塞斯纳固定翼pix4装机教程

固件采用PX4 1.10.1stable版

选择机架类型为

查看该机型的混控器

Aileron mixer (roll + flaperon)

This mixer assumes that the aileron servos are set up correctly mechanically;
depending on the actual configuration it may be necessary to reverse the scaling
factors (to reverse the servo movement) and adjust the offset, scaling and
endpoints to suit.

M: 2
S: 0 0 10000 10000 0 -10000 10000
S: 0 6 10000 10000 0 -10000 10000

M: 2
S: 0 0 10000 10000 0 -10000 10000
S: 0 6 -10000 -10000 0 -10000 10000

Elevator mixer

Two scalers total (output, roll).

This mixer assumes that the elevator servo is set up correctly mechanically;
depending on the actual configuration it may be necessary to reverse the scaling
factors (to reverse the servo movement) and adjust the offset, scaling and
endpoints to suit.

M: 1
S: 0 1 -10000 -10000 0 -10000 10000

Rudder mixer

Two scalers total (output, yaw).

This mixer assumes that the rudder servo is set up correctly mechanically;
depending on the actual configuration it may be necessary to reverse the scaling
factors (to reverse the servo movement) and adjust the offset, scaling and
endpoints to suit.

M: 1
S: 0 2 10000 10000 0 -10000 10000

Motor speed mixer

Two scalers total (output, thrust).

This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
range. Inputs below zero are treated as zero.

M: 1
S: 0 3 0 20000 -10000 -10000 10000

飞控IO通道的12接两个副翼，3接升降舵，4接方向舵，5接电机

推荐采用pm02电流计，方便安装

接好线后可以用遥控器动下摇杆观察舵机的动作是否和期望的姿态一致，如果有的舵机反向，则将该舵机对应通道设置为反向

将对应的值改为1，舵机就会反向，注意不要通过设置遥控器通道使其反向，因为自动模式下的正反是与遥控器无关的。

有条件的可以接空速计，接到uart_iic口的iic口上