FTDI 驅(qū)動(dòng)在arduino-0022.zip包里 解壓縮后的目錄是 \arduino-0022\drivers\FTDI USB Drivers
【注意：需要先插入FTDI到電腦的USB 按提示搜索驅(qū)動(dòng)后安裝驅(qū)動(dòng)即可】
如果您是WINDOWS系統(tǒng)用戶 那么請(qǐng)先安裝JAVA插件
http://www.java.com/zh_CN/download/windows_ie.jsp?locale=zh_CN 安裝即可
【注意：需要連接網(wǎng)絡(luò)才可以安裝此安裝文件】
目錄application.windows
執(zhí)行MultiWiiConf*_*.exe【版本不同文件名不同】
運(yùn)行GUI調(diào)試軟件的時(shí)候必須關(guān)閉 arduino-0022 因?yàn)镕TDI不能同時(shí)運(yùn)行在兩個(gè)程序里。
首先連接好飛控和FTDI、接收機(jī)運(yùn)行GUI軟件
如上圖 先選擇FTDI的COM口 然后 點(diǎn)擊START 開(kāi)始 在點(diǎn)擊READ 讀取飛控?cái)?shù)據(jù)！
首先是遙控器搖桿正反向檢查和舵量調(diào)整。打開(kāi)遙控器�？瓷蠄D
1、推油門(mén)【THROTTLE狀態(tài)條向上運(yùn)動(dòng)】收油門(mén)【THROTTLE狀態(tài)條向下運(yùn)動(dòng)】2、推俯仰【PITCH 狀態(tài)條向上運(yùn)動(dòng)】 拉俯仰【PITCH 狀態(tài)條向下運(yùn)動(dòng)】
3、副翼打左邊【ROLL 狀態(tài)條向左運(yùn)動(dòng)】 副翼打右邊【ROLL 狀態(tài)條向右運(yùn)動(dòng)】
4、方向舵打左邊【YAW 狀態(tài)條向左運(yùn)動(dòng)】 方向舵打右邊【YAW 狀態(tài)條向右運(yùn)動(dòng)】
5、如果您接收機(jī)與飛控連接了AUX1為某開(kāi)關(guān)通道，請(qǐng)撥動(dòng)此開(kāi)關(guān)注意GUI里的AUX1狀態(tài)條同樣有變化。
以上操作如果出現(xiàn)反向的請(qǐng)您設(shè)置遙控器通道反向以實(shí)現(xiàn)上面的動(dòng)作要求。
其次就要調(diào)整遙控器的舵量。
1、當(dāng)所有通道在中立點(diǎn)的時(shí)候查看GUI窗口里數(shù)值是不是在1500左右【數(shù)值偏差+ - 5】
2、當(dāng)所有通道在最低點(diǎn)的時(shí)候查看GUI窗口里數(shù)值是不是在1095左右【數(shù)值偏差+ - 5】
3、當(dāng)所有通道在最高點(diǎn)的時(shí)候查看GUI窗口里數(shù)值是不是在1905左右【數(shù)值偏差+ - 5】
如果您在操作遙控器搖桿的時(shí)候，不是以上數(shù)值請(qǐng)您修改遙控器舵量設(shè)置并達(dá)到以上動(dòng)作要求。
下面是對(duì)傳感器的校準(zhǔn)
如上圖 校準(zhǔn)飛控各個(gè)傳感器 【飛控板或者飛機(jī)水平放置 然后分別點(diǎn)擊 CALIB_ACC CALIB_MAG 點(diǎn)擊CALIB_ACC 10秒后加速度傳感器校準(zhǔn)成功。 再點(diǎn)擊CALIB_MAG 后有你有30秒來(lái)旋轉(zhuǎn)電路板， x,y,z軸至少360度 這時(shí)飛控板LED1燈閃爍，閃爍停止三軸電子羅盤(pán)校準(zhǔn)完成】
如上圖 設(shè)置AUX1 遙控接收第5通道連接主板AUX1然后依據(jù)上圖所示 根據(jù)個(gè)人需要 設(shè)置 5通3段開(kāi)關(guān)分別對(duì)應(yīng)的功能
【點(diǎn)白為功能開(kāi)啟，選好后 需要點(diǎn)WRITE 寫(xiě)入數(shù)據(jù)，然后在點(diǎn) READ確認(rèn)是否寫(xiě)入成功】
如上圖RC rate: 定義pitch 和 roll 遙控器靈敏度， 如果感到反應(yīng)太靈敏， 減小該值。如果想增加pitch 和 roll 遙控器靈敏度，增大該值。
RC expo: 定義PITCH 和 ROLL 遙控器搖桿中心點(diǎn)平滑區(qū)域， 該功能可以同時(shí)提高遙控精確度和幅度。
【一般的遙控器也可以實(shí)現(xiàn)該功能，但是最好用上述參數(shù)來(lái)設(shè)置】
如上圖設(shè)置各個(gè)參數(shù)的PID數(shù)值｛RATE 不是用來(lái)增加穩(wěn)定性而是增加操控性 0.00= 初學(xué)者（FPV 或航拍） 0.40-0.70 是特技模式 1.00是空翻模式，如果不擅長(zhǎng)飛行，請(qǐng)?jiān)O(shè)置為0.00。｝
該數(shù)值可以實(shí)現(xiàn)大油門(mén)狀態(tài)下爬升的穩(wěn)定性。如果不擅長(zhǎng)飛行，請(qǐng)?jiān)O(shè)置為0.00。
【注意：用鼠標(biāo)點(diǎn)住需要調(diào)整的數(shù)字左右移動(dòng)修改】
【網(wǎng)絡(luò)搜集】PID三個(gè)參數(shù)的直觀作用：
- P（比例）：這是一個(gè)增益因子，當(dāng)多軸飛行器受風(fēng)等的影響發(fā)生向一邊傾斜時(shí)，P值直接決定多軸飛行器的抵抗這種傾斜的力的大小。P越大，多軸飛行器抵抗意外傾斜的能力越強(qiáng)，但P過(guò)于大時(shí)會(huì)引起多軸飛行器抖動(dòng)甚至猛烈側(cè)翻。P越小，多軸飛行器抵抗意外傾斜的能力越弱，但P過(guò)小時(shí)會(huì)引起多軸飛行器自平衡能力不足甚至朝一邊側(cè)翻（如順著風(fēng)的方向）。
- I（積分）：這個(gè)參數(shù)決定了飛行控制器對(duì)過(guò)往飛行狀態(tài)的依賴程度。如果I值太小，會(huì)使飛行器過(guò)度依賴當(dāng)前的誤差，不能抑制“過(guò)敏”現(xiàn)象，從而造成飛行顛簸；如果I值太大，則會(huì)過(guò)度削弱系統(tǒng)對(duì)誤差的反應(yīng)能力，造成反應(yīng)遲緩。
- D（微分）：一旦多軸飛行器發(fā)生傾斜，則認(rèn)為多軸飛行器會(huì)繼續(xù)向同一方向傾斜，合適的D參數(shù)的能有效抑制未來(lái)可能發(fā)生的傾斜。如果D值太小，您會(huì)覺(jué)得多軸飛行器反應(yīng)不夠靈敏；如果D值太大，也會(huì)引起“過(guò)敏”。相較于P而言，D反映得更多的是靈敏度，而P反映的是糾正誤差的力度。
----------------------【模友人間失格翻譯整理】-----------------------
MultiWii飛行器的PID調(diào)試原理和配置指南
（注意：此指南仍在完善中）
Proportional-Integral-Derivative
比例（P）-積分（I）-微分（D）
當(dāng)飛行器在Pitch/Roll/Yaw*這三軸中有任何方向的改變,陀螺儀將輸出一個(gè)相對(duì)初始位置的偏差量,飛控板接收此偏差量并通過(guò)PID算法程序,控制電機(jī)的輸出使飛行器回到初始位置.
偏差量的數(shù)據(jù)組合,基本上是過(guò)去的變化值和對(duì)未來(lái)變化的預(yù)測(cè)值,這為飛控板提供了足夠的信息控制電機(jī),使飛行器回到平衡的狀態(tài)
(*Pitch-俯仰 Roll-橫滾 Yaw-方向)
P是PID三者中最主要的部分
在地面的基本PID參數(shù)調(diào)試
將PID參數(shù)還原為默認(rèn)值
小心并牢固的使飛行器騰空(比如抓在手中)
增加油門(mén),使電機(jī)啟動(dòng),開(kāi)始感覺(jué)到升力
讓飛行器往每個(gè)電機(jī)的方向傾斜一次,你應(yīng)該感覺(jué)到有反作用力在阻止你使飛行器傾斜
改變P的大小,直到使隨意傾斜飛行器變得困難(沒(méi)打開(kāi)自穩(wěn)時(shí),飛控板會(huì)允許姿態(tài)呈現(xiàn)斜度,這是正常的)
現(xiàn)在,嘗試著搖晃飛行器.增大P直到出現(xiàn)抖動(dòng),然后減小一點(diǎn)
重復(fù)上述動(dòng)作調(diào)試好Yaw軸
現(xiàn)在飛行器的參數(shù)已經(jīng)適合進(jìn)行試飛調(diào)試了.
高級(jí)調(diào)試部分-對(duì)P.I.D的理解
P-糾正飛行姿態(tài)回到初始平衡位置的力量大小.
力量的大小與初始位置的偏差值減去接收機(jī)信號(hào)發(fā)出的控制趨向呈比例關(guān)系*
一個(gè)較高的P值會(huì)造成一個(gè)較大的力抵抗飛行器偏離平衡狀態(tài)
如果P值過(guò)高,在飛行器回中時(shí),會(huì)修正過(guò)量,使飛行器需要再次反向修正補(bǔ)償,這會(huì)導(dǎo)致飛行器來(lái)回晃動(dòng)直到重新平衡,或者持續(xù)晃動(dòng)并增大幅度直到失去平衡
增大P值:
飛行器將更加穩(wěn)定,直到P值過(guò)高,出現(xiàn)抖動(dòng)并失去控制
需要注意:飛行器的任何位移都會(huì)有非常大的力進(jìn)行修正
減小P值:
飛行器將會(huì)開(kāi)始偏移,直到P值過(guò)低,飛行器變得非常不穩(wěn)定
當(dāng)改變方向時(shí),修正的力更小
特技飛行:需要略高的P值
普通平飛:需要略低的P值
I-對(duì)初始偏差值進(jìn)行采樣和取平均值的時(shí)間周期長(zhǎng)度
I值使修正偏差的力有一個(gè)過(guò)程,延長(zhǎng)了偏差存在的時(shí)間,此時(shí)力隨著時(shí)間增長(zhǎng),直到達(dá)到力的最大值
一個(gè)比較高的I值可以增加航向的穩(wěn)定性
增大I值:
增加穩(wěn)定保持在平衡位置的能力和減小漂移,但同時(shí)會(huì)降低回中的反應(yīng)速度,
會(huì)降低P的效果
減小I值:
會(huì)增快對(duì)變化的反應(yīng)速度,但同時(shí)會(huì)增大漂移和降低保持平衡的能力
會(huì)增加P的效果
特技飛行:需要略低的I值
普通平飛:需要略高的I值
D-飛行器回到平衡的速度
一個(gè)較高的D值(此參數(shù)與其數(shù)字相反,高D值意味著數(shù)字反而小,比如一個(gè)接近0的數(shù))將會(huì)使飛行器以非�？斓乃俣然氐狡胶�
增大D值(即減小數(shù)字):
更快的回中速度,同時(shí)大大增加修正過(guò)量和抖動(dòng)的幾率
會(huì)增加P值的效果
減小D值:
回中速度變慢,同時(shí)導(dǎo)致回中過(guò)程中的抖動(dòng)(不同于修正過(guò)量的抖動(dòng))
會(huì)降低P值的效果
特技飛行:增大D(即減小數(shù)字)
普通平飛:減小D(即增大數(shù)字)
高級(jí)調(diào)試部分-實(shí)際應(yīng)用
(僅供參考)
關(guān)于PID的設(shè)置 下面是英文原文
PID tuning theory and configuration guide for MultiRotorCraft
(CAVEAT- this is STILL under construction - feedback is wanted / needed)
Proportional-Integral-Derivative
When the MultiRotor orientation is changed in any pitch/roll/yaw axis, the gyros indicate an angular change from it's initial position.
The MultiRotor controller records the original position and by utilising a "PID" program loop, drives the motors to attempts to return the MultiRotor to its initial position.
This is done my a combination of the measured angular deviation, sampling the change over time and predicting the future position. This provides enough information for the controller to drive the motors to return equilibrium.
P is the dominant part of PID and gets you in the ballpark for good flight characteristics.
Basic PID Tuning - on the ground
Set PID to the designers default recommended settings
Hold the MulitiRotor securely and safely in the air
Increase throttle to the hover point where it starts to feel light
Try to lean the MultiRotor down onto each motor axis
You should feel a reaction against your pressure for each axis.
Change P until it is difficult to move against the reaction. Without stabilisation you will feel it allow you to move over a period of time. That is OK
Now try rocking the MultiRotor. Increase P until it starts to oscillate and then reduce a touch.
Rrepeat for Yaw Axis.
Your settings should now be suitable for flight tuning.
Advanced Tuning - understanding impact of P, I and D
P - this is the amount of corrective force applied to return the MultiRotor back to its initial position.
The amount of force is proportional to a combination of the the deviation from initial position minus any command to change direction from the controller input.
A higher P value will create a stronger force to resist any attempts to change it's position.
If the P value is too high, on the return to initial position, it will overshoot and then opposite force is needed to compensate. This creates an oscillating effect until stability is eventually reached or in severe cases becomes completely destabilised.
Increasing value for P:
It will become more solid/stable until P is too high where it starts to oscillate and loose control
You will notice a very strong resistive force to any attempts to move the MultiRotor
Decreasing value for P:
It will start to drift in control until P is too low when it becomes very unstable.
Will be less resistive to any attempts to change orientation
Aerobatic flight: Requires a slightly higher P
Gentle smooth flight: requires a slightly lower lower P
I - this is the time period for which the angular change is sampled and averaged.
The amount of force applied to return to initial position gets is increased the longer the deviation exists until a maximum force value is reached
A higher I will increase the heading hold capability
Increasing value for I:
Increase the ability to hold overall initial position and reduce drift, but also increase the delay in returning to initial position
Will also decrease the importance of P.
Decreasing value for I:
Will improve reaction to changes, but increase drift and reduce ability to hold position
Will also increase the importance of P.
Aerobatic flight: Requires a slightly lower I
Gentle smooth flight: Requires a slightly higher I
D - this is the speed at which the MultiRotor is returned to its original position.
A higher D (as it is negative value this means a lower number - i.e. closer to zero) will mean the MultiRotor wil snap back to its initial position very quickly
Increasing value for D: (remember, that means a LOWER number as it is a negative value)
Improves the speed at which deviations are recovered
With fast recovery speed comes a higher probability of overshooting and oscillations
Will also increase the effect of P
Decreasing value for D: (remember, that means a HIGHER number as it is a negative value - i.e. further from zero)
Reduces the oscillations when returning any deviations to their initial position
Recovery to initial position becomes slower
Will also decrease the effect of P
Aerobatic flight: Increase D (remember, that means a LOWER number as it is a negative value - i.e. closer to zero)
Gentle smooth flight: Decrease D (remember, that means a HIGHER number as it is a negative value - i.e. further from zero)
Advanced Tuning - practical implementation
(at this moment - these are proposals only!)
For Aerobatic flying:
Increase value for P until oscillations start, then back of slightly
Change value for I until until hover drift is unacceptable, then increase slightly
Increase value for D (remember, that means a LOWER number as it is a negative value - i.e. closer to zero) until recovery from dramatic control changes results in unacceptable recovery oscillations
P may now have to be reduced slightly
For stable flying (RC):
Increase value for P until oscillations start, then back of slightly
Change value for I until recovery from deviations is unacceptable, then increase slightly
Decrease value for D (remember, that means a HIGHER number as it is a negative value - i.e. further from zero) until recovery from dramatic control changes becomes too slow. Then Increase D slightly (remember - lower number!)
P may now have to be reduced slightly
For stable flying ( AP / FPV):
Increase value for P until oscillations start, then back of slightly
Change value for I until recovery from deviations is unacceptable, then increase slightly
Decrease value for D (remember, that means a HIGHER number as it is a negative value - i.e. further from zero) until recovery from dramatic control changes becomes too slow. Then Increase D slightly (remember - lower number!)
P may now have to be reduced slightly
You will have to accept a compromise of optimal settings for stable hover and your typical mode of flying. Obviously factor it towards your most common style.
Other factors affecting PID
Taking known good PID values from an identical configuration will get you close, but bear in mind no two MultiRotors will have the same flying characteristics and the following items will have an impact on actual PID values:
Frame weight /size / material / stiffness
Motors - power / torque /momentum
Position - Motor-->motor distance
ESC / TX - power curves
Prop - diameter / pitch / material
BALANCING
Pilot skills
References
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