mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-20 05:53:34 +08:00
New Crowdin translations - zh-CN (#24563)
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
This commit is contained in:
PX4 Build Bot
co-authored by
Crowdin Bot
Crowdin Bot
parent
bd0a59eb1f
commit
d04e6695ac
@@ -148,9 +148,9 @@ Note that there can be negative impacts on performance if `IMU_GYRO_CUTOFF` and
|
||||
|
||||
Below is an example for three different `IMU_DGYRO_CUTOFF` filter values (40Hz, 70Hz, 90Hz).
|
||||
At 90 Hz the general noise level starts to increase (especially for roll), and thus a cutoff frequency of 70 Hz is a safe setting.
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
:::info
|
||||
The plot cannot be compared between different vehicles, as the y axis scale can be different.
|
||||
@@ -161,16 +161,16 @@ If the flight plots shows significant low frequency spikes, like the one shown i
|
||||
In this case you might use the settings: [IMU_GYRO_NF0_FRQ=32](../advanced_config/parameter_reference.md#IMU_GYRO_NF0_FRQ) and [IMU_GYRO_NF0_BW=5](../advanced_config/parameter_reference.md#IMU_GYRO_NF0_BW) (note, this spike is narrower than usual).
|
||||
The low pass filters and the notch filter can be tuned independently (i.e. you don't need to set the notch filter before collecting the data for tuning the low pass filter).
|
||||
|
||||
|
||||
|
||||
|
||||
## Additional Tips
|
||||
|
||||
1. Acceptable latency depends on vehicle size and expectations.
|
||||
FPV racers typically tune for the absolute minimal latency (as a ballpark `IMU_GYRO_CUTOFF` around 120, `IMU_DGYRO_CUTOFF` of 50 to 80).
|
||||
For bigger vehicles latency is less critical and `IMU_GYRO_CUTOFF` of around 80 might be acceptable.
|
||||
FPV racers typically tune for the absolute minimal latency (as a ballpark `IMU_GYRO_CUTOFF` around 120, `IMU_DGYRO_CUTOFF` of 50 to 80).
|
||||
For bigger vehicles latency is less critical and `IMU_GYRO_CUTOFF` of around 80 might be acceptable.
|
||||
|
||||
2. You can start tuning at higher `IMU_GYRO_CUTOFF` values (e.g. 100Hz), which might be desirable because the default tuning of `IMU_GYRO_CUTOFF` is set very low (30Hz).
|
||||
The only caveat is that you must be aware of the risks:
|
||||
- Don't fly for more than 20-30 seconds
|
||||
- Check that the motors are not getting to hot
|
||||
- Listen for odd sounds and symptoms of excessive noise, as discussed above.
|
||||
The only caveat is that you must be aware of the risks:
|
||||
- Don't fly for more than 20-30 seconds
|
||||
- Check that the motors are not getting to hot
|
||||
- Listen for odd sounds and symptoms of excessive noise, as discussed above.
|
||||
|
||||
+14
-14
@@ -38,9 +38,9 @@ A frame configuration can define everything about a vehicle, from it's geometry
|
||||
When you're bringing up a new vehicle though, the frame will usually contain a fairly minimal configuration:
|
||||
|
||||
- Frames named with "Generic" define the vehicle type, number of rotors, and "placeholder" rotor positions.
|
||||
After selecting the airframe you define the actual geometry and then configure outputs.
|
||||
After selecting the airframe you define the actual geometry and then configure outputs.
|
||||
- Frames named with model/brand will define the vehicle type, number of rotors, actual rotor positions, and motor directions.
|
||||
After selecting the airframe you usually still have to configure outputs.
|
||||
After selecting the airframe you usually still have to configure outputs.
|
||||
|
||||
:::
|
||||
|
||||
@@ -52,7 +52,7 @@ This ensures that all ESC provide exactly the same output for a given input (ide
|
||||
The final step is [Motor Configuration](../config/actuators.md#motor-configuration):
|
||||
|
||||
- [Reverse any motors](../config/actuators.md#reversing-motors) that don't match the spin direction configured in the Geometry.
|
||||
For DShot ESC you can do this through the Acuator Testing UI.
|
||||
For DShot ESC you can do this through the Acuator Testing UI.
|
||||
- PWM, OneShot, and CAN ESC, set the motor input limits for disarmed, low and high speed (not needed for DShot ESC)
|
||||
|
||||
相关章节：
|
||||
@@ -123,14 +123,14 @@ Tuning is the final step, carried out only after most other setup and configurat
|
||||
|
||||
- [Autotune](../config/autotune_mc.md) — Automates tuning PX4 rate and attitude controllers (recommended).
|
||||
|
||||
::: info
|
||||
Automatic tuning works on frames that have reasonable authority and dynamics around all the body axes.
|
||||
It has primarily been tested on racing quads and X500, and is expected to be less effective on tricopters with a tiltable rotor.
|
||||
::: info
|
||||
Automatic tuning works on frames that have reasonable authority and dynamics around all the body axes.
|
||||
It has primarily been tested on racing quads and X500, and is expected to be less effective on tricopters with a tiltable rotor.
|
||||
|
||||
Manual tuning using these guides are only needed if there is a problem with autotune:
|
||||
Manual tuning using these guides are only needed if there is a problem with autotune:
|
||||
|
||||
- [MC PID Tuning (Manual/Basic)](../config_mc/pid_tuning_guide_multicopter_basic.md) — Manual tuning basic how to.
|
||||
- [MC PID Tuning Guide (Manual/Detailed)](../config_mc/pid_tuning_guide_multicopter.md) — Manual tuning with detailed explanation.
|
||||
- [MC PID Tuning (Manual/Basic)](../config_mc/pid_tuning_guide_multicopter_basic.md) — Manual tuning basic how to.
|
||||
- [MC PID Tuning Guide (Manual/Detailed)](../config_mc/pid_tuning_guide_multicopter.md) — Manual tuning with detailed explanation.
|
||||
|
||||
|
||||
:::
|
||||
@@ -138,7 +138,7 @@ Tuning is the final step, carried out only after most other setup and configurat
|
||||
- [MC Filter/Control Latency Tuning](../config_mc/filter_tuning.md) — Trade off control latency and noise filtering.
|
||||
|
||||
- [MC Setpoint Tuning (Trajectory Generator)](../config_mc/mc_trajectory_tuning.md)
|
||||
- [MC Jerk-limited Type Trajectory](../config_mc/mc_jerk_limited_type_trajectory.md)
|
||||
- [MC Jerk-limited Type Trajectory](../config_mc/mc_jerk_limited_type_trajectory.md)
|
||||
|
||||
- [Multicopter Racer Setup](../config_mc/racer_setup.md)
|
||||
|
||||
@@ -167,7 +167,7 @@ Yes but it must be physically feasible. E.g. if you make a quadrotor where all m
|
||||
- [飞控外设](../peripherals/index.md) - 设置特定传感器、可选传感器、执行器等。
|
||||
- [Advanced Configuration](../advanced_config/index.md) - Factory/OEM calibration, configuring advanced features, less-common configuration.
|
||||
- Vehicle-Centric Config/Tuning:
|
||||
- **Multicopter Config/Tuning**
|
||||
- [直升机配置/调参](../config_heli/index.md)
|
||||
- [Fixed Wing Config/Tuning](../config_fw/index.md)
|
||||
- [VTOL 配置/调参](../config_vtol/index.md)
|
||||
- **Multicopter Config/Tuning**
|
||||
- [直升机配置/调参](../config_heli/index.md)
|
||||
- [Fixed Wing Config/Tuning](../config_fw/index.md)
|
||||
- [VTOL 配置/调参](../config_vtol/index.md)
|
||||
|
||||
@@ -45,7 +45,7 @@ PX4 supports two (mathematically equivalent) forms of the PID rate controller in
|
||||
|
||||
Users can select the form that is used by setting the proportional gain for the other form to "1" (i.e. in the diagram below set **K** to 1 for the parallel form, or **P** to 1 for the standard form - this will replace either the K or P blocks with a line).
|
||||
|
||||
|
||||
|
||||
|
||||
<!-- The drawing is on draw.io: https://drive.google.com/file/d/1hXnAJVRyqNAdcreqNa5W4PQFkYnzwgOO/view?usp=sharing -->
|
||||
|
||||
@@ -74,14 +74,14 @@ The derivative term (**D**) is on the feedback path in order to avoid an effect
|
||||
The _parallel form_ is the simplest form, and is (hence) commonly used in textbooks.
|
||||
在这种情况下，控制器的输出只是简单的将比例，积分和微分项相加。
|
||||
|
||||
|
||||
|
||||
|
||||
##### 标准模式
|
||||
|
||||
这种形式在数学上等同于并行形式。 但主要的优点是（即使似乎有点反直觉）将比例增益的调试与积分、微分增益分离开了。
|
||||
这意味着一个新的平台通过使用同样大小/推力 无人机的增益，使它更易于调试，只是简单地调整K增益就可正常飞行。
|
||||
|
||||
|
||||
|
||||
|
||||
#### 角速度 PID 调试
|
||||
|
||||
|
||||
@@ -72,7 +72,7 @@ The tuning procedure is:
|
||||
1. Arm the vehicle, takeoff, and hover (typically in [Position mode](../flight_modes_mc/position.md)).
|
||||
|
||||
2. Open _QGroundControl_ **Vehicle Setup > PID Tuning**
|
||||
|
||||
|
||||
|
||||
3. Select the **Rate Controller** tab.
|
||||
|
||||
@@ -80,60 +80,60 @@ The tuning procedure is:
|
||||
|
||||
5. Set the _Thrust curve_ value to: 0.3 (PWM, power-based controllers) or 1 (RPM-based ESCs)
|
||||
|
||||
::: info
|
||||
For PWM, power-based and (some) UAVCAN speed controllers, the control signal to thrust relationship may not be linear.
|
||||
As a result, the optimal tuning at hover thrust may not be ideal when the vehicle is operating at higher thrust.
|
||||
::: info
|
||||
For PWM, power-based and (some) UAVCAN speed controllers, the control signal to thrust relationship may not be linear.
|
||||
As a result, the optimal tuning at hover thrust may not be ideal when the vehicle is operating at higher thrust.
|
||||
|
||||
The thrust curve value can be used to compensate for this non-linearity:
|
||||
The thrust curve value can be used to compensate for this non-linearity:
|
||||
|
||||
- For PWM controllers, 0.3 is a good default (which may benefit from [further tuning](../config_mc/pid_tuning_guide_multicopter.md#thrust-curve)).
|
||||
- For RPM-based controllers, use 1 (no further tuning is required as these have a quadratic thrust curve).
|
||||
- For PWM controllers, 0.3 is a good default (which may benefit from [further tuning](../config_mc/pid_tuning_guide_multicopter.md#thrust-curve)).
|
||||
- For RPM-based controllers, use 1 (no further tuning is required as these have a quadratic thrust curve).
|
||||
|
||||
For more information see the [detailed PID tuning guide](../config_mc/pid_tuning_guide_multicopter.md#thrust-curve).
|
||||
For more information see the [detailed PID tuning guide](../config_mc/pid_tuning_guide_multicopter.md#thrust-curve).
|
||||
|
||||
:::
|
||||
|
||||
6. Set the _Select Tuning_ radio button to: **Roll**.
|
||||
|
||||
7. (Optionally) Select the **Automatic Flight Mode Switching** checkbox.
|
||||
This will _automatically_ switch from [Position mode](../flight_modes_mc/position.md) to [Stabilised mode](../flight_modes_mc/manual_stabilized.md) when you press the **Start** button
|
||||
This will _automatically_ switch from [Position mode](../flight_modes_mc/position.md) to [Stabilised mode](../flight_modes_mc/manual_stabilized.md) when you press the **Start** button
|
||||
|
||||
8. For rate controller tuning switch to _Acro mode_, _Stabilized mode_ or _Altitude mode_ (unless automatic switching is enabled).
|
||||
|
||||
9. Select the **Start** button in order to start tracking the setpoint and response curves.
|
||||
|
||||
10. Rapidly move the _roll stick_ full range and observe the step response on the plots.
|
||||
:::tip
|
||||
Stop tracking to enable easier inspection of the plots.
|
||||
This happens automatically when you zoom/pan.
|
||||
Use the **Start** button to restart the plots, and **Clear** to reset them.
|
||||
:::tip
|
||||
Stop tracking to enable easier inspection of the plots.
|
||||
This happens automatically when you zoom/pan.
|
||||
Use the **Start** button to restart the plots, and **Clear** to reset them.
|
||||
|
||||
:::
|
||||
|
||||
11. Modify the three PID values using the sliders (for roll rate-tuning these affect `MC_ROLLRATE_K`, `MC_ROLLRATE_I`, `MC_ROLLRATE_D`) and observe the step response again.
|
||||
The values are saved to the vehicle as soon as the sliders are moved.
|
||||
::: info
|
||||
The goal is for the _Response_ curve to match the _Setpoint_ curve as closely as possible (i.e. a fast response without overshoots).
|
||||
The values are saved to the vehicle as soon as the sliders are moved.
|
||||
::: info
|
||||
The goal is for the _Response_ curve to match the _Setpoint_ curve as closely as possible (i.e. a fast response without overshoots).
|
||||
|
||||
:::
|
||||
The PID values can be adjusted as follows:
|
||||
- P (proportional) or K gain:
|
||||
- increase this for more responsiveness
|
||||
- reduce if the response is overshooting and/or oscillating (up to a certain point increasing the D gain also helps).
|
||||
- D (derivative) gain:
|
||||
- this can be increased to dampen overshoots and oscillations
|
||||
- increase this only as much as needed, as it amplifies noise (and can lead to hot motors)
|
||||
- I (integral) gain:
|
||||
- used to reduce steady-state error
|
||||
- if too low, the response might never reach the setpoint (e.g. in wind)
|
||||
- if too high, slow oscillations can occur
|
||||
The PID values can be adjusted as follows:
|
||||
- P (proportional) or K gain:
|
||||
- increase this for more responsiveness
|
||||
- reduce if the response is overshooting and/or oscillating (up to a certain point increasing the D gain also helps).
|
||||
- D (derivative) gain:
|
||||
- this can be increased to dampen overshoots and oscillations
|
||||
- increase this only as much as needed, as it amplifies noise (and can lead to hot motors)
|
||||
- I (integral) gain:
|
||||
- used to reduce steady-state error
|
||||
- if too low, the response might never reach the setpoint (e.g. in wind)
|
||||
- if too high, slow oscillations can occur
|
||||
|
||||
12. Repeat the tuning process above for the pitch and yaw:
|
||||
- Use _Select Tuning_ radio button to select the axis to tune
|
||||
- Move the appropriate sticks (i.e. pitch stick for pitch, yaw stick for yaw).
|
||||
- For pitch tuning, start with the same values as for roll.
|
||||
:::tip
|
||||
Use the **Save to Clipboard** and **Reset from Clipboard** buttons to copy the roll settings for initial pitch settings.
|
||||
- Use _Select Tuning_ radio button to select the axis to tune
|
||||
- Move the appropriate sticks (i.e. pitch stick for pitch, yaw stick for yaw).
|
||||
- For pitch tuning, start with the same values as for roll.
|
||||
:::tip
|
||||
Use the **Save to Clipboard** and **Reset from Clipboard** buttons to copy the roll settings for initial pitch settings.
|
||||
|
||||
:::
|
||||
|
||||
@@ -141,10 +141,10 @@ The tuning procedure is:
|
||||
|
||||
14. Repeat the tuning process for the velocity and positions controllers (on all the axes).
|
||||
|
||||
- Use Position mode when tuning these controllers
|
||||
- Select the **Simple position control** option in the _Position control mode ..._ selector (this allows direct control for the generation of step inputs)
|
||||
- Use Position mode when tuning these controllers
|
||||
- Select the **Simple position control** option in the _Position control mode ..._ selector (this allows direct control for the generation of step inputs)
|
||||
|
||||
|
||||
|
||||
|
||||
All done!
|
||||
Remember to re-enable airmode before leaving the setup.
|
||||
|
||||
Reference in New Issue
Block a user