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docs/zh/config/actuators.md
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@@ -448,9 +448,9 @@ Instructions:
4. One motor will start spinning (click **Spin Motor Again** if it stops spinning too quickly to note.)
Select the corresponding motor in the geometry section.
Select the corresponding motor in the geometry section.
![Screenshot showing how to identify/assign motors](../../assets/config/actuators/identify_motors_in_progress.png)
![Screenshot showing how to identify/assign motors](../../assets/config/actuators/identify_motors_in_progress.png)
5. After assigning all motors, the tool will set the correct motor mapping for the outputs and then exit.
@@ -467,15 +467,15 @@ To assign an actuator:
1. First assign functions to the outputs that you think are _likely_ to be correct in the _Actuator Outputs_ section.
2. Toggle the **Enable sliders** switch in _Actuator Testing_ section.
3. Move the slider for the actuator you want to test:
- Motors should be moved to the minimum thrust position.
- Servos should be moved near the middle position.
- Motors should be moved to the minimum thrust position.
- Servos should be moved near the middle position.
4. Check which actuator moves on the vehicle.
This should match the actuator positions for your geometry (the [airframe reference](../airframes/airframe_reference.md) shows motor positions for a number of standard airframes).
- If the correct actuator moves, then proceed to the next step.
- If a wrong actuator moves, swap the output assignment over.
- If nothing moves then increase the slider mid-way though the range, then higher if needed.
If nothing moves after that the output might not be connected, the motor might not be powered, or the output might be misconfigured.
You will need to troubleshoot (perhaps try other actuator outputs to see if "anything" moves).
This should match the actuator positions for your geometry (the [airframe reference](../airframes/airframe_reference.md) shows motor positions for a number of standard airframes).
- If the correct actuator moves, then proceed to the next step.
- If a wrong actuator moves, swap the output assignment over.
- If nothing moves then increase the slider mid-way though the range, then higher if needed.
If nothing moves after that the output might not be connected, the motor might not be powered, or the output might be misconfigured.
You will need to troubleshoot (perhaps try other actuator outputs to see if "anything" moves).
5. Return the slider to the "disarmed" position (bottom of slider for motors, centre of slider for servos).
6. Repeat for all actuators
@@ -501,34 +501,34 @@ The motor configuration sets output values such that motors:
For each motor:
1. Pull the motor slider down so that it snaps to the bottom.
In this position the motor is set to the outputs `disarmed` value.
- Verify that the motor doesn't spin in this position.
- If the motor spins, reduce the corresponding PWM `disarmed` value in the [Actuator Outputs](#actuator-outputs) section to below the level at which it still spins.
In this position the motor is set to the outputs `disarmed` value.
- Verify that the motor doesn't spin in this position.
- If the motor spins, reduce the corresponding PWM `disarmed` value in the [Actuator Outputs](#actuator-outputs) section to below the level at which it still spins.
2. Slowly move the slider up until it snaps to the _minimum_ position.
In this position the motor is set to the outputs `minimum` value.
In this position the motor is set to the outputs `minimum` value.
- Verify that the motor is spinning very slowly in this position.
- If the motor is not spinning, or spinning too fast you will need to adjust the corresponding PWM `minimum` value in the [Actuator Outputs](#actuator-outputs) such that the motors barely spin.
- Verify that the motor is spinning very slowly in this position.
- If the motor is not spinning, or spinning too fast you will need to adjust the corresponding PWM `minimum` value in the [Actuator Outputs](#actuator-outputs) such that the motors barely spin.
![PWM Minimum Output](../../assets/config/actuators/pwm_minimum_output.png)
::: info
For DShot output, this is not required.
![PWM Minimum Output](../../assets/config/actuators/pwm_minimum_output.png)
::: info
For DShot output, this is not required.
:::
3. Increase the slider value to a level where you can verify that the motor is spinning in the correct direction and that it would give a positive thrust in the expected direction.
- The expected thrust direction can vary by vehicle type.
For example in multicopters the thrust should always point upwards, while in a fixed-wing vehicle the thrust will push the vehicle forwards.
- For VTOL, thrust should point upwards when the Tilt Servo is at 0 degrees as defined the [Tilt Servo Convention](#tilt-servo-coordinate-system).
Testing of the [Tilt Servo](#tilt-servo-setup) is covered below as well.
- If thrust is in the wrong direction, you may need to [reverse the motors](#reversing-motors).
- The expected thrust direction can vary by vehicle type.
For example in multicopters the thrust should always point upwards, while in a fixed-wing vehicle the thrust will push the vehicle forwards.
- For VTOL, thrust should point upwards when the Tilt Servo is at 0 degrees as defined the [Tilt Servo Convention](#tilt-servo-coordinate-system).
Testing of the [Tilt Servo](#tilt-servo-setup) is covered below as well.
- If thrust is in the wrong direction, you may need to [reverse the motors](#reversing-motors).
4. Increase the slider value to the maximum value, so the motor is spinning quickly.
Reduce the value of the PWM output's `maximum` value just below the default.
Listen to the tone of the motors as you increase the value in small (25us) increments.
The "optimal" maximum value is the value at which you last hear a change in the tone.
Reduce the value of the PWM output's `maximum` value just below the default.
Listen to the tone of the motors as you increase the value in small (25us) increments.
The "optimal" maximum value is the value at which you last hear a change in the tone.
### Control Surface Setup
@@ -551,34 +551,34 @@ Control surfaces that move either direction around a neutral point include: aile
To set these up:
1. Set the `Disarmed` value so that the surfaces will stay at neutral position when disarmed.
This is usually around `1500` for PWM servos (near the centre of the servo range).
This is usually around `1500` for PWM servos (near the centre of the servo range).
![Control Surface Disarmed 1500 Setting](../../assets/config/actuators/control_surface_aileron_setup.png)
![Control Surface Disarmed 1500 Setting](../../assets/config/actuators/control_surface_aileron_setup.png)
2. Move the slider for the surface upwards (positive command) and verify that it moves in the direction defined in the [Control Surface Convention](#control-surface-deflection-convention).
- Ailerons, elevons, V-Tails, A-Tails, and other horizontal surfaces should move up.
- Rudders and other "purely vertical" surfaces should move right.
- Ailerons, elevons, V-Tails, A-Tails, and other horizontal surfaces should move up.
- Rudders and other "purely vertical" surfaces should move right.
::: tip
It is important that the slider movement matches the control surface convention, in order to normalize control for different servo mountings (moving the slider up may actually decrease the output value sent to the servo).
::: tip
It is important that the slider movement matches the control surface convention, in order to normalize control for different servo mountings (moving the slider up may actually decrease the output value sent to the servo).
:::
If the control surface moves in the opposite direction, click on the `Rev Range` checkbox to reverse the range.
If the control surface moves in the opposite direction, click on the `Rev Range` checkbox to reverse the range.
3. Move the slider again to the middle and check if the Control Surfaces are aligned in the neutral position of the wing.
- If it is not aligned, you can set the **Trim** value for the control surface.
- If it is not aligned, you can set the **Trim** value for the control surface.
::: info
This is done in the `Trim` setting of the Geometry panel, usually by "trial and error".
![Control Surface Trimming](../../assets/config/actuators/control_surface_trim.png)
::: info
This is done in the `Trim` setting of the Geometry panel, usually by "trial and error".
![Control Surface Trimming](../../assets/config/actuators/control_surface_trim.png)
:::
- After setting the trim for a control surface, move its slider away from the centre, release, and then back into disarmed (middle) position.
Confirm that surface is in the neutral position.
- After setting the trim for a control surface, move its slider away from the centre, release, and then back into disarmed (middle) position.
Confirm that surface is in the neutral position.
:::info
Another way to test without using the sliders would be to set the [`COM_PREARM_MODE`](../advanced_config/parameter_reference.md#COM_PREARM_MODE) parameter to `Always`:
@@ -600,13 +600,13 @@ One approach for setting these up is:
1. Set values `Disarmed` to `1500`, `Min` to `1200`, `Max` to `1700` so that the values are around the centre of the servo range.
2. Move the corresponding slider up and check the control moves and that it is extending (moving away from the disarmed position).
If not, click on the `Rev Range` checkbox to reverse the range.
If not, click on the `Rev Range` checkbox to reverse the range.
3. Enable slider in the disarmed position, them change the value of the `Disarmed` signal until the control is retracted/flush with wing.
This may require that the `Disarmed` value is increased or decreased:
- If the value was decreased towards `Min`, then set `Min` to match `Disarmed`.
- If the value was increased towards `Max`, then set `Max` to match `Disarmed`.
This may require that the `Disarmed` value is increased or decreased:
- If the value was decreased towards `Min`, then set `Min` to match `Disarmed`.
- If the value was increased towards `Max`, then set `Max` to match `Disarmed`.
4. The value that you did _not_ set to match `Disarmed` controls the maximum amount that the control surface can extend.
Set the slider to the top of the control, then change the value (`Max` or `Min`) so that the control surface is fully extended when the slider is at top.
Set the slider to the top of the control, then change the value (`Max` or `Min`) so that the control surface is fully extended when the slider is at top.
:::info Special note for flaps
In some vehicle builds, flaps may be configured such that both flaps are controlled from a single output.
@@ -630,7 +630,7 @@ For each of the tilt servos:
2. Position the slider for the servo in the lowest position, and verify that a positive value increase will point towards the `Angle at Min Tilt` (defined in the Geometry section).
![Tilt Servo Geometry Setup](../../assets/config/actuators/tilt_servo_geometry_config.png)
![Tilt Servo Geometry Setup](../../assets/config/actuators/tilt_servo_geometry_config.png)
3. Position the slider for the servo in the highest position, and verify that positive motor thrust will point towards the `Angle at Max Tilt` (as defined in the Geometry section).