Inav模式说明（中英文对照，新手向）

cooljam

刚接触inav时，模式也是挺头大的，模式说明基本是机翻，一头雾水，写这个为新手们提供些福利。
以下是固定翼常用的模式说明。
原文：https://newtonairlines.blogspot.com/2019/03/inav-basics.html
INAV MODES
INAV模式
There are three types of Modes available in iNav.
iNav中有三种 类型 的模式可用。

Full control mode
完全控制类模式

Manual or Passthrough Mode
手动或直通模式
Normal flying with no stabilisation, only the Expo value in iNav is used. If something is going wrong with the FCB or GPS switch back to this mode to take control.
正常飞行，无自稳，仅使用iNav中的Expo。如果飞控或GPS出了问题，请切换回该模式进行控制。

Stabilised modes
自稳定类模式

Acro Mode, also called Rate
特技模式或者比率模式
Slightly stabilised, holds the current orientation rather than self levelling, allows full control. Always active when no other mode is selected. Rudder will resist the turn unless you give some rudder stick input.
轻微的稳定，保持当前方向、角度而不是自动调平，允许完全控制。未选择其他模式时始终激活。方向舵将也将保持稳定，除非你给一些方向舵杆输入。

Note: The OSD shows AIR instead of ACRO if you have Air function permanently activated. Hopefully this will be changed by the iNav developers eventually because AIR is not a selectable mode, it just means the PID controller is still active when throttle is at zero.
注意：如果您的AIR模式永久激活，OSD显示的是AIR而不是ACRO。希望iNav开发者修复这个问题，因为AIR模式不是一个可选择的模式，它只是意味着PID控制器在油门为0时任然起作用。

Stabilised and Self Levelling modes
自稳定且自调平类模式
These are Gyro and Accelerometer driven modes that rely on the board being level when the plane is in level flight attitude. Most planes fly level with the nose a few degrees up, so the board may need to be tilted down at the front, either in the mounting position or in iNav setup board alignment.
飞机的水平飞行姿态依赖飞控控制水平，这些是陀螺仪和加速度计驱动的模式。大多数飞机水平飞行时机头向上倾斜几度，因此需要飞控板向下倾斜几度安装，不管是飞控的安装时向下倾斜还是在iNav在地面站配置中设置俯仰度都可以。

The Pitch Degrees required varies with different wings and different flying speeds. I usually start with +4o and adjust from there after test flights.
所需的俯仰度随不同的机翼和不同的常用飞行速度而变化。我通常从+4o开始，在试飞后再调整。

Angle mode
角度模式（自稳模式）
Fully stabilised, bank and pitch angles limited, will return to level. Can't do loops and rolls in this mode.
完全稳定，倾斜和俯仰角度受限，摇杆回中时飞机将恢复到水平。无法在这种模式下做横滚和筋斗动作。

Horizon made
地平线模式（半自稳模式）
Starts off like Angle mode but allows greater control as the sticks are moved further.
开始时类似角度模式，但允许摇杆有更大的控制量。

Launch Assist Mode
起飞辅助模式（自动起飞模式)
This is a magic mode. Select Launch Assist, arm the board, advance the throttle to a good launch percentage (the motor will not spin up yet) throw the plane and the motor will spin up 0.5 sec after the throw acceleration is detected. The plane will climb for 5 sec then switch into any other mode you have selected, or until you move the sticks. I have used Launch Assist and RTL combined, so I can can launch and let the plane circle above without picking up the transmitter. A big crowd pleaser.
这是一个神奇的模式。选择“Launch Assist”（启动辅助），解锁飞控，将油门打到一个正常飞行的量（这时电机还不会旋转起来）抛出飞机，在检测到抛出加速度后，电机0.5秒后开始输出。爬升5秒后或直到打杆，飞机将切换到您选择的任何其他模式（自动起飞和其他模式是叠加的，解锁时是自动起飞，之后是另外的那个模式）。我使用自动起飞和RTL组合，所以我可以不拿遥控器让飞机在起飞后在头顶盘旋。大家喜闻乐见。

It's important to get the switch sequence right for Launch Assist to work.
要使自动起飞系统正常工作，重要的是模式切换的顺序正确（且解锁后油门打到正常飞行值）。

GPS modes
GPS类模式
These are GPS controlled modes, and they automatically use Angle Mode for stabilisation.
这些都是GPS参与控制的模式，它们自动使用Angle模式进行自稳。

Altitude Hold
高度保持模式（定高模式）
Does what it says, holds the flight path at the Altitude when selected. Very useful for level and stable flight paths.
顾名思义，在固定的高度飞行。对于水平和稳定的飞行非常有用。

Position Hold
位置保持模式（定点模式）
The plane will circle around the point where the mode is selected, at the radius selected in iNav setup. Relies on a properly aligned FCB for altitude. Best to combine with Altitude Hold mode for a very useful Loiter mode.
飞机会围绕设定的半径盘旋。高度依赖于飞控当前的控制。最好与定高模式相结合，以获得非常有用的漫游模式。

Heading Hold
航向保持模式（锁头模式）
Uses rudder to hold the flight path to the heading when selected. Combine with Altitude hold for fixed heading and altitude flight path.
使用方向舵保持固定航向飞行（应该飞控有方向补偿，我没用过）。可以结合定高模式固定高度和航向飞行。

Return to Launch (RTL)
回家模式（返航模式）
This is what it's all about. Enter this mode and the plane will fly back to where it was armed, at whatever altitude and throttle percentage you have setup in iNav, then circle overhead at the iNav setup altitude and radius (or even land automatically if you're game)
打开这个模式，飞机将以你在iNav中设置了的高度、油门百分比飞回它的解锁位置，然后以设定的半径盘旋。（如果你玩得傲，甚至可以自动着陆。）


Failsafe RTL
故障返航（失控返航）
For me this is the main reason for using iNav. Failsafe can be setup to go into RTL mode, meaning that if you lose radio contact with your plane it will fly back home.
On FrSKY X series receivers I set the failsafe to No Pulses, then in iNav - Failsafe RTL - Don't Land.
对我来说这是使用iNav的主要原因。故障保护可以设置为进入RTL模式，这意味着如果你的遥控器失控了，它会自己回家。
在FrSKY X系列接收机上，故障保护设置为无脉冲，然后在iNav-failsafe RTL-不要着陆。


PPM协议的遥控在模式界面的fs模式中设置接收机失控时的输出值来自动进入失控。

如需转载，请注明出处，谢谢！

飞不高的小小鸟

学习。

cooljam

AIR模式INAV的wiki

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. Say you had your throttle just above minimum and tried to pull a quick roll - since two motors can't go any lower, you essentially get half the power (half of your PID gain).
在标准混控/模式下，当滚转、俯仰和偏航计算后调整值使一台电机饱和时，所有电机输出将等量减小。当电机输出低于最小值时，输出就会被切断。假设你的油门刚好高于最小值，并试图做一个快速横滚，因为横滚内侧两个电机不能再降低，所以基本上只得到一半的动力（一半的PID增益）。

If your inputs would asked for more than 100% difference between the high and low motors, the low motors would get clipped, breaking the symmetry of the motor balance by unevenly reducing the gain.
如果你的打杆输入 要求电机高电平和低电平之间的差值超过100%，那么低电平的电机输出就会被切断，通过不均匀地降低增益来打破电机平衡的对称性。

Airmode will enable full PID correction during zero throttle and give you ability for nice zero throttle gliding and aerobatics. But also the cornering / turns will be much tighter now as there is always maximum possible correction performed.
Air模式将在零油门期间启用完整的PID校正，并提供良好的零油门滑行和特技飞行能力。但是转弯/滚动也会更紧，因为飞控总是进行最大可能的校正。

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 motors spooling up on the ground.
Air模式也可以通过始终将其放在同一个开关上（如解锁开关）来启用它，也可以在空中启用/禁用它。附加功能和好处：Air模式将额外地在零油门下完全启用I积分来调整姿态。注意，当油门归零（低于最小值）且副翼升降杆回中时，在地面上仍有一些保护。在地面限制电机转动是基本的保护功能。

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.
此外，在acro模式下，I积分会重置为70%的摇杆输入，以防止在完成翻滚和拉起时I积分快速收紧，这将提供更干净、更自然的滚转和翻滚停止，从而再次获得高I增益的能力。