保持模式

保持飞行模式(也就是“留待”模式)使飞机停止运动并保持其当前的GPS位置和高度(多旋翼将悬停在GPS位置,而固定翼飞机将围绕它旋转)。

保持模式*可用于暂停任务或帮助您在紧急情况下重新获得对飞机的控制权。 它通常通过预编程开关激活。

该模式需要GPS。 This mode is automatic - no user intervention is required to control the vehicle. RC control switches can be used to change flight modes on any vehicle. The effect of RC stick movement depends on the vehicle type.

下面描述每种类型飞机的具体行为。

多旋翼(MC)

多旋翼飞行器在当前位置和高度盘旋。

RC stick movement will by default change the vehicle to Position mode unless handling a critical battery failsafe.

The behaviour can be configured using the parameters below.

参数 描述
MIS_LTRMIN_ALT 留待模式的最小高度(如果模式在较低的高度进行,则飞行器将上升到此高度)。
COM_RC_OVERRIDE If enabled stick movement gives control back to the pilot in Position mode (except when vehicle is handling a critical battery failsafe). Enabled by default.

固定翼飞行器(FW)

The aircraft circles around the GPS hold position at the current altitude. The vehicle will first ascend to MIS_LTRMIN_ALT if the mode is engaged below this altitude.

RC stick movement is ignored.

The behaviour can be configured using the parameters below.

参数 描述
NAV_LOITER_RAD 留待圈的半径。
MIS_LTRMIN_ALT 留待模式的最小高度(如果模式在较低的高度进行,则飞机将上升到此高度)。

垂直起降(VTOL)

A VTOL follows the HOLD behavior and parameters of Fixed Wing when in FW mode, and of Multicopter when in MC mode.

© PX4 Dev Team. License: CC BY 4.0            Updated: 2019-08-23 21:17:47

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