大疆 经纬 M100 (Pixhawk 1)
The DJI® Matrice quadcopter is a fully customizable and programmable flight platform. This build log provides build and configuration instructions for using the frame with the 3DR Pixhawk flight controller.
Key information:
Frame: DJI Matrice 100
Flight controller: Pixhawk 1
配件列表
Motor Connections
See the Pixhawk Wiring Quickstart for autopilot assembly instructions.
Wiring Diagram
Wiring Harness
PWM Connections
Other views
Autopilot Outputs
| 输出 | 频率 | 执行器 |
|---|---|---|
MAIN1 | 400 Hz | Front right, CCW |
MAIN2 | 400 Hz | Back left, CCW |
MAIN3 | 400 Hz | Front left, CW |
MAIN4 | 400 Hz | Back right, CW |
AUX1 | 50 Hz | RC AUX1 |
AUX2 | 50 Hz | RC AUX2 |
AUX3 | 50 Hz | RC AUX3 |
参数
At high throttle the inner loop causes oscillations with default x quad gains. At low throttle, higher gains give a better response, this suggests that some gain scheduling based on the throttle may improve the overall response and this could be implemented in mc_att_control. For now we will just tune it so that there are no oscillations at low or high throttle, and take the bandwidth hit at low throttle.
MC_PITCHRATE_P: 0.05
MC_PITCHRATE_D: 0.001
The battery has 6 cells instead of the default 3
BAT_N_CELLS: 6
视频
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