RadioLink Mini Pix, Руководство пользователя

Страница: 32 / 65

32
the flight mode switch is moved to Auto. If the first command in the mission is a take-off command
but the vehicle is already above the take-
off command’s altitude the take -off command will be
considered completed and the vehicle will move onto the next waypoint.
At any time, the pilot can retake control from the autopilot by returning the flight mode switch to
another flight mode such as Stabilize or Loiter. If the pilot then switches to AUTO again, the mission
will restart from the first command.
During the mission the pilot’s roll, pitch and throttle inputs are ignored but the yaw can be
overridden with the yaw stick. This allows the pilot to for example aim the nose of the copter (which
might have a hard-mounted camera on it) as the copter flies the mission. The autopilot will attempt
to retake yaw control as the vehicle passes the next waypoint.
Ending a mission
Missions should normally have an RTL as their final command to ensure the copter will return after
the mission completes. Alternatively, the final command could be a LAND with a different location.
Without a final RTL or LAND command the copter will simply stop at the final waypoint and the pilot
will need to retake control with the transmitter.
Remember that when using RTL, the copter will return to the “home” position which is the location
where the copter was armed.
As the copter touches down at the end of the mission the pilot should move the throttle to zero at
which point the autopilot will disarm the motors if it also believes that it has landed.
3.6.5 PosHold Mode
The PosHold flight mode (previously known as “Hybrid”) is a new mode for AC3.2. It is similar to
Loiter in that the vehicle maintains a constant location, heading, and altitude but is generally more
popular because the
pilot stick inputs directly control the vehicle’s lean angle providing a more
“natural” feel.
When switched on, PosHold mode will automatically attempts to maintain the current location,
heading and altitude. Good GPS position, low magnetic interference on the compassand low
vibrations are all important in achieving good loiter performance.
How to control
The pilot can control the copter’s location horizontally and vertically with the control sticks.
Horizontal location can be adjusted with the Roll and Pitch control sticks with the default maximum
lean angle being 45 degrees (angle can be adjusted with the ANGLE_MAX parameter). When the pilot
releases the sticks, the copter will lean back to bring the vehicle to a stop.
Altitude can be controlled with the Throttle control stick just as in AltHold mode
The heading can be set with the Yaw control stick
You may arm in PosHold mode but only once the GPS has 3D lock and the HDOP has dropped to 2.0
or lower.