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* rc_update: remove 1% deadzone for all channels
this should be handled higher level.
* Remove all references to the RC{n}_DZ parameters
Regular expression: RC.{0,2}_DZ
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Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
51 lines
4.9 KiB
Markdown
51 lines
4.9 KiB
Markdown
# Altitude 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 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.
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When the sticks are released/centered the vehicle will level and maintain the current _altitude_.
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If moving in the horizontal plane the vehicle will continue until any momentum is dissipated by wind resistance.
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If the wind blows the aircraft will drift in the direction of the wind.
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:::tip
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_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.
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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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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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- Centered sticks:
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- RPY sticks levels vehicle.
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- Throttle (~50%) holds current altitude steady against wind.
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- Outside center:
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- Roll/Pitch sticks control tilt angle in respective orientations, resulting in corresponding left-right and forward-back movement.
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- Throttle stick controls up/down speed with a predetermined maximum rate (and movement speed in other axes).
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- Yaw stick controls rate of angular rotation above the horizontal plane.
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- Takeoff:
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- When landed, the vehicle will take off if the throttle stick is raised above 62.5% percent (of the full range from bottom).
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- Altitude is normally measured using a barometer, which may become inaccurate in extreme weather conditions.
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Vehicles that include a LIDAR/range sensor will be able to control altitude with greater reliability and accuracy.
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- Manual control input is required (such as RC control, joystick).
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- Roll, Pitch: Assistance from autopilot to stabilize the attitude.
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Position of RC stick maps to the orientation of vehicle.
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- Throttle: Assistance from autopilot to hold position against wind.
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- Yaw: Assistance from autopilot to stabilize the attitude rate.
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Position of RC stick maps to the rate of rotation of vehicle in that orientation.
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## Parameters
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The mode is affected by the following parameters:
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| Parameter | Description |
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| ----------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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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) | Maximum vertical ascent velocity. Default: 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) | Maximum vertical descent velocity. Default: 1 m/s. |
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| <a id="MPC_xxx"></a>`MPC_XXXX` | Most of the MPC_xxx parameters affect flight behaviour in this mode (at least to some extent). For example, [MPC_THR_HOVER](../advanced_config/parameter_reference.md#MPC_THR_HOVER) defines the thrust at which a vehicle will hover. |
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