命令值单位选项解释说明ACRO_BAL_PITCH10 3rate at which pitch angle returnsto level in acro mode. A highervalue causes the vehicle toreturn to level faster.ACRO_BAL_ROLL10 3rate at which roll angle returnsto level in acro mode. A highervalue causes the vehicle toreturn to level faster.ACRO_EXPO0.30:Disabled0.1:VeryLow0.2:Low0.3:Medium0.4:High0.5:VeryHighAcro roll/pitch Expo to allowfaster rotation when stick atedgesACRO_RP_P4.51 10Converts pilot roll and pitchinto a desired rate of rotationin ACRO and SPORT mode. Highervalues mean faster rate ofrotation.ACRO_TRAINER20:Disabled1:Leveling2:Leveling andLimitedType of trainer used in acro modeACRO_YAW_P4.51 10Converts pilot yaw input into adesired rate of rotation in ACRO,Stabilize and SPORT modes. Higher values mean faster rate ofrotation.AHRS_COMP_BETA0.10.0010.5This controls the time constantfor the cross-over frequency usedto fuse AHRS (airspeed andheading) and GPS data to estimateground velocity. Time constant is0.1/beta. A larger time constantwill use GPS data less and asmall time constant will use airdata less.AHRS_GPS_GAIN10.0 1.0This controls how how much to usethe GPS to correct the attitude.This should never be set to zerofor a plane as it would result inthe plane losing control inturns. For a plane please use thedefault value of 1.0.AHRS_GPS_MINSATS60 10Minimum number of satellitesvisible to use GPS for velocitybased corrections attitudecorrection. This defaults to 6,which is about the point at whichthe velocity numbers from a GPSbecome too unreliable foraccurate correction of theaccelerometers.AHRS_GPS_USE10:Disabled1:EnabledThis controls whether to usedead-reckoning or GPS basednavigation. If set to 0 then theGPS won't be used for navigation,and only dead reckoning will beused. A value...
