Pavo20 ir nardymas saulėlydyje

Aug 28, 2026 · 6 min read · fpv edgetx telemetrija gps baterija ilgas-nuotolis perspėjimai rizikos-valdymas ·

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Skridau virš Baltijos prie Olando Kepurės sutemose. Štai GPS trajektorija.

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Mėlyna: GPS ryšys yra. Raudona: telemetrijos tamsa, padėtis atkurta skaičiuojamąja navigacija. Štai kaip taip atsitiko.

Sprendimas

Prieš kelias savaites, per stiprų vėją atvirame lauke, nuskridau 2 km tolyn ir atgal, o nusileidau turėdamas 20 % likutį. Ryšys laikė, baterija laikė, dronas grįžo. Tas pats dronas, ta pati baterija, šešios minutės kruizinio skridimo vidutiniame vėjyje, ir įtampa nė karto nenukrito žemiau 3,56 V. Norėjau pamatyti, koks yra ELRS nuotolis virš atviro vandens, kai horizontas visiškai laisvas. Jokių kliūčių, jokios turbulencijos, tik Baltija prie Olando Kepurės sutemose. Atrodė kaip lengvesnė versija to, ką jau buvau padaręs.

Nebuvo.

Skrydis

Atkarpa tolyn buvo lengva. 2,47 km, 66 km/h, 11 V baterijos įtampa. Horizontas lygus, ryšys švarus, baterijos rodmuo beveik nekrito. Pūtė pavėjys, kurio kaip pavėjo neįvertinau. Įvertinau kaip geras sąlygas.

Apsisukau. Pakilau šiek tiek aukščiau, kad geriau matyčiau. Greitis nukrito. Baterijos rodmuo ėmė kristi greičiau. Atkarpa atgal, tas pats oro greitis prieš tą patį vėją, kainavo 183 mAh/km, tai yra 1,45 karto daugiau už kilometrą nei kelias tolyn. Pavėjys dabar yra priešvėjis, ir kiekvienas metras namo kainuoja pusantro karto daugiau, nei kainavo nuskristi.

Apsisukimas. 1,89 km, 10,9 V. Greitis jau mažesnis.

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Sąnaudų tempas mAh/km, skaičiuotas slenkančiu 150 m langu. Kelias tolyn (kairė pusė): apie 126 mAh/km su pavėjumu. Kelias atgal (dešinė pusė, po apsisukimo ties maždaug 2,5 km odometro): apie 183 mAh/km prieš tą patį vėją. Tarpas tarp maždaug 1 ir 2,5 km yra ta pati 150 s tamsa: matavimų nėra, taškų nėra.

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Srovė viso skrydžio metu. Atkarpoje atgal ji didesnė ir labiau išsibarsčiusi, nes prieš vėją dronas dirba sunkiau.

Telemetrijos tamsa

ELRS telemetrija veikia 17 mW galia. Pavo20 turi T formos anteną nosyje. Visas maršrutas buvo grynas tiesioginio matomumo ryšys virš atviro vandens. Diagrama pasakoja kitą istoriją.

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1RSS ir ryšio kokybė pagal atstumą nuo namų. Ties 60 m nuo starto 1RSS jau buvo −84 dBm, tai yra 48 dB žemiau starto reikšmės. RQly rodė 100 % iki pat visiško ryšio nutrūkimo. RF pavojaus signalas apskritai nebuvo sukonfigūruotas. Jei būtų buvęs, jis būtų suveikęs jau 235 m nuo starto.

Dviejų spindulių interferencija virš jūros esant beveik slystančiam kritimo kampui: jūros paviršius yra beveik tobulas radijo bangų veidrodis, o mažame aukštyje tiesioginė ir atspindėta banga atkeliauja beveik vienodos amplitudės ir priešingų fazių. Pakilus aukščiau ta fazių kompensacija suyra. 0 m: tyla. 75 m: ryšys atgal.

Telemetrija dingo ties t = 79 s, aukštis 0 m, maždaug 920 m nuo starto. Negrįžo 150 sekundžių. Per tą laiką baterija nukrito žemiau 3,8 V vienai celei, tada žemiau 3,6 V, tada žemiau 3,5 V. Radijas visą tą laiką tylėjo. EdgeTX loginiai jungikliai, kurių šaltinis yra telemetrijos jutiklis, tamsos metu priverstinai laikomi FALSE. Įtampos slenksčio jungiklis negali suveikti, kol ryšio nėra.

1,33 km. LOW BATTERY ekrane. Radijas 150 sekundžių nesakė nieko.

Kodėl baterija taip greitai išsikrovė

Matoma telemetrija pasakoja nuobodžią istoriją: 7,2 A tolyn, 6,8 A atgal, beveik tas pats. Vėjas sulėtino grįžimą iki 40 km/h palyginti su 55 km/h tolyn, ir vien tai per laiką paaiškina 1,45× mAh/km skirtumą. Nieko stebėtino.

Tamsa pasakoja kitą istoriją.

Valdiklio Capa skaitiklis integruoja srovę net tada, kai telemetrijos nėra. Paskutinis geras rodmuo prieš pagrindinę tamsą: 156 mAh sunaudota. Pirmas geras rodmuo po jos: 555 mAh. Tai 399 mAh per 139 sekundes. Perskaičiavus: vidutinė srovė 10,3 A per tas 139 sekundes.

OSD kadras 2,47 km atstumu, jau tamsos lange, rodo 10,09 A. Kadras tai patvirtina. Tamsa uždengė būtent tą skrydžio fazę, kurioje srovė buvo didžiausia:

apsisukimą ties 2,47 km (galios šuolis pasisukus prieš vėją)
kilimą iš 0 m į 75 m
pirmąsias maždaug 70 s grįžimo beveik maksimalia galia

Tos 139 sekundės su 10,3 A vidutine srove sunaudojo 399 mAh, tai yra 59 % visos baterijos. Radijas visą tą laiką buvo aklas.

Palyginimas su skrydžiais kieme dabar tampa suprantamas. Esant 6 A vidurkiui (kruizas, kybojimas ir lėtesni manevrai) 680 mAh baterijos užtenka 6,8 minutės, o tai atitinka tuos 5–6 minučių rezultatus. Skrydis virš jūros būtų tęsęsis 5,7 minutės, jei visas būtų buvęs 7,2 A kruizas. Bet 139 sekundės su 10,3 A ištraukė 122 mAh daugiau, nei būtų ištraukęs kruizas, ir sudegino visą papildomą skrydžio minutę toje vienoje fazėje, kurios niekas negalėjo matyti.

Baterija buvo praktiškai tuščia dar prieš tai, kai telemetrija galėjo apie tai pranešti.

Baterija buvo LAVA II 680 mAh 3S LiHV. Skrydžio valdiklyje ji buvo aprašyta kaip 821 mAh, o tai talpą padidina 20 % ir tyliai išpučia kiekvieną SoC rodmenį. Kai ryšys dingo pirmą kartą, SoC rodė 85 % likučio.

Tolyn: 126 mAh/km. Atgal: 183 mAh/km. Iš viso telemetrijos tamsoje: 171 s iš 350 s. 49 % skrydžio radijas nematė nieko.

Atsistačius ryšiui, valdiklis rodė 34 % likusio SoC, tai yra apie 231 mAh realioje 680 mAh baterijoje. Negrįžimo taškas, skaičiuojant pagal išmatuotas grįžimo sąnaudas su 10 % atsarga, buvo 1147 m nuo namų. Dronas buvo 1946 m nuo namų, tai yra jau 799 m už jo.

Pranešimas rth suveikė ties t = 229,8 s. Teisingai ta prasme, kad suveikė. Be jokios vertės ta prasme, kad suveikė 150 sekundžių po to, kai sprendimą jau buvo priėmusi fizika.

Atkarpa atgal baigiasi ten, kur baigiasi.

1,04 km nuo namų. OSD rodo LAND NOW. 2,03 V vienai celei. Leidžiasi.

Ką keičiu

Kiekviena eilutė žemiau yra gedimo režimas, kurį atskleidė telemetrija. Įgyvendinimas bus atskirame straipsnyje.

Sąlyga	Senasis elgesys	Naujasis elgesys
Įtampa krisdama kerta 4,2 / 4,0 / 3,8 V vienai celei	Vienas įtampos slenksčio loginis jungiklis, suveikia vieną kartą, veikia tik įjungus baterijos mygtuką	Ištariamas skaičius („vienas“, „du“, „trys“) prie kiekvieno 0,1 V kirtimo žemiau 3,8 V; be tono (šiame radijuje pyptelėjimų garsas yra 0)
Baterija žemiau 3,6 V vienai celei	`lowbat` takelis per loginį jungiklį	Tas pats, bet ir iš fone veikiančio scenarijaus: pirmoji gynybos linija net per telemetrijos tamsą
Kelias atgal kainuoja daugiau nei 1,3× kelio tolyn už kilometrą	Perspėjimo nebuvo	Vėjo asimetrijos perspėjimas po ≥30 s tolyn ir ≥15 s atgal: „warning close {santykis}%“
Savitoji galia padidėjusi, savitasis greitis normalus (vidinis gedimas: variklis, propeleris, guolis)	Perspėjimo nebuvo	„warning power {santykis}%“ vieną kartą, nusistačius kruizo bazinę reikšmę
Savitoji galia padidėjusi, savitasis greitis sumažėjęs (išorinė priežastis: priešvėjis, pasipriešinimas)	Perspėjimo nebuvo	„warning speed {santykis}%“ vieną kartą
1RSS žemiau −92 dBm	`rssiSource: none`, RF pavojaus signalas apskritai nebuvo sukonfigūruotas. RQly rodė 100 % iki visiško praradimo	`siglow` ir dBm reikšmė; `sigcrt` ties −100 dBm. RSSI yra nuolydis, LQ yra skardis
1RSS blogėja, aukštis mažiau nei 25 m	Nieko	„tolow“, tai yra kilk. Išmatuota: ryšys nutrūko ties 0 m, atsistatė ties 75 m dėl dviejų spindulių interferencijos virš vandens
Telemetrijos nėra ilgiau nei 4 s	Loginiai jungikliai priverstinai FALSE, visi baterijos perspėjimai nutyla	Fone veikiantis Lua scenarijus toliau skaičiuoja atstumą ir SoC skaičiuojamąja navigacija ir, atsistačius ryšiui, būseną paskelbia iš naujo
Artėja negrįžimo taškas (skrendant tolyn, veikiant GPS)	Nieko	„close {likę metrai}“ skaičiuojant žemyn, kol PNR − dHome < 400 m
Aktyvavimas (arm), kai GPS rescue neparengtas (valdiklis rodo „?“)	Palydovų skaičius lyginamas su scenarijuje įrašyta riba	Sprendžia pats valdiklis: kai `numSat < gps_rescue_min_sats`, Betaflight prie CRSF skrydžio režimo eilutės prideda `?`. Scenarijus skaito tai tiesiogiai.
Vidinė varža auga daugiau, nei paaiškina iškrovos gylis (perteklius ≥ 1,4×)	Perspėjimo nebuvo	„warning bad {mΩ}“ vieną kartą, kol SoC > 25 %

Pavo20 išmoko nardyti. Telemetrija — ne. Vienas iš tų dviejų dalykų labiau padeda šio eksperimento nepakartoti.

Kasdienio cinewoopinio drono vis dar ieškau. Pavo20 4S ar DeepSpace Stellar25. Dar nežinau, kuriam teks sekanti plaukimo pamoka. Vat taip vat...

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