Altitude Mode (Multicopter)

  

Altitude mode is a relatively easy-to-fly RC mode in which roll and pitch sticks control vehicle movement in the left-right and forward-back directions (relative to the "front" of the vehicle), yaw stick controls rate of rotation over the horizontal plane, and throttle controls speed of ascent-descent.

When the sticks are released/centered the vehicle will level and maintain the current altitude. If moving in the horizontal plane the vehicle will continue until any momentum is dissipated by wind resistance. If the wind blows the aircraft will drift in the direction of the wind.

Altitude mode is the safest non-GPS manual mode for new fliers. It is just like Manual/Stabilized mode but additionally locks the vehicle altitude when the sticks are released.

下图以可视方式显示模式行为(对于模式2发送器)。

Altitude Control MC - Mode2 RC Controller

技术总结

RC/manual mode like Manual/Stabilized (MC) mode but with altitude stabilization (centered sticks level vehicle and hold it to fixed altitude).

  • 回正摇杆(内带死区):
    • RPY摇杆使飞机水平。
    • 油门(~50%)抗风保持当前姿态。
  • 外部中心:
    • 翻滚/俯仰摇杆控制各自方向的倾斜角,导致左右和前后的移动。
    • 油门摇杆以预定的最大速率(和其他轴上的移动速度)控制上升速度。
    • 偏航摇杆控制水平面上方的角度旋转速率。

可能需要手动输入(遥控器,或通过MAVLink连接的游戏手柄/拇指杆)。 海拔高度通常使用气压计测量,在极端天气条件下可能会变得不准确。 带有激光雷达/距离传感器的飞机将能够以更高的可靠性和准确性控制高度。

参数

该模式受以下参数影响:

Parameter Description
MPC_Z_VEL_MAX_UP Maximum vertical ascent velocity. Default: 3 m/s.
MPC_Z_VEL_MAX_DN Maximum vertical descent velocity. Default: 1 m/s.
RCX_DZ RC dead zone for channel X. The value of X for throttle will depend on the value of RC_MAP_THROTTLE. For example, if the throttle is channel 4 then RC4_DZ specifies the deadzone.
MPC_XXXX Most of the MPC_xxx parameters affect flight behaviour in this mode (at least to some extent). For example, MPC_THR_HOVER defines the thrust at which a vehicle will hover.
© PX4 Dev Team. License: CC BY 4.0            Updated: 2018-12-14 23:19:57

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