RAttitude Mode (Multicopter)

  

Rattitude mode allows pilots to fly using Manual/Stabilized flight most of the time, but still perform Acro mode-style flips and tricks when desired.

The vehicle behaves as in Manual/Stabilized mode when the Roll/Pitch stick is moved within the central area and like Acro mode when the stick is moved in the outer circumference (by default Manual/Stabilized mode occupies about 80% of the range). When the sticks are centered the multicopter will level out (but will still drift in the direction of any wind and with any pre-existing momentum).

技术描述

RC mode that allows pilots to fly using Manual/Stabilized flight most of the time, but still perform Acro mode-style flips and tricks when desired. 回正摇杆使飞机水平。

  • Sticks within mode's threshold (like Manual/Stabilized mode):
    • 回正RP摇杆使飞机水平。 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。
  • Sticks outside threshold (like Acro mode):
    • RPY摇杆输入控制围绕各自轴的角度旋转速率。

参数

Parameter Description
MC_RATT_TH Threshold for Rattitude mode (the percentage of the stick radius at which mode switches between manual/stabilised and acro-like modes. Default 0.8.

The parameters for Manual/Stabilized mode and Acro mode are also relevant.

© PX4 Dev Team. License: CC BY 4.0            Updated: 2018-12-14 23:19:57

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