两轴/双发矢量后推/差动垂直起降飞翼/三角翼

stg

富华 发表于 2019-8-7 19:47
你在搞笑吧，一百多种设计你都看完了?还前拉后推，去年南方科技大学的就是后推，河北科大也是后推

你才搞笑，我还真去百度了，已经够认真对待了，有些失望是我的大实话，因为跟我的诉求完全两码事，我要的是速度，续航，便携，简单，尝试两轴是因为可以满足我的要求，而不是追求功名，你明白吗？第二个别人凭什么看你一句话就花那么多时间？还100多呢。很烦你这种人，技术自己不分享，说话一两句，不讨论技术专门靠埋汰别人找存在。国内你知道你倒是认真写个帖子介绍下啊，国内论坛的低水平就是你这样的太多了！
反过来说，后推有人做过怎么了，别人不能做了？那让还在玩常规布局的怎么办？你把垂尾丢了吗？你挑战过速度吗？你自己玩过吗？

stg

wuhao199206 发表于 2019-8-7 23:13
厉害厉害这个牛哔，能不能贴一下飞控的dump学习一下？

dump是说导出所有配置命令吗？改天试下

wuhao199206

stg 发表于 2019-8-8 02:39
dump是说导出所有配置命令吗？改天试下

多谢多谢，就是进入CLI然后输入dump，然后全选复制粘贴就好。学习下老哥你是怎么设置的

黑鸽子上线

stg 发表于 2019-8-7 13:15
有些失望，1，太丑了，还有垂尾。 2， 是前拉式的，我这个最终是后推布局，你没看完贴子把

CADC的垂起是要载重和空投的，有尾翼丑？你怕是对飞机载重后的倾转过程有盲区

stg

有尾翼不是丑不丑的问题，是关于对飞控的考验，阻力，结构简化，还有隐身辐射，你老提那个比赛我没兴趣，没兴趣！没兴趣！我的兴趣是速度，航时, 紧凑性，FPV，不是扎个灯篓参加什么娘炮比赛，希望你能看明白，欢迎提改进意见，技术讨论，其他的我真不知道你的兴趣点在哪

富华

气急败坏了。。承认自己技不如人有时候确实是一件很困难的事儿

stg

富华 发表于 2019-8-8 13:56
气急败坏了。。承认自己技不如人有时候确实是一件很困难的事儿

我气什么啊，我技术不行啊，你行好了吧。我只是想来这交流分享下知识，你干了什么？10几个主贴，除了贬低别人帖子，就是倒腾些二手零件。 ，还真是技术NB！

富华

stg 发表于 2019-8-8 14:33
我气什么啊，我技术不行啊，你行好了吧。我只是想来这交流分享下知识，你干了什么？10几个主贴，除了贬低 ...

欢迎去jianshu平台搜索我的id

wangdongjunno1

兄弟，倾转的机，论坛里就有不少优质帖子，多翻翻吧。别出门草鞋就和人家六神装的人对线

wangdongjunno1

另外来分享，心态平和一点，毕竟人外有人，我也不敢说我的技术有多nb，但是论坛里的确挺多值得你看一看的机

stg

wangdongjunno1 发表于 2019-8-8 20:56
另外来分享，心态平和一点，毕竟人外有人，我也不敢说我的技术有多nb，但是论坛里的确挺多值得你看一看的机 ...

这话你自己留着用吧,上来教训人的是谁?  
泡了那么多年,论坛里有什么我不知道? 诚诚恳恳毫无保留的发个自己的作品,然后有个装的高深莫测的XX一嘴教训的口气对你说这个?  我就见了鬼了!

stg

富华 发表于 2019-8-8 19:31
欢迎去jianshu平台搜索我的id

还是那句话, 别人凭什么就凭你一句模糊的话花那么多功夫?

stg

现在没法沾附件了? 不好意思我就直接贴dump了

dump

# version
# INAV/OMNIBUSF4V3 2.0.0 Aug 20 2018 / 19:10:22 (dbdd1656a)

# resources

# mixer

mmix reset

mmix 0  1.000 -1.000  0.000  0.000
mmix 1  1.000  1.000  0.000  0.000

# servo mix
smix reset

smix 0 3 1 100 0
smix 1 3 2 -100 0
smix 2 4 1 -100 0
smix 3 4 2 -100 0

# servo
servo 0 1000 2000 1500 100
servo 1 1000 2000 1500 100
servo 2 1000 2000 1500 100
servo 3 1000 2000 1500 100
servo 4 1000 2000 1500 100
servo 5 1000 2000 1500 100
servo 6 1000 2000 1500 100
servo 7 1000 2000 1500 100

# feature
feature -THR_VBAT_COMP
feature -VBAT
feature -TX_PROF_SEL
feature -BAT_PROF_AUTOSWITCH
feature -MOTOR_STOP
feature -SOFTSERIAL
feature -GPS
feature -TELEMETRY
feature -CURRENT_METER
feature -3D
feature -RX_PARALLEL_PWM
feature -RX_MSP
feature -RSSI_ADC
feature -LED_STRIP
feature -DASHBOARD
feature -BLACKBOX
feature -TRANSPONDER
feature -AIRMODE
feature -SUPEREXPO
feature -VTX
feature -RX_SPI
feature -PWM_SERVO_DRIVER
feature -PWM_OUTPUT_ENABLE
feature -OSD
feature -FW_LAUNCH
feature -TRACE
feature VBAT
feature TX_PROF_SEL
feature MOTOR_STOP
feature BLACKBOX
feature PWM_OUTPUT_ENABLE
feature OSD

# beeper
beeper RUNTIME_CALIBRATION
beeper HW_FAILURE
beeper RX_LOST
beeper RX_LOST_LANDING
beeper DISARMING
beeper ARMING
beeper ARMING_GPS_FIX
beeper BAT_CRIT_LOW
beeper BAT_LOW
beeper GPS_STATUS
beeper RX_SET
beeper ACTION_SUCCESS
beeper ACTION_FAIL
beeper READY_BEEP
beeper MULTI_BEEPS
beeper DISARM_REPEAT
beeper ARMED
beeper SYSTEM_INIT
beeper ON_USB
beeper LAUNCH_MODE
beeper CAM_CONNECTION_OPEN
beeper CAM_CONNECTION_CLOSED

# map
map RETA

# serial
serial 20 1 115200 38400 0 115200
serial 0 1 115200 38400 0 115200
serial 2 0 115200 38400 0 115200
serial 5 64 115200 38400 0 115200

# led
led 0 0,0::C:0
led 1 0,0::C:0
led 2 0,0::C:0
led 3 0,0::C:0
led 4 0,0::C:0
led 5 0,0::C:0
led 6 0,0::C:0
led 7 0,0::C:0
led 8 0,0::C:0
led 9 0,0::C:0
led 10 0,0::C:0
led 11 0,0::C:0
led 12 0,0::C:0
led 13 0,0::C:0
led 14 0,0::C:0
led 15 0,0::C:0
led 16 0,0::C:0
led 17 0,0::C:0
led 18 0,0::C:0
led 19 0,0::C:0
led 20 0,0::C:0
led 21 0,0::C:0
led 22 0,0::C:0
led 23 0,0::C:0
led 24 0,0::C:0
led 25 0,0::C:0
led 26 0,0::C:0
led 27 0,0::C:0
led 28 0,0::C:0
led 29 0,0::C:0
led 30 0,0::C:0
led 31 0,0::C:0

# color
color 0 0,0,0
color 1 0,255,255
color 2 0,0,255
color 3 30,0,255
color 4 60,0,255
color 5 90,0,255
color 6 120,0,255
color 7 150,0,255
color 8 180,0,255
color 9 210,0,255
color 10 240,0,255
color 11 270,0,255
color 12 300,0,255
color 13 330,0,255
color 14 0,0,0
color 15 0,0,0

# mode_color
mode_color 0 0 1
mode_color 0 1 11
mode_color 0 2 2
mode_color 0 3 13
mode_color 0 4 10
mode_color 0 5 3
mode_color 1 0 5
mode_color 1 1 11
mode_color 1 2 3
mode_color 1 3 13
mode_color 1 4 10
mode_color 1 5 3
mode_color 2 0 10
mode_color 2 1 11
mode_color 2 2 4
mode_color 2 3 13
mode_color 2 4 10
mode_color 2 5 3
mode_color 3 0 8
mode_color 3 1 11
mode_color 3 2 4
mode_color 3 3 13
mode_color 3 4 10
mode_color 3 5 3
mode_color 4 0 7
mode_color 4 1 11
mode_color 4 2 3
mode_color 4 3 13
mode_color 4 4 10
mode_color 4 5 3
mode_color 5 0 9
mode_color 5 1 11
mode_color 5 2 2
mode_color 5 3 13
mode_color 5 4 10
mode_color 5 5 3
mode_color 6 0 6
mode_color 6 1 10
mode_color 6 2 1
mode_color 6 3 0
mode_color 6 4 0
mode_color 6 5 2
mode_color 6 6 3
mode_color 6 7 6
mode_color 6 8 0
mode_color 6 9 0
mode_color 6 10 0

# aux
aux 0 0 0 1700 2100
aux 1 0 0 900 900
aux 2 0 0 900 900
aux 3 0 0 900 900
aux 4 0 0 900 900
aux 5 0 0 900 900
aux 6 0 0 900 900
aux 7 0 0 900 900
aux 8 0 0 900 900
aux 9 0 0 900 900
aux 10 0 0 900 900
aux 11 0 0 900 900
aux 12 0 0 900 900
aux 13 0 0 900 900
aux 14 0 0 900 900
aux 15 0 0 900 900
aux 16 0 0 900 900
aux 17 0 0 900 900
aux 18 0 0 900 900
aux 19 0 0 900 900

# adjrange
adjrange 0 0 0 900 900 0 0
adjrange 1 0 0 900 900 0 0
adjrange 2 0 0 900 900 0 0
adjrange 3 0 0 900 900 0 0
adjrange 4 0 0 900 900 0 0
adjrange 5 0 0 900 900 0 0
adjrange 6 0 0 900 900 0 0
adjrange 7 0 0 900 900 0 0
adjrange 8 0 0 900 900 0 0
adjrange 9 0 0 900 900 0 0
adjrange 10 0 0 900 900 0 0
adjrange 11 0 0 900 900 0 0

# rxrange
rxrange 0 1000 2000
rxrange 1 1000 2000
rxrange 2 1000 2000
rxrange 3 1000 2000

# osd_layout
osd_layout 0 0 23 0 V
osd_layout 0 1 12 0 V
osd_layout 0 2 0 0 H
osd_layout 0 3 8 6 V
osd_layout 0 4 8 6 V
osd_layout 0 5 23 8 H
osd_layout 0 6 23 9 H
osd_layout 0 7 12 12 V
osd_layout 0 8 20 2 H
osd_layout 0 9 1 2 V
osd_layout 0 10 8 6 H
osd_layout 0 11 1 3 V
osd_layout 0 12 1 4 V
osd_layout 0 13 23 1 H
osd_layout 0 14 0 11 V
osd_layout 0 15 1 0 V
osd_layout 0 16 2 10 H
osd_layout 0 17 2 11 H
osd_layout 0 18 2 12 H
osd_layout 0 19 15 1 H
osd_layout 0 20 18 12 H
osd_layout 0 21 0 12 H
osd_layout 0 22 14 11 H
osd_layout 0 23 1 1 H
osd_layout 0 24 12 2 H
osd_layout 0 25 23 5 H
osd_layout 0 26 24 7 H
osd_layout 0 27 3 5 H
osd_layout 0 28 23 11 V
osd_layout 0 29 23 12 H
osd_layout 0 30 1 13 V
osd_layout 0 31 0 10 H
osd_layout 0 32 12 1 H
osd_layout 0 33 6 2 H
osd_layout 0 34 18 2 H
osd_layout 0 35 1 5 H
osd_layout 0 36 1 5 H
osd_layout 0 37 1 6 H
osd_layout 0 38 1 7 H
osd_layout 0 39 1 5 H
osd_layout 0 40 1 2 H
osd_layout 0 41 1 8 H
osd_layout 0 42 1 7 H
osd_layout 0 43 0 0 H
osd_layout 0 44 0 0 H
osd_layout 0 45 0 0 H
osd_layout 0 46 3 6 H
osd_layout 0 47 3 7 H
osd_layout 0 48 23 7 H
osd_layout 0 49 23 6 H
osd_layout 0 50 0 0 H
osd_layout 0 51 12 2 H
osd_layout 0 52 12 2 H
osd_layout 0 53 12 1 H
osd_layout 0 54 12 1 H
osd_layout 0 55 1 8 H
osd_layout 0 56 2 12 H
osd_layout 0 57 2 12 H
osd_layout 0 58 2 12 H
osd_layout 0 59 2 12 H
osd_layout 0 60 2 12 H
osd_layout 0 61 2 12 H
osd_layout 0 62 2 10 H
osd_layout 0 63 2 11 H
osd_layout 0 64 2 12 H
osd_layout 0 65 2 12 H
osd_layout 0 66 2 12 H
osd_layout 0 67 2 12 H
osd_layout 0 68 2 12 H
osd_layout 0 69 2 12 H
osd_layout 0 70 2 12 H
osd_layout 0 71 2 12 H
osd_layout 0 72 2 12 H
osd_layout 0 73 2 12 H
osd_layout 0 74 2 12 H
osd_layout 0 75 2 12 H
osd_layout 0 76 2 12 H
osd_layout 0 77 2 12 H
osd_layout 0 78 0 0 H
osd_layout 0 79 2 12 H
osd_layout 0 80 2 12 H
osd_layout 0 81 2 12 H
osd_layout 0 82 2 12 H
osd_layout 0 83 2 12 H
osd_layout 0 84 2 12 H
osd_layout 1 0 23 0 H
osd_layout 1 1 12 0 H
osd_layout 1 2 0 0 H
osd_layout 1 3 8 6 H
osd_layout 1 4 8 6 H
osd_layout 1 5 23 8 H
osd_layout 1 6 23 9 H
osd_layout 1 7 12 12 H
osd_layout 1 8 20 2 H
osd_layout 1 9 1 2 H
osd_layout 1 10 8 6 H
osd_layout 1 11 1 3 H
osd_layout 1 12 1 4 H
osd_layout 1 13 23 1 H
osd_layout 1 14 0 11 H
osd_layout 1 15 1 0 H
osd_layout 1 16 2 10 H
osd_layout 1 17 2 11 H
osd_layout 1 18 2 12 H
osd_layout 1 19 15 1 H
osd_layout 1 20 18 12 H
osd_layout 1 21 0 12 H
osd_layout 1 22 14 11 H
osd_layout 1 23 1 1 H
osd_layout 1 24 12 2 H
osd_layout 1 25 23 5 H
osd_layout 1 26 24 7 H
osd_layout 1 27 3 5 H
osd_layout 1 28 23 11 H
osd_layout 1 29 23 12 H
osd_layout 1 30 1 13 H
osd_layout 1 31 0 10 H
osd_layout 1 32 12 1 H
osd_layout 1 33 6 2 H
osd_layout 1 34 18 2 H
osd_layout 1 35 1 5 H
osd_layout 1 36 1 5 H
osd_layout 1 37 1 6 H
osd_layout 1 38 1 7 H
osd_layout 1 39 1 5 H
osd_layout 1 40 1 2 H
osd_layout 1 41 1 8 H
osd_layout 1 42 1 7 H
osd_layout 1 43 0 0 H
osd_layout 1 44 0 0 H
osd_layout 1 45 0 0 H
osd_layout 1 46 3 6 H
osd_layout 1 47 3 7 H
osd_layout 1 48 23 7 H
osd_layout 1 49 23 6 H
osd_layout 1 50 0 0 H
osd_layout 1 51 12 2 H
osd_layout 1 52 12 2 H
osd_layout 1 53 12 1 H
osd_layout 1 54 12 1 H
osd_layout 1 55 1 8 H
osd_layout 1 56 2 12 H
osd_layout 1 57 2 12 H
osd_layout 1 58 2 12 H
osd_layout 1 59 2 12 H
osd_layout 1 60 2 12 H
osd_layout 1 61 2 12 H
osd_layout 1 62 2 10 H
osd_layout 1 63 2 11 H
osd_layout 1 64 2 12 H
osd_layout 1 65 2 12 H
osd_layout 1 66 2 12 H
osd_layout 1 67 2 12 H
osd_layout 1 68 2 12 H
osd_layout 1 69 2 12 H
osd_layout 1 70 2 12 H
osd_layout 1 71 2 12 H
osd_layout 1 72 2 12 H
osd_layout 1 73 2 12 H
osd_layout 1 74 2 12 H
osd_layout 1 75 2 12 H
osd_layout 1 76 2 12 H
osd_layout 1 77 2 12 H
osd_layout 1 78 0 0 H
osd_layout 1 79 2 12 H
osd_layout 1 80 2 12 H
osd_layout 1 81 2 12 H
osd_layout 1 82 2 12 H
osd_layout 1 83 2 12 H
osd_layout 1 84 2 12 H
osd_layout 2 0 23 0 H
osd_layout 2 1 12 0 H
osd_layout 2 2 0 0 H
osd_layout 2 3 8 6 H
osd_layout 2 4 8 6 H
osd_layout 2 5 23 8 H
osd_layout 2 6 23 9 H
osd_layout 2 7 12 12 H
osd_layout 2 8 20 2 H
osd_layout 2 9 1 2 H
osd_layout 2 10 8 6 H
osd_layout 2 11 1 3 H
osd_layout 2 12 1 4 H
osd_layout 2 13 23 1 H
osd_layout 2 14 0 11 H
osd_layout 2 15 1 0 H
osd_layout 2 16 2 10 H
osd_layout 2 17 2 11 H
osd_layout 2 18 2 12 H
osd_layout 2 19 15 1 H
osd_layout 2 20 18 12 H
osd_layout 2 21 0 12 H
osd_layout 2 22 14 11 H
osd_layout 2 23 1 1 H
osd_layout 2 24 12 2 H
osd_layout 2 25 23 5 H
osd_layout 2 26 24 7 H
osd_layout 2 27 3 5 H
osd_layout 2 28 23 11 H
osd_layout 2 29 23 12 H
osd_layout 2 30 1 13 H
osd_layout 2 31 0 10 H
osd_layout 2 32 12 1 H
osd_layout 2 33 6 2 H
osd_layout 2 34 18 2 H
osd_layout 2 35 1 5 H
osd_layout 2 36 1 5 H
osd_layout 2 37 1 6 H
osd_layout 2 38 1 7 H
osd_layout 2 39 1 5 H
osd_layout 2 40 1 2 H
osd_layout 2 41 1 8 H
osd_layout 2 42 1 7 H
osd_layout 2 43 0 0 H
osd_layout 2 44 0 0 H
osd_layout 2 45 0 0 H
osd_layout 2 46 3 6 H
osd_layout 2 47 3 7 H
osd_layout 2 48 23 7 H
osd_layout 2 49 23 6 H
osd_layout 2 50 0 0 H
osd_layout 2 51 12 2 H
osd_layout 2 52 12 2 H
osd_layout 2 53 12 1 H
osd_layout 2 54 12 1 H
osd_layout 2 55 1 8 H
osd_layout 2 56 2 12 H
osd_layout 2 57 2 12 H
osd_layout 2 58 2 12 H
osd_layout 2 59 2 12 H
osd_layout 2 60 2 12 H
osd_layout 2 61 2 12 H
osd_layout 2 62 2 10 H
osd_layout 2 63 2 11 H
osd_layout 2 64 2 12 H
osd_layout 2 65 2 12 H
osd_layout 2 66 2 12 H
osd_layout 2 67 2 12 H
osd_layout 2 68 2 12 H
osd_layout 2 69 2 12 H
osd_layout 2 70 2 12 H
osd_layout 2 71 2 12 H
osd_layout 2 72 2 12 H
osd_layout 2 73 2 12 H
osd_layout 2 74 2 12 H
osd_layout 2 75 2 12 H
osd_layout 2 76 2 12 H
osd_layout 2 77 2 12 H
osd_layout 2 78 0 0 H
osd_layout 2 79 2 12 H
osd_layout 2 80 2 12 H
osd_layout 2 81 2 12 H
osd_layout 2 82 2 12 H
osd_layout 2 83 2 12 H
osd_layout 2 84 2 12 H
osd_layout 3 0 23 0 H
osd_layout 3 1 12 0 H
osd_layout 3 2 0 0 H
osd_layout 3 3 8 6 H
osd_layout 3 4 8 6 H
osd_layout 3 5 23 8 H
osd_layout 3 6 23 9 H
osd_layout 3 7 12 12 H
osd_layout 3 8 20 2 H
osd_layout 3 9 1 2 H
osd_layout 3 10 8 6 H
osd_layout 3 11 1 3 H
osd_layout 3 12 1 4 H
osd_layout 3 13 23 1 H
osd_layout 3 14 0 11 H
osd_layout 3 15 1 0 H
osd_layout 3 16 2 10 H
osd_layout 3 17 2 11 H
osd_layout 3 18 2 12 H
osd_layout 3 19 15 1 H
osd_layout 3 20 18 12 H
osd_layout 3 21 0 12 H
osd_layout 3 22 14 11 H
osd_layout 3 23 1 1 H
osd_layout 3 24 12 2 H
osd_layout 3 25 23 5 H
osd_layout 3 26 24 7 H
osd_layout 3 27 3 5 H
osd_layout 3 28 23 11 H
osd_layout 3 29 23 12 H
osd_layout 3 30 1 13 H
osd_layout 3 31 0 10 H
osd_layout 3 32 12 1 H
osd_layout 3 33 6 2 H
osd_layout 3 34 18 2 H
osd_layout 3 35 1 5 H
osd_layout 3 36 1 5 H
osd_layout 3 37 1 6 H
osd_layout 3 38 1 7 H
osd_layout 3 39 1 5 H
osd_layout 3 40 1 2 H
osd_layout 3 41 1 8 H
osd_layout 3 42 1 7 H
osd_layout 3 43 0 0 H
osd_layout 3 44 0 0 H
osd_layout 3 45 0 0 H
osd_layout 3 46 3 6 H
osd_layout 3 47 3 7 H
osd_layout 3 48 23 7 H
osd_layout 3 49 23 6 H
osd_layout 3 50 0 0 H
osd_layout 3 51 12 2 H
osd_layout 3 52 12 2 H
osd_layout 3 53 12 1 H
osd_layout 3 54 12 1 H
osd_layout 3 55 1 8 H
osd_layout 3 56 2 12 H
osd_layout 3 57 2 12 H
osd_layout 3 58 2 12 H
osd_layout 3 59 2 12 H
osd_layout 3 60 2 12 H
osd_layout 3 61 2 12 H
osd_layout 3 62 2 10 H
osd_layout 3 63 2 11 H
osd_layout 3 64 2 12 H
osd_layout 3 65 2 12 H
osd_layout 3 66 2 12 H
osd_layout 3 67 2 12 H
osd_layout 3 68 2 12 H
osd_layout 3 69 2 12 H
osd_layout 3 70 2 12 H
osd_layout 3 71 2 12 H
osd_layout 3 72 2 12 H
osd_layout 3 73 2 12 H
osd_layout 3 74 2 12 H
osd_layout 3 75 2 12 H
osd_layout 3 76 2 12 H
osd_layout 3 77 2 12 H
osd_layout 3 78 0 0 H
osd_layout 3 79 2 12 H
osd_layout 3 80 2 12 H
osd_layout 3 81 2 12 H
osd_layout 3 82 2 12 H
osd_layout 3 83 2 12 H
osd_layout 3 84 2 12 H

# master
set looptime = 1000
set gyro_sync = OFF
set align_gyro = DEFAULT
set gyro_hardware_lpf = 42HZ
set gyro_lpf_hz = 60
set moron_threshold = 32
set gyro_notch1_hz = 0
set gyro_notch1_cutoff = 1
set gyro_notch2_hz = 0
set gyro_notch2_cutoff = 1
set gyro_stage2_lowpass_hz = 0
set vbat_adc_channel = 2
set rssi_adc_channel = 3
set current_adc_channel = 1
set airspeed_adc_channel = 0
set acc_notch_hz = 0
set acc_notch_cutoff = 1
set align_acc = DEFAULT
set acc_hardware = MPU6000
set acc_lpf_hz = 15
set acczero_x = 156
set acczero_y = -53
set acczero_z = 116
set accgain_x = 4111
set accgain_y = 4080
set accgain_z = 4024
set rangefinder_hardware = NONE
set rangefinder_median_filter = OFF
set opflow_hardware = NONE
set opflow_scale =  1.000
set align_opflow = CW0FLIP
set align_mag = DEFAULT
set mag_hardware = NONE
set mag_declination = 0
set magzero_x = 0
set magzero_y = 0
set magzero_z = 0
set mag_calibration_time = 30
set align_mag_roll = 0
set align_mag_pitch = 0
set align_mag_yaw = 0
set baro_hardware = BMP280
set baro_median_filter = ON
set pitot_hardware = NONE
set pitot_use_median_filter = ON
set pitot_noise_lpf =  0.600
set pitot_scale =  1.000
set receiver_type = SERIAL
set min_check = 1100
set max_check = 1900
set rssi_channel = 0
set rssi_min = 0
set rssi_max = 100
set sbus_sync_interval = 3000
set rc_smoothing = ON
set serialrx_provider = IBUS
set serialrx_inverted = OFF
set rx_spi_rf_channel_count = 0
set spektrum_sat_bind = 0
set rx_min_usec = 885
set rx_max_usec = 2115
set serialrx_halfduplex = OFF
set blackbox_rate_num = 1
set blackbox_rate_denom = 1
set blackbox_device = SDCARD
set sdcard_detect_inverted = ON
set min_throttle = 1150
set max_throttle = 1850
set min_command = 1000
set motor_pwm_rate = 400
set motor_accel_time = 0
set motor_decel_time = 0
set motor_pwm_protocol = STANDARD
set failsafe_delay = 5
set failsafe_recovery_delay = 5
set failsafe_off_delay = 200
set failsafe_throttle = 1000
set failsafe_throttle_low_delay = 0
set failsafe_procedure = SET-THR
set failsafe_stick_threshold = 50
set failsafe_fw_roll_angle = -200
set failsafe_fw_pitch_angle = 100
set failsafe_fw_yaw_rate = -45
set failsafe_min_distance = 0
set failsafe_min_distance_procedure = DROP
set align_board_roll = 0
set align_board_pitch = -870
set align_board_yaw = 1800
set vbat_scale = 1100
set current_meter_scale = 400
set current_meter_offset = 0
set current_meter_type = ADC
set bat_voltage_src = RAW
set cruise_power = 0
set idle_power = 0
set rth_energy_margin = 5
set thr_comp_weight =  1.000
set yaw_motor_direction = 1
set yaw_jump_prevention_limit = 200
set platform_type = AIRPLANE
set has_flaps = OFF
set model_preview_type = 27
set fw_min_throttle_down_pitch = 0
set 3d_deadband_low = 1406
set 3d_deadband_high = 1514
set 3d_neutral = 1460
set servo_center_pulse = 1500
set servo_pwm_rate = 50
set servo_lpf_hz = 20
set flaperon_throw_offset = 200
set tri_unarmed_servo = ON
set reboot_character = 82
set imu_dcm_kp = 2500
set imu_dcm_ki = 50
set imu_dcm_kp_mag = 10000
set imu_dcm_ki_mag = 0
set small_angle = 25
set fixed_wing_auto_arm = OFF
set disarm_kill_switch = ON
set auto_disarm_delay = 5
set switch_disarm_delay = 250
set gps_provider = UBLOX
set gps_sbas_mode = NONE
set gps_dyn_model = AIR_1G
set gps_auto_config = ON
set gps_auto_baud = ON
set gps_ublox_use_galileo = OFF
set gps_min_sats = 6
set deadband = 5
set yaw_deadband = 5
set pos_hold_deadband = 20
set alt_hold_deadband = 50
set 3d_deadband_throttle = 50
set fw_autotune_overshoot_time = 100
set fw_autotune_undershoot_time = 200
set fw_autotune_threshold = 50
set fw_autotune_ff_to_p_gain = 10
set fw_autotune_ff_to_i_tc = 600
set inav_auto_mag_decl = ON
set inav_gravity_cal_tolerance = 5
set inav_use_gps_velned = ON
set inav_allow_dead_reckoning = OFF
set inav_reset_altitude = FIRST_ARM
set inav_reset_home = EACH_ARM
set inav_max_surface_altitude = 200
set inav_w_z_surface_p =  3.500
set inav_w_z_surface_v =  6.100
set inav_w_xy_flow_p =  1.000
set inav_w_xy_flow_v =  2.000
set inav_w_z_baro_p =  0.350
set inav_w_z_gps_p =  0.200
set inav_w_z_gps_v =  0.100
set inav_w_xy_gps_p =  1.000
set inav_w_xy_gps_v =  2.000
set inav_w_z_res_v =  0.500
set inav_w_xy_res_v =  0.500
set inav_w_acc_bias =  0.010
set inav_max_eph_epv =  1000.000
set inav_baro_epv =  100.000
set nav_disarm_on_landing = OFF
set nav_use_midthr_for_althold = OFF
set nav_extra_arming_safety = ON
set nav_user_control_mode = ATTI
set nav_position_timeout = 5
set nav_wp_radius = 100
set nav_wp_safe_distance = 10000
set nav_auto_speed = 300
set nav_auto_climb_rate = 500
set nav_manual_speed = 500
set nav_manual_climb_rate = 200
set nav_landing_speed = 200
set nav_land_slowdown_minalt = 500
set nav_land_slowdown_maxalt = 2000
set nav_emerg_landing_speed = 500
set nav_min_rth_distance = 500
set nav_overrides_motor_stop = ON
set nav_rth_climb_first = ON
set nav_rth_climb_ignore_emerg = OFF
set nav_rth_tail_first = OFF
set nav_rth_allow_landing = ALWAYS
set nav_rth_alt_mode = AT_LEAST
set nav_rth_abort_threshold = 50000
set nav_max_terrain_follow_alt = 100
set nav_rth_altitude = 1000
set nav_rth_home_altitude = 0
set nav_mc_bank_angle = 30
set nav_mc_hover_thr = 1500
set nav_mc_auto_disarm_delay = 2000
set nav_fw_cruise_thr = 1400
set nav_fw_min_thr = 1200
set nav_fw_max_thr = 1700
set nav_fw_bank_angle = 20
set nav_fw_climb_angle = 20
set nav_fw_dive_angle = 15
set nav_fw_pitch2thr = 10
set nav_fw_loiter_radius = 5000
set nav_fw_cruise_speed = 0
set nav_fw_land_dive_angle = 2
set nav_fw_launch_velocity = 300
set nav_fw_launch_accel = 1863
set nav_fw_launch_max_angle = 45
set nav_fw_launch_detect_time = 40
set nav_fw_launch_thr = 1700
set nav_fw_launch_idle_thr = 1000
set nav_fw_launch_motor_delay = 500
set nav_fw_launch_spinup_time = 100
set nav_fw_launch_min_time = 0
set nav_fw_launch_timeout = 5000
set nav_fw_launch_max_altitude = 0
set nav_fw_launch_climb_angle = 18
set nav_fw_cruise_yaw_rate = 20
set nav_fw_allow_manual_thr_increase = OFF
set telemetry_switch = OFF
set telemetry_inverted = OFF
set frsky_default_latitude =  0.000
set frsky_default_longitude =  0.000
set frsky_coordinates_format = 0
set frsky_unit = METRIC
set frsky_vfas_precision = 0
set frsky_pitch_roll = OFF
set report_cell_voltage = OFF
set hott_alarm_sound_interval = 5
set smartport_uart_unidir = OFF
set smartport_fuel_unit = MAH
set ibus_telemetry_type = 0
set ltm_update_rate = NORMAL
set ledstrip_visual_beeper = OFF
set osd_video_system = AUTO
set osd_row_shiftdown = 0
set osd_units = METRIC
set osd_stats_energy_unit = MAH
set osd_rssi_alarm = 20
set osd_time_alarm = 10
set osd_alt_alarm = 100
set osd_dist_alarm = 1000
set osd_neg_alt_alarm = 5
set osd_artificial_horizon_reverse_roll = OFF
set osd_crosshairs_style = DEFAULT
set osd_left_sidebar_scroll = NONE
set osd_right_sidebar_scroll = NONE
set osd_sidebar_scroll_arrows = OFF
set osd_main_voltage_decimals = 1
set osd_coordinate_digits = 9
set osd_estimations_wind_compensation = ON
set i2c_speed = 400KHZ
set debug_mode = NONE
set acc_task_frequency = 500
set attitude_task_frequency = 250
set async_mode = NONE
set throttle_tilt_comp_str = 0
set input_filtering_mode = OFF
set name =
set mode_range_logic_operator = OR
set stats = OFF
set stats_total_time = 0
set stats_total_dist = 0
set stats_total_energy = 0
set tz_offset = 0
set tz_automatic_dst = OFF
set display_force_sw_blink = OFF
set vtx_halfduplex = ON
set vtx_band = 4
set vtx_channel = 1
set vtx_power = 1
set vtx_low_power_disarm = OFF
set vtx_freq = 5740
set vtx_pit_mode_freq = 0

# profile
profile 1

set mc_p_pitch = 40
set mc_i_pitch = 30
set mc_d_pitch = 23
set mc_p_roll = 40
set mc_i_roll = 30
set mc_d_roll = 23
set mc_p_yaw = 85
set mc_i_yaw = 45
set mc_d_yaw = 0
set mc_p_level = 20
set mc_i_level = 15
set mc_d_level = 75
set fw_p_pitch = 59
set fw_i_pitch = 7
set fw_ff_pitch = 50
set fw_p_roll = 84
set fw_i_roll = 17
set fw_ff_roll = 49
set fw_p_yaw = 45
set fw_i_yaw = 10
set fw_ff_yaw = 60
set fw_p_level = 39
set fw_i_level = 5
set fw_d_level = 75
set max_angle_inclination_rll = 300
set max_angle_inclination_pit = 300
set dterm_lpf_hz = 40
set yaw_lpf_hz = 30
set dterm_setpoint_weight =  1.000
set fw_iterm_throw_limit = 165
set fw_reference_airspeed =  1000.000
set fw_turn_assist_yaw_gain =  1.000
set dterm_notch_hz = 0
set dterm_notch_cutoff = 1
set pidsum_limit = 500
set yaw_p_limit = 300
set iterm_windup = 50
set rate_accel_limit_roll_pitch = 0
set rate_accel_limit_yaw = 10000
set heading_hold_rate_limit = 90
set nav_mc_pos_z_p = 50
set nav_mc_pos_z_i = 0
set nav_mc_pos_z_d = 0
set nav_mc_vel_z_p = 100
set nav_mc_vel_z_i = 50
set nav_mc_vel_z_d = 10
set nav_mc_pos_xy_p = 65
set nav_mc_pos_xy_i = 120
set nav_mc_pos_xy_d = 10
set nav_mc_vel_xy_p = 40
set nav_mc_vel_xy_i = 15
set nav_mc_vel_xy_d = 100
set nav_mc_heading_p = 60
set nav_fw_pos_z_p = 40
set nav_fw_pos_z_i = 5
set nav_fw_pos_z_d = 10
set nav_fw_pos_xy_p = 75
set nav_fw_pos_xy_i = 5
set nav_fw_pos_xy_d = 8
set nav_fw_heading_p = 60
set thr_mid = 50
set thr_expo = 0
set tpa_rate = 0
set tpa_breakpoint = 1500
set fw_tpa_time_constant = 0
set rc_expo = 70
set rc_yaw_expo = 20
set roll_rate = 20
set pitch_rate = 20
set yaw_rate = 20
set manual_rc_expo = 70
set manual_rc_yaw_expo = 20
set manual_roll_rate = 100
set manual_pitch_rate = 100
set manual_yaw_rate = 100

# battery_profile
battery_profile 1

set bat_cells = 0
set vbat_cell_detect_voltage = 430
set vbat_max_cell_voltage = 420
set vbat_min_cell_voltage = 330
set vbat_warning_cell_voltage = 350
set battery_capacity = 0
set battery_capacity_warning = 0
set battery_capacity_critical = 0
set battery_capacity_unit = MAH

#

qjc

无舵面靠电机倾转控制在高速下不一定理想，而且控制的pid还要兼顾悬停状态。推力差也是一样。不好操纵或者出现某些震荡模态都是有可能的。
另外如果控制上是理想的，用简单的acro模式飞行这种平板飞机也需要飞手手动消除侧滑，操纵方式和传统固定翼差别挺大的。除非有完善的姿态解算让飞控来控制消除侧滑角，然后飞手仅控制俯仰和横滚。

Liberty

不知道楼主两种模式的切换是如何实现的呢

Liberty

我设置完舵机混控保存后舵机混控就会消失掉

stg

因为悬停时候用的是固定翼吊机手法,所以避开了转平飞时候的操纵切换,  保存不了混控可能是假象,只要保存了再重连应该能看到上次的设置, 再不行就换个版本吧

stg

qjc 发表于 2019-8-13 13:00
无舵面靠电机倾转控制在高速下不一定理想，而且控制的pid还要兼顾悬停状态。推力差也是一样。不好操纵或者 ...

这个确实是有可能的, 因为只有两个2204 加 12A 电调, 碰到过两个电机互相让步都不出力的震荡,

但是对差动控制的力量还有些信心, 大不了继续增加P值. 另外就是目前看重心还要往前移,否则平飞速度起来后,一旦有些仰角, 上扬的力量会大到无法修正.

stg

qjc 发表于 2019-8-13 13:00
无舵面靠电机倾转控制在高速下不一定理想，而且控制的pid还要兼顾悬停状态。推力差也是一样。不好操纵或者 ...

关于侧滑,我倒是觉得可能是个优点,  因为 有飞控会锁住方向指向, 首先不应该不受控的进入侧滑,  其次人为的操纵产生侧滑角后, 飞控会尽力保持住这个角度,  就跟普通的四轴一样,  机头随时可以指向侧面, 而机身还是继续保持原来方向. 这对航拍很有用. 这种侧滑角度可能不像四轴那样随意,  时间上也不能一直保持下去, 不试下谁知道呢,  对我来说,这些未知的地方其实是最好玩的地方.

悬停时候用手去掰去捅 机身, 可以直观的感受到反方向的恢复力大小.  

stg

更新下转平飞进展: 仰头慢慢飞还好,  速度平飞翻车!
滚转和方向稳定, 但俯仰响应慢, 不适应. 摔!
现在已经把手头的舵机几乎用完了,有点悲壮 , 下一步要重新设计打印个基座和电机支架, 和舵机之间必须柔性连接
俯仰PID要调, 重心也要调. 估计还得玩下翼型