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55 lines
6.1 KiB
Markdown
55 lines
6.1 KiB
Markdown
# Stabilized Mode (Multicopter)
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<img src="../../assets/site/difficulty_medium.png" title="Medium difficulty to fly" width="30px" /> <img src="../../assets/site/remote_control.svg" title="Manual/Remote control required" width="30px" />
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The _Stabilized_ manual mode stabilizes and levels the multicopter when the RC control sticks are centred.
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To move/fly the vehicle you move the sticks outside of the centre.
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::: info
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This mode is also enabled if you set the flight mode to _Manual_.
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:::
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When sticks are outside the centre, the roll and pitch sticks control the _angle_ of the vehicle (attitude) around the respective axes, the yaw stick controls the rate of rotation above the horizontal plane, and the throttle controls altitude/speed.
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As soon as you release the control sticks they will return to the center deadzone.
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The multicopter will level out and stop once the roll and pitch sticks are centered.
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The vehicle will then hover in place/maintain altitude - provided it is properly balanced, throttle is set appropriately (see [below](#params)), and no external forces are applied (e.g. wind).
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The craft will drift in the direction of any wind and you have to control the throttle to hold altitude.
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## Technical Description
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RC mode where centered sticks level vehicle.
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::: info
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[Altitude mode](../flight_modes_mc/altitude.md) additionally stabilizes the vehicle altitude when sticks are centred, and [Position mode](../flight_modes_mc/position.md) stabilizes both altitude and position over ground.
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:::
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The pilot's inputs are passed as roll and pitch angle commands and a yaw rate command.
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Throttle is rescaled (see [below](#params)) and passed directly to control allocation.
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The autopilot controls the attitude, meaning it regulates the roll and pitch angles to zero when the RC sticks are centered inside the controller deadzone (consequently leveling-out the attitude).
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The autopilot does not compensate for drift due to wind (or other sources).
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- Centered sticks (inside deadband):
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- Roll/Pitch sticks level vehicle.
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- Outside center:
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- Roll/Pitch sticks control tilt angle in those orientations, resulting in corresponding left-right and forward-back movement.
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- Throttle stick controls up/down speed (and movement speed in other axes).
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- Yaw stick controls rate of angular rotation above the horizontal plane.
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- Manual control input is required (such as RC control, joystick).
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- Roll, Pitch: Assistance from autopilot to stabilize the attitude.
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Position of RC stick maps to the orientation of vehicle.
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- Throttle: Manual control via RC sticks. RC input is sent directly to control allocation.
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- Yaw: Assistance from autopilot to stabilize the attitude rate.
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Position of RC stick maps to the rate of rotation of vehicle in that orientation.
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<a id="params"></a>
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## Parameters
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| Parameter | Description |
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| -------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| <a id="MPC_THR_HOVER"></a>[MPC_THR_HOVER](../advanced_config/parameter_reference.md#MPC_THR_HOVER) | Hover throttle that is output when the throttle stick is centered and `MPC_THR_CURVE` is set to default. |
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| <a id="MPC_THR_CURVE"></a>[MPC_THR_CURVE](../advanced_config/parameter_reference.md#MPC_THR_CURVE) | Defines the throttle scaling. By default this is set to **Rescale to hover thrust**, which means that when the throttle stick is centered the configured hover throttle is output (`MPC_THR_HOVER`) and the stick input is linearly rescaled below and above that (allowing for a smooth transition between Stabilized and Altitude/Position control). <br>On powerful vehicles the hover throttle might be very low (e.g. below 20%) so that rescaling distorts the throttle input - i.e. here 80% of the thrust would be controlled by just the top half of the stick input and 20% by the bottom. If needed `MPC_THR_CURVE` can be set to **No Rescale** so that there is no rescaling (stick input to throttle mapping is independent of `MPC_THR_HOVER`). |
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