着陆模式（多旋翼）

The Land flight mode causes the vehicle to land at the position where the mode was engaged. 这辆车在降落后不久将被解除武装(默认)。

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).
• 遥控开关可以在任何无人机上更改飞行模式。
• 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.

技术总结

无人机将降落在模式所指定的位置。 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

参数

Land mode behaviour can be configured using the parameters below.

Parameter	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。
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).

另见

• Land Mode (FW)
• Land Mode (VTOL)