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87 lines
12 KiB
Markdown
87 lines
12 KiB
Markdown
# Position Mode (Multicopter)
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<img src="../../assets/site/difficulty_easy.png" title="Easy to fly" width="30px" /> <img src="../../assets/site/remote_control.svg" title="Manual/Remote control required" width="30px" /> <img src="../../assets/site/position_fixed.svg" title="Position fix required (e.g. GPS)" width="30px" />
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_Position_ is an easy-to-fly RC mode in which roll and pitch sticks control acceleration over ground in the vehicle's left-right and forward-back directions (similar to a car's accelerator pedal), and throttle controls speed of ascent-descent.
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When the sticks are released/centered the vehicle will actively brake, level, and be locked to a position in 3D space — compensating for wind and other forces.
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With full stick deflection the vehicle accelerates initially with [MPC_ACC_HOR_MAX](#MPC_ACC_HOR_MAX) ramping down until it reaches the final velocity [MPC_VEL_MANUAL](#MPC_VEL_MANUAL).
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:::tip
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Position mode is the safest manual mode for new fliers.
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Unlike [Altitude](../flight_modes_mc/altitude.md) and [Stabilized](../flight_modes_mc/manual_stabilized.md) modes the vehicle will stop when the sticks are centered rather than continuing until slowed by wind resistance.
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:::
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The diagram below shows the mode behaviour visually (for a mode 2 transmitter).
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### 착륙
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Landing in this mode is easy:
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1. Position the drone horizontally above the landing spot using the roll and pitch stick.
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2. Let go of the roll and pitch stick and give it enough time to come to a complete stop.
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3. Pull the throttle stick down gently until the vehicle touches the ground.
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4. Pull the throttle stick all the way down to facilitate and accelerate land detection.
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5. The vehicle will lower propeller thrust, detect the ground and [automatically disarm](../advanced_config/prearm_arm_disarm.md#auto-disarming) (by default).
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:::warning
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While very rare on a well calibrated vehicle, sometimes there may be problems with landing.
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- If the vehicle does not stop moving horizontally:
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- You can still land under control in [Altitude mode](../flight_modes_mc/altitude.md).
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The approach is the same as above, except that you must manually ensure that the vehicle stays above the landing spot using the roll and pitch stick.
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- After landing check GPS and magnetometer orientation, calibration.
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- If the vehicle does not detect the ground/landing and disarm:
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- After the vehicle is on the ground switch to [Stabilized mode](../flight_modes_mc/manual_stabilized.md) keeping the throttle stick low, and manually disarm using a gesture or other command.
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Alternatively you can also use the kill switch when the vehicle is already on the ground.
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:::
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## Technical Summary
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RC mode where roll, pitch, throttle (RPT) sticks control movement in corresponding axes/directions.
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Centered sticks level vehicle and hold it to fixed altitude and position against wind.
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- Centered roll, pitch, throttle sticks (within RC deadzone [MAN_DEADZONE](#MAN_DEADZONE)) hold x, y, z position steady against any disturbance like wind.
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- Outside center:
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- Roll/Pitch sticks control horizontal acceleration over ground in the vehicle's left-right and forward-back directions (respectively).
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- Throttle stick controls speed of ascent-descent.
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- 요 스틱은 수평면 위의 회전 각속도를 제어합니다.
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- 이륙:
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- 착륙했을 때 스로틀 스틱을 62.5 % (하단에서 전체 범위) 이상으로 올리면 기체가 이륙합니다.
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- Global position estimate is required.
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- Manual control input is required (such as RC control, joystick).
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- Roll, Pitch, Throttle: Assistance from autopilot to hold position against wind.
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- Yaw: Assistance from autopilot to stabilize the attitude rate.
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Position of RC stick maps to the rate of rotation of vehicle in that orientation.
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### 매개변수
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All the parameters in the [Multicopter Position Control](../advanced_config/parameter_reference.md#multicopter-position-control) group are relevant. A few parameters of particular note are listed below.
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| 매개변수 | 설명 |
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| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| <a id="MAN_DEADZONE"></a>[MAN_DEADZONE](../advanced_config/parameter_reference.md#MAN_DEADZONE) | Deadzone of sticks where position hold is enabled. Default: 0.1 (10% of full stick range). |
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| <a id="MPC_Z_VEL_MAX_UP"></a>[MPC_Z_VEL_MAX_UP](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_UP) | 최대 수직 상승 속도. 기본값: 3 m/s. |
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| <a id="MPC_Z_VEL_MAX_DN"></a>[MPC_Z_VEL_MAX_DN](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_DN) | 최대 수직 하강 속도. 기본값: 1 m/s. |
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| <a id="MPC_LAND_ALT1"></a>[MPC_LAND_ALT1](../advanced_config/parameter_reference.md#MPC_LAND_ALT1) | Altitude for triggering first phase of slow landing. Below this altitude descending velocity gets limited to a value between [MPC_Z_VEL_MAX_DN](#MPC_Z_VEL_MAX_DN) (or `MPC_Z_V_AUTO_DN`) and [MPC_LAND_SPEED](#MPC_LAND_SPEED). Value needs to be higher than [MPC_LAND_ALT2](#MPC_LAND_ALT2). Default 10m. |
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| <a id="MPC_LAND_ALT2"></a>[MPC_LAND_ALT2](../advanced_config/parameter_reference.md#MPC_LAND_ALT2) | Altitude for second phase of slow landing. Below this altitude descending velocity gets limited to [`MPC_LAND_SPEED`](#MPC_LAND_SPEED). Value needs to be lower than "MPC_LAND_ALT1". Default 5m. |
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| <a id="MPC_xxx"></a>`MPC_XXXX` | 대부분의 MPC_xxx 매개 변수는이 모드에서 비행 동작에 어느정도 영향을 미칩니다 . For example, [MPC_THR_HOVER](../advanced_config/parameter_reference.md#MPC_THR_HOVER) defines the thrust at which a vehicle will hover. |
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| <a id="MPC_POS_MODE"></a>[MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE) | Stick input to movement translation strategy. From PX4 v1.12 the default (`Acceleration based`) is that stick position controls acceleration (in a similar way to a car accelerator pedal). Other options allow stick deflection to directly control speed over ground, with and without smoothing and acceleration limits. |
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| <a id="MPC_ACC_HOR_MAX"></a>[MPC_ACC_HOR_MAX](../advanced_config/parameter_reference.md#MPC_ACC_HOR_MAX) | Maximum horizontal acceleration. |
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| <a id="MPC_VEL_MANUAL"></a>[MPC_VEL_MANUAL](../advanced_config/parameter_reference.md#MPC_VEL_MANUAL) | Maximum horizontal velocity. |
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| <a id="MPC_LAND_SPEED"></a>[MPC_LAND_SPEED](../advanced_config/parameter_reference.md#MPC_LAND_SPEED) | Landing descend rate. Default 0.7 m/s. |
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## 추가 정보
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### Position Loss/Safety
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Position mode is dependent on having an acceptable position estimate.
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If the estimate falls below acceptable levels, for example due to GPS loss, this may trigger a [Position (GPS) Loss Failsafe](../config/safety.md#position-gnss-loss-failsafe).
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Depending on configuration, whether you have a remote control, and whether there is an adequate altitude estimate, PX4 may switch to altitude mode, manual mode, land mode or terminate.
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## See Also
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- [Position Slow Mode](../flight_modes_mc/position_slow.md)
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