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spelling fixes

This commit is contained in:
Dmitry Grigoryev 2021-06-15 08:50:59 +02:00
parent 9ae2fe6d69
commit 2b936b2749
6 changed files with 28 additions and 28 deletions
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2
docs/Battery.md
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@ -135,7 +135,7 @@ This is in the mathematical form of y = x/m + b and with a few measurements alon
To calibrate your flight controller with a current meter follow these steps.
1. Make a copy of [this google sheet](https://docs.google.com/spreadsheets/d/1lkL-X_FT9x2oqrwQEctDsEUhgdY19upNGc78M6FfJXY/). It will do all of the maths for you.
1. Make a copy of [this google sheet](https://docs.google.com/spreadsheets/d/1lkL-X_FT9x2oqrwQEctDsEUhgdY19upNGc78M6FfJXY/). It will do all the math for you.
2. Hook your ammeter up in series with your drone and a charged battery. I suggest an XT60 extender with one lead cut. Now your ammeter will be displaying the true current draw of your system.
3. Connect to your flight controller through the configurator and check your current calibrations. Change them in the google sheet if needed.
4. Use the motor tab to increase the throttle and change the current draw of the drone to around 1 A on the ammeter (it does not matter if it is not exact).

20
docs/Cli.md
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@ -55,7 +55,7 @@ copy screen output to a file and save it.
Use the cli `defaults` command first.
When restoring from a backup it is a good idea to do a dump of the latest defaults so you know what has changed - if you do this each time a firmware release is created youwill be able to see the cli changes between firmware versions. For instance, in December 2014 the default GPS navigation PIDs changed. If you blindly restore your backup you would not benefit from these new defaults.
When restoring from a backup it is a good idea to do a dump of the latest defaults so you know what has changed - if you do this each time a firmware release is created you will be able to see the cli changes between firmware versions. For instance, in December 2014 the default GPS navigation PIDs changed. If you blindly restore your backup you would not benefit from these new defaults.
Use the CLI and send all the output from the saved backup commands.
@ -75,7 +75,7 @@ Click on a command to jump to the relevant documentation page.
| `Command` | Description |
|-----------------------------------------|------------------------------------------------|
| `1wire <esc>` | passthrough 1wire to the specified esc |
| `1wire <esc>` | passthrough 1wire to the specified ESC |
| [`adjrange`](Inflight%20Adjustments.md) | show/set adjustment ranges settings |
| [`aux`](Modes.md) | show/set aux settings |
| [`mmix`](Mixer.md) | design custom motor mixer |
@ -87,10 +87,10 @@ Click on a command to jump to the relevant documentation page.
| `exit` | |
| `feature` | list or -val or val |
| `get` | get variable value |
| [`gpspassthrough`](Gps.md) | passthrough gps to serial |
| [`gpspassthrough`](Gps.md) | passthrough GPS to serial |
| `help` | |
| [`led`](LedStrip.md) | configure leds |
| [`map`](Rx.md) | mapping of rc channel order |
| [`map`](Rx.md) | mapping of RC channel order |
| [`mixer`](Mixer.md) | mixer name or list |
| [`mode_color`](LedStrip.md) | configure mode colors |
| `motor` | get/set motor output value |
@ -133,8 +133,8 @@ Click on a variable to jump to the relevant documentation page.
| [`sbus_inversion`](Rx.md) | Standard SBUS (Futaba, FrSKY) uses an inverted signal. Some OpenLRS receivers produce a non-inverted SBUS signal. This setting is to support this type of receivers (including modified FrSKY). This only works on supported hardware (mainly F3 based flight controllers). | OFF | ON | ON | Master | UINT8 |
| [`spektrum_sat_bind`](Spektrum%20bind.md) | 0 = disabled. Used to bind the spektrum satellite to RX | 0 | 10 | 0 | Master | UINT8 |
| [`input_filtering_mode`](Rx.md) | Filter out noise from OpenLRS Telemetry RX | OFF | ON | ON | Master | INT8 |
| [`min_throttle`](Controls.md) | These are min/max values (in us) that are sent to esc when armed. Defaults of 1150/1850 are OK for everyone, for use with AfroESC, they could be set to 1064/1864. | 0 | 2000 | 1150 | Master | UINT16 |
| [`max_throttle`](Controls.md) | These are min/max values (in us) that are sent to esc when armed. Defaults of 1150/1850 are OK for everyone, for use with AfroESC, they could be set to 1064/1864. If you have brushed motors, the value should be set to 2000. | 0 | 2000 | 1850 | Master | UINT16 |
| [`min_throttle`](Controls.md) | These are min/max values (in us) that are sent to ESC when armed. Defaults of 1150/1850 are OK for everyone, for use with AfroESC, they could be set to 1064/1864. | 0 | 2000 | 1150 | Master | UINT16 |
| [`max_throttle`](Controls.md) | These are min/max values (in us) that are sent to ESC when armed. Defaults of 1150/1850 are OK for everyone, for use with AfroESC, they could be set to 1064/1864. If you have brushed motors, the value should be set to 2000. | 0 | 2000 | 1850 | Master | UINT16 |
| [`min_command`](Controls.md) | This is the PWM value sent to ESCs when they are not armed. If ESCs beep slowly when powered up, try decreasing this value. It can also be used for calibrating all ESCs at once. | 0 | 2000 | 1000 | Master | UINT16 |
| `servo_center_pulse` | Servo midpoint | 0 | 2000 | 1500 | Master | UINT16 |
| `motor_pwm_rate` | Output frequency (in Hz) for motor pins. Defaults are 400Hz for motor. If setting above 500Hz, will switch to brushed (direct drive) motors mode. For example, setting to 8000 will use brushed mode at 8kHz switching frequency. Up to 32kHz is supported. Default is 16000 for boards with brushed motors. Note, that in brushed mode, minthrottle is offset to zero. For brushed mode, set ```max_throttle``` to 2000. | 50 | 32000 | 400 | Master | UINT16 |
@ -200,14 +200,14 @@ Click on a variable to jump to the relevant documentation page.
| `imu_dcm_kp` | Inertial Measurement Unit KP Gain | 0 | 20000 | 2500 | Master | UINT16 |
| `imu_dcm_ki` | Inertial Measurement Unit KI Gain | 0 | 20000 | 0 | Master | UINT16 |
| `alt_hold_deadband` | Altitude will be held when throttle is centered with an error margin defined in this parameter. | 1 | 250 | 40 | Profile | UINT8 |
| `alt_hold_fast_change` | Authorise fast altitude changes. Should be disabled when slow changes are prefered, for example for aerial photography. | OFF | ON | ON | Profile | UINT8 |
| `alt_hold_fast_change` | Authorise fast altitude changes. Should be disabled when slow changes are preferred, for example for aerial photography. | OFF | ON | ON | Profile | UINT8 |
| [`deadband`](Controls.md) | These are values (in us) by how much RC input can be different before it's considered valid for roll and pitch axis. For transmitters with jitter on outputs, this value can be increased. Defaults are zero, but can be increased up to 10 or so if rc inputs twitch while idle. This value is applied either side of the centrepoint. | 0 | 32 | 0 | Profile | UINT8 |
| [`yaw_deadband`](Controls.md) | These are values (in us) by how much RC input can be different before it's considered valid for the yaw axis. For transmitters with jitter on outputs, this value can be increased. Defaults are zero, but can be increased up to 10 or so if rc inputs twitch while idle. This value is applied either side of the centrepoint. | 0 | 100 | 0 | Profile | UINT8 |
| `yaw_control_direction` | Use if you need to inverse yaw control direction. | -1 | 1 | 1 | Profile | INT8 |
| `3d_deadband_throttle` | Throttle signal will be held to a fixed value when throttle is centered with an error margin defined in this parameter. | 0 | 2000 | 50 | Profile | UINT16 |
| `throttle_correction_value` | The throttle_correction_value will be added to the throttle input. It will be maximal at the throttle_correction_angle and over, null when the copter is leveled and proportional in bewteen. The angle is set with 0.1 deg steps from 1 to 900, ie : 300 = 30.0 deg, 225 = 22.5 deg. | 0 | 150 | 0 | Profile | UINT8 |
| `throttle_correction_angle` | The throttle_correction_value will be added to the throttle input. It will be maximal at the throttle_correction_angle and over, null when the copter is leveled and proportional in bewteen. The angle is set with 0.1 deg steps from 1 to 900, ie : 300 = 30.0 deg, 225 = 22.5 deg. | 1 | 900 | 800 | Profile | UINT16 |
| `pid_at_min_throttle` | If enabled, the copter will process the pid algorithm at minimum throttle. Cannot be used when `retarded_arm` is enabled. | OFF | ON | ON | Master | UINT8 |
| `throttle_correction_value` | The throttle_correction_value will be added to the throttle input. It will be maximal at the throttle_correction_angle and over, null when the copter is leveled and proportional in bewteen. The angle is set with 0.1 deg steps from 1 to 900, i.e. : 300 = 30.0 deg, 225 = 22.5 deg. | 0 | 150 | 0 | Profile | UINT8 |
| `throttle_correction_angle` | The throttle_correction_value will be added to the throttle input. It will be maximal at the throttle_correction_angle and over, null when the copter is leveled and proportional in bewteen. The angle is set with 0.1 deg steps from 1 to 900, i.e. : 300 = 30.0 deg, 225 = 22.5 deg. | 1 | 900 | 800 | Profile | UINT16 |
| `pid_at_min_throttle` | If enabled, the copter will process the PID algorithm at minimum throttle. Cannot be used when `retarded_arm` is enabled. | OFF | ON | ON | Master | UINT8 |
| `yaw_motor_direction` | Use if you need to inverse yaw motor direction. | -1 | 1 | 1 | Master | INT8 |
| `yaw_jump_prevention_limit` | Prevent yaw jumps during yaw stops and rapid YAW input. To disable set to 500. Adjust this if your aircraft 'skids out'. Higher values increases YAW authority but can cause roll/pitch instability in case of underpowered UAVs. Lower values makes yaw adjustments more gentle but can cause UAV unable to keep heading | 80 | 500 | 200 | Master | UINT16 |
| [`tri_unarmed_servo`](Controls.md) | On tricopter mix only, if this is set to 1, servo will always be correcting regardless of armed state. to disable this, set it to 0. | OFF | ON | ON | Master | INT8 |

4
docs/Customized Version.md
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@ -96,9 +96,9 @@ After looking carefully to this file, you must know what features you want to di
## Specific features for each Flight Controller
Each flight controller has it's own file to specify what features are enabled or disable only for it. Sometimes they have been disabled by space limitations, but other times it's for limited computing capacity or a bug, so enable it at your own risk.
Each flight controller has its own file to specify what features are enabled or disabled only for it. Sometimes they have been disabled by space limitations, but other times it's for limited computing capacity or a bug, so enable them at your own risk.
This file is located in `target/[FLIGHT_CONTROLLER_NAME]/target.h` and it's loaded **after** the `target/common_pre.h`. So any changes in this file will overwrite the default settings, so this file is the place where you must touch to create your custom firmware.
This file is located in `target/[FLIGHT_CONTROLLER_NAME]/target.h` and it's loaded **after** the `target/common_pre.h`. Any changes in this file will overwrite the default settings, so this file is the place where you must touch to create your custom firmware.
The first thing to do is to *#undef* all the features that we want to disable from the *common_pre.h*.

2
docs/Failsafe.md
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@ -103,7 +103,7 @@ Configure the RC switched failsafe action. It can be one of:
Time throttle level must have been below 'min_throttle' to _only disarm_ instead of _full failsafe procedure_.
Use standard RX usec values. See [Rx documentation](Rx.md).
Use standard RX μs values. See [Rx documentation](Rx.md).
### `failsafe_procedure`

12
docs/Inflight Adjustments.md
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@ -12,14 +12,14 @@ Changing settings during flight can make your aircraft unstable and crash if you
* Make small adjustments and fly carefully to test your adjustment.
* Give yourself enough flying space and time to adjust to how your changes affect the behaviour of the aircraft.
* Remember to set adjustment channel switches/pots to the center position before powering on your TX and your aircraft.
* If possible configure switch warnings on your transitter for dedicated adjustment switches.
* If possible configure switch warnings on your transmitter for dedicated adjustment switches.
* A momentary 3 position switch is the best choice of switch for this - i.e. one that re-centers itself when you let go of it.
## Overview
There are two modes of operation. The first supports adjusting settings by incrementing/decrementing them through use of an aux channel, typically a three position switch, where the middle position makes no change, and the other positions either increment or decrement the selected setting.
The other mode is Absolute mode where a pot (knob/slider) may be directly mapped and changes the selected setting to a value based on a center value, coresponding to mid-postion on the pot and a range of ± adjustment at the min/max positions of the pot.
The other mode is Absolute mode where a pot (knob/slider) may be directly mapped and changes the selected setting to a value based on a center value, corresponding to mid-postion on the pot and a range of ± adjustment at the min/max positions of the pot.
Both modes utilise two channels to make an adjustment.
@ -217,9 +217,9 @@ explained:
(3) is in the appropriate position.
* note that Center/Scale values are both zero, so this range will use increment/decrement mode.
When the switch is low, rate profile 0 is selcted.
When the switch is medium, rate profile 1 is selcted.
When the switch is high, rate profile 2 is selcted.
When the switch is low, rate profile 0 is selected.
When the switch is medium, rate profile 1 is selected.
When the switch is high, rate profile 2 is selected.
### Example 5 - Use a single switch to enable absolute setting of Roll/Pitch P terms from two pots
@ -254,7 +254,7 @@ This assigns pots aux 1, aux 2, and aux 3 respectively to control P, I and D set
Note that the configurator does not currently support the Center/Scale values, however it may still be used to setup the ranges and then the CLI may be used to set the Center/Scale values.
The following 5 images show valid configurations. In all cales the enture usable range for the Range Channel is used.
The following 5 images show valid configurations. In all cases the entire usable range for the Range Channel is used.
![Configurator example 1](Screenshots/adjustments-rate-profile-selection-via-3pos.png)

16
docs/LedStrip.md
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@ -10,7 +10,7 @@ The LED strip feature supports 3 LED strip profiles, STATUS, RACE and BEACON. T
### STATUS Profile
The STATUS profile is used to display all the information mentioned below, i.e. warning indications, larsen scanner etc.
The STATUS profile is used to display all the information mentioned below, i.e. warning indications, Larson scanner etc.
Addressable LED strips can be used to show information from the flight controller system, the current implementation supports the following:
@ -136,8 +136,8 @@ The led strip feature can be configured via the GUI.
GUI:
Enable the Led Strip feature via the GUI under setup.
Configure the leds from the Led Strip tab in the cleanflight GUI.
First setup how the led's are laid out so that you can visualize it later as you configure and so the flight controller knows how many led's there are available.
Configure the LEDs from the Led Strip tab in the cleanflight GUI.
First setup how the LEDs are laid out so that you can visualize it later as you configure and so the flight controller knows how many LEDs there are available.
There is a step by step guide on how to use the GUI to configure the Led Strip feature using the GUI http://blog.oscarliang.net/setup-rgb-led-cleanflight/ which was published early 2015 by Oscar Liang which may or may not be up-to-date by the time you read this.
@ -223,7 +223,7 @@ This mode simply uses the LEDs to flash when warnings occur.
| Warning | LED Pattern | Notes |
|---------|-------------|-------|
| Arm-lock enabled | flash between green and off | occurs calibration or when unarmed and the aircraft is tilted too much |
| Arm-lock enabled | flash between green and off | occurs during calibration or when unarmed and the aircraft is tilted too much |
| Low Battery | flash red and off | battery monitoring must be enabled. May trigger temporarily under high-throttle due to voltage drop |
| Failsafe | flash between light blue and yellow | Failsafe must be enabled |
@ -267,7 +267,7 @@ This mode binds the LED color to remaining battery capacity.
| Red | 20% |
| Deep pink | 0% |
When Warning or Critial voltage is reached, LEDs will blink slowly or fast.
When Warning or Critical voltage is reached, LEDs will blink slowly or fast.
Note: this mode requires a current sensor. If you don't have the actual device you can set up a virtual current sensor (see [Battery](Battery.md)).
#### Blink
@ -360,11 +360,11 @@ This mode fades the LED current LED color to the previous/next color in the HSB
This mode is allows you to use one or multiple led rings (e.g. NeoPixel ring) for an afterburner effect. LEDs with this mode will light up with their assigned color in a repeating sequence. Assigning the color black to an LED with the ring mode will prevent the LED from lighting up.
A better effect is acheived when LEDs configured for thrust ring have no other functions.
A better effect is achieved when LEDs configured for thrust ring have no other functions.
LED direction and X/Y positions are irrelevant for thrust ring LED state. The order of the LEDs that have the state determines how the LED behaves, and the throttle value determines the animation rate. The animation is only active while armed.
Each LED of the ring can be a different color. The color can be selected between the 16 colors availables.
Each LED of the ring can be a different color. The color can be selected between the 16 colors available.
For example, led 0 is set as a `R`ing thrust state led in color 13 as follow.
@ -596,7 +596,7 @@ LEDs 1-2, 4-5, 7-8 and 10-11 should be positioned so the face east/north/west/so
LEDs 12-13 should be placed facing down, in the middle
LEDs 14-15 should be placed facing up, in the middle
### Exmple 28 LED config
### Example 28 LED config
```
#right rear cluster