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Move PX4 Guide source into /docs (#24490)
* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
This commit is contained in:
Hamish Willee
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Ramon Roche
Ramon Roche
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# Acro Mode (Fixed-Wing)
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<img src="../../assets/site/difficulty_hard.png" title="Hard to fly" width="30px" /> <img src="../../assets/site/remote_control.svg" title="Manual/Remote control required" width="30px" />
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_Acro mode_ is the manual mode for performing acrobatic maneuvers e.g. rolls, flips, stalls and acrobatic figures.
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The roll, pitch and yaw sticks control the rate of angular rotation around the respective axes and throttle is passed directly to control allocation. 当操纵杆居中时，飞机将停止旋转，但保持其当前朝向（在其侧面，倒置或任何其他方向）并根据当前动量移动。
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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.
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## 技术描述
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用于执行杂技动作的遥控模式，例如滚动、翻转、摊位和杂技图形。
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RPY摇杆输入被转换为角速度命令，通过自动驾驶仪稳定。
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Throttle is passed directly to control allocation.
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## 参数
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| 参数 | 描述 |
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| -------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| <a id="FW_ACRO_X_MAX"></a>[FW_ACRO_X_MAX](../advanced_config/parameter_reference.md#FW_ACRO_X_MAX) | 机体轴x轴最大速率（用户在acro模式下施加滚转轴满杆操纵时，控制器试图达到的机体轴x轴速率） 默认：90度 Default: 90 degrees. |
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| <a id="FW_ACRO_Y_MAX"></a>[FW_ACRO_Y_MAX](../advanced_config/parameter_reference.md#FW_ACRO_Y_MAX) | Acro body y max rate (the body y rate the controller is trying to achieve if the user applies full pitch stick input in acro mode). Default: 90 degrees. |
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| <a id="FW_ACRO_Z_MAX"></a>[FW_ACRO_Z_MAX](../advanced_config/parameter_reference.md#FW_ACRO_Z_MAX) | 机体轴z轴最大速率（用户在acro模式下施加偏航轴满杆操纵时，控制器试图达到的机体轴z轴速率） 默认：45度 Default: 45 degrees. |
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| <a id="FW_ACRO_YAW_EN"></a>[FW_ACRO_YAW_EN](../advanced_config/parameter_reference.md#FW_ACRO_YAW_EN) | Enable yaw rate controller (if disabled the pilot commands directly the yaw actuator). `0`: Disabled (Default), `1`: Enabled. |
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# Altitude Mode (Fixed-wing)
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<img src="../../assets/site/difficulty_easy.png" title="Easy to fly" width="30px" /> <img src="../../assets/site/remote_control.svg" title="Manual/Remote control required" width="30px" /> <img src="../../assets/site/altitude_icon.svg" title="Altitude required (e.g. Baro, Rangefinder)" width="30px" />
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The _Altitude_ flight mode is the safest and easiest non-GPS manual mode.
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It makes it easier for pilots to control vehicle altitude, and in particular to reach and maintain a fixed altitude.
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The mode will not attempt to hold the vehicle course against wind.
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Airspeed is actively controlled if an airspeed sensor is installed.
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:::tip
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_Altitude mode_ is similar to [Position mode](../flight_modes_fw/position.md) in that both modes level the vehicle and maintain altitude when sticks are released.
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操纵杆一旦回中，自动驾驶仪就会锁定当前的高度，并在偏航/滚转和任何空速条件下保持高度。
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:::
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The vehicle performs a [coordinated turn](https://en.wikipedia.org/wiki/Coordinated_flight) if the roll sticks are non-zero, while the pitch stick controls the rate of ascent/descent.
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滚动和俯仰是角度控制的（因此不可能实现飞机滚转或环绕）。
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当所有遥控输入都居中时（无滚动、俯仰、偏航，油门约 50％），飞机将恢复直线水平飞行（受风影响）并保持其当前高度。
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This makes it easy to recover from any problems when flying.
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Roll, pitch and yaw are all angle-controlled (so it is impossible to roll over or loop the vehicle).
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The yaw stick can be used to increase/reduce the yaw rate of the vehicle in turns.
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If left at center the controller does the turn coordination by itself, meaning that it will apply the necessary yaw rate for the current roll angle to perform a smooth turn.
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The diagram below shows the mode behaviour visually (for a [mode 2 transmitter](../getting_started/rc_transmitter_receiver.md#transmitter_modes)).
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## 技术总结
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Altitude mode like [Stabilized mode](../flight_modes_fw/stabilized.md) but with altitude stabilization.
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Airspeed is also stabilized if an airspeed sensor is present.
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但是飞行过程并不稳定，可能被风吹飘离。
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- 回中的滚动/俯仰/偏航输入（在死区内）：
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- Autopilot levels vehicle and maintains altitude and airspeed.
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- 外部中心：
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- 俯仰摇杆控制高度。
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- 如果空速传感器已连接，油门杆控制飞机速度。 Without an airspeed sensor the vehicle will fly level at trim throttle ([FW_THR_TRIM](../advanced_config/parameter_reference.md#FW_THR_TRIM)), increasing or decreasing throttle as needed to climb or descend.
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- 横滚摇杆控制横滚角度。 Autopilot will maintain [coordinated flight](https://en.wikipedia.org/wiki/Coordinated_flight).
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- 偏航摇杆操纵会驱动方向舵（指令将被加到自动驾驶仪计算的指令中以维持 <a href="https://en.wikipedia.org/wiki/Coordinated_flight">协调飞行</a>）。
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这和<a href="../flight_modes/stabilized_fw.md">稳定模式</a>一样。
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- Manual control input is required (such as RC control, joystick).
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- An altitude measurement source is required (usually barometer or GPS)
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## 参数
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该模式受以下参数影响：
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| 参数 | 描述 |
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| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------- |
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| <a id="FW_AIRSPD_MIN"></a>[FW_AIRSPD_MIN](../advanced_config/parameter_reference.md#FW_AIRSPD_MIN) | 最小空速/油门。 默认：10 m/s。 |
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| <a id="FW_AIRSPD_MAX"></a>[FW_AIRSPD_MAX](../advanced_config/parameter_reference.md#FW_AIRSPD_MAX) | 最大空速/油门。 默认：20 m/s。 |
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| <a id="FW_AIRSPD_TRIM"></a>[FW_AIRSPD_TRIM](../advanced_config/parameter_reference.md#FW_AIRSPD_TRIM) | 巡航速度。 默认：15 m/s。 |
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| <a id="FW_MAN_P_MAX"></a>[FW_MAN_P_MAX](../advanced_config/parameter_reference.md#FW_MAN_P_MAX) | 在高度稳定模式下手动控制的最大俯仰角。 Default: 45 degrees. |
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| <a id="FW_MAN_R_MAX"></a>[FW_MAN_R_MAX](../advanced_config/parameter_reference.md#FW_MAN_R_MAX) | 在高度稳定模式下手动控制的最大滚转角。 Default: 45 degrees. |
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| <a id="FW_T_CLMB_R_SP"></a>[FW_T_CLMB_R_SP](../advanced_config/parameter_reference.md#FW_T_CLMB_R_SP) | Max climb rate setpoint. 默认：3m/s。 |
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| <a id="FW_T_SINK_R_SP"></a>[FW_T_SINK_R_SP](../advanced_config/parameter_reference.md#FW_T_SINK_R_SP) | Max sink rate setpoint. Default: 2 m/s. |
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<!--
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FW notes:
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FW position controller is basically 2 independent pieces
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* L1 is for navigation - determines the roll and yaw needed to achieve the desired waypoint (or loiter)
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* TECS is for speed and height control - determines throttle and elevator position needed to achieve the commanded altitude and airspeed
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Overall that gives you an attitude setpoint (roll, pitch, yaw) and throttle which is sent off to the attitude controller
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-->
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# 保持模式 (Fixed-wing)
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<img src="../../assets/site/position_fixed.svg" title="Position fix required (e.g. GPS)" width="30px" />
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The _Hold_ flight mode causes the vehicle to loiter (circle) around its current GPS position and maintain its current altitude.
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:::tip
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_Hold mode_ can be used to pause a mission or to help you regain control of a vehicle in an emergency.
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It is usually activated with a pre-programmed switch.
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:::
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::: info
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- Mode is automatic - no user intervention is _required_ to control the vehicle.
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- 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)).
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- Flying vehicles can't switch to this mode without global position.
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- Flying vehicles will failsafe if they lose the position estimate.
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- Disarmed vehicles can switch to mode without valid position estimate but can't arm.
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- Mode requires wind and flight time are within allowed limits (specified via parameters).
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- 遥控开关可以在任何无人机上更改飞行模式。
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- RC stick movement is ignored.
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<!-- https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/commander/ModeUtil/mode_requirements.cpp -->
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:::
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## 技术总结
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The aircraft circles around the GPS hold position at the current altitude.
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The vehicle will first ascend to [NAV_MIN_LTR_ALT](#NAV_MIN_LTR_ALT) if the mode is engaged below this altitude.
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RC stick movement is ignored.
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### 参数
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Hold mode behaviour can be configured using the parameters below.
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| 参数 | 描述 |
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| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------ |
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| [NAV_LOITER_RAD](../advanced_config/parameter_reference.md#NAV_LOITER_RAD) | The radius of the loiter circle. |
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| <a id="NAV_MIN_LTR_ALT"></a>[NAV_MIN_LTR_ALT](../advanced_config/parameter_reference.md#NAV_MIN_LTR_ALT) | Minimum height for loiter mode (vehicle will ascend to this altitude if mode is engaged at a lower altitude). |
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## See Also
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[Hold Mode (MC)](../flight_modes_mc/hold.md)
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<!-- this maps to AUTO_LOITER in flight mode state machine -->
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# Flight Modes (Fixed-Wing)
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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.
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This topic provides an overview of the available flight modes for fixed-wing vehicles (planes).
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## 综述
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Flight Modes are either _manual_ or _autonomous_.
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Manual modes provide different levels of autopilot support when flying manually (using RC control sticks or a joystick), while _autonomous_ modes are fully controlled by the autopilot.
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Manual-Easy:
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- [Position mode](../flight_modes_fw/position.md) — Easiest and safest manual mode for vehicles that have a position fix/GPS.
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The vehicle performs a [coordinated turn](https://en.wikipedia.org/wiki/Coordinated_flight) if the roll stick is non-zero, while the pitch stick controls the rate of ascent/descent.
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If the sticks are released the vehicle levels out and holds a straight flight path, even against wind.
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Airspeed is actively controlled if an airspeed sensor is installed.
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- [Altitude](../flight_modes_fw/altitude.md) — Easiest and safest _non-GPS_ manual mode.
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The only difference compared to _Position mode_ is that the pilot always directly controls the roll angle of the plane and there is no automatic course holding.
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- [Stabilized mode](../flight_modes_fw/stabilized.md) — The pilot directly commands the roll and pitch angle and the vehicle keeps the setpoint until the sticks are moved again.
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Thrust is directly set by the pilot.
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Turn coordination is still handled by the controller.
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Height and airspeed are not controlled, in particular it is the pilot's responsibility to not stall the vehicle.
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Manual-Acrobatic
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- [Acro mode](../flight_modes_fw/acro.md) — Manual mode for performing acrobatic maneuvers, such as rolls and flips, stalls and acrobatic figures.
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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.
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- [Manual](../flight_modes_fw/manual.md) — Hardest manual flight mode.
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This sends stick input directly to control allocation for "fully" manual control.
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No sensor feedback is used to compensate for disturbances.
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Autonomous:
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All autonomous flight modes require a valid position estimate (GPS).
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Airspeed is actively controlled if an airspeed sensor is installed in any autonomous flight mode.
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- [Hold](../flight_modes_fw/hold.md) — Vehicle circles around the GPS hold position at the current altitude.
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The mode can be used to pause a mission or to help regain control of a vehicle in an emergency.
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It can be activated with a pre-programmed RC switch or the QGroundControl Pause button.
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- [Return](../flight_modes_fw/return.md) — Vehicle flies a clear path to land at a safe location.
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By default the destination is a mission landing pattern.
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The mode may be activated manually (via a pre-programmed RC switch) or automatically (i.e. in the event of a failsafe being triggered).
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- [Mission](../flight_modes_fw/mission.md) — Vehicle executes a [predefined mission/flight plan](../flying/missions.md) that has been uploaded to the flight controller.
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- [Takeoff](../flight_modes_fw/takeoff.md) — Vehicle initiates the takeoff sequence using either _catapult/hand-launch mode_ or _runway takeoff mode_ (in the current direction).
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- [Land](../flight_modes_fw/land.md) — Vehicle initiates the [fixed-wing landing sequence](../flight_modes_fw/mission.md#mission-landing).
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- [Offboard](../flight_modes_fw/offboard.md) — Vehicle obeys attitude setpoints provided via MAVLink or ROS 2.
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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)).
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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).
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PX4 will not allow transitions to those modes until the right conditions are met.
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Select the mode-specific sidebar topics for detailed technical information.
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## 更多信息
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- [Basic Configuration > Flight Modes](../config/flight_mode.md) - How to map RC control switches to specific flight modes
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- [Flight Modes (Multicopter)](../flight_modes_mc/index.md)
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- [Flight Modes (VTOL)](../flight_modes_vtol/index.md)
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- [Drive Modes (Differential Rover)](../flight_modes_rover/differential.md)
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- [Drive Modes (Ackermann Rover)](../flight_modes_rover/ackermann.md)
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# Land Mode (Fixed-Wing)
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<img src="../../assets/site/position_fixed.svg" title="Position estimate required (e.g. GPS)" width="30px" />
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The _Land_ flight mode causes the vehicle to descend at the position where the mode was engaged, following a circular path until touchdown.
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After landing, vehicles will disarm after a short timeout (by default).
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:::warning
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Fixed-wing _land mode_ should only be used in an **emergency**!
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The vehicle will descend around the current location irrespective of the suitability of the underlying terrain, and touch down while following a circular flight path.
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Where possible, instead use [Return mode](../flight_modes_fw/return.md) with a predefined [Fixed-wing mission landing](../flight_modes_fw/mission.md#mission-landing).
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:::
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::: info
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- Mode is automatic - no user intervention is _required_ to control the vehicle.
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- Mode requires at least a valid local position estimate (does not require a global position).
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- Flying vehicles can't switch to this mode without valid local position.
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- Flying vehicles will failsafe if they lose the position estimate.
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- Mode prevents arming (vehicle must be armed when switching to this mode).
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- 遥控开关可以在任何无人机上更改飞行模式。
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- RC stick movement is ignored.
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- 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.
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<!-- https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/commander/ModeUtil/mode_requirements.cpp -->
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:::
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## 技术总结
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Land mode causes the vehicle follow a descending circular path (corkscrew) until touchdown.
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When the mode is engaged, the vehicle starts to loiter around the current vehicle position with loiter radius [NAV_LOITER_RAD](#NAV_LOITER_RAD) and begins to descend with a constant descent speed.
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The descent speed is calculated using [FW_LND_ANG](#FW_LND_ANG) and the set landing airspeed [FW_LND_AIRSPD](#FW_LND_AIRSPD).
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The vehicle will flare if configured to do so (see [Flaring](../flight_modes_fw/mission.md#flaring-roll-out)), and otherwise proceed circling with the constant descent rate until landing is detected.
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[Manual nudging](../flight_modes_fw/mission.md#automatic-abort) and [automatic land abort](../flight_modes_fw/mission.md#nudging) are not available in land mode.
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### 参数
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Land mode behaviour can be configured using the parameters below.
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| 参数 | 描述 |
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| ----------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------- |
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| <a id="NAV_LOITER_RAD"></a>[NAV_LOITER_RAD](../advanced_config/parameter_reference.md#NAV_LOITER_RAD) | The loiter radius that the controller tracks for the whole landing sequence. |
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| <a id="FW_LND_ANG"></a>[FW_LND_ANG](../advanced_config/parameter_reference.md#FW_LND_ANG) | The flight path angle setpoint. |
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| <a id="FW_LND_AIRSPD"></a>[FW_LND_AIRSPD](../advanced_config/parameter_reference.md#FW_LND_AIRSPD) | The airspeed setpoint. |
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## See Also
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- [Land Mode (MC)](../flight_modes_mc/land.md)
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- [Land Mode (VTOL)](../flight_modes_vtol/land.md)
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@@ -0,0 +1,29 @@
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# Manual Mode (Fixed-wing)
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<!-- this requires review -->
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<img src="../../assets/site/difficulty_hard.png" title="Hard to fly" width="30px" /> <img src="../../assets/site/remote_control.svg" title="Manual/Remote control required" width="30px" />
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_Manual mode_ sends manual stick input directly to control allocation for fully manual control.
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This is the hardest mode to fly, because nothing is stabilised.
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Unlike [Acro Mode](../flight_modes_fw/acro.md), if the roll-pitch stick is centered the vehicle will not automatically stop rotating around the axis — the pilot actually has to move the stick to apply force in the other direction.
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:::info
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这是唯一忽略 FMU（命令通过安全协处理器发送） 的飞行模式。
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该模式提供了一个安全机制，允许在 FMU 固件故障时通过遥控器完全控制油门，升降舵，副翼和方向舵。
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:::
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## 技术描述
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RC mode where stick input is sent directly to control allocation (for "fully" manual control).
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这是唯一忽略 FMU（命令通过安全协处理器发送） 的飞行模式。 该模式提供了一个安全机制，允许在 FMU 固件故障时通过遥控器完全控制油门，升降舵，副翼和方向舵。
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## 参数
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| 参数 | 描述 |
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| ----------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------- |
|
||||
| <a id="FW_MAN_P_SC"></a>[FW_MAN_P_SC](../advanced_config/parameter_reference.md#FW_MAN_P_SC) | 手动俯仰控制比例。 在完全手动模式下应用于所需俯仰舵机指令的比例因子。 此参数允许调整控制舵偏的偏转。 默认：1.0 |
|
||||
| <a id="FW_MAN_R_SC"></a>[FW_MAN_R_SC](../advanced_config/parameter_reference.md#FW_MAN_R_SC) | 手动滚转控制比例。 在完全手动模式下应用于所需横滚舵机指令的比例因子。 此参数允许调整控制舵偏的偏转。 默认：1.0 |
|
||||
| <a id="FW_MAN_Y_SC"></a>[FW_MAN_Y_SC](../advanced_config/parameter_reference.md#FW_MAN_Y_SC) | 手动偏航控制比例。 在完全手动模式下应用于所需偏航舵机指令的比例因子。 此参数允许调整控制舵偏的偏转。 默认：1.0 |
|
||||
@@ -0,0 +1,381 @@
|
||||
# Mission Mode (Fixed-Wing)
|
||||
|
||||
<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.
|
||||
- 遥控开关可以在任何无人机上更改飞行模式。
|
||||
|
||||
:::
|
||||
|
||||
## 描述
|
||||
|
||||
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 developer API, and/or uploaded in flight.
|
||||
|
||||
[Mission commands](#mission-commands) are handled in a way that is appropriate for each fixed-wing flight characteristics (for example loiter is implemented as flying in a circle).
|
||||
|
||||
:::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 loiter.
|
||||
- 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 mission item will be treated as a normal waypoint.
|
||||
|
||||
3. If a mission is stored and the vehicle is landed it will only takeoff if the active waypoint is a `Takeoff`.
|
||||
If configured for catapult launch, the vehicle must also be launched (see [FW Takeoff/Landing in Mission](#mission-takeoff)).
|
||||
|
||||
4. If no mission is stored, or if PX4 has finished executing all mission commands:
|
||||
- If flying the vehicle will loiter.
|
||||
- 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_fw/hold.md) or [Position mode](../flight_modes_fw/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)
|
||||
|
||||
## 任务可行性检查
|
||||
|
||||
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
|
||||
- More than one land start mission item defined ([MAV_CMD_DO_LAND_START](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_LAND_START))
|
||||
- A fixed-wing landing has an infeasible slope angle ([FW_LND_ANG](#FW_LND_ANG))
|
||||
- Land start item (`MAV_CMD_DO_LAND_START`) appears in mission before an RTL item ([MAV_CMD_NAV_RETURN_TO_LAUNCH](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_RETURN_TO_LAUNCH))
|
||||
- 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 (the mission can still be started even if the distance is too great).
|
||||
|
||||
## QGroundControl支持
|
||||
|
||||
_QGroundControl_ provides additional GCS-level mission handling support (in addition to that provided by the flight controller).
|
||||
|
||||
有关详细信息，请参阅︰
|
||||
|
||||
- [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:
|
||||
|
||||
| 参数 | 描述 |
|
||||
| -------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
|
||||
| <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="NAV_LOITER_RAD"></a>[NAV_LOITER_RAD](../advanced_config/parameter_reference.md#NAV_RCL_ACT) | Fixed-wing loiter radius. |
|
||||
|
||||
Parameters related to [mission feasibility checks](#mission-feasibility-checks):
|
||||
|
||||
| 参数 | 描述 |
|
||||
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
|
||||
| <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. FW and VTOL both have it set to 2 by default, which means that the mission has to contain a landing. |
|
||||
|
||||
## 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_DO_SET_CAMERA_ZOOM](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_CAMERA_ZOOM)
|
||||
- [MAV_CMD_DO_SET_CAMERA_FOCUS](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_CAMERA_FOCUS)
|
||||
|
||||
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).
|
||||
|
||||
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.
|
||||
|
||||
|
||||
|
||||
Vehicles switch to the next waypoint as soon as they enter the acceptance radius.
|
||||
This is defined by the "L1 distance", which is is computed from two parameters: [NPFG_DAMPING](../advanced_config/parameter_reference.md#NPFG_DAMPING) and [NPFG_PERIOD](../advanced_config/parameter_reference.md#NPFG_PERIOD), and the current ground speed.
|
||||
By default, it's about 70 meters.
|
||||
|
||||
The equation is:
|
||||
|
||||
$$L_{1_{distance}}=\frac{1}{\pi}L_{1_{damping}}L_{1_{period}}\left \| \vec{v}_{ {xy}_{ground} } \right \|$$
|
||||
|
||||
## Mission Takeoff
|
||||
|
||||
Starting flights with mission takeoff (and landing using a mission landing) is the recommended way of operating a plane autonomously.
|
||||
|
||||
Both [runway takeoff](../flight_modes_fw/takeoff.md#runway-takeoff) and [hand-launched takeoff](../flight_modes_fw/takeoff.md#catapult-hand-launch) are supported — for configuration information see [Takeoff mode (FW)](../flight_modes_fw/takeoff.md).
|
||||
|
||||
The takeoff behaviour is defined in a Takeoff mission item, which corresponds to the [MAV_CMD_NAV_TAKEOFF](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_TAKEOFF) MAVLink command.
|
||||
During mission execution the vehicle will takeoff towards this waypoint, and climb until the specified altitude is reached.
|
||||
The mission item is then accepted, and the mission will start executing the next item.
|
||||
|
||||
More specifically, the takeoff mission item defines the takeoff course and clearance altitude.
|
||||
The course is the line between the vehicle starting point and the horizontal position defined in the mission item, while the clearance altitude is the mission item altitude.
|
||||
|
||||
For a runway takeoff, the `Takeoff` mission item will cause the vehicle to arm, throttle up the motors and take off.
|
||||
When hand-launching the vehicle will arm, but only throttle up when the vehicle is thrown (the acceleration trigger is detected).
|
||||
In both cases, the vehicle should be placed (or launched) facing towards the takeoff waypoint when the mission is started.
|
||||
If possible, always make the vehicle takeoff into the wind.
|
||||
|
||||
:::info
|
||||
A fixed-wing mission requires a `Takeoff` mission item to takeoff; if however the vehicle is already flying when the mission is started the takeoff item will be treated as a normal waypoint.
|
||||
:::
|
||||
|
||||
For more infomormation about takeoff behaviour and configuration see [Takeoff mode (FW)](../flight_modes_fw/takeoff.md).
|
||||
|
||||
## Mission Landing
|
||||
|
||||
Fixed-wing mission landing is the recommended way to land a plane autonomously.
|
||||
This can be planned in _QGroundControl_ using [fixed-wing landing pattern](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/plan_view/pattern_fixed_wing_landing.html).
|
||||
|
||||
If possible, always plan the landing such that it does the approach into the wind.
|
||||
|
||||
The following sections describe the landing sequence, land abort and nudging, safety considerations, and configuration.
|
||||
|
||||
### Landing Sequence
|
||||
|
||||
A landing pattern consists of a loiter waypoint ([MAV_CMD_NAV_LOITER_TO_ALT](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_LOITER_TO_ALT)) followed by a land waypoint ([MAV_CMD_NAV_LAND](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_LAND)).
|
||||
The positions of the two points define the start and end point of the landing approach, and hence the glide slope for the landing approach.
|
||||
|
||||
This pattern results in the following landing sequence:
|
||||
|
||||
1. **Fly to landing location**: The aircraft flies at its current altitude towards the loiter waypoint.
|
||||
2. **Descending orbit to approach altitude**: On reaching the loiter radius of the waypoint, the vehicle performs a descending orbit until it reaches the "approach altitude" (the altitude of the loiter waypoint).
|
||||
The vehicle continues to orbit at this altitude until it has a tanjential path towards the land waypoint, at which point the landing approach is initiated.
|
||||
3. **Landing approach**: The aircraft follows the landing approach slope towards the land waypoint until the flare altitude is reached.
|
||||
4. **Flare**: The vehicle flares until it touches down.
|
||||
|
||||
|
||||
|
||||
### Landing Approach
|
||||
|
||||
The vehicle tracks the landing slope (generally at a slower speed than cruise) until reaching the flare altitude.
|
||||
|
||||
Note that the glide slope is calculated from the 3D positions of the loiter and landing waypoints; if its angle exceeds the parameter [FW_LND_ANG](#FW_LND_ANG) the mission will be rejected as unfeasible on upload.
|
||||
|
||||
The parameters that affect the landing approach are listed below.
|
||||
|
||||
| 参数 | 描述 |
|
||||
| --------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
|
||||
| <a id="FW_LND_ANG"></a>[FW_LND_ANG](../advanced_config/parameter_reference.md#FW_LND_ANG) | The maximum achievable landing approach slope angle. Note that smaller angles may still be commanded via the landing pattern mission item. |
|
||||
| [FW_LND_EARLYCFG](../advanced_config/parameter_reference.md#FW_LND_EARLYCFG) | Optionally deploy landing configuration during the landing descent orbit (e.g. flaps, spoilers, landing airspeed). |
|
||||
| [FW_LND_AIRSPD](../advanced_config/parameter_reference.md#FW_LND_AIRSPD) | Calibrated airspeed setpoint during landing. |
|
||||
| [FW_FLAPS_LND_SCL](../advanced_config/parameter_reference.md#FW_FLAPS_LND_SCL) | Flaps setting during landing. |
|
||||
| [FW_LND_THRTC_SC](../advanced_config/parameter_reference.md#FW_LND_THRTC_SC) | Altitude time constant factor for landing (overrides default [TECS tuning](../config_fw/position_tuning_guide_fixedwing.md)). |
|
||||
|
||||
### Flaring / Roll-out
|
||||
|
||||
Flaring consists of a switch from altitude tracking to a shallow sink rate setpoint and constraints on the commandable throttle, resulting in nose up manuevering to slow the descent and produce a softer touchdown.
|
||||
|
||||
The flaring altitude is calculated during the final approach via "time-to-impact" ([FW_LND_FL_TIME](#FW_LND_FL_TIME)) and the approach descent rate.
|
||||
An additional safety parameter [FW_LND_FLALT](#FW_LND_FLALT) sets the minimum altitude at which the vehicle will flare (if the time based altitude is too low to allow a safe flare maneuver).
|
||||
|
||||
If belly landing, the vehicle will continue in the flaring state until touchdown, land detection, and subsequent disarm. For runway landings, [FW_LND_TD_TIME](#FW_LND_TD_TIME) enables setting the time post flare start to pitch down the nose (e.g. consider tricycle gear) onto the runway ([RWTO_PSP](#RWTO_PSP)) and avoid bouncing. This time roughly corresponds to the touchdown post flare, and should be tuned for a given airframe during test flights only after the flare has been tuned.
|
||||
|
||||
The parameters that affect flaring are listed below.
|
||||
|
||||
| 参数 | 描述 |
|
||||
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
|
||||
| <a id="FW_LND_FL_TIME"></a>[FW_LND_FL_TIME](../advanced_config/parameter_reference.md#FW_LND_FL_TIME) | Time before impact (at current descent rate) at which the vehicle should flare. |
|
||||
| <a id="FW_LND_FL_SINK"></a>[FW_LND_FL_SINK](../advanced_config/parameter_reference.md#FW_LND_FL_SINK) | A shallow sink rate the aircraft will track during the flare. |
|
||||
| <a id="FW_LND_FLALT"></a>[FW_LND_FLALT](../advanced_config/parameter_reference.md#FW_LND_FLALT) | Minimum altitude above ground the aircraft must flare. This is only used when the time-based flare altitude is too low. |
|
||||
| <a id="FW_LND_FL_PMAX"></a>[FW_LND_FL_PMAX](../advanced_config/parameter_reference.md#FW_LND_FL_PMAX) | Maximum allowed pitch during the flare. |
|
||||
| <a id="FW_LND_FL_PMIN"></a>[FW_LND_FL_PMIN](../advanced_config/parameter_reference.md#FW_LND_FL_PMIN) | Minimum allowed pitch during the flare (often necessary to avoid negative pitch angles commanded to increase airspeed, as the throttle is reduced to idle setting.) |
|
||||
| <a id="FW_LND_TD_TIME"></a>[FW_LND_TD_TIME](../advanced_config/parameter_reference.md#FW_LND_TD_TIME) | The time after flare start when the vehicle should pitch the nose down. |
|
||||
| <a id="RWTO_PSP"></a>[RWTO_PSP](../advanced_config/parameter_reference.md#RWTO_PSP) | Pitch setpoint while on the runway. For tricycle gear, typically near zero. For tail draggers, positive. |
|
||||
| <a id="FW_THR_IDLE"></a>[FW_THR_IDLE](../advanced_config/parameter_reference.md#FW_THR_IDLE) | Idle throttle setting. The vehicle will retain this setting throughout the flare and roll out. |
|
||||
|
||||
### Abort
|
||||
|
||||
#### Operator Abort
|
||||
|
||||
The landing may be aborted by the operator at any point during the final approach using the [MAV_CMD_DO_GO_AROUND](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_GO_AROUND) command.
|
||||
On _QGroundControl_ a popup button appears during landing to enable this.
|
||||
|
||||
Aborting the landing results in a climb out to an orbit pattern centered above the land waypoint.
|
||||
The maximum of the aircraft's current altitude and [MIS_LND_ABRT_ALT](#MIS_LND_ABRT_ALT) is set as the abort orbit altitude height relative to (above) the landing waypoint.
|
||||
Landing configuration (e.g. flaps, spoilers, landing airspeed) is disabled during abort and the aicraft flies in cruise conditions.
|
||||
|
||||
The abort command is disabled during the flare for safety.
|
||||
Operators may still manually abort the landing by switching to any manual mode, such as [Stabilized mode](../flight_modes_fw/stabilized.md)), though it should be noted that this is risky!
|
||||
|
||||
#### Automatic Abort
|
||||
|
||||
Automatic abort logic is additionally available for several conditions, if configured.
|
||||
Available automatic abort criteria may be enabled via bitmask parameter [FW_LND_ABORT](#FW_LND_ABORT).
|
||||
One example of an automatic abort criteria is the absence of a valid range measurement from a distance sensor.
|
||||
|
||||
:::warning
|
||||
Landing without a distance sensor is **strongly** discouraged.
|
||||
Disabling terrain estimation with [FW_LND_USETER](#FW_LND_USETER) and select bits of [FW_LND_ABORT](#FW_LND_ABORT) will remove the default distance sensor requirement, but consequently falls back to GNSS altitude to determine the flaring altitude, which may be several meters too high or too low, potentially resulting in damage to the airframe.
|
||||
:::
|
||||
|
||||
| 参数 | 描述 |
|
||||
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------ |
|
||||
| <a id="MIS_LND_ABRT_ALT"></a>[MIS_LND_ABRT_ALT](../advanced_config/parameter_reference.md#MIS_LND_ABRT_ALT) | The minimum altitude above the land point an abort orbit can be commanded. |
|
||||
| <a id="FW_LND_ABORT"></a>[FW_LND_ABORT](../advanced_config/parameter_reference.md#FW_LND_ABORT) | Determines which automatic abort criteria are enabled. |
|
||||
| <a id="FW_LND_USETER"></a>[FW_LND_USETER](../advanced_config/parameter_reference.md#FW_LND_USETER) | Enables use of the distance sensor during the final approach. |
|
||||
|
||||
### Nudging
|
||||
|
||||
In the case of minor GNSS or map discrepancies causing an offset approach, small manual adjustments to the landing approach and roll out can be made by the operator (via yaw stick) when [FW_LND_NUDGE](../advanced_config/parameter_reference.md#FW_LND_NUDGE) is enabled.
|
||||
Options include either nudging the approach angle or the full approach path.
|
||||
|
||||
In both cases, the vehicle remains in full auto mode, tracking the shifted approach vector.
|
||||
[FW_LND_TD_OFF](../advanced_config/parameter_reference.md#FW_LND_TD_OFF) allows determination of how far to the left or right of the landing waypoint the projected touchdown point may be nudged.
|
||||
Yaw stick input corresponds to a nudge "rate".
|
||||
Once the stick is released (zero rate), the approach path or angle will stop moving.
|
||||
|
||||
|
||||
|
||||
Approach path nudging is frozen once the flare starts.
|
||||
If conducting a runway landing with steerable nose wheel, the yaw stick command passes directly to the nose wheel from flare start, during roll out, until disarm.
|
||||
Note that if the wheel controller is enabled ([FW_W_EN](#FW_W_EN)), the controller will actively attempt to steer the vehicle to the approach path, i.e. "fighting" operator yaw stick inputs.
|
||||
|
||||
:::info
|
||||
Nudging should not be used to supplement poor position control tuning.
|
||||
If the vehicle is regularly showing poor tracking peformance on a defined path, please refer to the [fixed-wing control tuning guide](../flight_modes_fw/position.md) for instruction.
|
||||
:::
|
||||
|
||||
| 参数 | 描述 |
|
||||
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------- |
|
||||
| <a id="FW_LND_NUDGE"></a>[FW_LND_NUDGE](../advanced_config/parameter_reference.md#FW_LND_NUDGE) | Enable nudging behavior for fixed-wing landing. |
|
||||
| <a id="FW_LND_TD_OFF"></a>[FW_LND_TD_OFF](../advanced_config/parameter_reference.md#FW_LND_TD_OFF) | Configure the allowable touchdown lateral offset from the commanded landing point. |
|
||||
| <a id="FW_W_EN"></a>[FW_W_EN](../advanced_config/parameter_reference.md#FW_W_EN) | Enable the nose wheel steering controller. |
|
||||
|
||||
### Near Ground Safety Constraints
|
||||
|
||||
In landing mode, the distance sensor is used to determine proximity to the ground, and the airframe's geometry is used to calculate roll contraints to prevent wing strike.
|
||||
|
||||
|
||||
|
||||
| 参数 | 描述 |
|
||||
| -------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------- |
|
||||
| [FW_WING_SPAN](../advanced_config/parameter_reference.md#FW_WING_SPAN) | Wing span of the airframe. |
|
||||
| [FW_WING_HEIGHT](../advanced_config/parameter_reference.md#FW_WING_HEIGHT) | Height of wing from bottom of gear (or belly if no gear). |
|
||||
|
||||
## See Also
|
||||
|
||||
- [Missions](../flying/missions.md)
|
||||
- [Package Delivery Mission](../flying/package_delivery_mission.md)
|
||||
- [Mission Mode (MC)](../flight_modes_mc/mission.md)
|
||||
@@ -0,0 +1,3 @@
|
||||
<Redirect to="../flight_modes/offboard" />
|
||||
|
||||
# Offboard Mode (Fixed-Wing)
|
||||
@@ -0,0 +1,53 @@
|
||||
# Position Mode (Fixed-wing)
|
||||
|
||||
<img src="../../assets/site/difficulty_easy.png" title="Easy to fly" width="30px" /> <img src="../../assets/site/remote_control.svg" title="Manual/Remote control required" width="30px" /> <img src="../../assets/site/position_fixed.svg" title="Position fix required (e.g. GPS)" width="30px" />
|
||||
|
||||
_Position mode_ is the easiest and safest manual mode.
|
||||
It is supported on vehicles that have a position estimate (e.g. GPS).
|
||||
It makes it easier for pilots to control vehicle altitude, and in particular to reach and maintain a fixed altitude.
|
||||
The mode will hold the vehicle's course against wind.
|
||||
Airspeed is actively controlled if an airspeed sensor is installed.
|
||||
|
||||
The vehicle performs a [coordinated turn](https://en.wikipedia.org/wiki/Coordinated_flight) if the roll sticks are non-zero, while the pitch stick controls the rate of ascent/descent.
|
||||
滚动和俯仰是角度控制的（因此不可能实现飞机滚转或环绕）。
|
||||
|
||||
When all sticks are released/centered (no roll, pitch, yaw, and ~50% throttle) the aircraft will return to straight, level flight, and keep its current altitude and flight path irrespective of wind.
|
||||
This makes it easy to recover from any problems when flying.
|
||||
Roll and pitch are angle-controlled (so it is impossible to roll over or loop the vehicle).
|
||||
|
||||
The yaw stick can be used to increase/reduce the yaw rate of the vehicle in turns.
|
||||
If left at center the controller does the turn coordination by itself, meaning that it will apply the necessary yaw rate for the current roll angle to perform a smooth turn.
|
||||
The diagram below shows the mode behaviour visually (for a [mode 2 transmitter](../getting_started/rc_transmitter_receiver.md#transmitter_modes)).
|
||||
|
||||
|
||||
|
||||
## 技术描述
|
||||
|
||||
Position mode is like [Stabilized mode](../flight_modes_fw/altitude.md) but with course stabilization.
|
||||
Airspeed is also stabilized if an airspeed sensor is present.
|
||||
|
||||
- 回中的滚动/俯仰/偏航输入（在死区内）：
|
||||
- Autopilot levels vehicle and maintains altitude, airspeed and course over ground.
|
||||
- 外部中心：
|
||||
- 俯仰摇杆控制高度。
|
||||
- 如果空速传感器已连接，油门杆控制飞机速度。 Without an airspeed sensor the vehicle will fly level at trim throttle ([FW_THR_TRIM](../advanced_config/parameter_reference.md#FW_THR_TRIM)), increasing or decreasing throttle as needed to climb or descend.
|
||||
- 横滚摇杆控制横滚角度。 Autopilot will maintain [coordinated flight](https://en.wikipedia.org/wiki/Coordinated_flight).
|
||||
- 偏航摇杆操纵会驱动方向舵（指令将被加到自动驾驶仪计算的指令中以维持 <a href="https://en.wikipedia.org/wiki/Coordinated_flight">协调飞行</a>）。
|
||||
这和<a href="../flight_modes/stabilized_fw.md">稳定模式</a>一样。
|
||||
- Manual control input is required (such as RC control, joystick).
|
||||
- An altitude measurement source is required (usually barometer or GPS)
|
||||
|
||||
## 参数
|
||||
|
||||
该模式受以下参数影响：
|
||||
|
||||
| 参数 | 描述 |
|
||||
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------- |
|
||||
| <a id="FW_AIRSPD_MIN"></a>[FW_AIRSPD_MIN](../advanced_config/parameter_reference.md#FW_AIRSPD_MIN) | 最小空速/油门。 默认：10 m/s。 |
|
||||
| <a id="FW_AIRSPD_MAX"></a>[FW_AIRSPD_MAX](../advanced_config/parameter_reference.md#FW_AIRSPD_MAX) | 最大空速/油门。 默认：20 m/s。 |
|
||||
| <a id="FW_AIRSPD_TRIM"></a>[FW_AIRSPD_TRIM](../advanced_config/parameter_reference.md#FW_AIRSPD_TRIM) | 巡航速度。 默认：15 m/s。 |
|
||||
| <a id="FW_MAN_P_MAX"></a>[FW_MAN_P_MAX](../advanced_config/parameter_reference.md#FW_MAN_P_MAX) | 在高度稳定模式下手动控制的最大俯仰角。 Default: 45 degrees. |
|
||||
| <a id="FW_MAN_R_MAX"></a>[FW_MAN_R_MAX](../advanced_config/parameter_reference.md#FW_MAN_R_MAX) | 在高度稳定模式下手动控制的最大滚转角。 Default: 45 degrees. |
|
||||
| <a id="FW_T_CLMB_R_SP"></a>[FW_T_CLMB_R_SP](../advanced_config/parameter_reference.md#FW_T_CLMB_R_SP) | Max climb rate setpoint. 默认：3m/s。 |
|
||||
| <a id="FW_T_SINK_R_SP"></a>[FW_T_SINK_R_SP](../advanced_config/parameter_reference.md#FW_T_SINK_R_SP) | Max sink rate setpoint. Default: 2 m/s. |
|
||||
| <a id="FW_PN_R_SLEW_MAX"></a>[FW_PN_R_SLEW_MAX](../advanced_config/parameter_reference.md#FW_PN_R_SLEW_MAX) | Roll setpoint slew rate limit. Default: 90 °/s. |
|
||||
@@ -0,0 +1,68 @@
|
||||
# Return Mode (Fixed-Wing)
|
||||
|
||||
<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.
|
||||
|
||||
Fixed-wing vehicles use the [Mission Landing/Rally Point](../flight_modes/return.md#mission-landing-rally-point-return-type-rtl-type-1) return type by default, and are expected to always have a mission with a landing pattern.
|
||||
With this configuration, return mode causes the vehicle to ascend to a minimum safe altitude above obstructions (if needed), fly to the start of the landing pattern defined in the mission plan, and then follow it to land.
|
||||
|
||||
Fixed-wing supports the [other PX4 return types](../flight_modes/return.md#return-types-rtl-type), including home/rally point return, 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).
|
||||
- 遥控开关可以在任何无人机上更改飞行模式。
|
||||
- RC stick movement is ignored.
|
||||
|
||||
<!-- https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/commander/ModeUtil/mode_requirements.cpp -->
|
||||
|
||||
:::
|
||||
|
||||
## 技术总结
|
||||
|
||||
Fixed-wing vehicles use the _mission landing/rally point_ return type by default.
|
||||
无人机在该返航类型中：
|
||||
|
||||
- Ascends to a safe minimum return altitude defined by [RTL_RETURN_ALT](#RTL_RETURN_ALT) (safely above any expected obstacles).
|
||||
The vehicle maintains its initial altitude if that is higher than the minimum return altitude.
|
||||
Note that return altitude cannot be configured using the "cone" parameter in fixed-wing vehicles.
|
||||
- Flies via direct constant-altitude path to the destination, which will be the closest of the start of a _mission landing pattern_ and any rally point, or the home location if no mission landing pattern or rally points are defined.
|
||||
- If the destination is a _mission landing pattern_ it will follow the pattern to land.
|
||||
- If the destination is a rally point or home it will descend to the descent altitude, and then loiter or land (depending on landing parameters).
|
||||
|
||||
A fixed-wing vehicle is expected to use a landing pattern defined in a mission as the return destination, as this is the safest way to land automatically.
|
||||
This requirement is usually enforced by the [MIS_TKO_LAND_REQ](#MIS_TKO_LAND_REQ) parameter.
|
||||
|
||||
A mission landing pattern consists of a [MAV_CMD_DO_LAND_START](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_LAND_START), one or more position waypoints, and a [MAV_CMD_NAV_LAND](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_LAND).
|
||||
|
||||
When the destination is a rally point or the home location, on arrival the vehicle will rapidly descend to the altitude defined by [RTL_DESCEND_ALT](#RTL_DESCEND_ALT), and by default circle above the destination indefinitely at radius [RTL_LOITER_RAD](#RTL_LOITER_RAD).
|
||||
The vehicle can be forced to land at the destination by changing [RTL_LAND_DELAY](#RTL_LAND_DELAY) so it is not -1.
|
||||
In this case the vehicle will land in the same way as [Land mode](../flight_modes_fw/land.md).
|
||||
|
||||
## 参数
|
||||
|
||||
The RTL parameters are listed in [Parameter Reference > Return Mode](../advanced_config/parameter_reference.md#return-mode).
|
||||
If using a mission landing, only the [RTL_RETURN_ALT](#RTL_RETURN_ALT) and [RTL_DESCEND_ALT](#RTL_DESCEND_ALT) are relevant.
|
||||
The others are relevant if the destination is a rally point or the home location.
|
||||
|
||||
| 参数 | 描述 |
|
||||
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
|
||||
| <a id="RTL_TYPE"></a>[RTL_TYPE](../advanced_config/parameter_reference.md#RTL_TYPE) | Return type. |
|
||||
| <a id="RTL_RETURN_ALT"></a>[RTL_RETURN_ALT](../advanced_config/parameter_reference.md#RTL_RETURN_ALT) | Return altitude in meters (default: 60m)If already above this value the vehicle will return at its current altitude. |
|
||||
| <a id="RTL_DESCEND_ALT"></a>[RTL_DESCEND_ALT](../advanced_config/parameter_reference.md#RTL_DESCEND_ALT) | 最小返航高度和无人机从较高的返航高度到减速或者停止的初始下降高度（默认： 30米）。 |
|
||||
| <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. 延迟能够使你为起落架的展开部署配置时间（自动触发）。 |
|
||||
| <a id="RTL_LOITER_RAD"></a>[RTL_LOITER_RAD](../advanced_config/parameter_reference.md#RTL_LOITER_RAD) | [Fixed-wing Only] The radius of the loiter circle (at [RTL_LAND_DELAY](#RTL_LAND_DELAY)). |
|
||||
| <a id="MIS_TKO_LAND_REQ"></a>[MIS_TKO_LAND_REQ](../advanced_config/parameter_reference.md#MIS_TKO_LAND_REQ) | Specify whether a mission landing or takeoff pattern is required. Fixed wings generally require this. |
|
||||
|
||||
## See Also
|
||||
|
||||
- [Return Mode (Generic)](../flight_modes/return.md)
|
||||
- [Return Mode (Multicopter)](../flight_modes_mc/return.md)
|
||||
- [Return Mode (VTOL)](../flight_modes_vtol/return.md)
|
||||
@@ -0,0 +1,51 @@
|
||||
# Stabilized Mode (Fixed-wing)
|
||||
|
||||
<img src="../../assets/site/difficulty_medium.png" title="Medium difficulty to fly" width="30px" /> <img src="../../assets/site/remote_control.svg" title="Manual/Remote control required" width="30px" />
|
||||
|
||||
_Stabilized mode_ is a manual mode were centering the sticks levels the vehicle attitude (roll and pitch) and maintains the horizontal posture.
|
||||
|
||||
:::info
|
||||
_Stabilized mode_ is similar to [Altitude mode](../flight_modes_fw/altitude.md) in that releasing the sticks levels the vehicle, but unlike altitude mode it does not maintain altitude or heading.
|
||||
It is much easier to fly than [Manual mode](../flight_modes_fw/manual.md) because you can't roll or flip it, and if needed it is easy to level the vehicle (by centering the control sticks).
|
||||
:::
|
||||
|
||||
The vehicle climbs/descends based on pitch and throttle input and performs a [coordinated turn](https://en.wikipedia.org/wiki/Coordinated_flight) if the roll stick is non-zero.
|
||||
横滚和俯仰是角度控制的（不能上下滚动或循环）。
|
||||
|
||||
如果油门降至 0％（电机停止），飞机将滑行。
|
||||
为了执行转弯，必须在整个操纵过程中保持命令，因为如果释放横滚摇杆，则飞机将停止转动并自行调平（对于俯仰和偏航命令也是如此）。
|
||||
|
||||
The yaw stick can be used to increase/reduce the yaw rate of the vehicle in turns.
|
||||
If left at center the controller does the turn coordination by itself, meaning that it will apply the necessary yaw rate for the current roll angle to perform a smooth turn.
|
||||
|
||||
The diagram below shows the mode behaviour visually (for a [mode 2 transmitter](../getting_started/rc_transmitter_receiver.md#transmitter_modes)).
|
||||
|
||||
|
||||
|
||||
## 技术描述
|
||||
|
||||
Manual mode where centered roll/pitch sticks levels vehicle attitude.
|
||||
The vehicle course and altitude are not maintained, and can drift due to wind.
|
||||
|
||||
- Centered Roll/Pitch/Yaw sticks (inside deadband) put vehicle into straight and level flight.
|
||||
The vehicle course and altitude are not maintained, and can drift due to wind.
|
||||
- 横滚摇杆控制横滚角度。
|
||||
自动驾驶仪将保持 <a href="https://en.wikipedia.org/wiki/Coordinated_flight">协调飞行</a>。
|
||||
- Pitch stick controls pitch angle around the defined offset [FW_PSP_OFF](../advanced_config/parameter_reference.md#FW_PSP_OFF)
|
||||
- Throttle stick controls throttle directly.
|
||||
- 偏航摇杆操纵会驱动方向舵（指令将被加到自动驾驶仪计算的指令中以维持 <a href="https://en.wikipedia.org/wiki/Coordinated_flight">协调飞行</a>）。
|
||||
这和<a href="../flight_modes/stabilized_fw.md">稳定模式</a>一样。
|
||||
- Manual control input is required (such as RC control, joystick).
|
||||
|
||||
## 参数
|
||||
|
||||
该模式受以下参数影响：
|
||||
|
||||
| 参数 | 描述 |
|
||||
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------- |
|
||||
| <a id="FW_MAN_P_MAX"></a>[FW_MAN_P_MAX](../advanced_config/parameter_reference.md#FW_MAN_P_MAX) | Max pitch for manual control in attitude stabilized mode. Default: 45 degrees. |
|
||||
| <a id="FW_MAN_R_MAX"></a>[FW_MAN_R_MAX](../advanced_config/parameter_reference.md#FW_MAN_R_MAX) | Max roll for manual control in attitude stabilized mode. Default: 45 degrees. |
|
||||
| <a id="FW_MAN_YR_MAX"></a>[FW_MAN_YR_MAX](../advanced_config/parameter_reference.md#FW_MAN_YR_MAX) | Maximum manually added yaw rate . Default: 30 degrees per second. |
|
||||
| <a id="FW_PSP_OFF"></a>[FW_PSP_OFF](../advanced_config/parameter_reference.md#FW_PSP_OFF) | Pitch setpoint offset (pitch at level flight). Default: 0 degrees. |
|
||||
|
||||
<!-- this document needs to be extended -->
|
||||
@@ -0,0 +1,130 @@
|
||||
# Takeoff Mode (Fixed-Wing)
|
||||
|
||||
<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 then enter [Hold mode](../flight_modes_fw/takeoff.md).
|
||||
|
||||
Vehicles are [hand or catapult launched](#catapult-hand-launch) by default, but can also be [configured](#RWTO_TKOFF) to use a [runway takeoff](#runway-takeoff) when supported by the hardware.
|
||||
|
||||
::: 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 is ignored in catapult takeoff but can can be used to nudge the vehicle in runway takeoff.
|
||||
- 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 -->
|
||||
|
||||
:::
|
||||
|
||||
## 技术总结
|
||||
|
||||
Takeoff mode (and [fixed wing mission takeoff](../flight_modes_fw/mission.md#mission-takeoff)) has two modalities: [catapult/hand-launch](#catapult-hand-launch) or [runway takeoff](#runway-takeoff) (hardware-dependent).
|
||||
The mode defaults to catapult/hand launch, but can be set to runway takeoff by setting [RWTO_TKOFF](#RWTO_TKOFF) to 1.
|
||||
|
||||
To use _Takeoff mode_ you first switch to the mode, and then arm the vehicle.
|
||||
The acceleration of hand/catapult launch triggers the motors to start.
|
||||
For runway launch, motors ramp up automatically once the vehicle has been armed.
|
||||
|
||||
Irrespective of the modality, a flight path (starting point and takeoff course) and clearance altitude are defined:
|
||||
|
||||
- The starting point is the vehicle position when the takeoff mode is first entered.
|
||||
- The course is set to the vehicle heading on arming
|
||||
- The clearance altitude is set to [MIS_TAKEOFF_ALT](#MIS_TAKEOFF_ALT).
|
||||
|
||||
On takeoff, the aircraft will follow line defined by the starting point and course, climbing at the maximum climb rate ([FW_T_CLMB_MAX](../advanced_config/parameter_reference.md#FW_T_CLMB_MAX)) until reaching the clearance altitude.
|
||||
Reaching the clearance altitude causes the vehicle to enter [Hold mode](../flight_modes_fw/takeoff.md).
|
||||
|
||||
### 参数
|
||||
|
||||
Parameters that affect both catapult/hand-launch and runway takeoffs:
|
||||
|
||||
| 参数 | 描述 |
|
||||
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
|
||||
| <a id="MIS_TAKEOFF_ALT"></a>[MIS_TAKEOFF_ALT](../advanced_config/parameter_reference.md#MIS_TAKEOFF_ALT) | Minimum altitude setpoint above Home that the vehicle will climb to during takeoff. |
|
||||
| <a id="FW_TKO_AIRSPD"></a>[FW_TKO_AIRSPD](../advanced_config/parameter_reference.md#FW_TKO_AIRSPD) | Takeoff airspeed (is set to [FW_AIRSPD_MIN](../advanced_config/parameter_reference.md#FW_AIRSPD_MIN) if not defined by operator) |
|
||||
| <a id="FW_TKO_PITCH_MIN"></a>[FW_TKO_PITCH_MIN](../advanced_config/parameter_reference.md#FW_TKO_PITCH_MIN) | This is the minimum pitch angle setpoint during the climbout phase |
|
||||
| <a id="FW_T_CLMB_MAX"></a>[FW_T_CLMB_MAX](../advanced_config/parameter_reference.md#FW_T_CLMB_MAX) | Maximum climb rate. |
|
||||
| <a id="FW_FLAPS_TO_SCL"></a>[FW_FLAPS_TO_SCL](../advanced_config/parameter_reference.md#FW_FLAPS_TO_SCL) | Flaps setpoint during takeoff |
|
||||
|
||||
:::info
|
||||
The vehicle always respects normal FW max/min throttle settings during takeoff ([FW_THR_MIN](../advanced_config/parameter_reference.md#FW_THR_MIN), [FW_THR_MAX](../advanced_config/parameter_reference.md#FW_THR_MAX)).
|
||||
:::
|
||||
|
||||
<a id="hand_launch"></a>
|
||||
|
||||
## Catapult/Hand Launch
|
||||
|
||||
In _catapult/hand-launch mode_ the vehicle waits to detect launch (based on acceleration trigger).
|
||||
On launch it enables the motor(s) and climbs with the maximum climb rate [FW_T_CLMB_MAX](#FW_T_CLMB_MAX) while keeping the pitch setpoint above [FW_TKO_PITCH_MIN](#FW_TKO_PITCH_MIN).
|
||||
Once it reaches [MIS_TAKEOFF_ALT](#MIS_TAKEOFF_ALT) it will automatically switch to [Hold mode](../flight_modes_fw/hold.md) and loiter.
|
||||
|
||||
All RC stick movement is ignored during the full takeoff sequence.
|
||||
|
||||
To launch in this mode:
|
||||
|
||||
1. Arm the vehicle
|
||||
2. Put the vehicle into _Takeoff mode_
|
||||
3. Launch/throw the vehicle (firmly) directly into the wind.
|
||||
You can also shake the vehicle first, wait till the motor spins up and then throw it
|
||||
|
||||
### Parameters (Launch Detector)
|
||||
|
||||
The _launch detector_ is affected by the following parameters:
|
||||
|
||||
| 参数 | 描述 |
|
||||
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------- |
|
||||
| <a id="FW_LAUN_DETCN_ON"></a>[FW_LAUN_DETCN_ON](../advanced_config/parameter_reference.md#FW_LAUN_DETCN_ON) | Enable automatic launch detection. If disabled motors spin up on arming already |
|
||||
| <a id="FW_LAUN_AC_THLD"></a>[FW_LAUN_AC_THLD](../advanced_config/parameter_reference.md#FW_LAUN_AC_THLD) | Acceleration threshold (acceleration in body-forward direction must be above this value) |
|
||||
| <a id="FW_LAUN_AC_T"></a>[FW_LAUN_AC_T](../advanced_config/parameter_reference.md#FW_LAUN_AC_T) | Trigger time (acceleration must be above threshold for this amount of seconds) |
|
||||
| <a id="FW_LAUN_MOT_DEL"></a>[FW_LAUN_MOT_DEL](../advanced_config/parameter_reference.md#FW_LAUN_MOT_DEL) | Delay from launch detection to motor spin up |
|
||||
|
||||
<a id="runway_launch"></a>
|
||||
|
||||
## Runway Takeoff
|
||||
|
||||
Runway takeoffs can be used by vehicles with landing gear and and steerable wheel (only).
|
||||
You will first need to enable the wheel controller using the parameter [FW_W_EN](#FW_W_EN).
|
||||
|
||||
Vehicle should be centered and aligned with runway when takeoff is initiated.
|
||||
The operator can "nudge" the vehicle while on the runway to help keeping it centered and aligned (see [RWTO_NUDGE](../advanced_config/parameter_reference.md#RWTO_NUDGE)).
|
||||
|
||||
The _runway takeoff mode_ has the following phases:
|
||||
|
||||
1. **Throttle ramp**: Throttle is ramped up within [RWTO_RAMP_TIME](../advanced_config/parameter_reference.md#RWTO_RAMP_TIME) to [RWTO_MAX_THR](../advanced_config/parameter_reference.md#RWTO_MAX_THR).
|
||||
2. **Clamped to runway**: Pitch fixed, no roll and takeoff path controlled until the rotation airspeed ([RWTO_ROT_AIRSPD](../advanced_config/parameter_reference.md#RWTO_ROT_AIRSPD)) is reached. The operator is able to nudge the vehicle left/right via yaw stick.
|
||||
3. **Climbout**: Increase pitch setpoint and climb to takeoff altitude. To prevent wingstrikes, the controller will keep the roll setpoint locked to 0 when close to the ground, and then gradually allow more roll while climbing. It is based on the vehicle geometry as configured in [FW_WING_SPAN](#FW_WING_SPAN) and [FW_WING_HEIGHT](#FW_WING_HEIGHT).
|
||||
|
||||
:::info
|
||||
For a smooth takeoff, the runway wheel controller possibly needs to be tuned.
|
||||
It consists of a rate controller (P-I-FF-controller with the parameters [FW_WR_P](../advanced_config/parameter_reference.md#FW_WR_P), [FW_WR_I](../advanced_config/parameter_reference.md#FW_WR_I), [FW_WR_FF](../advanced_config/parameter_reference.md#FW_WR_FF)) and an outer loop that calculates heading setpoints from course errors and can be tuned via [RWTO_NPFG_PERIOD](#RWTO_NPFG_PERIOD).
|
||||
:::
|
||||
|
||||
### Parameters (Runway Takeoff)
|
||||
|
||||
Runway takeoff is affected by the following parameters:
|
||||
|
||||
| 参数 | 描述 |
|
||||
| ----------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
|
||||
| <a id="RWTO_TKOFF"></a>[RWTO_TKOFF](../advanced_config/parameter_reference.md#RWTO_TKOFF) | Enable runway takeoff |
|
||||
| <a id="FW_W_EN"></a>[FW_W_EN](../advanced_config/parameter_reference.md#FW_W_EN) | Enable wheel controller |
|
||||
| <a id="RWTO_MAX_THR"></a>[RWTO_MAX_THR](../advanced_config/parameter_reference.md#RWTO_MAX_THR) | Max throttle during runway takeoff |
|
||||
| <a id="RWTO_RAMP_TIME"></a>[RWTO_RAMP_TIME](../advanced_config/parameter_reference.md#RWTO_RAMP_TIME) | Throttle ramp up time |
|
||||
| <a id="RWTO_ROT_AIRSPD"></a>[RWTO_ROT_AIRSPD](../advanced_config/parameter_reference.md#RWTO_ROT_AIRSPD) | Airspeed threshold to start rotation (pitching up). If not configured by operator is set to 0.9\*FW_TKO_AIRSPD. |
|
||||
| <a id="RWTO_ROT_TIME"></a>[RWTO_ROT_TIME](../advanced_config/parameter_reference.md#RWTO_ROT_TIME) | This is the time desired to linearly ramp in takeoff pitch constraints during the takeoff rotation. |
|
||||
| <a id="FW_TKO_AIRSPD"></a>[FW_TKO_AIRSPD](../advanced_config/parameter_reference.md#FW_TKO_AIRSPD) | Airspeed setpoint during the takeoff climbout phase (after rotation). If not configured by operator is set to FW_AIRSPD_MIN. |
|
||||
| <a id="RWTO_NUDGE"></a>[RWTO_NUDGE](../advanced_config/parameter_reference.md#RWTO_NUDGE) | Enable wheel controller nudging while on the runway |
|
||||
| <a id="FW_WING_SPAN"></a>[FW_WING_SPAN](../advanced_config/parameter_reference.md#FW_WING_SPAN) | The wingspan of the vehicle. Used to prevent wingstrikes. |
|
||||
| <a id="FW_WING_HEIGHT"></a>[FW_WING_HEIGHT](../advanced_config/parameter_reference.md#FW_WING_HEIGHT) | The height of the wings above ground (ground clearance). Used to prevent wingstrikes. |
|
||||
| <a id="RWTO_NPFG_PERIOD"></a>[RWTO_NPFG_PERIOD](../advanced_config/parameter_reference.md#RWTO_NPFG_PERIOD) | L1 period while steering on runway. Increase for less aggressive response to course errors. |
|
||||
|
||||
## See Also
|
||||
|
||||
- [Takeoff Mode (MC)](../flight_modes_mc/takeoff.md)
|
||||
- [Planning a mission takeoff](../flight_modes_fw/mission.md#mission-takeoff)
|
||||
|
||||
<!-- this maps to AUTO_TAKEOFF in dev -->
|
||||
Reference in New Issue
Block a user