PX4-Autopilot/docs/zh/flying/plan_safety_points.md

安全点(集结点)

Safety points are alternative Return Mode destinations/landing points. When enabled, the vehicle will choose the closest return destination of: home location, mission landing pattern or a safety point.

创建/定义安全点

Safety points are created in QGroundControl (which calls them "Rally Points").

总结：

1. Open QGroundControl > Plan View
2. Select the Rally tab/button on the Plan Editor (right of screen).
3. Select the Rally Point button on the toolbar (left of screen).
4. 在地图上点击任意位置来添加集结/安全点。
   • The Plan Editor displays and lets you edit the current rally point (shown as a green R on the map).
   • You can select another rally point (shown as a more orange/yellow R on the map) to edit it instead.
5. Select the Upload Required button to upload the rally points (along with any mission and geofence) to the vehicle.

:::tip More complete documentation can be found in the QGroundControl User Guide: Plan View - Rally Points. :::

使用安全点

Safety points are not enabled by default (there are a number of different Return Mode Types).

启用安全点的方法：

1. Use the QGroundControl Parameter Editor to set parameter: RTL_TYPE=3.