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27 lines
2.8 KiB
Markdown
27 lines
2.8 KiB
Markdown
# Acro Mode (Fixed-Wing)
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<img src="../../assets/site/difficulty_hard.png" title="Hard to fly" width="30px" /> <img src="../../assets/site/remote_control.svg" title="Manual/Remote control required" width="30px" />
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_Acro mode_ is the manual mode for performing acrobatic maneuvers e.g. rolls, flips, stalls and acrobatic figures.
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The roll, pitch and yaw sticks control the rate of angular rotation around the respective axes and throttle is passed directly to control allocation.
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When sticks are centered the vehicle will stop rotating, but remain in its current orientation (on its side, inverted, or whatever) and moving according to its current momentum.
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## Technical Description
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Manual mode for performing acrobatic maneuvers e.g. rolls, flips, stalls and acrobatic figures.
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Roll-pitch-yaw stick inputs are translated to angular rate commands that are stabilized by autopilot.
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Throttle is passed directly to control allocation.
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## 매개변수
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| 매개변수 | 설명 |
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| -------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| <a id="FW_ACRO_X_MAX"></a>[FW_ACRO_X_MAX](../advanced_config/parameter_reference.md#FW_ACRO_X_MAX) | Acro body x max rate (the body x rate the controller is trying to achieve if the user applies full roll stick input in acro mode). Default: 90 degrees. |
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| <a id="FW_ACRO_Y_MAX"></a>[FW_ACRO_Y_MAX](../advanced_config/parameter_reference.md#FW_ACRO_Y_MAX) | Acro body y max rate (the body y rate the controller is trying to achieve if the user applies full pitch stick input in acro mode). Default: 90 degrees. |
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| <a id="FW_ACRO_Z_MAX"></a>[FW_ACRO_Z_MAX](../advanced_config/parameter_reference.md#FW_ACRO_Z_MAX) | Acro body z max rate (the body z rate the controller is trying to achieve if the user applies full yaw stick input in acro mode). Default: 45 degrees. |
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| <a id="FW_ACRO_YAW_EN"></a>[FW_ACRO_YAW_EN](../advanced_config/parameter_reference.md#FW_ACRO_YAW_EN) | Enable yaw rate controller (if disabled the pilot commands directly the yaw actuator). `0`: Disabled (Default), `1`: Enabled. |
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