![\"ArduPlane-flightmodes1\"](\"http:\/\/drtu.com\/blog\/wp-content\/uploads\/2014\/09\/ArduPlane-flightmodes1-e1410796471235.png\")
<\/a>\nThe above setup shows a configuration for a RC transmitter with a 6 position switch (or a combination of a 3 position switch with a 2 position switch). Each switch position corresponds to a PWM (pulse width modulation) range shown on the right. Each of those switch positions is mapped to one of the available flight modes. In the above example, when the switch is in a position that generates a PWM value of between 1491 and 1620 then ArduPlane will enter Training mode.
\n\u4e0a\u9762\u7684\u8fd9\u5f20\u56fe\u5c55\u793a\u4e866\u4e2a\u5f00\u5173\u4f4d\u7f6e\uff08\u6216\u8005\u4e00\u4e2a3\u6863\u4f4d\u7684\u5f00\u5173\u548c\u4e00\u4e2a2\u6863\u4f4d\u7684\u5f00\u5173\uff09\uff0c\u6bcf\u4e00\u4e2a\u6863\u4f4d\u5bf9\u5e94\u4e00\u4e2aPWM\u6570\u503c\u3002<\/p>\n
Major Flight Modes (\u4e3b\u8981\u98de\u884c\u6a21\u5f0f\uff09
\nAll of the flight modes below have optional additional controls that may be used to change the behaviour to suit particular flying needs. After you have read the introductory material below it is highly recommended that you look through the complete set of ArduPlane parameters so you can explore the full range of functionality available.<\/p>\n
MANUAL \uff08\u624b\u52a8\uff0c\u6ca1\u6709\u81ea\u7a33\u5b9a\uff09
\nRegular RC control, no stabilization. All RC inputs are passed through to the outputs. The only ways in which the RC output may be different from inputs are as follows:<\/p>\n
if a configured failsafe or geofence triggers, and ArduPlane takes control
\nif the VTAIL_OUTPUT option is enabled, then a software VTAIL mixer is applied on the output
\nif the ELEVON_OUTPUT option is enabled, then a software Elevon mixer is applied on the output<\/p>\n
STABILIZE \uff08\u81ea\u7a33\u5b9a\uff09\uff08\u901a\u5e38\u7528\u5728\u5ba4\u5185\u6216\u8005\u8d77\u98de\uff0c\u964d\u843d\u65f6\uff09\uff0c\u6ca1\u6709GPS\u5b9a\u4f4d\uff0c\u53ea\u80fd\u4fdd\u6301\u6c34\u5e73\u65b9\u5411\u5e73\u7a33\u3002\u9ad8\u5ea6\uff0c\u548c\u4f4d\u7f6e\u5b8c\u5168\u9760\u624b\u52a8\u3002\u521d\u5b66\u8005\u5fc5\u987b\u7ec3\u4e60\u548c\u638c\u63e1\u7684\u6a21\u5f0f\u3002
\nRC control with simple stabilization. If you let go of the sticks then ArduPlane will level the plane. This is a bit like flying a plane with a lot of dihedral. You will find that while it is possible to do maneuvers like rolls and loops in stabilize mode, the tendency of the plane to right itself will make these maneuvers difficult. For people wanting the plane to mostly fly itself, with the pilot just telling it where to fly, you are better off using the FlyByWireA mode.<\/p>\n
In stabilize mode the throttle is limited by the THR_MIN and THR_MAX settings.<\/p>\n
Note that STABILIZE mode is not a good mode to use for tuning the control loops. You are far better off using FBWA for that.<\/p>\n
FLY BY WIRE_A (FBWA) \uff08\u7535\u63a7\u98deA\uff09\uff0c\u5bf9\u4e8e\u5927\u591a\u6570\u65b0\u624b\u6765\u8bf4\uff0c\u8fd9\u662f\u6700\u5e38\u7528\u7684\u98de\u884c\u6a21\u5f0f\uff0c\u4f46\u4e8b\u5b9e\u4e0a\uff0c\u57fa\u672c\u6ca1\u4eba\u98de\u8fd9\u4e2a\u6a21\u5f0f\u3002
\nThis is the most popular mode for assisted flying in ArduPlane, and is the best mode for inexperienced flyers. In this mode ArduPlane will hold the roll and pitch specified by the control sticks. So if you hold the aileron stick hard right then the plane will hold it\u2019s pitch level and will bank right by the angle specified in the LIM_ROLL_CD option (in centidegrees). It is not possible to roll the plane past the roll limit specified in LIM_ROLL_CD, and it is not possible to pitch the plane beyond the LIM_PITCH_MAX\/LIM_PITCH_MIN settings.<\/p>\n
Note that holding level pitch does not mean the plane will hold altitude. How much altitude a plane gains or loses at a particular pitch depends on its airspeed, which is primarily controlled by throttle. So to gain altitude you should raise the throttle, and to lose altitude you should lower the throttle. If you want ArduPlane to take care of holding altitude then you should look at the FlyByWireB mode.<\/p>\n
In FBWA mode throttle is manually controlled, but is constrained by the THR_MIN and THR_MAX settings.<\/p>\n
In FBWA mode the rudder is under both manual control, plus whatever rudder mixing for roll you have configured. Thus you can use the rudder for ground steering, and still have it used for automatically coordinating turns.<\/p>\n
FLY BY WIRE_B (FBWB) \uff08\u7535\u63a7\u98deB\uff09 \u548c\u7535\u63a7\u98deA\u4e00\u6837\uff0c\u4f46\u662f\u6709\u80fd\u81ea\u52a8\u63a7\u5236\u9ad8\u5ea6
\nThe FBWB mode is similar to FBWA, but ArduPlane will try to hold altitude as well. The roll and pitch control is the same as FBWA,and altitude is controlled using the elevator. The target airspeed is controlled using the throttle.<\/p>\n
To control your altitude in FBWB mode you use the elevator to ask for a change in altitude. If you leave the elevator centered then ArduPlane will try to hold the current altitude. As you move the elevator ArduPlane will try to gain or lose altitude in proportion to how far you move the elevator. How much altitude it tries to gain for full elevator deflection depends on the FBWB_CLIMB_RATE parameter, which defaults to 2 meters\/second.<\/p>\n
Whether you need to pull back on the elevator stick or push forward to climb depends on the setting of the FBWB_ELEV_REV parameter. The default is for pulling back on the elevator to cause the plane to climb. This corresponds to the normal response direction for a RC model. If you are more comfortable with the reverse you can set FBWB_ELEV_REV to 1 and the elevator will be reversed in FBWB mode.<\/p>\n
If you have an airspeed sensor then the throttle will control the target airspeed in the range ARSPD_FBW_MIN to ARSPD_FBW_MAX. If throttle is mimimum then the plane will try to fly at ARSPD_FBW_MIN. If it is maximum it will try to fly at ARSPD_FBW_MAX.<\/p>\n
If you don\u2019t have an airspeed sensor then the throttle will set the target throttle of the plane, and ArduPlane will adjust the throttle around that setting to achieve the desired altitude hold. The throttle stick can be used to push the target throttle up beyond what it calculates is needed, to fly faster.<\/p>\n
As with FBWA, the rudder is under a combination of manual control and auto control for turn coordination.<\/p>\n
AUTOTUNE \u81ea\u52a8\u8c03\u53c2\u662fpixhawk\u4e00\u4e2a\u6bd4\u8f83\u725b\u903c\u7684\u529f\u80fd\uff0c\u518d\u4e5f\u4e0d\u9700\u8981\u8c03\u8282\u98de\u63a7\u7684PID\u503c\uff0c\u53ea\u8981\u5728\u7a7a\u4e2d\u5f00\u542f\u81ea\u52a8\u8c03\u53c2\uff0cpixhawk\u81ea\u52a8\u8bbe\u7f6ePID\u503c\u3002\u4e0d\u8fc7\u5b9e\u9645\u4e0a\uff0c\u98de\u673a\u7684\u9ad8\u5ea6\u662f\u81ea\u52a8\u63a7\u5236\u7684\uff0c\u98de\u673a\u4f1a\u5728\u7a7a\u4e2d\u6765\u56de\u6447\u6643\u51e0\u5206\u949f\uff0c\u5e45\u5ea6\u8d8a\u6765\u8d8a\u5c0f\u3002
\nThe AUTOTUNE mode flies in the same way as FBWA, but it does automatic tuning of roll and pitch control gains. Please read the full documentation on AUTOTUNE for more details.<\/p>\n
TRAINING \u57f9\u8bad
\nThis mode is like training wheels on a bicycle and is ideal for teaching students manual R\/C control. If the roll is less the the LIM_ROLL_CD parameter than the pilot has manual roll control. If the plane tries to roll past that limit then the roll will be held at that limit. The plane will not automatically roll back to level flight, but it will prevent the pilot from rolling past the limit. The same applies to pitch \u2013 the pilot has manual pitch control until the LIM_PITCH_MIN or LIM_PITCH_MAX limits are reached, at which point the plane won\u2019t allow the pitch to go past those limits.<\/p>\n
In training mode the rudder and throttle are both completely under manual control.<\/p>\n
ACRO \uff08\u6742\u6280\uff09\u9ad8\u7ea7\u5e94\u7528\uff0c\u4e3b\u8981\u7528\u6237\u662f\u60f3\u73a9\u7535\u63a7\u98deA\u6216\u8005\u81ea\u5e73\u8861\u4f46\u662f\u53c8\u4e0d\u60f3\u5168\u624b\u52a8\u3002
\nACRO (for acrobatic) is a mode for advanced users that provides rate based stabilization with attitude lock. It is a good choice for people who want to push their plane harder than you can in FBWA or STABILIZE mode without flying in MANUAL. This is the mode to use for rolls, loops and other basic aerobatic maneuvers, or if you just want an \u201con rails\u201d manual flying mode.<\/p>\n
To setup this mode you need to set ACRO_ROLL_RATE and ACRO_PITCH_RATE. These default to 180 degrees\/second, and control how responsive your plane will be about each axis.<\/p>\n
When flying in ACRO the aircraft will try to hold it\u2019s existing attitude if you have no stick input. So if you roll the plane to a 30 degree bank angle with 10 degrees pitch and then let go of the sticks, the plane should hold that attitude. This applies upside down as well, so if you roll the plane upside down and let go of the sticks the plane will try to hold the inverted attitude until you move the sticks again.<\/p>\n
When you apply aileron or elevator stick the plane will rotate about that axis (in body frame) at a rate proportional to the amount of stick movement. So if you apply half deflection on the aileron stick then the plane will start rolling at half of ACRO_ROLL_RATE.<\/p>\n
So to perform a simple horizontal roll, just start in level flight then hold the aileron stick hard over while leaving the elevator stick alone. The plane will apply elevator correction to try to hold your pitch while rolling, including applying inverse elevator while inverted.<\/p>\n
In the current implementation the controller won\u2019t use rudder while the plane is on it\u2019s side to hold pitch, which means horizontal rolls won\u2019t be as smooth as a good manual pilot, but that should be fixed in a future release. This also means that it won\u2019t hold knife-edge flight.<\/p>\n
Performing a loop is just as simple \u2013 just start with wings level then pull back on the elevator stick while leaving the aileron alone. The controller will try to hold your roll attitude through the loop. You can stop the loop upside down if you like as part of maneuvers such as Immelman turns or cuban eights.<\/p>\n
Note that if you are using ACRO mode to try and teach yourself aerobatic flying then it is highly recommended that you setup a geo-fence in case you get disoriented.<\/p>\n
Warning: It is very easy to stall your plane in ACRO mode, and if you stall you should change to MANUAL mode to recover<\/p>\n
make sure you know the limitations of your airframe, and what the correct stall recovery procedure is. This varies a lot between airframes. Search for stall recovery tutorials for R\/C aircraft and read them
\ndon\u2019t overload your airframe, only fly ACRO mode with a lightly loaded plane
\nmake sure you have enough airspeed for whatever maneuver you are attempting. Throttle and speed control is completely under manual pilot control in ACRO mode
\npractice stall recovery before trying anything too fancy. Make sure you practice when you have plenty of altitude to give you time to try different recovery strategies
\nIt can be a lot of fun flying ACRO mode, but you can also easily stall and crash hard. Automatic stall detection and recovery in autopilots is an area of research, and is not yet implemented in APM:Plane, so if you do stall then recovery is up to you. The best mode for recovery is MANUAL.<\/p>\n
CRUISE \uff08\u81ea\u52a8\u5de1\u822a\uff09\u7c7b\u4f3c\u7535\u63a7\u98deB\uff0c\u4f46\u662f\u6709\u673a\u5934\u9501\u5b9a\uff0c\u8f83\u591a\u7528\u4e8e\u957f\u8ddd\u79bb\u7b2c\u4e00\u89c6\u89d2\u7684\u98de\u884c
\nCruise mode is a bit like FBWB, but it has \u201cheading lock\u201d. It is the ideal mode for longer distance FPV flight, as you can point the plane at a distant object and it will accurately track to that object, automatically controlling altitude, airspeed and heading.<\/p>\n
The way it works is this:<\/p>\n
if you have any aileron or rudder input then it flies just like FBWB. So it holds altitude until you use the elevator to change the target altitude (at the FBWB_CLIMB_RATE rate) and it adjusts airspeed based on throttle
\nwhen you let go of the aileron and rudder sticks for more than 0.5 seconds it sets an internal waypoint at your current location, and projects a target waypoint one kilometre ahead (note that heading lock will only activate if you have GPS lock, and have a ground speed of at least 3 m\/s)
\nas it flies along it heads for the target waypoint, and constantly updates that target to always be one kilometre ahead, leaving the previous waypoint as the position that you centred the aileron and rudder sticks
\nas long as you don\u2019t touch the aileron or rudder, it will run the same navigation system it uses for waypoints, including crabbing, cross-track etc, so it will very accurately hold that ground course even in the face of changing wind conditions
\nOne of the nicer aspects of CRUISE mode is how it handles rudder. If you give it some rudder then the roll controller will keep the wings level, but the plane will yaw with the rudder. So you get a \u201cwings level\u201d turn, allowing you to rotate your flight to point at whatever geographic feature you want to head towards. Then when you let go of the rudder it will head straight for that point.<\/p>\n
Note that CRUISE mode does not currently have the ability to do terrain following. The ability to follow an altitude above ground level over variable terrain is planned for a future release of APM on the PX4 controller board.\u6ce8\u610f\uff1a\u76ee\u524d\u8fd8\u4e0d\u80fd\u5728\u98de\u673a\u7684\u9ad8\u5ea6\u65b9\u9762\u81ea\u52a8\u8ddf\u968f\u5730\u9762\u7684\u9ad8\u5dee\u6539\u53d8<\/p>\n
Warning: Make sure you only fly FPV if it is allowed by your countries flight and airspace control rules. Many countries do not allow non line of sight flight without a special operating license.<\/p>\n
AUTO \u81ea\u52a8\uff0c\u7528\u5728\u5730\u9762\u7ad9\u63a7\u5236\uff0c\u822a\u70b9\uff08\u6309\u7167GPS\u5750\u6807\uff09\u98de\u884c\u3002
\nIn AUTO mode the follow a mission (a set of GPS waypoints and other commands) set by your ground station configuration. When entering AUTO mode ArduPlane will continue from whatever mission item it was last doing, unless you have reset the mission.<\/p>\n
When in AUTO ArduPlane will by default allow the pilot to influence the flight of the plane by using \u201cstick mixing\u201d, which allows for aileron, elevator and rudder input to steer the plane in a way that can override the autopilot control. Whether this is enabled is determined by the STICK_MIXING option. By default stick mixing behaves the same as FBWA mode.<\/p>\n
Warning: \u201cHome\u201d position is always supposed to be your Planes actual GPS takeoff location:
\nIt is very important to acquire GPS lock before arming in order for RTL, Loiter, Auto or any GPS dependent mode to work properly.
\nFor APM:Plane the home position is the postion of the Plane when you first get GPS lock whether it was armed or not.
\nThis means if you execute an RTL in APM:Plane, it will return to the location where it was when it first acquired GPS lock.
\nFor APM:Plane: Plug in the battery and let it acquire GPS lock where you want it to return to: (Not the Pits).
\nReturn To Launch (RTL)
\nIn RTL mode the plane will return to launch point (the point where the plane first got a GPS lock) and loiter there until manual control is regained (or it runs out of fuel!). As with AUTO mode you can also \u201cnudge\u201d the aircraft manually in this mode using stick mixing. The target altitude for RTL mode is set using the ALT_HOLD_RTL parameter in centimeters.<\/p>\n
Alternatively, you may configure the plane to return to a Rally Point, rather than the launch point. <\/p>\n
Warning: \u201cHome\u201d position is always supposed to be your Planes actual GPS takeoff location:
\nIt is very important to acquire GPS lock before arming in order for RTL, Loiter, Auto or any GPS dependent mode to work properly.
\nFor APM:Plane the home position is the postion of the Plane when you first get GPS lock whether it was armed or not.
\nThis means if you execute an RTL in APM:Plane, it will return to the location where it was when it first acquired GPS lock.
\nFor APM:Plane: Plug in the battery and let it acquire GPS lock where you want it to return to: (Not the Pits).
\nLOITER \uff08GPS\u63a7\u5236\u98de\u884c\uff09\uff0c\u822a\u62cd\u6700\u5e38\u7528\u7684\u6a21\u5f0f\u3002\u53ef\u4ee5\u5b8c\u5168\u8131\u63a7\uff0c\u60ac\u505c\u3002\u98de\u673a\u79fb\u52a8\u6bd4\u8f83\u6162\uff0c\u597d\u6bd4\u7528GPS\u4f4d\u7f6e\u63a7\u5236\u4e86\u98de\u673a\u57283\u7ef4\u7a7a\u4e2d\u7684\u4f4d\u7f6e\u3002
\nIn LOITER mode the plane will circle around the point where you started the loiter, holding altitude at the altitude that you entered loiter in. The radius of the circle is controlled by the WP_LOITER_RAD parameter, but is also limited by your NAV_ROLL_CD limit, and your NAVL1_PERIOD navigation tuning.<\/p>\n
As with RTL \uff08\u81ea\u52a8\u8fd4\u822a\uff0c\u53ea\u8981\u8d77\u98de\u7684\u65f6\u5019\u5df2\u7ecf\u5b9a\u4f4d\uff0c\u90a3\u4e48\u5207\u8fd9\u4e2a\u6a21\u5f0f\uff0c\u98de\u673a\u53ef\u4ee5\u5236\u52a8\u8fd4\u822a\uff0c\u5e76\u572820\u7c73\u7684\u9ad8\u5ea6\uff0c\u6162\u6162\u964d\u843d\u5230\u8d77\u98de\u7684\u4f4d\u7f6e\uff09and AUTO mode you can \u201cnudge\u201d the plane while in LOITER using stick mixing, if enabled.<\/p>\n
Warning: \u201cHome\u201d position is always supposed to be your Planes actual GPS takeoff location: \u81ea\u52a8\u8fd4\u822a\u70b9\u5c31\u662f\u4f60\u7684\u98de\u673a\u4e0a\u7535\u4ee5\u540e\u627e\u5230\u7684\u7b2c\u4e00\u4e2a\u7684GPS\u5730\u70b9\uff08\u4e0d\u7ba1\u4f60\u5f00\u6ca1\u5f00\u52a8\u9a6c\u8fbe\uff09\uff0c\u6240\u4ee5\u5728\u4ee5\u4e0b\u98de\u884c\u6a21\u5f0f\u5fc5\u987b\u5728GPS\u5b9a\u4f4d\u4ee5\u540e\u624d\u80fd\u8fdb\u884c\uff0c\u6bd4\u5982RTL\uff0c\u5b9a\u70b9\u5b9a\u9ad8\uff0c\u81ea\u52a8\u7b49
\nIt is very important to acquire GPS lock before arming in order for RTL, Loiter, Auto or any GPS dependent mode to work properly.
\nFor APM:Plane the home position is the postion of the Plane when you first get GPS lock whether it was armed or not.
\nThis means if you execute an RTL in APM:Plane, it will return to the location where it was when it first acquired GPS lock.
\nFor APM:Plane: Plug in the battery and let it acquire GPS lock where you want it to return to: (Not the Pits).<\/p>\n
CIRCLE \u753b\u5706\uff08\u7c7b\u4f3c\u5b9a\u70b9\u5b9a\u9ad8\uff0c\u4f46\u662f\u4e0d\u9700\u8981GPS\u5b9a\u4f4d\uff09\uff08\u8fd9\u4e2a\u6a21\u5f0f\u6bd4\u8f83\u597d\u73a9\uff0c\u4e3b\u8981\u7528\u5728\u822a\u62cd\u4e00\u4e2a\u70b9\uff0c\u6bd4\u5982\u5b9d\u5854\uff0c\u98de\u673a\u56f4\u7ed5\u5b9d\u5854\u8f6c\u5708\uff0c\u673a\u5934\u6c38\u8fdc\u5bf9\u7740\u5b9d\u5854\uff0c\u534a\u5f84\u53ef\u8c03\uff0c\u521d\u8bbe20\u7c73\uff09
\nCircle mode is similar to loiter, but doesn\u2019t attempt to hold position. This is primarily meant as a failsafe mode and is the mode that the aircraft will enter by default for 20 seconds when a failsafe event occurs, before switching to RTL \uff08\u4e00\u952e\u8fd4\u822a\uff09.<\/p>\n
Circle mode is deliberately a very conservative mode, and doesn\u2019t rely on GPS positioning as it is used when GPS fails. It will do a large circle, The bank angle is set to the LIM_ROLL_CD divided by 3, to try to ensure the plane remains stable even without GPS velocity data for accelerometer correction. That is why the circle radius is so large.<\/p>\n
Circle mode uses throttle and pitch control to maintain altitude at the altitude where it started circling.<\/p>\n
GUIDED \uff08\u5bfc\u822a\uff09\u4e3b\u8981\u7528\u4e8e\u5728\u5730\u9762\u7ad9\u7684\u6570\u5b57\u5730\u56fe\u4e0a\u70b9\u51fb\u67d0\u4e2a\u4f4d\u7f6e\uff0c\u7136\u540e\u98de\u673a\u81ea\u52a8\u98de\u8fc7\u53bb\uff0c\u53e6\u5916\u4e00\u4e2a\u7528\u5904\uff0c\u5c31\u662f\u5730\u7406\u9650\u56f4\uff0c\u98de\u673a\u98de\u8fc7\u8fb9\u754c\u4ee5\u540e\uff0c\u81ea\u52a8\u8fdb\u5165\u5bfc\u822a\u6a21\u5f0f\uff0c\u4f1a\u81ea\u52a8\u98de\u5230\u4e00\u4e2a\u8fd4\u822a\u5730\u70b9\u5e76\u5b9a\u70b9\u5b9a\u9ad8\uff0c\u7b49\u5f85\u4e0b\u4e00\u4e2a\u64cd\u4f5c\u6307\u4ee4
\nThe GUIDED mode is used when you want the aircraft to fly to a specific point on the map without setting up a mission. Most ground control stations support a \u201cclick to fly to\u201d feature where you can click a point on the map and the aircraft will fly to that location when loiter.<\/p>\n
The other major use for GUIDED mode is in geo-fencing. When the geo-fence is breached the aircraft will enter GUIDED mode, and head to the predefined geo-fence return point, where it will loiter until the operator takes over.<\/p>\n
Mission Specific Modes
\nWhen flying an AUTO mission ArduPlane has some sub-modes that are set using mission items. The two main sub-modes are TAKEOFF and LAND.<\/p>\n
TAKEOFF \u8d77\u98de\uff0c\u901a\u5e38\u7528\u5728\u4f7f\u7528\u5730\u9762\u7ad9\u6216\u8005\u624b\u673a\u63a7\u5236\uff0c\u81ea\u52a8\u8d77\u98de\uff0c\u523020\u7c73\u9ad8\u5ea6\uff0c\u7136\u540e\u81ea\u52a8\u60ac\u505c\u3002
\nAuto takeoff is set by the mission control scripting only. The takeoff mission specifies a takeoff pitch and a target altitude. During takeoff ArduPlane will use the maximum throttle set by the THR_MAX parameter. The takeoff mission item is considered complete when the plane has reached the target altitude specified in the mission.<\/p>\n
Before takeoff it is important that the plane be pointing into the wind, and be aligned with the runway (if a wheeled takeoff is used). The plane will try to hold its heading during takeoff, with the initial heading set by the direction the plane is facing when the takeoff starts. It is highly recommended that a compass be enabled and properly configured for auto takeoff, as takeoff with a GPS heading can lead to poor heading control.<\/p>\n
If you are using a wheeled aircraft then you should look at the WHEELSTEER_* PID settings for controlling ground steering. If you are hand launching or using a catapult you should look at the TKOFF_THR_MINACC and TKOFF_THR_MINSPD parameters.<\/p>\n
LAND \u964d\u843d
\nAuto Land is set by the mission control scripting only. Throttle and altitude is controlled by the autopilot. After getting closer LAND_FLARE_ALT meters from the target altitude or LAND_FLARE_SEC seconds from the target landing point the plane will \u201cflare\u201d to the LAND_PITCH_CD pitch (in centidegrees) and will hold heading for the final approach.<\/p>\n
Setting up ArduPlane for reliable auto-takeoff and landing is very airframe dependent, and it is recommended that you first get some experience flying your aircraft in FBWA mode, and be ready to take over control in manual or FBWA mode the first few times you use an automatic takeoff or landing.<\/p>\n
You should also look through the complete list of parameters, as there are a lot of parameters that help control takeoff and landing for different situations.<\/p>\n
1\u3001\u7a33\u5b9a\u6a21\u5f0fStabilize
\n\u7a33\u5b9a\u6a21\u5f0f\u662f\u4f7f\u7528\u5f97\u6700\u591a\u7684\u98de\u884c\u6a21\u5f0f\uff0c\u4e5f\u662f\u6700\u57fa\u672c\u7684\u98de\u884c\u6a21\u5f0f\uff0c\u8d77\u98de\u548c\u964d\u843d\u90fd\u5e94\u8be5\u4f7f\u7528\u6b64\u6a21\u5f0f\u3002
\n \u6b64\u6a21\u5f0f\u4e0b\uff0c\u98de\u63a7\u4f1a\u8ba9\u98de\u884c\u5668\u4fdd\u6301\u7a33\u5b9a\uff0c\u662f\u521d\u5b66\u8005\u8fdb\u884c\u4e00\u822c\u98de\u884c\u7684\u9996\u9009\uff0c\u4e5f\u662fFPV\u7b2c\u4e00\u89c6\u89d2\u98de\u884c\u7684\u6700\u4f73\u6a21\u5f0f\u3002
\n \u4e00\u5b9a\u8981\u786e\u4fdd\u9065\u63a7\u5668\u4e0a\u7684\u5f00\u5173\u80fd\u5f88\u65b9\u4fbf\u65e0\u8bef\u5730\u62e8\u5230\u8be5\u6a21\u5f0f\uff0c\u8fd9\u5bf9\u62a2\u6551\u7d27\u6025\u60c5\u51b5\u5341\u5206\u91cd\u8981\uff01<\/p>\n
2\u3001\u5b9a\u9ad8\u6a21\u5f0fALT_HOLD
\n\u521d\u6b21\u8bd5\u98de\u4e4b\u540e\u5c31\u53ef\u4ee5\u5c1d\u8bd5\u5b9a\u9ad8\u6a21\u5f0f\uff0c\u6b64\u6a21\u5f0f\u4e0d\u9700\u8981GPS\u652f\u6301\uff0cAPM\u4f1a\u6839\u636e\u6c14\u538b\u4f20\u611f\u5668\u7684\u6570\u636e\u4fdd\u6301\u5f53\u524d\u9ad8\u5ea6\u3002
\n \u5b9a\u9ad8\u65f6\u5982\u679c\u4e0d\u4f1a\u5b9a\u70b9\uff0c\u56e0\u6b64\u98de\u884c\u5668\u4f9d\u7136\u4f1a\u6f02\u79fb\u3002\u53ef\u4ee5\u9065\u63a7\u6765\u79fb\u52a8\u6216\u4fdd\u6301\u4f4d\u7f6e\u3002
\n \u5b9a\u9ad8\u65f6\u5c31\u662fAPM\u63a7\u5236\u6cb9\u95e8\u6765\u4fdd\u6301\u9ad8\u5ea6\u3002\u4f46\u4ecd\u7136\u53ef\u4ee5\u7528\u9065\u63a7\u6cb9\u95e8\u6765\u8c03\u6574\u9ad8\u5ea6\uff0c\u4e0d\u53ef\u4ee5\u7528\u6765\u964d\u843d\uff0c\u56e0\u4e3a\u6cb9\u95e8\u4e0d\u4f1a\u964d\u52300\u3002
\n \u7a33\u5b9a\u6a21\u5f0f\u548c\u5b9a\u9ad8\u6a21\u5f0f\u4e4b\u95f4\u5207\u6362\u65f6\uff0c\u8981\u8ba9\u9065\u63a7\u53d1\u5c04\u673a\u7684\u6cb9\u95e8\u5728\u540c\u4e00\u4f4d\u7f6e\uff0c\u907f\u514d\u56e0\u6a21\u5f0f\u5207\u6362\u3001\u6cb9\u95e8\u63a7\u5236\u65b9\u5f0f\u53d1\u751f\u53d8\u5316\u9020\u6210\u98de\u884c\u5668\u7a81\u7136\u4e0a\u5347\u6216\u8005\u4e0b\u964d\u3002<\/p>\n
3\u3001\u60ac\u505c\u6a21\u5f0fLoiter
\n\u60ac\u505c\u6a21\u5f0f\u5c31\u662fGPS\u5b9a\u70b9\u6a21\u5f0f\u3002\u5e94\u8be5\u5728\u8d77\u98de\u524d\u5148\u8ba9GPS\u5b9a\u70b9\uff0c\u907f\u514d\u5728\u7a7a\u4e2d\u7a81\u7136\u5b9a\u4f4d\u53d1\u751f\u95ee\u9898\u3002\u5176\u4ed6\u65b9\u9762\u8ddf\u5b9a\u9ad8\u6a21\u5f0f\u57fa\u672c\u76f8\u540c\u3002<\/p>\n
4\u3001\u7b80\u5355\u6a21\u5f0fSimple Mode
\n\u8bbe\u7f6e\u8fc7APM\u98de\u884c\u6a21\u5f0f\u7684\u670b\u53cb\u90fd\u4f1a\u6ce8\u610f\u5230\uff0c\u8f6f\u4ef6\u754c\u9762\u7684\u5404\u4e2a\u6a21\u5f0f\u65c1\u8fb9\uff0c\u90fd\u6709\u4e2a\u201cSimple Mode\u201d\u7b80\u5355\u6a21\u5f0f\u7684\u52fe\u9009\u6846\u3002\u52fe\u4e86\u8fd9\u4e2a\u6846\u4e4b\u540e\u7684\u6a21\u5f0f\uff0c\u98de\u884c\u4e2d\u4f1a\u66f4\u52a0\u7b80\u5355\uff1a
\n \u4e0d\u7528\u518d\u7ba1\u98de\u884c\u5668\u673a\u5934\u7684\u671d\u5411\uff0c\u53ef\u4ee5\u5c06\u98de\u884c\u5668\u770b\u6210\u4e00\u4e2a\u70b9\uff0c\u5982\u679c\u5347\u964d\u8235\u7ed9\u51fa\u4fef\u51b2\u6307\u4ee4\uff0c\u98de\u884c\u5668\u5c31\u4f1a\u98de\u5f97\u8fdc\u79bb\u64cd\u4f5c\u8005\uff1b\u53cd\u4e4b\u5982\u679c\u7ed9\u51fa\u62c9\u6746\u6307\u4ee4\uff0c\u98de\u884c\u5668\u4f1a\u98de\u56de\u64cd\u4f5c\u8005\uff1b\u7ed9\u51fa\u5411\u5de6\u6eda\u8f6c\u7684\u6307\u4ee4\uff0c\u98de\u884c\u5668\u4f1a\u5411\u5de6\u98de\uff0c\u53cd\u4e4b\u4ea6\u7136\u3002\u3002\u3002\u6ce8\u610f\uff0c\u8fd9\u4e9b\u524d\u540e\u5de6\u53f3\u7684\u98de\u884c\uff0c\u662f\u4e0d\u7ba1\u5f53\u65f6\u7684\u673a\u5934\u6307\u5411\u7684\uff01<\/p>\n
5\u3001\u8fd4\u822a\u6a21\u5f0fRTL
\n\u8fd4\u822a\u6a21\u5f0f\u9700\u8981GPS\u5b9a\u4f4d\u3002GPS\u5728\u6bcf\u6b21ARM\u524d\u7684\u5b9a\u4f4d\u70b9\uff0c\u5c31\u662f\u5f53\u524d\u7684\u201c\u5bb6\u201d\u7684\u4f4d\u7f6e\uff1bGPS\u5982\u679c\u5728\u8d77\u98de\u524d\u6ca1\u6709\u5b9a\u4f4d\uff0c\u5728\u7a7a\u4e2d\u9996\u6b21\u5b9a\u4f4d\u7684\u90a3\u4e2a\u70b9\uff0c\u5c31\u4f1a\u6210\u4e3a\u201c\u5bb6\u201d\u3002
\n \u8fdb\u5165\u8fd4\u822a\u6a21\u5f0f\u540e\uff0c\u98de\u884c\u5668\u4f1a\u5347\u9ad8\u523015\u7c73\uff0c\u6216\u8005\u5982\u679c\u5df2\u7ecf\u9ad8\u4e8e15\u7c73\uff0c\u5c31\u4fdd\u6301\u5f53\u524d\u9ad8\u5ea6\uff0c\u7136\u540e\u98de\u56de\u201c\u5bb6\u201d\u3002
\n \u8fd8\u53ef\u4ee5\u8bbe\u7f6e\u9ad8\u7ea7\u53c2\u6570\u9009\u62e9\u5230\u201c\u5bb6\u201d\u540e\u662f\u5426\u81ea\u4e3b\u964d\u843d\uff0c\u548c\u60ac\u505c\u591a\u5c11\u79d2\u4e4b\u540e\u81ea\u52a8\u964d\u843d\u3002<\/p>\n
6\u3001\u7ed5\u5708\u6a21\u5f0fCircle
\n\u5f53\u5207\u5165\u7ed5\u5708\u6a21\u5f0f\u65f6\uff0c\u98de\u884c\u5668\u4f1a\u4ee5\u5f53\u524d\u4f4d\u7f6e\u4e3a\u5706\u5fc3\u7ed5\u5708\u98de\u884c\u3002\u800c\u4e14\u6b64\u65f6\u673a\u5934\u4f1a\u4e0d\u53d7\u9065\u63a7\u5668\u65b9\u5411\u8235\u7684\u63a7\u5236\uff0c\u59cb\u7ec8\u6307\u5411\u5706\u5fc3\u3002
\n \u5982\u679c\u9065\u63a7\u5668\u7ed9\u51fa\u6a2a\u6eda\u548c\u4fef\u4ef0\u65b9\u5411\u4e0a\u7684\u6307\u4ee4\uff0c\u5c06\u4f1a\u79fb\u52a8\u5706\u5fc3\u3002
\n \u4e0e\u5b9a\u9ad8\u6a21\u5f0f\u76f8\u540c\uff0c\u53ef\u4ee5\u901a\u8fc7\u6cb9\u95e8\u6765\u8c03\u6574\u98de\u884c\u5668\u9ad8\u5ea6\uff0c\u4f46\u662f\u4e0d\u80fd\u964d\u843d\u3002
\n \u5706\u7684\u534a\u5f84\u53ef\u4ee5\u901a\u8fc7\u9ad8\u7ea7\u53c2\u6570\u8bbe\u7f6e\u8c03\u6574\u3002<\/p>\n
7\u3001\u6307\u5bfc\u6a21\u5f0fGuided
\n\u6b64\u6a21\u5f0f\u9700\u8981\u5730\u9762\u7ad9\u8f6f\u4ef6\u548c\u98de\u884c\u5668\u4e4b\u95f4\u901a\u4fe1\u3002\u8fde\u63a5\u540e\uff0c\u5728\u4efb\u52a1\u89c4\u5212\u5668Mission Planner\u8f6f\u4ef6\u5730\u56fe\u754c\u9762\u4e0a\uff0c\u5728\u5730\u56fe\u4e0a\u4efb\u610f\u4f4d\u7f6e\u70b9\u9f20\u6807\u53f3\u952e\uff0c\u9009\u5f39\u51fa\u83dc\u5355\u4e2d\u7684\u201cFly to here\u201d\uff08\u98de\u5230\u8fd9\u91cc\uff09\uff0c\u8f6f\u4ef6\u4f1a\u8ba9\u4f60\u8f93\u5165\u4e00\u4e2a\u9ad8\u5ea6\uff0c\u7136\u540e\u98de\u884c\u5668\u4f1a\u98de\u5230\u6307\u5b9a\u4f4d\u7f6e\u548c\u9ad8\u5ea6\u5e76\u4fdd\u6301\u60ac\u505c\u3002<\/p>\n
8\u3001\u8ddf\u968f\u6a21\u5f0fFollowMe
\n\u8ddf\u968f\u6a21\u5f0f\u57fa\u672c\u539f\u7406\u662f\uff1a\u64cd\u4f5c\u8005\u624b\u4e2d\u7684\u7b14\u8bb0\u672c\u7535\u8111\u5e26\u6709GPS\uff0c\u6b64GPS\u4f1a\u5c06\u4f4d\u7f6e\u4fe1\u606f\u901a\u8fc7\u5730\u9762\u7ad9\u548c\u6570\u4f20\u7535\u53f0\u968f\u65f6\u53d1\u7ed9\u98de\u884c\u5668\uff0c\u98de\u884c\u5668\u5b9e\u9645\u6267\u884c\u7684\u662f\u201c\u98de\u5230\u8fd9\u91cc\u201d\u7684\u6307\u4ee4\u3002\u5176\u7ed3\u679c\u5c31\u662f\u98de\u884c\u5668\u8ddf\u968f\u64cd\u4f5c\u8005\u79fb\u52a8\u3002
\n \u7531\u4e8e\u6b64\u6a21\u5f0f\u9700\u8981\u989d\u5916\u7684\u8bbe\u5907\uff0c\u6682\u65f6\u4e0d\u8ba8\u8bba\u3002<\/p>\n
9\u3001\u81ea\u52a8\u6a21\u5f0fAuto
\n \u6b64\u6a21\u5f0f\u4e0b\u98de\u884c\u5668\u4f1a\u81ea\u52a8\u6267\u884c\u5730\u9762\u7ad9Mission Planner\u8bbe\u5b9a\u597d\u7684\u4efb\u52a1\uff0c\u4f8b\u5982\u8d77\u98de\u3001\u6309\u987a\u5e8f\u98de\u5411\u591a\u4e2a\u822a\u70b9\u3001\u65cb\u8f6c\u3001\u62cd\u7167\u7b49\u3002
\n \u6b64\u6a21\u5f0f\u5185\u5bb9\u4e30\u5bcc\uff0c\u4f1a\u53e6\u884c\u8be6\u7ec6\u4ecb\u7ecd\u3002<\/p>\n
10: \u624b\u52a8\uff1aMANUAL \uff08\u5b8c\u5168\u624b\u52a8\uff0c\u6ca1\u6709\u81ea\u7a33\u5b9a\uff09<\/p>\n
11: \u81ea\u52a8\u8d77\u98de\uff0cTAKEOFF \u901a\u5e38\u7528\u5728\u4f7f\u7528\u5730\u9762\u7ad9\u6216\u8005\u624b\u673a\u63a7\u5236\uff0c\u81ea\u52a8\u8d77\u98de\uff0c\u523020\u7c73\u9ad8\u5ea6\uff0c\u7136\u540e\u81ea\u52a8\u60ac\u505c\u3002<\/p>\n
12: \u81ea\u52a8\u964d\u843d LAND\uff0c\u987e\u540d\u601d\u4e49\uff0c\u5c31\u662f\u7528\u624b\u673a\u6216\u8005\u5730\u9762\u7ad9\u63a7\u5236\uff0c\u81ea\u52a8\u964d\u843d\u3002\u8981\u4fdd\u8bc1\u5730\u9762\u6c34\u5e73\u54e6\uff0c\u5426\u5219\u3002\u3002\u3002<\/p>\n
13:\u81ea\u52a8\u8c03\u53c2AUTOTUNE \u662fpixhawk\u4e00\u4e2a\u6bd4\u8f83\u725b\u903c\u7684\u529f\u80fd\uff0c\u518d\u4e5f\u4e0d\u9700\u8981\u8c03\u8282\u98de\u63a7\u7684PID\u503c\uff0c\u53ea\u8981\u5728\u7a7a\u4e2d\u5f00\u542f\u81ea\u52a8\u8c03\u53c2\uff0cpixhawk\u81ea\u52a8\u8bbe\u7f6ePID\u503c\u3002\u4e0d\u8fc7\u5b9e\u9645\u4e0a\uff0c\u98de\u673a\u7684\u9ad8\u5ea6\u662f\u81ea\u52a8\u63a7\u5236\u7684\uff0c\u98de\u673a\u4f1a\u5728\u7a7a\u4e2d\u6765\u56de\u6447\u6643\u51e0\u5206\u949f\uff0c\u5e45\u5ea6\u8d8a\u6765\u8d8a\u5c0f\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"
1 Flight Modes 2 Major Flight Modes 3 MANUAL 4 STABILIZ […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[933],"tags":[],"class_list":["post-1587","post","type-post","status-publish","format-standard","hentry","category-933"],"_links":{"self":[{"href":"https:\/\/drnantu.com\/blog\/wp-json\/wp\/v2\/posts\/1587","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/drnantu.com\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/drnantu.com\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/drnantu.com\/blog\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/drnantu.com\/blog\/wp-json\/wp\/v2\/comments?post=1587"}],"version-history":[{"count":4,"href":"https:\/\/drnantu.com\/blog\/wp-json\/wp\/v2\/posts\/1587\/revisions"}],"predecessor-version":[{"id":1678,"href":"https:\/\/drnantu.com\/blog\/wp-json\/wp\/v2\/posts\/1587\/revisions\/1678"}],"wp:attachment":[{"href":"https:\/\/drnantu.com\/blog\/wp-json\/wp\/v2\/media?parent=1587"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/drnantu.com\/blog\/wp-json\/wp\/v2\/categories?post=1587"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/drnantu.com\/blog\/wp-json\/wp\/v2\/tags?post=1587"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}