Activity

iNAV на CC3D - самый бюджетный автопилот с функцией RTH для самолета

В этом деле я новичек, прошу сильно неругать.

iNAV 1.71
diff:
# diff

# version
# INAV/SPRACINGF3 1.7.1 Jun 3 2017 / 08:13:23 (48e1feff)

# resources

# mixer

# servo

# servo mix

# feature
feature -RX_PPM
feature -BLACKBOX
feature RX_SERIAL
feature MOTOR_STOP
feature GPS
feature PWM_OUTPUT_ENABLE

# beeper

# map

# serial
serial 1 2 115200 38400 0 115200
serial 2 64 115200 38400 0 115200

# led

# color

# mode_color

# aux
aux 0 0 0 1875 2100
aux 1 1 5 900 1125
aux 2 2 5 1375 1650
aux 3 4 5 1875 2100
aux 4 18 5 1125 1325

# adjrange

# rxrange

# master
set gyro_sync = ON
set gyro_hardware_lpf = 188HZ
set gyro_lpf_hz = 90
set gyro_notch1_hz = 200
set gyro_notch1_cutoff = 100
set acc_hardware = MPU6050
set acczero_x = 161
set acczero_y = -55
set acczero_z = -371
set accgain_x = 4090
set accgain_y = 4074
set accgain_z = 4020
set mag_hardware = NONE
set baro_hardware = NONE
set serialrx_provider = SBUS
set motor_pwm_rate = 1000
set motor_pwm_protocol = ONESHOT125
set failsafe_procedure = RTH
set align_board_yaw = 900
set gps_sbas_mode = AUTO

# profile
profile 1

set mc_p_pitch = 58
set mc_i_pitch = 50
set mc_d_pitch = 22
set mc_p_roll = 43
set mc_i_roll = 40
set mc_d_roll = 20
set mc_p_yaw = 70
set dterm_lpf_hz = 80
set dterm_notch_hz = 200
set dterm_notch_cutoff = 100
set roll_rate = 50
set pitch_rate = 50
set yaw_rate = 45

#