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Полетные режимы
===
Режим полетного контроллера определяет, как именно коптер (или другое ТС) должно себя вести: каким обрзом интерпретировать входящие команды и сигналы с пульта.
PX4
---
Основная статья: https://dev.px4.io/en/concept/flight_modes.html
### Ручное управление (MANUAL)
При ручном управлении пилот управляет квадрокоптером напрямую. GPS, данные с компьютерного зрения и барометр не используются. Для полетов в этих режимах необходимы хорошие навыки пилотирования мультикоптеров.
* **MANUAL** — сигналы с пульта идут напрямую в миксер и на моторы. Управление газом и соотношением скорости вращения передней/задней, правой/левой парой моторов. Этот режим практически не используется для полетов, так как поддерживать стабильное состояние коптера слишком сложно.
* **STABILIZED** — режим стабилизации горизонтального положения. Управление газом, углами наклона коптера по тангажу и крену, угловой скоростью по рысканью.
* **ACRO** — управление газом и угловой скоростью коптера по тангажу, крену и рысканью. Используется дрон-рейсерами и в шоу 3D-пилотирования для выполнения трюков.
* **RATTITUDE** — в центре правый стик аналогичен STABILIZED, по краям переходит в режим ACRO.
### С использованием дополнительных датчиков (ASSISTED)
* **ALTCTL** — управление скоростью изменения высоты полета, углами по тангажу и крену и угловой скоростью по рысканью. Используется барометр (или иной датчик высоты).
* **POSCTL** — управление скоростями набора высоты, скоростью движения вперед/назад и вправо/влево, угловой скоростью по рысканью. Наиболее простой для полетов режим. Используется барометр, GPS, компьютерное зрение, другие датчики.
### Автоматический полет (AUTO)
В режиме автоматического полета квадрокоптер игнорирует сигналы с пульта.
* **AUTO.MISSION** – PX4 выполняет заранее загруженную в квадрокоптер миссию (миссия загружается с помощью QGroundControl, или по MAVLINK используя MAVROS).
* **AUTO.RTL** – коптер автоматически вовращается в точку взлета.
* **AUTO.LAND** – коптер выполняет посадку.
### Управление с внешнего компьютера
* **OFFBOARD** — режим для полета по командам MAVLink. Управление с внешнего компьютера (например, Raspberry Pi).
Основные используемые пакеты MAVLink:
* MAV_CMD_COMPONENT_ARM_DISARM
* [SET_POSITION_TARGET_LOCAL_NED](https://pixhawk.ethz.ch/mavlink/#SET_POSITION_TARGET_LOCAL_NED)
* [SET_ATTITUDE_TARGET](https://pixhawk.ethz.ch/mavlink/#SET_ATTITUDE_TARGET)
См.: [автономные полеты коптера в режиме OFFBOARD](simple_offboard.md).
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