# Land Mode (Multicopter)

The Land flight mode causes the vehicle to land at the position where the mode was engaged. The vehicle will disarm shortly after landing (by default).

Note

  • Mode is automatic - no user intervention is required to control the vehicle.
  • Mode requires at least a valid local position estimate (does not require a global position).
    • Flying vehicles can't switch to this mode without valid local position.
    • Flying vehicles will failsafe if they lose the position estimate.
  • Mode prevents arming (vehicle must be armed when switching to this mode).
  • RC control switches can be used to change flight modes on any vehicle.
  • RC stick movement in a multicopter (or VTOL in multicopter mode) will by default change the vehicle to Position mode unless handling a critical battery failsafe.
  • The mode can be triggered using the MAV_CMD_NAV_LAND (opens new window) MAVLink command, or by explicitly switching to Land mode.

# Technical Summary

The vehicle will land at the location at which the mode was engaged. The vehicle descends at the rate specified in MPC_LAND_SPEED and will disarm after landing (by default).

RC stick movement will change the vehicle to Position mode (by default).

# Parameters

Land mode behaviour can be configured using the parameters below.

Parameter Description
MPC_LAND_SPEED The rate of descent during landing. This should be kept fairly low as the ground conditions are not known.
COM_DISARM_LAND Time-out for auto disarm after landing, in seconds. If set to -1 the vehicle will not disarm on landing.
COM_RC_OVERRIDE Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to Position mode. This can be separately enabled for auto modes and for offboard mode, and is enabled in auto modes by default.
COM_RC_STICK_OV The amount of stick movement that causes a transition to Position mode (if COM_RC_OVERRIDE is enabled).

# See Also