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RC RATE, EXPO, SUPER RATE EXPLAINED
This tutorial explains the differences between RC Rate, Expo, Super Rate, as well as Throttle Expo and Throttle Mid, how these settings affect the performance of a quadcopter, and some tips on how to set them up.
You might be also interested in PID tuning.
本教程解释了RC速率、Expo、Super Rate以及油门Expo和油门中点之间的差异，这些设置如何影响四旋翼的性能，以及如何设置它们的一些技巧。
您可能还对PID调节感兴趣。
RC Rate
RC rate is the setting that controls the speed at which your quad rotates on a given axis (pitch, roll or yaw) for the TX stick travel. Betaflight ties RC Rate for Roll and Pitch together with a separate setting for Yaw.
Think of RC rate as the stick sensitivity setting, if you increase RC rate, your quad will respond more aggressively to your stick inputs.
High rate will make your quad more responsive and twitchier, small movement on the stick would produce big movement in the quad.
RC速率
RC速率是四旋翼在指定轴（俯仰、滚转或偏航）上响应摇杆的速度。BF将摇杆速率与横摇和俯仰结合在一起，并单独设置偏航角。
RC率作为摇杆灵敏度设置，如果你增加RC率，你的四旋翼将更积极地回应你的摇杆输入。
高速率会使你的四元组更灵敏和更快速，在摇杆上的小运动会在四旋翼中产生大的运动。
RC Expo
Exponential, or Expo, reduces the sensitivity near the centre of the stick where fine controls are needed (for Roll, Pitch and Yaw), while retaining the maximum rotation speed at the ends of the stick.
Expo is a percentage value. At 0% the increase in rotational speed between minimum and maximum stick input is linear, imagine the curve as a “V” shape with no stick input being the center. At 50% stick input, your quad will rotate around the given axis at exactly half of the maximum rotational speed.
As you increase Expo, the sensitivity around mid stick is reduced so you have to push the stick further to reach the same 50% of max rotational speed. Imagine that Expo changes the “V” shape to a “U”, the higher the expo percentage, the flatter the “U” is around the middle.
指数型，或称EXP，降低了摇杆中心附近的灵敏度，保持精细控制（俯仰、滚转或偏航）的同时保持杆末端的最大转速。
EXP是一个百分比值。在0%时，最小和最大摇杆输入之间的转速增加是线性的，想象曲线为“V”形，其中心没有棒输入。在50%摇杆位置，你的四旋翼将正好在给定的最大转速的一半轴旋转。
随EXP的增加，中杆周围的敏感度降低，所以你必须进一步推动摇杆以达到相同的最大转速的50%。设想EXP将“V”形变成“U”，EXP百分比越高，中间的“U”形就越平坦。
Super Rate
Super Rate (aka Super Expo in other firmware) changes your full-stick-deflection rate as well as your centre stick precision. It’s abit like having the combined effect of RC Rate and RC Expo.
By increasing Super Rate, it allows you to have relatively moderate stick sensitivity around mid sticks for “normal flying maneuvers”, and yet super fast roll and flip at the stick end points.
It gives you more flexibility over tuning and control, but you have to play around with RC Rate, Expo and Super Rate back and forth to achieve the desired curve while still maintaining the desired full-deflection rate that you like.
Super Rate（在其他固件又名Super Expo）改变您的全摇杆反馈速度以及您的中心遥感精度。它具有类似RC Rate和RC Expo的联合效应。
通过增加超级速度，它允许你在中杆周围具有相对中等的杆敏感度，用于“正常的飞行动作”，而在摇滚杆末端有超快的滚动和翻转。
在调整和控制方面，它为您提供了更多的灵活性，但是您必须来回地玩RC Rate、Expo和Super Rate来达到期望的曲线，同时仍然保持您喜欢的期望的全摇杆反馈速度。
How to Tune RC Rate, Expo and Super Rate?
如何调整RC Rate、Expo和Super Rate？
This is really a personal preference, it’s all about finding what suits you the best.
这确实是个人偏好，关键是找到最适合你的东西。
With any new quad, I always tune RC Rate first. Just cruise around (no flips or rolls), and make sure the quadcopter respond quickly enough to the sticks.
对于任何新的四旋翼，我总是先调整RC Rate。只是巡航（没有翻转或滚动），并确保四旋翼足够快的响应摇杆。
Then I increase or decrease Super Rate until I am happy with the speed of rotation for acrobatics. Note that Super Rate also affects your centre stick sensitivity, so you might need to fine tune your RC Rate afterwards… You might need to go back and forth a few times to get the right feel :)
然后我增加或减少Super Rate，直到我对特技飞行感到满意。请注意，Super Rate也影响您的中心摇杆灵敏度，所以您可能需要微调您的RC Rate后…您可能需要来回几次以获得正确的感觉：）
You can aim for a max rotational rate desirable to your. For me it’s around 900 to 1000 deg/sec. If the sticks are still too twitchy, you are lower RC Rate and increase Super Rate to dame the response around mid stick, yet maintaining the same max rotation speed.
你可以瞄准你想要的最大旋转速率。对我来说大约是900到1000度/秒。如果摇杆仍然敏感，你需要降低的RC Rate和增加Super Rate以降低摇杆中部的响应，但保持相同的最大转速。
Finally, if you are looking for more precision around mid stick, you might want to add some RC Expo.
最后，如果你正在寻找更精确的中间杆，你可能想添加一些RC Expo。
Different flight controller software has different ranges and number scaling in PID, rates and expo, so the same numbers don’t necessarily give the same results on a different quad.
不同的飞行控制器软件在PID、rates和Expo上有不同的范围和缩放，所以相同的数字在不同的四旋翼上不一定给出相同的结果。
Pro Tip: Applying Expo on the radio (TX) reduces your stick resolution, therefore ONLY set Expo in the flight controller software whenever possible!
提示：在遥控器（TX）上应用Expo会降低你的摇杆分辨率，因此只要有可能，只在飞行控制器软件中设置Expo！
To give you some examples, here are the Rates and Expos from two of my quads:
给你们一些例子，下面是我的两个Quad的Rates和Exp:
Smooth Cruiser:
平稳的飞行
RC Rate, Pitch/Roll = 0.82, Yaw = 0.86
Super Rate, All = 0.80
RC Expo, All = 0.03
Aggressive Acro Quad:
特技飞行
RC Rate, Pitch/Roll = 1.80, Yaw = 2.00
Super Rate, All = 0.64
RC Expo, Pitch/Roll = 0.20, Yaw = 0.15 |
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发表于 2016-12-4 12:54
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