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Doc Orbit: update and clarify configurability and behavior around limits (#25208)

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* Doc Orbit: update and clarify configurability and behavior around limits

* run prettier

* Fix up link to table

---------

Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
This commit is contained in:
Matthias Grob
2025-07-15 04:29:29 +02:00
committed by GitHub
parent 3c0a0ed129
commit 7d33df4650
1 changed files with 17 additions and 11 deletions
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docs/en/flight_modes_mc/orbit.md
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@@ -38,13 +38,16 @@ RC control cannot be used to start the mode (if you switch to the mode via RC it
RC control can be used to change the orbit altitude, radius, speed, and orbit direction:
- **Left stick:**
- _up/down:_ controls speed of ascent/descent, as in [Position mode](../flight_modes_mc/position.md). When in center deadzone, altitude is locked.
- _up/down:_ controls speed of ascent/descent, as in [Position mode](../flight_modes_mc/position.md).
When in center deadzone, altitude is locked.
- _left/right:_ no effect.
- **Right stick:**
- _left/right:_ controls acceleration of orbit in clockwise/counter-clockwise directions. When centered the current speed is locked.
- Maximum velocity is 10m/s and further limited to keep the centripetal acceleration below 2m/s^2.
- _left/right:_ controls acceleration of orbit in clockwise/counter-clockwise directions.
When centered the current speed is locked.
- Maximum velocity is [MPC_XY_VEL_MAX](#MPC_XY_VEL_MAX) and further limited to keep the centripetal acceleration below 2m/s^2.
- _up/down:_ controls orbit radius (smaller/bigger). When centered the current radius is locked.
- Minimum radius is 1m. Maximum radius is 100m.
- Minimum radius is 1m.
Maximum radius is [MC_ORBIT_RAD_MAX](#MC_ORBIT_RAD_MAX).
The diagram below shows the mode behaviour visually (for a [mode 2 transmitter](../getting_started/rc_transmitter_receiver.md#transmitter_modes)).
@@ -56,19 +59,22 @@ The mode can be stopped by switching to any other flight mode (using RC or QGC).
The mode is affected by the following parameters:
| Parameter | Description |
| ----------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------- |
| <a id="MC_ORBIT_RAD_MAX"></a>[MC_ORBIT_RAD_MAX](../advanced_config/parameter_reference.md#MC_ORBIT_RAD_MAX) | Maximum radius of orbit. Default: 1000m. |
| <a id="MC_ORBIT_YAW_MOD"></a>[MC_ORBIT_YAW_MOD](../advanced_config/parameter_reference.md#MC_ORBIT_YAW_MOD) | Yaw behaviour during orbit flight. Default: Front to Circle Center. |
| Parameter | Description |
| ----------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------- |
| <a id="MC_ORBIT_RAD_MAX"></a>[MC_ORBIT_RAD_MAX](../advanced_config/parameter_reference.md#MC_ORBIT_RAD_MAX) | Maximum radius of orbit. Default: 1000m. |
| <a id="MC_ORBIT_YAW_MOD"></a>[MC_ORBIT_YAW_MOD](../advanced_config/parameter_reference.md#MC_ORBIT_YAW_MOD) | Yaw behaviour during orbit flight. Default: Front to Circle Center. |
| <a id="MPC_XY_VEL_MAX"></a>[MPC_XY_VEL_MAX](../advanced_config/parameter_reference.md#MPC_XY_VEL_MAX) | Tangential speed limit. Stick input won't accelerate beyond this limit. Higher commands are accepted but capped. |
The following limits are hard coded:
- Initial/default rotation is 1 m/s in a clockwise direction.
- The maximum acceleration is limited to 2 m/s^2, with priority on keeping the commanded circle trajectory rather than commanded ground speed (i.e. the vehicle will slow down in order to achieve the correct circle if the acceleration exceeds 2m/s^2).
- Initial/default rotation is 1m/s in a clockwise direction.
- The maximum acceleration is limited to 2m/s^2, with priority on keeping the commanded circle trajectory rather than commanded ground speed (i.e. the vehicle will slow down in order to achieve the correct circle if the acceleration exceeds 2m/s^2).
## MAVLink Messages (Developers)
Orbit mode uses the following MAVLink commands:
- [MAV_CMD_DO_ORBIT](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_ORBIT) - Start an orbit with specified center point, radius, direction, altitude, speed and [yaw direction](https://mavlink.io/en/messages/common.html#ORBIT_YAW_BEHAVIOUR) (vehicle defaults to faceing centre of orbit).
- [MAV_CMD_DO_ORBIT](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_ORBIT) - Start an orbit with specified center point, radius, direction, altitude, speed and [yaw direction](https://mavlink.io/en/messages/common.html#ORBIT_YAW_BEHAVIOUR).
The same defaults and limits apply.
When exceeding limits the command is accepted but velocity and radius capped.
- [ORBIT_EXECUTION_STATUS](https://mavlink.io/en/messages/common.html#ORBIT_EXECUTION_STATUS) - Orbit status emitted during orbit to update GCS of current orbit parameters (these may be changed by the RC controller).