{"id":758,"date":"2025-01-12T04:48:00","date_gmt":"2025-01-11T20:48:00","guid":{"rendered":"https:\/\/xiaoding.org\/?p=758"},"modified":"2025-01-13T13:28:59","modified_gmt":"2025-01-13T05:28:59","slug":"edgetx%e7%9b%b4%e5%8d%87%e6%9c%baccpm%e6%b7%b7%e6%8e%a7%e8%a1%a5%e9%81%97","status":"publish","type":"post","link":"https:\/\/xiaoding.org\/?p=758","title":{"rendered":"EdgeTX\u76f4\u5347\u673aCCPM\u6df7\u63a7\u8865\u9057"},"content":{"rendered":"\n

\u540c\u6837\u5730\uff0cEdgeTX \u7684\u624b\u518c\u4e2d\uff0c\u5173\u4e8e\u76f4\u5347\u673a\u8bbe\u7f6e<\/a>\u7684\u4ecb\u7ecd\u4e5f\u76f8\u5f53\u7b80\u5355\u3002\u7279\u522b\u662f\u659c\u76d8\u7c7b\u578b\uff08Swash Type\uff09\u548c\u659c\u76d8\u884c\u7a0b\uff08Swash Ring\uff09\u7684\u8bf4\u660e\uff0c\u51e0\u4e4e\u6ca1\u6709\u6709\u6548\u5185\u5bb9\u3002\u4e3a\u6b64\uff0c\u7279\u5730\u8ba4\u771f\u7814\u7a76\u4e86\u4e00\u4e0b\uff0c\u5728\u539f OpenTX University \u7f51\u7ad9\uff0c\u627e\u5230\u4e86 CCPM \u8bf4\u660e<\/a>\uff0c\u89e3\u7b54\u4e86\u8fd9\u4e24\u4e2a\u95ee\u9898\u3002<\/p>\n\n\n\n

CCPM\u6982\u5ff5<\/h4>\n\n\n\n

CCPM\uff0c\u5168\u79f0 Cyclic Collective Pitch Mixing\uff0c\u5373\u201c\u5468\u671f\u53d8\u8ddd-\u603b\u8ddd\u6df7\u5408\u63a7\u5236\u201d\u4e4b\u610f\u3002\uff08\u767e\u5ea6\u767e\u79d1\u4e0a\u7684\u7ffb\u8bd1\u201c\u5dee\u5206\u87ba\u8ddd\u6df7\u5408\u63a7\u5236\u7ed3\u6784\u201d\u4e0d\u51c6\u786e\uff0c\u592a\u5783\u573e\u3002\u53c2\u8003\u5357\u4eac\u822a\u7a7a\u822a\u5929\u5927\u5b66\u300a\u76f4\u5347\u673a\u7a7a\u529b\u52a8\u529b\u5b66 \u524d\u98de\u7406\u8bba\u300b<\/a>\uff0cCyclic Pitch \u4e3a\u201c\u5468\u671f\u53d8\u8ddd\u201d\uff0cCollective Pitch \u4e3a\u201c\u603b\u8ddd\u201d\uff09<\/p>\n\n\n\n

CCPM \u5e94\u8be5\u662f\u673a\u68b0\u63a7\u5236\u5411\u7535\u5b50\u63a7\u5236\u8fc7\u6e21\u7684\u4ea7\u7269\u3002\u6700\u65e9\u7684\u76f4\u5347\u673a\u659c\u76d8\u662f\u7531\u4e09\u4e2a\u8235\u673a\u72ec\u7acb\u63a7\u5236\u7684\uff0c\u7eaf\u673a\u68b0\u7ed3\u6784\uff0c\u5bf9\u8235\u673a\u51fa\u529b\u8981\u6c42\u9ad8\uff0c\u7ed3\u6784\u590d\u6742\u3002\u540e\u6765\u659c\u76d8\u7531\u4e09\u4e2a\u8235\u673a\u8054\u5408\u63a7\u5236\uff08\u4e5f\u53ef\u4ee5\u662f\u591a\u4e2a\uff09\uff0c\u4f46\u6bcf\u4e2a\u8235\u673a\u662f\u6709\u72ec\u7acb\u901a\u9053\u7684\uff0c\u8fd9\u5c31\u9700\u8981\u5c06\u4e09\u4e2a\u8235\u673a\u7684\u8fd0\u52a8\u5173\u8054\u8d77\u6765\uff08\u5373\u6df7\u5408\u63a7\u5236\uff09\uff0c\u5b9e\u73b0\u9065\u63a7\u5668\u4e0a\u63a8\u52a8\u63a7\u5236\u6746\u65f6\uff0c\u4e09\u4e2a\u8235\u673a\u80fd\u591f\u5171\u540c\u52a8\u4f5c\uff0c\u63a8\u52a8\u659c\u76d8\u5b8c\u6210\u76f8\u5e94\u7684\u64cd\u4f5c\u3002<\/p>\n\n\n\n

\u7531\u4e8e\u65e9\u5e74\u7535\u5b50\u6280\u672f\u4e0d\u53d1\u8fbe\uff0c\u98de\u673a\u4e0a\u6ca1\u6709\u98de\u63a7\uff0c\u8fd9\u4e2a\u6df7\u5408\u63a7\u5236\u7684\u8ba1\u7b97\u548c\u6620\u5c04\uff0c\u5c31\u5728\u9065\u63a7\u5668\u4e0a\u5b8c\u6210\u4e86\u3002\u8fd9\u4e5f\u662f\u73b0\u5728\u5e26\u98de\u63a7\u7684\u76f4\u5347\u673a\u4e0d\u9700\u8981\u5728\u9065\u63a7\u5668\u4e0a\u8bbe\u7f6e CCPM \u7684\u539f\u56e0\uff08\u98de\u63a7\u96c6\u6210\u4e86\u6df7\u63a7\u529f\u80fd\uff09\u3002<\/p>\n\n\n\n

\u659c\u76d8\u7c7b\u578b\uff08Swash Type\uff09<\/h4>\n\n\n\n

OpenTX\/EdgeTX \u8fd9\u91cc\u7684\u659c\u76d8\u7c7b\u578b\uff0c\u5176\u5b9e\u662f\u6df7\u63a7\u8235\u673a\u5728\u659c\u76d8\u4e0a\u7684\u5206\u5e03\u89d2\u5ea6\u3002\u6700\u5e38\u89c1\u7684 120 \u662f\u4e09\u4e2a\u8235\u673a\u6309 120 \u5ea6\u95f4\u8ddd\u5747\u5300\u5206\u5e03\uff0c120X \u5219\u662f\u65cb\u8f6c 90 \u5ea6\u540e\u7684\u5e03\u7f6e\u3002<\/p>\n\n\n\n

\u6839\u636e\u89d2\u5ea6\u7684\u4e0d\u540c\uff0c\u53ef\u4ee5\u7528\u4e09\u89d2\u51fd\u6570\u8ba1\u7b97\u51fa\u6df7\u63a7\u8235\u673a\u5404\u81ea\u9700\u8981\u52a8\u4f5c\u7684\u884c\u7a0b\u3002\u4ee5 CCPM120 \u4e3a\u4f8b\uff0c\u6df7\u63a7\u5173\u7cfb\u5982\u4e0b\uff1a<\/p>\n\n\n\n

\n

cyc1 = (-cos(0)ele) + (sin(0)<\/em>ail) + col
cyc2 = (-cos(120)ele) + (sin(120)<\/em>ail) + col
cyc3 = (-cos(240)ele) + (sin(240)<\/em>ail) + col<\/p>\n<\/blockquote>\n\n\n\n

140 \u659c\u76d8\u5219\u662f\u5728 120 \u659c\u76d8\u7684\u57fa\u7840\u4e0a\uff0c\u5c06\u4e24\u4e2a\u8235\u673a\u7684\u529b\u81c2\u7403\u5934\u5ef6\u957f\u540e\u4ea7\u751f\u7684\u3002\u5ef6\u957f\u540e\u7403\u5934\u5230\u8f74\u5fc3\u7684\u8ddd\u79bb\u662f\u76f8\u540c\u7684\uff0c\u65b9\u4fbf\u8235\u673a\u4fef\u4ef0\u64cd\u4f5c\u3002\u8fd9\u65f6\u8235\u673a\u7403\u5934\u5230\u8f74\u7ebf\u7684\u5ef6\u957f\u7ebf\uff0c\u4e0e\u53e6\u4e00\u7aef\u8235\u673a\u7684\u5939\u89d2\uff0c\u5927\u7ea6\u6b63\u597d\u662f 140 \u5ea6\u3002\u56e0\u6b64\u5c31\u547d\u540d\u4e3a 140 \u659c\u76d8\u4e86\u3002<\/p>\n\n\n\n

\"\"<\/a><\/figure>\n\n\n\n

90 \u5ea6\u659c\u76d8\uff0c\u6839\u636e ArduPilot \u6587\u6863<\/a>\uff0c\u6709\u4e24\u79cd\u914d\u7f6e\u3002\u4e00\u79cd\u662f 3 \u8235\u673a\uff0c\u4e00\u79cd\u662f 4 \u8235\u673a\u30024 \u4e2a\u8235\u673a\u6309\u5341\u5b57\u5206\u5e03\uff08H4-90\uff09\uff0c\u5c11\u4e00\u4e2a\u8235\u673a\u5219\u662f 3 \u8235\u673a\uff08H3-90\uff09\u3002<\/p>\n\n\n\n

\u4ee5\u4e0a\u7684\u659c\u76d8\u6df7\u63a7\u8ba1\u7b97\uff0c\u53ef\u4ee5\u5728 EdgeTX \u7684 mixer.cpp \u6e90\u4ee3\u7801\u4e2d<\/a>\u67e5\u5230\u3002<\/p>\n\n\n\n

\u659c\u76d8\u884c\u7a0b\uff08Swash Ring\uff09<\/h4>\n\n\n\n

\u636e\u8bf4\u662f\u4ece Futaba \u9065\u63a7\u91cc\u5c31\u6709\u7684\u6982\u5ff5\u3002\u4e3a\u4e86\u907f\u514d\u8235\u673a\u8d85\u51fa\u884c\u7a0b\u635f\u574f\uff0c\u4eba\u4e3a\u7684\u9650\u5236\u8f93\u51fa\u7684\u52a8\u4f5c\u91cf\u3002\u6309\u7167\uff1a(Ail * Ail) + (Ele * Ele) <= (Ring * Ring) \u6765\u63a7\u5236\u3002\u53ef\u4ee5\u60f3\u8c61\u6210\u6447\u6746 Ail \u548c Ele \u7684\u884c\u7a0b\u8054\u5408\u8d77\u6765\u4e0d\u8d85\u8fc7\u4e00\u4e2a\u865a\u62df\u7684\u5706\u3002<\/p>\n\n\n\n

<\/p>\n","protected":false},"excerpt":{"rendered":"

\u540c\u6837\u5730\uff0cEdgeTX \u7684\u624b\u518c\u4e2d\uff0c\u5173\u4e8e\u76f4\u5347\u673a\u8bbe\u7f6e\u7684\u4ecb\u7ecd\u4e5f\u76f8\u5f53\u7b80\u5355\u3002\u7279\u522b\u662f\u659c\u76d8\u7c7b\u578b\uff08Swash Type\uff09\u548c\u659c\u76d8\u884c … <\/p>\n

\u7ee7\u7eed\u9605\u8bfb\u201cEdgeTX\u76f4\u5347\u673aCCPM\u6df7\u63a7\u8865\u9057\u201d<\/span><\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[69],"tags":[74,73],"class_list":["post-758","post","type-post","status-publish","format-standard","hentry","category-models","tag-ccpm","tag-73"],"_links":{"self":[{"href":"https:\/\/xiaoding.org\/index.php?rest_route=\/wp\/v2\/posts\/758","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/xiaoding.org\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/xiaoding.org\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/xiaoding.org\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/xiaoding.org\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=758"}],"version-history":[{"count":0,"href":"https:\/\/xiaoding.org\/index.php?rest_route=\/wp\/v2\/posts\/758\/revisions"}],"wp:attachment":[{"href":"https:\/\/xiaoding.org\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=758"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/xiaoding.org\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=758"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/xiaoding.org\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=758"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}