{"id":5596,"date":"2019-11-18T15:58:32","date_gmt":"2019-11-18T06:58:32","guid":{"rendered":"http:\/\/www.nkozawa.com\/blog\/?p=5596"},"modified":"2019-12-25T11:12:43","modified_gmt":"2019-12-25T02:12:43","slug":"%e3%83%97%e3%83%ad%e3%83%83%e3%83%97%e3%82%a6%e3%82%a9%e3%83%83%e3%82%b7%e3%83%a5%e8%bb%bd%e6%b8%9b%e3%81%aepid%e3%83%81%e3%83%a5%e3%83%bc%e3%83%8b%e3%83%b3%e3%82%b0%e3%81%ab%e6%8c%91%e6%88%a6","status":"publish","type":"post","link":"https:\/\/www.nkozawa.com\/blog\/archives\/5596","title":{"rendered":"\u30d7\u30ed\u30c3\u30d7\u30a6\u30a9\u30c3\u30b7\u30e5\u8efd\u6e1b\u306ePID\u30c1\u30e5\u30fc\u30cb\u30f3\u30b0\u306b\u6311\u6226\u3057\u3066\u307f\u305f"},"content":{"rendered":"<p>PID\u30c1\u30e5\u30fc\u30cb\u30f3\u30b0\u306b\u3064\u3044\u3066\u306f\u3001\u3044\u3064\u304b\u306f\u81ea\u5206\u3067\u3061\u3083\u3093\u3068\u8abf\u6574\u3057\u3066\u307f\u305f\u3044\u3068\u601d\u3063\u3066\u3044\u307e\u3057\u305f\u304c\u3001\u8272\u3005\u3068\u9762\u5012\u304f\u3055\u3044\u611f\u3058\u304c\u3057\u3066\u624b\u3064\u304b\u305a\u3067\u3057\u305f\u3002Betaflight4.1\u306b\u306a\u308a\u3001\u30b9\u30e9\u30a4\u30c0\u30fc\u306b\u3088\u308b\u30c1\u30e5\u30fc\u30cb\u30f3\u30b0\u304c\u51fa\u6765\u308b\u3088\u3046\u306b\u306a\u308a\u307e\u3057\u305f\u3002\u3053\u308c\u306a\u3089\u3070\u51fa\u6765\u305d\u3046\u306a\u6c17\u304c\u3057\u307e\u3059\u3002<\/p>\n<p>\u5bfe\u8c61\u3068\u3059\u308b\u671f\u5f85\u306f\u8efd\u91cfDJI FPV\u6a5f\u3067\u3001\u30b9\u30da\u30c3\u30af\u306f\u4ee5\u4e0b\u306e\u901a\u308a\u3067\u3059\u3002<\/p>\n<pre>DJI Digital FPV System\r\nGEPRC Cygnet 3 frame mod\r\n <a href=\"https:\/\/www.thingiverse.com\/thing:3977391\">3D print data for DJI Air unit mount<\/a>\r\niFlight Succe-X E Mini F4 35A Flight Stack\r\nTBS Crossfire Nano RX\r\nXING 1404 4600KV\r\nEMAX Avan Mini 3x2.4x3\r\nWeight: 246g (including battery)\r\n<\/pre>\n<p><a href=\"http:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/DJICyg3.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium wp-image-5598\" src=\"http:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/DJICyg3-300x225.jpg\" alt=\"\" width=\"300\" height=\"225\" srcset=\"https:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/DJICyg3-300x225.jpg 300w, https:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/DJICyg3-768x576.jpg 768w, https:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/DJICyg3.jpg 800w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/a><\/p>\n<p>Betaflight 4.1\u3092\u5c0e\u5165\u3057\u3001\u30d5\u30a3\u30eb\u30bf\u30fc\/PID\u3068\u3082\u65e2\u5b9a\u5024\u3067\u5b89\u5b9a\u3057\u3066\u98db\u884c\u51fa\u6765\u307e\u3057\u305f\u3002\u305f\u3060\u3057\u3001\u6025\u6fc0\u306a\u30bf\u30fc\u30f3\u3084\u30c0\u30a4\u30d6\u304b\u3089\u306e\u5f15\u304d\u8d77\u3053\u3057\u3067\u30d7\u30ed\u30c3\u30d7\u30a6\u30a9\u30c3\u30b7\u30e5\u306e\u305f\u3081\u30d6\u30eb\u30d6\u30eb\u3068\u9707\u3048\u307e\u3059\u3002\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u3092\u5931\u3046\u307b\u3069\u3067\u306f\u3042\u308a\u307e\u305b\u3093\u304c\u3001\u52d5\u753b\u3092\u898b\u3066\u3044\u3066\u6c17\u306b\u306a\u308b\u304f\u3089\u3044\u306e\u9177\u3055\u3067\u306f\u3042\u308a\u307e\u3059\u3002\u4eca\u307e\u3067\u3060\u3068\u3001\u30b9\u30ed\u30c3\u30c8\u30eb\u3092\u6c17\u3092\u3064\u3051\u3066\u65e9\u3081\u306b\u5165\u308c\u308b\u3068\u304b\u3067\u5bfe\u51e6\u3057\u3066\u3044\u308b\u3068\u3053\u308d\u3067\u3059\u304c\u3001\u3053\u306e\u73fe\u8c61\u306e\u6539\u5584\u3092\u8a66\u307f\u308b\u3053\u3068\u306b\u3057\u307e\u3057\u305f\u3002<\/p>\n<p>\u9593\u9055\u3044\u306a\u304f\u52b9\u679c\u306f\u3042\u308a\u307e\u3057\u305f\u304c\u3001\u8efd\u304fYouTube\u306a\u3069\u3067\u60c5\u5831\u3092\u53ce\u96c6\u3057\u3066\u5b9f\u65bd\u3057\u305f\u3060\u3051\u306a\u306e\u3067\u6b63\u3057\u3044\u65b9\u6cd5\u3068\u306f\u9650\u308a\u307e\u305b\u3093\u3002\u4f55\u304b\u3057\u3089\u53c2\u8003\u306b\u306a\u308c\u3070\u5e78\u3044\u3067\u3059\u3002<\/p>\n<p><strong>[ \u73fe\u72b6\u628a\u63e1 ]<\/strong><br \/>\n\u98db\u3070\u3057\u3066\u307f\u305f\u30d5\u30a3\u30fc\u30ea\u30f3\u30b0\u306f\u304b\u306a\u308a\u826f\u3044\u306e\u3067\u3059\u304c\u3001\u30d6\u30e9\u30c3\u30af\u30dc\u30c3\u30af\u30b9\u3067\u3082\u78ba\u8a8d\u3057\u3066\u307f\u307e\u3059\u3002<br \/>\n<a href=\"http:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/BBLogBF41Def.png\"><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/BBLogBF41Def-300x182.png\" alt=\"\" width=\"300\" height=\"182\" class=\"alignnone size-medium wp-image-5601\" srcset=\"https:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/BBLogBF41Def-300x182.png 300w, https:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/BBLogBF41Def-1024x622.png 1024w, https:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/BBLogBF41Def-768x467.png 768w, https:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/BBLogBF41Def-1536x933.png 1536w, https:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/BBLogBF41Def.png 1682w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/a><br \/>\n\u30ed\u30b0\u306e\u691c\u8a3c\u7d4c\u9a13\u304c\u5c11\u306a\u3044\u306e\u3067\u78ba\u5b9f\u306a\u3053\u3068\u306f\u8a00\u3048\u307e\u305b\u3093\u304c\u3001\u6025\u6fc0\u306a\u30b9\u30c6\u30a3\u30c3\u30af\u64cd\u4f5c\u306b\u304a\u3044\u3066\u3082setpoint\u306b\u5bfe\u3057\u3066\u5341\u5206\u306bgyro\u306f\u8ffd\u5f93\u3057\u3066\u3044\u308b\u3088\u3046\u306b\u898b\u3048\u307e\u3059\u3002<\/p>\n<p><strong>[ RPM\u30d5\u30a3\u30eb\u30bf\u30fc ]<\/strong><br \/>\n\u3069\u3046\u305b\u306a\u3089\u3070\u3068\u8a71\u984c\u306eRPM\u30d5\u30a3\u30eb\u30bf\u30fc\u3082\u5c0e\u5165\u3057\u307e\u3057\u305f\u3002\u4f7f\u7528\u3057\u3066\u3044\u308bESC\u306fBLHeli_S\u306a\u306e\u3067\u6709\u6599\u30bd\u30d5\u30c8\u306e<a href=\"https:\/\/jflight.net\/index.php?route=common\/home&#038;language=en-gb\">JESC<\/a>\u3092\u5c0e\u5165\u3057\u3066\u3044\u307e\u3059\u3002<br \/>\n-> <a href=\"https:\/\/www.nkozawa.com\/blog\/archives\/5691\">BLHeli_S\u7528\u306e\u7121\u6599\u30d5\u30a1\u30fc\u30e0\u3082\u51fa\u307e\u3057\u305f\u3002<\/a><br \/>\nYouTube\u306a\u3069\u3067RPM\u30d5\u30a3\u30eb\u30bf\u30fc\u306e\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\u306f\u305f\u304f\u3055\u3093\u898b\u3064\u304b\u308a\u307e\u3059\u3002\u8ffd\u52a0\u306e\u30d5\u30a3\u30eb\u30bf\u30fc\u8a2d\u5b9a\u3082\u8272\u3005\u3068\u30ac\u30a4\u30c9\u3055\u308c\u3066\u3044\u307e\u3059\u304c\u3001\u308f\u305f\u3057\u306fDynamic Notch Filter\u3060\u3051\u3092\u65e2\u5b9a\u5024\u304b\u3089\u5909\u66f4\u3057\u307e\u3057\u305f\u3002\u65e2\u5b9a\u5024\u3067\u306f\u3001\u305d\u308c\u305e\u308cMEDIUM\/8\/120\/150\u306e\u3068\u3053\u308d\u3092MEDIUM\/0\/200\/90\u306b\u3057\u3066\u3044\u307e\u3059\u3002\u3069\u3053\u304b\u306e\u60c5\u5831\u3092\u53c2\u8003\u306b\u3057\u305f\u3060\u3051\u3067\u6839\u62e0\u306f\u8584\u3044\u3067\u3059\u304c\u3001\u5c11\u306a\u304f\u3068\u3082RPM\u30d5\u30a3\u30eb\u30bf\u30fc\u3092\u4f7f\u3046\u5834\u5408\u306fdyn_notch_width_percent\u306f0(\u30c0\u30a4\u30ca\u30df\u30c3\u30af\u30ce\u30c3\u30c1\u30d5\u30a3\u30eb\u30bf\u30fc\u3092\uff12\u3064\u304b\u30891\u3064\u306b\u3059\u308b)\u3067\u826f\u3044\u3088\u3046\u3067\u3059\u3002<\/p>\n<p><strong>[ \u30d5\u30a3\u30eb\u30bf\u30fc\u306e\u8a2d\u5b9a ]<\/strong><br \/>\n\u76ee\u7684\u306f\u30d5\u30a3\u30eb\u30bf\u30fc\u8a2d\u5b9a\u3092\u8efd\u304f\u3057\u3066\u30d7\u30ed\u30bb\u30c3\u30b5\u30fc\u306e\u8ca0\u8377\u3092\u8efd\u6e1b\u3057\u30ec\u30b9\u30dd\u30f3\u30b9\u3092\u826f\u304f\u3059\u308b\u3053\u3068\u3067\u3059\u3002\u305d\u308c\u306b\u3088\u308a\u30d7\u30ed\u30c3\u30d7\u30a6\u30a9\u30c3\u30b7\u30e5\u306b\u3088\u308a\u826f\u304f\u5bfe\u51e6\u3059\u308b\u3053\u3068\u3082\u3067\u304d\u307e\u3059\u3002\u30d5\u30a3\u30eb\u30bf\u30fc\u306e\u30b9\u30e9\u30a4\u30c0\u30fc\u3092\u52d5\u304b\u3057\u3066\u306f\u5b9f\u969b\u306b\u98db\u884c\u3057\u7570\u5e38\u3092\u611f\u3058\u306a\u3044\u304b\u30e2\u30fc\u30bf\u30fc\u304c\u52a0\u71b1\u3057\u306a\u3044\u304b\u3092\u78ba\u8a8d\u3057\u306a\u304c\u3089\u30d5\u30a3\u30eb\u30bf\u30fc\u3092\u8efd\u304f\u3057\u3066\u3044\u304d\u307e\u3059\u3002<br \/>\n<a href=\"http:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/BF41Filter.png\"><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/BF41Filter-300x214.png\" alt=\"\" width=\"300\" height=\"214\" class=\"alignnone size-medium wp-image-5603\" srcset=\"https:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/BF41Filter-300x214.png 300w, https:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/BF41Filter-1024x729.png 1024w, https:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/BF41Filter-768x547.png 768w, https:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/BF41Filter-1536x1093.png 1536w, https:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/BF41Filter.png 1613w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/a><br \/>\n\u30b8\u30e3\u30a4\u30ed\u30d5\u30a3\u30eb\u30bf\u30fc\u3068D\u5024\u30d5\u30a3\u30eb\u30bf\u30fc\u3092\u540c\u6642\u306b\u52d5\u304b\u3057\u3066\u8a66\u3057\u3066\u307f\u307e\u3057\u305f\u3002Expert\u30e2\u30fc\u30c9\u3092\u4f7f\u308f\u306a\u3044\u6700\u4f4e\u5024\u3067\u3042\u308b1.5\u307e\u3067\u4e0b\u3052\u3066\u3082\u554f\u984c\u306f\u3042\u308a\u307e\u305b\u3093\u3067\u3057\u305f\u3002\u3082\u3063\u3068\u4e0b\u3052\u3089\u308c\u308b\u304b\u3082\u77e5\u308c\u307e\u305b\u3093\u304c\u3001\u3053\u306e\u304f\u3089\u3044\u306b\u3057\u3066\u304a\u304d\u307e\u3059\u3002<br \/>\n\u30d7\u30ed\u30c3\u30d7\u30a6\u30a9\u30c3\u30b7\u30e5\u306b\u3064\u3044\u3066\u306f\u3001\u3053\u308c\u3060\u3051\u3067\u306f\u6539\u5584\u3055\u308c\u307e\u305b\u3093\u3067\u3057\u305f\u3002<\/p>\n<p><strong>[ PID\u306e\u8a2d\u5b9a ]<\/strong><br \/>\n\u4eca\u56de\u306f\u30d7\u30ed\u30c3\u30d7\u30a6\u30a9\u30c3\u30b7\u30e5\u3078\u306e\u5bfe\u51e6\u3067\u3059\u306e\u3067PD\u30d0\u30e9\u30f3\u30b9\u3068PD\u30b2\u30a4\u30f3\u306e2\u3064\u306e\u30b9\u30e9\u30a4\u30c0\u30fc\u3060\u3051\u306b\u6ce8\u76ee\u3057\u307e\u3059\u3002\u305d\u308c\u305e\u308c\u5225\u3005\u306b\u5f37\u304f\u3057\u305f\u308a\u4e00\u7dd2\u306b\u5f37\u304f\u3057\u305f\u308a\u3057\u306a\u304c\u3089\u98db\u3070\u3057\u3066\u307f\u307e\u3057\u305f\u3002<br \/>\n<a href=\"http:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/BF42PID.png\"><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/BF42PID-300x214.png\" alt=\"\" width=\"300\" height=\"214\" class=\"alignnone size-medium wp-image-5606\" srcset=\"https:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/BF42PID-300x214.png 300w, https:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/BF42PID-1024x729.png 1024w, https:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/BF42PID-768x547.png 768w, https:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/BF42PID-1536x1093.png 1536w, https:\/\/www.nkozawa.com\/blog\/wp-content\/uploads\/BF42PID.png 1613w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/a><br \/>\n\u3053\u306e\u8a66\u884c\u932f\u8aa4\u306f\u306a\u304b\u306a\u304b\u96e3\u3057\u304f\u6642\u9593\u304c\u304b\u304b\u308a\u307e\u3059\u3002\u6700\u7d42\u7684\u306b\u306fP and D Gain\u306e\u30b9\u30e9\u30a4\u30c0\u30fc\u306e\u307f\u30921.5\u306b\u5f37\u3081\u308b\u3053\u3068\u306b\u3057\u307e\u3057\u305f\u3002<\/p>\n<p>\u307e\u3060\u308f\u305a\u304b\u306b\u30d7\u30ed\u30c3\u30d7\u30a6\u30a9\u30c3\u30b7\u30e5\u3092\u611f\u3058\u307e\u3059\u304c\u3001\u6642\u9593\u7684\u306b\u306f\u308b\u304b\u306b\u77ed\u304f\u306a\u308a\u307e\u3057\u305f\u3002\u30c1\u30e5\u30fc\u30cb\u30f3\u30b0\u524d\u306f\u30d6\u30eb\u30d6\u30eb\u30d6\u30eb\u3068\u63fa\u308c\u3066\u3044\u305f\u306e\u304c\u30d6\u30eb\u30c3\u3068\u611f\u3058\u308b\u304f\u3089\u3044\u306b\u306a\u308a\u307e\u3057\u305f\u3002\u305d\u306e\u5f8c\u3082\u304b\u306a\u308a\u98db\u3070\u3057\u3066\u3044\u307e\u3059\u304c\u3001\u3053\u306e\u7d50\u679c\u306b\u6e80\u8db3\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n<p><iframe loading=\"lazy\" width=\"560\" height=\"315\" src=\"https:\/\/www.youtube.com\/embed\/AzPoS85vlaU\" frameborder=\"0\" allow=\"accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture\" 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