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67 lines
5.8 KiB
Markdown
67 lines
5.8 KiB
Markdown
# Altitude Mode (Fixed-wing)
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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/altitude_icon.svg" title="Altitude required (e.g. Baro, Rangefinder)" width="30px" />
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The _Altitude_ flight mode is the safest and easiest non-GPS manual mode.
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It makes it easier for pilots to control vehicle altitude, and in particular to reach and maintain a fixed altitude.
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The mode will not attempt to hold the vehicle course against wind.
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Airspeed is actively controlled if an airspeed sensor is installed.
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:::tip
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_Altitude mode_ is similar to [Position mode](../flight_modes_fw/position.md) in that both modes level the vehicle and maintain altitude when sticks are released.
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操纵杆一旦回中，自动驾驶仪就会锁定当前的高度，并在偏航/滚转和任何空速条件下保持高度。
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:::
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The vehicle performs a [coordinated turn](https://en.wikipedia.org/wiki/Coordinated_flight) if the roll sticks are non-zero, while the pitch stick controls the rate of ascent/descent.
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滚动和俯仰是角度控制的（因此不可能实现飞机滚转或环绕）。
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当所有遥控输入都居中时（无滚动、俯仰、偏航，油门约 50％），飞机将恢复直线水平飞行（受风影响）并保持其当前高度。
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This makes it easy to recover from any problems when flying.
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Roll, pitch and yaw are all angle-controlled (so it is impossible to roll over or loop the vehicle).
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The yaw stick can be used to increase/reduce the yaw rate of the vehicle in turns.
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If left at center the controller does the turn coordination by itself, meaning that it will apply the necessary yaw rate for the current roll angle to perform a smooth turn.
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The diagram below shows the mode behaviour visually (for a [mode 2 transmitter](../getting_started/rc_transmitter_receiver.md#transmitter_modes)).
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## 技术总结
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Altitude mode like [Stabilized mode](../flight_modes_fw/stabilized.md) but with altitude stabilization.
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Airspeed is also stabilized if an airspeed sensor is present.
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但是飞行过程并不稳定，可能被风吹飘离。
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- 回中的滚动/俯仰/偏航输入（在死区内）：
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- Autopilot levels vehicle and maintains altitude and airspeed.
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- 外部中心：
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- 俯仰摇杆控制高度。
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- 如果空速传感器已连接，油门杆控制飞机速度。 Without an airspeed sensor the vehicle will fly level at trim throttle ([FW_THR_TRIM](../advanced_config/parameter_reference.md#FW_THR_TRIM)), increasing or decreasing throttle as needed to climb or descend.
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- 横滚摇杆控制横滚角度。 Autopilot will maintain [coordinated flight](https://en.wikipedia.org/wiki/Coordinated_flight).
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- 偏航摇杆操纵会驱动方向舵（指令将被加到自动驾驶仪计算的指令中以维持 <a href="https://en.wikipedia.org/wiki/Coordinated_flight">协调飞行</a>）。
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这和<a href="../flight_modes/stabilized_fw.md">稳定模式</a>一样。
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- Manual control input is required (such as RC control, joystick).
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- An altitude measurement source is required (usually barometer or GPS)
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## 参数
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该模式受以下参数影响：
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| 参数 | 描述 |
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| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------- |
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| <a id="FW_AIRSPD_MIN"></a>[FW_AIRSPD_MIN](../advanced_config/parameter_reference.md#FW_AIRSPD_MIN) | 最小空速/油门。 默认：10 m/s。 |
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| <a id="FW_AIRSPD_MAX"></a>[FW_AIRSPD_MAX](../advanced_config/parameter_reference.md#FW_AIRSPD_MAX) | 最大空速/油门。 默认：20 m/s。 |
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| <a id="FW_AIRSPD_TRIM"></a>[FW_AIRSPD_TRIM](../advanced_config/parameter_reference.md#FW_AIRSPD_TRIM) | 巡航速度。 默认：15 m/s。 |
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| <a id="FW_MAN_P_MAX"></a>[FW_MAN_P_MAX](../advanced_config/parameter_reference.md#FW_MAN_P_MAX) | 在高度稳定模式下手动控制的最大俯仰角。 Default: 45 degrees. |
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| <a id="FW_MAN_R_MAX"></a>[FW_MAN_R_MAX](../advanced_config/parameter_reference.md#FW_MAN_R_MAX) | 在高度稳定模式下手动控制的最大滚转角。 Default: 45 degrees. |
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| <a id="FW_T_CLMB_R_SP"></a>[FW_T_CLMB_R_SP](../advanced_config/parameter_reference.md#FW_T_CLMB_R_SP) | Max climb rate setpoint. 默认：3m/s。 |
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| <a id="FW_T_SINK_R_SP"></a>[FW_T_SINK_R_SP](../advanced_config/parameter_reference.md#FW_T_SINK_R_SP) | Max sink rate setpoint. Default: 2 m/s. |
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<!--
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FW notes:
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FW position controller is basically 2 independent pieces
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* L1 is for navigation - determines the roll and yaw needed to achieve the desired waypoint (or loiter)
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* TECS is for speed and height control - determines throttle and elevator position needed to achieve the commanded altitude and airspeed
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Overall that gives you an attitude setpoint (roll, pitch, yaw) and throttle which is sent off to the attitude controller
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-->
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