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58 lines
3.7 KiB
Markdown
58 lines
3.7 KiB
Markdown
# Mission Mode (VTOL)
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<img src="../../assets/site/position_fixed.svg" title="Global position fix required (e.g. GPS)" width="30px" />
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_Mission mode_ causes the vehicle to execute a predefined autonomous [mission](../flying/missions.md) (flight plan) that has been uploaded to the flight controller.
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The mission is typically created and uploaded with a Ground Control Station (GCS) application like [QGroundControl](https://docs.qgroundcontrol.com/master/en/) (QGC).
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VTOL vehicles follow the behavior and parameters of fixed-wing when in FW mode, and of multicopter when in MC mode.
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For more information see the specific docs for each mode:
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- [Mission Mode (MC)](../flight_modes_mc/mission.md)
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- [Mission Mode (FW)](../flight_modes_fw/mission.md)
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The following sections outline mission mode behaviour that is VTOL specificL.
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## Mission Commands
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The following VTOL-specific commands are as defined in the MAVLink specification.
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- [MAV_CMD_NAV_VTOL_TAKEOFF](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_VTOL_TAKEOFF)
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- `MAV_CMD_NAV_VTOL_TAKEOFF.param2` (transition heading) is ignored.
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Instead the heading to the next waypoint is used for the transition heading. <!-- at LEAST until PX4 v1.13: https://github.com/PX4/PX4-Autopilot/issues/12660 -->
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- [MAV_CMD_NAV_VTOL_LAND](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_VTOL_LAND)
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- [MAV_CMD_DO_VTOL_TRANSITION](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_VTOL_TRANSITION)
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Otherwise PX4 generally "accepts" the mission commands for fixed wing or multicopter when in the respective modes.
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In fixed-wing mode there are the following exceptions:
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- [MAV_CMD_NAV_LAND](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_LAND) is transformed into [MAV_CMD_NAV_VTOL_LAND](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_VTOL_LAND) unless [NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT) is set to `0` (disabled).
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- [MAV_CMD_NAV_TAKEOFF](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_TAKEOFF) is not supported.
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## Mission Command Timeouts
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Some mission commands/items can take time to complete, such as a gripper opening and closing, a winch extending or retracting, or a gimbal moving to point at a region of interest.
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Where provided PX4 may use sensor feedback from the hardware to determine when the action has completed and then move to the next mission item.
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If not provided, or if the feedback is lost, a mission command timeout can be used to ensure that these kinds of actions will progress to the next mission item rather than blocking progression.
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The timeout is set using the [MIS_COMMAND_TOUT](../advanced_config/parameter_reference.md#MIS_COMMAND_TOUT) parameter.
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This should be set to be a small amount greater than the time required for the longest long-running action in the mission to complete.
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## Mission Takeoff
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Plan a VTOL mission takeoff by adding a `VTOL Takeoff` mission item to the map.
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During mission execution the vehicle will ascend vertically to the minimum takeoff altitude defined in the [MIS_TAKEOFF_ALT](../advanced_config/parameter_reference.md#MIS_TAKEOFF_ALT) parameter, then transition to fixed-wing mode with the heading defined in the mission item.
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After transitioning the vehicle heads towards the 3D position defined in the mission item.
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A VTOL mission requires a `VTOL Takeoff` mission item (`MAV_CMD_NAV_VTOL_TAKEOFF`) to takeoff (or a `MAV_CMD_NAV_TAKEOFF` when the vehicle is in MC mode); if however the vehicle is already flying when the mission is started the takeoff item will be treated as a normal waypoint.
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## See Also
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- [Mission Mode (MC)](../flight_modes_mc/mission.md)
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- [Mission Mode (FW)](../flight_modes_fw/mission.md)
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- [Missions](../flying/missions.md)
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- [Package Delivery Mission](../flying/package_delivery_mission.md)
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