VTOL 倾转旋翼机

# ArduPlane 4.7.2 on a Matek H743-WING: a tri QuadPlane whose front rotors tilt
param set Q_ENABLE 1            # QuadPlane on
param set Q_FRAME_CLASS 7       # Tri: motors 1, 2 and 4 (Q_FRAME_TYPE is ignored)
param set Q_TILT_ENABLE 1       # tiltrotor support
# reboot (MAVProxy: reboot), then:
param set Q_TILT_MASK 3         # motors 1 and 2 tilt (bit 0 + bit 1); motor 4 stays upright
param set Q_TILT_TYPE 2         # VectoredYaw: the front pair tilt opposite ways to yaw in hover
param set Q_TILT_YAW_ANGLE 10   # deg the servos may go back past vertical for that
param set Q_TILT_MAX 45         # deg the rotors hold while the airspeed builds
param set Q_TILT_RATE_DN 15     # deg/s from hover towards forward flight
param set Q_TILT_RATE_UP 25     # deg/s from forward flight back to hover

# H743-WING output groups: S1-S2, S3-S6, S7-S10 (a group shares one rate, so DShot gets S3-S6 to itself)
param set SERVO1_FUNCTION 75    # TiltMotorFrontLeft
param set SERVO2_FUNCTION 76    # TiltMotorFrontRight
param set SERVO3_FUNCTION 33    # Motor1, front right
param set SERVO4_FUNCTION 34    # Motor2, front left
param set SERVO5_FUNCTION 36    # Motor4, rear (a tri has no motor 3)
param set SERVO7_FUNCTION 79    # VTailLeft
param set SERVO8_FUNCTION 80    # VTailRight
param set SERVO9_FUNCTION 4     # Aileron
param set SERVO10_FUNCTION 4    # Aileron
param set Q_M_PWM_TYPE 6        # DShot600 for the three lift motors
# MANUAL must point the rotors forward and QSTABILIZE straight up. The two servos face each other,
# so one is reversed; if MANUAL tilts a rotor back, flip that servo's setting:
param set SERVO1_REVERSED 0
param set SERVO2_REVERSED 1

# The board, the receiver, the GPS, the airspeed sensor and the battery monitor
param set AHRS_ORIENTATION 0    # FC arrow to the nose; 4 = Yaw180 if it points back
param set SERIAL2_PROTOCOL 23   # RCIN: ELRS (CRSF) on USART1
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 on USART2
param set GPS1_TYPE 1           # auto-detect
param set ARSPD_TYPE 1          # MS4525DO on I2C
param set ARSPD_USE 1           # fly on it
param set BATT_MONITOR 4        # the board's own voltage and current sensor
param set BATT_VOLT_PIN 10
param set BATT_CURR_PIN 11
param set BATT_VOLT_MULT 10.5
param set BATT_AMP_PERVLT 66.7

# Airspeeds in m/s (4.5 renamed ARSPD_FBW_MIN and TRIM_ARSPD_CM, which was in cm/s)
param set AIRSPEED_MIN 12       # about 1.2 x the 10 m/s stall
param set AIRSPEED_CRUISE 14
param set AIRSPEED_MAX 20
param set Q_ASSIST_SPEED 9      # below 9 m/s the lift motors help the wing; 0 refuses to arm
param set Q_TRANSITION_MS 5000  # blend from rotors to wing once AIRSPEED_MIN is reached
param set Q_TRANS_FAIL 15       # s: no AIRSPEED_MIN by then and the transition is called off
param set Q_TRANS_FAIL_ACT 1    # ... into QRTL (0 = QLAND)

# Radio lost, battery low, battery critical
param set THR_FAILSAFE 1
param set THR_FS_VALUE 950      # throttle PWM below this counts as lost
param set FS_SHORT_ACTN 0       # short loss: carry on (circle in the plane modes)
param set FS_LONG_ACTN 1        # 5 s: RTL, which turns into QRTL near home
param set FS_LONG_TIMEOUT 5
param set BATT_CAPACITY 8000    # mAh
param set BATT_LOW_VOLT 13.2    # 3.3 V per Li-ion cell under load
param set BATT_CRT_VOLT 12.4    # 3.1 V per cell
param set BATT_FS_LOW_ACT 1     # low: RTL
param set BATT_FS_CRT_ACT 4     # critical: QLAND where it is

# The board's own analog OSD, and the VTX on SmartAudio
param set OSD_TYPE 1            # the built-in AT7456E
param set OSD1_ASPEED_EN 1      # airspeed on the screen
param set VTX_ENABLE 1
param set SERIAL6_PROTOCOL 37   # SmartAudio on UART4 TX
param set VTX_BAND 4            # RaceBand
param set VTX_CHANNEL 0         # R1
param set VTX_POWER 25          # mW on the bench
param set VTX_MAX_POWER 800

# QHOVER: a multicopter with height hold; the throttle stick asks for a climb or a sink
param set Q_A_ANGLE_MAX 30      # max lean in the Q modes, deg (4.7 renamed Q_ANGLE_MAX, which was in cdeg)
mode QHOVER

# QLOITER: the GPS holds the position too; centre the sticks and it stops where it is
mode QLOITER

# Forward transition: switch from a Q mode to FBWA (or CRUISE, LOITER, AUTO). The rotors tilt to
# Q_TILT_MAX and hold height until AIRSPEED_MIN, the lift fades out over Q_TRANSITION_MS, and the rotors
# finish tilting at 90 deg/s. The rear motor stops. Then the sticks fly the wing:
param set ROLL_LIMIT_DEG 45     # max bank
param set PTCH_LIM_MAX_DEG 20   # max nose up
mode FBWA
# Back to hover: any Q mode. The rotors swing up at Q_TILT_RATE_UP while it slows down

# Come home and land: QRTL climbs or sinks to Q_RTL_ALT, flies home and lands vertically
param set Q_RTL_MODE 1          # RTL flies home as a plane and turns into QRTL near home
param set RTL_AUTOLAND 0        # must stay 0 with Q_RTL_MODE set, or it refuses to arm
param set Q_RTL_ALT 15          # m
param set Q_LAND_FINAL_ALT 6    # m: the slow part of the landing starts here
param set Q_LAND_FINAL_SPD 0.5  # m/s (was Q_LAND_SPEED, in cm/s)
mode QRTL

# The coast survey: VTOL_TAKEOFF to 12 m, DO_VTOL_TRANSITION 3 so the photo legs are flown as a VTOL
# (without it Plane flies the waypoints on the wing, and a wing cannot stop over a point), photos at the
# lighthouse, the buoy and the mast, VTOL_LAND on the village pad (MAVProxy wp module; Mission Planner:
# Plan > Load WP File)
# wp load survey.txt
mode QHOVER
arm throttle
mode AUTO