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 serialdriver

sercon: Successfully registered the CDC/ACMserial driver

param: selected parameter default file/fs/mtd_params

rgbled on I2C bus 2 at 0x55 (bus: 100 KHz,max: 100 KHz)

 1:  SYS_USE_IO: match

 4001: + SYS_AUTOSTART: match

px4io: CRCs match

dataman: Power on restart, data managerfile '/fs/microsd/dataman' size is 103090 bytes

MS5611_SPI on SPI bus 1 at 3 (20000 KHz)

bst: no devices found

adc init done

ver hwcmp match: PX4FMU_V2

HMC5883_I2C on I2C bus 1 at 0x1e (bus: 100KHz, max: 400 KHz)

lis3mdl: no device on bus 2

LIS3MDL bad ID: 3chmc5883: no device on bus1

mpu6000: no device on this bus

MPU6000 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 sensorconnected

ets_airspeed: no ETS airspeed sensorconnected

ets_airspeed: no ETS airspeed sensorconnected

nsh: sf10a: command not found

sensors: mag cal status changed

px4io default PWM output device

mavlink_if0: mode: 0, data rate: 1200 B/son /dev/ttyS1 @ 57600B

 157600:  SYS_COMPANION: match

mavlink_if1: mode: 3, data rate: 1000 B/son /dev/ttyS2 @ 57600B

param: Error: Parameter TRIG_MODE notfound.

ver hwcmp match: PX4FMU_V2

px4flow [170:100]

px4flow: scanning I2C buses for device..

mavlink_if2: mode: 5, data rate: 800000 B/son /dev/ttyACM0 @ 57600B

param: Error: Parameter EKF2_REC_RPL notfound.

WARN log buffer size: 12288 bytes

INFO [blackbox] /fs/microsd/log/2041-06-27

INFO [blackbox] recording: 01_17_20.px4log

mavlink_if1: Disabling hardware flowcontrol

MULTICOPTER

[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: match

WARN use rtk 1

NuttShell (NSH)

nsh> mavlink_if0: Disabling hardwareflow control

commander_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 armed

High PWM set: 1934

Connect 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: 900

Hit ENTER when finished

Outputs 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 -a


ATTENTION, 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 stopped


Do you want to start calibration now: y orn?

WARN CRITICAL BATTERY, SHUT SYSTEM DOWN

Outputs armed

High PWM set: 1934

Connect 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> help

help usage: help [-v] []

 

 [           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