Takeoff Mode (Multicopter)
The Takeoff flight mode causes the vehicle to take off to a specified height and wait for further input.
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.
- Disarmed vehicles can switch to mode without valid position estimate but can't arm.
- RC control switches can be used to change flight modes.
- RC stick movement will by default change the vehicle to Position mode unless handling a critical battery failsafe.
- The Failure Detector will automatically stop the engines if there is a problem on takeoff.
技术总结
A multi rotor ascends vertically to the altitude defined in MIS_TAKEOFF_ALT and holds position.
RC stick movement will change the vehicle to Position mode (by default).
参数
Takeoff is affected by the following parameters:
| 参数 | 描述 |
|---|---|
| MIS_TAKEOFF_ALT | Target altitude during takeoff (default: 2.5m) |
| MPC_TKO_SPEED | Speed of ascent (default: 1.5m/s) |
| 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) |