# TYO-5253 V-tail Qgroundcontrol 紀錄
###### tags: `飛控`

## Items
### Sensors on planes
- [ ] PX4 Cube
- [ ] Telemetry
- [ ] USB line
- [ ] RC receiver
- [ ] GPS
- [ ] buzzer
- [ ] 6s 5800 battery
- [ ] battery module
- [ ] airspeed sensor
### Other
- [ ] 驗電器A200
- [ ] AT9遙控器
- [ ] 3s 2200電池(遙控器用)

## Process
1. QGround Vehicle Firmware and Airflame
2. 將天線、電源模組、電池接上Cube，電腦方面接上天線，確認QGround能收到訊號
* cube上的箭頭朝向機頭
* 擺放重心在1/4弦長處
3. Radio calibration
* 確認 Receiver 的插孔
* mode 1 日本手，mode 2 美國手
4. Sensors calibration
* Compass
* Gyroscope
* Accelerometer
* AirSpeed Calibration
5. Power
* 將驗電器讀取到的資料填入QGround中
* ESC校正:電腦線接cube，馬達先不上電(槳片需拆除)，當讀取馬達時再接上
6. Parameter
:::danger
根據不同飛機會有不同的設定
:::
(safety mode 裡面的 disarmed after landing 改成 disable)
| **Parameter** | **status** | **Description** |
|:--------------- |:-------------------------------------------------:|:----------------------------------------------------------------------- |
| FW_MAN_P_SC | 200% | |
| FW_MAN_Y_SC | 150% | |
| FW_MAN_P_MAX | 55deg | |
| FW_MAN_R_MAX | 55deg | |
| FW_ARSP_MODE | | this parameter can be used to enable flying without an airspeed reading |
| ASPD_PRIMARY | First airspeed sensor | |
| SENS_EN_MS4525DO| Enabled | TE MS4525DO differential pressure sensor (external I2C) |
| COM_ARM_WO_GPS | | Allow arming without GPS |
| PWM_MAIN_REVn | | Invert direction of main output channel n |
| PWM_MAIN_MAXn | | Set the max PWM value for the main n output |
| PWM_MAIN_MINn | | Set the min PWM value for the main n output |
| PWM_MAIN_MIN3 | 800 | |
| PWM_MAIN_MIN4 | 800 | |
| PWM_MAIN_MIN6 | 1250 | |
| PWM_MAIN_MAX3 | 2200 | |
| PWM_MAIN_MAX4 | 2200 | |
| PWM_MAIN_MAX6 | 1750 | |
| TRIM_YAW | 0.06 | |
| RC1_REV | | |
| RC2_REV | Reverse | |
| MAN_ARM_GESTURE | Disabled Enabled arm/disarm stick gesture | |