1. 源由

手头这台航模四轴，基本调试的差不多（还算满意），后续准备上ArduPilot。

为了更好的整理和记录当前状态，将所有配置信息做个存档，以便后续进行对比分析。如有必要也可以快速恢复到当前配置。

2. 配置

2.1 端口

2.2 系统

2.3 对齐

2.4 GPS

2.5 救援

2.6 PID

2.7 Rate

2.8 滤波

2.9 接收器

2.10 模式

2.11 电机

3.差异

通过diff命令查看配置差异。

# # diff# version
# Betaflight / STM32H743 (SH74) 4.4.1 May 12 2023 / 22:27:21 (e43d591b2) MSP API: 1.45# config: YES# start the command batch
batch startboard_name AOCODARCH7DUAL
manufacturer_id SJET# name: H7Dual# feature
feature -AIRMODE
feature GPS# serial
serial 1 2 115200 115200 0 115200
serial 2 8192 115200 57600 0 115200# aux
aux 0 0 0 1700 2100 0 0
aux 1 1 3 900 1300 0 0
aux 2 2 3 1300 1700 0 0
aux 3 46 5 1700 2100 0 0
aux 4 13 4 1700 2100 0 0
aux 5 26 1 1700 2100 0 0
aux 6 28 2 1700 2100 0 0
aux 7 39 2 900 1300 0 0# vtxtable
vtxtable bands 5
vtxtable channels 8
vtxtable band 1 A        A CUSTOM     0    0    0    0    0    0    0 5725
vtxtable band 2 B        B CUSTOM  5733    0    0    0    0    0    0 5866
vtxtable band 3 E        E CUSTOM  5705 5685 5665 5665 5885 5905 5905 5905
vtxtable band 4 F        F CUSTOM  5740    0    0    0    0    0 5860 5880
vtxtable band 5 R        R CUSTOM  5658 5695 5732    0    0    0 5880 5917
vtxtable powerlevels 5
vtxtable powervalues 25 100 200 400 600
vtxtable powerlabels 25 100 200 400 600# rxfail
rxfail 9 s 2000# master
set dyn_notch_count = 1
set dyn_notch_q = 500
set acc_calibration = -1,-24,48,1
set align_mag = CW90FLIP
set mag_align_pitch = 1800
set mag_align_yaw = 900
set mag_calibration = 401,-5,-290
set fpv_mix_degrees = 10
set blackbox_sample_rate = 1/1
set dshot_bidir = ON
set motor_pwm_protocol = DSHOT600
set failsafe_procedure = GPS-RESCUE
set yaw_motors_reversed = ON
set small_angle = 60
set gps_auto_baud = ON
set gps_rescue_alt_mode = FIXED_ALT
set gps_rescue_return_alt = 50
set gps_rescue_min_sats = 6
set gps_rescue_allow_arming_without_fix = ON
set osd_warn_bitmask = 40959
set osd_rssi_alarm = 8
set osd_rssi_dbm_alarm = -100
set osd_cap_alarm = 768
set osd_tim1 = 2051
set osd_rssi_dbm_pos = 14799
set osd_tim_1_pos = 14807
set osd_flymode_pos = 14625
set osd_throttle_pos = 6337
set osd_pilot_name_pos = 33
set osd_gps_speed_pos = 2360
set osd_gps_lon_pos = 2096
set osd_gps_lat_pos = 2081
set osd_gps_sats_pos = 2328
set osd_home_dir_pos = 2391
set osd_home_dist_pos = 2392
set osd_flight_dist_pos = 14712
set osd_compass_bar_pos = 458
set osd_altitude_pos = 14657
set osd_avg_cell_voltage_pos = 14785
set osd_pit_ang_pos = 6273
set osd_rol_ang_pos = 6305
set osd_nheading_pos = 2505
set osd_core_temp_pos = 6264
set osd_log_status_pos = 33
set osd_stat_bitmask = 8538172
set osd_canvas_width = 30
set osd_canvas_height = 16
set debug_mode = GYRO_SCALED
set vtx_band = 5
set vtx_channel = 8
set vtx_power = 5
set vtx_freq = 5917
set vcd_video_system = PAL
set craft_name = H7Dual
set pilot_name = Danielprofile 0# profile 0
set p_pitch = 56
set i_pitch = 100
set p_roll = 53
set i_roll = 95
set p_yaw = 53
set i_yaw = 95
set simplified_pi_gain = 120rateprofile 0# rateprofile 0
set rateprofile_name = Daniel
set roll_rc_rate = 5
set pitch_rc_rate = 5
set roll_expo = 50
set pitch_expo = 50
set roll_srate = 56
set pitch_srate = 56
set yaw_srate = 48# end the command batch
batch end# 

4. 整机效果

5. 飞行效果

6. 参考资料

【1】BetaFlight Mark4之“妖怪”声音
【2】BetaFlight Mark4之“妖怪”声音之二
【3】四轴飞控DIY Mark4 - 整理&参数优化
【4】四轴飞控DIY Mark4 - 优化后续二
【5】四轴飞控DIY Mark4 - 减震
【6】Betaflight BN880 GPS 简单测试
【7】四轴飞控DIY Mark4 - RTH/GPS Rescure
【8】四轴异常炸机分析讨论集锦

7. 附录 - PID Tuning