Land Mode (Multicopter)

The Land flight mode causes the vehicle to land at the position where the mode was engaged. The vehicle will disarm shortly after landing (by default).

INFO

• Mode is automatic - no user intervention is required to control the vehicle.
• Mode requires at least a valid local position estimate (does not require a global position).
  • Flying vehicles can't switch to this mode without valid local position.
  • Flying vehicles will failsafe if they lose the position estimate.
• Mode prevents arming (vehicle cannot be armed while this mode is selected).
• RC 제어 스위치는 기체의 비행 모드를 변경할 수 있습니다.
• Stick movement in a multicopter (or VTOL in hover) will by default change the vehicle to Position mode unless prevented by the active failsafe state.
• The mode can be triggered using the MAV_CMD_NAV_LAND MAVLink command, or by explicitly switching to Land mode.

Technical Summary

The vehicle will land at the location at which the mode was engaged. The vehicle descends at the rate specified in MPC_LAND_SPEED and will disarm after landing (by default).

Stick movement will change the vehicle to Position mode (by default).

Mode Requirements

The following requirements must be met to arm in this mode, or to switch to this mode when it is armed.

• mode_req_angular_velocity — Angular velocity
• mode_req_attitude — Attitude/pose
• mode_req_local_alt — Local altitude relative to EKF2 origin ('0') position
• mode_req_local_position_relaxed — Position relative to EKF2 origin ('0') point but accepts poor accuracy
• mode_req_prevent_arming — Mode prevents arming

매개변수

Land mode behaviour can be configured using the parameters below.

Parameter	설명
MPC_LAND_SPEED	The rate of descent during landing. This should be kept fairly low as the ground conditions are not known.
COM_DISARM_LAND	Time-out for auto disarm after landing, in seconds. If set to -1 the vehicle will not disarm on landing.
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 during landing. Bit 1 (land nudging) additionally lets the pitch/roll sticks move the vehicle horizontally (within MPC_LAND_RADIUS), the throttle stick amend the descent speed, and the yaw stick rotate the heading. Requires stick override to be disabled (MAN_OVERRIDE_SPD = -1).

See Also

• Land Mode (FW)
• Land Mode (VTOL)