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48 lines
2.5 KiB
Markdown
48 lines
2.5 KiB
Markdown
Flight modes
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===
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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.
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PX4
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---
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Main article: https://dev.px4.io/en/concept/flight_modes.html
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### Manual control (MANUAL)
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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.
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* **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.
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* **STABILIZED** — the mode with stabilized horizontal position. Control of the throttle, the copter pitch and roll, and the yaw angular velocity.
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* **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.
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* **RATTITUDE** — in the center, the right stick is similar to STABILIZED, at the edges, it passes to the ACRO mode.
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### With the use of additional sensors (ASSISTED)
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* **ALTCTL** (ALTITUDE) — control of the altitude rate, pitch, roll and yaw angular velocity. The barometer is used (or another height gauge).
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* **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.
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### Automatic flight (AUTO)
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In the automatic flight mode, the quadcopter ignores the control signals from the transmitter.
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* **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).
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* **AUTO.RTL** – the copter automatically returns to the takeoff point.
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* **AUTO.LAND** – the copter lands automatically.
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### Control from an external computer
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* **OFFBOARD** in the mode for flying at the MAVLink commands. Control from an external computer (e.g., Raspberry Pi).
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The main used MAVLink packages are:
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* [MAV_CMD_COMPONENT_ARM_DISARM](https://mavlink.io/en/messages/common.html#MAV_CMD_COMPONENT_ARM_DISARM)
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* [SET_POSITION_TARGET_LOCAL_NED](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_LOCAL_NED)
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* [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET)
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See: [autonomous flying the quadcopter in the OFFBOARD mode](simple_offboard.md).
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