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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 제어 스위치는 기체의 비행 모드를 변경할 수 있습니다.
- 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).
매개변수
Hold mode behaviour can be configured using the parameters below.
| 매개변수 | 설명 |
|---|---|
| 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. 자동 모드와 오프보드 모드에 대해 별도로 활성화할 수 있으며, 기본적으로 자동 모드에서 활성화됩니다. |
| COM_RC_STICK_OV | The amount of stick movement that causes a transition to Position mode (if COM_RC_OVERRIDE is enabled). |