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  心得是跟隨官網順序 Mandatory Hardware Configuration — Copter documentation 並且參考YT 的這三支影片 十字盤 https://youtu.be/ILHEnS_nx00?si=MHBqq4I45o8y0m6A 尾舵 https://youtu.be/c1Cv1ztaw8A?si=cxf-FvNUBAKfFbGi 油門 https://youtu.be/bmOvONdvCbY?si=TKQLHrPFU27FuppB 原則上就大差不差 至少可以升空 不過第一次測試 發現油門曲線怪怪，停懸轉速太低。結果發現油門輸出的最大最小直居然牽扯到十字盤最高最低點設定。 如果十字盤的最大最小值是透過螺距曲線的話，那麼就會發現有問題。  一定要透過H_COL_MAX 跟 _COL_MAX調整  大致設定順序 遙控器是使用飛機模式，而且不調整任何線性 要注意的是有一個叫做 Motor Interlock    通道要設定，也要設一個ARM/DISARM會比較方便，他是雙開關保護 RC Receiver Channel ArduPilot RC Input Function 1 (Aileron) Roll (note1) 2 (Elevator) Pitch (note1) 3 (Throttle) Collective(note1) 4 (Rudder) Yaw (note1) 5 (Gear) Flight Mode (note2) 6 (Aux 1) Tuning 7 (Aux 2) Aux 我設定 ArmDisarm  RC7_OPTION = 157 8 (Aux 3) Motor Interlock (throttle) (RC8_OPTION=32)   1. 選擇十字盤種類 (大多H3-120) 2. 調整正反向   在穩定模式下搖動機身 看看十字盤方向 反向則使用參數改方向   動搖桿確認方向 反向使用遙控器改方向 3. 使用S_SV_MAN調平十字盤   特別是最大最小值很重要   如果希望主翼最大角度為+-12   一定要透過H_COL_MAX 跟 _COL_M...

  RCx_OPTION: RC input option ¶ Function assigned to this RC channel Values Value Meaning 0 Do Nothing 4 RTL 9 Camera Trigger 11 Fence Enable 16 AUTO Mode 22 Parachute Release 24 Auto Mission Reset 27 Retract Mount1 28 Relay1 On/Off 29 Landing Gear 30 Lost Plane Sound 31 Motor Emergency Stop 34 Relay2 On/Off 35 Relay3 On/Off 36 Relay4 On/Off 38 ADSB Avoidance Enable 41 ArmDisarm (4.1 and lower) 43 InvertedFlight Enable 46 RC Override Enable 51 MANUAL Mode 52 ACRO Mode 55 GUIDED Mode 56 LOITER Mode 58 Clear Waypoints 62 Compass Learn 64 Reverse Throttle 65 GPS Disable 66 Relay5 On/Off 67 Relay6 On/Off 72 CIRCLE Mode 77 TAKEOFF Mode 78 RunCam Control 79 RunCam OSD Control 81 Disarm 82 QAssist 3pos 84 AirMode 85 Generator 86 Non Auto Terrain Follow Disable 87 Crow Select 88 Soaring Enable 89 Landing Flare 90 EKF Source Set 91 Airspeed Ratio Calibration 92 FBWA Mode 94 VTX Power 95 FBWA taildragger takeoff mode 96 Trigger re-reading of mode switch 98 TRAINING Mode 100 KillIMU1 101 Kill...

  SERIALx_PROTOCOL: Telem1 protocol selection ¶ Note: Reboot required after change Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details. Values Value Meaning -1 None 1 MAVLink1 2 MAVLink2 3 Frsky D 4 Frsky SPort 5 GPS 7 Alexmos Gimbal Serial 8 Gimbal 9 Rangefinder 10 FrSky SPort Passthrough (OpenTX) 11 Lidar360 13 Beacon 14 Volz servo out 15 SBus servo out 16 ESC Telemetry 17 Devo Telemetry 18 OpticalFlow 19 RobotisServo 20 NMEA Output 21 WindVane 22 SLCAN 23 RCIN 24 EFI Serial 25 LTM 26 RunCam 27 HottTelem 28 Scripting 29 Crossfire VTX 30 Generator 31 Winch 32 MSP 33 DJI FPV 34 AirSpeed 35 ADSB 36 AHRS 37 SmartAudio 38 FETtecOneWire 39 Torqeedo 40 AIS 41 CoDevESC 42 DisplayPort 43 MAVLink High Latency 44 IRC Tramp 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU