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Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>
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2025-03-13 16:08:27 +11:00
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docs/zh/flight_modes_vtol/index.md
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# Flight Modes (VTOL)
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.
VTOL vehicles can fly as either a multicopter or a fixed-wing vehicle, and will generally have exactly the same behaviour as the corresponding vehicle type:
VTOL-specific flight mode behaviour is covered in:
- [Land mode](../flight_modes_vtol/land.md): A VTOL flying as a fixed-wing vehicle will transition to MC before landing.
- [Mission mode](../flight_modes_vtol/mission.md): Missions support VTOL-specific mission commands for taking off, landing, and transitioning between vehicle types.
- [Return mode](../flight_modes_vtol/return.md): VTOL vehicles behave slightly differently they return as an MC or FW than the corresponding vehicles.
For other flight modes see the vehicle-specific behaviour:
- [Flight Modes (Multicopter)](../flight_modes_mc/index.md)
- [Flight Modes (Fixed-Wing)](../flight_modes_fw/index.md)
## 更多信息
- [Basic Configuration > Flight Modes](../config/flight_mode.md) - How to map RC control switches to specific flight modes
docs/zh/flight_modes_vtol/land.md
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# Land Mode (VTOL)
<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.
After landing, vehicles will disarm after a short timeout (by default).
A VTOL follows the land mode behavior and parameters of [Fixed-wing](../flight_modes_fw/land.md) when in FW mode, and of [Multicopter](../flight_modes_mc/land.md) when in MC mode.
By default a VTOL in FW mode will transition back to MC just before landing.
## 参数
The VTOL-specific parameters are:
| 参数 | 描述 |
| ---------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------- |
| [NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT) | Force VTOL to takeoff and land as a multicopter (default: true) |
## See Also
- [Land Mode (MC)](../flight_modes_mc/land.md)
- [Land Mode (FW)](../flight_modes_fw/land.md)
docs/zh/flight_modes_vtol/mission.md
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# Mission Mode (VTOL)
<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).
VTOL vehicles follow the behavior and parameters of fixed-wing when in FW mode, and of multicopter when in MC mode.
For more information see the specific docs for each mode:
- [Mission Mode (MC)](../flight_modes_mc/mission.md)
- [Mission Mode (FW)](../flight_modes_fw/mission.md)
The following sections outline mission mode behaviour that is VTOL specificL.
## Mission Commands
The following VTOL-specific commands are as defined in the MAVLink specification.
- [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 -->
- [MAV_CMD_NAV_VTOL_LAND](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_VTOL_LAND)
- [MAV_CMD_DO_VTOL_TRANSITION](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_VTOL_TRANSITION)
Otherwise PX4 generally "accepts" the mission commands for fixed wing or multicopter when in the respective modes.
In fixed-wing mode there are the following exceptions:
- [MAV_CMD_NAV_LAND](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_LAND) is transformed into [MAV_CMD_NAV_VTOL_LAND](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_VTOL_LAND) unless [NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT) is set to `0` (disabled).
- [MAV_CMD_NAV_TAKEOFF](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_TAKEOFF) is not supported.
## 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.
## Mission Takeoff
Plan a VTOL mission takeoff by adding a `VTOL Takeoff` mission item to the map.
During mission execution the vehicle will ascend vertically to the minimum takeoff altitude defined in the [MIS_TAKEOFF_ALT](../advanced_config/parameter_reference.md#MIS_TAKEOFF_ALT) parameter, then transition to fixed-wing mode with the heading defined in the mission item.
After transitioning the vehicle heads towards the 3D position defined in the mission item.
A VTOL mission requires a `VTOL Takeoff` mission item (`MAV_CMD_NAV_VTOL_TAKEOFF`) to takeoff (or a `MAV_CMD_NAV_TAKEOFF` when the vehicle is in MC mode); if however the vehicle is already flying when the mission is started the takeoff item will be treated as a normal waypoint.
## See Also
- [Mission Mode (MC)](../flight_modes_mc/mission.md)
- [Mission Mode (FW)](../flight_modes_fw/mission.md)
- [Missions](../flying/missions.md)
- [Package Delivery Mission](../flying/package_delivery_mission.md)
docs/zh/flight_modes_vtol/offboard.md
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# Offboard Mode (VTOL)
docs/zh/flight_modes_vtol/return.md
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# Return Mode (VTOL)
<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 may either wait (hover or circle) or land.
VTOL vehicles use the [Mission Landing/Rally Point](../flight_modes/return.md#mission-landing-rally-point-return-type-rtl-type-1) return type by default.
In this return type a vehicle ascends to a minimum safe altitude above obstructions (if needed), and then flies directly to a rally point or the start of a mission landing point (whichever is nearest), or the home position if neither rally points or mission landing pattern is defined.
If the destination is a mission landing pattern, the vehicle will then follow the pattern to land.
If the destination is a rally point or the home location, the vehicle will fly back to the home position and land.
The vehicle will return using the flying mode (MC or FW) it was using at the point when return mode was triggered.
Generally it will follow the same return mode behaviour of the corresponding vehicle type, but will always transition to MC mode (if needed) before landing.
VTOL 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
VTOL 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 return using the flying mode (MC or FW) it was using at the point when return mode was triggered.
### Fixed-wing Mode (FW) Return
If returning as a fixed-wing, the vehicle:
- 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.
- 如果目的地是飞行任务着陆模式，则按照该模式降落。
A mission landing pattern for a VTOL vehicle 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_VTOL_LAND](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_VTOL_LAND).
- If the destination is a rally point or home it will:
- Loiter/spiral down to [RTL_DESCEND_ALT](#RTL_DESCEND_ALT).
- Circle for a short time, as defined by [RTL_LAND_DELAY](#RTL_LAND_DELAY).
- Yaw towards the destination (centre of loiter).
- Transition to MC mode and land.
Note that [NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT) is ignored: the vehicle will always land as a multicopter for these destinations.
## Multicopter Mode (MC) Return
If returning as a multicopter:
- The behaviour is the same except that the vehicle flies as a multicopter and respects multicopter settings.
- In particular, if landing on rally point or the home position the vehicle uses the [RTL_CONE_ANG](#RTL_CONE_ANG) instead of just the [RTL_RETURN_ALT](#RTL_RETURN_ALT) for defining the minimum safe return altitude.
For more information see the explanation of the "cone" in [Return mode (Generic Vehicle) > Minimum Return Altitude](../flight_modes/return.md#minimum-return-altitude).
## 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_CONE_ANG"></a>[RTL_CONE_ANG](../advanced_config/parameter_reference.md#RTL_CONE_ANG) | 圆锥半角决定无人机的 RTL 返航高度。 数值(度数)：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="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_. Generally fixed-wing vehicles set this to require a landing pattern but VTOL do not. |
## See Also
- [Return Mode (Generic)](../flight_modes/return.md)
- [Return Mode (Multicopter)](../flight_modes_mc/return.md)
- [Return Mode (Fixed-Wing)](../flight_modes_fw/return.md)