RAttitude Mode (Multicopter)

  

Rattitude mode allows pilots to fly using Manual/Stabilized flight most of the time, but still perform Acro mode-style flips and tricks when desired.

The vehicle behaves as in Manual/Stabilized mode when the Roll/Pitch stick is moved within the central area and like Acro mode when the stick is moved in the outer circumference (by default Manual/Stabilized mode occupies about 80% of the range). When the sticks are centered the multicopter will level out (but will still drift in the direction of any wind and with any pre-existing momentum).

Technical Description

RC mode that allows pilots to fly using Manual/Stabilized flight most of the time, but still perform Acro mode-style flips and tricks when desired. Centered sticks level vehicle.

  • Sticks within mode's threshold (like Manual/Stabilized mode):
    • Centered RP sticks level vehicle. Roll/Pitch sticks control tilt angle in those orientations, resulting in corresponding left-right and forward-back movement.
  • Sticks outside threshold (like Acro mode):
    • RPY stick inputs control the rate of angular rotation around the respective axes.

Parameters

Parameter Description
MC_RATT_TH Threshold for Rattitude mode (the percentage of the stick radius at which mode switches between manual/stabilised and acro-like modes. Default 0.8.

The parameters for Manual/Stabilized mode and Acro mode are also relevant.

© PX4 Dev Team. License: CC BY 4.0            Updated: 2018-07-20 01:45:09

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