SecureCRT校准四轴电调

电调校准主要校准电调的行程和进角

 

以好盈电调校准为例，下面是官方提供的利用遥控器的方法校准。

但是遥控器只能单个电调校准，不是很方便，所以采用SecureCRT（自行百度下载）校准电调相对简单轻松。

下面介绍一下SecureCRT多个电调一起校准的方法。

1. SecureCRT链接飞控

利用通用串口线链接飞控板的serial 4/5，安装驱动，打开软件，点击文件->快速链接

协议选择Serial，端口选择同电脑的设备管理器的端口一致，波特率选择跟飞控的波特率一致。其他点跟上图对照一下，无误后连接。

链接后给飞控上电，串口界面显示：

nsh> sercon: Registering CDC/ACM serialdriversercon: Successfully registered the CDC/ACMserial driverparam: selected parameter default file/fs/mtd_paramsrgbled on I2C bus 2 at 0x55 (bus: 100 KHz,max: 100 KHz) 1:  SYS_USE_IO: match 4001: + SYS_AUTOSTART: matchpx4io: CRCs matchdataman: Power on restart, data managerfile '/fs/microsd/dataman' size is 103090 bytesMS5611_SPI on SPI bus 1 at 3 (20000 KHz)bst: no devices foundadc init donever hwcmp match: PX4FMU_V2HMC5883_I2C on I2C bus 1 at 0x1e (bus: 100KHz, max: 400 KHz)lis3mdl: no device on bus 2LIS3MDL bad ID: 3chmc5883: no device on bus1mpu6000: no device on this busMPU6000 on SPI bus 1 at 4 (1000 KHz)L3GD20 on SPI bus 1 at 1 (11000 KHz)LSM303D on SPI bus 1 at 2 (11000 KHz)meas_airspeed: no MS4525 airspeed sensorconnectedets_airspeed: no ETS airspeed sensorconnectedets_airspeed: no ETS airspeed sensorconnectednsh: sf10a: command not foundsensors: mag cal status changedpx4io default PWM output devicemavlink_if0: mode: 0, data rate: 1200 B/son /dev/ttyS1 @ 57600B 157600:  SYS_COMPANION: matchmavlink_if1: mode: 3, data rate: 1000 B/son /dev/ttyS2 @ 57600Bparam: Error: Parameter TRIG_MODE notfound.ver hwcmp match: PX4FMU_V2px4flow [170:100]px4flow: scanning I2C buses for device..mavlink_if2: mode: 5, data rate: 800000 B/son /dev/ttyACM0 @ 57600Bparam: Error: Parameter EKF2_REC_RPL notfound.WARN log buffer size: 12288 bytesINFO [blackbox] /fs/microsd/log/2041-06-27INFO [blackbox] recording: 01_17_20.px4logmavlink_if1: Disabling hardware flowcontrolMULTICOPTER[i] Mixer: /etc/mixers/quad_x.main.mix on/dev/pwm_output0[i] Mixer: /etc/mixers/pass.aux.mix on/dev/pwm_output1 0:  SYS_MC_EST_GROUP: matchWARN use rtk 1NuttShell (NSH)nsh> mavlink_if0: Disabling hardwareflow controlcommander_low_prio: settings saved.

 

2.电调的行程校准

 从好盈官方提供的校准电调的方法看，电调上电，电机bi-bi两声是电调的行程校准，bi-bi-bi三声是电调中进角校准，bi-bi-bi-bi四声是电调高进角校准，所以电调校准的时候就有两个选项供我们选择。注意下面的提示信息中讲的，中进角可适用大部分电机，而且动力系统效率更高，发热小，更易兼容。高进角可以提高电机转速，但是发热也多。所以呢，一般电机用bi-bi-bi三声来校准电调的进角。后面我们也将采用bi-bi-bi三声来校准电调。

 

执行关闭任务指令

nsh> mc_att_control stop

执行电调校准指令

nsh> esc_calib -l 900 -h 1934 -a ATTENTION, please remove or fix propellersbefore starting caibration!Make sure        - that the ESCs are not powered        - that safety is off (two short blinks)        - that the controllers are stopped

根据提示检查自己的飞机是不是符合以下三条要求

确保

       -电调为上电

       -安全开关关闭（安全开关信号灯两次短闪）

       -控制器关闭

Do you want to start calibration now: y or n?[输入y进行下一步]Outputs armedHigh PWM set: 1934Connect battery now and hit ENTER after theESCs confirm the first calibration step[电调上电，听到bi-bi两声敲Enter]Low PWM set: 900Hit ENTER when finishedOutputs disarmedESC calibration finished

3.电调的进角校准

进角校准跟行程校准一样，输入指令

nsh> esc_calib -l 900 -h 1934 -aATTENTION, please remove or fix propellersbefore starting calibration! Make sure        - that the ESCs are not powered        - that safety is off (two short blinks)        - that the controllers are stoppedDo you want to start calibration now: y orn?WARN CRITICAL BATTERY, SHUT SYSTEM DOWNOutputs armedHigh PWM set: 1934Connect battery now and hit ENTER after theESCs confirm the first calibration step [电调上电，首先会听到电机bi-bi两声，隔2秒钟，电机bi-bi-bi三声，这时敲Enter]Low PWM set: 900 Hit ENTER when finished Outputs disarmedESC calibration finished

有人会问指令是哪里来的，这是预先编译进飞控的一些小程序

可以通过help指令查看

nsh> helphelp usage: help [-v] [<cmd>]  [           dd          hexdump     mkfifo     pwd         umount      ?           df          kill        mkrd        rm          unset       cat         echo        losetup     mh         rmdir       usleep       cd          exec        ls          mount       set         xd          cp          exit        mb          mv          sh          cmp         free        mkdir       mw          sleep       date        help        mkfatfs     ps         test        Builtin Apps:  adc tone_alarm  fmu px4io rgbled mpu6000 mpu9250 lsm303d l3gd20 hmc5883 ms5611 srf02 sf0x ll40ls trone  gps pwm_out_sim blinkm ets_airspeed  meas_airspeed frsky_telemetry sensors px4flow pwm_input  bst snapdragon_rc_pwm lis3mdl bmi160 bl_update mixer param perf  pwm esc_calib reboot  top config nshterm  mtd dumpfile  ver commander navigator mavlink gpio_led uavcan land_detector attitude_estimator_q ekf_att_pos_estimator position_estimator_inav local_position_estimator fw_pos_control_l1 fw_att_control mc_att_control mc_pos_control vtol_att_control sdlog2 uorb dataman uart_comm serdis sercon

这样如果你还有问题，请留言告诉我