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New Crowdin translations - uk
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Hamish Willee
Hamish Willee
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# Auto Modes
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In auto modes the autopilot takes over control of the vehicle to run missions, return to launch, or perform other autonomous navigation tasks.
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To use auto modes **all** the configuration/tuning steps in [Rover Configuration/Tuning](../config_rover/index.md) must be followed (from [Basic Setup](../config_rover/basic_setup.md) to [Position tuning](../config_rover/position_tuning.md)).
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## Mission Mode
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_Mission mode_ is an automatic mode that causes the vehicle to execute a predefined autonomous [mission plan](../flying/missions.md) that has been uploaded to the flight controller.
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The mission is typically created and uploaded with a Ground Control Station (GCS) application, such as [QGroundControl](https://docs.qgroundcontrol.com/master/en/).
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### Mission commands
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The following commands can be used in missions at time of writing (PX4 v1.16):
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| QGC mission item | Команда | Опис |
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| ------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------ | ----------------------------------------------------------------- |
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| Mission start | [MAV_CMD_MISSION_START](MAV_CMD_MISSION_START) | Starts the mission. |
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| Waypoint | [MAV_CMD_NAV_WAYPOINT](MAV_CMD_NAV_WAYPOINT) | Navigate to waypoint. |
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| Return to launch | [MAV\_CMD\_NAV\_RETURN\_TO\_LAUNCH][MAV_CMD_NAV_RETURN_TO_LAUNCH] | Return to the launch location. |
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| Change speed | [MAV\_CMD\_DO\_CHANGE\_SPEED][MAV_CMD_DO_CHANGE_SPEED] | Change the speed setpoint |
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| Set launch location | [MAV_CMD_DO_SET_HOME](MAV_CMD_DO_SET_HOME) | Changes launch location to specified coordinates. |
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| Jump to item (all) | [MAV\_CMD\_DO\_JUMP][MAV_CMD_DO_JUMP] (and other jump commands) | Jump to specified mission item. |
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[MAV_CMD_MISSION_START]: https://mavlink.io/en/messages/common.html#MAV_CMD_MISSION_START
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[MAV_CMD_NAV_WAYPOINT]: https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_WAYPOINT
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[MAV_CMD_NAV_RETURN_TO_LAUNCH]: https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_RETURN_TO_LAUNCH
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[MAV_CMD_DO_CHANGE_SPEED]: https://mavlink.io/en/messages/common.html#MAV_CMD_DO_CHANGE_SPEED
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[MAV_CMD_DO_SET_HOME]: https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_HOME
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[MAV_CMD_DO_JUMP]: https://mavlink.io/en/messages/common.html#MAV_CMD_DO_JUMP
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## Return Mode
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The vehicle will return to the launch position.
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Return mode can be activated through the respective [mission command](#mission-commands) or through the ground station UI.
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# Drive Modes
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Flight modes (or more accurately "Drive modes" for ground vehicles) provide autopilot support to make it easier to manually drive the vehicle or to execute autonomous missions.
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This section outlines all supported drive modes for [Rovers](../frames_rover/index.md).
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For information on mapping RC control switches to specific modes see: [Basic Configuration > Flight Modes](../config/flight_mode.md).
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:::warning
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Selecting any other mode than those listed below will either stop the rover or can lead to undefined behaviour.
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:::
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## Manual Modes
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| Режим | Опис |
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| --------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| [Manual](manual.md#manual-mode) | No autopilot support. User is responsible for keeping the rover on the desired course and maintaining speed and rate of turn. |
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| [Acro](manual.md#acro-mode) | + Maintains the yaw rate (feels more like driving a car than manual mode). <br>+ Allows maximum yaw rate to be limited (protects against roll over). |
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| [Stabilized](manual.md#stabilized-mode) | + Maintains the yaw (significantly better at holding a straight line). |
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| [Position](manual.md#position-mode) | + Maintains the course (best mode for driving a straight line).<br>+ Maintains speed against disturbances, e.g. when driving up a hill.<br>+ Allows maximum speed to be limited. |
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## Auto Modes
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| Режим | Опис |
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| ------------------------------- | --------------------------------------------------------------------------------------- |
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| [Mission](auto.md#mission-mode) | Automatic mode that causes the vehicle to execute a predefined mission. |
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| [Return](auto.md#return-mode) | Automatic mode that returns the vehicle to the launch position. |
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# Manual Modes
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Manual modes require stick inputs from the user to drive the vehicle.
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The sticks provide the same "high level" control effects over direction and rate of movement in all manual modes:
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| Rover Type | Left stick up/down | Left stick left/right | Right stick left/right |
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| ------------ | ------------------------------------------------------------------------------------------ | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| Ackermann | Drive the rover forwards/backwards (controlling speed) | - | Make a left/right turn (controlling steering angle in [Manual mode](#manual-mode), and yaw rate in [Acro](#acro-mode), [Stabilized](#stabilized-mode) and [Position](#position-mode) modes). |
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| Differential | Drive the rover forwards/backwards (controlling speed). | - | Make a left/right turn (controlling speed difference in [Manual mode](#manual-mode), and yaw rate in [Acro](#acro-mode), [Stabilized](#stabilized-mode) and [Position](#position-mode) modes). |
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| Mecanum | Drive the rover forwards/backwards (controlling speed) | Make a left/right turn (controlling speed difference in [Manual mode](#manual-mode), and yaw rate in [Acro](#acro-mode), [Stabilized](#stabilized-mode) and [Position](#position-mode) modes). | Drive the rover left/right (controlling speed). |
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The manual modes provide progressively increasing levels of autopilot support for maintaining a course, speed, and rate of turn, compensating for external factors such as slopes or uneven terrain.
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| Режим | Опис |
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| --------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| [Manual](manual.md#manual-mode) | No autopilot support. User is responsible for keeping the rover on the desired course and maintaining speed and rate of turn. |
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| [Acro](manual.md#acro-mode) | + Maintains the yaw rate (feels more like driving a car than manual mode). <br>+ Allows maximum yaw rate to be limited (protects against roll over). |
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| [Stabilized](manual.md#stabilized-mode) | + Maintains the yaw (significantly better at holding a straight line). |
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| [Position](manual.md#position-mode) | + Maintains the course (best mode for driving a straight line).<br>+ Maintains speed against disturbances, e.g. when driving up a hill.<br>+ Allows maximum speed to be limited. |
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:::details
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Overview mode mapping to control effect
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| Режим | Speed | Turning | Required measurements |
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| ------------------------------ | ---------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------- |
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| [Manual](#manual-mode) | Directly map stick input to motor command. | Directly map stick input to steering angle/speed difference. | None. |
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| [Acro](#acro-mode) | Directly map stick input to motor command. | Stick input creates a yaw rate setpoint for the control system to regulate. | yaw rate. |
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| [Stabilized](#stabilized-mode) | Directly map stick input to motor commands. | Stick input creates a yaw rate setpoint for the control system to regulate. If this setpoint is zero (stick is centered) the control system will maintain the current yaw (heading) of the rover. | Yaw rate and yaw. |
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| [Position](#position-mode) | Stick input creates a speed setpoint for the control system to regulate. | Stick input creates a yaw rate setpoint for the control system to regulate. If this setpoint is zero (stick is centered) the control system will keep the rover driving in a straight line. | yaw rate, yaw, speed and global position (GPS). |
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:::
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## Ручний режим
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In this mode the stick inputs are directly mapped to motor commands.
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The rover does not attempt to maintain a specific orientation or compensate for external factors like slopes or uneven terrain!
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The user is responsible for making the necessary adjustments to the stick inputs to keep the rover on the desired course.
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| Rover Type | Left stick up/down | Left stick left/right | Right stick left/right |
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| ------------ | --------------------------------------------------- | ------------------------------------------------ | ---------------------------------------------------------- |
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| Ackermann | Drive the rover forwards/backwards. | - | Move the steering angle to the left/right. |
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| Differential | Drive the rover forwards/backwards. | - | Yaw the rover to the left/right. |
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| Mecanum | Drive the rover forwards/backwards. | Yaw the rover to the left/right. | Drive the rover left/right |
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For the configuration/tuning of this mode see [Basic Setup](../config_rover/basic_setup.md).
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## Acro Mode
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:::info
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This mode requires a yaw rate measurement.
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:::
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In this mode the vehicle regulates its yaw rate to a setpoint (but does not stabilize heading or regulate speed).
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| Rover Type | Left stick up/down | Left stick left/right | Right stick left/right |
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| ------------ | --------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
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| Ackermann | Drive the rover forwards/backwards. | - | Create a yaw rate setpoint for the control system to regulate. If this input is zero the control system will attempt to maintain a zero yaw rate (minimal disturbance rejection). |
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| Differential | Drive the rover forwards/backwards. | - | Create a yaw rate setpoint for the control system to regulate. If this input is zero the control system will attempt to maintain a zero yaw rate (minimal disturbance rejection) |
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| Mecanum | Drive the rover forwards/backwards. | Create a yaw rate setpoint for the control system to regulate. If this input is zero the control system will attempt to maintain a zero yaw rate (minimal disturbance rejection) | Drive the rover left/right |
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For the configuration/tuning of this mode see [Rate tuning](../config_rover/rate_tuning.md).
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## Stabilized Mode
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:::info
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This mode requires a yaw rate and yaw estimate.
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:::
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In this mode the vehicle regulates its yaw rate to a setpoint and will maintain its heading if this setpoint is zero (but does not regulate speed).
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Compared to [Acro mode](#acro-mode), this mode is much better at driving in a straight line as it can more effectively reject disturbances.
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| Rover Type | Left stick up/down | Left stick left/right | Right stick left/right |
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| ------------ | --------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| Ackermann | Drive the rover forwards/backwards. | - | Create a yaw rate setpoint for the control system to regulate. If this input is zero the control system will maintain the current yaw. |
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| Differential | Drive the rover forwards/backwards. | - | Create a yaw rate setpoint for the control system to regulate. If this input is zero the control system will maintain the current yaw. |
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| Mecanum | Drive the rover forwards/backwards. | Create a yaw rate setpoint for the control system to regulate. If this input is zero the control system will maintain the current yaw. | Drive the rover left/right |
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For the configuration/tuning of this mode see [Attitude tuning](../config_rover/attitude_tuning.md).
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## Position Mode
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:::info
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This mode requires a yaw rate, yaw, speed and global position estimate.
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:::
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This is the manual mode with the most autopilot support.
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The vehicle regulates its yaw rate and speed to a setpoint.
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If the yaw rate setpoint is zero, the controller will remember the GPS coordinates and yaw (heading) of the vehicle and use those to construct a line that the rover will then follow (course control).
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This offers the highest amount of disturbance rejection, which leads to the best straight line driving behavior.
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| Rover Type | Left stick up/down | Left stick left/right | Right stick left/right |
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| ------------ | --------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
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| Ackermann | Stick position sets a forward/back speed setpoint. The vehicle attempts to maintain this speed on slopes etc. | - | Create a yaw rate setpoint for the control system to regulate. If this input is zero the control system will maintain the course of the rover. |
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| Differential | Stick position sets a forward/back speed setpoint. The vehicle attempts to maintain this speed on slopes etc. | - | Create a yaw rate setpoint for the control system to regulate. If this input is zero the control system will maintain the course of the rover. |
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| Mecanum | Stick position sets a forward/back speed setpoint. The vehicle attempts to maintain this speed on slopes etc. | Create a yaw rate setpoint for the control system to regulate. If this input is zero the control system will maintain the course of the rover. | Stick position sets a left/right speed setpoint. The vehicle attempts to maintain this speed on slopes etc. |
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For the configuration/tuning of this mode see [Velocity tuning](../config_rover/velocity_tuning.md).
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