# Position Mode (Fixed-wing)

Position mode is the easiest and safest manual mode. It is supported on vehicles that have a position estimate (e.g. GPS). It makes it easier for pilots to control vehicle altitude, and in particular to reach and maintain a fixed altitude. The mode will hold the vehicle's course against wind. Airspeed is actively controlled if an airspeed sensor is installed.

油门取决于空速(在 50% 油门时,飞机将以预设的巡航速度保持其当前高度)。 The throttle determines airspeed — at 50% throttle the aircraft will hold its current altitude with a preset cruise speed.

When all sticks are released/centered (no roll, pitch, yaw, and ~50% throttle) the aircraft will return to straight, level flight, and keep its current altitude and flight path irrespective of wind. This makes it easy to recover from any problems when flying. Roll and pitch are angle-controlled (so it is impossible to roll over or loop the vehicle).

The yaw stick can be used to increase/reduce the yaw rate of the vehicle in turns. If left at center the controller does the turn coordination by itself, meaning that it will apply the necessary yaw rate for the current roll angle to perform a smooth turn. 下图直观的显示了该模式(对于一个美国手的发射机)。

固定翼位置模式

# 技术描述

Position mode is like Stabilized mode but with course stabilization. Airspeed is also stabilized if an airspeed sensor is present.

  • Centered Roll/Pitch/Yaw inputs (inside deadband):
    • Autopilot levels vehicle and maintains altitude, airspeed and course over ground.
  • Outside center:
    • Pitch stick controls altitude.
    • Throttle stick controls the airspeed of the aircraft if an airspeed sensor is connected. Without an airspeed sensor the vehicle will fly level at trim throttle (FW_THR_TRIM), increasing or decreasing throttle as needed to climb or descend.
    • Roll stick controls roll angle. Autopilot will maintain coordinated flight (opens new window).
    • Yaw stick adds an additional yaw rate setpoint (added to the one calculated by the autopilot to maintain coordinated flight). Can be used to manually change the side slip of the vehicle.
  • Manual control input is required (such as RC control, joystick).
  • An altitude measurement source is required (usually barometer or GPS)

# 参数

The mode is affected by the following parameters:

参数 描述
FW_AIRSPD_MIN Min airspeed. Default: 10 m/s.
FW_AIRSPD_MAX Max airspeed. Default: 20 m/s.
FW_AIRSPD_TRIM Cruise speed. Default: 15 m/s.
FW_MAN_P_MAX Max pitch setpoint in attitude stabilized mode. Default: 45 degrees.
FW_MAN_R_MAX Max roll setpoint in attitude stabilized mode. Default: 45 degrees.
FW_T_CLMB_R_SP Max climb rate setpoint. Default: 3 m/s.
FW_T_SINK_R_SP Max sink rate setpoint. Default: 2 m/s.
FW_PN_R_SLEW_MAX Roll setpoint slew rate limit. Default: 90 °/s.