diff --git a/en/getting_started/flight_modes.md b/en/getting_started/flight_modes.md index 4090111d7c85..ce90c520d6bd 100644 --- a/en/getting_started/flight_modes.md +++ b/en/getting_started/flight_modes.md @@ -4,7 +4,7 @@ Flight modes define how the autopilot responds to remote control input, and how The modes provide different types/levels of autopilot assistance to the user (pilot), ranging from automation of common tasks like takeoff and landing, through to mechanisms that make it easier to regain level flight, hold the vehicle to a fixed path or position, etc. -This topic provides an overview of the available the flight modes, and the (mostly minor) differences in their default behaviour in multicopter (MC), fixed-wing (FW) and VTOL frames. +This topic provides an overview of the available the flight modes for different frame types: [multicopter](#multicopter) (MC), [fixed-wing](#fixed-wing) (FW), [VTOL](#vertical-take-off-and-landing-vtol), [rovers/boats](#rover-boat). :::tip More detailed information about specific flight modes can be found in [Flying > Flight Modes](../flight_modes/README.md). @@ -19,10 +19,11 @@ Not all flight modes are available on all vehicle types, and some modes behave d Some flight modes make sense only under specific pre-flight and in-flight conditions (e.g. GPS lock, airspeed sensor, vehicle attitude sensing along an axis). PX4 will not allow transitions to those modes until the right conditions are met. -Last of all, in [autonomous modes](#categories) RC stick movement will [by default](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE) change the vehicle to [Position mode](../flight_modes/position_mc.md) when flying as a multicopter (unless handling a critical battery failsafe). Stick movement is ignored for fixed-wing flight. - +Last of all, in multicopter [autonomous modes](#categories) RC stick movement will [by default](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE) change the vehicle to [Position mode](../flight_modes/position_mc.md) (unless handling a critical battery failsafe). +Stick movement is ignored for autonomous fixed-wing flight. - + + ## Autonomous and Manual Modes Flight Modes are, generally speaking, either *manual* or *autonomous*. @@ -41,14 +42,24 @@ Vehicles can flip, and while more maneuverable, are harder to fly. Fixed Wing: -* Manual-Easy: [Position](#position_fw), [Altitude](#altitude_fw), [Stabilized](#stabilized_fw), [Manual](#manual_fw) -* Manual-Acrobatic: [Acro](#acro_fw) -* Autonomous: [Hold](#hold_fw), [Return](#return_fw), [Mission](#mission_fw), [Takeoff](#takeoff_fw), [Land](#land_fw), [Offboard](#offboard_fw) +* Manual-Easy: [Position](#position-mode-fw), [Altitude](#altitude-mode-fw), [Stabilized](#stabilized-mode-fw), [Manual](#manual-mode-fw) +* Manual-Acrobatic: [Acro](#acro-mode-fw) +* Autonomous: [Hold](#hold_fw), [Return](#return-mode-fw), [Mission](#mission-mode-fw), [Takeoff](#takeoff-mode-fw), [Land](#land-mode-fw), [Offboard](#offboard-mode-fw) Multicopter: -* Manual-Easy: [Position](#position_mc), [Altitude](#altitude_mc), [Manual/Stabilized](#manual_stabilized_mc), [Orbit](#orbit_mc) -* Manual-Acrobatic: [Rattitude](#rattitude_mc), [Acro](#acro_mc) -* Autonomous: [Hold](#hold_mc), [Return](#return_mc), [Mission](#mission_mc), [Takeoff](#takeoff_mc), [Land](#land_mc), [Follow Me](#followme_mc), [Offboard](#offboard_mc) +* Manual-Easy: [Position](#position-mode-mc), [Altitude](#altitude-mode-fcmc), [Manual/Stabilized](#manual-stabilized-mode-mc), [Orbit](#orbit-mode-mc) +* Manual-Acrobatic: [Rattitude](#rattitude-mode-mc), [Acro](#acro-mode-mc) +* Autonomous: [Hold](#hold-mode-mc), [Return](#return-mode-mc), [Mission](#mission-mode-mc), [Takeoff](#takeoff-mode-mc), [Land](#land-mode-mc), [Follow Me](#follow-me-mode-mc), [Offboard](#offboard-mode-mc) + +Rover/Boat: + +* Manual-Easy: [Manual](#manual-mode-ugv) +* Autonomous: [Mission](#mission-mode-ugv) + +:::note +Only manual and mission modes are supported. +YOu can switch to any other mode but the behaviour will be the same as for manual mode. +::: ## Key @@ -57,18 +68,18 @@ The icons below are used within the document: Icon | Description --- | --- -[](#key_manual) | Manual mode. Remote control required. -[](#key_automatic) | Automatic mode. RC control is disabled by default except to change modes. -[](#key_position_fixed) | Position fix required (e.g. GPS, VIO, or some other positioning system). - | Altitude required (e.g. from barometer, rangefinder). -[  ](#key_difficulty) | Flight mode difficulty (Easy to Hard) +[](#key_manual) | Manual mode. Remote control required. +[](#key_automatic) | Automatic mode. RC control is disabled by default except to change modes. +[](#key_position_fixed) | Position fix required (e.g. GPS, VIO, or some other positioning system). + | Altitude required (e.g. from barometer, rangefinder). +[  ](#key_difficulty) | Flight mode difficulty (Easy to Hard) - + ## Multicopter - -### Position Mode + +### Position Mode (MC) [](#key_difficulty) [](#key_manual) [](#key_position_fixed) @@ -82,8 +93,8 @@ Position mode is the safest manual mode for new fliers. Unlike [Altitude](#altit ![MC Position Mode](../../assets/flight_modes/position_MC.png) - -### Altitude Mode + +### Altitude Mode (MC) [](#key_difficulty) [](#key_manual) [](#altitude_only) @@ -101,8 +112,8 @@ If the wind blows the aircraft will drift in the direction of the wind. ![MC Altitude Mode](../../assets/flight_modes/altitude_MC.png) - -### Manual/Stabilized Mode + +### Manual/Stabilized Mode (MC) [](#key_difficulty) [](#key_manual)  @@ -123,8 +134,8 @@ The craft will drift in the direction of any wind and you have to control the th ![MC Manual Flight](../../assets/flight_modes/manual_stabilized_MC.png) - -### Rattitude + +### Rattitude (MC) [](#key_difficulty) [](#key_manual)  @@ -136,8 +147,8 @@ When the sticks are centered the multicopter will level out (but will still drif - -### Acro Mode + +### Acro Mode (MC) [](#key_difficulty) [](#key_manual)  @@ -151,8 +162,8 @@ When sticks are centered the vehicle will stop rotating, but remain in its curre - -### Orbit Mode + +### Orbit Mode (MC) [](#key_difficulty) [](#key_position_fixed) @@ -165,8 +176,8 @@ RC control is optional, and can be used to change the orbit altitude, radius, sp ![Orbit Mode - MC](../../assets/flight_modes/orbit_MC.png) - -### Hold Mode + +### Hold Mode (MC) [](#key_automatic) [](#key_position_fixed) @@ -175,8 +186,8 @@ The mode can be used to pause a mission or to help regain control of a vehicle i It can be activated with a pre-programmed RC switch or the *QGroundControl* **Pause** button. - -### Return Mode + +### Return Mode (MC) [](#key_automatic) [](#key_position_fixed) @@ -187,8 +198,8 @@ The return behaviour depends on parameter settings, and may follow a mission pat By default a mulitcopter will simply ascend to a safe height, fly to its home position, and then land. - -### Mission Mode + +### Mission Mode (MC) [](#key_automatic) [](#key_position_fixed) @@ -200,46 +211,46 @@ The PX4 GCS is called [QGroundControl](https://docs.qgroundcontrol.com/en/). *QGroundControl* is the same application we use for [configuring PX4](../config/README.md). ::: - -### Takeoff Mode + +### Takeoff Mode (MC) [](#key_automatic) [](#key_position_fixed) [Takeoff](../flight_modes/takeoff.md) mode causes the multicopter to climb vertically to takeoff altitude and hover in position. - -### Land Mode + +### Land Mode (MC) [](#key_automatic) [](#key_position_fixed) [Land mode](../flight_modes/land.md) causes the multicopter to land at the location at which the mode was engaged. - -### Follow Me Mode + +### Follow Me Mode (MC) [](#key_automatic) [](#key_position_fixed) [Follow Me mode](../flight_modes/follow_me.md) 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 (MC) [](#key_automatic) [](#key_position_fixed) [Offboard mode](../flight_modes/offboard.md) 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! +This mode is intended for vehicle control from companion computers and ground stations! ::: - + ## Fixed-Wing - -### Position Mode + +### Position Mode (FW) [](#key_difficulty) [](#key_manual) [](#key_position_fixed) @@ -255,8 +266,8 @@ Position mode is the safest fixed-wing manual mode for new fliers. ![FW Position Mode](../../assets/flight_modes/position_FW.png) - -### Altitude Mode + +### Altitude Mode (FW) [](#key_difficulty) [](#key_manual) [](#altitude_only) @@ -277,8 +288,8 @@ It is just like [Manual](#manual_fw) mode but additionally stabilizes the vehicl ![FW Altitude Mode](../../assets/flight_modes/altitude_FW.png) - -### Stabilized Mode + +### Stabilized Mode (FW) [](#key_difficulty) [](#key_manual)  @@ -297,8 +308,8 @@ In order to perform a turn the command must beheld throughout the maneuver becau ![FW Manual Flight](../../assets/flight_modes/manual_stabilized_FW.png) - -### Acro Mode + +### Acro Mode (FW) [](#key_difficulty) [](#key_manual)  @@ -310,8 +321,8 @@ When sticks are centered the vehicle will stop rotating, but remain in its curre ![FW Manual Acrobatic Flight](../../assets/flight_modes/manual_acrobatic_FW.png) - -### Manual Mode + +### Manual Mode (FW) [](#key_difficulty) [](#key_manual)  @@ -327,8 +338,8 @@ This is the only mode that overrides the FMU (commands are sent via the safety c 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 Mode (FW) [](#key_automatic) [](#key_position_fixed) @@ -337,8 +348,8 @@ The mode can be used to pause a mission or to help regain control of a vehicle i It can be activated with a pre-programmed RC switch or the *QGroundControl* **Pause** button. - -### Return Mode + +### Return Mode (FW) [](#key_automatic) [](#key_position_fixed) @@ -349,8 +360,8 @@ The return behaviour depends on parameter settings, and may follow a mission pat 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 (FW) [](#key_automatic) [](#key_position_fixed) @@ -362,8 +373,8 @@ The mission is typically created and uploaded with a Ground Control Station (GCS The PX4 GCS is called [QGroundControl](https://docs.qgroundcontrol.com/en/). *QGroundControl* is the same application we use for [configuring PX4](../config/README.md). ::: - -### Takeoff Mode + +### Takeoff Mode (FW) [](#key_automatic)  @@ -371,22 +382,22 @@ The PX4 GCS is called [QGroundControl](https://docs.qgroundcontrol.com/en/). *QG The specific launch behaviour depends on the configured takeoff mode (catapult/hand-launch mode or runway takeoff mode). - -### Land Mode + +### Land Mode (FW) [](#key_automatic)  [Land mode](../flight_modes/land.md) 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)](../flying/fixed_wing_landing.md). - -### Offboard Mode + +### Offboard Mode (FW) [](#key_automatic) [](#key_position_fixed) [Offboard mode](../flight_modes/offboard.md) causes the fixed wing vehicle to obey attitude setpoints provided over MAVLink. :::note -This mode is intended for companion computers and ground stations! +This mode is intended for vehicle control from companion computers and ground stations! ::: ## Vertical Take Off and Landing (VTOL) @@ -401,6 +412,47 @@ The switch between modes is initiated either by the pilot using an RC switch or A few notes: - VTOL [Return mode](../flight_modes/return.md) uses a mission landing by default, if defined. + +## Rover/Boat + +Ground vehicles and boats only support [manual mode](#manual-mode-ugv) and [mission mode](#mission-mode-ugv) (while you can switch to other modes, these all behave just like manual mode). + +### Manual Mode (UGV) + +[](#key_difficulty) [](#key_manual)  + +:::note +This mode is enabled unless mission mode is set. +::: + +*Manual mode* stops motors when RC control sticks are centered. +To move the vehicle you move the sticks outside of the center. + + + +As soon as you release the control sticks they will return to the center deadzone. +This will turn off the motors and center the wheels/rudder. +There is no active braking, so the vehicle may continue to move until its momentum dissipates (and for a boat, continue to drift). + + + + +### Mission Mode (UGV) + +[](#key_automatic) [](#key_position_fixed) + +*Mission mode* causes the vehicle to execute a predefined autonomous [mission](../flying/missions.md) (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](https://docs.qgroundcontrol.com/en/). +*QGroundControl* is the same application we use for [configuring PX4](../config/README.md). +::: + ## Further Information