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Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>
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docs/ko/flight_modes_mc/acro.md
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# Acro Mode (Multicopter)
<img src="../../assets/site/difficulty_hard.png" title="Hard to fly" width="30px" />&nbsp;<img src="../../assets/site/remote_control.svg" title="Manual/Remote control required" width="30px" />&nbsp;
_Acro mode_ is the RC mode for performing acrobatic maneuvers e.g. flips, rolls and loops.
The roll, pitch and yaw sticks control the rate of angular rotation around the respective axes and throttle is passed directly to control allocation. When sticks are centered the vehicle will stop rotating, but remain in its current orientation (on its side, inverted, or whatever) and moving according to its current momentum.
![MC Manual Acrobatic Flight](../../assets/flight_modes/acrobatic_mc.png)
<!-- image above incorrect: https://github.com/PX4/PX4-user_guide/issues/182 -->
## Technical Description
Manual mode for performing acrobatic maneuvers e.g. flips, rolls and loops.
RC Roll/Pitch/Yaw (RPY) stick inputs control the rate of angular rotation around the respective axes.
Throttle is passed directly to control allocation.
When sticks are centered the vehicle will stop rotating, but remain in its current orientation (not necessarily level) and moving according to its current momentum.
Manual control input is required (such as RC control, joystick):
- Roll, Pitch, Yaw: Assistance from autopilot to stabilize the attitude rate.
Position of RC stick maps to the rate of rotation of vehicle in that orientation.
- Throttle: Manual control via RC sticks.
RC input is sent directly to control allocation.
## Stick Input Mapping
The default values for expo and rate [parameters](#parameters) are _beginner friendly_, reducing the chance that users will flip the vehicle when first trying this mode, or when using Acro mode for manual rate tuning.
Unfortunately they are poor for Acro flying though!
The following values are more reasonable for experienced users:
- [MC_ACRO_R_MAX](#MC_ACRO_R_MAX): `720` (2 turns per second)
- [MC_ACRO_P_MAX](#MC_ACRO_P_MAX): `720` (2 turns per second)
- [MC_ACRO_Y_MAX](#MC_ACRO_Y_MAX): `540` (2 turns per second)
- [MC_ACRO_EXPO](#MC_ACRO_R_MAX): `0.69`
- [MC_ACRO_EXPO_Y](#MC_ACRO_EXPO_Y): `0.69`
- [MC_ACRO_SUPEXPO](#MC_ACRO_SUPEXPO): `0.69`
- [MC_ACRO_SUPEXPOY](#MC_ACRO_SUPEXPOY): `0.7`
The roll, pitch, and yaw input stick mapping for Acro mode using the values above are shown below.
The curve enables a high turn rate at maximum stick input for performing acrobatic maneuvers, and a zone of lower sensitivity close to the stick center for small corrections.
![Acro mode - default input curve](../../assets/flight_modes/acro_mc_input_curve_expo_superexpo_default.png)
This roll and pitch input stick response can be tuned using the [MC_ACRO_EXPO](#MC_ACRO_EXPO) and [MC_ACRO_SUPEXPO](#MC_ACRO_SUPEXPO) "exponential" parameters, while the yaw stick input response is tuned using [MC_ACRO_EXPO_Y](#MC_ACRO_EXPO_Y) and [MC_ACRO_SUPEXPOY](#MC_ACRO_SUPEXPOY).
`MC_ACRO_EXPO` and `MC_ACRO_EXPO_Y` tune the curve(s) between a linear and cubic curve as shown below.
`MC_ACRO_SUPEXPO` and `MC_ACRO_SUPEXPOY` allow the shape to be further tuned, modifying the width of the area of reduced sensitivity.
![Acro mode - expo - pure linear input curve](../../assets/flight_modes/acro_mc_input_curve_expo_linear.png) ![Acro mode - expo - pure cubic input curve](../../assets/flight_modes/acro_mc_input_curve_expo_cubic.png)
:::info
The mathematical relationship is:
$$\mathrm{y} = r(f \cdot x^3 + x(1-f)) (1-g)/(1-g |x|)$$
Where `f = MC_ACRO_EXPO` or `MC_ACRO_EXPO_Y`, `g = MC_ACRO_SUPEXPO` or `MC_ACRO_SUPEXPOY`, and `r` is the maximum rate.
You can experiment with the relationships graphically using the [PX4 SuperExpo calculator](https://www.desmos.com/calculator/yty5kgurmc).
:::
## 매개변수
| 매개변수 | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="MC_ACRO_EXPO"></a>[MC_ACRO_EXPO](../advanced_config/parameter_reference.md#MC_ACRO_EXPO) | Acro mode "exponential" factor for tuning the stick input curve shape for roll and pitch. Values: `0` Purely linear input curve, `1` Purely cubic input curve. Default: `0`. |
| <a id="MC_ACRO_EXPO_Y"></a>[MC_ACRO_EXPO_Y](../advanced_config/parameter_reference.md#MC_ACRO_EXPO_Y) | Acro mode "exponential" factor for tuning the stick input curve shape for yaw. Values: `0` Purely linear input curve, `1` Purely cubic input curve. Default: `0`.69. |
| <a id="MC_ACRO_SUPEXPO"></a>[MC_ACRO_SUPEXPO](../advanced_config/parameter_reference.md#MC_ACRO_SUPEXPO) | Acro mode "SuperExpo" factor for refining stick input curve shape for the roll and pitch axes (tuned using `MC_ACRO_EXPO`). Values: 0 Pure Expo function, 0.7 reasonable shape enhancement for intuitive stick feel, 0.95 very strong bent input curve only near maxima have effect. Default: `0`. |
| <a id="MC_ACRO_SUPEXPOY"></a>[MC_ACRO_SUPEXPOY](../advanced_config/parameter_reference.md#MC_ACRO_SUPEXPOY) | Acro mode "SuperExpo" factor for refining stick input curve shape for the yaw axis (tuned using `MC_ACRO_EXPO_Y`). Values: `0` Pure Expo function, `0.7` reasonable shape enhancement for intuitive stick feel, `0.95` very strong bent input curve only near maxima have effect. Default: `0`. |
| <a id="MC_ACRO_P_MAX"></a>[MC_ACRO_P_MAX](../advanced_config/parameter_reference.md#MC_ACRO_P_MAX) | Max acro pitch rate. Default: `100.0` deg/s. |
| <a id="MC_ACRO_R_MAX"></a>[MC_ACRO_R_MAX](../advanced_config/parameter_reference.md#MC_ACRO_R_MAX) | Max acro roll rate. Default: `100` deg/s. |
| <a id="MC_ACRO_Y_MAX"></a>[MC_ACRO_Y_MAX](../advanced_config/parameter_reference.md#MC_ACRO_Y_MAX) | Max acro yaw rate. Default: `100` deg/s. |
docs/ko/flight_modes_mc/altitude.md
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# 고도 모드 (멀티콥터)
<img src="../../assets/site/difficulty_easy.png" title="Easy to fly" width="30px" />&nbsp;<img src="../../assets/site/remote_control.svg" title="Manual/Remote control required" width="30px" />&nbsp;<img src="../../assets/site/altitude_icon.svg" title="Altitude required (e.g. Baro, Rangefinder)" width="30px" />
_Altitude mode_ is a _relatively_ easy-to-fly RC mode in which roll and pitch sticks control vehicle movement in the left-right and forward-back directions (relative to the "front" of the vehicle), yaw stick controls rate of rotation over the horizontal plane, and throttle controls speed of ascent-descent.
When the sticks are released/centered the vehicle will level and maintain the current _altitude_.
수평면에서 이동하는 경우 차량은 바람 저항에 의해 모멘텀이 소실 될 때까지 계속됩니다.
바람이 불면 기체는 바람의 방향으로 표류합니다.
:::tip
_Altitude mode_ is the safest non-GPS manual mode for new fliers. It is just like [Stabilized](../flight_modes_mc/manual_stabilized.md) mode but additionally locks the vehicle altitude when the sticks are released.
:::
The diagram below shows the mode behaviour visually (for a [mode 2 transmitter](../getting_started/rc_transmitter_receiver.md#transmitter_modes)).
![Altitude Control MC - Mode2 RC Controller](../../assets/flight_modes/altitude_mc.png)
## Technical Summary
RC/manual mode like [Stabilized mode](../flight_modes_mc/manual_stabilized.md) but with _altitude stabilization_ (centred sticks level vehicle and hold it to fixed altitude).
The horizontal position of the vehicle can move due to wind (or pre-existing momentum).
- 중앙 스틱 (데드밴드 내부) :
- RPY sticks levels vehicle.
- 스로틀(~ 50 %)은 현재 고도를 바람에 대해 일정하게 유지합니다.
- Outside center:
- 롤/피치 스틱은 각각의 방향에서 틸트 각도를 제어하여 해당하는 좌우와 전후 방향으로 이동합니다.
- 스로틀 스틱은 미리 정해진 최대 속도 (및 다른 축의 이동 속도)로 속도를 올리거나 내립니다.
- 요 스틱은 수평면 위의 회전 각속도를 제어합니다.
- 이륙:
- 착륙했을 때 스로틀 스틱을 62.5 % (하단에서 전체 범위) 이상으로 올리면 기체가 이륙합니다.
- Altitude is normally measured using a barometer, which may become inaccurate in extreme weather conditions.
LIDAR/거리 센서가 장착된 기체는 높은 정확도로 고도를 제어할 수 있습니다.
- 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: Assistance from autopilot to hold position against wind.
- Yaw: Assistance from autopilot to stabilize the attitude rate.
Position of RC stick maps to the rate of rotation of vehicle in that orientation.
## 매개변수
The mode is affected by the following parameters:
| 매개변수 | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| <a id="MPC_Z_VEL_MAX_UP"></a>[MPC_Z_VEL_MAX_UP](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_UP) | 최대 수직 상승 속도. 기본값: 3 m/s. |
| <a id="MPC_Z_VEL_MAX_DN"></a>[MPC_Z_VEL_MAX_DN](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_DN) | 최대 수직 하강 속도. 기본값: 1 m/s. |
| <a id="RCX_DZ"></a>`RCX_DZ` | RC dead zone for channel X. The value of X for throttle will depend on the value of [RC_MAP_THROTTLE](../advanced_config/parameter_reference.md#RC_MAP_THROTTLE). For example, if the throttle is channel 4 then [RC4_DZ](../advanced_config/parameter_reference.md#RC4_DZ) specifies the deadzone. |
| <a id="MPC_xxx"></a>`MPC_XXXX` | 대부분의 MPC_xxx 매개 변수는이 모드에서 비행 동작에 어느정도 영향을 미칩니다 . For example, [MPC_THR_HOVER](../advanced_config/parameter_reference.md#MPC_THR_HOVER) defines the thrust at which a vehicle will hover. |
docs/ko/flight_modes_mc/follow_me.md
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# 추적 모드 (멀티콥터)
<img src="../../assets/site/position_fixed.svg" title="Position fix required (e.g. GPS)" width="30px" />
_Follow Me_ mode allows a multicopter to autonomously hold position and altitude relative to another system that is broadcasting its position (and optionally velocity) using the [FOLLOW_TARGET](https://mavlink.io/en/messages/common.html#FOLLOW_TARGET) MAVLink message.
::: 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 must be armed when switching to this mode).
- Mode requires wind and flight time are within allowed limits (specified via parameters).
- This mode is currently only supported on multicopter (or VTOL in MC mode).
- The follow target must also be able to supply position information.
- Follow-me mode is supported by _QGroundControl_ on Android devices with a GPS module, and [MAVSDK](#follow-me-with-mavsdk).
<!-- https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/commander/ModeUtil/mode_requirements.cpp -->
:::
## 개요
![Follow-me Concept](../../assets/flight_modes/followme_concept.png)
The vehicle will automatically yaw to face and follow the target from a specified [relative angle](#FLW_TGT_FA), [distance](#FLW_TGT_DST) and [height](#FLW_TGT_HT) and altitude, depending on the [altitude control mode](#FLW_TGT_ALT_M).
By default it will follow from directly behind the target at a distance of 8 meters, and a height of 8 meters above the home (arming) position.
Users can adjust the follow angle, height and distance using an RC controller as shown above:
- _Follow Height_ is controlled with the `up-down` input ("Throttle").
Center the stick to keep follow the target at a constant hight. Raise or lower the stick to adjust height.
- _Follow Distance_ is controlled with the `forward-back` input ("Pitch").
Pushing the stick forward increases the follow distance, pulling it back decreases the distance.
- _Follow Angle_ is controlled with the `left-right` input ("Roll").
The movement is from the user's perspective, so if you face the drone and move the stick left, it will move to your left.
From above if you move the stick left the drone will move counter-clockwise.
Follow Angle is defined as increasing in clockwise direction relative to the target's heading (which is 0 degrees)
![Follow-me Angle Diagram](../../assets/flight_modes/followme_angle.png)
:::info
Angle, height, and distance values set using the RC controller are discarded when you exit follow-me mode.
If you exit Follow-Me mode and activate it again the values will be reset to their defaults.
:::
### 비디오
<lite-youtube videoid="csuMtU6seXI" params="start=155" title="PX4 Follow Target follows a Rover!"/>
### Safety Precautions
:::warning
**Follow-me mode** does not implement any type of obstacle avoidance.
Special care must be taken when this mode is used.
:::
The following flight precautions should be observed:
- Follow me mode should only be used in wide open areas that are unobstructed by trees, power lines, houses, etc.
- Set the [follow-me height](#FLW_TGT_HT) to a value that is well above any surrounding obstructions.
By _default_ this is 8 metres above the home (arming) position.
- It is _safer_ to manually fly to a safe height before engaging follow-me mode than to engage follow-me mode when landed (even though the mode implements auto take off).
- Give your vehicle sufficient room to stop, especially when it is moving fast.
- Be ready to switch back to Position mode if something goes wrong, in particular when using follow-me mode for the first time.
- You can't switch follow-me mode off using RC stick movements (as that will adjust the properties).
You either need to have a GroundStation that can send flight mode switch signals or a flight mode switch configured in your RC transmitter.
### Follow-Me with QGroundControl
![Follow-me QGC Example](../../assets/flight_modes/followme_qgc_example.jpg)
_Follow Me_ mode is supported using _QGroundControl_ as a target on ground station hardware that has a GPS module.
The recommended configuration is a USB OTG-capable Android device with two telemetry radios.
To setup _Follow Me_ mode:
- Connect a telemetry radio to your ground station device and another to the vehicle (this allows positioning information to be relayed between the two radios).
- Disable sleep-mode on your Android device:
- This setting can usually be found under: **Settings > Display**.
- It is important that you set your Android device to not go to sleep as this could cause the GPS signal to cease being emitted at regular intervals.
- Takeoff to a height of at least 2-3 metres (recommended even though auto-takeoff is supported).
- Set the vehicle on the ground, press the safety switch and step back at least 10 meters.
- Arm the vehicle and takeoff.
- Switch into follow-me mode.
- The copter will first ascend to minimum safety altitude of 1 meters above the ground or home, depending on the presence of a distance sensor.
- It will ascend until it is 3 meters within the [follow height](#FLW_TGT_HT) to avoid potential collisions before moving horizontally.
- Copter will always adjust it's heading to face the target
At this point you can start moving, and the drone will be following you.
The mode has been tested on the following Android devices:
- Galaxy S10
- - 넥서스 5 - Nexus 7 태블릿
### Follow-me with MAVSDK
[MAVSDK](https://mavsdk.mavlink.io/main/en/) supports [Follow Me](https://mavsdk.mavlink.io/main/en/), allowing you to create a drone app that is a follow-me target.
For more information see the [Follow Me class](https://mavsdk.mavlink.io/main/en/cpp/api_reference/classmavsdk_1_1_follow_me.html) documentation as well as the [Follow Me Example](https://mavsdk.mavlink.io/main/en/cpp/examples/follow_me.html).
## 설정
### Altitude Control Mode
![Follow Me Altitude Modes](../../assets/flight_modes/followme_altitude_modes.svg)
The altitude control mode determine whether the vehicle altitude is relative to the home position, terrain height, or the altitude reported by the follow target.
- `2D tracking` (the default [altitude mode](#FLW_TGT_ALT_M)) makes the drone follow at a height relative to the fixed home position (takeoff altitude).
The relative distance to the drone to the target will change as you ascend and descend (use with care in hilly terrain).
- `2D + Terrain` makes the drone follow at a fixed height relative to the terrain underneath it, using information from a distance sensor.
- If the vehicle does not have a distance sensor following will be identical to `2D tracking`.
- Distance sensors aren't always accurate and vehicles may be "jumpy" when flying in this mode.
- Note that that height is relative to the ground underneath the vehicle, not the follow target.
The drone may not follow altitude changes of the target!
- `3D tracking` mode makes the drone follow at a height relative to the follow target, as supplied by its GPS sensor.
This adapts to target altitude changes, such as when you walk up a hill.
:::warning
Do not set the **Altitude mode ([FLW_TGT_ALT_M](#FLW_TGT_ALT_M)**) to `3D Tracking` when using QGC for Android (or more generally, without checking that [FOLLOW_TARGET.altitude](https://mavlink.io/en/messages/common.html#FOLLOW_TARGET) is an AMSL value).
The MAVLink [FOLLOW_TARGET](https://mavlink.io/en/messages/common.html#FOLLOW_TARGET) message definition expects an altitude relative to mean sea level (AMSL) while QGC on Android is sending an altitude relative to the GPS ellipsoid.
This can differ as much as 200 meters!
The drone probably won't crash due to the built-in minimum safety altitude limit (1 meter), but it may fly much higher than expected.
If the drone's altitude is significantly different than specified, assume that the ground station's altitude output is wrong and use 2D tracking.
:::
### 매개변수
The follow-me behavior can be configured using the following parameters:
| 매개변수 | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="FLW_TGT_HT"></a>[FLW_TGT_HT](../advanced_config/parameter_reference.md#FLW_TGT_HT) | Vehicle follow-me height, in metres. Note that this height is fixed _relative to the home/arming position_ (not the target vehicle). Default and minimum height is 8 meters (about 26 ft) |
| <a id="FLW_TGT_DST"></a>[FLW_TGT_DST](../advanced_config/parameter_reference.md#FLW_TGT_DST) | Vehicle/ground station separation in the _horizontal_ (x,y) plane, in metres. 최소 허용 간격은 1 미터입니다. 기본 거리는 8 미터 (약 26 피트)입니다. |
| <a id="FLW_TGT_FA"></a>[FLW_TGT_FA](../advanced_config/parameter_reference.md#FLW_TGT_FA) | Follow angle relative to the target's heading, in degrees. If a value out of the range [`-180.0`, `+180.0`] is entered, it will get automatically wrapped and applied (e.g. `480.0` will be converted to `120.0`) |
| <a id="FLW_TGT_ALT_M"></a>[FLW_TGT_ALT_M](../advanced_config/parameter_reference.md#FLW_TGT_ALT_M) | Altitude control mode. <br>- `0` = 2D Tracking (Altitude Fixed) <br>- `1` = 2D Tracking + Terrain Following <br>- `2` = 3D Tracking of the target's GPS altitude **WARNING: [DO NOT USE WITH QGC for Android](#altitude-control-mode)**. |
| <a id="FLW_TGT_MAX_VEL"></a>[FLW_TGT_MAX_VEL](../advanced_config/parameter_reference.md#FLW_TGT_MAX_VEL) | Maximum relative velocity for orbital motion around the target, in m/s.<br>- 10 m/s has proven to be a sweet spot for aggressiveness vs smoothness.<br>- Setting it to higher value means the orbit trajectory around the target will move faster, but if the drone is physically not capable of achieving that speed, it leads to an aggressive behavior. |
| <a id="FLW_TGT_RS"></a>[FLW_TGT_RS](../advanced_config/parameter_reference.md#FLW_TGT_RS) | Dynamic filtering algorithm responsiveness that filters incoming target location.<br>- `0.0` = Very sensitive to movements and noisy estimates of position, velocity and acceleration.<br>- `1.0` = Very stable but not responsive filter |
### Tips and tricks
1. Set the [follow distance](#FLW_TGT_DST) to more than 12 meters (8 meters is a "recommended minimum").
There is an inherent position bias (3 ~ 5 meters) between the target and the drone's GPS sensor, which makes the drone follow a 'ghost target' somewhere near the actual target.
This is more obvious when the follow distance is very small.
We recommend that the follow distance is set to be large enough such that the GPS bias is not significant.
2. The speed at which you can change the follow angle depends on the [maximum tangential velocity](#FLW_TGT_MAX_VEL) setting.
Experimentation shows that values between `5 m/s` are `10 m/s` are usually suitable.
3. Using the RC Adjustment for height, distance and angle, you can get some creative camera shots.
<lite-youtube videoid="o3DhvCL_M1E" title="YUN0012 almostCinematic"/>
This video demonstrates a Google-Earth view perspective, by adjusting the height to around 50 meters (high), distance to 1 meter (close). Which allows a perspective as shot from a satellite.
## 알려진 이슈들
- The SiK 915 Mhz [telemetry radio](../telemetry/sik_radio.md) is known to interfere with the GPS signal being received by some Android devices.
간섭을 피하기 위해 추적 대상 모드를 사용할 때 텔레메트리와 Android 장치를 가능한 멀리 두십시오.
- QGC for Android reports an incorrect altitude (altitude above elipsoid rather than AMSL).
The follow altitude can be off by up to 200m!
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# Hold Mode (Multicopter)
<img src="../../assets/site/position_fixed.svg" title="Position fix required (e.g. GPS)" width="30px" />
The _Hold_ flight mode causes the vehicle to stop and hover at its current GPS position and altitude.
:::tip
_Hold mode_ can be used to pause a mission or to help you regain control of a vehicle in an emergency.
It is usually activated with a pre-programmed switch.
:::
::: info
- Mode is automatic - no user intervention is _required_ to control the vehicle.
- Mode requires a global 3d position estimate (from GPS or inferred from a [local position](../ros/external_position_estimation.md#enabling-auto-modes-with-a-local-position)).
- Flying vehicles can't switch to this mode without global 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.
- Mode requires wind and flight time are within allowed limits (specified via parameters).
- RC 제어 스위치는 기체의 비행 모드를 변경할 수 있습니다.
- RC stick movement will [by default](#COM_RC_OVERRIDE) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless handling a critical battery failsafe.
<!-- https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/commander/ModeUtil/mode_requirements.cpp -->
:::
## Technical Summary
The vehicle hovers at the current position and altitude.
The vehicle will first ascend to [NAV_MIN_LTR_ALT](#NAV_MIN_LTR_ALT) if the mode is engaged below this altitude.
RC stick movement will change the vehicle to [Position mode](../flight_modes_mc/position.md) (by [default](#COM_RC_OVERRIDE)).
### 매개변수
Hold mode behaviour can be configured using the parameters below.
| 매개변수 | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="NAV_MIN_LTR_ALT"></a>[NAV_MIN_LTR_ALT](../advanced_config/parameter_reference.md#NAV_MIN_LTR_ALT) | This is the minimum altitude above Home the system will always obey in Hold mode if switched into this mode without specifying an altitude (e.g. through switch on RC). |
| <a id="COM_RC_OVERRIDE"></a>[COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE) | Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to [Position mode](../flight_modes_mc/position.md). 자동 모드와 오프보드 모드에 대해 별도로 활성화할 수 있으며, 기본적으로 자동 모드에서 활성화됩니다. |
| <a id="COM_RC_STICK_OV"></a>[COM_RC_STICK_OV](../advanced_config/parameter_reference.md#COM_RC_STICK_OV) | The amount of stick movement that causes a transition to [Position mode](../flight_modes_mc/position.md) (if [COM_RC_OVERRIDE](#COM_RC_OVERRIDE) is enabled). |
<!-- Code for this here: https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/loiter.cpp#L61 -->
## See Also
[Hold Mode (FW)](../flight_modes_fw/hold.md)
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# Flight Modes (Multicopter)
Flight modes provide autopilot support to make it easier to manually fly the vehicle, to automate common tasks such as takeoff and landing, to execute autonomous missions, or to defer flight control to an external system.
This topic provides an overview of the available flight modes for multicopters and helicopters.
## 개요
Flight Modes are either _manual_ or _autonomous_.
Manual modes provide different levels of autopilot support when flying manually (using RC control sticks or a joystick), while _autonomous_ modes can be fully controlled by the autopilot.
Manual-Easy:
- [Position mode](../flight_modes_mc/position.md) — Easiest and safest manual mode for vehicles that have a position fix/GPS.
The roll and pitch sticks control _acceleration_ over ground in the vehicle's forward-back and left-right directions (similar to a car's accelerator pedal), the yaw stick controls horizontal rotation, and the throttle controls speed of ascent-descent.
Releasing sticks levels the vehicle, actively brakes it to a stop, and locks it to the current 3D position (even against wind and other forces).
- [Position Slow mode](../flight_modes_mc/position_slow.md) — A velocity and yaw rate limited version of _Position mode_.
This is primarily used to temporarily limit speed when flying near obstacles, or when required by regulation.
- [Altitude mode](../flight_modes_mc/altitude.md) — Easiest and safest _non-GPS_ manual mode.
The main difference when compared to _Position mode_ is that when the sticks are released the vehicle will level and maintain altitude, but there is no active breaking or holding of horizontal position (the vehicle moves with it's current momentum and drifts with wind).
- [Stabilized mode](../flight_modes_mc/manual_stabilized.md) — Releasing the sticks levels and maintains the vehicle horizontal posture (but not altitude or position).
The vehicle will continue to move with momentum, and both altitude and horizontal position may be affected by wind.
This mode is also used if "Manual mode" is selected in a ground station.
Manual-Acrobatic
- [Acro](../flight_modes_mc/acro.md) — Manual mode for performing acrobatic maneuvers, such as rolls and loops.
Releasing the sticks stops the vehicle rotating in the roll, pitch, yaw axes, but does not otherwise stabilise the vehicle.
Autonomous:
- [Hold](../flight_modes_mc/hold.md) — Vehicle stops and hovers at its current position and altitude, maintaining its position against wind and other forces.
- [Return](../flight_modes_mc/return.md) — Vehicle ascends to a safe altitude, flies a clear path to a safe location (home or a rally point) and then lands.
This requires a global position estimate (GPS).
- [Mission](../flight_modes_mc/mission.md) — Vehicle executes a [predefined mission/flight plan](../flying/missions.md) that has been uploaded to the flight controller.
This requires a global position estimate (GPS).
- [Takeoff](../flight_modes_mc/takeoff.md) — Vehicle takes off vertically and then switches to _Hold mode_.
- [Land](../flight_modes_mc/land.md) — Vehicle lands immediately.
- [Orbit](../flight_modes_mc/orbit.md) - Vehicle flys in a circle, yawing so that it always faces towards the center.
RC control can optionally be used to change the orbit radius, direction, speed and so on.
- [Follow Me](../flight_modes_mc/follow_me.md) — Vehicle follows a beacon that is providing position setpoints.
RC control can optionally be used to set the follow position.
- [Offboard](../flight_modes_mc/offboard.md) — Vehicle obeys position, velocity, or attitude, setpoints provided via MAVLink or ROS 2.
Pilots transition between flight modes using switches on the remote control or with a ground control station (see [Flight Mode Configuration](../config/flight_mode.md)).
Some flight modes make sense only under specific pre-flight and in-flight conditions (e.g. GPS lock, airspeed sensor, vehicle attitude sensing along an axis).
PX4 will not allow transitions to those modes until the right conditions are met.
Select the mode-specific sidebar topics for more detailed technical information.
## 추가 정보
- [Basic Configuration > Flight Modes](../config/flight_mode.md) - How to map RC control switches to specific flight modes
- [Flight Modes (Fixed-Wing)](../flight_modes_fw/index.md)
- [Flight Modes (VTOL)](../flight_modes_vtol/index.md)
- [Drive Modes (Differential Rover)](../flight_modes_rover/differential.md)
- [Drive Modes (Ackermann Rover)](../flight_modes_rover/ackermann.md)
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# Land Mode (Multicopter)
<img src="../../assets/site/position_fixed.svg" title="Position estimate required (e.g. GPS)" width="30px" />
The _Land_ flight mode causes the vehicle to land at the position where the mode was engaged.
The vehicle will disarm shortly after landing (by default).
::: 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 must be armed when switching to this mode).
- RC 제어 스위치는 기체의 비행 모드를 변경할 수 있습니다.
- RC stick movement in a multicopter (or VTOL in multicopter mode) will [by default](#COM_RC_OVERRIDE) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless handling a critical battery failsafe.
- The mode can be triggered using the [MAV_CMD_NAV_LAND](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_LAND) MAVLink command, or by explicitly switching to Land mode.
<!-- https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/commander/ModeUtil/mode_requirements.cpp -->
:::
## Technical Summary
The vehicle will land at the location at which the mode was engaged.
The vehicle descends at the rate specified in [MPC_LAND_SPEED](#MPC_LAND_SPEED) and will disarm after landing (by [default](#COM_DISARM_LAND)).
RC stick movement will change the vehicle to [Position mode](../flight_modes_mc/position.md) (by [default](#COM_RC_OVERRIDE)).
### 매개변수
Land mode behaviour can be configured using the parameters below.
| 매개변수 | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="MPC_LAND_SPEED"></a>[MPC_LAND_SPEED](../advanced_config/parameter_reference.md#MPC_LAND_SPEED) | The rate of descent during landing. This should be kept fairly low as the ground conditions are not known. |
| <a id="COM_DISARM_LAND"></a>[COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND) | Time-out for auto disarm after landing, in seconds. If set to -1 the vehicle will not disarm on landing. |
| <a id="COM_RC_OVERRIDE"></a>[COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE) | Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to [Position mode](../flight_modes_mc/position.md). 자동 모드와 오프보드 모드에 대해 별도로 활성화할 수 있으며, 기본적으로 자동 모드에서 활성화됩니다. |
| <a id="COM_RC_STICK_OV"></a>[COM_RC_STICK_OV](../advanced_config/parameter_reference.md#COM_RC_STICK_OV) | The amount of stick movement that causes a transition to [Position mode](../flight_modes_mc/position.md) (if [COM_RC_OVERRIDE](#COM_RC_OVERRIDE) is enabled). |
## See Also
- [Land Mode (FW)](../flight_modes_fw/land.md)
- [Land Mode (VTOL)](../flight_modes_vtol/land.md)
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# Stabilized Mode (Multicopter)
<img src="../../assets/site/difficulty_medium.png" title="Medium difficulty to fly" width="30px" />&nbsp;<img src="../../assets/site/remote_control.svg" title="Manual/Remote control required" width="30px" />&nbsp;
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.
조종 스틱을 놓으면 중앙 데드 존으로 돌아갑니다.
롤 포크와 피치 스틱이 중앙에 오면 멀티 피터가 수평을 유지하고 정지합니다.
The vehicle will then hover in place/maintain altitude - provided it is properly balanced, throttle is set appropriately (see [below](#params)), and no external forces are applied (e.g. wind).
기체는는 바람 방향으로 표류하게 되며, 고도를 유지하기 위해서는 스로틀을 제어하여야 합니다.
![MC Manual Flight](../../assets/flight_modes/stabilized_mc.png)
## Technical Description
RC mode where centered sticks level vehicle.
:::info
[Altitude mode](../flight_modes_mc/altitude.md) additionally stabilizes the vehicle altitude when sticks are centred, and [Position mode](../flight_modes_mc/position.md) stabilizes both altitude and position over ground.
:::
조종사의 입력은 롤 및 피치 각 명령과 요 율 명령으로 전달됩니다.
Throttle is rescaled (see [below](#params)) and passed directly to control allocation.
자동 조종 장치는 자세를 제어합니다. 즉, RC 스틱이 컨트롤러 데드 존 내부에 집중 될 때 롤과 피치 각을 제로로 조절합니다 (결과적으로 태도가 수평이 됨).
자동 조종 장치는 바람 (또는 다른 원인)으로 인한 드리프트를 보상하지 않습니다.
- 중앙 스틱 (데드밴드 내부) :
- Roll/Pitch sticks level vehicle.
- Outside center:
- 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).
- 요 스틱은 수평면 위의 회전 각속도를 제어합니다.
- 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.
<a id="params"></a>
## 매개변수
| 매개변수 | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="MPC_THR_HOVER"></a>[MPC_THR_HOVER](../advanced_config/parameter_reference.md#MPC_THR_HOVER) | Hover throttle that is output when the throttle stick is centered and `MPC_THR_CURVE` is set to default. |
| <a id="MPC_THR_CURVE"></a>[MPC_THR_CURVE](../advanced_config/parameter_reference.md#MPC_THR_CURVE) | 스로틀 스케일링을 정의합니다. 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). <br>강력한 기체의 경우 호버 스로틀이 매우 낮아 (예 : 20 % 미만) 스로틀 입력이 왜곡 될 수 있습니다. 즉, 여기서 추력의 80 %는 스틱 입력의 상단 절반으로, 하단은 20 %로 제어됩니다. 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`). |
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# Mission Mode (Multicopter)
<img src="../../assets/site/position_fixed.svg" title="Global position fix required (e.g. GPS)" width="30px" />
_Mission mode_ causes the vehicle to execute a predefined autonomous [mission](../flying/missions.md) (flight plan) that has been uploaded to the flight controller.
The mission is typically created and uploaded with a Ground Control Station (GCS) application like [QGroundControl](https://docs.qgroundcontrol.com/master/en/) (QGC).
::: info
- This mode requires a global 3d position estimate (from GPS or inferred from a [local position](../ros/external_position_estimation.md#enabling-auto-modes-with-a-local-position)).
- The vehicle must be armed before this mode can be engaged.
- This mode is automatic - no user intervention is _required_ to control the vehicle.
- RC 제어 스위치는 기체의 비행 모드를 변경할 수 있습니다.
- RC stick movement will [by default](#COM_RC_OVERRIDE) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless handling a critical battery failsafe.
This is true for multicopters and VTOL in MC mode.
:::
## 설명
Missions are usually created in a ground control station (e.g. [QGroundControl](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/plan_view/plan_view.html)) and uploaded prior to launch.
They may also be created by a MAVLink API such as [MAVSDK](../robotics/mavsdk.md), and/or uploaded in flight.
Individual [mission commands](#mission-commands) are handled in a way that is appropriate to multicopter flight characteristics (for example loiter is implemented as _hover_ ).
:::info
Missions are uploaded onto a SD card that needs to be inserted **before** booting up the autopilot.
:::
At high level all vehicle types behave in the same way when MISSION mode is engaged:
1. If no mission is stored, or if PX4 has finished executing all mission commands, or if the [mission is not feasible](#mission-feasibility-checks):
- If flying the vehicle will hold.
- If landed the vehicle will "wait".
2. If a mission is stored and PX4 is flying it will execute the [mission/flight plan](../flying/missions.md) from the current step.
- A `TAKEOFF` item is treated as a normal waypoint.
3. If a mission is stored and PX4 is landed:
- PX4 will execute the [mission/flight plan](../flying/missions.md).
- If the mission does not have a `TAKEOFF` item then PX4 will fly the vehicle to the minimum altitude before executing the remainder of the flight plan from the current step.
4. If no mission is stored, or if PX4 has finished executing all mission commands:
- If flying the vehicle will hold.
- If landed the vehicle will "wait".
5. You can manually change the current mission command by selecting it in _QGroundControl_.
::: info
If you have a _Jump to item_ command in the mission, moving to another item will **not** reset the loop counter.
One implication is that if you change the current mission command to 1 this will not "fully restart" the mission.
:::
6. The mission will only reset when the vehicle is disarmed or when a new mission is uploaded.
:::tip
To automatically disarm the vehicle after it lands, in _QGroundControl_ go to [Vehicle Setup > Safety](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/safety.html), navigate to _Land Mode Settings_ and check the box labeled _Disarm after_.
Enter the time to wait after landing before disarming the vehicle.
:::
Missions can be paused by switching out of mission mode to any other mode (such as [Hold mode](../flight_modes_mc/hold.md) or [Position mode](../flight_modes_mc/position.md)), and resumed by switching back to mission mode.
If the vehicle was not capturing images when it was paused, on resuming it will head from its _current position_ towards the same waypoint as it as was heading towards originally.
If the vehicle was capturing images (has camera trigger items) it will instead head from its current position towards the last waypoint it traveled through (before pausing), and then retrace its path at the same speed and with the same camera triggering behaviour.
This ensures that in survey/camera missions the planned path is captured.
A mission can be uploaded while the vehicle is paused, in which which case the current active mission item is set to 1.
:::info
When a mission is paused while the camera on the vehicle was triggering, PX4 sets the current active mission item to the previous waypoint, so that when the mission is restarted the vehicle will retrace its last mission leg.
In addition, PX4 stores the last applied mission items for speed setting and camera triggering (from the already covered mission plan), and re-applies those settings on resuming the mission.
:::
:::warning
Ensure that the throttle stick is non-zero before switching to any RC mode (otherwise the vehicle will crash).
We recommend you centre the control sticks before switching to any other mode.
:::
For more information about mission planning, see:
- [Mission Planning](../flying/missions.md)
- [Plan View](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/plan_view/plan_view.html) (_QGroundControl_ User Guide)
## Mission Feasibility Checks
PX4 runs some basic sanity checks to determine if a mission is feasible when it is uploaded and before executing a mission.
If any of the checks fail, the user is notified and it is not possible to start the mission (the vehicle will switch to [Hold mode](../flight_modes_mc/hold.md) instead of Mission mode).
A subset of the most important checks are listed below:
- Any mission item conflicts with a plan or safety geofence
- Missing takeoff and/or land item when these are configured as a requirement ([MIS_TKO_LAND_REQ](#MIS_TKO_LAND_REQ))
Additionally there is a check if the first waypoint is too far from the Home position ([MIS_DIST_1WP](#MIS_DIST_1WP)).
The user is notified should the check fail, but it has no effect on the validity of a mission plan, meaning that the mission can still be started even if the distance is too high.
## QGroundControl 지원
_QGroundControl_ provides additional GCS-level mission handling support (in addition to that provided by the flight controller).
더 자세한 정보는 다음을 참고하십시오.
- [Remove mission after vehicle lands](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/releases/stable_v3.2_long.html#remove-mission-after-vehicle-lands)
- [Resume mission after Return mode](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/releases/stable_v3.2_long.html#resume-mission)
## Mission Parameters
Mission behaviour is affected by a number of parameters, most of which are documented in [Parameter Reference > Mission](../advanced_config/parameter_reference.md#mission).
A very small subset are listed below.
General parameters:
| 매개변수 | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="NAV_RCL_ACT"></a>[NAV_RCL_ACT](../advanced_config/parameter_reference.md#NAV_RCL_ACT) | RC loss failsafe mode (what the vehicle will do if it looses RC connection) - e.g. enter hold mode, return mode, terminate etc. |
| <a id="COM_RC_OVERRIDE"></a>[COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE) | Controls whether stick movement on a multicopter (or VTOL in MC mode) gives control back to the pilot in [Position mode](../flight_modes_mc/position.md). 자동 모드와 오프보드 모드에 대해 별도로 활성화할 수 있으며, 기본적으로 자동 모드에서 활성화됩니다. |
| <a id="COM_RC_STICK_OV"></a>[COM_RC_STICK_OV](../advanced_config/parameter_reference.md#COM_RC_STICK_OV) | The amount of stick movement that causes a transition to [Position mode](../flight_modes_mc/position.md) (if [COM_RC_OVERRIDE](#COM_RC_OVERRIDE) is enabled). |
Parameters related to [mission feasibility checks](#mission-feasibility-checks):
| 매개변수 | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="MIS_DIST_1WP"></a>[MIS_DIST_1WP](../advanced_config/parameter_reference.md#MIS_DIST_1WP) | There is a warning message if the distance of the first waypoint to Home is more than this value. Disabled if value is 0 or less. |
| <a id="FW_LND_ANG"></a>[FW_LND_ANG](../advanced_config/parameter_reference.md#FW_LND_ANG) | Maximum landing slope angle. |
| <a id="MIS_TKO_LAND_REQ"></a>[MIS_TKO_LAND_REQ](../advanced_config/parameter_reference.md#MIS_TKO_LAND_REQ) | Sets whether mission _requires_ takeoff and/or landing items. No requirement by default for multicopter. |
## Mission Commands {#mission_commands}
PX4 "accepts" the following MAVLink mission commands in Mission mode (with some _caveats_, given after the list).
Unless otherwise noted, the implementation is as defined in the MAVLink specification.
Mission Items:
- [MAV_CMD_NAV_WAYPOINT](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_WAYPOINT)
- _Param3_ (flythrough) is ignored. Flythrough is always enabled if _param 1_ (time_inside) > 0.
- [MAV_CMD_NAV_LOITER_UNLIM](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_LOITER_UNLIM)
- [MAV_CMD_NAV_LOITER_TIME](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_LOITER_TIME)
- [MAV_CMD_NAV_LAND](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_LAND)
- [MAV_CMD_NAV_TAKEOFF](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_TAKEOFF)
- [MAV_CMD_NAV_LOITER_TO_ALT](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_LOITER_TO_ALT)
- [MAV_CMD_DO_JUMP](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_JUMP)
- [MAV_CMD_NAV_ROI](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_ROI)
- [MAV_CMD_DO_SET_ROI](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_ROI)
- [MAV_CMD_DO_SET_ROI_LOCATION](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_ROI_LOCATION)
- [MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET)
- [MAV_CMD_DO_SET_ROI_NONE](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_ROI_NONE)
- [MAV_CMD_DO_CHANGE_SPEED](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_CHANGE_SPEED)
- [MAV_CMD_DO_SET_HOME](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_HOME)
- [MAV_CMD_DO_SET_SERVO](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_SERVO)
- [MAV_CMD_DO_LAND_START](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_LAND_START)
- [MAV_CMD_DO_TRIGGER_CONTROL](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_TRIGGER_CONTROL)
- [MAV_CMD_DO_DIGICAM_CONTROL](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_DIGICAM_CONTROL)
- [MAV_CMD_DO_MOUNT_CONFIGURE](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_MOUNT_CONFIGURE)
- [MAV_CMD_DO_MOUNT_CONTROL](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_MOUNT_CONTROL)
- [MAV_CMD_IMAGE_START_CAPTURE](https://mavlink.io/en/messages/common.html#MAV_CMD_IMAGE_START_CAPTURE)
- [MAV_CMD_IMAGE_STOP_CAPTURE](https://mavlink.io/en/messages/common.html#MAV_CMD_IMAGE_STOP_CAPTURE)
- [MAV_CMD_VIDEO_START_CAPTURE](https://mavlink.io/en/messages/common.html#MAV_CMD_VIDEO_START_CAPTURE)
- [MAV_CMD_VIDEO_STOP_CAPTURE](https://mavlink.io/en/messages/common.html#MAV_CMD_VIDEO_STOP_CAPTURE)
- [MAV_CMD_DO_SET_CAM_TRIGG_DIST](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_CAM_TRIGG_DIST)
- [MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL)
- [MAV_CMD_SET_CAMERA_MODE](https://mavlink.io/en/messages/common.html#MAV_CMD_SET_CAMERA_MODE)
- [MAV_CMD_NAV_DELAY](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_DELAY)
- [MAV_CMD_NAV_RETURN_TO_LAUNCH](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_RETURN_TO_LAUNCH)
- [MAV_CMD_DO_CONTROL_VIDEO](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_CONTROL_VIDEO)
- [MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW)
- [MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE)
- [MAV_CMD_OBLIQUE_SURVEY](https://mavlink.io/en/messages/common.html#MAV_CMD_OBLIQUE_SURVEY)
- [MAV_CMD_SET_CAMERA_ZOOM](https://mavlink.io/en/messages/common.html#MAV_CMD_SET_CAMERA_ZOOM)
- [MAV_CMD_SET_CAMERA_FOCUS](https://mavlink.io/en/messages/common.html#MAV_CMD_SET_CAMERA_FOCUS)
- [MAV_CMD_NAV_VTOL_TAKEOFF](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_VTOL_TAKEOFF)
- `MAV_CMD_NAV_VTOL_TAKEOFF.param2` (transition heading) is ignored.
Instead the heading to the next waypoint is used for the transition heading. <!-- at LEAST until PX4 v1.13: https://github.com/PX4/PX4-Autopilot/issues/12660 -->
GeoFence Definitions
- [MAV_CMD_NAV_FENCE_RETURN_POINT](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_FENCE_RETURN_POINT)
- [MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION)
- [MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION)
- [MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION)
- [MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION)
Rally Points
- [MAV_CMD_NAV_RALLY_POINT](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_RALLY_POINT)
:::info
Please add an issue report or PR if you find a missing/incorrect message.
- PX4 parses the above messages, but they are not necessary _acted_ on. For example, some messages are vehicle-type specific.
- PX4 does not support local frames for mission commands (e.g. [MAV_FRAME_LOCAL_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_NED)).
- Not all messages/commands are exposed via _QGroundControl_.
- The list may become out of date as messages are added.
You can check the current set by inspecting the code.
Support is `MavlinkMissionManager::parse_mavlink_mission_item` in [/src/modules/mavlink/mavlink_mission.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/mavlink_mission.cpp).
:::
## Mission Command Timeouts
Some mission commands/items can take time to complete, such as a gripper opening and closing, a winch extending or retracting, or a gimbal moving to point at a region of interest.
Where provided PX4 may use sensor feedback from the hardware to determine when the action has completed and then move to the next mission item.
If not provided, or if the feedback is lost, a mission command timeout can be used to ensure that these kinds of actions will progress to the next mission item rather than blocking progression.
The timeout is set using the [MIS_COMMAND_TOUT](../advanced_config/parameter_reference.md#MIS_COMMAND_TOUT) parameter.
This should be set to be a small amount greater than the time required for the longest long-running action in the mission to complete.
## Rounded turns: Inter-Waypoint Trajectory
PX4 expects to follow a straight line from the previous waypoint to the current target (it does not plan any other kind of path between waypoints - if you need one you can simulate this by adding additional waypoints).
MC vehicles will change the _speed_ when approaching or leaving a waypoint based on the [jerk-limited](../config_mc/mc_jerk_limited_type_trajectory.md#auto-mode) tuning.
The vehicle will follow a smooth rounded curve towards the next waypoint (if one is defined) defined by the acceptance radius ([NAV_ACC_RAD](../advanced_config/parameter_reference.md#NAV_ACC_RAD)).
The diagram below shows the sorts of paths that you might expect.
![acc-rad](../../assets/flying/acceptance_radius_mission.png)
Vehicles switch to the next waypoint as soon as they enter the acceptance radius ([NAV_ACC_RAD](../advanced_config/parameter_reference.md#NAV_ACC_RAD)).
## Mission Takeoff
Plan a multicopter mission takeoff by adding a `TAKEOFF` mission item to the map (this corresponds to the [MAV_CMD_NAV_TAKEOFF](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_TAKEOFF) MAVLink command).
During mission execution this will cause the vehicle to ascend vertically to the minimum takeoff altitude defined in the [MIS_TAKEOFF_ALT](../advanced_config/parameter_reference.md#MIS_TAKEOFF_ALT) parameter, then head towards the 3D position defined in the mission item.
If a mission with no takeoff mission item is started, the vehicle will ascend to the minimum takeoff altitude and then proceed to the first `Waypoint` mission item.
If the vehicle is already flying when the mission is started, a takeoff mission item is treated as a normal waypoint.
## See Also
- [Missions](../flying/missions.md)
- [Package Delivery Mission](../flying/package_delivery_mission.md)
- [Mission Mode (FW)](../flight_modes_fw/mission.md)
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<Redirect to="../flight_modes/offboard" />
# Offboard Mode (Multicopter)
docs/ko/flight_modes_mc/orbit.md
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# Orbit (Multicopter)
<img src="../../assets/site/difficulty_easy.png" title="Easy to fly" width="30px" />&nbsp;<img src="../../assets/site/position_fixed.svg" title="Position fix required (e.g. GPS)" width="30px" />
The _Orbit_ guided flight mode allows you to command a multicopter (or VTOL in multicopter mode) to fly in a circle at a particular location, by [default](https://mavlink.io/en/messages/common.html#ORBIT_YAW_BEHAVIOUR) yawing so that it always faces towards the center.
::: 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 must be armed when switching to this mode).
- Mode requires wind and flight time are within allowed limits (specified via parameters).
- This mode is currently only supported on multicopter (or VTOL in MC mode).
- RC stick movement can control ascent/descent and orbit speed and direction.
- The mode can be triggered using the [MAV_CMD_DO_ORBIT](https://mavlink.io/en/messages/common.html#MMAV_CMD_DO_ORBIT) MAVLink command.
<!-- https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/commander/ModeUtil/mode_requirements.cpp -->
:::
## 개요
![Orbit Mode - MC](../../assets/flying/orbit.jpg)
_QGroundControl_ (or other compatible GCS or MAVLink API) is _required_ to enable the mode, and to set the center position, initial radius and altitude of the orbit.
Once enabled the vehicle will fly as fast as possible to the closest point on the commanded circle trajectory and do a slow (1m/s) clockwise orbit on the planned circle, facing the center.
Instructions for how to start an orbit can be found here: [FlyView > Orbit Location](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/fly_view/fly_view.html#orbit) (_QGroundControl_ guide).
:::info
The use of an RC control is _optional_.
If no RC control is present the orbit will proceed as described above.
RC control cannot be used to start the mode (if you switch to the mode via RC it will sit idle).
:::
RC control can be used to change the orbit altitude, radius, speed, and orbit direction:
- **Left stick:**
- _up/down:_ controls speed of ascent/descent, as in [Position mode](../flight_modes_mc/position.md). When in center deadzone, altitude is locked.
- _left/right:_ no effect.
- **Right stick:**
- _left/right:_ controls acceleration of orbit in clockwise/counter-clockwise directions. When centered the current speed is locked.
- Maximum velocity is 10m/s and further limited to keep the centripetal acceleration below 2m/s^2.
- _up/down:_ controls orbit radius (smaller/bigger). When centered the current radius is locked.
- Minimum radius is 1m. Maximum radius is 100m.
The diagram below shows the mode behaviour visually (for a [mode 2 transmitter](../getting_started/rc_transmitter_receiver.md#transmitter_modes)).
![Orbit Mode - MC](../../assets/flight_modes/orbit_mc.png)
The mode can be stopped by switching to any other flight mode (using RC or QGC).
## Parameters/Limits
The mode is affected by the following parameters:
| 매개변수 | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------- |
| <a id="MC_ORBIT_RAD_MAX"></a>[MC_ORBIT_RAD_MAX](../advanced_config/parameter_reference.md#MC_ORBIT_RAD_MAX) | Maximum radius of orbit. Default: 1000m. |
| <a id="MC_ORBIT_YAW_MOD"></a>[MC_ORBIT_YAW_MOD](../advanced_config/parameter_reference.md#MC_ORBIT_YAW_MOD) | Yaw behaviour during orbit flight. Default: Front to Circle Center. |
The following limits are hard coded:
- Initial/default rotation is 1 m/s in a clockwise direction.
- The maximum acceleration is limited to 2 m/s^2, with priority on keeping the commanded circle trajectory rather than commanded ground speed (i.e. the vehicle will slow down in order to achieve the correct circle if the acceleration exceeds 2m/s^2).
## MAVLink Messages (Developers)
Orbit mode uses the following MAVLink commands:
- [MAV_CMD_DO_ORBIT](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_ORBIT) - Start an orbit with specified center point, radius, direction, altitude, speed and [yaw direction](https://mavlink.io/en/messages/common.html#ORBIT_YAW_BEHAVIOUR) (vehicle defaults to faceing centre of orbit).
- [ORBIT_EXECUTION_STATUS](https://mavlink.io/en/messages/common.html#ORBIT_EXECUTION_STATUS) - Orbit status emitted during orbit to update GCS of current orbit parameters (these may be changed by the RC controller).
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# Position Mode (Multicopter)
<img src="../../assets/site/difficulty_easy.png" title="Easy to fly" width="30px" />&nbsp;<img src="../../assets/site/remote_control.svg" title="Manual/Remote control required" width="30px" />&nbsp;<img src="../../assets/site/position_fixed.svg" title="Position fix required (e.g. GPS)" width="30px" />
_Position_ is an easy-to-fly RC mode in which roll and pitch sticks control acceleration over ground in the vehicle's left-right and forward-back directions (similar to a car's accelerator pedal), and throttle controls speed of ascent-descent.
When the sticks are released/centered the vehicle will actively brake, level, and be locked to a position in 3D space — compensating for wind and other forces.
With full stick deflection the vehicle accelerates initially with [MPC_ACC_HOR_MAX](#MPC_ACC_HOR_MAX) ramping down until it reaches the final velocity [MPC_VEL_MANUAL](#MPC_VEL_MANUAL).
:::tip
Position mode is the safest manual mode for new fliers.
Unlike [Altitude](../flight_modes_mc/altitude.md) and [Stabilized](../flight_modes_mc/manual_stabilized.md) modes the vehicle will stop when the sticks are centered rather than continuing until slowed by wind resistance.
:::
The diagram below shows the mode behaviour visually (for a mode 2 transmitter).
![MC Position Mode](../../assets/flight_modes/position_mc.png)
### 착륙
Landing in this mode is easy:
1. Position the drone horizontally above the landing spot using the roll and pitch stick.
2. Let go of the roll and pitch stick and give it enough time to come to a complete stop.
3. Pull the throttle stick down gently until the vehicle touches the ground.
4. Pull the throttle stick all the way down to facilitate and accelerate land detection.
5. The vehicle will lower propeller thrust, detect the ground and [automatically disarm](../advanced_config/prearm_arm_disarm.md#auto-disarming) (by default).
:::warning
While very rare on a well calibrated vehicle, sometimes there may be problems with landing.
- If the vehicle does not stop moving horizontally:
- You can still land under control in [Altitude mode](../flight_modes_mc/altitude.md).
The approach is the same as above, except that you must manually ensure that the vehicle stays above the landing spot using the roll and pitch stick.
- After landing check GPS and magnetometer orientation, calibration.
- If the vehicle does not detect the ground/landing and disarm:
- After the vehicle is on the ground switch to [Stabilized mode](../flight_modes_mc/manual_stabilized.md) keeping the throttle stick low, and manually disarm using a gesture or other command.
Alternatively you can also use the kill switch when the vehicle is already on the ground.
:::
## Technical Summary
RC mode where roll, pitch, throttle (RPT) sticks control movement in corresponding axes/directions.
Centered sticks level vehicle and hold it to fixed altitude and position against wind.
- Centered roll, pitch, throttle sticks (within RC deadzone [MPC_HOLD_DZ](../advanced_config/parameter_reference.md#MPC_HOLD_DZ)) hold x, y, z position steady against any disturbance like wind.
- Outside center:
- Roll/Pitch sticks control horizontal acceleration over ground in the vehicle's left-right and forward-back directions (respectively).
- Throttle stick controls speed of ascent-descent.
- 요 스틱은 수평면 위의 회전 각속도를 제어합니다.
- 이륙:
- 착륙했을 때 스로틀 스틱을 62.5 % (하단에서 전체 범위) 이상으로 올리면 기체가 이륙합니다.
- Global position estimate is required.
- Manual control input is required (such as RC control, joystick).
- Roll, Pitch, Throttle: Assistance from autopilot to hold position against wind.
- Yaw: Assistance from autopilot to stabilize the attitude rate.
Position of RC stick maps to the rate of rotation of vehicle in that orientation.
### 매개변수
All the parameters in the [Multicopter Position Control](../advanced_config/parameter_reference.md#multicopter-position-control) group are relevant. A few parameters of particular note are listed below.
| 매개변수 | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="MPC_HOLD_DZ"></a>[MPC_HOLD_DZ](../advanced_config/parameter_reference.md#MPC_HOLD_DZ) | Deadzone of sticks where position hold is enabled. Default: 0.1 (10% of full stick range). |
| <a id="MPC_Z_VEL_MAX_UP"></a>[MPC_Z_VEL_MAX_UP](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_UP) | 최대 수직 상승 속도. 기본값: 3 m/s. |
| <a id="MPC_Z_VEL_MAX_DN"></a>[MPC_Z_VEL_MAX_DN](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_DN) | 최대 수직 하강 속도. 기본값: 1 m/s. |
| <a id="MPC_LAND_ALT1"></a>[MPC_LAND_ALT1](../advanced_config/parameter_reference.md#MPC_LAND_ALT1) | Altitude for triggering first phase of slow landing. Below this altitude descending velocity gets limited to a value between [MPC_Z_VEL_MAX_DN](#MPC_Z_VEL_MAX_DN) (or `MPC_Z_V_AUTO_DN`) and [MPC_LAND_SPEED](#MPC_LAND_SPEED). Value needs to be higher than [MPC_LAND_ALT2](#MPC_LAND_ALT2). Default 10m. |
| <a id="MPC_LAND_ALT2"></a>[MPC_LAND_ALT2](../advanced_config/parameter_reference.md#MPC_LAND_ALT2) | Altitude for second phase of slow landing. Below this altitude descending velocity gets limited to [`MPC_LAND_SPEED`](#MPC_LAND_SPEED). Value needs to be lower than "MPC_LAND_ALT1". Default 5m. |
| <a id="RCX_DZ"></a>`RCX_DZ` | RC dead zone for channel X. The value of X for throttle will depend on the value of [RC_MAP_THROTTLE](../advanced_config/parameter_reference.md#RC_MAP_THROTTLE). For example, if the throttle is channel 4 then [RC4_DZ](../advanced_config/parameter_reference.md#RC4_DZ) specifies the deadzone. |
| <a id="MPC_xxx"></a>`MPC_XXXX` | 대부분의 MPC_xxx 매개 변수는이 모드에서 비행 동작에 어느정도 영향을 미칩니다 . For example, [MPC_THR_HOVER](../advanced_config/parameter_reference.md#MPC_THR_HOVER) defines the thrust at which a vehicle will hover. |
| <a id="MPC_POS_MODE"></a>[MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE) | Stick input to movement translation strategy. From PX4 v1.12 the default (`Acceleration based`) is that stick position controls acceleration (in a similar way to a car accelerator pedal). Other options allow stick deflection to directly control speed over ground, with and without smoothing and acceleration limits. |
| <a id="MPC_ACC_HOR_MAX"></a>[MPC_ACC_HOR_MAX](../advanced_config/parameter_reference.md#MPC_ACC_HOR_MAX) | Maximum horizontal acceleration. |
| <a id="MPC_VEL_MANUAL"></a>[MPC_VEL_MANUAL](../advanced_config/parameter_reference.md#MPC_VEL_MANUAL) | Maximum horizontal velocity. |
| <a id="MPC_LAND_SPEED"></a>[MPC_LAND_SPEED](../advanced_config/parameter_reference.md#MPC_LAND_SPEED) | Landing descend rate. Default 0.7 m/s. |
## 추가 정보
### Position Loss/Safety
Position mode is dependent on having an acceptable position estimate.
If the estimate falls below acceptable levels, for example due to GPS loss, this may trigger a [Position (GPS) Loss Failsafe](../config/safety.md#position-gnss-loss-failsafe).
Depending on configuration, whether you have a remote control, and whether there is an adequate altitude estimate, PX4 may switch to altitude mode, manual mode, land mode or terminate.
## See Also
- [Position Slow Mode](../flight_modes_mc/position_slow.md)
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# Position Slow Mode (Multicopter)
<Badge type="tip" text="PX4 v1.15" />
<img src="../../assets/site/difficulty_easy.png" title="Easy to fly" width="30px" />&nbsp;<img src="../../assets/site/remote_control.svg" title="Manual/Remote control required" width="30px" />&nbsp;<img src="../../assets/site/position_fixed.svg" title="Position fix required (e.g. GPS)" width="30px" />
_Position Slow_ mode is a velocity and yaw rate limited version of the regular [Position mode](../flight_modes_mc/position.md).
The mode works in exactly the same way as _Position mode_ but with the controller stick deflection re-scaled to lower maximum velocities (and proportionally lower acceleration).
You can use it to quickly slow down the vehicle to a safe speed (if it is moving faster than the maximum velocity in the limited axis).
You can also use it to get more precision from stick input, in particular when flying close to obstacles, or to comply with regulations such as [EASA's low-speed mode/function](https://www.easa.europa.eu/en/light/topics/flying-drones-close-people).
The velocity limits can be set using parameters, from an [RC Controller](../getting_started/rc_transmitter_receiver.md) rotary knob, slider, or switch, or using MAVLink.
Limits set using an RC controller override those set by MAVLink, which in turn override those set using parameters.
The limits can only be reduced below those for normal _Position_ mode.
## Set Limits using Parameters
The maximum values for slow mode horizontal velocity, vertical velocity, and yaw rate can be set using parameters.
This approach is useful when the maximum desired speed in slow mode is fixed, and you just want to be able to quickly drop to a safer speed range (perhaps using a switch on your controller).
The table below shows the parameters used to set the maximum values for _Position slow_ mode and _Position_ mode, respectively, along with their default values.
| Axis | Position slow mode | Position mode |
| ------------------- | ------------------------------------------------ | ----------------------------------------------------------------------------------------------------- |
| Horizontal velocity | [MC\_SLOW\_DEF\_HVEL][mc_slow_def_hvel] (3 m/s) | [MPC\_VEL\_MANUAL][mpc_vel_manual] (10 m/s) |
| Vertical velocity | [MC\_SLOW\_DEF\_VVEL][mc_slow_def_vvel] (1 m/s) | [MPC\_Z\_VEL\_MAX\_UP][mpc_z_vel_max_up] (3 m/s) / [MPC\_Z\_VEL\_MAX\_DN][mpc_z_vel_max_dn] (1.5 m/s) |
| Yaw rate | [MC\_SLOW\_DEF\_YAWR][mc_slow_def_yawr] (45 °/s) | [MPC\_MAN\_Y\_MAX][mpc_man_y_max] (150 °/s) |
From this you can see, for example, that when switching from Position mode to Position slow mode, the default maximum upward horizontal velocity is reduced from 10 m/s to 3 m/s.
If traveling faster than 3 m/s horizontally you'd be slowed to 3 m/s.
Note that the parameters are used only if limits are not provided by from RC or MAVLink.
<!-- links used in table above -->
[mpc_vel_manual]: ../advanced_config/parameter_reference.md#MPC_VEL_MANUAL
[mc_slow_def_hvel]: ../advanced_config/parameter_reference.md#MC_SLOW_DEF_HVEL
[mpc_z_vel_max_up]: ../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_UP
[mpc_z_vel_max_dn]: ../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_DN
[mc_slow_def_vvel]: ../advanced_config/parameter_reference.md#MC_SLOW_DEF_VVEL
[mpc_man_y_max]: ../advanced_config/parameter_reference.md#MPC_MAN_Y_MAX
[mc_slow_def_yawr]: ../advanced_config/parameter_reference.md#MC_SLOW_DEF_YAWR
## Set Limits using RC Control
You can map a rotary knob, slider, or switch, on a [RC Controller](../getting_started/rc_transmitter_receiver.md) to set the maximum velocity of an axis (horizontal/vertical/yaw).
This approach is useful when the appropriate slow-mode maximum values can vary while flying.
If the input control is set to its highest value the vehicle will go as fast as in _Position_ mode.
If the input is set to its lowest value, the vehicle maximum velocity is set to the value in the corresponding `MC_SLOW_MIN_` parameter (shown in the table below).
If an RC control input is mapped for an axis it has priority over all other inputs.
The table below lists each axis along with the parameter used to select which RC AUX channel corresponds to the control knob, and the parameter that sets the lowest possible "maximum value" for the axis.
| Axis | Parameter to map auxiliary input | Parameter for minimum value of maximum velocity |
| ------------------- | --------------------------------------- | ----------------------------------------------- |
| Horizontal velocity | [MC\_SLOW\_MAP\_HVEL][mc_slow_map_hvel] | [MC\_SLOW\_MIN\_HVEL][mc_slow_min_hvel] |
| Vertical velocity | [MC\_SLOW\_MAP\_VVEL][mc_slow_map_vvel] | [MC\_SLOW\_MIN\_VVEL][mc_slow_min_vvel] |
| Yaw rate | [MC\_SLOW\_MAP\_YAWR][mc_slow_map_yawr] | [MC\_SLOW\_MIN\_YAWR][mc_slow_min_yawr] |
<!-- links used in table above -->
[mc_slow_map_hvel]: ../advanced_config/parameter_reference.md#MC_SLOW_MAP_HVEL
[mc_slow_min_hvel]: ../advanced_config/parameter_reference.md#MC_SLOW_MIN_HVEL
[mc_slow_map_vvel]: ../advanced_config/parameter_reference.md#MC_SLOW_MAP_VVEL
[mc_slow_min_vvel]: ../advanced_config/parameter_reference.md#MC_SLOW_MIN_VVEL
[mc_slow_map_yawr]: ../advanced_config/parameter_reference.md#MC_SLOW_MAP_YAWR
[mc_slow_min_yawr]: ../advanced_config/parameter_reference.md#MC_SLOW_MIN_YAWR
To use this approach:
1. Make sure you have a remote with an extra input and an extra RC channel to transmit it's position.
2. Map the channel which contains the knobs position as one of the 6 auxiliary passthrough inputs by setting [RC_MAP_AUXn](../advanced_config/parameter_reference.md#RC_MAP_AUX1) to the corresponding RC channel number.
3. Map that auxiliary input using the appropriate `MC_SLOW_MAP_` parameter for the axis you want it to control (see table above).
For example, if you want to map RC channel `8` to limit the horizontal velocity you could set [RC\_MAP\_AUX1](../advanced_config/parameter_reference.md#RC_MAP_AUX1) to the value `8` and [MC\_SLOW\_MAP\_HVEL][mc_slow_map_hvel] to the value `1`.
The RC input from channel 8 then sets a horizontal velocity limit between [MC\_SLOW\_MIN\_HVEL][mc_slow_min_hvel] and [MPC\_VEL\_MANUAL][mpc_vel_manual].
## Set Limits using MAVLink
You can adjust the velocity limits using the MAVLink message [SET_VELOCITY_LIMITS](https://mavlink.io/en/messages/development.html#SET_VELOCITY_LIMITS).
This approach is used primarily by automatic systems, for example to slow a vehicle when zooming a camera.
The message can set the maximum value on any of the axes by supplying a non-`NAN` limit value.
This overrides limit values set in parameters, but is ignored if the axis is mapped to an RC knob.
The value can be updated from a message at any time, and is latched until either the next message or a mode switch.
Note that PX4 does not provide velocity limit telemetry (i.e. it does not support streaming the [VELOCITY_LIMITS](https://mavlink.io/en/messages/development.html#VELOCITY_LIMITS) message).
## See Also
- [Position Slow Mode](../flight_modes_mc/position.md)
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# Return Mode (Multicopter)
<img src="../../assets/site/position_fixed.svg" title="Position fix required (e.g. GPS)" width="30px" />
The _Return_ flight mode is used to _fly a vehicle to safety_ on an unobstructed path to a safe destination, where it can land.
Multicopters use a [home/rally point return type](../flight_modes/return.md#home-rally-point-return-type-rtl-type-0) by default.
In this return type vehicles ascend to a safe altitude above obstructions if needed, fly directly to the closest safe landing point (a rally point or the home position), descend to the "descent altitude", wait briefly, and then land.
The return altitude, descent altitude, and landing delay are normally set to conservative "safe" values, but can be changed if needed.
Multicopter supports the [other PX4 return types](../flight_modes/return.md#return-types-rtl-type), including mission landing, mission path and closest safe destination.
The default type is recommended.
::: info
- Mode is automatic - no user intervention is _required_ to control the vehicle.
- Mode requires a global 3d position estimate (from GPS or inferred from a [local position](../ros/external_position_estimation.md#enabling-auto-modes-with-a-local-position)).
- Flying vehicles can't switch to this mode without global position.
- Flying vehicles will failsafe if they lose the position estimate.
- Mode requires home position is set.
- Mode prevents arming (vehicle must be armed when switching to this mode).
- RC 제어 스위치는 기체의 비행 모드를 변경할 수 있습니다.
- RC stick movement will [by default](#COM_RC_OVERRIDE) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless handling a critical battery failsafe.
<!-- https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/commander/ModeUtil/mode_requirements.cpp -->
:::
## Technical Summary
Multicopters use the [home/rally point return type](../flight_modes/return.md#home-rally-point-return-type-rtl-type-0) by default.
For this return type the copter:
- Ascends to the [minimum return altitude](#minimum-return-altitude) (safely above any expected obstacles).
The vehicle maintains its initial altitude if that is higher than the minimum return altitude.
- Flies via a direct constant-altitude path to the safe landing point, which will be the nearest of any rally points and the home position.
- On arrival at its destination, it rapidly descends to the "descent altitude" ([RTL_DESCEND_ALT](#RTL_DESCEND_ALT)).
- It waits for a configurable time ([RTL_LAND_DELAY](#RTL_LAND_DELAY)), which may be used for deploying landing gear.
- Then lands.
### 목적지에 호버링/착륙
By default the _minimum return altitude_ is set using [RTL_RETURN_ALT](#RTL_RETURN_ALT), and the vehicle will just return at the higher of `RTL_RETURN_ALT` or the initial vehicle altitude.
The minimum return altitude can be further configured using [RTL_CONE_ANG](#RTL_CONE_ANG), which together with [RTL_RETURN_ALT](#RTL_RETURN_ALT) defines a half cone centered around the destination landing point.
The cone angle allows a lower minimum return altitude when the return mode is executed close to the destination.
This is useful when there are few obstacles near the destination, because it may reduce the minimum height that the vehicle needs to ascend before landing, and hence power consumption and time to land.
![Return mode cone](../../assets/flying/rtl_cone.jpg)
The cone affects the minimum return altitude if return mode is triggered within the cylinder defined by the maximum cone radius and `RTL_RETURN_ALT`: outside this cyclinder `RTL_RETURN_ALT` is used.
Inside the code the minimum return altitude is the intersection of the vehicle position with the cone, or `RTL_DESCEND_ALT` (whichever is higher).
In other words, the vehicle must always ascend to at least `RTL_DESCEND_ALT` if below that value.
For more information on this return type see [Home/Rally Point Return Type (RTL_TYPE=0)](../flight_modes/return.md#home-rally-point-return-type-rtl-type-0)
## 매개변수
The RTL parameters are listed in [Parameter Reference > Return Mode](../advanced_config/parameter_reference.md#return-mode).
The parameters that are relevant to multicopter (assuming the [RTL_TYPE](../advanced_config/parameter_reference.md#RTL_TYPE) is set to 0) are listed below.
| 매개변수 | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| <a id="RTL_RETURN_ALT"></a>[RTL_RETURN_ALT](../advanced_config/parameter_reference.md#RTL_RETURN_ALT) | Return altitude in meters (default: 60m) when [RTL_CONE_ANG](../advanced_config/parameter_reference.md#RTL_CONE_ANG) is 0. 이미 이 값을 초과하면 기체는 현재 고도로 복귀합니다. |
| <a id="RTL_DESCEND_ALT"></a>[RTL_DESCEND_ALT](../advanced_config/parameter_reference.md#RTL_DESCEND_ALT) | 기체가 더 높은 복귀 고도에서 감속하거나 초기 하강을 중지할 최소 복귀 고도 및 고도 (기본값 : 30m) |
| <a id="RTL_LAND_DELAY"></a>[RTL_LAND_DELAY](../advanced_config/parameter_reference.md#RTL_LAND_DELAY) | Time to hover at `RTL_DESCEND_ALT` before landing (default: 0.5s) -by default this period is short so that the vehicle will simply slow and then land immediately. If set to -1 the system will loiter at `RTL_DESCEND_ALT` rather than landing. 이 지연은 랜딩 기어가 배치될 시간을 설정합니다. (자동으로 동작함). |
| <a id="RTL_MIN_DIST"></a>[RTL_MIN_DIST](../advanced_config/parameter_reference.md#RTL_MIN_DIST) | 홈 위치에서 "원뿔"에 지정된 복귀 고도까지 상승을 시작하는 최소 수평 거리. If the vehicle is horizontally closer than this distance to home, it will return at its current altitude or `RTL_DESCEND_ALT` (whichever is higher) instead of first ascending to RTL_RETURN_ALT). |
| <a id="RTL_CONE_ANG"></a>[RTL_CONE_ANG](../advanced_config/parameter_reference.md#RTL_CONE_ANG) | 기체 RTL 리턴 고도를 정의하는 원뿔의 반각. 값 (도) : 0, 25, 45, 65, 80, 90. Note that 0 is "no cone" (always return at `RTL_RETURN_ALT` or higher), while 90 indicates that the vehicle must return at the current altitude or `RTL_DESCEND_ALT` (whichever is higher). |
| <a id="COM_RC_OVERRIDE"></a>[COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE) | Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to [Position mode](../flight_modes_mc/position.md) (except when vehicle is handling a critical battery failsafe). 자동 모드와 오프보드 모드에 대해 별도로 활성화할 수 있으며, 기본적으로 자동 모드에서 활성화됩니다. |
| <a id="COM_RC_STICK_OV"></a>[COM_RC_STICK_OV](../advanced_config/parameter_reference.md#COM_RC_STICK_OV) | The amount of stick movement that causes a transition to [Position mode](../flight_modes_mc/position.md) (if [COM_RC_OVERRIDE](#COM_RC_OVERRIDE) is enabled). |
## See Also
- [Return Mode (Generic)](../flight_modes/return.md)
- [Return Mode (Fixed-Wing)](../flight_modes_fw/return.md)
- [Return Mode (VTOL)](../flight_modes_vtol/return.md)
docs/ko/flight_modes_mc/takeoff.md
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# Takeoff Mode (Multicopter)
<img src="../../assets/site/position_fixed.svg" title="Position fix required (e.g. GPS)" width="30px" />
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](#COM_RC_OVERRIDE) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless handling a critical battery failsafe.
- The [Failure Detector](../config/safety.md#failure-detector) will automatically stop the engines if there is a problem on takeoff.
<!-- https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/commander/ModeUtil/mode_requirements.cpp -->
:::
## Technical Summary
A multi rotor ascends vertically to the altitude defined in [MIS_TAKEOFF_ALT](../advanced_config/parameter_reference.md#MIS_TAKEOFF_ALT) and holds position.
RC stick movement will change the vehicle to [Position mode](../flight_modes_mc/position.md) (by [default](#COM_RC_OVERRIDE)).
### 매개변수
Takeoff is affected by the following parameters:
| 매개변수 | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="MIS_TAKEOFF_ALT"></a>[MIS_TAKEOFF_ALT](../advanced_config/parameter_reference.md#MIS_TAKEOFF_ALT) | Target altitude during takeoff (default: 2.5m) |
| <a id="MPC_TKO_SPEED"></a>[MPC_TKO_SPEED](../advanced_config/parameter_reference.md#MPC_TKO_SPEED) | Speed of ascent (default: 1.5m/s) |
| <a id="COM_RC_OVERRIDE"></a>[COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE) | Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to [Position mode](../flight_modes_mc/position.md). 자동 모드와 오프보드 모드에 대해 별도로 활성화할 수 있으며, 기본적으로 자동 모드에서 활성화됩니다. |
| <a id="COM_RC_STICK_OV"></a>[COM_RC_STICK_OV](../advanced_config/parameter_reference.md#COM_RC_STICK_OV) | The amount of stick movement that causes a transition to [Position mode](../flight_modes_mc/position.md) (if [COM_RC_OVERRIDE](#COM_RC_OVERRIDE) is enabled) |
## See Also
- [Throw Launch (MC)](../flight_modes_mc/throw_launch.md)
- [Takeoff Mode (FW)](../flight_modes_fw/takeoff.md)
<!-- this maps to AUTO_TAKEOFF in dev -->
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# Throw Launch (Multicopter)
<Badge type="tip" text="PX4 v1.15" /> <Badge type="warning" text="Experimental" />
:::warning
실험
This feature was introduced in PX4 v1.15.
- It has not yet been broadly tested on different vehicle configurations or scenarios.
- The majority of testing has been done in position mode.
Other modes should also work.
:::
This feature allows a multicopter to be started by arming it from a fixed position and then throwing it into the air.
The vehicle turns on the motors only after the launch is detected, and then operates according to its current mode.
When throw launch is enabled, the vehicle is initially armed in a "lockdown" state, in which the propellers do not spin.
The propellors will not activate until the vehicle is thrown or is disarmed, and the arming tone will continue playing during this time.
The vehicle will not automatically disarm after arming, and must be manually disarmed if you choose not to throw it.
The vehicle detects that it has been thrown based on reaching a certain speed (5m/s), and then starts the motors at the apex of the throw (once it determines that it has started to fall).
You need to throw the vehicle high enough so that it can stabilize its height well before falling anywhere near people or obstacles.
참고:
- The mode is disabled by default, and must be enabled using a [parameter](#parameters) before arming.
- When enabled you cannot take off from the ground using the normal modes.
- The vehicle should not be transported after being armed and before the throw.
In particular, the throw should not be executed from a moving platform.
The reason for this is that the condition to start the motors depends on absolute speed of the multicopter and does not account for any additional movement.
Trying to throw the drone from a moving platform might result in the motors being started prematurely.
## 안전 설정
:::warning
Throw launch is dangerous as it requires the operator to hold an armed multicopter and be in proximity when it is flying.
:::
Before testing, make sure that the aircraft can take off with the normal position or takeoff modes.
Also ensure that the propellers do not spin on arming after enabling the feature.
In addition:
1. Wear safety equipment.
Eye protection and work gloves are recommended.
2. Have an easily accessible and tested [kill switch](../config/safety.md#kill-switch).
Remind the operator to be attentive and use the kill switch if needed.
Pilots tend to forget that vehicles are replaceable, but they are not!
3. Test as much as possible without propellers.
Keep the tools for removing propellers nearby/readily accessible.
4. Test this feature with at least two people — one handling the aircraft, the other one the remote control.
5. Keep in mind that after the throw, the exact behavior of the aircraft might be hard to predict as it depends heavily on the way it is thrown.
Sometimes it will stay perfectly in place, but sometimes (e.g., due to extensive roll), it might drift to one side while stabilizing.
Keep a safe distance!
On first flight of a new vehicle we recommend performing a [Throw Launch test without propellers](#throw-launch-pretest) (see below).
## Throw Launch Pretest
A throw launch without propellers can be used to confirm that arming does not occur prematurely, and for the operator to understand what to expect during the flight.
The steps for this test are:
1. Dismount the propellers.
2. Set [COM_THROW_EN](../advanced_config/parameter_reference.md#COM_THROW_EN) to `Enabled`.
3. Arm the aircraft.
The engines should not spin, but the vehicle should be armed and keep playing the arming tune.
4. Throw the aircraft about 2m into the air.
If the aircraft is not thrown high enough, the motors will not turn on.
5. The engines should start just after crossing the apex.
6. Engage the kill switch (ideally a second person operating the RC should do this).
7. Catch the drone.
Remember to use safety gloves!
## Throw Launch
The steps for a throw launch are:
1. Set [COM_THROW_EN](../advanced_config/parameter_reference.md#COM_THROW_EN) to `Enabled`.
2. Arm the aircraft.
The propellers should not spin, but the vehicle should be armed and keep playing the arming tune.
3. Throw the aircraft away from you, forward and up (about 2m away and 2m up is recommended).
- The vehicle must reach the speed of [COM_THROW_SPEED](../advanced_config/parameter_reference.md#COM_THROW_SPEED) to detect launch, which by default is set to 5 m/s.
If this speed is not achieved, the motors will not start and the aircraft will fall to the ground.
- Try to avoid excessive rotation during the throw, as this might cause the drone to fail or behave unpredictably.
The exact meaning of "excessive rotation" depends on the platform: for instance, [PX4Vision](../complete_vehicles_mc/px4_vision_kit.md) used for the testing, still managed to recover after 2-3 full rotations.
4. After a downward velocity is detected (the vehicle reaches its apex and starts falling down), the motors should turn on and the vehicle will start flying in the current mode.
## 매개변수
The following parameters can be used to enable and configure throw launch:
- [COM_THROW_EN](../advanced_config/parameter_reference.md#COM_THROW_EN) enables the feature.
- [COM_THROW_SPEED](../advanced_config/parameter_reference.md#COM_THROW_SPEED) determines the minimum speed the aircraft should reach to detect the throw.
If it is not reached, the engines will not turn on.
## See Also
- [Takeoff Mode (Fixed-Wing) > Catapult/Hand Launch](../flight_modes_fw/takeoff.md#catapult-hand-launch).
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https://github.com/PX4/PX4-Autopilot/pull/23822
https://github.com/PX4/PX4-Autopilot/blob/371a99c3221dd09dce0b218c45df405188d96cfd/src/modules/commander/Commander.cpp#L1894-L1896 - lockdown setting
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