PX4 User Guide
  • Introduction
  • Getting Started
    • Basic Concepts
    • Vehicles/Frames
    • Flight Controllers
    • Sensors
    • Radio Systems
    • Flight Modes
    • Vehicle Status Notifications
      • LED Meanings
      • Tune/Sound Meanings
      • Preflight Checks
    • Payloads & Cameras
    • Flight Reporting
  • Basic Assembly
    • Mounting the Flight Controller
    • Mounting the GPS/Compass
    • Vibration Isolation
    • Cable Wiring
    • CUAV Pixhawk V6X Wiring QuickStart
    • CUAV V5+ Wiring Quickstart
    • CUAV V5 nano Wiring Quickstart
    • Holybro Pixhawk 6C Wiring Quickstart
    • Holybro Pixhawk 6X Wiring Quickstart
    • Holybro Pixhawk 5X Wiring Quickstart
    • Holybro Pixhawk 4 Wiring Quickstart - Discontinued
    • Holybro Pixhawk 4 Mini Wiring Quickstart - Discontinued
    • Holybro Durandal Wiring Quickstart
    • Holybro Pix32 v5 Wiring Quickstart
    • Cube Wiring Quickstart
    • Pixracer Wiring Quickstart
    • mRo (3DR) Pixhawk Wiring Quickstart
  • Standard Configuration
    • Firmware
    • Airframe
    • Sensor Orientation
    • Compass
    • Gyroscope
    • Accelerometer
    • Airspeed
    • Level Horizon Calibration
    • Radio Setup
    • Joystick Setup
    • Flight Modes
    • Battery
    • Safety
      • Failsafe Simulation
    • ESC Calibration
    • Actuators
    • Autotune
  • Vehicle Types & Setup
    • Multicopters
      • Multicopter Config/Tuning
        • MC Filter/Control Latency Tuning
        • MC PID Tuning (Manual/Basic)
        • MC PID Tuning Guide (Manual/Advanced)
        • MC Setpoint Tuning (Trajectory Generator)
          • MC Jerk-limited Type Trajectory
        • Multicopter Racer Setup
      • X500 v2 (Pixhawk 6C)
      • X500 v2 (Pixhawk 5X)
      • X500 (Pixhawk 4)
      • S500 V2 (Pixhawk 4)
      • DJI F450 (CUAV v5+)
      • DJI F450 (CUAV v5 nano)
      • QAV250 (Pixhawk4 Mini) - Discontinued
      • DJI F450 + RTK (Pixhawk 3 Pro)
      • QAV250 (Pixhawk Mini)
      • QAV-R 5" Racer (Pixracer)
      • Omnicopter
    • Planes
      • Fixed Wing Config/Tuning
        • Fixedwing PID Tuning Guide
        • Fixedwing Advanced Tuning Guide
        • Fixedwing Trimming Guide
      • Reptile Dragon 2 (ARK6X)
      • Turbo Timber Evolution (Pixhawk 4 Mini)
      • Wing Wing Z84 (Pixracer)
    • VTOL
      • VTOL Config/Tuning
        • QuadPlane Configuration
        • Back-transition Tuning
        • VTOL w/o Airspeed Sensor
        • VTOL Weather Vane
      • Standard VTOL
        • FunCub QuadPlane (Pixhawk)
        • Ranger QuadPlane (Pixhawk)
        • Falcon Vertigo QuadPlane (Dropix)
      • Tailsitter VTOL
        • Build: TBS Caipiroshka Tailsitter Build (Pixracer)
      • Tiltrotor VTOL
        • Build: Convergence Tiltrotor (Pixfalcon)
    • Airships (experimental)
    • Autogyros (experimental)
      • ThunderFly Auto-G2 (Holybro pix32)
    • Balloons (experimental)
    • Helicopter (experimental)
      • Helicopter Config/Tuning
    • Rovers (experimental)
      • Traxxas Stampede
    • Submarines (experimental)
      • BlueROV2
    • Airframes Reference
  • Flying
    • First Flight Guidelines
    • Flying 101
    • Missions
      • Package Delivery Mission
    • GeoFence
    • Safety Point Planning
    • Flight Modes
      • Position Mode (MC)
      • Altitude Mode (MC)
      • Manual/Stabilized Mode (MC)
      • Acro Mode (MC)
      • Orbit Mode (MC)
      • Position Mode (FW)
      • Altitude Mode (FW)
      • Stabilized Mode (FW)
      • Acro Mode (FW)
      • Manual Mode (FW)
      • Takeoff Mode
      • Land Mode
      • Return Mode
      • Hold Mode
      • Mission Mode
      • Follow Me Mode
      • Offboard Mode
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  • Flight Log Analysis
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  • Advanced Configuration
    • Finding/Updating Parameters
    • Full Parameter Reference
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    • Bootloader Flashing onto Betaflight Systems
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  • Hardware (Drones&Parts)
    • Complete Vehicles
      • ModalAI Starling
      • PX4 Vision Kit
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        • MindRacer 210
        • NanoMind 110
      • Holybro Kopis 2
      • Bitcraze Crazyflie 2.1
    • Flight Controllers (Autopilots)
      • Pixhawk Series
        • Silicon Errata
      • Pixhawk Standard Autopilots
        • CUAV Pixhawk V6X (FMUv6X)
        • Holybro Pixhawk 6X (FMUv6X)
        • Holybro Pixhawk 6C (FMUv6C)
        • Holybro Pixhawk 6C Mini(FMUv6C)
        • Holybro Pix32 v6 (FMUv6C)
        • Holybro Pixhawk 5X (FMUv5X)
        • Holybro Pixhawk 4 (FMUv5) - Discontinued
        • Holybro Pixhawk 4 Mini (FMUv5) - Discontinued
        • Drotek Pixhawk 3 Pro (FMUv4pro)
        • mRo Pixracer (FMUv4)
        • Hex Cube Black (FMUv3)
        • mRo Pixhawk (FMUv3)
        • Holybro Pixhawk Mini (FMUv3) - Discontinued
      • Manufacturer-Supported Autopilots
        • AirMind MindPX
        • AirMind MindRacer
        • ARK Electronics ARKV6X
        • CUAV X7
        • CUAV Nora
        • CUAV V5+ (FMUv5)
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        • CubePilot Cube Yellow (CubePilot)
        • Holybro Kakute H7v2
        • Holybro Kakute H7mini
        • Holybro Kakute H7
        • Holybro Durandal
        • Holybro Pix32 v5
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        • ModalAI VOXL Flight
        • ModalAI VOXL 2
        • mRobotics-X2.1 (FMUv2)
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        • NXP RDDRONE-FMUK66 FMU
        • Sky-Drones AIRLink
        • SPRacing SPRacingH7EXTREME
        • ThePeach FCC-K1
        • ThePeach FCC-R1
      • Experimental Autopilots
        • BeagleBone Blue
        • Raspberry Pi 2/3 Navio2
        • Raspberry Pi 2/3/4 PilotPi
          • PilotPi with Raspberry Pi OS
          • PilotPi with Ubuntu Server
      • Discontinued Autopilots/Vehicles
        • Drotek Dropix (FMUv2)
        • Omnibus F4 SD
        • BetaFPV Beta75X 2S Brushless Whoop
        • Bitcraze Crazyflie 2.0
        • Aerotenna OcPoC-Zynq Mini
        • CUAV v5
        • Holybro Kakute F7 (Discontinued)
        • Holybro Pixfalcon
        • Holybro pix32 (FMUv2)
        • mRo AUAV-X2
        • 3DR Pixhawk 1
        • Snapdragon Flight
        • Intel® Aero RTF Drone (Discontinued)
      • Pixhawk Autopilot Bus (PAB) & Carriers
        • ARK Electronics Pixhawk Autopilot Bus Carrier
    • Flight Controller Peripherals
      • ADSB/FLARM (Traffic Avoidance)
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      • Airspeed Sensors
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      • Barometers
      • Camera
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        • LeddarOne Lidar
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        • TeraRanger
        • Lanbao PSK-CM8JL65-CC5
        • Avionics Anonymous Laser Altimeter UAVCAN Interface
      • ESCs & Motors
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        • DroneCAN ESCs
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        • VESC
      • TBS Crossfire (CRSF) Telemetry
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      • Gimbal (Mount) Configuration
      • GPS/Compass
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      • Grippers
        • Servo Gripper
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      • Precision Landing
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      • Satellite Coms (Iridium/RockBlock)
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          • ESP32 WiFi Module
          • 3DR Telemetry Wifi (Discontinued)
        • Microhard Serial Telemetry Radio
          • ARK Electron Microhard Serial Telemetry Radio
          • Holybro Microhard P900 Telemetry Radio
        • CUAV P8 Telemetry Radio
        • HolyBro XBP9X - Discontinued
      • RTK GPS
        • ARK RTK GPS
        • RTK GPS Heading with Dual u-blox F9P
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        • Femtones MINI2 Receiver
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        • Septentrio AsteRx-RIB
        • Septentrio mosaic-go
        • Trimble MB-Two
        • CubePilot Here+ (Discontined)
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  • Fixed Wing
  • Multicopter
  • VTOL
  • Key
  1. Flying

Flight Modes

PreviousSafety Point PlanningNextPosition Mode (MC)

Last updated 1 year ago

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 (). 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 . :::

Fixed Wing

Modes
Roll & Pitch
Yaw
Throttle
Position Sensors
Summary

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).

  • Centered RC RPY sticks – level flight that follows a straight line ground track in the current direction against any wind.

  • Outside center:

    • Roll and pitch are angle-controlled (so it is impossible to roll over or loop the vehicle).

S (roll)

S+(pitch)

M

S+

  • Centered RPY sticks (inside deadband):

    • Autopilot maintains altitude with wings also level.

    • Throttle stick controls the airspeed of the aircraft if an airspeed sensor is connected (without airspeed sensor, the user cannot control throttle).

  • Outside center:

    • Pitch stick controls altitude.

    • Throttle stick controls the airspeed of the aircraft (as for centered RPY sticks).

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.

  • Pitch stick controls pitch angle.

  • Throttle stick controls throttle.

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.

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.

Auto

Vehicle initiates the takeoff sequence using either catapult/hand-launch mode or runway takeoff mode (in the current direction).

Auto

Auto

Vehicle circles around the GPS hold position at the current altitude.

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).

Auto

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

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.

  • Centered RPT sticks hold x, y, z position steady against any wind and levels attitude.

  • Outside center:

    • Roll/Pitch sticks control horizontal acceleration over ground in the vehicle's left-right and forward-back directions (respectively).

    • Throttle stick controls speed of ascent-descent.

    • Yaw stick controls rate of angular rotation above the horizontal plane.

  • Takeoff:

    • When landed, the vehicle will take off if the throttle stick is raised above 62.5% percent (of the full range from bottom).

S

Srate

S+

  • Centered sticks (inside deadband):

    • RPY sticks levels vehicle.

    • Throttle (~50%) holds current altitude steady against wind.

  • Outside center:

    • Roll/Pitch sticks control tilt angle in respective orientations, resulting in corresponding left-right and forward-back movement.

    • Throttle stick controls up/down speed with a predetermined maximum rate (and movement speed in other axes).

    • Yaw stick controls rate of angular rotation above the horizontal plane.

  • Takeoff:

    • When landed, the vehicle will take off if the throttle stick is raised above 62.5% percent (of the full range from bottom).

S

Srate

M

RC mode where centered sticks level vehicle (only - position is not stabilized).

  • Centered RP sticks level vehicle.

  • Outside center:

    • Roll/Pitch sticks control tilt angle in those orientations, resulting in corresponding left-right and forward-back movement.

    • Throttle stick controls up/down speed (and movement speed in other axes).

    • Yaw stick controls rate of angular rotation above the horizontal plane.

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.

-

-

-

GCS-initiated guided mode for flying a circle, always facing the center.

Auto

Vehicle ascends to takeoff altitude and holds position.

Auto

Vehicle lands at the position where the mode was engaged.

Auto

Vehicle hovers at the current GPS position and altitude.

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).

Auto

Auto

Vehicle autonomously follows a user using an Android phone/tablet running QGC.

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).

Key

Key for understanding the table is as follows:

Symbol
Description

M

Manual control via RC sticks. RC input is sent directly to control allocation.

S

Assistance from autopilot to stabilize the attitude. RC input is required. Position of RC stick maps to the orientation of vehicle.

Srate

Assistance from autopilot to stabilize the attitude rate. RC input is required. Position of RC stick maps to the rate of rotation of vehicle in that orientation.

S+

Assistance from autopilot to hold position or altitude against wind. RC input is required.

Auto

This mode is automatic (RC control is disabled by default except to change modes).

Sensor(s) that measures position/height needed e.g. optical flow, GPS+barometer, visual-inertial odometry.

Sensor(s) that measures height/altitude needed e.g. barometer, rangefinder.

Flight mode difficulty (easy/medium/hard).

Abbreviations:

  • RPY: Roll, Pitch, Yaw

  • RPT: Roll, Pitch Throttle

Pitch stick controls altitude (same as ).

Roll stick controls roll angle. Autopilot will maintain (same as ).

Throttle sets airspeed (same as ).

Yaw stick adds an additional yaw rate setpoint (signal will be added to the one calculated by the autopilot to maintain ). This is the same as .

RC mode like 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.

Yaw stick adds an additional yaw rate setpoint (signal will be added to the one calculated by the autopilot to maintain ). This is the same as .

Roll stick controls roll angle. Autopilot will maintain .

Yaw stick adds an additional yaw rate setpoint (signal will be added to the one calculated by the autopilot to maintain ).

Vehicle initiates the sequence.

Vehicle executes a that has been uploaded to the flight controller.

RC mode like 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).

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 .

Vehicle executes a that has been uploaded to the flight controller.

VTOL supports mode in either configuration.

Offboard
Getting Started > Flight Modes
table key is below
Position
Altitude
Stabilized
coordinated flight
coordinated flight
Acro
Manual
Takeoff
Land
fixed-wing landing
Hold
Return
Mission
predefined mission/flight plan
Offboard
Position
Altitude
Manual/ Stabilized
Acro
Orbit
Takeoff
Land
Hold
Return
Mission
predefined mission/flight plan
Follow Me
Offboard
Altitude
coordinated flight
Stabilized
Altitude
coordinated flight
Stabilized
Stabilized
coordinated flight
Stabilized
Manual/Stabilized
Position Mode