CopterExpress/clover
1
0
Fork 0
mirror of https://github.com/CopterExpress/clover.git synced 2026-06-07 18:14:32 +00:00
Code Issues Packages Projects Releases Wiki Activity

EN Articles

Browse Source 
7 new English articles
This commit is contained in:
Konstantin Eliseev
2018-12-29 22:40:56 +03:00
committed by GitHub
parent 55c06dfd85
commit a114608a0d
7 changed files with 477 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

47
docs/en/modes.md Normal file
View File

@@ -0,0 +1,47 @@
Flight modes
===
The flight controller mode determines the exact behavior of the copter (or another craft): how incoming commands and signals from the transmitter are to be interpreted.
PX4
---
Main article: https://dev.px4.io/en/concept/flight_modes.html
### Manual control (MANUAL)
In manual mode, the pilot controls the drone directly. GPS, computer vision data, and barometer are not used. Flying in these modes requires good drone piloting skills.
* **MANUAL** — signals from the transmitter are sent directly to the mixer and to the motors. Control of the throttle and of the front/back, right/left pairs of motors rotation speed ratio. This mode is almost never used for flying, since keeping the copter stable is too difficult.
* **STABILIZED** — the mode with stabilized horizontal position. Control of the throttle, the copter pitch and roll, and the yaw angular velocity.
* **ACRO** — control of throttle and the copter's pitch, roll, and yaw angular velocity. Used by drone racers and in 3D piloting shows for performing stunts.
* **RATTITUDE** — in the center, the right stick is similar to STABILIZED, at the edges, it passes to the ACRO mode.
### With the use of additional sensors (ASSISTED)
* **ALTCTL** (ALTITUDE) — control of the altitude rate, pitch, roll and yaw angular velocity. The barometer is used (or another height gauge).
* **POSCTL** (POSITION) — control of the altitude rate, forward/backward and right/left speed, and yaw angular velocity. It is the easiest flying mode. The barometer, GPS, computer vision, and other sensors are used.
### Automatic flight (AUTO)
In the automatic flight mode, the quadcopter ignores the control signals from the transmitter.
* **AUTO.MISSION** – PX4 completes the mission pre-loaded into the drone (the mission is downloaded using the QGroundControl, or from [MAVLink] (mavlink.md) using [MAVROS](mavros.md).
* **AUTO.RTL** – the copter automatically returns to the takeoff point.
* **AUTO.LAND** – the copter lands automatically.
### Control from an external computer
* **OFFBOARD** in the mode for flying at the MAVLink commands. Control from an external computer (e.g., Raspberry Pi).
The main used MAVLink packages are:
* [MAV_CMD_COMPONENT_ARM_DISARM](https://mavlink.io/en/messages/common.html#MAV_CMD_COMPONENT_ARM_DISARM)
* [SET_POSITION_TARGET_LOCAL_NED](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_LOCAL_NED)
* [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET)
See: [autonomous flying the quadcopter in the OFFBOARD mode](simple_offboard.md).