韋恩的飛行筆記

根據不同組機需求，請先參考 ”蜘蛛機組裝設定説明 - 我該從哪裏開始？（文章列表説明）”

簡單定高版功能

• 自穩/半自穩/手動飛行
• 單純定高

主要電裝

• HAKRC mini F4 飛塔 （注意飛控及4合1電變方向完全符合原始設計）
  • HAKRC mini F4 飛控
  • HAKRC 20A 4合1 電變
  • PandaRC VT5804-miniX 圖傳
• Frsky XM+ 接收
• Caddx Turbo Micro F2 鏡頭（或其他類似鏡頭）

安裝設定步驟

1. 完成硬體組裝。（參考下文接綫圖）
2. 飛控刷新 iNAV 2.5.1
3. 飛控連綫，進入 CLI 界面，將文章後面 diff 内容全部 copy 進去，然後 save
4. 重新進入 iNAV，切到 Calibration 頁面，做六面校準
5. 設定控的模型（Model）。通道對應功能
   • CH5：ARM（解鎖）
   • CH6：FMODE（飛行模式：自穩/半自穩/手動）
   • CH7：AH（定高模式）
   • CH8：尋機 BB
6. 將 XM+ 與控對頻
7. 測試飛行（手動/自穩，無定高），從 OSD 顯示記錄停旋油門值（參考下文 OSD 内容）
8. 輸入停旋油門值
9. 設定完成

接綫圖

Diff 内容

diff all

# version
# INAV/OMNIBUSF4V3 2.5.1 Jun 16 2020 / 12:32:45 (098a574b3)
# GCC-9.2.1 20191025 (release) [ARM/arm-9-branch revision 277599]

# start the command batch
batch start

# reset configuration to default settings
defaults noreboot

# resources

# mixer

mmix reset

mmix 0  1.000 -1.000  1.000 -1.000
mmix 1  1.000 -1.000 -1.000  1.000
mmix 2  1.000  1.000  1.000  1.000
mmix 3  1.000  1.000 -1.000 -1.000

# servo mix

# servo

# logic

# gvar

# gf

# feature
feature THR_VBAT_COMP
feature PWM_OUTPUT_ENABLE

# beeper

# map

# serial
serial 0 64 115200 115200 0 115200
serial 5 4096 115200 115200 0 115200

# led

# color

# mode_color

# aux
aux 0 0 0 1700 2100
aux 1 1 1 900 1300
aux 2 2 1 1300 1700
aux 3 35 1 900 2100
aux 4 3 2 1700 2100
aux 5 13 3 1900 2100

# adjrange

# rxrange

# temp_sensor

# wp
#wp 0 invalid

# osd_layout
osd_layout 0 0 26 0 V
osd_layout 0 1 13 0 V
osd_layout 0 2 0 0 V
osd_layout 0 3 8 6 H
osd_layout 0 4 8 6 H
osd_layout 0 7 13 11 V
osd_layout 0 8 12 12 V
osd_layout 0 9 1 0 V
osd_layout 0 15 1 12 V
osd_layout 0 28 23 12 V
osd_layout 0 30 1 9 V
osd_layout 0 32 24 11 V

# master
set looptime = 250
set gyro_hardware_lpf = 256HZ
set gyro_lpf_hz = 130
set gyro_lpf_type = PT1
set gyro_stage2_lowpass_hz = 150
set gyro_stage2_lowpass_type = PT1
set dynamic_gyro_notch_enabled = ON
set dynamic_gyro_notch_q = 150
set acc_hardware = MPU6000
set acczero_x = 42
set acczero_y = 5
set acczero_z = 117
set accgain_x = 4117
set accgain_y = 4113
set accgain_z = 4077
set mag_hardware = NONE
set baro_hardware = BMP280
set pitot_hardware = NONE
set receiver_type = SERIAL
set min_check = 1050
set rssi_channel = 16
set serialrx_provider = SBUS
set motor_pwm_rate = 8000
set motor_pwm_protocol = DSHOT600
set throttle_idle =  7.000
set motor_poles = 12
set failsafe_delay = 10
set failsafe_procedure = DROP
set model_preview_type = 3
set applied_defaults = 2
set mc_airmode_type = THROTTLE_THRESHOLD
set nav_use_midthr_for_althold = ON
set nav_mc_hover_thr = 1240
set osd_video_system = NTSC
set name = Spider
set vtx_band = 5
set vtx_channel = 4
set vtx_power = 3
set vtx_low_power_disarm = ON

# profile
profile 1

set mc_p_pitch = 38
set mc_i_pitch = 55
set mc_d_pitch = 25
set mc_p_roll = 35
set mc_i_roll = 50
set mc_d_roll = 25
set mc_p_yaw = 45
set mc_i_yaw = 70
set mc_p_level = 45
set max_angle_inclination_rll = 450
set max_angle_inclination_pit = 450
set dterm_lpf_hz = 100
set dterm_lpf_type = PT1
set dterm_lpf2_hz = 150
set dterm_lpf2_type = PT1
set use_dterm_fir_filter = OFF
set yaw_lpf_hz = 30
set dterm_setpoint_weight =  0.500
set d_boost_factor =  1.500
set d_boost_max_at_acceleration =  5000.000
set antigravity_gain =  2.000
set antigravity_accelerator =  5.000
set rc_expo = 40
set rc_yaw_expo = 40
set roll_rate = 70
set pitch_rate = 70
set yaw_rate = 60

# profile
profile 2

# profile
profile 3

# battery_profile
battery_profile 1

# battery_profile
battery_profile 2

# battery_profile
battery_profile 3

# restore original profile selection
profile 1
battery_profile 1

# save configuration
save

# 

六面校準程序

六面校準相當於 BetaFlight 的水平校準，用來讓飛控加速計知道機子哪個方向是上，哪個方向是前。不同於 BetaFlight 只使用單一方向，iNAV 用上/下/前/後/左/右六面的平均方向來決定加速計的方向，這樣的做法比較可靠。

如何由 OSD 油門位置計算停旋油門值

先將機子起飛停旋，由 OSD 可以讀出停旋的百分油門值，就可以以此計算出機子的停旋油門通道值，再輸入 iNAV 就完成了。