PX4-Autopilot/docs/zh/flight_modes_fw/hold.md

保持模式 (Fixed-wing)

The Hold flight mode causes the vehicle to loiter (circle) around its current GPS position and maintain its current altitude.

:::tip Hold mode can be used to pause a mission or to help you regain control of a vehicle in an emergency. It is usually activated with a pre-programmed switch. :::

::: info

• Mode is automatic - no user intervention is required to control the vehicle.
• Mode requires a global 3d position estimate (from GPS or inferred from a local position).
  • Flying vehicles can't switch to this mode without global position.
  • Flying vehicles will failsafe if they lose the position estimate.
  • Disarmed vehicles can switch to mode without valid position estimate but can't arm.
• Mode requires wind and flight time are within allowed limits (specified via parameters).
• 遥控开关可以在任何无人机上更改飞行模式。
• RC stick movement is ignored.

:::

技术总结

The aircraft circles around the GPS hold position at the current altitude. The vehicle will first ascend to NAV_MIN_LTR_ALT if the mode is engaged below this altitude.

RC stick movement is ignored.

参数

Hold mode behaviour can be configured using the parameters below.

参数	描述
NAV_LOITER_RAD	The radius of the loiter circle.
NAV_MIN_LTR_ALT	Minimum height for loiter mode (vehicle will ascend to this altitude if mode is engaged at a lower altitude).

另见

Hold Mode (MC)