{"id":8196,"date":"2024-11-15T10:18:18","date_gmt":"2024-11-15T01:18:18","guid":{"rendered":"https:\/\/www.nkozawa.com\/blog\/?p=8196"},"modified":"2024-11-16T10:20:26","modified_gmt":"2024-11-16T01:20:26","slug":"%e5%ae%a4%e5%86%85%e3%81%a7pid%e3%83%81%e3%83%a5%e3%83%bc%e3%83%8b%e3%83%b3%e3%82%b0bf4-5%e7%89%88%e3%80%81%e3%83%95%e3%82%a3%e3%83%ab%e3%82%bf%e3%83%bc%e8%a8%ad%e5%ae%9a","status":"publish","type":"post","link":"https:\/\/www.nkozawa.com\/blog\/archives\/8196","title":{"rendered":"\u5ba4\u5185\u3067PID\u30c1\u30e5\u30fc\u30cb\u30f3\u30b0BF4.5\u7248\u3001\u30d5\u30a3\u30eb\u30bf\u30fc\u8a2d\u5b9a"},"content":{"rendered":"

\u4ee5\u524d\u3001\u66f8\u3044\u305f\u300c\u5ba4\u5185\u3067PID\u30c1\u30e5\u30fc\u30cb\u30f3\u30b0<\/a>\u300d\u306eBetaflight 4.5\u7248\u3067\u3059\u3002\u524d\u56de\u3068\u540c\u3058\u304fChris Rosser\u5e2b\u5320<\/a>\u306eYouTube\u30d3\u30c7\u30aa\u306b\u57fa\u3065\u3044\u305f\u5185\u5bb9\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u3002\u7d30\u304b\u3044\u3068\u3053\u308d\u306f\u9664\u3044\u3066\u79c1\u304c\u5b9f\u969b\u306b\u8a66\u3057\u305f\u90e8\u5206\u3060\u3051\u3092\u66f8\u3044\u3066\u3044\u307e\u3059\u3002\u8a73\u7d30\u306b\u3064\u3044\u3066\u306f\u4ee5\u4e0b\u306eYouTube\u3092\u3054\u89a7\u304f\u3060\u3055\u3044\u3002
\nBetaflight 4.5 PID Tuning<\/a>
\nBetaflight 4.5 Filter Tuning<\/a><\/p>\n

[ PIDtoolbox ]<\/strong>
\nPIDtoolbox<\/a>\u3092\u4f7f\u7528\u3057\u307e\u3059\u3002\u3061\u3087\u3063\u3068\u524d\u307e\u3067\u306f\u7121\u6599\u3067\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u51fa\u6765\u305f\u306e\u3067\u3059\u304c\u4eca\u306f\u6708\u4f1a\u8cbb\u3092\u652f\u6255\u3063\u3066\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u307e\u3059\u3002\u4e00\u5e74\u524d\u304f\u3089\u3044\u306e\u7121\u6599\u6642\u4ee3\u306e\u7269\u3067\u3082\u4eca\u56de\u306ePID\u30c1\u30e5\u30fc\u30cb\u30f3\u30b0\u306b\u306f\u4f7f\u7528\u51fa\u6765\u307e\u3059\u3002
\nPIDtoolbox\u306e\u5c0e\u5165\u65b9\u6cd5\u3068\u57fa\u672c\u7684\u306a\u4f7f\u7528\u65b9\u6cd5\u306f\u4ee5\u4e0b\u306e\u8a18\u4e8b\u3092\u3054\u89a7\u304f\u3060\u3055\u3044\u3002
\n– PIDToolbox v0.62<\/a>
\n– PIDToolbox v0.62\u3092\u4f7f\u3046<\/a>
\nWindows\u7248\u3082Mac\u7248\u3082\u5c0e\u5165\u65b9\u6cd5\u3084\u4f7f\u3044\u65b9\u306f\u540c\u3058\u3067\u3059\u3002\u6700\u65b0\u306eMacOS\u3067\u306f\u6700\u521d\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u306e\u8d77\u52d5\u304c\u5c11\u3057\u9762\u5012\u306b\u306a\u308a\u307e\u3057\u305f\u3002\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u305f\u30d7\u30ed\u30b0\u30e9\u30e0\u304c\u3046\u307e\u304f\u8d77\u52d5\u305b\u305a\u30b4\u30df\u7bb1\u306b\u5165\u308c\u307e\u3059\u304b\u306a\u3069\u3068\u805e\u304b\u308c\u307e\u3059\u3002\u3053\u308c\u3092\u89e3\u6d88\u3059\u308b\u306b\u306f\u30bf\u30fc\u30df\u30ca\u30eb\u3092\u958b\u3044\u3066\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u6295\u5165\u3057\u306a\u3051\u308c\u3070\u306a\u308a\u307e\u305b\u3093\u3002<\/p>\n

\r\nxattr -c {PIDtoolbox\u306e\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u30fc\u540d\u306b\u7f6e\u304d\u63db\u3048\u308b}\/main\/PIDtoolbox.app\r\nxattr -c {PIDtoolbox\u306e\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u30fc\u540d\u306b\u7f6e\u304d\u63db\u3048\u308b}\/main\/blackbox_decode\r\n<\/pre>\n
[ \u4eca\u56de\u4f7f\u7528\u3057\u305f\u6a5f\u4f53 ]<\/strong>
\nBetaFPV Meteor65 Frame, BetaFPV Air 5in1 FC, BetaFPV 0702-30000KV motor, HQ UltraLight Prop
\nBetaflight 4.5.1\u3067\u3059\u3002
\n\u65b0\u3057\u3044BetaFPV Air FC\u306fBlackBox\u7528\u306b16MB\u306e\u30b9\u30c8\u30ec\u30fc\u30b8\u304c\u642d\u8f09\u3055\u308c\u3066\u3044\u308b\u306e\u3067PID\u30c1\u30e5\u30fc\u30f3\u304c\u3068\u3066\u3082\u884c\u3044\u3084\u3059\u3044\u3067\u3059\u3002<\/p>\n
[ \u30d5\u30a3\u30eb\u30bf\u30fc\u8a2d\u5b9a ]<\/strong>
\n\u524d\u63d0\u306fRPM\u30d5\u30a3\u30eb\u30bf\u30fc\u3092\u8a2d\u5b9a\u6e08\u307f\u3067\u3042\u308b\u3053\u3068\u3067\u3059\u3002
\n\u30d5\u30a3\u30eb\u30bf\u30fc\u306f\u53ef\u80fd\u306a\u9650\u308a\u8efd\u3044\u65b9\u304c\u826f\u3044\u3067\u3059\u3002\u8efd\u3044\u3068\u3044\u3046\u306e\u306f\u8a2d\u5b9a\u308b\u30d5\u30a3\u30eb\u30bf\u30fc\u306e\u6570\u3092\u5c11\u306a\u304f\u3001\u307e\u305f\u8a2d\u5b9a\u3059\u308b\u5468\u6ce2\u6570\u3092\u9ad8\u304f\u3059\u308b\u3053\u3068\u3067\u3059\u3002\u751f\u306eGyro\u30c7\u30fc\u30bf\u306b\u306f\u6ca2\u5c71\u306e\u30ce\u30a4\u30ba(\u6a5f\u4f53\u306e\u672c\u6765\u306e\u52d5\u304d\u3068\u306f\u5225\u306e\u3082\u306e)\u304c\u542b\u307e\u308c\u307e\u3059\u3002\u305d\u308c\u3092\u30d5\u30a3\u30eb\u30bf\u30fc\u3067\u51fa\u6765\u308b\u9650\u308a\u53d6\u308a\u9664\u3044\u3066\u304b\u3089PID\u51e6\u7406\u306b\u5165\u308c\u307e\u3059\u3002\u554f\u984c\u306f\u30d5\u30a3\u30eb\u30bf\u30fc\u306b\u3088\u308a\u5fc5\u305a\u9045\u5ef6\u304c\u767a\u751f\u3059\u308b\u3053\u3068\u3067\u3059\u3002\u305d\u306e\u9045\u5ef6\u306f\u30d5\u30a3\u30eb\u30bf\u30fc\u304c\u4e00\u3064\u5897\u3048\u308c\u3070\u3001\u305d\u306e\u5206\u5897\u3048\u307e\u3059\u3002\u307e\u305f\u3001\u4f4e\u3044\u5468\u6ce2\u6570\u3092\u898b\u6975\u3081\u308b\u306e\u306b\u306f\u9ad8\u3044\u5468\u6ce2\u6570\u3088\u308a\u6642\u9593\u304c\u304b\u304b\u308a\u307e\u3059\u3002<\/p>\n
\u5b9f\u969b\u306e\u30d5\u30a3\u30eb\u30bf\u30fc\u8a2d\u5b9a\u306f\u7c21\u5358\u3067\u3059\u3002Chris Rosser\u3055\u3093\u306e\u63a8\u5968\u5024\u3067\u305f\u3044\u3066\u3044\u306e\u5834\u5408\u306f\u554f\u984c\u306a\u3044\u3068\u601d\u3044\u307e\u3059\u3002
\n\"\"<\/a>
\n\u753b\u9762\u306e\u901a\u308a\u3067\u3059\u3002Betaflight\u898f\u5b9a\u5024\u3068\u9055\u3046\u306e\u306f
\n– \u30b8\u30e3\u30a4\u30ed\u30ed\u30fc\u30d1\u30b91 = \u30aa\u30d5
\n– \u30b8\u30e3\u30a4\u30ed\u30ed\u30fc\u30d1\u30b92 = 1000Hz (\u3082\u3057\u57fa\u672c\u8a2d\u5b9a\u3067Gyro\u5468\u6ce2\u6570\u3068PID\u5468\u6ce2\u6570\u3092\u540c\u3058\u306b\u3057\u3066\u3044\u308b\u5834\u5408\u306f\u3053\u308c\u3082\u30aa\u30d5\u306b\u3059\u308b)
\n– \u52d5\u7684\u30ce\u30c3\u30c1\u30d5\u30a3\u30eb\u30bf\u30fc = \u30aa\u30d5 (\u3082\u3057\u6a5f\u4f53\u306e\u56fa\u6709\u632f\u52d5\u306b\u3088\u308b\u30ce\u30a4\u30ba\u51fa\u305f\u3089\u6539\u3081\u3066\u8003\u3048\u308b)
\n– D\u5024\u30ed\u30fc\u30d1\u30b91 = \u52d5\u7684\/80\/110\/7\/BIQUAD
\n– D\u5024\u30ed\u30fc\u30d1\u30b92 = \u30aa\u30d5
\n\u3053\u308c\u3067\u30e2\u30fc\u30bf\u306e\u7570\u97f3\u3001\u52a0\u71b1\u3001\u6a5f\u4f53\u306e\u632f\u52d5\u304c\u306a\u3051\u308c\u3070\u57fa\u672c\u7684\u306b\u306f\u554f\u984c\u306a\u3057\u3067\u3059\u3002<\/p>\n
RPM\u30d5\u30a3\u30eb\u30bf\u30fc\u306e\u9ad8\u8abf\u6ce2\u3068\u3057\u30663\u304c\u6307\u5b9a\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u3053\u308c\u306f\u30e2\u30fc\u30bf\u30fc\u306e\u56de\u8ee2\u304b\u3089\u5f15\u304d\u8d77\u3053\u3055\u308c\u308b\u632f\u52d5\u3068\u305d\u306e\u6b63\u6570\u500d\u306e\u632f\u52d5\u3092\u8003\u616e\u3057\u305f\u3082\u306e\u3067\u3059\u3002\u3053\u306e\u9ad8\u8abf\u6ce2\u304c\u30d7\u30ed\u30da\u30e9\u306e\u7fbd\u306e\u6570\u306b\u3088\u3063\u3066\u9055\u3046\u3068\u3044\u3046\u4e88\u6e2c\u304c\u3042\u308a\u307e\u3059\u3002\u79c1\u306f\u5165\u308c\u3066\u3044\u307e\u305b\u3093\u304c\u3001\u305d\u308c\u3092\u8003\u616e\u3057\u3066\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092CLI\u3067\u5165\u529b\u3059\u308b\u3068\u826f\u3044\u3088\u3068Chris Rosser\u3055\u3093\u306f\u8a00\u3063\u3066\u3044\u307e\u3059\u3002
\n3\u679a\u7fbd\u306e\u5834\u5408\u306f\u3001set rpm_filter_weights = 100, 0, 80<\/code>
\n2\u679a\u7fbd\u306e\u5834\u5408\u306f\u3001set rpm_filter_weights = 100, 80, 0<\/code>\u3060\u305d\u3046\u3067\u3059\u3002<\/p>\n
\u3067\u306f\u3001\u30ed\u30b0\u3092\u53d6\u3063\u3066\u307f\u307e\u3059\u3002\u307e\u305a\u306fBlackbox\u30da\u30fc\u30b8\u3067\u30c7\u30fc\u30bf\u306e\u6d88\u53bb\u3092\u884c\u3044\u307e\u3059\u3002\u305d\u306e\u5f8c\u3067\u666e\u901a\u306b\u98db\u884c\u3057\u307e\u3059\u3002\u30b9\u30ed\u30c3\u30c8\u30eb\u4f4d\u7f6e\u3054\u3068\u306e\u30c7\u30fc\u30bf\u304c\u5fc5\u8981\u306a\u306e\u3067\u306a\u308b\u3079\u304f\u3086\u3063\u304f\u308a\u3068\u5e45\u5e83\u304f\u30b9\u30ed\u30c3\u30c8\u30eb\u3092\u52d5\u304b\u3057\u307e\u3059\u300220\u79d2\u307b\u3069\u98db\u3079\u3070\u5927\u4e08\u592b\u3067\u3059\u3002\u30a2\u30af\u30ed\u3001\u30a2\u30f3\u30b0\u30eb\u3069\u3061\u3089\u3067\u3082\u69cb\u3044\u307e\u305b\u3093\u3002\u30af\u30e9\u30c3\u30b7\u30e5\u3001\u3082\u3057\u304f\u306f\u7740\u9678\u3057\u305f\u3089\u3059\u3050\u306bDisarm\u3057\u307e\u3059\u3002
\n\u30ed\u30b0\u30d5\u30a1\u30a4\u30eb\u3092\u53d6\u308a\u51fa\u3057PIDtoolbox\u306b\u8aad\u307f\u8fbc\u307fSpectral Analyzer\/\u2019Freq x Throttle\u2019\/Run\u3067\u30b0\u30e9\u30d5\u304c\u51fa\u307e\u3059\u3002
\n\"\"<\/a>
\n\u3067\u3001\u5b9f\u969b\u306b\u53d6\u3063\u305f\u30c7\u30fc\u30bf\u3067\u3059\u3002\u3053\u308c\u306f\u5b9f\u306f\u826f\u304f\u306a\u3044\u72b6\u614b\u3067\u3059\u3002\u6a2a\u8ef8\u304c\u30b9\u30ed\u30c3\u30c8\u30eb\u3067\u7e26\u8ef8\u306f\u30b8\u30e3\u30a4\u30ed\u30c7\u30fc\u30bf\u306b\u542b\u307e\u308c\u308b\u5468\u6ce2\u6570\u6210\u5206\u3067\u3059\u3002PID\u6f14\u7b97\u306b\u304a\u3044\u3066\u672c\u5f53\u306b\u6b32\u3057\u3044\u6a5f\u4f53\u306e\u52d5\u304d\u306f100Hz\u4ee5\u4e0b\u306b\u73fe\u308c\u307e\u3059\u3002\u305d\u308c\u4ee5\u4e0a\u306e\u90e8\u5206\u306f\u30ce\u30a4\u30ba(\u307b\u3068\u3093\u3069\u306f\u4f55\u304b\u3057\u3089\u306e\u7406\u7531\u306b\u3088\u308b\u6a5f\u4f53\u306e\u632f\u52d5)\u3067\u3059\u3002\u3053\u306e\u30c7\u30fc\u30bf\u3067\u306f\u30b9\u30ed\u30c3\u30c8\u30eb30%\u4ee5\u4e0a\u306e\u90e8\u5206\u306b\u592a\u3044\u5e2f\u304c\u898b\u3048\u307e\u3059\u3002\u3053\u308c\u306f\u660e\u3089\u304b\u306a\u7570\u5e38\u632f\u52d5\u3067\u3059\u3002<\/p>\n
\u6a5f\u4f53\u3092\u70b9\u691c\u3057\u305f\u3068\u3053\u308d\u3072\u3068\u3064\u306e\u30da\u30e9\u304c\u66f2\u304c\u3063\u3066\u3044\u307e\u3057\u305f\u3002
\n\"\"<\/a><\/p>\n
\u30d9\u30e9\u3092\u4ea4\u63db\u3057\u3066\u518d\u5ea6\u30c7\u30fc\u30bf\u3092\u53d6\u308a\u307e\u3057\u305f\u3002
\n\"\"<\/a>
\n\u4eca\u5ea6\u306f\u5927\u4e08\u592b\u305d\u3046\u3067\u3059\u3002\u4e00\u756a\u5de6\u5074\u306f\u30d5\u30a3\u30eb\u30bf\u30fc\u3092\u304b\u3051\u308b\u524d\u306e\u30b8\u30e3\u30a4\u30ed\u30c7\u30fc\u30bf\u3067\u3059\u3002\u5de6\u4e0b\u304b\u3089\u53f3\u4e0a\u306b\u5411\u3051\u3066\u659c\u3081\u306e\u592a\u3044\u5e2f\u304c\u898b\u3048\u307e\u3059\u3002\u3053\u308c\u306f\u30b9\u30ed\u30c3\u30c8\u30eb\u30dd\u30b8\u30b7\u30e7\u30f3\u3001\u3059\u306a\u308f\u3061\u30e2\u30fc\u30bf\u30fc\u306e\u56de\u8ee2\u6570\u306b\u6bd4\u4f8b\u3057\u3066\u5468\u6ce2\u6570\u304c\u9ad8\u304f\u306a\u308b\u30ce\u30a4\u30ba\u7fa4\u3067\u3059\u3002\u3053\u308c\u3092\u52b9\u679c\u7684\u306b\u53d6\u308a\u9664\u304f\u306e\u304cRPM\u30d5\u30a3\u30eb\u30bf\u30fc\u3067\u3059\u3002\u5de6\u304b\u3089\u4e8c\u3064\u76ee\u306e\u30b0\u30e9\u30d5\u304c\u30d5\u30a3\u30eb\u30bf\u30fc\u3092\u304b\u3051\u305f\u5f8c\u306e\u30c7\u30fc\u30bf\u3067\u3059\u3002\u3068\u3066\u3082\u3046\u307e\u304f\u30d5\u30a3\u30eb\u30bf\u30fc\u3055\u308c\u3066\u3044\u308b\u306e\u304c\u5206\u304b\u308a\u307e\u3059\u3002Dterm\u306b\u3064\u3044\u3066\u306f\u591a\u304f\u306f\u8a9e\u308a\u307e\u305b\u3093\u304c\u3001\u307e\u3042\u3053\u308c\u3067\u826f\u3044\u304b\u306a\u3068\u601d\u3044\u307e\u3059\u3002<\/p>\n
\u9577\u304f\u306a\u308b\u306e\u3067PID\u30c1\u30e5\u30fc\u30cb\u30f3\u30b0\u306b\u3064\u3044\u3066\u306f\u6b21\u306e\u8a18\u4e8b<\/a>\u306b\u3044\u305f\u3057\u307e\u3059\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"
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