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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.
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发表于 2015-8-10 18:03
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