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New Crowdin translations - ko (#25588)
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@@ -21,7 +21,7 @@ The diagram below shows the mode behaviour visually (for a [mode 2 transmitter](
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RC/manual mode like [Stabilized mode](../flight_modes_mc/manual_stabilized.md) but with _altitude stabilization_ (centred sticks level vehicle and hold it to fixed altitude).
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The horizontal position of the vehicle can move due to wind (or pre-existing momentum).
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- 중앙 스틱 (데드밴드 내부) :
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- Centered sticks:
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- RPY sticks levels vehicle.
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- 스로틀(~ 50 %)은 현재 고도를 바람에 대해 일정하게 유지합니다.
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- Outside center:
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@@ -0,0 +1,45 @@
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# Altitude Cruise Mode (Multicopter)
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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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_Altitude Cruise mode_ is a _relatively_ easy-to-fly manual control mode in which roll and pitch sticks control vehicle movement in the left-right and forward-back directions (relative to the "front" of the vehicle), yaw stick controls rate of rotation over the horizontal plane, and throttle controls speed of ascent-descent.
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When the sticks are released/centered the vehicle will keep the current tilt and heading angle and maintain the current _altitude_.
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If moving in the horizontal plane the vehicle will accelerate until the wind resistance equals the acceleration caused by the set tilt angle.
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The vehicle will then continue to move with a constant velocity (unlike for Altitude mode, in which the vehicle will eventually slow down and stop).
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If the wind blows the aircraft will drift in the direction of the wind even if flying perfectly level.
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:::tip
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_Altitude Cruise mode_ is intended for long distance flights where the same tilt angle is kept for a long period of time. It is just like [Altitude](../flight_modes_mc/altitude.md) mode but does not go back to level tilt when the sticks are released.
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:::
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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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## Technical Summary
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A manual mode that is similar to [Altitude mode](../flight_modes_mc/altitude.md) but with different interpretation of roll and pitch sticks.
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- Centered sticks:
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- Roll/Pitch sticks: the current tilt is kept.
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- Yaw: the current heading is kept.
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- Throttle (~50%) holds current altitude.
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- Outside center:
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- Roll/Pitch sticks control the rate of change of the tilt angle, resulting in corresponding left-right and forward-back movement. A maximum stick deflection results in a tilting rate setpoint to go from level to max tilt within 0.5 seconds.
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- Yaw stick deflection rotates the tilt angle either left or right, causing the vehicle to change course. It is _not_ causing a direct rotation around the body yaw axis like in [Acro mode](../flight_modes_mc/acro.md).
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- 스로틀 스틱은 미리 정해진 최대 속도 (및 다른 축의 이동 속도)로 속도를 올리거나 내립니다.
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- 이륙:
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- 착륙했을 때 스로틀 스틱을 62.5 % (하단에서 전체 범위) 이상으로 올리면 기체가 이륙합니다.
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- Manual control input is required (such as RC control, joystick) to enter this mode. Other than in all other manual modes, it's though possible to disable the manual control loss failsafe by setting the corresponding flag in [COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT). In that case the current altitude, tilt and heading are kept until the manual control link is regained or the mode is exited.
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It is highly recommended to only disable the manual control loss failsafe for this mode if there is a stable data link connection to the vehicle at all times, and to enable the data link loss failsafe through [NAV_DLL_ACT](../advanced_config/parameter_reference.md#NAV_DLL_ACT).
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## 매개변수
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Most of the relevant parameters are already covered in the corresponding section in the [Altitude mode](../flight_modes_mc/altitude.md). Here a list of parameters of particular importance for Altitude Cruise.
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| 매개변수 | 설명 |
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| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| <a id="COM_RCL_EXCEPT"></a>[COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT) | The manual control failsafe can be disabled for Altitude Cruise by setting the corresponding bit in this parameter. |
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| <a id="NAV_DLL_ACT"></a>[NAV_DLL_ACT](../advanced_config/parameter_reference.md#NAV_DLL_ACT) | Data link lost failsafe action. Recommended to set if the manual control failsafe is disabled to avoid fly-aways. |
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| <a id="MPC_MAN_TILT_MAX"></a>[MPC_MAN_TILT_MAX](../advanced_config/parameter_reference.md#MPC_MAN_TILT_MAX) | The maximum tilt angle the vehicle will go to. At max stick deflection, it will take 0.5 seconds from level flight to this tilt angle. |
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@@ -21,10 +21,12 @@ Manual-Easy:
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- [Stabilized mode](../flight_modes_mc/manual_stabilized.md) — Releasing the sticks levels and maintains the vehicle horizontal posture (but not altitude or position).
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The vehicle will continue to move with momentum, and both altitude and horizontal position may be affected by wind.
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This mode is also used if "Manual mode" is selected in a ground station.
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- [Altitude Cruise mode](../flight_modes_mc/altitude_cruise.md) — Very similar to _Altitude mode_, with the difference that when the roll and pitch sticks are released the vehicle does not level out but keeps the tilt until further inputs are given.
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Additionally it is possible to disable the manual control failsafe for this mode, having the vehicle continue on it's set path even if there are no new control inputs.
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Manual-Acrobatic
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- [Acro](../flight_modes_mc/acro.md) — Manual mode for performing acrobatic maneuvers, such as rolls and loops.
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- [Acro](../flight_modes_mc/acro.md) — Manual mode for performing acrobatic manoeuvrers, such as rolls and loops.
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Releasing the sticks stops the vehicle rotating in the roll, pitch, yaw axes, but does not otherwise stabilise the vehicle.
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Autonomous:
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@@ -31,7 +31,7 @@ Throttle is rescaled (see [below](#params)) and passed directly to control alloc
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자동 조종 장치는 자세를 제어합니다. 즉, RC 스틱이 컨트롤러 데드 존 내부에 집중 될 때 롤과 피치 각을 제로로 조절합니다 (결과적으로 태도가 수평이 됨).
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자동 조종 장치는 바람 (또는 다른 원인)으로 인한 드리프트를 보상하지 않습니다.
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- 중앙 스틱 (데드밴드 내부) :
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- Centered sticks:
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- Roll/Pitch sticks level vehicle.
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- Outside center:
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- Roll/Pitch sticks control tilt angle in those orientations, resulting in corresponding left-right and forward-back movement.
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@@ -43,7 +43,7 @@ While very rare on a well calibrated vehicle, sometimes there may be problems wi
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RC mode where roll, pitch, throttle (RPT) sticks control movement in corresponding axes/directions.
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Centered sticks level vehicle and hold it to fixed altitude and position against wind.
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- Centered roll, pitch, throttle sticks (within RC deadzone [MPC_HOLD_DZ](../advanced_config/parameter_reference.md#MPC_HOLD_DZ)) hold x, y, z position steady against any disturbance like wind.
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- Centered roll, pitch, throttle sticks (within RC deadzone [MAN_DEADZONE](#MAN_DEADZONE)) hold x, y, z position steady against any disturbance like wind.
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- Outside center:
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- Roll/Pitch sticks control horizontal acceleration over ground in the vehicle's left-right and forward-back directions (respectively).
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- Throttle stick controls speed of ascent-descent.
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@@ -62,7 +62,7 @@ All the parameters in the [Multicopter Position Control](../advanced_config/para
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| 매개변수 | 설명 |
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| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| <a id="MPC_HOLD_DZ"></a>[MPC_HOLD_DZ](../advanced_config/parameter_reference.md#MPC_HOLD_DZ) | Deadzone of sticks where position hold is enabled. Default: 0.1 (10% of full stick range). |
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| <a id="MAN_DEADZONE"></a>[MAN_DEADZONE](../advanced_config/parameter_reference.md#MAN_DEADZONE) | Deadzone of sticks where position hold is enabled. Default: 0.1 (10% of full stick range). |
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| <a id="MPC_Z_VEL_MAX_UP"></a>[MPC_Z_VEL_MAX_UP](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_UP) | 최대 수직 상승 속도. 기본값: 3 m/s. |
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| <a id="MPC_Z_VEL_MAX_DN"></a>[MPC_Z_VEL_MAX_DN](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_DN) | 최대 수직 하강 속도. 기본값: 1 m/s. |
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| <a id="MPC_LAND_ALT1"></a>[MPC_LAND_ALT1](../advanced_config/parameter_reference.md#MPC_LAND_ALT1) | Altitude for triggering first phase of slow landing. Below this altitude descending velocity gets limited to a value between [MPC_Z_VEL_MAX_DN](#MPC_Z_VEL_MAX_DN) (or `MPC_Z_V_AUTO_DN`) and [MPC_LAND_SPEED](#MPC_LAND_SPEED). Value needs to be higher than [MPC_LAND_ALT2](#MPC_LAND_ALT2). Default 10m. |
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