Move PX4 Guide source into /docs (#24490)

* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
2026-06-02 03:49:12 +08:00 · 2025-03-13 16:08:27 +11:00
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+# Hold Mode (Fixed-Wing)
+
+<img src="../../assets/site/position_fixed.svg" title="Position fix required (e.g. GPS)" width="30px" />
+
+The _Hold_ flight mode causes the vehicle to loiter (circle) around its current GPS position and maintain its current altitude.
+
+:::tip
+_Hold mode_ can be used to pause a mission or to help you regain control of a vehicle in an emergency.
+It is usually activated with a pre-programmed switch.
+:::
+
+::: info
+
+- Mode is automatic - no user intervention is _required_ to control the vehicle.
+- Mode requires a global 3d position estimate (from GPS or inferred from a [local position](../ros/external_position_estimation.md#enabling-auto-modes-with-a-local-position)).
+  - Flying vehicles can't switch to this mode without global position.
+  - Flying vehicles will failsafe if they lose the position estimate.
+  - Disarmed vehicles can switch to mode without valid position estimate but can't arm.
+- Mode requires wind and flight time are within allowed limits (specified via parameters).
+- RC control switches can be used to change flight modes on any vehicle.
+- RC stick movement is ignored.
+
+<!-- https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/commander/ModeUtil/mode_requirements.cpp -->
+
+:::
+
+## Technical Summary
+
+The aircraft circles around the GPS hold position at the current altitude.
+The vehicle will first ascend to [NAV_MIN_LTR_ALT](#NAV_MIN_LTR_ALT) if the mode is engaged below this altitude.
+
+RC stick movement is ignored.
+
+### Parameters
+
+Hold mode behaviour can be configured using the parameters below.
+
+| Parameter                                                                                                | Description                                                                                                   |
+| -------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------- |
+| [NAV_LOITER_RAD](../advanced_config/parameter_reference.md#NAV_LOITER_RAD)                               | The radius of the loiter circle.                                                                              |
+| <a id="NAV_MIN_LTR_ALT"></a>[NAV_MIN_LTR_ALT](../advanced_config/parameter_reference.md#NAV_MIN_LTR_ALT) | Minimum height for loiter mode (vehicle will ascend to this altitude if mode is engaged at a lower altitude). |
+
+## See Also
+
+[Hold Mode (MC)](../flight_modes_mc/hold.md)
+
+<!-- this maps to AUTO_LOITER in flight mode state machine -->