{"id":687,"date":"2016-09-27T16:21:55","date_gmt":"2016-09-28T01:21:55","guid":{"rendered":"\/blog\/?p=687"},"modified":"2023-09-21T09:37:56","modified_gmt":"2023-09-21T00:37:56","slug":"arducopter-stabilize-mode","status":"publish","type":"post","link":"https:\/\/hasu0707.duckdns.org\/blog\/?p=687","title":{"rendered":"ArduCopter Stabilize Mode"},"content":{"rendered":"\n
\ucd9c\ucc98 : <\/span><\/font>http:\/\/cafe.naver.com\/ardupix\/937<\/a><\/span><\/div>

<\/font><\/div>
Stabilize \ubaa8\ub4dc\ub294 \uc0ac\uc6a9\uc790\uc5d0\uac8c \uae30\uccb4\uc758 \uc218\ub3d9 \uc870\uc791\uc744 \ud5c8\uc6a9\ud558\uc9c0\ub9cc roll\uacfc pitch\ucd95\uc758 \uc218\ud3c9 \uc790\uc138\ub97c \uc2a4\uc2a4\ub85c \uc720\uc9c0\ud569\ub2c8\ub2e4.<\/span>
<\/div>

<\/font><\/div>
\uac1c\uc694<\/strong><\/span><\/font><\/div>

<\/font><\/div>
\u2022 \uc870\uc885\uc790\uc758 roll\uacfc pitch\uc758 \uc870\uc791\uc774 \ucf65\ud130\uc758 \uae30\uc6b8\uae30\ub97c \uc81c\uc5b4\ud569\ub2c8\ub2e4. \uc870\uc885\uc790\uac00 roll\uacfc pitch \ud0a4\ub97c \ub193\uc73c\uba74 \uae30\uccb4\ub294 \uc2a4\uc2a4\ub85c \uc218\ud3c9\uc744 \uc720\uc9c0\ud569\ub2c8\ub2e4.(\uc790\uc138\uc720\uc9c0)<\/span><\/font><\/div>
\u2022 \ubc14\ub78c\uc5d0 \uc758\ud574 \uae30\uccb4\uac00 \ubc00\ub824 \ub3cc\uc544\ub2e4\ub2d0 \ub54c \uc704\uce58\ub97c \uc9c0\ud0a4\uae30 \uc704\ud574 \uc870\uc885\uc790\ub294 \ubcf4\ud1b5 roll\uacfc pitch\ub97c \uc870\uc791\ud560 \ud544\uc694\uac00 \uc788\uc2b5\ub2c8\ub2e4.<\/span><\/font><\/div>
\u2022 \uc870\uc885\uc790\uac00 \ubcf4\ub0b4\ub294 yaw\uc870\uc791 \uc2e0\ud638\ub294 \uae30\uccb4\uc758 \uc815\uba74 \ubc29\ud5a5\uc744 \uc81c\uc5b4\ud569\ub2c8\ub2e4. \uc870\uc885\uc790\uac00 yaw\uc870\uc791\uc744 \uba48\ucd94\uba74 \uae30\uccb4\ub294 \uc5ed\uc2dc \ud604\uc81c\uc758 \uc815\uba74 \ubc29\ud5a5\uc744 \uc720\uc9c0\ud569\ub2c8\ub2e4.<\/span><\/font><\/div>
\u2022 \uae30\uccb4\uac00 \uace0\ub3c4\ub97c \uc720\uc9c0 \ud558\ub294 \uac83\uc740 \uc870\uc885\uc790\uc758 throttle \uc870\uc791\uc774 \ud1b5\uc81c\ud569\ub2c8\ub2e4. \ud604\uc81c \uace0\ub3c4\ub97c \uc720\uc9c0\ud558\uae30\uc704\ud574 \ud544\uc694\ud55c \uc77c\uc815 \uc815\ub3c4\uc758 throttle \uc870\uc791\uc774 \ubaa8\ud130\uc758 \ud3c9\uade0 \uc18d\ub3c4\ub97c \uc870\uc808\ud558\uace0 \uace0\ub3c4\uac00 \uc720\uc9c0\ub418\ub294 \uac83\uc785\ub2c8\ub2e4. \ub9cc\uc57d \uc870\uc885\uc790\uac00 throttle \uc2a4\ud2f1\uc744 \uc644\uc804\ud788 \ub0b4\ub9ac\uba74 \ubaa8\ud130\ub294 \ucd5c\uc18c\uac12(MOT_SPIN_ARMED)\uc5d0 \ub3c4\ub2ec\ud558\uace0, \ube44\ud589\uc911\uc774\ub77c\uba74 \uae30\uccb4\ub294 \uace0\ub3c4 \uc81c\uc5b4\ub97c \uc0c1\uc2e4\ud558\uace0 \ub3cc\uba74\uc11c \ucd94\ub77d\ud558\uac8c \ub429\ub2c8\ub2e4.<\/span><\/font><\/div>
\u2022 \ubaa8\ud130\ub85c \ubcf4\ub0b4\uc9c0\ub294 throttle \uc2e0\ud638\ub294 \uae30\uccb4\uc758 \uc790\uc138 \ubcc0\ud654\ub85c \uc778\ud574 \uc870\uc885\uc790\uac00 \uc218\ud589\ud574\uc57c\ud558\ub294 \ubcf4\uc0c1\uc744 \uc904\uc774\uae30 \uc704\ud574 \uae30\uc874 tilt \uac01\uc5d0 \uae30\ucd08\ud558\uc5ec \uc790\ub3d9 \uc870\uc815\ub429\ub2c8\ub2e4. \uc989, \uae30\uccb4\uac00 \uc55e\uc73c\ub85c \ub354 \uae30\uc6b8\uac8c \ub429\ub2c8\ub2e4.<\/span><\/font><\/div>

<\/font><\/div>

<\/font><\/div>
\ube44\ud589\uc744 \uc775\ud788\uace0 \uc2f6\ub2e4\uba74 Stabilize \ubcf4\ub2e4\ub294  Alt Hold\ub098 Loiter \ube44\ud589\uc744 \uc2dc\ub3c4\ud558\uc2ed\uc2dc\uc624. \ud55c \ubc88\uc5d0 \uc5ec\ub7ec \uc81c\uc5b4\uc5d0 \uc9d1\uc911\ud574\uc57c \ud560 \ud544\uc694\uac00 \uc5c6\ub2e4\uba74 \ucd94\ub77d\ub3c4 \uc904\uc5b4\ub4e4 \uac83\uc785\ub2c8\ub2e4.<\/span><\/font><\/div>

<\/font><\/div>
autopilot\uc774 \uae30\uccb4\ub97c \uc81c\uc5b4\ud558\ub294\ub370 \uc2e4\ud328\ud560 \uacbd\uc6b0\uc5d0\ub294 \ud56d\uc0c1 Stabilize\uc640 \uac19\uc740 Manual \ubaa8\ub4dc\ub85c \uc804\ud658\ud558\uc2ed\uc2dc\uc624. \uc774\ud6c4 \ucf65\ud130 \uc81c\uc5b4\ub97c \uc720\uc9c0\ud558\ub294 \uac83\uc740 \uc0ac\uc6a9\uc790\uc758 \ubaab\uc785\ub2c8\ub2e4.<\/span><\/font><\/div>

<\/font><\/div>

<\/font><\/div>
Tuning<\/strong><\/span><\/font><\/div>

<\/font><\/div>
AC3.1 (\ud639\uc740 \uadf8 \uc774\uc0c1)\uc740 \ucd5c\uc0c1\uc758 Stabilize\uc640 PID\uac12\uc744 \uc790\ub3d9\uc73c\ub85c \uacb0\uc815\ud558\ub294 AutoTune \uae30\ub2a5\uc774 \ud3ec\ud568\ub418\uc5b4 \uc788\uc2b5\ub2c8\ub2e4. \uc218\ub3d9\uc73c\ub85c PID\uac12\uc744 \uc870\uc815\ud558\uae30\ubcf4\ub2e4\ub294 AutoTune\uc744 \uc2e4\ud589\ud558\uae30\ub97c \uc801\uadf9 \uad8c\uc7a5\ud569\ub2c8\ub2e4.<\/span><\/font><\/div>

<\/font><\/div>
\u2022 ANGLE_MAX\ub294 \ucd5c\ub300 \uae30\uc6b8\uae30 \uac01\ub3c4\ub97c \uc81c\uc5b4\ud569\ub2c8\ub2e4. \uae30\ubcf8\uac12\uc740 4500(\uc989, 45\ub3c4)<\/span><\/font><\/div>
\u2022 ANGLE_RATE_MAX\ub294 roll\uacfc pitch\ucd95\uc758 \ucd5c\ub300\uc694\uccad\ud68c\uc804\uc18d\ub3c4\ub97c \uc81c\uc5b4\ud569\ub2c8\ub2e4. \uae30\ubcf8\uac12\uc740 18000(\uc989,180\ub3c4\/sec)<\/span><\/font><\/div>
\u2022 ACRO_YAW_P\ub294 \uc870\uc885\uc790\uc758 yaw\uc870\uc791 \uc2e0\ud638\uc5d0 \ub530\ub77c \ucf65\ud130\uac00 \ud68c\uc804\uc744 \uc5bc\ub9c8\ub098 \ube68\ub9ac \ud560\uc9c0\ub97c \uc81c\uc5b4\ud569\ub2c8\ub2e4. yaw\ud0a4\ub97c \uc88c\uce21 \ud639\uc740 \uc6b0\uce21\uc73c\ub85c \ucd5c\ub300\ud55c \ubc00\uc5c8\uc744 \ub54c, 4.5\uc778 \uae30\ubcf8\uac12\uc740 200 deg\/sec\ud68c\uc804 \ube44\uc728\uc744 \uba85\ub839\ud569\ub2c8\ub2e4. \ub354 \ub192\uc740 \uac12\uc740 \ub354 \ube60\ub978 \ud68c\uc804\uc744 \uc720\ub3c4\ud569\ub2c8\ub2e4.<\/span><\/font><\/div>
\u2022 Stabilize Roll\/Pitch P\ub294 \ucf65\ud130\uc758 roll\/ pitch\uc640 \uc870\uc815\uc790\uc758 \uc785\ub825 \uc2e0\ud638 \uc0ac\uc774\uc758 \uc2e0\ub8b0\uc131 \uadf8\ub9ac\uace0 \uc694\uccad\ub41c \uac83\uacfc \uc2e4\uc81c roll\/ pitch \uac01 \uac04\uc758 error\ub97c \uc81c\uc5b4\ud569\ub2c8\ub2e4. 4.5\uc758 \uae30\ubcf8\uac12\uc740 \uac01 \uc624\ub958 1\ub3c4\uc5d0 \ub300\ud55c 4.5 deg\/sec\uc758 \ud68c\uc804 \uc18d\ub3c4\ub97c \uba85\ub839 \ud560 \uac83\uc785\ub2c8\ub2e4. 7\ud639\uc740 8\uacfc \uac19\uc740 \ub354 \ub192\uc740 \uac8c\uc778 \uac12\uc740 \ucf65\ud130\uac00 \uc880 \ub354 \ubbfc\uac10\ud558\uac8c \ubc18\uc751\ud558\ub3c4\ub85d \ud558\uba70 \ubc14\ub78c\uc5d0 \ub354 \ube68\ub9ac \ubc18\uc751\ud558\uc5ec \uc800\ud56d\ud558\ub3c4\ub85d \ud569\ub2c8\ub2e4.<\/span><\/font><\/div>
\u2022 \ub0ae\uc740 stabilize P\ub294 \ucf65\ud130\uc758 \ubc18\uc751(roll\/ pitch\ucd95\uc73c\ub85c\uc758 rotate, \uc989 \uae30\uc6b8\uc774\uac70\ub098 \uc218\ud3c9\uc744 \uc720\uc9c0\ud558\ub294 \uac83)\uc744 \ub9e4\uc6b0 \ub290\ub9ac\uac8c \ud569\ub2c8\ub2e4. \uadf8\ub9ac\uace0 \ucf65\ud130\uac00 \ub9e4\uc6b0 \ub454\uac10\ud558\uac8c \ub290\uaef4\uc9c0\uba70 \ubc14\ub78c\uc774 \ud718\ubab0\uc544\uce58\uba74 \ucd94\ub77d\ud560 \uc218\ub3c4 \uc788\uc2b5\ub2c8\ub2e4. \ubd80\ub4dc\ub7ec\uc6b4 \ube44\ud589\uc744 \uc6d0\ud55c\ub2e4\uba74 Stability P\uac12\uc744 \ub0ae\ucd94\uae30 \ubcf4\ub2e4\ub294 RC_Feel \ubcc0\uc218\ub97c \ub0ae\ucd94\uc5b4 \ubcf4\uc2ed\uc2dc\uc624.<\/span><\/font><\/div>
\u2022 Rate Roll\/Pitch P, I and D \uac12\uc740 \uc0c1\uc704 \uac1c\ub150\uc778 Stabilize(\uc989 \uac01\ub3c4) controller\uac00 \uc694\uad6c\ud558\ub294 \ud68c\uc804(\uae30\uc6b8\uc784)\uc18d\ub3c4\uc5d0 \uae30\ucd08\ud558\uc5ec \ubaa8\ud130\ub85c\uc758 \ucd9c\ub825\uc744 \uc81c\uc5b4\ud569\ub2c8\ub2e4. \uc774 \uac12\ub4e4\uc740 \uc77c\ubc18\uc801\uc73c\ub85c \ub0ae\uc740 \ube44\uc728 PID \uac12\uc744 \ud544\uc694\ub85c \ud558\ub294 \ubcf4\ub2e4 \uac15\ub825\ud55c \ud5ec\ub9ac\ucf65\ud130\uc640 \ud5ec\ub9ac\ucf65\ud130\uc758 \uc911\ub7c9 \ub300 \ucd9c\ub825\ube44\uc640 \uad00\ub828\uc774 \uc788\uc2b5\ub2c8\ub2e4. \uc608\ub97c \ub4e4\uc5b4 \ucd94\ub825\uc774 \ub354 \ub0ae\uc740 \ucf65\ud130\uc758 Rate Roll\/Pitch P \uc218\uce58\uac00 0.18 \ud639\uc740 \uadf8 \uc774\uc0c1 \uc77c\ub54c \ub192\uc740 \ucd94\ub825\uc758 \ucf65\ud130\ub294 0.08\uc758 \uac12\uc744 \uac00\uc9c8 \uac83\uc785\ub2c8\ub2e4.<\/span><\/font><\/div>
\u2022 Rate Roll\/Pitch P\ub294 \uc0ac\uc6a9\uc790\uc758 \ucf65\ud130\ub97c \uc815\ud655\ud558\uac8c \uc870\uc815\ud558\uae30 \uc704\ud55c \uc720\uc77c\ud558\uace0 \uac00\uc7a5 \uc911\uc694\ud55c \uac12\uc785\ub2c8\ub2e4.<\/span><\/font><\/div>
\u2022 \uc6d0\ud558\ub294 \uc120\ud68c \uc18d\ub3c4\ub97c \uc5bb\uae30 \uc704\ud55c \ub354 \ub192\uc740 P\uac12\uc740 \ub354 \ub192\uc740 \ubaa8\ud130 \ubc18\uc751\uc744 \ubc1c\uc0dd\uc2dc\ud0b5\ub2c8\ub2e4.<\/span><\/font><\/div>
\u2022 \ud45c\uc900 \uc544\ub4c0\ucf65\ud130\uc758 \uae30\ubcf8 P\uac12\uc740 0.15\uc785\ub2c8\ub2e4.<\/span><\/font><\/div>
\u2022 Rate Roll\/Pitch I\ub294 \ubcf4\ub2e4 \uae34 \uc2dc\uac04 \ub3d9\uc548 \ucf65\ud130\uac00 (\uc694\uad6c\uc18d\ub3c4\uc758 \uc720\uc9c0\ub97c \ubc29\ud574\ud558\ub294) \uc678\ubd80\uc758 \ud798\uc5d0 \ub300\ud55c \ubcf4\uc0c1(\uc0c1\uc1c4)\uc744 \ud558\uae30 \uc704\ud574 \uc0ac\uc6a9\ub429\ub2c8\ub2e4.<\/span><\/font><\/div>
\u2022 \ub192\uc740 I\uac12\uc740 \uc694\uad6c\uc18d\ub3c4\ub97c \uc720\uc9c0\ud558\uae30\uc704\ud574 \ube60\ub974\uac8c \uacbd\uc0ac\ub97c \uc8fc\uace0 \uacfc\uc789\uc9c8\uc8fc(overshoot)\ub97c \ud53c\ud558\uae30 \uc704\ud574 \uc7ac\ube68\ub9ac \uacbd\uc0ac\ub97c \uc904\uc785\ub2c8\ub2e4.<\/span><\/font><\/div>
\u2022 Rate Roll\/Pitch D\ub294 \ucf65\ud130\uac00 \uc694\uad6c\uc124\uc815\uac12(desired set point)\uc5d0 \ub3c4\ub2ec\ud558\ub824\uace0 \ud558\ub294 \uac00\uc18d\ub3c4\ubc18\uc751\uc744 \uc644\ud654(\ubb34\ub514\uac8c) \ud558\ub294\ub370 \uc0ac\uc6a9\ub429\ub2c8\ub2e4. \ub2e4\uc2dc \ub9d0\ud574 \uc2dc\uac04\uc774 \uc9c0\ub0a8\uc5d0 \ub530\ub77c \uc694\uad6c\uc124\uc815\uac12\uc5d0 \ub3c4\ub2ec\ud558\ub294 \ubc18\uc751\uc774 \uc810\uc810 \ub354 \ube68\ub77c\uc9c0\ub294\ub370, \uc774\ub97c \uc644\ud654\ud558\ub294 \uc218\ub2e8\uc785\ub2c8\ub2e4.<\/span><\/font><\/div>
\u2022 \ub192\uc740 D\uac12\uc740 \ub9e4\uc6b0 \uc774\ub840\uc801\uc778 \uc9c4\ub3d9 \ubc0f \uba54\ubaa8\ub9ac \ud6a8\uacfc(\ub290\ub9ac\uac70\ub098 \ubc18\uc751\ud558\uc9c0 \uc54a\ub294 \uac83 \uac19\uc740 \ucf58\ub4dc\ub864 \ub290\ub08c)\uac00 \ubc1c\ud589\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4. \uc798 \uc7a5\ucc29\ub41c \ucee8\ud2b8\ub864\ub7ec\ub294 0.011\uac12\uc774 \uc138\ud305\ub420 \uc218 \uc788\uc5b4\uc57c\ud569\ub2c8\ub2e4.<\/span><\/font><\/div>
\u2022 0.001\uacfc \uac19\uc740 \ub0ae\uc740 \uac12\uacfc 0.02\ucc98\ub7fc \ub192\uc740 \uac12 \ubaa8\ub450 \uae30\uccb4\uc5d0 \ub530\ub77c \uc0ac\uc6a9\ub429\ub2c8\ub2e4.<\/span><\/font><\/div>

<\/font><\/div>
\uc880 \ub354 \uc790\uc138\ud55c \ud29c\ub2dd\uc815\ubcf4\ub294 AC2_attitude_PID \ub97c \ubcf4\uc2ed\uc2dc\uc624.<\/span><\/font><\/div>

<\/font><\/div>

<\/font><\/div>
Dataflash logs\ub97c \ud1b5\ud55c \uc131\ub2a5 \uac80\uc99d<\/strong><\/span><\/div>

<\/font><\/div>
\ucf65\ud130\uc5d0\uc11c dataflash \ub85c\uadf8\ub97c \ub2e4\uc6b4\ub85c\ub4dc\ud558\uc5ec stabilize \ubaa8\ub4dc \uc218\ud589 \uacb0\uacfc\ub97c \uc0b4\ud3b4\ubcf4\ub294 \uac83\uc774 \uac00\uc7a5 \uc88b\uc2b5\ub2c8\ub2e4. \uc774\uac83\uc744 mission planner\uc5d0\uc11c \uc5f4\uace0 ATT \uba54\uc2dc\uc9c0(ATT message's)\uc758 Roll-In \ud639\uc740 DesRoll (\uc870\uc885\uc790 \uc694\uad6c roll \uac01)\uc744 Roll (\uc2e4\uc81c roll)\uacfc \ube44\uad50\ud560 \uc218 \uc788\ub3c4\ub85d \uadf8\ub798\ud504\ub85c \ud45c\uc2dc\ud569\ub2c8\ub2e4. \ub9c8\ucc2c\uac00\uc9c0\ub85c, Pitch-In \ud639\uc740 DesPitch (\uc694\uad6c pitch \uac01)\uacfc Pitch (\uc2e4\uc81c pitch \uac01)\uc744 \ube44\uad50\ud560 \uc218 \uc788\ub3c4\ub85d \uadf8\ub798\ud504\ub97c \ud45c\uc2dc\ud569\ub2c8\ub2e4.<\/span><\/font><\/div>
\uc774\uac83\ub4e4\uc740 \uc544\ub798\uc640 \uac19\uc774 \uc798 \ucd94\uc801\ud569\ub2c8\ub2e4. stabilize \ube44\ud589 \uad6c\uac04\uc744 \uc798 \uc0b4\ud3b4\ubcf4\uc2ed\uc2dc\uc624.<\/span><\/font><\/div>

<\/font><\/div>
\"01.png\"\r\n<\/span>


<\/p>\r\n\r\n<\/span>
<\/font><\/div>


<\/font><\/div>

<\/font><\/div>
\uc77c\ubc18\uc801\uc778 \ubb38\uc81c<\/strong><\/span><\/font><\/div>

<\/font><\/div>
\u2022 \uc0c8 \ucf65\ud130\uac00 \uc774\ub959 \uc989\uc2dc \ub4a4\uc9d1\uc5b4\uc9d1\ub2c8\ub2e4. \uc774\uac83\uc740 \ubcf4\ud1b5 \uc798\ubabb\ub41c \ubaa8\ud130 \uc21c\uc11c, \ud68c\uc804\ubc29\ud5a5, \ud504\ub86d\ubb38\uc81c(CW,CCW)\ub85c \ubc1c\uc0dd\ud569\ub2c8\ub2e4. \uc0ac\uc6a9\uc790\uc758  apm2 \ud639\uc740 pixhawk\uc758 \uc5f0\uacb0 \uc0c1\ud0dc\ub97c \ud655\uc778\ud558\uc2ed\uc2dc\uc624.<\/span><\/font><\/div>
\u2022 \ucf65\ud130\uac00 roll\ucd95 \ud639\uc740 pitch\ucd95\uc73c\ub85c \ubd88\uc548\uc815\ud558\uac8c \ud754\ub4e4\ub9bd\ub2c8\ub2e4. \uc774\uac83\uc740 \ubcf4\ud1b5 P\uac12\uc774 \ubd80\uc815\ud655\ud568\uc744 \uc758\ubbf8\ud569\ub2c8\ub2e4. \uc774 \uac8c\uc778\uac12\uc744 \uc870\uc815\ud558\ub294 \ubc29\ubc95\uc5d0 \ub300\ud55c \uba87 \uac00\uc9c0 \ud78c\ud2b8\ub294 \uc704\uc758 \ud29c\ub2dd \ubc29\ubc95\uc744 \ucc38\uace0\ud558\uc2ed\uc2dc\uc624.<\/span><\/font><\/div>
\u2022 \ube60\ub974\uac8c \ud558\uac15\ud560 \ub54c \ucf65\ud130\uac00 \ud754\ub4e4\ub9bd\ub2c8\ub2e4. \uc774\ub294 \ucf65\ud130 \uc790\uc2e0\uc758 \ud504\ub86d\uc774 \uc53b\uae30\ub4ef(\uae30\uccb4\ub97c \uc704\ub85c \ub2f9\uae30\ub4ef\uc774 \uc544\ub2c8\uace0) \ub5a8\uc5b4\uc9d0\uc73c\ub85c\uc368 \ubc1c\uc0dd\ud569\ub2c8\ub2e4. Roll\/Pitch P\uac12\uc744 \uc62c\ub9b0\ub2e4 \ud558\ub354\ub77c\ub3c4 \uac70\uc758 \ud574\uacb0\uc774 \ubd88\uac00\ub2a5\ud569\ub2c8\ub2e4. \uc801\uc815 \ucd94\ub825\uc744 \uc720\uc9c0 \ud558\uc2ed\uc2dc\uc624.<\/span><\/font><\/div>
\u2022 \ucf65\ud130\uac00 \uc774\ub959 \uc2dc \uc67c\ucabd \ud639\uc740 \uc624\ub978\ucabd\uc73c\ub85c 15\ub3c4\uc529 \ud68c\uc804\ud569\ub2c8\ub2e4. \uc77c\ubd80 \ubaa8\ud130\uac00 \uc815\ub82c\ub418\uc9c0 \uc54a\uc558\uac70\ub098 ESC \ucf08\ub9ac\uac00 \uc81c\ub300\ub85c \uc774\ub904\uc9c0\uc9c0 \uc54a\uc558\uc2b5\ub2c8\ub2e4.<\/span><\/font><\/div>
\u2022 \ud5ec\uae30\uac00 \ubc14\ub78c\uc774 \uc5c6\ub294 \uc870\uac74\uc5d0\uc11c\ub3c4 \ud56d\uc0c1 \ud55c \ubc29\ud5a5(\uae30\uccb4\ub97c \uc911\uc2ec\uc73c\ub85c \uc5b4\ub290 \ubc29\ud5a5\uc774\ub4e0)\uc73c\ub85c \uc774\ub3d9\ud569\ub2c8\ub2e4. \uc218\ud3c9\uc720\uc9c0\ub97c \uc704\ud558\uc5ec SaveTrim or AutoTrim\ub97c \uc2dc\ub3c4\ud558\uc2ed\uc2dc\uc624.<\/span><\/font><\/div>
\u2022 \ucf65\ud130\uac00 \uacf5\uc911\uc5d0\uc11c \uace0\ub3c4\ub97c \uc720\uc9c0\ud558\uc9c0 \ubabb\ud558\uac70\ub098 \uc644\ubcbd\ud558\uac8c \uc815\uc9c0\ud574 \uc788\uc9c0 \ubabb\ud569\ub2c8\ub2e4. \uc704\uc5d0\uc11c \uc5b8\uae09\ud558\uc600\ub4ef\uc774 \uc774\uac83\uc740 \ub9e4\ub274\uc5bc \ubaa8\ub4dc\uc774\uba70 \uace0\ub3c4\uc640 \uc704\uce58\ub97c \uc720\uc9c0\ud558\uae30 \uc704\ud574\uc11c\ub294 \uacc4\uc18d \uc2a4\ud2f1\uc744 \uc870\uc791\ud574\uc57c\ud569\ub2c8\ub2e4.<\/span><\/font><\/div>
\u2022 roll\uc774\ub098 pitch\uc758 \uac04\ud5d0\uc801\uc778 \ub4e4\uc369\uc784. \ubcf4\ud1b5 \uc218\uc2e0\uae30\uc758 \uac04\uc12d(\uc608\ub97c \ub4e4\uc5b4 FPV\uc7a5\ube44\uac00 \uc218\uc2e0\uae30\uc5d0 \ub108\ubb34 \uac00\uae4c\uc774 \uc704\uce58)\uc5d0 \uc758\ud574 \ubc1c\uc0dd\ud569\ub2c8\ub2e4. \ud639\uc740 ESC\uc758 \ubb38\uc81c\ub85c \ubcc0\uc18d\uae30 \ucf08\ub9ac\ub85c \ud574\uacb0\ub420 \uc218 \uc788\uc2b5\ub2c8\ub2e4.<\/span><\/font><\/div>
\u2022 \ube44\ud589\uc911 \uac11\uc791\uc2a4\ub7f0 \ub4a4\uc9d1\ud798. \uc774\ub294 \uac70\uc758 \ubaa8\ub450 \ubaa8\ud130\ub098 \ubcc0\uc18d\uae30\uc758 \uae30\uacc4\uc801 \uacb0\ud568\uc5d0\uc11c \ubc1c\uc0dd\ud569\ub2c8\ub2e4.<\/span><\/font><\/div>
<\/div><\/div>\n","protected":false},"excerpt":{"rendered":"

\ucd9c\ucc98 : http:\/\/cafe.naver.com\/ardupix\/937 Stabilize \ubaa8\ub4dc\ub294 \uc0ac\uc6a9\uc790\uc5d0\uac8c \uae30\uccb4\uc758 \uc218\ub3d9 \uc870\uc791\uc744 \ud5c8\uc6a9\ud558\uc9c0\ub9cc roll\uacfc pitch\ucd95\uc758 \uc218\ud3c9 \uc790\uc138\ub97c \uc2a4\uc2a4\ub85c \uc720\uc9c0\ud569\ub2c8\ub2e4. \uac1c\uc694 \u2022 \uc870\uc885\uc790\uc758 roll\uacfc pitch\uc758 \uc870\uc791\uc774 \ucf65\ud130\uc758 \uae30\uc6b8\uae30\ub97c \uc81c\uc5b4\ud569\ub2c8\ub2e4. \uc870\uc885\uc790\uac00 roll\uacfc pitch \ud0a4\ub97c \ub193\uc73c\uba74 \uae30\uccb4\ub294 \uc2a4\uc2a4\ub85c \uc218\ud3c9\uc744 \uc720\uc9c0\ud569\ub2c8\ub2e4.(\uc790\uc138\uc720\uc9c0) \u2022 \ubc14\ub78c\uc5d0 \uc758\ud574 \uae30\uccb4\uac00 \ubc00\ub824 \ub3cc\uc544\ub2e4\ub2d0 \ub54c \uc704\uce58\ub97c \uc9c0\ud0a4\uae30 \uc704\ud574 \uc870\uc885\uc790\ub294 \ubcf4\ud1b5 roll\uacfc pitch\ub97c \uc870\uc791\ud560 \ud544\uc694\uac00 \uc788\uc2b5\ub2c8\ub2e4. \u2022 \uc870\uc885\uc790\uac00 \ubcf4\ub0b4\ub294 yaw\uc870\uc791 \uc2e0\ud638\ub294 […]<\/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-687","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\/687","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=687"}],"version-history":[{"count":0,"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=\/wp\/v2\/posts\/687\/revisions"}],"wp:attachment":[{"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=687"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=687"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=687"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}