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).
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). |