Position Mode (Multicopter)

  

Position is an easy-to-fly RC mode in which roll and pitch sticks control speed over ground in the left-right and forward-back directions (relative to the "front" of the vehicle), and throttle controls speed of ascent-descent. When the sticks are released/centered the vehicle will actively brake, level, and be locked to a position in 3D space — compensating for wind and other forces.

Position mode is the safest manual mode for new fliers. Unlike Altitude and Manual/Stabilized modes the vehicle will stop when the sticks are centered rather than continuing until slowed by wind resistance.

The diagram below shows the mode behaviour visually (for a mode 2 transmitter).

MC Position Mode

Care must be taken when landing in this mode. When first landing in this mode, be ready to switch to Manual/Stabilized in order to be able to disarm. If landing is correctly detected, motors will spin down after touch down and then disarm shortly after. If the motors keep spinning at higher RPM or start spinning up, first switch to Manual/Stabilized (MC), and then disarm. Be aware that the vehicle may tip over on the ground due to GPS drift.

技术总结

RC/manual mode where RPT sticks control speed in corresponding directions. 中心摇杆水平飞机, 并保持它的固定位置和高度逆风。

  • Centered RPT sticks (in RC deadzone) hold x, y, z position steady against any wind and levels attitude.
  • 外部中心:
    • 翻滚/俯仰摇杆控制相对于飞机”前部“的左右前后方向的速度。
    • 油门摇杆控制速度的上升。
    • 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)。 This mode requires GPS.

参数

All the parameters in the Multicopter Position Control group are relevant. A few parameters of particular note are listed below.

Parameter Description
MPC_HOLD_DZ Deadzone of sticks where position hold is enabled. Default: 0.1 (10% of full stick range).
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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