特技模式（多旋翼）

  

Acro mode is the RC mode for performing acrobatic maneuvers e.g. flips, rolls and loops.

RPY摇杆输入控制围绕各自轴的角度旋转速率。 当操纵杆居中时，飞机将停止旋转，但保持其当前朝向（不一定是水平）。

技术描述

用于执行特技动作的R遥控/手动模式，例如翻转，滚转和环绕。

RC Roll/Pitch/Yaw (RPY) stick inputs control the rate of angular rotation around the respective axes. Throttle is passed directly to control allocation. When sticks are centered the vehicle will stop rotating, but remain in its current orientation (not necessarily level) and moving according to its current momentum.

Manual control input is required (such as RC control, joystick):

• Roll, Pitch, Yaw: Assistance from autopilot to stabilize the attitude rate. Position of RC stick maps to the rate of rotation of vehicle in that orientation.
• Throttle: Manual control via RC sticks. RC input is sent directly to control allocation.

杆输入映射

The default values for expo and rate parameters are beginner friendly, reducing the chance that users will flip the vehicle when first trying this mode, or when using Acro mode for manual rate tuning.

Unfortunately they are poor for Acro flying though! The following values are more reasonable for experienced users:

• MC_ACRO_R_MAX: 720 (2 turns per second)
• MC_ACRO_P_MAX: 720 (2 turns per second)
• MC_ACRO_Y_MAX: 540 (2 turns per second)
• MC_ACRO_EXPO: 0.69
• MC_ACRO_EXPO_Y: 0.69
• MC_ACRO_SUPEXPO: 0.69
• MC_ACRO_SUPEXPOY: 0.7

The roll, pitch, and yaw input stick mapping for Acro mode using the values above are shown below. 该曲线使得在最大杆输入处具有大转弯速率能够进行特技动作，在靠近杆回中位置的区域具有较低灵敏度以进行微调。

可以使用MC_ACRO_EXPO和MC_ACRO_SUPEXPO“指数”参数调整滚转和俯仰轴杆输入响应，同时使用MC_ACRO_EXPO_Y和MC_ACRO_SUPEXPOY调整偏航轴杆输入响应 。 MC_ACRO_EXPO和MC_ACRO_EXPO_Y参数用于调整线性曲线和三次曲线之间的曲线，如下所示。 MC_ACRO_SUPEXPO和MC_ACRO_SUPEXPOY允许进一步调整曲线形状，修改低灵敏度区域的宽度。

INFO

The mathematical relationship is:

$$\mathrm{y}=r(f\cdot x^3+x(1-f))(1-g)/(1-g|x|)$$

Where f = MC_ACRO_EXPO or MC_ACRO_EXPO_Y, g = MC_ACRO_SUPEXPO or MC_ACRO_SUPEXPOY, and r is the maximum rate.

You can experiment with the relationships graphically using the PX4 SuperExpo calculator.

参数

参数	描述
MC_ACRO_EXPO	特技模式“指数”因子，用于调整滚转和俯仰轴的杆输入曲线形状。 Values: 0 Purely linear input curve, 1 Purely cubic input curve. Default: 0.
MC_ACRO_EXPO_Y	特技模式“指数”因子，用于调整偏航轴的杆输入曲线形状。 Values: 0 Purely linear input curve, 1 Purely cubic input curve. Default: 0.69.
MC_ACRO_SUPEXPO	Acro mode "SuperExpo" factor for refining stick input curve shape for the roll and pitch axes (tuned using MC_ACRO_EXPO). 值：0——纯指数函数，0.7——合理增强直观操纵感的形状，0.95——非常弯曲的输入曲线，仅在最大值附近有效。 Default: 0.
MC_ACRO_SUPEXPOY	Acro mode "SuperExpo" factor for refining stick input curve shape for the yaw axis (tuned using MC_ACRO_EXPO_Y). Values: 0 Pure Expo function, 0.7 reasonable shape enhancement for intuitive stick feel, 0.95 very strong bent input curve only near maxima have effect. Default: 0.
MC_ACRO_P_MAX	Max acro pitch rate. Default: 100.0 deg/s.
MC_ACRO_R_MAX	Max acro roll rate. Default: 100 deg/s.
MC_ACRO_Y_MAX	Max acro yaw rate. Default: 100 deg/s.