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国内有不少人写了关于四轴飞行器姿态控制器pid调整的文章或者教学视频,但按其说明调出来的总是不理想,除了悬停没问题,飞行姿态不抖以外,其他问题很多。如果观察blockbox的motor曲线,可以发现数据曲线尖锐的非常明显。比如无人机经常出现飞了3分钟左右就会报警、电机非常烫手等问题。其实大多数这种情况都是PID参数不合适造成的。就如何进行Betaflight调整PID参数进行详细说明。
Many people in China have written articles or teaching videos about the adjustment of the attitude controller of the quadrocopter, but according to the explanation, it is always unsatisfactory to tune out. Besides the hovering no problem and the flying attitude not shaking, there are many other problems. If you look at the motor curve of the blockbox, you can see that the data curve is sharp and obvious. For example, drones often fly around for about 3 minutes and alarm, the motor is very hot and so on. In fact, most of the cases are caused by inappropriate PID parameters. Detailed instructions on how to adjust the PID parameters for Betaflight.