# 高度模式（固定翼）

The diagram below shows the mode behaviour visually (for a mode 2 transmitter).

## 技术总结

• 回中的滚动/俯仰/偏航输入（在死区内）：
• 自动驾驶仪使飞机/机翼水平并且维持高度。
• 如果空速传感器已连接，油门杆控制飞机速度。 在没有空速传感器的情况下，用户无法控制油门（在这种情况下，飞机将在巡航油门下(FW_THR_CRUISE) 水平飞行，根据需要增加或减少油门以上升或下降。
• 外部中心：
• 俯仰摇杆控制高度。
• Throttle stick controls the airspeed of the aircraft (as for centered Roll/Pitch/Yaw inputs).
• 翻滚摇杆控制滚动角度。 自动驾驶仪将保持 协调飞行。 This is same as in Stabilized mode.
• Yaw stick actuates the rudder (signal will be added to the one calculated by the autopilot to maintain coordinated flight). This is same as in Stabilized mode.

## 参数

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在高度稳定模式下手动控制的最大滚转角。 默认：45度
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<td>
维持指令高度和空速所需的滚转/偏航角也受固定翼L1控制参数的影响。
</td></tr> </tbody> </table>

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FW notes: FW position controller is basically 2 independent pieces

• L1 is for navigation - determines the roll and yaw needed to achieve the desired waypoint (or loiter)
• TECS is for speed and height control - determines throttle and elevator position needed to achieve the commanded altitude and airspeed Overall that gives you an attitude setpoint (roll, pitch, yaw) and throttle which is sent off to the attitude controller -->