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PX4-Autopilot/docs/zh/flight_modes_mc/land.md
Hamish Willee 88d623bedb
Move PX4 Guide source into /docs (#24490) 
* Add vitepress tree

* Update existing workflows so they dont trigger on changes in the docs path

* Add nojekyll, package.json, LICENCE etc

* Add crowdin docs upload/download scripts

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* Used docs prefix for docs workflows

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runs on a beefy server for faster builds

Signed-off-by: Ramon Roche <mrpollo@gmail.com>

* ci: don't run build action for docs or ci changes

Signed-off-by: Ramon Roche <mrpollo@gmail.com>

* ci: update runners

Signed-off-by: Ramon Roche <mrpollo@gmail.com>

* Add docs/en

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Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>
2025-03-13 16:08:27 +11:00

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着陆模式（多旋翼）

The Land flight mode causes the vehicle to land at the position where the mode was engaged. 这辆车在降落后不久将被解除武装(默认)。

::: info

  • Mode is automatic - no user intervention is required to control the vehicle.
  • Mode requires at least a valid local position estimate (does not require a global position).
    • Flying vehicles can't switch to this mode without valid local position.
    • Flying vehicles will failsafe if they lose the position estimate.
  • Mode prevents arming (vehicle must be armed when switching to this mode).
  • 遥控开关可以在任何无人机上更改飞行模式。
  • RC stick movement in a multicopter (or VTOL in multicopter mode) will by default change the vehicle to Position mode unless handling a critical battery failsafe.
  • The mode can be triggered using the MAV_CMD_NAV_LAND MAVLink command, or by explicitly switching to Land mode.

:::

技术总结

无人机将降落在模式所指定的位置。 The vehicle descends at the rate specified in MPC_LAND_SPEED and will disarm after landing (by default).

RC stick movement will change the vehicle to Position mode (by default).

参数

Land mode behaviour can be configured using the parameters below.

参数 描述
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。
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。
COM_RC_OVERRIDE Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to Position mode. 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。
COM_RC_STICK_OV The amount of stick movement that causes a transition to Position mode (if COM_RC_OVERRIDE is enabled).

See Also