  2:   Betaflight
 


    Betaflight       ,        .       Betaflight,      :  ,      Blackbox.     ,       .       ,       .    ,       ,           .





 

  2:   Betaflight



 I. :    

 1.   Betaflight:     BF   





  FPV-   Betaflight   -      , -   .  ,      ,        ,   Betaflight   .

    

          ,     .       :

MWC (MultiWii)      ,    DIY-.     ,        .

Baseflight    Betaflight,          .

Cleanflight  ,        .      Betaflight.

Betaflight   Cleanflight,        ,     .

           ,    :   ,  , , OSD,       .

 Betaflight  

  . Betaflight       (F4, F7, H7),          .    FPV-  .

 .  Betaflight Configurator    PID, ,  , failsafe, OSD   .

   .      , ESC,   .

    .  ,     ,        .

  .   failsafe,    ,           .

 Betaflight   

Betaflight    ,       ,    .     ESC (  DShot),  (ELRS, Crossfire)  OSD Betaflight       .

         ;         .       Betaflight   .





10   

 1.  Betaflight       MultiWii?



. Betaflight     ,     PID,      ESC,     OSD   . MultiWii              .

 2.        ,   Betaflight   Cleanflight?



.     ,           . Betaflight   Cleanflight,   ,      .

 3.       PID   FPV-?



.   (, 32     32 /16   PID)       ,              .

 4.      DShot    PWM  ESC?



. DShot    ,  ,    ,   (DShot Telemetry)        PWM.

 5.   OSD   Betaflight    ?



. OSD (On-Screen Display)   ,    ( , , RSSI,    . .).  Betaflight OSD           .

 6.     Betaflight,       ?



.     ,  PID-  .      (),       -  .

 7.   failsafe  Betaflight      ?



. Failsafe         .  :   (Collapce),   (  GPS),    .  Betaflight       .

 8.    Betaflight    FPV-?



. -   ,    ,  ,     ,     .

 9.       Betaflight?



.  FPV-, -,  -,      ,     .

 10.        Betaflight?



.     USB-,  ,      ,   (    )      .





3   

 1.        F7     .     Betaflight       ?



.

 PID- 32      .

DShot300/600  ESC        .

 RPM-            ,     .

 2.          .      Betaflight.



.

   (Blackbox)      .

,       .

       .

   PID-  / .

        .

 3.      :    .  5   Betaflight   ?



.

Failsafe Collapce      ,   .

   (Throttle Limit)        .

 Beeper      .

 Angle  Horizon       ,   .

OSD     RSSI          .







 I. :    

 2.  :    FPV?    

,          ,      ,     . FPV?      ,      .  ,      ,     ,        .

         FPV?,         ,      ,      Betaflight          .





:   

   ,  .   : ,  , , .         .       ():   ,       .

  (   )   : 5?       , 7?   ,  ? (34 )     .  Betaflight       PID?  :         ,       .





:   (FC)

     .   FC   (, )  ,         ,   .  FC     Betaflight.

 FC ,    : Blackbox ( ), OSD (   ),   ESC (DShot, PWM),       Betaflight. ,  FC    :          ,     .





:   

    .  FPV   :  ,     .   (KV    ,  , ) ,           .

   .      .          :        ,   ;       ,    .  Betaflight        PID:          .





 :   (ESC)

ESC (Electronic Speed Controller)    ,    FC  . ESC    FC       ,   .  ESC    DShot    ,             PWM.

 Betaflight      ESC     bidirectional DShot (   RPM).   Betaflight          ,     .





:  (LiPo)

    . LiPo? (?)   ,    .     (S: 4S, 6S),  (mAh)   (C).

    ,    : 6S             ,     .  Betaflight    PID    :      ,     .





  : , , 

 (RX)        FC.   RX ,       .

 (VTX)         .  VTX (25 mW, 800 mW  )   ,   .

FPV?    .    ?, FPV?        ,    ,   ,   .

     Betaflight,         :               Betaflight.





    

 :      ? RX   FC ? FC      ,    ? FC   ESC ? ESC    ?    ?  .      VTX ? VTX      ?  ,  ,   .

Betaflight     ,     .      VTX ,    ,          ,   ,      .





10   

:    ,    ?



:    ,      .  ,       ,        Betaflight.

:   KV       ?



: KV       1  .  KV       ,        .  KV      .

:   FPV  ESC   DShot,   PWM?



: DShot   ,      ,    (bidirectional DShot)    .         Betaflight.

:    (4S vs 6S)    ?



: 6S   ,      KV    .   ,     .   ESC  ,     .

:   Betaflight         ?



:     ,   ?  ,   . Ƹ      ,         PID?.

:   FPV?   ??



: FPV?    ,        . ?    ,   ,      .

:   Blackbox  Betaflight    ?



: Blackbox    ,       ( , , ).         PID  .

:        ?



:      ,  ESC   . ˸       ,    ,      Betaflight.

:      ?



:           , ?       .      ,    .

:     FPV?  ?



:  ,      .     ,   ,     . FPV?     .





3   

 1.



     5?    2306 1700 KV.     4S  6S .      Betaflight   ?

:

   6S     1,5 ,         .     ,         .

 Betaflight   PID? , ,  ,             .

,   ESC   6S:       .

:     ,  PID    Betaflight          6S.

 2.



    ,  ,    Betaflight     .         ?

:

  FC:         .

 :        .

,       .

 Betaflight     (RPM?, Low?  High?pass )    .

  ,     .

:     (, ,  FC)     Betaflight   .

 3.



    :      .    (, , , )     Betaflight   ?

:

: 5? , ,   CG ( ).

: 2207  2306  KV 18002000   .

: 5,1?3,6  5,2?3,4  ,        .

: 6S 13001500 mAh   ,    .

 Betaflight:    (32 kHz), RPM? , PID?    ,    .

:       ,    ,    Betaflight.



 I. :    

 3.    :  Toothpick  Long Range      

    :   ,       ,   ,          .  ,      Betaflight,       :        PID, ,          .





     

Toothpick  TinyWhoop (65100 )          .         :        .  Betaflight       Gyro    ,        .

23  (100130 )   :     ,    .          .   Betaflight      Angle     Angle/Acro,      .

5  (210220   )     FPV.   :     ,      .  5-   Betaflight       (RPM-, Low Pass  )    PID-.

67          (Long Range)    . -             :     ,  .





 :     

True-X    ,    .        .

Deadcat        .  ,            .  Betaflight        ,     .

Stretch X      .           .       .





      

 .      5 :      .   (3 )    .

   .    30,5?30,5 .      ,     .

   .    :        .

 .       ,     FC  ESC  .





      Betaflight

˸    (Toothpick, TinyWhoop)       :      .

    (5   )        PID:     .

Long Range         :  Betaflight        RPM-,    DShot.

       ,    (, ,  )  ,     .      5-    True-X  Deadcat:   ,            .





10   

:   Toothpick  5-     ?



: Toothpick      ,    . 5-  ,     ,        Betaflight.

:         ?



:    5 :  ,        Betaflight     .

:   Deadcat-    ?



: Deadcat       ,        .       .

:        ?



:    (5 )      ,   .  (3 ) ,   .

:       ?



:       FC (30,5?30,5 ),        ,       .

:       PID  Betaflight?



: :   (True-X, Deadcat, Stretch X)     .     PID     .

:   Long Range-    ?



:          ,   Betaflight  ,     ,    .

:    5-   TinyWhoop-?



: :  TinyWhoop       5- .       .

:     :   ?



:    :   ,     .   ,      .

:  ,       ?



:      ,             ,    .





3   

 1.



              .         ?



:



   5-  (210220 )   True-X.  :         .    5   .       Betaflight        .

 2.



   ,       5- .        ?



:



   Deadcat-    :       .        .  Betaflight      RPM-   .

 3.



    (Long Range)   .        Betaflight ?



:



  67     (56  ).   True-X  Stretch X  .  Betaflight      ,  RPM-     PID,         .



 I. :    

 4.  :   ,  F4  F7  

,      .    ,   ,   .    (Flight Controller, FC)   :     , ,    ,        ,         .

  FPV-      :    +  Betaflight.  Betaflight           ,   .          ,    .        F4, F7  H7        ,    ,       .





   

     :

   .  (IMU)           ,    .   ,    .       (  )   (    ).

  .        FC  PID-   ,   ,      ,      .   ,               .

    (ESC).   PWM/DShot     ( ) ,        .

 , FC      :     ,    ,        (, , GPS  . .)    (UART),  I?C  CAN.





F4, F7, H7:   

    F4   F7,      STM32,    .      :     ,     .

F4 (, STM32F405/F411).      FPV-. F405      :       PID  3248 ,       UART-  ,   . F411      ,       ,       (Toothpick).

F7 (STM32F722/F745).    . F7-          PID  4864   ,       .         UART-   ,       (GPS, ,  ESC,  ). F745    -,     .

H7 (STM32H743/H750).   . H7-           PID-,     .    FPV-     H7   ,    .      ,        .

 :         .     :  UART-  ,       microSD,  BEC ( ) ,    .   F4     ,   F7   .





 Betaflight   

Betaflight     ,    ,        .    :

PID-. Betaflight  PID-       (, 32 , 48   64 ).   ,      . F7  H7         .

.    Betaflight    (RPM-, notch-  .),          .               .

Blackbox-. Betaflight          microSD-.       ,  PID   .          .

  . Betaflight     (SBUS, CRSF, IBUS, ELRS  .)  .     UART- ,      .





     

          ,     F405:     ,    .     (GPS, ,  )     ,  F722  F745. H7  ,    ,    (,      ).

 :

Target   Betaflight.        Betaflight       .

   UART. ,     ,  ,   .

  BEC. ,              ,    .

-  .   30?30 , 20?20      ,     .

:     ,     .       ,               .





10   

:           FPV-?



:   (FC)    :     ,     PID-     ESC,        (, , ).

:    F4, F7  H7   Betaflight?



: F4      ; F7   ,    ; H7       .  Betaflight     PID-,     .

:   PID-   ?



:    PID- (, 48  64 ),             .

:       ?



:      (    IMU).     ()   ().

:   UART-   ?



: UART-     : , , GPS,  ESC,    . .

:  Betaflight  Blackbox-?



: Betaflight      ( , , )     microSD.        PID.

:    Betaflight   ?



: . Betaflight       target-.      .

:     F405  F411?



: F405            . F411    ,    ,    .

:   BEC       ?



: BEC (Battery Eliminator Circuit)    ,     (, VTX  .)   .       .

:          ?



:  target   Betaflight,    UART,  BEC, -,      (microSD),        .





3   

 1.



  - 5      ELRS,   MSP,  ESC  GPS.  UART-         ?

:

 ELRS  1 UART.

  MSP  1 UART.

 ESC  1 UART (  ,   ).

GPS  1 UART.



  34 UART.     F7 (F722/F745):         .

 2.



        .  ,     PID  .        ?

:



      (F7  H7),     (RPM-, notch-)     PID-.    Blackbox-       .

 3.



    Toothpick-       .     -   ,      ?

:



   F411  - 20?20   . :  UART-,    ,    .   Toothpick-   ,        .



 I. :    

 5.   (ESC): BlueJay, AM32,        2026 





 ESC       

       (ESC),   ,       .   :       . ESC          ,  ,            : , , .    Betaflight  ESC ,         ,         .

 2026   ESC :         ,   -   DShot   .     BlueJay  AM32 -    ,    .





: BlueJay  AM32    

BlueJay    -     BLHeli_S. Ÿ       :  2026  BlueJay  DShot150/300/600,  DShot (RPM-),       . BlueJay    FPV-   :        ,        .

AM32    32- ESC  ARM-.       :  RPM, AM32   ,      UART-   Extended DShot.    ,       .      AM32  :       .

: BlueJay    32- ESC,  AM32     BLHeli_S .           ESC.





:  PWM  DShot

PWM      .  2026         .    ,     .

OneShot/MultiShot     .  PWM,    ,      .    .

DShot      . DShot150, 300  600    , , .      Betaflight  DShot300  DShot600.     ,   DShot  RPM-  .

DroneCAN               .   FPV-   .

 Betaflight  2026   :  ESC  DShot   .    DShot   RPM-  Betaflight:        .





  ESC  

 ESC      , , , -  .

   : ESC 4-in-1  BlueJay  DShot600   DShot.     2030%      .       .

  : ESC 4-in-1   ESC  AM32      .     ,   .

   :  ESC   ,    UART    .   DShot300     .

     XX .      .           ESC  .





     Betaflight

            .  smoke stopper   .

 Betaflight Configurator   Motors   DShot,   300  600    ESC.   DShot,  .

 RPM-   :      .      ,  DShot   .

 RPM-  Betaflight (RPM Filter)         .

    ESC   . ,     PWM     .

: ESC     .          ,       .





10   

:   ESC  ?



: ESC    :  ,       ,         (, , ).

:      BlueJay  AM32?



: BlueJay    BLHeli_S-,   ,    . AM32   32- ARM-ESC,    ,    .

:    ESC    2026 ?



: DShot ( DShot300  DShot600).  ,   ,        .

:    BlueJay  32? ESC?



: . BlueJay   BLHeli_S?.     32?      ESC.

:     DShot?



:      (eRPM)    . Betaflight     RPM?,       .

:     ESC?



:        (   ),   2030%.      .

:   PWM, OneShot  DShot?



: PWM  OneShot      ,   . DShot      ,    .

:        DShot?



: . DShot   ,    .

:      ESC  ?



:  (,  ,  PWM)     .     ,   .

:       ESC  ?



:  ,      ,    (smoke stopper),        .





3   

 1.



    2306 1750 KV   5?  LiPo 4S.      38   .       ESC  4?in?1 ?  .

:



     38 .   25%    ,    : 38 ? 1,25 = 47,5 . , ESC      50   .   4?in?1      :     50       .

:   50          .





 2.



    ESC   AM32   DShot600  Betaflight.    RPM?    100%.       .

:

  DShot:  DShot300.

    ESCFC    .    .

ESC    DShot       .      .

:   DShot,     DShot   .





 3.



          ESC.   ESC      ?

:



 ESC (4?in?1  )   AM32:      UART  Extended DShot.    ,     ,    ,   BlueJay.

: AM32 ?       .



 I. :    

 6.   : KV, ,      





     FPV?, ,     ?     .        + .      ,     .    ,    ,      KV,              ,    .

 :  

 FPV?   (BLDC)    ,      .      :          .     ESC    ,    ,     .

   KV.       1   .  2300 KV   12,6  (3S)      28 980 /.  : KV     .     ? .  KV   ,    ;  KV   ,        .

      XXYY,  2207: 22   , 7   .   ,           ,        .        .





:   

   ,  .      ,       .  :

   ,   .

 (pitch)    , ,            . , 5?4,5   5 ,  4,5 .

  (, bullnose   )     . Bullnose      ,        .           ,      .

:   CW (  )  CCW ( ).      CW,   CCW,        .





     

       .          KV,   :   ,  ?    ,    .  :    ?KV       .

 Betaflight         ESC   ,    +     .           :    ,             .

 :  5? FPV?     2207, 23002500 KV,  5?4,5  5,1?4,2.    ?KV  (19002100)        ,     .





 ,   

       .     ,       .    :     ,   .

      .    ,      .  Betaflight    (, , ),    .





10   

   KV   ?



: KV      ,     1    . ,  2300 KV  12,6    ~28 980 /.

   2207  2306?



: 2207   22?7 , 2306  23?6 .        ,       ,    .

        ?



:     ,    .     :     ,    .

   CW  CCW?



:     .        ,   ,     .

       ?KV ?



:     ,     .      ,      .

  bullnose?     ?



: Bullnose      .               ,    .

    +   5? ?



:  :  2207, 23002500 KV,  5?4,5  5,1?4,2.     :      ,      .

  Betaflight    ?



:  : , ,  (RPM),  ( ).       .

    ?



: ?   ( ,   ),  ,        + .

       ?



: ,    CW  CCW.        ,      .





3   

 1.



   2400 KV   4S (14,8 ).     .



:



2400?14,8=35 5202400 \times 14{,}8 = 35 5202400?14,8=35 520 /.     ;      ?  .

 2.



   ?  5? .        ?



:



  2207, 23002400 KV   5?4,5  5,1?4,2.        ,        .

 3.



    ,    ,    .       .



:

    (  ).      KV.

   ( CW  CCW). ,     .

 ESC  .    Betaflight: , , RPM.           ?KV.







 I. :    

 7.    : ELRS, Crossfire, SBUS    





:     ,   ,   ,  ,      ,         .    ,   ,         .   FPV-   ,          -  .

 (RX)    :      (TX)    .         :   ,     .   FPV-   : SBUS    , CRSF          ELRS  Crossfire.

SBUS:      

SBUS (Serial Bus)     ,  Futaba,   -    .       16          20 .        ,    FPV SBUS     :     CRSF,       SBUS.

 SBUS        .        SBUS .            CRSF.

CRSF:    

CRSF (Crossfire Serial Protocol)  ,  TBS (Team BlackSheep)    Crossfire,     .    ELRS,  Crossfire,    . CRSF     ,   :  , RSSI ( ),      .     500 ,      10 .

 Betaflight CRSF    :        CRSF,        .      .

ELRS: , , 

ExpressLRS (ELRS)      CRSF,    .     : 2.4  (   )  900  (  ). ELRS    ( 10   2.4 ),     .       ,      .

ELRS    ,       .     Betaflight,        .

Crossfire:     

TBS Crossfire   -  ,      .    900 ,   LoRa       . Crossfire    long-range   ,    .

  Crossfire   :   ,           ELRS.   ,  ,   , Crossfire  .

 :  

   : ELRS 2.4    ,  ,  .

  : ELRS 900   Crossfire     .

    : SBUS   CRSF-    .

  : Crossfire       .

 Betaflight       (CRSF/SBUS),     .    ,  RSSI       OSD.

:    ,    .    :  ,    ,     .          Failsafe  Betaflight      .





10   

 1.     SBUS  CRSF?



. SBUS           ; CRSF  ,       .

 2.  ELRS     FPV-?



.    ,  ,  ,      .

 3.       ?



. ELRS  2.4 :         .

 4.     CRSF?



.       (, RSSI, )  ,           .

 5.    ELRS  Crossfire    ?



. ,      .      (, ELRS      Crossfire)   .

 6.   Betaflight   CRSF?



.      CRSF,  RX  UART- ,    (baud rate),   .

 7.   RSSI    ?



. RSSI (Received Signal Strength Indicator)    .    ,           .

 8.    900   2.4   ELRS?



. 900         ,          .

 9.  Crossfire  ELRS?



. -  ,   ,       .

 10.   Failsafe      Betaflight?



. Failsafe        .  Betaflight    ,    .     Receiver,         .





3   

 1.   -    .  ,    .     ?



.  ELRS  2.4 .      10 ,        .    Radiomaster  Happymodel.  Betaflight    250500    .

 2.      500 ,  RSSI    .     ?



.

 : ,       .

  :       .

   :       .

  :      .

  :    RX.

  Failsafe: ,       .

 3.        long-range .     .



.     ELRS 900     Crossfire.     ,     UART- .  Betaflight            .      (    )    .       .



 II. BETAFLIGHT 

 8.  Betaflight:   Configurator,     





:     ,  ,   ,   .           ,   .  Betaflight     ,    :      ,           .

Betaflight Configurator       .       :    .     ,      :        .         ,    .        ,   .

  

     ,     :

.    STM32 (F4, F7)      COM- (STM VCP).   Configurator   .    (,  CP210x)     .

.      .            .

.        USB.          .

  Betaflight Configurator

   Betaflight Configurator     GitHub.   :        .          USB.

      Connect.    Configurator   .    , :

   (COM-  Windows  /dev/tty  Linux/macOS);

 ;

   .

   ,      ,     .

  

   Firmware Flasher.    :

-. Configurator      .   (Target)      (, MATEKF405, DYS F4, HGLRC FD422).      Betaflight.

 .       .hex- (,     ),   .

    Full Chip Erase (  ),     .  ,          .     (  STM32F4)              .

 Flash Firmware    .   ,     .          .

 :    

        :   ,    ,   .       .

  Setup      .  :

   (Board Orientation);

   (, );

,     .

    Configuration.    :

Board and Sensor Alignment      ;

Receiver    ;

Motors     (  !).

:        PID-  .   ,          .

    .      :           .         :    ,    ,   - .





10   

 1.    STM VCP    ?



.  STM VCP       COM-,   Configurator    .     .

 2.       ?



.            ,     .     USB.

 3.     -     Configurator?



. -         .      .hex-,       .

 4.    Full Chip Erase     ?



. Full Chip Erase    ,     . Ÿ          ,   .

 5.  ,  Configurator   ?



.      Firmware Flasher    (Target),     .      No device, ,   .

 6.       (Target)?



.      : , , .         .

 7.  ,       ?



.  ,   .   USB-,  , ,      ModemManager ( Linux).

 8.       Setup?



.   ,           .      .

 9.        ?



. .     :  , ,      .    .

 10.    DFU  STM32 BOOTLOADER    ?



.   ,        .        ,      Betaflight.





3   

 1.      ,  Configurator,   Connect ,   Target .    .



:

 :     .

,      USB ( ).

   (STM VCP  CP210x).

   (Windows)  lsusb/dmesg (Linux)  ,   .

  ,  Configurator   ,     .

      Zadig     libusb.

 2.     MATEKF722     Betaflight.    Configurator.



:

  Firmware Flasher.

  Target  MATEKF722.

,    Online Firmware.

   Full Chip Erase.

 Flash Firmware   .

        Info.

 3.       .         ?



:

    .

,         Motors.

,      ( ).

  Configuration ,       .

        CLI  defaults     .



 II. BETAFLIGHT 

 9.  Ports: UART, , VTX-   





  FPV-      ,   ,     .   (FC)   ,        :   ,   , GPS   .   Ports  Betaflight Configurator        .

  Ports    

 (UART)        ,   FC     :  (VTX), , GPS, , LED-  . .  UART    : TX ()  RX ().   : TX    RX ,  .

 (Soft Serial)    UART    .   ,   UART  ,     :    ,      .     :  ,  ,   .





VTX-:    

  (VTX)        .    Betaflight  VTX-     ,   FC,     VTX.         ,   .

VTX-   CLI    Features (   Betaflight).   :

  (A, B, E, F, R  . .)

    ( )

  (PIT, 25 , 200 , 600   . .)

  (band/channel/power)    (IRC Tramp, SmartAudio, BST).

 VTX    . Betaflight      : IRC Tramp   , SmartAudio  ,   , BST (TBS)   .





  Ports:  

,      UART. : UART1  , UART2  VTX, UART3  GPS.

 Ports  Betaflight Configurator.   Feature     : Serial RX ( ), VTX ( ), GPS  . .

 . ,  VTX  IRC Tramp  SmartAudio   Features.

  (Baud Rate).      ,      (, 115200  GPS).

 .  Receiver   , OSD   ,      .

:                 .





     

 TX/RX.    ,    . :   .

 .           . :      .

 VTX-.     , VTX  . :      VTX.

   .      FC. :   UART    (, VTX).





 :  VTX  UART2

,      IRC Tramp  UART2.  :

 Ports   UART2  VTX.

 Features  IRC Tramp.

 VTX- ( CLI   JSON).

      .

,   OSD    VTX.

                   .





10   

:   UART    ?



: UART              (VTX, , GPS  .).

:   ,    UART?



:        UART,     .  ,   .

:     TX  RX  UART?



: TX (Transmit)   , RX (Receive)  . TX     RX .

:   VTX-    ?



: VTX-    ,   ,   Betaflight     .

:    VTX  Betaflight?



: Betaflight  IRC Tramp, SmartAudio  BST (TBS),     VTX.

:     UART   ?



: ,   .        .

:   VTX-  Betaflight?



:  CLI   vtxtable    Configurator (    ).

:     ?



:          ,    .

:  ,  VTX  ?



:        ,     OSD    VTX.

:  ,   VTX    ?



:   VTX-,    Features,  TX/RX    .





3   

 1

:     (SBUS)  UART1, VTX (IRC Tramp)  UART2  GPS  UART3. ,       Ports     .



:

 UART1   Serial RX.

 UART2  VTX   Features  IRC Tramp.

 UART3  GPS.

  :    Receiver,   VTX  ,    OSD.





 2

:   VTX  UART4,      .  3     .



:

   VTX  Ports  UART4    Ports.

    (IRC Tramp/SmartAudio)  Features    .

   VTX-      VTX  CLI  Configurator.



     VTX.





 3

:  UART  :   , VTX, GPS  LED-.        ?



:

   UART (  ).

VTX   UART (  /).

GPS   UART ( ).

LED-      ( ,  ).



         ,    .







 II. BETAFLIGHT 

 10.   : BIND, Lua?,   





:        

     ,       ,    .     :       .   ,  FailSafe  ,         .

    ,     (BIND)   ,   Lua?     ,      ,        .





 (BIND):   

BIND         ,        .    (ExpressLRS, Crossfire, FrSky)   -,   :     .

  

 Bind  .   :    ,   Bind,    BIND-.  ,     .

BIND- (Binding Phrase).   ExpressLRS:     UID (6 ),    Betaflight CLI  set expresslrs_uid = ...  .  ,    Bind.

 Bind  UID.           UID   .

:        .       .





Lua?:    

Lua?   (RadioMaster, Jumper  .)     ,          .

 ExpressLRS   :

  ;

  (F1000, F500  . .);

RSSI  LQ (    );

 Wi?Fi   ( ).

 :  LQ   8090%,        ,    .





  FailSafe:   ,  

FailSafe       .  Betaflight   :

Hold:     .    ,           .

Drop:  ,  .  ,  .

Land:    .      .

RTH (Return to Home):     .  GPS   .

 FailSafe    Receiver  Betaflight Configurator.       AUX,       .





    

   Bind  Wi?Fi.  ExpressLRS     : Bind  Wi?Fi.     Wi?Fi,   .

 UART  .     UART,   Ports   Serial RX     (CRSF  Crossfire/ExpressLRS, SBUS  . .).

 FailSafe  .     ,      :    ,   FailSafe .





10   

  BIND    ?



: BIND          .  ,            .

     ExpressLRS?



:  Bind  , BIND? (  UID),  Bind  UID.

  UID  Betaflight?



:  CLI: set expresslrs_uid = [6    ],  save.

  Lua?  ?



:    (RSSI, LQ, ,  ),          .

   LQ  70%?



:     :   .     (,  F1000  F500)   .

 FailSafe    ?



: Land ( )    ,   GPS  RTH.

   FailSafe     ?



: ,  AUX?    Betaflight: ,   Acro  Hold,   Angle  Land.

      ?



:  :  ,    Ports,  Serial RX,  TX/RX  UART.

 ,  FailSafe ?



:  ,    ( ,    ),       :     FailSafe.

 ,    ?



:   , ,     Bind,    ,     (  UID).





3   

 1

:    ExpressLRS   3.0.0,   2.5.3.      .       ?

:



    . ExpressLRS    TX  RX.



:

    3.0.0 (   2.5.3,   ).

,    Regulatory Domain (ISM 2.4GHz  868/915MHz).

     ( Bind  UID).

  Lua?  ,    UID   .





 2

:  ,       ,   Betaflight  FailSafe  Hold.       ?

:

  Receiver  Betaflight Configurator.

  FailSafe   Land.

,       Motor stop    ( ).

   AUX?,       ( 9881000 ).

     :  ,    .





 3

:    Lua? ExpressLRS,     LQ  RSSI.     ?

:

,          ( ExpressLRS   Telemetry Ratio).

     :    UART   Serial RX   CRSF.

 Betaflight   Ports ,         .

   ,     .

  ,   Lua?:      ExpressLRS.







 II. BETAFLIGHT 

 11. : , , ,     

     :      ,  ,         .  Betaflight            .        ,     .





:  

             (, , ).  Betaflight          Acro      Angle/Horizon.

      BMI270, MPU6000, ICM42688.      SPI  I?C. SPI        ,    FC     SPI.

    .     ,         .            , , .    , PID-   ,        .

 Betaflight      Filters  PID Tuning.      Lowpass-, Biquad,      (RPM filtering),      ,    ESC.





:  

  ,            .   Betaflight ,  ,      Angle  Horizon.

           .  Betaflight Configurator     Setup  Calibrate Accelerometer.             .

:      Acro      .       Horizon,          .





:  

         .            .         ,           .

           .  Betaflight     Configuration (Feature ? Baro).       Sensors.





 ():  

         .  Betaflight      GPS-    GPS Rescue  Return to Home.

   :  ,  ,     ,  .        ,      .     Setup: Calibrate Magnetometer.          .

   ,     .         ( toilet bowling),        .





:    

     ,    .

    ,   ,      .

     ;         .

     ;      Sensors  ,     / .

 :       ,      ,    .         .





    Betaflight

  Filters  Betaflight Configurator       :

Lowpass-    .

RPM filtering   ,    .

Notch-     ,    .

     :   ,   .             .

  PID Tuning       ,    .       Blackbox:              .





10   

:   Betaflight  ?



:                    .

:      ?



:     Angle  Horizon        ;   Acro     .

:      Betaflight?



:      ,   Betaflight Configurator,    Setup   Calibrate Accelerometer,      .

:        ?



:         ,            toilet bowling.

:   RPM filtering    ?



: RPM filtering    ,    ;          .

:        ?



: ,       ;     ,         .

:   Betaflight    ?



:     Filters  Betaflight Configurator;    Lowpass, Notch  RPM filtering.

:  ,         ?



:       ;          GPS/   .

:     (SPI/I?C)    ?



: , SPI            I?C,    .

:      Betaflight?



:        PID Tuning    Blackbox,         .





3   

 1.



         Betaflight Configurator.             ?

:

    .

  Setup    (Calibrate Accelerometer).

         .

  Setup    (Calibrate Magnetometer)       .

     Sensors:      .

      Filters      PID Tuning.





 2.



      Horizon          .        ?




  .


   .

   ,     (https://www.litres.ru/book/aleksandr-vosmoy/proekt-fargus-2-bpla-s-betaflight-74501499/)  .

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