会飞向第一个航点设定的高度，然后开始执行任务脚本。

Ending a Mission 结束任务
Once the mission script is complete, the copter will not fly home, it will simply loiter at the last script location until you regain control through the mode switch. If you want your copter to fly home you can add an RTL command to the end of your mission script. If you want to land manually and disarm the motors (rather than autoland with a pre-programmed command), you must switch into stabilize mode to do so.
指令脚本执行完毕之后，飞行器不会立即回家，而将在最后一个航点设定的位置和高度定点悬停，直到用户切换控制模式。如果希望飞行器在任务执行完毕之后回家，应该在任务脚本的末尾添加“回家”指令。“回家”是一种飞行模式，也是一条飞行指令。如果需要手动降落，需要手动切换到增稳模式。
Remember that when using RTL, the copter will return to the home position (the location of the copter at the time of arming after the GPS is locked), so it is very important to arm your copter in the location you want it to return (unobstructed and away from people) when using auto mode. Warning: It is important to understand the home position always refers to the physical location where your copter was armed!
千万牢记，如果需要使用“回家”功能，
一定要确保GPS已经搜星成功；
一定要在“家”的位置“激活”发动机；
一定要确保“家”的位置空旷无障碍物，且没有无关人员。
一定要深入理解，“家”的位置是飞行器进入“激活”状态时候的位置。
RTL or auto land at the last location in the mission script will force landing and disabling of the motors. Unless one of these two options is configured, you can not land manually in auto mode, since the throttle stick controls altitude, not the motors directly.
回家模式或者自动模式，都能够在结束的时候强制飞行器着陆，并“锁定”发动机。不可在自动模式下手动降落，因为油门控制高度而不是直接控制发动机。

Tuning
•        The Waypoint_Speed value sets the rate of travel between waypoints.
o        The default speed between waypoints is 6 meters per second by default.
•        The NAV_PI is used to maintain the desired rate of travel for your copter between waypoints.
o        NAV_P is used to tilt the copter to achieve the desired rate of speed, be it fast or no speed at all.
        The higher the P the more the copter will tilt.
o        Nav_I is used to compensate for outside forces that would make your copter not maintain the desired rate.
        A high I term will ramp quickly to hold the desired rate, and will ramp down quickly to avoid overshoot.

axnzero

Acro Mode 比例模式
•        Acro mode is a rate control only mode.
比例模式，是一种滚转速率直接控制模式。
•        Acro mode provides the most direct manual connection between the transmitter control sticks and the copters electric motors.
比例模式提供了遥控器摇杆到飞行器电机之间的最直接的控制关系。
•        Flying in Acro Mode requires continuous control stick manipulation like a normal RC helicopter without a computer controller.
在比例模式下飞行，就像是不装飞控和陀螺仪的遥控直升机一样，需要持续不断的手工修正摇杆。
Details 细节
There are two Acro modes available, the default is the Stabilized Earth Frame Rate controlled (AXIS_ENABLE = 1), and the second is Body Frame Rate controlled with no stabilization (AXIS_ENABLE = 0). We don’t recommend flying in the un- stabilize mode as it will not self balance and is very difficult to fly.
比例模式有两种类型：
缺省的模式是基于地面坐标系的滚转速率控制。
第二是基于飞行器本体三个轴的滚转速率控制，不建议用这种高难度模式飞行。
【按：原文表达或许不准确。从后文的表述来看，两种模式的实际含义是：一种控制角度Stabilized Earth Frame Angle controlled，一种控制角速度。而不是大地坐标系和本体坐标系的差别。】
•        In Acro mode the rate of rotation of the copter (roll, pitch and yaw) is controlled by the angle of the sticks.
在比例模式下飞行器的滚转、俯仰、偏航三个轴的角速率由摇杆便宜角度来控制。
o        No stick input means don’t change from current angle, however the default mode can be set to level the airframe.
摇杆居中意味着保持当前的姿态角。缺省模式也可以设置成为在摇杆居中的时候把飞行器控制到水平姿态。
•        The Roll and Pitch control stick will tilt the copter in the direction of the stick displacement.
横滚和俯仰摇杆的输入可以使飞行器在相应的方向产生相应的倾角。
o        In order to re-level the copter the Roll and Pitch control sticks must be moved in the opposite direction from the current tilt.
为了是飞行器重新恢复水平，各轴摇杆需要向相反方向推。
o        In order to maintain stable hovering the Roll and Pitch control stick requires continuous adjustment.
为了维持稳定水平，各轴控制摇杆需要不停地修正。
•        Stabilized Earth Frame Rate controlled mode has two auto leveling parameters. These are expressed as a percentage and are multiplied to the current angle to calculate the rate at which the airframe rotates back towards hover.
缺省模式有两个参数，以百分比的形式表示，各自乘以当前的滚转角和俯仰角，然后得到回复水平位置所需要的角速度。
•        The Yaw control stick causes the copter to rotate in the same way it does in stabilize mode.
偏航控制杆的操纵方式，同稳定状态下的操纵方式相同。
•        The Throttle control stick is also direct and simply increases or decreases thrust on all four motors according to displacement.
油门杆也是直接控制控制四个电机按照杆量加速或者减速。
o        The throttle control stick also requires continuous adjustment to maintain altitude control.
油门也需要不停地修正以维持飞行高度。
【按：从这段话来看，多旋翼飞行器理论上也能像直升机那样飞一些3D动作了。当然，需要使用变距控制，而不是现有的转速控制。】
Tuning:
________________________________________
•        When AXIS_ENABLE = 1 the controller is basically a rate controlled stabilised mode with a number of helpful features. There are two parameters that control how fast the copter will move back towards hover if you let go of the sticks.
o        ACRO_BAL_ROLL should be set to:
        Beginner 200
        Intermediate 100
        Expert 0.
o        ACRO_BAL_PITCH should be set to:
        Beginner 200
        Intermediate 0
        Expert 0.
•        The Acro_P parameter is used to map the control sticks to the desired rate of rotation.
o        For example a value of 4 will be multiplied by 45° (max stick input) to equal 180° per second rotation.
o        Lower the Acro_P value to get slower rotations.
•        The Stabilization Angular Rate Control PID is used make the copter rotate in roll and pitch at the desired speed.
o        This PID is also used in Stabilize mode as the primary angle controlling parameter.
o        Rate_P is used to turn the copter.
        The higher the P the higher the motor response to achieve the desired turn rate.
o        Rate_I is used to compensate for outside forces that would make your copter not maintain the desired rate.
        A high I term will ramp quickly to hold the desired rate, and will ramp down quickly to avoid overshoot.
        A low I term will take too long to have an effect and may cause undesirable overshoot.
        It’s better to have an I-term of 0 than a poorly chosen I term.
o        Rate_D is used to dampen the response of the copter to accelerations toward the desired set point.
        A high D can cause very unusual vibrations and a “memory” effect where the controls feel like they are slow or unresponsive.
        A value of .001 to .008 have all been flown, but your milage may vary.
Adjust the Stabilization Angular Rate control PID to function optimally in stabilize mode then adjust the Acro P to make it work better for Acro mode.

axnzero

Guided Mode导引模式
Guided mode is a capability of APM:Copter to dynamically guide the copter to a target location wirelessly using a telemetry radio module and ground station application.
导引模式是在地面站地图上选定一个位置，通过无线数传把坐标实时传给飞控，然后飞行器立即向着这个位置飞行。
Overview
Guided mode is not a traditional flight mode that would be assigned to a mode switch like other flight modes. The guided mode capability is enabled using a ground station application (such as Mission Planner) and telemetry radio (such as the 3DR Telemetry Radio). This capability allows you to interactively command the copter to travel to a target location by clicking on a point on the Mission Planner Flight Data map. Once the location is reached, the copter will hover at that location, waiting for the next target. Follow Me mode also uses Guided Mode to make the copter follow the pilot around the field.
导引模式不适合于分配到拨动开关的某个位置并可以随时切换使用。通常使用地面站结合无线数传操作这个模式。在此模式下，可以在地面站软件中点选某个地图上的位置，飞行器即自动飞向这个位置。到达之后，飞行器会在目标点上保持定点悬停状态，等待下一个目标点的传送。“跟随”模式是导引模式的一种，是跟随另一架飞行器飞行。

What You’ll Need  此模式的条件
To use guided mode, you’ll need a telemetry device like the 3DR Telemetry Kit 915mhz (US) or 433mhz (Europe) allowing your computer and autopilot to communicate during flight, a ground station computer or tablet, and a ground station application such as Mission Planner.
使用这种模式，需要无线数传，用来在地面站和飞控之间建立无线连接。地面站可以是一个笔记本电脑或者平板电脑，软件可以是APM Mission Planner。
Instructions 说明
•        Set up your copter at the field and establish a MAVLink connection over wireless telemetry between your copter and your laptop.
在飞场装配飞行器，上电，然后使用地面站和无线数传，建立连接。
•        On your laptop, using the software that came with the telemetry module, make sure that it’s working and that you have a GPS lock.
使用无线数传的原装软件测试数传的工作状态，确保其工作正常。某些数传可以在应用软件中动态选择波特率；某些数传需要使用原装软件修改其内部配置波特率。在应用软件中只能选择这个配置好的波特率。确保GPS搜星和锁定正常。
•        Take off in Stabilize mode and once at a reasonable altitude, switch to Loiter.
在曾稳模式下起飞，达到合适高度后，切入定点模式。
•        In the Mission Planner Flight Data screen map, try right-clicking on a nearby spot and select “Fly to Here”.
在地面站的飞控软件中的地图页面上，右键单击地图上的适当位置，然后选择“飞向此地”。
•        You will be asked for a guided mode altitude. Enter an above home altitude in meters.
然后会有提示框出现，要求输入设定高度。输入以米为单位的适当高度。

•        A “Guided” target should appear on the map and the orange line (which indicates the target heading) should point to this guided target.
“导引目标”应该会出现在地图上，并有一条橙色的线指向这个目标点。

•        The vehicle should fly to the target location and wait there until you enter another location or switch to another mode.
飞行器会自动飞向这个目标定，然后悬停在目标点等待下一个目标点的设定，或者切换进入其他飞行模式。

Note: There’s no need to set up one of your flight modes as “Guided”
注意：不需要在遥控器上把某个拨杆位置设定为“导引”模式。

lxybox1

找工作好久没来，看完了最近的更新的帖子，有两个问题想跟卤煮讨论一下：
1.定高模式的时候，PID的调节很有意思，我定高开始很好，大概在40%的油门，MID_THR也设置了，但是在比较激烈的动作时，容易发生掉高的现象，在激烈动作结束后，高度又会补偿超过预定的值。
2.即使飞机不封闭，APM上面的灯也看不到，有个引出灯条的办法可以看得比较清楚。下面贴个图

lxybox1

灯条http://www.5imx.com/forum.php?mod=attachment&aid=MTc5OTg2MXw4NTc5OWMyODNjYzZjNjBmYjZlOWEzZjBjYTI1YmU2Y3wxNzcyNjA5MzA0&request=yes&_f=.png

lxybox1

亲测可用，还有网友用光耦连接的也不错

axnzero

lxybox1 发表于 2013-11-5 11:37
找工作好久没来，看完了最近的更新的帖子，有两个问题想跟卤煮讨论一下：
1.定高模式的时候，PID的调节很有 ...

》1.定高模式的时候，PID的调节很有意思，我定高开始很好，大概在40%的油门，MID_THR也设置了，
》但是在比较激烈的动作时，容易发生掉高的现象，
这个或许是多种因素的综合效果，我目前的试飞经验也不足，我们一起多做试飞。

》在激烈动作结束后，高度又会补偿超过预定的值。
补偿超差，通常是P参数过大，I参数不足。

axnzero

lxybox1 发表于 2013-11-5 11:41
亲测可用，还有网友用光耦连接的也不错

这个真不错。
我已经买了灯条，正不知道如何安装。
非常感谢你的资料。

补充一下。
2003是8路芯片。
类似的，1413是7路芯片，功能完全一样。
最高可以支持到24V500mA。

axnzero

原文链接：
http://www.rcuniverse.com/forum/ ... s.html#post11426913
http://www.rcuniverse.com/forum/ ... motor-brands-3.html

axnzero

Circle Mode 绕圈模式
When circle mode is engaged the vehicle will begin flying in a 10m radius circle with the nose of the vehicle pointed towards the center.
在绕圈模式下，飞行器会以10米为半径，绕着目标点飞行，同时保持机头方向对着绕圈的圆心。【按：类似于武装直升机瞄准目标之后，绕着目标侧飞绕圈。或许适用于航拍特定的目标】

The radius of the circle can be controlled by modifying the CIRCLE_RADIUS parameter.  The units are in meters. Setting the CIRCLE_RADIUS to zero will cause the copter to simply stay in place and slowly rotate (useful for panorama shots).
绕圈半径可以通过参数CIRCLE_RADIUS设定，单位是米。参数设定为0的时候，飞行器会在目标点定点飞行，同时缓慢地改变机头指向。（对某些横摇航拍比较有用）
The speed of the vehicle (in deg/second) can be modifed by changing the CIRCLE_RATE parameter.  A positive value means rotate clockwise, a negative means counter clockwise.  The vehicle may not achieve the desired rate if this requires the acceleration towards the center of the circle to surpass the maximum acceleration held in the WPNAV_ACCEL parameter (units are cm/s/s).
机身回转的角速度可以通过参数CIRCLE_RATE设定。正值顺时针旋转，负值逆时针旋转。如果这个参数设的太大，超出WPNAV_ACCEL的话，飞行器可能无法保持这样的设定转速。【飞行器囿于硬件能力，不可能绕着目标点飞出超出实际飞行能力的高速旋转。】
The pilot does not have any control over the roll and pitch but can change the altitude with the throttle stick as in AltHold or Loiter mode.
飞控自动决定横滚角和俯仰角，用户无法干预。用户可以按照定高和定点的模式干预飞行高度。
The pilot can control the yaw of the copter, the autopilot will not retake control of the yaw until circle mode is re-engaged.
航向角是自动控制的。一旦用户干预，控制权就交给用户。当切入其他模式，并再次切回绕圈模式，飞控重新得到航向角的控制。
The mission command LOITER_TURNS invokes Circle mode during a mission.任务指令LOITER_TURNS可以调用绕圈模式。

axnzero

Position Mode 位置模式
Position mode is the same as loiter mode, but with manual throttle control. This means that, in position mode, the copter maintains a consistent location and heading, while allowing the operator to control the throttle manually.
位置模式的基本模式和定点模式一样，区别在于油门是手动控制的。即，坐标位置和机头指向由飞控自动控制，操作者手工控制油门。

Position mode is GPS dependent, so it is important to ensure that GPS is locked before arming the copter when using this mode. GPS lock is indicated by the following LED states:
位置模式需要GPS位置数据，所以，使用此模式，请确保GPS搜星及锁定正常。LED指示灯状态说明如下：
•        Blue LED on APM is solid.   蓝色LED常亮。
•        Blue LED on GPS module is solid. GPS模块上的蓝色LED常亮。
•        Blue LED on GPS+Compass module is blinking. GPS和罗盘组合模块上的蓝色LED闪烁。

axnzero

Land Mode（自动）降落模式
LAND mode attempts to bring the copter straight down and has these features:
降落模式试图将飞行器直接下落。
descends to 10m (or until the sonar senses something below the copter) using the regular Altitude Hold controller which will descend at the speed held in the WPNAV_SPEED_DN parameter which can be modified on the Mission Planner’s Config/Tuning > ArduCopter Pids screen.
自动按照定高模式，降低高度到10米（或到超声波高度计探测到地面），下降速度由参数WPNAV_SPEED_DN设定。

•        below 10m the copter should descend at the rate specified in the LAND_SPEED parameter which defaults to 50cm/s.
在10米以下，飞行器下降速度由参数LAND_SPEED设定。缺省值是50cm/s。

•        Upon reaching the ground the copter will automatically shut-down the motors and disarm the copter if the pilot’s throttle is at minimum.
到接触地面，飞行器将自动关闭螺旋桨。如果遥控器油门处于关闭状态，将自动进入“保护Disarmed”状态。
Note: APM:Copter will recognise that it has landed if the motors are at minimum but it’s climb rate remains between -20cm/s and +20cm/s for one second.  It does not use the altitude to decide whether to shut off the motors except that the copter must also be below 10m above the home altitude.
注意：如果螺旋桨处于最低转速，同时飞行器在一秒的时段的升降速度在-20cm/s到20cm/s之间，飞控会自动判断飞行器已经落在地面，并且在“家位置”，气压高度计的读数小于10米之后，才会有关闭发动机。气压高度计度数并不是唯一的决定因素。
•        If the vehicle has GPS lock the landing controller will attempt to control it’s horizontal position but the pilot can adjust the target horizontal position just as in Loiter mode.
飞行器可以根据GPS位置锁定其位置，用户仍可以控制其水平位置，类似于定点模式。
•        If the vehicle does not have GPS lock the horizontal control will be as in stabilize mode so the pilot can control the roll and pitch lean angle of the copter.
如果没有GPS，则操作方式类似于增稳模式。

axnzero

T8FG设置双拨杆，输出6位比例信号，用于切换6种飞行模式
http://diydrones.com/profiles/blogs/acmapm-futaba-t8fg-super-mode

ACM/APM Futaba T8FG (Super) Mode configuration for all 6 modes
        Posted by Oliver on May 24, 2011 at 3:30pm

The APM WIKI has a good page to describe the setup of the Radio for switching the Mode with the RC toggle switches.
However, there was no help on how to setup the T8FG. It's not rocket science, but took a bit of try and error to set it up.
I thought I document this here so it can be linked into the WIKI along with the other Radio guides for the benefit of my own short term memory deficiencies as well as to make this easier for anybody else with the same radio.
Here a quick guide for that Radio to save yourself the time to play around with something more exciting:
We will use two toggle switches. In my case I used "SE" as the main switch which also controls the radio channel 5.
This switch has three positions. To be able to select 6 positions we need a second switch. I used "SF", which is a two position toggle. so 3 x 2 will allow you to set all 6 modes.
我使用SE作为主开关，控制通道5。这是一个三位拨动开关。
我使用SF作为副开关，这是一个2位拨动开关。所以3X2，一共可以切换6个模式。
1.        To get the right min/max PWM output we first need to set the Endpoint of channel 5 "SE":
首先需要校准开关SE的通道5，以便获取比较准确的最小值和最大值输出。
Linkage Menu (LNK) > END POINT > Move to Channel 5 and adjust to have a low of 67 and 72 for your channel.
Your display will show: "5 AUX1 135 67 72 135"
操作顺序是：（LNK) > END POINT >选择通道5。
把数字设定为"5 AUX1 135 67 72 135"

2.        To be able to add in the second switch "SF" we need to add a Program Mix which will influence the first channel "SE".
增加程序混控。
Model menu (MDL) > PROG. MIX > Choose any, I choose 1 as it was empty.
On the first page change the x and y Offsets (OFFS) to +25 each.
操作顺序：(MDL) > PROG. MIX >任选一项。我选的是1，因为这里是空白的。在第1页，选定SF->AUX1，修改X和Y为+25，LINEAR模式。

Continue scrolling to the second page and set ACT to ON. In the next field, set your second switch. "SF" in my case.
在第二页，把ACR修改为ON状态，下一个选项里选择SF，表示SF拨杆。
Set the "MASTER" to SF and the "SLAVE" to "AUX1" or whatever your Channel 5 is called (Default of the radio would be "GEAR"). You can ignore the LINK setting which should not be selectable anyway.
设定MASTER为SF，设定SLAVE为AUX1。
So the whole page reads:
#1   ACT OFF   SF
MASTER SF
SLAVE  AUX  OFF


That's it!You now can control all 6 modes with your T8FG.
搞定。

You can test the settings in the ACM/APM setup and test menu:
In CLI Mode: setup > modes

Flight modes
----------------------------------------
Pos 0: LOITER
Pos 1: RTL
Pos 2: ALT_HOLD
Pos 3: AUTO
Pos 4: STABILIZE
Pos 5: SIMPLE

Enjoy,

Ollie.

Views: 10450

axnzero

链接不正常。
可以搜索Nine Eagles GALAXY VISITOR2

agnd

看楼主帖子学到不少，特表敬意

agnd

axnzero 发表于 2013-11-5 22:29
日本东京大学的新构型。

Quadrotor Wheel Can Fly, Float, and Roll

没错，链接不正常了