# 着陆模式
The Land flight mode causes the vehicle to land at the position where the mode was engaged. 降落后，无人机将会在一小段时间后上锁（默认情况下）。
注解
- This mode requires a valid global position estimate (from GPS or inferred from a local position).
- In a failsafe the mode only requires altitude (typically a barometer is built into the flight controller).
- This mode is automatic - no user intervention is required to control the vehicle.
- 遥控器开关可以用于更改任何无人机的飞行模式。
- RC stick movement in a multicopter (or VTOL in multicopter mode) will by default change the vehicle to Position mode unless handling a critical battery failsafe.
- The mode can be triggered using the MAV_CMD_DO_LAND_START (opens new window) MAVLink command, or by explicitly switching to Land mode. :::
下面描述每种类型飞机的具体行为。
# 多旋翼（MC）
The vehicle will land at the location at which the mode was engaged. 无人机以 MPC_LAND_SPEED 指定的速度下降，降落后会上锁（默认）。
RC stick movement will change the vehicle to Position mode (by default).
着陆受以下参数影响：
| 参数 | 描述 |
|---|---|
| MPC LAND_SPEED | 着陆过程中的下降速率。 鉴于地面情况未知，这个值应该设得相当小。 |
| COM_DISARM_LAND | 降落后自动上锁的超时时间，以秒为单位。 如果设定为 -1，无人机将不会在着陆时上锁。 |
| COM_RC_OVERRIDE | Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to Position mode. 可以分别为自动模式和 offboard 模式启用此功能，默认情况下在自动模式下启用此功能。 |
| COM_RC_STICK_OV | The amount of stick movement that causes a transition to Position mode (if COM_RC_OVERRIDE is enabled). |
# Fixed-wing (FW)
注意
Fixed-wing Land mode is currently broken: PX4-Autopilot/pull/21036 (opens new window). (Specifically, switching to Land mode causes a fly-away.)
Automated landing in missions is supported: Mission mode > Fixed-wing mission landing. :::
# 垂直起降（VTOL）
A VTOL follows the LAND behavior and parameters of Fixed-wing when in FW mode, and of Multicopter when in MC mode. 当设置 NAV_FORCE_VT（默认：开）时，固定翼模式下的 VTOL 将在着陆前切换回多旋翼模式。