# 飞行控制器的朝向的高级调参

可以通过手动调参来修正无人机的方向和地平线水准,以校正传感器芯片存在的微小不对准或校准误差。

注解

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.

# 方向参数设置

To change the orientation parameters:

  1. 打开 QGroundControl 菜单: Settings > Parameters > Sensor Calibration.
  2. 更改以下参数: FC Orientation QGC v2

# 参数信息

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 = 无旋转
  • 1 = 偏航 45°
  • 2 = 偏航 90°
  • 3 = 偏航 135°
  • 4 = 偏航 180°
  • 5 = 偏航 225°
  • 6 = 偏航 270°
  • 7 = 偏航 315°
  • 8 = 滚转 180°
  • 9 = 滚转 180°, 偏航 45°
  • 10 = 滚转 180°, 偏航 90°
  • 11 = 滚转 180°, 偏航 135°
  • 12 = 俯仰 180°
  • 13 = 滚转 180°, 偏航 225°
  • 14 = 滚转 180°, 偏航 270°
  • 15 = 滚转 180°, 偏航 315°
  • 16 = 滚转 90°
  • 17 = 滚转 90°, 偏航 45°
  • 18 = 滚转 90°, 偏航 90°
  • 19 = 滚转 90°, 偏航 135°
  • 20 = 滚转 270°
  • 21 = 滚转 270°, 偏航 45°
  • 22 = 滚转 270°, 偏航 90°
  • 23 = 滚转 270°, 偏航 135°
  • 24 = 俯仰 90°
  • 25 = 俯仰角 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.