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樓主 |
發表於 2016年11月21日 01:06 AM
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搞懂原理就明白了.
RC9是AUX1
RC10是AUX2
RC11是AUX3類推...
如果RC9_FUNCTION=29(LandingGear)就是AUX1插收腳舵機,而CH7_OPT=29(LandingGear)表示遙控器的第7動是收腳開關,那個編號同為29是巧合,只有收腳是這樣,其它就對照表.
當AUX2插航燈,只是要Pixhawk把遙控器通道由AUX出而已,所以我們用舵機雲台去做通道映對.
MNT_TYPE=1(PWM舵機雲台)
MNT_RC_IN_PAN=8(用遙控器第8動去控制,若7就是第7動)
MNT_STAB_PAN=0(不要修正雲台)
RC10_FUNCTION=6(AUX2)
如果要用CH7就把MNT_RC_IN_PAN=7(跟收腳同一個控制開關)
若不夠用,還有MNT_RC_IN_TIL,MNT_RC_IN_ROL.
RCxx_FUNCTION 表
註:RCPassThru只有固定翼可全通道做用,多軸只有RC9_FUNCTION=1能用,如果RC10以上要做通道映對必須用MNT來轉.
Value Meaning
0 Disabled
1 RCPassThru
2 Flap
3 Flap_auto
4 Aileron
6 mount_pan
7 mount_tilt
8 mount_roll
9 mount_open
10 camera_trigger
11 release
12 mount2_pan
13 mount2_tilt
14 mount2_roll
15 mount2_open
16 DifferentialSpoiler1
17 DifferentialSpoiler2
18 AileronWithInput
19 Elevator
20 ElevatorWithInput
21 Rudder
24 Flaperon1
25 Flaperon2
26 GroundSteering
27 Parachute
28 Gripper
29 LandingGear
30 EngineRunEnable
31 HeliRSC
32 HeliTailRSC
33 Motor1
34 Motor2
35 Motor3
36 Motor4
37 Motor5
38 Motor6
39 Motor7
40 Motor8
51 RCIN1
52 RCIN2
53 RCIN3
54 RCIN4
55 RCIN5
56 RCIN6
57 RCIN7
58 RCIN8
59 RCIN9
60 RCIN10
61 RCIN11
62 RCIN12
63 RCIN13
64 RCIN14
65 RCIN15
66 RCIN16
67 Ignition
68 Choke
69 Starter
70 Throttle
CHxx_OPT表
Value Meaning
0 Do Nothing
2 Flip
3 Simple Mode
4 RTL
5 Save Trim
7 Save WP
9 Camera Trigger
10 RangeFinder
11 Fence
13 Super Simple Mode
14 Acro Trainer
15 Sprayer
16 Auto
17 AutoTune
18 Land
19 Gripper
21 Parachute Enable
22 Parachute Release
23 Parachute 3pos
24 Auto Mission Reset
25 AttCon Feed Forward
26 AttCon Accel Limits
27 Retract Mount
28 Relay On/Off
34 Relay2 On/Off
35 Relay3 On/Off
36 Relay4 On/Off
29 Landing Gear
30 Lost Copter Sound
31 Motor Emergency Stop
32 Motor Interlock
33 Brake
37 Throw
38 Avoidance
39 PrecLoiter
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樓主: kris000
發表於 2016年11月20日 11:17 PM
