Fixed documentation for modes.
This commit is contained in:
parent
ea53a18ae0
commit
45fd07f5a1
103
docs/Modes.md
103
docs/Modes.md
|
@ -1,39 +1,47 @@
|
|||
# Modes
|
||||
|
||||
Cleanflight has various modes that can be toggled on or off. Modes can be enabled/disabled by stick positions,
|
||||
auxillary receiver channels and other events such as failsafe detection.
|
||||
There are various modes that can be toggled on or off. Modes can be enabled/disabled by stick positions, auxillary receiver channels and other events such as failsafe detection.
|
||||
|
||||
| MSP ID | CLI ID | Short Name | Function |
|
||||
| ------- | ------ | ---------- | -------------------------------------------------------------------- |
|
||||
| 0 | 0 | ARM | Enables motors and flight stabilisation |
|
||||
| 1 | 1 | ANGLE | Legacy auto-level flight mode |
|
||||
| 2 | 2 | HORIZON | Auto-level flight mode |
|
||||
| 3 | 3 | BARO | Altitude hold mode (Requires barometer sensor) |
|
||||
| 4 | N/A | VARIO | Unused |
|
||||
| 5 | 4 | MAG | Heading lock |
|
||||
| 6 | 5 | HEADFREE | Head Free - When enabled yaw has no effect on pitch/roll inputs |
|
||||
| 7 | 6 | HEADADJ | Heading Adjust - Sets a new yaw origin for HEADFREE mode |
|
||||
| 8 | 7 | CAMSTAB | Camera Stabilisation |
|
||||
| 9 | 8 | CAMTRIG | Unused |
|
||||
| 10 | 9 | GPSHOME | Autonomous flight to HOME position |
|
||||
| 11 | 10 | GPSHOLD | Maintain the same longitude/lattitude |
|
||||
| 12 | 11 | PASSTHRU | Pass roll, yaw, and pitch directly from rx to servos in airplane mix |
|
||||
| 13 | 12 | BEEPERON | Enable beeping - useful for locating a crashed aircraft |
|
||||
| 14 | 13 | LEDMAX | |
|
||||
| 15 | 14 | LEDLOW | |
|
||||
| 16 | 15 | LLIGHTS | |
|
||||
| 17 | 16 | CALIB | |
|
||||
| 18 | 17 | GOV | Unused |
|
||||
| 19 | 18 | OSD | Enable/Disable On-Screen-Display (OSD) |
|
||||
| 20 | 19 | TELEMETRY | Enable telemetry via switch |
|
||||
| 21 | 20 | GTUNE | G-Tune - auto tuning of Pitch/Roll/Yaw P values |
|
||||
| 22 | 21 | SONAR | Altitude hold mode (sonar sensor only) |
|
||||
| 23 | 22 | SERVO1 | Servo 1 |
|
||||
| 24 | 23 | SERVO2 | Servo 2 |
|
||||
| 25 | 24 | SERVO3 | Servo 3 |
|
||||
| 26 | 25 | BLACKBOX | Enable BlackBox logging |
|
||||
| 27 | 26 | FAILSAFE | Enter failsafe stage 2 manually |
|
||||
| 28 | 27 | AIRMODE | Alternative mixer and additional PID logic for more stable copter |
|
||||
| ID | Short Name | Function |
|
||||
| -- | ------------------------ | ------------------------------------------------------------------------------------ |
|
||||
| 0 | ARM | Enables motors and flight stabilisation |
|
||||
| 1 | ANGLE | Legacy auto-level flight mode |
|
||||
| 2 | HORIZON | Auto-level flight mode |
|
||||
| 4 | ANTI GRAVITY | Prevents dips and rolls on fast throttle changes |
|
||||
| 5 | MAG | Heading lock |
|
||||
| 6 | HEADFREE | Head Free - When enabled yaw has no effect on pitch/roll inputs |
|
||||
| 7 | HEADADJ | Heading Adjust - Sets a new yaw origin for HEADFREE mode |
|
||||
| 8 | CAMSTAB | Camera Stabilisation |
|
||||
| 12 | PASSTHRU | Pass roll, yaw, and pitch directly from rx to servos in airplane mix |
|
||||
| 13 | BEEPERON | Enable beeping - useful for locating a crashed aircraft |
|
||||
| 15 | LEDLOW | Switch off LED\_STRIP output |
|
||||
| 17 | CALIB | Start in-flight calibration |
|
||||
| 19 | OSD | Enable/Disable On-Screen-Display (OSD) |
|
||||
| 20 | TELEMETRY | Enable telemetry via switch |
|
||||
| 23 | SERVO1 | Servo 1 |
|
||||
| 24 | SERVO2 | Servo 2 |
|
||||
| 25 | SERVO3 | Servo 3 |
|
||||
| 26 | BLACKBOX | Enable BlackBox logging |
|
||||
| 27 | FAILSAFE | Enter failsafe stage 2 manually |
|
||||
| 28 | AIRMODE | Alternative mixer and additional PID logic for more stable copter |
|
||||
| 29 | 3D | Enable 3D mode |
|
||||
| 30 | FPV ANGLE MIX | Apply yaw rotation relative to a FPV camera mounted at a preset angle |
|
||||
| 31 | BLACKBOX ERASE | Erase the contents of the onboard flash log chip (takes > 30 s) |
|
||||
| 32 | CAMERA CONTROL 1 | Control function 1 of the onboard camera (if supported) |
|
||||
| 33 | CAMERA CONTROL 2 | Control function 2 of the onboard camera (if supported) |
|
||||
| 34 | CAMERA CONTROL 3 | Control function 3 of the onboard camera (if supported) |
|
||||
| 35 | FLIP OVER AFTER CRASH | Reverse the motors to flip over an upside down craft after a crash (DShot required) |
|
||||
| 36 | BOXPREARM | When arming, wait for this switch to be activated before actually arming |
|
||||
| 37 | BEEP GPS SATELLITE COUNT | Use a number of beeps to indicate the number of GPS satellites found |
|
||||
| 39 | VTX PIT MODE | Switch the VTX into pit mode (low output power, if supported) |
|
||||
| 40 | USER1 | User defined switch 1. Intended to be used to control an arbitrary output with PINIO |
|
||||
| 41 | USER2 | User defined switch 2. Intended to be used to control an arbitrary output with PINIO |
|
||||
| 42 | USER3 | User defined switch 3. Intended to be used to control an arbitrary output with PINIO |
|
||||
| 43 | USER4 | User defined switch 4. Intended to be used to control an arbitrary output with PINIO |
|
||||
| 44 | PID AUDIO | Enable output of PID controller state as audio |
|
||||
| 45 | PARALYZE | Permanently disable a crashed craft until it is power cycled |
|
||||
| 46 | GPS RESCUE | Enable 'GPS Rescue' to return the craft to the location where it was last armed |
|
||||
| 47 | ACRO TRAINER | Enable 'acro trainer' angle limiting in acro mode |
|
||||
|
||||
## Auto-leveled flight
|
||||
|
||||
|
@ -57,29 +65,7 @@ In this mode, the "head" of the multicopter is always pointing to the same direc
|
|||
|
||||
With this mode it is easier to control the multicopter, even fly it with the physical head towards you since the controls always respond the same. This is a friendly mode to new users of multicopters and can prevent losing the control when you don't know the head direction.
|
||||
|
||||
### GPS Return To Home
|
||||
|
||||
WORK-IN-PROGRESS. This mode is not reliable yet, please share your experiences with the developers.
|
||||
|
||||
In this mode the aircraft attempts to return to the GPS position recorded when the aircraft was armed.
|
||||
|
||||
This mode should be enabled in conjunction with Angle or Horizon modes and an Altitude hold mode.
|
||||
|
||||
Requires a 3D GPS fix and minimum of 5 satellites in view.
|
||||
|
||||
### GPS Position Hold
|
||||
|
||||
WORK-IN-PROGRESS. This mode is not reliable yet, please share your experiences with the developers.
|
||||
|
||||
In this mode the aircraft attempts to stay at the same GPS position, as recorded when the mode is enabled.
|
||||
|
||||
Disabling and re-enabling the mode will reset the GPS hold position.
|
||||
|
||||
This mode should be enabled in conjunction with Angle or Horizon modes and an Altitude hold mode.
|
||||
|
||||
Requires a 3D GPS fix and minimum of 5 satellites in view.
|
||||
|
||||
## Airmode
|
||||
### Airmode
|
||||
|
||||
In the standard mixer / mode, when the roll, pitch and yaw gets calculated and saturates a motor, all motors
|
||||
will be reduced equally. When motor goes below minimum it gets clipped off.
|
||||
|
@ -92,14 +78,14 @@ gliding and actobatics. But also the cornering / turns will be much tighter now
|
|||
possible correction performed. Airmode can also be enabled to work at all times by always putting it on the
|
||||
same switch like your arm switch or you can enable/disable it in air. Additional things and benefits: Airmode
|
||||
will additionally fully enable Iterm at zero throttle. Note that there is still some protection on the ground
|
||||
when throttle zeroed (below min_check) and roll/pitch sticks centered. This is a basic protection to limit
|
||||
when throttle zeroed (below min\check) and roll/pitch sticks centered. This is a basic protection to limit
|
||||
motors spooling up on the ground. Also the Iterm will be reset above 70% of stick input in acro mode to prevent
|
||||
quick Iterm windups during finishes of rolls and flips, which will provide much cleaner and more natural stops
|
||||
of flips and rolls what again opens the ability to have higher I gains for some.
|
||||
Note that AIRMODE will also overrule motor stop function! It will basically also act as an idle up switch.
|
||||
|
||||
|
||||
## Auxillary Configuration
|
||||
## Auxiliary Configuration
|
||||
|
||||
Spare auxillary receiver channels can be used to enable/disable modes. Some modes can only be enabled this way.
|
||||
|
||||
|
@ -134,4 +120,3 @@ aux 0 0 0 1700 2100
|
|||
```
|
||||
|
||||
You can display the AUX configuration by using the `aux` command with no arguments.
|
||||
|
||||
|
|
Loading…
Reference in New Issue