Hold Mode

The Hold flight mode (a.k.a. "Loiter") causes the vehicle to stop and maintain its current GPS position and altitude (MC vehicles will hover at the GPS position, while FW vehicles will circle around it).

Hold mode can be used to pause a mission or to help you regain control of a vehicle in an emergency. It is usually activated with a pre-programmed switch.

• This mode requires GPS.
• This mode is automatic (RC control is disabled by default except to change modes).

The specific behaviour for each vehicle type is described below.

Multi-Copter (MC)

A multicopter hovers at the current position and altitude.

The behaviour can be configured using the parameters below.

Parameter Description
MIS_LTRMIN_ALT Minimum height for loiter mode (vehicle will ascend to this altitude if mode is engaged at a lower altitude).

Fixed Wing (FW)

The aircraft circles around the GPS hold position at the current altitude. The vehicle will first ascend to MIS_LTRMIN_ALT if the mode is engaged below this altitude.

The behaviour can be configured using the parameters below.

Parameter Description
NAV_LOITER_RAD The radius of the loiter circle.
MIS_LTRMIN_ALT Minimum height for loiter mode (vehicle will ascend to this altitude if mode is engaged at a lower altitude).

VTOL

A VTOL follows the HOLD behavior and parameters of Fixed Wing when in FW mode, and of Multicopter when in MC mode.

© PX4 Dev Team. License: CC BY 4.0            Updated: 2018-07-18 00:51:35