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Overview

The PHLD parameter group configures the PosHold flight mode. PosHold is a hybrid mode for multicopters that combines the stick-feel of "AltHold" with the automated position-holding of "Loiter."

Key Concepts

1. Hybrid Control

  • Active Sticks: The drone feels like it is in a stabilized/manual mode. When you push the stick, it banks and moves directly proportional to your input.
  • Released Sticks: When you center the sticks, the autopilot automatically applies a brake maneuver and then "locks" the current position using GPS.

2. Braking (PHLD_BRAKE_...)

Configures the aggression of the stop when the pilot lets go of the sticks.

  • PHLD_BRAKE_RATE: How fast (deg/s) the drone can tilt back to stop its momentum.
  • PHLD_BRAKE_ANGLE: The maximum lean angle allowed during the braking phase.

Parameter Breakdown

  • PHLD_BRAKE_RATE: Braking speed.
  • PHLD_BRAKE_ANGLE: Max braking tilt.

Integration Guide

  • Feel: If PosHold feels too "slidey" when you release the sticks, increase PHLD_BRAKE_RATE.
  • Safe Ops: PosHold is excellent for FPV pilots who want a manual feel but need the drone to "stay put" if they take their hands off the controls.

Developer Notes

  • Library: ArduCopter/mode_poshold.cpp.

PosHold braking angle max

PHLD_BRAKE_ANGLE: PosHold braking angle max

Description

PosHold flight mode's max lean angle during braking in centi-degrees.

Values

  • Range: 2000 to 4500
  • Units: cdeg
  • Default: 3000 (30 degrees)

Description

This parameter sets the maximum tilt angle the drone will use to stop when you release the sticks in PosHold mode.

  • PosHold Mode: Unlike Loiter (where the stick controls velocity), PosHold feels like Stabilize (stick controls angle) but stops and holds position when you let go.
  • Higher Value: Faster stopping, but more aggressive pitch-back motion.
  • Lower Value: Gentler, smoother stops, but takes more distance to come to a halt.

Source Code

ardupilot/ArduCopter/Parameters.cpp

PosHold braking rate

PHLD_BRAKE_RATE: PosHold braking rate

Description

PosHold flight mode's rotation rate during braking in $deg/s$ec.

Values

  • Range: 4 to 12
  • Units: $deg/s$
  • Default: 8

Description

This parameter controls how quickly the drone rotates to the braking angle when stopping in PosHold mode.

  • Function: When you release the sticks, the drone needs to pitch backwards to stop. This parameter limits how fast that pitch rotation happens.
  • Higher Value: Snappier braking action. The drone rotates quickly to the braking angle.
  • Lower Value: Smoother onset of braking. The drone rotates slowly to the braking angle.

Source Code

ardupilot/ArduCopter/Parameters.cpp

Generic Custom Parameters (PARAM) PID Deadzone Configuration (PID)