\u6267\u884c\u673a\u6784<\/strong>\uff1a\u63a7\u5236\u6307\u4ee4\u901a\u8fc7\u98de\u63a7\u53d1\u9001\u5230\u6267\u884c\u673a\u6784(\u5982\u7535\u673a\u9a71\u52a8\u5668)\uff0c\u6267\u884c\u673a\u6784\u6839\u636e\u6307\u4ee4\u8c03\u6574\u7a7f\u8d8a\u673a\u7684\u7535\u673a\u8f6c\u901f\u548c\u87ba\u65cb\u6868\u89d2\u5ea6\uff0c\u4ece\u800c\u5b9e\u73b0\u98de\u884c\u59ff\u6001\u7684\u8c03\u6574\u3002<\/li>\n<\/ul>\n\n\n\n\u3000\u3000\u6b64\u5916\uff0c\u98de\u63a7\u7cfb\u7edf\u8fd8\u9700\u8981\u8003\u8651\u7535\u78c1\u517c\u5bb9\u6027\u548c\u53ef\u9760\u6027\u95ee\u9898\uff0c\u4ee5\u786e\u4fdd\u5728\u590d\u6742\u73af\u5883\u4e2d\u80fd\u591f\u7a33\u5b9a\u53ef\u9760\u5730\u5de5\u4f5c\u3002\u98de\u63a7\u7535\u8def\u7684\u8bbe\u8ba1\u9700\u8981\u8003\u8651\u8f7b\u4fbf\u6027\u3001\u529f\u8017\u4ee5\u53ca\u53ef\u9760\u6027\u7b49\u56e0\u7d20\u3002<\/p>\n\n\n\n
\u3000\u3000\u603b\u4e4b\uff0c\u7a7f\u8d8a\u673a\u7684\u98de\u63a7\u7cfb\u7edf\u662f\u4e00\u4e2a\u590d\u6742\u7684\u7535\u5b50\u7cfb\u7edf\uff0c\u5b83\u901a\u8fc7\u591a\u79cd\u4f20\u611f\u5668\u548c\u63a7\u5236\u7b97\u6cd5\uff0c\u5b9e\u65f6\u76d1\u6d4b\u548c\u8c03\u6574\u7a7f\u8d8a\u673a\u7684\u98de\u884c\u72b6\u6001\uff0c\u4f7f\u5176\u80fd\u591f\u5728\u9ad8\u901f\u548c\u590d\u6742\u73af\u5883\u4e2d\u7a33\u5b9a\u98de\u884c\u3002<\/p>\n\n\n\n
\u3000\u3000\u4e00\u3001 \u7a7f\u8d8a\u673a\u98de\u63a7\u7cfb\u7edf\u4e2d\u4f7f\u7528\u7684PID\u63a7\u5236\u7b97\u6cd5\u7684\u5177\u4f53\u5b9e\u73b0\u548c\u4f18\u5316\u65b9\u6cd5?<\/h2>\n\n\n\n
\u3000\u3000\u7a7f\u8d8a\u673a\u98de\u63a7\u7cfb\u7edf\u4e2d\u4f7f\u7528\u7684PID\u63a7\u5236\u7b97\u6cd5\u7684\u5177\u4f53\u5b9e\u73b0\u548c\u4f18\u5316\u65b9\u6cd5\u4e3b\u8981\u5305\u62ec\u4ee5\u4e0b\u51e0\u4e2a\u65b9\u9762\uff1a<\/p>\n\n\n\n
\u3000\u3000PID\u63a7\u5236\u7b97\u6cd5\u7531\u6bd4\u4f8b(P)\u3001\u79ef\u5206(I)\u548c\u5fae\u5206(D)\u4e09\u4e2a\u90e8\u5206\u7ec4\u6210\u3002\u6bd4\u4f8b\u90e8\u5206\u8d1f\u8d23\u6839\u636e\u5f53\u524d\u8bef\u5dee\u8c03\u6574\u63a7\u5236\u91cf\uff0c\u79ef\u5206\u90e8\u5206\u8d1f\u8d23\u6d88\u9664\u7a33\u6001\u8bef\u5dee\uff0c\u5fae\u5206\u90e8\u5206\u5219\u7528\u4e8e\u9884\u6d4b\u8bef\u5dee\u7684\u53d8\u5316\u8d8b\u52bf\uff0c\u4ece\u800c\u63d0\u524d\u505a\u51fa\u8c03\u6574\u3002<\/p>\n\n\n\n
\u3000\u3000\u5728\u7a7f\u8d8a\u673a\u98de\u63a7\u7cfb\u7edf\u4e2d\uff0cPID\u53c2\u6570\u7684\u8c03\u6574\u662f\u901a\u8fc7\u8f6f\u4ef6\u754c\u9762\u8fdb\u884c\u7684\u3002\u4f8b\u5982\uff0cBetaflight\u8f6f\u4ef6\u5141\u8bb8\u7528\u6237\u6839\u636e\u98de\u884c\u4f53\u9a8c\u548c\u7535\u673a\u6e29\u5ea6\u8fdb\u884c\u5fae\u8c03\u3002\u5177\u4f53\u6765\u8bf4\uff0cP\u53c2\u6570\u63a7\u5236\u7740\u63a7\u5236\u7cfb\u7edf\u7684\u6240\u6709\u52a8\u529b\uff0c\u4ee5\u8fbe\u5230\u6240\u9700\u7684\u8f93\u51fa;I\u53c2\u6570\u7528\u4e8e\u6d88\u9664\u7a33\u6001\u8bef\u5dee;D\u53c2\u6570\u5219\u7528\u4e8e\u6d88\u9664\u632f\u8361\u3002<\/p>\n\n\n\n
\u3000\u3000\u5728\u5b9e\u9645\u5e94\u7528\u4e2d\uff0cPID\u53c2\u6570\u7684\u8c03\u6574\u9700\u8981\u6839\u636e\u98de\u884c\u573a\u666f\u548c\u5177\u4f53\u9700\u6c42\u8fdb\u884c\u3002\u4f8b\u5982\uff0c\u5f53\u6cb9\u95e8\u503c\u8f83\u5c0f\u65f6\uff0c\u7535\u673a\u8f93\u51fa\u7684\u529b\u91cf\u8f83\u5c0f\uff0c\u98de\u63a7\u91c7\u7528\u5c0f\u529b\u91cf\u7684PID\u53c2\u6570\u5373\u53ef\u6ee1\u8db3\u98de\u673a\u7684\u59ff\u6001\u52a8\u4f5c\u63a7\u5236\u8981\u6c42;\u5f53\u6cb9\u95e8\u53d8\u5927\u540e\uff0c\u7535\u673a\u8f93\u51fa\u7684\u529b\u91cf\u53d8\u5927\uff0c\u9700\u8981\u76f8\u5e94\u8c03\u6574PID\u53c2\u6570\u4ee5\u4fdd\u6301\u98de\u884c\u7a33\u5b9a\u6027\u3002<\/p>\n\n\n\n
\u3000\u3000\u53c2\u6570\u6574\u5b9a<\/strong>\uff1aPID\u63a7\u5236\u5668\u7684\u6027\u80fd\u5f88\u5927\u7a0b\u5ea6\u4e0a\u53d6\u51b3\u4e8e\u6bd4\u4f8b\u3001\u79ef\u5206\u548c\u5fae\u5206\u7cfb\u6570\u7684\u9009\u62e9\u3002\u901a\u8fc7\u5b9e\u9a8c\u548c\u8c03\u6574\uff0c\u627e\u5230\u5408\u9002\u7684Kp\u3001Ki\u548cKd\u53c2\u6570\u662f\u4f18\u5316PID\u63a7\u5236\u5668\u7684\u5173\u952e\u3002<\/p>\n\n\n\n\u3000\u3000\u6539\u8fdb\u7b97\u6cd5<\/strong>\uff1a\u91c7\u7528\u6539\u8fdb\u86d9\u8df3\u7b97\u6cd5\u3001\u7c92\u5b50\u7fa4\u7b97\u6cd5\u3001\u9057\u4f20\u7b97\u6cd5\u7b49\u65b9\u6cd5\u5bf9PID\u63a7\u5236\u5668\u7684\u53c2\u6570\u8fdb\u884c\u4f18\u5316\uff0c\u5bfb\u627e\u51fa\u5408\u9002\u7684Kp\u3001Ki\u548cKd\u53c2\u6570\u3002<\/p>\n\n\n\n\u3000\u3000\u673a\u5668\u5b66\u4e60\u4f18\u5316<\/strong>\uff1a\u4f7f\u7528\u57fa\u4e8e\u795e\u7ecf\u7f51\u7edc\u7684\u63a7\u5236\u5668\u3001\u652f\u6301\u5411\u91cf\u673a\u3001\u51b3\u7b56\u6811\u7b49\u7b97\u6cd5\u6765\u62df\u5408PID\u63a7\u5236\u5668\u7684\u53c2\u6570\uff0c\u4ece\u800c\u63d0\u9ad8\u63a7\u5236\u6027\u80fd\u3002<\/p>\n\n\n\n\u3000\u3000\u4e8c\u3001 \u5982\u4f55\u5728\u7a7f\u8d8a\u673a\u98de\u63a7\u7cfb\u7edf\u4e2d\u5b9e\u73b0\u4f20\u611f\u5668\u6570\u636e\u7684\u6709\u6548\u878d\u5408?<\/h2>\n\n\n\n
\u3000\u3000\u5728\u7a7f\u8d8a\u673a\u98de\u63a7\u7cfb\u7edf\u4e2d\u5b9e\u73b0\u4f20\u611f\u5668\u6570\u636e\u7684\u6709\u6548\u878d\u5408\uff0c\u4ee5\u63d0\u9ad8\u98de\u884c\u7a33\u5b9a\u6027\uff0c\u53ef\u4ee5\u91c7\u53d6\u4ee5\u4e0b\u6b65\u9aa4\uff1a<\/p>\n\n\n\n
\n- \u3000\u3000\u591a\u4f20\u611f\u5668\u4fe1\u606f\u878d\u5408<\/strong>\uff1a\u5229\u7528\u8ba1\u7b97\u673a\u6280\u672f\u5c06\u6765\u81ea\u591a\u4e2a\u4f20\u611f\u5668\u6216\u591a\u6e90\u7684\u4fe1\u606f\u548c\u6570\u636e\u8fdb\u884c\u81ea\u52a8\u5206\u6790\u548c\u7efc\u5408\u3002\u8fd9\u53ef\u4ee5\u901a\u8fc7\u786c\u4ef6\u540c\u6b65\u6765\u5b9e\u73b0\uff0c\u5373\u4f7f\u7528\u540c\u4e00\u79cd\u786c\u4ef6\u540c\u65f6\u53d1\u5e03\u89e6\u53d1\u91c7\u96c6\u547d\u4ee4\uff0c\u4ece\u800c\u786e\u4fdd\u5404\u4f20\u611f\u5668\u6570\u636e\u7684\u65f6\u95f4\u4e00\u81f4\u6027\u3002<\/li>\n\n\n\n
- \u3000\u3000\u5b9e\u65f6\u6570\u636e\u5904\u7406<\/strong>\uff1a\u5728\u7a7f\u8d8a\u673a\u96c6\u7fa4\u63a7\u5236\u4e2d\uff0c\u6d89\u53ca\u5927\u91cf\u7684\u5b9e\u65f6\u6570\u636e\u5904\u7406\u4efb\u52a1\uff0c\u5982\u4f20\u611f\u5668\u6570\u636e\u7684\u91c7\u96c6\u4e0e\u878d\u5408\u3001\u72b6\u6001\u4f30\u8ba1\u4e0e\u9884\u6d4b\u3001\u63a7\u5236\u6307\u4ee4\u7684\u751f\u6210\u4e0e\u53d1\u9001\u7b49\u3002\u5b9e\u65f6\u6570\u636e\u5904\u7406\u6280\u672f\u9700\u6ee1\u8db3\u9ad8\u901f\u5ea6\u3001\u9ad8\u7cbe\u5ea6\u548c\u4f4e\u5ef6\u8fdf\u7684\u8981\u6c42\uff0c\u901a\u5e38\u91c7\u7528\u5e76\u884c\u5904\u7406\u3001\u6d41\u5904\u7406\u7b49\u6280\u672f\u624b\u6bb5\u6765\u63d0\u9ad8\u6570\u636e\u5904\u7406\u6548\u7387\u3002<\/li>\n\n\n\n
- \u3000\u3000\u591a\u5c42\u6b21\u3001\u591a\u7a7a\u95f4\u7684\u4fe1\u606f\u4e92\u8865\u548c\u4f18\u5316\u7ec4\u5408<\/strong>\uff1a\u901a\u8fc7\u5c06\u5404\u79cd\u4f20\u611f\u5668\u8fdb\u884c\u591a\u5c42\u6b21\u3001\u591a\u7a7a\u95f4\u7684\u4fe1\u606f\u4e92\u8865\u548c\u4f18\u5316\u7ec4\u5408\u5904\u7406\uff0c\u6700\u7ec8\u4ea7\u751f\u5bf9\u89c2\u6d4b\u73af\u5883\u7684\u4e00\u81f4\u6027\u89e3\u91ca\u3002\u5728\u8fd9\u4e2a\u8fc7\u7a0b\u4e2d\u8981\u5145\u5206\u5229\u7528\u591a\u6e90\u6570\u636e\u8fdb\u884c\u5408\u7406\u652f\u914d\u4e0e\u4f7f\u7528\u3002<\/li>\n\n\n\n
- \u3000\u3000\u6d88\u9664\u5197\u4f59\u548c\u77db\u76fe<\/strong>\uff1a\u901a\u8fc7\u8ba1\u7b97\u673a\u6280\u672f\u5bf9\u591a\u4e2a\u540c\u7c7b\u6216\u4e0d\u540c\u7c7b\u4f20\u611f\u5668\u6240\u63d0\u4f9b\u7684\u5c40\u90e8\u6570\u636e\u8d44\u6e90\u52a0\u4ee5\u7efc\u5408\uff0c\u6d88\u9664\u591a\u4f20\u611f\u5668\u4fe1\u606f\u4e4b\u95f4\u53ef\u80fd\u5b58\u5728\u7684\u5197\u4f59\u548c\u77db\u76fe\uff0c\u52a0\u4ee5\u4e92\u8865\uff0c\u964d\u4f4e\u5176\u4e0d\u786e\u5b9a\u6027\uff0c\u83b7\u5f97\u88ab\u6d4b\u5bf9\u8c61\u7684\u4e00\u81f4\u6027\u89e3\u91ca\u3002<\/li>\n\n\n\n
- \u3000\u3000\u5f02\u6784\u7684\u3001\u591a\u901a\u9053\u786c\u4ef6\u6d41\u6c34\u7ebf<\/strong>\uff1a\u7531\u5927\u91cf\u72ec\u7acb\u8fd0\u884c\u7684\u7528\u6237\u5f15\u811a\u5e76\u884c\u91c7\u96c6\u591a\u4e2a\u4f20\u611f\u5668\u901a\u9053\u7684\u6570\u636e\uff0c\u4ea4\u7531\u76f8\u4e92\u72ec\u7acb\u7684\u786c\u4ef6\u8d44\u6e90\u5e76\u884c\u6267\u884c\u4e0e\u5404\u4e2a\u4f20\u611f\u5668\u901a\u9053\u5bf9\u5e94\u7684\u6570\u636e\u5904\u7406\u7b97\u6cd5\uff0c\u80fd\u591f\u5e76\u884c\u4ee5\u591a\u79cd\u7b97\u6cd5\u5904\u7406\u591a\u4e2a\u50cf\u7d20\u3001\u591a\u4e2a\u50cf\u7d20\u7684\u96c6\u5408\u3001\u591a\u4e2a\u4f20\u611f\u5668\u901a\u9053\u7684\u6570\u636e\uff0c\u8fdb\u800c\u9ad8\u6548\u5b9e\u73b0\u5f02\u6784\u7684\u3001\u591a\u901a\u9053\u786c\u4ef6\u6d41\u6c34\u7ebf\u3002<\/li>\n<\/ul>\n\n\n\n
\u3000\u3000\u4e09\u3001 \u7a7f\u8d8a\u673a\u98de\u63a7\u7cfb\u7edf\u4e2d\u7684\u7535\u78c1\u517c\u5bb9\u6027\u95ee\u9898\u5982\u4f55\u89e3\u51b3?<\/h2>\n\n\n\n
\u3000\u3000\u7a7f\u8d8a\u673a\u98de\u63a7\u7cfb\u7edf\u5728\u590d\u6742\u7535\u78c1\u73af\u5883\u4e2d\u7684\u7535\u78c1\u517c\u5bb9\u6027\u95ee\u9898\u53ef\u4ee5\u901a\u8fc7\u4ee5\u4e0b\u51e0\u79cd\u65b9\u6cd5\u6765\u89e3\u51b3\uff0c\u4ee5\u786e\u4fdd\u5176\u7a33\u5b9a\u8fd0\u884c\uff1a<\/p>\n\n\n\n
\n- \u3000\u3000\u7535\u78c1\u73af\u5883\u6548\u5e94\u63a7\u5236<\/strong>\uff1a\u9996\u5148\uff0c\u9700\u8981\u4ece\u7535\u78c1\u73af\u5883(\u4fe1\u53f7)\u3001\u7535\u78c1\u4f20\u64ad\u9014\u5f84(\u8f90\u5c04\u548c\u4f20\u5bfc)\u548c\u654f\u611f\u6e90\u4e09\u65b9\u9762\u8fdb\u884c\u63a7\u5236\u3002\u5207\u65ad\u4ee5\u4e0a\u4efb\u4f55\u4e00\u9879\u90fd\u53ef\u89e3\u51b3\u7535\u78c1\u517c\u5bb9\u7684\u95ee\u9898\u3002<\/li>\n\n\n\n
- \u3000\u3000\u7535\u78c1\u517c\u5bb9\u8bbe\u8ba1\u7a0b\u5e8f<\/strong>\uff1a\u6210\u7acb\u4e13\u95e8\u7684\u7535\u78c1\u517c\u5bb9\u6280\u672f\u7ec4\uff0c\u534f\u8c03\u5904\u7406\u5404\u79cd\u7535\u78c1\u517c\u5bb9\u6027\u4e8b\u5b9c;\u5236\u5b9a\u7535\u78c1\u517c\u5bb9\u5927\u7eb2\uff0c\u89c4\u5212\u5404\u79cd\u7535\u78c1\u517c\u5bb9\u8ba1\u5212\uff0c\u534f\u8c03\u5404\u79cd\u6280\u672f\u53c2\u6570;\u9009\u7528\u5206\u6790\u9002\u7528\u7684\u6807\u51c6\u89c4\u8303\uff0c\u5bf9\u6807\u51c6\u4e2d\u7684\u5404\u9879\u8981\u6c42\u8fdb\u884c\u5206\u6790\u548c\u9009\u62e9\uff0c\u5fc5\u8981\u65f6\u8fdb\u884c\u4fee\u6539\u3001\u5220\u51cf\u6216\u8865\u5145\uff0c\u4ee5\u8fbe\u5230\u6700\u4f73\u8d39\u6548\u6bd4;\u5206\u6790\u8bbe\u5907\u6216\u7cfb\u7edf\u6240\u5904\u7684\u7535\u78c1\u73af\u5883\u5e76\u63d0\u51fa\u7535\u78c1\u517c\u5bb9\u6027\u8981\u6c42\uff0c\u6b63\u786e\u9009\u62e9\u8bbe\u8ba1\u7684\u4e3b\u653b\u65b9\u5411;\u786e\u5b9a\u9891\u8c31\u8981\u6c42\uff0c\u534f\u8c03\u9891\u7387\u914d\u7f6e\uff0c\u6d88\u9664\u53ef\u80fd\u7684\u5e72\u6270;\u62df\u8ba2\u7535\u78c1\u5e72\u6270\u63a7\u5236\u8ba1\u5212\uff0c\u5bf9\u5143\u5668\u4ef6\u3001\u6a21\u5757\u3001\u7535\u8def\u91c7\u53d6\u5408\u7406\u7684\u5e72\u6270\u6291\u5236\u548c\u9632\u62a4\u6280\u672f;\u62df\u8ba2\u7535\u78c1\u517c\u5bb9\u6027\u5206\u6790\u9884\u6d4b\u65b9\u6848;\u5236\u5b9a\u7535\u78c1\u517c\u5bb9\u6027\u9a8c\u8bc1\u8981\u6c42\u548c\u8bd5\u9a8c\u8ba1\u5212\u3002<\/li>\n\n\n\n
- \u3000\u3000\u590d\u6742\u7535\u78c1\u73af\u5883\u6548\u5e94\u8bc4\u4f30\u7cfb\u7edf<\/strong>\uff1a\u5229\u7528\u590d\u6742\u7535\u78c1\u73af\u5883\u6548\u5e94\u8bc4\u4f30\u7cfb\u7edf\uff0c\u901a\u8fc7\u6a21\u62df\u9ad8\u529f\u7387\u6e90(\u5982\u96f7\u8fbe\u3001\u57fa\u7ad9\u3001\u5927\u4e2d\u529f\u7387\u901a\u8baf\u7535\u53f0\u7b49)\u5bf9\u5468\u56f4\u8bbe\u5907\u7684\u7535\u78c1\u73af\u5883\u5f71\u54cd\uff0c\u5feb\u901f\u6784\u5efa\u3001\u9ad8\u6548\u8fd0\u884c\u5e76\u8fdb\u884c\u4e30\u5bcc\u7684\u529f\u80fd\u6d4b\u8bd5\uff0c\u4ee5\u6ee1\u8db3\u590d\u6742\u7535\u78c1\u5e72\u6270\u6d4b\u8bd5\u7684\u9700\u6c42\u3002<\/li>\n\n\n\n
- \u3000\u3000\u7535\u78c1\u517c\u5bb9\u6478\u5e95\u6d4b\u8bd5\u548c\u6539\u8fdb<\/strong>\uff1a\u5728\u8bbe\u5907\u548c\u5206\u7cfb\u7edf\u7684\u8bbe\u8ba1\u4e0e\u5de5\u7a0b\u5b9e\u73b0\u4e2d\uff0c\u5c3d\u53ef\u80fd\u5730\u8d2f\u5f7b\u6807\u51c6\uff0c\u540c\u65f6\u5bf9\u7cfb\u7edf\u6027\u80fd\u8fdb\u884c\u5206\u6790\u4e0e\u9884\u6d4b\uff0c\u5e76\u8fdb\u884c\u7535\u78c1\u517c\u5bb9\u6478\u5e95\u6d4b\u8bd5\u548c\u6539\u8fdb\uff0c\u4ee5\u83b7\u5f97\u7535\u78c1\u517c\u5bb9\u6027\u3002<\/li>\n\n\n\n
- \u3000\u3000\u907f\u514d\u4f7f\u7528\u53ef\u80fd\u4ea7\u751f\u7535\u78c1\u5e72\u6270\u7684\u8bbe\u5907<\/strong>\uff1a\u5728\u98de\u884c\u5668\u4e2d\u907f\u514d\u4f7f\u7528\u53ef\u80fd\u4ea7\u751f\u7535\u78c1\u5e72\u6270\u7684\u8bbe\u5907\uff0c\u5e76\u89c2\u5bdf\u98de\u884c\u5668\u7684\u9891\u7387\u6570\u636e\u4ee5\u786e\u4fdd\u5176\u7b26\u5408\u6807\u51c6\u3002\u5bf9\u4e8e\u7535\u52a8\u98de\u884c\u5668\uff0c\u5efa\u8bae\u907f\u514d\u4f7f\u7528\u9650\u5236\u538b\u529b\u7684\u8bbe\u5907\uff0c\u89c2\u5bdf\u9006\u53d8\u5668\u7684\u7535\u78c1\u517c\u5bb9\u6027\uff0c\u5e76\u786e\u4fdd\u91d1\u5c5e\u6750\u6599\u7684\u7edd\u7f18\u6027\uff0c\u4ee5\u9632\u6b62\u91d1\u5c5e\u5bfc\u4f53\u7684\u63a5\u89e6\u6548\u5e94\u3002<\/li>\n\n\n\n
- \u3000\u3000\u7535\u78c1\u517c\u5bb9\u6027\u68c0\u67e5<\/strong>\uff1a\u5728\u98de\u673a\u4e0a\u8fdb\u884c\u7535\u78c1\u517c\u5bb9\u6027\u68c0\u67e5\uff0c\u76ee\u7684\u662f\u5728\u76f8\u4e92\u5e72\u6270\u7684\u6761\u4ef6\u4e0b\u68c0\u67e5\u7cfb\u7edf\u662f\u5426\u8fd8\u80fd\u6b63\u5e38\u5de5\u4f5c\u3002\u4e3b\u8981\u6d4b\u5b9a\u673a\u4e0a\u7684\u5f3a\u5e72\u6270\u6e90\uff0c\u5982\u5927\u529f\u7387\u7535\u6e90\u3001\u96f7\u8fbe\u5de5\u4f5c\u65f6\u98de\u884c\u63a7\u5236\u7cfb\u7edf\u662f\u5426\u80fd\u6b63\u5e38\u5de5\u4f5c\u3002<\/li>\n<\/ul>\n\n\n\n
\u3000\u3000\u56db\u3001 \u7a7f\u8d8a\u673a\u98de\u63a7\u7cfb\u7edf\u6709\u54ea\u4e9b\u589e\u5f3a\u53ef\u9760\u6027\u7684\u65b9\u6cd5\uff1f<\/h2>\n\n\n\n
\u3000\u3000\u9488\u5bf9\u7a7f\u8d8a\u673a\u98de\u63a7\u7cfb\u7edf\u7684\u53ef\u9760\u6027\u8bbe\u8ba1\uff0c\u6709\u4ee5\u4e0b\u51e0\u79cd\u65b9\u6cd5\uff1a<\/p>\n\n\n\n
\n- \u3000\u3000\u591a\u4f59\u5ea6\u5197\u4f59\u786c\u4ef6\u8bbe\u8ba1<\/strong>\uff1a\u91c7\u7528\u9ad8\u5ea6\u96c6\u6210\u7684\u591a\u4f59\u5ea6\u5197\u4f59\u786c\u4ef6\u8bbe\u8ba1\u53ef\u4ee5\u786e\u4fdd\u5728\u67d0\u4e2a\u7ec4\u4ef6\u53d1\u751f\u6545\u969c\u65f6\uff0c\u7cfb\u7edf\u4ecd\u80fd\u7ee7\u7eed\u6b63\u5e38\u8fd0\u884c\u3002\u4f8b\u5982\uff0cAMOS\u98de\u63a7\u7cfb\u7edf\u91c7\u7528\u4e86\u8fd9\u79cd\u8bbe\u8ba1\uff0c\u4ee5\u63d0\u9ad8\u98de\u884c\u5668\u7684\u5b89\u5168\u6027\u548c\u53ef\u9760\u6027\u3002<\/li>\n\n\n\n
- \u3000\u3000\u4e09\u6a21\u5197\u4f59\u67b6\u6784<\/strong>\uff1a\u901a\u8fc7\u4e09\u6a21\u5197\u4f59\u8bbe\u8ba1\u6765\u63d0\u9ad8\u7cfb\u7edf\u7684\u53ef\u9760\u6027\u4e0e\u6027\u4ef7\u6bd4\u3002\u8fd9\u79cd\u67b6\u6784\u5141\u8bb8\u98de\u63a7\u8ba1\u7b97\u673a\u5185\u90e8\u901a\u8fc7FlexRay\u603b\u7ebf\u4f20\u8f93\u6570\u636e\uff0c\u5e76\u4e14\u8fd9\u4e9b\u6570\u636e\u53ef\u4ee5\u88ab\u5176\u4ed6\u901a\u9053\u98de\u63a7\u8ba1\u7b97\u673a\u63a5\u6536\uff0c\u4ece\u800c\u5b9e\u73b0\u8f93\u5165\u4fe1\u53f7\u7684\u8868\u51b3\u4e0e\u76d1\u63a7\u3002\u6b64\u5916\uff0c\u4e09\u53f0\u529f\u80fd\u76f8\u540c\u7684\u98de\u63a7\u8ba1\u7b97\u673a\u901a\u8fc7\u4ea4\u53c9\u901a\u9053\u6570\u636e\u94fe\u8def\u8fdb\u884c\u6570\u636e\u4ea4\u6362\uff0c\u786e\u4fdd\u591a\u4f59\u5ea6\u98de\u63a7\u8ba1\u7b97\u673a\u95f4\u7684\u6570\u636e\u540c\u6b65\u548c\u4ea4\u53c9\u6570\u636e\u4f20\u8f93\u3002<\/li>\n\n\n\n
- \u3000\u3000\u4f59\u5ea6\u7ba1\u7406\u548c\u81ea\u68c0\u6d4b<\/strong>\uff1a\u98de\u63a7\u8f6f\u4ef6\u7684\u53ef\u9760\u6027\u5bf9\u7cfb\u7edf\u7684\u5b89\u5168\u53ef\u9760\u6027\u8d77\u7740\u91cd\u8981\u4f5c\u7528\u3002\u4f59\u5ea6\u7ba1\u7406\u3001\u63a7\u5236\u5f8b\u548c\u673a\u5185\u81ea\u68c0\u6d4b\u7b49\u6838\u5fc3\u8f6f\u4ef6\u7684\u6570\u636e\u7ed3\u6784\u548c\u7b97\u6cd5\u8bbe\u8ba1\u662f\u5f71\u54cd\u98de\u63a7\u7cfb\u7edf\u5b89\u5168\u53ef\u9760\u6027\u7684\u5173\u952e\u56e0\u7d20\u3002\u4f8b\u5982\uff0c\u5f53\u56db\u4f59\u5ea6\u4fe1\u53f7\u51fa\u73b02:2\u62161:1:1:1\u7b49\u5947\u5f02\u6545\u969c\u65f6\uff0c\u9700\u8981\u8bbe\u8ba1\u76d1\u63a7\u4e0e\u8868\u51b3\u7b97\u6cd5\u6765\u63d0\u9ad8\u7cfb\u7edf\u7684\u5bb9\u9519\u80fd\u529b\u3002<\/li>\n\n\n\n
- \u3000\u3000\u5206\u5e03\u5f0f\u7cfb\u7edf\u67b6\u6784<\/strong>\uff1a\u91c7\u7528\u5206\u5e03\u5f0f\u7cfb\u7edf\u67b6\u6784\uff0c\u4f7f\u5f97CPU\u6a21\u5757\u4e0e\u6570\u636e\u91c7\u96c6\u6a21\u5757\u76f8\u5bf9\u72ec\u7acb\uff0c\u4ece\u800c\u589e\u52a0\u7cfb\u7edf\u7684\u7075\u6d3b\u6027\u548c\u53ef\u9760\u6027\u3002\u5373\u4f7f\u67d0\u4e2a\u6a21\u5757\u51fa\u73b0\u6545\u969c\uff0c\u672a\u51fa\u73b0\u6545\u969c\u7684\u6a21\u5757\u4ecd\u7136\u80fd\u591f\u8fdb\u884c\u4e09\u6a21\u5197\u4f59\u8868\u51b3\u4e0e\u76d1\u63a7\u3002<\/li>\n\n\n\n
- \u3000\u3000\u5b9e\u65f6\u64cd\u4f5c\u7cfb\u7edf\u548c\u6a21\u5757\u5316\u7ed3\u6784<\/strong>\uff1a\u4f7f\u7528\u57fa\u4e8eFreeRTOS\u7684\u5b9e\u65f6\u64cd\u4f5c\u7cfb\u7edf\u548c\u7075\u6d3b\u7684\u56fa\u4ef6\u914d\u7f6e\uff0c\u53ef\u4ee5\u63d0\u9ad8\u7cfb\u7edf\u7684\u54cd\u5e94\u901f\u5ea6\u548c\u7a33\u5b9a\u6027\u3002BetaFlight\u662f\u4e00\u4e2a\u5f00\u6e90\u7684\u591a\u8f74\u65e0\u4eba\u673a\u98de\u63a7\u7cfb\u7edf\uff0c\u9002\u7528\u4e8e\u7ade\u901f\u3001\u6444\u5f71\u3001\u7814\u53d1\u548c\u6559\u80b2\u7b49\u591a\u4e2a\u573a\u666f\u3002<\/li>\n\n\n\n
- \u3000\u3000\u9ad8\u5ea6\u96c6\u6210\u7684\u8bbe\u8ba1<\/strong>\uff1a\u901a\u8fc7\u878d\u5408\u9ad8\u5ea6\u96c6\u6210\u7684\u786c\u4ef6\uff0c\u53ef\u4ee5\u5728\u8f83\u5c0f\u7684\u5c3a\u5bf8\u548c\u91cd\u91cf\u4e0b\u5b9e\u73b0\u590d\u6742\u7684\u98de\u884c\u63a7\u5236\u529f\u80fd\u3002\u8fd9\u79cd\u8bbe\u8ba1\u4e0d\u4ec5\u63d0\u9ad8\u4e86\u7cfb\u7edf\u7684\u6027\u80fd\u548c\u6548\u7387\uff0c\u8fd8\u4e3a\u98de\u884c\u5668\u63d0\u4f9b\u4e86\u66f4\u591a\u7684\u529f\u80fd\u548c\u7075\u6d3b\u6027\u3002<\/li>\n\n\n\n
- \u3000\u3000\u6545\u969c\u5b9a\u4e49\u548c\u5904\u7406\u7b56\u7565<\/strong>\uff1a\u5728\u56db\u4f59\u5ea6\u4fe1\u53f7\u4e24\u4e24\u6bd4\u8f83\u76d1\u63a7\u65f6\uff0c\u5982\u679c\u4e00\u4e2a\u901a\u9053\u4fe1\u53f7\u4e0e\u5176\u4ed6\u4e09\u4e2a\u901a\u9053\u4fe1\u53f7\u6bd4\u8f83\uff0c\u90fd\u8d85\u8fc7\u89c4\u5b9a\u7684\u5e45\u503c\u95e8\u9650\u4e14\u6301\u7eed\u8d85\u8fc7\u7cfb\u7edf\u89c4\u5b9a\u7684\u65f6\u95f4\u95e8\u9650\uff0c\u5219\u8be5\u901a\u9053\u5bf9\u5e94\u4fe1\u53f7\u53d1\u751f\u6545\u969c\u3002\u8fd9\u79cd\u6545\u969c\u5b9a\u4e49\u548c\u5904\u7406\u7b56\u7565\u6709\u52a9\u4e8e\u63d0\u9ad8\u7cfb\u7edf\u7684\u5bb9\u9519\u80fd\u529b\u548c\u5b89\u5168\u6027\u3002<\/li>\n<\/ul>\n\n\n\n
\u3000\u3000\u4e94\u3001 \u7a7f\u8d8a\u673a\u98de\u63a7\u7cfb\u7edf\u4e2d\u5fae\u5904\u7406\u5668\u7684\u9009\u62e9\u6807\u51c6\u662f\u4ec0\u4e48?<\/h2>\n\n\n\n
\u3000\u3000\u5728\u7a7f\u8d8a\u673a\u98de\u63a7\u7cfb\u7edf\u4e2d\uff0c\u5fae\u5904\u7406\u5668\u7684\u9009\u62e9\u6807\u51c6\u4e3b\u8981\u5305\u62ec\u4ee5\u4e0b\u51e0\u4e2a\u65b9\u9762\uff1a<\/p>\n\n\n\n
\n- \u3000\u3000\u9ad8\u6027\u80fd\u8ba1\u7b97\u80fd\u529b<\/strong>\uff1a\u98de\u63a7\u7cfb\u7edf\u9700\u8981\u5feb\u901f\u5904\u7406\u5927\u91cf\u6570\u636e\u4ee5\u786e\u4fdd\u98de\u884c\u7a33\u5b9a\u6027\u548c\u5b89\u5168\u6027\u3002\u56e0\u6b64\uff0c\u5fae\u5904\u7406\u5668\u5fc5\u987b\u5177\u5907\u9ad8\u4e3b\u9891\u548c\u5f3a\u5927\u7684\u6307\u4ee4\u5904\u7406\u901f\u5ea6\u3002\u4f8b\u5982\uff0cSTM32F405\u5fae\u5904\u7406\u5668\u7684\u5de5\u4f5c\u9891\u7387\u6700\u9ad8\u53ef\u8fbe168 MHz\uff0c\u6307\u4ee4\u5904\u7406\u901f\u5ea6\u8fbe210 DMIPS\uff0c\u8fd9\u53ef\u4ee5\u4fdd\u8bc1\u7cfb\u7edf\u7684\u6574\u4f53\u901f\u5ea6\u3002<\/li>\n\n\n\n
- \u3000\u3000\u4f4e\u529f\u8017<\/strong>\uff1a\u7531\u4e8e\u7a7f\u8d8a\u673a\u901a\u5e38\u9700\u8981\u957f\u65f6\u95f4\u98de\u884c\uff0c\u56e0\u6b64\u5fae\u5904\u7406\u5668\u7684\u529f\u8017\u5fc5\u987b\u5c3d\u53ef\u80fd\u4f4e\u3002STM32F405\u5177\u6709\u4f4e\u529f\u8017\u6a21\u5f0f\uff0c\u53ef\u4ee5\u5728\u505c\u6b62\u72b6\u6001\u4e0b\u6d88\u8017\u6781\u4f4e\u7684\u7535\u6d41(3 \u00b5A)\uff0c\u8fd0\u884c\u65f6\u4f4e\u4e8e100 \u00b5A\/MHz\u3002<\/li>\n\n\n\n
- \u3000\u3000\u4e30\u5bcc\u7684\u5916\u8bbe\u96c6\u6210<\/strong>\uff1a\u98de\u63a7\u7cfb\u7edf\u9700\u8981\u591a\u79cd\u4f20\u611f\u5668\u548c\u901a\u4fe1\u63a5\u53e3\u6765\u5b9e\u73b0\u5bfc\u822a\u548c\u63a7\u5236\u529f\u80fd\u3002STM32F405\u96c6\u6210\u4e86\u591a\u4e2a\u5b9a\u65f6\u5668\u3001ADC\u3001DAC\u3001DMA\u63a7\u5236\u5668\u4ee5\u53ca\u591a\u79cd\u901a\u4fe1\u63a5\u53e3\uff0c\u6ee1\u8db3\u5e7f\u6cdb\u7684\u5e94\u7528\u9700\u6c42\u3002<\/li>\n\n\n\n
- \u3000\u3000\u9ad8\u5bb9\u91cf\u5b58\u50a8<\/strong>\uff1a\u5927\u6570\u636e\u91cf\u89e3\u7b97\u9700\u8981\u8db3\u591f\u7684\u5185\u5b58\u652f\u6301\u3002STM32F405\u96c6\u6210\u4e86196 kB\u7684SRAM\u548c\u4e24\u4e2aDMA\u63a7\u5236\u5668\uff0c\u9ad8\u5bb9\u91cfSRAM\u6709\u5229\u4e8e\u5927\u6570\u636e\u91cf\u89e3\u7b97\u3002<\/li>\n<\/ul>\n\n\n\n
\u3000\u3000\u4e0e\u5176\u4ed6\u5fae\u5904\u7406\u5668\u76f8\u6bd4\uff0cSTM32F405\u7684\u4f18\u52bf\u5728\u4e8e\uff1a<\/p>\n\n\n\n
\n- \u3000\u3000\u9ad8\u6027\u80fd\u5185\u6838<\/strong>\uff1a\u57fa\u4e8eARM Cortex-M4F\u5185\u6838\uff0c\u96c6\u6210FPU(\u6d6e\u70b9\u8fd0\u7b97\u5355\u5143)\u548cDSP\u8fd0\u7b97\u6307\u4ee4\u96c6\uff0c\u63d0\u9ad8\u4e86\u6570\u636e\u8fd0\u7b97\u5904\u7406\u901f\u5ea6\u3002<\/li>\n\n\n\n
- \u3000\u3000\u9ad8\u6548\u7684\u5b58\u50a8\u7ba1\u7406<\/strong>\uff1aSTM32F405\u5305\u542b64 kB\u7684CCM(core coupled memory)\uff0c\u5373\u5185\u6838\u8026\u5408\u5b58\u50a8\u5668\uff0c\u7528\u6765\u63d0\u9ad8\u6570\u636e\u4ea4\u6362\u6548\u7387\u3002<\/li>\n\n\n\n
- \u3000\u3000\u7075\u6d3b\u7684\u5b58\u50a8\u9009\u9879<\/strong>\uff1a\u652f\u6301\u591a\u79cd\u5b58\u50a8\u5668\u7c7b\u578b\uff0c\u5305\u62ecCompact Flash, SRAM, PSRAM, NOR\u548cNAND\u5b58\u50a8\u5668\u3002<\/li>\n\n\n\n
- \u3000\u3000\u4f4e\u529f\u8017\u8bbe\u8ba1<\/strong>\uff1a\u5728\u5f85\u673a\u72b6\u6001\u4e0b\u7535\u6d41\u4f4e\u81f318 \u00b5A @ 25 \u00b0C(\u6df1\u7a7a\u6a21\u5f0f)\uff0c\u8fd0\u884c\u65f6\u7535\u6d41\u4e3a112 \u00b5A\/MHz(\u5916\u8bbe\u5173\u95ed)\uff0c\u975e\u5e38\u9002\u5408\u957f\u65f6\u95f4\u8fd0\u884c\u7684\u7a7f\u8d8a\u673a\u5e94\u7528\u3002<\/li>\n\n\n\n
- \u3000\u3000\u4e30\u5bcc\u7684\u5916\u8bbe\u652f\u6301<\/strong>\uff1a\u96c6\u6210\u4e86\u591a\u4e2a\u5b9a\u65f6\u5668\u3001ADC\u3001DAC\u3001DMA\u63a7\u5236\u5668\u4ee5\u53ca\u591a\u79cd\u901a\u4fe1\u63a5\u53e3\uff0c\u6ee1\u8db3\u5e7f\u6cdb\u7684\u5e94\u7528\u9700\u6c42\u3002<\/li>\n<\/ul>\n","protected":false},"excerpt":{"rendered":"
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