Auto Modes

In auto modes the autopilot takes over control of the vehicle to run missions, return to launch, or perform other autonomous navigation tasks.

To use auto modes all the configuration/tuning steps in Rover Configuration/Tuning must be followed (from Basic Setup to Position tuning).

Mission Mode

Mission mode is an automatic mode that causes the vehicle to execute a predefined autonomous mission plan that has been uploaded to the flight controller. The mission is typically created and uploaded with a Ground Control Station (GCS) application, such as QGroundControl.

Mission commands

The following commands can be used in missions at time of writing (PX4 v1.16):

QGC mission item	通信	描述
Mission start	MAV_CMD_MISSION_START	Starts the mission.
Waypoint	MAV_CMD_NAV_WAYPOINT	Navigate to waypoint.
Return to launch	MAV_CMD_NAV_RETURN_TO_LAUNCH	Return to the launch location.
Change speed	MAV_CMD_DO_CHANGE_SPEED	Change the speed setpoint
Set launch location	MAV_CMD_DO_SET_HOME	Changes launch location to specified coordinates.
Jump to item (all)	MAV_CMD_DO_JUMP (and other jump commands)	Jump to specified mission item.

Return Mode

The vehicle will return to the launch position. Return mode can be activated through the respective mission command or through the ground station UI.