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>
2026-05-28 10:46:33 +08:00 · 2025-03-13 16:08:27 +11:00
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+# 着陆模式（多旋翼）
+
+<img src="../../assets/site/position_fixed.svg" title="Position estimate required (e.g. GPS)" width="30px" />
+
+The _Land_ flight mode causes the vehicle to land at the position where the mode was engaged.
+这辆车在降落后不久将被解除武装(默认)。
+
+::: info
+
+- Mode is automatic - no user intervention is _required_ to control the vehicle.
+- Mode requires at least a valid local position estimate (does not require a global position).
+  - Flying vehicles can't switch to this mode without valid local position.
+  - Flying vehicles will failsafe if they lose the position estimate.
+- Mode prevents arming (vehicle must be armed when switching to this mode).
+- 遥控开关可以在任何无人机上更改飞行模式。
+- RC stick movement in a multicopter (or VTOL in multicopter mode) will [by default](#COM_RC_OVERRIDE) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless handling a critical battery failsafe.
+- The mode can be triggered using the [MAV_CMD_NAV_LAND](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_LAND) MAVLink command, or by explicitly switching to Land mode.
+
+<!-- https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/commander/ModeUtil/mode_requirements.cpp -->
+
+:::
+
+## 技术总结
+
+无人机将降落在模式所指定的位置。
+The vehicle descends at the rate specified in [MPC_LAND_SPEED](#MPC_LAND_SPEED) and will disarm after landing (by [default](#COM_DISARM_LAND)).
+
+RC stick movement will change the vehicle to [Position mode](../flight_modes_mc/position.md) (by [default](#COM_RC_OVERRIDE)).
+
+### 参数
+
+Land mode behaviour can be configured using the parameters below.
+
+| 参数                                                                                                                                                                      | 描述                                                                                                                                                                                                                                         |
+| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
+| <a id="MPC_LAND_SPEED"></a>[MPC_LAND_SPEED](../advanced_config/parameter_reference.md#MPC_LAND_SPEED)                         | 着陆过程中的下降速率。 鉴于地面情况未知，这个值应该设得相当小。                                                                                                                                                                                                           |
+| <a id="COM_DISARM_LAND"></a>[COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND)                      | 降落后自动上锁的超时时间，以秒为单位。 如果设定为 -1，无人机将不会在着陆时上锁。                                                                                                                                                                                                 |
+| <a id="COM_RC_OVERRIDE"></a>[COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE)                      | Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to [Position mode](../flight_modes_mc/position.md). 可以分别为自动模式和 offboard 模式启用此功能，默认情况下在自动模式下启用此功能。            |
+| <a id="COM_RC_STICK_OV"></a>[COM_RC_STICK_OV](../advanced_config/parameter_reference.md#COM_RC_STICK_OV) | The amount of stick movement that causes a transition to [Position mode](../flight_modes_mc/position.md) (if [COM_RC_OVERRIDE](#COM_RC_OVERRIDE) is enabled). |
+
+## See Also
+
+- [Land Mode (FW)](../flight_modes_fw/land.md)
+- [Land Mode (VTOL)](../flight_modes_vtol/land.md)