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45 lines
4.1 KiB
Markdown
45 lines
4.1 KiB
Markdown
# 着陆模式（多旋翼）
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<img src="../../assets/site/position_fixed.svg" title="Position estimate required (e.g. GPS)" width="30px" />
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The _Land_ flight mode causes the vehicle to land at the position where the mode was engaged.
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这辆车在降落后不久将被解除武装(默认)。
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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 at least a valid local position estimate (does not require a global position).
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- Flying vehicles can't switch to this mode without valid local position.
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- Flying vehicles will failsafe if they lose the position estimate.
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- Mode prevents arming (vehicle must be armed when switching to this mode).
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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 in a multicopter (or VTOL in multicopter mode) 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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- The mode can be triggered using the [MAV_CMD_NAV_LAND](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_LAND) MAVLink command, or by explicitly switching to Land mode.
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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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无人机将降落在模式所指定的位置。
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The vehicle descends at the rate specified in [MPC_LAND_SPEED](#MPC_LAND_SPEED) and will disarm after landing (by [default](#COM_DISARM_LAND)).
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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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Land 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="MPC_LAND_SPEED"></a>[MPC_LAND_SPEED](../advanced_config/parameter_reference.md#MPC_LAND_SPEED) | 着陆过程中的下降速率。 鉴于地面情况未知，这个值应该设得相当小。 |
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| <a id="COM_DISARM_LAND"></a>[COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND) | 降落后自动上锁的超时时间，以秒为单位。 如果设定为 -1，无人机将不会在着陆时上锁。 |
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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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## 另见
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- [Land Mode (FW)](../flight_modes_fw/land.md)
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- [Land Mode (VTOL)](../flight_modes_vtol/land.md)
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