{"id":701,"date":"2020-03-07T00:59:39","date_gmt":"2020-03-06T16:59:39","guid":{"rendered":"http:\/\/www.nufeichuiyun.com\/?p=701"},"modified":"2020-11-19T22:59:07","modified_gmt":"2020-11-19T14:59:07","slug":"apm-pixhawk%e8%87%aa%e5%8a%a8%e8%b0%83%e5%8f%82","status":"publish","type":"post","link":"http:\/\/www.nufeichuiyun.com\/?p=701","title":{"rendered":"APM\/Pixhawk\u81ea\u52a8\u8c03\u53c2"},"content":{"rendered":"\n<p>\u3000\u5bf9\u4e8e\u8fd0\u884cAPM\u56fa\u4ef6\u7684\u98de\u63a7\u6765\u8bf4\uff0c\u8c03\u53c2 \u8c8c\u4f3c \u4e00\u76f4\u662f\u4e00\u79cd\u6bd4\u8f83\u9ebb\u70e6\u7684\u4e8b\u60c5\uff0c\u5404\u79cd\u53c2\u6570\u7ea0\u7f20\u5728\u4e00\u8d77\uff0c\u611f\u89c9\u65e0\u4ece\u4e0b\u624b\u3002\u56e0\u6b64\uff0cAPM\u56fa\u4ef6\u4e2d\u52a0\u5165\u4e86\u201c\u81ea\u52a8\u8c03\u53c2\u201d\u7684\u529f\u80fd\u3002\u672c\u6587\u5c06\u6839\u636eAPM\u5b98\u7f51\u7684\u4ecb\u7ecd\uff0c\u8bb2\u8ff0\u4e00\u4e0bAPM\u81ea\u52a8\u8c03\u53c2\u7684\u6b65\u9aa4\u4ee5\u53ca\u6ce8\u610f\u4e8b\u9879\u3002\u540c\u65f6\uff0c\u6211\u8fd8\u5f55\u5236\u4e86\u4e00\u4e2aAPM\u81ea\u52a8\u8c03\u53c2\u7684\u5b9e\u6218\u89c6\u9891\uff0c\u53d1\u5230\u5404\u5927\u89c6\u9891\u5e73\u53f0\u4e0a\uff0c<strong>\u89c6\u9891\u94fe\u63a5\u5982\u4e0b<\/strong>\uff1a<\/p>\n\n\n\n<p class=\"has-background has-very-light-gray-background-color\"><a href=\"https:\/\/www.bilibili.com\/video\/av94786853\" target=\"_blank\" rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\">https:\/\/www.bilibili.com\/video\/av94786853<\/a><\/p>\n\n\n\n<p>\u3000\u81ea\u52a8\u8c03\u53c2\u662f\u81ea\u52a8\u8c03\u6574\u98de\u63a7\u5404\u4e2a\u8f74\u7684\u201c\u89d2\u5ea6\u63a7\u5236\u201dP\u53c2\u6570\uff08Stablize P\uff09\u4ee5\u53ca\u201c\u89d2\u901f\u7387\u63a7\u5236\u201dPID\u53c2\u6570\uff08Rate PID\uff09\uff0c\u5b83\u4f1a\u4f7f\u98de\u673a\u8fbe\u5230\u4e00\u79cd\u6700\u5927\u7684\u65cb\u8f6c\u52a0\u901f\u5ea6\uff0c\u540c\u65f6\u53c8\u907f\u514d\u8fc7\u51b2\u3002<\/p>\n\n\n\n<p class=\"has-text-color has-background has-vivid-red-color has-very-light-gray-background-color\"><strong>\u5728\u8fdb\u884c\u81ea\u52a8\u8c03\u53c2\u4e4b\u524d\uff0c\u4f60\u9700\u8981\u786e\u4fdd\u4f60\u7684\u98de\u673a\u81f3\u5c11\u80fd\u5728\u201c\u5b9a\u9ad8\u6a21\u5f0f\u201d\u4e0b\u52c9\u5f3a\u80fd\u98de\u3002<\/strong><\/p>\n\n\n\n<p>\u3000\u81ea\u52a8\u8c03\u53c2\u4e00\u822c\u662f\u5728\u201c\u5b9a\u9ad8\u6a21\u5f0f\uff08AltHold\uff09\u201d\u4e0b\u8fdb\u884c\u7684\uff0c\u4f46\u662f\u4ece\u591a\u65cb\u7ffc\u7684Copter-3.5\u7248\u672c\u5f00\u59cb\uff0c\u4e5f\u652f\u6301\u5728\u201c\u5b9a\u70b9\u6a21\u5f0f\uff08PosHold\uff09\u201d\u4e0b\u8fdb\u884c\u3002\u4e0d\u8fc7\uff0c\u6211\uff08\u6012\u98de\u5782\u4e91\uff09\u5efa\u8bae\u5927\u5bb6\u8fd8\u662f\u5c3d\u91cf\u5728\u201c\u5b9a\u9ad8\u6a21\u5f0f\u201d\u4e0b\u8fdb\u884c\u81ea\u52a8\u8c03\u53c2\uff0c\u9632\u6b62\u65b0\u98de\u673aGPS\u72b6\u6001\u5f02\u5e38\u5bfc\u81f4\u81ea\u52a8\u8c03\u53c2\u6210\u529f\u7387\u592a\u4f4e\u3002<\/p>\n\n\n\n<p>\u3000<strong>\u81ea\u52a8\u8c03\u53c2\u7684\u6b65\u9aa4\u5982\u4e0b\uff1a<\/strong><\/p>\n\n\n\n<p>\u3000<strong>\u4e00\u3001\u5907\u4efd\u53c2\u6570\uff01<\/strong><\/p>\n\n\n\n<p>\u3000<strong>\u5207\u8bb0\uff0c\u5728\u6539\u53d8\u98de\u63a7\u53c2\u6570\u4e4b\u524d\uff0c\u4e00\u5b9a\u8981\u517b\u6210\u5907\u4efd\u53c2\u6570\u7684\u4e60\u60ef\u3002<\/strong>\u6211\u4eec\u4e0b\u4e00\u6b65\u8981\u901a\u8fc7\u4fee\u6539\u4e00\u4e9b\u53c2\u6570\u6765\u6253\u5f00\u81ea\u52a8\u8c03\u53c2\u529f\u80fd\uff0c\u56e0\u6b64\u5728\u6b64\u4e4b\u524d\u9700\u8981\u5907\u4efd\u4e00\u4e0b\u53c2\u6570\uff1a\u5728\u5168\u90e8\u53c2\u6570\u5217\u8868\u53f3\u4fa7\uff0c\u70b9\u51fb\u201c\u4fdd\u5b58\u201d\uff0c\u5c06\u53c2\u6570\u4fdd\u5b58\u4e3a\u4e00\u4e2a\u6587\u4ef6\uff0c\u547d\u540d\u5efa\u8bae\u4e3a\u201cxxxx\u5e74xx\u6708xx\u65e5_\u6253\u5f00\u81ea\u52a8\u8c03\u53c2\u529f\u80fd\u524d\u5907\u4efd.param\u201d\uff1b<\/p>\n\n\n\n<p>\u3000<strong>\u4e8c\u3001\u6253\u5f00\u81ea\u52a8\u8c03\u53c2\u529f\u80fd<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\"><li> \u5728\u201c\u6269\u5c55\u8c03\u53c2\u201d\u9875\u9762\uff0c\u5c06\u201c\u901a\u90537\u9009\u9879\u201d\u6216\u8005\u201c\u901a\u90538\u9009\u9879\u201d\u8bbe\u7f6e\u4e3a\u201c<strong>AutoTune<\/strong>\u201d\uff0c\u5177\u4f53\u662f\u901a\u90537\u8fd8\u662f\u901a\u90538\uff0c\u6ca1\u6709\u533a\u522b\uff0c\u4ee5\u4f60\u9065\u63a7\u5668\u7684\u54ea\u4e2a\u901a\u9053\u987a\u624b\u4e3a\u51c6\uff1b<\/li><li>\u7531\u4e8e\u81ea\u52a8\u8c03\u53c2\u65f6\u98de\u673a\u8981\u81ea\u52a8\u62bd\u52a8\uff0c\u56e0\u6b64\u8bf7\u79fb\u9664\u98de\u673a\u4e0a\u7684\u4e91\u53f0\u7b49\u5bb9\u6613\u6643\u52a8\u7684\u5916\u8bbe\uff0c\u9632\u6b62\u5e72\u6270\u8c03\u53c2\u6548\u679c\uff1b<\/li><li>\u5728\u5168\u90e8\u53c2\u6570\u5217\u8868\u4e2d\uff0c\u4fee\u6539\u201c<strong>AUTOTUNE_AXES<\/strong>\u201d\u53c2\u6570\uff0c\u6765\u8bbe\u7f6e\u6253\u7b97\u81ea\u52a8\u8c03\u53c2\u54ea\u4e9b\u8f74\uff08roll\u3001pitch\u3001yaw\uff09\uff08\u4f7f\u7528\u6280\u5de7\uff1a\u53cc\u51fb\u8be5\u6570\u503c\uff0c\u53ef\u4ee5\u5728\u5f39\u51fa\u7684\u7a97\u53e3\u4e2d\u52fe\u9009\u5bf9\u5e94\u7684\u8f74\uff09\uff1b<strong>\u6ce8\u610f\uff0c\u6839\u636e\u6211\u5b9e\u9645\u98de\u884c\u7684\u60c5\u51b5\u6765\u770b\uff0c\u4e00\u5757\u7535\u6c60\u7684\u7535\u91cf\u4e0d\u4e00\u5b9a\u80fd\u6ee1\u8db3 \u4e00\u4e2a\u8d77\u843d\u8c03\u5b8c roll\u3001pitch\u3001yaw\u4e09\u4e2a\u8f74\uff0c\u5927\u5bb6\u53ef\u4ee5\u4e00\u6b21\u53ea\u81ea\u52a8\u8c03\u53c2\u4e00\u4e2a\u8f74\uff0c\u5206\u4e09\u4e2a\u67b6\u6b21\u8c03\u5b8c\u6240\u6709\u8f74\u3002<\/strong><\/li><li>\u5728\u5168\u90e8\u53c2\u6570\u5217\u8868\u4e2d\uff0c\u4fee\u6539\u201c<strong>AUTOTUNE_AGGR<\/strong>\u201d\u53c2\u6570\u6765\u8bbe\u7f6e\u81ea\u52a8\u8c03\u53c2\u7684\u6fc0\u8fdb\u7a0b\u5ea6\uff0c0.1\u8fd9\u4e2a\u503c\u8868\u793a\u6bd4\u8f83\u6fc0\u8fdb\uff0c0.075\u8fd9\u4e2a\u503c\u8868\u793a\u4e2d\u7b49\uff0c0.050\u8fd9\u4e2a\u503c\u8868\u793a\u6bd4\u8f83\u201c\u865a\u201d\u263a\uff1b<\/li><li>\u5bf9\u4e8e\u6bd4\u8f83\u5927\u7684\u56db\u8f74\uff08\u8d85\u8fc713\u5bf8\u6868\uff09\uff0c\u5c06\u201c<strong>ATC_RAT_RALL_FILT<\/strong>\u201d\u548c\u201c<strong>ATC_RAT_PIT_FILT<\/strong>\u201d\u8bbe\u7f6e\u4e3a10\u3002<\/li><\/ul>\n\n\n\n<p class=\"has-text-color has-background has-vivid-red-color has-very-light-gray-background-color\"><strong>\u53c2\u6570\u4fee\u6539\u5b8c\u6210\u540e\u8bb0\u5f97\u70b9\u51fb\u201c\u5199\u5165\u53c2\u6570\u201d\u6309\u94ae\u3002<\/strong><\/p>\n\n\n\n<p>\u3000<strong>\u4e09\u3001\u518d\u6b21\u5907\u4efd\u53c2\u6570\uff01<\/strong><\/p>\n\n\n\n<p>\u3000\u4e0b\u4e00\u6b65\u5c31\u8981\u51fa\u53bb\u98de\u4e86\uff0c\u81ea\u52a8\u8c03\u53c2\u6bcf\u6b21\u8c03\u6574\u51fa\u6765\u7684\u6548\u679c\u53ef\u80fd\u90fd\u4e0d\u4e00\u6837\uff0c\u53ef\u80fd\u67d0\u6b21\u8c03\u53c2\u65f6\u521a\u597d\u4e00\u9635\u98ce\u5439\u6765\uff0c\u4f60\u9700\u8981\u91cd\u65b0\u5f00\u59cb\uff0c\u56e0\u6b64\u4f60\u9700\u8981\u518d\u6b21\u5907\u4efd\uff0c\u4ece\u800c\u6709\u53cd\u6094\u7684\u673a\u4f1a\u3002\u867d\u7136\u53ef\u4ee5\u901a\u8fc7\u9065\u63a7\u5668\u5f00\u5173\u6765\u9009\u62e9\u662f\u5426\u4fdd\u5b58\u81ea\u52a8\u8c03\u53c2\u7684\u53c2\u6570\uff0c\u4f46\u662f\u4e07\u4e00\u4f60\u624b\u6ed1\u4e86\u5462\uff1f\u5907\u4efd\uff0c\u8981\u4e0d\u538c\u5176\u70e6\u5730\u5907\u4efd\uff0c\u73b0\u5728\u591a\u82b11\u5206\u949f\uff0c\u4e00\u4f1a\u513f\u5c11\u54ed10\u5206\u949f\uff01<\/p>\n\n\n\n<p>\u3000xxxx\u5e74xx\u6708xx\u65e5_\u6253\u5f00\u81ea\u52a8\u8c03\u53c2\u529f\u80fd_\u672a\u81ea\u52a8\u8c03\u53c2.param<\/p>\n\n\n\n<p>\u3000<strong>\u56db\u3001\u98de<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\"><li>\u627e\u4e2a\u6ca1\u6709\u98ce\u7684\u5929\uff0c\u4e00\u5757\u5927\u7684\u5f00\u9614\u573a\u5730\uff1b<\/li><li>\u5c06\u901a\u90537\uff08\u6216\u8005\u4f60\u8bbe\u7f6e\u7684\u662f\u901a\u90538\uff09\u62e8\u5230\u4f4e\u4f4d\uff1b<\/li><li>\u8d77\u98de\uff0c\u5207\u201c\u5b9a\u9ad8\u6a21\u5f0f\u201d\uff0c\u5c06\u98de\u673a\u98de\u5230\u4e00\u4e2a\u5408\u9002\u7684\u4f4d\u7f6e\uff08\u6bd4\u5982\u9ad8\u5ea65\u7c73\uff0c\u8ddd\u79bb\u4f60\u81ea\u5df115\u7c73\u6216\u8005\u66f4\u8fdc\uff09\uff1b<\/li><li>\u5b98\u7f51\u8bf4\u4f60\u53ef\u4ee5\u901a\u8fc7\u8c03\u6574\u673a\u5934\u6307\u5411\u6765\u907f\u514d\u98ce\u7684\u5e72\u6270\uff0c\u800c\u6211\u5efa\u8bae\u5982\u679c\u98ce\u5927\u4f60\u8fd8\u662f\u8d76\u7d27\u56de\u5bb6\u5427\u263a\uff1b<\/li><li>\u5c06\u901a\u90537\uff08\u6216\u8005\u4f60\u8bbe\u7f6e\u7684\u662f\u901a\u90538\uff09\u62e8\u5230\u9ad8\u4f4d\uff0c\u5f00\u59cb\u81ea\u52a8\u8c03\u53c2\uff1a<ul><li>\u4f60\u4f1a\u53d1\u73b0\u98de\u673a\u5f00\u59cb\u4ee520\u5ea6\u5de6\u53f3\u7684\u8303\u56f4\u5de6\u53f3\u62bd\u52a8\uff0c\u51e0\u5206\u949f\u540e\uff0c\u5f00\u59cb\u524d\u540e\u62bd\u52a8\uff0c\u518d\u51e0\u5206\u949f\u540e\uff0c\u5f00\u59cb\u822a\u5411\u62bd\u52a8\uff1b<\/li><li>\u5728\u81ea\u52a8\u8c03\u53c2\u8fc7\u7a0b\u4e2d\u7684\u4efb\u4f55\u65f6\u523b\uff0c\u5982\u679c\u98de\u673a\u7684\u4f4d\u7f6e\u504f\u79bb\u7684\u592a\u8fdc\uff0c\u4f60\u53ef\u4ee5\u76f4\u63a5\u4f7f\u7528\u9065\u63a7\u5668\u6447\u6746\u63a7\u5236\u5b83\uff0c\u98de\u673a\u5c06\u81ea\u52a8\u4ee5\u539f\u6765\u7684\u53c2\u6570\u98de\u884c\uff0c\u7b49\u4f60\u677e\u6746\u540e\uff0c\u4f1a\u7ee7\u7eed\u81ea\u52a8\u8c03\u53c2\uff1b<\/li><li>\u4efb\u4f55\u60c5\u51b5\u4e0b\uff0c\u5982\u679c\u8981\u653e\u5f03\u81ea\u52a8\u8c03\u53c2\uff0c\u5c06\u901a\u90537\uff08 \u6216\u8005\u4f60\u8bbe\u7f6e\u7684\u662f\u901a\u90538 \uff09\u62e8\u5230\u4f4e\u4f4d\u5373\u53ef\uff1b<\/li><li>\u786e\u4fdd\u4f60\u7684\u9065\u63a7\u5668\u6447\u6746\u6ca1\u6709\u52a0\u5fae\u8c03\uff0c\u5426\u5219\u98de\u673a\u4e00\u76f4\u6ca1\u6709\u68c0\u6d4b\u5230\u4f60\u7684\u6447\u6746\u56de\u4e2d\uff0c\u5c31\u4e00\u76f4\u4e0d\u4f1a\u5f00\u59cb\u81ea\u52a8\u8c03\u53c2\u3002<\/li><\/ul><\/li><li>\u5f53\u81ea\u52a8\u8c03\u53c2\u5b8c\u6210\u540e\uff0c\u98de\u673a\u4f1a\u6539\u56de\u539f\u6765\u7684PID\uff1b<\/li><li>\u5c06\u901a\u90537\uff08 \u6216\u8005\u4f60\u8bbe\u7f6e\u7684\u662f\u901a\u90538 \uff09\u62e8\u5230\u4f4e\u4f4d\uff0c\u7136\u540e\u518d\u62e8\u5230\u9ad8\u4f4d\uff0c\u98de\u63a7\u4f1a\u5f00\u59cb\u6682\u65f6\u5730\u4f7f\u7528\u65b0\u8c03\u597d\u7684PID\uff0c\u8fd9\u662f\u4f60\u53ef\u4ee5\u63a7\u5236\u4e00\u4e0b\u8bd5\u8bd5\uff0c\u770b\u770b\u8fd9\u4e2a\u53c2\u6570\u662f\u5426\u6ee1\u610f\uff1b<\/li><li>\u5982\u679c\u53d1\u73b0\u65b0\u7684\u53c2\u6570\u592a\u70c2\uff0c\u5c31\u5c06\u901a\u90537\uff08 \u6216\u8005\u4f60\u8bbe\u7f6e\u7684\u662f\u901a\u90538 \uff09\u62e8\u5230\u4f4e\u4f4d \uff0c\u98de\u63a7\u4f1a\u6539\u56de\u539f\u6765\u7684PID\uff0c\u8fd9\u65f6\u624b\u52a8\u63a7\u5236\u964d\u843d\u5e76\u9501\u5b9a\uff0c\u65b0\u7684PID\u5c31\u6254\u6389\u4e86\uff1b<\/li><li>\u5982\u679c\u53d1\u73b0\u65b0\u7684\u53c2\u6570\u53ef\u4ee5\u63a5\u53d7\uff0c\u5c31\u5c06\u901a\u90537\uff08 \u6216\u8005\u4f60\u8bbe\u7f6e\u7684\u662f\u901a\u90538 \uff09\u62e8\u5230\u9ad8\u4f4d\uff0c\u624b\u52a8\u63a7\u5236\u964d\u843d\u5e76\u9501\u5b9a\uff0c\u65b0\u7684PID\u5c06\u66ff\u6362\u65e7\u7684PID\uff0c\u5e76\u4fdd\u5b58\u5728\u4e86\u98de\u63a7\u4e2d\uff08\u4ee5\u540e\u91cd\u65b0\u4e0a\u7535\u540e\u4e5f\u662f\u65b0\u7684PID\u4e86\uff09\u3002<\/li><\/ol>\n\n\n\n<p>\u3000\u5982\u679c\u81ea\u52a8\u8c03\u53c2\u540e\uff0c\u4f60\u53d1\u73b0\u5728\u624b\u52a8\u63a7\u5236\u6a21\u5f0f\uff08\u5982\uff1a\u589e\u7a33Stablize\u3001\u5b9a\u9ad8AltHold\u3001\u5b9a\u70b9PosHold\uff09 \u4e0b \u98de\u673a\u6bd4\u8f83\u62bd\uff0c\u800c\u5728\u65e0\u98de\u624b\u64cd\u4f5c\u7684\u66f4\u52a0\u81ea\u52a8\u7684\u6a21\u5f0f\uff08\u5982\uff1a\u81ea\u52a8Auto\u3001\u8fd4\u822aRTL\uff09\u4e0b\u4e0d\u62bd\uff0c\u5c31\u5c06\u201c<strong>ATC_INPUT_TC<\/strong>\u201d\u53c2\u6570\u589e\u52a0\u52300.25\uff0c\u4ee5\u6b64\u6765\u5e73\u6ed1\u9065\u63a7\u5668\u7684\u63a7\u5236\u91cf\u3002\u5f53\u7136\uff0c\u4e5f\u53ef\u4ee5\u5c06\u201c <strong>AUTOTUNE_AGGR<\/strong> \u201d\u53c2\u6570\u51cf\u5c0f\u4e00\u70b9\uff0c\u7a0d\u5fae\u4e0d\u90a3\u4e48\u6fc0\u8fdb\u4e00\u70b9\uff0c\u7136\u540e\u91cd\u65b0\u8fdb\u884c\u81ea\u52a8\u8c03\u53c2\u3002<\/p>\n\n\n\n<p>\u3000<strong>\u4e94\u3001\u5173\u95ed\u81ea\u52a8\u8c03\u53c2\u529f\u80fd<\/strong><\/p>\n\n\n\n<p>\u3000\u4e3a\u9632\u6b62\u4ee5\u540e\u98de\u884c\u4e2d\u8bef\u64cd\u4f5c\u8fdb\u5165\u81ea\u52a8\u8c03\u53c2\u72b6\u6001\uff0c\u5728\u201c\u6269\u5c55\u8c03\u53c2\u201d\u9875\u9762\uff0c\u5c06\u201c\u901a\u90537\u9009\u9879\u201d\uff08 \u6216\u8005\u4f60\u8bbe\u7f6e\u7684\u662f\u901a\u90538 \uff09\u8bbe\u7f6e\u4e3a\u201cDo Nothing\u201d\u6216\u8005\u5176\u4ed6\u529f\u80fd\u3002\u6b65\u9aa4\u4e8c\u4e2d\u4fee\u6539\u7684\u5176\u4ed6\u53c2\u6570\u4e0d\u7528\u52a8\u3002<\/p>\n\n\n\n<p>\u3000<strong>\u516d\u3001\u6709\u4e2a\u53c2\u6570\u53ef\u4ee5\u6539\u4e00\u6539<\/strong><\/p>\n\n\n\n<p>\u3000\u5982\u679c\u81ea\u52a8\u8c03\u53c2\u6548\u679c\u4e0d\u9519\uff0c\u4f60\u53ef\u4ee5\u9002\u5f53\u589e\u5927\u201c<strong>ATC_THR_MIX_MAX<\/strong>\u201d\u53c2\u6570\uff0c\u8fd9\u4e2a\u53c2\u6570\u9ed8\u8ba4\u662f0.5\uff0c\u5b98\u65b9\u5efa\u8bae\u53ef\u4ee5\u589e\u5927\u52300.9\uff0c\u8fd9\u6837\u53ef\u4ee5\u589e\u5927\u59ff\u6001\u63a7\u5236\u76f8\u5bf9\u4e8e\u6cb9\u95e8\u63a7\u5236\u7684\u4f18\u5148\u7ea7\uff0c\u8fd9\u53ef\u4ee5\u89e3\u51b3\u5982\u4e0b\u95ee\u9898\uff1a\u7279\u522b\u662f\u5927\u98de\u673a\uff0c\u5728\u5b9a\u9ad8\u6a21\u5f0f\u4e0b\uff0c\u9ad8\u901f\u524d\u98de\u7a81\u7136\u51cf\u901f\u65f6\u59ff\u6001\u7684\u6643\u52a8\u3002\u589e\u5927\u8fd9\u4e2a\u53c2\u6570\u7684\u98ce\u9669\u662f\u4f1a\u5bfc\u81f4\u98de\u63a7\u8fc7\u4e8e\u5f3a\u8c03\u4fdd\u6301\u59ff\u6001\uff0c\u800c\u5c06\u6cb9\u95e8\u63a7\u5236\u653e\u5230\u4e86\u4e00\u4e2a\u6bd4\u8f83\u4f4e\u7684\u5730\u4f4d\uff0c\u4ece\u800c\u9ad8\u5ea6\u63a7\u5236\u4e0d\u592a\u597d\u3002\u56e0\u6b64\uff0c\u8bf7\u614e\u91cd\u8c03\u6574\u6b64\u53c2\u6570\u3002<\/p>\n\n\n\n<p>\u3000<strong>\u4e03\u3001\u8d76\u7d27\u5907\u4efd<\/strong><\/p>\n\n\n\n<p>\u3000\u597d\u4e0d\u5bb9\u6613\u8c03\u53c2\u6210\u529f\uff0c\u8d76\u7d27\u5907\u4efd\uff1axxxx\u5e74xx\u6708xx\u65e5_\u81ea\u52a8\u8c03\u53c2\u6210\u529f.param\u3002\u7136\u540e\uff0c\u5c06\u4e09\u4e2a\u53c2\u6570\u6587\u4ef6\u6253\u5305\u538b\u7f29\u4e00\u4e0b\uff0c\u5c06\u538b\u7f29\u5305\u5728\u7535\u8111\u91cc\u5b58\u4e00\u4efd\u3001\u5370\u8c61\u7b14\u8bb0\u91cc\u653e\u4e00\u4efd\u3001\u767e\u5ea6\u7f51\u76d8\u91cc\u653e\u4e00\u4efd\uff0c\u505a\u5230\u72e1\u5154\u4e09\u7a9f\u263a\u3002<\/p>\n\n\n\n<p class=\"has-text-color has-background has-vivid-red-color has-very-light-gray-background-color\"><strong>\u5e38\u89c1\u95ee\u9898\uff1a<\/strong><\/p>\n\n\n\n<p>\u30001\u3001<strong>\u59cb\u7ec8\u65e0\u6cd5\u8fdb\u5165\u81ea\u52a8\u8c03\u53c2\u72b6\u6001<\/strong>\uff1a\u770b\u770b\u4f60\u7684\u9065\u63a7\u5668\u6447\u6746\u662f\u5426\u56de\u4e2d\u4e86\uff0c\u7279\u522b\u662f\u6cb9\u95e8\uff1b<\/p>\n\n\n\n<p>\u30002\u3001<strong>\u81ea\u52a8\u8c03\u53c2\u540e\u98de\u673a\u62bd<\/strong>\uff1a\u5c06 \u201c <strong>AUTOTUNE_AGGR<\/strong> \u201d\u53c2\u6570\u51cf\u5c0f\u4e00\u70b9\uff0c\u7a0d\u5fae\u4e0d\u90a3\u4e48\u6fc0\u8fdb\u4e00\u70b9\uff0c\u7136\u540e\u91cd\u65b0\u8fdb\u884c\u81ea\u52a8\u8c03\u53c2\uff1b<\/p>\n\n\n\n<p>\u30003\u3001<strong>\u81ea\u52a8\u8c03\u53c2\u540e\u98de\u673a\u8089<\/strong>\uff1a \u5c06 \u201c <strong>AUTOTUNE_AGGR<\/strong> \u201d\u53c2\u6570\u589e\u5927\u4e00\u70b9\uff0c\u7a0d\u5fae\u6fc0\u8fdb\u4e00\u70b9\uff0c\u7136\u540e\u91cd\u65b0\u8fdb\u884c\u81ea\u52a8\u8c03\u53c2\uff1b<\/p>\n\n\n\n<p>\u30004\u3001<strong>\u81ea\u52a8\u8c03\u53c2\u540e\u98de\u673a\u66f4\u96be\u98de\u4e86<\/strong>\uff1a\u81ea\u52a8\u8c03\u53c2\u6548\u679c\u597d\u574f\u8ddf\u8f74\u8ddd\u3001\u52a8\u529b\u7cfb\u7edf\u3001\u8c03\u53c2\u65f6\u73af\u5883\u98ce\u901f\u7b49\u7b49\u90fd\u76f8\u5173\uff0c\u6839\u636e\u6211\u7684\u7ecf\u9a8c\u6765\u770b\uff0c\u6210\u529f\u7387\u7684\u786e\u4e0d\u9ad8\uff0c\u6211\u89c6\u9891\u4e2d\u6700\u540e\u7684\u81ea\u52a8\u8c03\u53c2\u6548\u679c\u662f\u201c\u8fd8\u4e0d\u5982\u9ed8\u8ba4\u53c2\u6570\u201d\u3002\u8fd9\u4e2a\u6548\u679c\u662f\u6ca1\u6cd5\u9884\u6d4b\u7684\uff0c\u6211\u672c\u4ee5\u4e3a450\u8f74\u8ddd\u7684\u98de\u673a\u53ef\u80fd\u6210\u529f\u7387\u9ad8\u4e00\u70b9\uff0c\u4f46\u662f\u4e8b\u5b9e\u662f\u6211\u5931\u8d25\u4e86\u3002\u56e0\u6b64\u5927\u5bb6\u5982\u679c\u6210\u529f\u4e86\uff0c\u8bf7\u770b\u4e00\u4e0b\u81ea\u52a8\u8c03\u53c2\u540e\u53c2\u6570\u7684\u53d8\u5316\u8d8b\u52bf\uff0c\u518d\u7ed3\u5408\u624b\u52a8\u8c03\u53c2\uff0c\u4ee5\u8fbe\u5230\u66f4\u597d\u7684\u6548\u679c\uff0c\u5982\u679c\u5931\u8d25\u4e86\uff0c\u4e5f\u4e0d\u8981\u6c14\u9981\uff0c\u8bd5\u8bd5\u624b\u52a8\u8c03\u53c2\u5427\u3002<\/p>\n\n\n\n<p><\/p>\n\n\n\n<h2 class=\"has-vivid-red-color has-text-color wp-block-heading\"><strong>\u81ea\u52a8\u8c03\u53c2\u5b9e\u6218\u89c6\u9891\u94fe\u63a5\u5982\u4e0b\uff1a<\/strong><\/h2>\n\n\n\n<p class=\"has-background has-very-light-gray-background-color\"><a rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\" href=\"https:\/\/www.bilibili.com\/video\/av94786853\" target=\"_blank\">https:\/\/www.bilibili.com\/video\/av94786853<\/a><\/p>\n\n\n\n<p class=\"has-text-color has-background has-vivid-red-color has-very-light-gray-background-color\"> <strong>\u65e0\u4eba\u673a\u8c03\u8bd5\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-text-color has-background has-vivid-red-color has-very-light-gray-background-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<\/strong><a href=\"https:\/\/study.163.com\/course\/introduction\/1209568864.htm?share=1&amp;shareId=1448054983\" target=\"_blank\" rel=\"noreferrer noopener\">\uff1a<a href=\"https:\/\/study.163.com\/course\/introduction\/1209568864.htm?share=1&amp;shareId=1448054983\">https:\/\/study.163.com\/course\/introduction\/1209568864.htm?share=1&amp;shareId=1448054983<\/a><\/a><\/p>\n\n\n\n<p class=\"has-text-color has-background has-vivid-red-color has-very-light-gray-background-color\"> <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 size-large\"><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: 258px) 100vw, 258px\" \/><\/figure>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u5bf9\u4e8e\u8fd0\u884cAPM\u56fa\u4ef6\u7684\u98de\u63a7\u6765\u8bf4\uff0c\u8c03\u53c2 \u8c8c\u4f3c 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