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114 lines
6.5 KiB
Markdown
114 lines
6.5 KiB
Markdown
# Basic Flying (Fixed Wing)
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This topic explains the basics of flying a vehicle using an [RC Transmitter](../getting_started/rc_transmitter_receiver.md) in a manual or autopilot-assisted flight mode (for autonomous flight see: [Missions](../flying/missions.md)).
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:::info
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Before you fly for the first time you should read our [First Flight Guidelines](../flying/first_flight_guidelines.md).
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:::
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## Arm the Vehicle
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Before you can fly the vehicle it must first be [armed](../getting_started/px4_basic_concepts.md#arming-and-disarming).
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This will power all motors and actuators, and may start propellers turning.
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To arm the drone:
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- First disengage the [safety switch](../getting_started/px4_basic_concepts.md#safety-switch) (if present).
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- Use the arm command for your vehicle
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- Put the throttle stick in the bottom right corner (use the [arming gesture](../advanced_config/prearm_arm_disarm.md#arm_disarm_gestures)).
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- Alternatively configure an [arm/disarm switch](../config/safety.md#arm-disarm-switch).
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- You can also arm in _QGroundControl_ (PX4 does not require a radio control for flying autonomously).
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:::tip
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The vehicle will not arm until it is [calibrated/configured](../config/index.md) and has a position lock.
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[Vehicle Status Notifications](../getting_started/vehicle_status.md) (including on-vehicle LEDs, audio notifications and _QGroundControl_ updates) can tell you when the vehicle is ready to fly (and help you work out the cause when it is not ready to fly).
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:::
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:::info
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The vehicle will (by [default](../advanced_config/parameter_reference.md#COM_DISARM_PRFLT)) automatically [disarm](../advanced_config/prearm_arm_disarm.md#auto-disarming) (turn off motors) if you take too long to take off!
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This is a safety measure to ensure that vehicles return to a safe state when not in use.
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:::
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<!--
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A VTOL vehicle can only arm in multicopter mode (by default - arming in fixed-wing mode can be enabled using [CBRK_VTOLARMING](../advanced_config/parameter_reference.md#CBRK_VTOLARMING)).
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-->
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## Takeoff
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:::info
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Taking off manually (and landing) is not easy!
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We recommend using with the automatic modes instead, especially for inexperienced pilots.
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:::
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[Stabilized mode](../flight_modes_fw/stabilized.md), [Acro mode](../flight_modes_fw/acro.md) or [Manual mode](../flight_modes_fw/manual.md) mode are recommended for manual takeoff.
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[Position mode](../flight_modes_fw/position.md) and [Altitude mode](../flight_modes_fw/altitude.md) can also be used, but it is important to accelerate the vehicle sufficiently before bringing them airborne — strong thrust if hand-launched, long runway phase for runway takeoff (this is required because the controller in these modes can prioritize airspeed over altitude tracking).
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Manual takeoffs with hand-launched planes:
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- Ramp up the motor and throw the vehicle horizontally.
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- Do not pitch up too fast as this may stall the plane.
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- A good vehicle trim is crucial for safe hand-launch takeoffs, because if the vehicle doesn't fly level there is only a very short time for the pilot to react before the vehicle crashes!
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Manual takeoffs with runway-launched planes:
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- Accelerate on the runway until the speed is sufficient for takeoff.
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- If the plane has a steerable wheel, use the yaw stick to keep it on course.
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- Once the speed is sufficient pull up the nose with the pitch stick.
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Automatic takeoffs are possible in the [Mission mode](../flight_modes_fw/mission.md#mission-takeoff) or [Takeoff mode (FW)](../flight_modes_fw/takeoff.md).
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The pilot can take over manual control over the vehicle at any moment during the takeoff process or after it by changing into a manual flight mode.
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## 착륙
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[Stabilized mode](../flight_modes_fw/stabilized.md), [Acro mode](../flight_modes_fw/acro.md) or [Manual mode](../flight_modes_fw/manual.md) are recommended for landing (just as they are for takeoff).
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In these modes the pilot has full control over the motor thrust, which is required to perform a manual flaring maneuver when close to the ground (raising the vehicle nose without increasing throttle).
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You should perform the landing in headwind to reduce the groundspeed before touching down.
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For auto landings you should use a [Fixed-Wing Mission Landing](../flight_modes_fw/mission.md#mission-landing).
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This landing is defined in a mission, and can be used in either [Mission](../flight_modes_fw/mission.md) or [Return](../flight_modes_fw/return.md) modes.
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The automatic [Land mode](../flight_modes_fw/land.md) mode is not recommended unless absolutely necessary, as it cannot account for underlying terrain.
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<!-- Added this to make it more generic: We'll split this out later -->
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Note that vehicles automatically disarm on landing by default:
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- Use [COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND) to set the time to auto-disarm after landing (or disable it altogether).
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- Manually disarm by putting the throttle stick in the bottom left corner.
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## Flight Controls/Commands
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All flying, including takeoff and landing, is controlled using the 4 basic commands: roll, yaw, pitch and throttle.
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In order to control your aircraft you need to understand how the basic Roll, Pitch, Yaw and Throttle commands affect movement in 3D space.
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Forward-flying aircraft (planes, VTOL in forward flight) respond to the movement commands as shown below:
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- Pitch => Up/down.
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- Roll => Left/right and a turn.
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- Yaw => Left/right tail rotation and turn.
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- Throttle => Changed forward speed.
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:::info
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The best turn for airplanes is called a coordinated turn, and is performed using roll and little yaw at the same time.
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This maneuver requires experience!
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:::
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## Assisted Flight
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Even with an understanding of how the vehicle is controlled, flight in fully manual mode can be quite unforgiving.
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New users should [configure their transmitter](../config/flight_mode.md) to use flight modes where the autopilot automatically compensates for erratic user input or environmental factors.
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The following three modes are highly recommended for new users:
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- [Stabilized Mode](../flight_modes_fw/stabilized.md) - Vehicle hard to flip, and will level-out if the sticks are released (but not hold position)
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- [Altitude Mode)](../flight_modes_fw/altitude.md) - Climb and drop are controlled to have a maximum rate.
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- [Position Mode](../flight_modes_fw/position.md) - When sticks are released the vehicle will stop (and hold position against wind drift)
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:::info
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You can also engage automatic modes through the _QGroundControl_ main flight screen.
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:::
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