# 고급 비행 제어장치 방향 조정

방향 및 수평 균형은 매개변수 값을 직접 설정하여 센서 모드의 미세 오정렬 또는 부차적 보정 오류를 잡아 수정할 수 있습니다.

Note

These instructions are not recommended for regular users. For basic settings stick to the instructions linked below:

If there is a persistent drift bias (often seen in multirotors but not limited to them), it is a good strategy to trim it with the help of this fine-tuning offset angle parameters instead of using the trimmers of your RC Transmitter. This way when in fully autonomous flight the aircraft will maintain the trimming.

# 방향 매개변수 설정

To change the orientation parameters:

  1. QGroundControl에서 다음의 메뉴를 여십시오: 설정> 매개변수 > 센서 보정.
  2. 아래와 같이 매개변수 값을 바꾸십시오:비행 제어장치 방향 QGC v2

# 매개변수 정보

The SENS_BOARD_ROT parameter defines the rotation relative to the platform, while the X,Y and Z fine tuning offsets are fixed relative to the board itself. What happens is that the fine tuning offsets are added to the SENS_BOARD_ROT angle in order to get the total offset angles for the Yaw, Pitch and Roll orientation of the flight controller.

SENS_BOARD_ROT

This parameter defines the rotation of the FMU board relative to the platform. Possible values are:

  • 0 = 회전 없음
  • 1 = Yaw 45°
  • 2 = Yaw 90°
  • 3 = Yaw 135°
  • 4 = Yaw 180°
  • 5 = Yaw 225°
  • 6 = Yaw 270°
  • 7 = Yaw 315°
  • 8 = Roll 180°
  • 9 = Roll 180°, Yaw 45°
  • 10 = Roll 180°, Yaw 90°
  • 11 = Roll 180°, Yaw 135°
  • 12 = Pitch 180°
  • 13 = Roll 180°, Yaw 225°
  • 14 = Roll 180°, Yaw 270°
  • 15 = Roll 180°, Yaw 315°
  • 16 = Roll 90°
  • 17 = Roll 90°, Yaw 45°
  • 18 = Roll 90°, Yaw 90°
  • 19 = Roll 90°, Yaw 135°
  • 20 = Roll 270°
  • 21 = Roll 270°, Yaw 45°
  • 22 = Roll 270°, Yaw 90°
  • 23 = Roll 270°, Yaw 135°
  • 24 = Pitch 90°
  • 25 = Pitch 270°

SENS_BOARD_X_OFF

Rotation, in degrees, around PX4FMU's X axis or Roll axis. Positive angles increase in CCW direction, negative angles increase in CW direction.

SENS_BOARD_Y_OFF

Rotation, in degrees, around PX4FMU's Y axis or Pitch axis. Positive angles increase in CCW direction, negative angles increase in CW direction.

SENS_BOARD_Z_OFF

Rotation, in degrees, around PX4FMU's Z axis Yaw axis. Positive angles increase in CCW direction, negative angles increase in CW direction.