Flight mode selector
Flight modes visualized in the flight mode selector provide the pilot different ways to fly
Last updated
Flight modes visualized in the flight mode selector provide the pilot different ways to fly
Last updated
Mission Control allows you to select one of the three safest and easiest flight modes. A new flight mode has been added which is the Position slow mode. This new mode can apply velocity constraints given by the system.
The mode selector displays the current flight mode, which changes automatically when an operation is performed (e.g. takeoff, land, start mission, etc.). Users can also select the mode selector to choose a manual flight mode: Altitude or Position mode.
Mission Control supports three manual modes: Position mode and Altitude mode.
The modes are selected through the mode selector in the application status bar. If the control sticks are moved while autonomous mode is engaged, PX4 will automatically default to position mode.
These modes have (the same) intuitive flight controls, which make it simple to understand how the vehicle is expected to move. The controls make it impossible to flip or roll the aircraft, and easier to recover stability in case of any problem.
When the sticks are centered, the flight modes have slightly different behavior:
Position mode uses the known position from GNSS to maintain position (multi-copter) or flight path (fixed-wing) against wind and other forces.
While in multi-copter mode, it actively brakes, levels, and locks to a position in 3D space — compensating for wind and other forces.
While in fixed-wing mode, it levels out and holds its straight-line path (it will resist being moved off this track) — compensating for wind and other forces.
Altitude mode uses the known altitude from a barometer to maintain altitude but not position; When you center the sticks:
While in multi-copter mode, it maintains altitude but continues moving forward with existing momentum until slowed by air resistance, and may drift in response to wind and other forces.
While in fixed-wing mode, it levels out but may change course in response to wind, etc.
The modes are enabled using the mode selector in the application status bar. PX4 will also switch to position mode by default if the sticks are moved when in an automatic mode.
Multicopter takeoff causes the vehicle to climb vertically until it reaches the takeoff altitude, and then switch to Hold Mode. Not to be confused with VTOL takeoff, which transitions once the aircraft reaches the selected altitude to fixed-wing mode.
On multi-copter, the vehicle will just descend and land.
Hold Mode is an automatic mode used to hold a vehicle at a particular location.
While in multi-copter, this mode will hover at its current position and altitude (maintaining position against wind and other forces) a fixed-wing vehicle will hold altitude and circle the current position.
Hold mode is entered automatically after takeoff and landing modes are complete, and when pausing a mission. It can also be activated with a pre-programmed RC switch.
Mission Mode is used to execute a pre-planned mission. This mode is automatically activated when you start a mission.
Orbit Mode starts a slow clockwise orbit at a specific location. The orbit's altitude, speed, direction, and radius are modifiable upon selection via the user interface.
This mode is started when you select Orbit at Location on the map.
The GoTo Task takes you to a specific location. It runs from within Hold Mode when you select a Go to Location on the map.
Always prefer Position mode for manual flight (). Position mode is the easiest and safest manual flight mode, especially for new flyers. It provides the most stable and predictable movement and is the most suitable for most applications, it also ensures location hold during more challenging weather conditions.
Return Mode causes the vehicle to fly a clear path to a safe location. This mode can be activated manually by selecting the Return button () or using a predefined controller switch. A vehicle failsafe being triggered can also engage this mode (e.g. low battery).
Takeoff Mode initiates the automatic takeoff sequence. The mode can be activated by selecting the Takeoff button () while on the ground.
Land Mode initiates the automatic land sequence. The mode can be activated by selecting the Land button () when flying or using a pre-programmed RC switch.
