Hold Mode (Multicopter)
The Hold flight mode causes the vehicle to stop and hover, maintaining its position and altitude.
TIP
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.
INFO
- Mode is automatic - no user intervention is required to control the vehicle.
- Mode requires a global 3d position estimate (from GPS or inferred from a local position).
- Flying vehicles can't switch to this mode without global position.
- Flying vehicles will failsafe if they lose the position estimate.
- Disarmed vehicles can switch to mode without valid position estimate but can't arm.
- Mode requires wind and flight time are within allowed limits (specified via parameters).
- RC control switches can be used to change flight modes on any vehicle.
- Stick movement will by default change the vehicle to Position mode unless prevented by the active failsafe state.
Technical Summary
The vehicle stops and hovers, maintaining its position and altitude. The vehicle will first ascend to NAV_MIN_LTR_ALT if the mode is engaged below this altitude.
Stick movement will change the vehicle to Position mode (by default).
Parameters
Hold mode behaviour can be configured using the parameters below.
| Parameter | Description |
|---|---|
| NAV_MIN_LTR_ALT | This is the minimum altitude above Home the system will always obey in Hold mode if switched into this mode without specifying an altitude (e.g. through switch on RC). |
| MAN_OVERRIDE_SPD | Speed (normalized stick travel per second) above which moving the sticks controlling a multicopter (or VTOL in hover) gives control back to the pilot by switching to Position mode (or Altitude mode if position is unavailable). At the default value of 1 a half-stick movement in ~0.5 s triggers it; lower is more sensitive. A stick held statically has zero speed and will not trigger. Set to -1 to disable. PX4 v1.18 |
| MPC_AUTO_NUDGING | Bitmask enabling stick nudging in Auto modes (multicopter). Bit 0 (yaw nudging) lets the yaw stick nudge heading in Hold, held when the stick is released; switching flight mode clears the held heading. Requires stick override to be disabled (MAN_OVERRIDE_SPD = -1). |