# Flight Modes
Flight Modes define how the autopilot responds to user input and controls vehicle movement. The tables below summarizes flight modes for fixed-wing and copter (table key is below). Note that this is the "high level" default behaviour, and may vary based on vehicle parameters. The linked topics (sidebar) provide more detailed information about individual modes, including their tuning parameters.
TIP
A beginner friendly explanation of all flight modes is provided in Getting Started > Flight Modes.
# Fixed-wing
Modes | Roll & Pitch | Yaw | Throttle | Position Sensors | Summary |
---|---|---|---|---|---|
Position | S+ | S+ | S+ | RC mode where centered sticks put vehicle into straight and level flight where vehicle posture/attitude, altitude, and the straight line vehicle path are maintained against wind (and other forces).
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Altitude | S (roll) S+(pitch) | M | S+ | RC mode like Stabilized mode but with altitude stabilization (centered sticks put vehicle into straight and level flight and maintain current altitude). The vehicle course is not maintained, and can drift due to wind.
| |
Stabilized | S | M | M | RC mode where centered RP sticks levels vehicle attitude (roll and pitch). The vehicle course and altitude are not maintained, and can drift due to wind.
| |
Acro | Srate | Srate | M | RC mode for performing acrobatic maneuvers e.g. rolls, flips, stalls and acrobatic figures. RPY stick inputs are translated to angular rate commands that are stabilized by autopilot. Throttle is passed directly to control allocation. | |
Manual | M | M | M | RC mode where stick input is sent directly to control allocation (for "fully" manual control). This is the only mode that overrides the FMU (commands are sent via the safety coprocessor). It provides a safety mechanism that allows full control of throttle, elevator, ailerons and rudder via RC in the event of an FMU firmware malfunction. | |
Takeoff | Auto | Vehicle initiates the takeoff sequence using either catapult/hand-launch mode or runway takeoff mode (in the current direction). | |||
Land | Auto | Vehicle initiates the fixed-wing landing sequence. | |||
Hold | Auto | Vehicle circles around the GPS hold position at the current altitude. | |||
Return | Auto | Vehicle flies a clear path to a safe location. The return behaviour depends on parameter settings, and may follow a mission path and/or mission landing pattern (if defined). | |||
Mission | Auto | Vehicle executes a predefined mission/flight plan that has been uploaded to the flight controller. | |||
Offboard | Auto | Vehicle obeys attitude setpoints provided over MAVLink (often from a companion computer connected via serial cable or wifi). |
# Multicopter
Modes | Roll & Pitch | Yaw | Throttle | Position Sensors | Summary |
---|---|---|---|---|---|
Position | S+ | Srate | S+ | RC mode where roll, pitch, throttle sticks control movement in corresponding axes/directions. Centered sticks level vehicle and hold it to fixed altitude and position against wind.
| |
Altitude | S | Srate | S+ | RC mode like Manual/Stabilized mode but with altitude stabilization (centered sticks level vehicle and hold it to fixed altitude). The horizontal position of the vehicle can move due to wind (or pre-existing momentum).
| |
Manual/ Stabilized | S | Srate | M | RC mode where centered sticks level vehicle (only - position is not stabilized).
| |
Acro | Srate | Srate | M | RC mode for performing acrobatic maneuvers e.g. flips, rolls and loops. RC RPY stick inputs control the rate of angular rotation around the respective axes. Throttle is passed directly to control allocation. When sticks are centered the vehicle will stop rotating, but remain in its current orientation (e.g. possibly inverted) and moving according to its current momentum. | |
Orbit | - | - | - | GCS-initiated guided mode for flying a circle, always facing the center. Mode must be started from GCS, specifying center point and initial radius and altitude. RC control is optional, and can be used to set the orbit altitude, radius, speed, and direction. Altitude control is the same as for Position Mode. | |
Takeoff | Auto | Vehicle ascends to takeoff altitude and holds position. | |||
Land | Auto | Vehicle lands at the position where the mode was engaged. | |||
Hold | Auto | Vehicle hovers at the current GPS position and altitude. | |||
Return | Auto | Vehicle flies a clear path to a safe location. The return behaviour depends on parameter settings, and may follow a mission path and/or mission landing pattern (if defined). | |||
Mission | Auto | Vehicle executes a predefined mission/flight plan that has been uploaded to the flight controller. | |||
Follow Me | Auto | Vehicle autonomously follows a user using an Android phone/tablet running QGC. | |||
Offboard | Auto | Vehicle obeys a position, velocity or attitude setpoints provided over MAVLink (often from a companion computer connected via serial cable or wifi). |
# VTOL
VTOL vehicles support both fixed-wing and multicopter flight modes, executing them based on the current vehicle mode (MC or FW).
VTOL supports Offboard mode in either configuration.
# Key
Key for understanding the table is as follows:
Abbreviations:
- RPY: Roll, Pitch, Yaw
- RPT: Roll, Pitch Throttle