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52 lines
4.1 KiB
Markdown
52 lines
4.1 KiB
Markdown
# Stabilized Mode (Fixed-Wing)
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<img src="../../assets/site/difficulty_medium.png" title="Medium difficulty to fly" width="30px" /> <img src="../../assets/site/remote_control.svg" title="Manual/Remote control required" width="30px" />
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_Stabilized mode_ is a manual mode were centering the sticks levels the vehicle attitude (roll and pitch) and maintains the horizontal posture.
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:::info
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_Stabilized mode_ is similar to [Altitude mode](../flight_modes_fw/altitude.md) in that releasing the sticks levels the vehicle, but unlike altitude mode it does not maintain altitude or heading.
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It is much easier to fly than [Manual mode](../flight_modes_fw/manual.md) because you can't roll or flip it, and if needed it is easy to level the vehicle (by centering the control sticks).
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:::
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The vehicle climbs/descends based on pitch and throttle input and performs a [coordinated turn](https://en.wikipedia.org/wiki/Coordinated_flight) if the roll stick is non-zero.
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Roll and pitch are angle controlled (you can't roll upside down or loop).
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The vehicle will glide if the throttle is lowered to 0% (motor stops).
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In order to perform a turn the command must be held throughout the maneuver because if the roll is released the plane will stop turning and level itself (the same is true for pitch commands).
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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 Description
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Manual mode where centered roll/pitch sticks levels vehicle attitude.
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The vehicle course and altitude are not maintained, and can drift due to wind.
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- Centered Roll/Pitch/Yaw sticks (inside deadband) put vehicle into straight and level flight.
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The vehicle course and altitude are not maintained, and can drift due to wind.
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- Roll stick controls roll angle.
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Autopilot will maintain <a href="https://en.wikipedia.org/wiki/Coordinated_flight">coordinated flight</a>.
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- Pitch stick controls pitch angle around the defined offset [FW_PSP_OFF](../advanced_config/parameter_reference.md#FW_PSP_OFF)
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- Throttle stick controls throttle directly.
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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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## 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_MAN_P_MAX"></a>[FW_MAN_P_MAX](../advanced_config/parameter_reference.md#FW_MAN_P_MAX) | Max pitch for manual control 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 for manual control in attitude stabilized mode. Default: 45 degrees. |
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| <a id="FW_MAN_YR_MAX"></a>[FW_MAN_YR_MAX](../advanced_config/parameter_reference.md#FW_MAN_YR_MAX) | Maximum manually added yaw rate . Default: 30 degrees per second. |
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| <a id="FW_PSP_OFF"></a>[FW_PSP_OFF](../advanced_config/parameter_reference.md#FW_PSP_OFF) | Pitch setpoint offset (pitch at level flight). Default: 0 degrees. |
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<!-- this document needs to be extended -->
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