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MC mode is stabilized mode #3356

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Aug 22, 2024
Merged

MC mode is stabilized mode #3356

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9d36080
MC manual/stabilized rename
hamishwillee Aug 22, 2024
f0057e4
Fix up alt sidebar
hamishwillee Aug 22, 2024
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20 changes: 15 additions & 5 deletions de/_sidebar.md
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Expand Up @@ -23,6 +23,7 @@
- [Throw Launch](/flight_modes_mc/throw_launch.md)
- [Assembly](/assembly/assembly_mc.md)
- [Configuration/Tuning](/config_mc/index.md)
- [Auto-tune](/config/autotune_mc.md)
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FYI, all the _sidebar changes are just tacked on here. Ignore.

- [Filter/Control Latency Tuning](/config_mc/filter_tuning.md)
- [PID Tuning (Manual/Basic)](/config_mc/pid_tuning_guide_multicopter_basic.md)
- [PID Tuning Guide (Manual/Advanced)](/config_mc/pid_tuning_guide_multicopter.md)
Expand Down Expand Up @@ -55,6 +56,7 @@
- [Planes (Fixed-Wing)](/frames_plane/index.md)
- [Assembly](/assembly/assembly_fw.md)
- [Config/Tuning](/config_fw/index.md)
- [Auto-tune](/config/autotune_fw.md)
- [Rate/Attitude Controller Tuning Guide](/config_fw/pid_tuning_guide_fixedwing.md)
- [Altitude/Position Controller Tuning Guide](/config_fw/position_tuning_guide_fixedwing.md)
- [Weight & Altitude Tuning](/config_fw/weight_and_altitude_tuning.md)
Expand All @@ -81,6 +83,7 @@
- [VTOL](/frames_vtol/index.md)
- [Assembly](/assembly/assembly_vtol.md)
- [VTOL Config/Tuning](/config_vtol/index.md)
- [Auto-tune](/config/autotune_vtol.md)
- [QuadPlane Configuration](/config_vtol/vtol_quad_configuration.md)
- [Back-transition Tuning](/config_vtol/vtol_back_transition_tuning.md)
- [VTOL w/o Airspeed Sensor](/config_vtol/vtol_without_airspeed_sensor.md)
Expand Down Expand Up @@ -119,7 +122,7 @@
- [Vehicle Status Notifications](/getting_started/vehicle_status.md)
- [LED Meanings](/getting_started/led_meanings.md)
- [Tune/Sound Meanings](/getting_started/tunes.md)
- [Preflight Checks](/flying/pre_flight_checks.md)
- [QGroundControl Flight-Readiness Status](/flying/pre_flight_checks.md)

- [Hardware Selection & Setup](/hardware/drone_parts.md)
- [Flight Controllers (Autopilots)](/flight_controller/index.md)
Expand All @@ -141,6 +144,7 @@
- [Holybro Pixhawk 6X-RT (FMUv6X-RT)](/flight_controller/pixhawk6x-rt.md)
- [Holybro Pixhawk 6X (FMUv6X)](/flight_controller/pixhawk6x.md)
- [Wiring Quickstart](/assembly/quick_start_pixhawk6x.md)
- [RaccoonLab FMU6x](/flight_controller/raccoonlab_fmu6x.md)
- [Holybro Pixhawk 6C (FMUv6C)](/flight_controller/pixhawk6c.md)
- [Wiring Quickstart](/assembly/quick_start_pixhawk6c.md)
- [Holybro Pixhawk 6C Mini(FMUv6C)](/flight_controller/pixhawk6c_mini.md)
Expand Down Expand Up @@ -320,6 +324,7 @@
- [Holybro PM02D (digital)](/power_module/holybro_pm02d.md)
- [Holybro PM03D (digital)](/power_module/holybro_pm03d.md)
- [Pomegranate Systems Power Module](/dronecan/pomegranate_systems_pm.md)
- [RaccoonLab Power Modules](/dronecan/raccoonlab_power.md)
- [Sky-Drones SmartAP PDB](/power_module/sky-drones_smartap-pdb.md)
- [Smart/MAVLink Batteries](/smart_batteries/index.md)
- [Rotoye Batmon Battery Smartification Kit](/smart_batteries/rotoye_batmon.md)
Expand All @@ -345,6 +350,7 @@
- [DroneCAN Peripherals](/dronecan/index.md)
- [PX4 DroneCAN Firmware](/dronecan/px4_cannode_fw.md)
- [ARK CANnode](/dronecan/ark_cannode.md)
- [RaccoonLab CAN Nodes](/dronecan/raccoonlab_nodes.md)
- [Cable Wiring](/assembly/cable_wiring.md)
- [Companion Computers](/companion_computer/index.md)
- [Pixhawk + Companion Setup](/companion_computer/pixhawk_companion.md)
Expand All @@ -365,7 +371,6 @@
- [Serial Port Configuration](/peripherals/serial_configuration.md)
- [PX4 Ethernet Setup](/advanced_config/ethernet_setup.md)
- [Standard Configuration](/config/index.md)
- [Autotune](/config/autotune.md)
- [Advanced Configuration](/advanced_config/index.md)
- [ECL/EKF Overview & Tuning](/advanced_config/tuning_the_ecl_ekf.md)
- [Finding/Updating Parameters](/advanced_config/parameters.md)
Expand All @@ -379,9 +384,11 @@
- [Helicopter (experimental)](/frames_helicopter/index.md)
- [Helicopter Config/Tuning](/config_heli/index.md)
- [Rovers (experimental)](/frames_rover/index.md)
- [Flight Modes](/flight_modes_rover/index.md)
- [Aion Robotics R1](/frames_rover/aion_r1.md)
- [Traxxas Stampede](/frames_rover/traxxas_stampede.md)
- [Drive Modes](/flight_modes_rover/index.md)
- [Differential-steering Rover](/frames_rover/differential_rover.md)
- [Aion Robotics R1](/frames_rover/aion_r1.md)
- [Ackermann Rover](/frames_rover/ackermann_rover.md)
- [(Deprecated) Rover Position Control](/frames_rover/rover_position_control.md)
- [Submarines (experimental)](/frames_sub/index.md)
- [BlueROV2](/frames_sub/bluerov2.md)
- [Airframes Reference](/airframes/airframe_reference.md)
Expand Down Expand Up @@ -590,6 +597,9 @@
- [RegisterExtComponentReply](/msg_docs/RegisterExtComponentReply.md)
- [RegisterExtComponentRequest](/msg_docs/RegisterExtComponentRequest.md)
- [RoverAckermannGuidanceStatus](/msg_docs/RoverAckermannGuidanceStatus.md)
- [RoverAckermannStatus](/msg_docs/RoverAckermannStatus.md)
- [RoverDifferentialGuidanceStatus](/msg_docs/RoverDifferentialGuidanceStatus.md)
- [RoverDifferentialStatus](/msg_docs/RoverDifferentialStatus.md)
- [Rpm](/msg_docs/Rpm.md)
- [RtlStatus](/msg_docs/RtlStatus.md)
- [RtlTimeEstimate](/msg_docs/RtlTimeEstimate.md)
Expand Down
2 changes: 1 addition & 1 deletion en/SUMMARY.md
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Expand Up @@ -7,7 +7,7 @@
- [Position Mode (MC)](flight_modes_mc/position.md)
- [Position Slow Mode (MC)](flight_modes_mc/position_slow.md)
- [Altitude Mode (MC)](flight_modes_mc/altitude.md)
- [Manual/Stabilized Mode (MC)](flight_modes_mc/manual_stabilized.md)
- [Stabilized Mode (MC)](flight_modes_mc/manual_stabilized.md)
- [Acro Mode (MC)](flight_modes_mc/acro.md)
- [Orbit Mode (MC)](flight_modes_mc/orbit.md)
- [Takeoff Mode (MC)](flight_modes_mc/takeoff.md)
Expand Down
23 changes: 16 additions & 7 deletions en/_sidebar.md
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Expand Up @@ -8,7 +8,7 @@
- [Position Mode (MC)](/flight_modes_mc/position.md)
- [Position Slow Mode (MC)](/flight_modes_mc/position_slow.md)
- [Altitude Mode (MC)](/flight_modes_mc/altitude.md)
- [Manual/Stabilized Mode (MC)](/flight_modes_mc/manual_stabilized.md)
- [Stabilized Mode (MC)](/flight_modes_mc/manual_stabilized.md)
- [Acro Mode (MC)](/flight_modes_mc/acro.md)
- [Orbit Mode (MC)](/flight_modes_mc/orbit.md)
- [Takeoff Mode (MC)](/flight_modes_mc/takeoff.md)
Expand All @@ -23,6 +23,7 @@
- [Throw Launch](/flight_modes_mc/throw_launch.md)
- [Assembly](/assembly/assembly_mc.md)
- [Configuration/Tuning](/config_mc/index.md)
- [Auto-tune](/config/autotune_mc.md)
- [Filter/Control Latency Tuning](/config_mc/filter_tuning.md)
- [PID Tuning (Manual/Basic)](/config_mc/pid_tuning_guide_multicopter_basic.md)
- [PID Tuning Guide (Manual/Advanced)](/config_mc/pid_tuning_guide_multicopter.md)
Expand Down Expand Up @@ -55,6 +56,7 @@
- [Planes (Fixed-Wing)](/frames_plane/index.md)
- [Assembly](/assembly/assembly_fw.md)
- [Config/Tuning](/config_fw/index.md)
- [Auto-tune](/config/autotune_fw.md)
- [Rate/Attitude Controller Tuning Guide](/config_fw/pid_tuning_guide_fixedwing.md)
- [Altitude/Position Controller Tuning Guide](/config_fw/position_tuning_guide_fixedwing.md)
- [Weight & Altitude Tuning](/config_fw/weight_and_altitude_tuning.md)
Expand All @@ -81,6 +83,7 @@
- [VTOL](/frames_vtol/index.md)
- [Assembly](/assembly/assembly_vtol.md)
- [VTOL Config/Tuning](/config_vtol/index.md)
- [Auto-tune](/config/autotune_vtol.md)
- [QuadPlane Configuration](/config_vtol/vtol_quad_configuration.md)
- [Back-transition Tuning](/config_vtol/vtol_back_transition_tuning.md)
- [VTOL w/o Airspeed Sensor](/config_vtol/vtol_without_airspeed_sensor.md)
Expand Down Expand Up @@ -141,6 +144,7 @@
- [Holybro Pixhawk 6X-RT (FMUv6X-RT)](/flight_controller/pixhawk6x-rt.md)
- [Holybro Pixhawk 6X (FMUv6X)](/flight_controller/pixhawk6x.md)
- [Wiring Quickstart](/assembly/quick_start_pixhawk6x.md)
- [RaccoonLab FMU6x](/flight_controller/raccoonlab_fmu6x.md)
- [Holybro Pixhawk 6C (FMUv6C)](/flight_controller/pixhawk6c.md)
- [Wiring Quickstart](/assembly/quick_start_pixhawk6c.md)
- [Holybro Pixhawk 6C Mini(FMUv6C)](/flight_controller/pixhawk6c_mini.md)
Expand Down Expand Up @@ -320,6 +324,7 @@
- [Holybro PM02D (digital)](/power_module/holybro_pm02d.md)
- [Holybro PM03D (digital)](/power_module/holybro_pm03d.md)
- [Pomegranate Systems Power Module](/dronecan/pomegranate_systems_pm.md)
- [RaccoonLab Power Modules](/dronecan/raccoonlab_power.md)
- [Sky-Drones SmartAP PDB](/power_module/sky-drones_smartap-pdb.md)
- [Smart/MAVLink Batteries](/smart_batteries/index.md)
- [Rotoye Batmon Battery Smartification Kit](/smart_batteries/rotoye_batmon.md)
Expand All @@ -345,6 +350,7 @@
- [DroneCAN Peripherals](/dronecan/index.md)
- [PX4 DroneCAN Firmware](/dronecan/px4_cannode_fw.md)
- [ARK CANnode](/dronecan/ark_cannode.md)
- [RaccoonLab CAN Nodes](/dronecan/raccoonlab_nodes.md)
- [Cable Wiring](/assembly/cable_wiring.md)
- [Companion Computers](/companion_computer/index.md)
- [Pixhawk + Companion Setup](/companion_computer/pixhawk_companion.md)
Expand All @@ -353,8 +359,6 @@
- [Holybro Pixhawk RPI CM4 Baseboard](/companion_computer/holybro_pixhawk_rpi_cm4_baseboard.md)
- [Auterion Skynode](/companion_computer/auterion_skynode.md)
- [Computer Vision](/computer_vision/index.md)
- [Obstacle Avoidance](/computer_vision/obstacle_avoidance.md)
- [Safe Landing](/computer_vision/safe_landing.md)
- [Collision Prevention](/computer_vision/collision_prevention.md)
- [Path Planning Interface](/computer_vision/path_planning_interface.md)
- [Motion Capture (MoCap)](/computer_vision/motion_capture.md)
Expand All @@ -365,7 +369,6 @@
- [Serial Port Configuration](/peripherals/serial_configuration.md)
- [PX4 Ethernet Setup](/advanced_config/ethernet_setup.md)
- [Standard Configuration](/config/index.md)
- [Autotune](/config/autotune.md)
- [Advanced Configuration](/advanced_config/index.md)
- [ECL/EKF Overview & Tuning](/advanced_config/tuning_the_ecl_ekf.md)
- [Finding/Updating Parameters](/advanced_config/parameters.md)
Expand All @@ -379,9 +382,11 @@
- [Helicopter (experimental)](/frames_helicopter/index.md)
- [Helicopter Config/Tuning](/config_heli/index.md)
- [Rovers (experimental)](/frames_rover/index.md)
- [Flight Modes](/flight_modes_rover/index.md)
- [Aion Robotics R1](/frames_rover/aion_r1.md)
- [Traxxas Stampede](/frames_rover/traxxas_stampede.md)
- [Drive Modes](/flight_modes_rover/index.md)
- [Differential-steering Rover](/frames_rover/differential_rover.md)
- [Aion Robotics R1](/frames_rover/aion_r1.md)
- [Ackermann Rover](/frames_rover/ackermann_rover.md)
- [(Deprecated) Rover Position Control](/frames_rover/rover_position_control.md)
- [Submarines (experimental)](/frames_sub/index.md)
- [BlueROV2](/frames_sub/bluerov2.md)
- [Airframes Reference](/airframes/airframe_reference.md)
Expand Down Expand Up @@ -418,6 +423,7 @@
- [Gazebo Simulation](/sim_gazebo_gz/index.md)
- [Vehicles](/sim_gazebo_gz/vehicles.md)
- [Advanced Lift Drag Tool](/sim_gazebo_gz/tools_avl_automation.md)
- [Worlds](/sim_gazebo_gz/worlds.md)
- [Gazebo Models Repository](/sim_gazebo_gz/gazebo_models.md)
- [Multi-Vehicle Sim](/sim_gazebo_gz/multi_vehicle_simulation.md)
- [Gazebo Classic Simulation](/sim_gazebo_classic/index.md)
Expand Down Expand Up @@ -590,6 +596,9 @@
- [RegisterExtComponentReply](/msg_docs/RegisterExtComponentReply.md)
- [RegisterExtComponentRequest](/msg_docs/RegisterExtComponentRequest.md)
- [RoverAckermannGuidanceStatus](/msg_docs/RoverAckermannGuidanceStatus.md)
- [RoverAckermannStatus](/msg_docs/RoverAckermannStatus.md)
- [RoverDifferentialGuidanceStatus](/msg_docs/RoverDifferentialGuidanceStatus.md)
- [RoverDifferentialStatus](/msg_docs/RoverDifferentialStatus.md)
- [Rpm](/msg_docs/Rpm.md)
- [RtlStatus](/msg_docs/RtlStatus.md)
- [RtlTimeEstimate](/msg_docs/RtlTimeEstimate.md)
Expand Down
2 changes: 1 addition & 1 deletion en/complete_vehicles_mc/crazyflie21.md
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Expand Up @@ -8,7 +8,7 @@ Contact the [manufacturer](https://www.bitcraze.io/) for hardware support or com
:::

:::warning
Crazyflie 2.1 is only able to fly in [Manual/Stabilized mode](../flight_modes_mc/manual_stabilized.md).
Crazyflie 2.1 is only able to fly in [Stabilized mode](../flight_modes_mc/manual_stabilized.md).
:::

The Crazyflie line of micro quads was created by Bitcraze AB.
Expand Down
2 changes: 1 addition & 1 deletion en/concept/flight_modes.md
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Expand Up @@ -46,7 +46,7 @@ For example, experienced fliers can use modes that provide direct passthrough of

- **Multirotors:**

- **MANUAL/STABILIZED** The pilot's inputs are passed as roll and pitch _angle_ commands and a yaw _rate_ command.
- **STABILIZED** (**MANUAL** also selects this mode): The pilot's inputs are passed as roll and pitch _angle_ commands and a yaw _rate_ command.
Throttle is passed directly to control allocation.
The autopilot controls the attitude, meaning it regulates the roll and pitch angles to zero when the RC sticks are centered, consequently leveling-out the attitude.
However, in this mode the position of the vehicle is not controlled by the autopilot, hence the position can drift due to wind.
Expand Down
2 changes: 1 addition & 1 deletion en/config/_autotune.md
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Expand Up @@ -40,7 +40,7 @@ To make sure the vehicle is stable enough for auto-tuning:

1. Perform a normal preflight safety checklist to ensure the flight zone is clear and has enough space.

1. Take off and <div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">hover at 1m above ground in [Altitude mode](../flight_modes_mc/altitude.md) or [Manual/Stabilized mode](../flight_modes_mc/manual_stabilized.md)</div><div style="display: inline;" v-else-if="$frontmatter.frame === 'Plane'">fly at cruise speed in [Position mode](../flight_modes_fw/position.md) or [Altitude mode](../flight_modes_fw/altitude.md)</div>.
1. Take off and <div style="display: inline;" v-if="$frontmatter.frame === 'Multicopter'">hover at 1m above ground in [Altitude mode](../flight_modes_mc/altitude.md) or [Stabilized mode](../flight_modes_mc/manual_stabilized.md)</div><div style="display: inline;" v-else-if="$frontmatter.frame === 'Plane'">fly at cruise speed in [Position mode](../flight_modes_fw/position.md) or [Altitude mode](../flight_modes_fw/altitude.md)</div>.

1. Use the RC transmitter roll stick to perform the following maneuver, tilting the vehicle just a few degrees: _roll left > roll right > center_ (The whole maneuver should take about 3 seconds).
The vehicle should stabilise itself within 2 oscillations.
Expand Down
2 changes: 1 addition & 1 deletion en/config_mc/filter_tuning.md
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Expand Up @@ -96,7 +96,7 @@ First make sure to have the high-rate logging profile activated ([SDLOG_PROFILE]
Filter tuning is best done by reviewing flight logs.
You can do multiple flights right after each other with different parameters and then inspect all logs, but make sure to disarm in between so that separate log files are created.

The performed flight maneuver can simply be hovering in [Manual/Stabilized mode](../flight_modes_mc/manual_stabilized.md) with some rolling and pitching to all directions and some increased throttle periods.
The performed flight maneuver can simply be hovering in [Stabilized mode](../flight_modes_mc/manual_stabilized.md) with some rolling and pitching to all directions and some increased throttle periods.
The total duration does not need to be more than 30 seconds.
In order to better compare, the maneuver should be similar in all tests.

Expand Down
6 changes: 3 additions & 3 deletions en/config_mc/pid_tuning_guide_multicopter.md
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Expand Up @@ -91,14 +91,14 @@ The related parameters for the tuning of the PID rate controllers are:
- Pitch rate control ([MC_PITCHRATE_P](../advanced_config/parameter_reference.md#MC_PITCHRATE_P), [MC_PITCHRATE_I](../advanced_config/parameter_reference.md#MC_PITCHRATE_I), [MC_PITCHRATE_D](../advanced_config/parameter_reference.md#MC_PITCHRATE_D), [MC_PITCHRATE_K](../advanced_config/parameter_reference.md#MC_PITCHRATE_K))
- Yaw rate control ([MC_YAWRATE_P](../advanced_config/parameter_reference.md#MC_YAWRATE_P), [MC_YAWRATE_I](../advanced_config/parameter_reference.md#MC_YAWRATE_I), [MC_YAWRATE_D](../advanced_config/parameter_reference.md#MC_YAWRATE_D), [MC_YAWRATE_K](../advanced_config/parameter_reference.md#MC_YAWRATE_K))

The rate controller can be tuned in [Acro mode](../flight_modes_mc/acro.md) or [Manual/Stabilized mode](../flight_modes_mc/manual_stabilized.md):
The rate controller can be tuned in [Acro mode](../flight_modes_mc/acro.md) or [Stabilized mode](../flight_modes_mc/manual_stabilized.md):

- _Acro mode_ is preferred, but is harder to fly. If you choose this mode, disable all stick expo:
- `MC_ACRO_EXPO` = 0, `MC_ACRO_EXPO_Y` = 0, `MC_ACRO_SUPEXPO` = 0,
`MC_ACRO_SUPEXPOY` = 0
- `MC_ACRO_P_MAX` = 200, `MC_ACRO_R_MAX` = 200
- `MC_ACRO_Y_MAX` = 100
- _Manual/Stabilized mode_ is simpler to fly, but it is also more difficult to see if the attitude or the rate controller needs more tuning.
- _Stabilized mode_ is simpler to fly, but it is also more difficult to see if the attitude or the rate controller needs more tuning.

If the vehicle does not fly at all:

Expand Down Expand Up @@ -185,7 +185,7 @@ This controls the orientation and outputs desired body rates with the following
The attitude controller is much easier to tune.
In fact, most of the time the defaults do not need to be changed at all.

To tune the attitude controller, fly in _Manual/Stabilized mode_ and increase the **P** gains gradually.
To tune the attitude controller, fly in _Stabilized mode_ and increase the **P** gains gradually.
If you start to see oscillations or overshoots, the gains are too high.

The following parameters can also be adjusted. These determine the maximum rotation rates around all three axes:
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2 changes: 1 addition & 1 deletion en/config_mc/pid_tuning_guide_multicopter_basic.md
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Expand Up @@ -45,7 +45,7 @@ Then adjust the sliders (as discussed below) to improve the tracking of the resp
- If using PWM outputs their minimum values should be set correctly in the [Actuator Configuration](../config/actuators.md).
These need to be set low, but such that the **motors never stop** when the vehicle is armed.

This can be tested in [Acro mode](../flight_modes_mc/acro.md) or in [Manual/Stabilized mode](../flight_modes_mc/manual_stabilized.md):
This can be tested in [Acro mode](../flight_modes_mc/acro.md) or in [Stabilized mode](../flight_modes_mc/manual_stabilized.md):

- Remove propellers
- Arm the vehicle and lower the throttle to the minimum
Expand Down
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