自主配送四轴

# ArduCopter 4.7.2 on a Pixhawk 6C: quad X, DShot600 on AUX 1-4, power module on POWER1
param set FRAME_CLASS 1         # Quad
param set FRAME_TYPE 1          # X: M1 front right, M2 rear left, M3 front left, M4 rear right
param set SERVO9_FUNCTION 33    # AUX 1: Motor1
param set SERVO10_FUNCTION 34   # AUX 2: Motor2
param set SERVO11_FUNCTION 35   # AUX 3: Motor3
param set SERVO12_FUNCTION 36   # AUX 4: Motor4
param set MOT_PWM_TYPE 6        # DShot600: the FMU (AUX) outputs do DShot as they are
param set MOT_THST_EXPO 0.7     # 15-inch props: 0.65 suits 10 in, 0.75 suits 20 in
param set MOT_BAT_VOLT_MAX 25.2 # 4.2 V x 6 cells
param set MOT_BAT_VOLT_MIN 19.8 # 3.3 V x 6 cells
param set INS_GYRO_FILTER 30    # Hz: big props turn slowly, so filter lower than a 10-inch quad
param set BATT_MONITOR 4        # analog voltage and current on POWER1
param set BATT_CAPACITY 10000   # mAh
param set AHRS_ORIENTATION 0    # Pixhawk arrow to the nose; 4 = Yaw180 if it points back
# FRAME_CLASS, the SERVOn_FUNCTIONs and AHRS_ORIENTATION take effect after a reboot

# SiK on TELEM1, the Raspberry Pi on TELEM2, ELRS on TELEM3, GPS on GPS1
param set SERIAL1_PROTOCOL 2    # MAVLink2 to the ground radio
param set SERIAL1_BAUD 57       # 57600, the SiK default
param set SERIAL2_PROTOCOL 2    # MAVLink2 to the Pi 5
param set SERIAL2_BAUD 921      # 921600
param set SERIAL5_PROTOCOL 23   # TELEM3: RCIN, the ELRS receiver speaks CRSF
param set RSSI_TYPE 3           # link quality from the receiver protocol
param set RC_OPTIONS 8192       # bit 13: 420 kbaud for ELRS
param set SERIAL3_PROTOCOL 5    # GPS1
param set GPS1_TYPE 1           # auto-detect the u-blox M10
param set COMPASS_ORIENT 0      # puck arrow forward

# A PWM winch on AUX 5: the pulse width sets the line speed, not its length
param set WINCH_TYPE 1          # PWM (2 = Daiwa smart winch)
param set SERVO13_FUNCTION 88   # AUX 5: Winch
param set WINCH_RATE_MAX 1      # m/s of line
param set WINCH_POS_P 1         # how hard it chases the length it was asked for
param set RC8_OPTION 45         # a knob on channel 8 winches by hand (Winch Control)

# Obstacle distances from the depth camera arrive from the Pi as MAVLink OBSTACLE_DISTANCE
param set PRX1_TYPE 2           # proximity sensor 1: MAVLink
param set AVOID_ENABLE 7        # use the fence, the proximity sensor and beacons
param set AVOID_MARGIN 1.5      # m kept from obstacles in Loiter
param set AVOID_BEHAVE 1        # stop, rather than slide along
param set OA_TYPE 1             # BendyRuler: AUTO steers round what it sees
param set OA_BR_LOOKAHEAD 5     # m
param set OA_MARGIN_MAX 2       # m
param set OA_DB_SIZE 100        # obstacle points remembered
param set OA_DB_EXPIRE 10       # s

# Radio lost, ground station lost, battery low and critical, and a fence round the depot
param set FS_THR_ENABLE 1       # radio lost: RTL
param set FS_GCS_ENABLE 1       # no ground-station heartbeat (SiK and LTE both gone): RTL
param set FS_GCS_TIMEOUT 5      # s
param set BATT_LOW_VOLT 21      # 3.5 V per cell under load
param set BATT_LOW_MAH 3000     # or 30 % of the pack left
param set BATT_FS_LOW_ACT 2     # low: RTL
param set BATT_CRT_VOLT 19.8    # 3.3 V per cell
param set BATT_CRT_MAH 1500
param set BATT_FS_CRT_ACT 1     # critical: land where it is
param set BATT_ARM_VOLT 23.4    # no take-off on a part-charged pack
param set FENCE_ENABLE 1
param set FENCE_TYPE 7          # max altitude + circle + polygon
param set FENCE_ALT_MAX 30      # m
param set FENCE_RADIUS 300      # m round home
param set ARMING_SKIPCHK 0      # run every pre-arm check (4.7; was ARMING_CHECK 1)

# Stabilize: self-levelling, the throttle stick is the motors. The backup pilot's last resort
param set ATC_ANGLE_MAX 30      # max lean in every mode, degrees
mode STABILIZE

# AltHold: the barometer holds the height, the throttle stick asks for a climb rate
param set PILOT_SPD_UP 1.5      # m/s at full stick: gentle with 5 kg aboard (was PILOT_SPEED_UP 150)
mode ALT_HOLD

# Loiter: GPS holds the position too; slow speeds and soft accelerations for the parcel
param set LOIT_SPEED_MS 5       # m/s at full stick (was LOIT_SPEED 500)
param set LOIT_ACC_MAX_M 2.5    # m/s/s (was LOIT_ACC_MAX 250)
mode LOITER

# Return to launch: climb to 12 m, fly home, wait 5 s, land
param set RTL_ALT_M 12          # m: above the roofs (7 m) and the power line (9 m)
param set RTL_SPEED_MS 3        # m/s home (was RTL_SPEED 300)
param set RTL_ALT_FINAL_M 0     # 0 = land at home
param set RTL_LOIT_TIME 5000    # ms over home before it descends
param set LAND_SPD_MS 0.5       # m/s for the last metres
mode RTL

# The delivery mission, uploaded from the Pi (MAVSDK) or the ground station:
#   1 NAV_TAKEOFF 12 m             2 NAV_WAYPOINT drop zone, 12 m
#   3 NAV_WAYPOINT drop zone, 3.5 m  4 DO_WINCH length +3.4 m
#   5 NAV_LOITER_TIME 4 s           6 DO_WINCH length -3.4 m
#   7 NAV_LOITER_TIME 4 s           8 NAV_RETURN_TO_LAUNCH
param set WP_SPD 5              # m/s cruise (was WPNAV_SPEED 500)
param set WP_SPD_DN 1.5         # m/s down to the drop height
param set WP_RADIUS_M 2         # m: how close counts as reached
mode LOITER
arm throttle                    # AUTO cannot arm by itself
mode AUTO