mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
88d623bedb
* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
45 lines
3.8 KiB
Markdown
45 lines
3.8 KiB
Markdown
# Takeoff Mode (Multicopter)
|
|
|
|
<img src="../../assets/site/position_fixed.svg" title="Position fix required (e.g. GPS)" width="30px" />
|
|
|
|
The _Takeoff_ flight mode causes the vehicle to take off to a specified height and wait for further input.
|
|
|
|
::: info
|
|
|
|
- Mode is automatic - no user intervention is _required_ to control the vehicle.
|
|
- Mode requires at least a valid local position estimate (does not require a global position).
|
|
- Flying vehicles can't switch to this mode without valid local position.
|
|
- Flying vehicles will failsafe if they lose the position estimate.
|
|
- Disarmed vehicles can switch to mode without valid position estimate but can't arm.
|
|
- RC control switches can be used to change flight modes.
|
|
- RC stick movement will [by default](#COM_RC_OVERRIDE) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless handling a critical battery failsafe.
|
|
- The [Failure Detector](../config/safety.md#failure-detector) will automatically stop the engines if there is a problem on takeoff.
|
|
|
|
<!-- https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/commander/ModeUtil/mode_requirements.cpp -->
|
|
|
|
:::
|
|
|
|
## Technical Summary
|
|
|
|
A multi rotor ascends vertically to the altitude defined in [MIS_TAKEOFF_ALT](../advanced_config/parameter_reference.md#MIS_TAKEOFF_ALT) and holds position.
|
|
|
|
RC stick movement will change the vehicle to [Position mode](../flight_modes_mc/position.md) (by [default](#COM_RC_OVERRIDE)).
|
|
|
|
### Parameters
|
|
|
|
Takeoff is affected by the following parameters:
|
|
|
|
| Parameter | Description |
|
|
| -------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
|
|
| <a id="MIS_TAKEOFF_ALT"></a>[MIS_TAKEOFF_ALT](../advanced_config/parameter_reference.md#MIS_TAKEOFF_ALT) | Target altitude during takeoff (default: 2.5m) |
|
|
| <a id="MPC_TKO_SPEED"></a>[MPC_TKO_SPEED](../advanced_config/parameter_reference.md#MPC_TKO_SPEED) | Speed of ascent (default: 1.5m/s) |
|
|
| <a id="COM_RC_OVERRIDE"></a>[COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE) | Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to [Position mode](../flight_modes_mc/position.md). This can be separately enabled for auto modes and for offboard mode, and is enabled in auto modes by default. |
|
|
| <a id="COM_RC_STICK_OV"></a>[COM_RC_STICK_OV](../advanced_config/parameter_reference.md#COM_RC_STICK_OV) | The amount of stick movement that causes a transition to [Position mode](../flight_modes_mc/position.md) (if [COM_RC_OVERRIDE](#COM_RC_OVERRIDE) is enabled) |
|
|
|
|
## See Also
|
|
|
|
- [Throw Launch (MC)](../flight_modes_mc/throw_launch.md)
|
|
- [Takeoff Mode (FW)](../flight_modes_fw/takeoff.md)
|
|
|
|
<!-- this maps to AUTO_TAKEOFF in dev -->
|