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67 lines
5.7 KiB
Markdown
67 lines
5.7 KiB
Markdown
# Altitude Mode (Fixed-Wing)
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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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The _Altitude_ flight mode is the safest and easiest non-GPS manual mode.
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It makes it easier for pilots to control vehicle altitude, and in particular to reach and maintain a fixed altitude.
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The mode will not attempt to hold the vehicle course against wind.
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Airspeed is actively controlled if an airspeed sensor is installed.
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:::tip
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_Altitude mode_ is similar to [Position mode](../flight_modes_fw/position.md) in that both modes level the vehicle and maintain altitude when sticks are released.
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The difference is that position mode holds the actual flight path (course) steady against wind, while altitude just holds the heading.
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:::
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The vehicle performs a [coordinated turn](https://en.wikipedia.org/wiki/Coordinated_flight) if the roll sticks are non-zero, while the pitch stick controls the rate of ascent/descent.
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The throttle determines airspeed — at 50% throttle the aircraft will hold its current altitude with a preset cruise speed.
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When all sticks are released/centered (no roll, pitch, yaw, and ~50% throttle) the aircraft will return to straight, level flight (subject to wind) and keep its current altitude.
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This makes it easy to recover from any problems when flying.
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Roll, pitch and yaw are all angle-controlled (so it is impossible to roll over or loop the vehicle).
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The yaw stick can be used to increase/reduce the yaw rate of the vehicle in turns.
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If left at center the controller does the turn coordination by itself, meaning that it will apply the necessary yaw rate for the current roll angle to perform a smooth turn.
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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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Altitude mode like [Stabilized mode](../flight_modes_fw/stabilized.md) but with altitude stabilization.
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Airspeed is also stabilized if an airspeed sensor is present.
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The vehicle course is not maintained, and can drift due to wind.
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- Centered Roll/Pitch/Yaw inputs (inside deadband):
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- Autopilot levels vehicle and maintains altitude and airspeed.
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- Outside center:
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- Pitch stick controls altitude.
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- Throttle stick controls the airspeed of the aircraft if an airspeed sensor is connected. Without an airspeed sensor the vehicle will fly level at trim throttle ([FW_THR_TRIM](../advanced_config/parameter_reference.md#FW_THR_TRIM)), increasing or decreasing throttle as needed to climb or descend.
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- Roll stick controls roll angle. Autopilot will maintain [coordinated flight](https://en.wikipedia.org/wiki/Coordinated_flight).
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- Yaw stick adds an additional yaw rate setpoint (added to the one calculated by the autopilot to maintain coordinated flight).
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Can be used to manually change the side slip of the vehicle.
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- Manual control input is required (such as RC control, joystick).
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- An altitude measurement source is required (usually barometer or GPS)
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## 매개변수
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The mode is affected by the following parameters:
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| 매개변수 | 설명 |
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| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------- |
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| <a id="FW_AIRSPD_MIN"></a>[FW_AIRSPD_MIN](../advanced_config/parameter_reference.md#FW_AIRSPD_MIN) | Min airspeed. Default: 10 m/s. |
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| <a id="FW_AIRSPD_MAX"></a>[FW_AIRSPD_MAX](../advanced_config/parameter_reference.md#FW_AIRSPD_MAX) | Max airspeed. Default: 20 m/s. |
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| <a id="FW_AIRSPD_TRIM"></a>[FW_AIRSPD_TRIM](../advanced_config/parameter_reference.md#FW_AIRSPD_TRIM) | Cruise speed. Default: 15 m/s. |
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| <a id="FW_MAN_P_MAX"></a>[FW_MAN_P_MAX](../advanced_config/parameter_reference.md#FW_MAN_P_MAX) | Max pitch setpoint in attitude stabilized mode. Default: 45 degrees. |
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| <a id="FW_MAN_R_MAX"></a>[FW_MAN_R_MAX](../advanced_config/parameter_reference.md#FW_MAN_R_MAX) | Max roll setpoint in attitude stabilized mode. Default: 45 degrees. |
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| <a id="FW_T_CLMB_R_SP"></a>[FW_T_CLMB_R_SP](../advanced_config/parameter_reference.md#FW_T_CLMB_R_SP) | Max climb rate setpoint. 기본값: 3 m/s. |
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| <a id="FW_T_SINK_R_SP"></a>[FW_T_SINK_R_SP](../advanced_config/parameter_reference.md#FW_T_SINK_R_SP) | Max sink rate setpoint. Default: 2 m/s. |
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<!--
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FW notes:
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FW position controller is basically 2 independent pieces
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* L1 is for navigation - determines the roll and yaw needed to achieve the desired waypoint (or loiter)
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* TECS is for speed and height control - determines throttle and elevator position needed to achieve the commanded altitude and airspeed
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Overall that gives you an attitude setpoint (roll, pitch, yaw) and throttle which is sent off to the attitude controller
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-->
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