{"id":1621,"date":"2023-11-19T11:58:06","date_gmt":"2023-11-19T10:58:06","guid":{"rendered":"http:\/\/domotics.fr\/?p=1621"},"modified":"2023-11-19T11:58:06","modified_gmt":"2023-11-19T10:58:06","slug":"z84-les-parametres-inav","status":"publish","type":"post","link":"https:\/\/domotics.fr\/index.php\/2023\/11\/19\/z84-les-parametres-inav\/","title":{"rendered":"Z84 les param\u00e8tres inav"},"content":{"rendered":"\n<p>Je vais pas r\u00e9inventer la poudre dans un premier temps je vais m&rsquo;inspir\u00e9 de la config de <a rel=\"noreferrer noopener\" aria-label=\"olivier C (s\u2019ouvre dans un nouvel onglet)\" href=\"https:\/\/www.youtube.com\/watch?time_continue=85&amp;v=hOz8IHAYVKc\" target=\"_blank\">olivier C<\/a>. Cette config tourne sur une F411 du coup il y a quelques modifs a apporter.<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\"># --- GENERAL\n\nset looptime = 1000\nset gyro_sync = ON\nset small_angle = 180 \nset nav_extra_arming_safety = OFF\n\n# --- PID AND RATES\n\nset roll_rate = 36\nset pitch_rate = 18\n\nset fw_p_pitch = 16\nset fw_i_pitch = 17\nset fw_ff_pitch = 32\nset fw_p_roll = 16\nset fw_i_roll = 17\nset fw_ff_roll = 32\nset fw_p_level = 18\n\nset rc_expo = 10\nset rc_yaw_expo = 0\nset tpa_rate = 5\nset tpa_breakpoint = 1500\n\nset max_angle_inclination_rll = 800 \nset max_angle_inclination_pit = 600 \n\n# --- AUTONOMOUS NAVIGATION\n\nset nav_fw_cruise_thr = 1500\nset nav_fw_min_thr = 1400\nset nav_fw_max_thr = 1600\nset nav_fw_bank_angle = 36\nset nav_fw_climb_angle = 20\nset nav_fw_dive_angle = 6\nset nav_fw_pitch2thr = 12\nset nav_fw_loiter_radius = 4500\n\n# --- AUTO-LAUNCH\n\nset nav_fw_launch_velocity = 300\nset nav_fw_launch_accel = 1500\nset nav_fw_launch_max_angle = 45\nset nav_fw_launch_detect_time = 40\nset nav_fw_launch_thr = 1800\nset nav_fw_launch_idle_thr = 1000\nset nav_fw_launch_motor_delay = 120\nset nav_fw_launch_spinup_time = 30\nset nav_fw_launch_min_time = 0\nset nav_fw_launch_timeout = 7000\nset nav_fw_launch_max_altitude = 0\nset nav_fw_launch_climb_angle = 12\n\nset pos_hold_deadband = 40 \n\n# --- RTH\n\nset nav_min_rth_distance = 2000\nset nav_rth_climb_first = OFF\nset nav_rth_climb_ignore_emerg = ON\nset nav_rth_allow_landing = FS_ONLY\nset nav_rth_alt_mode = AT_LEAST\nset nav_rth_altitude = 7000\nset nav_rth_home_altitude = 4000\n<\/pre>\n","protected":false},"excerpt":{"rendered":"<p>Je vais pas r\u00e9inventer la poudre dans un premier temps je vais m&rsquo;inspir\u00e9 de la config de olivier C. Cette config tourne sur une F411 du coup il y a quelques modifs a apporter. # &#8212; GENERAL set looptime = 1000 set gyro_sync = ON set small_angle = 180 set nav_extra_arming_safety = OFF # &#8212; [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[],"class_list":["post-1621","post","type-post","status-publish","format-standard","hentry","category-non-classe","entry"],"_links":{"self":[{"href":"https:\/\/domotics.fr\/index.php\/wp-json\/wp\/v2\/posts\/1621","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/domotics.fr\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/domotics.fr\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/domotics.fr\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/domotics.fr\/index.php\/wp-json\/wp\/v2\/comments?post=1621"}],"version-history":[{"count":1,"href":"https:\/\/domotics.fr\/index.php\/wp-json\/wp\/v2\/posts\/1621\/revisions"}],"predecessor-version":[{"id":2504,"href":"https:\/\/domotics.fr\/index.php\/wp-json\/wp\/v2\/posts\/1621\/revisions\/2504"}],"wp:attachment":[{"href":"https:\/\/domotics.fr\/index.php\/wp-json\/wp\/v2\/media?parent=1621"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/domotics.fr\/index.php\/wp-json\/wp\/v2\/categories?post=1621"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/domotics.fr\/index.php\/wp-json\/wp\/v2\/tags?post=1621"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}