Unmanned aerial vehicle, control method and device thereof, control terminal and storage medium

A control method of an unmanned aerial vehicle, comprising: switching to a first control mode or a second control mode in response to a mode switching operation of a user (S110); in response to position adjustment of a manipulation component of the control terminal, adjusting the position or attitude of the unmanned aerial vehicle in a manipulation direction corresponding to the manipulation component (S120); in the second control mode, if the unmanned aerial vehicle is in the initial state in the control direction and the control component is in the second initial position, the unmanned aerial vehicle is controlled to keep the position or posture unchanged in the corresponding control direction; in the second control mode, the at least one control component cannot automatically return to the first initial position of the first control mode. According to the invention, the security can be improved. The invention also provides an unmanned aerial vehicle, a control device thereof, a control terminal and a stora