EKF2_OF_CTRL Enabled设置为可用。 MAV_1_CONFIG TELEM3 设置为光流的连接口 然后重启飞控 SER_TEL3_BAUD 115200 光流波特率 SER_TEL1_BAUD 115200 G12遥控器波特率

PX4 1.14.3的默认固件的PID参数 MC_ROLLRATE_K 1.0 MC_ROLLRATE_D 0.003 MC_ROLLRATE_I 0.2 MC_PITCHRATE_K 1.0 MC_PITCHRATE_D 0.003 MC_PITCHRATE_I 0.2 MC_YAWRATE_K 1.0 MC_YAWRATE_I 0.1 MC_ROLL_P 6.5 MC_PITCH_P 6.5 MC_YAW_P 2.8 MPC_XY_VEL_P_ACC 1.8 MPC_XY_VEL_I_ACC 0.4 MPC_XY_VEL_D_ACC 0.2 MPC_Z_VEL_P_ACC 4 MPC_Z_VEL_I_ACC 2.0 MPC_Z_VEL_D_ACC 0 MPC_XY_P 0.9

原来P450的PID参数 MC_ROLLRATE_K 1.0 MC_ROLLRATE_D 0.0081 MC_ROLLRATE_I 0.13 MC_PITCHRATE_K 1.0 MC_PITCHRATE_D 0.0081 MC_PITCHRATE_I 0.13 MC_YAWRATE_K 1.0 MC_YAWRATE_I 0.2 MC_ROLL_P 7.3 MC_PITCH_P 7.3 MC_YAW_P 2.8 MPC_XY_VEL_P_ACC 1.8 MPC_XY_VEL_I_ACC 0.4 MPC_XY_VEL_D_ACC 0.2 MPC_Z_VEL_P_ACC 4 MPC_Z_VEL_I_ACC 2.0 MPC_Z_VEL_D_ACC 0 MPC_XY_P 0.9