文档介绍：命令值单位选项解释说明 ACRO_BAL _PITCH 103 rate atwhich pitch angle returns tolevel inacro mode. Ahigher value causes the vehicle to return tolevel faster. ACRO_BAL _ROLL 103 rate atwhich roll angle returns tolevel inacro mode. Ahigher value causes the vehicle to return tolevel faster. ACRO_EXP O 0:Disabl :Very Low :Low :Medi :High :Very High Acro roll/pitch Expo toallow faster rotation when stick at edges ACRO_RP_ P 110 Converts pilot roll and pitch into adesired rate ofrotation inACRO and SPORT mode. Higher values mean faster rate of rotation. ACRO_TRA INER 2 0:Disabl ed1:Leveli ng2:Leveli ngand Limited Type oftrainer used inacro mode ACRO_YAW _P 110 Converts pilot yaw input into a desired rate ofrotation inACRO, Stabilize and SPORT modes. Higher values mean faster rate ofrotation. P_BETA This controls the time constant for the cross -over frequency used tofuse AHRS (airspeed and heading) and GPS data toestimate ground velocity. Time constant is . Alarger time constant will use GPS data less and a small time constant will use air data less. AHRS_GPS _GAIN This controls how how much touse the GPS tocorrect the attitude. This should never beset tozero for aplane asitwould result in the plane losing control in turns. For aplane please use the default value . AHRS_GPS _MINSATS 6010 Minimum number ofsatellites visible touse GPS for velocity based corrections attitude correction. This defaults to6, which isabout the point atwhich the velocity numbers from aGPS e too unreliable for accurate correction ofthe accelerometers. AHRS_GPS _USE 1 0:Disabl ed1:Enable d This controls whether touse dead -PS based navigation. Ifset to0then the GPS won't beused for navigation, and only dead reckoning will be used. Avalue ofzero should never beused for normal flight. AHRS_ORI ENTATION 0 0:None 1:Yaw45 2:Yaw90 3:Yaw135 4:Yaw180 5:Yaw225 6:Yaw270 7:Yaw315 8:Roll18 09:Roll18 0Yaw45 10:Roll1 80Yaw90 11:Roll1 80Yaw135 12:Pitch 180 13