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48 lines
2.8 KiB
Markdown
48 lines
2.8 KiB
Markdown
# Hold Mode (Fixed-Wing)
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<img src="../../assets/site/position_fixed.svg" title="Position fix required (e.g. GPS)" width="30px" />
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The _Hold_ flight mode causes the vehicle to loiter (circle) around its current GPS position and maintain its current altitude.
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:::tip
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_Hold mode_ can be used to pause a mission or to help you regain control of a vehicle in an emergency.
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It is usually activated with a pre-programmed switch.
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:::
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::: info
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- Mode is automatic - no user intervention is _required_ to control the vehicle.
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- Mode requires a global 3d position estimate (from GPS or inferred from a [local position](../ros/external_position_estimation.md#enabling-auto-modes-with-a-local-position)).
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- Flying vehicles can't switch to this mode without global position.
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- Flying vehicles will failsafe if they lose the position estimate.
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- Disarmed vehicles can switch to mode without valid position estimate but can't arm.
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- Mode requires wind and flight time are within allowed limits (specified via parameters).
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- RC 제어 스위치는 기체의 비행 모드를 변경할 수 있습니다.
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- RC stick movement is ignored.
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<!-- https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/commander/ModeUtil/mode_requirements.cpp -->
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:::
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## Technical Summary
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The aircraft circles around the GPS hold position at the current altitude.
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The vehicle will first ascend to [NAV_MIN_LTR_ALT](#NAV_MIN_LTR_ALT) if the mode is engaged below this altitude.
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RC stick movement is ignored.
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### 매개변수
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Hold mode behaviour can be configured using the parameters below.
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| 매개변수 | 설명 |
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| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------ |
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| [NAV_LOITER_RAD](../advanced_config/parameter_reference.md#NAV_LOITER_RAD) | The radius of the loiter circle. |
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| <a id="NAV_MIN_LTR_ALT"></a>[NAV_MIN_LTR_ALT](../advanced_config/parameter_reference.md#NAV_MIN_LTR_ALT) | Minimum height for loiter mode (vehicle will ascend to this altitude if mode is engaged at a lower altitude). |
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## See Also
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[Hold Mode (MC)](../flight_modes_mc/hold.md)
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<!-- this maps to AUTO_LOITER in flight mode state machine -->
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