{"id":93795,"date":"2026-08-13T08:57:37","date_gmt":"2026-08-13T00:57:37","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/93795.html"},"modified":"2026-08-13T08:57:37","modified_gmt":"2026-08-13T00:57:37","slug":"%e3%80%90%e9%a3%9e%e6%8e%a7%e5%bc%80%e5%8f%91%e5%ae%9e%e6%88%98%c2%b7%e2%91%ab%e3%80%91mission-planner%e9%85%8d%e7%bd%ae%e8%af%a6%e8%a7%a3%ef%bc%9aardupilot%e5%9c%b0%e9%9d%a2%e7%ab%99%e5%ae%89","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/93795.html","title":{"rendered":"\u3010\u98de\u63a7\u5f00\u53d1\u5b9e\u6218\u00b7\u246b\u3011Mission Planner\u914d\u7f6e\u8be6\u89e3\uff1aArduPilot\u5730\u9762\u7ad9\u5b89\u88c5\u3001\u4f20\u611f\u5668\u6821\u51c6\u3001\u98de\u884c\u6a21\u5f0f\u8bbe\u7f6e\u4e0e\u822a\u70b9\u4efb\u52a1\u89c4\u5212"},"content":{"rendered":"<h3>12.1 Mission Planner\u5b89\u88c5\u4e0e\u8fde\u63a5<\/h3>\n<p>Mission Planner\u662fArduPilot\u751f\u6001\u4e2d\u5e38\u7528\u7684Windows\u5730\u9762\u7ad9\u8f6f\u4ef6&#xff0c;\u53ef\u7528\u4e8e\u56fa\u4ef6\u5237\u5199\u3001\u53c2\u6570\u914d\u7f6e\u3001\u4f20\u611f\u5668\u6821\u51c6\u3001\u98de\u884c\u6a21\u5f0f\u8bbe\u7f6e\u3001\u822a\u7ebf\u89c4\u5212\u4ee5\u53ca\u65e5\u5fd7\u4e0b\u8f7d\u4e0e\u5206\u6790\u3002\u7b2c\u4e00\u6b21\u8fde\u63a5\u98de\u63a7\u65f6&#xff0c;\u5efa\u8bae\u5148\u901a\u8fc7USB\u5b8c\u6210\u57fa\u7840\u914d\u7f6e&#xff0c;\u518d\u6839\u636e\u6237\u5916\u4f7f\u7528\u9700\u8981\u914d\u7f6e\u6570\u4f20\u7535\u53f0\u6216WiFi\u6570\u4f20\u3002<\/p>\n<p style=\"text-align:center\">12.1.1 \u8f6f\u4ef6\u5b89\u88c5<\/p>\n<p>\u8bbf\u95eeArduPilot\u5b98\u65b9Mission Planner\u9875\u9762&#xff0c;\u4e0b\u8f7d\u5f53\u524d\u7a33\u5b9a\u7248\u672c\u7684\u5b89\u88c5\u7a0b\u5e8f\u3002<\/p>\n<p>\u8fd0\u884c\u5b89\u88c5\u7a0b\u5e8f&#xff0c;\u6839\u636e\u5b89\u88c5\u5411\u5bfc\u5b8c\u6210\u8f6f\u4ef6\u4e0e\u9a71\u52a8\u5b89\u88c5\u3002<\/p>\n<p>\u5b89\u88c5\u5b8c\u6210\u540e\u542f\u52a8Mission Planner\u3002\u9996\u6b21\u542f\u52a8\u53ef\u80fd\u9700\u8981\u7b49\u5f85\u5730\u56fe\u3001\u9a71\u52a8\u548c\u7ec4\u4ef6\u521d\u59cb\u5316\u3002<\/p>\n<p>\u8fde\u63a5\u98de\u63a7\u524d\u5173\u95edINAV Configurator\u3001Betaflight Configurator\u3001QGroundControl\u53ca\u5176\u4ed6\u4e32\u53e3\u5de5\u5177&#xff0c;\u907f\u514dCOM\u7aef\u53e3\u88ab\u5360\u7528\u3002<\/p>\n<p style=\"text-align:center\">12.1.2 USB\u8fde\u63a5<\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"608\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260813005733-6a7d167d18854.png\" width=\"1012\" \/><\/p>\n<p>\u786e\u8ba4\u4f7f\u7528\u7684\u662f\u80fd\u591f\u4f20\u8f93\u6570\u636e\u7684USB\u7ebf&#xff0c;\u800c\u4e0d\u662f\u4ec5\u4f9b\u5145\u7535\u7684\u7535\u6e90\u7ebf\u3002<\/p>\n<p>\u6253\u5f00Windows\u8bbe\u5907\u7ba1\u7406\u5668&#xff0c;\u5c55\u5f00\u201c\u7aef\u53e3&#xff08;COM\u548cLPT&#xff09;\u201d&#xff0c;\u63d2\u62d4\u98de\u63a7\u5e76\u89c2\u5bdf\u65b0\u589e\u6216\u6d88\u5931\u7684COM\u53e3\u3002<\/p>\n<p>\u5728Mission Planner\u53f3\u4e0a\u89d2\u9009\u62e9\u5bf9\u5e94COM\u53e3&#xff0c;\u6ce2\u7279\u7387\u9009\u62e9115200&#xff0c;\u7136\u540e\u70b9\u51fb\u201cConnect\u201d\u3002<\/p>\n<p>\u8fde\u63a5\u6210\u529f\u540e\u4f1a\u81ea\u52a8\u8bfb\u53d6\u53c2\u6570&#xff0c;HUD\u80fd\u591f\u663e\u793a\u98de\u63a7\u59ff\u6001&#xff0c;\u53f3\u4e0a\u89d2\u6309\u94ae\u53d8\u4e3a\u201cDisconnect\u201d\u3002<\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"271\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260813005733-6a7d167d51ab4.png\" width=\"1012\" \/><\/p>\n<p style=\"text-align:center\">12.1.3 \u6570\u4f20\u7535\u53f0\u8fde\u63a5<\/p>\n<p>\u6237\u5916\u98de\u884c\u65f6\u901a\u5e38\u4e0d\u4fbf\u4f7f\u7528USB\u7ebf&#xff0c;\u53ef\u4f7f\u7528SiK\u6570\u4f20\u7535\u53f0\u6216WiFi\u6570\u4f20\u6a21\u5757\u5b9e\u73b0Mission Planner\u4e0e\u98de\u63a7\u4e4b\u95f4\u7684MAVLink\u901a\u4fe1\u3002<\/p>\n<p>&#xff08;1&#xff09;SiK\u6570\u4f20\u7535\u53f0<\/p>\n<p>\u5c06\u5730\u9762\u7aef\u6570\u4f20\u7535\u53f0\u8fde\u63a5\u81f3\u7535\u8111USB\u53e3\u3002<\/p>\n<p>\u5c06\u673a\u8f7d\u7aef\u6570\u4f20\u7535\u53f0\u8fde\u63a5\u81f3\u98de\u63a7\u7684TELEM1\u6216TELEM2\u63a5\u53e3&#xff0c;\u5e76\u786e\u8ba4TX\u3001RX\u30015V\u548cGND\u63a5\u7ebf\u6b63\u786e\u3002<\/p>\n<p>\u5728Mission Planner\u53f3\u4e0a\u89d2\u9009\u62e9\u5730\u9762\u7aef\u6570\u4f20\u5bf9\u5e94\u7684COM\u53e3\u3002<\/p>\n<p>\u6ce2\u7279\u7387\u901a\u5e38\u9009\u62e957600&#xff1b;\u5982\u679c\u5382\u5bb6\u4fee\u6539\u8fc7\u7535\u53f0\u4e32\u53e3\u901f\u7387&#xff0c;\u5e94\u4ee5\u5b9e\u9645\u8bbe\u7f6e\u4e3a\u51c6\u3002<\/p>\n<p>\u70b9\u51fbConnect&#xff0c;\u7b49\u5f85\u53c2\u6570\u8bfb\u53d6\u5b8c\u6210\u3002<\/p>\n<p>&#xff08;2&#xff09;WiFi\u6570\u4f20<\/p>\n<p>\u7535\u8111\u8fde\u63a5WiFi\u6570\u4f20\u6a21\u5757\u7684\u70ed\u70b9\u540e&#xff0c;\u5728Mission Planner\u4e2d\u9009\u62e9UDP\u6216TCP\u8fde\u63a5\u3002UDP\u5e38\u7528\u7aef\u53e3\u4e3a14550&#xff0c;\u4f46\u5b9e\u9645IP\u5730\u5740\u548c\u7aef\u53e3\u5e94\u4ee5\u6a21\u5757\u8bf4\u660e\u4e66\u4e3a\u51c6\u3002<\/p>\n<h3>12.2 \u521d\u59cb\u8bbe\u7f6e\u5411\u5bfc<\/h3>\n<p>\u8fdb\u5165\u201c\u521d\u59cb\u8bbe\u7f6e&#xff08;INITIAL SETUP&#xff09;\u201d\u540e&#xff0c;\u5e94\u6309\u7167\u673a\u67b6\u7c7b\u578b\u3001\u98de\u63a7\u65b9\u5411\u3001\u52a0\u901f\u5ea6\u8ba1\u3001\u7f57\u76d8\u3001\u9065\u63a7\u5668\u3001\u8f93\u51fa\u6620\u5c04\u3001\u7535\u8c03\u3001\u98de\u884c\u6a21\u5f0f\u548c\u7535\u673a\u6d4b\u8bd5\u7684\u987a\u5e8f\u5b8c\u6210\u914d\u7f6e\u3002\u524d\u4e00\u9879\u672a\u9a8c\u8bc1\u6b63\u786e\u65f6&#xff0c;\u4e0d\u8981\u7ee7\u7eed\u4e0b\u4e00\u9879\u3002<\/p>\n<p style=\"text-align:center\">12.2.1 \u673a\u67b6\u7c7b\u578b\u914d\u7f6e<\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"441\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260813005733-6a7d167d6dd24.png\" width=\"1017\" \/><\/p>\n<p>\u673a\u67b6\u7c7b\u578b\u51b3\u5b9a\u98de\u63a7\u91c7\u7528\u54ea\u4e00\u79cd\u7535\u673a\u6df7\u63a7\u5173\u7cfb\u3002\u666e\u901aX\u578b\u56db\u65cb\u7ffc\u5e94\u9009\u62e9Quad&#xff08;\u56db\u65cb\u7ffc&#xff09;\u548cX\u5e03\u5c40&#xff0c;\u5bf9\u5e94\u53c2\u6570\u901a\u5e38\u4e3aFRAME_CLASS&#061;1\u3001FRAME_TYPE&#061;1\u3002<\/p>\n<\/p>\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"779\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260813005733-6a7d167d903d1.png\" width=\"1000\" \/><\/p>\n<p style=\"text-align:center\">\u56fe12-1 \u673a\u67b6\u7c7b\u578b\u9009\u62e9\u754c\u9762<\/p>\n<p style=\"text-align:center\">\u622a\u56fe\u6765\u6e90&#xff1a;\u7528\u6237\u5b9e\u9645\u64cd\u4f5c\u754c\u9762<\/p>\n<p>\u64cd\u4f5c\u6b65\u9aa4&#xff1a;<\/p>\n<p>\u786e\u8ba4\u65e0\u4eba\u673a\u5b9e\u9645\u4e3a\u56db\u65cb\u7ffc&#xff0c;\u4e14\u56db\u4e2a\u673a\u81c2\u5448X\u578b\u5e03\u7f6e\u3002<\/p>\n<p>\u5728\u4e0a\u65b9Frame Class\u533a\u57df\u9009\u62e9\u56db\u65cb\u7ffc\u56fe\u6807\u3002<\/p>\n<p>\u5728\u4e0b\u65b9\u673a\u67b6\u7c7b\u578b\u533a\u57df\u9009\u62e9X\u5e03\u5c40&#xff0c;\u4e0d\u8981\u8bef\u9009Plus\u3001Y6\u3001H\u3001V\u5c3e\u6216\u5176\u4ed6\u673a\u578b\u3002<\/p>\n<p>\u5199\u5165\u8bbe\u7f6e\u540e\u91cd\u542f\u98de\u63a7&#xff0c;\u518d\u8fdb\u5165\u9875\u9762\u786e\u8ba4Class\u4e3aQuad\u3001Type\u4e3aX\u3002<\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"191\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260813005733-6a7d167dc751f.png\" width=\"1006\" \/><\/p>\n<p style=\"text-align:center\">12.2.2 \u52a0\u901f\u5ea6\u8ba1\u6821\u51c6\u4e0e\u6c34\u5e73\u6821\u51c6<\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"437\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260813005733-6a7d167ddf999.png\" width=\"1012\" \/><\/p>\n<p>\u52a0\u901f\u5ea6\u8ba1\u6821\u51c6\u7528\u4e8e\u4fee\u6b63\u4e09\u8f74\u4f20\u611f\u5668\u7684\u96f6\u504f\u3001\u6bd4\u4f8b\u548c\u5b89\u88c5\u8bef\u5dee&#xff0c;\u662fArduCopter\u7684\u5fc5\u8981\u6821\u51c6\u9879\u76ee\u3002\u82e5\u98de\u63a7\u7bad\u5934\u672a\u6307\u5411\u673a\u5934&#xff0c;\u5e94\u5148\u6b63\u786e\u8bbe\u7f6eAHRS_ORIENTATION&#xff0c;\u518d\u8fdb\u884c\u516d\u9762\u6821\u51c6\u3002<\/p>\n<\/p>\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"433\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260813005734-6a7d167e0e67c.png\" width=\"954\" \/><\/p>\n<p style=\"text-align:center\">\u56fe12-2 \u52a0\u901f\u5ea6\u8ba1\u6821\u51c6\u4e0e\u6821\u51c6\u6c34\u5e73\u754c\u9762<\/p>\n<p style=\"text-align:center\">\u622a\u56fe\u6765\u6e90&#xff1a;\u7528\u6237\u5b9e\u9645\u64cd\u4f5c\u754c\u9762<\/p>\n<p>&#xff08;1&#xff09;\u5b8c\u6574\u516d\u9762\u6821\u51c6<\/p>\n<p>\u62c6\u9664\u5168\u90e8\u87ba\u65cb\u6868&#xff0c;\u5c06\u65e0\u4eba\u673a\u653e\u5728\u7a33\u5b9a\u3001\u5e73\u6574\u7684\u8868\u9762\u4e0a\u3002<\/p>\n<p>\u70b9\u51fb\u201c\u6821\u51c6\u52a0\u901f\u5ea6\u8ba1\u201d\u3002<\/p>\n<p>\u6309\u7167\u5c4f\u5e55\u63d0\u793a\u4f9d\u6b21\u5b8c\u6210&#xff1a;\u6c34\u5e73\u6b63\u653e\u3001\u5de6\u4fa7\u671d\u4e0b\u3001\u53f3\u4fa7\u671d\u4e0b\u3001\u673a\u5934\u671d\u4e0b\u3001\u673a\u5934\u671d\u4e0a\u548c\u5012\u7f6e\u3002<\/p>\n<p>\u6bcf\u4e2a\u59ff\u6001\u653e\u7a33\u540e\u4fdd\u6301\u5b8c\u5168\u9759\u6b62&#xff0c;\u518d\u70b9\u51fb\u786e\u8ba4\u6216\u6309\u63d0\u793a\u7ee7\u7eed\u3002<\/p>\n<p>\u51fa\u73b0\u201cCalibration Successful\u201d\u540e\u91cd\u542f\u98de\u63a7\u3002<\/p>\n<p>&#xff08;2&#xff09;\u6821\u51c6\u6c34\u5e73<\/p>\n<p>\u201c\u6821\u51c6\u6c34\u5e73\u201d\u53ea\u7528\u4e8e\u91cd\u65b0\u8bbe\u5b9a\u5f53\u524d\u5b89\u88c5\u72b6\u6001\u4e0b\u7684\u6c34\u5e73\u57fa\u51c6&#xff0c;\u4e0d\u7b49\u540c\u4e8e\u5b8c\u6574\u516d\u9762\u6821\u51c6\u3002\u516d\u9762\u6821\u51c6\u5df2\u7ecf\u6210\u529f&#xff0c;\u4f46HUD\u5728\u673a\u68b0\u6c34\u5e73\u72b6\u6001\u4e0b\u5b58\u5728\u5c0f\u5e45\u503e\u659c\u65f6&#xff0c;\u53ef\u5c06\u6574\u673a\u524d\u540e\u3001\u5de6\u53f3\u8c03\u5e73\u540e\u70b9\u51fb\u201c\u6821\u51c6\u6c34\u5e73\u201d\u3002<\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"274\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260813005734-6a7d167e33566.png\" width=\"1009\" \/><\/p>\n<p style=\"text-align:center\">12.2.3 \u7f57\u76d8\u6821\u51c6<\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"601\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260813005734-6a7d167e58855.png\" width=\"1013\" \/><\/p>\n<p>\u7f57\u76d8\u7528\u4e8e\u63d0\u4f9b\u822a\u5411\u4fe1\u606f\u3002\u7f57\u76d8\u6821\u51c6\u5e94\u5728\u52a0\u901f\u5ea6\u8ba1\u6821\u51c6\u5b8c\u6210\u540e\u8fdb\u884c&#xff0c;\u5e76\u5c3d\u91cf\u9009\u62e9\u5ba4\u5916\u3001\u8fdc\u79bb\u8f66\u8f86\u3001\u94a2\u7b4b\u3001\u94c1\u95e8\u3001\u624b\u673a\u3001\u7535\u8111\u3001\u7535\u6e90\u548c\u5927\u7535\u6d41\u7ebf\u7f06\u7684\u73af\u5883\u3002<\/p>\n<p>\u786e\u8ba4Mission Planner\u5df2\u68c0\u6d4b\u5230\u5185\u90e8\u6216\u5916\u7f6e\u7f57\u76d8\u3002\u5916\u7f6eGPS\u7f57\u76d8\u901a\u5e38\u8ddd\u79bb\u7535\u673a\u548c\u7535\u8c03\u66f4\u8fdc&#xff0c;\u53ef\u4f5c\u4e3a\u4f18\u5148\u7f57\u76d8\u3002<\/p>\n<p>\u70b9\u51fbOnboard Mag Calibration\u4e2d\u7684Start\u6309\u94ae\u3002<\/p>\n<p>\u7f13\u6162\u8f6c\u52a8\u6574\u67b6\u65e0\u4eba\u673a&#xff0c;\u4f7f\u516d\u4e2a\u9762\u90fd\u671d\u5411\u4e0d\u540c\u65b9\u5411&#xff0c;\u8986\u76d6\u5b8c\u6574\u7a7a\u95f4\u59ff\u6001\u3002<\/p>\n<p>\u6240\u6709\u542f\u7528\u7f57\u76d8\u663e\u793a\u6821\u51c6\u6210\u529f\u540e&#xff0c;\u91cd\u542f\u98de\u63a7\u3002<\/p>\n<p>\u628a\u65e0\u4eba\u673a\u6c34\u5e73\u8f6c\u52a890\u00b0&#xff0c;\u786e\u8ba4Mission Planner\u4e2d\u7684\u673a\u5934\u65b9\u5411\u540c\u6b65\u8f6c\u52a8\u4e14\u65b9\u5411\u4e00\u81f4\u3002<\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"269\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260813005734-6a7d167e87c1a.png\" width=\"1007\" \/><\/p>\n<p style=\"text-align:center\">12.2.4 \u9065\u63a7\u5668\u6821\u51c6<\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"439\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260813005734-6a7d167ea3973.png\" width=\"1007\" \/><\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"497\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260813005734-6a7d167ec645a.png\" width=\"1000\" \/><\/p>\n<p style=\"text-align:center\">\u56fe12-3 \u9065\u63a7\u5668\u6821\u51c6\u754c\u9762<\/p>\n<p style=\"text-align:center\"><span style=\"color:#000000\">\u622a\u56fe\u6765\u6e90&#xff1a;\u7528\u6237\u5b9e\u9645\u64cd\u4f5c\u754c\u9762<\/span><\/p>\n<p>\u9065\u63a7\u5668\u6821\u51c6\u7528\u4e8e\u8bb0\u5f55\u6bcf\u4e2a\u901a\u9053\u7684\u6700\u5c0f\u503c\u3001\u6700\u5927\u503c\u548c\u4e2d\u4f4d\u503c\u3002\u6821\u51c6\u524d\u5e94\u65ad\u5f00\u52a8\u529b\u7535\u6c60&#xff0c;\u6253\u5f00\u9065\u63a7\u5668\u5e76\u786e\u4fdd\u63a5\u6536\u673a\u5df2\u7ecf\u5bf9\u9891\u3002<\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"194\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260813005734-6a7d167eefff8.png\" width=\"1010\" \/><\/p>\n<p>\u64cd\u4f5c\u6b65\u9aa4<\/p>\n<ul>\n<li>\u8fdb\u5165\u9065\u63a7\u5668\u6821\u51c6\u9875\u9762&#xff0c;\u79fb\u52a8\u6447\u6746&#xff0c;\u786e\u8ba4\u76f8\u5e94\u901a\u9053\u6761\u80fd\u591f\u53d8\u5316\u3002<\/li>\n<li>\u70b9\u51fb\u201c\u6821\u51c6\u9065\u63a7\u201d&#xff0c;\u6309\u63d0\u793a\u5c06\u6240\u6709\u6447\u6746\u63a8\u5230\u56db\u4e2a\u89d2\u548c\u5168\u90e8\u6781\u9650\u4f4d\u7f6e\u3002<\/li>\n<li>\u5c06\u6240\u6709\u65cb\u94ae\u548c\u8f85\u52a9\u5f00\u5173\u62e8\u5230\u5168\u90e8\u6321\u4f4d&#xff0c;\u5c24\u5176\u662f\u98de\u884c\u6a21\u5f0f\u5f00\u5173\u3002<\/li>\n<li>\u70b9\u51fb\u201c\u5b8c\u6210\u201d&#xff0c;\u5c06\u6a2a\u6eda\u3001\u4fef\u4ef0\u548c\u504f\u822a\u6447\u6746\u56de\u4e2d&#xff0c;\u6cb9\u95e8\u4fdd\u6301\u6700\u4f4e\u3002<\/li>\n<li>\u786e\u8ba4CH1\u81f3CH4\u7684\u4e2d\u4f4d\u503c\u7ea6\u4e3a1500&#xff0c;\u7aef\u70b9\u901a\u5e38\u63a5\u8fd11100\u548c1900\u3002<\/li>\n<\/ul>\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"607\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260813005735-6a7d167f146c9.png\" width=\"946\" \/><\/p>\n<p>\u5982\u679c\u901a\u9053\u987a\u5e8f\u4e0e\u5b9e\u9645\u9065\u63a7\u5668\u4e0d\u4e00\u81f4&#xff0c;\u53ef\u4fee\u6539RCMAP_ROLL\u3001RCMAP_PITCH\u3001RCMAP_THROTTLE\u548cRCMAP_YAW\u3002\u4fee\u6539\u6620\u5c04\u540e\u5e94\u91cd\u542f\u98de\u63a7\u5e76\u91cd\u65b0\u8fdb\u884c\u9065\u63a7\u5668\u6821\u51c6\u3002<\/p>\n<p style=\"text-align:center\">12.2.5 Servo Output\u8f93\u51fa\u6620\u5c04<\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"442\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260813005735-6a7d167f480e6.png\" width=\"1012\" \/><\/p>\n<\/p>\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"515\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260813005735-6a7d167f6ab19.png\" width=\"1000\" \/><\/p>\n<p style=\"text-align:center\">\u56fe12-4 Servo Output\u8f93\u51fa\u6620\u5c04\u754c\u9762<\/p>\n<p style=\"text-align:center\">\u622a\u56fe\u6765\u6e90&#xff1a;\u7528\u6237\u5b9e\u9645\u64cd\u4f5c\u754c\u9762<\/p>\n<p>Servo Output\u9875\u9762\u7528\u4e8e\u8bbe\u7f6e\u6bcf\u4e2a\u7269\u7406\u8f93\u51fa\u7aef\u53e3\u5bf9\u5e94\u7684\u529f\u80fd\u3001\u6700\u5c0f\u503c\u3001\u4e2d\u4f4d\u503c\u548c\u6700\u5927\u503c\u3002\u56fe\u4e2d\u8f93\u51fa1\u81f3\u8f93\u51fa4\u5206\u522b\u88ab\u6620\u5c04\u4e3aMotor2\u3001Motor3\u3001Motor4\u548cMotor1&#xff0c;\u8fd9\u662f\u5f53\u524dZP_MH743\u56fa\u4ef6\u4e0e\u677f\u7ea7\u8f93\u51fa\u5b9a\u4e49\u7684\u5b9e\u9645\u914d\u7f6e\u793a\u4f8b\u3002<\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"274\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260813005735-6a7d167f96338.png\" width=\"1012\" \/><\/p>\n<\/p>\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"276\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260813005735-6a7d167fb1e4a.png\" width=\"1011\" \/><\/p>\n<p style=\"text-align:center\">12.2.6 \u7535\u8c03\u6821\u51c6<\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"439\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260813005735-6a7d167fce553.png\" width=\"1015\" \/><\/p>\n<p>\u4f20\u7edfPWM\u7535\u8c03\u9700\u8981\u6821\u51c6\u6cb9\u95e8\u7aef\u70b9&#xff0c;\u4f7f\u5404\u7535\u8c03\u5bf9\u6700\u5c0f\u548c\u6700\u5927\u6cb9\u95e8\u4fe1\u53f7\u7684\u7406\u89e3\u4e00\u81f4\u3002DShot\u548cDroneCAN\u5c5e\u4e8e\u6570\u5b57\u534f\u8bae&#xff0c;\u901a\u5e38\u4e0d\u9700\u8981\u4f20\u7edfPWM\u6cb9\u95e8\u884c\u7a0b\u6821\u51c6\u3002<\/p>\n<p>\u786e\u8ba4\u5168\u90e8\u87ba\u65cb\u6868\u5df2\u7ecf\u62c6\u9664\u3002<\/p>\n<p>\u5148\u67e5\u660e\u7535\u8c03\u652f\u6301\u7684\u534f\u8bae&#xff0c;\u5e76\u5728\u98de\u63a7\u4e2d\u8bbe\u7f6e\u6b63\u786e\u7684\u8f93\u51fa\u534f\u8bae\u3002<\/p>\n<ul>\n<li>\u5982\u679c\u662f\u4f20\u7edfPWM\u7535\u8c03&#xff0c;\u4e25\u683c\u6309\u7167Mission Planner\u9875\u9762\u63d0\u793a\u548c\u7535\u8c03\u8bf4\u660e\u4e66\u5b8c\u6210\u4e0a\u7535\u3001\u63d0\u793a\u97f3\u548c\u65ad\u7535\u64cd\u4f5c\u3002<\/li>\n<li>\u5982\u679c\u662fDShot\u7535\u8c03&#xff0c;\u8df3\u8fc7\u4f20\u7edfESC Calibration&#xff0c;\u76f4\u63a5\u8fdb\u884c\u7535\u673a\u6d4b\u8bd5\u548c\u65b9\u5411\u68c0\u67e5\u3002<\/li>\n<\/ul>\n<p style=\"text-align:center\">12.2.7 \u98de\u884c\u6a21\u5f0f\u914d\u7f6e<\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"441\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260813005735-6a7d167ff13b6.png\" width=\"1022\" \/><\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"529\" src=\"2026-08-13ixmd003f3pv.png\" width=\"1000\" \/><\/p>\n<p style=\"text-align:center\">\u56fe12-5 \u98de\u884c\u6a21\u5f0f\u914d\u7f6e\u754c\u9762<\/p>\n<p style=\"text-align:center\">\u622a\u56fe\u6765\u6e90&#xff1a;\u7528\u6237\u5b9e\u9645\u64cd\u4f5c\u754c\u9762<\/p>\n<p>ArduCopter\u6700\u591a\u53ef\u901a\u8fc7\u4e00\u4e2a\u98de\u884c\u6a21\u5f0f\u901a\u9053\u9009\u62e9\u516d\u4e2a\u6a21\u5f0f\u3002\u9ed8\u8ba4\u98de\u884c\u6a21\u5f0f\u901a\u9053\u901a\u5e38\u662fCH5&#xff0c;\u7531FLTMODE_CH\u53c2\u6570\u6307\u5b9a\u3002\u62e8\u52a8\u9065\u63a7\u5668\u5f00\u5173\u65f6&#xff0c;\u9875\u9762\u4e2d\u7684\u201c\u5f53\u524dPWM\u201d\u5e94\u53d8\u5316&#xff0c;\u5e76\u9ad8\u4eae\u5bf9\u5e94\u7684\u98de\u884c\u6a21\u5f0f\u6863\u4f4d\u3002<\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"278\" src=\"2026-08-13qhf1cym1lsj.png\" width=\"1007\" \/><\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"657\" src=\"2026-08-13gutzij0qbym.png\" width=\"1200\" \/><\/p>\n<p>\u8bbe\u7f6e\u5b8c\u6210\u540e\u70b9\u51fb\u201c\u4fdd\u5b58\u6a21\u5f0f\u201d&#xff0c;\u53cd\u590d\u62e8\u52a8\u5f00\u5173&#xff0c;\u786e\u8ba4Mission Planner\u9876\u90e8\u663e\u793a\u7684\u5f53\u524d\u6a21\u5f0f\u4e0e\u5f00\u5173\u6321\u4f4d\u4e00\u81f4\u3002RTL\u5e94\u8bbe\u7f6e\u5728\u5bb9\u6613\u89e6\u53ca\u4f46\u4e0d\u6613\u8bef\u89e6\u7684\u4f4d\u7f6e\u3002<\/p>\n<p style=\"text-align:center\">12.2.8 \u7535\u673a\u6d4b\u8bd5<\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"435\" src=\"2026-08-13tyupjq2oa4a.png\" width=\"1012\" \/><\/p>\n<\/p>\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"721\" src=\"2026-08-13v5wzspfffec.png\" width=\"1000\" \/><\/p>\n<p style=\"text-align:center\">\u56fe12-6 Quad X\u7535\u673a\u6d4b\u8bd5\u754c\u9762<\/p>\n<p style=\"text-align:center\">\u622a\u56fe\u6765\u6e90&#xff1a;\u7528\u6237\u5b9e\u9645\u64cd\u4f5c\u754c\u9762<\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"196\" src=\"2026-08-13gj0tn1rjhsh.png\" width=\"1008\" \/><\/p>\n<p>\u56fe\u4e2d\u5df2\u7ecf\u8bc6\u522bClass\u4e3aQuad\u3001Type\u4e3aX\u3002Mission Planner\u6309A\u3001B\u3001C\u3001D\u987a\u5e8f\u6d4b\u8bd5\u7535\u673a&#xff0c;X\u578b\u56db\u65cb\u7ffc\u4ece\u673a\u5934\u53f3\u4fa7\u7535\u673a\u5f00\u59cb&#xff0c;\u968f\u540e\u6cbf\u987a\u65f6\u9488\u65b9\u5411\u4f9d\u6b21\u6d4b\u8bd5\u3002<\/p>\n<\/p>\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"500\" src=\"2026-08-13wjipnecplwa.png\" width=\"952\" \/><\/p>\n<p>\u6d4b\u8bd5\u6b65\u9aa4<\/p>\n<ul>\n<li>\u6d4b\u8bd5\u6301\u7eed\u65f6\u95f4\u5148\u8bbe\u7f6e\u4e3a2\u79d2\u3002<\/li>\n<li>\u6cb9\u95e8\u767e\u5206\u6bd4\u5148\u8bbe\u7f6e\u4e3a5%&#xff0c;\u70b9\u51fbTest motor A\u3002<\/li>\n<li>\u5982\u679c\u7535\u673a\u4e0d\u8f6c&#xff0c;\u53ef\u9010\u6b65\u63d0\u9ad8\u523010%&#xff0c;\u5fc5\u8981\u65f6\u77ed\u6682\u6d4b\u8bd515%&#xff0c;\u4e0d\u8981\u76f4\u63a5\u63d0\u9ad8\u5230\u8f83\u9ad8\u6cb9\u95e8\u3002<\/li>\n<li>\u4f9d\u6b21\u6d4b\u8bd5A\u3001B\u3001C\u548cD&#xff0c;\u8bb0\u5f55\u5b9e\u9645\u8f6c\u52a8\u4f4d\u7f6e\u548c\u65b9\u5411\u3002<\/li>\n<li>\u70b9\u51fbStop all motors\u505c\u6b62\u6240\u6709\u8f93\u51fa\u3002<\/li>\n<\/ul>\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"273\" src=\"2026-08-13ddxrz0r5vu5.png\" width=\"1013\" \/><\/p>\n<h3>12.3 \u5b8c\u6574\u53c2\u6570\u914d\u7f6e\u4e0e\u7ba1\u7406<\/h3>\n<p style=\"text-align:center\">12.3.1 \u53c2\u6570\u7ba1\u7406\u754c\u9762<\/p>\n<p>Mission Planner\u7684\u201c\u914d\u7f6e\/\u8c03\u8bd5&#xff08;CONFIG\/TUNING&#xff09;\u201d\u9875\u9762\u63d0\u4f9b\u5b8c\u6574\u53c2\u6570\u8868\u3001\u53c2\u6570\u6811\u3001\u6587\u4ef6\u5bfc\u5165\u5bfc\u51fa\u548c\u5dee\u5f02\u6bd4\u8f83\u529f\u80fd\u3002\u4fee\u6539\u91cd\u8981\u53c2\u6570\u524d&#xff0c;\u5e94\u5148\u4fdd\u5b58\u5f53\u524d\u53c2\u6570\u6587\u4ef6\u3002<\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"812\" src=\"2026-08-13pxu5clffevq.png\" width=\"975\" \/><\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"192\" src=\"2026-08-13xwhbadlltdh.png\" width=\"1010\" \/><\/p>\n<p style=\"text-align:center\">12.3.2 \u57fa\u7840\u53c2\u6570<\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"997\" src=\"2026-08-13rhns1vquxk2.png\" width=\"1167\" \/><\/p>\n<p style=\"text-align:center\">12.3.3 PID\u4e0e\u521d\u59cb\u8c03\u53c2\u539f\u5219<\/p>\n<p>ATC_RAT_RLL_P\/I\/D\u3001ATC_RAT_PIT_P\/I\/D\u548cATC_RAT_YAW_P\/I\/D\u5206\u522b\u63a7\u5236\u6a2a\u6eda\u3001\u4fef\u4ef0\u548c\u504f\u822a\u89d2\u901f\u5ea6\u73af\u3002\u4e0d\u540c\u673a\u67b6\u5c3a\u5bf8\u3001\u6868\u53f6\u3001\u7535\u673a\u3001\u7535\u6c60\u548c\u91cd\u91cf\u5bf9\u5e94\u7684\u5408\u9002\u589e\u76ca\u5dee\u5f02\u5f88\u5927&#xff0c;\u56e0\u6b64\u4e0d\u5e94\u628a\u7f51\u7edc\u6559\u7a0b\u4e2d\u7684\u56fa\u5b9a\u6570\u503c\u76f4\u63a5\u5199\u5165\u3002<\/p>\n<\/p>\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"190\" src=\"2026-08-13vyxuioiyugu.png\" width=\"1008\" \/><\/p>\n<\/p>\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"610\" src=\"2026-08-13gh3j1onc1ja.png\" width=\"960\" \/><\/p>\n<p style=\"text-align:center\">12.3.4 \u5bfc\u822a\u4e0e\u8fd4\u822a\u53c2\u6570<\/p>\n<p>\u5e38\u7528\u5bfc\u822a\u53c2\u6570\u5305\u62ec\u822a\u70b9\u901f\u5ea6\u3001\u722c\u5347\/\u4e0b\u964d\u901f\u5ea6\u3001\u822a\u70b9\u52a0\u901f\u5ea6\u3001\u8fd4\u822a\u9ad8\u5ea6\u548c\u964d\u843d\u901f\u5ea6\u3002\u8f83\u65b0\u56fa\u4ef6\u4e2d\u90e8\u5206\u9ad8\u5ea6\u53c2\u6570\u4f7f\u7528\u201c_M\u201d\u540e\u7f00\u5e76\u4ee5\u7c73\u4e3a\u5355\u4f4d&#xff0c;\u65e7\u7248\u672c\u5219\u53ef\u80fd\u4f7f\u7528\u5398\u7c73\u3002\u4fee\u6539\u524d\u5fc5\u987b\u67e5\u770bMission Planner\u5f53\u524d\u53c2\u6570\u8bf4\u660e\u4e2d\u7684\u5355\u4f4d\u3002<\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"732\" src=\"2026-08-13uzod1eukqyn.png\" width=\"1200\" \/><\/p>\n<h3>12.4 \u5e38\u7528\u98de\u884c\u6a21\u5f0f\u8be6\u89e3<\/h3>\n<p style=\"text-align:center\">12.4.1 Stabilize&#xff08;\u81ea\u7a33\u6a21\u5f0f&#xff09;<\/p>\n<p>Stabilize\u6a21\u5f0f\u4f1a\u81ea\u52a8\u5c06\u6a2a\u6eda\u548c\u4fef\u4ef0\u6062\u590d\u5230\u6c34\u5e73&#xff0c;\u4f46\u4e0d\u4f1a\u81ea\u52a8\u4fdd\u6301\u9ad8\u5ea6\u6216\u6c34\u5e73\u4f4d\u7f6e\u3002\u98de\u624b\u9700\u8981\u624b\u52a8\u63a7\u5236\u6cb9\u95e8\u3002\u8be5\u6a21\u5f0f\u9002\u5408\u9996\u98de\u3001\u57fa\u7840\u59ff\u6001\u68c0\u67e5\u548cGPS\u5f02\u5e38\u65f6\u7684\u4eba\u5de5\u63a5\u7ba1\u3002<\/p>\n<p style=\"text-align:center\">12.4.2 AltHold&#xff08;\u5b9a\u9ad8\u6a21\u5f0f&#xff09;<\/p>\n<p>AltHold\u4f7f\u7528\u6c14\u538b\u8ba1\u548c\u60ef\u6027\u4f20\u611f\u5668\u4fdd\u6301\u9ad8\u5ea6\u3002\u6a2a\u6eda\u3001\u4fef\u4ef0\u548c\u504f\u822a\u4ecd\u7531\u98de\u624b\u63a7\u5236&#xff0c;\u677e\u5f00\u6a2a\u6eda\u548c\u4fef\u4ef0\u6447\u6746\u540e\u98de\u673a\u56de\u5e73&#xff0c;\u4f46\u4e0d\u4f1a\u81ea\u52a8\u4fdd\u6301\u6c34\u5e73\u4f4d\u7f6e\u3002\u6cb9\u95e8\u5904\u4e8e\u4e2d\u4f4d\u6b7b\u533a\u65f6\u4fdd\u6301\u9ad8\u5ea6&#xff0c;\u79bb\u5f00\u6b7b\u533a\u540e\u63a7\u5236\u4e0a\u5347\u6216\u4e0b\u964d\u3002<\/p>\n<p style=\"text-align:center\">12.4.3 Loiter&#xff08;\u5b9a\u70b9\u6a21\u5f0f&#xff09;<\/p>\n<p>Loiter\u4f1a\u4fdd\u6301\u9ad8\u5ea6\u3001\u822a\u5411\u548c\u6c34\u5e73\u4f4d\u7f6e&#xff0c;\u9700\u8981\u53ef\u9760\u7684GPS\u4f4d\u7f6e\u3001\u7f57\u76d8\u548c\u4f4e\u632f\u52a8\u3002\u6447\u6746\u63a7\u5236\u6c34\u5e73\u79fb\u52a8\u548c\u5347\u964d&#xff0c;\u677e\u5f00\u6447\u6746\u540e\u98de\u673a\u51cf\u901f\u5e76\u91cd\u65b0\u5b9a\u70b9\u3002\u9996\u6b21\u6d4b\u8bd5\u524d\u5fc5\u987b\u5148\u786e\u8ba4AltHold\u7a33\u5b9a\u3002<\/p>\n<p style=\"text-align:center\">12.4.4 RTL&#xff08;\u81ea\u52a8\u8fd4\u822a&#xff09;<\/p>\n<p>RTL\u4f1a\u6839\u636e\u8fd4\u822a\u53c2\u6570\u5148\u8c03\u6574\u5230\u5b89\u5168\u9ad8\u5ea6&#xff0c;\u518d\u8fd4\u56deHome\u6216\u6700\u8fd1\u7684Rally Point&#xff0c;\u968f\u540e\u60ac\u505c\u6216\u964d\u843d\u3002\u8fd4\u822a\u9ad8\u5ea6\u5fc5\u987b\u9ad8\u4e8e\u8fd4\u822a\u8def\u5f84\u4e2d\u7684\u969c\u788d\u7269\u3002RTL\u4f9d\u8d56GPS\u3001\u7f57\u76d8\u548cEKF&#xff0c;\u4e0d\u80fd\u628a\u4f20\u611f\u5668\u5f02\u5e38\u65f6\u7684RTL\u5f53\u4f5c\u4e07\u80fd\u6551\u63f4\u624b\u6bb5\u3002<\/p>\n<p style=\"text-align:center\">12.4.5 Auto&#xff08;\u81ea\u52a8\u4efb\u52a1\u6a21\u5f0f&#xff09;<\/p>\n<p>Auto\u6309\u7167\u5df2\u7ecf\u4e0a\u4f20\u5230\u98de\u63a7\u7684\u4efb\u52a1\u822a\u70b9\u6267\u884c\u81ea\u52a8\u98de\u884c\u3002\u4f7f\u7528\u524d\u5e94\u5b8c\u6210\u822a\u7ebf\u56de\u8bfb\u3001\u969c\u788d\u7269\u68c0\u67e5\u3001\u7535\u6c60\u4f59\u91cf\u8bc4\u4f30\u3001Loiter\u548cRTL\u9a8c\u8bc1&#xff0c;\u5e76\u51c6\u5907\u968f\u65f6\u5207\u6362\u81f3\u4eba\u5de5\u6a21\u5f0f\u63a5\u7ba1\u3002<\/p>\n<p style=\"text-align:center\">12.4.6 Guided&#xff08;\u5f15\u5bfc\u6a21\u5f0f&#xff09;<\/p>\n<p>Guided\u7531\u5730\u9762\u7ad9\u3001\u4f34\u968f\u8ba1\u7b97\u673a\u6216MAVLink\u6307\u4ee4\u5b9e\u65f6\u53d1\u9001\u76ee\u6807\u4f4d\u7f6e\u3002\u5b83\u4e0d\u8981\u6c42\u9884\u5148\u5b9a\u4e49\u5b8c\u6574\u4efb\u52a1&#xff0c;\u4f46\u4f9d\u8d56\u53ef\u9760\u7684\u901a\u4fe1\u94fe\u8def\u548c\u4f4d\u7f6e\u4f30\u8ba1\u3002<\/p>\n<p style=\"text-align:center\">12.4.7 Drift&#xff08;\u6f02\u79fb\u6a21\u5f0f&#xff09;<\/p>\n<p>Drift\u91c7\u7528\u7c7b\u4f3c\u8f66\u8f86\u7684\u64cd\u63a7\u65b9\u5f0f&#xff0c;\u9002\u5408\u7279\u5b9a\u98de\u884c\u4f53\u9a8c&#xff0c;\u4e0d\u662f\u521d\u5b66\u8005\u9996\u98de\u5fc5\u9700\u6a21\u5f0f\u3002\u5176\u5de5\u4f5c\u4ecd\u4f9d\u8d56\u826f\u597d\u7684\u59ff\u6001\u4e0e\u901f\u5ea6\u4f30\u8ba1\u3002<\/p>\n<p style=\"text-align:center\">12.4.8 PosHold&#xff08;\u4f4d\u7f6e\u4fdd\u6301\u6a21\u5f0f&#xff09;<\/p>\n<p>PosHold\u5728\u6447\u6746\u5c45\u4e2d\u65f6\u4fdd\u6301\u4f4d\u7f6e\u3001\u822a\u5411\u548c\u9ad8\u5ea6&#xff0c;\u98de\u624b\u7684\u6a2a\u6eda\u548c\u4fef\u4ef0\u8f93\u5165\u76f4\u63a5\u63a7\u5236\u503e\u659c\u89d2\u3002\u5b83\u540c\u6837\u9700\u8981\u53ef\u9760GPS\u548c\u7f57\u76d8\u3002\u901a\u5e38\u4f18\u5148\u63a8\u8350Loiter&#xff0c;\u719f\u6089\u540e\u518d\u4f7f\u7528PosHold\u3002<\/p>\n<p style=\"text-align:center\">12.4.9 \u65b0\u624b\u6d4b\u8bd5\u987a\u5e8f<\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"932\" src=\"2026-08-13hd5ckogvhoa.png\" width=\"1011\" \/><\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"194\" src=\"2026-08-13sqh5onjbqod.png\" width=\"1014\" \/><\/p>\n<h3>12.5 \u5730\u7406\u56f4\u680f\u4e0e\u5b89\u5168\u4fdd\u62a4<\/h3>\n<p style=\"text-align:center\">12.5.1 \u5730\u7406\u56f4\u680f<\/p>\n<p>\u5730\u7406\u56f4\u680f\u7528\u4e8e\u9650\u5236\u6700\u5927\u9ad8\u5ea6\u3001\u6700\u5927\u534a\u5f84\u6216\u591a\u8fb9\u5f62\u533a\u57df\u3002\u8bbe\u7f6e\u56f4\u680f\u524d\u5fc5\u987b\u4fdd\u8bc1\u4f4d\u7f6e\u4f30\u8ba1\u53ef\u9760&#xff0c;\u5426\u5219\u53ef\u80fd\u51fa\u73b0\u201cFence enabled, need position estimate\u201d\u7b49\u9884\u89e3\u9501\u63d0\u793a\u3002<\/p>\n<ul>\n<li>\u5728\u98de\u884c\u8ba1\u5212\u6216\u56f4\u680f\u9875\u9762\u7ed8\u5236\u5141\u8bb8\u98de\u884c\u7684\u533a\u57df\u3002<\/li>\n<li>\u8bbe\u7f6e\u6700\u5927\u9ad8\u5ea6\u548c\u6700\u5927\u534a\u5f84&#xff0c;\u5e76\u6839\u636e\u4efb\u52a1\u573a\u666f\u9009\u62e9\u56f4\u680f\u89e6\u53d1\u540e\u7684\u52a8\u4f5c\u3002<\/li>\n<li>\u4e0a\u4f20\u56f4\u680f\u540e\u56de\u8bfb\u786e\u8ba4&#xff0c;\u5e76\u5728\u4f4e\u98ce\u9669\u6761\u4ef6\u4e0b\u9a8c\u8bc1\u3002<\/li>\n<li>\u56f4\u680f\u4e0d\u80fd\u66ff\u4ee3\u4eba\u5de5\u89c2\u5bdf\u3001\u5408\u6cd5\u7a7a\u57df\u786e\u8ba4\u548c\u969c\u788d\u7269\u907f\u8ba9\u3002<\/li>\n<\/ul>\n<p style=\"text-align:center\">12.5.2 \u9065\u63a7\u5668\u5931\u63a7\u4fdd\u62a4<\/p>\n<p>\u9065\u63a7\u5668\u5931\u63a7\u4fdd\u62a4\u5728\u98de\u63a7\u68c0\u6d4b\u5230RC\u4fe1\u53f7\u4e22\u5931\u6216\u6cb9\u95e8\u901a\u9053\u4f4e\u4e8e\u5931\u63a7\u9608\u503c\u65f6\u89e6\u53d1\u3002\u53ef\u901a\u8fc7Mission Planner\u6545\u969c\u4fdd\u62a4\u9875\u9762\u8bbe\u7f6eRTL\u3001Land\u6216SmartRTL\u7b49\u52a8\u4f5c\u3002\u5b9e\u9645\u52a8\u4f5c\u5e94\u6839\u636eGPS\u53ef\u9760\u6027\u3001\u98de\u884c\u8ddd\u79bb\u548c\u573a\u5730\u73af\u5883\u9009\u62e9\u3002<\/p>\n<\/p>\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"189\" src=\"2026-08-13fpqyslltnzl.png\" width=\"1009\" \/><\/p>\n<p style=\"text-align:center\">12.5.3 \u7535\u6c60\u5931\u63a7\u4fdd\u62a4<\/p>\n<p>ArduCopter\u652f\u6301\u4f4e\u7535\u91cf\u548c\u4e25\u91cd\u4f4e\u7535\u91cf\u4e24\u7ea7\u4fdd\u62a4\u3002\u5e38\u89c1\u505a\u6cd5\u662f\u4f4e\u7535\u91cf\u6267\u884cRTL&#xff0c;\u4e25\u91cd\u4f4e\u7535\u91cf\u6267\u884cLand\u3002\u7535\u538b\u9608\u503c\u5fc5\u987b\u6839\u636e\u7535\u6c60\u4e32\u6570\u3001\u7c7b\u578b\u3001\u8d1f\u8f7d\u538b\u964d\u548c\u5b9e\u9645\u5bb9\u91cf\u8bbe\u7f6e&#xff0c;\u4e0d\u80fd\u7167\u6284\u5176\u4ed6\u65e0\u4eba\u673a\u3002<\/p>\n<p style=\"text-align:center\">12.5.4 GCS\u5931\u63a7\u4fdd\u62a4<\/p>\n<p>GCS\u5931\u63a7\u4fdd\u62a4\u901a\u8fc7MAVLink\u5fc3\u8df3\u5224\u65ad\u5730\u9762\u7ad9\u8fde\u63a5\u662f\u5426\u4e2d\u65ad\u3002\u4e3b\u8981\u53c2\u6570\u5305\u62ecFS_GCS_ENABLE\u548cFS_GCS_TIMEOUT\u3002\u53ea\u6709\u98de\u884c\u8fc7\u7a0b\u4e2d\u786e\u5b9e\u4f9d\u8d56\u5730\u9762\u7ad9\u63a7\u5236\u6216\u76d1\u63a7\u65f6&#xff0c;\u624d\u5e94\u6839\u636e\u4efb\u52a1\u9700\u6c42\u914d\u7f6e\u76f8\u5e94\u52a8\u4f5c\u3002<\/p>\n<p style=\"text-align:center\">12.5.5 EKF\u4e0e\u4f4d\u7f6e\u4f30\u8ba1\u4fdd\u62a4<\/p>\n<p>\u65e7\u6559\u7a0b\u4e2d\u7684FS_GPS_ENABLE\u5df2\u7ecf\u88ab\u5f52\u6863\u3002\u5f53\u524dArduCopter\u4e3b\u8981\u901a\u8fc7EKF\u5931\u63a7\u4fdd\u62a4\u76d1\u6d4b\u4f4d\u7f6e\u3001\u901f\u5ea6\u548c\u7f57\u76d8\u4f30\u8ba1\u8d28\u91cf\u3002\u5173\u952e\u53c2\u6570\u5305\u62ecFS_EKF_ACTION\u548cFS_EKF_THRESH\u3002\u53d1\u751fEKF\u5f02\u5e38\u65f6&#xff0c;GPS\u4f9d\u8d56\u6a21\u5f0f\u53ef\u80fd\u81ea\u52a8\u5207\u6362\u81f3Land\u6216AltHold\u7b49\u5b89\u5168\u6a21\u5f0f\u3002<\/p>\n<\/p>\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"276\" src=\"2026-08-13o0fj4ypypbe.png\" width=\"1020\" \/><\/p>\n<h3>12.6 \u65e5\u5fd7\u5206\u6790\u4e0e\u98de\u884c\u6570\u636e\u56de\u653e<\/h3>\n<p style=\"text-align:center\">12.6.1 \u65e5\u5fd7\u7c7b\u578b<\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"295\" src=\"2026-08-13oamtkzp3vmj.png\" width=\"1200\" \/><\/p>\n<p style=\"text-align:center\">12.6.2 DataFlash\u65e5\u5fd7\u4e0b\u8f7d<\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"604\" src=\"2026-08-13sxfljbsggib.png\" width=\"1016\" \/><\/p>\n<ul>\n<li>\u98de\u884c\u540e\u5148\u65ad\u6868\u6216\u786e\u4fdd\u7535\u673a\u65e0\u6cd5\u610f\u5916\u542f\u52a8&#xff0c;\u518d\u8fde\u63a5Mission Planner\u3002<\/li>\n<li>\u8fdb\u5165DataFlash Logs\u9875\u9762\u8bfb\u53d6\u65e5\u5fd7\u5217\u8868\u3002<\/li>\n<li>\u9009\u62e9\u9700\u8981\u7684.bin\u65e5\u5fd7\u5e76\u4e0b\u8f7d\u5230\u7535\u8111\u3002<\/li>\n<li>\u4f7f\u7528Review a Log\u6216Log Browser\u6253\u5f00\u5e76\u5206\u6790\u3002<\/li>\n<\/ul>\n<p style=\"text-align:center\">12.6.3 \u5173\u952e\u6570\u636e\u68c0\u67e5<\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"702\" src=\"2026-08-135xfvsmo3ik1.png\" width=\"1200\" \/><\/p>\n<p>\u632f\u52a8\u5206\u6790\u5e94\u4f18\u5148\u67e5\u770bVIBE\u548cClip\u8ba1\u6570&#xff0c;\u800c\u4e0d\u662f\u53ea\u770b\u539f\u59cbACC\u66f2\u7ebf\u3002Vibe\u5927\u90e8\u5206\u65f6\u95f4\u4f4e\u4e8e\u7ea630 m\/s\u00b2\u901a\u5e38\u8f83\u7406\u60f3&#xff0c;\u8d85\u8fc760 m\/s\u00b2\u5e76\u4f34\u968fClip\u6301\u7eed\u589e\u52a0\u65f6&#xff0c;\u5e94\u4f18\u5148\u5904\u7406\u87ba\u65cb\u6868\u3001\u7535\u673a\u3001\u673a\u67b6\u548c\u98de\u63a7\u51cf\u9707\u3002<\/p>\n<p style=\"text-align:center\">12.6.4 \u98de\u884c\u6570\u636e\u56de\u653e<\/p>\n<p>Mission Planner\u53ef\u4ee5\u6253\u5f00.tlog\u6587\u4ef6\u8fdb\u884cHUD\u548c\u5730\u56fe\u56de\u653e\u3002\u56de\u653e\u65f6\u53ef\u8c03\u6574\u901f\u5ea6&#xff0c;\u5b9a\u4f4d\u6a21\u5f0f\u5207\u6362\u3001\u5931\u63a7\u4fdd\u62a4\u3001\u4f4d\u7f6e\u8df3\u53d8\u6216\u7535\u6c60\u538b\u964d\u53d1\u751f\u7684\u65f6\u95f4\u70b9&#xff0c;\u5e76\u4e0e.bin\u65e5\u5fd7\u4e2d\u7684\u4f20\u611f\u5668\u6570\u636e\u8fdb\u884c\u4ea4\u53c9\u5206\u6790\u3002<\/p>\n<h3>12.7 \u591a\u65cb\u7ffc\u4e0e\u56fa\u5b9a\u7ffc\u914d\u7f6e\u5dee\u5f02<\/h3>\n<p style=\"text-align:center\">12.7.1 \u673a\u67b6\u7c7b\u578b<\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"458\" src=\"2026-08-134gluzqosd3u.png\" width=\"1200\" \/><\/p>\n<p style=\"text-align:center\">12.7.2 \u98de\u884c\u6a21\u5f0f<\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"748\" src=\"2026-08-13pofmu3lnpdb.png\" width=\"1200\" \/><\/p>\n<p style=\"text-align:center\">12.7.3 \u4f20\u611f\u5668\u4e0e\u6267\u884c\u673a\u6784<\/p>\n<p>\u591a\u65cb\u7ffc\u4e3b\u8981\u4f9d\u9760IMU\u3001\u6c14\u538b\u8ba1\u3001\u7f57\u76d8\u3001GPS\u548c\u7535\u673a\u6df7\u63a7&#xff1b;\u56fa\u5b9a\u7ffc\u901a\u5e38\u8fd8\u9700\u8981\u7a7a\u901f\u7ba1\u3001\u526f\u7ffc\u3001\u5347\u964d\u8235\u3001\u65b9\u5411\u8235\u4ee5\u53ca\u76f8\u5e94\u8235\u673a\u884c\u7a0b\u548c\u53cd\u5411\u914d\u7f6e\u3002\u56fa\u5b9a\u7ffc\u7684\u8235\u673a\u53cd\u5411\u53ef\u4ee5\u5728Servo Output\u4e2d\u8bbe\u7f6e&#xff0c;\u800c\u591a\u65cb\u7ffc\u65e0\u5237\u7535\u673a\u7684\u673a\u68b0\u8f6c\u5411\u901a\u5e38\u901a\u8fc7\u6362\u76f8\u7ebf\u6216\u7535\u8c03\u8f6f\u4ef6\u4fee\u6539\u3002<\/p>\n<p style=\"text-align:center\">12.7.4 PID\u53c2\u6570\u4f53\u7cfb<\/p>\n<p>\u591a\u65cb\u7ffc\u4f7f\u7528ATC_RAT_RLL\/PIT\/YAW\u7b49\u59ff\u6001\u63a7\u5236\u53c2\u6570&#xff1b;\u56fa\u5b9a\u7ffc\u4f7f\u7528\u6a2a\u6eda\u3001\u4fef\u4ef0\u3001\u504f\u822a\u901f\u7387\u63a7\u5236\u53c2\u6570&#xff0c;\u5e76\u6d89\u53caL1\u5bfc\u822a\u548cTECS\u603b\u80fd\u91cf\u63a7\u5236\u3002\u4e24\u5957\u53c2\u6570\u4f53\u7cfb\u4e0d\u80fd\u76f8\u4e92\u7167\u6284\u3002<\/p>\n<h3>12.8 \u89e3\u9501\u3001\u4e0a\u9501\u4e0e\u9065\u63a7\u5668\u5feb\u6377\u5f00\u5173\u8bbe\u7f6e<\/h3>\n<p>ArduCopter\u53ea\u6709\u5728\u89e3\u9501&#xff08;ARMED&#xff09;\u540e\u624d\u5141\u8bb8\u7535\u673a\u8fdb\u5165\u6b63\u5e38\u5de5\u4f5c\u72b6\u6001\u3002\u89e3\u9501\u4e0d\u662f\u7b80\u5355\u7684\u201c\u542f\u52a8\u7535\u673a\u201d\u52a8\u4f5c&#xff1a;\u98de\u63a7\u4f1a\u5148\u68c0\u67e5\u4f20\u611f\u5668\u3001\u9065\u63a7\u5668\u3001\u98de\u884c\u6a21\u5f0f\u3001\u7535\u6c60\u3001\u4f4d\u7f6e\u4f30\u8ba1\u548c\u5b89\u5168\u5f00\u5173\u7b49\u6761\u4ef6\u3002\u7b2c\u4e00\u6b21\u64cd\u4f5c\u5fc5\u987b\u62c6\u9664\u5168\u90e8\u87ba\u65cb\u6868&#xff0c;\u5e76\u5728Mission Planner\u4e2d\u89c2\u5bdfPreArm\u63d0\u793a\u3002<\/p>\n<\/p>\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"144\" src=\"2026-08-135btdz3x2fus.png\" width=\"1200\" \/><\/p>\n<p style=\"text-align:center\">12.8.1 \u89e3\u9501\u524d\u5fc5\u987b\u6ee1\u8db3\u7684\u6761\u4ef6<\/p>\n<ul>\n<li>\u62c6\u9664\u5168\u90e8\u87ba\u65cb\u6868&#xff0c;\u6e05\u7406\u7535\u673a\u5468\u56f4\u7684\u5de5\u5177\u3001\u7ebf\u7f06\u548c\u5176\u4ed6\u7269\u4f53\u3002<\/li>\n<li>\u5148\u6253\u5f00\u9065\u63a7\u5668&#xff0c;\u518d\u7ed9\u98de\u63a7\u548c\u7535\u8c03\u4e0a\u7535&#xff1b;\u4e0a\u7535\u540e\u5c06\u65e0\u4eba\u673a\u653e\u5e73\u5e76\u4fdd\u6301\u9759\u6b62&#xff0c;\u7b49\u5f85\u9640\u87ba\u4eea\u521d\u59cb\u5316\u5b8c\u6210\u3002<\/li>\n<li>\u6cb9\u95e8\u6447\u6746\u4fdd\u6301\u6700\u4f4e&#xff0c;\u98de\u884c\u6a21\u5f0f\u4f18\u5148\u5207\u6362\u5230Stabilize\u3002\u4e0d\u8981\u5728RTL\u3001Brake\u3001Land\u3001Circle\u6216\u5176\u4ed6\u4e0d\u5141\u8bb8\u666e\u901a\u5730\u9762\u89e3\u9501\u7684\u6a21\u5f0f\u4e2d\u53cd\u590d\u5c1d\u8bd5\u3002<\/li>\n<li>\u786e\u8ba4\u9065\u63a7\u5668CH1\u81f3CH4\u8f93\u5165\u6b63\u5e38&#xff0c;\u6cb9\u95e8\u6700\u4f4e\u503c\u901a\u5e38\u63a5\u8fd11000&#xff5e;1100&#xff0c;\u504f\u822a\u6447\u6746\u65b9\u5411\u4e0eMission Planner\u663e\u793a\u4e00\u81f4\u3002<\/li>\n<li>\u5982\u98de\u63a7\u5e26\u786c\u4ef6\u5b89\u5168\u5f00\u5173&#xff0c;\u957f\u6309\u5b89\u5168\u5f00\u5173&#xff0c;\u76f4\u5230\u5b89\u5168\u6307\u793a\u706f\u8fdb\u5165\u5141\u8bb8\u8f93\u51fa\u7684\u72b6\u6001\u3002<\/li>\n<li>\u67e5\u770b\u98de\u884c\u6570\u636e\u9875\u9762\u7684HUD\u548cMessages&#xff0c;\u4e0d\u5f97\u5b58\u5728\u963b\u6b62\u89e3\u9501\u7684PreArm\u9519\u8bef\u3002<\/li>\n<li>\u82e5\u8ba1\u5212\u4f7f\u7528Loiter\u3001RTL\u3001Auto\u6216Guided&#xff0c;\u5e94\u5728\u5ba4\u5916\u7b49\u5f85GPS\u3001Home\u548cEKF\u4f4d\u7f6e\u4f30\u8ba1\u6b63\u5e38\u3002<\/li>\n<li>\u786e\u8ba4\u7535\u6c60\u7535\u538b\u663e\u793a\u4e0e\u5b9e\u9645\u7535\u6c60\u4e00\u81f4&#xff0c;\u4e0d\u80fd\u5728\u201cBattery low voltage failsafe\u201d\u7b49\u544a\u8b66\u72b6\u6001\u4e0b\u5f3a\u5236\u89e3\u9501\u3002<\/li>\n<\/ul>\n<p style=\"text-align:center\">12.8.2 \u4f7f\u7528\u6447\u6746\u89e3\u9501\u548c\u4e0a\u9501<\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"460\" src=\"2026-08-13iru3uniprfa.png\" width=\"1077\" \/><\/p>\n<p>ARMING_RUDDER\u51b3\u5b9a\u662f\u5426\u5141\u8bb8\u901a\u8fc7\u504f\u822a\u6447\u6746\u6267\u884c\u89e3\u9501\u548c\u4e0a\u9501\u3002\u5b83\u53ea\u5728\u6cb9\u95e8\u5904\u4e8e\u6700\u4f4e\u4f4d\u7f6e\u9644\u8fd1\u65f6\u751f\u6548\u3002<\/p>\n<\/p>\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"348\" src=\"2026-08-13r3rf5jsa3u0.png\" width=\"1200\" \/><\/p>\n<ul>\n<li>\u5c06ARMING_RUDDER\u8bbe\u7f6e\u4e3a2&#xff0c;\u70b9\u51fb\u201cWrite Params\u201d\u5199\u5165\u53c2\u6570&#xff1b;\u5982\u679c\u754c\u9762\u63d0\u793a\u9700\u8981\u91cd\u542f&#xff0c;\u5219\u91cd\u65b0\u4e0a\u7535\u540e\u518d\u9a8c\u8bc1\u3002<\/li>\n<li>Mode 2\u9065\u63a7\u5668\u89e3\u9501&#xff1a;\u6cb9\u95e8\u62c9\u5230\u6700\u4f4e&#xff0c;\u5c06\u5de6\u6447\u6746\u63a8\u5230\u53f3\u4e0b\u89d2&#xff0c;\u4e5f\u5c31\u662f\u201c\u6cb9\u95e8\u6700\u4f4e&#xff0b;\u504f\u822a\u6700\u53f3\u201d&#xff0c;\u4fdd\u6301\u7ea65\u79d2\u3002<\/li>\n<li>Mission Planner\u663e\u793aARMED\u540e&#xff0c;\u7acb\u5373\u677e\u5f00\u504f\u822a\u6447\u6746&#xff0c;\u8ba9\u5176\u56de\u5230\u4e2d\u95f4&#xff1b;\u4e0d\u8981\u6301\u7eed\u4fdd\u6301\u53f3\u504f\u822a\u8d85\u8fc715\u79d2&#xff0c;\u4ee5\u514d\u8fdb\u5165AutoTrim\u76f8\u5173\u64cd\u4f5c\u3002<\/li>\n<li>\u4e0a\u9501&#xff1a;\u786e\u8ba4\u98de\u673a\u5df2\u7ecf\u843d\u5730\u3001\u6cb9\u95e8\u6700\u4f4e&#xff0c;\u5c06\u5de6\u6447\u6746\u63a8\u5230\u5de6\u4e0b\u89d2&#xff0c;\u4e5f\u5c31\u662f\u201c\u6cb9\u95e8\u6700\u4f4e&#xff0b;\u504f\u822a\u6700\u5de6\u201d&#xff0c;\u4fdd\u6301\u7ea62\u79d2\u3002<\/li>\n<li>Mission Planner\u663e\u793aDISARMED\u4e14\u7535\u673a\u5b8c\u5168\u505c\u6b62\u540e&#xff0c;\u5148\u65ad\u5f00\u52a8\u529b\u7535\u6c60&#xff0c;\u6700\u540e\u5173\u95ed\u9065\u63a7\u5668\u3002<\/li>\n<\/ul>\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"148\" src=\"2026-08-13l44kb1chicu.png\" width=\"1200\" \/><\/p>\n<p style=\"text-align:center\">12.8.3 \u4f7f\u7528Mission Planner\u5730\u9762\u7ad9\u6309\u94ae\u89e3\u9501<\/p>\n<ul>\n<li>\u5728\u62c6\u6868\u8c03\u8bd5\u3001SITL\u4eff\u771f\u6216\u5730\u9762\u6392\u6545\u65f6&#xff0c;\u4e5f\u53ef\u4ee5\u4f7f\u7528Mission Planner\u53d1\u9001\u89e3\u9501\/\u4e0a\u9501\u547d\u4ee4\u3002\u5b9e\u673a\u6d4b\u8bd5\u65f6\u4ecd\u987b\u6ee1\u8db3\u6240\u6709\u5b89\u5168\u68c0\u67e5\u3002<\/li>\n<li>\u8fdb\u5165\u201c\u98de\u884c\u6570\u636e&#xff08;DATA&#xff09;\u201d&#xff0c;\u6253\u5f00\u5de6\u4e0b\u65b9\u201c\u52a8\u4f5c&#xff08;Actions&#xff09;\u201d\u6807\u7b7e\u3002<\/li>\n<li>\u786e\u8ba4\u6cb9\u95e8\u6700\u4f4e\u3001\u6a21\u5f0f\u53ef\u89e3\u9501\u3001\u65e0\u4eba\u673a\u9759\u6b62\u4e14\u6ca1\u6709\u5173\u952ePreArm\u544a\u8b66\u3002<\/li>\n<li>\u70b9\u51fbArm\/Disarm\u76f8\u5173\u6309\u94ae&#xff0c;\u6309\u7167\u5f39\u7a97\u63d0\u793a\u786e\u8ba4\u64cd\u4f5c\u3002<\/li>\n<li>\u82e5\u5730\u9762\u7ad9\u6309\u94ae\u4e5f\u65e0\u6cd5\u89e3\u9501&#xff0c;\u5e94\u67e5\u770bMessages\u4e2d\u7684\u5b8c\u6574PreArm\u539f\u56e0&#xff1b;\u4e0d\u8981\u8fde\u7eed\u70b9\u51fb&#xff0c;\u4e5f\u4e0d\u8981\u5173\u95edARMING_CHECK\u3002<\/li>\n<li>\u82e5\u5730\u9762\u7ad9\u6309\u94ae\u53ef\u4ee5\u89e3\u9501\u4f46\u6447\u6746\u4e0d\u80fd\u89e3\u9501&#xff0c;\u91cd\u70b9\u68c0\u67e5ARMING_RUDDER\u3001CH3\u6700\u4f4e\u503c\u3001CH4\u65b9\u5411\u548c\u9065\u63a7\u5668\u6821\u51c6\u3002<\/li>\n<\/ul>\n<p style=\"text-align:center\">12.8.4 \u8bbe\u7f6e\u9065\u63a7\u5668\u5feb\u6377\u89e3\u9501\/\u4e0a\u9501\u5f00\u5173<\/p>\n<p>\u9664\u6447\u6746\u52a8\u4f5c\u5916&#xff0c;\u8fd8\u53ef\u4ee5\u628a\u4e00\u4e2a\u672a\u88ab\u5360\u7528\u7684\u9065\u63a7\u5668\u901a\u9053\u5206\u914d\u4e3a\u89e3\u9501\u529f\u80fd\u3002\u4f8b\u5982\u5c06\u9065\u63a7\u5668\u4e24\u6321\u6216\u4e09\u6321\u5f00\u5173\u6620\u5c04\u5230CH7&#xff0c;\u518d\u901a\u8fc7RC7_OPTION\u6307\u5b9a\u529f\u80fd\u3002CH7\u53ea\u662f\u793a\u4f8b&#xff0c;\u4e5f\u53ef\u4ee5\u4f7f\u7528\u5176\u4ed6\u7a7a\u95f2\u901a\u9053&#xff0c;\u4f46\u4e0d\u80fd\u4e0e\u6a2a\u6eda\u3001\u4fef\u4ef0\u3001\u6cb9\u95e8\u3001\u504f\u822a\u6216\u98de\u884c\u6a21\u5f0f\u901a\u9053\u91cd\u590d\u3002<\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"259\" src=\"2026-08-13i0inxuos2og.png\" width=\"542\" \/><\/p>\n<p style=\"text-align:center\">\u56fe12-10 RC7_OPTION\u53c2\u6570\u8bbe\u7f6e\u793a\u4f8b&#xff08;\u622a\u56fe\u4e2d\u5f53\u524d\u503c\u4e3a165&#xff09;<\/p>\n<p style=\"text-align:center\">\u622a\u56fe\u6765\u6e90&#xff1a;\u7528\u6237\u63d0\u4f9b\u7684ARMING\u6587\u6863<\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"146\" src=\"2026-08-13aptgnfoyvmw.png\" width=\"1200\" \/><\/p>\n<p>&#xff08;1&#xff09;\u5148\u786e\u8ba4\u5feb\u6377\u5f00\u5173\u4f7f\u7528\u7684\u63a5\u6536\u673a\u901a\u9053<\/p>\n<p>\u5728\u9065\u63a7\u5668\u4e2d\u9009\u62e9\u4e00\u4e2a\u4e0d\u6613\u8bef\u89e6\u7684\u5f00\u5173&#xff0c;\u5c06\u5b83\u8f93\u51fa\u5230\u7a7a\u95f2\u901a\u9053&#xff0c;\u4f8b\u5982CH7\u3002\u4e0d\u8981\u4f7f\u7528\u9ed8\u8ba4\u98de\u884c\u6a21\u5f0f\u901a\u9053CH5\u3002<\/p>\n<p>\u8fdb\u5165\u201c\u521d\u59cb\u8bbe\u7f6e \u2192 \u5fc5\u8981\u786c\u4ef6 \u2192 \u9065\u63a7\u5668\u6821\u51c6\u201d&#xff0c;\u62e8\u52a8\u8be5\u5f00\u5173&#xff0c;\u786e\u8ba4\u53ea\u6709\u5bf9\u5e94\u901a\u9053\u53d1\u751f\u53d8\u5316\u3002<\/p>\n<p>\u4e24\u6321\u5f00\u5173\u5e94\u80fd\u8fbe\u5230\u4f4e\u4f4d\u5c0f\u4e8e1200 \u03bcs\u3001\u9ad8\u4f4d\u5927\u4e8e1800 \u03bcs&#xff1b;\u4e09\u6321\u5f00\u5173\u7684\u4e2d\u4f4d\u901a\u5e38\u5904\u4e8e1200&#xff5e;1800 \u03bcs\u3002<\/p>\n<p>\u5982\u679c\u9ad8\u4f4d\u8fbe\u4e0d\u52301800\u6216\u4f4e\u4f4d\u964d\u4e0d\u52301200&#xff0c;\u5e94\u5728\u9065\u63a7\u5668\u7aef\u8c03\u6574\u8be5\u901a\u9053\u7684\u884c\u7a0b\u7aef\u70b9&#xff0c;\u7136\u540e\u91cd\u65b0\u6821\u51c6\u9065\u63a7\u5668\u3002<\/p>\n<p>&#xff08;2&#xff09;\u5728\u5168\u90e8\u53c2\u6570\u8868\u4e2d\u5206\u914d\u529f\u80fd<\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"365\" src=\"2026-08-13izak0i1k4km.png\" width=\"1200\" \/><\/p>\n<\/p>\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"525\" src=\"2026-08-13ewenqgmglab.png\" width=\"1200\" \/><\/p>\n<p>\u666e\u901a\u5feb\u6377\u89e3\u9501\/\u4e0a\u9501&#xff1a;\u628aRC7_OPTION\u8bbe\u7f6e\u4e3a153\u3002<\/p>\n<p>\u4f7f\u7528\u7528\u6237\u622a\u56fe\u4e2d\u7684\u4e09\u6321\u6025\u505c\u903b\u8f91&#xff1a;\u628aRC7_OPTION\u8bbe\u7f6e\u4e3a165&#xff0c;\u5e76\u786e\u8ba4\u9065\u63a7\u5668\u786e\u5b9e\u4e3a\u4e09\u6321\u5f00\u5173\u3002<\/p>\n<p>\u70b9\u51fb\u201cWrite Params\u201d&#xff0c;\u91cd\u65b0\u542f\u52a8\u98de\u63a7&#xff0c;\u518d\u56de\u5230\u9065\u63a7\u5668\u6821\u51c6\u6216Status\u9875\u9762\u68c0\u67e5\u901a\u9053PWM\u3002<\/p>\n<p>\u4fdd\u6301\u62c6\u6868&#xff0c;\u5148\u6d4b\u8bd5\u4f4e\u4f4d\u3001\u4e2d\u4f4d\u548c\u9ad8\u4f4d&#xff0c;\u89c2\u5bdfMission Planner\u4e2d\u7684ARMED\/DISARMED\u72b6\u6001\u4ee5\u53caMessages\u63d0\u793a\u3002<\/p>\n<p>\u786e\u8ba4\u52a8\u4f5c\u65b9\u5411\u5b8c\u5168\u6b63\u786e\u540e\u518d\u51b3\u5b9a\u662f\u5426\u4fdd\u7559\u8be5\u5feb\u6377\u5f00\u5173&#xff1b;\u4e0d\u719f\u6089\u65f6\u5e94\u6062\u590dRC7_OPTION&#061;0\u5e76\u4f7f\u7528\u6807\u51c6\u6447\u6746\u89e3\u9501\u3002<\/p>\n<p style=\"text-align:center\">12.8.5 \u9009\u9879153\u4e0e165\u7684\u529f\u80fd\u533a\u522b<\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"753\" src=\"2026-08-13yu3icqul3k2.png\" width=\"1200\" \/><\/p>\n<p style=\"text-align:center\">12.8.6 \u89e3\u9501\u5931\u8d25\u7684\u5feb\u901f\u6392\u67e5<\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"893\" src=\"2026-08-13objvpj1bocn.png\" width=\"1200\" \/><\/p>\n<p style=\"text-align:center\">12.8.7 \u63a8\u8350\u7684\u65b0\u624b\u914d\u7f6e<\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"207\" src=\"2026-08-13maa2cfitwtn.png\" width=\"1200\" \/><\/p>\n<h3>12.9 \u98de\u884c\u8ba1\u5212\u4e0e\u822a\u70b9\u4efb\u52a1\u8bbe\u7f6e<\/h3>\n<p>Mission Planner\u7684\u201c\u98de\u884c\u8ba1\u5212&#xff08;PLAN&#xff09;\u201d\u9875\u9762\u7528\u4e8e\u7f16\u8f91\u81ea\u52a8\u4efb\u52a1\u3002\u7528\u6237\u53ef\u4ee5\u5728\u5730\u56fe\u4e0a\u6dfb\u52a0\u822a\u70b9&#xff0c;\u8bbe\u7f6e\u8d77\u98de\u3001\u822a\u70b9\u98de\u884c\u3001\u60ac\u505c\u3001\u6539\u53d8\u901f\u5ea6\u3001\u8fd4\u822a\u548c\u964d\u843d\u7b49\u547d\u4ee4&#xff0c;\u5e76\u5c06\u4efb\u52a1\u5199\u5165\u98de\u63a7\u3002\u98de\u884c\u8ba1\u5212\u53ea\u8d1f\u8d23\u63cf\u8ff0\u81ea\u52a8\u4efb\u52a1&#xff0c;\u4e0d\u80fd\u66ff\u4ee3\u4f20\u611f\u5668\u6821\u51c6\u3001\u5931\u63a7\u4fdd\u62a4\u3001\u7a7a\u57df\u786e\u8ba4\u548c\u4eba\u5de5\u63a5\u7ba1\u51c6\u5907\u3002<\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"688\" src=\"2026-08-13jaxdh5qamvz.png\" width=\"1000\" \/><\/p>\n<p style=\"text-align:center\">\u56fe12-7 Mission Planner\u98de\u884c\u8ba1\u5212\u4e0e\u822a\u70b9\u7f16\u8f91\u754c\u9762<\/p>\n<p style=\"text-align:center\">\u622a\u56fe\u6765\u6e90&#xff1a;\u7528\u6237\u5b9e\u9645\u64cd\u4f5c\u754c\u9762<\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"278\" src=\"2026-08-13xhx15c3f4xl.png\" width=\"1075\" \/><\/p>\n<p style=\"text-align:center\">12.9.1 \u98de\u884c\u8ba1\u5212\u754c\u9762\u7ec4\u6210<\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"459\" src=\"2026-08-13kiooo2da4rv.png\" width=\"1200\" \/><\/p>\n<p style=\"text-align:center\">12.9.2 \u521b\u5efa\u4e00\u4e2a\u57fa\u7840\u56db\u65cb\u7ffc\u4efb\u52a1<\/p>\n<ul>\n<li>\u8fde\u63a5\u98de\u63a7\u540e\u8fdb\u5165\u201c\u98de\u884c\u8ba1\u5212\u201d\u3002\u5b9e\u673a\u89c4\u5212\u524d\u5e94\u7b49\u5f85GPS\u5b9a\u4f4d\u6b63\u5e38&#xff1b;\u4ec5\u7f16\u8f91\u79bb\u7ebf\u4efb\u52a1\u65f6\u53ef\u4ee5\u4e0d\u8fde\u63a5\u98de\u63a7&#xff0c;\u4f46\u5199\u5165\u4efb\u52a1\u524d\u5fc5\u987b\u5efa\u7acb\u8fde\u63a5\u3002<\/li>\n<li>\u5c06\u5730\u56fe\u79fb\u52a8\u5e76\u653e\u5927\u5230\u5b9e\u9645\u98de\u884c\u533a\u57df\u3002\u786e\u8ba4\u5c4f\u5e55\u4e2d\u7684\u4f4d\u7f6e\u4e0d\u662f\u7701\u7ea7\u6216\u5168\u56fd\u7ea7\u7f29\u653e&#xff0c;\u907f\u514d\u56e0\u8bef\u70b9\u51fb\u4ea7\u751f\u51e0\u5341\u6216\u51e0\u767e\u5343\u7c73\u5916\u7684\u822a\u70b9\u3002<\/li>\n<li>\u5728\u9ad8\u5ea6\u57fa\u51c6\u4e2d\u9009\u62e9Relative&#xff08;\u76f8\u5bf9Home\u9ad8\u5ea6&#xff09;\u3002\u521d\u5b66\u9636\u6bb5\u4e0d\u5efa\u8bae\u6df7\u7528\u7edd\u5bf9\u6d77\u62d4\u548c\u5730\u5f62\u8ddf\u968f\u9ad8\u5ea6\u3002<\/li>\n<li>\u5728\u4efb\u52a1\u8d77\u70b9\u52a0\u5165TAKEOFF\u547d\u4ee4&#xff0c;\u5e76\u586b\u5199\u5b89\u5168\u8d77\u98de\u9ad8\u5ea6\u3002\u9ad8\u5ea6\u5e94\u9ad8\u4e8e\u9644\u8fd1\u5730\u9762\u969c\u788d&#xff0c;\u540c\u65f6\u7b26\u5408\u5f53\u5730\u6cd5\u89c4\u548c\u573a\u5730\u9650\u5236\u3002<\/li>\n<li>\u5728\u5730\u56fe\u4e0a\u4f9d\u6b21\u70b9\u51fb\u9700\u8981\u7ecf\u8fc7\u7684\u4f4d\u7f6e&#xff0c;\u751f\u6210WAYPOINT\u822a\u70b9\u3002\u7b2c\u4e00\u6b21\u7ec3\u4e60\u5efa\u8bae\u53ea\u8bbe\u7f6e3\u81f34\u4e2a\u8fd1\u8ddd\u79bb\u822a\u70b9&#xff0c;\u5f62\u6210\u7b80\u5355\u4e09\u89d2\u5f62\u6216\u77e9\u5f62\u8def\u7ebf\u3002<\/li>\n<li>\u5982\u9700\u5728\u67d0\u70b9\u505c\u7559&#xff0c;\u53ef\u628a\u8be5\u884c\u547d\u4ee4\u6539\u4e3aLOITER_TIME&#xff0c;\u5e76\u586b\u5199\u60ac\u505c\u65f6\u95f4&#xff1b;\u5982\u9700\u6539\u53d8\u4efb\u52a1\u901f\u5ea6&#xff0c;\u53ef\u5728\u9002\u5f53\u4f4d\u7f6e\u52a0\u5165DO_CHANGE_SPEED\u3002<\/li>\n<li>\u4efb\u52a1\u672b\u5c3e\u52a0\u5165RTL\u6216LAND\u3002\u7b2c\u4e00\u6b21\u5b9e\u673a\u4efb\u52a1\u4f18\u5148\u4f7f\u7528RTL&#xff0c;\u5e76\u5728\u6b64\u524d\u5df2\u7ecf\u5355\u72ec\u9a8c\u8bc1RTL\u5de5\u4f5c\u6b63\u5e38\u3002<\/li>\n<li>\u70b9\u51fb\u201c\u5199\u5165\u822a\u70b9&#xff08;Write WPs&#xff09;\u201d\u4e0a\u4f20\u4efb\u52a1&#xff0c;\u968f\u540e\u70b9\u51fb\u201c\u8bfb\u53d6\u822a\u70b9&#xff08;Read WPs&#xff09;\u201d\u56de\u8bfb&#xff0c;\u9010\u884c\u68c0\u67e5\u547d\u4ee4\u3001\u987a\u5e8f\u3001\u5750\u6807\u548c\u9ad8\u5ea6\u3002<\/li>\n<\/ul>\n<p style=\"text-align:center\">12.9.3 \u5e38\u7528\u4efb\u52a1\u547d\u4ee4<\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"605\" src=\"2026-08-13merw3bwwicf.png\" width=\"1200\" \/><\/p>\n<p style=\"text-align:center\">12.9.4 Home\u4f4d\u7f6e\u4e0e\u9ad8\u5ea6\u57fa\u51c6<\/p>\n<p>\u98de\u884c\u8ba1\u5212\u9875\u9762\u4e2d\u7684Home\u56fe\u6807\u7528\u4e8e\u4efb\u52a1\u89c4\u5212\u548c\u8ddd\u79bb\u8ba1\u7b97\u3002\u5b9e\u673a\u98de\u884c\u65f6&#xff0c;\u98de\u63a7\u901a\u5e38\u5728\u83b7\u5f97\u53ef\u9760\u4f4d\u7f6e\u5e76\u5b8c\u6210\u89e3\u9501\u65f6\u5efa\u7acb\u5b9e\u9645Home\u70b9\u3002\u56e0\u6b64&#xff0c;\u4e0d\u80fd\u4ec5\u5728\u5730\u56fe\u4e0a\u62d6\u52a8Home\u56fe\u6807&#xff0c;\u5c31\u5047\u5b9a\u5b9e\u673a\u8fd4\u822a\u70b9\u5df2\u7ecf\u88ab\u5b89\u5168\u4fee\u6539\u3002\u8d77\u98de\u524d\u5fc5\u987b\u5728\u98de\u884c\u6570\u636e\u9875\u9762\u786e\u8ba4Home\u5df2\u5efa\u7acb&#xff0c;\u4e14\u98de\u673a\u5f53\u524d\u4f4d\u7f6e\u3001\u5730\u56fe\u4f4d\u7f6e\u548c\u822a\u5411\u4e00\u81f4\u3002<\/p>\n<ul>\n<li>Relative&#xff1a;\u76f8\u5bf9Home\u9ad8\u5ea6\u3002\u9002\u5408\u5927\u591a\u6570\u521d\u5b66\u8005\u4efb\u52a1&#xff0c;\u4f46\u5fc5\u987b\u786e\u8ba4Home\u4f4d\u7f6e\u548c\u8d77\u98de\u70b9\u5730\u9762\u9ad8\u5ea6\u3002<\/li>\n<li>Absolute&#xff1a;\u76f8\u5bf9\u6d77\u5e73\u9762\u7684\u7edd\u5bf9\u9ad8\u5ea6\u3002\u9700\u8981\u51c6\u786e\u7406\u89e3\u5f53\u5730\u6d77\u62d4\u548c\u4efb\u52a1\u6570\u636e\u6765\u6e90\u3002<\/li>\n<li>Terrain&#xff1a;\u76f8\u5bf9\u5730\u5f62\u9ad8\u5ea6\u3002\u4f9d\u8d56\u5730\u5f62\u6570\u636e\u548c\u76f8\u5173\u529f\u80fd\u914d\u7f6e&#xff0c;\u4e0d\u5efa\u8bae\u5728\u9996\u6b21\u4efb\u52a1\u4e2d\u76f4\u63a5\u4f7f\u7528\u3002<\/li>\n<\/ul>\n<p style=\"text-align:center\">12.9.5 \u822a\u7ebf\u4fdd\u5b58\u3001\u5199\u5165\u4e0e\u56de\u8bfb<\/p>\n<ul>\n<li>\u70b9\u51fb\u201c\u4fdd\u5b58\u822a\u70b9\u6587\u4ef6\u201d&#xff0c;\u5c06\u4efb\u52a1\u4fdd\u5b58\u5230\u7535\u8111&#xff0c;\u6587\u4ef6\u540d\u4e2d\u5199\u660e\u5730\u70b9\u3001\u65e5\u671f\u548c\u7248\u672c\u3002<\/li>\n<li>\u70b9\u51fb\u201c\u5199\u5165\u822a\u70b9\u201d\u5c06\u4efb\u52a1\u53d1\u9001\u81f3\u98de\u63a7&#xff0c;\u7b49\u5f85\u72b6\u6001\u680f\u63d0\u793a\u5199\u5165\u5b8c\u6210\u3002<\/li>\n<li>\u7acb\u5373\u70b9\u51fb\u201c\u8bfb\u53d6\u822a\u70b9\u201d&#xff0c;\u4ece\u98de\u63a7\u56de\u8bfb\u4efb\u52a1\u3002\u4e0d\u8981\u7701\u7565\u8fd9\u4e00\u6b65\u3002<\/li>\n<li>\u5bf9\u6bd4\u56de\u8bfb\u540e\u7684\u4efb\u52a1\u5217\u8868&#xff0c;\u91cd\u70b9\u68c0\u67e5\u7b2c\u4e00\u4e2a\u547d\u4ee4\u3001\u6700\u540e\u4e00\u4e2a\u547d\u4ee4\u3001\u6240\u6709\u9ad8\u5ea6\u3001\u901f\u5ea6\u6539\u53d8\u547d\u4ee4\u548c\u8fd4\u822a\/\u964d\u843d\u4f4d\u7f6e\u3002<\/li>\n<li>\u4fee\u6539\u4efb\u52a1\u540e\u91cd\u65b0\u4fdd\u5b58\u4e3a\u65b0\u7248\u672c&#xff0c;\u4e0d\u8981\u8986\u76d6\u552f\u4e00\u7684\u6b63\u786e\u4efb\u52a1\u6587\u4ef6\u3002<\/li>\n<\/ul>\n<p style=\"text-align:center\">12.9.6 \u81ea\u52a8\u4efb\u52a1\u6267\u884c\u987a\u5e8f<\/p>\n<ul>\n<li>\u5b8c\u6210\u9996\u98de\u3001AltHold\u3001Loiter\u548cRTL\u5355\u9879\u6d4b\u8bd5&#xff0c;\u786e\u8ba4\u98de\u884c\u5668\u5728\u4eba\u5de5\u548c\u4f4d\u7f6e\u6a21\u5f0f\u4e0b\u5747\u53ef\u7a33\u5b9a\u98de\u884c\u3002<\/li>\n<li>\u5728\u5730\u9762\u5b8c\u6210\u7535\u6c60\u3001GPS\u3001EKF\u3001\u7f57\u76d8\u3001Home\u3001\u4efb\u52a1\u8ddd\u79bb\u548c\u9884\u8ba1\u98de\u884c\u65f6\u95f4\u68c0\u67e5\u3002<\/li>\n<li>\u8d77\u98de\u540e\u5148\u5728Loiter\u4e2d\u60ac\u505c&#xff0c;\u786e\u8ba4\u4f4d\u7f6e\u7a33\u5b9a&#xff0c;\u518d\u5207\u6362\u5230Auto\u6267\u884c\u4efb\u52a1\u3002<\/li>\n<li>\u4efb\u52a1\u6267\u884c\u65f6\u6301\u7eed\u89c2\u5bdf\u7535\u6c60\u3001GPS\u3001EKF\u3001\u5f53\u524d\u822a\u70b9\u3001\u8ddd\u79bb\u548c\u98de\u884c\u6a21\u5f0f\u3002<\/li>\n<li>\u51fa\u73b0\u822a\u5411\u5f02\u5e38\u3001\u4f4d\u7f6e\u6f02\u79fb\u3001\u4f4e\u7535\u91cf\u6216\u4efb\u52a1\u8def\u7ebf\u4e0d\u6b63\u786e\u65f6&#xff0c;\u7acb\u5373\u5207\u6362\u56deLoiter\u6216Stabilize\u4eba\u5de5\u63a5\u7ba1\u3002<\/li>\n<\/ul>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"191\" src=\"2026-08-13cnjo3uzsp1q.png\" width=\"1069\" \/><\/p>\n<h3>12.10 \u53c2\u6570\u4fee\u6539\u3001\u8c03\u53c2\u4e0e\u98de\u884c\u6570\u636e\u663e\u793a<\/h3>\n<p>Mission Planner\u5c06\u201c\u53c2\u6570\u4fee\u6539\u201d\u548c\u201c\u98de\u884c\u6570\u636e\u663e\u793a\u201d\u5206\u4e3a\u4e24\u4e2a\u4e3b\u8981\u754c\u9762&#xff1a;\u201c\u914d\u7f6e\/\u8c03\u8bd5&#xff08;CONFIG\/TUNING&#xff09;\u201d\u7528\u4e8e\u4fee\u6539\u98de\u63a7\u53c2\u6570&#xff0c;\u201c\u98de\u884c\u6570\u636e&#xff08;DATA&#xff09;\u201d\u7528\u4e8e\u89c2\u5bdfHUD\u3001\u5730\u56fe\u3001\u544a\u8b66\u3001\u5b9e\u65f6\u72b6\u6001\u548c\u9065\u6d4b\u6570\u636e\u3002\u53c2\u6570\u4fee\u6539\u6539\u53d8\u7684\u662f\u98de\u63a7\u63a7\u5236\u884c\u4e3a&#xff0c;\u98de\u884c\u6570\u636e\u548c\u65e5\u5fd7\u5219\u7528\u4e8e\u5224\u65ad\u4fee\u6539\u662f\u5426\u6709\u6548&#xff0c;\u4e8c\u8005\u5e94\u914d\u5408\u4f7f\u7528\u3002<\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"754\" src=\"2026-08-135ogb1xubjpc.png\" width=\"1000\" \/><\/p>\n<p style=\"text-align:center\">\u56fe12-8 Mission Planner\u98de\u884c\u6570\u636e\u3001HUD\u3001\u5730\u56fe\u548c\u72b6\u6001\u663e\u793a\u754c\u9762<\/p>\n<p style=\"text-align:center\">\u622a\u56fe\u6765\u6e90&#xff1a;\u7528\u6237\u5b9e\u9645\u64cd\u4f5c\u754c\u9762<\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"274\" src=\"2026-08-13npjcmiqtz1m.png\" width=\"1069\" \/><\/p>\n<p style=\"text-align:center\">12.10.1 \u98de\u884c\u6570\u636e\u9875\u9762\u7684\u4e3b\u8981\u533a\u57df<\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"517\" src=\"2026-08-133nwtoqr1ixf.png\" width=\"1200\" \/><\/p>\n<p style=\"text-align:center\">12.10.2 HUD\u4e0e\u5730\u56fe\u7684\u6b63\u786e\u8bfb\u53d6\u65b9\u6cd5<\/p>\n<ul>\n<li>\u59ff\u6001&#xff1a;\u98de\u673a\u5411\u53f3\u503e\u659c\u65f6&#xff0c;\u4eba\u5de5\u5730\u5e73\u7ebf\u4f1a\u4ee5\u98de\u884c\u4eea\u8868\u7684\u65b9\u5f0f\u76f8\u53cd\u503e\u659c&#xff1b;\u5224\u65ad\u65f6\u5e94\u540c\u65f6\u89c2\u5bdfRoll\u548cPitch\u6570\u503c\u3002<\/li>\n<li>\u6a21\u5f0f&#xff1a;\u786e\u8ba4HUD\u53f3\u4e0b\u89d2\u663e\u793a\u7684Stabilize\u3001AltHold\u3001Loiter\u6216Auto\u4e0e\u9065\u63a7\u5668\u5f00\u5173\u4e00\u81f4\u3002<\/li>\n<li>\u89e3\u9501\u72b6\u6001&#xff1a;ARMED\u8868\u793a\u7535\u673a\u8f93\u51fa\u5df2\u5141\u8bb8&#xff0c;DISARMED\u8868\u793a\u4e0a\u9501\u3002\u4efb\u4f55\u544a\u8b66\u72b6\u6001\u4e0b\u5747\u4e0d\u5e94\u5f3a\u884c\u89e3\u9501\u3002<\/li>\n<li>\u7535\u6c60&#xff1a;\u540c\u65f6\u67e5\u770b\u7535\u538b\u3001\u7535\u6d41\u548c\u5269\u4f59\u5bb9\u91cf\u3002\u767e\u5206\u6bd4\u53ea\u5728\u5bb9\u91cf\u548c\u7535\u6d41\u8ba1\u914d\u7f6e\u6b63\u786e\u65f6\u624d\u6709\u53c2\u8003\u4ef7\u503c\u3002<\/li>\n<li>GPS&#xff1a;\u672a\u5b9a\u4f4d\u65f6\u5730\u56fe\u4f4d\u7f6e\u548cHome\u53ef\u80fd\u4e0d\u53ef\u9760&#xff0c;\u4e0d\u80fd\u6d4b\u8bd5Loiter\u3001RTL\u3001Auto\u548cGuided\u3002<\/li>\n<li>EKF\u4e0eVIBE&#xff1a;EKF\u5f02\u5e38\u6216\u632f\u52a8\u8fc7\u5927\u53ef\u80fd\u5bfc\u81f4\u5b9a\u9ad8\u3001\u5b9a\u70b9\u548c\u5bfc\u822a\u5931\u6548\u3002<\/li>\n<\/ul>\n<p style=\"text-align:center\">12.10.3 \u53c2\u6570\u4fee\u6539\u7684\u6807\u51c6\u6d41\u7a0b<\/p>\n<ul>\n<li>\u8fdb\u5165\u201c\u914d\u7f6e\/\u8c03\u8bd5 \u2192 \u5168\u90e8\u53c2\u6570\u8868&#xff08;Full Parameter List&#xff09;\u201d\u3002<\/li>\n<li>\u70b9\u51fb\u201cSave to File\u201d\u4fdd\u5b58\u5f53\u524d\u5b8c\u6574\u53c2\u6570&#xff0c;\u6587\u4ef6\u540d\u6ce8\u660e\u65e5\u671f\u548c\u4fee\u6539\u524d\u72b6\u6001\u3002<\/li>\n<li>\u4f7f\u7528\u641c\u7d22\u6846\u67e5\u627e\u76ee\u6807\u53c2\u6570&#xff0c;\u5148\u9605\u8bfb\u5f53\u524d\u56fa\u4ef6\u7248\u672c\u663e\u793a\u7684\u53c2\u6570\u8bf4\u660e\u3001\u5355\u4f4d\u3001\u8303\u56f4\u548c\u91cd\u542f\u8981\u6c42\u3002<\/li>\n<li>\u8bb0\u5f55\u539f\u503c&#xff0c;\u53ea\u4fee\u6539\u4e00\u4e2a\u53c2\u6570\u6216\u4e00\u7ec4\u660e\u786e\u5173\u8054\u7684\u53c2\u6570&#xff1b;\u4e0d\u8981\u4e00\u6b21\u6279\u91cf\u4fee\u6539\u591a\u4e2a\u4e0d\u76f8\u5173\u9879\u76ee\u3002<\/li>\n<li>\u8f93\u5165\u65b0\u503c\u540e\u70b9\u51fb\u201cWrite Params\u201d\u3002\u9700\u8981\u91cd\u542f\u7684\u53c2\u6570\u5e94\u65ad\u5f00\u5e76\u91cd\u65b0\u4e0a\u7535&#xff0c;\u518d\u70b9\u51fb\u201cRefresh Params\u201d\u786e\u8ba4\u5199\u5165\u503c\u3002<\/li>\n<li>\u8fdb\u884c\u4f4e\u98ce\u9669\u5730\u9762\u6d4b\u8bd5\u6216\u77ed\u65f6\u95f4\u60ac\u505c&#xff0c;\u4e0b\u8f7d\u65e5\u5fd7\u5e76\u6bd4\u8f83\u4fee\u6539\u524d\u540e\u7684\u8868\u73b0\u3002<\/li>\n<li>\u82e5\u6548\u679c\u53d8\u5dee&#xff0c;\u7acb\u5373\u6062\u590d\u4fdd\u5b58\u7684\u539f\u503c&#xff1b;\u4e0d\u8981\u7ee7\u7eed\u5728\u9519\u8bef\u65b9\u5411\u4e0a\u53e0\u52a0\u4fee\u6539\u3002<\/li>\n<\/ul>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"198\" src=\"2026-08-13p21eiz1uyd2.png\" width=\"1072\" \/><\/p>\n<p style=\"text-align:center\">12.10.4 \u65b0\u624b\u8c03\u53c2\u987a\u5e8f<\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"634\" src=\"2026-08-13telh32i3mkq.png\" width=\"1200\" \/><\/p>\n<p style=\"text-align:center\">12.10.5 \u5efa\u8bae\u56fa\u5b9a\u663e\u793a\u7684\u5b9e\u65f6\u6570\u636e<\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"835\" src=\"2026-08-13e1mwpnrion4.png\" width=\"1200\" \/><\/p>\n<p style=\"text-align:center\">12.10.6 Quick\u3001Messages\u548cStatus\u7684\u4f7f\u7528<\/p>\n<p>\u5728Quick\u9875\u9762\u53cc\u51fb\u7a7a\u767d\u6216\u6570\u636e\u9879&#xff0c;\u6839\u636e\u754c\u9762\u63d0\u793a\u6dfb\u52a0\u9700\u8981\u7684\u5927\u5b57\u4f53\u9065\u6d4b\u5b57\u6bb5\u3002<\/p>\n<p>\u8fdb\u5165Messages\u9875\u9762\u67e5\u770b\u5b8c\u6574\u544a\u8b66\u3002HUD\u901a\u5e38\u53ea\u663e\u793a\u6700\u91cd\u8981\u6216\u6700\u8fd1\u7684\u4fe1\u606f&#xff0c;\u6392\u6545\u65f6\u5e94\u8bfb\u53d6\u5168\u90e8\u6d88\u606f\u3002<\/p>\n<p>\u8fdb\u5165Status\u9875\u9762\u641c\u7d22roll\u3001pitch\u3001yaw\u3001battery\u3001gps\u3001ekf\u3001vibe\u3001rcin\u7b49\u5b57\u6bb5&#xff0c;\u786e\u8ba4\u539f\u59cb\u6570\u636e\u4e0e\u5b9e\u7269\u52a8\u4f5c\u4e00\u81f4\u3002<\/p>\n<p>\u98de\u884c\u8fc7\u7a0b\u4e2d\u4e0d\u5efa\u8bae\u9891\u7e41\u5207\u6362\u590d\u6742\u9875\u9762\u3002\u5e94\u63d0\u524d\u56fa\u5b9a\u6700\u9700\u8981\u7684\u5b57\u6bb5&#xff0c;\u5e76\u7531\u5730\u9762\u4eba\u5458\u534f\u52a9\u89c2\u5bdf\u3002<\/p>\n<p style=\"text-align:center\">12.10.7 \u98de\u884c\u540e\u9a8c\u8bc1\u53c2\u6570\u6548\u679c<\/p>\n<p>\u4e0b\u8f7dDataFlash .bin\u65e5\u5fd7&#xff0c;\u91cd\u70b9\u67e5\u770bATT\u3001PIDR\u3001PIDP\u3001PIDY\u3001VIBE\u3001BAT\u3001GPS\u548cXKF\/NKF\u6570\u636e\u3002<\/p>\n<p>\u6bd4\u8f83\u76ee\u6807\u59ff\u6001\u4e0e\u5b9e\u9645\u59ff\u6001\u66f2\u7ebf&#xff0c;\u5224\u65ad\u662f\u5426\u5b58\u5728\u660e\u663e\u6ede\u540e\u3001\u8d85\u8c03\u6216\u6301\u7eed\u632f\u8361\u3002<\/p>\n<p>\u5bf9\u6bd4\u53c2\u6570\u4fee\u6539\u524d\u540e\u7684\u76f8\u540c\u52a8\u4f5c\u6216\u76f8\u540c\u4efb\u52a1&#xff0c;\u4e0d\u8981\u7528\u5b8c\u5168\u4e0d\u540c\u7684\u98ce\u51b5\u548c\u8f7d\u8377\u76f4\u63a5\u4e0b\u7ed3\u8bba\u3002<\/p>\n<p>\u786e\u8ba4\u6539\u52a8\u786e\u5b9e\u6539\u5584\u540e&#xff0c;\u518d\u8fdb\u884c\u4e0b\u4e00\u9879\u5c0f\u5e45\u4fee\u6539&#xff0c;\u5e76\u4fdd\u5b58\u65b0\u7684\u53c2\u6570\u7248\u672c\u3002<\/p>\n<\/p>\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"279\" src=\"2026-08-13splq1tq2bw4.png\" width=\"1072\" \/><\/p>\n<h3>12.11 Mission Planner\u6a21\u62df\u98de\u884c&#xff08;SITL&#xff09;<\/h3>\n<p>Mission Planner\u7684\u201c\u6a21\u62df&#xff08;SIMULATION&#xff09;\u201d\u9875\u9762\u53ef\u4ee5\u542f\u52a8SITL&#xff08;Software in the Loop&#xff0c;\u8f6f\u4ef6\u5728\u73af&#xff09;\u98de\u884c\u5668\u3002SITL\u5728\u7535\u8111\u4e2d\u8fd0\u884cArduPilot\u56fa\u4ef6\u548c\u98de\u884c\u52a8\u529b\u5b66\u6a21\u578b&#xff0c;\u53ef\u7528\u4e8e\u7ec3\u4e60\u5730\u9762\u7ad9\u64cd\u4f5c\u3001\u9a8c\u8bc1\u822a\u70b9\u4efb\u52a1\u3001\u719f\u6089\u6a21\u5f0f\u5207\u6362\u548c\u6d4b\u8bd5\u53c2\u6570\u903b\u8f91&#xff0c;\u800c\u4e0d\u4f1a\u8ba9\u771f\u5b9e\u7535\u673a\u548c\u87ba\u65cb\u6868\u8f6c\u52a8\u3002<\/p>\n<\/p>\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"725\" src=\"2026-08-13zsyw1002rzj.png\" width=\"1000\" \/><\/p>\n<p style=\"text-align:center\">\u56fe12-9 Mission Planner\u6a21\u62df\u98de\u884c&#xff08;SITL&#xff09;\u542f\u52a8\u754c\u9762<\/p>\n<p style=\"text-align:center\">\u622a\u56fe\u6765\u6e90&#xff1a;\u7528\u6237\u5b9e\u9645\u64cd\u4f5c\u754c\u9762<\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"274\" src=\"2026-08-13rq1x4w0nber.png\" width=\"1072\" \/><\/p>\n<p style=\"text-align:center\">12.11.1 \u6a21\u62df\u754c\u9762\u4e3b\u8981\u9009\u9879<\/p>\n<p style=\"text-align:center\">\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"750\" src=\"2026-08-13uccmanjllle.png\" width=\"1200\" \/><\/p>\n<p style=\"text-align:center\">12.11.2 \u542f\u52a8\u5355\u67b6\u56db\u65cb\u7ffcSITL<\/p>\n<p>\u5148\u4e0e\u771f\u5b9e\u98de\u63a7\u65ad\u5f00\u8fde\u63a5\u3002\u4e0d\u8981\u5728\u771f\u5b9e\u98de\u63a7\u4fdd\u6301\u8fde\u63a5\u65f6\u542f\u52a8\u4eff\u771f&#xff0c;\u4ee5\u514d\u6df7\u6dc6\u771f\u5b9e\u53c2\u6570\u548c\u6a21\u62df\u53c2\u6570\u3002<\/p>\n<p>\u70b9\u51fb\u9876\u90e8\u201c\u6a21\u62df\u201d&#xff0c;\u5728\u5730\u56fe\u4e0a\u62d6\u52a8Home\u4f4d\u7f6e\u5230\u51c6\u5907\u7ec3\u4e60\u7684\u533a\u57df\u3002<\/p>\n<p>\u5c06Sim Speed\u8bbe\u7f6e\u4e3a1&#xff0c;\u5c06\u56fa\u4ef6\u5206\u652f\u9009\u62e9\u4e3aStable\u3002<\/p>\n<p>\u5728Model\u4e0b\u62c9\u6846\u4e2d\u9009\u62e9\u4e0e\u56db\u65cb\u7ffc\u5bf9\u5e94\u7684\u6a21\u578b&#xff0c;\u518d\u70b9\u51fb\u4e0b\u65b9\u591a\u65cb\u7ffc\/Copter\u56fe\u6807\u542f\u52a8\u3002\u6a21\u578b\u548c\u8f66\u8f86\u7c7b\u578b\u5fc5\u987b\u5339\u914d\u3002<\/p>\n<p>\u7b49\u5f85Mission Planner\u4e0b\u8f7d\u6216\u52a0\u8f7dSITL\u6587\u4ef6\u3002\u542f\u52a8\u5b8c\u6210\u540e\u8f6f\u4ef6\u4f1a\u81ea\u52a8\u8fde\u63a5\u6a21\u62df\u98de\u884c\u5668\u5e76\u8bfb\u53d6\u53c2\u6570\u3002<\/p>\n<p>\u5207\u6362\u5230\u201c\u98de\u884c\u6570\u636e\u201d&#xff0c;\u786e\u8ba4\u5730\u56fe\u4e0a\u51fa\u73b0\u6a21\u62df\u98de\u673a&#xff0c;GPS\u3001\u59ff\u6001\u548cHome\u6570\u636e\u6b63\u5e38\u3002<\/p>\n<p style=\"text-align:center\">12.11.3 \u6a21\u62df\u5668\u4e2d\u7684\u57fa\u7840\u98de\u884c\u7ec3\u4e60<\/p>\n<p>\u5728\u98de\u884c\u6570\u636e\u9875\u9762\u786e\u8ba4\u5f53\u524d\u6a21\u5f0f\u4e3aStabilize\u6216Loiter&#xff0c;\u5e76\u68c0\u67e5\u6ca1\u6709\u5173\u952ePreArm\u544a\u8b66\u3002<\/p>\n<p>\u53ef\u8fde\u63a5\u6e38\u620f\u6746\/\u9065\u63a7\u5668\u8fdb\u884c\u624b\u52a8\u64cd\u63a7&#xff0c;\u4e5f\u53ef\u4ee5\u4f7f\u7528Actions\u6216Guided\u547d\u4ee4\u8fdb\u884c\u89e3\u9501\u3001\u8d77\u98de\u548c\u4f4d\u7f6e\u63a7\u5236\u3002<\/p>\n<p>\u5148\u7ec3\u4e60\u89e3\u9501\u3001\u4e0a\u9501\u3001\u8d77\u98de\u3001\u60ac\u505c\u3001\u6a21\u5f0f\u5207\u6362\u548cRTL\u3002<\/p>\n<p>\u89c2\u5bdfHUD\u4e2d\u7684\u9ad8\u5ea6\u3001\u901f\u5ea6\u3001\u822a\u5411\u3001\u6a21\u5f0f\u548c\u7535\u6c60\u6a21\u62df\u6570\u636e&#xff0c;\u719f\u6089\u771f\u5b9e\u98de\u884c\u65f6\u9700\u8981\u5173\u6ce8\u7684\u4f4d\u7f6e\u3002<\/p>\n<p>\u7ec3\u4e60\u9047\u5230\u5f02\u5e38\u65f6\u5207\u6362\u56deLoiter\u6216Stabilize&#xff0c;\u5e76\u6267\u884cRTL\u6216Land\u3002<\/p>\n<p style=\"text-align:center\">12.11.4 \u5728SITL\u4e2d\u9a8c\u8bc1\u822a\u70b9\u4efb\u52a1<\/p>\n<p>\u8fdb\u5165\u201c\u98de\u884c\u8ba1\u5212\u201d&#xff0c;\u5728\u6a21\u62dfHome\u9644\u8fd1\u521b\u5efa\u4e00\u4e2a\u77ed\u8ddd\u79bb\u4efb\u52a1&#xff1a;TAKEOFF \u2192 3\u4e2aWAYPOINT \u2192 RTL\u3002<\/p>\n<p>\u4f7f\u7528\u76f8\u5bf9\u9ad8\u5ea6&#xff0c;\u8d77\u98de\u9ad8\u5ea6\u548c\u822a\u70b9\u9ad8\u5ea6\u4fdd\u6301\u4fdd\u5b88&#xff0c;\u822a\u70b9\u95f4\u8ddd\u5148\u63a7\u5236\u5728\u8f83\u5c0f\u8303\u56f4\u3002<\/p>\n<p>\u70b9\u51fb\u201c\u5199\u5165\u822a\u70b9\u201d&#xff0c;\u518d\u70b9\u51fb\u201c\u8bfb\u53d6\u822a\u70b9\u201d\u56de\u8bfb\u68c0\u67e5\u3002<\/p>\n<p>\u8fd4\u56de\u201c\u98de\u884c\u6570\u636e\u201d&#xff0c;\u89e3\u9501\u5e76\u5207\u6362\u5230Auto&#xff0c;\u89c2\u5bdf\u98de\u673a\u662f\u5426\u6309\u987a\u5e8f\u6267\u884c\u4efb\u52a1\u3002<\/p>\n<p>\u76d1\u63a7\u5f53\u524d\u822a\u70b9\u3001\u822a\u70b9\u8ddd\u79bb\u3001\u9ad8\u5ea6\u3001\u901f\u5ea6\u548c\u6a21\u5f0f&#xff1b;\u53d1\u73b0\u8def\u7ebf\u4e0d\u6b63\u786e\u65f6\u7acb\u5373\u5207\u6362\u4eba\u5de5\u6a21\u5f0f\u3002<\/p>\n<p>\u4efb\u52a1\u7ed3\u675f\u540e\u67e5\u770b\u5730\u56fe\u822a\u8ff9\u548c.tlog\u56de\u653e&#xff0c;\u786e\u8ba4\u5b9e\u9645\u8f68\u8ff9\u4e0e\u89c4\u5212\u8def\u7ebf\u4e00\u81f4\u3002<\/p>\n<p style=\"text-align:center\">12.11.5 \u4eff\u771fHome\u4e0e\u822a\u70b9\u8bbe\u7f6e\u8981\u6c42<\/p>\n<p>\u4eff\u771fHome\u51b3\u5b9a\u865a\u62df\u98de\u673a\u7684\u521d\u59cb\u4f4d\u7f6e\u3001\u76f8\u5bf9\u9ad8\u5ea6\u57fa\u51c6\u548cRTL\u8fd4\u822a\u4f4d\u7f6e\u3002\u822a\u70b9\u51b3\u5b9a\u5b9e\u9645\u4efb\u52a1\u8def\u7ebf\u3002\u8bbe\u7f6e\u9519\u8bef\u4f1a\u9020\u6210\u98de\u673a\u51fa\u73b0\u5728\u8fdc\u5904\u3001\u5730\u56fe\u51fa\u73b0\u8d85\u957f\u8fde\u7ebf\u6216RTL\u8fd4\u56de\u9519\u8bef\u533a\u57df\u3002<\/p>\n<p>Home\u8bbe\u7f6e&#xff1a;\u542f\u52a8SITL\u524d&#xff0c;\u628a\u201cHome Location &#8211; Drag Me\u201d\u62d6\u5230\u7a7a\u65f7\u7ec3\u4e60\u533a\u57df&#xff0c;\u5e76\u5c06\u5730\u56fe\u653e\u5927\u5230\u8857\u533a\u6216\u573a\u5730\u7ea7\u522b\u3002<\/p>\n<p>\u822a\u70b9\u8303\u56f4&#xff1a;\u6240\u6709\u822a\u70b9\u653e\u5728Home\u9644\u8fd1&#xff0c;\u9996\u6b21\u4eff\u771f\u63a7\u5236\u572820&#xff5e;50 m\u8303\u56f4\u5185&#xff0c;\u4e0d\u8981\u4e00\u5f00\u59cb\u89c4\u5212\u51e0\u5343\u7c73\u4efb\u52a1\u3002<\/p>\n<p>\u9ad8\u5ea6\u57fa\u51c6&#xff1a;\u9009\u62e9Relative&#xff1b;TAKEOFF\u548cWAYPOINT\u53ef\u5148\u8bbe\u4e3a10&#xff5e;15 m\u3002\u5b9e\u673a\u5fc5\u987b\u6839\u636e\u969c\u788d\u7269\u3001\u573a\u5730\u548c\u6cd5\u89c4\u91cd\u65b0\u8bc4\u4f30\u3002<\/p>\n<p>\u57fa\u7840\u4efb\u52a1&#xff1a;Home\u4e0d\u4f5c\u4e3a\u666e\u901aWP\u6dfb\u52a0&#xff0c;\u4f7f\u7528\u201cTAKEOFF \u2192 WAYPOINT \u2192 WAYPOINT \u2192 RTL\u201d\u3002<\/p>\n<p>\u5199\u5165\u9a8c\u8bc1&#xff1a;\u70b9\u51fbRead WPs\u56de\u8bfb&#xff0c;\u786e\u8ba4\u547d\u4ee4\u987a\u5e8f\u3001\u5750\u6807\u3001\u9ad8\u5ea6\u548c\u4efb\u52a1\u7ec8\u70b9\u6b63\u786e\u540e\u518d\u6267\u884cAuto\u3002<\/p>\n<p style=\"text-align:center\">12.11.6 \u5728SITL\u4e2d\u9a8c\u8bc1\u822a\u70b9\u4efb\u52a1<\/p>\n<p>\u63a8\u8350\u6267\u884c\u987a\u5e8f&#xff1a;Guided\u89e3\u9501\u5e76\u8d77\u98de\u81f3\u5b89\u5168\u9ad8\u5ea6 \u2192 Loiter\u786e\u8ba4\u60ac\u505c\u7a33\u5b9a \u2192 \u5199\u5165\u5e76\u56de\u8bfb\u4efb\u52a1 \u2192 \u5207\u6362Auto\u6267\u884c \u2192 \u5f02\u5e38\u65f6\u5207\u56deLoiter\u6216Stabilize\u63a5\u7ba1\u3002<\/p>\n<p>\u8fdb\u5165\u201c\u98de\u884c\u8ba1\u5212\u201d&#xff0c;\u5728\u6a21\u62dfHome\u9644\u8fd1\u521b\u5efa\u4e00\u4e2a\u77ed\u8ddd\u79bb\u4efb\u52a1&#xff1a;TAKEOFF \u2192 3\u4e2aWAYPOINT \u2192 RTL\u3002<\/p>\n<p>\u4f7f\u7528\u76f8\u5bf9\u9ad8\u5ea6&#xff0c;\u8d77\u98de\u9ad8\u5ea6\u548c\u822a\u70b9\u9ad8\u5ea6\u4fdd\u6301\u4fdd\u5b88&#xff0c;\u822a\u70b9\u95f4\u8ddd\u5148\u63a7\u5236\u5728\u8f83\u5c0f\u8303\u56f4\u3002<\/p>\n<p>\u70b9\u51fb\u201c\u5199\u5165\u822a\u70b9\u201d&#xff0c;\u518d\u70b9\u51fb\u201c\u8bfb\u53d6\u822a\u70b9\u201d\u56de\u8bfb\u68c0\u67e5\u3002<\/p>\n<p>\u8fd4\u56de\u201c\u98de\u884c\u6570\u636e\u201d&#xff0c;\u89e3\u9501\u5e76\u5207\u6362\u5230Auto&#xff0c;\u89c2\u5bdf\u98de\u673a\u662f\u5426\u6309\u987a\u5e8f\u6267\u884c\u4efb\u52a1\u3002<\/p>\n<p>\u76d1\u63a7\u5f53\u524d\u822a\u70b9\u3001\u822a\u70b9\u8ddd\u79bb\u3001\u9ad8\u5ea6\u3001\u901f\u5ea6\u548c\u6a21\u5f0f&#xff1b;\u53d1\u73b0\u8def\u7ebf\u4e0d\u6b63\u786e\u65f6\u7acb\u5373\u5207\u6362\u4eba\u5de5\u6a21\u5f0f\u3002<\/p>\n<p>\u4efb\u52a1\u7ed3\u675f\u540e\u67e5\u770b\u5730\u56fe\u822a\u8ff9\u548c.tlog\u56de\u653e&#xff0c;\u786e\u8ba4\u5b9e\u9645\u8f68\u8ff9\u4e0e\u89c4\u5212\u8def\u7ebf\u4e00\u81f4\u3002<\/p>\n<p style=\"text-align:center\">12.11.7 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