ArduPilot/MethodicConfigurator

# 首次尝试即为您的载具正确配置 ArduPilot | Lint | 质量 | 测试 | 安全 | 部署 | 维护性 | | ---- | ------- | ---- | -------- | ------ | -------- | | [](https://github.com/ArduPilot/MethodicConfigurator/actions/workflows/pylint.yml) | [](https://app.codacy.com/gh/amilcarlucas/MethodicConfigurator/dashboard?utm_source=gh&utm_medium=referral&utm_content=&utm_campaign=Badge_grade) | [](https://github.com/ArduPilot/MethodicConfigurator/actions/workflows/pytest.yml) | [](https://app.snyk.io/org/amilcarlucas/project/c8fd6e29-715b-4949-b828-64eff84f5fe1) | [](https://github.com/ArduPilot/MethodicConfigurator/actions/workflows/pages/pages-build-deployment) | [](http://isitmaintained.com/project/ArduPilot/MethodicConfigurator) | | [](https://github.com/ArduPilot/MethodicConfigurator/actions/workflows/ruff.yml) | [](https://www.bestpractices.dev/projects/9101) | [](https://github.com/ArduPilot/MethodicConfigurator/actions/workflows/pytest.yml) | [](https://github.com/ArduPilot/MethodicConfigurator/actions/workflows/github-code-scanning/codeql) | [](https://github.com/ArduPilot/MethodicConfigurator/actions/workflows/python-publish.yml) | [](http://isitmaintained.com/project/ArduPilot/MethodicConfigurator) | | [](https://github.com/ArduPilot/MethodicConfigurator/actions/workflows/mypy.yml) | [](https://api.reuse.software/info/github.com/ArduPilot/MethodicConfigurator) | [](https://coveralls.io/github/ArduPilot/MethodicConfigurator?branch=master) | [](https://github.com/ArduPilot/MethodicConfigurator/actions/workflows/gitavscan.yml) | [](https://pypi.org/project/ardupilot-methodic-configurator/) | [](https://pypi.python.org/pypi/ardupilot-methodic-configurator) | | [](https://github.com/ArduPilot/MethodicConfigurator/actions/workflows/pyright.yml) | [](https://github.com/ArduPilot/MethodicConfigurator/actions/workflows/markdown-link-check.yml) | [](https://scan.coverity.com/projects/ardupilot-methodic-configurator) | [](https://scorecard.dev/viewer/?uri=github.com/ArduPilot/MethodicConfigurator) | [](https://pypistats.org/packages/ardupilot-methodic-configurator) | [](https://codeclimate.com/github/amilcarlucas/MethodicConfigurator) | | [](https://github.com/ArduPilot/MethodicConfigurator/actions/workflows/markdown-lint.yml) | [](https://results.pre-commit.ci/latest/github/ArduPilot/MethodicConfigurator/master) | [](https://discord.com/channels/674039678562861068/1308233496535371856) | | [](https://github.com/ArduPilot/MethodicConfigurator/actions/workflows/windows_build.yml) | [](https://github.com/ArduPilot/MethodicConfigurator/actions/workflows/update_flightcontroller_ids.yml) | *ArduPilot Methodic Configurator* 是一款由 ArduPilot 开发人员开发的软件，它可以半自动化地执行一套 [清晰、经过验证且安全的 ArduCopter 配置流程](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter)。 我们正在努力将其扩展到 [ArduPlane](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduPlane)、[Heli](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Heli) 和 [Rover](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_Rover) 载具。但对于这些类型，目前功能仍不完善。 - **清晰**：半自动化序列是线性的，一次执行一步，没有隐藏的复杂依赖关系 - **经过验证**：该软件已被数百名 ArduPilot 开发者和用户使用。从初学者到高级用户，涵盖大型和小型载具。 - **安全**：该序列遵循既定的最佳实践，减少了试错环节，并减少了配置载具所需的飞行次数 - **参数管理**：上传、下载和编辑参数，并提供完整文档 - **载具模板**：从空白模板或针对常见载具类型的预配置设置开始 - **可追溯性**：记录每个参数变更及其原因 以下是来自 [AMC YouTube 频道](https://www.youtube.com/@AmilcardoCarmoLucas) 的一些 YouTube 视频教程： [](https://www.youtube.com/watch?v=47RjQ_GarvE&list=PL1oa0qoJ9W_89eMcn4x2PB6o3fyPbheA9) [](https://www.youtube.com/watch?v=9n4Wh6wBuHQ&list=PL1oa0qoJ9W_89eMcn4x2PB6o3fyPbheA9) [](https://www.youtube.com/watch?v=tM8EznlNhgs&list=PL1oa0qoJ9W_89eMcn4x2PB6o3fyPbheA9) 这里有一份解释该软件的演示文稿： [](https://github.com/ArduPilot/MethodicConfigurator/blob/master/images/ArduPilot_Methodic_Configurator.pdf?raw=true) 与 AMC 出现之前传统用于配置 ArduPilot 的地面站 (GCS) 软件对比： | Feature | Mission Planner, QGroundControl, ... etc | ArduPilot Methodic Configurator | | ------- | ---------------------------------------- | ------------------------------- | | full automatic configuration | No | No | | configuration type | manual [^1] | semi-automated [^2] | | explains what to do | No | Yes | | explains when to do something | No | Yes, explains the path | | explains why do something | No | Yes | | configuration method | a different menu for each task, some tasks have no menu, so you need to dig into the 1200 parameters | each task only presents you a relevant subset of parameters | | parameter documentation | Yes, only on the full-parameter tree view | Yes | | displays relevant documentation | No | Yes | | makes sure you do not forget a step | No | Yes | | checks that parameters get correctly uploaded | No (MP), unsure (QGCS), yes (MAVProxy) | Yes | | reuse params in other vehicles | No, unless you hand edit files | Yes, out-of-the-box | | documents why you changed each parameter | No | Yes | | tutorials and learning resources | No, scattered and not integrated | Yes, context-aware help integrated | | auto. install lua scripts on the FC | No | Yes | | auto. backup of parameters before changing them | No | Yes | [^1]: you need to know what/when/why you are doing [^2]: it explains what you should do, when you should do it and why 它简洁的图形用户界面 (GUI) 用于管理和可视化 ArduPilot 参数、参数文件和文档。  没有可见菜单，没有隐藏菜单，没有复杂选项，所见即所得。 ## 目录 - [快速入门](#quick-start) - [您将完成的任务](#what-youll-accomplish) - [成功的重要提示](#important-tips-for-success) - [1. 整个流程的快速概览](#1-quick-overview-of-the-entire-process) - [1.1 选择载具组件](#11-select-the-vehicle-components) - [1.2 下载并安装软件](#12-download-and-install-software) - [1.3 将载具组件和组件连接信息输入到 ArduPilot Methodic Configurator](#13-input-vehicle-components-and-component-connections-into-ardupilot-methodic-configurator) - [1.4 在将自动驾驶仪组装到载具之前执行 IMU 温度校准（可选）](#14-perform-imu-temperature-calibration-before-assembling-the-autopilot-into-the-vehicle-optional) - [1.5 组装除螺旋桨以外的所有组件](#15-assemble-all-components-except-the-propellers) - [1.6 基本强制配置](#16-basic-mandatory-configuration) - [1.7 组装螺旋桨并执行首飞](#17-assemble-propellers-and-perform-the-first-flight) - [1.8 最小化强制调优](#18-minimalistic-mandatory-tuning) - [1.9 标准调优（可选）](#19-standard-tuning-optional) - [1.10 改善 windy 条件下的高度控制（可选）](#110-improve-altitude-under-windy-conditions-optional) - [1.11 用于解析式 PID 优化的系统辨识（可选）](#111-system-identification-for-analytical-pid-optimization-optional) - [1.12 位置控制器调优（可选）](#112-position-controller-tuning-optional) - [1.13 日常使用](#113-everyday-use) - [文档与支持](#documentation-and-support) - [贡献](#contributing) - [国际化](#internationalization) - [行为准则](#code-of-conduct) - [许可证](#license) - [致谢](#credits) ## 快速入门 ### 您将完成的任务 在此过程结束时，您的飞行控制器将完全配置好： - ✅ 针对您特定载具优化的所有参数 - ✅ 所做每项更改的完整文档记录 - ✅ 易于恢复的备份文件 - ✅ 随时可以飞行的配置 ### 成功的重要提示 💡 **专业提示：** - **耐心操作**：阅读参数描述——它们包含有价值的见解 - **增量测试**：分步方法允许在更改之间进行测试 - **保留备份**：软件会自动在载具项目目录中创建备份 - **记录更改**：始终填写“更改原因”字段——未来的您会感谢您 ⚠️ **应避免的常见错误：** - **匆忙完成步骤**：每个参数都有其目的——更改前请理解它 - **跳过组件验证**：不正确的组件设置可能导致坠机 - **忽略警告**：红色背景和错误消息是为了您的安全而存在 - **忘记校准**：某些参数需要物理校准程序： - IMU 温度、模拟电压和电流测量、陀螺仪、加速度计 ## 1. 整个流程的快速概览 要有条不紊地构建、配置和调优 ArduPilot 载具，请遵循以下步骤序列： ### 1.1 选择载具组件 - 在[选择自动驾驶仪](https://ardupilot.org/copter/docs/common-autopilots.html)和[其他硬件](https://ardupilot.org/copter/docs/common-optional-hardware.html)组件时，[避免使用这些组件](https://discuss.ardupilot.org/t/hardware-to-avoid-when-building-your-first-multirotor/114014/1) - 使用 [ecalc for multirotor](https://www.ecalc.ch/index.htm) 来选择推进系统。 - 遵循[硬件最佳实践](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#11-multicopter-hardware-best-practices) ### 1.2 下载并安装软件 - 在 [MS windows](https://ardupilot.github.io/MethodicConfigurator/INSTALL.html#ms-windows-installation)、[Linux](https://ardupilot.github.io/MethodicConfigurator/INSTALL.html#linux-installation) 或 [macOS](https://ardupilot.github.io/MethodicConfigurator/INSTALL.html#macos-installation) 上安装 ArduPilot Methodic Configurator - [安装最新版本的 Mission Planner](https://ardupilot.github.io/MethodicConfigurator/INSTALL.html#install-mission-planner-software-on-a-pc-or-mac) [在您的飞行控制器板上安装最新的 ArduPilot 固件](https://ardupilot.github.io/MethodicConfigurator/INSTALL.html#install-ardupilot-firmware-on-the-flight-controller) ### 1.3 将载具组件和组件连接信息输入到 ArduPilot Methodic Configurator 软件需要此信息以自动预选与您特定载具相关的配置设置 - [启动 ArduPilot Methodic Configurator 并选择一款与您相似的载具](https://ardupilot.github.io/MethodicConfigurator/USECASES.html#use-the-ardupilot-methodic-configurator-software-for-the-first-time)，并将载具组件和组件连接信息输入到 ArduPilot Methodic Configurator 的 *组件编辑窗口* 中 ### 1.4 在将自动驾驶仪组装到载具之前执行 IMU 温度校准（可选） IMU 温度校准可降低 *Accel inconsistent* 和 *Gyro inconsistent* 错误的概率，并缩短解锁所需的时间。IMU 温度校准需要将自动驾驶仪（飞行控制器）的温度降低到约 -20°C。这在自动驾驶仪组装到载具内部后更难操作，因此现在进行。 - [启动软件](https://ardupilot.github.io/MethodicConfigurator/USECASES.html#use-the-ardupilot-methodic-configurator-software-for-the-first-time) - 执行 [IMU 温度校准](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#41-setup-imu-temperature-calibration) 校准程序完成后，请遵循[创建新载具后启动软件](https://ardupilot.github.io/MethodicConfigurator/USECASES.html#use-the-ardupilot-methodic-configurator-software-after-having-created-a-vehicle-from-a-template)的说明。 ### 1.5 组装除螺旋桨以外的所有组件 组装并连接所有组件。确保您[遵循最佳实践](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#11-multicopter-hardware-best-practices) ### 1.6 基本强制配置 再次使用 [*ArduPilot Methodic configurator* 软件 GUI](https://ardupilot.github.io/MethodicConfigurator/USECASES.html#use-the-ardupilot-methodic-configurator-software-after-having-created-a-vehicle-from-a-template) 执行以下步骤： - [04_board_orientation.param](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#61-configure-flight-controller-orientation) 飞行控制器方向 - [05_remote_controller.param](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#62-configure-the-rc-receiver) 遥控器连接和协议 - [06_telemetry.param](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#63-configure-telemetry) 遥测收发器连接和协议（可选） - [07_esc.param](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#64-configure-the-esc) 电子调速器 (ESC) 连接和协议 - [08_batt1.param](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#65-configure-the-primary-battery-monitor) 电池健康和荷电状态监控 - [10_gnss.param](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#67-configure-the-gnss-receivers) GNSS 接收器连接和协议 - [11_initial_atc.param](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#68-initial-attitude-pid-gains-vehicle-size-dependent) 初始姿态 PID 增益（取决于载具尺寸） 现在使用 [Mission Planner](https://firmware.ardupilot.org/Tools/MissionPlanner/) 执行： - [12_mp_setup_mandatory_hardware.param](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#69-configure-mandatory-hardware-parameters) 校准载具传感器 然后继续使用 [*ArduPilot Methodic configurator* 软件 GUI](https://ardupilot.github.io/MethodicConfigurator/USECASES.html#use-the-ardupilot-methodic-configurator-software-after-having-created-a-vehicle-from-a-template)： - [13_general_configuration.param](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#610-general-configuration) 常规杂项配置 - [测试硬件诊断是否正常](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#611-ardupilot-hardware-report) - [14_logging.param](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#612-configure-logging) 配置 Dataflash/SDCard 日志记录（黑匣子数据） - [15_motor.param](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#613-motorpropeller-order-and-direction-test) 电机顺序和方向测试。ESC 线性化。 - [16_pid_adjustment.parm](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#614-optional-pid-adjustment) 姿态 PID 增益（取决于载具尺寸） - [17_remote_id.param](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#615-remote-id-aka-drone-id) 许多国家法律要求 - [18_notch_filter_setup.param](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#616-notch-filters-setup) 用于消除电机噪声，降低功耗并提高飞行稳定性 ### 1.7 组装螺旋桨并执行首飞 既然所有强制性配置步骤已完成，您可以[执行首飞](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#7-assemble-propellers-and-perform-the-first-flight) ### 1.8 最小化强制调优 这些是实现稳定飞行所需的非常[最小化的调优步骤](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#8-minimalistic-mandatory-tuning)： - 将首飞的 `.bin` 日志文件加载到 [Notch filter webtool](https://firmware.ardupilot.org/Tools/WebTools/FilterReview/) 中 - [19_notch_filter_results.param](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#81-notch-filter-calibration) 使用 webtool 信息配置陷波滤波器 - [20_throttle_controller.param](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#82-configure-the-throttle-controller) 高度控制器取决于首飞中发现的功率与推力比 - [21_ekf_config.param](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#83-configure-the-ekf-altitude-source-weights) 有时 EKF3 需要调整以保持高度 - [22_quick_tune_setup.param](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#84-second-flight-pid-vtol-quiktune-lua-script-or-manual-pid-tune) 和 [23_quick_tune_results.param](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#84-second-flight-pid-vtol-quiktune-lua-script-or-manual-pid-tune)，如果不可用，您需要 lua 脚本支持才能执行此操作，若不可用您可以手动调优。 就是这样，如果您不耐烦并且不想要优化载具，可以跳转到[日常使用](#113-everyday-use)。 ### 1.9 标准调优（可选） 这些是实现优化飞行所需的[标准调优步骤](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#9-standard-tuning-optional)： - [24_inflight_magnetometer_fit_setup.param](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#91-third-flight-magfit)，使用 lua 脚本飞行路径或手动飞行，使用 [25_inflight_magnetometer_fit_results.param](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#912-calculate-inflight-magfit-calibration) 存储结果，使用 [magfit webtool](https://firmware.ardupilot.org/Tools/WebTools/MAGFit/) 计算 ardupilot methodic configurator 可用的文件 - [26_quick_tune_setup.param](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#921-setup-quicktune) 和 [27_quick_tune_results.param](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#922-store-quicktune-results-to-file) 现在罗盘磁干扰已完全校准，重做 quick-tune - [28_evaluate_the_aircraft_tune_ff_disable.param](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#93-fifth-flight-evaluate-the-aircraft-tune---part-1) 和 [29_evaluate_the_aircraft_tune_ff_enable.param](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#94-sixth-flight-evaluate-the-aircraft-tune---part-2) - [30_autotune_roll_setup.param](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#95-autotune-flights) 和 [31_autotune_roll_results.param](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#951-roll-axis-autotune) 调优横滚轴速率和角度 PID - [32_autotune_pitch_setup.param](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#952-pitch-axis-autotune) 和 [33_autotune_pitch_results.param](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#952-pitch-axis-autotune) 调优俯仰轴速率和角度 PID - [34_autotune_yaw_setup.param](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#953-yaw-axis-autotune) 和 [35_autotune_yaw_results.param](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#953-yaw-axis-autotune) 调优偏航轴速率和角度 PID - [36_autotune_yawd_setup.param](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#954-yaw-d-axis-autotune-optional) 和 [37_autotune_yawd_results.param](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#954-yaw-d-axis-autotune-optional) 调优 yawd 轴速率和角度 PID - [38_autotune_roll_pitch_retune_setup.param](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#955-roll-and-pitch-axis-re-autotune) 和 [39_autotune_roll_pitch_retune_results.param](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#955-roll-and-pitch-axis-re-autotune) 重新调优横滚和俯仰轴速率和角度 PID 现在标准调优已完成，您可以跳转到[日常使用](#113-everyday-use) ### 1.10 改善 windy 条件下的高度控制（可选） - [40_windspeed_estimation.param](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#10-improve-altitude-under-windy-conditions-optional) 估算风速 - [41_barometer_compensation.param](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#102-baro-compensation-flights) 使用估算的风速来提高高度稳定性 ### 1.11 用于解析式 PID 优化的系统辨识（可选） - [42_system_id_roll.param, 43_system_id_pitch.param, 44_system_id_yaw.param](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#11-system-identification-for-analytical-pid-optimization-optional) - [46_analytical_pid_optimization.param](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#112-analytical-multicopter-flight-controller-pid-optimization) ### 1.12 位置控制器调优（可选） - [47_position_controller.param, 48_guided_operation.param, 49_precision_land.param](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#12-position-controller-tuning-optional) ### 1.13 日常使用 现在调优和配置已完成，可以禁用一些日志记录和测试，并启用更多安全功能： - [53_everyday_use.param](https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#13-productive-configuration) 恭喜，您的飞行控制器现已以公认最安全、最快速的方式完成配置。 享受您配置得当的载具。 ## 文档与支持 需要[帮助或支持](https://ardupilot.github.io/MethodicConfigurator/SUPPORT.html) 还有[关于其他用例的文档](https://ardupilot.github.io/MethodicConfigurator/USECASES.html)以及一份详细但通用的[用户手册](https://ardupilot.github.io/MethodicConfigurator/USERMANUAL.html)。 ## 国际化 该软件提供[多种语言](https://github.com/ArduPilot/MethodicConfigurator/tree/master/ardupilot_methodic_configurator/locale)版本。在 MS Windows 上，语言在安装过程中选择，该选择存储在桌面图标中。您可以手动创建多个桌面图标，每个图标将以不同的语言运行软件。在 Linux 和 macOS 上，可以通过 `--language` 命令行参数选择语言。 如果您想帮助我们翻译软件，请参阅[贡献页面](https://github.com/ArduPilot/MethodicConfigurator/blob/master/CONTRIBUTING.md)。 ## 行为准则 要使用和开发此软件，您必须遵守 [ArduPilot Methodic Configurator 行为准则](https://github.com/ArduPilot/MethodicConfigurator/blob/master/CODE_OF_CONDUCT.md)。 ## 许可证 本软件免费。本项目根据 [GNU General Public License v3.0](https://github.com/ArduPilot/MethodicConfigurator/blob/master/LICENSE.md) 授权。 ## 致谢 它建立在其他[开源软件包](https://ardupilot.github.io/MethodicConfigurator/credits/CREDITS.html)的基础上