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30 lines
2.7 KiB
Markdown
30 lines
2.7 KiB
Markdown
# Manual Mode (Fixed-Wing)
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<!-- this requires review -->
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<img src="../../assets/site/difficulty_hard.png" title="Hard to fly" width="30px" /> <img src="../../assets/site/remote_control.svg" title="Manual/Remote control required" width="30px" />
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_Manual mode_ sends manual stick input directly to control allocation for fully manual control.
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This is the hardest mode to fly, because nothing is stabilised.
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Unlike [Acro Mode](../flight_modes_fw/acro.md), if the roll-pitch stick is centered the vehicle will not automatically stop rotating around the axis — the pilot actually has to move the stick to apply force in the other direction.
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::: info
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This is the only mode that overrides the FMU (commands are sent via the safety coprocessor).
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It provides a safety mechanism that allows full control of throttle, elevator, ailerons and rudder via RC in the event of an FMU firmware malfunction.
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:::
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## Technical Description
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Manual mode where stick input is sent directly to control allocation (for "fully" manual control).
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This is the only mode that overrides the FMU (commands are sent via the safety coprocessor). It provides a safety mechanism that allows full control of throttle, elevator, ailerons and rudder via RC in the event of an FMU firmware malfunction.
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## Parameters
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| Parameter | Description |
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| -------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
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| <a id="FW_MAN_P_SC"></a>[FW_MAN_P_SC](../advanced_config/parameter_reference.md#FW_MAN_P_SC) | Manual pitch scale. Scale factor applied to the desired pitch actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces. Default: 1.0 norm. |
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| <a id="FW_MAN_R_SC"></a>[FW_MAN_R_SC](../advanced_config/parameter_reference.md#FW_MAN_R_SC) | Manual roll scale. Scale factor applied to the desired roll actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces. Default: 1.0 norm. |
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| <a id="FW_MAN_Y_SC"></a>[FW_MAN_Y_SC](../advanced_config/parameter_reference.md#FW_MAN_Y_SC) | Manual yaw scale. Scale factor applied to the desired yaw actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces. Default: 1.0 norm. |
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