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45 lines
3.7 KiB
Markdown
45 lines
3.7 KiB
Markdown
# Takeoff Mode (Multicopter)
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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 _Takeoff_ flight mode causes the vehicle to take off to a specified height and wait for further input.
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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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- Disarmed vehicles can switch to mode without valid position estimate but can't arm.
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- RC control switches can be used to change flight modes.
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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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- The [Failure Detector](../config/safety.md#failure-detector) will automatically stop the engines if there is a problem on takeoff.
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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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A multi rotor ascends vertically to the altitude defined in [MIS_TAKEOFF_ALT](../advanced_config/parameter_reference.md#MIS_TAKEOFF_ALT) and holds position.
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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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Takeoff is affected by the following parameters:
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| 参数 | 描述 |
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| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| <a id="MIS_TAKEOFF_ALT"></a>[MIS_TAKEOFF_ALT](../advanced_config/parameter_reference.md#MIS_TAKEOFF_ALT) | Target altitude during takeoff (default: 2.5m) |
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| <a id="MPC_TKO_SPEED"></a>[MPC_TKO_SPEED](../advanced_config/parameter_reference.md#MPC_TKO_SPEED) | Speed of ascent (default: 1.5m/s) |
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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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- [Throw Launch (MC)](../flight_modes_mc/throw_launch.md)
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- [Takeoff Mode (FW)](../flight_modes_fw/takeoff.md)
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<!-- this maps to AUTO_TAKEOFF in dev -->
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