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49 lines
3.6 KiB
Markdown
49 lines
3.6 KiB
Markdown
# 保持模式 (多旋翼)
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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 stop and hover at its current GPS position and 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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- 遥控开关可以在任何无人机上更改飞行模式。
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- RC stick movement will [by default](#COM_RC_OVERRIDE) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless handling a critical battery failsafe.
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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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## 技术总结
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The vehicle hovers at the current position and 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 will change the vehicle to [Position mode](../flight_modes_mc/position.md) (by [default](#COM_RC_OVERRIDE)).
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### 参数
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Hold mode behaviour can be configured using the parameters below.
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| 参数 | 描述 |
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| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
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| <a id="NAV_MIN_LTR_ALT"></a>[NAV_MIN_LTR_ALT](../advanced_config/parameter_reference.md#NAV_MIN_LTR_ALT) | This is the minimum altitude above Home the system will always obey in Hold mode if switched into this mode without specifying an altitude (e.g. through switch on RC). |
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| <a id="COM_RC_OVERRIDE"></a>[COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE) | Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to [Position mode](../flight_modes_mc/position.md). 可以分别为自动模式和 offboard 模式启用此功能，默认情况下在自动模式下启用此功能。 |
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| <a id="COM_RC_STICK_OV"></a>[COM_RC_STICK_OV](../advanced_config/parameter_reference.md#COM_RC_STICK_OV) | The amount of stick movement that causes a transition to [Position mode](../flight_modes_mc/position.md) (if [COM_RC_OVERRIDE](#COM_RC_OVERRIDE) is enabled). |
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<!-- Code for this here: https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/loiter.cpp#L61 -->
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## 另见
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[Hold Mode (FW)](../flight_modes_fw/hold.md)
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