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75 lines
5.0 KiB
Markdown
75 lines
5.0 KiB
Markdown
# 环绕模式 （多旋翼）
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<img src="../../assets/site/difficulty_easy.png" title="Easy to fly" width="30px" /> <img src="../../assets/site/position_fixed.svg" title="Position fix required (e.g. GPS)" width="30px" />
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The _Orbit_ guided flight mode allows you to command a multicopter (or VTOL in multicopter mode) to fly in a circle at a particular location, by [default](https://mavlink.io/en/messages/common.html#ORBIT_YAW_BEHAVIOUR) yawing so that it always faces towards the center.
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::: info
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- Mode is automatic - no user intervention is _required_ to control the vehicle.
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- Mode requires at least a valid local position estimate (does not require a global position).
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- Flying vehicles can't switch to this mode without valid local position.
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- Flying vehicles will failsafe if they lose the position estimate.
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- Mode prevents arming (vehicle must be armed when switching to this mode).
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- Mode requires wind and flight time are within allowed limits (specified via parameters).
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- This mode is currently only supported on multicopter (or VTOL in MC mode).
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- RC stick movement can control ascent/descent and orbit speed and direction.
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- The mode can be triggered using the [MAV_CMD_DO_ORBIT](https://mavlink.io/en/messages/common.html#MMAV_CMD_DO_ORBIT) MAVLink command.
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<!-- https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/commander/ModeUtil/mode_requirements.cpp -->
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:::
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## 综述
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_QGroundControl_ (or other compatible GCS or MAVLink API) is _required_ to enable the mode, and to set the center position, initial radius and altitude of the orbit.
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Once enabled the vehicle will fly as fast as possible to the closest point on the commanded circle trajectory and do a slow (1m/s) clockwise orbit on the planned circle, facing the center.
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Instructions for how to start an orbit can be found here: [FlyView > Orbit Location](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/fly_view/fly_view.html#orbit) (_QGroundControl_ guide).
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:::info
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The use of an RC control is _optional_.
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If no RC control is present the orbit will proceed as described above.
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无法使用遥控来启动该模式（如果使用遥控切换该模式，无人机会处于空闲状态）。
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:::
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遥控可以用于改变绕圈的高度，半径，速度和绕圈方向：
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- **Left stick:**
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- _up/down:_ controls speed of ascent/descent, as in [Position mode](../flight_modes_mc/position.md). When in center deadzone, altitude is locked.
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- _left/right:_ no effect.
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- **Right stick:**
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- _left/right:_ controls acceleration of orbit in clockwise/counter-clockwise directions. When centered the current speed is locked.
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- 最大速度为 10 m/s，进一步的限制是将向心加速度保持在 2 m/s^2 以下。
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- _up/down:_ controls orbit radius (smaller/bigger). When centered the current radius is locked.
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- 最小半径是 1 米。 最大半径是 100 米。
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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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切换到其他飞行模式（使用遥控或 QGC 地面站）可以停止此模式。
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## 参数/限制
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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="MC_ORBIT_RAD_MAX"></a>[MC_ORBIT_RAD_MAX](../advanced_config/parameter_reference.md#MC_ORBIT_RAD_MAX) | Maximum radius of orbit. Default: 1000m. |
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| <a id="MC_ORBIT_YAW_MOD"></a>[MC_ORBIT_YAW_MOD](../advanced_config/parameter_reference.md#MC_ORBIT_YAW_MOD) | Yaw behaviour during orbit flight. Default: Front to Circle Center. |
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下面的限制是写死的：
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- 初始/默认是顺时针方向 1 m/s 旋转。
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- 最大加速度限制在 2 2 m/s^2，优先保持控制的圆周轨迹而不是地速（即， 如果加速度超过 2 m/s^2，无人机将减速以达到正确的圆周）。
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## MAVLink 消息 （开发者）
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环绕模式使用以下 MAVLink 命令：
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- [MAV_CMD_DO_ORBIT](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_ORBIT) - Start an orbit with specified center point, radius, direction, altitude, speed and [yaw direction](https://mavlink.io/en/messages/common.html#ORBIT_YAW_BEHAVIOUR) (vehicle defaults to faceing centre of orbit).
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- [ORBIT_EXECUTION_STATUS](https://mavlink.io/en/messages/common.html#ORBIT_EXECUTION_STATUS) - Orbit status emitted during orbit to update GCS of current orbit parameters (these may be changed by the RC controller).
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