{"id":47,"date":"2019-11-05T00:56:02","date_gmt":"2019-11-04T16:56:02","guid":{"rendered":"http:\/\/www.nufeichuiyun.com\/?p=47"},"modified":"2024-01-28T21:19:46","modified_gmt":"2024-01-28T13:19:46","slug":"apm%e5%b8%b8%e7%94%a8%e5%8f%82%e6%95%b0%e8%ae%be%e7%bd%ae%e6%96%b9%e6%b3%95%ef%bc%88%e6%8c%81%e7%bb%ad%e6%9b%b4%e6%96%b0%ef%bc%89","status":"publish","type":"post","link":"http:\/\/www.nufeichuiyun.com\/?p=47","title":{"rendered":"APM\u5e38\u7528\u53c2\u6570\u8bbe\u7f6e\u65b9\u6cd5\uff08\u6301\u7eed\u66f4\u65b0\uff09"},"content":{"rendered":"\n<p><strong>\u65e0\u4eba\u673a\u8c03\u8bd5\u95ee\u9898\uff0c\u98de\u63a7\u786c\u4ef6\u5b9a\u5236\uff0c\u56fa\u4ef6\u4fee\u6539\uff0clog\u65e5\u5fd7\u5206\u6790\uff0c\u98de\u63a7\u9a71\u52a8\u6dfb\u52a0<br>\u8bf7QQ\u8054\u7cfb\uff1a3500985284 <\/strong><\/p>\n\n\n\n<p class=\"has-vivid-red-color has-text-color\"><strong>\u7ecf\u8fc7\u4e09\u4e2a\u6708\u7684\u5236\u4f5c\uff0c\u6211\u7684\u300a\u65e0\u4eba\u673a\u98de\u63a7\u56fa\u4ef6\u5f00\u53d1\u6559\u7a0b\u300b\u7cfb\u5217\u89c6\u9891\u7ec8\u4e8e\u5728\u201c\u7f51\u6613\u4e91\u8bfe\u5802\u201d\u4e0a\u7ebf\u4e86\uff0c\u672c\u6559\u7a0b\u57fa\u4e8eAPM\u56fa\u4ef6\u548cPixhawk\u786c\u4ef6\uff0c\u8bb2\u8ff0\u5982\u4f55\u642d\u5efa\u98de\u63a7\u56fa\u4ef6\u5f00\u53d1\u73af\u5883\u3001\u5982\u4f55\u7f16\u8bd1\u70e7\u5199\u56fa\u4ef6\u3001\u5982\u4f55\u4fee\u6539\u56fa\u4ef6\u3001\u5982\u4f55\u5efa\u7acb\u98de\u63a7\u4eff\u771f\u73af\u5883\u3001\u5982\u4f55\u6dfb\u52a0\u81ea\u5b9a\u4e49\u4fe1\u606f\u3001\u81ea\u5b9a\u4e49\u65e5\u5fd7\u3001\u5982\u4f55\u6dfb\u52a0\u5916\u8bbe\u9a71\u52a8\u7a0b\u5e8f\u3001\u5982\u4f55\u4f7f\u7528OpenMV\u56fe\u50cf\u8bc6\u522b\u8bbe\u5907\u5f15\u5bfc\u98de\u673a\u98de\u884c\u7b49\uff0c\u656c\u8bf7\u652f\u6301\u3002<\/strong><\/p>\n\n\n\n<p><a href=\"https:\/\/study.163.com\/course\/introduction\/1209568864.htm?share=1&amp;shareId=1448054983\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/study.163.com\/course\/introduction\/1209568864.htm?share=1&amp;shareId=1448054983<\/a><\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e00\u3001\u8bbe\u7f6e\u81ea\u52a8\u822a\u7ebf\u4e0b\u7684\u673a\u5934\u8f6c\u5411\u52a8\u4f5c<\/h2>\n\n\n\n<p class=\"has-text-align-left has-vivid-red-color has-text-color\">\u3000WP_YAW_BEHAVIOR\uff1a\u81ea\u52a8\u822a\u7ebf\u4e0b\u822a\u5411\u884c\u4e3a<\/p>\n\n\n\n<p>\u3000\u30000\uff1a\u6c38\u4e0d\u8f6c\u5934\uff0c\u98de\u673a\u822a\u5411\u4fdd\u6301\u8fdb\u5165\u81ea\u52a8\u822a\u7ebf\u65f6\u7684\u822a\u5411\uff1b<\/p>\n\n\n\n<p>\u3000\u30001\uff1a\u671d\u5411\u4e0b\u4e00\u4e2a\u822a\u70b9\uff1b<\/p>\n\n\n\n<p>\u3000\u30002\uff1a\u9664\u4e86RTL\uff0c\u671d\u5411\u4e0b\u4e00\u4e2a\u822a\u70b9\uff1b<\/p>\n\n\n\n<p>\u3000\u30003\uff1a\u671d\u5411GPS\u7684\u822a\u8ff9\u65b9\u5411\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e8c\u3001\u8bbe\u7f6e\u98de\u63a7\u7684\u5b89\u88c5\u65b9\u5411<\/h2>\n\n\n\n<p class=\"has-vivid-red-color has-text-color\">\u3000AHRS_ORIENTATION\uff1a\u59ff\u6001\u65cb\u8f6c<\/p>\n\n\n\n<p>\u3000\u5177\u4f53\u65cb\u8f6c\u65b9\u6cd5\u5728MissionPlanner\u4e2d\u8be5\u53c2\u6570\u4e4b\u540e\u6709\u6ce8\u91ca\uff0c\u5982\u679c\u5b9e\u5728\u641e\u4e0d\u660e\u767d\uff0c\u5c31\u7a77\u4e3e\u6cd5\u4e00\u4e2a\u4e2a\u5c1d\u8bd5\u5427\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e09\u3001\u8bbe\u7f6e\u81ea\u52a8\u9501\u5b9a\u65f6\u95f4\u957f\u77ed<\/h2>\n\n\n\n<p class=\"has-vivid-red-color has-text-color\">\u3000DISARM_DELAY\uff1a\u9501\u5b9a\u5ef6\u65f6\uff0c\u81ea\u52a8\u9501\u5b9a\u524d\u7684\u65f6\u95f4<\/p>\n\n\n\n<p>\u3000\u5355\u4f4d\uff1a\u79d2\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u56db\u3001\u8bbe\u7f6e\u98de\u7ffc\u6df7\u63a7\u8f93\u51fa<\/h2>\n\n\n\n<p class=\"has-vivid-red-color has-text-color\">\u3000SERVOx_FUNCTION\uff1a\u8f93\u51fa\u901a\u9053x\u7684\u529f\u80fd\u3002<\/p>\n\n\n\n<p>\u3000\u5176\u4e2d\uff0c77:Elevon&nbsp;left\uff0c\u6307\u7684\u662f\u5de6\u4fa7\u5347\u964d\u8235\u526f\u7ffc\u6df7\u63a7\uff0c78\uff1aElevon&nbsp;right\uff0c\u6307\u7684\u662f\u53f3\u4fa7\u5347\u964d\u8235\u526f\u7ffc\u6df7\u63a7\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e94\u3001\u8bbe\u7f6e\u89e3\u9501\u540e\u70b9\u51fb\u6020\u901f\u65cb\u8f6c\u7684\u901f\u5ea6<\/h2>\n\n\n\n<p class=\"has-vivid-red-color has-text-color\">\u3000MOT_SPIN_ARM\uff1a0\uff1a\u5f88\u4f4e\uff1b0.15\uff1a\u4e2d\u7b49\uff1b0.3\uff1a\u5f88\u9ad8\u3002<\/p>\n\n\n\n<p>\u3000\u6ce8\u610f\uff0c\u8fd9\u4e2a\u503c\u4e0d\u80fd\u5927\u4e8eMOT_SPAIN_MIN\u3002<br> &nbsp;<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u516d\u3001\u51cf\u5c0f\u5239\u8f66\u8ddd\u79bb\uff0c\u5b9a\u70b9\u6a21\u5f0f\u4e0b\u6447\u6746\u56de\u4e2d\u8ba9\u98de\u673a\u66f4\u5feb\u5730\u505c\u4e0b<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\"> &nbsp; &nbsp;1\u3001\u5bf9\u4e8eCopter-3.6\uff08\u542b\uff09\u4ee5\u4e0a\u7684\u56fa\u4ef6:<\/h3>\n\n\n\n<p> &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;LOIT_ACC_MAX\uff1a\u6700\u5927\u52a0\u901f\u5ea6\uff0c\u8f83\u5927\u7684\u503c\u4f1a\u8ba9\u98de\u673a\u66f4\u5feb\u5730\u52a0\u51cf\u901f\uff1b<\/p>\n\n\n\n<p>&nbsp; &nbsp; &nbsp; &nbsp; &nbsp;LOIT_BRK_ACCEL\uff1a\u6700\u5927\u5239\u8f66\u52a0\u901f\u5ea6\uff08\u9065\u63a7\u5668\u6447\u6746\u56de\u4e2d\u65f6\uff09\uff0c\u8f83\u5927\u7684\u503c\u4f1a\u8ba9\u98de\u673a\u5239\u8f66\u66f4\u731b\uff1b<\/p>\n\n\n\n<p>&nbsp; &nbsp; &nbsp; &nbsp; &nbsp;LOIT_BRK_DELAY\uff1a\u9065\u63a7\u5668\u6447\u6746\u56de\u4e2d\u540e\uff0c\u5ef6\u65f6\u8fd9\u4e2a\u503c\u786e\u5b9a\u7684\u79d2\u6570\u540e\uff0c\u98de\u673a\u5f00\u59cb\u5239\u8f66\uff0c\u4e3a\u4e86\u66f4\u5feb\u5239\u8f66\uff0c\u8c03\u5c0f\u8fd9\u4e2a\u503c\uff1b<\/p>\n\n\n\n<p>&nbsp; &nbsp; &nbsp; &nbsp; &nbsp;LOIT_BRK_JERK\uff1a\u5239\u8f66\u65f6\u6700\u5927\u201c\u52a0\u52a0\u901f\u5ea6\u201d\uff08\u4e5f\u5c31\u662f\u52a0\u901f\u5ea6\u7684\u52a0\u901f\u5ea6\uff09\uff0c\u589e\u5927\u8fd9\u4e2a\u503c\uff0c\u5239\u8f66\u66f4\u731b\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">&nbsp; &nbsp;2\u3001&nbsp;\u5bf9\u4e8eCopter-3.5\uff08\u542b\uff09\u4ee5\u4e0b\u7684\u56fa\u4ef6\uff1a<\/h3>\n\n\n\n<p>&nbsp; &nbsp; &nbsp; &nbsp; &nbsp;WPNAV_LOIT_MAXA\uff1a\u6700\u5927\u52a0\u901f\u5ea6\uff0c\u8f83\u5927\u7684\u503c\u4f1a\u8ba9\u98de\u673a\u66f4\u5feb\u5730\u52a0\u51cf\u901f\uff1b<\/p>\n\n\n\n<p>&nbsp; &nbsp; &nbsp; &nbsp; &nbsp;WPNAV_LOIT_MINA\uff1a\u6700\u5c0f\u52a0\u901f\u5ea6\uff0c\u8f83\u5927\u7684\u503c\u4f1a\u8ba9\u98de\u673a\u5728\u6447\u6746\u56de\u4e2d\u540e\u66f4\u5feb\u5730\u505c\u4e0b\u6765\uff0c\u4f46\u662f\u4f1a\u5bfc\u81f4\u98de\u673a\u505c\u6b62\u65f6\u731b\u5730\u6296\u52a8\uff1b<\/p>\n\n\n\n<p>&nbsp; &nbsp; &nbsp; &nbsp; &nbsp;WPNAV_LOIT_JERK\uff1a\u5239\u8f66\u65f6\u6700\u5927\u201c\u52a0\u52a0\u901f\u5ea6\u201d\uff08\u4e5f\u5c31\u662f\u52a0\u901f\u5ea6\u7684\u52a0\u901f\u5ea6\uff09\uff0c\u589e\u5927\u8fd9\u4e2a\u503c\uff0c\u5239\u8f66\u66f4\u731b\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e03\u3001Loiter\u3001Auto\u6a21\u5f0f\u4e0b\u7684\u8f6c\u5934\u901f\u5ea6<\/h2>\n\n\n\n<p>\u3000APM\u9ed8\u8ba4\u53c2\u6570\u4e0b\uff0cloiter\u6a21\u5f0f\u4e0b\u6253\u822a\u5411\u6447\u6746\uff0c\u98de\u673a\u8f6c\u5934\u901f\u5ea6\u5f88\u5927\uff0c\u800c\u6211\u4eec\u5f88\u591a\u65f6\u5019\u4e0d\u9700\u8981\u8fd9\u4e48\u5927\u7684\u8f6c\u5934\u901f\u5ea6\uff0c\u8fd9\u4e2a\u8f6c\u5934\u901f\u5ea6\u662f\u7531<strong>ACRO_YAW_P<\/strong>\u8fd9\u4e2a\u53c2\u6570\u63a7\u5236\u7684\uff0c\u9ed8\u8ba4\u503c\u4e3a4.5\uff0c\u6211\u4eec\u53ef\u4ee5\u5c06\u5b83\u8c03\u5c0f\uff0c\u6bd4\u59822.2\u3002\u4ece\u98de\u63a7\u4ee3\u7801\u4e2d\u53ef\u4ee5\u770b\u51fa\uff0c\u8fd9\u4e2a\u503c\u662f\u7528\u6765\u5c06\u9065\u63a7\u5668\u822a\u5411\u6447\u6746\u7684\u91cf\uff0c\u7ebf\u6027\u5730\u8f6c\u6362\u4e3a\u76ee\u6807\u822a\u5411\u89d2\u901f\u5ea6\uff0c\u901a\u8fc7\u5c06\u6b64\u503c\u51cf\u5c0f\uff0c\u76f8\u540c\u6746\u91cf\u7684\u60c5\u51b5\u4e0b\uff0c\u76ee\u6807\u89d2\u5ea6\u5c31\u53d8\u5c0f\u4e86\u3002<\/p>\n\n\n\n<p>\u3000\u5bf9\u4e8eAuto\u6a21\u5f0f\uff0c\u6700\u5927\u8f6c\u5934\u901f\u5ea6\u662f\u7531<strong>ATC_SLEW_YAW<\/strong>\u63a7\u5236\u7684\uff0c\u8c03\u5c0f\u8fd9\u4e2a\u503c\u7684\u8bdd\u81ea\u52a8\u8f6c\u5934\u7684\u901f\u5ea6\u5c31\u4f1a\u51cf\u5c0f\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u516b\u3001\u9501\u5b9a\u4e0b\u8bb0\u5f55\u65e5\u5fd7<\/h2>\n\n\n\n<p>\u3000\u6709\u65f6\u5019\u6211\u4eec\u4e3a\u4e86\u65b9\u4fbf\u5728\u5ba4\u5185\u6d4b\u8bd5\u98de\u673a\u7684\u65b0\u529f\u80fd\uff0c\u5e0c\u671b\u80fd\u591f\u5728\u98de\u673a\u672a\u89e3\u9501\u7684\u60c5\u51b5\u4e0b\u8bb0\u5f55\u65e5\u5fd7\u4ee5\u4fbf\u5206\u6790\u95ee\u9898\uff0c\u53ef\u4ee5\u5c06LOG_DISARMED\u53c2\u6570\u8bbe\u7f6e\u4e3a1\u5373\u53ef\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e5d\u3001\u8bbe\u7f6ePixhawk\u7684\u5404\u4e2a\u901a\u9053\u8f93\u51fa\u529f\u80fd<\/h2>\n\n\n\n<p>\u3000\u5728APM\u56fa\u4ef6\u7684\u53c2\u6570\u4e2d\uff0c<strong>BRD_PWM_COUNT<\/strong>\u662f\u7528\u6765\u8bbe\u7f6eMAIN OUT\u7684\u524d\u51e0\u4e2a\u662f\u6709PWM\u8f93\u51fa\u7684\uff0c\u9ed8\u8ba4\u56db\u8f74\u6a21\u5f0f\u4e0b\u6b64\u503c\u9ed8\u8ba4\u662f4,\uff0c\u516d\u8f74\u4e3a6\uff0c\u516b\u8f74\u4e3a8\uff0c\u6211\u4eec\u4e5f\u53ef\u4ee5\u6839\u636e\u81ea\u5df1\u7684\u9700\u8981\u8c03\u6574\uff1b\u53e6\u5916\uff0c<strong>SERVOx_FUNCTION<\/strong>\u662f\u7528\u6765\u8bbe\u7f6e\u7b2cx\u4e2a\u8f93\u51fa\u901a\u9053\u529f\u80fd\u7684\uff0c\u53ef\u4ee5\u7528\u6765\u5c06\u8be5\u901a\u9053\u8bbe\u7f6e\u4e3a\u591a\u65cb\u7ffc\u7684\u67d0\u4e2a\u7535\u673a\u63a7\u5236\u8f93\u51fa\uff0c\u4e5f\u53ef\u4ee5\u8bbe\u7f6e\u4e3a\u9065\u63a7\u5668\u67d0\u4e2a\u901a\u9053\u7684\u76f4\u63a5\u8f93\u51fa\uff0c\u8fd8\u53ef\u4ee5\u8bbe\u7f6e\u4e3a\u98de\u7ffc\u7684\u8235\u9762\u63a7\u5236\u8f93\u51fa\u7b49\u3002\u5176\u4e2dSERVO1_FUNCTION ~ SERVO8_FUNCTION\u5bf9\u7528Main\u8f93\u51fa\u7684\u901a\u90531~8\uff0cSERVO9_FUNCTION ~&nbsp;SERVO14_FUNCTION\u5bf9\u5e94AUX\u8f93\u51fa\u76841~6\u3002<\/p>\n\n\n\n<p>\u3000\u4ee5\u5c06AUX1\u8f93\u51fa\u8bbe\u7f6e\u4e3a\u9065\u63a7\u5668\u901a\u90536\u7684\u8f93\u5165\u4e3a\u4f8b\uff0c\u5c06SERVO9_FUNCTION\u8bbe\u7f6e\u4e3a56\uff08RCIN6\uff09\u5373\u53ef\uff0c\u8fd9\u6837\uff0c\u98de\u63a7AUX1\u5c06\u76f4\u63a5\u8f93\u51fa\u9065\u63a7\u5668\u7b2c6\u901a\u9053\u7684\u8f93\u5165\uff0c\u8fd9\u65f6\u5982\u679c\u5c06\u4e00\u4e2a\u8235\u673a\u63d2\u5230AUX1\u4e0a\uff0c\u7b49\u6548\u4e8e\u5c06\u76f4\u63a5\u63d2\u5230\u9065\u63a7\u5668\u63a5\u6536\u673a\u7684\u7b2c6\u901a\u9053\u4e0a\u3002  <\/p>\n\n\n\n<p>\u3000SERVOx_FUNCTION\u5177\u4f53\u6570\u503c\u7684\u610f\u4e49\uff0c\u53ef\u4ee5\u53c2\u8003MissionPlanner\u5168\u90e8\u53c2\u6570\u5217\u8868\u4e2d\u5bf9\u5e94\u53c2\u6570\u7684\u6ce8\u91ca\uff0c\u975e\u5e38\u8be6\u7ec6\u3002\u8fd9\u91cc\u5217\u4e3e\u51fa\u51e0\u4e2a\u6bd4\u8f83\u751f\u50fb\u7684\u82f1\u6587\u7f29\u5199\uff1a<\/p>\n\n\n\n<p>\u30001\u3001RCPassThru\uff1aRC pass through\uff0c\u9065\u63a7\u5668\u76f4\u901a\u8f93\u51fa\uff0c\uff08\u7591\u4f3c\u6307\u7684\u662f\u9065\u63a7\u5668\u7b2cx\u901a\u9053\u76f4\u63a5\u8f93\u51fa\u5230\u98de\u63a7\u7684\u7b2cx\u901a\u9053\uff0c\u8fd9\u4e2a\u529f\u80fd\u6211\u4e5f\u6ca1\u6709\u7528\u8fc7\uff09\uff1b<\/p>\n\n\n\n<p>\u300027\uff1aParachute\uff1a\u964d\u843d\u4f1e\uff0c\u8fd9\u4e2a\u901a\u9053\u5c06\u7528\u6765\u63a7\u5236\u6253\u5f00\u964d\u843d\u4f1e\uff1b<\/p>\n\n\n\n<p>\u300029\uff1aLandingGear\uff1a\u8d77\u843d\u67b6\u63a7\u5236\uff1b<\/p>\n\n\n\n<p>\u300051\u3001RCIN1\uff1a RC in 1\uff0c\u9065\u63a7\u5668\u7b2c1\u901a\u9053\u7684\u503c\uff0c\u6307\u7684\u662f\u5c06\u9065\u63a7\u5668\u7b2c\u4e00\u901a\u9053\u7684\u8f93\u5165\u76f4\u63a5\u901a\u8fc7\u8fd9\u4e2a\u98de\u63a7\u901a\u9053\u8f93\u51fa\u51fa\u53bb\u3002<\/p>\n\n\n\n<p class=\"has-vivid-red-color has-luminous-vivid-amber-background-color has-text-color has-background\"><strong>\u5173\u4e8e\u6b64\u7c7b\u53c2\u6570\u7684\u66f4\u52a0\u8be6\u7ec6\u7684\u89e3\u91ca\uff0c\u8bf7\u770b\u5982\u4e0b\u94fe\u63a5\uff1a<a href=\"http:\/\/www.nufeichuiyun.com\/?p=1432\" target=\"_blank\" rel=\"noreferrer noopener\">http:\/\/www.nufeichuiyun.com\/?p=1432<\/a><\/strong><\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u5341\u3001\u98de\u63a7\u4e32\u53e3\u8bbe\u7f6e<\/h2>\n\n\n\n<p>\u3000\u5bf9\u4e8ePixhawk\u98de\u63a7\uff0c\u67095\u4e2a\u53ef\u7528\u4e32\u53e3\uff0c\u8fd9\u4e2a5\u4e2a\u4e32\u53e3\u662f\u5b8c\u5168\u5bf9\u7b49\u5173\u7cfb\u7684\uff0c\u4efb\u4f55\u4e00\u4e2a\u4e32\u53e3\u90fd\u53ef\u4ee5\u8bbe\u7f6e\u4e3a\u8fde\u63a5\u6570\u4f20\u7535\u53f0\u3001GPS\u3001\u4e32\u53e3\u63a5\u53e3\u7684\u5b9a\u9ad8\u8bbe\u5907\u3001\u4e32\u53e3\u63a5\u53e3\u7684\u56fe\u50cf\u8bc6\u522b\u6a21\u5757\u7b49\u7b49\u3002\u53ea\u9700\u8981\u5c06SERIALx_PROTOCOL\u8bbe\u7f6e\u4e3a\u5bf9\u5e94\u529f\u80fd\u5373\u53ef\uff0c\u53e6\u5916\uff0c\u5bf9\u5e94\u7684SERIALx_BAUD\u7528\u6765\u8bbe\u7f6e\u8be5\u4e32\u53e3\u7684\u6ce2\u7279\u7387\uff0c\u4e0d\u8981\u6f0f\u6389\uff08x\uff1a1~5\uff09\u3002<strong>\u8fd9\u4e24\u4e2a\u53c2\u6570\u662f\u91cd\u542f\u540e\u751f\u6548\u3002<\/strong><\/p>\n\n\n\n<p>\u3000<strong>\u201cSERIAL\u201d\u8fd9\u4e2a\u5355\u8bcd\u5bf9\u5e94\u786c\u4ef6\u91cc\u7684\u201cUART\u201d\u3001\u201cUSART\u201d\uff0c\u90fd\u662f\u201c\u4e32\u53e3\u201d\u7684\u610f\u601d\u3002<\/strong>\u6bd4\u5982\uff0cSERIAL3_PROTOCOL\uff0c\u610f\u601d\u6307\u7684\u662f\u201c\u4e32\u53e33 \u7684\u901a\u4fe1\u534f\u8bae\u201d\uff0c\u770b\u5230\u8fd9\u4e9b\u5355\u8bcd\u4e0d\u8981\u6015\uff0c\u8bf7\u5e38\u7528\u201c\u91d1\u5c71\u8bcd\u9738\u201d\u3001\u201c\u6709\u9053\u8bcd\u5178\u201d\u4e4b\u7c7b\u7684\u8bcd\u5178\u67e5\u4e00\u4e0b\uff0c\u8fd9\u4e9b\u504f\u4e13\u4e1a\u7684\u8bcd\u6c47\uff0c\u5c31\u662f\u9700\u8981\u5927\u5bb6\u4e00\u70b9\u4e00\u70b9\u5730\u5b66\u4e60\u8bb0\u5fc6\u7684\uff0c\u5176\u5b9e\u4e5f\u6ca1\u6709\u591a\u5c11\u3002<\/p>\n\n\n\n<p>\u3000<strong>SERIALx_PROTOCOL<\/strong>\u7684\u5404\u4e2a\u6570\u5b57\u5bf9\u5e94\u7684\u529f\u80fd\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>-1\uff1a\u65e0\u7528\uff0c\u5173\u95ed\u8be5\u4e32\u53e3\uff1b<\/li>\n\n\n\n<li>1\uff1aMavlink 1\uff0c\u7528\u6765\u8fde\u63a5\u5730\u9762\u7ad9\uff08gcs\uff09\uff0c\u4f46\u662f\u4e0d\u5c40\u9650\u4e8e\u5730\u9762\u7ad9\uff0c\u4efb\u4f55\u8d70Mavlink\u534f\u8bae\u7684\u5916\u8bbe\u90fd\u53ef\u4ee5\u63a5\u8fd9\u4e2a\u63a5\u53e3\uff1b<\/li>\n\n\n\n<li>5\uff1aGPS<\/li>\n\n\n\n<li>9\uff1a\u4e32\u53e3\u63a5\u53e3\u7684\u5b9a\u9ad8\u4f20\u611f\u5668\uff08\u8d85\u58f0\u6ce2\u3001\u96f7\u8fbe\uff09<\/li>\n\n\n\n<li>18\uff1a\u5149\u6d41\u8bbe\u5907<\/li>\n<\/ul>\n\n\n\n<p>\u3000<strong>\u4ee5\u5c06\u4e32\u53e33\u8bbe\u7f6e\u4e3a\u6570\u4f20\u7535\u53f0\u4e3a\u4f8b\uff0c\u53c2\u6570\u8bbe\u7f6e\u5982\u4e0b\uff1a<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>SERIAL3_PROTOCOL\uff1a1  \uff081\uff1aMavlink\uff0c\u6307\u7684\u5c31\u662f\u7528\u6765\u8fde\u63a5\u5730\u9762\u7ad9\u7684\u6570\u4f20\u7535\u53f0\uff09\uff1b<\/li>\n\n\n\n<li>SERIAL3_BAUD\uff1a57  \uff0857\uff1a57600\uff0c\u4e00\u822c\u60c5\u51b5\u4e0b\uff0c\u6211\u4eec\u4f1a\u5c06\u6570\u4f20\u7535\u53f0\u7684\u6ce2\u7279\u7387\u8bbe\u7f6e\u4e3a57600\uff0c\u6ce8\u610f\uff0c\u8fd9\u4e2a\u503c\u4e0d\u662f\u7edd\u5bf9\u7684\uff0c\u5982\u679c\u4f60\u7684\u6570\u4f20\u7535\u53f0\u6536\u53d1\u7aef\u914d\u7f6e\u7684\u90fd\u662f115200\uff0c\u90a3\u4e48\u6b64\u5904\u5e94\u8be5\u8bbe\u7f6e\u4e3a115\uff09\uff1b<\/li>\n\n\n\n<li>SERIAL3_OPTIONS\uff1a0  \uff08 \u5bf9\u4e8e4.0.0\u4ee5\u540e\u7248\u672c\u7684\u56fa\u4ef6\uff0c\u53c2\u6570\u4e2d\u589e\u52a0\u4e86SERIALx_OPTIONS\u8fd9\u4e2a\u53c2\u6570\uff0c\u8fd9\u662f\u7528\u6765\u8bbe\u7f6e\u4e32\u53e3\u7684\u4e00\u4e9b\u786c\u4ef6\u5c5e\u6027\u7684\uff0c\u6bd4\u5982\u4ea4\u6362TX\u4e0eRX\u3001\u534a\u53cc\u5de5\u6a21\u5f0f\u7b49\u7b49\uff0c\u7edd\u5927\u90e8\u5206\u60c5\u51b5\u4e0b\u6211\u4eec\u90fd\u662f\u7528\u4e0d\u5230\u7684\uff0c\u8bbe\u7f6e\u4e3a0\u5373\u53ef\u3002 \uff09\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u3000<strong>\u5173\u4e8e\u6ce2\u7279\u7387\uff0c\u6211\u518d\u5f3a\u8c03\u4e00\u4e0b\uff0c\u5bf9\u4e8e\u98de\u63a7\u7684\u4e00\u4e2a\u8fde\u63a5\u6570\u4f20\u7535\u53f0\u7684\u4e32\u53e3\uff0c\u5176\u5b9e\u6574\u4e2a\u7cfb\u7edf\u4e2d\u603b\u5171\u67094\u5904\u4e0e\u4e4b\u76f8\u5173\u7684\u6ce2\u7279\u7387\uff1a<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u98de\u63a7\u8be5\u4e32\u53e3\u7684\u6ce2\u7279\u7387\uff08\u901a\u8fc7\u521a\u624d\u8bb2\u7684\u98de\u63a7\u53c2\u6570\u8bbe\u7f6e\uff09\uff1b<\/li>\n\n\n\n<li>\u4e0e\u8be5\u4e32\u53e3\u8fde\u63a5\u7684\u5929\u7a7a\u7aef\u6570\u4f20\u7535\u53f0\u7684\u6ce2\u7279\u7387\uff0c\u901a\u8fc7\u6570\u4f20\u7535\u53f0\u4e13\u7528\u8bbe\u7f6e\u8f6f\u4ef6\u4fee\u6539\uff0c\u4e0d\u540c\u5bb6\u7684\u4e0d\u4e00\u6837\uff0c\u8bf7\u8054\u7cfb\u7535\u53f0\u5356\u5bb6\u7d22\u8981\uff1b<\/li>\n\n\n\n<li>\u5730\u9762\u7aef\u6570\u4f20\u7535\u53f0\u7684\u6ce2\u7279\u7387\uff0c \u901a\u8fc7\u6570\u4f20\u7535\u53f0\u4e13\u7528\u8bbe\u7f6e\u8f6f\u4ef6\u4fee\u6539\uff0c\u4e0d\u540c\u5bb6\u7684\u4e0d\u4e00\u6837\uff0c\u8bf7\u8054\u7cfb\u7535\u53f0\u5356\u5bb6\u7d22\u8981\uff1b <\/li>\n\n\n\n<li>\u5730\u9762\u7ad9\u8f6f\u4ef6\u6ce2\u7279\u7387\uff0c\u5982MissionPlanner\u53f3\u4e0a\u89d2\u201c\u8fde\u63a5\u201d\u6309\u94ae\u5de6\u8fb9\u7684\u90a3\u4e2a\u6ce2\u7279\u7387\u8bbe\u7f6e\u4e0b\u62c9\u5217\u8868\u3002<\/li>\n<\/ol>\n\n\n\n<p class=\"has-vivid-red-color has-text-color\">\u3000<strong>\u8bf7\u6ce8\u610f\uff0c\u8981\u60f3\u8fde\u901a\uff0c\u8fd9\u56db\u4e2a\u6ce2\u7279\u7387\u5fc5\u987b\u662f\u4e00\u6837\u7684\u3002<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"594\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/03\/image-14-1024x594.png\" alt=\"\" class=\"wp-image-1498\" style=\"width:1024px;height:594px\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/03\/image-14-1024x594.png 1024w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/03\/image-14-300x174.png 300w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/03\/image-14-768x445.png 768w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/03\/image-14.png 1095w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">\u5341\u4e00\u3001\u78c1\u7f57\u76d8\u3001GPS\u5931\u63a7\u4fdd\u62a4<\/h2>\n\n\n\n<p>\u3000\u4ece\u591a\u65cb\u7ffc3.3\u7248\u672c\u56fa\u4ef6\u4ee5\u540e\uff0c\u78c1\u7f57\u76d8\u3001GPS\u7684\u5931\u63a7\u4fdd\u62a4\u88ab\u7edf\u4e00\u6574\u5408\u5230\u4e86EKF\u7684\u5931\u63a7\u4fdd\u62a4\u91cc\u4e86\uff0c\u5728\u9700\u8981\u7528\u5230\u4f4d\u7f6e\u4fe1\u606f\u7684\u6a21\u5f0f\u4e0b\uff08\u5982Loiter\u3001POSHold\u3001Auto\u3001RTL\u3001Guided\uff09EKF\u5931\u63a7\u4fdd\u62a4\u4f1a\u751f\u6548\uff0c\u800c\u5728\u4e00\u4e9b\u4e0d\u9700\u8981\u4f4d\u7f6e\u4fe1\u606f\u7684\u6a21\u5f0f\u4e0b\uff08\u5982Stablize\u3001AltHold\u3001Acro\uff09EKF\u5931\u63a7\u4fdd\u62a4\u662f\u4e0d\u4f1a\u88ab\u89e6\u53d1\u7684\u3002\u76f8\u5173\u53c2\u6570\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>FS_EKF_ACTION\uff1a\u89e6\u53d1EKF\u5931\u63a7\u4fdd\u62a4\u540e\u6267\u884c\u7684\u52a8\u4f5c\uff0c\u9ed8\u8ba4\u662f1\uff0c\u964d\u843d\uff08Land\uff09\uff0c\u6ce8\u610f\u6b64\u65f6\u7531\u4e8e\u4f4d\u7f6e\u4fe1\u606f\u5df2\u7ecf\u4e22\u5931\uff0c\u8fd9\u91cc\u7684\u964d\u843d\u662f\u624b\u52a8\u63a7\u5236\u7684\u90a3\u79cd\u964d\u843d\uff0c\u9700\u8981\u98de\u624b\u624b\u52a8\u63a7\u5236\u4fef\u4ef0\u548c\u6a2a\u6eda\u6765\u7ef4\u6301\u6c34\u5e73\u4f4d\u7f6e\uff1b<\/li>\n\n\n\n<li>FS_EKF_THRESH\uff1a\u7528\u6765\u8bbe\u7f6eEKF\u5931\u63a7\u4fdd\u62a4\u89e6\u53d1\u7684\u654f\u611f\u5ea6\u3002\u6b64\u503c\u8bbe\u4e3a0\u6765\u5173\u95edEKF\u5931\u63a7\u4fdd\u62a4\uff0c\u6b64\u503c\u8d8a\u5927\uff0cEKF\u89e6\u53d1\u6982\u7387\u8d8a\u5c0f\uff0c\u53cd\u4e4b\u8d8a\u5927\uff1b0.8~1.0\u4e4b\u95f4\u7684\u503c\u65f6\uff0cEKF\u5931\u63a7\u4fdd\u62a4\u89e6\u53d1\u7684\u6982\u7387\u4f1a\u8f83\u5c0f\uff0c\u6b64\u65f6\u5982\u679cGPS\u6216\u8005\u78c1\u7f57\u76d8\u51fa\u73b0\u95ee\u9898\uff0c\u98de\u673a\u4f1a\u5148\u98d8\u4e00\u4f1a\uff0c\u7136\u540e\u624d\u53ef\u80fd\u89e6\u53d1EKF\u5931\u63a7\u4fdd\u62a4\uff1b\u4f4e\u81f30.6\u7684\u503c\uff0cEKF\u89e6\u53d1\u4f1a\u66f4\u8fc5\u901f\u4e00\u70b9\uff0c\u4f46\u662f\u53ef\u80fd\u5bfc\u81f4\u4f60\u5728\u8f83\u5927\u7684\u673a\u52a8\u6027\u64cd\u4f5c\u65f6\u4e5f\u8bef\u89e6\u53d1EKF\u5931\u63a7\u4fdd\u62a4\uff0c\u56e0\u6b64\u8bf7\u8c28\u614e\u9009\u62e9\u6b64\u503c\u3002<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">\u5341\u4e8c\u3001\u8bbe\u7f6e\u81ea\u52a8\u8fd4\u822a\uff08RTL\uff09\u7684\u9ed8\u8ba4\u9ad8\u5ea6<\/h2>\n\n\n\n<p>\u3000APM\u56fa\u4ef6\u4e2d\u4f7f\u7528\u5982\u4e0b\u4e24\u4e2a\u53c2\u6570\u8bbe\u7f6e\u81ea\u52a8\u8fd4\u822a\uff08RTL\uff09\u65f6\u7684\u9ed8\u8ba4\u9ad8\u5ea6\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>RTL_ALT<\/strong>\uff1a\u8fd4\u822a\u6700\u4f4e\u9ad8\u5ea6\uff0c\u5355\u4f4d\uff1a\u5398\u7c73\u3002\u5207\u81ea\u52a8\u8fd4\u822a\u6a21\u5f0f\u65f6\uff08\u6216\u8005AUTO\u6a21\u5f0f\u8d70\u5230RTL\u822a\u70b9\u65f6\uff09\uff0c\u98de\u63a7\u9996\u5148\u6bd4\u8f83\u5f53\u524d\u9ad8\u5ea6\u4e0eRTL_ALT\u503c\u7684\u5927\u5c0f\uff1a\u5982\u679c\u98de\u673a\u5f53\u524d\u7684\u9ad8\u5ea6\u9ad8\u4e8eRTL_ALT\uff0c\u5219\u98de\u673a\u81ea\u52a8\u4ee5\u5f53\u524d\u9ad8\u5ea6\u6c34\u5e73\u79fb\u52a8\u5230Home\u70b9\uff08\u4e00\u822c\u662f\u8d77\u98de\u70b9\uff09\u7684\u4e0a\u7a7a\uff0c\u7136\u540e\u81ea\u52a8\u964d\u843d\uff1b\u5982\u679c\u98de\u673a\u5f53\u524d\u9ad8\u5ea6\u4f4e\u4e8eRTL_ALT\uff0c\u5219\u98de\u673a\u5148\u722c\u5347\u5230RTL_ALT\uff0c\u7136\u540e\u4ee5RTL_ALT\u9ad8\u5ea6\u6c34\u5e73\u79fb\u52a8\u5230Home\u70b9\u7684\u4e0a\u7a7a\uff0c\u7136\u540e\u518d\u81ea\u52a8\u964d\u843d\u3002\u8fd9\u662f\u4e00\u79cd\u4fdd\u62a4\u673a\u5236\uff0c\u9632\u6b62\u5728\u8f83\u4f4e\u9ad8\u5ea6\u4e0b\u98de\u673a\u76f4\u63a5\u8fd4\u822a\u65f6\u649e\u5230\u969c\u788d\u7269\uff1b<\/li>\n\n\n\n<li><strong>RTL_ALT_FINAL<\/strong>\uff1a\u8fd9\u4e2a\u53c2\u6570\u7528\u6765\u8bbe\u7f6e\u81ea\u52a8\u8fd4\u822a\u540e\u6700\u7ec8\u98de\u673a\u8981\u4fdd\u6301\u7684\u9ad8\u5ea6\uff0c\u5355\u4f4d\uff1a\u5398\u7c73\u3002\u5982\u679c\u8fd9\u4e2a\u503c\u8bbe\u7f6e\u4e3a0\uff0c\u5219\u81ea\u52a8\u8fd4\u822a\u540e\u4f1a\u81ea\u52a8\u964d\u843d\uff1b\u5982\u679c\u8fd9\u4e2a\u503c\u4e0d\u4e3a\u96f6\uff0c\u5219\u98de\u673a\u4f1a\u4fdd\u6301\u5728Home\u4e0a\u7a7a\u8fd9\u4e2a\u53c2\u6570\u5b9a\u4e49\u7684\u9ad8\u5ea6\u5904\u5e76\u60ac\u505c\u3002\u4e00\u822c\u60c5\u51b5\u4e0b\uff0c\u6211\u4eec\u90fd\u5c06\u8fd9\u4e2a\u503c\u8bbe\u7f6e\u4e3a0\u3002<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">\u5341\u4e09\u3001\u7981\u7528\u5b89\u5168\u5f00\u5173<\/h2>\n\n\n\n<p>\u3000\u4e00\u822c\u60c5\u51b5\u4e0b\uff0c\u591a\u65cb\u7ffc\u98de\u673a\u4e0d\u9700\u8981\u5b89\u88c5\u5b89\u5168\u5f00\u5173\uff0c\u4f46\u662fAPM\u56fa\u4ef6\u9ed8\u8ba4\u662f\u542f\u7528\u5b89\u5168\u5f00\u5173\u7684\uff0c\u6211\u4eec\u53ef\u4ee5\u901a\u8fc7\u53c2\u6570\u7981\u7528\u5b89\u5168\u5f00\u5173\uff0c\u53c2\u6570\u8bbe\u7f6e\u65b9\u6cd5\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>BRD_SAFETYENABLE<\/strong>\uff1a\u8bbe\u7f6e\u4e3a0\u5373\u53ef\uff0c<strong>\u6ce8\u610f\uff0c\u98de\u63a7\u91cd\u65b0\u4e0a\u7535\u540e\u751f\u6548\u3002<\/strong><\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">\u5341\u56db\u3001\u4fee\u6539Loiter\u3001Auto\u3001RTL\u3001Land\u6a21\u5f0f\u4e0b\u7684\u98de\u884c\u901f\u5ea6<\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>WPNAV_SPEED<\/strong>\uff1a\u81ea\u52a8\u822a\u7ebf\u98de\u884c\uff08Auto\u6a21\u5f0f\uff09\u65f6\u7684\u6700\u5927\u6c34\u5e73\u98de\u884c\u901f\u5ea6\uff0c\u5355\u4f4dcm\/s\uff0c\u6bd4\u5982500\u6307\u7684\u662f\u6700\u5927\u6c34\u5e73\u98de\u884c\u901f\u5ea6\u4e3a500cm\/s = 5m\/s\uff1b<\/li>\n\n\n\n<li><strong>WPNAV_SPEED_DN<\/strong>\uff1a\u81ea\u52a8\u822a\u7ebf\u98de\u884c\uff08Auto\u6a21\u5f0f\uff09\u65f6\u7684\u6700\u5927\u4e0b\u964d\u901f\u5ea6\uff0c\u5355\u4f4dcm\/s\uff0c\u6bd4\u5982150\u6307\u7684\u662f\u6700\u5927\u4e0b\u964d\u901f\u5ea6\u4e3a150cm\/s = 1.5m\/s\uff1b\u8fd9\u91cc\u9762\u7684\u201cDN\u201d\u662f\u82f1\u6587\u5355\u8bcd\u201cdown\u201d\u7684\u7b80\u79f0\uff1b<\/li>\n\n\n\n<li><strong>WPNAV_SPEED_UP<\/strong>\uff1a\u81ea\u52a8\u822a\u7ebf\u98de\u884c\uff08Auto\u6a21\u5f0f\uff09\u65f6\u7684\u6700\u5927\u4e0a\u5347\u901f\u5ea6\uff0c\u5355\u4f4dcm\/s\uff0c\u6bd4\u5982250\u6307\u7684\u662f\u6700\u5927\u4e0a\u5347\u901f\u5ea6\u4e3a250cm\/s = 2.5m\/s\uff1b<\/li>\n\n\n\n<li><strong>LOIT_SPEED<\/strong>\uff1a\u5b9a\u70b9\u6a21\u5f0f\uff08Loiter\uff09\u4e0b\u7684\u6700\u5927\u6c34\u5e73\u98de\u884c\u901f\u5ea6\uff0c\u5355\u4f4dcm\/s\uff0c\u6bd4\u59821250\u6307\u7684\u662f\u6700\u5927\u6c34\u5e73\u98de\u884c\u901f\u5ea6\u4e3a1250cm\/s = 12.5m\/s\uff1b<\/li>\n\n\n\n<li><strong>PILOT_SPEED_UP<\/strong>\uff1a\u5b9a\u70b9\u6a21\u5f0f\uff08Loiter\uff09\u4e0b\u6700\u5927\u4e0a\u5347\u901f\u5ea6\uff0c\u5355\u4f4dcm\/s\uff0c\u6bd4\u5982250\u6307\u7684\u662f\u6700\u5927\u4e0a\u5347\u901f\u5ea6\u4e3a250cm\/s = 2.5m\/s\uff1b<\/li>\n\n\n\n<li><strong>PILOT_SPEED_DN<\/strong>\uff1a\u5b9a\u70b9\u6a21\u5f0f\uff08Loiter\uff09\u4e0b\u6700\u5927\u4e0b\u964d\u901f\u5ea6\uff0c\u5355\u4f4dcm\/s\uff0c\u6bd4\u598250\u6307\u7684\u662f\u6700\u5927\u4e0b\u964d\u901f\u5ea6\u4e3a50cm\/s = 0.5m\/s\uff1b<strong>\u5982\u679c\u6b64\u503c\u8bbe\u4e3a0\uff0c\u5219\u98de\u63a7\u5185\u90e8\u4f1a\u8ba4\u4e3a\u6700\u5927\u4e0b\u964d\u901f\u5ea6\u7b49\u540c\u4e8e\u6700\u5927\u4e0a\u5347\u901f\u5ea6<\/strong>\uff0c\u6bd4\u5982\uff1aPILOT_SPEED_UP=250\uff0cPILOT_SPEED_DN=0\uff0c\u5219\u5b9a\u70b9\u6a21\u5f0f\u4e0b\u6700\u5927\u4e0a\u5347\u901f\u5ea6\u548c\u6700\u5927\u4e0b\u964d\u901f\u5ea6\u90fd\u4e3a2.5m\/s\uff1b<\/li>\n\n\n\n<li><strong>RTL_SPEED<\/strong>\uff1aRTL\u6a21\u5f0f\u4e0b\u7684\u6700\u5927\u6c34\u5e73\u901f\u5ea6\uff0c\u5355\u4f4dcm\/s\uff0c\u5982\u679c\u6b64\u503c\u8bbe\u7f6e\u4e3a0\uff0c\u5219RTL\u65f6\u6700\u5927\u6c34\u5e73\u901f\u5ea6\u7531\u4e0a\u9762\u8bb2\u7684\u201cWPNAV_SPEED\u201d\u53c2\u6570\u51b3\u5b9a\uff1b<\/li>\n\n\n\n<li><strong>LAND_SPEED<\/strong>\uff1a\u81ea\u52a8\u964d\u843d\uff08Land\uff09\u65f6\uff0c\u5f53\u9ad8\u5ea6\u4f4e\u4e8e\u201cLAND_ALT_LOW\u201d\u8fd9\u4e2a\u53c2\u6570\u5b9a\u4e49\u7684\u9ad8\u5ea6\u65f6\uff0c\u98de\u673a\u7684\u6700\u5927\u4e0b\u964d\u901f\u5ea6\uff0c\u5355\u4f4dcm\/s\uff1b<\/li>\n\n\n\n<li><strong>LAND_SPEED_HIGH<\/strong>\uff1a\u81ea\u52a8\u964d\u843d\uff08Land\uff09\u65f6\uff0c\u5f53\u9ad8\u5ea6\u9ad8\u4e8e\u201cLAND_ALT_LOW\u201d\u8fd9\u4e2a\u53c2\u6570\u5b9a\u4e49\u7684\u9ad8\u5ea6\u65f6\uff0c\u98de\u673a\u7684\u6700\u5927\u4e0b\u964d\u901f\u5ea6\uff0c\u5355\u4f4dcm\/s\uff1b\u5982\u679c\u6b64\u503c\u8bbe\u7f6e\u4e3a0\uff0c\u5219\u98de\u63a7\u5728\u6b64\u9636\u6bb5\u9ed8\u8ba4\u4f7f\u7528\u201cWPNAV_SPEED_DN\u201d\u7684\u503c\u4ee3\u66ff\u5b83\uff1b<strong>\u8fd9\u662fAPM\u5728\u81ea\u52a8\u964d\u843d\u65f6\u7684\u5b89\u5168\u7b56\u7565<\/strong>\uff0c\u6bd4\u5982\uff1aLAND_SPEED=50\uff0cLAND_SPEED_HIGH=200\uff0cLAND_ALT_LOW=1000\uff0c\u5219\u5728\u81ea\u52a8\u964d\u843d\u65f6\uff0c\u5982\u679c\u9ad8\u5ea6\u9ad8\u4e8e10\u7c73\uff0c\u5219\u98de\u673a\u4ee52m\/s\u7684\u901f\u5ea6\u5feb\u901f\u4e0b\u964d\uff0c\u5f53\u9ad8\u5ea6\u4f4e\u4e8e10\u7c73\u65f6\uff0c\u7acb\u5373\u5c06\u4e0b\u964d\u901f\u5ea6\u964d\u4f4e\u4e3a0.5m\/s\u5f00\u59cb\u7f13\u6162\u4e0b\u964d\u3002<\/li>\n<\/ul>\n\n\n\n<p class=\"has-vivid-red-color has-text-color\">\u3000<strong>\u6ce8\u610f\uff0c\u4e0a\u8ff0\u53c2\u6570\u4e2d\uff0cLoiter\u6a21\u5f0f\u548cPOSHold\u6a21\u5f0f\u4f7f\u7528\u7684\u662f\u76f8\u540c\u7684\u53c2\u6570\uff0c\u6548\u679c\u4e00\u6837\u3002Stablize\u6a21\u5f0f\u4e0b\u5bf9\u4e8e\u98de\u63a7\u6765\u8bb2\u6839\u672c\u5c31\u6ca1\u6709\u901f\u5ea6\u8fd9\u4e2a\u6982\u5ff5\uff0c\u56e0\u6b64\u5b8c\u5168\u6ca1\u6709\u4efb\u4f55\u901f\u5ea6\u9650\u5236\uff0c\u4e0a\u8ff0\u53c2\u6570\u4e0e\u4e4b\u65e0\u5173\u3002<\/strong><\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u5341\u4e94\u3001\u4fee\u6539\u56fa\u5b9a\u7ffc\u98de\u884c\u65f6\u7684\u8f6c\u5f2f\u534a\u5f84<\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>LIM_ROLL_CD<\/strong>\uff1a\u8f6c\u5f2f\u65f6\u6700\u5927\u6a2a\u6eda\u89d2\uff0c\u5355\u4f4d\uff1a\u5398\u5ea6\uff081\u5ea6=100\u5398\u5ea6\uff09\u3002\u589e\u5927\u8fd9\u4e2a\u503c\u540e\uff0c\u8f6c\u5f2f\u4f1a\u66f4\u5feb\u4e00\u70b9\u3002<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">\u5341\u516d\u3001\u4fee\u6539\u81ea\u52a8\u964d\u843d\u65f6\u81ea\u52a8\u51cf\u5c0f\u4e0b\u964d\u901f\u5ea6\u7684\u9ad8\u5ea6\u95e8\u9650<\/h2>\n\n\n\n<p>\u3000\u9ed8\u8ba4\u60c5\u51b5\u4e0b\uff0c\u591a\u65cb\u7ffc\u5728\u81ea\u52a8\u964d\u843d\u65f6\uff0c\u5f53\u9ad8\u5ea6\u4f4e\u4e8e10\u7c73\u540e\u4f1a\u81ea\u52a8\u4ee5\u8f83\u5c0f\u7684\u901f\u5ea6\u4e0b\u964d\uff0c\u8fd9\u662f\u4e00\u79cd\u4fdd\u62a4\u673a\u5236\uff0c\u8fd9\u4e2a\u9ad8\u5ea6\u662f\u53d7<strong>LAND_ALT_LOW<\/strong>\u8fd9\u4e2a\u53c2\u6570\u63a7\u5236\u7684\uff0c\u5355\u4f4d\u662f\u5398\u7c73\uff0c\u9ed8\u8ba4\u503c1000\u5bf9\u5e94\u7684\u5c31\u662f10\u7c73\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u5341\u4e03\u3001\u4fee\u6539\u98de\u884c\u6a21\u5f0f\u7684\u63a7\u5236\u901a\u9053<\/h2>\n\n\n\n<p>\u3000\u9ed8\u8ba4\u60c5\u51b5\u4e0b\uff0c\u56fa\u5b9a\u7ffc\u7684\u98de\u884c\u6a21\u5f0f\u662f\u7531\u9065\u63a7\u5668\u901a\u90538\u63a7\u5236\u7684\uff0c\u8fd9\u4e2a\u4e0e\u591a\u65cb\u7ffc\u4e0d\u540c\uff08\u591a\u65cb\u7ffc\u9ed8\u8ba4\u662f\u901a\u90535\uff09\uff0c\u4f46\u662f\u5982\u679c\u4f60\u5c31\u662f\u60f3\u7528\u9065\u63a7\u5668\u901a\u90535\u63a7\u5236\u56fa\u5b9a\u7ffc\u7684\u98de\u884c\u6a21\u5f0f\uff0c\u4fee\u6539\u201c<strong>FLTMODE_CH<\/strong>\u201d\u53c2\u6570\u5373\u53ef\uff0c\u5176\u6570\u503c\u5373\u4e3a\u7528\u9065\u63a7\u5668\u7684\u54ea\u4e2a\u901a\u9053\u63a7\u5236\u98de\u884c\u6a21\u5f0f\u3002\u540c\u7406\uff0c\u4e5f\u53ef\u4ee5\u901a\u8fc7\u6b64\u53c2\u6570\u4fee\u6539\u591a\u65cb\u7ffc\u7684\u6a21\u5f0f\u63a7\u5236\u901a\u9053\u3002<\/p>\n\n\n\n<p class=\"has-vivid-red-color has-text-color has-medium-font-size\">\u3000<strong>\u6ce8\u610f\uff0c\u8fd9\u4e2a\u53c2\u6570\u662f\u201c\u98de\u63a7\u91cd\u542f\u201d\u540e\u751f\u6548\uff01\u5173\u4e8e\u201c\u91cd\u542f\u98de\u63a7\u201d\u8fd9\u79cd\u64cd\u4f5c\uff0c\u6709\u4e00\u4e2a\u6f5c\u5728\u7684\u5927\u5751\u662f\uff1a<\/strong><\/p>\n\n\n\n<p class=\"has-vivid-red-color has-white-background-color has-text-color has-background has-large-font-size\"><strong>\u6709\u4e00\u79cd\u91cd\u542f\u662f\u201c\u4f60\u4ee5\u4e3a\u4f60\u91cd\u542f\u4e86\uff0c\u5b9e\u9645\u4e0a\u4f60\u6839\u672c\u5c31\u6ca1\u6709\u91cd\u542f\uff01\u201d\u6bd4\u5982\uff0c\u5728\u6574\u4e2a\u7cfb\u7edf\u4f7f\u7528\u7535\u6c60\u4f9b\u7740\u7535\u7684\u60c5\u51b5\u4e0b\uff0c\u4f60\u901a\u8fc7\u63d2\u62d4USB\u6765\u91cd\u542f\u98de\u63a7\uff0c\u4f46\u662f\u4e8b\u5b9e\u4e0a\u98de\u63a7\u4e00\u76f4\u88ab\u7535\u6e90\u6a21\u5757\u4f9b\u7740\u7535\uff0c\u91cd\u65b0\u63d2\u62d4USB\u6839\u672c\u5c31\u6ca1\u6709\u5bfc\u81f4\u98de\u63a7\u91cd\u542f\uff0c\u4e8e\u662f\u8be1\u5f02\u7684\u4e8b\u60c5\u5c31\u53d1\u751f\u4e86\uff1a\u53c2\u6570\u4e5f\u4fee\u6539\u4e86\uff0c\u98de\u63a7\u4e5f\u201c\u91cd\u542f\u201d\u4e86\uff0c\u53ef\u662f\u5c31\u662f\u4e0d\u751f\u6548\uff1f\uff01<\/strong>\u6211\u628a\u8fd9\u6bb5\u8bdd\u201c\u6807\u7ea2\u3001\u52a0\u7c97\u3001\u52a0\u5927\u201d\uff0c\u5e0c\u671b\u4f60\u80fd\u770b\u89c1\uff0c\u795d\u613f\u4f60\u6bcf\u6b21\u91cd\u542f\u98de\u63a7\u65f6\u90fd\u80fd\u907f\u5f00\u8fd9\u4e2a\u5751\uff01<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u5341\u516b\u3001\u8fd4\u822a\u6216\u8005\u964d\u843d\u65f6\u4f7f\u7528\u5730\u5f62\u9ad8\u5ea6<\/h2>\n\n\n\n<p>\u3000<strong>TERRAIN_FOLLOW&nbsp;<\/strong>\u8bbe\u7f6e\u4e3a1.<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u5341\u4e5d\u3001\u8d77\u98de\u9ad8\u5ea6<\/h2>\n\n\n\n<p>\u3000<strong>PILOT_TKOFF_ALT<\/strong>\uff0c\u5355\u4f4d\uff1a\u5398\u7c73\u3002\u5f53\u6b64\u503c\u4e0d\u4e3a0\u65f6\uff0c\u89e3\u9501\u540e\u6cb9\u95e8\u6447\u6746\u63a8\u8fc750%\u540e\u98de\u673a\u4f1a\u81ea\u52a8\u8d77\u98de\u5230\u6b64\u9ad8\u5ea6\u5e76\u60ac\u505c\uff0c\u4e4b\u540e\u98de\u624b\u53ef\u4ee5\u624b\u52a8\u63a7\u5236\u98de\u673a\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e8c\u5341\u3001\u591a\u65cb\u7ffc\u6700\u5927\u503e\u89d2<\/h2>\n\n\n\n<p>\u3000<strong>ANGLE_MAX<\/strong>\uff0c\u5355\u4f4d\uff1a\u5398\u5ea6\uff08\u767e\u5206\u4e4b\u4e00\u5ea6\uff09\uff0c\u9ed8\u8ba4\u503c\uff1a4500\uff0c\u537345\u5ea6\u3002\u8fd9\u4e2a\u9ed8\u8ba4\u503c\u662f\u4e00\u4e2a\u6bd4\u8f83\u5927\u7684\u503c\u4e86\uff0c\u4e00\u822c\u6539\u4e3a2000~3000\u4e4b\u95f4\u5373\u53ef\uff08\u537320\u5ea6~30\u5ea6\uff09\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e8c\u5341\u4e00\u3001\u8bbe\u7f6e\u9065\u6d4b\u4fe1\u606f\u6570\u636e\u6d41\u7684\u8f93\u51fa\u9891\u7387<\/h2>\n\n\n\n<p>\u3000\u6b63\u5e38\u60c5\u51b5\u4e0b\uff0c\u4f7f\u7528\u5730\u9762\u7ad9\u8f6f\u4ef6\u901a\u8fc7USB\u6216\u8005\u6570\u4f20\u7535\u53f0\u8fde\u63a5\u98de\u63a7\u65f6\uff0c\u5176\u5185\u5728\u7684\u903b\u8f91\u662f\uff1a<\/p>\n\n\n\n<p>\u30001\u3001\u5730\u9762\u7ad9\u6253\u5f00\u4e32\u53e3\uff08\u5c31\u662f\u6211\u4eec\u70b9\u51fb\u8fde\u63a5\u524d\u9009\u62e9\u7684COM\u53e3\uff09\uff1b<\/p>\n\n\n\n<p>\u30002\u3001\u5730\u9762\u7ad9\u4ece\u4e32\u53e3\u8f93\u51fa\u7684\u6570\u636e\u4e2d\u627e\u5fc3\u8df3\u5e27\uff1b<\/p>\n\n\n\n<p>\u30003\u3001\u627e\u5230\u5fc3\u8df3\u5e27\u540e\u5f00\u59cb\u4f9d\u6b21\u4ece\u98de\u63a7\u4e2d\u8bfb\u53d6\u5176\u6240\u6709\u7684\u53c2\u6570\u5e76\u4fdd\u5b58\u5728\u672c\u5730\uff08\u6253\u5f00\u201c\u5168\u90e8\u53c2\u6570\u8868\u201d\u65f6\u5c31\u662f\u5217\u51fa\u8fd9\u4e9b\u53c2\u6570\uff09\uff1b<\/p>\n\n\n\n<p>\u30004\u3001\u53c2\u6570\u8bfb\u53d6\u5b8c\u6210\u540e\uff0c\u53d1\u9001\u8bbe\u7f6e\u5404\u79cd\u6570\u636e\u6d41\u4e0b\u53d1\u9891\u7387\u7684\u63a7\u5236\u5e27\u5230\u98de\u63a7\uff1b<\/p>\n\n\n\n<p>\u30005\u3001\u98de\u63a7\u6536\u5230\u6570\u636e\u6d41\u63a7\u5236\u5e27\u540e\u5f00\u59cb\u4ee5\u63a7\u5236\u5e27\u89c4\u5b9a\u7684\u9891\u7387\u4e0b\u53d1\u5404\u79cd\u6570\u636e\uff08\u98de\u673a\u7684\u59ff\u6001\u3001\u4f4d\u7f6e\u3001\u5404\u4e2a\u4f20\u611f\u5668\u7684\u539f\u59cb\u503c\u3001\u9065\u63a7\u5668\u7684\u8f93\u5165\u503c\u7b49\u7b49\uff09\u3002<\/p>\n\n\n\n<p>\u3000\u8fd9\u4e9b\u6570\u636e\u6d41\u4e2d\u5305\u542b\u4e86\u4e0d\u540c\u7684Mavlink\u5e27\uff0c\u4e0d\u540c\u7684Mavlink\u5e27\u4e2d\u5305\u542b\u4e86\u4e0d\u540c\u7684\u4fe1\u606f\uff0c\u4f46\u662f\u5176\u4e2d\u6709\u4e9b\u4fe1\u606f\u662f\u540c\u4e00\u7c7b\u7684\uff08\u5982\u78c1\u7f57\u76d81\u3001\u78c1\u7f57\u76d82\u7684\u539f\u59cb\u503c\u3001\u52a0\u901f\u5ea61\u7684\u539f\u59cb\u503c\u7b49\u90fd\u662f\u4f20\u611f\u5668\u7684\u539f\u59cb\u503c\uff0c\u7b97\u4f5c\u4e00\u7c7b\uff09\uff0c\u56e0\u6b64\uff0c\u4e3a\u4e86\u65b9\u4fbf\uff0cAPM\u56fa\u4ef6\u5c06\u8fd9\u4e9bMavlink\u5e27\u6309\u7167\u529f\u80fd\u5206\u6210\u4e86\u4e0d\u540c\u7684\u6570\u636e\u6d41\u7ec4\uff0c\u76f8\u540c\u7ec4\u7684\u6570\u636e\u5e27\u4ee5\u76f8\u540c\u7684\u9891\u7387\u4e0b\u53d1\u3002<\/p>\n\n\n\n<p>\u3000\u5f53\u7136\uff0c\u6211\u4eec\u4e5f\u53ef\u4ee5\u76f4\u63a5\u901a\u8fc7\u4fee\u6539\u98de\u63a7\u7684\u53c2\u6570\u6765\u8bbe\u7f6e\u5176\u5404\u4e2a\u6570\u636e\u6d41\u7684\u4e0b\u53d1\u9891\u7387\uff0c\u4ece\u800c\u5bf9\u4e8e\u7279\u5b9a\u5e94\u7528\uff0c<strong>\u53ef\u4ee5\u76f4\u63a5\u901a\u8fc7\u89e3\u6790\u98de\u63a7\u4e0b\u53d1\u7684\u6570\u636e\u6765\u5f97\u5230\u60f3\u8981\u7684\u4fe1\u606f\uff0c\u800c\u4e0d\u9700\u8981\u8ddf\u98de\u63a7\u4f60\u6765\u6211\u5f80\u5730\u4ea4\u4e92<\/strong>\u3002<\/p>\n\n\n\n<p>\u3000\u5728\u201c\u5168\u90e8\u53c2\u6570\u8868\u201d\u4e2d\uff0c\u8fd9\u4e9b\u53c2\u6570\u662f\u4ee5\u201cSRx_xxxx\u201d\u7684\u5f62\u5f0f\u5b58\u5728\u7684\uff0c<strong>\u5176\u4e2d\u201cSR0_xxxx\u201d\u5bf9\u5e94USB\u7684\u6570\u636e\u6d41\u9891\u7387\uff0c\u201cSR1_xxxx\u201d\u5bf9\u5e94\u201cTelem1\u201d\uff08\u4e5f\u5c31\u662f\u6570\u4f20\u7535\u53f01\uff09\u7684\u6570\u636e\u6d41\u9891\u7387<\/strong>\uff0c\u540e\u9762\u7684\u4f9d\u6b21\u7c7b\u63a8\u3002\u540e\u9762\u7684\u5c3e\u7f00\u5bf9\u5e94\u4e0d\u540c\u7684\u4fe1\u606f\u7ec4\uff0c\u5177\u4f53\u5982\u4e0b\uff1a<\/p>\n\n\n\n<p>\u3000\u3000a\u3001SRx_RAW_SENS\uff1a\u5404\u4e2aIMU\u3001\u5404\u4e2a\u6c14\u538b\u8ba1\u7684\u539f\u59cb\u503c\u548c\u6821\u51c6\u503c\uff1b<\/p>\n\n\n\n<p>\u3000\u3000b\u3001SRx_EXT_STAT\uff1a\u7cfb\u7edf\u72b6\u6001\u3001\u7535\u6e90\u72b6\u6001\u3001\u5185\u5b58\u72b6\u6001\u3001\u5f53\u524d\u822a\u70b9\u53f7\u3001\u5730\u7406\u56f4\u680f\u72b6\u6001\u7b49\u5404\u79cd\u72b6\u6001\uff1b<\/p>\n\n\n\n<p>\u3000\u3000c\u3001SRx_RC_CHAN\uff1a\u5404\u4e2aPWM\u8f93\u51fa\u901a\u9053\u7684\u539f\u59cb\u503c\u3001\u5404\u4e2a\u9065\u63a7\u5668\u901a\u9053\u8f93\u5165\u503c\u7684\u539f\u59cb\u503c\uff1b<\/p>\n\n\n\n<p>\u3000\u3000d\u3001SRx_RAW_CTRL\uff1a\u5f52\u4e00\u5316\u540e\u7684\u63a7\u5236\u8f93\u5165\u503c\uff1b<\/p>\n\n\n\n<p>\u3000\u3000e\u3001SRx_POSITION\uff1a\u98de\u673a\u4f4d\u7f6e\uff1b<\/p>\n\n\n\n<p>\u3000\u3000f\u3001SRx_EXTRA1\uff1a\u98de\u673a\u59ff\u6001\u6570\u636e\u3001AHRS\u6570\u636e\uff1b<\/p>\n\n\n\n<p>\u3000\u3000g\u3001SRx_EXTRA2\uff1a\u7a7a\u901f\u3001\u5730\u901f\u3001\u822a\u5411\u3001\u6cb9\u95e8\u3001\u9ad8\u5ea6\u3001\u722c\u5347\u901f\u5ea6\u7b49HUD\u4fe1\u606f\uff1b<\/p>\n\n\n\n<p>\u3000\u3000h\u3001SRx_EXTRA3\uff1aAHRS\u3001\u786c\u4ef6\u72b6\u6001\u3001\u7cfb\u7edf\u65f6\u95f4\u3001\u6d4b\u8ddd\u4eea\u6570\u636e\u3001\u5149\u6d41\u3001\u9707\u52a8\u503c\u7b49\uff1b<\/p>\n\n\n\n<p>\u3000\u3000i\u3001SRX_ADSB\uff1aADSB\u6a21\u5757\u6570\u636e\uff1b<\/p>\n\n\n\n<p>\u3000\u3000j\u3001SRx_PARAMS\uff1a\u53c2\u6570\u3002<\/p>\n\n\n\n<p>\u3000<strong>\u6ce8\u610f\uff0c\u4e0d\u540c\u7248\u672c\u7684\u98de\u63a7\u56fa\u4ef6\u4e0a\u8ff0\u53c2\u6570\u7684\u6570\u91cf\u548c\u540d\u79f0\u53ef\u80fd\u4e0d\u540c\u3002<\/strong><\/p>\n\n\n\n<p>\u3000\u5bf9\u4e8e\u591a\u65cb\u7ffc\uff0c\u4e0a\u8ff0\u53c2\u6570\u53ef\u4ee5\u5728\u201cardupilot\/ArduCopter\/GCS_Mavlink.cpp\u201d\u4e2d\u627e\u5230\uff08\u5728\u8be5\u6587\u4ef6\u4e2d\u641c\u7d22\u201c RAW_SENS \u201d\u5373\u53ef\u627e\u5230\u5bf9\u5e94\u7684\u884c\uff09\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e8c\u5341\u4e8c\u3001\u5730\u7406\u56f4\u680f\uff08Fence\uff09\u76f8\u5173\u53c2\u6570<\/h2>\n\n\n\n<p>\u3000\u8bf7\u5c3d\u91cf\u517b\u6210\u542f\u7528\u5730\u7406\u56f4\u680f\u7684\u4e60\u60ef\uff0c\u8fd9\u662f\u4e00\u79cd\u6709\u6548\u7684\u63d0\u9ad8\u98de\u673a\u5b89\u5168\u6027\u7684\u624b\u6bb5\uff0c\u76f8\u5173\u53c2\u6570\u5982\u4e0b\uff1a<\/p>\n\n\n\n<p>\u30001\u3001<strong>FENCE_ENABLE<\/strong>\uff1a0\u662f\u5173\u95ed\u5730\u7406\u56f4\u680f\u529f\u80fd\uff0c1\u662f\u6253\u5f00\u5730\u7406\u56f4\u680f\u529f\u80fd\uff1b<\/p>\n\n\n\n<p>\u30002\u3001<strong>FENCE_TYPE<\/strong>\uff1a\u5730\u7406\u56f4\u680f\u7684\u7c7b\u578b\u3002\u6ce8\u610f\u8fd9\u4e2a\u662f\u652f\u6301\u591a\u9009\u7684\uff0c\u5982\u4e0b\u56fe\u6240\u793a\uff0c\u5728\u5168\u90e8\u53c2\u6570\u8868\u4e2d\uff0c\u627e\u5230\u201c FENCE_TYPE \u201d\uff0c\u53cc\u51fb\u5b83\u540e\u9762\u7684\u503c\uff0c\u4f1a\u81ea\u52a8\u6253\u5f00\u4e00\u4e2a\u9009\u62e9\u7528\u7684\u5c0f\u7a97\u53e3\uff0c\u52fe\u9009\u4f60\u9700\u8981\u7528\u5230\u7684\u7c7b\u578b\u5373\u53ef\u3002<\/p>\n\n\n\n<p>\u3000\u3000a\u3001MAX altitude\uff1a\u6700\u5927\u9ad8\u5ea6\u9650\u5236\uff0c\u7531 <strong>FENCE_ ALT_MAX<\/strong>\u53c2\u6570\u5b9a\u4e49\u6700\u5927\u9ad8\u5ea6\uff0c\u8d85\u8fc7\u8fd9\u4e2a\u9ad8\u5ea6\u89e6\u53d1\u5730\u7406\u56f4\u680f\u4fdd\u62a4\u903b\u8f91\uff1b<\/p>\n\n\n\n<p>\u3000\u3000b\u3001Circle\uff1a\u5706\u5f62\u5730\u7406\u56f4\u680f\uff0c\u4ee5Home\u70b9\uff08\u5927\u90e8\u5206\u60c5\u51b5\u4e0b\u5373\u8d77\u98de\u70b9\uff09\u4e3a\u5706\u5fc3\uff0c<strong>FENCE_RADIUS<\/strong>\u4e3a\u534a\u5f84\u7684\u5706\uff0c\u98de\u673a\u98de\u51fa\u8fd9\u4e2a\u5706\u540e\u89e6\u53d1\u4fdd\u62a4\uff1b<\/p>\n\n\n\n<p>\u3000\u3000c\u3001Polygon\uff1a\u591a\u8fb9\u5f62\u5730\u7406\u56f4\u680f\uff0c\u5728\u5730\u56fe\u4e2d\u5b9a\u4e49\u4e00\u4e2a\u6709\u201c<strong>FENCE_TOTAL<\/strong>\u201d\u4e2a\u9876\u70b9\u7684\u591a\u8fb9\u5f62\uff0c\u98de\u51fa\u8fd9\u4e2a\u591a\u8fb9\u5f62\u89e6\u53d1\u5730\u7406\u56f4\u680f\uff1b<\/p>\n\n\n\n<p>\u3000\u3000d\u3001Min altitude\uff1a\u6700\u4f4e\u9ad8\u5ea6\u9650\u5236\uff0c \u7531<strong> FENCE_ ALT_MIN<\/strong>\u53c2\u6570\u5b9a\u4e49\u6700\u4f4e\u9ad8\u5ea6\uff0c\u4f4e\u4e8e\u8fd9\u4e2a\u9ad8\u5ea6\u89e6\u53d1\u5730\u7406\u56f4\u680f\u4fdd\u62a4\u903b\u8f91\u3002\u8fd9\u4e2a\u5f88\u4e0d\u5e38\u7528\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"482\" height=\"326\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/11\/Image-1.png\" alt=\"\" class=\"wp-image-2014\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/11\/Image-1.png 482w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2021\/11\/Image-1-300x203.png 300w\" sizes=\"auto, (max-width: 482px) 100vw, 482px\" \/><\/figure>\n\n\n\n<p>\u30003\u3001<strong>FENCE_ACTION<\/strong>\uff1a\u8d85\u51fa\u5730\u7406\u56f4\u680f\u65f6\u98de\u673a\u7684\u52a8\u4f5c\uff0c\u5177\u4f53\u52a8\u4f5c\u5206\u7c7b\u5982\u4e0b\uff1a<\/p>\n\n\n\n<p>\u3000\u30000\uff1a\u53ea\u5411\u5730\u9762\u7ad9\u62a5\u544a\uff0c\u65e0\u5176\u4ed6\u52a8\u4f5c\uff1b<\/p>\n\n\n\n<p>\u3000\u30001\uff1a\u8fd4\u822a\uff08RTL\uff09\uff1b<\/p>\n\n\n\n<p>\u3000\u30002\uff1a\u964d\u843d\uff1b<\/p>\n\n\n\n<p>\u3000\u30003\uff1a\u667a\u80fd\u8fd4\u822a\uff08SmartRTL\uff09\uff1b<\/p>\n\n\n\n<p>\u3000\u30004\uff1a\u60ac\u505c<\/p>\n\n\n\n<p>\u30004\u3001<strong>FENCE_MARGIN<\/strong>\uff1a\u56f4\u680f\u7684\u5185\u7f29\u8ddd\u79bb\u3002\u6bd4\u5982\u6211\u4eec\u5b9a\u4e49\u56f4\u680f\u6700\u5927\u9ad8\u5ea6\u4e3a10\u7c73\uff0c\u5185\u7f29\u4e3a1\u7c73\uff0c\u90a3\u4e48\u5f53\u98de\u673a\u9ad8\u5ea6\u8d85\u8fc710-1=9\u7c73\u7684\u65f6\u5019\u5c31\u6267\u884c\u89e6\u53d1\u56f4\u680f\u540e\u7684\u52a8\u4f5c\u3002\u540c\u7406\uff0c\u5982\u679c\u540c\u65f6\u6211\u4eec\u5b9a\u4e49\u4e86\u56f4\u680f\u7684\u6700\u5927\u534a\u5f84\u4e3a20\u7c73\uff0c\u90a3\u4e48\u6c34\u5e73\u65b9\u5411\u98de\u673a\u98de\u51fa\u53bb20-1=19\u7c73\u65f6\u4e5f\u89e6\u53d1\u56f4\u680f\u52a8\u4f5c\u3002\u5373\u8fd9\u4e2a\u503c\u5bf9\u9ad8\u5ea6\u548c\u6c34\u5e73\u4f4d\u7f6e\u540c\u65f6\u90fd\u751f\u6548\u3002<\/p>\n\n\n\n<p>\u3000<strong>\u4e00\u822c\u60c5\u51b5\u4e0b\uff0c\u6211\u4eec\u90fd\u4f1a\u5b9a\u4e49\u4e00\u4e2a\u4ee5\u8d77\u98de\u70b9\u4e3a\u4e2d\u5fc3\uff0c\u4e00\u5b9a\u534a\u5f84\u3001\u4e00\u5b9a\u9ad8\u5ea6\u7684\u7acb\u4f53\u5706\u6876\u578b\u7684\u5730\u7406\u56f4\u680f\uff0c\u5bf9\u5e94\u53c2\u6570\u8bbe\u7f6e\u5982\u4e0b\uff1a<\/strong><\/p>\n\n\n\n<p> \u3000\u3000<strong>FENCE_ENABLE<\/strong> \uff1a1\uff0c\u6253\u5f00\u5730\u7406\u56f4\u680f\u529f\u80fd\uff1b<\/p>\n\n\n\n<p> \u3000\u3000<strong>FENCE_TYPE<\/strong> \uff1a3\uff0c MAX altitude \u548c Circle \uff1b<\/p>\n\n\n\n<p> \u3000\u3000<strong>FENCE_MARGIN<\/strong> \uff1a2\uff0c\u5185\u7f292\u7c73\uff08\u8fd9\u4e2a\u8bbe\u4e3a0\u4e5f\u884c\uff0c\u6309\u9700\u66f4\u6539\uff09\uff1b<\/p>\n\n\n\n<p> \u3000\u3000<strong>FENCE_ ALT_MAX<\/strong> \uff1a100\uff0c\u9650\u9ad8100\u7c73\uff08 \u6309\u9700\u66f4\u6539 \uff09\uff1b<\/p>\n\n\n\n<p> \u3000\u3000<strong>FENCE_RADIUS<\/strong> \uff1a1000\uff0c\u6700\u8fdc\u8ddd\u79bb1000\u7c73\uff08 \u6309\u9700\u66f4\u6539 \uff09\uff1b<\/p>\n\n\n\n<p>\u3000\u3000 <strong>FENCE_TOTAL<\/strong> \uff1a0\uff0c\u7531\u4e8e\u6ca1\u6709\u542f\u7528\u591a\u8fb9\u5f62\u5730\u7406\u56f4\u680f\uff0c\u56e0\u6b64\u8fd9\u4e2a\u503c\u4e0d\u7ba1\u8bbe\u7f6e\u4e3a\u591a\u5c11\u90fd\u884c\uff0c\u5b9e\u9645\u4e0d\u751f\u6548\uff1b<\/p>\n\n\n\n<p> \u3000\u3000<strong>FENCE_ ALT_MIN<\/strong> \uff1a 0\uff0c\u7531\u4e8e\u6ca1\u6709\u542f\u7528\u6700\u4f4e\u9ad8\u5ea6\u9650\u5236\uff0c\u56e0\u6b64\u8fd9\u4e2a\u503c\u4e0d\u7ba1\u8bbe\u7f6e\u4e3a\u591a\u5c11\u90fd\u884c\uff0c\u5b9e\u9645\u4e0d\u751f\u6548\uff1b<\/p>\n\n\n\n<p>  \u3000\u3000<strong>FENCE_ACTION<\/strong> \uff1a1\uff0c\u78b0\u5230\u56f4\u680f\u540e\u7acb\u5373\u8fd4\u822a\uff08 \u6309\u9700\u66f4\u6539 \uff09\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e8c\u5341\u4e09\u3001\u8bbe\u7f6e\u5207\u5165\u201cAUTO\u201d\u6a21\u5f0f\u65f6\u662f\u4ece\u5934\u6267\u884c\u4efb\u52a1\u8fd8\u662f\u7ee7\u7eed\u6267\u884c\u672a\u5b8c\u6210\u7684\u4efb\u52a1<\/h2>\n\n\n\n<p>\u3000\u6709\u65f6\u5019\uff0c \u6211\u4eec\u5728AUTO\u6a21\u5f0f\u4e0b\u9700\u8981\u4e2d\u65ad\u4efb\u52a1\uff0c\u5207\u5230\u67d0\u79cd\u624b\u52a8\u63a7\u5236\u6a21\u5f0f\u540e\uff08Loiter\u6a21\u5f0f\u3001POSHold\u6a21\u5f0f\u3001Stablized\u6a21\u5f0f\u3001AltHold\u6a21\u5f0f\u7b49\u7b49\uff09\uff0c\u64cd\u63a7\u98de\u673a\u79fb\u52a8\u4e00\u5b9a\u7684\u8ddd\u79bb\uff0c\u7136\u540e\u518d\u5207\u56deAUTO\u6a21\u5f0f\uff0c\u8fd9\u65f6\u6211\u4eec\u53ef\u80fd\u6709\u4e24\u79cd\u4e0d\u540c\u7684\u9700\u6c42\uff1a<\/p>\n\n\n\n<p>\u30001\u3001\u4ece\u5934\u6267\u884c\u822a\u7ebf\u4efb\u52a1\uff0c\u98de\u673a\u98de\u5411\u7b2c\u4e00\u4e2a\u822a\u70b9\uff08\u4e0d\u7ba1\u5207\u624b\u52a8\u4e4b\u524d\u6267\u884c\u5230\u4e86\u54ea\u4e2a\u822a\u70b9\uff09\uff1b<\/p>\n\n\n\n<p>\u30002\u3001\u7ee7\u7eed\u521a\u624d\u7684\u4efb\u52a1\uff0c\u98de\u673a\u98de\u5411\u4e4b\u524dAUTO\u6a21\u5f0f\u4e0b\u6b63\u5728\u98de\u5411\u7684\u822a\u70b9\uff08\u6ce8\u610f\uff0c\u8fd9\u79cd\u60c5\u51b5\u53ea\u5728\u672c\u6b21\u4e0a\u7535\u8fc7\u7a0b\u4e2d\u751f\u6548\uff0c\u5982\u679c\u4e2d\u9014\u7ed9\u98de\u63a7\u91cd\u65b0\u4e0a\u7535\u4e86\uff0c\u5219\u53ea\u4f1a\u4ece\u5934\u6267\u884c\u822a\u7ebf\u4efb\u52a1\uff09\u3002<\/p>\n\n\n\n<p>\u3000\u8fd9\u4e24\u79cd\u5207\u5165\u65b9\u6cd5\u7531\u201c<strong>MIS_RESTART<\/strong>\u201d\u53c2\u6570\u63a7\u5236\uff0c\u5176\u503c\u4e3a0\u65f6\uff0c\u98de\u673a\u7ee7\u7eed\u521a\u624d\u7684\u4efb\u52a1\uff0c\u5176\u503c\u4e3a1\u65f6\uff0c\u5219\u4ece\u5934\u5f00\u59cb\u6267\u884c\u4efb\u52a1\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e8c\u5341\u56db\u3001\u7535\u673a\u8f6c\u901f\u6d4b\u91cf\uff08RPM\uff09<\/h2>\n\n\n\n<p>\u3000\u98de\u63a7\u652f\u6301\u6d4b\u91cf\u53d1\u52a8\u673a\u8f6c\u901f\uff08RPM\uff09\u5e76\u53d1\u9001\u7ed9\u5730\u9762\u7ad9\uff0c\u5177\u4f53\u8bbe\u7f6e\u65b9\u6cd5\u8bf7\u53c2\u8003APM\u5b98\u7f51\u8bf4\u660e\u6587\u6863\uff1a<a href=\"https:\/\/ardupilot.org\/copter\/docs\/common-rpm.html?highlight=rpm\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/ardupilot.org\/copter\/docs\/common-rpm.html?highlight=rpm<\/a><\/p>\n\n\n\n<hr class=\"wp-block-separator has-css-opacity is-style-wide\"\/>\n\n\n\n<p class=\"has-vivid-red-color has-text-color\"><strong>\u65e0\u4eba\u673a\u8c03\u8bd5\u95ee\u9898\uff0c\u98de\u63a7\u786c\u4ef6\u5b9a\u5236\uff0c\u56fa\u4ef6\u4fee\u6539\uff0clog\u65e5\u5fd7\u5206\u6790\uff0c\u98de\u63a7\u9a71\u52a8\u6dfb\u52a0<br>\u8bf7QQ\u8054\u7cfb\uff1a3500985284 <\/strong><\/p>\n\n\n\n<p class=\"has-vivid-red-color has-text-color\"><strong>\u7ecf\u8fc7\u4e09\u4e2a\u6708\u7684\u5236\u4f5c\uff0c\u6211\u7684\u300a\u65e0\u4eba\u673a\u98de\u63a7\u56fa\u4ef6\u5f00\u53d1\u6559\u7a0b\u300b\u7cfb\u5217\u89c6\u9891\u7ec8\u4e8e\u5728\u201c\u7f51\u6613\u4e91\u8bfe\u5802\u201d\u4e0a\u7ebf\u4e86\uff0c\u672c\u6559\u7a0b\u57fa\u4e8eAPM\u56fa\u4ef6\u548cPixhawk\u786c\u4ef6\uff0c\u8bb2\u8ff0\u5982\u4f55\u642d\u5efa\u98de\u63a7\u56fa\u4ef6\u5f00\u53d1\u73af\u5883\u3001\u5982\u4f55\u7f16\u8bd1\u70e7\u5199\u56fa\u4ef6\u3001\u5982\u4f55\u4fee\u6539\u56fa\u4ef6\u3001\u5982\u4f55\u5efa\u7acb\u98de\u63a7\u4eff\u771f\u73af\u5883\u3001\u5982\u4f55\u6dfb\u52a0\u81ea\u5b9a\u4e49\u4fe1\u606f\u3001\u81ea\u5b9a\u4e49\u65e5\u5fd7\u3001\u5982\u4f55\u6dfb\u52a0\u5916\u8bbe\u9a71\u52a8\u7a0b\u5e8f\u3001\u5982\u4f55\u4f7f\u7528OpenMV\u56fe\u50cf\u8bc6\u522b\u8bbe\u5907\u5f15\u5bfc\u98de\u673a\u98de\u884c\u7b49\uff0c\u656c\u8bf7\u652f\u6301\u3002<\/strong><\/p>\n\n\n\n<p><a href=\"https:\/\/study.163.com\/course\/introduction\/1209568864.htm?share=1&amp;shareId=1448054983\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/study.163.com\/course\/introduction\/1209568864.htm?share=1&amp;shareId=1448054983<\/a><\/p>\n\n\n\n<p class=\"has-vivid-red-color has-very-light-gray-background-color has-text-color has-background\">  <strong>\u5fae\u4fe1\u516c\u4f17\u53f7\uff1a\u201c\u6012\u98de\u5782\u4e91\u201d\uff0c\u626b\u63cf\u4e0b\u56fe\u6dfb\u52a0<\/strong> <\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"258\" height=\"258\" src=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2019\/11\/qrcode_for_gh_5eab44823515_258.jpg\" alt=\"\" class=\"wp-image-311\" srcset=\"http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2019\/11\/qrcode_for_gh_5eab44823515_258.jpg 258w, http:\/\/www.nufeichuiyun.com\/wp-content\/uploads\/2019\/11\/qrcode_for_gh_5eab44823515_258-150x150.jpg 150w\" sizes=\"auto, (max-width: 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