{"id":582,"date":"2015-11-09T10:02:55","date_gmt":"2015-11-09T19:02:55","guid":{"rendered":"\/blog\/?p=582"},"modified":"2023-09-21T09:38:08","modified_gmt":"2023-09-21T00:38:08","slug":"acro-mode","status":"publish","type":"post","link":"https:\/\/hasu0707.duckdns.org\/blog\/?p=582","title":{"rendered":"Acro Mode"},"content":{"rendered":"\n<p>\ucd9c\ucc98 :&nbsp;<a href=\"http:\/\/cafe.naver.com\/multiwiiclub\/6433\" target=\"_blank\" rel=\"noopener\">http:\/\/cafe.naver.com\/multiwiiclub\/6433<\/a><\/p>\n<p><br \/><\/p>\n<p class=\"\ubc14\ud0d5\uae00\" style=\"list-style: none; padding: 0px; font-size: 24pt; font-family: \uad74\ub9bc; line-height: 38.4px;\"><span style=\"font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif'; font-size: 12px; line-height: 1.5;\">Acro mode (Rate mode)\ub294 \uc870\uc815\uae30 \uc2a4\ud2f1\uc740 \ucf65\ud130\uc758 \uac01\uc18d\ub3c4\ub97c \uc81c\uc5b4\ud569\ub2c8\ub2e4. \uc2a4\ud2f1\uc744 \ub193\uc73c\uba74 \uae30\uccb4\ub294 \ud604\uc7ac \uc790\uc138\ub97c \uc720\uc9c0\ud558\uba70 \uc218\ud3c9\uc790\uc138\ub85c \ubcf5\uadc0\ud558\uc9c0 \uc54a\uc2b5\ub2c8\ub2e4. Acro mode\ub294 flips(\uc55e\ub4a4\ub85c \ud68c\uc804)\uacfc rolls(\uc88c\uc6b0\ud68c\uc804) \uac19\uc740 \uace1\uc608\ube44\ud589 \uadf8\ub9ac\uace0 \ubd80\ub4dc\ub7fd\uace0 \ube60\ub978 \uc81c\uc5b4\uac00 \ud544\uc694\ud55c FPV\uc5d0 \uc801\ud569\ud569\ub2c8\ub2e4.<\/span><br \/><\/p>\n<p class=\"\ubc14\ud0d5\uae00\" style=\"list-style: none; padding: 0px; font-size: 12pt; font-family: \ubc14\ud0d5;\"><span style=\"font-size: 12px; font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif';\">&nbsp;<\/span><\/p>\n<p class=\"\ubc14\ud0d5\uae00\" style=\"list-style: none; margin-left: 0pt; padding: 0px; font-size: 19.5pt; font-family: \ubc14\ud0d5;\"><span lang=\"EN-US\" style=\"font-size: 12px; font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif';\">Overview<\/span><\/p>\n<p class=\"\ubc14\ud0d5\uae00\" style=\"list-style: none; margin-left: 12pt; padding: 0px; font-size: 11.3pt; font-family: \ubc14\ud0d5;\"><span style=\"font-size: 12px; font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif';\">\u2022 \uc2a4\ub85c\ud2c0\uc740 \uae30\uccb4\uc758 tilt\uac01\uc5d0 \uc804\ud600 \uc601\ud5a5\uc744 \uc8fc\uc9c0 \uc54a\ub294 \uc644\uc804\ud55c \uc785\ub2c8\ub2e4. \ub9cc\uc57d \uc870\uc885\uc790\uac00 \uc2a4\ub85c\ud2c0\uc744 \uc644\uc804\ud788 \ub2f9\uaca8 \ub0b4\ub9ac\uba74 \ubaa8\ud130\ub4e4\uc740 \ucd5c\uc18c\ud68c\uc804\uc744 \ud558\uac8c \ub420 \uac83\uc785\ub2c8\ub2e4.<\/span><\/p>\n<p class=\"\ubc14\ud0d5\uae00\" style=\"list-style: none; margin-left: 12pt; padding: 0px; font-size: 11.3pt; font-family: \ubc14\ud0d5;\"><span style=\"font-size: 12px; font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif';\">\u2022 AC3.1\ub098 \uc774\ud6c4 \ubc84\uc804\uc740 Acro \ube44\ud589\uc744 \uc880 \ub354 \uc27d\uac8c \uc775\ud790 \uc218 \uc788\ub294 \uc124\uc815\/\ud574\uc81c \uac00\ub2a5\ud55c Acro Trainer \uae30\ub2a5\uc744 \ud3ec\ud568\ud558\uace0 \uc788\uc2b5\ub2c8\ub2e4.<\/span><\/p>\n<p class=\"\ubc14\ud0d5\uae00\" style=\"list-style: none; margin-left: 12pt; padding: 0px; font-size: 11.3pt; font-family: \ubc14\ud0d5;\"><span style=\"font-size: 12px; font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif';\">\u2022 \uc2a4\ud2f1(\uc870\uc885\uac04)\uc758 \uc785\ub825\uc740 \uae30\uccb4 \uae30\uc900(body frame)\uc73c\ub85c \uc801\uc6a9\ub429\ub2c8\ub2e4( earth frame \uae30\uc900\uc778 Sport mode\uc640 \uad6c\ubcc4\ub429\ub2c8\ub2e4). \"body frame\"\uacfc \"earth frame\"\uc758 \ucc28\uc774\ub294 \uae30\uccb4\uac00 \uc55e\ub4a4\ub85c \uc816\ud600\uc9c8 \ub54c \uac00\uc7a5 \uadf9\uba85\ud569\ub2c8\ub2e4. \uc608\ub97c \ub4e4\uc5b4 \uc804\ubc29 45 \uac01\ub3c4\ub85c \uae30\uc6b8\uc5b4\uc838 \uc788\uace0 \uc88c\uce21 yaw\uac00 \uc0ac\uc6a9\ub420 \ub54c, sport \ubaa8\ub4dc\uc5d0\uc11c\ucc98\ub7fc eatrh fram(\uc9c0\uba74\uae30\uc900)\ub97c \uc0ac\uc6a9\ud55c\ub2e4\uba74 \ucf65\ud130\ub294 \ud5e4\ub4dc\ubc29\ud5a5\uc5d0 \uad00\uacc4\uc5c6\uc774 \uc9c0\uba74\uc5d0 \ub300\ud55c pitch\uac01\uacfc roll\uac01\uc744 \uc720\uc9c0\ud569\ub2c8\ub2e4. \uac19\uc740 \uc0c1\ud669\uc77c \ub54c, Acro\uc640 \uac19\uc740 body frame(\uae30\uccb4\uae30\uc900) \uc81c\uc5b4\uc5d0\uc11c\ub294 \uae30\uccb4\uc758 \uc885\ucd95\uc744 \uae30\uc900\uc73c\ub85c \ud68c\uc804\ud560 \uac83\uc785\ub2c8\ub2e4. \uc774\ub294 pitch\uac01\uc774 roll\uac01\uc774 \ub418\uace0 roll\uac01\uc774 pitch\uac01\uc73c\ub85c \uc11c\ub85c \ubc14\ub00c\uac8c \ub428\uc744 \uc758\ubbf8\ud569\ub2c8\ub2e4 .<\/span><\/p>\n<p class=\"\ubc14\ud0d5\uae00\" style=\"list-style: none; padding: 0px; font-size: 12pt; font-family: \ubc14\ud0d5; color: rgb(255, 0, 0);\"><span style=\"font-size: 12px; font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif';\">&nbsp;<\/span><\/p>\n<p class=\"\ubc14\ud0d5\uae00\" style=\"list-style: none; padding: 0px; font-size: 12pt; font-family: \ubc14\ud0d5; color: rgb(255, 0, 0);\"><span lang=\"EN-US\" style=\"font-size: 12px; font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif';\">Warning: Acro \ubaa8\ub4dc\ub294 \uc219\ub2ec\ud558\uae30\uc5d0 \ub9e4\uc6b0 \uc5b4\ub824\uc6b4 \ube44\ud589\ubaa8\ub4dc\uc785\ub2c8\ub2e4. \uc774 \ubaa8\ub4dc\ub97c \uccb4\ub4dd\ud558\uae30 \uc704\ud574 \uc218\ucc28\ub840\uc758 \ucda9\ub3cc\uc744 \uacbd\ud5d8\ud560 \uc218\ub3c4 \uc788\uc2b5\ub2c8\ub2e4.<\/span><\/p>\n<p class=\"\ubc14\ud0d5\uae00\" style=\"list-style: none; padding: 0px; font-size: 12pt; font-family: \ubc14\ud0d5;\"><br \/><\/p>\n<p class=\"\ubc14\ud0d5\uae00\" style=\"list-style: none; padding: 0px; font-size: 12pt; font-family: \ubc14\ud0d5;\"><span style=\"font-size: 12pt;\"><span style=\"font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif'; font-size: 12px;\">&nbsp;<\/span><iframe loading=\"lazy\" src=\"https:\/\/www.youtube.com\/embed\/tC0mF-N5z0Q?wmode=opaque\" width=\"560px\" height=\"315px\" frameborder=\"0\" scrolling=\"no\" allowfullscreen=\"\"><\/iframe><\/span><\/p>\n<p class=\"\ubc14\ud0d5\uae00\" style=\"list-style: none; padding: 0px; font-size: 12pt; font-family: \ubc14\ud0d5;\"><span lang=\"EN-US\" style=\"font-size: 12px; font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif';\">The above video was filmed with a Pixhawk running AC3.2 in ACRO mode using&nbsp;<\/span><a href=\"http:\/\/copter.ardupilot.com\/wiki\/flying-arducopter\/flight-modes\/acro-mode\/wiki\/common-fpv-first-person-view\/\" target=\"_blank\" style=\"text-decoration: none;\" rel=\"noopener\"><u><span lang=\"EN-US\" style=\"font-size: 12px; color: rgb(0, 0, 255); font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif';\">FPV goggles<\/span><\/u><\/a><span lang=\"EN-US\" style=\"font-size: 12px; font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif';\">.<\/span><\/p>\n<p class=\"\ubc14\ud0d5\uae00\" style=\"list-style: none; padding: 0px; font-size: 19.5pt; font-family: \ubc14\ud0d5;\"><br \/><\/p>\n<p class=\"\ubc14\ud0d5\uae00\" style=\"list-style: none; padding: 0px; font-size: 19.5pt; font-family: \ubc14\ud0d5;\"><span lang=\"EN-US\" style=\"font-size: 12px; font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif';\"><strong>Acro Trainer<\/strong><\/span><\/p>\n<p class=\"\ubc14\ud0d5\uae00\" style=\"list-style: none; padding: 0px; font-size: 12pt; font-family: \ubc14\ud0d5;\"><a href=\"http:\/\/copter.ardupilot.com\/wiki\/arducopter-parameters\/#Acro_Trainer_CopterACRO_TRAINER\" target=\"_blank\" style=\"text-decoration: none;\" rel=\"noopener\"><u><span lang=\"EN-US\" style=\"font-size: 12px; color: rgb(0, 0, 255); font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif';\">ACRO_TRAINER<\/span><\/u><\/a><span lang=\"EN-US\" style=\"font-size: 12px; font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif';\">&nbsp;\ud30c\ub77c\ubbf8\ud130\ub294 \ub2e4\uc74c\uacfc \uac19\uc774 \uc124\uc815\ub420 \uc218 \uc788\uc2b5\ub2c8\ub2e4.<\/span><span lang=\"EN-US\" style=\"font-size: 12px; font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif';\">:<\/span><\/p>\n<p class=\"\ubc14\ud0d5\uae00\" style=\"list-style: none; margin-left: 12pt; padding: 0px; font-size: 12pt; font-family: \ubc14\ud0d5;\"><span style=\"font-size: 12px; font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif';\">\u2022 0&nbsp; = disabled. \uc774\ub294 \ud30c\uc77c\ub7ff\uc774 \uc790\ub3d9\uc801\uc778 \uc790\uc138\uc720\uc9c0\ub098 autopilot\uc5d0 \uc758\ud574\uc11c \uc218\ud589\ub418\ub294 \uac01\ub3c4 \uc81c\ud55c\ub9c8\uc800\ub3c4 \uc5c6\ub294 \uc804\uccb4 \uc18d\ub825\uc73c\ub85c \uc791\ub3d9\ud568\uc744 \uc758\ubbf8\ud569\ub2c8\ub2e4.<\/span><\/p>\n<p class=\"\ubc14\ud0d5\uae00\" style=\"list-style: none; margin-left: 12pt; padding: 0px; font-size: 12pt; font-family: \ubc14\ud0d5;\"><span style=\"font-size: 12px; font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif';\">\u2022 1 = automatic leveling.&nbsp; \ud30c\uc77c\ub7ff\uc774 \uc2a4\ud2f1\uc744 \ub193\uc73c\uba74 \uae30\uccb4\uac00 \uc790\ub3d9\uc73c\ub85c \uc790\uc138\ub97c \uc218\ud3c9\uc73c\ub85c \uc720\uc9c0\ud569\ub2c8\ub2e4. \uc774\ub807\uac8c \uc218\ud3c9\uc73c\ub85c \ub3cc\uc544\uc624\ub294 \ubcf5\uc6d0\ub825\uc758 \uac15\ub3c4\ub294 ACRO_BAL_ROLL\uacfc ACRO_BAL_PITCH \ud30c\ub77c\ubbf8\ud130\ub85c \uc81c\uc5b4\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4. \uae30\ubcf8\uac12 1.0\uc740 30deg\/sec\uc758 \uc18d\ub3c4\uc758 \ubcf5\uc6d0\ub825\uc744 \uac00\uc9d1\ub2c8\ub2e4.&nbsp; \ub354 \ub192\uc740 \uac12\uc740 \ub354 \ube60\ub978 \ubcf5\uc6d0\ub825\uc744 \uac00\uc9d1\ub2c8\ub2e4.<\/span><\/p>\n<p class=\"\ubc14\ud0d5\uae00\" style=\"list-style: none; margin-left: 12pt; padding: 0px; font-size: 12pt; font-family: \ubc14\ud0d5;\"><span style=\"font-size: 12px; font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif';\">\u2022 2 (\uae30\ubcf8\uac12) = \uc790\ub3d9 \uc218\ud3c9\uc720\uc9c0\uc640 \uacbd\uc0ac\uac01 \uc81c\ud55c\uc774 \uc801\uc6a9\ub429\ub2c8\ub2e4. \uc989 \uc635\uc158 \uac12 1\uc5d0\uc11c\ucc98\ub7fc \uc790\ub3d9 \uc218\ud3c9\uc720\uc9c0\ub97c \ud3ec\ud568 \ud558\uc9c0\ub9cc \ucd94\uac00\uc801\uc73c\ub85c \uacbd\uc0ac\uac01\uc744 45\ub3c4 \uc774\uc0c1 \uc904 \uc218 \uc5c6\uc2b5\ub2c8\ub2e4. (\uc774 \uac01\ub3c4\ub294 ANGLE_MAX \ud30c\ub77c\ubbf8\ud130\uc5d0\uc11c \uc870\uc815\ud569\ub2c8\ub2e4.)<\/span><\/p>\n<p class=\"\ubc14\ud0d5\uae00\" style=\"list-style: none; padding: 0px; font-size: 12pt; font-family: \ubc14\ud0d5;\"><span lang=\"EN-US\" style=\"font-size: 12px; font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif';\">Acro Trainer\ub294 Ch7\/Ch8 \uc2a4\uc704\uce58\ub85c \uc124\uc815\/\ud574\uc81c \ud569\ub2c8\ub2e4. 3 position \uc2a4\uc704\uce58\uc5d0\uc11c off position (i.e. PWM &lt;1200)\uc740 Traner\ub97c disable, middle position\uc740 option #1 (automatic leveling)\uc744 enable \uadf8\ub9ac\uace0 top position (i.e. PWM &gt;1800)\uc740 option #2 (leveling and lean angle limited)\ub97c enable\ud569\ub2c8\ub2e4. 2 position \uc2a4\uc704\uce58\uc5d0\uc11c\ub294 \uc624\uc9c1 options #0 (disabled)\uacfc option #2 (leveling &amp;limited)\ub9cc\uc774 \uac00\ub2a5\ud569\ub2c8\ub2e4.<\/span><\/p>\n<p class=\"\ubc14\ud0d5\uae00\" style=\"list-style: none; padding: 0px; font-size: 12pt; font-family: \ubc14\ud0d5;\"><img loading=\"lazy\" decoding=\"async\" src=\"\/xfiles\/attach\/images\/5098\/244\/003\/7931e6a7fd1606386a68cabbe8bcfaed.png\" alt=\"MP_Ch7_AcroTrainer.png\" width=\"1024\" height=\"598\" editor_component=\"image_link\" \/><span style=\"font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif'; font-size: 12px;\">\n<\/span><\/p>\n<p><br \/><\/p>\n<p class=\"\ubc14\ud0d5\uae00\" style=\"list-style: none; padding: 0px; font-size: 19.5pt; font-family: \ubc14\ud0d5;\"><span lang=\"EN-US\" style=\"font-size: 12px; font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif';\"><strong>Tuning Parameters<\/strong><\/span><\/p>\n<p class=\"\ubc14\ud0d5\uae00\" style=\"list-style: none; margin-left: 12pt; padding: 0px; font-size: 12pt; font-family: \ubc14\ud0d5;\"><span style=\"font-size: 12px; font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif';\">\u2022&nbsp;<\/span><a href=\"http:\/\/copter.ardupilot.com\/wiki\/arducopter-parameters\/#Acro_Roll_and_Pitch_P_gain_CopterACRO_RP_P\" target=\"_blank\" style=\"text-decoration: none;\" rel=\"noopener\"><u><span lang=\"EN-US\" style=\"font-size: 12px; color: rgb(0, 0, 255); font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif';\">ACRO_RP_P<\/span><\/u><\/a><span style=\"font-size: 12px; font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif';\">\ub294&nbsp;<\/span><span lang=\"EN-US\" style=\"font-size: 12px; font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif';\">roll\uacfc pitch \ucd95\uc758 \ud68c\uc804 \ube44\uc728\uc744 \uc81c\uc5b4\ud569\ub2c8\ub2e4. \uae30\ubcf8\uac12 4.5\ub294 200deg\/sec\uc758 \ud68c\uc804\uc728\uc774 \ub429\ub2c8\ub2e4.&nbsp; \ub192\uc740 \uac12\uc740 \ub354 \ub192\uc740 \ud68c\uc804\uc728\uc744 \ub0ae\uc740 \uac12\uc740 \ub354 \ub0ae\uc740 \ud68c\uc804\ube44\uc728\uc774 \ub429\ub2c8\ub2e4.<\/span><\/p>\n<p class=\"\ubc14\ud0d5\uae00\" style=\"list-style: none; margin-left: 12pt; padding: 0px; font-size: 12pt; font-family: \ubc14\ud0d5;\"><span style=\"font-size: 12px; font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif';\">\u2022&nbsp;<\/span><a href=\"http:\/\/copter.ardupilot.com\/wiki\/arducopter-parameters\/#Acro_Yaw_P_gain_CopterACRO_YAW_P\" target=\"_blank\" style=\"text-decoration: none;\" rel=\"noopener\"><u><span lang=\"EN-US\" style=\"font-size: 12px; color: rgb(0, 0, 255); font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif';\">ACRO_YAW_P&nbsp;<\/span><\/u><\/a><span style=\"font-size: 12px; font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif';\">\ub294 yaw\ucd95\uc758 \ud68c\uc804 \ube44\uc728\uc744 \uc81c\uc5b4\ud569\ub2c8\ub2e4. \uae30\ubcf8\uac12\uc740 4.5\ub294 roll\uacfc pitch\uc5d0\uc11c\ucc98\ub7fc 200deg\/sec \ud68c\uc804\ube44\uc728\uc744 \uba85\ub839\ud569\ub2c8\ub2e4.<\/span><\/p>\n<p class=\"\ubc14\ud0d5\uae00\" style=\"list-style: none; margin-left: 12pt; padding: 0px; font-size: 12pt; font-family: \ubc14\ud0d5;\"><span style=\"font-size: 12px; font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif';\">\u2022&nbsp;<\/span><a href=\"http:\/\/copter.ardupilot.com\/wiki\/arducopter-parameters\/#Acro_Expo_CopterACRO_EXPO\" target=\"_blank\" style=\"text-decoration: none;\" rel=\"noopener\"><u><span lang=\"EN-US\" style=\"font-size: 12px; color: rgb(0, 0, 255); font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif';\">ACRO_EXPO&nbsp;<\/span><\/u><\/a><span style=\"font-size: 12px; font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif';\">\ub294 ACRO \ubaa8\ub4dc\uc5d0\ub9cc \uc801\uc6a9\ub418\ub294 stick inputs\uc5d0 \ub300\ud55c exponential\uc758 \uc815\ub3c4\ub97c \uc81c\uc5b4\ud569\ub2c8\ub2e4. &nbsp; \uae30\ubcf8\uc801\uc73c\ub85c ACRO \ubaa8\ub4dc\ub294 \ub2e4\ub978 \ubaa8\ub4dc\ubcf4\ub2e4, \uc2ec\uc9c0\uc5b4\ub294 \uc911\uc559 \uc2a4\ud2f1\uc758 \uc704\uce58\uc5d0\uc11c\ub9c8\uc800 \ud6e8\uc52c \ub354 \ubbfc\uac10\ud558\uac8c \ubc18\uc751\ud558\uae30 \ubc18\uc751\ud569\ub2c8\ub2e4. \uadf8\ub798\uc11c \uc774 \ub9e4\uac1c \ubcc0\uc218\ub294 \uc870\uc885\uc0ac\uac00 \ucee8\ud2b8\ub864 \uc2a4\ud2f1 \uc751\ub2f5(\ubbfc\uac10\ub3c4)\uc744 Stabilize, AltHold, PosHold \ub4f1\uacfc \uac19\uc740 \ubaa8\ub4dc\uc5d0 \uc788\uc744 \ub54c \ub290\ub07c\ub294 \uac83\uacfc \uc77c\uce58\uc2dc\ud0ac \uc218 \uc788\ub3c4\ub85d \ubbf8\uc138 \uc870\uc815\uc744 \uac00\ub2a5\ucf00\ud569\ub2c8\ub2e4. \uae30\ubcf8\uac12 0\uc740 pilot\uc758 \uc694\uccad(\uc870\uc885)\uc5d0 30% expo\ub97c Roll\uacfc Pitch\uc5d0 \uc801\uc6a9\ud569\ub2c8\ub2e4.<\/span><\/p>\n<p class=\"\ubc14\ud0d5\uae00\" style=\"list-style: none; margin-left: 0pt; padding: 0px; font-size: 19.5pt; font-family: \ubc14\ud0d5;\"><span lang=\"EN-US\" style=\"font-size: 19.5pt;\"><br \/><\/span><\/p>\n<p class=\"\ubc14\ud0d5\uae00\" style=\"list-style: none; margin-left: 0pt; padding: 0px; font-size: 19.5pt; font-family: \ubc14\ud0d5;\"><span lang=\"EN-US\" style=\"font-size: 12px; font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif';\"><strong>Advanced Tuning Parameters<\/strong><\/span><\/p>\n<p class=\"\ubc14\ud0d5\uae00\" style=\"list-style: none; padding: 0px; font-size: 12pt; font-family: \ubc14\ud0d5;\"><span lang=\"EN-US\" style=\"font-size: 12px; font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif';\">ACRO mode\uc5d0\uc11c \ud3b8\uc548\ud558\uac8c \ube44\ud589\uc744 \ud558\uac8c \ub418\uba74, \uc0ac\uc6a9\uc790\uc758 \uae30\uccb4 \uc218\ud589 \ud2b9\uc131\uc5d0 \uae30\ucd08\ud558\uc5ec \uc880 \ub354 \uc138\ubc00\ud55c \ud29c\ub2dd\uc744 \uc6d0\ud558\uac8c \ub420 \uac83\uc785\ub2c8\ub2e4. \uc774\ub7ec\ud55c \ub9e4\uac1c \ubcc0\uc218\ub294 \uc624\ub85c\uc9c0 \ub9e4\uc6b0 \uc798 \ud29c\ub2dd\ub41c \uae30\uccb4\uc5d0\uc11c \ub9e4\uc6b0 \ube60\ub978 roll \ub610\ub294 flip \uae30\ub3d9 \ud6c4 \"bounce\"\ub97c \uc81c\uac70\ud558\ub294 \ubaa9\uc801\uc73c\ub85c \uace0\uae09 \uc0ac\uc6a9\uc790\uc5d0 \uc758\ud574 \uc870\uc815\ub418\uc5b4\uc57c \ud569\ub2c8\ub2e4. \uc774 \ud30c\ub77c\ubbf8\ud130\ub4e4\uc740 \ub2e8\uc9c0 ACRO \ubaa8\ub4dc\ubfd0 \uc544\ub2c8\ub77c \ub2e4\ub978 \ubaa8\ub4e0 \ube44\ud589\ubaa8\ub4dc\uc5d0 \uc801\uc6a9\ub418\ub294 global parameter(\uc804\uc5ed\ub9e4\uac1c\ubcc0\uc218)\uc784\uc744 \uae30\uc5b5\ud558\uc2ed\uc2dc\uc624.<\/span><\/p>\n<p class=\"\ubc14\ud0d5\uae00\" style=\"list-style: none; margin-left: 12pt; padding: 0px; font-size: 12pt; font-family: \ubc14\ud0d5;\"><span style=\"font-size: 12px; font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif';\">\u2022&nbsp;<\/span><a href=\"http:\/\/copter.ardupilot.com\/wiki\/arducopter-parameters\/#Angle_Rate_Roll-Pitch_max_ATC_RATE_RP_MAX\" target=\"_blank\" style=\"text-decoration: none;\" rel=\"noopener\"><u><span lang=\"EN-US\" style=\"font-size: 12px; color: rgb(0, 0, 255); font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif';\">ATC_RATE_RP_MAX<\/span><\/u><\/a><span lang=\"EN-US\" style=\"font-size: 12px; font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif';\">&nbsp;<\/span><span lang=\"EN-US\" style=\"font-size: 12px; color: rgb(64, 64, 66); font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif';\">roll\/pitch\ucd95\uc5d0 \ub300\ud55c \ucd5c\ub300 \ud68c\uc804\ube44\uc728<\/span><\/p>\n<p class=\"\ubc14\ud0d5\uae00\" style=\"list-style: none; margin-left: 12pt; padding: 0px; font-size: 12pt; font-family: \ubc14\ud0d5;\"><span style=\"font-size: 12px; font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif';\">\u2022&nbsp;<\/span><a href=\"http:\/\/copter.ardupilot.com\/wiki\/arducopter-parameters\/#Angle_Rate_Yaw_max_ATC_RATE_Y_MAX\" target=\"_blank\" style=\"text-decoration: none;\" rel=\"noopener\"><u><span lang=\"EN-US\" style=\"font-size: 12px; color: rgb(0, 0, 255); font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif';\">ATC_RATE_Y_MAX<\/span><\/u><\/a><span lang=\"EN-US\" style=\"font-size: 12px; font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif';\">&nbsp;yaw\ucd95\uc5d0 \ub300\ud55c \ucd5c\ub300 \ud68c\uc804\ube44\uc728<\/span><\/p>\n<p class=\"\ubc14\ud0d5\uae00\" style=\"list-style: none; margin-left: 12pt; padding: 0px; font-size: 12pt; font-family: \ubc14\ud0d5; color: rgb(64, 64, 66);\"><span style=\"font-size: 12px; font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif';\">\u2022&nbsp;<\/span><a href=\"http:\/\/copter.ardupilot.com\/wiki\/arducopter-parameters\/#Acceleration_Max_for_RollPitch_ATC_ACCEL_RP_MAX\" target=\"_blank\" style=\"text-decoration: none;\" rel=\"noopener\"><u><span lang=\"EN-US\" style=\"font-size: 12px; color: rgb(0, 0, 255); font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif';\">ATC_ACCEL_RP_MAX<\/span><\/u><\/a><span lang=\"EN-US\" style=\"font-size: 12px; font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif';\">:&nbsp;Centi-degres\/sec\/sec\ub85c \uce21\uc815\ub418\ub294 roll\/pitch\ucd95\uc758 \ucd5c\ub300 \uac00\uc18d. \ub9e4\uc6b0 \ubbfc\ucca9\ud55c \ucffc\ub4dc\ucf65\ud130\uac00 \uc788\uace0 ~400deg\/sec \uc18d\ub3c4\uc758 roll\uc694\uccad\uc73c\ub85c \ubcc0\ud658\ub418\ub294 ACRO_RP_P\uc758 \ud30c\ub77c\ubbf8\ud130\uac12 9\ub85c \uc124\uc815\ub418\uc5b4 \uc788\ub2e4\uace0 \uac00\uc815\ud569\uc2dc\ub2e4. \ucf65\ud130\ub294 \ubb3c\ub9ac\uc801\uc73c\ub85c \ub2e8\uc2dc\uac04\uc758 \uac00\uc18d \uc5c6\uc774 0deg\/sec\uc5d0\uc11c 400deg\/sec\ub85c \ub3c4\ub2ec\ud558\ub294 \uac83\uc774 \ubd88\uac00\ub2a5\ud569\ub2c8\ub2e4. \uadf8 \uc21c\uac04\uc5d0 400deg\/sec\uc758 \ud68c\uc804 \uc18d\ub3c4\ub97c \uc81c\uacf5\ud558\ub824\ub294 \ucee8\ud2b8\ub864\ub7ec\uc5d0 Error\uac00 \ubc1c\uc0dd\ud569\ub2c8\ub2e4. \uc2a4\ud2f1\uc744 \ub193\uc544\ub3c4 Error\ub294 \uc5ec\uc804\ud788 \uc874\uc7ac\ud558\uace0, \uc758\ub3c4\ud588\ub358 \uc790\uc138\ub97c \uc9c0\ub098\uce58\uac8c \ub418\uc5b4, bounce-back \ud558\uac8c \ub429\ub2c8\ub2e4. \uc774 \ud30c\ub77c\ubbf8\ud130\ub294 \ubc14\uc6b4\uc2a4 \ubc31\uc744 \uc81c\uac70\ud558\uc9c0 \uc54a\uc744 \uacbd\uc6b0 \uae30\ub3d9\ud558\ub294 \ub3d9\uc548 \uadf8 \uc624\ub958\ub97c \uc81c\uac70\ud558\uace0 \ubd80\ub4dc\ub7fd\uac8c \ud558\uae30 \uc704\ud574 \uc870\uc815\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4. \uc774\uac83\uc740 pitch\uc640 roll\uc758 \ube44\uc728 D \uc870\uac74\uc744 \uc870\uc815\ud558\ub294 \uac83\uacfc \uc644\uc804\ud788 \ub2e4\ub974\ub2e4\ub294 \uac83\uc744 \uae30\uc5b5\ud558\uc2ed\uc2dc\uc624.<\/span><\/p>\n<p class=\"\ubc14\ud0d5\uae00\" style=\"list-style: none; margin-left: 12pt; padding: 0px; font-size: 12pt; font-family: \ubc14\ud0d5; color: rgb(64, 64, 66);\"><span style=\"font-size: 12px; font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif';\">\u2022&nbsp;<\/span><a href=\"http:\/\/copter.ardupilot.com\/wiki\/arducopter-parameters\/#Acceleration_Max_for_Yaw_ATC_ACCEL_Y_MAX\" target=\"_blank\" style=\"text-decoration: none;\" rel=\"noopener\"><u><span lang=\"EN-US\" style=\"font-size: 12px; color: rgb(0, 0, 255); font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif';\">ATC_ACCEL_Y_MAX<\/span><\/u><\/a><span lang=\"EN-US\" style=\"font-size: 12px; font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, 'Arial Unicode MS', Tahoma, 'MS\\9Serif';\">:&nbsp;Centi-degres\/sec\/sec\ub85c \uce21\uc815\ub418\ub294 yaw\ucd95\uc758 \ucd5c\ub300 \uac00\uc18d.&nbsp; ATC_ACCEL_RP_MAX\uc640 \ub9c8\ucc2c\uac00\uc9c0\uc758 \uc6d0\ub9ac\uc774\uba70 ACRO_YAW_P parameter\uc5d0 \uae30\ucd08\ud558\uc5ec yaw\ucd95\uc5d0 \uc801\uc6a9\ub429\ub2c8\ub2e4. (likely a much lower, more attainable value.)<\/span><\/p>\n<p class=\"\ubc14\ud0d5\uae00\" style=\"list-style: none; margin-left: 12pt; padding: 0px; font-size: 12pt; font-family: \ubc14\ud0d5; color: rgb(64, 64, 66);\"><br \/><\/p>\n<iframe loading=\"lazy\" width=\"560\" height=\"315\" src=\"https:\/\/www.youtube.com\/embed\/dnygfyvXmL4\" frameborder=\"0\" allowfullscreen=\"\"><\/iframe><div id=\"papago-trans\" style=\"display: none; position: absolute !important; left: 297px; top: 626px;\"><div class=\"papago-trans-icon\" style=\"background-image:url(chrome-extension:\/\/enddgifdbfoefnelepppgaabobdfbcpe\/icons\/papago19.png)\"><\/div><\/div><div class=\"papago-bubble ui-draggable\" style=\"display: none; left: 282px; top: 887px; opacity: 1;\"><div class=\"papago-draggable papago-dragbar ui-draggable-handle\"><\/div><div><select id=\"lang-source\" class=\"papago-lang-selector\" name=\"source\"><option value=\"auto\" selected=\"\">\uc790\ub3d9\uac10\uc9c0<\/option><option value=\"en\">\uc601\uc5b4<\/option><option value=\"ja\">\uc77c\ubcf8\uc5b4<\/option><option value=\"zh-CN\">\uc911\uad6d\uc5b4 (\uac04\uccb4)<\/option><option value=\"ko\">\ud55c\uad6d\uc5b4<\/option><option class=\"es\" value=\"es\">\uc2a4\ud398\uc778\uc5b4<\/option><\/select><div style=\"display: inline-block !important; vertical-align: middle !important; margin: 0px 10px !important;\"><p id=\"papago-lang-auto\" style=\"margin: 0px !important; padding: 0px !important;\"><\/p>\n<\/div><div id=\"papago-txt1\" class=\"papago-txt\"><\/div><\/div><div><select id=\"lang-target\" class=\"papago-lang-selector\" name=\"target\"><option value=\"en\">\uc601\uc5b4<\/option><option value=\"ja\">\uc77c\ubcf8\uc5b4<\/option><option value=\"zh-CN\">\uc911\uad6d\uc5b4 (\uac04\uccb4)<\/option><option value=\"ko\">\ud55c\uad6d\uc5b4<\/option><option class=\"es\" value=\"es\">\uc2a4\ud398\uc778\uc5b4<\/option><\/select><div id=\"copy-button\" class=\"papago-toolbar-button\" title=\"copy\"><span class=\"papago-button-img\" style=\"background:url(chrome-extension:\/\/enddgifdbfoefnelepppgaabobdfbcpe\/icons\/content_copy_black_18dp.png) 2px 2px no-repeat\"><\/span><\/div><\/div><div id=\"papago-txt2\" class=\"papago-txt\"><\/div><div class=\"papago-bubble-closebtn\" style=\"background:url(chrome-extension:\/\/enddgifdbfoefnelepppgaabobdfbcpe\/icons\/x_8px.png) no-repeat;\" role=\"button\" tabindex=\"0\"><\/div><span class=\"papago-dragbtn papago-draggable ui-icon ui-icon-grip-dotted-vertical ui-draggable-handle\" style=\"background-image: url(&quot;chrome-extension:\/\/enddgifdbfoefnelepppgaabobdfbcpe\/icons\/ui-icons.png&quot;);\"><\/span><span class=\"papago-gearbtn ui-icon ui-icon-gear\" style=\"background-image:url(chrome-extension:\/\/enddgifdbfoefnelepppgaabobdfbcpe\/icons\/ui-icons.png)\"><\/span><span class=\"papago-pinbtn ui-icon ui-icon-pin-s\" style=\"background-image: url(&quot;chrome-extension:\/\/enddgifdbfoefnelepppgaabobdfbcpe\/icons\/ui-icons.png&quot;);\"><\/span><div class=\"papago-bubble-arrow-id papago-bubble-arrow papago-bubble-arrowdown\" style=\"left: 200px;\"><div class=\"papago-bubble-arrowimplbefore\"><\/div><div class=\"papago-bubble-arrowimplafter\"><\/div><\/div><hr \/><div class=\"papago-ad\"><center style=\"height: 25px !important; min-width: 300px !important;\"><p style=\"padding: 0px !important;\">\ub9ac\ubdf0\ub294 \uac1c\ubc1c\uc790\uc5d0\uac8c \ud070 \ud798\uc774 \ub429\ub2c8\ub2e4. <a href=\"https:\/\/chrome.google.com\/webstore\/detail\/papago-translate\/enddgifdbfoefnelepppgaabobdfbcpe\/reviews\" target=\"_blank\" rel=\"noopener\">\uc751\uc6d0\ud558\ub7ec \uac00\uae30<\/a><\/p>\n<\/center><\/div><\/div>\n","protected":false},"excerpt":{"rendered":"<p>\ucd9c\ucc98 :&nbsp;http:\/\/cafe.naver.com\/multiwiiclub\/6433 Acro mode (Rate mode)\ub294 \uc870\uc815\uae30 \uc2a4\ud2f1\uc740 \ucf65\ud130\uc758 \uac01\uc18d\ub3c4\ub97c \uc81c\uc5b4\ud569\ub2c8\ub2e4. \uc2a4\ud2f1\uc744 \ub193\uc73c\uba74 \uae30\uccb4\ub294 \ud604\uc7ac \uc790\uc138\ub97c \uc720\uc9c0\ud558\uba70 \uc218\ud3c9\uc790\uc138\ub85c \ubcf5\uadc0\ud558\uc9c0 \uc54a\uc2b5\ub2c8\ub2e4. Acro mode\ub294 flips(\uc55e\ub4a4\ub85c \ud68c\uc804)\uacfc rolls(\uc88c\uc6b0\ud68c\uc804) \uac19\uc740 \uace1\uc608\ube44\ud589 \uadf8\ub9ac\uace0 \ubd80\ub4dc\ub7fd\uace0 \ube60\ub978 \uc81c\uc5b4\uac00 \ud544\uc694\ud55c FPV\uc5d0 \uc801\ud569\ud569\ub2c8\ub2e4. &nbsp; Overview \u2022 \uc2a4\ub85c\ud2c0\uc740 \uae30\uccb4\uc758 tilt\uac01\uc5d0 \uc804\ud600 \uc601\ud5a5\uc744 \uc8fc\uc9c0 \uc54a\ub294 \uc644\uc804\ud55c \uc785\ub2c8\ub2e4. \ub9cc\uc57d \uc870\uc885\uc790\uac00 \uc2a4\ub85c\ud2c0\uc744 \uc644\uc804\ud788 \ub2f9\uaca8 \ub0b4\ub9ac\uba74 \ubaa8\ud130\ub4e4\uc740 \ucd5c\uc18c\ud68c\uc804\uc744 \ud558\uac8c [&hellip;]<\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_import_markdown_pro_load_document_selector":0,"_import_markdown_pro_submit_text_textarea":"","site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"ast-content-background-meta":{"desktop":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"footnotes":""},"categories":[30],"tags":[],"class_list":["post-582","post","type-post","status-publish","format-standard","hentry","category-multi_copter_fc"],"_links":{"self":[{"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=\/wp\/v2\/posts\/582","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=582"}],"version-history":[{"count":0,"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=\/wp\/v2\/posts\/582\/revisions"}],"wp:attachment":[{"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=582"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=582"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=582"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}