Stabilized Mode (Multicopter)

  

The Stabilized manual mode stabilizes and levels the multicopter when the RC control sticks are centred. To move/fly the vehicle you move the sticks outside of the centre.

INFO

This mode is also enabled if you set the flight mode to Manual.

When sticks are outside the centre, the roll and pitch sticks control the angle of the vehicle (attitude) around the respective axes, the yaw stick controls the rate of rotation above the horizontal plane, and the throttle controls altitude/speed.

一旦释放摇杆，它们将会返回中心停顿区。 一旦横滚和俯仰摇杆居中，多旋翼无人机将平稳并停止运动。 The vehicle will then hover in place/maintain altitude - provided it is properly balanced, throttle is set appropriately (see below), and no external forces are applied (e.g. wind). 飞行器将朝着任何风的方向漂移，您必须控制油门以保持高度。

技术描述

RC mode where centered sticks level vehicle.

INFO

Altitude mode additionally stabilizes the vehicle altitude when sticks are centred, and Position mode stabilizes both altitude and position over ground.

飞手的输入通过横滚和俯仰角度以及偏航角速率指令传递给自驾仪。 Throttle is rescaled (see below) and passed directly to control allocation. 自动驾驶仪控制着飞机的姿态角，这意味着当 RC 摇杆居中时自驾仪调整飞机的滚转和俯仰角为零（从而实现飞机姿态的改平）。 自动驾驶仪不能补偿由于风（或其他来源）引起的漂移。

• 回正摇杆（内带死区）：
  • Roll/Pitch sticks level vehicle.
• 外部中心：
  • Roll/Pitch sticks control tilt angle in those orientations, resulting in corresponding left-right and forward-back movement.
  • Throttle stick controls up/down speed (and movement speed in other axes).
  • 偏航摇杆控制水平面上方的角度旋转速率。
• Manual control input is required (such as RC control, joystick).
  • Roll, Pitch: Assistance from autopilot to stabilize the attitude. Position of RC stick maps to the orientation of vehicle.
  • Throttle: Manual control via RC sticks. RC input is sent directly to control allocation.
  • Yaw: Assistance from autopilot to stabilize the attitude rate. Position of RC stick maps to the rate of rotation of vehicle in that orientation.

参数

参数	描述
MPC_THR_HOVER	Hover throttle that is output when the throttle stick is centered and MPC_THR_CURVE is set to default.
MPC_THR_CURVE	定义油门缩放比例。 By default this is set to Rescale to hover thrust, which means that when the throttle stick is centered the configured hover throttle is output (MPC_THR_HOVER) and the stick input is linearly rescaled below and above that (allowing for a smooth transition between Stabilized and Altitude/Position control). 在动力很强的机体上，悬停油门可能非常低（例如低于 20％），因此重新调整会使油门输入变形 - 对应上面举例， 80％ 的推力将仅由摇杆输入的中位以上部分控制，20％ 的推力由中位以下的部分来控制。 If needed MPC_THR_CURVE can be set to No Rescale so that there is no rescaling (stick input to throttle mapping is independent of MPC_THR_HOVER).