PX4用户指南-飞行-飞行模式
PX4用户指南-飞行-飞行模式
说明:
- 介绍不同飞行模式
飞行模式
- 飞行模式定义自动驾驶仪如何响应用户输入并控制车辆运动。
- 下表总结了固定翼和直升机的飞行模式(表键如下)。
- 请注意,这是“高级”默认行为,可能会根据车辆参数而有所不同。
- 链接主题(侧栏)提供有关各个模式的更详细信息,包括其调整参数。
固定翼
Modes | Roll & Pitch | Yaw | Throttle | Position Sensors | Summary |
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Position | S+ | S+ | S+ | RC mode where centered sticks put vehicle into straight and level flight where vehicle posture/attitude, altitude, and the straight line vehicle path are maintained against wind (and other forces).
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Altitude | S (roll) S+(pitch) |
M | S+ |
RC mode like Stabilized mode but with altitude stabilization (centered sticks put vehicle into straight and level flight and maintain current altitude). The vehicle course is not maintained, and can drift due to wind.
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Stabilized | S | M | M |
RC mode where centered RP sticks levels vehicle attitude (roll and pitch). The vehicle course and altitude are not maintained, and can drift due to wind.
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Acro | Srate | Srate | M | RC mode for performing acrobatic maneuvers e.g. rolls, flips, stalls and acrobatic figures. RPY stick inputs are translated to angular rate commands that are stabilized by autopilot. Throttle is passed directly to the output mixer. |
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Manual | M | M | M | RC mode where stick input is sent directly to the output mixer (for "fully" manual control). This is the only mode that overrides the FMU (commands are sent via the safety coprocessor). It provides a safety mechanism that allows full control of throttle, elevator, ailerons and rudder via RC in the event of an FMU firmware malfunction. |
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Takeoff | Auto | Vehicle initiates the takeoff sequence using either catapult/hand-launch mode or runway takeoff mode (in the current direction). | |||
Land | Auto | Vehicle initiates the fixed-wing landing sequence. | |||
Hold | Auto | Vehicle circles around the GPS hold position at the current altitude. | |||
Return | Auto | Vehicle ascends to a safe height and then returns to its home position and circles. | |||
Mission | Auto | Vehicle executes a predefined mission/flight plan that has been uploaded to the flight controller. |
多旋翼
Modes | Roll & Pitch | Yaw | Throttle | Position Sensors | Summary |
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Position | S+ | Srate | S+ | RC mode where RPT sticks control speed in corresponding directions. Centered sticks level vehicle and hold it to fixed position and altitude against wind.
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Altitude | S | Srate | S+ | RC mode like Manual/Stabilized mode but with altitude stabilization (centered sticks level vehicle and hold it to fixed altitude). The horizontal position of the vehicle can move due to wind (or pre-existing momentum).
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Manual/ Stabilized | S | Srate | M | RC mode where centered sticks level vehicle (only - position is not stabilized).
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Rattitude | S or Srate | Srate | M |
RC mode that allows pilots to fly using Manual/Stabilized flight most of the time, but still perform Acro mode-style flips and tricks when desired. Centered sticks level vehicle.
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Acro | Srate | Srate | M | RC mode for performing acrobatic maneuvers e.g. flips, rolls and loops. RC RPY stick inputs control the rate of angular rotation around the respective axes. Throttle is passed directly to the output mixer. When sticks are centered the vehicle will stop rotating, but remain in its current orientation (e.g. possibly inverted) and moving according to its current momentum. |
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Takeoff | Auto | Vehicle ascends to takeoff altitude and holds position. | |||
Land | Auto | Vehicle lands at the position where the mode was engaged. | |||
Hold | Auto | Vehicle hovers at the current GPS position and altitude. | |||
Return | Auto | Vehicle ascends to a safe height and then returns to its home position and lands. | |||
Mission | Auto | Vehicle executes a predefined mission/flight plan that has been uploaded to the flight controller. | |||
Follow Me | Auto | Vehicle autonomously follows a user using an Android phone/tablet running QGC. | |||
Offboard | Auto | Vehicle obeys a position, velocity or attitude setpoint provided over MAVLink (often from a companion computer connected via serial cable or wifi). |
VTOL
- VTOL车辆支持固定翼飞行和多飞行飞行模式,根据当前车辆模式(MC或FW)执行。
- VTOL在任一配置中都支持Offboard模式。
键
- 键的含义如下:
缩写:
- RPY:Roll,Pitch,Yaw
- RPT:Roll,Pitch Throttle
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