librepilot (cc3d revolution)飞控学习记录

libreplilot飞控是基于stm32的pios操作系统运行的．

revo飞控提供了几种飞控姿态滤波算法，在仅仅使用互补滤波的条件下，电子罗盘的信息是不准的，在室内无GPS的情况下，可以选择INS13indoor来提供相对准确的电子罗盘方向信息；如果在室外有GPS的情况下，可以选择 INS13来提供gps和电子罗盘信息。

2、revo自动起飞的注意事项

 // state machine updates:
    // Vtol AutoTakeoff invocation from flight mode requires the following sequence:
    // 1. Arming must be done whilst in the AutoTakeOff flight mode
    // 2. If the AutoTakeoff flight mode is selected and already armed, requires disarming first
    // 3. Wait for armed state
    // 4. Once the user increases the throttle position to above 30%, then and only then initiate auto-takeoff.
    // 5. Whilst the throttle is < 30% before takeoff, all stick inputs are being ignored.
    // 6. If during the autotakeoff sequence, at any stage, the throttle stick position reduces to less than 10%, landing is initiated.