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54 lines
5.3 KiB
Markdown
54 lines
5.3 KiB
Markdown
# Position 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/position_fixed.svg" title="Position fix required (e.g. GPS)" width="30px" />
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_Position mode_ is the easiest and safest manual mode.
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It is supported on vehicles that have a position estimate (e.g. GPS).
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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 hold the vehicle's course against wind.
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Airspeed is actively controlled if an airspeed sensor is installed.
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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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滚动和俯仰是角度控制的（因此不可能实现飞机滚转或环绕）。
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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, and keep its current altitude and flight path irrespective of wind.
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This makes it easy to recover from any problems when flying.
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Roll and pitch are 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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## 技术描述
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Position mode is like [Stabilized mode](../flight_modes_fw/altitude.md) but with course stabilization.
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Airspeed is also stabilized if an airspeed sensor is present.
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- 回中的滚动/俯仰/偏航输入（在死区内）：
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- Autopilot levels vehicle and maintains altitude, airspeed and course over ground.
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- 外部中心：
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- 俯仰摇杆控制高度。
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- 如果空速传感器已连接，油门杆控制飞机速度。 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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- 横滚摇杆控制横滚角度。 Autopilot will maintain [coordinated flight](https://en.wikipedia.org/wiki/Coordinated_flight).
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- 偏航摇杆操纵会驱动方向舵（指令将被加到自动驾驶仪计算的指令中以维持 <a href="https://en.wikipedia.org/wiki/Coordinated_flight">协调飞行</a>）。
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这和<a href="../flight_modes/stabilized_fw.md">稳定模式</a>一样。
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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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## 参数
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该模式受以下参数影响：
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| 参数 | 描述 |
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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) | 最小空速/油门。 默认：10 m/s。 |
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| <a id="FW_AIRSPD_MAX"></a>[FW_AIRSPD_MAX](../advanced_config/parameter_reference.md#FW_AIRSPD_MAX) | 最大空速/油门。 默认：20 m/s。 |
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| <a id="FW_AIRSPD_TRIM"></a>[FW_AIRSPD_TRIM](../advanced_config/parameter_reference.md#FW_AIRSPD_TRIM) | 巡航速度。 默认：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) | 在高度稳定模式下手动控制的最大俯仰角。 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) | 在高度稳定模式下手动控制的最大滚转角。 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. 默认：3m/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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| <a id="FW_PN_R_SLEW_MAX"></a>[FW_PN_R_SLEW_MAX](../advanced_config/parameter_reference.md#FW_PN_R_SLEW_MAX) | Roll setpoint slew rate limit. Default: 90 °/s. |
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