Flight Modes
Changing modes
The mode selector is located in the top bar of the HUD. Click the current mode to open the menu and select a new one.
caution
Changing flight mode takes effect immediately on the vehicle. Make sure you are in a safe situation before switching.
Main modes (ArduCopter)
| Mode | Description |
|---|---|
| STABILIZE | Direct angle control, no GPS assistance |
| ALT_HOLD | Automatically maintains altitude |
| LOITER | Holds GPS position and altitude |
| AUTO | Executes the loaded mission |
| GUIDED | Go to the point sent by GCS |
| RTL | Automatic Return To Launch |
| LAND | Land in place |
| POSHOLD | Similar to Loiter with softer stick feel |
| BRAKE | Brake and hold position |
| ACRO | Rate control only, no stabilization |
| SPORT | Stabilize with increased rate control |
Arming and disarming
- ARM — Enables the motors. The vehicle must pass ArduPilot pre-arm checks
- DISARM — Shuts down the motors. Available only on the ground or in an emergency
The ARM/DISARM button is in the bottom bar of the HUD. A slide-to-confirm gesture is required to prevent accidental activation.
Pre-arm checks
If the vehicle does not arm, the message area shows the reason (e.g. GPS fix not ok, Compass not calibrated). Check Status → Pre-arm for full details.
HUD indicators
The main HUD displays:
- Compass and heading
- Pitch / Roll (artificial horizon)
- Altitude (barometric and GPS)
- Vertical speed (variometer)
- Horizontal speed (ground speed)
- Battery voltage and current
- GPS satellite count and HDOP