mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-03 13:48:54 +08:00
Hamish WilleeandRamon Roche
88d623bedb
* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
42 lines
2.5 KiB
Markdown
42 lines
2.5 KiB
Markdown
# VTOL Weather Vane Feature
|
|
|
|
The _weather vane_ feature automatically turns a VTOL vehicle to face its nose into the relative wind during hover flight.
|
|
This improves stability (reducing the chance that wind from the side will pick-up the wind-facing wing and flip the vehicle).
|
|
|
|
The feature is [enabled by default](#configuration) on VTOL hybrid vehicles flying in multicopter mode.
|
|
|
|
:::info
|
|
Weather vane functionality is not supported on pure multirotors.
|
|
:::
|
|
|
|
## Manual Mode Behaviour
|
|
|
|
The weather vane feature will only take effect in [Position mode](../flight_modes_mc/position.md) (not other manual MC modes).
|
|
|
|
The user can still use the yaw stick to demand a yaw rate even while the weather vane controller is trying to turn the nose of the vehicle into the wind.
|
|
The target yaw rate is the sum of weather vane yaw rate and user commanded yaw rate.
|
|
|
|
## Mission Mode Behaviour
|
|
|
|
In [Mission mode](../flight_modes_vtol/mission.md) the weather vane feature will always be active when the parameter is enabled.
|
|
Any yaw angle commanded in a mission will be ignored.
|
|
|
|
<a id="configuration"></a>
|
|
|
|
## 配置
|
|
|
|
This functionality is configured using the [WV\_\* parameters](../advanced_config/parameter_reference.md#WV_EN).
|
|
|
|
| 参数 | 描述 |
|
|
| ---------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------- |
|
|
| [WV_EN](../advanced_config/parameter_reference.md#WV_EN) | Enable weather vane. |
|
|
| [WV_ROLL_MIN](../advanced_config/parameter_reference.md#WV_ROLL_MIN) | Minimum roll angle setpoint for weathervane controller to demand a yaw-rate. |
|
|
| [WV_YRATE_MAX](../advanced_config/parameter_reference.md#WV_YRATE_MAX) | Maximum yawrate the weathervane controller is allowed to demand. |
|
|
|
|
## How Does it Work?
|
|
|
|
During hover flight the vehicle needs to overcome the drag exerted on it by the wind in order to hold its position.
|
|
The only way for it to achieve this is by tilting its thrust vector into the relative wind (it literally 'leans' against the wind).
|
|
By keeping track of the thrust vector one can estimate the wind direction.
|
|
A weathervane controller is used to command a yawrate that turns the vehicle nose into the estimated wind direction.
|