#PX4 飞行模式总览

# PX4 飞行模式总览 飞行模式定义了自驾仪如何响应遥控输入，以及它如何在全自主飞行期间管理飞行器运动。

这些模式为用户（飞行员）提供不同类型／级别的自动驾驶辅助，包括从起飞和着陆等常见任务的自动化，到更容易重新获得水平飞行及将飞行器保持在固定路径或位置的机制，等等。

这一主题概述了可用的飞行模式，以及多旋翼飞行器（MC）、固定翼（FW）和 VTOL 默认行为中的（大部分情况下很小）差异。

Tip More detailed information about specific flight modes can be found in Flying > Flight Modes.

# 飞行模式切换 飞行员可以使用遥控上的开关或地面站来切换飞行模式（见 飞行模式配置）。

并非所有飞行器都可以使用所有飞行模式，并且某些模式在不同飞行器类型上表现不同。

一些飞行模式仅在飞行前和飞行中某些特定条件下起作用（如 GPS 锁定，空速传感器，某个轴的姿态感测）。 除非满足合适的条件，否则 PX4 不会允许切换到这些模式。

Last of all, in autonomous modes RC stick movement will by default change the vehicle to Position mode when flying as a multicopter (unless handling a critical battery failsafe). Stick movement is ignored for fixed-wing flight.

# 自主和手动模式 {#categories} Flight Modes are, generally speaking, either manual or autonomous. Manual modes are those where the user has control over vehicle movement via the RC control sticks (or joystick), while autonomous modes are fully controlled by the autopilot, and require no pilot/remote control input.

Tip Some manual modes may have autopilot-assisted mechanisms to make it easier to gain or restore controlled flight. For example, most modes will level out the vehicle when the RC sticks are centered.

Manual modes may further be divided into "easy" and "acrobatic" modes. In the easy modes, roll and pitch sticks set the vehicle angle, resulting in left-right and forward-back movement in the horizontal plane (respectively). Not only does this make movement predictable, but because angles are controlled, the vehicle is impossible to flip. In acrobatic modes RC sticks control the rate of angular rotation (around the respective axis). Vehicles can flip, and while more maneuverable, are harder to fly.

Fixed Wing:

手动－简单： 位置, 高度, 自稳, 手动 手动－特技：特技 Autonomous: Hold, Return, Mission, Takeoff, Land, Offboard Multicopter:

Manual-Easy: Position, Altitude, Manual/Stabilized, Orbit 手动-特技： 半自动, 特技 自主：保持, 返航, 任务, 起飞, 降落, 跟随我, Offboard # 键 The icons below are used within the document:

手动模式 需要遥控

自动模式. 除非切换模式，否则 RC 控制被默认失能。

需要定位（如 GPS，VIO， 或其它定位系统）。

需要高度（如来自气压计、测距仪）。

  

飞行模式难度（简单到困难）

多旋翼

位置控制模式

  

Position mode is an easy-to-fly RC mode in which roll and pitch sticks control speed over ground in the left-right and forward-back directions (relative to the "front" of the vehicle), and throttle controls speed of ascent-descent. When the sticks are released/centered the vehicle will actively brake, level, and be locked to a position in 3D space — compensating for wind and other forces.

Tip Position mode is the safest manual mode for new fliers. Unlike Altitude and Manual/Stabilized modes the vehicle will stop when the sticks are centered rather than continuing until slowed by wind resistance.

高度模式

  

Altitude mode is a relatively easy-to-fly RC mode in which roll and pitch sticks control vehicle movement in the left-right and forward-back directions (relative to the "front" of the vehicle), yaw stick controls rate of rotation over the horizontal plane, and throttle controls speed of ascent-descent.

When the sticks are released/centered the vehicle will level and maintain the current altitude. If moving in the horizontal plane the vehicle will continue until any momentum is dissipated by wind resistance. If the wind blows the aircraft will drift in the direction of the wind.

Tip Attitude mode is the safest non-GPS manual mode for new fliers. It is just like Manual/Stabilized mode but additionally stabilizes the vehicle altitude when the sticks are released.

手动／自稳模式

  

The Manual/Stabilized mode stabilizes the multicopter when the RC control sticks are centered. To manually move/fly the vehicle you move the sticks outside of the center.

Note This multicopter mode is enabled if you set either Manual or Stabilized modes for an MC vehicle.

When under manual control the roll and pitch sticks control the angle of the vehicle (attitude), the yaw stick controls the rate of rotation above the horizontal plane, and the throttle controls altitude/speed.

As soon as you release the control sticks they will return to the center deadzone. The multicopter will level out and stop once the roll and pitch sticks are centered. The vehicle will then hover in place/maintain altitude - provided it is properly balanced, throttle is set appropriately, and no external forces are applied (e.g. wind). The craft will drift in the direction of any wind and you have to control the throttle to hold altitude.

半自稳

  

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).

特技模式

  

Acro mode is the RC mode for performing acrobatic maneuvers e.g. rolls and loops.

The roll, pitch and yaw sticks control the rate of angular rotation around the respective axes and throttle is passed directly to the output mixer. When sticks are centered the vehicle will stop rotating, but remain in its current orientation (on its side, inverted, or whatever) and moving according to its current momentum.

Orbit Mode

 

The Orbit mode allows you to command a multicopter (or VTOL in multicopter mode) to fly in a circle, yawing so that it always faces towards the center.

A GCS is required to enable the mode, and to set the center position and initial radius of the orbit. By default the vehicle will then perform a slow ongoing orbit around the center position (1m/s) in a clockwise direction. RC control is optional, and can be used to change the orbit altitude, radius, speed, and direction.

Hold Mode

 

Hold mode causes the multicopter to stop and hover at its current position and altitude (maintaining position against wind and other forces). The mode can be used to pause a mission or to help regain control of a vehicle in an emergency. It can be activated with a pre-programmed RC switch or the QGroundControl Pause button.

Return Mode

 

Return mode causes the vehicle to fly a clear path to a safe location. The mode may be activated manually (via a pre-programmed RC switch) or automatically (i.e. in the event of a failsafe being triggered).

The return behaviour depends on parameter settings, and may follow a mission path and/or mission landing pattern (if defined). By default a mulitcopter will simply ascend to a safe height, fly to its home position, and then land.

Mission Mode

 

Mission mode causes the vehicle to execute a predefined autonomous mission (flight plan) that has been uploaded to the flight controller. The mission is typically created and uploaded with a Ground Control Station (GCS) application.

Tip The PX4 GCS is called QGroundControl. QGroundControl is the same application we use for configuring PX4.

Takeoff Mode

 

Takeoff mode causes the multicopter to climb vertically to takeoff altitude and hover in position.

Land Mode

 

Land mode causes the multicopter to land at the location at which the mode was engaged.

Follow Me Mode

 

Follow Me mode causes a multicopter to autonomously follow and track a user providing their current position setpoint. Position setpoints might come from an Android phone/tablet running QGroundControl or from a MAVSDK app.

Offboard Mode

 

Offboard mode causes the multicopter to obey a position, velocity or attitude setpoint provided over MAVLink.

Note This mode is intended for companion computers and ground stations!

固定翼

Position Mode

  

Position mode is an easy-to-fly RC mode in which, when the sticks are released/centered, the vehicle will level and fly a straight line ground track in the current direction — compensating for wind and other forces.

The throttle determines airspeed (at 50% throttle the aircraft will hold its current altitude with a preset cruise speed). Pitch is used to ascend/descend. Roll, pitch and yaw are all angle-controlled (so it is impossible to roll over or loop the vehicle).

Tip Position mode is the safest fixed-wing manual mode for new fliers.

Altitude Mode

  

Altitude mode makes it easier for users to control vehicle altitude, and in particular to reach and maintain a fixed altitude. The mode will not attempt to hold the vehicle course against wind.

The climb/descent rate is controlled via the pitch/elevator stick. Once centered the autopilot latches onto the current altitude and will maintain it during yaw/roll, and at any airspeed. The throttle input controls airspeed. Roll and pitch are angle-controlled (so it is impossible to roll over or loop the vehicle).

When all remote control inputs are centered (no roll, pitch, yaw, and ~50% throttle) the aircraft will return to straight, level flight (subject to wind) and keep its current altitude.

Tip Altitude mode is the safest non GPS guided mode appropriate for beginners learning how to fly. It is just like Manual mode but additionally stabilizes the vehicle altitude when the pitch stick is released.

Stabilized Mode

  

Stabilized mode mode puts the vehicle into straight and level flight when the RC sticks are centered, maintaining the horizontal posture against wind (but not vehicle heading and altitude).

The vehicle climb/descends based on pitch input and performs a coordinated turn if the roll/pitch sticks are non-zero. Roll and pitch are angle controlled (you can't roll upside down or loop).

Tip Stabilized mode is much easier to fly than Manual mode because you can't roll or flip it, and it is easy to level the vehicle by centering the control sticks.

The vehicle will glide if the throttle is lowered to 0% (motor stops). In order to perform a turn the command must beheld throughout the maneuver because if the roll is released the plane will stop turning and level itself (the same is true for pitch and yaw commands).

Acro Mode

  

Acro mode is the RC mode for performing acrobatic maneuvers e.g. rolls, flips, stalls and acrobatic figures.

The roll, pitch and yaw sticks control the rate of angular rotation around the respective axes and throttle is passed directly to the output mixer. When sticks are centered the vehicle will stop rotating, but remain in its current orientation (on its side, inverted, or whatever) and moving according to its current momentum.

Manual Mode

  

Manual mode sends RC stick input directly to the output mixer for "fully" manual control.

Tip This is the hardest mode to fly, because nothing is stabilised. Unlike Acro Mode if the RP stick is centered the vehicle will not automatically stop rotating around the axis - the pilot actually has to move the stick to apply force in the other direction.

Note This is the only mode that overrides the FMU (commands are sent via the safety coprocessor). It provides a safety mechanism that allows full control of throttle, elevator, ailerons and rudder via RC in the event of an FMU firmware malfunction.

Hold Mode

 

Hold causes a fixed-wing vehicle to start circling around the current position at its current altitude. The mode can be used to pause a mission or to help regain control of a vehicle in an emergency. It can be activated with a pre-programmed RC switch or the QGroundControl Pause button.

Return Mode

 

Return mode causes the vehicle to fly a clear path to a safe location. The mode may be activated manually (via a pre-programmed RC switch) or automatically (i.e. in the event of a failsafe being triggered).

The return behaviour depends on parameter settings, and may follow a mission path and/or mission landing pattern (if defined). By default a fixed wing vehicle will ascend to a safe height and use a mission landing pattern if one exists, otherwise it will fly to the home position and circle.

Mission Mode

 

Mission mode causes the vehicle to execute a predefined autonomous mission (flight plan) that has been uploaded to the flight controller. The mission is typically created and uploaded with a Ground Control Station (GCS) application.

Tip The PX4 GCS is called QGroundControl. QGroundControl is the same application we use for configuring PX4.

Takeoff Mode

 

Takeoff mode initiates the vehicle takeoff sequence. The specific launch behaviour depends on the configured takeoff mode (catapult/hand-launch mode or runway takeoff mode).

Land Mode

 

Land mode causes the vehicle to turn and land at the location at which the mode was engaged. Fixed wing landing logic and parameters are explained in the topic: Landing (Fixed Wing).

Offboard Mode

 

Offboard mode causes the fixed wing vehicle to obey attitude setpoints provided over MAVLink.

Note This mode is intended for companion computers and ground stations!

垂直起降（VTOL）

A VTOL aircraft can fly as either a multicopter or as fixed-wing vehicle. The multicopter mode is mainly used for take off and landing while the fixed wing mode is used for efficient travel and/or mission execution.

Generally the flight modes for VTOL vehicles are the same as for multicopter when flying in MC mode and fixed-wing when flying in FW mode.

The switch between modes is initiated either by the pilot using an RC switch or automatically by PX4 when needed in the Auto modes.

A few notes:

• VTOL Return mode uses a mission landing by default, if defined.

更多信息

• Flying > Flight Modes - Detailed technical explanation of all modes

• Basic Configuration > Flight Modes - How to map RC control switches to specific flight modes