保持模式 (多旋翼)

The Hold flight mode causes the vehicle to stop and hover, maintaining its position and altitude.

TIP

Hold mode can be used to pause a mission or to help you regain control of a vehicle in an emergency. It is usually activated with a pre-programmed switch.

INFO

• Mode is automatic - no user intervention is required to control the vehicle.
• Mode requires a global 3d position estimate (from GPS or inferred from a local position).
  • Flying vehicles can't switch to this mode without global position.
  • Flying vehicles will failsafe if they lose the position estimate.
  • Disarmed vehicles can switch to mode without valid position estimate but can't arm.
• Mode requires wind and flight time are within allowed limits (specified via parameters).
• 遥控开关可以在任何无人机上更改飞行模式。
• Stick movement will by default change the vehicle to Position mode unless prevented by the active failsafe state.

技术总结

The vehicle stops and hovers, maintaining its position and altitude. The vehicle will first ascend to NAV_MIN_LTR_ALT if the mode is engaged below this altitude.

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_global_position — Position measurement updates in a global coordinate frame
• mode_req_local_alt — Local altitude relative to EKF2 origin ('0') position
• mode_req_local_position — Position relative to EKF2 origin ('0') point
• mode_req_wind_and_flight_time_compliance — Safety compliance limits on wind and flight time.

参数

Hold mode behaviour can be configured using the parameters below.

Parameter	描述
NAV_MIN_LTR_ALT	This is the minimum altitude above Home the system will always obey in Hold mode if switched into this mode without specifying an altitude (e.g. through switch on RC).
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 in Hold, held when the stick is released; switching flight mode clears the held heading. Requires stick override to be disabled (MAN_OVERRIDE_SPD = -1).

另见

Hold Mode (FW)