让PX4默认且一直处于ARMED状态的方法

低调夜月

已于 2023-10-11 21:47:01 修改

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文章标签：物联网

于 2023-08-11 14:20:44 首次发布

本文链接：https://blog.csdn.net/qq_54907247/article/details/132229702

版权

！！！注意！！！

是通过直接魔改的代码接近于禁用了DISARM模式！

这样能够通过5G模块远程机载电脑实现在丢失遥控信号的情况下远程操控无人船。

我用到的：

Ubuntu20.04

QGC

PX4-Autopilot(1.13.3)

pix32 v6

教程

1.用VScode打开你git下来的PX4-Autopilot固件文件夹

PX4-Autopilot/src/modules/commander/Commander.cpp

把这个.cpp文件里面的

_status.rc_signal_lost = true;

全部改成

_status.rc_signal_lost = false;

相当于从来都没有检测到遥控器信号丢失，因此不会进入DISARM模式，让机载电脑能够驱动螺旋桨。

还需要更改/PX4-Autopilot/src/lib/mixer_module/mixer_module.cpp

加上那个“强制ARM”的内容

bool MixingOutput::updateDynamicMixer()
{
	// check arming state
	if (_armed_sub.update(&_armed)) {
		_armed.in_esc_calibration_mode &= _support_esc_calibration;
		_armed.armed = true;	//强制ARM
		if (_ignore_lockdown) {
			_armed.lockdown = false;
		}

		/* Update the armed status and check that we're not locked down.
		 * We also need to arm throttle for the ESC calibration. */
		_throttle_armed = (_armed.armed && !_armed.lockdown) || _armed.in_esc_calibration_mode;
	}

bool MixingOutput::updateStaticMixer()
{
	if (!_mixers) {
		// do nothing until we have a valid mixer
		return false;
	}

	// check arming state
	if (_armed_sub.update(&_armed)) {
		_armed.in_esc_calibration_mode &= _support_esc_calibration;
		_armed.armed = true;		//强制ARM
		if (_ignore_lockdown) {
			_armed.lockdown = false;
		}

		/* Update the armed status and check that we're not locked down.
		 * We also need to arm throttle for the ESC calibration. */
		_throttle_armed = (_armed.armed && !_armed.lockdown) || _armed.in_esc_calibration_mode;

		if (_armed.armed) {
			_motor_test.in_test_mode = false;
		}
	}

3.make固件并通过QGC烧录到pix32 v6飞控板上去

4.你可能会需要在QGC里面改一下参数（我提供下我用的）：新建一个test.params文件，把下面的参数赋值进去

# Onboard parameters for Vehicle 1
#
# Stack: PX4 Pro
# Vehicle: 多旋翼
# Version: 1.13.3 dev
# Git Revision: 1c8ab2a0d7000000
#
# Vehicle-Id Component-Id Name Value Type
1	1	ASPD_SCALE_1	1.000000000000000000	9
1	1	BAT1_A_PER_V	10.000000000000000000	9
1	1	BAT1_CAPACITY	-1.000000000000000000	9
1	1	BAT1_I_CHANNEL	-1	6
1	1	BAT1_N_CELLS	4	6
1	1	BAT1_R_INTERNAL	-1.000000000000000000	9
1	1	BAT1_SOURCE	0	6
1	1	BAT1_V_CHANNEL	-1	6
1	1	BAT1_V_CHARGED	3.400000095367431641	9
1	1	BAT1_V_DIV	18.100000381469726563	9
1	1	BAT1_V_EMPTY	2.700000047683715820	9
1	1	BAT1_V_LOAD_DROP	0.300000011920928955	9
1	1	BAT2_A_PER_V	36.367515563964843750	9
1	1	BAT2_CAPACITY	-1.000000000000000000	9
1	1	BAT2_I_CHANNEL	-1	6
1	1	BAT2_N_CELLS	0	6
1	1	BAT2_R_INTERNAL	-1.000000000000000000	9
1	1	BAT2_SOURCE	-1	6
1	1	BAT2_V_CHANNEL	-1	6
1	1	BAT2_V_CHARGED	4.050000190734863281	9
1	1	BAT2_V_DIV	18.100000381469726563	9
1	1	BAT2_V_EMPTY	3.500000000000000000	9
1	1	BAT2_V_LOAD_DROP	0.300000011920928955	9
1	1	BAT_AVRG_CURRENT	15.000000000000000000	9
1	1	BAT_CRIT_THR	0.070000000298023224	9
1	1	BAT_EMERGEN_THR	0.050000000745058060	9
1	1	BAT_LOW_THR	0.150000005960464478	9
1	1	BAT_N_CELLS	3	6
1	1	BAT_V_CHARGED	4.050000190734863281	9
1	1	BAT_V_EMPTY	3.500000000000000000	9
1	1	BAT_V_LOAD_DROP	0.300000011920928955	9
1	1	BAT_V_OFFS_CURR	0.000000000000000000	9
1	1	CAL_ACC0_ID	4259850	6
1	1	CAL_ACC0_PRIO	50	6
1	1	CAL_ACC0_ROT	-1	6
1	1	CAL_ACC0_XOFF	-0.014991760253906250	9
1	1	CAL_ACC0_XSCALE	0.984497725963592529	9
1	1	CAL_ACC0_YOFF	0.375923156738281250	9
1	1	CAL_ACC0_YSCALE	0.987352669239044189	9
1	1	CAL_ACC0_ZOFF	0.191511631011962891	9
1	1	CAL_ACC0_ZSCALE	0.984290838241577148	9
1	1	CAL_ACC1_ID	2490378	6
1	1	CAL_ACC1_PRIO	50	6
1	1	CAL_ACC1_ROT	-1	6
1	1	CAL_ACC1_XOFF	0.057325839996337891	9
1	1	CAL_ACC1_XSCALE	1.000000000000000000	9
1	1	CAL_ACC1_YOFF	-0.015729904174804688	9
1	1	CAL_ACC1_YSCALE	1.000000000000000000	9
1	1	CAL_ACC1_ZOFF	-0.124939441680908203	9
1	1	CAL_ACC1_ZSCALE	1.000000000000000000	9
1	1	CAL_ACC2_ID	0	6
1	1	CAL_ACC3_ID	0	6
1	1	CAL_AIR_CMODEL	0	6
1	1	CAL_AIR_TUBED_MM	1.500000000000000000	9
1	1	CAL_AIR_TUBELEN	0.200000002980232239	9
1	1	CAL_BARO0_ID	0	6
1	1	CAL_BARO1_ID	0	6
1	1	CAL_BARO2_ID	0	6
1	1	CAL_BARO3_ID	0	6
1	1	CAL_GYRO0_ID	4325386	6
1	1	CAL_GYRO0_PRIO	50	6
1	1	CAL_GYRO0_ROT	-1	6
1	1	CAL_GYRO0_XOFF	0.000000000000000000	9
1	1	CAL_GYRO0_YOFF	0.000000000000000000	9
1	1	CAL_GYRO0_ZOFF	0.000000000000000000	9
1	1	CAL_GYRO1_ID	2490378	6
1	1	CAL_GYRO1_PRIO	50	6
1	1	CAL_GYRO1_ROT	-1	6
1	1	CAL_GYRO1_XOFF	0.028562141582369804	9
1	1	CAL_GYRO1_YOFF	-0.086922802031040192	9
1	1	CAL_GYRO1_ZOFF	-0.001748383045196533	9
1	1	CAL_GYRO2_ID	0	6
1	1	CAL_GYRO3_ID	0	6
1	1	CAL_MAG0_ID	396321	6
1	1	CAL_MAG0_PRIO	50	6
1	1	CAL_MAG0_ROT	-1	6
1	1	CAL_MAG0_XCOMP	0.000000000000000000	9
1	1	CAL_MAG0_XODIAG	0.004075254313647747	9
1	1	CAL_MAG0_XOFF	-0.245925128459930420	9
1	1	CAL_MAG0_XSCALE	1.011711478233337402	9
1	1	CAL_MAG0_YCOMP	0.000000000000000000	9
1	1	CAL_MAG0_YODIAG	-0.091412678360939026	9
1	1	CAL_MAG0_YOFF	-0.024628147482872009	9
1	1	CAL_MAG0_YSCALE	1.148515820503234863	9
1	1	CAL_MAG0_ZCOMP	0.000000000000000000	9
1	1	CAL_MAG0_ZODIAG	-0.039096478372812271	9
1	1	CAL_MAG0_ZOFF	0.222032532095909119	9
1	1	CAL_MAG0_ZSCALE	0.991099894046783447	9
1	1	CAL_MAG1_ID	0	6
1	1	CAL_MAG1_ROT	-1	6
1	1	CAL_MAG2_ID	0	6
1	1	CAL_MAG2_ROT	-1	6
1	1	CAL_MAG3_ID	0	6
1	1	CAL_MAG3_ROT	-1	6
1	1	CAL_MAG_COMP_TYP	0	6
1	1	CAL_MAG_ROT_AUTO	1	6
1	1	CAL_MAG_SIDES	63	6
1	1	CAM_CAP_FBACK	0	6
1	1	CA_ROTOR0_PX	0.150000005960464478	9
1	1	CA_ROTOR0_PY	0.150000005960464478	9
1	1	CA_ROTOR1_PX	-0.150000005960464478	9
1	1	CA_ROTOR1_PY	-0.150000005960464478	9
1	1	CA_ROTOR2_KM	-0.050000000745058060	9
1	1	CA_ROTOR2_PX	0.150000005960464478	9
1	1	CA_ROTOR2_PY	-0.150000005960464478	9
1	1	CA_ROTOR3_KM	-0.050000000745058060	9
1	1	CA_ROTOR3_PX	-0.150000005960464478	9
1	1	CA_ROTOR3_PY	0.150000005960464478	9
1	1	CA_ROTOR_COUNT	4	6
1	1	CBRK_AIRSPD_CHK	0	6
1	1	CBRK_BUZZER	0	6
1	1	CBRK_ENGINEFAIL	284953	6
1	1	CBRK_FLIGHTTERM	121212	6
1	1	CBRK_IO_SAFETY	22027	6
1	1	CBRK_RATE_CTRL	0	6
1	1	CBRK_SUPPLY_CHK	0	6
1	1	CBRK_USB_CHK	197848	6
1	1	CBRK_VELPOSERR	0	6
1	1	CBRK_VTOLARMING	0	6
1	1	COM_ARM_AUTH_ID	10	6
1	1	COM_ARM_AUTH_MET	0	6
1	1	COM_ARM_AUTH_REQ	0	6
1	1	COM_ARM_AUTH_TO	1.000000000000000000	9
1	1	COM_ARM_CHK_ESCS	0	6
1	1	COM_ARM_EKF_HGT	1.000000000000000000	9
1	1	COM_ARM_EKF_POS	0.500000000000000000	9
1	1	COM_ARM_EKF_VEL	0.500000000000000000	9
1	1	COM_ARM_EKF_YAW	0.500000000000000000	9
1	1	COM_ARM_IMU_ACC	0.699999988079071045	9
1	1	COM_ARM_IMU_GYR	0.250000000000000000	9
1	1	COM_ARM_MAG_ANG	45	6
1	1	COM_ARM_MAG_STR	2	6
1	1	COM_ARM_MIS_REQ	0	6
1	1	COM_ARM_SDCARD	1	6
1	1	COM_ARM_SWISBTN	0	6
1	1	COM_ARM_WO_GPS	1	6
1	1	COM_BAT_ACT_T	10.000000000000000000	9
1	1	COM_CPU_MAX	90.000000000000000000	9
1	1	COM_DISARM_LAND	2.000000000000000000	9
1	1	COM_DISARM_PRFLT	10.000000000000000000	9
1	1	COM_DL_LOSS_T	10	6
1	1	COM_EF_C2T	5.000000000000000000	9
1	1	COM_EF_THROT	0.500000000000000000	9
1	1	COM_EF_TIME	10.000000000000000000	9
1	1	COM_FLIGHT_UUID	223	6
1	1	COM_FLTMODE1	-1	6
1	1	COM_FLTMODE2	-1	6
1	1	COM_FLTMODE3	-1	6
1	1	COM_FLTMODE4	0	6
1	1	COM_FLTMODE5	-1	6
1	1	COM_FLTMODE6	1	6
1	1	COM_FLT_PROFILE	0	6
1	1	COM_FORCE_SAFETY	0	6
1	1	COM_HLDL_LOSS_T	120	6
1	1	COM_HLDL_REG_T	0	6
1	1	COM_HOME_EN	1	6
1	1	COM_HOME_IN_AIR	0	6
1	1	COM_IMB_PROP_ACT	0	6
1	1	COM_KILL_DISARM	5.000000000000000000	9
1	1	COM_LKDOWN_TKO	3.000000000000000000	9
1	1	COM_LOW_BAT_ACT	0	6
1	1	COM_MOT_TEST_EN	1	6
1	1	COM_OBC_LOSS_T	5.000000000000000000	9
1	1	COM_OBL_ACT	0	6
1	1	COM_OBL_RC_ACT	0	6
1	1	COM_OBS_AVOID	0	6
1	1	COM_OF_LOSS_T	1.000000000000000000	9
1	1	COM_PARACHUTE	0	6
1	1	COM_POSCTL_NAVL	0	6
1	1	COM_POS_FS_DELAY	1	6
1	1	COM_POS_FS_EPH	5.000000000000000000	9
1	1	COM_POS_FS_EPV	10.000000000000000000	9
1	1	COM_POWER_COUNT	1	6
1	1	COM_PREARM_MODE	0	6
1	1	COM_QC_ACT	0	6
1	1	COM_RCL_ACT_T	15.000000000000000000	9
1	1	COM_RCL_EXCEPT	4	6
1	1	COM_RC_ARM_HYST	1000	6
1	1	COM_RC_IN_MODE	2	6
1	1	COM_RC_LOSS_T	0.500000000000000000	9
1	1	COM_RC_OVERRIDE	1	6
1	1	COM_RC_STICK_OV	30.000000000000000000	9
1	1	COM_TAKEOFF_ACT	0	6
1	1	COM_VEL_FS_EVH	1.000000000000000000	9
1	1	COM_WIND_WARN	-1.000000000000000000	9
1	1	CP_DELAY	0.400000005960464478	9
1	1	CP_DIST	-1.000000000000000000	9
1	1	CP_GO_NO_DATA	0	6
1	1	CP_GUIDE_ANG	30.000000000000000000	9
1	1	DSHOT_CONFIG	0	6
1	1	DSHOT_TEL_CFG	0	6
1	1	EKF2_ABIAS_INIT	0.200000002980232239	9
1	1	EKF2_ABL_ACCLIM	25.000000000000000000	9
1	1	EKF2_ABL_GYRLIM	3.000000000000000000	9
1	1	EKF2_ABL_LIM	0.400000005960464478	9
1	1	EKF2_ABL_TAU	0.500000000000000000	9
1	1	EKF2_ACC_B_NOISE	0.003000000026077032	9
1	1	EKF2_ACC_NOISE	0.349999994039535522	9
1	1	EKF2_AID_MASK	1	6
1	1	EKF2_ANGERR_INIT	0.100000001490116119	9
1	1	EKF2_ARSP_THR	0.000000000000000000	9
1	1	EKF2_ASPD_MAX	20.000000000000000000	9
1	1	EKF2_ASP_DELAY	100.000000000000000000	9
1	1	EKF2_AVEL_DELAY	5.000000000000000000	9
1	1	EKF2_BARO_DELAY	0.000000000000000000	9
1	1	EKF2_BARO_GATE	5.000000000000000000	9
1	1	EKF2_BARO_NOISE	3.500000000000000000	9
1	1	EKF2_BCOEF_X	100.000000000000000000	9
1	1	EKF2_BCOEF_Y	100.000000000000000000	9
1	1	EKF2_BETA_GATE	5.000000000000000000	9
1	1	EKF2_BETA_NOISE	0.300000011920928955	9
1	1	EKF2_DECL_TYPE	7	6
1	1	EKF2_DRAG_NOISE	2.500000000000000000	9
1	1	EKF2_EAS_NOISE	1.399999976158142090	9
1	1	EKF2_EVA_NOISE	0.050000000745058060	9
1	1	EKF2_EVP_GATE	5.000000000000000000	9
1	1	EKF2_EVP_NOISE	0.100000001490116119	9
1	1	EKF2_EVV_GATE	3.000000000000000000	9
1	1	EKF2_EVV_NOISE	0.100000001490116119	9
1	1	EKF2_EV_DELAY	175.000000000000000000	9
1	1	EKF2_EV_NOISE_MD	0	6
1	1	EKF2_EV_POS_X	0.000000000000000000	9
1	1	EKF2_EV_POS_Y	0.000000000000000000	9
1	1	EKF2_EV_POS_Z	0.000000000000000000	9
1	1	EKF2_FUSE_BETA	0	6
1	1	EKF2_GBIAS_INIT	0.100000001490116119	9
1	1	EKF2_GND_EFF_DZ	4.000000000000000000	9
1	1	EKF2_GND_MAX_HGT	0.500000000000000000	9
1	1	EKF2_GPS_CHECK	245	6
1	1	EKF2_GPS_DELAY	110.000000000000000000	9
1	1	EKF2_GPS_POS_X	0.000000000000000000	9
1	1	EKF2_GPS_POS_Y	0.000000000000000000	9
1	1	EKF2_GPS_POS_Z	0.000000000000000000	9
1	1	EKF2_GPS_P_GATE	5.000000000000000000	9
1	1	EKF2_GPS_P_NOISE	0.500000000000000000	9
1	1	EKF2_GPS_V_GATE	5.000000000000000000	9
1	1	EKF2_GPS_V_NOISE	0.300000011920928955	9
1	1	EKF2_GSF_TAS	15.000000000000000000	9
1	1	EKF2_GYR_B_NOISE	0.001000000047497451	9
1	1	EKF2_GYR_NOISE	0.014999999664723873	9
1	1	EKF2_HDG_GATE	2.599999904632568359	9
1	1	EKF2_HEAD_NOISE	0.300000011920928955	9
1	1	EKF2_HGT_MODE	0	6
1	1	EKF2_IMU_POS_X	0.000000000000000000	9
1	1	EKF2_IMU_POS_Y	0.000000000000000000	9
1	1	EKF2_IMU_POS_Z	0.000000000000000000	9
1	1	EKF2_MAG_ACCLIM	0.500000000000000000	9
1	1	EKF2_MAG_B_NOISE	0.000099999997473788	9
1	1	EKF2_MAG_CHECK	1	6
1	1	EKF2_MAG_DECL	0.000000000000000000	9
1	1	EKF2_MAG_DELAY	0.000000000000000000	9
1	1	EKF2_MAG_E_NOISE	0.001000000047497451	9
1	1	EKF2_MAG_GATE	3.000000000000000000	9
1	1	EKF2_MAG_NOISE	0.050000000745058060	9
1	1	EKF2_MAG_TYPE	0	6
1	1	EKF2_MAG_YAWLIM	0.250000000000000000	9
1	1	EKF2_MCOEF	0.150000005960464478	9
1	1	EKF2_MIN_RNG	0.100000001490116119	9
1	1	EKF2_MULTI_IMU	3	6
1	1	EKF2_MULTI_MAG	3	6
1	1	EKF2_NOAID_NOISE	10.000000000000000000	9
1	1	EKF2_NOAID_TOUT	5000000	6
1	1	EKF2_OF_DELAY	20.000000000000000000	9
1	1	EKF2_OF_GATE	3.000000000000000000	9
1	1	EKF2_OF_N_MAX	0.500000000000000000	9
1	1	EKF2_OF_N_MIN	0.150000005960464478	9
1	1	EKF2_OF_POS_X	0.000000000000000000	9
1	1	EKF2_OF_POS_Y	0.000000000000000000	9
1	1	EKF2_OF_POS_Z	0.000000000000000000	9
1	1	EKF2_OF_QMIN	1	6
1	1	EKF2_PCOEF_XN	0.000000000000000000	9
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1	1	EKF2_PCOEF_YN	0.000000000000000000	9
1	1	EKF2_PCOEF_YP	0.000000000000000000	9
1	1	EKF2_PCOEF_Z	0.000000000000000000	9
1	1	EKF2_PREDICT_US	10000	6
1	1	EKF2_REQ_EPH	3.000000000000000000	9
1	1	EKF2_REQ_EPV	5.000000000000000000	9
1	1	EKF2_REQ_GPS_H	10.000000000000000000	9
1	1	EKF2_REQ_HDRIFT	0.100000001490116119	9
1	1	EKF2_REQ_NSATS	6	6
1	1	EKF2_REQ_PDOP	2.500000000000000000	9
1	1	EKF2_REQ_SACC	0.500000000000000000	9
1	1	EKF2_REQ_VDRIFT	0.200000002980232239	9
1	1	EKF2_RNG_AID	1	6
1	1	EKF2_RNG_A_HMAX	5.000000000000000000	9
1	1	EKF2_RNG_A_IGATE	1.000000000000000000	9
1	1	EKF2_RNG_A_VMAX	1.000000000000000000	9
1	1	EKF2_RNG_DELAY	5.000000000000000000	9
1	1	EKF2_RNG_GATE	5.000000000000000000	9
1	1	EKF2_RNG_K_GATE	1.000000000000000000	9
1	1	EKF2_RNG_NOISE	0.100000001490116119	9
1	1	EKF2_RNG_PITCH	0.000000000000000000	9
1	1	EKF2_RNG_POS_X	0.000000000000000000	9
1	1	EKF2_RNG_POS_Y	0.000000000000000000	9
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1	1	EKF2_RNG_SFE	0.050000000745058060	9
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1	1	EKF2_SEL_IMU_ANG	15.000000000000000000	9
1	1	EKF2_SEL_IMU_RAT	7.000000000000000000	9
1	1	EKF2_SEL_IMU_VEL	2.000000000000000000	9
1	1	EKF2_SYNT_MAG_Z	0	6
1	1	EKF2_TAS_GATE	3.000000000000000000	9
1	1	EKF2_TAU_POS	0.250000000000000000	9
1	1	EKF2_TAU_VEL	0.250000000000000000	9
1	1	EKF2_TERR_GRAD	0.500000000000000000	9
1	1	EKF2_TERR_MASK	3	6
1	1	EKF2_TERR_NOISE	5.000000000000000000	9
1	1	EKF2_WIND_NOISE	0.100000001490116119	9
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1	1	FD_FAIL_P	60	6
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1	1	RC_MAP_PARAM2	0	6
1	1	RC_MAP_PARAM3	0	6
1	1	RC_MAP_PITCH	2	6
1	1	RC_MAP_POSCTL_SW	0	6
1	1	RC_MAP_RATT_SW	0	6
1	1	RC_MAP_RETURN_SW	0	6
1	1	RC_MAP_ROLL	3	6
1	1	RC_MAP_STAB_SW	0	6
1	1	RC_MAP_THROTTLE	1	6
1	1	RC_MAP_TRANS_SW	0	6
1	1	RC_MAP_YAW	4	6
1	1	RC_OFFB_TH	0.750000000000000000	9
1	1	RC_RETURN_TH	0.750000000000000000	9
1	1	RC_RSSI_PWM_CHAN	0	6
1	1	RC_RSSI_PWM_MAX	2000	6
1	1	RC_RSSI_PWM_MIN	1000	6
1	1	RC_TRANS_TH	0.750000000000000000	9
1	1	RTL_CONE_ANG	45	6
1	1	RTL_DESCEND_ALT	10.000000000000000000	9
1	1	RTL_HDG_MD	0	6
1	1	RTL_LAND_DELAY	0.000000000000000000	9
1	1	RTL_LOITER_RAD	80.000000000000000000	9
1	1	RTL_MIN_DIST	10.000000000000000000	9
1	1	RTL_PLD_MD	0	6
1	1	RTL_RETURN_ALT	30.000000000000000000	9
1	1	RTL_TIME_FACTOR	1.100000023841857910	9
1	1	RTL_TIME_MARGIN	100	6
1	1	RTL_TYPE	0	6
1	1	RTPS_CONFIG	0	6
1	1	RTPS_MAV_CONFIG	0	6
1	1	SDLOG_BOOT_BAT	0	6
1	1	SDLOG_DIRS_MAX	0	6
1	1	SDLOG_MISSION	0	6
1	1	SDLOG_MODE	0	6
1	1	SDLOG_PROFILE	1	6
1	1	SDLOG_UTC_OFFSET	0	6
1	1	SDLOG_UUID	1	6
1	1	SENS_BARO_QNH	1013.250000000000000000	9
1	1	SENS_BARO_RATE	20.000000000000000000	9
1	1	SENS_BOARD_ROT	0	6
1	1	SENS_BOARD_X_OFF	0.000000000000000000	9
1	1	SENS_BOARD_Y_OFF	0.000000000000000000	9
1	1	SENS_BOARD_Z_OFF	0.000000000000000000	9
1	1	SENS_CM8JL65_CFG	0	6
1	1	SENS_DPRES_OFF	0.000000000000000000	9
1	1	SENS_EN_BATT	0	6
1	1	SENS_EN_ETSASPD	0	6
1	1	SENS_EN_LL40LS	0	6
1	1	SENS_EN_MB12XX	0	6
1	1	SENS_EN_MPDT	0	6
1	1	SENS_EN_MS4515	0	6
1	1	SENS_EN_MS4525DO	0	6
1	1	SENS_EN_MS5525DS	0	6
1	1	SENS_EN_PAA3905	0	6
1	1	SENS_EN_PAW3902	0	6
1	1	SENS_EN_PGA460	0	6
1	1	SENS_EN_PMW3901	0	6
1	1	SENS_EN_PX4FLOW	0	6
1	1	SENS_EN_SDP3X	0	6
1	1	SENS_EN_SF1XX	0	6
1	1	SENS_EN_SPL06	0	6
1	1	SENS_EN_THERMAL	-1	6
1	1	SENS_EN_TRANGER	0	6
1	1	SENS_EN_VL53L1X	0	6
1	1	SENS_EXT_I2C_PRB	1	6
1	1	SENS_FLOW_MAXHGT	3.000000000000000000	9
1	1	SENS_FLOW_MAXR	2.500000000000000000	9
1	1	SENS_FLOW_MINHGT	0.699999988079071045	9
1	1	SENS_FLOW_ROT	6	6
1	1	SENS_GPS_MASK	0	6
1	1	SENS_GPS_PRIME	0	6
1	1	SENS_GPS_TAU	10.000000000000000000	9
1	1	SENS_IMU_AUTOCAL	1	6
1	1	SENS_IMU_MODE	0	6
1	1	SENS_LEDDAR1_CFG	0	6
1	1	SENS_MAG_AUTOCAL	0	6
1	1	SENS_MAG_MODE	0	6
1	1	SENS_MAG_RATE	15.000000000000000000	9
1	1	SENS_SF0X_CFG	0	6
1	1	SENS_TFLOW_CFG	0	6
1	1	SENS_TFMINI_CFG	0	6
1	1	SENS_ULAND_CFG	0	6
1	1	SER_GPS1_BAUD	0	6
1	1	SER_TEL1_BAUD	57600	6
1	1	SYS_AUTOCONFIG	0	6
1	1	SYS_AUTOSTART	4001	6
1	1	SYS_BL_UPDATE	0	6
1	1	SYS_CAL_ACCEL	0	6
1	1	SYS_CAL_BARO	0	6
1	1	SYS_CAL_GYRO	0	6
1	1	SYS_CAL_TDEL	24	6
1	1	SYS_CAL_TMAX	10	6
1	1	SYS_CAL_TMIN	5	6
1	1	SYS_CTRL_ALLOC	0	6
1	1	SYS_DM_BACKEND	0	6
1	1	SYS_FAC_CAL_MODE	0	6
1	1	SYS_FAILURE_EN	0	6
1	1	SYS_HAS_BARO	1	6
1	1	SYS_HAS_GPS	1	6
1	1	SYS_HAS_MAG	1	6
1	1	SYS_HAS_NUM_DIST	0	6
1	1	SYS_HITL	0	6
1	1	SYS_MC_EST_GROUP	2	6
1	1	SYS_RGB_MAXBRT	1.000000000000000000	9
1	1	SYS_STCK_EN	1	6
1	1	SYS_USE_IO	1	6
1	1	SYS_VEHICLE_RESP	-0.400000005960464478	9
1	1	TC_A_ENABLE	0	6
1	1	TC_B_ENABLE	0	6
1	1	TC_G_ENABLE	0	6
1	1	TEL_BST_EN	0	6
1	1	TEL_FRSKY_CONFIG	0	6
1	1	TEL_HOTT_CONFIG	0	6
1	1	THR_MDL_FAC	0.000000000000000000	9
1	1	TRIG_MODE	0	6
1	1	UAVCAN_ENABLE	2	6
1	1	VTO_LOITER_ALT	80.000000000000000000	9
1	1	VT_B_DEC_MSS	2.000000000000000000	9
1	1	VT_B_REV_DEL	0.000000000000000000	9
1	1	WV_EN	0	6

然后在QGC里面点左上角图标，Vehicle Setup，最下面的“参数”，右上角“工具”，加载文件，然后选这个test文件就好了。