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27 lines
3.2 KiB
Markdown
27 lines
3.2 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. 当操纵杆居中时，飞机将停止旋转，但保持其当前朝向（在其侧面，倒置或任何其他方向）并根据当前动量移动。
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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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## 技术描述
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用于执行杂技动作的遥控模式，例如滚动、翻转、摊位和杂技图形。
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RPY摇杆输入被转换为角速度命令，通过自动驾驶仪稳定。
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Throttle is passed directly to control allocation.
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## 参数
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| 参数 | 描述 |
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| <a id="FW_ACRO_X_MAX"></a>[FW_ACRO_X_MAX](../advanced_config/parameter_reference.md#FW_ACRO_X_MAX) | 机体轴x轴最大速率（用户在acro模式下施加滚转轴满杆操纵时，控制器试图达到的机体轴x轴速率） 默认：90度 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) | 机体轴z轴最大速率（用户在acro模式下施加偏航轴满杆操纵时，控制器试图达到的机体轴z轴速率） 默认：45度 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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