GPS 航拍无人机

# ArduCopter 4.7.2 on a Pixhawk 6C: quad X, DShot600 on MAIN 1-4, PM02 on POWER1
param set FRAME_CLASS 1         # Quad
param set FRAME_TYPE 1          # X: M1 front right, M2 rear left, M3 front left, M4 rear right
param set MOT_PWM_TYPE 6        # DShot600: no ESC calibration
param set BRD_IO_DSHOT 1        # DShot on the 6C's IO (MAIN) outputs
param set BATT_MONITOR 4        # PM02: analog voltage and current
param set BATT_CAPACITY 5000    # mAh
param set MOT_BAT_VOLT_MAX 16.8 # 4.2 V x 4 cells: thrust stays the same as the pack drains
param set MOT_BAT_VOLT_MIN 13.2 # 3.3 V x 4 cells
param set AHRS_ORIENTATION 0    # Pixhawk arrow to the nose; 4 = Yaw180 if it points back
# FRAME_CLASS, BRD_IO_DSHOT and AHRS_ORIENTATION take effect after a reboot

# SiK telemetry on TELEM1, ELRS on TELEM2 (not RCIN: CRSF needs a full UART), GPS on GPS1
param set SERIAL1_PROTOCOL 2    # MAVLink2
param set SERIAL1_BAUD 57       # 57600, the SiK radio's default
param set SERIAL2_PROTOCOL 23   # RCIN: the ELRS receiver speaks CRSF here
param set RSSI_TYPE 3           # link quality from the receiver protocol
param set RC_OPTIONS 8192       # bit 13: 420 kbaud for ELRS
param set SERIAL3_PROTOCOL 5    # GPS
param set GPS1_TYPE 1           # auto-detect the u-blox M10
param set COMPASS_ORIENT 0      # GPS puck arrow forward

# A 6-position mode switch on channel 5
param set FLTMODE_CH 5
param set FLTMODE1 5            # Loiter
param set FLTMODE2 2            # AltHold
param set FLTMODE3 3            # Auto
param set FLTMODE4 0            # Stabilize
param set FLTMODE5 9            # Land
param set FLTMODE6 6            # RTL

# A self-stabilising 2-axis brushless gimbal: ArduPilot only asks for an angle
param set MNT1_TYPE 7           # BrushlessPWM (reboot); 1 = plain servo gimbal
param set SERVO9_FUNCTION 8     # AUX 1: Mount1Roll
param set SERVO10_FUNCTION 7    # AUX 2: Mount1Pitch
param set MNT1_PITCH_MIN -90    # straight down
param set MNT1_PITCH_MAX 25
param set MNT1_ROLL_MIN -30
param set MNT1_ROLL_MAX 30
param set RC6_OPTION 213        # the tilt knob on channel 6 moves the pitch
param set MNT1_RC_RATE 90       # deg/s while the knob is off centre
param set MNT1_DEFLT_MODE 3     # RC targeting

# Radio lost, battery low, battery critical, and a fence round home
param set FS_THR_ENABLE 1       # radio lost: RTL
param set FS_THR_VALUE 975      # throttle PWM below this counts as lost (PWM and SBUS receivers)
param set BATT_LOW_VOLT 14      # 3.5 V per cell on 4S (the default 10.5 is a 3S value)
param set BATT_CRT_VOLT 13.2    # 3.3 V per cell
param set BATT_LOW_MAH 1000     # or 20 % of 5000 mAh left
param set BATT_FS_LOW_ACT 2     # low: RTL
param set BATT_FS_CRT_ACT 1     # critical: land where it is
param set FENCE_ENABLE 1
param set FENCE_ALT_MAX 100     # m
param set FENCE_RADIUS 300      # m round home

# Stabilize: self-levelling, the throttle stick is the motors
param set ATC_ANGLE_MAX 30      # max lean in every mode, degrees
mode STABILIZE

# AltHold: the barometer holds the height, the throttle stick asks for a climb rate
param set PILOT_SPD_UP 2.5      # m/s at full throttle
mode ALT_HOLD

# Loiter: GPS holds the position too; the sticks ask for a speed
param set LOIT_SPEED_MS 5       # m/s at full stick (default 12.5)
param set LOIT_BRK_ACC_M 2.5    # m/s/s braking when the sticks centre
param set LOIT_BRK_DELAY 1      # s before braking starts
mode LOITER

# Return to launch: climb, fly home, wait, land
param set RTL_ALT_M 20          # m above home: higher than the 18 m mast
param set RTL_SPEED_MS 0        # 0 = fly home at WP_SPD
param set RTL_LOIT_TIME 5000    # ms over home before it descends
param set LAND_SPD_MS 0.5       # m/s for the last metres
mode RTL

# The mast inspection: take off to 8 m, four photo points at 12 m, then RTL
param set WP_SPD 4              # m/s between waypoints
param set WP_RADIUS_M 2         # m: how close counts as reached
param set WP_SPD_DN 1.5         # m/s descending
# wp load inspection.txt        (MAVProxy's wp module; Mission Planner: Plan > Load WP File)
mode LOITER
arm throttle                    # it refuses to arm in AUTO itself
mode AUTO