重载八轴

# ArduCopter 4.7.2 on a Pixhawk 6X: octa X, eight 80 A PWM ESCs on MAIN OUT 1-8, the PM02D HV on POWER1
param set FRAME_CLASS 3         # Octa
param set FRAME_TYPE 1          # X: M1 front right, then Motor Test A-H clockwise: M1 M3 M8 M4 M2 M6 M7 M5
param set SERVO1_FUNCTION 33    # MAIN 1: Motor1
param set SERVO2_FUNCTION 34    # MAIN 2: Motor2
param set SERVO3_FUNCTION 35    # MAIN 3: Motor3
param set SERVO4_FUNCTION 36    # MAIN 4: Motor4
param set SERVO5_FUNCTION 37    # MAIN 5: Motor5
param set SERVO6_FUNCTION 38    # MAIN 6: Motor6
param set SERVO7_FUNCTION 39    # MAIN 7: Motor7
param set SERVO8_FUNCTION 40    # MAIN 8: Motor8
param set MOT_PWM_TYPE 0        # Normal PWM: the MAIN outputs run DShot only with BRD_IO_DSHOT
param set MOT_PWM_MIN 1000      # then calibrate the ESCs to this range once, props off
param set MOT_PWM_MAX 2000
param set MOT_SPIN_ARM 0.1      # armed idle
param set MOT_SPIN_MIN 0.15     # the lowest it spins in flight: keep it above MOT_SPIN_ARM
param set MOT_HOVER_LEARN 2     # learn the hover throttle and save it in MOT_THST_HOVER
param set MOT_BAT_VOLT_MAX 50.4 # 4.2 V x 12: the same stick gives the same thrust as the packs sag
param set MOT_BAT_VOLT_MIN 39.6 # 3.3 V x 12
param set INS_HNTCH_ENABLE 1    # harmonic notch; refresh the parameters to see the rest
param set INS_HNTCH_MODE 1      # follow the throttle: PWM ESCs report no rpm
param set INS_HNTCH_FREQ 64     # Hz: about 3850 rpm at hover / 60; 20-inch props turn slowly
param set BATT_MONITOR 21       # the 6X's digital power module (INA2xx); analog (4) is not supported
param set BATT_I2C_BUS 1
param set BATT_CAPACITY 16000   # mAh: two packs in series add volts, not mAh
param set AHRS_ORIENTATION 0    # Pixhawk arrow to the nose; 4 = Yaw180 if it points back
# FRAME_CLASS, the SERVOn_FUNCTIONs, INS_HNTCH_ENABLE and BATT_MONITOR take effect after a reboot

# Telemetry on TELEM1, the gimbal on TELEM2, the two GPS on GPS1 and GPS2, the ELRS receiver on UART4
param set SERIAL1_PROTOCOL 2    # MAVLink2 to the 900 MHz radio
param set SERIAL1_BAUD 57       # 57600
param set SERIAL2_PROTOCOL 2    # MAVLink2 to the gimbal
param set SERIAL2_BAUD 115      # 115200
param set SERIAL3_PROTOCOL 5    # GPS1
param set SERIAL4_PROTOCOL 5    # GPS2
param set GPS_AUTO_SWITCH 1     # fly on the better of the two
param set SERIAL6_PROTOCOL 23   # UART4: RCIN, the ELRS receiver speaks CRSF
param set MNT1_TYPE 6           # MAVLink gimbal (Gremsy class); reboot, then the MNT1 lines below appear
param set MNT1_DEFLT_MODE 3     # RC Targeting: the camera operator's radio aims it
param set MNT1_PITCH_MIN -90    # degrees: straight down
param set MNT1_PITCH_MAX 20
param set MNT1_YAW_MIN -180     # all the way round, once the legs are up
param set MNT1_YAW_MAX 180

# Retractable legs on AUX OUT 1, a switch on channel 7, and the heights they move at by themselves
param set SERVO9_FUNCTION 29    # AUX OUT 1: LandingGear
param set SERVO9_MIN 1000       # PWM for legs UP (retract drives the output to its minimum)
param set SERVO9_MAX 2000       # PWM for legs DOWN; SERVO9_REVERSED 1 if they move the wrong way
param set LGR_ENABLE 1          # refresh the parameters to see the rest
param set LGR_STARTUP 0         # at power-up, wait for the switch
param set LGR_RETRACT_ALT 4     # METRES: up when climbing through 4 m. 400 would mean 400 m
param set LGR_DEPLOY_ALT 3      # metres: down when descending through 3 m; at most LGR_RETRACT_ALT
param set LGR_OPTIONS 3         # retract after take-off, deploy for landing (AUTO and GUIDED)
param set RC7_OPTION 29         # channel 7 switch: LOW legs down, HIGH legs up

# Radio lost, battery low and critical, a bad position estimate, a crash, and every pre-arm check
param set FS_THR_ENABLE 1       # RC lost: RTL
param set FS_THR_VALUE 975      # PWM, for a receiver that signals loss by low throttle
param set BATT_LOW_VOLT 42      # 3.5 V per cell x 12 under load
param set BATT_FS_LOW_ACT 2     # low: RTL
param set BATT_CRT_VOLT 40.8    # 3.4 V per cell
param set BATT_FS_CRT_ACT 1     # critical: land where it is
param set FS_EKF_ACTION 1       # position estimate gone bad: land
param set FS_CRASH_CHECK 1      # a crash detected on the ground: disarm
param set ARMING_SKIPCHK 0      # skip no pre-arm check (4.7; was ARMING_CHECK 1)

# Loiter: GPS position hold. Let go of the sticks and it brakes and holds the shot
param set LOIT_SPEED_MS 8       # m/s at full stick (was LOIT_SPEED 800); the default is 12.5
param set LOIT_ACC_MAX_M 2.5    # m/s/s: smooth camera moves (default 5; was LOIT_ACC_MAX 500)
param set LOIT_BRK_ACC_M 2.5    # m/s/s braking once the sticks are centred
mode LOITER

# AltHold: the barometer holds the height, nothing holds the position. It drifts with the wind
param set PILOT_SPD_UP 2.5      # m/s climb at full stick (was PILOT_SPEED_UP 250)
param set PILOT_SPD_DN 1.5      # m/s down: 15 kg should come down gently
param set PILOT_ACC_Z 2.5       # m/s/s
mode ALT_HOLD

# Stabilize: self-levelling, the throttle stick is the motors. The last resort if the GPS or the barometer goes
param set ATC_ANGLE_MAX 30      # max lean in every mode, degrees
mode STABILIZE

# Return to launch: climb to 25 m, well over the water tower, fly home, land
param set RTL_ALT_M 25          # m (was RTL_ALT 2500)
param set RTL_LOIT_TIME 5000    # ms over home before it descends
param set RTL_ALT_FINAL_M 0     # 0 = land at home; the legs come down at LGR_DEPLOY_ALT
mode RTL

# The orbit shot: a still from each side of the water tower, 12 m out and 18 m up
#   1 NAV_TAKEOFF 10 m                   2 DO_SET_ROI on the tank: the gimbal turns to keep it framed
#   3-6 NAV_WAYPOINT west, north, east, south of the tower, hold 2 s at each (a still)
#   7 DO_SET_ROI_NONE                    8 NAV_WAYPOINT over the pad, 9 NAV_LAND
param set WP_SPD 8              # m/s between the stills (was WPNAV_SPEED 800)
param set WP_RADIUS_M 1         # m: how close counts as reached (was WPNAV_RADIUS 100)
mode LOITER
arm throttle                    # AUTO cannot arm by itself
mode AUTO

# Motor out: no mode or switch handles it, the mixer just drives the other seven harder
param set FLIGHT_OPTIONS 0      # keep the thrust-loss check and the yaw-imbalance warning on
param set MOT_YAW_HEADROOM 200  # PWM kept spare for yaw: with a motor out, yaw runs short first
mode LOITER