Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-21 21:55:34 +08:00
Code Issues Actions 5 Packages Projects Releases Wiki Activity

docs(docs): subedit

Browse Source
This commit is contained in:
Hamish Willee
2026-05-13 12:26:56 +10:00
committed by mahima-yoga
parent 259c75c358
commit 7ceacb283f
2 changed files with 21 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files
docs/en/flight_modes_fw/guided_course.md
+20 -16
View File
@@ -11,7 +11,8 @@ This mode is suited to situations where an operator wants to guide a fixed-wing
::: info
- Requires a horizontal velocity estimate (e.g. GPS/dead-reckoning). Course commands will be rejected if the velocity estimate is unavailable.
- Requires a horizontal velocity estimate (e.g. GPS/dead-reckoning).
Course commands will be rejected if the velocity estimate is unavailable.
- RC stick movement is ignored.
<!-- https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/commander/ModeUtil/mode_requirements.cpp -->
@@ -29,13 +30,16 @@ There is no waypoint sequencing or autonomous path planning: the GCS guides the
The following commands are accepted while in Guided Course mode:
| Command | Effect |
|---------|--------|
| `MAV_CMD_DO_CHANGE_COURSE` | Set a new course bearing (degrees, 0 = north). Rejected if horizontal velocity estimate is unavailable. |
| `MAV_CMD_DO_CHANGE_ALTITUDE` | Set a new target altitude (AMSL, metres). |
| `MAV_CMD_DO_REPOSITION` | Set a new target altitude via param7. |
| `MAV_CMD_DO_CHANGE_SPEED` | Set a new equivalent airspeed via param2 (m/s). If param2 ≤ 0, the default cruise speed is restored. |
| Command | Effect |
| ---------------------------- | ------------------------------------------------------------------------------------------------------- |
| `MAV_CMD_DO_CHANGE_COURSE` | Set a new course bearing (degrees, 0 = north). Rejected if horizontal velocity estimate is unavailable. |
| [MAV_CMD_DO_CHANGE_ALTITUDE] | Set a new target altitude (AMSL, metres). |
| [MAV_CMD_DO_REPOSITION] | Set a new target altitude via param7. |
| [MAV_CMD_DO_CHANGE_SPEED] | Set a new equivalent airspeed via param2 (m/s). If param2 ≤ 0, the default cruise speed is restored. |
[MAV_CMD_DO_CHANGE_ALTITUDE]: https://mavlink.io/en/messages/common.html#MAV_CMD_DO_CHANGE_ALTITUDE
[MAV_CMD_DO_REPOSITION]: https://mavlink.io/en/messages/common.html#MAV_CMD_DO_REPOSITION
[MAV_CMD_DO_CHANGE_SPEED]: https://mavlink.io/en/messages/common.html#MAV_CMD_DO_CHANGE_SPEED
## Technical Description
@@ -49,10 +53,10 @@ Longitudinal control targets the altitude and airspeed from the setpoint.
Guided Course is classified as an `AUTO` mode for failsafe purposes.
The following failsafe exception parameters apply:
| Parameter | Bit | Effect when set |
|-----------|-----|-----------------|
| Parameter | Bit | Effect when set |
| -------------------------------------------------------------------------- | -------------- | ------------------------------------------------- |
| [COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT) | 1 (Auto modes) | RC loss does not trigger a failsafe in this mode. |
| [COM_DLL_EXCEPT](../advanced_config/parameter_reference.md#COM_DLL_EXCEPT) | 1 (Auto modes) | GCS connection loss does not trigger a failsafe. |
| [COM_DLL_EXCEPT](../advanced_config/parameter_reference.md#COM_DLL_EXCEPT) | 1 (Auto modes) | GCS connection loss does not trigger a failsafe. |
:::warning
Since Guided Course is driven entirely by GCS commands, operators should carefully consider the datalink loss failsafe setting (`COM_DLL_EXCEPT` bit 1).
@@ -62,10 +66,10 @@ It is strongly recommended to either leave the datalink failsafe active or ensur
## Parameters
| Parameter | Description |
|-----------|-------------|
| Parameter | Description |
| -------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------- |
| [FW_AIRSPD_TRIM](../advanced_config/parameter_reference.md#FW_AIRSPD_TRIM) | Default cruise airspeed used on activation and when `MAV_CMD_DO_CHANGE_SPEED` is sent with value ≤ 0. |
| [FW_AIRSPD_MIN](../advanced_config/parameter_reference.md#FW_AIRSPD_MIN) | Minimum airspeed. Commanded airspeed is clamped to this value. |
| [FW_AIRSPD_MAX](../advanced_config/parameter_reference.md#FW_AIRSPD_MAX) | Maximum airspeed. Commanded airspeed is clamped to this value. |
| [COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT) | RC loss failsafe exceptions bitmask. Bit 1 covers all auto modes including Guided Course. |
| [COM_DLL_EXCEPT](../advanced_config/parameter_reference.md#COM_DLL_EXCEPT) | Datalink loss failsafe exceptions bitmask. Bit 1 covers all auto modes including Guided Course. |
| [FW_AIRSPD_MIN](../advanced_config/parameter_reference.md#FW_AIRSPD_MIN) | Minimum airspeed. Commanded airspeed is clamped to this value. |
| [FW_AIRSPD_MAX](../advanced_config/parameter_reference.md#FW_AIRSPD_MAX) | Maximum airspeed. Commanded airspeed is clamped to this value. |
| [COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT) | RC loss failsafe exceptions bitmask. Bit 1 covers all auto modes including Guided Course. |
| [COM_DLL_EXCEPT](../advanced_config/parameter_reference.md#COM_DLL_EXCEPT) | Datalink loss failsafe exceptions bitmask. Bit 1 covers all auto modes including Guided Course. |
docs/en/flight_modes_fw/index.md
+1 -1
View File
@@ -40,7 +40,7 @@ Airspeed is actively controlled if an airspeed sensor is installed in any autono
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.
- [Guided Course](../flight_modes_fw/guided_course.md) — Vehicle maintains a constant ground track, altitude, and airspeed.
The operator commands course, altitude, and airspeed changes in real time from the GCS. No manual stick input is required.
The operator commands course, altitude, and airspeed changes in real time from the GCS. Manual stick input is ignored.
- [Return](../flight_modes_fw/return.md) — Vehicle flies a clear path to land at a safe location.
By default the destination is a mission landing pattern.
The mode may be activated manually (via a pre-programmed RC switch) or automatically (i.e. in the event of a failsafe being triggered).