【转】APM又更新啦~~增加自动调整PID功能

satelives

【原文】 http://bbs.5imx.com/bbs/forum.php?mod=viewthread&tid=857729&extra=page%3D1

http://copter.ardupilot.com/wiki/autotune/

1. set-up one flight mode switch position to be AltHold
设置一个气压定高的飞行模式
2. set the Ch7 Opt or Ch8 Opt to Autotune to allow turning on/off the auto tuning with the ch7 or ch8 switch
设置输入通道7或者8（以下只说7为例）为autotune（自动调参）的开关（在full parameter list里面设置，然后需要设置遥控能够给输入通道7输入低于1200和高于1800pwm值的信号，遥控器自己去设置，这里不说）

3. ensure the ch7 or ch8 switch is in the LOW position
给通道7输入低pwm值（低于1200）
4. wait for a calm day and go to a large open area
找个无风的宽阔场地
5. take off and put the copter into AltHold mode at a comfortable altitude
起飞，然后切换到气压定高模式
6. put the ch7/ch8 switch into the HIGH position to engage auto tuning:
给通道七输入高pwm（高于1800）

• you will see it twitch about 20 degrees left and right for a few minutes, then it will repeat forward and back
• 你会看到飞机各种抽搐几分钟，然后重复前进后退
• use the roll and pitch stick at any time to reposition the copter if it drifts away (it will use the original PID gains during repositioning and between tests)
• 如果飞机飞跑了，任何时候可以使用摇杆操作飞回来（测试和定位（遥控纠正）期间使用旧的pid飞行，貌似遥控干预会打断自动调参，所以需要大场地让他自己飞）
• move the ch7/ch8 switch into the LOW position at any time to abandon the autotuning and return to the origin PIDs
• 在任何时候给通道7输入低pwm值会打断自动调参并回到旧的pid值
  

7. when the tune completes the copter will change back to the original PID gains
等测试结束，飞机会变回旧的pid
8. put the ch7/ch8 switch into the LOW position then back to the HIGH position to test the tuned PID gains
切换开关给通道七输入低pwm值然后再输入高pwm值来测试新的pid
9. put the ch7/ch8 switch into the LOW position to fly using the original PID gains
切换开关给通道7输入低pwm值使用旧的pid（可以比较两个pid哪个更稳）
10. If you are happy with the autotuned PID gains leave the ch7/ch8 switch in the HIGH position, land and disarm to save the PIDs permanently.
如果你对新的pid满意，保持输入高pwm，降落并加锁，自动保存新的pid
If you DO NOT like the new PIDS switch ch7/ch8 LOW to return to the original PIDs. The gains will not be saved when you disarm
如果你不喜欢新的pid，切换到低pwm值，降落加锁放弃新pid

duan123

继续水，哈哈，拿积分，顺便帮顶，不谢

xitu

继续水，哈哈，拿积分，顺便帮顶，不谢