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3.7 KiB
3.7 KiB
Hold Mode (Multicopter)
The Hold flight mode causes the vehicle to stop and hover at its current GPS position and altitude.
:::tip Hold mode can be used to pause a mission or to help you regain control of a vehicle in an emergency. It is usually activated with a pre-programmed switch. :::
::: info
- Mode is automatic - no user intervention is required to control the vehicle.
- Mode requires a global 3d position estimate (from GPS or inferred from a local position).
- Flying vehicles can't switch to this mode without global position.
- Flying vehicles will failsafe if they lose the position estimate.
- Disarmed vehicles can switch to mode without valid position estimate but can't arm.
- Mode requires wind and flight time are within allowed limits (specified via parameters).
- RC control switches can be used to change flight modes on any vehicle.
- RC stick movement will by default change the vehicle to Position mode unless handling a critical battery failsafe.
:::
Technical Summary
The vehicle hovers at the current position and altitude. The vehicle will first ascend to NAV_MIN_LTR_ALT if the mode is engaged below this altitude.
RC stick movement will change the vehicle to Position mode (by default).
Parameters
Hold mode behaviour can be configured using the parameters below.
| Parameter | Description |
|---|---|
| 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). |
| COM_RC_OVERRIDE | Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to Position mode. This can be separately enabled for auto modes and for offboard mode, and is enabled in auto modes by default. |
| COM_RC_STICK_OV | The amount of stick movement that causes a transition to Position mode (if COM_RC_OVERRIDE is enabled). |