2.2.1 内置 ELRS 接收机2.2.1 Built-in ELRS Receiver

出厂默认已启用内置 ELRS 接收机，无需额外操作。首次使用前，请先将配件编号 #2 的 ELRS 2.4G 接收机天线正确安装至飞控天线座，再进行通电与对频操作。The built-in ELRS receiver is enabled by default; no extra configuration is needed. Before first use, please properly install the ELRS 2.4G receiver antenna (Accessory #2) into the flight controller's antenna socket, then power on and bind.

2.2.2 外置接收机2.2.2 External Receiver

使用外置ELRS接收机时，需短接下图所示焊盘，以启用外置接收机。When using an external ELRS receiver, short the pads shown below to enable it.

LED 灯带和蜂鸣器接线方式如下：The wiring for the LED strip and buzzer is as follows:

将电池电源线焊接至飞控电源焊盘：红色正极线连接 +（VBAT） 焊盘，黑色负极线连接 −（GND） 焊盘。Solder the battery power cables to the FC power pads: Red positive wire to the + (VBAT) pad, black negative wire to the − (GND) pad.

将四个电机分别焊接至飞控四角的 M1–M4 电机焊盘。Solder the four motors to the M1–M4 motor pads at the four corners of the FC.

电源线及电机线的焊接方式如下图所示：The soldering method for power and motor cables is shown below:

解锁Arming：先把油门收到最低，再把 解锁开关拨到高档。飞机解锁、电机怠速转动，同时进入自稳。Lower the throttle all the way down, then switch the Arm switch to High. The drone will arm, motors will spin at idle speed, and it will enter Angle mode.

上锁Disarming：把 解锁开关拨回低档。电机立即停转。Switch the Arm switch to Low. The motors will stop immediately.

解锁后飞机始终在自稳状态：The drone is always in Angle mode when armed:

松开横滚/俯仰摇杆，飞机会自动回到水平。When you release the pitch/roll stick, the drone will automatically level itself.

打杆时飞机按你打杆的量倾斜，最大倾角有限制，不会一下翻过头。The drone tilts proportionally to your stick input. The maximum tilt angle is limited to prevent it from flipping over.

飞机趴地上时，把 绑定开关拨到中档，再解锁，进入反乌龟。With the drone upside down, switch the Turtle switch to Mid, then arm to enter Turtle mode.

然后 朝你想翻的方向打横滚/俯仰杆，对应的电机会反转，把机身顶着翻回正面。Then, push the roll/pitch stick in the direction you want to flip. The corresponding motors will spin in reverse to flip the drone back over.

翻正之后，把 绑定开关拨回低档，再正常解锁起飞。Once upright, switch the Turtle switch to Low, then arm normally to take off.

特点：翻哪边、翻多快由你打杆控制，灵活但需要一点手法。Features: You control the flip direction and speed with the stick. It's flexible but requires some skill.

飞机趴地上时，把 绑定开关拨到高档，再解锁，飞机会 自动判断姿态并翻回正面，不用打杆。With the drone upside down, switch the Turtle switch to High, then arm. The FC will automatically detect its attitude and flip itself upright without stick input.

约 1~2 秒后自动翻正，然后再拨回低档即可。It takes about 1~2 seconds to auto-flip. Once upright, switch back to Low.

特点：一拨即翻，最省事；适合比赛中快速恢复。Features: Simplest method; ideal for quick recovery during races.

内环 PID 管的是飞机对你打杆的响应力度：Inner loop PID controls the aircraft's response authority to your stick inputs:

• 横滚：pid_roll_p、pid_roll_dRoll: pid_roll_p, pid_roll_d
• 俯仰：pid_pitch_p、pid_pitch_dPitch: pid_pitch_p, pid_pitch_d
• 偏航：pid_yaw_pYaw: pid_yaw_p

调高 P：打杆响应更硬、旋转更有劲、更跟手。Increase P: Harder stick response, stronger rotation, tighter feel.

调高 D：刹车/阻尼更强、停得更干脆（过高会发热、高频抖动）。Increase D: Stronger braking/damping, crisper stops (too high causes heat and high-frequency oscillations).

自稳（角度环）PID 管的是飞机进入倾角和自动回正的力度：Angle mode PID controls the authority of entering tilt angles and auto-leveling:

• pid_level_p_roll、pid_level_p_pitch：pid_level_p_roll, pid_level_p_pitch:
  把飞机拉到目标角度的劲，调高 → 进入倾角更快、扶正更有力。Force to pull aircraft to target angle, increase → faster entry into tilt, stronger leveling.
• pid_level_f_roll、pid_level_f_pitch：pid_level_f_roll, pid_level_f_pitch:
  打杆瞬间的前馈，调高 → 入角更跟手、更少延迟感。Feedforward on stick input, increase → tighter entry tracking, less delay feel.

• input_roll_srate / input_pitch_srate / input_yaw_srate：input_roll_srate / input_pitch_srate / input_yaw_srate:
  满杆最大转速（数值 × 10 = 度/秒），调高 → 顶速更快。Max rotation speed at full stick (value × 10 = deg/s), increase → faster top speed.
• pid_level_angle_limit：pid_level_angle_limit:
  自稳最大倾角，调高 → 能压更大角度、机动范围更大。Max tilt angle in Angle mode, increase → allows steeper tilts, larger maneuverability range.