6.6 Assigning Flight Modes
RPA Configuration -Flight Modes
In Flight Modes (RPA Configuration >Flight Modes), Flight modes are controlled through the radio (via a transmitter switch), or using commands from AeroGCS.
In general, when first starting to use Copter you should progress through the flight modes in the order listed below, being sure that you are comfortable with each before progressing to the next.
Following flight modes:
1. Acro: Acro mode uses the RC sticks to control the angular velocity of the copter in each axis. Release the sticks and the vehicle will maintain its current attitude and will not return to level (attitude hold). Acro mode is useful for aerobatics such as flips or rolls, or FPV when smooth and fast control is desired.
2. Altitude Hold: In altitude hold mode, Copter maintains a consistent altitude while allowing roll, pitch, and yaw to be controlled normally.
3. Air mode: This is not an actual flight mode, but rather, an important feature of ACRO and STABILIZE modes.
4. Auto Mode: In Auto mode the copter will follow a pre-programmed mission script stored in the autopilot which is made up of navigation commands. AUTO mode incorporates the altitude control from AltHold mode and position control from Loiter mode.
5. Brake Mode: This very simple flight mode simply stops the vehicle as soon as possible using the Loiter controller.
6. Circle: Circle will orbit a point located CIRCLE_RADIUS centimeters in front of the vehicle with the nose of the vehicle pointed at the center.
7. Drift Mode: This page provides tips for flying in Drift Mode and methods for tuning your copter to fly optimally in Drift Mode.
8. Flip Mode: Vehicle will flip on its roll or pitch axis depending upon the pilot’s roll and pitch stick position
9. Flow Hold Mode: Flow Hold mode uses an optical flow sensor to hold position without the need for a GPS nor a downward facing Lidar.
10. Follow: When switched into Follow, the vehicle will attempt to follow another vehicle (or anything publishing its position) at a specified offset.
11. Follow me mode: Follow Me mode makes it possible for you to have your copter follow you as you move, using a telemetry radio and a ground station.
12. Guided Mode: Guided mode is a capability of Copter to dynamically guide the copter to a target location wirelessly using a telemetry radio module and ground station application
13. Heli_Autorotate: This flight mode is available for traditional helicopters only. It is currently limited to single rotor helicopters.
14. Land Mode: LAND Mode attempts to bring the copter straight down.
15. Loiter Mode: Loiter Mode automatically attempts to maintain the current location, heading and altitude.
16. PosHold Mode: It is similar to Loiter in that the vehicle maintains a constant location, heading, and altitude but is generally more popular because the pilot stick inputs directly control the vehicle’s lean angle providing a more “natural” feel.
17. Position Mode: Position mode is the same as loiter mode, but with manual throttle control. This means that, in position mode, the copter maintains a consistent location and heading, while allowing the operator to control the throttle manually.
18. RTL Mode: RTL mode (Return to launch mode) navigates Copter from its current position to hover above the home position.
19. Simple and Super simple modes: “Simple” and “Super Simple” modes allow the pilot to control the movement of the copter from the pilot’s point of view regardless of which way the copter is facing.
20. Smart RTL Mode: When switched into Smart RTL, like regular RTL, the vehicle will attempt to return home.
21. Sport Mode: Sport Mode is also known as “rate controlled stabilize” plus Altitude Hold.
22. Stabilize Mode: Stabilize mode allows you to fly your vehicle manually, but self-levels the roll and pitch axis.
23. System Identification mode: This mode is for advanced users and provides a means to generate mathematical models of the vehicles flight behavior for model generation
24. Throw mode: This slightly dangerous flight mode allows the pilot to throw the vehicle into the air (or drop the vehicle) in order to start the motors
25. Zigzag mode: Zigzag mode is a semi-autonomous mode designed to make it easier for a pilot to fly a vehicle back and forth across a field which can be useful for crop spraying.
Flight Mode
PWM Range
Flight Mode 1
0 – 1230
Flight Mode 2
1231 – 2360
Flight Mode 3
1361 – 1490
Flight Mode 4
1491 – 1620
Flight Mode 5
1621 – 1749
Flight Mode 6
1750 +
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