# 定高模式（多旋翼）
_Altitude mode_ is a _relatively_ easy-to-fly RC mode in which roll and pitch sticks control vehicle movement in the left-right and forward-back directions (relative to the "front" of the vehicle), yaw stick controls rate of rotation over the horizontal plane, and throttle controls speed of ascent-descent.
When the sticks are released/centered the vehicle will level and maintain the current _altitude_.
如果在水平面上运动，飞机将继持续运动直到任何动量被风阻力消散。
如果刮风，飞机会向风的方向漂移。
:::tip
_Altitude mode_ is the safest non-GPS manual mode for new fliers. It is just like [Stabilized](../flight_modes_mc/manual_stabilized.md) mode but additionally locks the vehicle altitude when the sticks are released.
:::
The diagram below shows the mode behaviour visually (for a [mode 2 transmitter](../getting_started/rc_transmitter_receiver.md#transmitter_modes)).
## 技术总结
RC/manual mode like [Stabilized mode](../flight_modes_mc/manual_stabilized.md) but with _altitude stabilization_ (centred sticks level vehicle and hold it to fixed altitude).
The horizontal position of the vehicle can move due to wind (or pre-existing momentum).
- Centered sticks:
- RPY摇杆使飞机水平。
- 油门（~50%）抗风保持当前姿态。
- 外部中心：
- 翻滚/俯仰摇杆控制各自方向的倾斜角，导致左右和前后的移动。
- 油门摇杆以预定的最大速率（和其他轴上的移动速度）控制上升速度。
- 偏航摇杆控制水平面上方的角度旋转速率。
- 起飞：
- 降落时，如果将油门杆抬高至 62.5%（从油门杆最低开始的整个范围），无人机将起飞。
- Altitude is normally measured using a barometer, which may become inaccurate in extreme weather conditions.
带有激光雷达/距离传感器的飞机将能够以更高的可靠性和准确性控制高度。
- Manual control input is required (such as RC control, joystick).
- Roll, Pitch: Assistance from autopilot to stabilize the attitude.
Position of RC stick maps to the orientation of vehicle.
- Throttle: Assistance from autopilot to hold position against wind.
- Yaw: Assistance from autopilot to stabilize the attitude rate.
Position of RC stick maps to the rate of rotation of vehicle in that orientation.
## 参数
该模式受以下参数影响：
| 参数 | 描述 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| [MPC_Z_VEL_MAX_UP](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_UP) | 最大垂直上升速度。 默认：3m/s。 |
| [MPC_Z_VEL_MAX_DN](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_DN) | 最大垂直下降速度。 默认：1m/s。 |
| `MPC_XXXX` | 大多数 MPC_xxx参数会影响此模式下的飞行行为（至少在某种程度上）。 For example, [MPC_THR_HOVER](../advanced_config/parameter_reference.md#MPC_THR_HOVER) defines the thrust at which a vehicle will hover. |