一款直升机rotorflight飞控

        穷啊穷啊穷，挖啊挖啊挖。网上找了一款79元的飞控，尺寸很合适，放到x3和450都没问题，说是不能刷betaflight的，不过我看芯片是stm32f411的，觉得没问题。

ok，很简单，又省了几百大洋，yyds！

1、使用rotorflight，刷写 metek 411固件

2、使用cli 终端写入config文件：

     

board_name MATEKF411TE

manufacturer_id MTKS

# resources

resource BEEPER 1 B02

resource MOTOR 1 B06

resource MOTOR 2 B07

resource MOTOR 3 B00

resource MOTOR 4 B01

resource MOTOR 5 B04

resource MOTOR 6 B05

resource PPM 1 A03

resource LED_STRIP 1 A08

resource SERIAL_TX 1 A09

resource SERIAL_TX 2 A02

resource SERIAL_TX 11 A00

resource SERIAL_TX 12 A15

resource SERIAL_RX 1 A10

resource SERIAL_RX 2 A03

resource SERIAL_RX 11 A01

resource SERIAL_RX 12 B03

resource I2C_SCL 1 B08

resource I2C_SDA 1 B09

resource LED 1 A14

resource LED 2 A13

resource SPI_SCK 1 A05

resource SPI_SCK 2 B13

resource SPI_MISO 1 A06

resource SPI_MISO 2 B14

resource SPI_MOSI 1 A07

resource SPI_MOSI 2 B15

resource CAMERA_CONTROL 1 B10

resource ADC_BATT 1 A04

resource ADC_RSSI 1 A06

resource ADC_CURR 1 A05

resource PINIO 1 C15

resource GYRO_EXTI 1 C14

resource GYRO_CS 1 C13

resource USB_DETECT 1 C15

# timer list

timer  B06   AF2              # M1 - pin B06: TIM4 CH1 (AF2)  

timer  B07   AF2              # M2 - pin B07: TIM4 CH2 (AF2)

timer  B00   AF2              # S1 - pin B00: TIM3 CH3 (AF2)  

timer  B01   AF2              # S2 - pin B01: TIM3 CH4 (AF2)  

timer  B04   AF2              # S3 - pin B04: TIM3 CH1 (AF2)  

timer  B05   AF2              # S4 - pin B05: TIM3 CH2 (AF2)

timer  A08   AF1              # LED_STRIP - pin A08: TIM1 CH1 (AF1)  

timer  A00   AF2              # SoftserialTX 1 - pin A00: TIM5 CH1 (AF2)  

timer  A01   AF2              # SoftserialRX 1 - pin A01: TIM5 CH2 (AF2)  

timer  A15   AF1              # SoftserialTX 2 - pin A15: TIM2 CH1 (AF1)  

timer  B03   AF1              # SoftserialRX 2 - pin B03: TIM2 CH2 (AF1)

# dma

dma ADC 1 1

dma pin B06 0                 # M1 - 0: DMA1 Stream 0 Channel 2

dma pin B07 0                 # M2 - 0: DMA1 Stream 3 Channel 2

dma pin B00 0                 # S1 - 0: DMA1 Stream 7 Channel 5

dma pin B01 0                 # S2 - 0: DMA1 Stream 2 Channel 5

dma pin B04 0                 # S3 - 0: DMA1 Stream 4 Channel 5

dma pin B05 0                 # S4 - 0: DMA1 Stream 5 Channel 5

dma pin A08 0                 # LED_STRIP - 0: DMA2 Stream 6 Channel 0

dma pin A00 0                 # SoftserialTX 1 - 0: DMA1 Stream 2 Channel 6

dma pin A01 0                 # SoftserialRX 1 - 0: DMA1 Stream 4 Channel 6

dma pin A15 0                 # SoftserialTX 2 - 0: DMA1 Stream 5 Channel 3

dma pin B03 0                 # SoftserialRX 2 -  0: DMA1 Stream 6 Channel 3

# feature

feature RX_SERIAL

feature SOFTSERIAL

feature TELEMETRY

# serial

serial 1 64 115200 57600 0 115200

# master

set serialrx_provider = SBUS

set dshot_bitbang = OFF

set mag_bustype = I2C

set mag_i2c_device = 1

set mag_hardware = NONE

set baro_bustype = I2C

set baro_i2c_device = 1

set current_meter = ADC

set battery_meter = ADC

set vbata_scale = 1100

set vbat_detect_cell_voltage = 300

set beeper_inversion = ON

set beeper_od = OFF

set system_hse_mhz = 8

set gyro_1_bustype = SPI

set gyro_1_spibus = 2

set gyro_1_i2cBus = 0

set gyro_1_i2c_address = 0

save

3、根据自己鸡鸡配置吧，bye