深蓝冰刃 发表于 2015-8-12 20:39 碰巧我的250直升机是用这个推力模式进行翻滚的，你参考我直升机的设置，在我的帖子里。 |
欢迎继续阅读楼主其他信息
深蓝冰刃 发表于 2015-8-12 20:38 大家都一样，刚玩那阵子胆子儿挺大玩得挺嗨，后来炸过，甚至丢过，越玩越胆小了，美其名曰：安全意识增强了  |
高鼻子 发表于 2015-8-12 14:54 实话实说 现在CC3D的自稳飞行可以说刚入门 对于参数调整 PID 手动模式 等等 还是两眼一抹黑 慢慢摸索吧 有心得我会发帖的~ |
oakli 发表于 2015-8-12 11:32 哥们的比喻和说法都非常的赞同 我是之前没惨炸过 太自信了 以为自己没乱改 就改了点“以为自己懂了”的东西 不会有事 太天真呀 |
|
我感觉楼主已经对CC3D很了解了， 多分享经验，谢谢 |
深蓝冰刃 发表于 2015-8-10 18:04 我想说谁见过战斗机做高机动动作训练时会把副油箱挂上，测试新的不熟悉的飞行模式就像练习翻滚，如果改动不太大是否应该先去掉其他装置以最简化配置试飞，这样风险会不会小些  |
深蓝冰刃 发表于 2015-8-12 10:42 那就是PID没调好，慢慢调吧 |
深蓝冰刃 发表于 2015-8-12 10:42 除了调PID参数外,还可以调一下遥控和PID里的俯仰曲线,这样能缓解一些. |
深蓝冰刃 发表于 2015-8-12 09:48 我昨天晚上用新参数试飞,自稳,半自稳及翻滚状态都不错,这两个状态都用的是巡航模式,在翻滚时能感到反向时油门变小了,掉高能少一些,但最好在翻中也要调整油门大小更好,现在只差全RATE模式了,参数调到最小了在家里试飞特灵活,在外边试飞特迟钝,再重调这部分参数,开始对全手动飞行有信心了 |
波里个波 发表于 2015-8-12 10:34 并不是控制不了 而是明显的前后摆动 点头那种 论坛里面见别的飞友用默认参数飞CC3D也出现这种问题 拍摄的视频里面很明显 |
深蓝冰刃 发表于 2015-8-12 10:17 除非风很大，PID只要不太离谱，最多出现抖动，不会到控制不了的地步啊 |
波里个波 发表于 2015-8-12 10:13 翻滚倒是小问题 主要想弄清楚机制 另外问下知道在快速航线和有风的时候无法控制的前后摆动是PID哪里不对么？ 一些基本的问题不搞明白 怕是换NAZE32也是一样抓瞎啊 |
|
换naze32吧，再说翻滚也就娱乐娱乐不必深究~ |
liujiang168 发表于 2015-8-10 23:52 感谢 看来还得多做做功课 论坛也搜不到这个巡航控制油门的相关资料~ |
本帖最后由 liujiang168 于 2015-8-11 00:11 编辑 深蓝冰刃 发表于 2015-8-10 23:10 有可能吧，话说还真不清楚咱们用的CC3D内部是否有加速度仪，但在GCS云台控制部分有体现 |
liujiang168 发表于 2015-8-10 22:40 原理上是不是通过加速度来判断的？ 我今天改回手动油门感觉舒服多了。。。 |
本帖最后由 liujiang168 于 2015-8-10 22:46 编辑 深蓝冰刃 发表于 2015-8-10 22:32 这里所所的高度是指相对高度，必须通过控制油门大小来控制高度，与直机一个道理，而飞控参与控制能让你的飞机在正飞和偏转状态下高度变化不那么剧烈而已。 |
liujiang168 发表于 2015-8-10 22:07 问题是CC3D如何稳定高度呢 它并没有高度计或气压计呀 |
深蓝冰刃 发表于 2015-8-10 20:38 这种模式就是在自稳或半自稳状态下飞控根据飞行姿态来参与油门控制以达到稳定高度目的，为多轴和部分机型的直机设计的。我认为在全自稳模式下最适合使用此模式，再就是半自稳初练翻转时常用，而模式切换角度最好由缺省的80度改为90度，在翻转过90度时就会降低动力，这样一定程度上防止掉高过多，等熟练后就可以把这种模式变成手动了。感觉优点是比手动温柔些且翻转时能变化动力的输出，适合初期练习用，当然要想翻得好还得调好PID等参数才可，官方说翻转速度必须大于360度每秒才好。 |
|
本帖最后由 wohedanxiao 于 2015-8-10 21:47 编辑 Warning: This feature has only been finished for fixed pitch copters, and has only been tested on multi-copters. It is not complete yet for collective pitch copters. Cruise Control is a copter only feature that automatically adds power based on bank angle. It adds just the right amount of power to avoid a change in altitude. To use it you must check the checkboxes on the flight mode switch positions where you want it enabled. You do this in the GCS on Configuration -> Input -> Flight Mode Switch Settings -> Cruise Control. The defaults work well for multi-copters, but you can change the configuration in the GCS on Configuration -> Stabilization -> Misc -> Cruise Control. There are 7 settings: MaxPowerFactor: Really just a safety limit. 4.0 means it will not use more than 4 times the power the throttle stick is requesting. If this number is very high, then beware if you hold your copter in your hand with the motors running slowly and you tip it to a 90 degree bank, it will go to full power. PowerTrim: If you find that banging the stick around a lot makes the copter climb a bit, adjust this number down a little; and for loosing altitude, adjust it up a little. Be aware that flying too aggressively for your copter's real power or for your configured MaxPowerFactor will cause it to loose a little altitude. MaxAngle: This is the bank angle where CruiseControl goes into inverted / power disabled mode. The power for inverted mode is controlled by InvertedPowerSwitch. If you want to zoom and do hard starts and braking, leave it a little over 90 degrees so that if you overbank, you will still have full boost available. If you want to do flips you might set this to 90 degrees so the copter isn't pulling itself down when slightly inverted. MinThrottle: Throttle stick below this disables Cruise Control. Also, by default Cruise Control forces the use of this value for throttle when the copter is inverted. For safety, never set this so low that the trimmed throttle stick cannot get below it. Also leave it high enough so that the motors still have maneuvering power when you are inverted. MaxThrottle: Multi-copters should probably use 90% to 95% to leave some headroom for stabilization. CP helis can set this to 100%. InvertedPower: -1, 0, or 1. Cruise Control multiplies the throttle stick by this value if the bank angle is past MaxAngle. The default is 0 which says to turn the motors off (actually set them to MinThrottle) when inverted. 1 says to use the unboosted throttle stick value. -1 (DON'T USE, INCOMPLETE, UNTESTED, for use by CP helis using idle up) says to reverse the throttle stick when inverted. NeutralThrust: Stick Percent where the copter neither lifts nor pushes down. This needs to be 0 for all copters except CP helis that are using idle up. Just like a hover, it will not hold altitude perfectly without a little adjustment now and then. Cruise Control works well with Altitude Hold or Altitude Vario to reduce the amount of work the pilot has to do while just exploring around. For zooming around and stunts, it works well with Rattitude or Attitude. Cruise control does NOT work in Rate or Acro+ mode. It is designed to work with any flight mode. Even autonomous flight modes could benefit from it's increased accuracy in altitude. Beware that some autonomous modes may have their own version built in. Altitude Hold / Vario no longer have their own version, so work best when paired with Cruise Control. One trick with the MaxPowerFactor setting is to set it to 1.0 so you get no boost at all, just normal throttle. Also set your MaxAngle to 90 and leave InvertedPower set to 0. With this combination what you get is automatic throttle control for flips but no boost for bank angle. It reduces the power to MinThrottle when inverted, but passes the throttle stick through unchanged when upright. Leaving it at a normal level, like the default of 3.0 is a great compromise for most people though because you are using full stick = full power during flips anyway and it won't boost beyond full power. Beware when doing multiple flips and relying on the auto motor cutoff when inverted: ESC / motor combinations are all inherently slow, and the faster you flip, the more noticeable this is. Although the controller tells the ESC to change to full power or zero power at your configured MaxAngle, it is some time after that that the ESC actually gets that done. When flipping fast, this can be a large angle later, e.g. 90 degrees later than it should be. Fast ESC's and slower rotation rates minimize this issue. Be cautious and use 350 to 400 degrees per second with good altitude for your first automatic flips. |
/1 
组图打开中，请稍候......
收藏