When the UAV is modally converted, the initial values ​​of some modals can be integrated and maintained or cleared as needed. For example, when the drone is in a straight flight mode, the roll angle variable is integrated and remains as The initial value of the drone angle of the drone; when the UAV is in the ultra-low altitude flight mode, the fly height is offset by the Reed integral and is maintained as the initial value of the altitude deviation during the ultra-low altitude flight, and is automatically cleared after the pull-up. In addition, the initial value setting during modal conversion is related to the adopted transient transient response suppression method and the margin management algorithm, and therefore, it should be set according to the actual situation.
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